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send the position of the tag in the robot xyz base

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This commit is contained in:
ackimixs
2024-04-10 11:44:54 +02:00
parent b25a0e7057
commit d5489ff2b2
6 changed files with 13 additions and 58 deletions
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16
tcp/MyClient.cpp
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@@ -1,15 +1,10 @@
#include "MyClient.h"
MyClient::MyClient(Type::RobotPose* robotPose, const char* ip, const int port) : TCPClient(ip, port), robotPose(robotPose)
MyClient::MyClient(const char* ip, const int port) : TCPClient(ip, port)
{
}
MyClient::~MyClient()
{
this->stop();
}
void MyClient::handleMessage(const std::string& message)
{
std::vector<std::string> messageSplited = TCPSocket::split(message, ";");
@@ -39,15 +34,6 @@ void MyClient::handleMessage(const std::string& message)
} else if (messageSplited[2] == "ping")
{
this->sendMessage("aruco;ihm;pong;1");
} else if (messageSplited[2] == "set pos")
{
// cut the string with space and take the first, second, third and fourth element
std::vector<std::string> tokens = TCPSocket::split(messageSplited[3], ",");
robotPose->position.x = std::stof(tokens[0]);
// robotPose->position.y = std::stof(tokens[1]);
robotPose->position.z = std::stof(tokens[1]);
robotPose->theta = std::stof(tokens[2]);
}
}
}