public override void deserialize(MemoryStream stream, geometry_msgs.msg.Twist data) { using (BinaryReader reader = new BinaryReader(stream)) { Halodi.CDR.CDRDeserializer cdr = new Halodi.CDR.CDRDeserializer(reader); read(data, cdr); } }
public static void read(geometry_msgs.msg.Twist data, Halodi.CDR.CDRDeserializer cdr) { data.linear = geometry_msgs.msg.Vector3PubSubType.Create(); geometry_msgs.msg.Vector3PubSubType.read(data.linear, cdr); data.angular = geometry_msgs.msg.Vector3PubSubType.Create(); geometry_msgs.msg.Vector3PubSubType.read(data.angular, cdr); }
public override void serialize(geometry_msgs.msg.Twist data, MemoryStream stream) { using (BinaryWriter writer = new BinaryWriter(stream)) { Halodi.CDR.CDRSerializer cdr = new Halodi.CDR.CDRSerializer(writer); write(data, cdr); } }
public static int getCdrSerializedSize(geometry_msgs.msg.Twist data, int current_alignment) { int initial_alignment = current_alignment; current_alignment += geometry_msgs.msg.Vector3PubSubType.getCdrSerializedSize(data.linear, current_alignment); current_alignment += geometry_msgs.msg.Vector3PubSubType.getCdrSerializedSize(data.angular, current_alignment); return(current_alignment - initial_alignment); }
public static void read(sensor_msgs.msg.MultiDOFJointState data, Halodi.CDR.CDRDeserializer cdr) { data.header = std_msgs.msg.HeaderPubSubType.Create(); std_msgs.msg.HeaderPubSubType.read(data.header, cdr); int joint_names_length = cdr.read_type_2(); data.joint_names = new System.Collections.Generic.List <string>(joint_names_length); for (int i = 0; i < joint_names_length; i++) { data.joint_names.Add(cdr.read_type_d()); } int transforms_length = cdr.read_type_2(); data.transforms = new System.Collections.Generic.List <geometry_msgs.msg.Transform>(transforms_length); for (int i = 0; i < transforms_length; i++) { geometry_msgs.msg.Transform new_transforms = geometry_msgs.msg.TransformPubSubType.Create(); geometry_msgs.msg.TransformPubSubType.read(new_transforms, cdr); data.transforms.Add(new_transforms); } int twist_length = cdr.read_type_2(); data.twist = new System.Collections.Generic.List <geometry_msgs.msg.Twist>(twist_length); for (int i = 0; i < twist_length; i++) { geometry_msgs.msg.Twist new_twist = geometry_msgs.msg.TwistPubSubType.Create(); geometry_msgs.msg.TwistPubSubType.read(new_twist, cdr); data.twist.Add(new_twist); } int wrench_length = cdr.read_type_2(); data.wrench = new System.Collections.Generic.List <geometry_msgs.msg.Wrench>(wrench_length); for (int i = 0; i < wrench_length; i++) { geometry_msgs.msg.Wrench new_wrench = geometry_msgs.msg.WrenchPubSubType.Create(); geometry_msgs.msg.WrenchPubSubType.read(new_wrench, cdr); data.wrench.Add(new_wrench); } }
public static void Unity2Ros(this geometry_msgs.msg.Twist rosTwist, Rigidbody unityRigidbody) { Vector3 rosLinearVelocity = unityRigidbody.transform.InverseTransformDirection(unityRigidbody.velocity).Unity2Ros(); rosTwist.linear.x = rosLinearVelocity.x; rosTwist.linear.y = rosLinearVelocity.y; rosTwist.linear.z = rosLinearVelocity.z; Vector3 rosAngularVelocity = unityRigidbody.transform.InverseTransformDirection(unityRigidbody.angularVelocity).Unity2Ros(); rosTwist.angular.x = rosAngularVelocity.x; rosTwist.angular.y = rosAngularVelocity.y; //TODO(sam): figure out why this is reversed rosTwist.angular.z = -rosAngularVelocity.z; }
public static void read(trajectory_msgs.msg.MultiDOFJointTrajectoryPoint data, Halodi.CDR.CDRDeserializer cdr) { int transforms_length = cdr.read_type_2(); data.transforms = new System.Collections.Generic.List <geometry_msgs.msg.Transform>(transforms_length); for (int i = 0; i < transforms_length; i++) { geometry_msgs.msg.Transform new_transforms = geometry_msgs.msg.TransformPubSubType.Create(); geometry_msgs.msg.TransformPubSubType.read(new_transforms, cdr); data.transforms.Add(new_transforms); } int velocities_length = cdr.read_type_2(); data.velocities = new System.Collections.Generic.List <geometry_msgs.msg.Twist>(velocities_length); for (int i = 0; i < velocities_length; i++) { geometry_msgs.msg.Twist new_velocities = geometry_msgs.msg.TwistPubSubType.Create(); geometry_msgs.msg.TwistPubSubType.read(new_velocities, cdr); data.velocities.Add(new_velocities); } int accelerations_length = cdr.read_type_2(); data.accelerations = new System.Collections.Generic.List <geometry_msgs.msg.Twist>(accelerations_length); for (int i = 0; i < accelerations_length; i++) { geometry_msgs.msg.Twist new_accelerations = geometry_msgs.msg.TwistPubSubType.Create(); geometry_msgs.msg.TwistPubSubType.read(new_accelerations, cdr); data.accelerations.Add(new_accelerations); } data.time_from_start = builtin_interfaces.msg.DurationPubSubType.Create(); builtin_interfaces.msg.DurationPubSubType.read(data.time_from_start, cdr); }
