// Sample data.
bool MotionStar::sample()
{
bool retval;
std::vector< gadget::PositionData > cur_samples(mMotionStar.getNumSensors());
retval = false;
if ( isActive() == false )
{
vprDEBUG(vprDBG_ALL, vprDBG_CRITICAL_LVL)
<< clrSetNORM(clrRED) << "MotionStar ("
<< getAddressName() << ") NOT ACTIVE IN SAMPLE\n"
<< clrRESET << vprDEBUG_FLUSH;
}
else
{
try
{
mMotionStar.sample();
// get an initial timestamp for this entire sample. we'll copy it into
// each PositionData for this sample.
if ( ! cur_samples.empty() )
{
cur_samples[0].setTime();
// For each bird
for ( unsigned int i = 0; i < mMotionStar.getNumSensors(); ++i )
{
// Get the index to the current read buffer
cur_samples[i].setTime( cur_samples[0].getTime() );
cur_samples[i].mPosData = mMotionStar.getDeviceData(i);
}
}
// Add the current data as a sample
addPositionSample(cur_samples);
retval = true;
}
catch (...)
{
vprDEBUG(gadgetDBG_INPUT_MGR, vprDBG_CRITICAL_LVL)
<< clrOutNORM(clrRED, "gadget::MotionStar::sample() caught unknown exception")
<< std::endl << vprDEBUG_FLUSH;
retval = false;
}
}
return retval;
}
bool Flock::sample()
{
std::vector<gadget::PositionData> cur_samples(mFlockOfBirds.getNumSensors());
if ( !isActive() )
{
return false;
}
mFlockOfBirds.sample();
// get an initial timestamp for this entire sample. we'll copy it into
// each PositionData for this sample.
if (!cur_samples.empty())
{
cur_samples[0].setTime();
}
vpr::Thread::yield();
// For each bird
for (unsigned i=0; i < mFlockOfBirds.getNumSensors(); ++i)
{
// Transforms between the cord frames
gmtl::Matrix44f transmitter_T_reciever = mFlockOfBirds.getSensorPosition(i);
// Set timestamp & Store the corrected xform back into buffer.
cur_samples[i].mPosData = transmitter_T_reciever;
cur_samples[i].setTime (cur_samples[0].getTime());
}
// Add data sample
addPositionSample(cur_samples);
return true;
}
