Class: Geometry_msgs::TwistWithCovarianceStamped

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

Constant Summary collapse

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

Instance Attribute Summary collapse

Class Method Summary collapse

Instance Method Summary collapse

Constructor Details

#initialize(args = {}) ⇒ TwistWithCovarianceStamped

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

  • :twist (geometry_msgs/TwistWithCovariance) —

    initialize value



88
89
90
91
92
93
94
95
96
97
98
99
100
 
# File 'lib/geometry_msgs/TwistWithCovarianceStamped.rb', line 88

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[:twist]
    @twist = args[:twist]
  else
    @twist = Geometry_msgs::TwistWithCovariance.new
  end
end

Instance Attribute Details

#header ⇒ Object

Returns the value of attribute header.



74
75
76
 
# File 'lib/geometry_msgs/TwistWithCovarianceStamped.rb', line 74

def header
  @header
end

#twist ⇒ Object

Returns the value of attribute twist.



74
75
76
 
# File 'lib/geometry_msgs/TwistWithCovarianceStamped.rb', line 74

def twist
  @twist
end

Class Method Details

.md5sum ⇒ Object 



12
13
14
 
# File 'lib/geometry_msgs/TwistWithCovarianceStamped.rb', line 12

def self.md5sum
  "8927a1a12fb2607ceea095b2dc440a96"
end

.type ⇒ Object 



16
17
18
 
# File 'lib/geometry_msgs/TwistWithCovarianceStamped.rb', line 16

def self.type
  "geometry_msgs/TwistWithCovarianceStamped"
end

Instance Method Details

#_get_types ⇒ String

internal API method

Returns:

  • (String) —

    Message type string.



104
105
106
 
# File 'lib/geometry_msgs/TwistWithCovarianceStamped.rb', line 104

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



126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
 
# File 'lib/geometry_msgs/TwistWithCovarianceStamped.rb', line 126

def deserialize(str)

  begin
    if @header == nil
      @header = Std_msgs::Header.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 += 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) 


20
21
22
 
# File 'lib/geometry_msgs/TwistWithCovarianceStamped.rb', line 20

def has_header?
  true
end

#message_definition ⇒ Object 



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
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
 
# File 'lib/geometry_msgs/TwistWithCovarianceStamped.rb', line 24

def message_definition
  "# This represents an estimate twist with reference coordinate frame and timestamp.
Header header
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/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



110
111
112
113
114
115
116
117
118
119
120
121
122
 
# File 'lib/geometry_msgs/TwistWithCovarianceStamped.rb', line 110

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}"))
    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