private PoseMsg(MessageDeserializer deserializer)
{
this.position = PointMsg.Deserialize(deserializer);
this.orientation = QuaternionMsg.Deserialize(deserializer);
}
public PoseMsg()
{
this.position = new PointMsg();
this.orientation = new QuaternionMsg();
}
public PoseMsg(PointMsg position, QuaternionMsg orientation)
{
this.position = position;
this.orientation = orientation;
}
public RosPoint unity2rosCoord(Vector3 UnityPosition)
{
RosPoint RosPosition = new RosPoint(UnityPosition.z, -UnityPosition.x, UnityPosition.y);
return(RosPosition);
}
public Vector3 ros2unityCoord(RosPoint RosPosition)
{
Vector3 UnityPosition = new Vector3(-(float)RosPosition.y, (float)RosPosition.z, (float)RosPosition.x);
return(UnityPosition);
}
private PointStampedMsg(MessageDeserializer deserializer)
{
this.header = Std.HeaderMsg.Deserialize(deserializer);
this.point = PointMsg.Deserialize(deserializer);
}
public PointStampedMsg(Std.HeaderMsg header, PointMsg point)
{
this.header = header;
this.point = point;
}
public PointStampedMsg()
{
this.header = new Std.HeaderMsg();
this.point = new PointMsg();
}