Class: Nav_msgs::Path

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

Constant Summary collapse

@@struct_d4 = 
::ROS::Struct.new("d4")
@@struct_L3 = 
::ROS::Struct.new("L3")
@@struct_L2 = 
::ROS::Struct.new("L2")
@@struct_d3 = 
::ROS::Struct.new("d3")
@@struct_L = 
::ROS::Struct.new("L")
@@slot_types = 
['Header','geometry_msgs/PoseStamped[]']

Instance Attribute Summary collapse

Class Method Summary collapse

Instance Method Summary collapse

Constructor Details

#initialize(args = {}) ⇒ Path

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

  • :poses (geometry_msgs/PoseStamped[]) —

    initialize value



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# File 'lib/nav_msgs/Path.rb', line 93

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[:poses]
    @poses = args[:poses]
  else
    @poses = []
  end
end

Instance Attribute Details

#header ⇒ Object

Returns the value of attribute header.



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# File 'lib/nav_msgs/Path.rb', line 78

def header
  @header
end

#poses ⇒ Object

Returns the value of attribute poses.



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# File 'lib/nav_msgs/Path.rb', line 78

def poses
  @poses
end

Class Method Details

.md5sum ⇒ Object 



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# File 'lib/nav_msgs/Path.rb', line 13

def self.md5sum
  "6227e2b7e9cce15051f669a5e197bbf7"
end

.type ⇒ Object 



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# File 'lib/nav_msgs/Path.rb', line 17

def self.type
  "nav_msgs/Path"
end

Instance Method Details

#_get_types ⇒ String

internal API method

Returns:

  • (String) —

    Message type string.



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# File 'lib/nav_msgs/Path.rb', line 109

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/Path.rb', line 148

def deserialize(str)

  begin
    if @header == nil
      @header = Std_msgs::Header.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)])
    @poses = []
    length.times do
      val1 = Geometry_msgs::PoseStamped.new
      _v12 = val1.header
      start = end_point
      end_point += ROS::Struct::calc_size('L')
      (_v12.seq,) = @@struct_L.unpack(str[start..(end_point-1)])
      _v13 = _v12.stamp
      _x = _v13
      start = end_point
      end_point += ROS::Struct::calc_size('L2')
      (_x.secs, _x.nsecs,) = @@struct_L2.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
      _v12.frame_id = str[start..(end_point-1)]
      _v14 = val1.pose
      _v15 = _v14.position
      _x = _v15
      start = end_point
      end_point += ROS::Struct::calc_size('d3')
      (_x.x, _x.y, _x.z,) = @@struct_d3.unpack(str[start..(end_point-1)])
      _v16 = _v14.orientation
      _x = _v16
      start = end_point
      end_point += ROS::Struct::calc_size('d4')
      (_x.x, _x.y, _x.z, _x.w,) = @@struct_d4.unpack(str[start..(end_point-1)])
      @poses.push(val1)
    end
    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/Path.rb', line 21

def has_header?
  true
end

#message_definition ⇒ Object 



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# File 'lib/nav_msgs/Path.rb', line 25

def message_definition
  "#An array of poses that represents a Path for a robot to follow
Header header
geometry_msgs/PoseStamped[] poses

================================================================================
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/PoseStamped
# A Pose with reference coordinate frame and timestamp
Header header
Pose pose

================================================================================
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/Path.rb', line 115

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}"))
    length = @poses.length
    buff.write(@@struct_L.pack(length))
    for val1 in @poses
      _v7 = val1.header
      buff.write(@@struct_L.pack(_v7.seq))
      _v8 = _v7.stamp
      _x = _v8
      buff.write(@@struct_L2.pack(_x.secs, _x.nsecs))
      _x = _v7.frame_id
      length = _x.length
      buff.write([length, _x].pack("La#{length}"))
      _v9 = val1.pose
      _v10 = _v9.position
      _x = _v10
      buff.write(@@struct_d3.pack(_x.x, _x.y, _x.z))
      _v11 = _v9.orientation
      _x = _v11
      buff.write(@@struct_d4.pack(_x.x, _x.y, _x.z, _x.w))
    end
  rescue => exception
    raise "some erro in serialize: #{exception}"

  end
end