Class: Nav_msgs::MapMetaData

Inherits:
ROS::Message
  • Object
show all
Defined in:
lib/nav_msgs/MapMetaData.rb

Constant Summary collapse

@@struct_L2fL2d7 = 
::ROS::Struct.new("L2fL2d7")
@@struct_L = 
::ROS::Struct.new("L")
@@slot_types = 
['time','float32','uint32','uint32','geometry_msgs/Pose']

Instance Attribute Summary collapse

Class Method Summary collapse

Instance Method Summary collapse

Constructor Details

#initialize(args = {}) ⇒ MapMetaData

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

Parameters:

  • args (Hash) (defaults to: {}) —

    keyword for initializing values

Options Hash (args):

  • :map_load_time (time) —

    initialize value

  • :resolution (float32) —

    initialize value

  • :width (uint32) —

    initialize value

  • :height (uint32) —

    initialize value

  • :origin (geometry_msgs/Pose) —

    initialize value



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# File 'lib/nav_msgs/MapMetaData.rb', line 77

def initialize(args={})
  # message fields cannot be None, assign default values for those that are
  if args[:map_load_time]
    @map_load_time = args[:map_load_time]
  else
    @map_load_time = ROS::Time.new
  end
  if args[:resolution]
    @resolution = args[:resolution]
  else
    @resolution = 0.0
  end
  if args[:width]
    @width = args[:width]
  else
    @width = 0
  end
  if args[:height]
    @height = args[:height]
  else
    @height = 0
  end
  if args[:origin]
    @origin = args[:origin]
  else
    @origin = Geometry_msgs::Pose.new
  end
end

Instance Attribute Details

#height ⇒ Object

Returns the value of attribute height.



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# File 'lib/nav_msgs/MapMetaData.rb', line 62

def height
  @height
end

#map_load_time ⇒ Object

Returns the value of attribute map_load_time.



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# File 'lib/nav_msgs/MapMetaData.rb', line 62

def map_load_time
  @map_load_time
end

#origin ⇒ Object

Returns the value of attribute origin.



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# File 'lib/nav_msgs/MapMetaData.rb', line 62

def origin
  @origin
end

#resolution ⇒ Object

Returns the value of attribute resolution.



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# File 'lib/nav_msgs/MapMetaData.rb', line 62

def resolution
  @resolution
end

#width ⇒ Object

Returns the value of attribute width.



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# File 'lib/nav_msgs/MapMetaData.rb', line 62

def width
  @width
end

Class Method Details

.md5sum ⇒ Object 



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# File 'lib/nav_msgs/MapMetaData.rb', line 12

def self.md5sum
  "10cfc8a2818024d3248802c00c95f11b"
end

.type ⇒ Object 



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# File 'lib/nav_msgs/MapMetaData.rb', line 16

def self.type
  "nav_msgs/MapMetaData"
end

Instance Method Details

#_get_types ⇒ String

internal API method

Returns:

  • (String) —

    Message type string.



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# File 'lib/nav_msgs/MapMetaData.rb', line 108

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/nav_msgs/MapMetaData.rb', line 125

def deserialize(str)

  begin
    if @map_load_time == nil
      @map_load_time = ROS::Time.new
    end
    if @origin == nil
      @origin = Geometry_msgs::Pose.new
    end
    end_point = 0
    start = end_point
    end_point += ROS::Struct::calc_size('L2fL2d7')
    (@map_load_time.secs, @map_load_time.nsecs, @resolution, @width, @height, @origin.position.x, @origin.position.y, @origin.position.z, @origin.orientation.x, @origin.orientation.y, @origin.orientation.z, @origin.orientation.w,) = @@struct_L2fL2d7.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) 


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# File 'lib/nav_msgs/MapMetaData.rb', line 20

def has_header?
  false
end

#message_definition ⇒ Object 



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# File 'lib/nav_msgs/MapMetaData.rb', line 24

def message_definition
  "# 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

Parameters:

  • buff (IO) —

    buffer



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# File 'lib/nav_msgs/MapMetaData.rb', line 114

def serialize(buff)
  begin
    buff.write(@@struct_L2fL2d7.pack(@map_load_time.secs, @map_load_time.nsecs, @resolution, @width, @height, @origin.position.x, @origin.position.y, @origin.position.z, @origin.orientation.x, @origin.orientation.y, @origin.orientation.z, @origin.orientation.w))
  rescue => exception
    raise "some erro in serialize: #{exception}"

  end
end