/// <summary>
///
/// </summary>
/// <param name="pcl"></param>
/// <param name="laser"></param>
/// <param name="drawRay">to draw raycasts send this as true</param>
/// <returns>true if there are a complete cloud in pcl otherwise return false</returns>
public bool runCasterSequential(ref pclInterface pcl, laserSensor laser, bool drawRay)
{
if (stackDone)//restart
{
currentAngle = topA;
stackDone = false;
}
if (currentAngle >= bottomA)
{
float currentHoriAngle = leftA;
while (currentHoriAngle < rightA)
{
getPointFromRay(currentHoriAngle, currentAngle, maxDist, ref pcl, laser, drawRay);
currentHoriAngle += horiInc;
}
currentAngle -= horiInc;
}
else
{
//Debug.Log("done " + pcl.cloudHasPoints());
stackDone = true;
if (pcl.cloudHasPoints())
{
return(true);
}
}
return(false);
}
/// <summary>
/// when pcl cloud completed return true
/// </summary>
/// <param name="pcl"></param>
/// <param name="laser"></param>
/// <param name="drawRay"></param>
/// <returns></returns>
public bool runCasterSimultaneos(ref pclInterface pcl, laserSensor laser, bool drawRay)
{
float currentVertAngle = topA;
//vertical laser movement
while (currentVertAngle >= bottomA)
{
float currentHoriAngle = leftA;
//horizontal lase movement
while (currentHoriAngle < rightA)
{
getPointFromRay(currentHoriAngle, currentVertAngle, maxDist, ref pcl, laser, drawRay);
currentHoriAngle += horiInc;
}
currentVertAngle -= vertInc;
}
if (pcl.cloudHasPoints())
{
//Debug.Log("Going to be converted");
return(true);
}
return(false);
}
