public void update()
{
int no_of_cameras = Convert.ToInt32(txtNoOfCameras.Text);
robot new_rob = new robot(no_of_cameras, robot.MAPPING_DPSLAM);
for (int i = 0; i < rob.head.no_of_stereo_cameras; i++)
{
new_rob.head.calibration[i] = rob.head.calibration[i];
new_rob.head.sensormodel[i] = rob.head.sensormodel[i];
}
rob = new_rob;
rob.Name = txtName.Text;
rob.TotalMass_kg = Convert.ToSingle(txtTotalMass.Text);
rob.SetMappingThreads(Convert.ToInt32(txtNoOfThreads.Text));
rob.BodyWidth_mm = Convert.ToSingle(txtBodyWidth.Text);
rob.BodyLength_mm = Convert.ToSingle(txtBodyLength.Text);
rob.BodyHeight_mm = Convert.ToSingle(txtBodyHeight.Text);
rob.BodyShape = cmbBodyShape.SelectedIndex;
rob.propulsionType = Convert.ToInt32(cmbPropulsion.SelectedIndex);
rob.WheelBase_mm = Convert.ToSingle(txtWheelBase.Text);
rob.WheelBaseForward_mm = Convert.ToSingle(txtWheelBaseForward.Text);
rob.WheelDiameter_mm = Convert.ToSingle(txtWheelDiameter.Text);
rob.WheelPositionFeedbackType = Convert.ToInt32(cmbWheelFeedback.SelectedIndex);
rob.GearRatio = Convert.ToInt32(txtGearRatio.Text);
rob.CountsPerRev = Convert.ToInt32(txtCountsPerRev.Text);
rob.MotorNoLoadSpeedRPM = Convert.ToSingle(txtMotorNoLoadSpeedRPM.Text);
rob.MotorTorqueKgMm = Convert.ToSingle(txtMotorTorque.Text);
for (int i = 0; i < rob.head.no_of_stereo_cameras; i++)
{
rob.head.calibration[i].baseline = Convert.ToSingle(txtCameraBaseline.Text);
rob.head.calibration[i].leftcam.camera_FOV_degrees = Convert.ToSingle(txtCameraFOV.Text);
rob.head.calibration[i].rightcam.camera_FOV_degrees = Convert.ToSingle(txtCameraFOV.Text);
rob.head.calibration[i].positionOrientation.roll = Convert.ToSingle(txtRollAngle.Text) * (float)Math.PI / 180.0f;
}
rob.HeadType = Convert.ToInt32(cmbHeadType.SelectedIndex);
rob.HeadSize_mm = Convert.ToSingle(txtHeadSize.Text);
rob.HeadShape = Convert.ToInt32(cmbHeadShape.SelectedIndex);
rob.head.x = Convert.ToSingle(txtHeadPositionLeft.Text);
rob.head.y = Convert.ToSingle(txtHeadPositionForward.Text);
rob.head.z = Convert.ToSingle(txtHeadHeightFromGround.Text);
rob.head.no_of_stereo_cameras = Convert.ToInt32(txtNoOfCameras.Text);
rob.CameraOrientation = Convert.ToInt32(cmbCameraOrientation.SelectedIndex);
rob.LocalGridCellSize_mm = Convert.ToSingle(txtGridCellDimension.Text);
rob.LocalGridLevels = Convert.ToInt32(txtGridLevels.Text);
rob.LocalGridDimension = (int)(Convert.ToInt32(txtGridWidth.Text) / rob.LocalGridCellSize_mm);
rob.LocalGridDimensionVertical = (int)(Convert.ToInt32(txtGridHeight.Text) / rob.LocalGridCellSize_mm);
rob.LocalGridInterval_mm = Convert.ToSingle(txtGridInterval.Text);
rob.LocalGridMappingRange_mm = Convert.ToSingle(txtMappingRange.Text);
rob.LocalGridLocalisationRadius_mm = Convert.ToSingle(txtLocalGridLocalisationRadius.Text);
rob.SetMotionModelTrialPoses(Convert.ToInt32(txtTrialPoses.Text));
rob.SetMotionModelCullingThreshold(Convert.ToInt32(txtCullingThreshold.Text));
rob.EnableScanMatching = chkEnableScanMatching.Checked;
}
