Пример #1
0
  /**
   * @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;
  }
Пример #2
0
  /**
   * @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);
  }