Class: Geometry_msgs::Pose

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

Constant Summary collapse

@@struct_d7 = 
::ROS::Struct.new("d7")
@@struct_L = 
::ROS::Struct.new("L")
@@slot_types = 
['geometry_msgs/Point','geometry_msgs/Quaternion']

Instance Attribute Summary collapse

Class Method Summary collapse

Instance Method Summary collapse

Constructor Details

#initialize(args = {}) ⇒ Pose

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

Parameters:

  • args (Hash) (defaults to: {}) —

    keyword for initializing values

Options Hash (args):

  • :position (geometry_msgs/Point) —

    initialize value

  • :orientation (geometry_msgs/Quaternion) —

    initialize value



57
58
59
60
61
62
63
64
65
66
67
68
69
 
# File 'lib/geometry_msgs/Pose.rb', line 57

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

Instance Attribute Details

#orientation ⇒ Object

Returns the value of attribute orientation.



45
46
47
 
# File 'lib/geometry_msgs/Pose.rb', line 45

def orientation
  @orientation
end

#position ⇒ Object

Returns the value of attribute position.



45
46
47
 
# File 'lib/geometry_msgs/Pose.rb', line 45

def position
  @position
end

Class Method Details

.md5sum ⇒ Object 



10
11
12
 
# File 'lib/geometry_msgs/Pose.rb', line 10

def self.md5sum
  "e45d45a5a1ce597b249e23fb30fc871f"
end

.type ⇒ Object 



14
15
16
 
# File 'lib/geometry_msgs/Pose.rb', line 14

def self.type
  "geometry_msgs/Pose"
end

Instance Method Details

#_get_types ⇒ String

internal API method

Returns:

  • (String) —

    Message type string.



73
74
75
 
# File 'lib/geometry_msgs/Pose.rb', line 73

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



90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
 
# File 'lib/geometry_msgs/Pose.rb', line 90

def deserialize(str)

  begin
    if @position == nil
      @position = Geometry_msgs::Point.new
    end
    if @orientation == nil
      @orientation = Geometry_msgs::Quaternion.new
    end
    end_point = 0
    start = end_point
    end_point += ROS::Struct::calc_size('d7')
    (@position.x, @position.y, @position.z, @orientation.x, @orientation.y, @orientation.z, @orientation.w,) = @@struct_d7.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) 


18
19
20
 
# File 'lib/geometry_msgs/Pose.rb', line 18

def has_header?
  false
end

#message_definition ⇒ Object 



22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
 
# File 'lib/geometry_msgs/Pose.rb', line 22

def message_definition
  "# 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

"
end

#serialize(buff) ⇒ Object

serialize message into buffer

Parameters:

  • buff (IO) —

    buffer



79
80
81
82
83
84
85
86
 
# File 'lib/geometry_msgs/Pose.rb', line 79

def serialize(buff)
  begin
    buff.write(@@struct_d7.pack(@position.x, @position.y, @position.z, @orientation.x, @orientation.y, @orientation.z, @orientation.w))
  rescue => exception
    raise "some erro in serialize: #{exception}"

  end
end