/// <summary>
/// Creates entire FiducialMapEntryArrayMsg to be published.
/// </summary>
private FiducialMapEntryArrayMsg GetFiducialMapForPublish()
{
FiducialMapEntryMsg[] mapEntries = new FiducialMapEntryMsg[_fiducialObjects.Count];
for (int i = 0; i < _fiducialObjects.Count; i++)
{
FiducialObject f = _fiducialObjects.ElementAt(i).Value;
mapEntries[i] = CreateFiducialMapEntryMessage(f.Id, f.Position, f.Rotation);
}
return(new FiducialMapEntryArrayMsg(mapEntries));
}
private Fiducial InstantiateFiducial(FiducialObject fiducial)
{
Fiducial newFiducial = (Instantiate(Resources.Load(FIDUCIAL_RESOURCE_NAME), _fiducials[ZeroFiducial.FiducialId].transform) as GameObject).GetComponent <Fiducial>();
newFiducial.transform.position = fiducial.Position.ToUTM().ToUnity();
newFiducial.transform.eulerAngles = fiducial.Rotation.ToUnity();
newFiducial.name = fiducial.Id.ToString();
newFiducial.FiducialId = fiducial.Id;
_fiducials.Add(fiducial.Id, newFiducial);
float heightAboveFloor = MazeMapController.Instance.GetHeightAboveFloor(newFiducial.transform.position.y);
newFiducial.InitaliseFloorMarker(heightAboveFloor);
return(newFiducial);
}
