Exemple #1
0
void MVisionSensors::update() {

    ADD_PROTO_TIMESTAMP;

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

    FootBumper leftFootBumper = sensors->getLeftFootBumper();
    PSensors::PFootBumper* lfb = this->mutable_left_foot_bumper();
    lfb->set_left(leftFootBumper.left);
    lfb->set_right(leftFootBumper.right);
    FootBumper rightFootBumper = sensors->getRightFootBumper();
    PSensors::PFootBumper* rfb = this->mutable_right_foot_bumper();
    rfb->set_left(rightFootBumper.left);
    rfb->set_right(rightFootBumper.right);

    this->set_ultra_sound_distance_left(sensors->getUltraSoundLeft());
    this->set_ultra_sound_distance_right(sensors->getUltraSoundRight());

    this->set_battery_charge(sensors->getBatteryCharge());
    this->set_battery_current(sensors->getBatteryCurrent());

    //std::cout << this->DebugString() << std::endl;
}
Exemple #2
0
void Sensors::updateVisionSensorsInMemory(man::memory::MVisionSensors::ptr vs) const {

    using namespace man::memory::proto;

    vs->get()->clear_vision_body_angles();
    vector<float> bodyAngles = this->getVisionBodyAngles();
    for (vector<float>::iterator i = bodyAngles.begin(); i != bodyAngles.end();
            i++) {
        vs->get()->add_vision_body_angles(*i);
    }

    FootBumper leftFootBumper = this->getLeftFootBumper();
    PSensors::PFootBumper* lfb = vs->get()->mutable_left_foot_bumper();
    lfb->set_left(leftFootBumper.left);
    lfb->set_right(leftFootBumper.right);
    FootBumper rightFootBumper = this->getRightFootBumper();
    PSensors::PFootBumper* rfb = vs->get()->mutable_right_foot_bumper();
    rfb->set_left(rightFootBumper.left);
    rfb->set_right(rightFootBumper.right);

    vs->get()->set_ultra_sound_distance_left(this->getUltraSoundLeft());
    vs->get()->set_ultra_sound_distance_right(this->getUltraSoundRight());

    vs->get()->set_battery_charge(this->getBatteryCharge());
    vs->get()->set_battery_current(this->getBatteryCurrent());
}