/// <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(),
});
}
