private void SearchForGenerators(string file)
{
Type baseclass = typeof(PathGenerator);
Assembly assembly = System.Reflection.Assembly.LoadFile(file);
foreach (Type type in assembly.GetTypes())
{
if (type.IsClass && !type.IsAbstract && type.IsSubclassOf(baseclass))
{
PathGenerator gen = (PathGenerator)Activator.CreateInstance(type);
m_generators.Add(gen);
}
}
}
public void GenerateSegments(RobotParams robot, PathGenerator gen)
{
bool needgen = false;
lock (m_lock)
{
if (m_segments == null || m_segments_dirty)
{
needgen = true;
m_segments = null;
m_segments_dirty = false;
}
}
if (needgen)
{
gen.GenerateSegments(robot, this);
}
}
public void GenerateSplines(PathGenerator gen)
{
List <Spline> xsp = new List <Spline>();
List <Spline> ysp = new List <Spline>();
gen.GenerateSplines(this, xsp, ysp);
if (xsp.Count != ysp.Count)
{
throw new Exception("Invalid path generator, GenerateSplines returned different number of X and Y splines");
}
if (xsp.Count != Points.Length - 1)
{
throw new Exception("Invalid path generator, GeneratedSplines did not return N-1 splines for N waypoints");
}
m_splines = new Tuple <Spline, Spline> [xsp.Count];
for (int i = 0; i < xsp.Count; i++)
{
Tuple <Spline, Spline> t = new Tuple <Spline, Spline>(xsp[i], ysp[i]);
m_splines[i] = t;
}
}