class PositionController:
def __init__(self, addr_input, owner):
self._owner = owner
self._initPosition = self._owner.worldPosition.copy()
self._shm = shm([0, 0, 0, 0, 0, 0])
self._receiver = Receiver(addr_input, shm)
self._receiver.start()
def __del__(self):
if self._receiver is not None and self._receiver.isAlive():
self._receiver.stop()
self._receiver.join(2)
def run(self):
# time.sleep(0.01)
data = self._shm.data
if data is not None and len(data) == 7:
t, x, y, z, theta, phy, psy = data
self._owner.worldPosition = self._initPosition \
+ mathutils.Vector((x, y, z))
ori = self._owner.orientation.to_euler()
ori.x = -theta + math.pi / 2
ori.y = -phy
ori.z = psy
self._owner.orientation = ori
print(time.time() - t, t, x, y, z, ori.x, ori.y, ori.z)
class PositionController:
def __init__(self, addr_input, owner):
self._owner = owner
self._initPosition = self._owner.worldPosition.copy()
self._shm = shm([0, 0, 0, 0, 0, 0])
self._receiver = Receiver(addr_input, shm)
self._receiver.start()
def __del__(self):
if self._receiver is not None and self._receiver.isAlive():
self._receiver.stop()
self._receiver.join(2)
def run(self):
# time.sleep(0.01)
data = self._shm.data
if data is not None and len(data) == 7:
t, x, y, z, theta, phy, psy = data
self._owner.worldPosition = self._initPosition \
+ mathutils.Vector((x, y, z))
ori = self._owner.orientation.to_euler()
ori.x = -theta + math.pi / 2
ori.y = -phy
ori.z = psy
self._owner.orientation = ori
print(time.time() - t, t, x, y, z, ori.x, ori.y, ori.z)
def __init__(self, addr_input, owner):
self._owner = owner
self._initPosition = self._owner.worldPosition.copy()
self._shm = shm([0, 0, 0, 0, 0, 0])
self._receiver = Receiver(addr_input, shm)
self._receiver.start()
def __init__(self, addr_input, owner):
self._owner = owner
self._initPosition = self._owner.worldPosition.copy()
self._shm = shm([0, 0, 0, 0, 0, 0])
self._receiver = Receiver(addr_input, shm)
self._receiver.start()