Model.java

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

import edu.wpi.rail.jrosbridge.messages.Message;

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

public class Model extends Message {

        public static final String FIELD_PLACEMENT = "placement";

        public static final String FIELD_DECISION_VALUE = "decision_value";

        public static final String FIELD_SIGMA_X = "sigma_x";

        public static final String FIELD_SIGMA_Y = "sigma_y";

        public static final String FIELD_SIGMA_Z = "sigma_z";

        public static final String FIELD_SIGMA_THETA = "sigma_theta";

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

        private final Placement placement;
        private final double decisionValue, sigmaX, sigmaY, sigmaZ, sigmaTheta;

        public Model() {
                this(new Placement(), 0.0, 0.0, 0.0, 0.0, 0.0);
        }

        public Model(edu.wpi.rail.jinteractiveworld.model.Model model) {
                this(model.getPlacementLocation(), model.getDecisionValue(), model.getSigmaX(), model.getSigmaY(), model.getSigmaZ(), model.getSigmaTheta());
        }

        public Model(Placement placement, double decisionValue, double sigmaX, double sigmaY, double sigmaZ, double sigmaTheta) {
                // build the JSON object
                super(Json.createObjectBuilder().add(Model.FIELD_PLACEMENT, placement.toJsonObject())
                                .add(Model.FIELD_DECISION_VALUE, decisionValue)
                                .add(Model.FIELD_SIGMA_X, sigmaX).add(Model.FIELD_SIGMA_Y, sigmaY)
                                .add(Model.FIELD_SIGMA_Z, sigmaZ).add(Model.FIELD_SIGMA_THETA, sigmaTheta).build(), Model.TYPE);
                this.placement = placement;
                this.decisionValue = decisionValue;
                this.sigmaX = sigmaX;
                this.sigmaY = sigmaY;
                this.sigmaZ = sigmaZ;
                this.sigmaTheta = sigmaTheta;
        }

        public Placement getPlacement() {
                return this.placement;
        }

        public double getDecisionValue() {
                return this.decisionValue;
        }

        public double getSigmaX() {
                return this.sigmaX;
        }

        public double getSigmaY() {
                return this.sigmaY;
        }

        public double getSigmaZ() {
                return this.sigmaZ;
        }

        public double getSigmaTheta() {
                return this.sigmaTheta;
        }

        @Override
        public Model clone() {
                return new Model(this.placement, this.decisionValue, this.sigmaX, this.sigmaY, this.sigmaZ, this.sigmaTheta);
        }

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

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

        public static Model fromJsonObject(JsonObject jsonObject) {
                // check the fields
                Placement placement = jsonObject.containsKey(Model.FIELD_PLACEMENT) ? Placement
                                .fromJsonObject(jsonObject.getJsonObject(Model.FIELD_PLACEMENT))
                                : new Placement();
                double decisionValue = jsonObject.containsKey(Model.FIELD_DECISION_VALUE) ? jsonObject
                                .getJsonNumber(Model.FIELD_DECISION_VALUE).doubleValue() : 0.0;
                double sigmaX = jsonObject.containsKey(Model.FIELD_SIGMA_X) ? jsonObject
                                .getJsonNumber(Model.FIELD_SIGMA_X).doubleValue() : 0.0;
                double sigmaY = jsonObject.containsKey(Model.FIELD_SIGMA_Y) ? jsonObject
                                .getJsonNumber(Model.FIELD_SIGMA_Y).doubleValue() : 0.0;
                double sigmaZ = jsonObject.containsKey(Model.FIELD_SIGMA_Z) ? jsonObject
                                .getJsonNumber(Model.FIELD_SIGMA_Z).doubleValue() : 0.0;
                double sigmaTheta = jsonObject.containsKey(Model.FIELD_SIGMA_THETA) ? jsonObject
                                .getJsonNumber(Model.FIELD_SIGMA_THETA).doubleValue() : 0.0;
                return new Model(placement, decisionValue, sigmaX, sigmaY, sigmaZ, sigmaTheta);
        }
}