Esempio n. 1
0
		public void Add(DateTime timeStamp, Pose pose)
		{
			m_UtcTimeStamps.Add(timeStamp.ToUniversalTime());
			m_Poses.Add(pose);

			if (pose.X < m_MinX)
			{
				m_MinX = pose.X;
			}
			if (pose.X > m_MaxX)
			{
				m_MaxX = pose.X;
			}

			if (pose.Y < m_MinY)
			{
				m_MinY = pose.Y;
			}
			if (pose.Y > m_MaxY)
			{
				m_MaxY = pose.Y;
			}

			if (m_Poses.Count > 1)
			{
				double dx = m_Poses[m_Poses.Count - 2].X - pose.X;
				double dy = m_Poses[m_Poses.Count - 2].Y - pose.Y;

				m_PathLength += Math.Sqrt(dx * dx + dy * dy);
			}
		}
		private void RaiseNewPoseEvent()
		{
			var handler = NewPose;
			if (handler != null)
			{
				Pose newPose = new Pose(m_RobotPose.Location, m_RobotPose.Heading);
				var e = new PoseEventArgs(newPose);
				handler(this, e);
			}
		}
		public PoseEventArgs(Pose pose)
		{
			this.Pose = pose;
		}
Esempio n. 4
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		public Pose(Pose pose)
		{
			this.Location = pose.Location;
			this.Heading = pose.Heading; ;
		}
Esempio n. 5
0
		public void Add(Pose currentPose)
		{
			Add(DateTime.UtcNow, currentPose);
		}