Exemplo n.º 1
0
        /// <summary>
        /// Remove all the localization and mapping history and start it again from the current position.
        /// </summary>
        public virtual void ResetHistory()
        {
            WayTrajectories.Clear();
            WayMaps.Clear();

            WayTrajectories.Add(Tuple.Create(0.0, new TimedState {
                Tuple.Create(0.0, Util.SClone(BestEstimate.Pose.State))
            }));
            WayMaps.Add(Tuple.Create(0.0, new Map(3)));
        }
Exemplo n.º 2
0
        /// <summary>
        /// Update the trajectory history with the
        /// current best estimate and a given time.
        /// </summary>
        /// <param name="time">Provides a snapshot of timing values.</param>
        protected void UpdateTrajectory(GameTime time)
        {
            TimedState waypoints = new TimedState(BestEstimate.WayPoints);

            WayTrajectories.Add(Tuple.Create(time.TotalGameTime.TotalSeconds, waypoints));
        }