public void OnLineLandmarksReceived(object sender, List <Tuple <double, double> > list_of_lines) { List <SegmentExtended> list_of_segments = new List <SegmentExtended>(); foreach (Tuple <double, double> lines in list_of_lines) { double slope = lines.Item1; double y_intercept = lines.Item2; double positive = 1000; double negative = -1000; PointD point_positive = new PointD(positive, slope * positive + y_intercept); PointD point_negative = new PointD(negative, slope * negative + y_intercept); list_of_segments.Add(new SegmentExtended(point_negative, point_positive, Color.Red, 5)); } OnLidarProcessedSegmentsEvent?.Invoke(this, new SegmentExtendedListArgs { RobotId = robotId, SegmentList = list_of_segments }); }
public virtual void OnLidarProcessedSegments(object sender, SegmentExtendedListArgs e) { OnLidarProcessedSegmentsEvent?.Invoke(this, e); }