/// <summary>
/// Constructor
/// </summary>
/// <param name="_bodyModelIndex"></param>
/// <param name="_read_from_file"></param>
public AugerOpenGlForm(int _bodyModelIndex, bool _read_from_file)
{
InitializeComponent();
this._map = new Body3DMap(_bodyModelIndex, true);
this._auger = new Auger(60.0, 0.0, 1081, 400, 400);
// initialization OpenGl variable
this.bodyModelIndex = _bodyModelIndex;
this.read_from_file = _read_from_file;
this.isManualControl = false;
this.loaded = false;
this.transX = 0;
this.transY = 0;
this.transZ = 0;
this.angle = 0.0;
this._graphXZ = new SickLidar.Graph();
this._graphXZ.CreateHokuyoGraph(this.zg1, "Cartesian Coordinates System, XZ Plane", "X(m)", "Z(m)");
}
/// <summary>
/// Initialize Lidar Sensor
/// </summary>
private void LidarConnect()
{
this.isIniLidarInfo = false;
this.graph = new SickLidar.Graph();
this.graph.CreateGraph(zg1);
if (this.LidarReadCheckBox.Checked == false)
{
this.sickLidar = new SickLidar.SickLidar(
this.LidarHostTxtBox.Text,
Convert.ToInt32(this.LidarPortTxtBox.Text),
this.LidarSelectComboBox.SelectedIndex,
Convert.ToDouble(this.LidarScalingTxtBox.Text),
false
);
if (this.LidarSaveCheckBox.Checked == true)
{
this.lidarFile = new SickLidar.File(
this.LidarSaveCheckBox.Checked,
this.LidarReadCheckBox.Checked
);
}
}
else
{
this.sickLidar = new SickLidar.SickLidar(
this.LidarSelectComboBox.SelectedIndex,
Convert.ToDouble(this.LidarScalingTxtBox.Text)
);
this.lidarFile = new SickLidar.File(
this.LidarSaveCheckBox.Checked,
this.LidarReadCheckBox.Checked
);
}
// openGl display
if (this.LidarOpenGlCheckBox.Checked == true)
{
this.lidarOpenGlForm = new LidarOpenGlForm();
this.lidarOpenGlForm.Show();
}
}
/// <summary>
/// Initialize Lidar For Client
/// </summary>
private void InitializeLidarForClient()
{
this.isIniLidarInfo = false;
this.graph = new SickLidar.Graph();
this.graph.CreateGraph(zg1);
this.sickLidar = new SickLidar.SickLidar(
this.LidarSelectComboBox.SelectedIndex,
Convert.ToDouble(this.LidarScalingTxtBox.Text)
);
//this.LidarInitializeSplitAndMerge();
}
/// <summary>
/// basic constructor
/// </summary>
public LidarForm()
{
this.graph = new Graph();
InitializeComponent();
this.graph.CreateGraph(zg1, zg3);
}
/// <summary>
/// basic constructor
/// </summary>
public LidarForm()
{
this.graph = new Graph();
InitializeComponent();
this.graph.CreateGraph(zg1);
}
