private void button2_Click(object sender, EventArgs e)
{
Parameters.setN_phi((int)numericUpDown6n_phi.Value);
if (Parameters.getR_robot() != (int)numericUpDown2r_robot.Value)
{
Parameters.setR_robot((int)numericUpDown2r_robot.Value);
environment.recalculateIndoorMap();
}
Parameters.setR_scan((int)numericUpDown1r_scan.Value);
Parameters.setSgm_lmax((int)numericUpDown3sgm_lmax.Value);
Parameters.setSgm_psi_deg((int)numericUpDown4sgm_psi.Value);
Environment.setR_scanNoiseMode((byte)numericUpDown5scan_noise.Value);
switch (currentMode)
{
case 1:
setMode1();
break;
case 2:
setMode2();
break;
case 3:
setMode3();
break;
}
}