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package visualization_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;
/**
* See:
* - http://www.ros.org/wiki/rviz/DisplayTypes/Marker
* - http://www.ros.org/wiki/rviz/Tutorials/Markers%3A%20Basic%20Shapes
*
* for more information on using this message with rviz.
*/
public class Marker extends Packet implements Settable, EpsilonComparable
{
public static final byte ARROW = (byte) 0;
public static final byte CUBE = (byte) 1;
public static final byte SPHERE = (byte) 2;
public static final byte CYLINDER = (byte) 3;
public static final byte LINE_STRIP = (byte) 4;
public static final byte LINE_LIST = (byte) 5;
public static final byte CUBE_LIST = (byte) 6;
public static final byte SPHERE_LIST = (byte) 7;
public static final byte POINTS = (byte) 8;
public static final byte TEXT_VIEW_FACING = (byte) 9;
public static final byte MESH_RESOURCE = (byte) 10;
public static final byte TRIANGLE_LIST = (byte) 11;
public static final byte ADD = (byte) 0;
public static final byte MODIFY = (byte) 0;
public static final byte DELETE = (byte) 2;
public static final byte DELETEALL = (byte) 3;
/**
* Header for timestamp and frame id.
*/
public std_msgs.msg.dds.Header header_;
/**
* Namespace in which to place the object.
* Used in conjunction with id to create a unique name for the object.
*/
public java.lang.StringBuilder ns_;
/**
* Object ID used in conjunction with the namespace for manipulating and deleting the object later.
*/
public int id_;
/**
* Type of object.
*/
public int type_;
/**
* Action to take; one of:
* - 0 add/modify an object
* - 1 (deprecated)
* - 2 deletes an object
* - 3 deletes all objects
*/
public int action_;
/**
* Pose of the object with respect the frame_id specified in the header.
*/
public us.ihmc.euclid.geometry.Pose3D pose_;
/**
* Scale of the object; 1,1,1 means default (usually 1 meter square).
*/
public us.ihmc.euclid.tuple3D.Vector3D scale_;
/**
* Color of the object; in the range: [0.0-1.0]
*/
public std_msgs.msg.dds.ColorRGBA color_;
/**
* How long the object should last before being automatically deleted.
* 0 indicates forever.
*/
public builtin_interfaces.msg.dds.Duration lifetime_;
/**
* If this marker should be frame-locked, i.e. retransformed into its frame every timestep.
*/
public boolean frame_locked_;
/**
* Only used if the type specified has some use for them (eg. POINTS, LINE_STRIP, etc.)
*/
public us.ihmc.idl.IDLSequence.Object points_;
/**
* Only used if the type specified has some use for them (eg. POINTS, LINE_STRIP, etc.)
* The number of colors provided must either be 0 or equal to the number of points provided.
* NOTE: alpha is not yet used
*/
public us.ihmc.idl.IDLSequence.Object colors_;
/**
* Only used for text markers
*/
public java.lang.StringBuilder text_;
/**
* Only used for MESH_RESOURCE markers.
*/
public java.lang.StringBuilder mesh_resource_;
public boolean mesh_use_embedded_materials_;
public Marker()
{
header_ = new std_msgs.msg.dds.Header();
ns_ = new java.lang.StringBuilder(255);
pose_ = new us.ihmc.euclid.geometry.Pose3D();
scale_ = new us.ihmc.euclid.tuple3D.Vector3D();
color_ = new std_msgs.msg.dds.ColorRGBA();
lifetime_ = new builtin_interfaces.msg.dds.Duration();
points_ = new us.ihmc.idl.IDLSequence.Object (100, new geometry_msgs.msg.dds.PointPubSubType());
colors_ = new us.ihmc.idl.IDLSequence.Object (100, new std_msgs.msg.dds.ColorRGBAPubSubType());
text_ = new java.lang.StringBuilder(255);
mesh_resource_ = new java.lang.StringBuilder(255);
}
public Marker(Marker other)
{
this();
set(other);
}
public void set(Marker other)
{
std_msgs.msg.dds.HeaderPubSubType.staticCopy(other.header_, header_);
ns_.setLength(0);
ns_.append(other.ns_);
id_ = other.id_;
type_ = other.type_;
action_ = other.action_;
geometry_msgs.msg.dds.PosePubSubType.staticCopy(other.pose_, pose_);
geometry_msgs.msg.dds.Vector3PubSubType.staticCopy(other.scale_, scale_);
std_msgs.msg.dds.ColorRGBAPubSubType.staticCopy(other.color_, color_);
builtin_interfaces.msg.dds.DurationPubSubType.staticCopy(other.lifetime_, lifetime_);
frame_locked_ = other.frame_locked_;
points_.set(other.points_);
colors_.set(other.colors_);
text_.setLength(0);
text_.append(other.text_);
mesh_resource_.setLength(0);
mesh_resource_.append(other.mesh_resource_);
mesh_use_embedded_materials_ = other.mesh_use_embedded_materials_;
}
/**
* Header for timestamp and frame id.
