geometry_msgs.msg.dds.PoseStamped Maven / Gradle / Ivy

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package geometry_msgs.msg.dds;

import us.ihmc.communication.packets.Packet;
import us.ihmc.euclid.interfaces.Settable;
import us.ihmc.euclid.interfaces.EpsilonComparable;
import java.util.function.Supplier;
import us.ihmc.pubsub.TopicDataType;

/**
       * A Pose with reference coordinate frame and timestamp
       */
public class PoseStamped extends Packet implements Settable, EpsilonComparable
{
   public std_msgs.msg.dds.Header header_;
   public us.ihmc.euclid.geometry.Pose3D pose_;

   public PoseStamped()
   {
      header_ = new std_msgs.msg.dds.Header();
      pose_ = new us.ihmc.euclid.geometry.Pose3D();
   }

   public PoseStamped(PoseStamped other)
   {
      this();
      set(other);
   }

   public void set(PoseStamped other)
   {
      std_msgs.msg.dds.HeaderPubSubType.staticCopy(other.header_, header_);
      geometry_msgs.msg.dds.PosePubSubType.staticCopy(other.pose_, pose_);
   }


   public std_msgs.msg.dds.Header getHeader()
   {
      return header_;
   }


   public us.ihmc.euclid.geometry.Pose3D getPose()
   {
      return pose_;
   }


   public static Supplier getPubSubType()
   {
      return PoseStampedPubSubType::new;
   }

   @Override
   public Supplier getPubSubTypePacket()
   {
      return PoseStampedPubSubType::new;
   }

   @Override
   public boolean epsilonEquals(PoseStamped other, double epsilon)
   {
      if(other == null) return false;
      if(other == this) return true;

      if (!this.header_.epsilonEquals(other.header_, epsilon)) return false;
      if (!this.pose_.epsilonEquals(other.pose_, epsilon)) return false;

      return true;
   }

   @Override
   public boolean equals(Object other)
   {
      if(other == null) return false;
      if(other == this) return true;
      if(!(other instanceof PoseStamped)) return false;

      PoseStamped otherMyClass = (PoseStamped) other;

      if (!this.header_.equals(otherMyClass.header_)) return false;
      if (!this.pose_.equals(otherMyClass.pose_)) return false;

      return true;
   }

   @Override
   public java.lang.String toString()
   {
      StringBuilder builder = new StringBuilder();

      builder.append("PoseStamped {");
      builder.append("header=");
      builder.append(this.header_);      builder.append(", ");
      builder.append("pose=");
      builder.append(this.pose_);
      builder.append("}");
      return builder.toString();
   }
}