/// <summary>
/// Configures the point for plotting
/// </summary>
/// <param name="ellipse"></param>
/// <param name="point"></param>
private void ConfigureEllipse(ref Ellipse ellipse, Point point)
{
var polar = Lidar.ConvertToPolar(point);
// Set the color based on how close the point is to the robot
var ellipseColor = Colors.White;
if (controller.Analysis.IsInStopZone(polar.Angle, polar.Distance))
{
ellipseColor = Colors.Red;
}
else if (controller.Analysis.IsInAdjustZone(polar.Angle, polar.Distance))
{
ellipseColor = Colors.Yellow;
}
ellipse.Width = ellipse.Height = 25;
ellipse.Fill = new SolidColorBrush(ellipseColor);
ellipse.Name = "point";
}