public void OnLineLandmarksReceived(object sender, List <Tuple <double, double> > list_of_lines)
{
List <SegmentExtended> list_of_segments = new List <SegmentExtended>();
foreach (Tuple <double, double> lines in list_of_lines)
{
double slope = lines.Item1;
double y_intercept = lines.Item2;
double positive = 1000;
double negative = -1000;
PointD point_positive = new PointD(positive, slope * positive + y_intercept);
PointD point_negative = new PointD(negative, slope * negative + y_intercept);
list_of_segments.Add(new SegmentExtended(point_negative, point_positive, Color.Red, 5));
}
OnLidarProcessedSegmentsEvent?.Invoke(this, new SegmentExtendedListArgs {
RobotId = robotId, SegmentList = list_of_segments
});
}
public virtual void OnLidarProcessedSegments(object sender, SegmentExtendedListArgs e)
{
OnLidarProcessedSegmentsEvent?.Invoke(this, e);
}
