/***************************************************************
* Adds a lifeform with the specified pattern at the mouse coords
***************************************************************/
void Cellular_Automata :: add_lifeform(CA_PATTERN pattern,int mx,int my){
// Round the mouse coordinates to a multiple of the cell diameter
int x = to_nearest_multiple(mx-x_offset, diameter);
int y = to_nearest_multiple(my-y_offset, diameter);
// Create a new lifeform at the rounded coords and
// draw it on the grid
CA_Lifeform lifeform(pattern, x, y, diameter);
draw_lifeform(lifeform);
}
/*
* Create a new person from the provided stamped pose and point cloud, and insert them into the map.
*/
Person& PersonDetector::create_person(const geometry_msgs::Pose& pose, const sensor_msgs::PointCloud2& cloud) {
// Make a new person with the trivial person classifier, for now, and then give them an initial pose.
Person lifeform(_current_uid++);
lifeform.push_pose(pose);
// boost::shared_ptr<PersonClassifier> classifier(new ShirtColorPersonClassifier(cloud, 30.0));
boost::shared_ptr<PersonClassifier> classifier(new TrivialPersonClassifier);
// Then insert them.
tracked()[lifeform.uid()] = lifeform;
classifiers()[lifeform.uid()] = classifier;
// Return a reference to the person in the map.
return tracked()[lifeform.uid()];
}