private static Message customConvertToRosMessage(FootstepDataListMessage footstepList) throws Exception { Class<? extends Packet> ihmcMessageClass = FootstepDataListMessage.class; String rosMessageClassNameFromIHMCMessage = GenericROSTranslationTools.getRosMessageClassNameFromIHMCMessage(ihmcMessageClass.getSimpleName()); RosMessagePacket rosAnnotation = ihmcMessageClass.getAnnotation(RosMessagePacket.class); FootstepDataListRosMessage message = messageFactory.newFromType(rosAnnotation.rosPackage() + "/" + rosMessageClassNameFromIHMCMessage); message.setSwingTime(footstepList.swingTime); message.setTransferTime(footstepList.transferTime); message.setUniqueId(footstepList.getUniqueId()); message.setExecutionMode((byte) footstepList.executionMode.ordinal()); List<FootstepDataRosMessage> convertedFootsteps = new ArrayList<>(); for (FootstepDataMessage footstepDataMessage : footstepList.footstepDataList) { convertedFootsteps.add((FootstepDataRosMessage) convertToRosMessage(footstepDataMessage)); } message.setFootstepDataList(convertedFootsteps); return message; }
private static Message customConvertToRosMessage(FootstepDataListMessage footstepList) throws Exception { Class<? extends Packet> ihmcMessageClass = FootstepDataListMessage.class; String rosMessageClassNameFromIHMCMessage = GenericROSTranslationTools.getRosMessageClassNameFromIHMCMessage(ihmcMessageClass.getSimpleName()); RosMessagePacket rosAnnotation = ihmcMessageClass.getAnnotation(RosMessagePacket.class); FootstepDataListRosMessage message = messageFactory.newFromType(rosAnnotation.rosPackage() + "/" + rosMessageClassNameFromIHMCMessage); message.setDefaultSwingTime(footstepList.defaultSwingTime); message.setDefaultTransferTime(footstepList.defaultTransferTime); message.setUniqueId(footstepList.getUniqueId()); message.setExecutionMode((byte) footstepList.executionMode.ordinal()); message.setFinalTransferTime(footstepList.finalTransferTime); List<FootstepDataRosMessage> convertedFootsteps = new ArrayList<>(); for (FootstepDataMessage footstepDataMessage : footstepList.footstepDataList) { convertedFootsteps.add((FootstepDataRosMessage) convertToRosMessage(footstepDataMessage)); } message.setFootstepDataList(convertedFootsteps); return message; }