//! prepares to read from the given variable
void BasicVolumeFileImpl::prepareToRead(unsigned int variable)
{
if (m_CurrentlyActiveVariable!=variable) {
m_CurrentlyActiveVariable = variable;
protectedSetPosition(variable, m_PositionTimeSteps[variable], m_PositionOffsets[variable]);
}
}
void
OdometryImpl::updatePosition(const Miro::PositionIDL& dPos) throw()
{
PositionIDL robot;
Guard guard(mutex_);
robot.point.x = status_.position.point.x + dPos.point.x;
robot.point.y = status_.position.point.y + dPos.point.y;
robot.heading = status_.position.heading + dPos.heading;
protectedSetPosition(robot);
}
//! Sets the position of the next read. Each variable has its own position.
bool BasicVolumeFileImpl::setPosition(unsigned int variable, unsigned int timeStep, Q_ULLONG offset)
{
if (timeStep>=m_NumTimeSteps || variable>=m_NumVariables) {
return false;
}
// do we need to perform an actual set?
if (m_CurrentlyActiveVariable!=variable ||
m_PositionTimeSteps[variable]!=timeStep ||
m_PositionOffsets[variable]!=offset) {
m_CurrentlyActiveVariable = variable;
m_PositionTimeSteps[variable] = timeStep;
m_PositionOffsets[variable] = offset;
return protectedSetPosition(variable, timeStep, offset);
}
else {
return true;
}
}
void
OdometryImpl::setPosition(const PositionIDL& pos) throw()
{
Guard guard(mutex_);
protectedSetPosition(pos);
}
