Thesis-Hector-VR/Hector_v2/Assets/Scripts/RosSharpMod/JointStateWriterMod.cs

/*
© 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;
        }
    }
}