public RosBridgeClient_old(bool verbose, bool imageStreaming, bool jointStates, bool testLatency, Text debugText, bool handTrackingAprilTags, Text statusText)
{
RosBridgeClient_old.verbose = verbose;
RosBridgeClient_old.imageStreaming = imageStreaming;
RosBridgeClient_old.jointStates = jointStates;
RosBridgeClient_old.testLatency = testLatency;
RosBridgeClient_old.handTrackingAprilTags = handTrackingAprilTags;
latestImage = new CompressedImage_old(); // Storage for latest incoming image message
latestJointState = new JointState_old(); // Storage for latest incoming jointState
rosMessageStrings = new Queue <string>(); // Incoming message queue
rosCommandQueue = new Queue <RosMessage_old>(); // Outgoing message queue
latestPlanningStatus = new Queue <int>();
rosMessageConverter = new RosMessageConverter(); // Deserializer of incoming ROSmessages
//streamWriter = new StreamWriter("latencyData.txt");
latencyData = new List <string>();
this.debugHUDText = debugText;
this.statusHUDText = statusText;
#if WINDOWS_UWP
serverUri = new Uri("ws://" + ROSBRIDGE_IP + ":" + ROSBRIDGE_PORT);
#endif
}
public static JointState_old emptyJointState()
{
JointState_old state = new JointState_old();
state.effort = new double[] { 5.34, 1.345, 2.4543, 2.3432, 0.45367 };
state.position = new double[] { 5.34, 1.345, 2.4543, 2.3432, 0.45367 };
state.velocity = new double[] { 5.34, 1.345, 2.4543, 2.3432, 0.45367 };
state.name = new string[] { "Heinz", "Peter", "Alfons", "Dieter", "Karl" };
return(state);
}
