Class: Nav_msgs::Odometry
- Inherits:
-
ROS::Message
- Object
- ROS::Message
- Nav_msgs::Odometry
- Defined in:
- lib/nav_msgs/Odometry.rb
Constant Summary collapse
- @@struct_L3 =
::ROS::Struct.new("L3")
- @@struct_d7 =
::ROS::Struct.new("d7")
- @@struct_d6 =
::ROS::Struct.new("d6")
- @@struct_d36 =
::ROS::Struct.new("d36")
- @@struct_L =
::ROS::Struct.new("L")
- @@slot_types =
['Header','string','geometry_msgs/PoseWithCovariance','geometry_msgs/TwistWithCovariance']
Instance Attribute Summary collapse
-
#child_frame_id ⇒ Object
Returns the value of attribute child_frame_id.
-
#header ⇒ Object
Returns the value of attribute header.
-
#pose ⇒ Object
Returns the value of attribute pose.
-
#twist ⇒ Object
Returns the value of attribute twist.
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 = {}) ⇒ Odometry
constructor
Constructor.
- #message_definition ⇒ Object
-
#serialize(buff) ⇒ Object
serialize message into buffer.
Constructor Details
#initialize(args = {}) ⇒ Odometry
Constructor. You can set the default values using keyword operators.
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# File 'lib/nav_msgs/Odometry.rb', line 133 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[:child_frame_id] @child_frame_id = args[:child_frame_id] else @child_frame_id = '' end if args[:pose] @pose = args[:pose] else @pose = Geometry_msgs::PoseWithCovariance.new end if args[:twist] @twist = args[:twist] else @twist = Geometry_msgs::TwistWithCovariance.new end end |
Instance Attribute Details
#child_frame_id ⇒ Object
Returns the value of attribute child_frame_id.
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# File 'lib/nav_msgs/Odometry.rb', line 116 def child_frame_id @child_frame_id end |
#header ⇒ Object
Returns the value of attribute header.
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# File 'lib/nav_msgs/Odometry.rb', line 116 def header @header end |
#pose ⇒ Object
Returns the value of attribute pose.
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# File 'lib/nav_msgs/Odometry.rb', line 116 def pose @pose end |
#twist ⇒ Object
Returns the value of attribute twist.
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# File 'lib/nav_msgs/Odometry.rb', line 116 def twist @twist end |
Class Method Details
.md5sum ⇒ Object
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# File 'lib/nav_msgs/Odometry.rb', line 16 def self.md5sum "cd5e73d190d741a2f92e81eda573aca7" end |
.type ⇒ Object
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# File 'lib/nav_msgs/Odometry.rb', line 20 def self.type "nav_msgs/Odometry" end |
Instance Method Details
#_get_types ⇒ String
internal API method
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# File 'lib/nav_msgs/Odometry.rb', line 159 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/Odometry.rb', line 186 def deserialize(str) begin if @header == nil @header = Std_msgs::Header.new end if @pose == nil @pose = Geometry_msgs::PoseWithCovariance.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 += 4 (length,) = @@struct_L.unpack(str[start..(end_point-1)]) start = end_point end_point += length @child_frame_id = str[start..(end_point-1)] start = end_point end_point += ROS::Struct::calc_size('d7') (@pose.pose.position.x, @pose.pose.position.y, @pose.pose.position.z, @pose.pose.orientation.x, @pose.pose.orientation.y, @pose.pose.orientation.z, @pose.pose.orientation.w,) = @@struct_d7.unpack(str[start..(end_point-1)]) start = end_point end_point += 8 @pose.covariance = @@struct_d36.unpack(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
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# File 'lib/nav_msgs/Odometry.rb', line 24 def has_header? true end |
#message_definition ⇒ Object
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# File 'lib/nav_msgs/Odometry.rb', line 28 def "# This represents an estimate of a position and velocity in free space. # The pose in this message should be specified in the coordinate frame given by header.frame_id. # The twist in this message should be specified in the coordinate frame given by the child_frame_id Header header string child_frame_id geometry_msgs/PoseWithCovariance pose geometry_msgs/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/PoseWithCovariance # 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 ================================================================================ 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
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# File 'lib/nav_msgs/Odometry.rb', line 165 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}")) _x = @child_frame_id length = _x.length buff.write([length, _x].pack("La#{length}")) buff.write(@@struct_d7.pack(@pose.pose.position.x, @pose.pose.position.y, @pose.pose.position.z, @pose.pose.orientation.x, @pose.pose.orientation.y, @pose.pose.orientation.z, @pose.pose.orientation.w)) buff.write(@@struct_d36.pack(*@pose.covariance)) 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 |