public void Start()
{
base_footprint = new GeometryPoseStamped();
torso_lift_link = new GeometryTransformStamped();
hand_camera_frame = new GeometryPose();
Invoke("Init", 1.0f);
}
public void SendPlanRequest()
{
var currState = StateManager.Instance.CurrentState;
if (currState != StateManager.State.PuppetState && currState != StateManager.State.ArmTrailState)
{
return;
}
try {
GeometryPose rightTargetPose = new GeometryPose {
position = UtilFunctions.Vector3ToGeometryPoint(outRightPos),
orientation = UtilFunctions.QuaternionToGeometryQuaternion(outRightQuat)
};
GeometryPose leftTargetPose = new GeometryPose {
position = UtilFunctions.Vector3ToGeometryPoint(outLeftPos),
orientation = UtilFunctions.QuaternionToGeometryQuaternion(outLeftQuat)
};
MoveitTarget moveitTarget = new MoveitTarget {
right_arm = rightTargetPose,
left_arm = leftTargetPose
};
MoveItGoalPublisher.PublishPlan(moveitTarget);
}
catch {
Debug.Log("SendPlanRequest failed :(");
return;
}
}
public NavigationMapMetaData()
{
map_load_time = null;
resolution = 0;
width = 0;
height = 0;
origin = new GeometryPose();
}
private void publishPositionAndRotation()
{
GeometryPose msg = new GeometryPose();
msg.position.x = droneBody.transform.position.x;
msg.position.y = droneBody.transform.position.y;
msg.position.z = droneBody.transform.position.z;
msg.orientation.x = droneBody.transform.rotation.x;
msg.orientation.y = droneBody.transform.rotation.y;
msg.orientation.z = droneBody.transform.rotation.z;
msg.orientation.w = droneBody.transform.rotation.w;
rosSocket.Publish(publication_id, msg);
}
void Buy_item(Message message)
{
hand_camera_frame = (GeometryPose)message;
}
public GeometryPoseStamped()
{
header = new StandardHeader();
pose = new GeometryPose();
}
public GeometryPoseWithCovariance()
{
pose = new GeometryPose();
covariance = new float[32];
}
public MoveitTarget()
{
left_arm = new GeometryPose();
right_arm = new GeometryPose();
}
private void Update()
{
#if UNITY_IOS
if (flag)
{
DisplayCase = Instantiate(DisplayCase) as GameObject;
DisplayCase.transform.SetParent(Root.transform, false);
DisplayCase.transform.localPosition = position_share;
DisplayCase.transform.localRotation = rotation_share;
flag = false;
}
if (flag2)
{
Destroy(DisplayCase.transform.Find(Destroy_Name).gameObject);
buy_item = Instantiate(buy_item) as GameObject;
buy_item.transform.SetParent(Root.transform, false);
buy_item.transform.localPosition = des_position_share;
buy_item.transform.localRotation = des_rotation_share;
flag2 = false;
}
#endif
if (visualize)
{
#if UNITY_IOS
#else
//見栄えを大事にするために、余計なObjectを削除する
foreach (GameObject item in GameObject.FindGameObjectsWithTag("SPC"))
{
Destroy(item);
}
foreach (GameObject item in GameObject.FindGameObjectsWithTag("Goal"))
{
Destroy(item);
}
foreach (GameObject item in GameObject.FindGameObjectsWithTag("Path"))
{
Destroy(item);
}
//棚をHSRの横に表示する
position = new Vector3(0, -0.5f, -0.55f);
DisplayCase = Instantiate(DisplayCase) as GameObject;
DisplayCase.transform.SetParent(GameObject.Find("Transform(Clone)").transform, false);
DisplayCase.transform.localScale = new Vector3(0.5f, 0.5f, 0.5f);
DisplayCase.transform.localPosition = position;
DisplayCase.transform.localRotation = Quaternion.Euler(0, -90, 0);
position_share = DisplayCase.transform.position;
rotation_share = DisplayCase.transform.rotation;
flag = true;
visualize = false;
#endif
}
if (destroy)
{
#if UNITY_IOS
#else
//HSRの手の部分に商品を出現させる
Destroy(DisplayCase.transform.Find(Destroy_Name).gameObject);
buy_item = Instantiate(buy_item) as GameObject;
buy_item.transform.SetParent(Root.transform, false);
hand_tf = tf.hand_camera_frame;
position = new Vector3(-hand_tf.position.y, hand_tf.position.z, hand_tf.position.x);
buy_item.transform.localPosition = position;
buy_item.transform.localRotation = Quaternion.Euler(0, -90, 0);
des_position_share = buy_item.transform.position;
des_rotation_share = buy_item.transform.rotation;
destroy = false;
flag2 = true;
#endif
}
}
