public static string ToJson(this WorldStateMessage self) => JsonConvert.SerializeObject(self, Converter.Settings);
public WorldStateMessage ConvertToWorldStateMessage()
{
WorldStateMessage wsm = new WorldStateMessage();
foreach (var teamMate in teammateLocationList)
{
Robot r = new Robot();
r.Id = teamMate.Key;
r.Pose = new List <double>()
{
teamMate.Value.X, teamMate.Value.Y, teamMate.Value.Theta
};
r.TargetPose = new List <double>()
{
0, 0, 0
};
r.Velocity = new List <double>()
{
teamMate.Value.Vx, teamMate.Value.Vy, teamMate.Value.Vtheta
};
r.Intention = "";
r.BatteryLevel = 100;
r.BallEngaged = 0;
wsm.Robots.Add(r);
}
//On prend par défaut la première balle du premier robot
Ball b = new Ball();
b.Position = new List <double?>()
{
ballLocationList[0].X, ballLocationList[0].X, 0
};
b.Velocity = new List <double?>()
{
ballLocationList[0].Vx, ballLocationList[0].Vy, 0
};
b.Confidence = 1;
wsm.Balls.Add(b);
foreach (var o in obstacleLocationList)
{
Obstacle obstacle = new Obstacle();
obstacle.Position = new List <double>()
{
o.X, o.Y
};
obstacle.Velocity = new List <double>()
{
o.Vx, o.Vy
};
obstacle.Radius = 0.5;
obstacle.Confidence = 1;
wsm.Obstacles.Add(obstacle);
}
wsm.Intention = "Win";
wsm.AgeMs = timeStampMs;
wsm.TeamName = "RCT";
wsm.Type = "worldstate";
return(wsm);
}