Class: Nav_msgs::OccupancyGrid

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

Constant Summary collapse

@@struct_L3 = 
::ROS::Struct.new("L3")
@@struct_L2fL2d7 = 
::ROS::Struct.new("L2fL2d7")
@@struct_L = 
::ROS::Struct.new("L")
@@slot_types = 
['Header','nav_msgs/MapMetaData','int8[]']

Instance Attribute Summary collapse

Class Method Summary collapse

Instance Method Summary collapse

Constructor Details

#initialize(args = {}) ⇒ OccupancyGrid

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

  • :info (nav_msgs/MapMetaData) —

    initialize value

  • :data (int8[]) —

    initialize value



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# File 'lib/nav_msgs/OccupancyGrid.rb', line 110

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[:info]
    @info = args[:info]
  else
    @info = Nav_msgs::MapMetaData.new
  end
  if args[:data]
    @data = args[:data]
  else
    @data = []
  end
end

Instance Attribute Details

#data ⇒ Object

Returns the value of attribute data.



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# File 'lib/nav_msgs/OccupancyGrid.rb', line 96

def data
  @data
end

#header ⇒ Object

Returns the value of attribute header.



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# File 'lib/nav_msgs/OccupancyGrid.rb', line 96

def header
  @header
end

#info ⇒ Object

Returns the value of attribute info.



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# File 'lib/nav_msgs/OccupancyGrid.rb', line 96

def info
  @info
end

Class Method Details

.md5sum ⇒ Object 



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# File 'lib/nav_msgs/OccupancyGrid.rb', line 14

def self.md5sum
  "3381f2d731d4076ec5c71b0759edbe4e"
end

.type ⇒ Object 



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# File 'lib/nav_msgs/OccupancyGrid.rb', line 18

def self.type
  "nav_msgs/OccupancyGrid"
end

Instance Method Details

#_get_types ⇒ String

internal API method

Returns:

  • (String) —

    Message type string.



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# File 'lib/nav_msgs/OccupancyGrid.rb', line 131

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/OccupancyGrid.rb', line 156

def deserialize(str)

  begin
    if @header == nil
      @header = Std_msgs::Header.new
    end
    if @info == nil
      @info = Nav_msgs::MapMetaData.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('L2fL2d7')
    (@info.map_load_time.secs, @info.map_load_time.nsecs, @info.resolution, @info.width, @info.height, @info.origin.position.x, @info.origin.position.y, @info.origin.position.z, @info.origin.orientation.x, @info.origin.orientation.y, @info.origin.orientation.z, @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}")
    @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

Returns:

  • (Boolean) 


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# File 'lib/nav_msgs/OccupancyGrid.rb', line 22

def has_header?
  true
end

#message_definition ⇒ Object 



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# File 'lib/nav_msgs/OccupancyGrid.rb', line 26

def message_definition
  "# 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

Parameters:

  • buff (IO) —

    buffer



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# File 'lib/nav_msgs/OccupancyGrid.rb', line 137

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_L2fL2d7.pack(@info.map_load_time.secs, @info.map_load_time.nsecs, @info.resolution, @info.width, @info.height, @info.origin.position.x, @info.origin.position.y, @info.origin.position.z, @info.origin.orientation.x, @info.origin.orientation.y, @info.origin.orientation.z, @info.origin.orientation.w))
    length = @data.length
    buff.write(@@struct_L.pack(length))
    pattern = "c#{length}"
    buff.write(*@data.pack(pattern))
  rescue => exception
    raise "some erro in serialize: #{exception}"

  end
end