void RemoteKinematics::GetHeadMethod::execute(xmlrpc_c::paramList const& paramList, xmlrpc_c::value* const resultP) {
paramList.verifyEnd(1);
bool top_camera = paramList.getBoolean(0);
SensorData<double>::Ptr data;
data = this->m_kinematics->getHeadPosition(top_camera);
xmlrpc_env env;
xmlrpc_env_init(&env);
xmlrpc_value* elem;
xmlrpc_value* values;
xmlrpc_value* result;
values = xmlrpc_array_new(&env);
for (int i = 0; i < data->data.size(); ++i) {
elem = xmlrpc_double_new(&env, data->data[i]);
xmlrpc_array_append_item(&env, values, elem);
xmlrpc_DECREF(elem);
}
elem = xmlrpc_double_new(&env, data->timestamp);
// Create result struct
result = xmlrpc_struct_new(&env);
xmlrpc_struct_set_value(&env, result, "data", values);
xmlrpc_struct_set_value(&env, result, "timestamp", elem);
// Apply result
resultP->instantiate(result);
// Clean this shit!
xmlrpc_DECREF(elem);
xmlrpc_DECREF(values);
xmlrpc_DECREF(result);
xmlrpc_env_clean(&env);
}
void RemoteKinematics::LookAtMethod::execute(xmlrpc_c::paramList const& paramList, xmlrpc_c::value* const resultP) {
paramList.verifyEnd(4);
double x = paramList.getDouble(0);
double y = paramList.getDouble(1);
double z = paramList.getDouble(2);
bool top_camera = paramList.getBoolean(3);
this->m_kinematics->lookAt(x, y, z, top_camera);
*resultP = value_nil();
}
void
execute(const xmlrpc_c::paramList & paramList, xmlrpc_c::value* retvalP) {
// Get the requested mode
bool const hvRequested(paramList.getBoolean(0));
paramList.verifyEnd(1);
TheTransmitControl->setHvRequested(hvRequested);
*retvalP = xmlrpc_c::value_nil();
}
void RemoteKinematics::JointsLookAtMethodLookAtMethod::execute(xmlrpc_c::paramList const& paramList,
xmlrpc_c::value* const resultP) {
paramList.verifyEnd(4);
double x = paramList.getDouble(0);
double y = paramList.getDouble(1);
double z = paramList.getDouble(2);
bool top_camera = paramList.getBoolean(3);
ValuesVectorPtr data = this->m_kinematics->jointsLookAt(x, y, z, top_camera);
xmlrpc_env env;
xmlrpc_env_init(&env);
xmlrpc_value* elem;
xmlrpc_value* values;
values = xmlrpc_array_new(&env);
for (int i = 0; i < data->size(); ++i) {
elem = xmlrpc_double_new(&env, data->at(i));
xmlrpc_array_append_item(&env, values, elem);
xmlrpc_DECREF(elem);
}
resultP->instantiate(values);
// Clean this shit!
xmlrpc_DECREF(values);
xmlrpc_env_clean(&env);
}
