public FindNaoMarkBackup(int markID, NaoConnectionHelper connection,
float rotationAmount = DEFAULT_ROTATION_AMOUNT,
float maxRotation = DEFAULT_MAX_ROTATION,
float headPitchStepAmount = DEFAULT_HEAD_PITCH_STEP_AMOUNT,
float headYawStepAmount = DEFAULT_HEAD_YAW_STEP_AMOUNT,
float maxHeadYaw = DEFAULT_MAX_HEAD_YAW,
LookDirection startLookDirection = LookDirection.Left)
{
if (!connection.TestConnection(string.Empty))
{
throw new ArgumentException("Could not connect to the robot!");
}
this._connection = connection;
this.RotationAmount = rotationAmount;
this.MaxRotation = maxRotation;
this.HeadPitchStepAmount = headPitchStepAmount;
this.MarkID = markID;
this.HeadYawStepAmount = headYawStepAmount;
this.MaxHeadYaw = maxHeadYaw;
this.StartLookDirection = startLookDirection;
// initialize background worker
_findMarkWorker = new BackgroundWorker();
_findMarkWorker.DoWork += new DoWorkEventHandler(_findMarkWorker_DoWork);
_findMarkWorker.WorkerSupportsCancellation = true;
_findMarkWorker.RunWorkerCompleted += new RunWorkerCompletedEventHandler(_findMarkWorker_RunWorkerCompleted);
}
/// <summary>
/// Constructor
/// </summary>
/// <param name="connection">Robot connection</param>
/// <param name="markInfo">Checkpoint mark information</param>
/// <param name="startLookDirection">Start look direction</param>
public WalkToNaoMark(NaoConnectionHelper connection, WalkToLandMarkInfo markInfo,
FindNaoMark.LookDirection startLookDirection = FindNaoMark.LookDirection.Left)
{
this.MarkInfo = markInfo;
this.StartLookDirection = startLookDirection;
this._robotConnectionHelper = connection;
if (!_robotConnectionHelper.TestConnection(string.Empty))
{
throw new ArgumentException("Could not connect to the robot!");
}
_walkWorker.DoWork += new DoWorkEventHandler(_walkWorker_DoWork);
_walkWorker.WorkerSupportsCancellation = true;
_walkWorker.RunWorkerCompleted += new RunWorkerCompletedEventHandler(_walkWorker_RunWorkerCompleted);
}