/// <summary>
/// update the odometry positions
/// </summary>
/// <param name="odometry"></param>
public void update(robotOdometry odometry)
{
for (int v = 0; v < viewpoints.Count; v++)
{
viewpoint view = (viewpoint)viewpoints[v];
view.odometry_position = odometry.getPosition(v);
}
}
private robotPath getPath(robot rob, String path, String track, String index, int starting_index, String TrackName, int trackType)
{
robotPath rpath = new robotPath();
robotOdometry odometry = new robotOdometry();
odometry.readPathFileSentience(path + track + "\\" + TrackName + ".path", index, rob);
switch (trackType)
{
case 1:
{
// mapping X track
standardXTrack(2000, 500, odometry, index);
break;
}
case 2:
{
//localisation X track
standardXTrack(2000, -500, odometry, index);
break;
}
case 3:
{
//there and back track
odometry.Clear();
thereAndBack(100, 46, odometry, 110, 0, 0);
break;
}
case 4:
{
//square
odometry.Clear();
squareAndBack(100, 10, 6, odometry, 110);
break;
}
case 5:
{
//special
odometry.Clear();
specialTrack(100, 16, 21, 3, odometry, 110);
break;
}
}
if (odometry.no_of_measurements == 0)
{
errorMessage = path + track + "\\" + TrackName + ".path not found or contains no data. ";
errorMessage += "Check that the path file is included as 'Content' within the project folder";
}
for (int distance_index = 0; distance_index < odometry.no_of_measurements; distance_index++)
{
pos3D pos = odometry.getPosition(distance_index);
rob.x = pos.x;
rob.y = pos.y;
rob.z = pos.z;
rob.pan = pos.pan;
rob.tilt = pos.tilt;
rob.roll = pos.roll;
loadGlimpseSentience(rob, path + track + "\\", TrackName, index, distance_index + starting_index, odometry.no_of_measurements, index);
rob.updatePath(rpath);
}
return (rpath);
}
/// <summary>
/// update the odometry positions
/// </summary>
/// <param name="odometry"></param>
public void update(robotOdometry odometry)
{
for (int v = 0; v < viewpoints.Count; v++)
{
viewpoint view = (viewpoint)viewpoints[v];
view.odometry_position = odometry.getPosition(v);
}
}
private robotPath getPath(robot rob, String path, String track, String index, int starting_index, String TrackName, int trackType)
{
robotPath rpath = new robotPath();
robotOdometry odometry = new robotOdometry();
odometry.readPathFileSentience(path + track + "\\" + TrackName + ".path", index, rob);
switch (trackType)
{
case 1:
{
// mapping X track
standardXTrack(2000, 500, odometry, index);
break;
}
case 2:
{
//localisation X track
standardXTrack(2000, -500, odometry, index);
break;
}
case 3:
{
//there and back track
odometry.Clear();
thereAndBack(100, 46, odometry, 110, 0, 0);
break;
}
case 4:
{
//square
odometry.Clear();
squareAndBack(100, 10, 6, odometry, 110);
break;
}
case 5:
{
//special
odometry.Clear();
specialTrack(100, 16, 21, 3, odometry, 110);
break;
}
}
if (odometry.no_of_measurements == 0)
{
errorMessage = path + track + "\\" + TrackName + ".path not found or contains no data. ";
errorMessage += "Check that the path file is included as 'Content' within the project folder";
}
for (int distance_index = 0; distance_index < odometry.no_of_measurements; distance_index++)
{
pos3D pos = odometry.getPosition(distance_index);
rob.x = pos.x;
rob.y = pos.y;
rob.z = pos.z;
rob.pan = pos.pan;
rob.tilt = pos.tilt;
rob.roll = pos.roll;
loadGlimpseSentience(rob, path + track + "\\", TrackName, index, distance_index + starting_index, odometry.no_of_measurements, index);
rob.updatePath(rpath);
}
return(rpath);
}
