コード例 #1
0
        /// <summary>
        /// Constructor
        /// </summary>
        /// <param name="mapResolution"></param>
        /// <param name="mapSizeX"></param>
        /// <param name="mapSizeY"></param>
        /// <param name="startCoords"></param>
        /// <param name="multiResSize"></param>
        /// <param name="drawInterface"></param>
        /// <param name="debugInterface"></param>
        public HectorSLAMProcessor(float mapResolution, int mapSizeX, int mapSizeY, Vector2 startCoords, int multiResSize, IDrawInterface drawInterface = null, IHectorDebugInfo debugInterface = null)
        {
            this.drawInterface  = drawInterface;
            this.debugInterface = debugInterface;

            MapRep = new MapRepMultiMap(mapResolution, mapSizeX, mapSizeY, multiResSize, startCoords, drawInterface, debugInterface);

            Reset();

            MinDistanceDiffForMapUpdate = 0.4f * 1.0f;
            MinAngleDiffForMapUpdate    = 0.13f * 1.0f;
        }
コード例 #2
0
        /// <summary>
        /// Constructor
        /// </summary>
        /// <param name="mapResolution">Meters per pixel</param>
        /// <param name="mapSize">Map size in pixels</param>
        /// <param name="startPose">Start pose (X and Y in meters, Z in degrees)</param>
        /// <param name="numDepth">Number of maps</param>
        /// <param name="numThreads">Number of processing threads</param>
        public HectorSLAMProcessor(float mapResolution, Point mapSize, Vector3 startPose, int numDepth, int numThreads, ILogger logger = null)
        {
            this.logger    = logger;
            this.startPose = startPose;

            MapRep      = new MapRepMultiMap(mapResolution, mapSize, numDepth, Vector2.Zero);
            scanMatcher = new ScanMatcher(numThreads, logger);

            // Set initial poses
            MatchPose         = startPose;
            LastMapUpdatePose = new Vector3(float.MinValue, float.MinValue, float.MinValue);
        }