/// <summary>
/// Initializes a new instance of the <see cref="SLAM.MapView"/> class.
/// </summary>
/// <param name="mapModel">Map model.</param>
public MapView(SlamMap mapModel)
{
this.mapModel = mapModel;
robotView = new RobotView (mapModel.Robot);
landmarkView = new LandmarkView (mapModel.Landmarks);
pathView = new PathView (mapModel.Robot);
// Subscribe to events.
mapModel.MapUpdated += new EventHandler<MapUpdateEventArgs> (Map_Update);
robotView.Robot.RobotUpdated += new EventHandler<RobotUpdateEventArgs> (Robot_Update);
ExposeEvent += OnExpose;
// Map width and height is specified in meters, and we are using
// 1 pixel to every centimeter, so scale up by 100.
viewWidth = (int)(mapModel.Width * 100);
viewHeight = (int)(mapModel.Height * 100);
cellWidth = (int)(mapModel.CellSize * 100);
cellHeight = (int)(mapModel.CellSize * 100);
centerX = (int)(viewWidth / 2);
centerY = (int)(viewHeight / 2);
SetSizeRequest (viewWidth, viewHeight);
}
/// <summary>
/// Initializes a new instance of the <see cref="SLAM.MapView"/> class.
/// </summary>
/// <param name="mapModel">Map model.</param>
public MapView(SlamMap mapModel)
{
this.mapModel = mapModel;
robotView = new RobotView(mapModel.Robot);
landmarkView = new LandmarkView(mapModel.Landmarks);
pathView = new PathView(mapModel.Robot);
// Subscribe to events.
mapModel.MapUpdated += new EventHandler <MapUpdateEventArgs> (Map_Update);
robotView.Robot.RobotUpdated += new EventHandler <RobotUpdateEventArgs> (Robot_Update);
ExposeEvent += OnExpose;
// Map width and height is specified in meters, and we are using
// 1 pixel to every centimeter, so scale up by 100.
viewWidth = (int)(mapModel.Width * 100);
viewHeight = (int)(mapModel.Height * 100);
cellWidth = (int)(mapModel.CellSize * 100);
cellHeight = (int)(mapModel.CellSize * 100);
centerX = (int)(viewWidth / 2);
centerY = (int)(viewHeight / 2);
SetSizeRequest(viewWidth, viewHeight);
}
