serializers.py 文件源码

def __get_waypoints(cls, data, frame):
        """
        Deserializes a list of waypoints into a marker message.

        Args:
            data: List of dictionaries corresponding to waypoints.
            frame: Frame of the markers.

        Returns:
            A marker message of type Points, with a list of points in order
            corresponding to each waypoint.
        """
        header = Header()
        header.stamp = rospy.get_rostime()
        header.frame_id = frame

        waypoints = WayPoints()
        waypoints.header = header

        # Ensure there is no rotation by setting w to 1.
        for point in data:
            waypoint = GeoPoint()

            altitude = feet_to_meters(point["altitude_msl"])

            waypoint.latitude = point["latitude"]
            waypoint.longitude = point["longitude"]
            waypoint.altitude = altitude

            waypoints.waypoints.append(waypoint)

        return waypoints