PointOfInterest.java

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package edu.wpi.rail.jinteractiveworld.ros.msgs.interactiveworldmsgs;

import edu.wpi.rail.jrosbridge.messages.Message;
import edu.wpi.rail.jrosbridge.messages.geometry.Point;
import edu.wpi.rail.jrosbridge.messages.geometry.Pose;
import edu.wpi.rail.jrosbridge.messages.geometry.Quaternion;

import javax.json.Json;
import javax.json.JsonObject;

public class PointOfInterest extends Message {

        public static final String FIELD_NAME = "name";

        public static final String FIELD_WIDTH = "width";

        public static final String FIELD_HEIGHT = "height";

        public static final String FIELD_POSE = "pose";

        public static final String TYPE = "interactive_world_msgs/PointOfInterest";

        private final String name;
        private final double width, height;
        private final Pose pose;

        public PointOfInterest() {
                this("", 0, 0, new Pose());
        }

        public PointOfInterest(String name, double width, double height, Pose pose) {
                // build the JSON object
                super(Json.createObjectBuilder().add(PointOfInterest.FIELD_NAME, name)
                                .add(PointOfInterest.FIELD_WIDTH, width)
                                .add(PointOfInterest.FIELD_HEIGHT, height)
                                .add(PointOfInterest.FIELD_POSE, pose.toJsonObject()).build(), PointOfInterest.TYPE);
                this.name = name;
                this.width = width;
                this.height = height;
                this.pose = pose;
        }

        public String getName() {
                return this.name;
        }

        public double getWidth() {
                return this.width;
        }

        public double getHeight() {
                return this.height;
        }

        public Pose getPose() {
                return this.pose;
        }

        @Override
        public PointOfInterest clone() {
                return new PointOfInterest(this.name, this.width, this.height, this.pose);
        }

        public static PointOfInterest fromJsonString(String jsonString) {
                // convert to a message
                return PointOfInterest.fromMessage(new Message(jsonString));
        }

        public static PointOfInterest fromMessage(Message m) {
                // get it from the JSON object
                return PointOfInterest.fromJsonObject(m.toJsonObject());
        }

        public static PointOfInterest fromJsonObject(JsonObject jsonObject) {
                // check the fields
                String name = jsonObject.containsKey(PointOfInterest.FIELD_NAME) ? jsonObject
                                .getString(PointOfInterest.FIELD_NAME) : "";
                double width = jsonObject.containsKey(PointOfInterest.FIELD_WIDTH) ? jsonObject
                                .getJsonNumber(PointOfInterest.FIELD_WIDTH).doubleValue() : 0.0;
                double height = jsonObject.containsKey(PointOfInterest.FIELD_HEIGHT) ? jsonObject
                                .getJsonNumber(PointOfInterest.FIELD_HEIGHT).doubleValue() : 0.0;
                Pose pose = jsonObject.containsKey(PointOfInterest.FIELD_POSE) ? Pose
                                .fromJsonObject(jsonObject.getJsonObject(PointOfInterest.FIELD_POSE))
                                : new Pose();
                return new PointOfInterest(name, width, height, pose);
        }
}