• Marus Documentation
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  • Marus
    • BoatPhysics
    • BoatPhysicsMath
    • DebugPhysics
    • ModifyBoatMesh
    • SlammingForceData
    • TriangleData
  • Marus.Actuators
    • AUVRosController
    • PwmThruster
    • PwmThruster.AllowedVoltages
    • ThrusterController
  • Marus.Actuators.Datasheets
    • T200ThrusterDatasheet
  • Marus.Communications
    • RangeReading
  • Marus.Communications.Acoustics
    • AcousticDevice
    • AcousticDevice<T>
    • AcousticMedium
    • AcousticMediumHelper
    • AcousticMessage
    • AcousticReceiver
    • AcousticTranciever
    • AcousticTransmiter
    • AcousticTransmiterParams
    • MediumBase
    • Nanomodem
    • NanomodemMessage
    • NanomodemROS
    • TransmitionType
  • Marus.Communications.Rf
    • LoraDevice
    • LoraDeviceRos
    • LoraDummyTransmitter
    • LoraMessage
    • LoraRanging
    • LoraRangingRos
    • RfDevice
    • RfDevice<T>
    • RfMediumHelper
    • RfMessage
    • RfReceiver
    • RfTranciever
    • RfTransmiter
    • RfTransmitterParams
    • TransmitionType
  • Marus.Controllers
    • DiverGuidanceController
    • FishController
    • VesselForceController
    • VesselVelocityController
  • Marus.Core
    • GeographicFrame
    • GeoPoint
    • PauseMenu
    • TfExtensions
    • TimeHandler
  • Marus.CustomInspector
    • ConditionalHideAttribute
    • ConditionalHideInInspectorAttribute
    • HideInRuntimeInspectorAttribute
  • Marus.Logger
    • DataLogger
    • DataLoggerUtilities
    • GameObjectLogger
    • GameObjectLogger<T>
    • LogRecord
    • LogRecord<T>
  • Marus.Networking
    • MessageExtensions
    • ParamServerHandler
    • RosConnection
    • ServerStreamer<T>
    • ServerStreamer<T>.MessageHandleMode
    • ServiceCaller
    • TfHandler
    • VisualizationROS
  • Marus.NoiseDistributions
    • AlfaBeta
    • Gaussian
    • INoise
    • Noise
    • NoiseParameters
  • Marus.ObjectAnnotation
    • CameraObjectDetectionSaver
    • ClassObjects
    • ObjectRecord
    • PointCloudSegmentationSaver
  • Marus.Ocean
    • WaterHeightSampler
  • Marus.Quest
    • QuestControl
    • QuestWaypoint
  • Marus.ROS
    • TfStreamerROS
  • Marus.Sensors
    • CameraSensor
    • CameraSensorROS
    • LidarConfig
    • LidarReading
    • RaycastJobHelper
    • RaycastJobHelper<T>
    • RaycastJobHelper<T>.CreateRaycastCommandsJob
    • RaycastJobHelper<T>.ReadbackDataJob
    • RaycastLidar
    • RaycastLidarPointCloud2ROS
    • RaycastLidarROS
    • RayDefinitionType
    • RayInterval
    • SensorBase
    • SensorCallback
    • SensorSampler
    • SensorStreamer<TClient, TMsg>
    • Sonar2D
    • Sonar3D
    • SonarReading
  • Marus.Sensors.AIS
    • AISClassType
    • AisDevice
    • AisManager
    • AisMessage
    • AISMessageType
    • AisSensor
    • AisSensorROS
    • ManeuverIndicator
    • MMSIGenerator
    • NavigationStatus
    • PositionAccuracy
    • PositionReportClassA
    • Raim
    • TimeIntervals
  • Marus.Sensors.Core
    • CameraFrustum
    • ComputeBufferDataExtractor<T>
    • DepthCameras
    • DepthCameras.BufferPrecision
    • LidarMessage
    • PointField
    • SphericalProjectionFilter
  • Marus.Sensors.Primitive
    • DepthSensor
    • DvlSensor
    • GnssSensor
    • ImuROS
    • ImuSensor
    • PoseSensor
    • PoseSensorROS
    • RangeSensor
    • Sonar2DROS
    • Sonar3DROS
    • SonarPrimitive
    • SonarPrimitiveROS
  • Marus.Sensors.ROS
    • DepthSensorROS
    • DvlROS
    • GnssROS
  • Marus.StatisticsUI
    • MousePointToImagePointController
    • PathRecordingsVisualization
    • ScrollViewController
    • StatisticsEntry
    • StatisticsUIController
  • Marus.UI
    • Compass
    • Depth
  • Marus.Utils
    • Helpers
    • PCDLoader
    • PCDSaver
    • PointCloud
    • Singleton<T>
  • Marus.Visualization
    • ArrowVisualController
    • LineVisualController
    • LiveMovementVisualizer
    • ObjectBoundingBoxVisualizer
    • PathRecorder
    • PathVisualController
    • PointCloudManager
    • PointCloudRosVisualizer
    • PointVisualController
    • TransformVisualController
    • Visualizer
    • Visualizer.FilterValues
  • Marus.Visualization.Primitives
    • Arrow
    • Line
    • Path
    • Point
    • PointcloudMesh
    • Transform
    • VisualElement
  • TestUtils
    • ParameterServerMock
    • PingMock
    • TestClient
    • TfMock
    • Utils
  • UniColliderInterpolator
    • BoundsDivider
    • ColliderInterpolator
  • UnityStandardAssets.Characters.ThirdPerson
    • ThirdPersonSwimmer
    • ThirdPersonSwimmerController

