public static void read(geometry_msgs.msg.Transform data, Halodi.CDR.CDRDeserializer cdr)
{
data.translation = geometry_msgs.msg.Vector3PubSubType.Create();
geometry_msgs.msg.Vector3PubSubType.read(data.translation, cdr);
data.rotation = geometry_msgs.msg.QuaternionPubSubType.Create();
geometry_msgs.msg.QuaternionPubSubType.read(data.rotation, cdr);
}
public override void deserialize(MemoryStream stream, geometry_msgs.msg.Transform data)
{
using (BinaryReader reader = new BinaryReader(stream))
{
Halodi.CDR.CDRDeserializer cdr = new Halodi.CDR.CDRDeserializer(reader);
read(data, cdr);
}
}
public override void serialize(geometry_msgs.msg.Transform 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.Transform data, int current_alignment)
{
int initial_alignment = current_alignment;
current_alignment += geometry_msgs.msg.Vector3PubSubType.getCdrSerializedSize(data.translation, current_alignment);
current_alignment += geometry_msgs.msg.QuaternionPubSubType.getCdrSerializedSize(data.rotation, 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 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 LocalUnity2Ros(this geometry_msgs.msg.Transform rosTransform, Transform unityTransform)
{
rosTransform.translation.Unity2Ros(unityTransform.localPosition);
rosTransform.rotation.Unity2Ros(unityTransform.localRotation);
}
public static void Copy(geometry_msgs.msg.Transform src, geometry_msgs.msg.Transform target)
{
target.Set(src);
}
public static void write(geometry_msgs.msg.Transform data, Halodi.CDR.CDRSerializer cdr)
{
geometry_msgs.msg.Vector3PubSubType.write(data.translation, cdr);
geometry_msgs.msg.QuaternionPubSubType.write(data.rotation, cdr);
}
public static int getCdrSerializedSize(geometry_msgs.msg.Transform data)
{
return(getCdrSerializedSize(data, 0));
}
public static void Unity2Ros(this geometry_msgs.msg.Transform rosTransform, Transform unityTransform, Transform referenceFrame)
{
rosTransform.Translation.Unity2Ros(referenceFrame.InverseTransformPoint(unityTransform.position));
rosTransform.Rotation.Unity2Ros(Quaternion.Normalize(unityTransform.rotation * Quaternion.Inverse(referenceFrame.rotation)));
}
public static void Unity2Ros(this geometry_msgs.msg.Transform rosTransform, Transform unityTransform)
{
rosTransform.Translation.Unity2Ros(unityTransform.position);
rosTransform.Rotation.Unity2Ros(unityTransform.rotation);
}
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);
}
