public string walkCurved(double linearSpeed, double angularSpeed)
{
var data = new WalkCurvedModel();
data.LinearSpeed = linearSpeed;
data.AngularSpeed = angularSpeed;
var package = assembleDataPackage <WalkCurvedModel>(data);
var url = "api/Navigation/WalkCurved?type=0";
var result = sendPackage <string>(url, package).Result;
return(result);
}
public string walkCurved(double linearSpeed, double radius, WalkCurvedModel.Orientation orientation)
{
var data = new WalkCurvedModel();
data.LinearSpeed = linearSpeed;
data.Radius = radius;
data.Angle = (int)orientation * 90;
var package = assembleDataPackage <WalkCurvedModel>(data);
var url = "api/Navigation/WalkCurved?type=1";
var result = sendPackage <string>(url, package).Result;
return(result);
}
public ActionResult WalkCurved([FromBody] ReadyDataPackage package, [FromQuery] WalkCurvedType type)
{
var response = "";
var walkCurved = new WalkCurvedModel();
switch (type)
{
case WalkCurvedType.Type1:
walkCurved = package.getDataAsObject <WalkCurvedModel>();
response = (currentDaemon as Navigation).walkCurvedType1(walkCurved.LinearSpeed, walkCurved.AngularSpeed);
break;
case WalkCurvedType.Type2:
walkCurved = package.getDataAsObject <WalkCurvedModel>();
response = (currentDaemon as Navigation).walkCurvedType2(walkCurved.LinearSpeed, walkCurved.Radius, walkCurved.Angle);
break;
case WalkCurvedType.Type3:
break;
}
return(Ok(response));
}