private void EnsureDofExists()
{
if (Dof == null)
{
Dof = new DofData();
}
}
/// <summary>
/// Extract positional data from the message received from the arduino.
/// </summary>
private void ParseData()
{
// Extract position and oriantation.
// sample received message
// pos: 1.00000,0.00000,1.00000 rot: 0.99985,-0.00356,-0.00462,-0.01626
// which follows the format --> pos: x, y, z rot: pitch, roll, yaw
var stringCollection = _receivedSingleMessage.Replace("rot:", COMMA)
.Replace("pos:", COMMA)
.Split(',');
// We omit stringCollection[0] because it does not contain positional data and is empty.
float posX = Convert.ToSingle(stringCollection[1]);
float posY = Convert.ToSingle(stringCollection[2]);
float posZ = Convert.ToSingle(stringCollection[3]);
float pitch = Convert.ToSingle(stringCollection[4]);
float roll = Convert.ToSingle(stringCollection[5]);
float yaw = Convert.ToSingle(stringCollection[6]);
_latestPosition = new MyArduino.Vector3(posX, posY, posZ);
_latestData = new DofData();
}
private void EnsureDofExists()
{
if (Dof == null)
Dof = new DofData();
}