// Use this for initialization
void Start()
{
newCollisionObjectsMsg = new CollisionObjectsMsg(new List <CollisionPrimitiveMsg>()
{
});
worldAnchor = GameObject.FindGameObjectWithTag("world_anchor");
manipulatingWithObject = false;
}
public void SetCollisionObjectsMsgFromROS(CollisionObjectsMsg msg)
{
//receive only if messages are not the same
if (!newCollisionObjectsMsg.ToYAMLString().Equals(msg.ToYAMLString()))
{
collisionObjectsMsg = msg;
newCollisionObjectsMsg = msg;
}
}
// Update is called once per frame
void Update()
{
if (SystemStarter.Instance.calibrated)
{
if (!manipulatingWithObject)
{
if (collisionObjectsMsg != null)
{
//Debug.Log(collisionObjectsMsg.ToYAMLString());
existingPrimitives.Clear();
foreach (CollisionPrimitiveMsg primitiveMsg in collisionObjectsMsg.GetPrimitives())
{
//get all existing primitives names
existingPrimitives.Add(primitiveMsg.GetName());
UpdatePrimitive(primitiveMsg);
}
DeleteRemovedPrimitives();
collisionObjectsMsg = null;
}
}
}
}
public new static void CallBack(ROSBridgeMsg msg)
{
CollisionObjectsMsg Cmsg = (CollisionObjectsMsg)msg;
CollisionEnvironmentManager.Instance.SetCollisionObjectsMsgFromROS(Cmsg);
}
public static string ToYAMLString(CollisionObjectsMsg msg)
{
return(msg.ToYAMLString());
}