/// <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); }