diff --git a/src/main/java/ipos/project/UseCaseController/Administration.java b/src/main/java/ipos/project/UseCaseController/Administration.java index af9581899add41e4c0d50215eb1f22009948facb..a574f3ca2ea3f587347a882d39cb8dab7bfffe8f 100644 --- a/src/main/java/ipos/project/UseCaseController/Administration.java +++ b/src/main/java/ipos/project/UseCaseController/Administration.java @@ -84,9 +84,9 @@ public class Administration { public static void transformToRootCoordinates(Placing placingToBeTransformed) { if (isNotRootPosition(placingToBeTransformed.getPosition())) { ReferenceSystem nextTransformationGoal_SRS = placingToBeTransformed.getPosition().getReferenceSystem(); - LOG.info("INDFRO-DEBUG: (before) ReferenceSystem: " + placingToBeTransformed.getPosition().getReferenceSystem().getId() + "; Position: " + PositionMonitoring.logPosition(placingToBeTransformed)); - SRSConversion.switchSRS(placingToBeTransformed, nextTransformationGoal_SRS); // assumption: not only position is changed but also ReferenceSystem-object is updated - LOG.info("INDFRO-DEBUG: (after) ReferenceSystem: " + placingToBeTransformed.getPosition().getReferenceSystem().getId() + "; Position: " + PositionMonitoring.logPosition(placingToBeTransformed)); + LOG.info("INDFRO-DEBUG: (before) ReferenceSystem: " + placingToBeTransformed.getPosition().getReferenceSystem().getId() + "; Position: " + PositionMonitoring.logPosition(placingToBeTransformed) + "; Orientation: " + PositionMonitoring.logOrientation(placingToBeTransformed)); + SRSConversion.switchSRS(placingToBeTransformed, nextTransformationGoal_SRS); // assumption: not only position is changed but also ReferenceSystem-object of the placingToBeTransformed is updated + LOG.info("INDFRO-DEBUG: (after) ReferenceSystem: " + placingToBeTransformed.getPosition().getReferenceSystem().getId() + "; Position: " + PositionMonitoring.logPosition(placingToBeTransformed) + "; Orientation: " + PositionMonitoring.logOrientation(placingToBeTransformed)); LOG.info("INDFRO-DEBUG:"); transformToRootCoordinates(placingToBeTransformed); // recursion stops when placing.getPosition() has been transformed in a ROOT-position } @@ -181,9 +181,9 @@ public class Administration { private static void transformPlacingSuccessively(Placing placingToBeTransformed, List<ReferenceSystem> transformationTargets) { for (ReferenceSystem transTarget : transformationTargets){ - LOG.info("INDFRO-DEBUG: (before) ReferenceSystem: " + placingToBeTransformed.getPosition().getReferenceSystem().getId() + "; Position: " + PositionMonitoring.logPosition(placingToBeTransformed)); + LOG.info("INDFRO-DEBUG: (before) ReferenceSystem: " + placingToBeTransformed.getPosition().getReferenceSystem().getId() + "; Position: " + PositionMonitoring.logPosition(placingToBeTransformed) + "; Orientation: " + PositionMonitoring.logOrientation(placingToBeTransformed)); SRSConversion.switchSRS(placingToBeTransformed, transTarget); - LOG.info("INDFRO-DEBUG: (after) ReferenceSystem: " + placingToBeTransformed.getPosition().getReferenceSystem().getId() + "; Position: " + PositionMonitoring.logPosition(placingToBeTransformed)); + LOG.info("INDFRO-DEBUG: (after) ReferenceSystem: " + placingToBeTransformed.getPosition().getReferenceSystem().getId() + "; Position: " + PositionMonitoring.logPosition(placingToBeTransformed) + "; Orientation: " + PositionMonitoring.logOrientation(placingToBeTransformed)); } } } diff --git a/src/main/java/ipos/project/UseCaseController/PositionMonitoring.java b/src/main/java/ipos/project/UseCaseController/PositionMonitoring.java index c88057f6ec59758bfadf604dc1fd7e20dd23c8da..beef934ed8b0e55879b9791c5ad9c208f5228529 100644 --- a/src/main/java/ipos/project/UseCaseController/PositionMonitoring.java +++ b/src/main/java/ipos/project/UseCaseController/PositionMonitoring.java @@ -421,7 +421,7 @@ public class PositionMonitoring { String agentId = lObject.getAgent().getId(); LOG.info("SDF: Received: sensorType: " + sensorType + " timestamp: " + timestamp + " now: " + LocalDateTime.now() + " sensorId: " + sensorId + " agentId: " + agentId); LOG.info("INDFRO:"); - LOG.info("INDFRO: Received: sensorType: " + sensorType + "; position: " + logPosition(posEvent.getPlacing()) + "; timestamp: " + timestamp + "; sensorId: " + sensorId + "; agentId: " + agentId); + LOG.info("INDFRO: Received: sensorType: " + sensorType + "; position: " + logPosition(posEvent.getPlacing()) + "; orientation: " + logOrientation(posEvent.getPlacing()) + "; timestamp: " + timestamp + "; sensorId: " + sensorId + "; agentId: " + agentId); } public static String logPosition(Placing placing) { @@ -429,6 +429,11 @@ public class PositionMonitoring { return "(x: " + point.getX() + ", y: " + point.getY() + ", z: " + point.getZ() + ")"; } + public static String logOrientation(Placing placing) { + Quaternion orientation = (Quaternion) placing.getOrientation(); + return "(x: " + orientation.getX() + ", y: " + orientation.getY() + ", z: " + orientation.getZ() + ", w: " + orientation.getW() + ")"; + } + /** * An event-filter may hot handle a position event if the filter should respect the results of * sensor data fusion (e.g., wrt accuracy-criterium) and the result is negative for this event,