/// <summary>
/// Extends type <c>Pose</c> with a method <c>ToPoseStampedMessage</c>, which creates a message with frame and time stamp.
/// In ROS the message geometry_msgs/Pose does not contain a frame_id. Therefore a PoseStamped message is also used
/// whenever a relative pose with a parent frame_id has to be transmitted.
/// </summary>
/// <param name="pose">A <c>Pose</c> object</param>
/// <param name="stamp">A <c>std_msgs.Time</c> message object</param>
/// <returns>Returns an instance of <c>geometry_msgs.PoseStamped</c>.</returns>
public static geometry_msgs.PoseStamped ToPoseStampedMessage(this Pose pose, std_msgs.Time stamp = null) =>
new geometry_msgs.PoseStamped
{
header = new std_msgs.Header()
{
stamp = stamp ?? TimeData.Zero.ToMessage(), frame_id = pose.Frame
},
pose = pose.ToPoseMessage(),
};
public override bool Equals(IRosMessage ____other)
{
if (____other == null)
{
return(false);
}
bool ret = true;
std_msgs.Time other = (Messages.std_msgs.Time)____other;
ret &= data.Equals(other.data);
// for each SingleType st:
// ret &= {st.Name} == other.{st.Name};
return(ret);
}
/// <summary>
/// Extends the type <c>Twist</c> with a method <c>ToTwistMessage</c>, which creates an time stamped twist message.
/// </summary>
/// <param name="twist">Twist</c> object to be extended</param>
/// <param name="stamp">A time message</param>
/// <returns>Returns an instance of <c>geometry_msgs.TwistStamped</c>.</returns>
public static geometry_msgs.TwistStamped ToTwistStampedMessage(this Twist twist, std_msgs.Time stamp = null)
{
return(new geometry_msgs.TwistStamped()
{
header = new std_msgs.Header()
{
stamp = stamp ?? TimeData.Zero.ToMessage(), frame_id = twist.Frame
},
twist = twist.ToTwistMessage(),
});
}
/// <summary>
/// Extends type <c>Quaternion</c> with a method <c>ToQuaternionMessageStamped</c>, which creates a time stamped message.
/// </summary>
/// <param name="value">A <c>Quaternion</c> object</param>
/// <param name="stamp">A <c>std_msgs.Time</c> message object</param>
/// <param name="frameId">A string representing the frameId</param>
/// <returns>Returns an instance of <c>geometry_msgs.QuaternionStamped</c>.</returns>
public static geometry_msgs.QuaternionStamped ToQuaternionMessageStamped(this Quaternion value, std_msgs.Time stamp, string frameId = "") =>
new geometry_msgs.QuaternionStamped
{
header = new std_msgs.Header()
{
stamp = stamp, frame_id = frameId
},
quaternion = value.ToQuaternionMessage()
};
