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();
}
virtual void get_rate_limit(xmlrpc_c::paramList const& paramList, xmlrpc_c::value* retvalP) {
ACE_TRACE("modEmulateRate_Interface::get_rate");
int rate = 0;
if (paramList.size() > 2 ) {
rate = find_handler(paramList)->getRateLimitAtTime(paramList.getDouble(2));
}
else {
rate = find_handler(paramList)->getRateLimit();
}
*retvalP = xmlrpc_c::value_double(rate);
}
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);
}