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hi guys. I need help understanding this code. What does it do?

00802   private void publishVelocity(double linearVelocityX, double linearVelocityY,
00803       double angularVelocityZ) {
00804     currentVelocityCommand.getLinear().setX(linearVelocityX);
00805     currentVelocityCommand.getLinear().setY(-linearVelocityY);
00806     currentVelocityCommand.getLinear().setZ(0);
00807     currentVelocityCommand.getAngular().setX(0);
00808     currentVelocityCommand.getAngular().setY(0);
00809     currentVelocityCommand.getAngular().setZ(-angularVelocityZ);
00810   }

Publish the velocity as a ROS Twist message.

Parameters:


linearVelocityX The normalized linear velocity (-1 to 1).

angularVelocityZ The normalized angular velocity (-1 to 1).

currentVelocityCommand declaration:

   private geometry_msgs.Twist currentVelocityCommand;