Class: Geometry_msgs::PoseWithCovariance
- Inherits:
-
ROS::Message
- Object
- ROS::Message
- Geometry_msgs::PoseWithCovariance
- Defined in:
- lib/geometry_msgs/PoseWithCovariance.rb
Constant Summary collapse
- @@struct_d36 =
::ROS::Struct.new("d36")
- @@struct_d7 =
::ROS::Struct.new("d7")
- @@struct_L =
::ROS::Struct.new("L")
- @@slot_types =
['geometry_msgs/Pose','float64[36]']
Instance Attribute Summary collapse
-
#covariance ⇒ Object
Returns the value of attribute covariance.
-
#pose ⇒ Object
Returns the value of attribute pose.
Class Method Summary collapse
Instance Method Summary collapse
-
#_get_types ⇒ String
internal API method.
-
#deserialize(str) ⇒ Object
unpack serialized message in str into this message instance @param [String] str: byte array of serialized message.
- #has_header? ⇒ Boolean
-
#initialize(args = {}) ⇒ PoseWithCovariance
constructor
Constructor.
- #message_definition ⇒ Object
-
#serialize(buff) ⇒ Object
serialize message into buffer.
Constructor Details
#initialize(args = {}) ⇒ PoseWithCovariance
Constructor. You can set the default values using keyword operators.
71 72 73 74 75 76 77 78 79 80 81 82 83 |
# File 'lib/geometry_msgs/PoseWithCovariance.rb', line 71 def initialize(args={}) # message fields cannot be None, assign default values for those that are if args[:pose] @pose = args[:pose] else @pose = Geometry_msgs::Pose.new end if args[:covariance] @covariance = args[:covariance] else @covariance = [0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0] end end |
Instance Attribute Details
#covariance ⇒ Object
Returns the value of attribute covariance.
58 59 60 |
# File 'lib/geometry_msgs/PoseWithCovariance.rb', line 58 def covariance @covariance end |
#pose ⇒ Object
Returns the value of attribute pose.
58 59 60 |
# File 'lib/geometry_msgs/PoseWithCovariance.rb', line 58 def pose @pose end |
Class Method Details
.md5sum ⇒ Object
11 12 13 |
# File 'lib/geometry_msgs/PoseWithCovariance.rb', line 11 def self.md5sum "c23e848cf1b7533a8d7c259073a97e6f" end |
.type ⇒ Object
15 16 17 |
# File 'lib/geometry_msgs/PoseWithCovariance.rb', line 15 def self.type "geometry_msgs/PoseWithCovariance" end |
Instance Method Details
#_get_types ⇒ String
internal API method
87 88 89 |
# File 'lib/geometry_msgs/PoseWithCovariance.rb', line 87 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
105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 |
# File 'lib/geometry_msgs/PoseWithCovariance.rb', line 105 def deserialize(str) begin if @pose == nil @pose = Geometry_msgs::Pose.new end end_point = 0 start = end_point end_point += ROS::Struct::calc_size('d7') (@pose.position.x, @pose.position.y, @pose.position.z, @pose.orientation.x, @pose.orientation.y, @pose.orientation.z, @pose.orientation.w,) = @@struct_d7.unpack(str[start..(end_point-1)]) start = end_point end_point += 8 @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
19 20 21 |
# File 'lib/geometry_msgs/PoseWithCovariance.rb', line 19 def has_header? false end |
#message_definition ⇒ Object
23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 |
# File 'lib/geometry_msgs/PoseWithCovariance.rb', line 23 def "# 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 " end |
#serialize(buff) ⇒ Object
serialize message into buffer
93 94 95 96 97 98 99 100 101 |
# File 'lib/geometry_msgs/PoseWithCovariance.rb', line 93 def serialize(buff) begin buff.write(@@struct_d7.pack(@pose.position.x, @pose.position.y, @pose.position.z, @pose.orientation.x, @pose.orientation.y, @pose.orientation.z, @pose.orientation.w)) buff.write(@@struct_d36.pack(*@covariance)) rescue => exception raise "some erro in serialize: #{exception}" end end |