Class: Geometry_msgs::Wrench

Inherits:
ROS::Message
  • Object
show all
Defined in:
lib/geometry_msgs/Wrench.rb

Constant Summary collapse

@@struct_d6 = 
::ROS::Struct.new("d6")
@@struct_L = 
::ROS::Struct.new("L")
@@slot_types = 
['geometry_msgs/Vector3','geometry_msgs/Vector3']

Instance Attribute Summary collapse

Class Method Summary collapse

Instance Method Summary collapse

Constructor Details

#initialize(args = {}) ⇒ Wrench

Constructor. You can set the default values using keyword operators.

Parameters:

  • args (Hash) (defaults to: {}) —

    keyword for initializing values

Options Hash (args):

  • :force (geometry_msgs/Vector3) —

    initialize value

  • :torque (geometry_msgs/Vector3) —

    initialize value



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# File 'lib/geometry_msgs/Wrench.rb', line 48

def initialize(args={})
  # message fields cannot be None, assign default values for those that are
  if args[:force]
    @force = args[:force]
  else
    @force = Geometry_msgs::Vector3.new
  end
  if args[:torque]
    @torque = args[:torque]
  else
    @torque = Geometry_msgs::Vector3.new
  end
end

Instance Attribute Details

#force ⇒ Object

Returns the value of attribute force.



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# File 'lib/geometry_msgs/Wrench.rb', line 36

def force
  @force
end

#torque ⇒ Object

Returns the value of attribute torque.



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# File 'lib/geometry_msgs/Wrench.rb', line 36

def torque
  @torque
end

Class Method Details

.md5sum ⇒ Object 



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# File 'lib/geometry_msgs/Wrench.rb', line 9

def self.md5sum
  "4f539cf138b23283b520fd271b567936"
end

.type ⇒ Object 



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# File 'lib/geometry_msgs/Wrench.rb', line 13

def self.type
  "geometry_msgs/Wrench"
end

Instance Method Details

#_get_types ⇒ String

internal API method

Returns:

  • (String) —

    Message type string.



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# File 'lib/geometry_msgs/Wrench.rb', line 64

def _get_types
  @slot_types
end

#deserialize(str) ⇒ Object

unpack serialized message in str into this message instance

@param [String] str: byte array of serialized message



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# File 'lib/geometry_msgs/Wrench.rb', line 81

def deserialize(str)

  begin
    if @force == nil
      @force = Geometry_msgs::Vector3.new
    end
    if @torque == nil
      @torque = Geometry_msgs::Vector3.new
    end
    end_point = 0
    start = end_point
    end_point += ROS::Struct::calc_size('d6')
    (@force.x, @force.y, @force.z, @torque.x, @torque.y, @torque.z,) = @@struct_d6.unpack(str[start..(end_point-1)])
    return self
  rescue => exception
    raise "message DeserializationError: #{exception}" #most likely buffer underfill
  end
end

#has_header? ⇒ Boolean

Returns:

  • (Boolean) 


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# File 'lib/geometry_msgs/Wrench.rb', line 17

def has_header?
  false
end

#message_definition ⇒ Object 



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# File 'lib/geometry_msgs/Wrench.rb', line 21

def message_definition
  "# This represents force in free space, seperated into 
# it's linear and angular parts.  
Vector3  force
Vector3  torque

================================================================================
MSG: geometry_msgs/Vector3
# This represents a vector in free space. 

float64 x
float64 y
float64 z
"
end

#serialize(buff) ⇒ Object

serialize message into buffer

Parameters:

  • buff (IO) —

    buffer



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# File 'lib/geometry_msgs/Wrench.rb', line 70

def serialize(buff)
  begin
    buff.write(@@struct_d6.pack(@force.x, @force.y, @force.z, @torque.x, @torque.y, @torque.z))
  rescue => exception
    raise "some erro in serialize: #{exception}"

  end
end