private void PoseUpdate(IEnumerable <Tuple <string, RosMessage.RosFieldVal> > position)
{
if (this.PoseChanged != null)
{
var pos = position.Select(f => RosMessage.GetFloat32Val(f.Item2)).ToArray();
this.PoseChanged(this, Tuple.Create(pos[0], pos[1], pos[2])); // drop velocity info
}
}
private void PositionUpdate(IEnumerable <Tuple <string, RosMessage.RosFieldVal> > position)
{
foreach (var p in position)
{
var name = p.Item1;
var val = RosMessage.GetFloat32Val(p.Item2);
switch (name)
{
case "x":
this.x = val;
break;
case "y":
this.y = val;
break;
case "z":
this.z = val;
break;
}
}
this.PositionChanged?.Invoke(this, Tuple.Create(this.x, this.y, this.z));
}
