private static object ParseV2RelPacket(BinaryReader br)
{
PoseRelData d = new PoseRelData();
int ts_secs = br.ReadInt32();
int ts_ticks = br.ReadInt32();
d.timestamp = new CarTimestamp(ts_secs, ts_ticks);
int flag = br.ReadInt32();
// ignore flags for now
d.dt = br.ReadDouble();
for (int i = 0; i < 4; i++)
{
for (int j = 0; j < 4; j++)
{
d.transform[i, j] = br.ReadDouble();
}
}
return(d);
}
private void ParseV2RelPacket(BinaryReader br)
{
PoseRelData d = new PoseRelData();
int ts_secs = br.ReadInt32();
int ts_ticks = br.ReadInt32();
d.timestamp = new CarTimestamp(ts_secs, ts_ticks);
int flag = br.ReadInt32();
// ignore flags for now
d.dt = br.ReadDouble();
for (int i = 0; i < 4; i++)
{
for (int j = 0; j < 4; j++)
{
d.transform[i, j] = br.ReadDouble();
}
}
if (PoseRelReceived != null)
{
PoseRelReceived(this, new PoseRelReceivedEventArgs(d));
}
}
public PoseRelReceivedEventArgs(PoseRelData d)
{
this.d = d;
}