public static JointTrajectoryPoint deserializeSingleJointTrajectoryPoint(JsonValue jpoint)
{
// baue den Point
JointTrajectoryPoint point = new JointTrajectoryPoint();
//Mache den Header wieder zu einem JsonObject, damit Key Value wieder funktioniert
string geschachteltesHeaderJson = jpoint.ToString();
JsonObject jsonPoint = JsonObject.Parse(geschachteltesHeaderJson);
JsonArray jpositions = jsonPoint["positions"].GetArray();
JsonArray jvelocities = jsonPoint["velocities"].GetArray();
JsonArray jaccelerations = jsonPoint["accelerations"].GetArray();
JsonArray jeffort = jsonPoint["effort"].GetArray();
JsonObject jtime_from_start = jsonPoint["time_from_start"].GetObject();
point.positions = RosArrayService_.doubleArrayAusJSonArray(jpositions);
point.velocities = RosArrayService_.doubleArrayAusJSonArray(jvelocities);
point.accelerations = RosArrayService_.doubleArrayAusJSonArray(jaccelerations);
point.effort = RosArrayService_.doubleArrayAusJSonArray(jeffort);
point.time_from_start = RosDurationCoder_.deserializeSingleDuration(jtime_from_start);
return(point);
}
public static string serializeSingleJointTrajectoryPoint(JointTrajectoryPoint point)
{
// TODO
// Baue PositionsArray
double[] jtpositions = point.positions;
string positionsString = RosArrayService_.baueDoubleWertArrayUm(jtpositions, "\"positions\": ", false);
// Baue Accelerationsarray
double[] jtaccelerations = point.accelerations;
string accelerationsString = RosArrayService_.baueDoubleWertArrayUm(jtaccelerations, "\"accelerations\": ", false);
// Baue Velocitiesarray
double[] jtvelocities = point.velocities;
string velocitiesString = RosArrayService_.baueDoubleWertArrayUm(jtvelocities, "\"velocities\": ", false);
// Baue Effortsarray
double[] jteffort = point.effort;
string effortString = RosArrayService_.baueDoubleWertArrayUm(jteffort, "\"effort\": ", false);
string durationString = "\"time_from_start\": " + RosDurationCoder_.serializeSingleDuration(point.time_from_start);
return(baueJointTrajectoryString(positionsString, velocitiesString, accelerationsString, effortString, durationString));
}
