RoboidControl/RoboidControl-cpp
RoboidControl/RoboidControl-cpp
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Removed unused variable

Browse Source
This commit is contained in:
Pascal Serrarens 2024-01-22 15:56:48 +01:00
parent b6abc6725c
commit 6eefd5892c
2 changed files with 17 additions and 16 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

15
NetworkPerception.cpp
View File

@ -2,7 +2,8 @@
#include "RoboidControl/NetworkSync.h" #include "RoboidControl/NetworkSync.h"
void NetworkPerception::ProcessPacket(Roboid *roboid, unsigned char *buffer, void NetworkPerception::ProcessPacket(Roboid* roboid,
unsigned char* buffer,
int packetsize) { int packetsize) {
// printf("packet received, type = 0x%02x %d %d %d %d\n", buffer[0], // printf("packet received, type = 0x%02x %d %d %d %d\n", buffer[0],
// buffer[2], buffer[3], buffer[4], buffer[5]); // buffer[2], buffer[3], buffer[4], buffer[5]);
@ -12,7 +13,7 @@ void NetworkPerception::ProcessPacket(Roboid *roboid, unsigned char *buffer,
} }
} }
Int32 NetworkPerception::ReceiveInt32(unsigned char *data, int startIndex) { Int32 NetworkPerception::ReceiveInt32(unsigned char* data, int startIndex) {
Int32 a = Int32((UInt32)(data[startIndex + 3]) << 24 | Int32 a = Int32((UInt32)(data[startIndex + 3]) << 24 |
(UInt32)(data[startIndex + 2]) << 16 | (UInt32)(data[startIndex + 2]) << 16 |
(UInt32)(data[startIndex + 1]) << 8 | (UInt32)(data[startIndex + 1]) << 8 |
@ -20,13 +21,13 @@ Int32 NetworkPerception::ReceiveInt32(unsigned char *data, int startIndex) {
return a; return a;
} }
float NetworkPerception::ReceiveFloat100(unsigned char *data, int startIndex) { float NetworkPerception::ReceiveFloat100(unsigned char* data, int startIndex) {
Int32 intValue = ReceiveInt32(data, startIndex); Int32 intValue = ReceiveInt32(data, startIndex);
float f = (float)intValue / 100.0F; float f = (float)intValue / 100.0F;
return f; return f;
} }
Vector3 NetworkPerception::ReceiveVector3(unsigned char *data, int startIndex) { Vector3 NetworkPerception::ReceiveVector3(unsigned char* data, int startIndex) {
float x = ReceiveFloat100(data, startIndex); float x = ReceiveFloat100(data, startIndex);
float y = ReceiveFloat100(data, startIndex + 4); float y = ReceiveFloat100(data, startIndex + 4);
float z = ReceiveFloat100(data, startIndex + 8); float z = ReceiveFloat100(data, startIndex + 8);
@ -34,9 +35,9 @@ Vector3 NetworkPerception::ReceiveVector3(unsigned char *data, int startIndex) {
return v; return v;
} }
void NetworkPerception::ReceiveObject(unsigned char *data, Roboid *roboid) { void NetworkPerception::ReceiveObject(unsigned char* data, Roboid* roboid) {
unsigned char objectId = data[1]; unsigned char objectId = data[1];
char poseType = data[2]; // char poseType = data[2];
Vector3 worldPosition = ReceiveVector3(data, 3); Vector3 worldPosition = ReceiveVector3(data, 3);
Vector3 worldAngles = ReceiveVector3(data, 15); Vector3 worldAngles = ReceiveVector3(data, 15);
Quaternion worldOrientation = Quaternion::Euler(worldAngles); Quaternion worldOrientation = Quaternion::Euler(worldAngles);
@ -48,7 +49,7 @@ void NetworkPerception::ReceiveObject(unsigned char *data, Roboid *roboid) {
// worldPosition.z, worldDirection.x, worldDirection.z); // worldPosition.z, worldDirection.x, worldDirection.z);
} else { } else {
Vector3 myPosition = roboid->GetPosition(); // Vector3::zero; Vector3 myPosition = roboid->GetPosition(); // Vector3::zero;
Vector2 myPosition2 = Vector3::ProjectHorizontalPlane(myPosition); Vector2 myPosition2 = Vector3::ProjectHorizontalPlane(myPosition);
Quaternion myOrientation = roboid->GetOrientation(); Quaternion myOrientation = roboid->GetOrientation();
Vector3 myDirection = myOrientation * Vector3::forward; Vector3 myDirection = myOrientation * Vector3::forward;

18
NetworkPerception.h
View File

@ -8,16 +8,16 @@ namespace Passer {
namespace RoboidControl { namespace RoboidControl {
class NetworkPerception : public Sensor { class NetworkPerception : public Sensor {
public: public:
void ProcessPacket(Roboid *roboid, unsigned char *buffer, int packetsize); void ProcessPacket(Roboid* roboid, unsigned char* buffer, int packetsize);
protected: protected:
void ReceiveObject(unsigned char *data, Roboid *roboid); void ReceiveObject(unsigned char* data, Roboid* roboid);
Int32 ReceiveInt32(unsigned char *data, int startIndex); Int32 ReceiveInt32(unsigned char* data, int startIndex);
float ReceiveFloat100(unsigned char *data, int startIndex); float ReceiveFloat100(unsigned char* data, int startIndex);
Vector3 ReceiveVector3(unsigned char *data, int startIndex); Vector3 ReceiveVector3(unsigned char* data, int startIndex);
}; };
} // namespace RoboidControl } // namespace RoboidControl
} // namespace Passer } // namespace Passer