虚拟墙 / 虚拟轨道的删除、添加与移动

需要：

软件平台：

Visual Studio 2010 

Slamware Windows SDK: https://download.slamtec.com/api/download/slamware-sdk-windows/2.5.0%20dev%2020170718?lang=netural

RoboStudio(显示虚拟轨道和虚拟墙): https://download.slamtec.com/api/download/robostudio-installer-win32/1.1.0_rtm?lang=netural

Sample Code: 

硬件平台：

（以下任选其一）

Slamware SDP mini 

Slamware SDP

Slamware 套装 （基于Slamware导航方案的用户机器人系统）

Zeus/Apollo等底盘系统

编译运行：

      准备工作： 开启机器人系统电源，并用RoboStudio连上机器人.

1. 在sample code所在文件夹中，打开 samples.sln
2. 右键artifacts_demo, 打开属性选项，将Slamware SDK 的include目录和lib目录添加到工程
   
3. 右键artifacts_demo, 将此工程设置成StartUp project
4. 右键artifacts_demo, 在Debugging页面中command Arguments处输入 192.168.11.1 (Slamware AP 模式默认IP地址)。 注： 此sample为 windows console application, 也可以在console中用命令行执行，用法为：artifacts_demo <IP address> 
   
5. 点击F5运行
6. 此时RoboStudio的显示过程为
   
7. Console输出为
   
8. 选择console中输出的虚拟轨道ID来删除一条轨道，视频中输入ID为3

描述：

1. 代码功能说明： 删除所有虚拟墙/虚拟轨道、添加虚拟墙、添加虚拟轨道、移动虚拟墙（移动虚拟轨道用法类似）、删除指定虚拟轨道（删除指定虚拟墙用法类似）

   删除所有虚拟轨道/虚拟墙

   		SlamwareCorePlatform sdp = SlamwareCorePlatform::connect(argv[1], 1445);
           std::cout << "Clearing existing tracks and walls..." << std::endl;
   		sdp.clearLines(ArtifactUsageVirtualTrack);
   		sdp.clearLines(ArtifactUsageVirtualWall);

   添加虚拟墙

   		std::cout << "Adding virtual walls..." << std::endl;
   		std::vector<Line> walls;
   		//add a 8 * 8 virtual wall square
   		walls.push_back(Line(Point(-4, -4), Point(-4, 4)));
   		walls.push_back(Line(Point(-4, 4), Point(4, 4)));
   	    walls.push_back(Line(Point(4, 4), Point(4, -4)));
   		walls.push_back(Line(Point(4, -4), Point(-4, -4)));	
   		sdp.addLines(ArtifactUsageVirtualWall, walls);	

   添加虚拟轨道

   		std::cout << "Adding virtual tracks..." << std::endl;
   		std::vector<Line> tracks;
   		//add a 2 * 2 virtual track square
   		tracks.push_back(Line(Point(-1, -1), Point(-1, 1)));
   		tracks.push_back(Line(Point(-1, 1), Point(1, 1)));
   		tracks.push_back(Line(Point(1, 1), Point(1, -1)));
   		tracks.push_back(Line(Point(1, -1), Point(-1, -1)));	
   		sdp.addLines(ArtifactUsageVirtualTrack, tracks);

   移动虚拟墙

   		std::cout << "Moving vitual walls..." << std::endl;
   		//sleep 5 seconds for displaying purpose only, not necessary
   		boost::this_thread::sleep_for(boost::chrono::milliseconds(5000)); 
   		std::vector<Line> get_walls = sdp.getLines(ArtifactUsageVirtualWall);
   		//shrink virtual wall square from 8 * 8 to 6 *6
   		for (std::vector<Line>::iterator it = get_walls.begin() ; it != get_walls.end(); ++it) {			
   			it->startP().x() = it->startP().x() > 0 ?  --(it->startP().x()) : ++(it->startP().x()); 
   			it->startP().y() = it->startP().y() > 0 ?  --(it->startP().y()) : ++(it->startP().y());
   			it->endP().x() = it->endP().x() > 0 ?  --(it->endP().x()) : ++(it->endP().x()); 
   			it->endP().y() = it->endP().y() > 0 ?  --(it->endP().y()) : ++(it->endP().y());	
   		}
   		sdp.moveLines(ArtifactUsageVirtualWall, get_walls);

   删除指定虚拟轨道

   		std::cout << "Get all tracks..." << std::endl;
   		std::vector<Line> get_tracks = sdp.getLines(ArtifactUsageVirtualTrack);
   		for (std::vector<Line>::iterator it = get_tracks.begin() ; it != get_tracks.end(); ++it) {
   			std::cout << "ID: " << it->id() << std::endl;
   			std::cout << "Start from (" << it->startP().x() << " , " << it->startP().y() << ") " << "to (" 
   				      << it->endP().x() << " , " << it->endP().y() << " ) " << std::endl;		
   		}
   
   		std::cout << "Delete track by ID, please enter track ID:" << std::endl;
   		int id;
   	    bool is_found = false;
   		std::cin >> id ;
   		for (std::vector<Line>::iterator it = get_tracks.begin() ; it != get_tracks.end(); ++it) {
   			if (id == it->id()) {
   				sdp.removeLineById(ArtifactUsageVirtualTrack, id);
   				is_found = true;
   				break;
   			}
   		}
   		if(!is_found)
   			std::cout << "Wrong ID" << std::endl;