Class: Trajectory_msgs::JointTrajectory

Inherits:
ROS::Message
  • Object
show all
Defined in:
lib/trajectory_msgs/JointTrajectory.rb

Constant Summary collapse

@@struct_L3 = 
::ROS::Struct.new("L3")
@@struct_l2 = 
::ROS::Struct.new("l2")
@@struct_L = 
::ROS::Struct.new("L")
@@slot_types = 
['Header','string[]','trajectory_msgs/JointTrajectoryPoint[]']

Instance Attribute Summary collapse

Class Method Summary collapse

Instance Method Summary collapse

Constructor Details

#initialize(args = {}) ⇒ JointTrajectory

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

  • :joint_names (string[]) —

    initialize value

  • :points (trajectory_msgs/JointTrajectoryPoint[]) —

    initialize value



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# File 'lib/trajectory_msgs/JointTrajectory.rb', line 67

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[:joint_names]
    @joint_names = args[:joint_names]
  else
    @joint_names = []
  end
  if args[:points]
    @points = args[:points]
  else
    @points = []
  end
end

Instance Attribute Details

#header ⇒ Object

Returns the value of attribute header.



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# File 'lib/trajectory_msgs/JointTrajectory.rb', line 53

def header
  @header
end

#joint_names ⇒ Object

Returns the value of attribute joint_names.



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# File 'lib/trajectory_msgs/JointTrajectory.rb', line 53

def joint_names
  @joint_names
end

#points ⇒ Object

Returns the value of attribute points.



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# File 'lib/trajectory_msgs/JointTrajectory.rb', line 53

def points
  @points
end

Class Method Details

.md5sum ⇒ Object 



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# File 'lib/trajectory_msgs/JointTrajectory.rb', line 11

def self.md5sum
  "72214029c6fba47b2135714577dd745e"
end

.type ⇒ Object 



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# File 'lib/trajectory_msgs/JointTrajectory.rb', line 15

def self.type
  "trajectory_msgs/JointTrajectory"
end

Instance Method Details

#_get_types ⇒ String

internal API method

Returns:

  • (String) —

    Message type string.



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# File 'lib/trajectory_msgs/JointTrajectory.rb', line 88

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/trajectory_msgs/JointTrajectory.rb', line 133

def deserialize(str)

  begin
    if @header == nil
      @header = Std_msgs::Header.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)])
    @joint_names = []
    length.times do
      start = end_point
      end_point += 4
      (length,) = @@struct_L.unpack(str[start..(end_point-1)])
      start = end_point
      end_point += length
      val1 = str[start..(end_point-1)]
      @joint_names.push(val1)
    end
    start = end_point
    end_point += 4
    (length,) = @@struct_L.unpack(str[start..(end_point-1)])
    @points = []
    length.times do
      val1 = Trajectory_msgs::JointTrajectoryPoint.new
      start = end_point
      end_point += 4
      (length,) = @@struct_L.unpack(str[start..(end_point-1)])
      pattern = "d#{length}"
      start = end_point
      end_point += ROS::Struct::calc_size("#{pattern}")
      val1.positions = str[start..(end_point-1)].unpack(pattern)
      start = end_point
      end_point += 4
      (length,) = @@struct_L.unpack(str[start..(end_point-1)])
      pattern = "d#{length}"
      start = end_point
      end_point += ROS::Struct::calc_size("#{pattern}")
      val1.velocities = str[start..(end_point-1)].unpack(pattern)
      start = end_point
      end_point += 4
      (length,) = @@struct_L.unpack(str[start..(end_point-1)])
      pattern = "d#{length}"
      start = end_point
      end_point += ROS::Struct::calc_size("#{pattern}")
      val1.accelerations = str[start..(end_point-1)].unpack(pattern)
      _v6 = val1.time_from_start
      _x = _v6
      start = end_point
      end_point += ROS::Struct::calc_size('l2')
      (_x.secs, _x.nsecs,) = @@struct_l2.unpack(str[start..(end_point-1)])
      @points.push(val1)
    end
    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/trajectory_msgs/JointTrajectory.rb', line 19

def has_header?
  true
end

#message_definition ⇒ Object 



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# File 'lib/trajectory_msgs/JointTrajectory.rb', line 23

def message_definition
  "Header header
string[] joint_names
JointTrajectoryPoint[] points
================================================================================
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: trajectory_msgs/JointTrajectoryPoint
float64[] positions
float64[] velocities
float64[] accelerations
duration time_from_start
"
end

#serialize(buff) ⇒ Object

serialize message into buffer

Parameters:

  • buff (IO) —

    buffer



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# File 'lib/trajectory_msgs/JointTrajectory.rb', line 94

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}"))
    length = @joint_names.length
    buff.write(@@struct_L.pack(length))
    for val1 in @joint_names
      length = val1.length
      buff.write([length, val1].pack("La#{length}"))
    end
    length = @points.length
    buff.write(@@struct_L.pack(length))
    for val1 in @points
      length = val1.positions.length
      buff.write(@@struct_L.pack(length))
      pattern = "d#{length}"
      buff.write(*val1.positions.pack(pattern))
      length = val1.velocities.length
      buff.write(@@struct_L.pack(length))
      pattern = "d#{length}"
      buff.write(*val1.velocities.pack(pattern))
      length = val1.accelerations.length
      buff.write(@@struct_L.pack(length))
      pattern = "d#{length}"
      buff.write(*val1.accelerations.pack(pattern))
      _v5 = val1.time_from_start
      _x = _v5
      buff.write(@@struct_l2.pack(_x.secs, _x.nsecs))
    end
  rescue => exception
    raise "some erro in serialize: #{exception}"

  end
end