public void Execute()
{
if (m_points2Update != null)
{
foreach (var point in m_points2Update)
{
if (point.justColored)
{
m_pointsContainer.ChangeColor(point); // не требуется менять положение
}
else
{
m_pointsContainer.Update(point); // требуется сменить цвет/положение
}
}
}
if (m_observations2Update != null)
{
foreach (var observation in m_observations2Update)
{
m_observationsContainer.Update(observation);
}
}
}
private void UpdateMap <T>(
ICollection <T> source,
Func <T, bool> isNewSelector,
Func <T, bool> isRemovedSelector,
Func <T, bool> justColoredSelector,
Func <T, bool> isValidSelector,
ICloudObjectsContainer <T> map)
{
if (source != null)
{
foreach (var element in source)
{
if (isValidSelector(element))
{
if (isNewSelector(element))
{
map.Add(element);
}
else if (isRemovedSelector(element))
{
map.Remove(element);
}
else if (justColoredSelector(element))
{
map.ChangeColor(element);
}
else
{
map.Update(element);
}
}
}
}
}
private void UpdateConnectionVerticesFor(SlamObservation observation)
{
var allConnectionsOfArg = m_connections.Where(con => (con.first == observation || con.second == observation) && con.lineId != -1);
foreach (var connection in allConnectionsOfArg)
{
SlamLine line = m_lines[connection.lineId];
if (connection.first == observation)
{
line.vert1 = connection.first.Point.position;
line.vert2 = connection.second.Point.position;
}
else
{
line.vert2 = connection.second.Point.position;
line.vert1 = connection.first.Point.position;
}
m_lines.Update(line);
}
}