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 ();
}
/// <summary>
/// Initializes a new instance of the <see cref="SLAM.MapUpdateEventArgs"/> class.
/// </summary>
/// <param name="updatedMap">Updated map.</param>
public MapUpdateEventArgs(SlamMap updatedMap)
{
map = updatedMap;
}
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 ();
}
/// <summary>
/// Initializes a new instance of the <see cref="SLAM.MapView"/> class.
/// </summary>
/// <param name="mapModel">Map model.</param>
public MapView(SlamMap mapModel)
{
this.mapModel = mapModel;
robotView = new RobotView (mapModel.Robot);
landmarkView = new LandmarkView (mapModel.Landmarks);
pathView = new PathView (mapModel.Robot);
// Subscribe to events.
mapModel.MapUpdated += new EventHandler<MapUpdateEventArgs> (Map_Update);
robotView.Robot.RobotUpdated += new EventHandler<RobotUpdateEventArgs> (Robot_Update);
ExposeEvent += OnExpose;
// Map width and height is specified in meters, and we are using
// 1 pixel to every centimeter, so scale up by 100.
viewWidth = (int)(mapModel.Width * 100);
viewHeight = (int)(mapModel.Height * 100);
cellWidth = (int)(mapModel.CellSize * 100);
cellHeight = (int)(mapModel.CellSize * 100);
centerX = (int)(viewWidth / 2);
centerY = (int)(viewHeight / 2);
SetSizeRequest (viewWidth, viewHeight);
}
/// <summary>
/// Initializes a new instance of the <see cref="SLAM.MapView"/> class.
/// </summary>
/// <param name="mapModel">Map model.</param>
public MapView(SlamMap mapModel)
{
this.mapModel = mapModel;
robotView = new RobotView(mapModel.Robot);
landmarkView = new LandmarkView(mapModel.Landmarks);
pathView = new PathView(mapModel.Robot);
// Subscribe to events.
mapModel.MapUpdated += new EventHandler <MapUpdateEventArgs> (Map_Update);
robotView.Robot.RobotUpdated += new EventHandler <RobotUpdateEventArgs> (Robot_Update);
ExposeEvent += OnExpose;
// Map width and height is specified in meters, and we are using
// 1 pixel to every centimeter, so scale up by 100.
viewWidth = (int)(mapModel.Width * 100);
viewHeight = (int)(mapModel.Height * 100);
cellWidth = (int)(mapModel.CellSize * 100);
cellHeight = (int)(mapModel.CellSize * 100);
centerX = (int)(viewWidth / 2);
centerY = (int)(viewHeight / 2);
SetSizeRequest(viewWidth, viewHeight);
}
/// <summary>
/// Initializes a new instance of the <see cref="SLAM.MapUpdateEventArgs"/> class.
/// </summary>
/// <param name="updatedMap">Updated map.</param>
public MapUpdateEventArgs(SlamMap updatedMap)
{
map = updatedMap;
}