public object Clone()
{
RelPosition ret = (RelPosition)this.MemberwiseClone(); // shallow copy, only value types are cloned
ret.dist = (Distance)this.dist.Clone();
ret.dir = (Direction)this.dir.Clone();
return(ret);
}
public MapCell relCellAt(RelPosition pos)
{
// relate the relative position to a cell:
int cellXindex = (int)Math.Floor(RelMapWidth / 2.0d + pos.X / MapperSettings.elementSizeMeters);
int cellYindex = (int)Math.Floor(RelMapHeight / 2.0d - pos.Y / MapperSettings.elementSizeMeters);
MapCell cell = relCellAt(cellXindex, cellYindex);
return(cell); // may be null
}
} // we should only set it via updateRelPosition()
/// <summary>
/// recalculates relPosition
/// </summary>
/// <param name="myPos">usually robot position</param>
/// <param name="myDir">usually robot direction</param>
public void updateRelPosition(GeoPosition myPos, Direction myDir)
{
this.relPosition = new RelPosition(this.directionTo(myPos, myDir), this.distanceTo(myPos));
}
public DetectedObjectBase(Direction dir, Distance dist)
: this()
{
relPosition = new RelPosition(dir, dist);
}
public MapCell relCellAt(Direction dir, Distance dist)
{
RelPosition pos = new RelPosition(dir, dist);
return(relCellAt(pos));
}