本文整理汇总了C++中Controller::doWork方法的典型用法代码示例。如果您正苦于以下问题：C++ Controller::doWork方法的具体用法？C++ Controller::doWork怎么用？C++ Controller::doWork使用的例子？那么, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类Controller的用法示例。
在下文中一共展示了Controller::doWork方法的1个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的C++代码示例。
示例1: translation
coredata::dmcp::ModuleExitCodeMessage::ModuleExitCode EgoController::body() {
KeyValueConfiguration kvc = getKeyValueConfiguration();
m_device = kvc.getValue<string>("egocontroller.device");
transform(m_device.begin(), m_device.end(), m_device.begin(), ptr_fun(::tolower));
string behaviorType = kvc.getValue<string>("egocontroller.behavior");
transform(behaviorType.begin(), behaviorType.end(), behaviorType.begin(), ptr_fun(::tolower));
ControlBehaviour* behaviour = NULL;
if (behaviorType == "force") {
cerr << "Using force control." << endl;
behaviour = createForceControlBehaviour();
} else if (behaviorType == "forcebicycle") {
cerr << "Using bicycle control." << endl;
behaviour = createForceControlBehaviourBicycleModel();
} else if (behaviorType == "forcesimplifiedbicycle") {
cerr << "Using simplified bicycle control." << endl;
behaviour = createForceControlBehaviourSimplifiedBicycleModel();
} else if (behaviorType == "simple") {
cerr << "Using simple control." << endl;
stringstream vehicleTranslation;
vehicleTranslation << "egocontroller.start";
Point3 translation(getKeyValueConfiguration().getValue<string>(vehicleTranslation.str()));
stringstream vehicleRotZ;
vehicleRotZ << "egocontroller.rotZ";
const double rotZ = getKeyValueConfiguration().getValue<double>(vehicleRotZ.str());
behaviour = new SimpleControlBehaviour(translation, rotZ);
} else if (behaviorType == "linearbicyclenew") {
behaviour = createLinearBicycleModelBehaviour();
}
if (behaviour == NULL) {
cerr << "Cannot create control behavior " << behaviorType << endl;
return coredata::dmcp::ModuleExitCodeMessage::SERIOUS_ERROR;
}
Controller* controller = NULL;
if (m_device == "keyboard") {
controller = new KeyboardController(*behaviour, 'w', 's','a','d','b');
}
else {
// Try joystick.
controller = new JoystickController(*behaviour, m_device);
}
if (controller == NULL) {
cerr << "Cannot create controller for " << m_device << endl;
return coredata::dmcp::ModuleExitCodeMessage::SERIOUS_ERROR;
}
while (getModuleStateAndWaitForRemainingTimeInTimeslice() == coredata::dmcp::ModuleStateMessage::RUNNING) {
controller->doWork();
Container container(Container::EGOSTATE, controller->getEgoState());
/*
// Update internal data.
m_vehicleData.setPosition(position);
m_vehicleData.setHeading(m_heading);
m_vehicleData.setVelocity(velocity);
m_vehicleData.setSpeed(m_speed);
m_vehicleData.setV_log(0);
m_vehicleData.setV_batt(0);
// For fake :-)
m_vehicleData.setTemp(19.5 + cos(m_heading + m_deltaHeading));
m_vehicleData.setRelTraveledPath(relDrivenPath);
// const double FAULT = (1+(rand()%10)/300.0);
const double FAULT = 1.0;
m_vehicleData.setAbsTraveledPath(m_vehicleData.getAbsTraveledPath() + (relDrivenPath * FAULT));
//cerr << "FAULT: " << FAULT << ", tD: " << m_vehicleData.getAbsTraveledPath() << endl;
*/
getConference().send(container);
}
return coredata::dmcp::ModuleExitCodeMessage::OKAY;
}