public SLAM(double mapWidth, double mapHeight, double cellSize, string port)
{
robot = new Robot ();
map = new SlamMap (robot, mapWidth, mapHeight, cellSize);
mapView = new MapView (map);
ekfSlam = new EkfSlam (1); // 1 degree per scan.
proxy = SerialProxy.GetInstance;
proxy.Port = port;
proxy.OdometryUpdated += new EventHandler<OdometryUpdateEventArgs> (SerialProxy_OdometryUpdate);
proxy.Scanned += new EventHandler<ScanEventArgs> (SerialProxy_Scan);
window = new MapWindow (mapView);
window.DeleteEvent += delegate
{
proxy.Release ();
};
//AddSampleLandmarks ();
}
public void Forward(double distance)
{
if (robot.State != RobotState.Halted || robot.State != RobotState.Scanning)
{
robot.Halt();
}
double newPostion = robot.Position [1] + distance;
robot.GoFoward();
while (robot.Position [1] < newPostion)
{
Console.WriteLine(robot.Position [1]);
}
robot.Halt();
Console.WriteLine(robot.Position [1]);
proxy.Release();
}
public SLAM(double mapWidth, double mapHeight, double cellSize, string port)
{
robot = new Robot();
map = new SlamMap(robot, mapWidth, mapHeight, cellSize);
mapView = new MapView(map);
ekfSlam = new EkfSlam(1); // 1 degree per scan.
proxy = SerialProxy.GetInstance;
proxy.Port = port;
proxy.OdometryUpdated += new EventHandler <OdometryUpdateEventArgs> (SerialProxy_OdometryUpdate);
proxy.Scanned += new EventHandler <ScanEventArgs> (SerialProxy_Scan);
window = new MapWindow(mapView);
window.DeleteEvent += delegate
{
proxy.Release();
};
//AddSampleLandmarks ();
}
public static void Main(string[] args)
{
bool continueCommunication = true;
string message;
StringComparer stringComparer = StringComparer.OrdinalIgnoreCase;
SerialProxy proxy = SerialProxy.GetInstance;
Observer observer = new Observer(proxy);
Console.WriteLine("Type QUIT to exit");
while (continueCommunication)
{
message = Console.ReadLine();
if (stringComparer.Equals("quit", message))
{
continueCommunication = false;
}
}
proxy.Release();
}
