public void HandleSubmapMessage(SubmapCloudMsg msg)
{
if (pending_submap != null)
{
GameObject obj;
SubmapVisualizer vis;
if (!submaps.ContainsKey(pending_submap.submap_index))
{
obj = new GameObject();
obj.transform.parent = transform;
vis = obj.AddComponent <SubmapVisualizer>();
submaps.Add(pending_submap.submap_index, vis);
}
else
{
vis = submaps[pending_submap.submap_index];
obj = vis.gameObject;
}
obj.transform.position = this.transform.position + (new Vector3(
pending_submap.pose._position.GetX(),
pending_submap.pose._position.GetY(),
pending_submap.pose._position.GetZ()));
obj.transform.rotation = this.transform.rotation * (new Quaternion(
pending_submap.pose._orientation.GetX(),
pending_submap.pose._orientation.GetY(),
pending_submap.pose._orientation.GetZ(),
pending_submap.pose._orientation.GetW()));
vis.UpdateMap(msg.cloud.GetCloud());
submap_versions[pending_submap.submap_index] = pending_submap.submap_version;
pending_submap = null;
}
}
public new static void JSONServiceCallBack(JSONNode node)
{
SubmapCloudMsg cloudMsg = new SubmapCloudMsg(node);
SubmapManager mapManager = GameObject.Find("Submaps").GetComponent <SubmapManager>();
mapManager.HandleSubmapMessage(cloudMsg);
}
