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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 scan from a multi-echo planar laser range-finder
*
* If you have another ranging device with different behavior (e.g. a sonar
* array), please find or create a different message, since applications
* will make fairly laser-specific assumptions about this data
* the first ray in the scan.
*
* in frame frame_id, angles are measured around
* the positive Z axis (counterclockwise, if Z is up)
* with zero angle being forward along the x axis
*/
public class MultiEchoLaserScan extends Packet implements Settable, EpsilonComparable
{
/**
* timestamp in the header is the acquisition time of
*/
public std_msgs.msg.dds.Header header_;
/**
* start angle of the scan [rad]
*/
public float angle_min_;
/**
* end angle of the scan [rad]
*/
public float angle_max_;
/**
* angular distance between measurements [rad]
*/
public float angle_increment_;
/**
* time between measurements [seconds] - if your scanner
*/
public float time_increment_;
/**
* is moving, this will be used in interpolating position
* of 3d points
* time between scans [seconds]
*/
public float scan_time_;
/**
* minimum range value [m]
*/
public float range_min_;
/**
* maximum range value [m]
*/
public float range_max_;
/**
* range data [m]
*/
public us.ihmc.idl.IDLSequence.Object ranges_;
/**
* (Note: NaNs, values < range_min or > range_max should be discarded)
* +Inf measurements are out of range
* -Inf measurements are too close to determine exact distance.
* intensity data [device-specific units]. If your
*/
public us.ihmc.idl.IDLSequence.Object intensities_;
public MultiEchoLaserScan()
{
header_ = new std_msgs.msg.dds.Header();
ranges_ = new us.ihmc.idl.IDLSequence.Object (100, new sensor_msgs.msg.dds.LaserEchoPubSubType());
intensities_ = new us.ihmc.idl.IDLSequence.Object (100, new sensor_msgs.msg.dds.LaserEchoPubSubType());
}
public MultiEchoLaserScan(MultiEchoLaserScan other)
{
this();
set(other);
}
public void set(MultiEchoLaserScan other)
{
std_msgs.msg.dds.HeaderPubSubType.staticCopy(other.header_, header_);
angle_min_ = other.angle_min_;
angle_max_ = other.angle_max_;
angle_increment_ = other.angle_increment_;
time_increment_ = other.time_increment_;
scan_time_ = other.scan_time_;
range_min_ = other.range_min_;
range_max_ = other.range_max_;
ranges_.set(other.ranges_);
intensities_.set(other.intensities_);
}
/**
* timestamp in the header is the acquisition time of
*/
public std_msgs.msg.dds.Header getHeader()
{
return header_;
}
/**
* start angle of the scan [rad]
*/
public void setAngleMin(float angle_min)
{
angle_min_ = angle_min;
}
/**
* start angle of the scan [rad]
*/
public float getAngleMin()
{
return angle_min_;
}
/**
* end angle of the scan [rad]
*/
public void setAngleMax(float angle_max)
{
angle_max_ = angle_max;
}
/**
* end angle of the scan [rad]
*/
public float getAngleMax()
{
return angle_max_;
}
/**
* angular distance between measurements [rad]
*/
public void setAngleIncrement(float angle_increment)
{
angle_increment_ = angle_increment;
}
/**
* angular distance between measurements [rad]
*/
public float getAngleIncrement()
{
return angle_increment_;
}
/**
* time between measurements [seconds] - if your scanner
*/
public void setTimeIncrement(float time_increment)
{
time_increment_ = time_increment;
}
/**
* time between measurements [seconds] - if your scanner
*/
public float getTimeIncrement()
{
return time_increment_;
}
/**
* is moving, this will be used in interpolating position
* of 3d points
* time between scans [seconds]
*/
public void setScanTime(float scan_time)
{
scan_time_ = scan_time;
}
/**
* is moving, this will be used in interpolating position
* of 3d points
* time between scans [seconds]
*/
public float getScanTime()
{
return scan_time_;
}
/**
* minimum range value [m]
*/
public void setRangeMin(float range_min)
{
range_min_ = range_min;
}
/**
* minimum range value [m]
*/
public float getRangeMin()
{
return range_min_;
}
/**
* maximum range value [m]
*/
public void setRangeMax(float range_max)
{
range_max_ = range_max;
}
/**
* maximum range value [m]
*/
public float getRangeMax()
{
return range_max_;
}
/**
* range data [m]
*/
public us.ihmc.idl.IDLSequence.Object getRanges()
{
return ranges_;
}
/**
* (Note: NaNs, values < range_min or > range_max should be discarded)
* +Inf measurements are out of range
* -Inf measurements are too close to determine exact distance.