Class Helpers

Inheritance
System.Object
Helpers
Inherited Members
System.Object.ToString()
System.Object.Equals(System.Object)
System.Object.Equals(System.Object, System.Object)
System.Object.ReferenceEquals(System.Object, System.Object)
System.Object.GetHashCode()
System.Object.GetType()
System.Object.MemberwiseClone()
Namespace: Marus.Utils
Assembly: cs.temp.dll.dll
Syntax
public static class Helpers

Methods

FindGameObjectInChildren(String, GameObject, Boolean)

Declaration
public static GameObject FindGameObjectInChildren(string name, GameObject parent, bool includeInactive = true)
Parameters
Type Name Description
System.String name
GameObject parent
System.Boolean includeInactive
Returns
Type Description
GameObject

FindGameObjectsInLayerMask(LayerMask)

Declaration
public static GameObject[] FindGameObjectsInLayerMask(LayerMask layers)
Parameters
Type Name Description
LayerMask layers
Returns
Type Description
GameObject[]

GetComponentInParents<T>(GameObject)

Declaration
public static T GetComponentInParents<T>(GameObject startObject)
    where T : Component
Parameters
Type Name Description
GameObject startObject
Returns
Type Description
T
Type Parameters
Name Description
T

GetObjectScale(Transform, Boolean)

Declaration
public static Vector3 GetObjectScale(Transform t, bool includeSelf = true)
Parameters
Type Name Description
Transform t
System.Boolean includeSelf
Returns
Type Description
Vector3

GetParentRigidBody(Transform, Func<Rigidbody, Boolean>)

Return RigidBody component in the first ancestor GameObject

Declaration
public static Rigidbody GetParentRigidBody(Transform obj, Func<Rigidbody, bool> where = null)
Parameters
Type Name Description
Transform obj
Func<Rigidbody, System.Boolean> where
Returns
Type Description
Rigidbody

GetVehicle(Transform)

Declaration
public static Transform GetVehicle(Transform tf)
Parameters
Type Name Description
Transform tf
Returns
Type Description
Transform

IsVehicle(Rigidbody)

Declaration
public static bool IsVehicle(Rigidbody rb)
Parameters
Type Name Description
Rigidbody rb
Returns
Type Description
System.Boolean

IsVehicle(Transform)

Declaration
public static bool IsVehicle(Transform rb)
Parameters
Type Name Description
Transform rb
Returns
Type Description
System.Boolean

PointFieldDataTypeToBytes(Sensor.PointField.Types.DataType)

Declaration
public static int PointFieldDataTypeToBytes(Sensor.PointField.Types.DataType type)
Parameters
Type Name Description
Sensor.PointField.Types.DataType type
Returns
Type Description
System.Int32

RandomGaussian(Single, Single)

Declaration
public static float RandomGaussian(float mean = 0F, float sigma = 1F)
Parameters
Type Name Description
System.Single mean
System.Single sigma
Returns
Type Description
System.Single

Round(Quaternion, Int32)

Declaration
public static Quaternion Round(this Quaternion quat, int decimalPlaces = 2)
Parameters
Type Name Description
Quaternion quat
System.Int32 decimalPlaces
Returns
Type Description
Quaternion

Round(Vector3, Int32)

Declaration
public static Vector3 Round(this Vector3 vector3, int decimalPlaces = 2)
Parameters
Type Name Description
Vector3 vector3
System.Int32 decimalPlaces
Returns
Type Description
Vector3

ZipWhereNotNull<TSource, TSecond, TReturn>(IEnumerable<TSource>, IEnumerable<TSecond>, Func<TSource, TSecond, Nullable<TReturn>>)

Declaration
public static IEnumerable<TReturn> ZipWhereNotNull<TSource, TSecond, TReturn>(this IEnumerable<TSource> src, IEnumerable<TSecond> second, Func<TSource, TSecond, TReturn?> func)
    where TReturn : struct
Parameters
Type Name Description
IEnumerable<TSource> src
IEnumerable<TSecond> second
Func<TSource, TSecond, System.Nullable<TReturn>> func
Returns
Type Description
IEnumerable<TReturn>
Type Parameters
Name Description
TSource
TSecond
TReturn
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