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- /*
- © Siemens AG, 2017-2018
- Author: Dr. Martin Bischoff (martin.bischoff@siemens.com)
- Licensed under the Apache License, Version 2.0 (the "License");
- you may not use this file except in compliance with the License.
- You may obtain a copy of the License at
- <http://www.apache.org/licenses/LICENSE-2.0>.
- Unless required by applicable law or agreed to in writing, software
- distributed under the License is distributed on an "AS IS" BASIS,
- WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- See the License for the specific language governing permissions and
- limitations under the License.
- */
- // Modified by Lydia Ebbinghaus.
- using RosSharp.Urdf;
- using UnityEngine;
- using Joint = UnityEngine.Joint;
- namespace RosSharp.RosBridgeClient
- {
- [RequireComponent(typeof(Joint)), RequireComponent(typeof(UrdfJoint))]
- public class JointStateWriterMod : MonoBehaviour
- {
- private UrdfJoint urdfJoint;
- private float newState; // rad or m
- private float prevState; // rad or m
- private bool isNewStateReceived;
- private void Start()
- {
- urdfJoint = GetComponent<UrdfJoint>();
- }
- private void Update()
- {
- if (isNewStateReceived)
- {
- WriteUpdate();
- isNewStateReceived = false;
- }
- }
- private void WriteUpdate()
- {
- urdfJoint.UpdateJointState(newState-prevState);
- prevState = newState;
- }
- // Modified. Incorrect representation. Maybe due to other way of improting urdf or different coordinates. Undo : newState = state. Remove type
- public void Write(float state,robotType type)
- {
- switch (type)
- {
- case robotType.drz_telemax:
- newState = -state;
- break;
- case robotType.asterix_ugv:
- newState = state;
- break;
- }
- isNewStateReceived = true;
- }
- public void Write(float state)
- {
- newState = state;
- isNewStateReceived = true;
- }
- }
- }
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