long long int getDataOffset(hokuyo::Laser &laser, int cycles)
{
int ckreps = 1;
int scanreps = 1;
long long int pre = getClockOffset(laser, ckreps);
std::vector<long long int> samples(cycles);
for (int i = 0; i < cycles; i++)
{
long long int scan = getScanOffset(laser, ckreps);
long long int post = getClockOffset(laser, scanreps);
samples[i] = scan - (post+pre)/2;
// printf("%lli %lli %lli %lli\n", samples[i], post, pre, scan);
// fflush(stdout);
pre = post;
}
printf("%lli\n", median(samples));
return median(samples);
}
void Opponent::updateOpponentPositionFromNetworkUpdate(OpponentUpdate* update) {
// Calculate the estimated temporal delay between this opponent and our own internal game clock (used in our interpolation calculations)
float temporalDelay = GameClock::getInstance()->getClock() - update->getTimeStamp() + getClockOffset();
b2Vec2 networkUpdateVelocity = b2Vec2(update->getLinearVelocityX(), update->getLinearVelocityY());
b2Vec2 worldPosition = b2Vec2(update->getWorldPositionX(), update->getWorldPositionY());
_interpolator->updateSpritePositionFromNetworkUpdate(temporalDelay, worldPosition, networkUpdateVelocity, update->getIsStuck());
}