*/
public std_msgs.msg.dds.Header getHeader()
{
return header_;
}
/**
* Namespace in which to place the object.
* Used in conjunction with id to create a unique name for the object.
*/
public void setNs(java.lang.String ns)
{
ns_.setLength(0);
ns_.append(ns);
}
/**
* Namespace in which to place the object.
* Used in conjunction with id to create a unique name for the object.
*/
public java.lang.String getNsAsString()
{
return getNs().toString();
}
/**
* Namespace in which to place the object.
* Used in conjunction with id to create a unique name for the object.
*/
public java.lang.StringBuilder getNs()
{
return ns_;
}
/**
* Object ID used in conjunction with the namespace for manipulating and deleting the object later.
*/
public void setId(int id)
{
id_ = id;
}
/**
* Object ID used in conjunction with the namespace for manipulating and deleting the object later.
*/
public int getId()
{
return id_;
}
/**
* Type of object.
*/
public void setType(int type)
{
type_ = type;
}
/**
* Type of object.
*/
public int getType()
{
return type_;
}
/**
* Action to take; one of:
* - 0 add/modify an object
* - 1 (deprecated)
* - 2 deletes an object
* - 3 deletes all objects
*/
public void setAction(int action)
{
action_ = action;
}
/**
* Action to take; one of:
* - 0 add/modify an object
* - 1 (deprecated)
* - 2 deletes an object
* - 3 deletes all objects
*/
public int getAction()
{
return action_;
}
/**
* Pose of the object with respect the frame_id specified in the header.
*/
public us.ihmc.euclid.geometry.Pose3D getPose()
{
return pose_;
}
/**
* Scale of the object; 1,1,1 means default (usually 1 meter square).
*/
public us.ihmc.euclid.tuple3D.Vector3D getScale()
{
return scale_;
}
/**
* Color of the object; in the range: [0.0-1.0]
*/
public std_msgs.msg.dds.ColorRGBA getColor()
{
return color_;
}
/**
* How long the object should last before being automatically deleted.
* 0 indicates forever.
*/
public builtin_interfaces.msg.dds.Duration getLifetime()
{
return lifetime_;
}
/**
* If this marker should be frame-locked, i.e. retransformed into its frame every timestep.
*/
public void setFrameLocked(boolean frame_locked)
{
frame_locked_ = frame_locked;
}
/**
* If this marker should be frame-locked, i.e. retransformed into its frame every timestep.
*/
public boolean getFrameLocked()
{
return frame_locked_;
}
/**
* Only used if the type specified has some use for them (eg. POINTS, LINE_STRIP, etc.)
*/
public us.ihmc.idl.IDLSequence.Object getPoints()
{
return points_;
}
/**
* Only used if the type specified has some use for them (eg. POINTS, LINE_STRIP, etc.)
* The number of colors provided must either be 0 or equal to the number of points provided.
* NOTE: alpha is not yet used
*/
public us.ihmc.idl.IDLSequence.Object getColors()
{
return colors_;
}
/**
* Only used for text markers
*/
public void setText(java.lang.String text)
{
text_.setLength(0);
text_.append(text);
}
/**
* Only used for text markers
*/
public java.lang.String getTextAsString()
{
return getText().toString();
}
/**
* Only used for text markers
*/
public java.lang.StringBuilder getText()
{
return text_;
}
/**
* Only used for MESH_RESOURCE markers.
*/
public void setMeshResource(java.lang.String mesh_resource)
{
mesh_resource_.setLength(0);
mesh_resource_.append(mesh_resource);
}
/**
* Only used for MESH_RESOURCE markers.
*/
public java.lang.String getMeshResourceAsString()
{
return getMeshResource().toString();
}
/**
* Only used for MESH_RESOURCE markers.
