public void SetRoom(SemanticRoom room)
{
if (room != null && this.Room == null)
{
this.Room = room;
OntologySystem.instance.ObjectInRoom(Id, room.id);
}
}
//private void FindRobot()
//{
// ros = FindObjectOfType<ROS>();
// if (ros != null)
// {
// robot = ros.transform;
// if (sendResultsToROS)
// {
// ros.RegisterPubPackage("RoomScores_pub");
// ros.RegisterPubPackage("ObjectsInRoom_pub");
// }
// }
//}
public SemanticRoom GetCurrentRoom()
{
RaycastHit hit;
Vector3 position = robot.position;
position.y = -100;
if (Physics.Raycast(position, robot.TransformDirection(Vector3.up), out hit))
{
SemanticRoom room = hit.transform.GetComponent <SemanticRoom>();
if (room != null)
{
currentRoom = room.id;
return(room);
}
else
{
currentRoom = "Unknown";
}
}
return(null);
}
