// Use this for initialization void Start() { newCollisionObjectsMsg = new CollisionObjectsMsg(new List <CollisionPrimitiveMsg>() { }); worldAnchor = GameObject.FindGameObjectWithTag("world_anchor"); manipulatingWithObject = false; }
public void SetCollisionObjectsMsgFromROS(CollisionObjectsMsg msg) { //receive only if messages are not the same if (!newCollisionObjectsMsg.ToYAMLString().Equals(msg.ToYAMLString())) { collisionObjectsMsg = msg; newCollisionObjectsMsg = msg; } }
// Update is called once per frame void Update() { if (SystemStarter.Instance.calibrated) { if (!manipulatingWithObject) { if (collisionObjectsMsg != null) { //Debug.Log(collisionObjectsMsg.ToYAMLString()); existingPrimitives.Clear(); foreach (CollisionPrimitiveMsg primitiveMsg in collisionObjectsMsg.GetPrimitives()) { //get all existing primitives names existingPrimitives.Add(primitiveMsg.GetName()); UpdatePrimitive(primitiveMsg); } DeleteRemovedPrimitives(); collisionObjectsMsg = null; } } } }
public new static void CallBack(ROSBridgeMsg msg) { CollisionObjectsMsg Cmsg = (CollisionObjectsMsg)msg; CollisionEnvironmentManager.Instance.SetCollisionObjectsMsgFromROS(Cmsg); }
public static string ToYAMLString(CollisionObjectsMsg msg) { return(msg.ToYAMLString()); }