//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
//~~~~~~~~~~~~~~~~~~~~~~
// SERIALIZATION methods
//~~~~~~~~~~~~~~~~~~~~~~
bool dynContact::write(ConnectionWriter& connection) const{
// represent a dynContact as a list of 4 elements that are:
// - a list of 3 int, i.e. contactId, bodyPart, linkNumber
// - a list of 3 double, i.e. the CoP
// - a list of 3 double, i.e. the force
// - a list of 3 double, i.e. the moment
connection.appendInt(BOTTLE_TAG_LIST);
connection.appendInt(4);
// list of 3 int, i.e. contactId, bodyPart, linkNumber
connection.appendInt(BOTTLE_TAG_LIST + BOTTLE_TAG_INT);
connection.appendInt(3);
connection.appendInt(contactId);
connection.appendInt(bodyPart); // left_arm, right_arm, ...
connection.appendInt(linkNumber);
// list of 3 double, i.e. the CoP
connection.appendInt(BOTTLE_TAG_LIST + BOTTLE_TAG_DOUBLE);
connection.appendInt(3);
for(int i=0;i<3;i++) connection.appendDouble(CoP[i]);
// list of 3 double, i.e. the force
connection.appendInt(BOTTLE_TAG_LIST + BOTTLE_TAG_DOUBLE);
connection.appendInt(3);
for(int i=0;i<3;i++) connection.appendDouble(F[i]);
// list of 3 double, i.e. the moment
connection.appendInt(BOTTLE_TAG_LIST + BOTTLE_TAG_DOUBLE);
connection.appendInt(3);
for(int i=0;i<3;i++) connection.appendDouble(Mu[i]);
// if someone is foolish enough to connect in text mode,
// let them see something readable.
connection.convertTextMode();
return !connection.isError();
}
bool Stamp::write(ConnectionWriter& connection) {
connection.appendInt(BOTTLE_TAG_LIST); // nested structure
connection.appendInt(2); // with two elements
connection.appendInt(BOTTLE_TAG_INT);
connection.appendInt(sequenceNumber);
connection.appendInt(BOTTLE_TAG_DOUBLE);
connection.appendDouble(timeStamp);
connection.convertTextMode();
return !connection.isError();
}