Esempio n. 1
0
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
//~~~~~~~~~~~~~~~~~~~~~~
//   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();
}
Esempio n. 2
0
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();
}
Esempio n. 3
0
WireWriter::WireWriter(ConnectionWriter& writer) : writer(writer) {
    get_mode = get_is_vocab = false;
    need_ok = false;
    writer.convertTextMode();
}