public override int GetHashCode()
{
int hash = 1;
if (header_ != null)
{
hash ^= Header.GetHashCode();
}
if (leftImage_ != null)
{
hash ^= LeftImage.GetHashCode();
}
if (rightImage_ != null)
{
hash ^= RightImage.GetHashCode();
}
if (pointCloud_ != null)
{
hash ^= PointCloud.GetHashCode();
}
if (navSatFix_ != null)
{
hash ^= NavSatFix.GetHashCode();
}
if (odometry_ != null)
{
hash ^= Odometry.GetHashCode();
}
return(hash);
}
// Update is called once per frame
void Update()
{
if (run)
{
sensor = updateGPS();
rosSocket.Publish(publication_id, sensor);
}
}
public void MergeFrom(SEVData other)
{
if (other == null)
{
return;
}
if (other.header_ != null)
{
if (header_ == null)
{
header_ = new global::Header();
}
Header.MergeFrom(other.Header);
}
if (other.leftImage_ != null)
{
if (leftImage_ == null)
{
leftImage_ = new global::Image();
}
LeftImage.MergeFrom(other.LeftImage);
}
if (other.rightImage_ != null)
{
if (rightImage_ == null)
{
rightImage_ = new global::Image();
}
RightImage.MergeFrom(other.RightImage);
}
if (other.pointCloud_ != null)
{
if (pointCloud_ == null)
{
pointCloud_ = new global::PointCloud2();
}
PointCloud.MergeFrom(other.PointCloud);
}
if (other.navSatFix_ != null)
{
if (navSatFix_ == null)
{
navSatFix_ = new global::NavSatFix();
}
NavSatFix.MergeFrom(other.NavSatFix);
}
if (other.odometry_ != null)
{
if (odometry_ == null)
{
odometry_ = new global::Odometry();
}
Odometry.MergeFrom(other.Odometry);
}
}
private NavSatFix updateGPS()
{
NavSatFix navFix = new NavSatFix();
navFix.header.frame_id = frameId;
navFix.status.status = 0;
navFix.status.service = 1;
navFix.position_covariance_type = 0;
float[] matrixUnknown = { 1, 0, 0, 0, 1, 0, 0, 0, 1 };
navFix.position_covariance = matrixUnknown;
//TODO get and convert UTM to GPS
return(navFix);
}
