/// <summary>
/// Creates crates that are being imported for exporting.
/// </summary>
private void CreateCrates()
{
for (int i = 0; i < 10; i++)
{
Crate newCrate = new Crate(-1, 0, 25);
importCrates.Add(newCrate);
}
}
public void GiveTask(RobotTask rt)
{
pickupTask = rt.pickUpTask;
dropoffTask = rt.dropOffTask;
_pickupCrate = rt.pickUpCrate;
_pickUpTarget = rt.pickUpTarget;
_dropOffTarget = rt.dropOffTarget;
HandleTask();
}
/// <summary>
/// Creates a Object3D of given type.
/// </summary>
/// <param name="x"></param>
/// <param name="y"></param>
/// <param name="z"></param>
/// <param name="type"></param>
/// <returns></returns>
private Object3D CreateObject(double x, double y, double z, string type)
{
switch (type)
{
case "Robot":
Object3D r = new Robot(x, y, z, 0, 0, 0);
worldObjects.Add(r);
return(r);
case "Export":
Object3D e = new ExportVehicle(x, y, z, 0, Math.PI, 0);
worldObjects.Add(e);
return(e);
case "Import":
Object3D i = new ImportVehicle(x, y, z, 0, 0.5 * Math.PI, 0);
worldObjects.Add(i);
return(i);
case "Crate":
Object3D c = new Crate(x, y, z);
worldObjects.Add(c);
return(c);
case "Shelf":
Object3D s = new StationaryObject(x, y, z, 0, 0, 0, "Shelf");
worldObjects.Add(s);
return(s);
case "Refinery":
Object3D refi = new Refinery(x, y, z, 0, 0, 0);
worldObjects.Add(refi);
return(refi);
default:
throw new ArgumentException("there is no model that corresponds with that type");
}
}
/// <summary>
/// Triggered by robot when droping the crate by DropOffTarget.
/// </summary>
/// <param name="crate"></param>
public void HandelDropOff(Crate crate)
{
this._storedCrate = crate;
crate.Move(position[0], 0.39, position[1]);
_isDone = true;
}
/// <summary>
/// Triggered by robot when droping the crate by DropOffTarget.
/// </summary>
/// <param name="crate"></param>
public void HandelDropOff(Crate crate)
{
LoadWeight(crate.weight);
crate.SetIsDone();
}