private Vector3 MapColor(Values.SensorColors color)
{
switch (color)
{
case Values.SensorColors.Black:
return((Vector4)Color.black);
case Values.SensorColors.Blue:
return((Vector4)Color.blue);
case Values.SensorColors.Cyan:
return((Vector4)Color.cyan);
case Values.SensorColors.Gray:
return((Vector4)Color.gray);
case Values.SensorColors.Green:
return((Vector4)Color.green);
case Values.SensorColors.Magenta:
return((Vector4)Color.magenta);
case Values.SensorColors.Red:
return((Vector4)Color.red);
case Values.SensorColors.White:
return((Vector4)Color.white);
case Values.SensorColors.Yellow:
return((Vector4)Color.yellow);
default:
return(new Vector3(-1F, -1F, -1F));
}
}
public override bool ColorSensor(Values.Sensor sensor, Values.SensorColors color)
{
var sensor_color = GetRGBSensorValue(sensor) / 255F;
switch (color)
{
case Values.SensorColors.Unknown:
bool isUnknown = false;
foreach (var test_color in AllColors)
{
isUnknown |= (sensor_color - MapColor(test_color)).magnitude < 0.25F;
}
return(isUnknown);
default:
var distance = (sensor_color - MapColor(color)).magnitude;
return(distance < 0.25F);
}
}
public abstract bool ColorSensor(Values.Sensor sensor, Values.SensorColors color);
