Fix bug in the positioning sensor control interface (was not compatib…

…le with CLuaQuaternion)
darkobozhinoski · Nov 8, 2019 · b2e97d2 · b2e97d2
1 parent 5786197
commit b2e97d2
Showing 1 changed file with 3 additions and 19 deletions.
diff --git a/src/plugins/robots/generic/control_interface/ci_positioning_sensor.cpp b/src/plugins/robots/generic/control_interface/ci_positioning_sensor.cpp
@@ -37,25 +37,9 @@ namespace argos {
 #ifdef ARGOS_WITH_LUA
    void CCI_PositioningSensor::ReadingsToLuaState(lua_State* pt_lua_state) {
       lua_getfield(pt_lua_state, -1, "positioning");
-      lua_getfield(pt_lua_state, -1, "position");
-      lua_pushnumber(pt_lua_state, m_sReading.Position.GetX());
-      lua_setfield(pt_lua_state, -2, "x");
-      lua_pushnumber(pt_lua_state, m_sReading.Position.GetY());
-      lua_setfield(pt_lua_state, -2, "y");
-      lua_pushnumber(pt_lua_state, m_sReading.Position.GetZ());
-      lua_setfield(pt_lua_state, -2, "z");
-      m_sReading.Orientation.ToAngleAxis(m_cAngle, m_cAxis);
-      lua_getfield  (pt_lua_state, -2, "orientation");
-      lua_pushnumber(pt_lua_state, m_cAngle.GetValue());
-      lua_setfield  (pt_lua_state, -2, "angle");
-      lua_getfield  (pt_lua_state, -1, "axis");
-      lua_pushnumber(pt_lua_state, m_cAxis.GetX());
-      lua_setfield  (pt_lua_state, -2, "x");
-      lua_pushnumber(pt_lua_state, m_cAxis.GetY());
-      lua_setfield  (pt_lua_state, -2, "y");
-      lua_pushnumber(pt_lua_state, m_cAxis.GetZ());
-      lua_setfield  (pt_lua_state, -2, "z");
-      lua_pop(pt_lua_state, 4);
+      CLuaUtility::AddToTable(pt_lua_state, "position",    m_sReading.Position);
+      CLuaUtility::AddToTable(pt_lua_state, "orientation", m_sReading.Orientation);
+      lua_pop(pt_lua_state, 1);
    }
 #endif