/// <summary> /// Constructor /// </summary> /// <param name="connection">Robot connection</param> /// <param name="markInfo">Checkpoint mark information</param> /// <param name="startLookDirection">Start look direction</param> public WalkToNaoMark(NaoConnectionHelper connection, WalkToLandMarkInfo markInfo, FindNaoMark.LookDirection startLookDirection = FindNaoMark.LookDirection.Left) { this.MarkInfo = markInfo; this.StartLookDirection = startLookDirection; this._robotConnectionHelper = connection; if (!_robotConnectionHelper.TestConnection(string.Empty)) { throw new ArgumentException("Could not connect to the robot!"); } _walkWorker.DoWork += new DoWorkEventHandler(_walkWorker_DoWork); _walkWorker.WorkerSupportsCancellation = true; _walkWorker.RunWorkerCompleted += new RunWorkerCompletedEventHandler(_walkWorker_RunWorkerCompleted); }
/// <summary> /// Constructor /// </summary> /// <param name="robotIP">Robot ip</param> /// <param name="robotPort">Robot port</param> /// <param name="markInfo">Checkpoint mark information</param> /// <param name="startLookDirection">Start look direction</param> public WalkToNaoMark(string robotIP, int robotPort, WalkToLandMarkInfo markInfo, FindNaoMark.LookDirection startLookDirection = FindNaoMark.LookDirection.Left) : this(new NaoConnectionHelper(robotIP, robotPort), markInfo, startLookDirection) { }