PointOfInterest.java
Go to the documentation of this file.
00001 package edu.wpi.rail.jinteractiveworld.ros.msgs.interactiveworldmsgs;
00002 
00003 import edu.wpi.rail.jrosbridge.messages.Message;
00004 import edu.wpi.rail.jrosbridge.messages.geometry.Point;
00005 import edu.wpi.rail.jrosbridge.messages.geometry.Pose;
00006 import edu.wpi.rail.jrosbridge.messages.geometry.Quaternion;
00007 
00008 import javax.json.Json;
00009 import javax.json.JsonObject;
00010 
00017 public class PointOfInterest extends Message {
00018 
00022         public static final String FIELD_NAME = "name";
00023 
00027         public static final String FIELD_WIDTH = "width";
00028 
00032         public static final String FIELD_HEIGHT = "height";
00033 
00037         public static final String FIELD_POSE = "pose";
00038 
00042         public static final String TYPE = "interactive_world_msgs/PointOfInterest";
00043 
00044         private final String name;
00045         private final double width, height;
00046         private final Pose pose;
00047 
00051         public PointOfInterest() {
00052                 this("", 0, 0, new Pose());
00053         }
00054 
00067         public PointOfInterest(String name, double width, double height, Pose pose) {
00068                 // build the JSON object
00069                 super(Json.createObjectBuilder().add(PointOfInterest.FIELD_NAME, name)
00070                                 .add(PointOfInterest.FIELD_WIDTH, width)
00071                                 .add(PointOfInterest.FIELD_HEIGHT, height)
00072                                 .add(PointOfInterest.FIELD_POSE, pose.toJsonObject()).build(), PointOfInterest.TYPE);
00073                 this.name = name;
00074                 this.width = width;
00075                 this.height = height;
00076                 this.pose = pose;
00077         }
00078 
00084         public String getName() {
00085                 return this.name;
00086         }
00087 
00093         public double getWidth() {
00094                 return this.width;
00095         }
00096 
00102         public double getHeight() {
00103                 return this.height;
00104         }
00105 
00111         public Pose getPose() {
00112                 return this.pose;
00113         }
00114 
00118         @Override
00119         public PointOfInterest clone() {
00120                 return new PointOfInterest(this.name, this.width, this.height, this.pose);
00121         }
00122 
00131         public static PointOfInterest fromJsonString(String jsonString) {
00132                 // convert to a message
00133                 return PointOfInterest.fromMessage(new Message(jsonString));
00134         }
00135 
00144         public static PointOfInterest fromMessage(Message m) {
00145                 // get it from the JSON object
00146                 return PointOfInterest.fromJsonObject(m.toJsonObject());
00147         }
00148 
00157         public static PointOfInterest fromJsonObject(JsonObject jsonObject) {
00158                 // check the fields
00159                 String name = jsonObject.containsKey(PointOfInterest.FIELD_NAME) ? jsonObject
00160                                 .getString(PointOfInterest.FIELD_NAME) : "";
00161                 double width = jsonObject.containsKey(PointOfInterest.FIELD_WIDTH) ? jsonObject
00162                                 .getJsonNumber(PointOfInterest.FIELD_WIDTH).doubleValue() : 0.0;
00163                 double height = jsonObject.containsKey(PointOfInterest.FIELD_HEIGHT) ? jsonObject
00164                                 .getJsonNumber(PointOfInterest.FIELD_HEIGHT).doubleValue() : 0.0;
00165                 Pose pose = jsonObject.containsKey(PointOfInterest.FIELD_POSE) ? Pose
00166                                 .fromJsonObject(jsonObject.getJsonObject(PointOfInterest.FIELD_POSE))
00167                                 : new Pose();
00168                 return new PointOfInterest(name, width, height, pose);
00169         }
00170 }


jinteractiveworld
Author(s): Russell Toris
autogenerated on Sun Dec 14 2014 11:27:03