/// <summary>
/// Autor: Enderson Namias
/// Fecha: 11-11-2019
/// Descripción: Metodo que permite consultar la cotizacion de los Reales
/// </summary>
/// <param name="academic">Parametros filtros para la busqueda de informacion</param>
/// <returns>Clase con la información encontrada</returns>
public HashSet <format> SearchReal()
{
var Request = new HttpRequestWrapper(HttpContext.Current.Request);
var headers = HeaderExtensions.CopyHeadersFrom(Request);
_invoke = new commons.invoker(headers);
var invokeSelect = (ResultCambioModel)_invoke.get("/v1/quotes/BRL/ARS/json", typeof(ResultCambioModel));
HashSet <format> data = new HashSet <format>();
data.Add(new format {
precio = Convert.ToDecimal(invokeSelect.result.value), moneda = "Dolar"
});
return(data);
}
pose_msg CreatePoseMessageIIWA(Transform base_T, Transform goal_T)
{
pose_msg pose = new pose_msg();
Vector3 pos = goal_T.position - base_T.position;
Quaternion ori = Quaternion.Inverse(base_T.rotation) * goal_T.rotation;
ori = TransformExtensions.Unity2Ros(ori);
pos = TransformExtensions.Unity2Ros(pos);
Point_msg point = new Point_msg
{
x = -pos.x,
y = -pos.y,
z = pos.z
};
float d = Mathf.Sqrt(ori.x * ori.x + ori.y * ori.y + ori.z * ori.z + ori.w * ori.w);
Quaternion_msg quaternion = new Quaternion_msg
{
x = ori.x / d,
y = ori.y / d,
z = ori.z / d,
w = ori.w / d
};
//DateTime.UtcNow.Millisecond;
HeaderExtensions.Update(pose.header);
pose.header.stamp.secs = DateTime.UtcNow.Second;;
pose.header.stamp.nsecs = DateTime.UtcNow.Millisecond;
pose.header.frame_id = "map";
pose.pose.position = point;
pose.pose.orientation = quaternion;
return(pose);
}
