public Handle (QuadrotorInterface qInterface, string name, string field = "")
{
interface_ = qInterface;
name_ = name;
field_ = field;
value_ = default(T);
}
public Handle (QuadrotorInterface qInterface, T source, string name, string field = "")
{
interface_ = qInterface;
name_ = name;
field_ = field;
value_ = source;
}
public Handle (string name, string field = "")
{
interface_ = null;
name_ = name;
field_ = field;
value_ = default(T);
}
public CommandHandle (CommandHandle other)
{
interface_ = other.interface_;
name_ = other.getName ();
field_ = other.getField ();
new_value_ = other.new_value_;
}
public void CopyFrom (QuadrotorInterface qInterface, string name, string field)
{
interface_ = qInterface;
name_ = name;
field_ = field;
new_value_ = false;
}
public CommandHandle (QuadrotorInterface qInterface, string name, string field)
{
interface_ = qInterface;
name_ = name;
field_ = field;
new_value_ = false;
}
public CommandHandle ()
{
interface_ = null;
name_ = "";
preempted_ = false;
new_value_ = false;
}
public void CopyFrom (CommandHandle other)
{
if ( other == null )
return;
interface_ = other.interface_;
name_ = other.getName ();
field_ = other.getField ();
new_value_ = other.new_value_;
}
public HorizontalVelocityCommandHandle (QuadrotorInterface qInterface, string name) : base (qInterface, name, "linear.xy") {}
public AccelCommandHandle (QuadrotorInterface qInterface, string name, string field = "") : base (qInterface, name, field) {}
public HeadingCommandHandle (QuadrotorInterface qInterface, string name) : base (qInterface, name, "orientation.yaw")
{
scalar_ = 0;
}
public TwistHandle (QuadrotorInterface qInterface, Twist twist) : base (qInterface, twist, "twist") {}
public StateHandle (QuadrotorInterface qInterface, Pose pose, Twist twist)
{
poseHandle = new PoseHandle ( qInterface, pose );
twistHandle = new TwistHandle ( qInterface, twist );
}
public WrenchCommandHandle (QuadrotorInterface qInterface, string name) : base (qInterface, name) {}
public MotorStatusHandle (QuadrotorInterface qInterface, MotorStatus motor_status) : base (qInterface, motor_status, "motor_status") {}
public ImuHandle (QuadrotorInterface qInterface, Imu imu) : base (qInterface, imu, "imu") {}
public VerticalVelocityCommandHandle (QuadrotorInterface qInterface, string name) : base (qInterface, name, "linear.z") {}
public AttitudeCommandHandle (QuadrotorInterface qInterface, string name) : base (qInterface, name) {}
public AngularVelocityCommandHandle (QuadrotorInterface qInterface, string name) : base (qInterface, name, "angular.z") {}
public ThrustCommandHandle (QuadrotorInterface qInterface, string name) : base (qInterface, name) {}
public CommandHandle_ (QuadrotorInterface qInterface, string name, string field = "") : base (qInterface, name, field)
{
command_ = default (T);
}
public AccelerationHandle (QuadrotorInterface qInterface, Accel acceleration) : base (qInterface, acceleration, "acceleration") {}
public YawrateCommandHandle (QuadrotorInterface qInterface, string name) : base (qInterface, name) {}
public HorizontalPositionCommandHandle (QuadrotorInterface qInterface, string name) : base (qInterface, name, "position.xy") {}
public HeightCommandHandle (QuadrotorInterface qInterface, string name) : base (qInterface, name, "position.z") {}
public PoseHandle (QuadrotorInterface qInterface, Pose pose) : base (qInterface, pose, "pose") {}
