45 lines
1.1 KiB
C#
45 lines
1.1 KiB
C#
namespace RobotNet10.Shared.Geometry;
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/// <summary>
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/// TransformStamped message (geometry_msgs/TransformStamped)
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/// A Transform with reference coordinate frame and timestamp
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/// </summary>
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public struct TransformStamped
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{
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/// <summary>
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/// Header with timestamp and frame ID (child_frame_id is stored in frame_id)
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/// </summary>
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public Header Header { get; set; }
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/// <summary>
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/// Child frame ID (the frame being transformed to)
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/// </summary>
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public string ChildFrameId { get; set; }
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/// <summary>
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/// Transform
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/// </summary>
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public Transform Transform { get; set; }
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/// <summary>
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/// Default constructor
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/// </summary>
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public TransformStamped()
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{
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Header = new Header();
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ChildFrameId = string.Empty;
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Transform = new Transform();
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}
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/// <summary>
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/// Constructor with parameters
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/// </summary>
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public TransformStamped(Header header, string childFrameId, Transform transform)
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{
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Header = header;
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ChildFrameId = childFrameId;
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Transform = transform;
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}
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}
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