// Row major x, y z
public Imu()
{
this.header = new Header();
this.orientation = new Geometry.Quaternion();
this.orientation_covariance = new double[9];
this.angular_velocity = new Geometry.Vector3();
this.angular_velocity_covariance = new double[9];
this.linear_acceleration = new Geometry.Vector3();
this.linear_acceleration_covariance = new double[9];
}
public Imu(Header header, Geometry.Quaternion orientation, double[] orientation_covariance, Geometry.Vector3 angular_velocity, double[] angular_velocity_covariance, Geometry.Vector3 linear_acceleration, double[] linear_acceleration_covariance)
{
this.header = header;
this.orientation = orientation;
this.orientation_covariance = orientation_covariance;
this.angular_velocity = angular_velocity;
this.angular_velocity_covariance = angular_velocity_covariance;
this.linear_acceleration = linear_acceleration;
this.linear_acceleration_covariance = linear_acceleration_covariance;
}
public float[] linear_acceleration_covariance; //should be -1
public Imu()
{
header = new Standard.Header();
orientation = new Geometry.Quaternion();
orientation_covariance = new float[9]; //{-1,0,0,0,-1,0,0,0,-1};
angular_velocity = new Geometry.Vector3();
angular_velocity_covariance = new float[9];
linear_acceleration = new Geometry.Vector3();
linear_acceleration_covariance = new float[9];
}
public InteractiveMarkerControl(string name, Geometry.Quaternion orientation, byte orientation_mode, byte interaction_mode, bool always_visible, Marker[] markers, bool independent_marker_orientation, string description)
{
this.name = name;
this.orientation = orientation;
this.orientation_mode = orientation_mode;
this.interaction_mode = interaction_mode;
this.always_visible = always_visible;
this.markers = markers;
this.independent_marker_orientation = independent_marker_orientation;
this.description = description;
}
public InteractiveMarkerControl()
{
this.name = "";
this.orientation = new Geometry.Quaternion();
this.orientation_mode = 0;
this.interaction_mode = 0;
this.always_visible = false;
this.markers = new Marker[0];
this.independent_marker_orientation = false;
this.description = "";
}
