/// <summary>
/// show the path through which the robot moves
/// </summary>
/// <param name="img">image data</param>
/// <param name="width">width of the image</param>
/// <param name="height">height of the image</param>
public void ShowPath(byte[] img, int width, int height)
{
float min_xx = min_x;
float max_xx = max_x;
if (max_xx - min_xx < 10)
{
min_xx = -5;
max_xx = 5;
}
float min_yy = min_y;
float max_yy = max_y;
if (max_yy - min_yy < 10)
{
min_yy = -5;
max_yy = 5;
}
if (path != null)
{
path.Show(img, width, height,
0, 0, 0, 1, min_xx - 100, min_yy - 100, max_xx + 100, max_yy + 100, true, 0);
}
}
/// <summary>
/// show the most probable path taken by the robot
/// </summary>
/// <param name="img">image data within which to draw</param>
/// <param name="width">width of the image</param>
/// <param name="height">height of the image</param>
/// <param name="r">red</param>
/// <param name="g">green</param>
/// <param name="b">blue</param>
/// <param name="line_thickness">thickness of the path</param>
/// <param name="min_x">bounding box top left x coordinate</param>
/// <param name="min_y">bounding box top left y coordinate</param>
/// <param name="max_x">bounding box bottom right x coordinate</param>
/// <param name="max_y">bounding box bottom right y coordinate</param>
/// <param name="clear_background">whether to clear the image before drawing</param>
public void ShowPath(byte[] img, int width, int height,
int r, int g, int b, int line_thickness,
float min_x_mm, float min_y_mm,
float max_x_mm, float max_y_mm,
bool clear_background)
{
if (best_path != null)
{
best_path.Show(img, width, height, r, g, b, line_thickness,
min_x_mm, min_y_mm, max_x_mm, max_y_mm,
clear_background, 0);
}
}
/// <summary>
/// show the tree of possible paths
/// </summary>
/// <param name="img"></param>
/// <param name="width"></param>
/// <param name="height"></param>
/// <param name="r"></param>
/// <param name="g"></param>
/// <param name="b"></param>
/// <param name="line_thickness"></param>
public void ShowTree(Byte[] img, int width, int height,
int r, int g, int b, int line_thickness)
{
for (int i = 0; i < ActivePoses.Count; i++)
{
bool clearBackground = false;
if (i == 0)
{
clearBackground = true;
}
particlePath path = ActivePoses[i];
path.Show(img, width, height, r, g, b, line_thickness,
min_tree_x, min_tree_y, max_tree_x, max_tree_y,
clearBackground, root_time_step);
}
}