/**
* @throws ClientException
* @brief Get the 3D pose of a named simulation object
*/
public PlayerPose3d retrievePose3d(ByteArrayOutputStream name) throws ClientException {
PlayerSimulationPose3dReq request = new PlayerSimulationPose3dReq();
PlayerSimulationPose3dReq configure = new PlayerSimulationPose3dReq();
request.setName(name);
configure =
(PlayerSimulationPose3dReq)
super.getClient().request(this, PLAYER_SIMULATION_REQ_GET_POSE3D, request);
PlayerPose3d response = new PlayerPose3d();
if (configure != null) {
response.setPx(configure.getPose().getPx());
response.setPy(configure.getPose().getPy());
response.setPz(configure.getPose().getPz());
response.setProll(configure.getPose().getProll());
response.setPpitch(configure.getPose().getPpitch());
response.setPyaw(configure.getPose().getPyaw());
}
return response;
}
/**
* @throws ClientException
* @brief Set the 3D pose of a named simulation object
*/
public PlayerSimulationPose3dReq sendPose3d(
ByteArrayOutputStream name,
double goalX,
double goalY,
double goalZ,
double goalRoll,
double goalPitch,
double goalYaw)
throws ClientException {
PlayerSimulationPose3dReq request = new PlayerSimulationPose3dReq();
PlayerPose3d pose = new PlayerPose3d();
pose.setPx(goalX);
pose.setPy(goalY);
pose.setPz(goalZ);
pose.setProll(goalRoll);
pose.setPpitch(goalPitch);
pose.setPyaw(goalYaw);
request.setPose(pose);
request.setName(name);
return (PlayerSimulationPose3dReq)
super.getClient().request(this, PLAYER_SIMULATION_REQ_SET_POSE3D, request);
}