public Imu(Header header, Geometry.Quaternion orientation, double[] orientation_covariance, Geometry.Vector3 angular_velocity, double[] angular_velocity_covariance, Geometry.Vector3 linear_acceleration, double[] linear_acceleration_covariance)
{
this.header = header;
this.orientation = orientation;
this.orientation_covariance = orientation_covariance;
this.angular_velocity = angular_velocity;
this.angular_velocity_covariance = angular_velocity_covariance;
this.linear_acceleration = linear_acceleration;
this.linear_acceleration_covariance = linear_acceleration_covariance;
}
// Row major x, y z
public Imu()
{
this.header = new Header();
this.orientation = new Geometry.Quaternion();
this.orientation_covariance = new double[9];
this.angular_velocity = new Geometry.Vector3();
this.angular_velocity_covariance = new double[9];
this.linear_acceleration = new Geometry.Vector3();
this.linear_acceleration_covariance = new double[9];
}
public float[] linear_acceleration_covariance; //should be -1
public Imu()
{
header = new Standard.Header();
orientation = new Geometry.Quaternion();
orientation_covariance = new float[9]; //{-1,0,0,0,-1,0,0,0,-1};
angular_velocity = new Geometry.Vector3();
angular_velocity_covariance = new float[9];
linear_acceleration = new Geometry.Vector3();
linear_acceleration_covariance = new float[9];
}
public Marker(Header header, string ns, int id, int type, int action, Geometry.Pose pose, Geometry.Vector3 scale, Std.ColorRGBA color, Duration lifetime, bool frame_locked, Geometry.Point[] points, Std.ColorRGBA[] colors, string text, string mesh_resource, bool mesh_use_embedded_materials)
{
this.header = header;
this.ns = ns;
this.id = id;
this.type = type;
this.action = action;
this.pose = pose;
this.scale = scale;
this.color = color;
this.lifetime = lifetime;
this.frame_locked = frame_locked;
this.points = points;
this.colors = colors;
this.text = text;
this.mesh_resource = mesh_resource;
this.mesh_use_embedded_materials = mesh_use_embedded_materials;
}
public Marker()
{
this.header = new Header();
this.ns = "";
this.id = 0;
this.type = 0;
this.action = 0;
this.pose = new Geometry.Pose();
this.scale = new Geometry.Vector3();
this.color = new Std.ColorRGBA();
this.lifetime = new Duration();
this.frame_locked = false;
this.points = new Geometry.Point[0];
this.colors = new Std.ColorRGBA[0];
this.text = "";
this.mesh_resource = "";
this.mesh_use_embedded_materials = false;
}
public MagneticField(Header header, Geometry.Vector3 magnetic_field, double[] magnetic_field_covariance)
{
this.header = header;
this.magnetic_field = magnetic_field;
this.magnetic_field_covariance = magnetic_field_covariance;
}
// Row major about x, y, z axes
// 0 is interpreted as variance unknown
public MagneticField()
{
this.header = new Header();
this.magnetic_field = new Geometry.Vector3();
this.magnetic_field_covariance = new double[9];
}
public Robot(int robot_id, Geometry.Vector3 position, float rotation)
{
this.robot_id = robot_id;
this.position = position;
this.rotation = rotation;
}
public Robot()
{
this.robot_id = 0;
this.position = new Geometry.Vector3();
this.rotation = 0.0f;
}
