C++ (Cpp) PInertial::set_acc_x Examples

Example #1

File: MMotionSensors.cpp Project: alucyk/nbites

void MMotionSensors::update() {

    ADD_PROTO_TIMESTAMP;

    this->clear_body_angles();
    vector<float> bodyAngles = sensors->getBodyAngles();
    for (vector<float>::iterator i = bodyAngles.begin(); i != bodyAngles.end(); i++) {
        this->add_body_angles(*i);
    }

    this->clear_body_temperatures();
    vector<float> bodyTemperatures = sensors->getBodyTemperatures();
    for (vector<float>::iterator i = bodyTemperatures.begin(); i != bodyTemperatures.end(); i++) {
        this->add_body_temperatures(*i);
    }

    const Inertial _inertial = sensors->getInertial();
    PSensors::PInertial* inertial = this->mutable_inertial();
    inertial->set_acc_x(_inertial.accX);
    inertial->set_acc_y(_inertial.accY);
    inertial->set_acc_z(_inertial.accZ);
    inertial->set_gyr_x(_inertial.accX);
    inertial->set_gyr_y(_inertial.accY);
    inertial->set_angle_x(_inertial.angleX);
    inertial->set_angle_y(_inertial.angleY);

    const FSR _lfsr = sensors->getLeftFootFSR();
    PSensors::PFSR* lfsr = this->mutable_left_foot_fsr();
    lfsr->set_front_left(_lfsr.frontLeft);
    lfsr->set_front_right(_lfsr.frontRight);
    lfsr->set_rear_left(_lfsr.rearLeft);
    lfsr->set_rear_right(_lfsr.rearRight);
    const FSR _rfsr = sensors->getRightFootFSR();
    PSensors::PFSR* rfsr = this->mutable_right_foot_fsr();
    rfsr->set_front_left(_rfsr.frontLeft);
    rfsr->set_front_right(_rfsr.frontRight);
    rfsr->set_rear_left(_rfsr.rearLeft);
    rfsr->set_rear_right(_rfsr.rearRight);

    this->set_support_foot(sensors->getSupportFoot());
}

Example #2

File: Sensors.cpp Project: WangHanbin/nbites

void Sensors::updateMotionSensorsInMemory(man::memory::MMotionSensors::ptr ms) const {

    using namespace man::memory::proto;

    ms->get()->clear_body_angles();
    vector<float> bodyAngles = this->getBodyAngles();
    for (vector<float>::iterator i = bodyAngles.begin(); i != bodyAngles.end(); i++) {
        ms->get()->add_body_angles(*i);
    }

    ms->get()->clear_body_temperatures();
    vector<float> bodyTemperatures = this->getBodyTemperatures();
    for (vector<float>::iterator i = bodyTemperatures.begin(); i != bodyTemperatures.end(); i++) {
        ms->get()->add_body_temperatures(*i);
    }

    const Inertial _inertial = this->getInertial();
    PSensors::PInertial* inertial = ms->get()->mutable_inertial();
    inertial->set_acc_x(_inertial.accX);
    inertial->set_acc_y(_inertial.accY);
    inertial->set_acc_z(_inertial.accZ);
    inertial->set_gyr_x(_inertial.accX);
    inertial->set_gyr_y(_inertial.accY);
    inertial->set_angle_x(_inertial.angleX);
    inertial->set_angle_y(_inertial.angleY);

    const FSR _lfsr = this->getLeftFootFSR();
    PSensors::PFSR* lfsr = ms->get()->mutable_left_foot_fsr();
    lfsr->set_front_left(_lfsr.frontLeft);
    lfsr->set_front_right(_lfsr.frontRight);
    lfsr->set_rear_left(_lfsr.rearLeft);
    lfsr->set_rear_right(_lfsr.rearRight);
    const FSR _rfsr = this->getRightFootFSR();
    PSensors::PFSR* rfsr = ms->get()->mutable_right_foot_fsr();
    rfsr->set_front_left(_rfsr.frontLeft);
    rfsr->set_front_right(_rfsr.frontRight);
    rfsr->set_rear_left(_rfsr.rearLeft);
    rfsr->set_rear_right(_rfsr.rearRight);

    ms->get()->set_support_foot(this->getSupportFoot());
}