public void Set(MultiDOFJointState other) { std_msgs.msg.HeaderPubSubType.Copy(other.header, header); if (other.joint_names == null) { joint_names = null; } else { joint_names = new System.Collections.Generic.List <string>(other.joint_names.Count); for (int i1 = 0; i1 < other.joint_names.Count; i1++) { joint_names.Add(other.joint_names[i1]); } } if (other.transforms == null) { transforms = null; } else { transforms = new System.Collections.Generic.List <geometry_msgs.msg.Transform>(other.transforms.Count); for (int i2 = 0; i2 < other.transforms.Count; i2++) { if (other.transforms[i2] == null) { transforms.Add(null); } else { geometry_msgs.msg.Transform newElement = geometry_msgs.msg.TransformPubSubType.Create(); geometry_msgs.msg.TransformPubSubType.Copy(other.transforms[i2], newElement); transforms.Add(newElement); } } } if (other.twist == null) { twist = null; } else { twist = new System.Collections.Generic.List <geometry_msgs.msg.Twist>(other.twist.Count); for (int i3 = 0; i3 < other.twist.Count; i3++) { if (other.twist[i3] == null) { twist.Add(null); } else { geometry_msgs.msg.Twist newElement = geometry_msgs.msg.TwistPubSubType.Create(); geometry_msgs.msg.TwistPubSubType.Copy(other.twist[i3], newElement); twist.Add(newElement); } } } if (other.wrench == null) { wrench = null; } else { wrench = new System.Collections.Generic.List <geometry_msgs.msg.Wrench>(other.wrench.Count); for (int i4 = 0; i4 < other.wrench.Count; i4++) { if (other.wrench[i4] == null) { wrench.Add(null); } else { geometry_msgs.msg.Wrench newElement = geometry_msgs.msg.WrenchPubSubType.Create(); geometry_msgs.msg.WrenchPubSubType.Copy(other.wrench[i4], newElement); wrench.Add(newElement); } } } }
public static void Copy(geometry_msgs.msg.Twist src, geometry_msgs.msg.Twist target) { target.Set(src); }
public static void write(geometry_msgs.msg.Twist data, Halodi.CDR.CDRSerializer cdr) { geometry_msgs.msg.Vector3PubSubType.write(data.linear, cdr); geometry_msgs.msg.Vector3PubSubType.write(data.angular, cdr); }
public static int getCdrSerializedSize(geometry_msgs.msg.Twist data) { return(getCdrSerializedSize(data, 0)); }
public void Set(MultiDOFJointTrajectoryPoint other) { if (other.transforms == null) { transforms = null; } else { transforms = new System.Collections.Generic.List <geometry_msgs.msg.Transform>(other.transforms.Count); for (int i1 = 0; i1 < other.transforms.Count; i1++) { if (other.transforms[i1] == null) { transforms.Add(null); } else { geometry_msgs.msg.Transform newElement = geometry_msgs.msg.TransformPubSubType.Create(); geometry_msgs.msg.TransformPubSubType.Copy(other.transforms[i1], newElement); transforms.Add(newElement); } } } if (other.velocities == null) { velocities = null; } else { velocities = new System.Collections.Generic.List <geometry_msgs.msg.Twist>(other.velocities.Count); for (int i2 = 0; i2 < other.velocities.Count; i2++) { if (other.velocities[i2] == null) { velocities.Add(null); } else { geometry_msgs.msg.Twist newElement = geometry_msgs.msg.TwistPubSubType.Create(); geometry_msgs.msg.TwistPubSubType.Copy(other.velocities[i2], newElement); velocities.Add(newElement); } } } if (other.accelerations == null) { accelerations = null; } else { accelerations = new System.Collections.Generic.List <geometry_msgs.msg.Twist>(other.accelerations.Count); for (int i3 = 0; i3 < other.accelerations.Count; i3++) { if (other.accelerations[i3] == null) { accelerations.Add(null); } else { geometry_msgs.msg.Twist newElement = geometry_msgs.msg.TwistPubSubType.Create(); geometry_msgs.msg.TwistPubSubType.Copy(other.accelerations[i3], newElement); accelerations.Add(newElement); } } } builtin_interfaces.msg.DurationPubSubType.Copy(other.time_from_start, time_from_start); }