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

Go to download
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;

/**
       * This message holds a collection of 3d points, plus optional additional
       * information about each point.
       */
public class PointCloud extends Packet implements Settable, EpsilonComparable
{
   /**
            * Time of sensor data acquisition, coordinate frame ID.
            */
   public std_msgs.msg.dds.Header header_;
   /**
            * Array of 3d points. Each Point32 should be interpreted as a 3d point
            * in the frame given in the header.
            */
   public us.ihmc.idl.IDLSequence.Object  points_;
   /**
            * Each channel should have the same number of elements as points array,
            * and the data in each channel should correspond 1:1 with each point.
            * Channel names in common practice are listed in ChannelFloat32.msg.
            */
   public us.ihmc.idl.IDLSequence.Object  channels_;

   public PointCloud()
   {
      header_ = new std_msgs.msg.dds.Header();
      points_ = new us.ihmc.idl.IDLSequence.Object (100, new geometry_msgs.msg.dds.Point32PubSubType());
      channels_ = new us.ihmc.idl.IDLSequence.Object (100, new sensor_msgs.msg.dds.ChannelFloat32PubSubType());

   }

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

   public void set(PointCloud other)
   {
      std_msgs.msg.dds.HeaderPubSubType.staticCopy(other.header_, header_);
      points_.set(other.points_);
      channels_.set(other.channels_);
   }


   /**
            * Time of sensor data acquisition, coordinate frame ID.
            */
   public std_msgs.msg.dds.Header getHeader()
   {
      return header_;
   }


   /**
            * Array of 3d points. Each Point32 should be interpreted as a 3d point
            * in the frame given in the header.
            */
   public us.ihmc.idl.IDLSequence.Object  getPoints()
   {
      return points_;
   }


   /**
            * Each channel should have the same number of elements as points array,
            * and the data in each channel should correspond 1:1 with each point.
            * Channel names in common practice are listed in ChannelFloat32.msg.
            */
   public us.ihmc.idl.IDLSequence.Object  getChannels()
   {
      return channels_;
   }


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

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

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

      if (!this.header_.epsilonEquals(other.header_, 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.channels_.size() != other.channels_.size()) { return false; }
      else
      {
         for (int i = 0; i < this.channels_.size(); i++)
         {  if (!this.channels_.get(i).epsilonEquals(other.channels_.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 PointCloud)) return false;

      PointCloud otherMyClass = (PointCloud) other;

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

      return true;
   }

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

      builder.append("PointCloud {");
      builder.append("header=");
      builder.append(this.header_);      builder.append(", ");
      builder.append("points=");
      builder.append(this.points_);      builder.append(", ");
      builder.append("channels=");
      builder.append(this.channels_);
      builder.append("}");
      return builder.toString();
   }
}