/// <summary>
/// Make measurements of all the currently-selected features. Features can be
/// selected using Scene_Single::auto_select_n_features(), or manually using
/// Scene_Single::select_feature(). This calls
/// Scene_Single::starting_measurements() and then Sim_Or_Rob::measure_feature()
/// for each selected feature. Each feature for which a measurement
/// attempt is made has its Feature::attempted_measurements_of_feature and
/// Feature::successful_measurements_of_feature counts updated.
/// </summary>
/// <param name="scene">The SLAM map to use</param>
/// <param name="sim_or_rob">The class to use for measuring features.</param>
/// <returns>The number of features successfully measured.</returns>
public static int make_measurements(Scene_Single scene,
Sim_Or_Rob sim_or_rob,
Random rnd)
{
int count = 0;
if (scene.get_no_selected() == 0)
{
Debug.WriteLine("No features selected.");
return 0;
}
scene.starting_measurements();
Feature it;
Vector z; //best position for the feature within the image
for (int i = 0; i < scene.selected_feature_list.Count; i++)
{
it = (Feature)scene.selected_feature_list[i];
z = it.get_z_noconst();
if (sim_or_rob.measure_feature(it.get_identifier(), ref z, it.get_vz(), it.get_h(), it.get_S(), rnd) == false)
{
// couldn't locate the feature
scene.failed_measurement_of_feature(it);
it.update_velocity(false);
}
else
{
// the feature was found!
scene.successful_measurement_of_feature(it);
it.update_velocity(true);
count++;
}
}
return count;
}