public SensorEstimatedState(SensorModel sensorModel, PhysicalHeliState initialState)
{
_sensors = sensorModel;
_initialState = initialState;
_estimated = new PhysicalHeliState();
Log = new List<HelicopterLogSnapshot>();
}
public void Reset(TimeSpan totalGameTime, HelicopterScenario scenario, NavigationMap heightmap)
{
Console.WriteLine(@"Resetting helicopter.");
_scenario = scenario;
// TODO We would rather want to do Autopilot.Reset() than this fugly code
Autopilot.IsAtDestination = false;
Autopilot = Autopilot.Clone();
Autopilot.Task = scenario.Task.Clone();
Autopilot.Map = heightmap;
Vector3 startPosition = scenario.StartPosition;
Vector3 startVelocity = Vector3.Zero;
Vector3 startAcceleration = Vector3.Zero;
Quaternion startOrientation = Quaternion.Identity;
if (Task.HoldHeightAboveGround > 0)
startPosition.Y = Autopilot.Map.GetAltitude(VectorHelper.ToHorizontal(startPosition)) + Task.HoldHeightAboveGround;
var startPhysicalState = new PhysicalHeliState(
startOrientation, startPosition, startVelocity, startAcceleration);
var initialState = new SimulationStepResults(startPhysicalState, totalGameTime);
_physicalState = startPhysicalState;
// Re-create the state provider when resetting because some sensors will have to re-initialize.
_physics = new HeliPhysics(_collision, UseTerrainCollision);
_sensors = new SensorModel(_sensorSpecifications, Autopilot.Map, startPosition, startOrientation);
_perfectStateProvider = new PerfectState();
_estimatedStateProvider = new SensorEstimatedState(_sensors, startPhysicalState);
// Wait for state to become stable.
// while (!_perfectStateProvider.Ready)
// {
// TODO GPS will require N seconds of startup time
// _perfectStateProvider.Update(initialState, 0, 0, new JoystickOutput());
// Sensors.Update(initialState, new JoystickOutput());
// Thread.Sleep(100);
// }
// When resetting, use perfect state as starting point.
// TODO It should not be necessary to create this waypoint since it should never be used for navigation! Delete if safe.
// Use start position and start orientation instead.
const float defaultWaypointRadius = 5;
var startWaypoint = new Waypoint(startPosition, 0, WaypointType.Intermediate, defaultWaypointRadius);
_trueState = StateHelper.ToHeliState(startPhysicalState, GetHeightAboveGround(startPhysicalState.Position), startWaypoint, new JoystickOutput());
_estimatedState = _trueState;
Log.Clear();
}
