Class: Nav_msgs::GetMapResponse
- Inherits:
-
ROS::Message
- Object
- ROS::Message
- Nav_msgs::GetMapResponse
- Defined in:
- lib/nav_msgs/GetMap.rb
Constant Summary collapse
- @@struct_L3 =
::ROS::Struct.new("L3")
- @@struct_L2fL2d7 =
::ROS::Struct.new("L2fL2d7")
- @@struct_L =
::ROS::Struct.new("L")
- @@slot_types =
['nav_msgs/OccupancyGrid']
Instance Attribute Summary collapse
-
#map ⇒ Object
Returns the value of attribute map.
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 = {}) ⇒ GetMapResponse
constructor
Constructor.
- #message_definition ⇒ Object
-
#serialize(buff) ⇒ Object
serialize message into buffer.
Constructor Details
#initialize(args = {}) ⇒ GetMapResponse
Constructor. You can set the default values using keyword operators.
180 181 182 183 184 185 186 187 |
# File 'lib/nav_msgs/GetMap.rb', line 180 def initialize(args={}) # message fields cannot be None, assign default values for those that are if args[:map] @map = args[:map] else @map = Nav_msgs::OccupancyGrid.new end end |
Instance Attribute Details
#map ⇒ Object
Returns the value of attribute map.
168 169 170 |
# File 'lib/nav_msgs/GetMap.rb', line 168 def map @map end |
Class Method Details
.md5sum ⇒ Object
81 82 83 |
# File 'lib/nav_msgs/GetMap.rb', line 81 def self.md5sum "6cdd0a18e0aff5b0a3ca2326a89b54ff" end |
.type ⇒ Object
85 86 87 |
# File 'lib/nav_msgs/GetMap.rb', line 85 def self.type "nav_msgs/GetMapResponse" end |
Instance Method Details
#_get_types ⇒ String
internal API method
191 192 193 |
# File 'lib/nav_msgs/GetMap.rb', line 191 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
216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 |
# File 'lib/nav_msgs/GetMap.rb', line 216 def deserialize(str) begin if @map == nil @map = Nav_msgs::OccupancyGrid.new end end_point = 0 start = end_point end_point += ROS::Struct::calc_size('L3') (@map.header.seq, @map.header.stamp.secs, @map.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 @map.header.frame_id = str[start..(end_point-1)] start = end_point end_point += ROS::Struct::calc_size('L2fL2d7') (@map.info.map_load_time.secs, @map.info.map_load_time.nsecs, @map.info.resolution, @map.info.width, @map.info.height, @map.info.origin.position.x, @map.info.origin.position.y, @map.info.origin.position.z, @map.info.origin.orientation.x, @map.info.origin.orientation.y, @map.info.origin.orientation.z, @map.info.origin.orientation.w,) = @@struct_L2fL2d7.unpack(str[start..(end_point-1)]) start = end_point end_point += 4 (length,) = @@struct_L.unpack(str[start..(end_point-1)]) pattern = "c#{length}" start = end_point end_point += ROS::Struct::calc_size("#{pattern}") @map.data = str[start..(end_point-1)].unpack(pattern) return self rescue => exception raise "message DeserializationError: #{exception}" #most likely buffer underfill end end |
#has_header? ⇒ Boolean
89 90 91 |
# File 'lib/nav_msgs/GetMap.rb', line 89 def has_header? false end |
#message_definition ⇒ Object
93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 |
# File 'lib/nav_msgs/GetMap.rb', line 93 def "nav_msgs/OccupancyGrid map ================================================================================ MSG: nav_msgs/OccupancyGrid # This represents a 2-D grid map, in which each cell represents the probability of # occupancy. Header header #MetaData for the map MapMetaData info # The map data, in row-major order, starting with (0,0). Occupancy # probabilities are in the range [0,100]. Unknown is -1. int8[] data ================================================================================ 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: nav_msgs/MapMetaData # This hold basic information about the characterists of the OccupancyGrid # The time at which the map was loaded time map_load_time # The map resolution [m/cell] float32 resolution # Map width [cells] uint32 width # Map height [cells] uint32 height # The origin of the map [m, m, rad]. This is the real-world pose of the # cell (0,0) in the map. geometry_msgs/Pose origin ================================================================================ 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
197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 |
# File 'lib/nav_msgs/GetMap.rb', line 197 def serialize(buff) begin buff.write(@@struct_L3.pack(@map.header.seq, @map.header.stamp.secs, @map.header.stamp.nsecs)) _x = @map.header.frame_id length = _x.length buff.write([length, _x].pack("La#{length}")) buff.write(@@struct_L2fL2d7.pack(@map.info.map_load_time.secs, @map.info.map_load_time.nsecs, @map.info.resolution, @map.info.width, @map.info.height, @map.info.origin.position.x, @map.info.origin.position.y, @map.info.origin.position.z, @map.info.origin.orientation.x, @map.info.origin.orientation.y, @map.info.origin.orientation.z, @map.info.origin.orientation.w)) length = @map.data.length buff.write(@@struct_L.pack(length)) pattern = "c#{length}" buff.write(*@map.data.pack(pattern)) rescue => exception raise "some erro in serialize: #{exception}" end end |