public void ClockGetNow()
{
Clock clock = new Clock();
RosTime timeNow = clock.Now;
Assert.That(timeNow.sec, Is.Not.EqualTo(0));
}
public void RosTimeEquals()
{
Clock clock = new Clock();
RosTime timeNow = clock.Now;
Assert.That(timeNow, Is.EqualTo(timeNow));
}
public void RosTimeLessThan()
{
Clock clock = new Clock();
RosTime firstTime = clock.Now;
System.Threading.Thread.Sleep(10);
RosTime secondTime = clock.Now;
Assert.That(firstTime, Is.LessThan(secondTime));
}
/// <summary>
/// Reads a ROS time value.
/// </summary>
/// <returns></returns>
public DateTime ReadRosTime()
{
var secs = base.ReadInt32();
var nsecs = base.ReadInt32();
var rosTime = new RosTime(secs, nsecs);
var dateTime = rosTime.DateTime;
return(dateTime);
}
public void RosTimeIsInTheFuture()
{
Clock clock = new Clock();
RosTime timeNow = clock.Now;
Assert.That(timeNow.IsInTheFuture, Is.False);
timeNow += clock.CreateRosTime(1.0d);
Assert.That(timeNow.IsInTheFuture, Is.True);
}
void Start()
{
if (ChildFrame == null)
{
ChildFrame = transform;
}
message = new geometry_msgs.msg.PoseStamped();
message.header.frame_id = ParetFrameId;
publisher = node.CreatePublisher <geometry_msgs.msg.PoseStamped>(TopicName);
lastPublishTime = clock.Now;
}
public void RosTimeSeconds()
{
Clock clock = new Clock();
RosTime oneSecond = clock.CreateRosTime(1.0d);
Assert.That(oneSecond.Seconds, Is.EqualTo(1.0d));
RosTime moreThanOneSecond = clock.CreateRosTime(2.3d);
Assert.That(moreThanOneSecond.Seconds, Is.EqualTo(2.3d));
}
public void RosTimeDelay()
{
Clock clock = new Clock();
RosTime oneSecond = clock.CreateRosTime(1.0d);
RosTime delayedTime = oneSecond.Delay(1.0d);
Assert.That(delayedTime.Seconds, Is.EqualTo(2.0d));
delayedTime = oneSecond.Delay(3.4d);
Assert.That(delayedTime.Seconds, Is.EqualTo(4.4d));
}
new void FixedUpdate()
{
if (lastPublishTime.Delay(1.0f / PublisherFrequency).IsInThePast)
{
lastPublishTime = clock.Now;
Vector3 unityPosition = Quaternion.Inverse(ParentFrame.rotation) * (ChildFrame.position - ParentFrame.position);
message.pose.position.Unity2Ros(unityPosition);
//TODO(sam): Figure out why z is y in numpy quaternion
message.pose.orientation.Unity2Ros(Quaternion.Inverse(ParentFrame.rotation) * ChildFrame.rotation);
message.header.Update(clock);
publisher.Publish(message);
}
}
void Start()
{
if (SensorLink == null)
{
SensorLink = transform;
}
ray = SensorLink.TransformDirection(Vector3.forward);
publisher = node.CreatePublisher <sensor_msgs.msg.Range>(TopicName);
rangeMessage = new sensor_msgs.msg.Range();
rangeMessage.header.frame_id = FrameId;
lastPublishTime = clock.Now;
}
private void Start()
{
if (m_ScanLink == null)
{
m_ScanLink = transform;
}
UpdateNumLines();
m_LaserScanPublisher = node.CreatePublisher <sensor_msgs.msg.LaserScan>(m_ScanTopic);
m_LaserScanMessageQueue = new Queue <sensor_msgs.msg.LaserScan>();
m_LastPublishTime = m_Clock.Now;
}
new void FixedUpdate()
{
if (m_LastPublishTime.Delay(1.0f / m_ScanningFrequency).IsInThePast)
{
m_LastPublishTime = m_Clock.Now;
sensor_msgs.msg.LaserScan laserScanMessage = new sensor_msgs.msg.LaserScan();
InitLaserScanMsg(laserScanMessage);
UptateLaserScanMessage(laserScanMessage);
m_LaserScanMessageQueue.Enqueue(laserScanMessage);
}
PublishScansOlderThan(m_PublisherDelay);
base.FixedUpdate();
}
new void FixedUpdate()
{
if (lastPublishTime.Delay(1.0f / PublisherFrequency).IsInThePast)
{
lastPublishTime = clock.Now;
RaycastHit hit;
if (Physics.Raycast(SensorLink.position, ray, out hit, Mathf.Infinity, LayerMaskDistanceSensor))
{
distance = hit.distance;
}
rangeMessage.header.Update(clock);
rangeMessage.range = distance;
publisher.Publish(rangeMessage);
}
}
public void RosTimeAdd()
{
Clock clock = new Clock();
RosTime overOneSecond = clock.CreateRosTime(1.1d);
RosTime twoSeconds = clock.CreateRosTime(2.0d);
RosTime sumSeconds = overOneSecond + twoSeconds;
Assert.That(sumSeconds.Seconds, Is.EqualTo(3.1d));
RosTime oneAndAHalfSeconds = clock.CreateRosTime(1.5d);
RosTime moreThanTwoSeconds = clock.CreateRosTime(2.1d);
sumSeconds = oneAndAHalfSeconds + moreThanTwoSeconds;
Assert.That(sumSeconds.Seconds, Is.EqualTo(3.6d));
RosTime twoAndAHalfSeconds = clock.CreateRosTime(2.5d);
sumSeconds = oneAndAHalfSeconds + twoAndAHalfSeconds;
Assert.That(sumSeconds.Seconds, Is.EqualTo(4.0d));
}
public void RosTimeSubtract()
{
Clock clock = new Clock();
RosTime oneSecond = clock.CreateRosTime(1.0d);
RosTime twoSeconds = clock.CreateRosTime(2.0d);
RosTime sumSeconds = twoSeconds - oneSecond;
Assert.That(sumSeconds.Seconds, Is.EqualTo(1.0d));
RosTime oneAndAHalfSeconds = clock.CreateRosTime(1.5d);
RosTime moreThanTwoSeconds = clock.CreateRosTime(2.1d);
sumSeconds = moreThanTwoSeconds - oneAndAHalfSeconds;
Assert.That(sumSeconds.Seconds, Is.EqualTo(0.6d));
RosTime moreThanTwoAndAHalfSeconds = clock.CreateRosTime(2.9d);
sumSeconds = moreThanTwoAndAHalfSeconds - oneAndAHalfSeconds;
Assert.That(sumSeconds.Seconds, Is.EqualTo(1.4d));
}
public void Write(RosTime time)
{
Write(time.Seconds);
Write(time.Nanoseconds);
}
