private void SendRosAvatarPoseMessage(RosBridge.human_navigation.HumanNaviAvatarPose avatarPose)
{
ExecuteEvents.Execute <IRosAvatarPoseSendHandler>
(
target: this.gameObject,
eventData: null,
functor: (reciever, eventData) => reciever.OnSendRosAvatarPoseMessage(avatarPose)
);
ExecuteEvents.Execute <IRosAvatarPoseSendHandler>
(
target: this.playbackManager,
eventData: null,
functor: (reciever, eventData) => reciever.OnSendRosAvatarPoseMessage(avatarPose)
);
}
public void OnReceiveRosMessage(RosBridge.human_navigation.HumanNaviMsg humanNaviMsg)
{
if (this.receivedMessageMap.ContainsKey(humanNaviMsg.message))
{
this.receivedMessageMap[humanNaviMsg.message] = true;
if (humanNaviMsg.message == MsgGiveUp)
{
this.OnGiveUp();
}
else if (humanNaviMsg.message == MsgGetAvatarPose)
{
RosBridge.human_navigation.HumanNaviAvatarPose avatarPose = new RosBridge.human_navigation.HumanNaviAvatarPose();
avatarPose.head.position = ConvertCoorinateSystemUnityToROS_Position(this.head.transform.position);
avatarPose.head.orientation = ConvertCoorinateSystemUnityToROS_Rotation(this.head.transform.rotation);
avatarPose.left_hand.position = ConvertCoorinateSystemUnityToROS_Position(this.LeftHand.transform.position);
avatarPose.left_hand.orientation = ConvertCoorinateSystemUnityToROS_Rotation(this.LeftHand.transform.rotation);
avatarPose.right_hand.position = ConvertCoorinateSystemUnityToROS_Position(this.rightHand.transform.position);
avatarPose.right_hand.orientation = ConvertCoorinateSystemUnityToROS_Rotation(this.rightHand.transform.rotation);
this.SendRosAvatarPoseMessage(avatarPose);
}
else if (humanNaviMsg.message == MsgConfirmSpeechState)
{
if (this.isDuringTrial)
{
this.SendRosHumanNaviMessage(MsgSpeechState, this.sessionManager.GetSeechRunStateMsgString());
}
}
}
else
{
SIGVerseLogger.Warn("Received Illegal message : " + humanNaviMsg.message);
}
}
