/// <summary>
/// load a robot design file
/// </summary>
/// <param name="filename"></param>
public void LoadRobot(String filename)
{
if (rob.Load(filename))
{
motionModel motion_model = rob.GetBestMotionModel();
txtName.Text = rob.Name;
txtTotalMass.Text = Convert.ToString(rob.TotalMass_kg);
txtNoOfThreads.Text = Convert.ToString(rob.GetMappingThreads());
txtBodyWidth.Text = Convert.ToString(rob.BodyWidth_mm);
txtBodyLength.Text = Convert.ToString(rob.BodyLength_mm);
txtBodyHeight.Text = Convert.ToString(rob.BodyHeight_mm);
cmbBodyShape.SelectedIndex = Convert.ToInt32(rob.BodyShape);
cmbPropulsion.SelectedIndex = rob.propulsionType;
txtWheelBase.Text = Convert.ToString(rob.WheelBase_mm);
txtWheelBaseForward.Text = Convert.ToString(rob.WheelBaseForward_mm);
txtWheelDiameter.Text = Convert.ToString(rob.WheelDiameter_mm);
cmbWheelFeedback.SelectedIndex = rob.WheelPositionFeedbackType;
txtGearRatio.Text = Convert.ToString(rob.GearRatio);
txtCountsPerRev.Text = Convert.ToString(rob.CountsPerRev);
txtMotorNoLoadSpeedRPM.Text = Convert.ToString(rob.MotorNoLoadSpeedRPM);
txtMotorTorque.Text = Convert.ToString(rob.MotorTorqueKgMm);
txtCameraBaseline.Text = Convert.ToString(rob.head.calibration[0].baseline);
txtCameraFOV.Text = Convert.ToString(rob.head.calibration[0].leftcam.camera_FOV_degrees);
txtRollAngle.Text = Convert.ToString(rob.head.calibration[0].positionOrientation.roll * 180.0f / (float)Math.PI);
cmbHeadType.SelectedIndex = rob.HeadType;
txtHeadSize.Text = Convert.ToString(rob.HeadSize_mm);
cmbHeadShape.SelectedIndex = rob.HeadShape;
txtHeadHeightFromGround.Text = Convert.ToString(rob.head.z);
txtHeadPositionLeft.Text = Convert.ToString(rob.head.x);
txtHeadPositionForward.Text = Convert.ToString(rob.head.y);
txtNoOfCameras.Text = Convert.ToString(rob.head.no_of_stereo_cameras);
cmbCameraOrientation.SelectedIndex = rob.CameraOrientation;
txtGridLevels.Text = Convert.ToString(rob.LocalGridLevels);
txtGridWidth.Text = Convert.ToString(rob.LocalGridDimension * rob.LocalGridCellSize_mm);
txtGridHeight.Text = Convert.ToString(rob.LocalGridDimensionVertical * rob.LocalGridCellSize_mm);
txtGridCellDimension.Text = Convert.ToString(rob.LocalGridCellSize_mm);
txtGridInterval.Text = Convert.ToString(rob.LocalGridInterval_mm);
txtMappingRange.Text = Convert.ToString(rob.LocalGridMappingRange_mm);
txtLocalGridLocalisationRadius.Text = Convert.ToString(rob.LocalGridLocalisationRadius_mm);
txtTrialPoses.Text = Convert.ToString(motion_model.survey_trial_poses);
txtCullingThreshold.Text = Convert.ToString(motion_model.cull_threshold);
chkEnableScanMatching.Checked = rob.EnableScanMatching;
updateSensorModelStatus();
}
}
