static void Main(string[] args)
{
SimSensor sensor = new SimSensor(Math.PI/4, -Math.PI/4, 1*Math.PI/180, SensorType.Scan, 30);
SimObstacleState obsState = new SimObstacleState();
obsState.Position = new Coordinates(5, 5);
obsState.Length = 4;
obsState.Width = 2;
obsState.Heading = new Coordinates(1, 0);
Polygon[] poly = new Polygon[] { obsState.ToPolygon() };
SceneEstimatorUntrackedClusterCollection clusters = new SceneEstimatorUntrackedClusterCollection();
sensor.GetHits(poly, Coordinates.Zero, 0, clusters);
SimulatorClient client = new SimulatorClient();
client.BeginClient();
}
static void Main(string[] args)
{
SimSensor sensor = new SimSensor(Math.PI / 4, -Math.PI / 4, 1 * Math.PI / 180, SensorType.Scan, 30);
SimObstacleState obsState = new SimObstacleState();
obsState.Position = new Coordinates(5, 5);
obsState.Length = 4;
obsState.Width = 2;
obsState.Heading = new Coordinates(1, 0);
Polygon[] poly = new Polygon[] { obsState.ToPolygon() };
SceneEstimatorUntrackedClusterCollection clusters = new SceneEstimatorUntrackedClusterCollection();
sensor.GetHits(poly, Coordinates.Zero, 0, clusters);
SimulatorClient client = new SimulatorClient();
client.BeginClient();
}