sensor_msgs.msg.dds.Illuminance Maven / Gradle / Ivy

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package sensor_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;

/**
       * Single photometric illuminance measurement.  Light should be assumed to be
       * measured along the sensor's x-axis (the area of detection is the y-z plane).
       * The illuminance should have a 0 or positive value and be received with
       * the sensor's +X axis pointing toward the light source.
       * 
       * Photometric illuminance is the measure of the human eye's sensitivity of the
       * intensity of light encountering or passing through a surface.
       * 
       * All other Photometric and Radiometric measurements should not use this message.
       * This message cannot represent:
       * - Luminous intensity (candela/light source output)
       * - Luminance (nits/light output per area)
       * - Irradiance (watt/area), etc.
       * frame_id is the location and direction of the reading
       */
public class Illuminance extends Packet implements Settable, EpsilonComparable
{
   /**
            * timestamp is the time the illuminance was measured
            */
   public std_msgs.msg.dds.Header header_;
   /**
            * Measurement of the Photometric Illuminance in Lux.
            */
   public double illuminance_;
   /**
            * 0 is interpreted as variance unknown
            */
   public double variance_;

   public Illuminance()
   {
      header_ = new std_msgs.msg.dds.Header();
   }

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

   public void set(Illuminance other)
   {
      std_msgs.msg.dds.HeaderPubSubType.staticCopy(other.header_, header_);
      illuminance_ = other.illuminance_;

      variance_ = other.variance_;

   }


   /**
            * timestamp is the time the illuminance was measured
            */
   public std_msgs.msg.dds.Header getHeader()
   {
      return header_;
   }

   /**
            * Measurement of the Photometric Illuminance in Lux.
            */
   public void setIlluminance(double illuminance)
   {
      illuminance_ = illuminance;
   }
   /**
            * Measurement of the Photometric Illuminance in Lux.
            */
   public double getIlluminance()
   {
      return illuminance_;
   }

   /**
            * 0 is interpreted as variance unknown
            */
   public void setVariance(double variance)
   {
      variance_ = variance;
   }
   /**
            * 0 is interpreted as variance unknown
            */
   public double getVariance()
   {
      return variance_;
   }


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

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

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

      if (!this.header_.epsilonEquals(other.header_, epsilon)) return false;
      if (!us.ihmc.idl.IDLTools.epsilonEqualsPrimitive(this.illuminance_, other.illuminance_, epsilon)) return false;

      if (!us.ihmc.idl.IDLTools.epsilonEqualsPrimitive(this.variance_, other.variance_, epsilon)) return false;


      return true;
   }

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

      Illuminance otherMyClass = (Illuminance) other;

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

      if(this.variance_ != otherMyClass.variance_) return false;


      return true;
   }

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

      builder.append("Illuminance {");
      builder.append("header=");
      builder.append(this.header_);      builder.append(", ");
      builder.append("illuminance=");
      builder.append(this.illuminance_);      builder.append(", ");
      builder.append("variance=");
      builder.append(this.variance_);
      builder.append("}");
      return builder.toString();
   }
}