public SLAM(double mapWidth, double mapHeight, double cellSize, string port)
{
robot = new Robot ();
map = new SlamMap (robot, mapWidth, mapHeight, cellSize);
mapView = new MapView (map);
ekfSlam = new EkfSlam (1); // 1 degree per scan.
proxy = SerialProxy.GetInstance;
proxy.Port = port;
proxy.OdometryUpdated += new EventHandler<OdometryUpdateEventArgs> (SerialProxy_OdometryUpdate);
proxy.Scanned += new EventHandler<ScanEventArgs> (SerialProxy_Scan);
window = new MapWindow (mapView);
window.DeleteEvent += delegate
{
proxy.Release ();
};
//AddSampleLandmarks ();
}
public MainClass(string port, int baudRate)
{
proxy = SerialProxy.GetInstance;
proxy.Port = port;
proxy.BaudRate = baudRate;
robot = new Robot ();
proxy.OdometryUpdated += new EventHandler<OdometryUpdateEventArgs> (SerialProxy_OdometryUpdate);
proxy.Scanned += new EventHandler<ScanEventArgs> (SerialProxy_Scan);
proxy.Start ();
}
