public LRFMapForm(CarSim _carSim,int mapWidth, int mapHeight,double _ScaleToPixel )
{
InitializeComponent();
carSim = _carSim;
LrfBmp = new Bitmap(mapWidth, mapHeight);
ScaleToPixel = _ScaleToPixel;
{
Graphics g = Graphics.FromImage(LrfBmp);
g.FillRectangle(Brushes.Black, 0, 0, mapWidth, mapHeight);
g.Dispose();
}
//picboxLRF.Image = LrfBmp;
//tmr_Update.Enabled = true;
}
/// <summary>
///
/// </summary>
private void SimCarInit()
{
// クルマの配置の初期状態
MarkPoint carInitPos = new MarkPoint(mapFileData.startPosition.x * ScalePixelToReal,
mapFileData.startPosition.y * ScalePixelToReal,
mapFileData.startDir);
// シムカー生成
carPos = new MarkPoint(carInitPos.X, carInitPos.Y, carInitPos.Theta);
carSim = new CarSim(ScalePixelToReal);
carSim.CarInit(carInitPos);
carSim.MapInit(MapBmp);
}