public RosQuaternion unity2rosOrientation(Quaternion UnityOrientation)
{
UnityOrientation.eulerAngles = new Vector3(UnityOrientation.eulerAngles.z, UnityOrientation.eulerAngles.x, UnityOrientation.eulerAngles.y); //maybe minus?
RosQuaternion RosOrientation = new RosQuaternion(0.0f, 0.0f, 0.0f, 1.0f);
return(RosOrientation);
}
public Quaternion ros2unityOrientation(RosQuaternion RosOrientation)
{
Quaternion UnityOrientation = new Quaternion((float)RosOrientation.x, (float)RosOrientation.y, (float)RosOrientation.z, (float)RosOrientation.w); //maybe minus?
UnityOrientation.eulerAngles = new Vector3(UnityOrientation.eulerAngles.y, UnityOrientation.eulerAngles.z, UnityOrientation.eulerAngles.x);
return(UnityOrientation);
}
private PoseMsg(MessageDeserializer deserializer)
{
this.position = PointMsg.Deserialize(deserializer);
this.orientation = QuaternionMsg.Deserialize(deserializer);
}
public PoseMsg(PointMsg position, QuaternionMsg orientation)
{
this.position = position;
this.orientation = orientation;
}
public PoseMsg()
{
this.position = new PointMsg();
this.orientation = new QuaternionMsg();
}
private QuaternionStampedMsg(MessageDeserializer deserializer)
{
this.header = Std.HeaderMsg.Deserialize(deserializer);
this.quaternion = QuaternionMsg.Deserialize(deserializer);
}
public QuaternionStampedMsg(Std.HeaderMsg header, QuaternionMsg quaternion)
{
this.header = header;
this.quaternion = quaternion;
}
public QuaternionStampedMsg()
{
this.header = new Std.HeaderMsg();
this.quaternion = new QuaternionMsg();
}
private TransformMsg(MessageDeserializer deserializer)
{
this.translation = Vector3Msg.Deserialize(deserializer);
this.rotation = QuaternionMsg.Deserialize(deserializer);
}
public TransformMsg(Vector3Msg translation, QuaternionMsg rotation)
{
this.translation = translation;
this.rotation = rotation;
}
public TransformMsg()
{
this.translation = new Vector3Msg();
this.rotation = new QuaternionMsg();
}
