C# (CSharp) TfInfo Examples

Example #1

File: PR2PubTf.cs Project: yangyuanling/sigverse_unity_project

        void Awake()
        {
            List <UnityEngine.Transform> localLinkList = PR2Common.GetLinksInChildren(this.transform.root);

            foreach (UnityEngine.Transform localLink in localLinkList)
            {
                if (localLink.name == PR2Common.Link.base_footprint.ToString())
                {
                    TransformStamped localTransformStamped = new TransformStamped();
                    localTransformStamped.header.frame_id = PR2Common.OdomName;
                    localTransformStamped.child_frame_id  = localLink.name;

                    TfInfo localTfInfo = new TfInfo(localLink, localTransformStamped);

                    this.localTfInfoList.Add(localTfInfo);
                }
                else
                {
                    TransformStamped localTransformStamped = new TransformStamped();
                    localTransformStamped.header.frame_id = localLink.parent.name;
                    localTransformStamped.child_frame_id  = localLink.name;

                    TfInfo localTfInfo = new TfInfo(localLink, localTransformStamped);

                    this.localTfInfoList.Add(localTfInfo);
                }
            }

            this.synchronizer = this.GetComponent <PR2PubSynchronizer>();

            this.publishSequenceNumber = this.synchronizer.GetAssignedSequenceNumber();

            this.isUsingThread = this.synchronizer.useThread;
        }

Example #2

File: HSRPubTf.cs Project: samiamlabs/common-unity

        void Awake()
        {
            List <UnityEngine.Transform> localLinkList = HSRCommon.GetLinksInChildren(this.transform.root);

            foreach (UnityEngine.Transform localLink in localLinkList)
            {
                TransformStamped localTransformStamped = new TransformStamped();

                localTransformStamped.header.frame_id = localLink.parent.name;
                localTransformStamped.child_frame_id  = localLink.name;

                TfInfo localTfInfo = new TfInfo(localLink, localTransformStamped);

                this.localTfInfoList.Add(localTfInfo);
            }

            this.publishSequenceNumber = HSRPubSynchronizer.GetAssignedSequenceNumber();
        }

Example #3

File: TurtleBot3PubTf.cs Project: yangyuanling/sigverse_unity_project

        void Awake()
        {
            List <UnityEngine.Transform> localLinkList = TurtleBot3Common.GetLinksInChildren(this.transform.root);

            foreach (UnityEngine.Transform localLink in localLinkList)
            {
                TransformStamped localTransformStamped = new TransformStamped();

                localTransformStamped.header.frame_id = localLink.parent.name;
                localTransformStamped.child_frame_id  = localLink.name;

                TfInfo localTfInfo = new TfInfo(localLink, localTransformStamped);

                this.localTfInfoList.Add(localTfInfo);

                this.synchronizer = this.GetComponent <TurtleBot3PubSynchronizer>();

                this.publishSequenceNumber = this.synchronizer.GetAssignedSequenceNumber();

                this.isUsingThread = this.synchronizer.useThread;
            }
        }

Example #4

File: RobotPubTf.cs Project: yangyuanling/sigverse_unity_project

        protected List <UnityEngine.Transform> linkList;        // link list of the robot


        protected virtual void Awake()
        {
            this.InitializeVariables();

            foreach (UnityEngine.Transform link in this.linkList)
            {
                if (link.name == this.baseFootprintName)
                {
                    TransformStamped localTransformStamped = new TransformStamped();
                    localTransformStamped.header.frame_id = this.odomName;
                    localTransformStamped.child_frame_id  = link.name;

                    UnityEngine.Transform baseFootprintRigidbody = SIGVerseUtils.FindTransformFromChild(this.transform.root, this.baseFootprintRigidbodyName);

                    TfInfo localTfInfo = new TfInfo(baseFootprintRigidbody, localTransformStamped);

                    this.localTfInfoList.Add(localTfInfo);
                }
                else
                {
                    TransformStamped localTransformStamped = new TransformStamped();
                    localTransformStamped.header.frame_id = link.parent.name;
                    localTransformStamped.child_frame_id  = link.name;

                    TfInfo localTfInfo = new TfInfo(link, localTransformStamped);

                    this.localTfInfoList.Add(localTfInfo);
                }
            }

            this.synchronizer = this.GetComponent <RobotPubSynchronizer>();

            this.publishSequenceNumber = this.synchronizer.GetAssignedSequenceNumber();

            this.isUsingThread = this.synchronizer.useThread;
        }

Example #5

File: HSRPubTf.cs Project: y-mizuchi/human-navi-online-beta

        void Awake()
        {
            List <UnityEngine.Transform> localLinkList = HSRCommon.GetLinksInChildren(this.transform.root);

            foreach (UnityEngine.Transform localLink in localLinkList)
            {
                if (localLink.name == HSRCommon.Link.base_footprint.ToString())
                {
                    TransformStamped localTransformStamped = new TransformStamped();
                    localTransformStamped.header.frame_id = HSRCommon.OdomName;
                    localTransformStamped.child_frame_id  = localLink.name;

                    UnityEngine.Transform baseFootprintRigidbody = SIGVerseUtils.FindTransformFromChild(this.transform.root, HSRCommon.BaseFootPrintRigidbodyName);

                    TfInfo localTfInfo = new TfInfo(baseFootprintRigidbody, localTransformStamped);

                    this.localTfInfoList.Add(localTfInfo);
                }
                else
                {
                    TransformStamped localTransformStamped = new TransformStamped();
                    localTransformStamped.header.frame_id = localLink.parent.name;
                    localTransformStamped.child_frame_id  = localLink.name;

                    TfInfo localTfInfo = new TfInfo(localLink, localTransformStamped);

                    this.localTfInfoList.Add(localTfInfo);
                }
            }

            this.synchronizer = this.GetComponent <HSRPubSynchronizer>();

            this.publishSequenceNumber = this.synchronizer.GetAssignedSequenceNumber();

            this.isUsingThread = this.synchronizer.useThread;
        }