*/
public java.lang.StringBuilder getMeshResource()
{
return mesh_resource_;
}
public void setMeshUseEmbeddedMaterials(boolean mesh_use_embedded_materials)
{
mesh_use_embedded_materials_ = mesh_use_embedded_materials;
}
public boolean getMeshUseEmbeddedMaterials()
{
return mesh_use_embedded_materials_;
}
public static Supplier getPubSubType()
{
return MarkerPubSubType::new;
}
@Override
public Supplier getPubSubTypePacket()
{
return MarkerPubSubType::new;
}
@Override
public boolean epsilonEquals(Marker 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.epsilonEqualsStringBuilder(this.ns_, other.ns_, epsilon)) return false;
if (!us.ihmc.idl.IDLTools.epsilonEqualsPrimitive(this.id_, other.id_, epsilon)) return false;
if (!us.ihmc.idl.IDLTools.epsilonEqualsPrimitive(this.type_, other.type_, epsilon)) return false;
if (!us.ihmc.idl.IDLTools.epsilonEqualsPrimitive(this.action_, other.action_, epsilon)) return false;
if (!this.pose_.epsilonEquals(other.pose_, epsilon)) return false;
if (!this.scale_.epsilonEquals(other.scale_, epsilon)) return false;
if (!this.color_.epsilonEquals(other.color_, epsilon)) return false;
if (!this.lifetime_.epsilonEquals(other.lifetime_, epsilon)) return false;
if (!us.ihmc.idl.IDLTools.epsilonEqualsBoolean(this.frame_locked_, other.frame_locked_, epsilon)) return false;
if (this.points_.size() != other.points_.size()) { return false; }
else
{
for (int i = 0; i < this.points_.size(); i++)
{ if (!this.points_.get(i).epsilonEquals(other.points_.get(i), epsilon)) return false; }
}
if (this.colors_.size() != other.colors_.size()) { return false; }
else
{
for (int i = 0; i < this.colors_.size(); i++)
{ if (!this.colors_.get(i).epsilonEquals(other.colors_.get(i), epsilon)) return false; }
}
if (!us.ihmc.idl.IDLTools.epsilonEqualsStringBuilder(this.text_, other.text_, epsilon)) return false;
if (!us.ihmc.idl.IDLTools.epsilonEqualsStringBuilder(this.mesh_resource_, other.mesh_resource_, epsilon)) return false;
if (!us.ihmc.idl.IDLTools.epsilonEqualsBoolean(this.mesh_use_embedded_materials_, other.mesh_use_embedded_materials_, epsilon)) return false;
return true;
}
@Override
public boolean equals(Object other)
{
if(other == null) return false;
if(other == this) return true;
if(!(other instanceof Marker)) return false;
Marker otherMyClass = (Marker) other;
if (!this.header_.equals(otherMyClass.header_)) return false;
if (!us.ihmc.idl.IDLTools.equals(this.ns_, otherMyClass.ns_)) return false;
if(this.id_ != otherMyClass.id_) return false;
if(this.type_ != otherMyClass.type_) return false;
if(this.action_ != otherMyClass.action_) return false;
if (!this.pose_.equals(otherMyClass.pose_)) return false;
if (!this.scale_.equals(otherMyClass.scale_)) return false;
if (!this.color_.equals(otherMyClass.color_)) return false;
if (!this.lifetime_.equals(otherMyClass.lifetime_)) return false;
if(this.frame_locked_ != otherMyClass.frame_locked_) return false;
if (!this.points_.equals(otherMyClass.points_)) return false;
if (!this.colors_.equals(otherMyClass.colors_)) return false;
if (!us.ihmc.idl.IDLTools.equals(this.text_, otherMyClass.text_)) return false;
if (!us.ihmc.idl.IDLTools.equals(this.mesh_resource_, otherMyClass.mesh_resource_)) return false;
if(this.mesh_use_embedded_materials_ != otherMyClass.mesh_use_embedded_materials_) return false;
return true;
}
@Override
public java.lang.String toString()
{
StringBuilder builder = new StringBuilder();
builder.append("Marker {");
builder.append("header=");
builder.append(this.header_); builder.append(", ");
builder.append("ns=");
builder.append(this.ns_); builder.append(", ");
builder.append("id=");
builder.append(this.id_); builder.append(", ");
builder.append("type=");
builder.append(this.type_); builder.append(", ");
builder.append("action=");
builder.append(this.action_); builder.append(", ");
builder.append("pose=");
builder.append(this.pose_); builder.append(", ");
builder.append("scale=");
builder.append(this.scale_); builder.append(", ");
builder.append("color=");
builder.append(this.color_); builder.append(", ");
builder.append("lifetime=");
builder.append(this.lifetime_); builder.append(", ");
builder.append("frame_locked=");
builder.append(this.frame_locked_); builder.append(", ");
builder.append("points=");
builder.append(this.points_); builder.append(", ");
builder.append("colors=");
builder.append(this.colors_); builder.append(", ");
builder.append("text=");
builder.append(this.text_); builder.append(", ");
builder.append("mesh_resource=");
builder.append(this.mesh_resource_); builder.append(", ");
builder.append("mesh_use_embedded_materials=");
builder.append(this.mesh_use_embedded_materials_);
builder.append("}");
return builder.toString();
}
}
