Ejemplo n.º 1
0
        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));
        }
Ejemplo n.º 2
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();
        }