Class: Nav_msgs::Odometry

Inherits:
ROS::Message
  • Object
show all
Defined in:
lib/nav_msgs/Odometry.rb

Constant Summary collapse

@@struct_L3 = 
::ROS::Struct.new("L3")
@@struct_d7 = 
::ROS::Struct.new("d7")
@@struct_d6 = 
::ROS::Struct.new("d6")
@@struct_d36 = 
::ROS::Struct.new("d36")
@@struct_L = 
::ROS::Struct.new("L")
@@slot_types = 
['Header','string','geometry_msgs/PoseWithCovariance','geometry_msgs/TwistWithCovariance']

Instance Attribute Summary collapse

Class Method Summary collapse

Instance Method Summary collapse

Constructor Details

#initialize(args = {}) ⇒ Odometry

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

Parameters:

  • args (Hash) (defaults to: {}) —

    keyword for initializing values

Options Hash (args):

  • :header (Header) —

    initialize value

  • :child_frame_id (string) —

    initialize value

  • :pose (geometry_msgs/PoseWithCovariance) —

    initialize value

  • :twist (geometry_msgs/TwistWithCovariance) —

    initialize value



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# File 'lib/nav_msgs/Odometry.rb', line 133

def initialize(args={})
  # message fields cannot be None, assign default values for those that are
  if args[:header]
    @header = args[:header]
  else
    @header = Std_msgs::Header.new
  end
  if args[:child_frame_id]
    @child_frame_id = args[:child_frame_id]
  else
    @child_frame_id = ''
  end
  if args[:pose]
    @pose = args[:pose]
  else
    @pose = Geometry_msgs::PoseWithCovariance.new
  end
  if args[:twist]
    @twist = args[:twist]
  else
    @twist = Geometry_msgs::TwistWithCovariance.new
  end
end

Instance Attribute Details

#child_frame_id ⇒ Object

Returns the value of attribute child_frame_id.



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# File 'lib/nav_msgs/Odometry.rb', line 116

def child_frame_id
  @child_frame_id
end

#header ⇒ Object

Returns the value of attribute header.



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# File 'lib/nav_msgs/Odometry.rb', line 116

def header
  @header
end

#pose ⇒ Object

Returns the value of attribute pose.



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# File 'lib/nav_msgs/Odometry.rb', line 116

def pose
  @pose
end

#twist ⇒ Object

Returns the value of attribute twist.



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# File 'lib/nav_msgs/Odometry.rb', line 116

def twist
  @twist
end

Class Method Details

.md5sum ⇒ Object 



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# File 'lib/nav_msgs/Odometry.rb', line 16

def self.md5sum
  "cd5e73d190d741a2f92e81eda573aca7"
end

.type ⇒ Object 



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# File 'lib/nav_msgs/Odometry.rb', line 20

def self.type
  "nav_msgs/Odometry"
end

Instance Method Details

#_get_types ⇒ String

internal API method

Returns:

  • (String) —

    Message type string.



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# File 'lib/nav_msgs/Odometry.rb', line 159

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/nav_msgs/Odometry.rb', line 186

def deserialize(str)

  begin
    if @header == nil
      @header = Std_msgs::Header.new
    end
    if @pose == nil
      @pose = Geometry_msgs::PoseWithCovariance.new
    end
    if @twist == nil
      @twist = Geometry_msgs::TwistWithCovariance.new
    end
    end_point = 0
    start = end_point
    end_point += ROS::Struct::calc_size('L3')
    (@header.seq, @header.stamp.secs, @header.stamp.nsecs,) = @@struct_L3.unpack(str[start..(end_point-1)])
    start = end_point
    end_point += 4
    (length,) = @@struct_L.unpack(str[start..(end_point-1)])
    start = end_point
    end_point += length
    @header.frame_id = str[start..(end_point-1)]
    start = end_point
    end_point += 4
    (length,) = @@struct_L.unpack(str[start..(end_point-1)])
    start = end_point
    end_point += length
    @child_frame_id = str[start..(end_point-1)]
    start = end_point
    end_point += ROS::Struct::calc_size('d7')
    (@pose.pose.position.x, @pose.pose.position.y, @pose.pose.position.z, @pose.pose.orientation.x, @pose.pose.orientation.y, @pose.pose.orientation.z, @pose.pose.orientation.w,) = @@struct_d7.unpack(str[start..(end_point-1)])
    start = end_point
    end_point += 8
    @pose.covariance = @@struct_d36.unpack(str[start..(end_point-1)])
    start = end_point
    end_point += ROS::Struct::calc_size('d6')
    (@twist.twist.linear.x, @twist.twist.linear.y, @twist.twist.linear.z, @twist.twist.angular.x, @twist.twist.angular.y, @twist.twist.angular.z,) = @@struct_d6.unpack(str[start..(end_point-1)])
    start = end_point
    end_point += 8
    @twist.covariance = @@struct_d36.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/nav_msgs/Odometry.rb', line 24

