public PerceptionSimulator(int id)
{
robotPerception = new Perception();
robotPerception.obstaclesLocationList = new List <Location>();
physicalObjectList = new List <Location>();
robotId = id;
}
public virtual void OnPerception(Perception perception)
{
var handler = OnPerceptionEvent;
if (handler != null)
{
handler(this, new PerceptionArgs {
RobotId = robotId, Perception = perception
});
}
}
//bool replayModeActivated = false;
public PerceptionManager(int id, GameMode compet)
{
robotId = id;
competition = compet;
globalWorldMap = new GlobalWorldMap();
robotPerception = new Perception();
physicalObjectList = new List <LocationExtended>();
//Chainage des modules composant le Perception Manager
absolutePositionEstimator = new AbsolutePositionEstimator(robotId);
lidarProcessor = new LidarProcessor.LidarProcessor(robotId, competition);
lidarProcessor.OnLidarBalisesListExtractedEvent += absolutePositionEstimator.OnLidarBalisesListExtractedEvent;
lidarProcessor.OnLidarBalisePointListForDebugEvent += OnLidarBalisePointListForDebugReceived;
lidarProcessor.OnLidarObjectProcessedEvent += OnLidarObjectsReceived;
lidarProcessor.OnLidarProcessedEvent += OnLidarProcessedData;
absolutePositionEstimator.OnAbsolutePositionCalculatedEvent += OnAbsolutePositionCalculatedEvent;
PerceptionMonitor.swPerception.Start();
}
public virtual void OnPerception(Perception perception)
{
OnPerceptionEvent?.Invoke(this, new PerceptionArgs {
RobotId = robotId, Perception = perception
});
}