private RosPublish deserializeJointTrajectory(JsonObject jsonObject)
{
JsonArray jjoint_names = jsonObject["msg"].GetObject()["joint_names"].GetArray();
// baue den Header
Header header = RosHeaderCoder_.deserializeSingleHeader((JsonValue)jsonObject["msg"].GetObject()["header"]);
// Lasse die JointTrajectoryPoints vom jeweiligen Coder deserialisieren
JsonArray jjointtrajectorypoints = jsonObject["msg"].GetObject()["points"].GetArray();
//TODO JointTrajectoryPoints deserialisieren
JointTrajectoryPoint[] pts = new JointTrajectoryPoint[jjointtrajectorypoints.Count];
for (int i = 0; i < jjointtrajectorypoints.Count; i++)
{
pts[i] = RosJointTrajectoryPointCoder_.deserializeSingleJointTrajectoryPoint((JsonValue)jjointtrajectorypoints[i]);
}
JointTrajectory messageData = new JointTrajectory();
messageData.header = header;
// Nutze den ArrayService, um die JSONArrays in "normale" Arrays umzuwandeln
messageData.joint_names = RosArrayService_.stringArrayAusJSonArray(jjoint_names);
messageData.points = pts;
return(new RosPublish("\"/preview_trajectory\"", messageData));
}
private RosPublish deserializeJointState(JsonObject jsonObject)
{
JsonArray jnarray = jsonObject["msg"].GetObject()["name"].GetArray();
JsonArray jparray = jsonObject["msg"].GetObject()["position"].GetArray();
JsonArray jvarray = jsonObject["msg"].GetObject()["velocity"].GetArray();
JsonArray jearray = jsonObject["msg"].GetObject()["effort"].GetArray();
// baue den Header
Header header = RosHeaderCoder_.deserializeSingleHeader((JsonValue)jsonObject["msg"].GetObject()["header"]);
//Restliche Werte des JointState rausfinden
JointState messageData = new JointState();
messageData.header = header;
// Nutze den ArrayService, um die JSONArrays in "normale" Arrays umzuwandeln
messageData.name = RosArrayService_.stringArrayAusJSonArray(jnarray);
messageData.position = RosArrayService_.doubleArrayAusJSonArray(jparray);
messageData.velocity = RosArrayService_.doubleArrayAusJSonArray(jvarray);
messageData.effort = RosArrayService_.doubleArrayAusJSonArray(jearray);
return(new RosPublish("\"/joint_states\"", messageData));
}