static void Main(string[] args) { SimSensor sensor = new SimSensor(Math.PI/4, -Math.PI/4, 1*Math.PI/180, SensorType.Scan, 30); SimObstacleState obsState = new SimObstacleState(); obsState.Position = new Coordinates(5, 5); obsState.Length = 4; obsState.Width = 2; obsState.Heading = new Coordinates(1, 0); Polygon[] poly = new Polygon[] { obsState.ToPolygon() }; SceneEstimatorUntrackedClusterCollection clusters = new SceneEstimatorUntrackedClusterCollection(); sensor.GetHits(poly, Coordinates.Zero, 0, clusters); SimulatorClient client = new SimulatorClient(); client.BeginClient(); }
static void Main(string[] args) { SimSensor sensor = new SimSensor(Math.PI / 4, -Math.PI / 4, 1 * Math.PI / 180, SensorType.Scan, 30); SimObstacleState obsState = new SimObstacleState(); obsState.Position = new Coordinates(5, 5); obsState.Length = 4; obsState.Width = 2; obsState.Heading = new Coordinates(1, 0); Polygon[] poly = new Polygon[] { obsState.ToPolygon() }; SceneEstimatorUntrackedClusterCollection clusters = new SceneEstimatorUntrackedClusterCollection(); sensor.GetHits(poly, Coordinates.Zero, 0, clusters); SimulatorClient client = new SimulatorClient(); client.BeginClient(); }