// Update is called once per frame
void FixedUpdate () {
ekf_generator ekf = (ekf_generator) target.GetComponent(typeof(ekf_generator));
if (ekf.isRunning ())
{
float new_x = target.transform.position.x;
float new_y = target.transform.position.y;
transform.position = new Vector3 (new_x, new_y, -1);
}
else
{
if (Input.GetKey (KeyCode.RightArrow)) {
transform.Translate (new Vector3 (0.2f * (zoom / 5), 0, 0));
}
if (Input.GetKey (KeyCode.LeftArrow)) {
transform.Translate (new Vector3 (-0.2f * (zoom / 5), 0, 0));
}
if (Input.GetKey (KeyCode.DownArrow)) {
transform.Translate (new Vector3 (0, -0.2f * (zoom / 5), 0));
}
if (Input.GetKey (KeyCode.UpArrow)) {
transform.Translate (new Vector3 (0, 0.2f * (zoom / 5), 0));
}
}
}
void Estimate(SocketIOEvent obj)
{
JSONObject jsonObject = obj.data;
if (kalman_filter.isRunning())
{
float estimate_x = float.Parse(jsonObject.GetField("estimate_x").ToString());
float estimate_y = float.Parse(jsonObject.GetField("estimate_y").ToString());
float rmse_x = float.Parse(jsonObject.GetField("rmse_x").ToString());
float rmse_y = float.Parse(jsonObject.GetField("rmse_y").ToString());
float rmse_vx = float.Parse(jsonObject.GetField("rmse_vx").ToString());
float rmse_vy = float.Parse(jsonObject.GetField("rmse_vy").ToString());
kalman_filter.Estimate(estimate_x, estimate_y);
kalman_filter.SetRmse(rmse_x, rmse_y, rmse_vx, rmse_vy);
}
EmitTelemetry(obj);
}
