JointStateSubscriber.cs 1.2 KB

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  1. /*
  2. © Siemens AG, 2017-2019
  3. Author: Dr. Martin Bischoff (martin.bischoff@siemens.com)
  4. Licensed under the Apache License, Version 2.0 (the "License");
  5. you may not use this file except in compliance with the License.
  6. You may obtain a copy of the License at
  7. <http://www.apache.org/licenses/LICENSE-2.0>.
  8. Unless required by applicable law or agreed to in writing, software
  9. distributed under the License is distributed on an "AS IS" BASIS,
  10. WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
  11. See the License for the specific language governing permissions and
  12. limitations under the License.
  13. */
  14. using System.Collections.Generic;
  15. namespace RosSharp.RosBridgeClient
  16. {
  17. public class JointStateSubscriber : UnitySubscriber<MessageTypes.Sensor.JointState>
  18. {
  19. public List<string> JointNames;
  20. public List<JointStateWriter> JointStateWriters;
  21. protected override void ReceiveMessage(MessageTypes.Sensor.JointState message)
  22. {
  23. int index;
  24. for (int i = 0; i < message.name.Length; i++)
  25. {
  26. index = JointNames.IndexOf(message.name[i]);
  27. if (index != -1)
  28. JointStateWriters[index].Write((float) message.position[i]);
  29. }
  30. }
  31. }
  32. }