public void Start() { base_footprint = new GeometryPoseStamped(); torso_lift_link = new GeometryTransformStamped(); hand_camera_frame = new GeometryPose(); Invoke("Init", 1.0f); }
public void SendPlanRequest() { var currState = StateManager.Instance.CurrentState; if (currState != StateManager.State.PuppetState && currState != StateManager.State.ArmTrailState) { return; } try { GeometryPose rightTargetPose = new GeometryPose { position = UtilFunctions.Vector3ToGeometryPoint(outRightPos), orientation = UtilFunctions.QuaternionToGeometryQuaternion(outRightQuat) }; GeometryPose leftTargetPose = new GeometryPose { position = UtilFunctions.Vector3ToGeometryPoint(outLeftPos), orientation = UtilFunctions.QuaternionToGeometryQuaternion(outLeftQuat) }; MoveitTarget moveitTarget = new MoveitTarget { right_arm = rightTargetPose, left_arm = leftTargetPose }; MoveItGoalPublisher.PublishPlan(moveitTarget); } catch { Debug.Log("SendPlanRequest failed :("); return; } }
public NavigationMapMetaData() { map_load_time = null; resolution = 0; width = 0; height = 0; origin = new GeometryPose(); }
private void publishPositionAndRotation() { GeometryPose msg = new GeometryPose(); msg.position.x = droneBody.transform.position.x; msg.position.y = droneBody.transform.position.y; msg.position.z = droneBody.transform.position.z; msg.orientation.x = droneBody.transform.rotation.x; msg.orientation.y = droneBody.transform.rotation.y; msg.orientation.z = droneBody.transform.rotation.z; msg.orientation.w = droneBody.transform.rotation.w; rosSocket.Publish(publication_id, msg); }
void Buy_item(Message message) { hand_camera_frame = (GeometryPose)message; }
public GeometryPoseStamped() { header = new StandardHeader(); pose = new GeometryPose(); }
public GeometryPoseWithCovariance() { pose = new GeometryPose(); covariance = new float[32]; }
public MoveitTarget() { left_arm = new GeometryPose(); right_arm = new GeometryPose(); }
private void Update() { #if UNITY_IOS if (flag) { DisplayCase = Instantiate(DisplayCase) as GameObject; DisplayCase.transform.SetParent(Root.transform, false); DisplayCase.transform.localPosition = position_share; DisplayCase.transform.localRotation = rotation_share; flag = false; } if (flag2) { Destroy(DisplayCase.transform.Find(Destroy_Name).gameObject); buy_item = Instantiate(buy_item) as GameObject; buy_item.transform.SetParent(Root.transform, false); buy_item.transform.localPosition = des_position_share; buy_item.transform.localRotation = des_rotation_share; flag2 = false; } #endif if (visualize) { #if UNITY_IOS #else //見栄えを大事にするために、余計なObjectを削除する foreach (GameObject item in GameObject.FindGameObjectsWithTag("SPC")) { Destroy(item); } foreach (GameObject item in GameObject.FindGameObjectsWithTag("Goal")) { Destroy(item); } foreach (GameObject item in GameObject.FindGameObjectsWithTag("Path")) { Destroy(item); } //棚をHSRの横に表示する position = new Vector3(0, -0.5f, -0.55f); DisplayCase = Instantiate(DisplayCase) as GameObject; DisplayCase.transform.SetParent(GameObject.Find("Transform(Clone)").transform, false); DisplayCase.transform.localScale = new Vector3(0.5f, 0.5f, 0.5f); DisplayCase.transform.localPosition = position; DisplayCase.transform.localRotation = Quaternion.Euler(0, -90, 0); position_share = DisplayCase.transform.position; rotation_share = DisplayCase.transform.rotation; flag = true; visualize = false; #endif } if (destroy) { #if UNITY_IOS #else //HSRの手の部分に商品を出現させる Destroy(DisplayCase.transform.Find(Destroy_Name).gameObject); buy_item = Instantiate(buy_item) as GameObject; buy_item.transform.SetParent(Root.transform, false); hand_tf = tf.hand_camera_frame; position = new Vector3(-hand_tf.position.y, hand_tf.position.z, hand_tf.position.x); buy_item.transform.localPosition = position; buy_item.transform.localRotation = Quaternion.Euler(0, -90, 0); des_position_share = buy_item.transform.position; des_rotation_share = buy_item.transform.rotation; destroy = false; flag2 = true; #endif } }