RoboidControl/RoboidControl-cpp
RoboidControl/RoboidControl-cpp
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This commit is contained in:
Pascal Serrarens 2024-04-18 12:30:15 +02:00
parent c000cb3a0f
commit 09366aa962
2 changed files with 22 additions and 17 deletions
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33
NetworkSync.cpp
View File

@ -6,10 +6,7 @@
#include <Arduino.h> #include <Arduino.h>
#endif #endif
#include "LinearAlgebra/Angle.h" #include "LinearAlgebra/Angle8.h"
// #include "LinearAlgebra/Angle16.h"
// #include "LinearAlgebra/Angle32.h"
// #include "LinearAlgebra/AngleUsing.h"
#include "LinearAlgebra/Spherical.h" #include "LinearAlgebra/Spherical.h"
void NetworkSync::SendVector3(unsigned char *data, unsigned int startIndex, void NetworkSync::SendVector3(unsigned char *data, unsigned int startIndex,
@ -23,16 +20,22 @@ void NetworkSync::SendQuaternion(unsigned char *data, const int startIndex,
const Quaternion q) { const Quaternion q) {
Vector3 angles = Quaternion::ToAngles(q); Vector3 angles = Quaternion::ToAngles(q);
int ix = startIndex; int ix = startIndex;
SendAngle(data, ix++, angles.x); SendAngle8(data, ix++, angles.x);
SendAngle(data, ix++, angles.y); SendAngle8(data, ix++, angles.y);
SendAngle(data, ix++, angles.z); SendAngle8(data, ix++, angles.z);
}
void NetworkSync::SendPolar(unsigned char *data, unsigned char *startIndex,
Polar p) {
SendAngle8(data, *startIndex, (const float)p.angle);
SendSingle100(data, (*startIndex) + 1, p.distance);
} }
void NetworkSync::SendSpherical(unsigned char *data, int startIndex, void NetworkSync::SendSpherical(unsigned char *data, int startIndex,
Spherical s) { Spherical s) {
SendAngle(data, startIndex++, s.horizontalAngle); SendAngle8(data, startIndex++, s.horizontalAngle);
SendAngle(data, startIndex++, s.verticalAngle); SendAngle8(data, startIndex++, s.verticalAngle);
SendAngle(data, startIndex++, s.distance); SendAngle8(data, startIndex++, s.distance);
} }
void NetworkSync::SendSpherical16(unsigned char *data, int startIndex, void NetworkSync::SendSpherical16(unsigned char *data, int startIndex,
@ -68,11 +71,11 @@ void NetworkSync::SendQuat32(unsigned char *data, int startIndex,
data[startIndex++] = qw; data[startIndex++] = qw;
} }
// void NetworkSync::SendAngle(unsigned char *data, unsigned int startIndex, void NetworkSync::SendAngle8(unsigned char *data, unsigned int startIndex,
// const float angle) { const float angle) {
// AngleUsing<unsigned char> packedAngle = AngleUsing<unsigned char>(angle); AngleUsing<signed char> packedAngle = AngleUsing<signed char>(angle);
// data[startIndex] = packedAngle.GetValue(); data[startIndex] = packedAngle.GetValue();
// } }
// void NetworkSync::SendAngle16(unsigned char *data, unsigned int startIndex, // void NetworkSync::SendAngle16(unsigned char *data, unsigned int startIndex,
// const float angle) { // const float angle) {

6
NetworkSync.h
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@ -55,8 +55,8 @@ protected:
void SendSingle100(unsigned char *data, unsigned int startIndex, float value); void SendSingle100(unsigned char *data, unsigned int startIndex, float value);
void SendInt32(unsigned char *data, unsigned int startIndex, Int32 value); void SendInt32(unsigned char *data, unsigned int startIndex, Int32 value);
void SendAngle(unsigned char *data, unsigned int startIndex, void SendAngle8(unsigned char *data, unsigned int startIndex,
const float value); const float value);
void SendAngle16(unsigned char *data, unsigned int startIndex, void SendAngle16(unsigned char *data, unsigned int startIndex,
const float value); const float value);
void SendAngle32(unsigned char *data, unsigned int startIndex, void SendAngle32(unsigned char *data, unsigned int startIndex,
@ -65,6 +65,8 @@ protected:
const Vector3 v); const Vector3 v);
void SendQuaternion(unsigned char *data, const int startIndex, void SendQuaternion(unsigned char *data, const int startIndex,
const Quaternion q); const Quaternion q);
void SendPolar(unsigned char *data, unsigned char *startIndex, Polar p);
void SendSpherical(unsigned char *data, int startIndex, Spherical s); void SendSpherical(unsigned char *data, int startIndex, Spherical s);
void SendSpherical16(unsigned char *data, int startIndex, Spherical s); void SendSpherical16(unsigned char *data, int startIndex, Spherical s);
void SendSpherical32(unsigned char *data, int startIndex, Spherical s); void SendSpherical32(unsigned char *data, int startIndex, Spherical s);