SRSConversion: Added logging of orientation

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));
         }
     }
 }

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,