public void Create()
{
int no_of_grids = 2;
int grid_type = metagrid.TYPE_SIMPLE;
int dimension_mm = 3000;
int dimension_vertical_mm = 2000;
int cellSize_mm = 32;
int localisationRadius_mm = 2000;
int maxMappingRange_mm = 2000;
float vacancyWeighting = 0.5f;
metagridBuffer buffer =
new metagridBuffer(
no_of_grids,
grid_type,
dimension_mm,
dimension_vertical_mm,
cellSize_mm,
localisationRadius_mm,
maxMappingRange_mm,
vacancyWeighting);
Assert.AreNotEqual(null, buffer);
Assert.AreNotEqual(null, buffer.buffer);
Assert.AreEqual(2, buffer.buffer.Length);
Assert.AreNotEqual(null, buffer.buffer[0]);
Assert.AreNotEqual(null, buffer.buffer[1]);
buffer.Reset();
}
public void ResetPath()
{
buffer.Reset();
if ((current_path_filename != null) &&
(current_path_filename != ""))
{
overall_map_img = null;
buffer.LoadPath(
current_path_filename,
current_disparities_index_filename,
current_disparities_filename,
ref overall_map_dimension_mm,
ref overall_map_centre_x_mm,
ref overall_map_centre_y_mm);
}
}