private void ReceiveMessage(object sender, MessageEventArgs e)
{
message = (SensorJointStates)e.Message;
for (int i = 0; i < message.name.Length; i++)
{
JointStateWriters[JointNames.IndexOf(message.name[i])].Write(message.position[i]);
}
}
private void ReceiveMessage(object sender, MessageEventArgs e)
{
message = (SensorJointStates)e.Message;
for (int i = 0; i < message.name.Length; i++)
{
if (JointDict.ContainsKey(message.name[i]))
{
JointDict[message.name[i]].Write(message.position[i]);
}
}
}
private void updateJointStates(Message message)
{
SensorJointStates sensorJointStates = (SensorJointStates)message;
JointPositions = rad2Deg(sensorJointStates.position);
JointVelocities = rad2Deg(sensorJointStates.velocity);
foreach (JointStateManager jointStateManager in jointStateManagers)
{
jointStateManager.UpdateJointState(JointPositions[jointStateManager.JointStateId]);
}
}
private void InitializeMessage()
{
int jointStateLength = JointStateReaders.Length;
message = new SensorJointStates();
message.header = new StandardHeader();
message.header.frame_id = FrameId;
message.name = new string[jointStateLength];
message.position = new float[jointStateLength];
message.velocity = new float[jointStateLength];
message.effort = new float[jointStateLength];
}
private void ReceiveMessage(object sender, MessageEventArgs e)
{
message = (SensorJointStates)e.Message;
//Debug.Log(message);
for (int i = 0; i < message.name.Length; i++)
{
//Debug.Log("name: " + message.name[i]);
if (JointDict.ContainsKey(message.name[i]))
{
//Debug.Log("check");
JointDict[message.name[i]].Write(message.position[i]);
}
}
}
private void InitializeMessage()
{
int jointStateLength = JointStateReaders.Length;
message = new SensorJointStates
{
header = new StandardHeader {
frame_id = FrameId
},
name = new string[jointStateLength],
position = new float[jointStateLength],
velocity = new float[jointStateLength],
effort = new float[jointStateLength]
};
}
public MoveItRobotState()
{
joint_state = new SensorJointStates();
attached_dof_joint_state = new SensorMultiDOFJointState();
attached_collision_objects = new MoveItAttachedCollisionObject[0];
}