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Code Issues Releases Activity

AndroidGCS OSG: Clean up function API

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This commit is contained in:
James Cotton 2012-08-21 11:25:14 -05:00
parent 4dbaa63931
commit f8804574e8
4 changed files with 18 additions and 4 deletions
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7
androidgcs/jni/OsgMainApp.cpp
View File

@ -236,5 +236,10 @@ void OsgMainApp::setQuat(float *q){
quat.makeRotate(angle, osg::Vec3d(axis[1],axis[0],-axis[2]));
osg::Matrixd rot = osg::Matrixd::rotate(quat);
uavAttitudeAndScale->setMatrix(rot);
if (uavAttitudeAndScale) {
osg::notify(osg::ALWAYS)<<"Setting attitude"<<std::endl;
uavAttitudeAndScale->setMatrix(rot);
} else {
osg::notify(osg::ALWAYS)<<"Pointer missing"<<std::endl;
}
}

4
androidgcs/jni/osgNativeLib.cpp
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@ -22,7 +22,7 @@ extern "C" {
JNIEXPORT void JNICALL Java_org_openpilot_osg_osgNativeLib_loadObject(JNIEnv * env, jobject obj, jstring address);
JNIEXPORT void JNICALL Java_org_openpilot_osg_osgNativeLib_unLoadObject(JNIEnv * env, jobject obj, jint number);
JNIEXPORT jobjectArray JNICALL Java_org_openpilot_osg_osgNativeLib_getObjectNames(JNIEnv * env, jobject obj);
JNIEXPORT void JNICALL Java_org_openpilot_osg_osgNativeLib_setRPY(JNIEnv * env, jobject obj, jfloat q1, jfloat q2, jfloat q3, jfloat q4);
JNIEXPORT void JNICALL Java_org_openpilot_osg_osgNativeLib_setQuat(JNIEnv * env, jobject obj, jfloat q1, jfloat q2, jfloat q3, jfloat q4);
};
JNIEXPORT void JNICALL Java_org_openpilot_osg_osgNativeLib_init(JNIEnv * env, jobject obj, jint width, jint height){
@ -113,7 +113,7 @@ JNIEXPORT jobjectArray JNICALL Java_org_openpilot_osg_osgNativeLib_getObjectName
return fileNames;
}
JNIEXPORT void JNICALL Java_org_openpilot_osg_osgNativeLib_setRPY(JNIEnv * env, jobject obj, jfloat q1, jfloat q2, jfloat q3, jfloat q4){
JNIEXPORT void JNICALL Java_org_openpilot_osg_osgNativeLib_setQuat(JNIEnv * env, jobject obj, jfloat q1, jfloat q2, jfloat q3, jfloat q4){
float q[4] = {q1, q2, q3, q4};
mainApp.setQuat(q);
}

10
androidgcs/src/org/openpilot/androidgcs/OsgViewer.java
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@ -358,7 +358,15 @@ public class OsgViewer extends ObjectManagerActivity implements View.OnTouchList
@Override
protected void objectUpdated(UAVObject obj) {
if (DEBUG) Log.d(TAG, "Object updated: " + obj.getName());
float q[] = new float[4];
q[0] = (float) obj.getField("q1").getDouble();
q[1] = (float) obj.getField("q2").getDouble();
q[2] = (float) obj.getField("q3").getDouble();
q[3] = (float) obj.getField("q4").getDouble();
if (DEBUG) Log.d(TAG, "Attitude: " + q[0] + " " + q[1] + " " + q[2] + " " + q[3]);
osgNativeLib.setQuat(q[0], q[1], q[2], q[3]);
}

1
androidgcs/src/org/openpilot/osg/osgNativeLib.java
View File

@ -24,5 +24,6 @@ public class osgNativeLib {
public static native void loadObject(String address,String name);
public static native void unLoadObject(int number);
public static native String[] getObjectNames();
public static native void setQuat(float q1, float q2, float q3, float q4);
}