public override byte[] Serialize(bool partofsomethingelse) { bool hasmetacomponents = false; List <byte[]> pieces = new List <byte[]>(); //transforms hasmetacomponents |= true; if (transforms == null) { transforms = new Messages.geometry_msgs.TransformStamped[0]; } pieces.Add(BitConverter.GetBytes(transforms.Length)); for (int i = 0; i < transforms.Length; i++) { //transforms[i] if (transforms[i] == null) { transforms[i] = new Messages.geometry_msgs.TransformStamped(); } pieces.Add(transforms[i].Serialize(true)); } // combine every array in pieces into one array and return it int __a_b__f = pieces.Sum((__a_b__c) => __a_b__c.Length); int __a_b__e = 0; byte[] __a_b__d = new byte[__a_b__f]; foreach (var __p__ in pieces) { Array.Copy(__p__, 0, __a_b__d, __a_b__e, __p__.Length); __a_b__e += __p__.Length; } return(__a_b__d); }
public Transform(Messages.geometry_msgs.TransformStamped msg) : this( new Quaternion(msg.transform.rotation), new Vector3(msg.transform.translation), msg.header.stamp, msg.header.frame_id, msg.child_frame_id ) { }
public override void Randomize() { int arraylength = -1; Random rand = new Random(); //transforms arraylength = rand.Next(10); if (transforms == null) { transforms = new Messages.geometry_msgs.TransformStamped[arraylength]; } else { Array.Resize(ref transforms, arraylength); } for (int i = 0; i < transforms.Length; i++) { //transforms[i] transforms[i] = new Messages.geometry_msgs.TransformStamped(); transforms[i].Randomize(); } }
public override void Deserialize(byte[] serializedMessage, ref int currentIndex) { int arraylength = -1; bool hasmetacomponents = false; //transforms hasmetacomponents |= true; arraylength = BitConverter.ToInt32(serializedMessage, currentIndex); currentIndex += Marshal.SizeOf(typeof(System.Int32)); if (transforms == null) { transforms = new Messages.geometry_msgs.TransformStamped[arraylength]; } else { Array.Resize(ref transforms, arraylength); } for (int i = 0; i < transforms.Length; i++) { //transforms[i] transforms[i] = new Messages.geometry_msgs.TransformStamped(serializedMessage, ref currentIndex); } }