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(); }