public RobotTwoWheelStateProvider(IRobotTwoWheel robot, IPoseProvider poseProvider)
{
this.robot = robot;
robot.WheelSpeedUpdate += new EventHandler<Magic.Common.TimestampedEventArgs<IRobotTwoWheelStatus>>(robot_WheelSpeedUpdate);
robot.WheelPositionUpdate += new EventHandler<Magic.Common.TimestampedEventArgs<IRobotTwoWheelStatus>>(robot_WheelPositionUpdate);
poseProvider.NewPoseAvailable += new EventHandler<NewPoseAvailableEventArgs>(poseProvider_NewPoseAvailable);
}
public RobotTwoWheelStateProvider(IRobotTwoWheel robot, IPoseProvider poseProvider)
{
this.robot = robot;
robot.WheelSpeedUpdate += new EventHandler <Magic.Common.TimestampedEventArgs <IRobotTwoWheelStatus> >(robot_WheelSpeedUpdate);
robot.WheelPositionUpdate += new EventHandler <Magic.Common.TimestampedEventArgs <IRobotTwoWheelStatus> >(robot_WheelPositionUpdate);
poseProvider.NewPoseAvailable += new EventHandler <NewPoseAvailableEventArgs>(poseProvider_NewPoseAvailable);
}
public static Pose GetTargetPose(this IPoseProvider poseProvider)
{
return(new Pose(poseProvider.GetTargetPosition(),
poseProvider.GetTargetRotation()));
}