class Europa6DOFOdometry(Output):
def __init__(self, client = None, platform = None, message = "", **kargs):
super(Europa6DOFOdometry, self).__init__(**kargs)
self.client = client
self.platform = platform
self.message = message
self.publisher = CEuropa6DOFOdometry("CEuropa6DOFOdometry",
self.client.client, self.message)
self.publisher.reparentTo(self)
self.origin = Node("Origin", parent = self)
self.origin.clearTransform(self.platform)
#-------------------------------------------------------------------------------
def outputData(self, time):
position = self.platform.getPosition(self.origin)
orientation = self.platform.getOrientation(self.origin)
self.publisher.publish(time, framework.scheduler.frameTime,
panda.Vec3(*position), panda.Vec3(*orientation))
