public override void deserialize(MemoryStream stream, geometry_msgs.msg.Quaternion data)
{
using (BinaryReader reader = new BinaryReader(stream))
{
Halodi.CDR.CDRDeserializer cdr = new Halodi.CDR.CDRDeserializer(reader);
read(data, cdr);
}
}
public override void serialize(geometry_msgs.msg.Quaternion data, MemoryStream stream)
{
using (BinaryWriter writer = new BinaryWriter(stream))
{
Halodi.CDR.CDRSerializer cdr = new Halodi.CDR.CDRSerializer(writer);
write(data, cdr);
}
}
public static void Unity2Ros(this geometry_msgs.msg.Quaternion rosQuaternion, Quaternion unityRotation)
{
Quaternion rosRotation = unityRotation.Unity2Ros();
rosQuaternion.x = rosRotation.x;
rosQuaternion.y = rosRotation.y;
rosQuaternion.z = rosRotation.z;
rosQuaternion.w = rosRotation.w;
}
public static void read(geometry_msgs.msg.Quaternion data, Halodi.CDR.CDRDeserializer cdr)
{
data.x = cdr.read_type_6();
data.y = cdr.read_type_6();
data.z = cdr.read_type_6();
data.w = cdr.read_type_6();
}
public static void write(geometry_msgs.msg.Quaternion data, Halodi.CDR.CDRSerializer cdr)
{
cdr.write_type_6(data.x);
cdr.write_type_6(data.y);
cdr.write_type_6(data.z);
cdr.write_type_6(data.w);
}
public static int getCdrSerializedSize(geometry_msgs.msg.Quaternion data, int current_alignment)
{
int initial_alignment = current_alignment;
current_alignment += 8 + Halodi.CDR.CDRCommon.alignment(current_alignment, 8);
current_alignment += 8 + Halodi.CDR.CDRCommon.alignment(current_alignment, 8);
current_alignment += 8 + Halodi.CDR.CDRCommon.alignment(current_alignment, 8);
current_alignment += 8 + Halodi.CDR.CDRCommon.alignment(current_alignment, 8);
return(current_alignment - initial_alignment);
}
public static Quaternion Ros2Unity(this geometry_msgs.msg.Quaternion rotation)
{
return(new Quaternion((float)rotation.y, -(float)rotation.z, -(float)rotation.x, (float)rotation.w));
}
public static void Copy(geometry_msgs.msg.Quaternion src, geometry_msgs.msg.Quaternion target)
{
target.Set(src);
}
public static int getCdrSerializedSize(geometry_msgs.msg.Quaternion data)
{
return(getCdrSerializedSize(data, 0));
}
public static Quaternion Ros2Unity(this geometry_msgs.msg.Quaternion rotation)
{
return(new Quaternion((float)rotation.Y, -(float)rotation.Z, -(float)rotation.X, (float)rotation.W));
}
public static void Unity2Ros(this geometry_msgs.msg.Quaternion rosQuaternion, Quaternion unityRotation, Transform referenceFrame)
{
rosQuaternion.Unity2Ros(Quaternion.Normalize(unityRotation * Quaternion.Inverse(referenceFrame.rotation)));
}
