///<exclude/>
public bool Equals(Twist other)
{
if (ReferenceEquals(null, other)) return false;
if (ReferenceEquals(this, other)) return true;
return other.linear.Equals(linear) && other.angular.Equals(angular);
}
// ================================================================================================
/// <summary>
/// 送信
/// </summary>
public void Publish()
{
try
{
// ロータリーエンコーダ パルス値
if (null != pubRE)
{
var data = new RosSharp.geometry_msgs.Twist() { linear = new Vector3() { x = reRpulse, y = reLpulse, z = 0.0 } };
//Console.WriteLine("data = {0}", data.data);
pubRE.OnNext(data);
}
// ロータリーエンコーダ プロット値
if (null != pubPlot)
{
var data = new RosSharp.geometry_msgs.Twist() { linear = new Vector3() { x = rePlotX, y = rePlotY, z = 0.0 }, angular = new Vector3() { x = reAng, y = 0, z = 0 } };
//Console.WriteLine("data = {0}", data.data);
pubPlot.OnNext(data);
}
// 地磁気
if (null != pubCompus)
{
var data = new RosSharp.geometry_msgs.Twist() { linear = new Vector3() { x = 0.0, y = 0.0, z = compusDir } };
//Console.WriteLine("data = {0}", data.data);
pubCompus.OnNext(data);
}
// ＧＰＳ
if (null != pubGPS)
{
var data = new RosSharp.geometry_msgs.Twist() { linear = new Vector3() { x = gpsGrandX, y = gpsGrandY, z = 0.0 } };
//Console.WriteLine("data = {0}", data.data);
pubGPS.OnNext(data);
}
// URG
if (null != pubUrg)
{
//var data = new RosSharp.sensor_msgs.LaserScan(); // { linear = new Vector3() { x = gpsGrandX, y = gpsGrandY, z = 0.0 } };
//Console.WriteLine("data = {0}", data.data);
var data = MakeLaserScanData();
pubUrg.OnNext(data);
}
if (null != pubClock)
{
var data = new RosSharp.rosgraph_msgs.Clock() { clock = DateTime.Now };
pubClock.OnNext(data);
}
// LED
if (null!= pubBenzLED)
{
var data = new RosSharp.std_msgs.String() { data = ledCommand };
pubBenzLED.OnNext(data);
}
}
catch (Exception ex)
{
Console.WriteLine(ex.Message);
}
}