public static void main(String args[]) { IHMCMocapDataClient udpMulticastClient = new IHMCMocapDataClient(); } }
public IHMCMocapDataClient() { super(); setupReferenceFrames(); }
@Override protected void updateListeners(ArrayList<MocapRigidBody> lisftOfRigidbodies) { ArrayList<MocapRigidBody> convertedListOfMocapRigidBodies = new ArrayList<MocapRigidBody>(); for (MocapRigidBody mocapRigidBody : lisftOfRigidbodies) { mocapRbToMocapOrigin = new RigidBodyTransform(new Quaternion(mocapRigidBody.qx, mocapRigidBody.qy, mocapRigidBody.qz, mocapRigidBody.qw), new Vector3D(mocapRigidBody.xPosition, mocapRigidBody.yPosition, mocapRigidBody.zPosition)); mocapRbFrame.update(); mocapOriginFrame.update(); mocapRbZUpFrame.update(); FramePose3D pose = new FramePose3D(mocapRbZUpFrame, new Point3D(), new Quaternion()); pose.changeFrame(ReferenceFrame.getWorldFrame()); RigidBodyTransform r = new RigidBodyTransform(); pose.get(r); Vector3D position = new Vector3D(); r.getTranslation(position); Quaternion rotation = new Quaternion(); r.getRotation(rotation); convertedListOfMocapRigidBodies.add(new MocapRigidBody(mocapRigidBody.getId(), position, rotation, mocapRigidBody.getListOfAssociatedMarkers(), mocapRigidBody.dataValid)); } updateRigidBodiesListeners(convertedListOfMocapRigidBodies); }
mocapDataClient.registerRigidBodiesListener(this); connect();
@Override protected void updateListeners(ArrayList<MocapRigidBody> lisftOfRigidbodies) { ArrayList<MocapRigidBody> convertedListOfMocapRigidBodies = new ArrayList<MocapRigidBody>(); for (MocapRigidBody mocapRigidBody : lisftOfRigidbodies) { mocapRbToMocapOrigin = new RigidBodyTransform(new Quat4d(mocapRigidBody.qx, mocapRigidBody.qy, mocapRigidBody.qz, mocapRigidBody.qw), new Vector3d(mocapRigidBody.xPosition, mocapRigidBody.yPosition, mocapRigidBody.zPosition)); mocapRbFrame.update(); mocapOriginFrame.update(); mocapRbZUpFrame.update(); FramePose pose = new FramePose(mocapRbZUpFrame, new Point3d(), new Quat4d()); pose.changeFrame(ReferenceFrame.getWorldFrame()); RigidBodyTransform r = new RigidBodyTransform(); pose.getRigidBodyTransform(r); Vector3d position = new Vector3d(); r.getTranslation(position); Quat4d rotation = new Quat4d(); r.getRotation(rotation); convertedListOfMocapRigidBodies.add(new MocapRigidBody(mocapRigidBody.getId(), position, rotation, mocapRigidBody.getListOfAssociatedMarkers(), mocapRigidBody.dataValid)); } updateRigidBodiesListeners(convertedListOfMocapRigidBodies); }
public static void main(String args[]) { IHMCMocapDataClient udpMulticastClient = new IHMCMocapDataClient(); } }
public IHMCMocapDataClient() { super(); setupReferenceFrames(); }