public Odometry(Header header, string child_frame_id, PoseWithCovariance pose, TwistWithCovariance twist)
{
this.header = header;
this.child_frame_id = child_frame_id;
this.pose = pose;
this.twist = twist;
}
public Odometry()
{
this.header = new Header();
this.child_frame_id = "";
this.pose = new PoseWithCovariance();
this.twist = new TwistWithCovariance();
}
public override void Randomize()
{
int arraylength = -1;
Random rand = new Random();
int strlength;
byte[] strbuf, myByte;
//header
header = new Header();
header.Randomize();
//child_frame_id
strlength = rand.Next(100) + 1;
strbuf = new byte[strlength];
rand.NextBytes(strbuf); //fill the whole buffer with random bytes
for (int __x__ = 0; __x__ < strlength; __x__++)
{
if (strbuf[__x__] == 0) //replace null chars with non-null random ones
{
strbuf[__x__] = (byte)(rand.Next(254) + 1);
}
}
strbuf[strlength - 1] = 0; //null terminate
child_frame_id = Encoding.ASCII.GetString(strbuf);
//pose
pose = new PoseWithCovariance();
pose.Randomize();
//twist
twist = new TwistWithCovariance();
twist.Randomize();
}
public override byte[] Serialize(bool partofsomethingelse)
{
int currentIndex = 0, length = 0;
bool hasmetacomponents = false;
byte[] thischunk, scratch1, scratch2;
List <byte[]> pieces = new List <byte[]>();
GCHandle h;
//header
if (header == null)
{
header = new Header();
}
pieces.Add(header.Serialize(true));
//child_frame_id
if (child_frame_id == null)
{
child_frame_id = "";
}
scratch1 = Encoding.ASCII.GetBytes((string)child_frame_id);
thischunk = new byte[scratch1.Length + 4];
scratch2 = BitConverter.GetBytes(scratch1.Length);
Array.Copy(scratch1, 0, thischunk, 4, scratch1.Length);
Array.Copy(scratch2, thischunk, 4);
pieces.Add(thischunk);
//pose
if (pose == null)
{
pose = new PoseWithCovariance();
}
pieces.Add(pose.Serialize(true));
//twist
if (twist == null)
{
twist = new TwistWithCovariance();
}
pieces.Add(twist.Serialize(true));
//combine every array in pieces into one array and return it
int __a_b__f = pieces.Sum((__a_b__c) => __a_b__c.Length);
int __a_b__e = 0;
byte[] __a_b__d = new byte[__a_b__f];
foreach (var __p__ in pieces)
{
Array.Copy(__p__, 0, __a_b__d, __a_b__e, __p__.Length);
__a_b__e += __p__.Length;
}
return(__a_b__d);
}
public override void Deserialize(byte[] SERIALIZEDSTUFF, ref int currentIndex)
{
int arraylength = -1;
bool hasmetacomponents = false;
object __thing;
int piecesize = 0;
byte[] thischunk, scratch1, scratch2;
IntPtr h;
//header
header = new Header(SERIALIZEDSTUFF, ref currentIndex);
//child_frame_id
child_frame_id = "";
piecesize = BitConverter.ToInt32(SERIALIZEDSTUFF, currentIndex);
currentIndex += 4;
child_frame_id = Encoding.ASCII.GetString(SERIALIZEDSTUFF, currentIndex, piecesize);
currentIndex += piecesize;
//pose
pose = new PoseWithCovariance(SERIALIZEDSTUFF, ref currentIndex);
//twist
twist = new TwistWithCovariance(SERIALIZEDSTUFF, ref currentIndex);
}
public Odometry()
{
header = new Header();
pose = new PoseWithCovariance();
twist = new TwistWithCovariance();
}