public XsMvnPose pose; // Every packet has a pose
/// <summary>
/// Initializes a new instance of the <see cref="xsens.XsDataPacket"/> class.
/// </summary>
/// <param name='readData'>
/// Create the packed from this byte array.
/// </param>
public XsDataPacket(byte[] readData)
{
memStream = new MemoryStream(readData); // Create a memory stream of the packet data
binReader = new BinaryReader(memStream); // Create a binary reader on that memory stream, so we can easely convert the data it contains
parseHeader();
parsePayload(0); // Calls the correct classes parsePayload by itself (inheritance)
pose = new XsMvnPose(isQuaternionPacket);
pose.setHeaderData(headerData); // TODO: figure out if this is even neccesary
pose.setPayloadData(payloadData); // Sets the payload data in the pose
pose.createPose(0, 0); // Try to create a new pose with the data that was send
}
/// <summary>
/// Initializes a new instance of the <see cref="xsens.XsDataPacket"/> class.
/// </summary>
/// <param name='readData'>
/// Create the packed from this byte array.
/// </param>
public XsDataPacket (byte[] readData)
{
using (BinaryReader br = new BinaryReader(new MemoryStream(readData)))
{
pose = null;
int[] headerData = parseHeader (br);
//we only care about pose data, which is Z up
if (headerData [0] == (int)MessageType.PoseDataZup)
{
double[] payloadData = parsePayload (br); // Calls the correct classes parsePayload by itself (inheritance)
pose = new XsMvnPose ();
pose.createPose (payloadData); // Try to create a new pose with the data that was send
}
}
}
protected XsMvnPose pose; // Every valid packet has a pose (Just like every pose has its thorn)
#endregion Fields
#region Constructors
/// <summary>
/// Initializes a new instance of the <see cref="xsens.XsDataPacket"/> class.
/// </summary>
/// <param name='readData'>
/// Create the packed from this byte array.
/// </param>
public XsDataPacket(byte[] readData)
{
using (BinaryReader br = new BinaryReader(new MemoryStream(readData)))
{
pose = null;
int[] headerData = parseHeader (br);
//we only care about pose data, which is Z up
if (headerData [0] == (int)MessageType.PoseDataZup)
{
double[] payloadData = parsePayload (br); // Calls the correct classes parsePayload by itself (inheritance)
pose = new XsMvnPose ();
pose.createPose (payloadData); // Try to create a new pose with the data that was send
}
}
}
/// <summary>
/// Initializes a new instance of the <see cref="xsens.XsDataPacket"/> class.
/// </summary>
/// <param name='readData'>
/// Create the packed from this byte array.
/// </param>
public XsDataPacket (byte[] readData)
{
using (BinaryReader br = new BinaryReader(new MemoryStream(readData)))
{
pose = null;
int[] headerData = parseHeader (br);
//we only care about pose data, which is Z up
if ((headerData [0] == (int)MessageType.PoseDataZup)
|| (headerData [0] == (int)MessageType.PosDataUnity))
{
double[] payloadData = parsePayload (br, headerData[3]); // Calls the correct classes parsePayload by itself (inheritance)
if (headerData[5] == 0) //if we are using an MVN version below 2019
{
pose = new XsMvnPose(headerData[3]);
}
else //If we are using MVN 2019 and above
{
pose = new XsMvnPose(headerData[5], headerData[7], headerData[6]);
}
pose.createPose (payloadData); // Try to create a new pose with the data that was send
}
}
}