static void Main(string[] args)
        {
            SimSensor sensor = new SimSensor(Math.PI/4, -Math.PI/4, 1*Math.PI/180, SensorType.Scan, 30);
            SimObstacleState obsState = new SimObstacleState();
            obsState.Position = new Coordinates(5, 5);
            obsState.Length = 4;
            obsState.Width = 2;
            obsState.Heading = new Coordinates(1, 0);
            Polygon[] poly = new Polygon[] { obsState.ToPolygon() };
            SceneEstimatorUntrackedClusterCollection clusters = new SceneEstimatorUntrackedClusterCollection();
            sensor.GetHits(poly, Coordinates.Zero, 0, clusters);

            SimulatorClient client = new SimulatorClient();
            client.BeginClient();
        }
Пример #2
0
        static void Main(string[] args)
        {
            SimSensor        sensor   = new SimSensor(Math.PI / 4, -Math.PI / 4, 1 * Math.PI / 180, SensorType.Scan, 30);
            SimObstacleState obsState = new SimObstacleState();

            obsState.Position = new Coordinates(5, 5);
            obsState.Length   = 4;
            obsState.Width    = 2;
            obsState.Heading  = new Coordinates(1, 0);
            Polygon[] poly = new Polygon[] { obsState.ToPolygon() };
            SceneEstimatorUntrackedClusterCollection clusters = new SceneEstimatorUntrackedClusterCollection();

            sensor.GetHits(poly, Coordinates.Zero, 0, clusters);

            SimulatorClient client = new SimulatorClient();

            client.BeginClient();
        }