* intensity data [device-specific units]. If your
*/
public us.ihmc.idl.IDLSequence.Object getIntensities()
{
return intensities_;
}
public static Supplier getPubSubType()
{
return MultiEchoLaserScanPubSubType::new;
}
@Override
public Supplier getPubSubTypePacket()
{
return MultiEchoLaserScanPubSubType::new;
}
@Override
public boolean epsilonEquals(MultiEchoLaserScan 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.angle_min_, other.angle_min_, epsilon)) return false;
if (!us.ihmc.idl.IDLTools.epsilonEqualsPrimitive(this.angle_max_, other.angle_max_, epsilon)) return false;
if (!us.ihmc.idl.IDLTools.epsilonEqualsPrimitive(this.angle_increment_, other.angle_increment_, epsilon)) return false;
if (!us.ihmc.idl.IDLTools.epsilonEqualsPrimitive(this.time_increment_, other.time_increment_, epsilon)) return false;
if (!us.ihmc.idl.IDLTools.epsilonEqualsPrimitive(this.scan_time_, other.scan_time_, epsilon)) return false;
if (!us.ihmc.idl.IDLTools.epsilonEqualsPrimitive(this.range_min_, other.range_min_, epsilon)) return false;
if (!us.ihmc.idl.IDLTools.epsilonEqualsPrimitive(this.range_max_, other.range_max_, epsilon)) return false;
if (this.ranges_.size() != other.ranges_.size()) { return false; }
else
{
for (int i = 0; i < this.ranges_.size(); i++)
{ if (!this.ranges_.get(i).epsilonEquals(other.ranges_.get(i), epsilon)) return false; }
}
if (this.intensities_.size() != other.intensities_.size()) { return false; }
else
{
for (int i = 0; i < this.intensities_.size(); i++)
{ if (!this.intensities_.get(i).epsilonEquals(other.intensities_.get(i), epsilon)) return false; }
}
return true;
}
@Override
public boolean equals(Object other)
{
if(other == null) return false;
if(other == this) return true;
if(!(other instanceof MultiEchoLaserScan)) return false;
MultiEchoLaserScan otherMyClass = (MultiEchoLaserScan) other;
if (!this.header_.equals(otherMyClass.header_)) return false;
if(this.angle_min_ != otherMyClass.angle_min_) return false;
if(this.angle_max_ != otherMyClass.angle_max_) return false;
if(this.angle_increment_ != otherMyClass.angle_increment_) return false;
if(this.time_increment_ != otherMyClass.time_increment_) return false;
if(this.scan_time_ != otherMyClass.scan_time_) return false;
if(this.range_min_ != otherMyClass.range_min_) return false;
if(this.range_max_ != otherMyClass.range_max_) return false;
if (!this.ranges_.equals(otherMyClass.ranges_)) return false;
if (!this.intensities_.equals(otherMyClass.intensities_)) return false;
return true;
}
@Override
public java.lang.String toString()
{
StringBuilder builder = new StringBuilder();
builder.append("MultiEchoLaserScan {");
builder.append("header=");
builder.append(this.header_); builder.append(", ");
builder.append("angle_min=");
builder.append(this.angle_min_); builder.append(", ");
builder.append("angle_max=");
builder.append(this.angle_max_); builder.append(", ");
builder.append("angle_increment=");
builder.append(this.angle_increment_); builder.append(", ");
builder.append("time_increment=");
builder.append(this.time_increment_); builder.append(", ");
builder.append("scan_time=");
builder.append(this.scan_time_); builder.append(", ");
builder.append("range_min=");
builder.append(this.range_min_); builder.append(", ");
builder.append("range_max=");
builder.append(this.range_max_); builder.append(", ");
builder.append("ranges=");
builder.append(this.ranges_); builder.append(", ");
builder.append("intensities=");
builder.append(this.intensities_);
builder.append("}");
return builder.toString();
}
}
