private string serializeJointState(JointState js)
{
string topic = "\"topic\": \"/joint_states\", "; // platzhalter, topic vom RosMessage- objekt später holen
// Baue Header
string headerString = RosHeaderCoder_.serializeSingleHeader(js.header);
// Baue Velocityarray
double[] velocity = js.velocity;
string velocityString = RosArrayService_.baueDoubleWertArrayUm(velocity, "\"velocity\": ", false);
// Baue Effortarray
double[] effort = js.effort;
string effortString = RosArrayService_.baueDoubleWertArrayUm(effort, "\"effort\": ", false);
// Baue Namearray
string[] name = js.name;
string nameString = RosArrayService_.baueStringWertArrayUm(name, "\"name\": ", false);
// Baue Positionarray
double[] position = js.position;
string positionString = RosArrayService_.baueDoubleWertArrayUm(position, "\"position\": ", true);
// Einzelteile zusammenkleben und formatiert zurückgeben
return("\"{" + topic + "\"msg\": {" + headerString + velocityString + effortString + nameString + positionString + "}, \"op\": \"publish\"}\"");
}
private string serializeJointTrajectory(JointTrajectory jt)
{
//serialisiere Topic
string topic = "\"topic\": \"/preview_trajectory\", "; // platzhalter, topic vom RosMessage- objekt später holen
// serialisiere header
Header jtheader = jt.header;
string headerString = RosHeaderCoder_.serializeSingleHeader(jtheader);
//serialisiere joint_names
string[] jtjoint_names = jt.joint_names;
string joint_names_string = RosArrayService_.baueStringWertArrayUm(jtjoint_names, "\"joint_names\": ", false);
//serialisiere JoinTrajectoryPoints
JointTrajectoryPoint[] jtps = jt.points;
string points_string = "";
for (int i = 0; i < jtps.Length - 2; ++i)
{
points_string = points_string + RosJointTrajectoryPointCoder_.serializeSingleJointTrajectoryPoint(jtps[i]) + ", ";
}
points_string = points_string + RosJointTrajectoryPointCoder_.serializeSingleJointTrajectoryPoint(jtps[jtps.Length - 1]);
points_string = "\"points: \"[" + points_string + "]";
// Einzelteile zusammenkleben und formatiert zurückgeben
return("\"{" + topic + "\"msg\": {" + headerString + joint_names_string + points_string + "}, \"op\": \"publish\"}\"");
}