public void Init()
{
RobotLocation = new Location(0, 0, 0, 0, 0, 0);
RobotGhostLocation = new Location(0, 0, 0, 0, 0, 0);
WaypointLocations = new List <PointD> {
};
RobotHistorical = new List <Location> {
RobotLocation
};
OnLocalWorldMapEvent?.Invoke(this, this);
}
public void ResetRobot(Location location)
{
RobotLocation = location;
RobotGhostLocation = location;
WaypointLocations = new List <PointD> {
};
RobotHistorical = new List <Location> {
RobotLocation
};
OnResetRobotEvent?.Invoke(this, location);
OnLocalWorldMapEvent?.Invoke(this, this);
}
// public virtual List<PointD> lidarMap { get; set; }
// public virtual List<PointD> lidarMapProcessed { get; set; }
// public virtual Heatmap heatMapStrategy { get; set; }
// public virtual Heatmap heatMapWaypoint { get; set; }
#endregion
#region Constructors
public LocalWorldMap(int robotId, int teamId)
{
RobotId = robotId;
TeamId = teamId;
RobotLocation = new Location(0, 0, 0, 0, 0, 0);
RobotGhostLocation = new Location(0, 0, 0, 0, 0, 0);
WaypointLocations = new List <PointD> {
};
RobotHistorical = new List <Location> {
RobotLocation
};
OnLocalWorldMapEvent?.Invoke(this, this);
LidarCup = new List <Cup>();
}
public void OnLidarProcessedPointReceived(object sender, List <PolarPointRssiExtended> lidarPoints)
{
LidarMapProcessed = lidarPoints.Select(
x => new PointDExtended(
new PointD(
RobotLocation.X + (x.Pt.Distance * Math.Cos(RobotLocation.Theta + x.Pt.Angle)),
RobotLocation.Y + (x.Pt.Distance * Math.Sin(RobotLocation.Theta + x.Pt.Angle))
),
x.Color,
x.Width
)
).ToList();
OnLocalWorldMapEvent?.Invoke(this, this);
}
public void OnUpdateHistoricalLocation(Location location)
{
if (RobotHistorical.Count != 0)
{
Location lastHistorical = RobotHistorical[RobotHistorical.Count - 1];
PointD p1 = new PointD(location.X, location.Y);
PointD p2 = new PointD(lastHistorical.X, lastHistorical.Y);
double distance = Toolbox.Distance(p1, p2);
if (distance >= MINIMAL_WORLD_HISTORICAL_DIST)
{
RobotHistorical.Add(location);
OnNewHistoricalPositionEvent?.Invoke(this, location);
}
}
OnLocalWorldMapEvent?.Invoke(this, this);
}
public void OnGameStateChange(object sender, GameState gameState_a)
{
OnLocalWorldMapEvent?.Invoke(this, this);
}
public void OnLidarProcesObjectsReceived(object sender, List <LidarObjects> lidarObjects)
{
LidarObjectList = lidarObjects;
OnLocalWorldMapEvent?.Invoke(this, this);
}
public void OnLidarProcessedCupReceived(object sender, List <Cup> cups)
{
LidarCup = cups;
OnLocalWorldMapEvent?.Invoke(this, this);
}
public void SetGhostRobotLocation(Location location)
{
RobotGhostLocation = location;
OnLocalWorldMapEvent?.Invoke(this, this);
}
public void DeleteFirstWaypoint()
{
WaypointLocations.RemoveAt(0);
OnLocalWorldMapEvent?.Invoke(this, this);
}
public void ResetDestination()
{
DestinationLocation = null;
OnLocalWorldMapEvent?.Invoke(this, this);
}
public void ResetWaypoints()
{
WaypointLocations = new List <PointD> {
};
OnLocalWorldMapEvent?.Invoke(this, this);
}
public void SetDestinationLocation(Location location)
{
DestinationLocation = location;
OnLocalWorldMapEvent?.Invoke(this, this);
}
public void AddNewWaypoints(PointD location)
{
WaypointLocations.Add(location);
OnLocalWorldMapEvent?.Invoke(this, this);
}