def has_header?
  true
end

#message_definition ⇒ Object 



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# File 'lib/nav_msgs/Odometry.rb', line 28

def message_definition
  "# This represents an estimate of a position and velocity in free space.  
# The pose in this message should be specified in the coordinate frame given by header.frame_id.
# The twist in this message should be specified in the coordinate frame given by the child_frame_id
Header header
string child_frame_id
geometry_msgs/PoseWithCovariance pose
geometry_msgs/TwistWithCovariance twist

================================================================================
MSG: std_msgs/Header
# Standard metadata for higher-level stamped data types.
# This is generally used to communicate timestamped data 
# in a particular coordinate frame.
# 
# sequence ID: consecutively increasing ID 
uint32 seq
#Two-integer timestamp that is expressed as:
# * stamp.secs: seconds (stamp_secs) since epoch
# * stamp.nsecs: nanoseconds since stamp_secs
# time-handling sugar is provided by the client library
time stamp
#Frame this data is associated with
# 0: no frame
# 1: global frame
string frame_id

================================================================================
MSG: geometry_msgs/PoseWithCovariance
# This represents a pose in free space with uncertainty.

Pose pose

# Row-major representation of the 6x6 covariance matrix
# The orientation parameters use a fixed-axis representation.
# In order, the parameters are:
# (x, y, z, rotation about X axis, rotation about Y axis, rotation about Z axis)
float64[36] covariance

================================================================================
MSG: geometry_msgs/Pose
# A representation of pose in free space, composed of postion and orientation. 
Point position
Quaternion orientation

================================================================================
MSG: geometry_msgs/Point
# This contains the position of a point in free space
float64 x
float64 y
float64 z

================================================================================
MSG: geometry_msgs/Quaternion
# This represents an orientation in free space in quaternion form.

float64 x
float64 y
float64 z
float64 w

================================================================================
MSG: geometry_msgs/TwistWithCovariance
# This expresses velocity in free space with uncertianty.

Twist twist

# Row-major representation of the 6x6 covariance matrix
# The orientation parameters use a fixed-axis representation.
# In order, the parameters are:
# (x, y, z, rotation about X axis, rotation about Y axis, rotation about Z axis)
float64[36] covariance

================================================================================
MSG: geometry_msgs/Twist
# This expresses velocity in free space broken into it's linear and angular parts. 
Vector3  linear
Vector3  angular

================================================================================
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/nav_msgs/Odometry.rb', line 165

def serialize(buff)
  begin
    buff.write(@@struct_L3.pack(@header.seq, @header.stamp.secs, @header.stamp.nsecs))
    _x = @header.frame_id
    length = _x.length
    buff.write([length, _x].pack("La#{length}"))
    _x = @child_frame_id
    length = _x.length
    buff.write([length, _x].pack("La#{length}"))
    buff.write(@@struct_d7.pack(@pose.pose.position.x, @pose.pose.position.y, @pose.pose.position.z, @pose.pose.orientation.x, @pose.pose.orientation.y, @pose.pose.orientation.z, @pose.pose.orientation.w))
    buff.write(@@struct_d36.pack(*@pose.covariance))
    buff.write(@@struct_d6.pack(@twist.twist.linear.x, @twist.twist.linear.y, @twist.twist.linear.z, @twist.twist.angular.x, @twist.twist.angular.y, @twist.twist.angular.z))
    buff.write(@@struct_d36.pack(*@twist.covariance))
  rescue => exception
    raise "some erro in serialize: #{exception}"

  end
end