public VFHPathFollower(double maxVelocity, double maxTurn) { INetworkAddressProvider na = new HardcodedAddressProvider(); sick = new SickLMS(na.GetAddressByName("Sick"), new SensorPose()); sick.ScanReceived += new EventHandler<ILidarScanEventArgs<ILidarScan<ILidar2DPoint>>>(sick_ScanReceived); sick.Start(); histogram = new double[361]; this.maxVelocity = maxVelocity; this.maxTurn = maxTurn; }
public HokuyoURG(string port, int scannerId, SensorPose sensorPose, bool useHokuyoTimestamp) { this.port = port; this.scannerId = scannerId; this.sensorPose = sensorPose; this.useHokuyoTimestamp = useHokuyoTimestamp; if (!useHokuyoTimestamp) { INetworkAddressProvider addressProvider = new HardcodedAddressProvider(); //segway = new SegwayRMP50(addressProvider.GetAddressByName("SegwayFeedback"), addressProvider.GetAddressByName("SegwayControl"), false, 1); //segway.Start(); //segway.WheelPositionUpdate += new EventHandler<TimestampedEventArgs<Magic.Common.Robots.IRobotTwoWheelStatus>>(segway_WheelPositionUpdate); ILidar2D lidar = new SickLMS(addressProvider.GetAddressByName("Sick"), new SensorPose(), true); lidar.ScanReceived += new EventHandler<ILidarScanEventArgs<ILidarScan<ILidar2DPoint>>>(lidar_ScanReceived); lidar.Start(); } }