public Robot(double centerToFrontDist)
{
sensorsMan = new SensorsManager();
hardwareMan = new HardwareManager();
modules = new SortedList <string, Module>();
head = new HeadHW(1, -1, -1.1);
torso = new TorsoHW(MathUtil.PiOver2, -MathUtil.PiOver2);
RightArmIsEmpty = true;
LeftArmIsEmpty = true;
sceneNodes = new List <SceneNode>();
skeletons = new Skeleton[0];
humanList = new List <Human>();
objectsList = new SortedList <string, WorldObject>();
lastObjectsFounded = new SortedList <string, WorldObject>();
this.CenterToFrontDist = centerToFrontDist;
LoadModules();
double [] asd = new double[] { 0.0, 1.5708 };
this.head.ActualizeHeadPosition(asd);
Vector3 t = TransHeadKinect2Robot(new Vector3(0.0, 1.0, 1.0));
Vector3 a = TransLeftArm2Robot(new Vector3(0.0, 0.0, 1.0));
}
public Robot()
{
sensorsMan = new SensorsManager();
hardwareMan = new HardwareManager();
modules = new SortedList <string, Module>();
head = new HeadHW(1, -1);
torso = new TorsoHW(MathUtil.PiOver2, -MathUtil.PiOver2);
RightArmIsEmpty = true;
LeftArmIsEmpty = true;
skeletons = new Skeleton[0];
humanList = new List <Human>();
objectsList = new SortedList <string, WorldObject>();
lastObjectsFounded = new SortedList <string, WorldObject>();
LoadModules();
}