Class: Pr2_controllers_msgs::JointControllerState

Inherits:
ROS::Message
  • Object
show all
Defined in:
lib/pr2_controllers_msgs/JointControllerState.rb

Constant Summary collapse

@@struct_L3 = 
::ROS::Struct.new("L3")
@@struct_d10 = 
::ROS::Struct.new("d10")
@@struct_L = 
::ROS::Struct.new("L")
@@slot_types = 
['Header','float64','float64','float64','float64','float64','float64','float64','float64','float64','float64']

Instance Attribute Summary collapse

Class Method Summary collapse

Instance Method Summary collapse

Constructor Details

#initialize(args = {}) ⇒ JointControllerState

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

  • :set_point (float64) —

    initialize value

  • :process_value (float64) —

    initialize value

  • :process_value_dot (float64) —

    initialize value

  • :error (float64) —

    initialize value

  • :time_step (float64) —

    initialize value

  • :command (float64) —

    initialize value

  • :p (float64) —

    initialize value

  • :i (float64) —

    initialize value

  • :d (float64) —

    initialize value

  • :i_clamp (float64) —

    initialize value



77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
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
 
# File 'lib/pr2_controllers_msgs/JointControllerState.rb', line 77

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[:set_point]
    @set_point = args[:set_point]
  else
    @set_point = 0.0
  end
  if args[:process_value]
    @process_value = args[:process_value]
  else
    @process_value = 0.0
  end
  if args[:process_value_dot]
    @process_value_dot = args[:process_value_dot]
  else
    @process_value_dot = 0.0
  end
  if args[:error]
    @error = args[:error]
  else
    @error = 0.0
  end
  if args[:time_step]
    @time_step = args[:time_step]
  else
    @time_step = 0.0
  end
  if args[:command]
    @command = args[:command]
  else
    @command = 0.0
  end
  if args[:p]
    @p = args[:p]
  else
    @p = 0.0
  end
  if args[:i]
    @i = args[:i]
  else
    @i = 0.0
  end
  if args[:d]
    @d = args[:d]
  else
    @d = 0.0
  end
  if args[:i_clamp]
    @i_clamp = args[:i_clamp]
  else
    @i_clamp = 0.0
  end
end

Instance Attribute Details

#command ⇒ Object

Returns the value of attribute command.



55
56
57
 
# File 'lib/pr2_controllers_msgs/JointControllerState.rb', line 55

def command
  @command
end

#d ⇒ Object

Returns the value of attribute d.



55
56
57
 
# File 'lib/pr2_controllers_msgs/JointControllerState.rb', line 55

def d
  @d
end

#error ⇒ Object

Returns the value of attribute error.



55
56
57
 
# File 'lib/pr2_controllers_msgs/JointControllerState.rb', line 55

def error
  @error
end

#header ⇒ Object

Returns the value of attribute header.



55
56
57
 
# File 'lib/pr2_controllers_msgs/JointControllerState.rb', line 55

def header
  @header
end

#i ⇒ Object

Returns the value of attribute i.



55
56
57
 
# File 'lib/pr2_controllers_msgs/JointControllerState.rb', line 55

def i
  @i
end

#i_clamp ⇒ Object

Returns the value of attribute i_clamp.



55
56
57
 
# File 'lib/pr2_controllers_msgs/JointControllerState.rb', line 55

def i_clamp
  @i_clamp
end

#p ⇒ Object

Returns the value of attribute p.



55
56
57
 
# File 'lib/pr2_controllers_msgs/JointControllerState.rb', line 55

def p
  @p
end

#process_value ⇒ Object

Returns the value of attribute process_value.



55
56
57
 
# File 'lib/pr2_controllers_msgs/JointControllerState.rb', line 55

def process_value
  @process_value
end

#process_value_dot ⇒ Object

Returns the value of attribute process_value_dot.



55
56
57
 
# File 'lib/pr2_controllers_msgs/JointControllerState.rb', line 55

def process_value_dot
  @process_value_dot
end

#set_point ⇒ Object

Returns the value of attribute set_point.



55
56
57
 
# File 'lib/pr2_controllers_msgs/JointControllerState.rb', line 55

def set_point
  @set_point
end

#time_step ⇒ Object

Returns the value of attribute time_step.



55
56
57
 
# File 'lib/pr2_controllers_msgs/JointControllerState.rb', line 55

def time_step
  @time_step
end

Class Method Details

.md5sum ⇒ Object 



9
10
11
 
# File 'lib/pr2_controllers_msgs/JointControllerState.rb', line 9

def self.md5sum
  "c0d034a7bf20aeb1c37f3eccb7992b69"
end

.type ⇒ Object 



13
14
15
 
# File 'lib/pr2_controllers_msgs/JointControllerState.rb', line 13

def self.type
  "pr2_controllers_msgs/JointControllerState"
end

Instance Method Details

#_get_types ⇒ String

internal API method

Returns:

  • (String) —

    Message type string.



138
139
140
 
# File 'lib/pr2_controllers_msgs/JointControllerState.rb', line 138

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



159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
 
# File 'lib/pr2_controllers_msgs/JointControllerState.rb', line 159

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 += ROS::Struct::calc_size('d10')
    (@set_point, @process_value, @process_value_dot, @error, @time_step, @command, @p, @i, @d, @i_clamp,) = @@struct_d10.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) 


17
18
19
 
# File 'lib/pr2_controllers_msgs/JointControllerState.rb', line 17

def has_header?
  true
end

#message_definition ⇒ Object 



21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
 
# File 'lib/pr2_controllers_msgs/JointControllerState.rb', line 21

def message_definition
  "Header header
float64 set_point
float64 process_value
float64 process_value_dot
float64 error
float64 time_step
float64 command
float64 p
float64 i
float64 d
float64 i_clamp


================================================================================
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

"
end

#serialize(buff) ⇒ Object

serialize message into buffer

Parameters:

  • buff (IO) —

    buffer



144
145
146
147
148
149
150
151
152
153
154
155
 
# File 'lib/pr2_controllers_msgs/JointControllerState.rb', line 144

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_d10.pack(@set_point, @process_value, @process_value_dot, @error, @time_step, @command, @p, @i, @d, @i_clamp))
  rescue => exception
    raise "some erro in serialize: #{exception}"

  end
end