Class: Pr2_controllers_msgs::JointTrajectoryAction

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

Constant Summary collapse

@@struct_L3 = 
::ROS::Struct.new("L3")
@@struct_C = 
::ROS::Struct.new("C")
@@struct_L2 = 
::ROS::Struct.new("L2")
@@struct_l2 = 
::ROS::Struct.new("l2")
@@struct_L = 
::ROS::Struct.new("L")
@@slot_types = 
['pr2_controllers_msgs/JointTrajectoryActionGoal','pr2_controllers_msgs/JointTrajectoryActionResult','pr2_controllers_msgs/JointTrajectoryActionFeedback']

Instance Attribute Summary collapse

Class Method Summary collapse

Instance Method Summary collapse

Constructor Details

#initialize(args = {}) ⇒ JointTrajectoryAction

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

Parameters:

  • args (Hash) (defaults to: {}) —

    keyword for initializing values

Options Hash (args):



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# File 'lib/pr2_controllers_msgs/JointTrajectoryAction.rb', line 164

def initialize(args={})
  # message fields cannot be None, assign default values for those that are
  if args[:action_goal]
    @action_goal = args[:action_goal]
  else
    @action_goal = Pr2_controllers_msgs::JointTrajectoryActionGoal.new
  end
  if args[:action_result]
    @action_result = args[:action_result]
  else
    @action_result = Pr2_controllers_msgs::JointTrajectoryActionResult.new
  end
  if args[:action_feedback]
    @action_feedback = args[:action_feedback]
  else
    @action_feedback = Pr2_controllers_msgs::JointTrajectoryActionFeedback.new
  end
end

Instance Attribute Details

#action_feedback ⇒ Object

Returns the value of attribute action_feedback.



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# File 'lib/pr2_controllers_msgs/JointTrajectoryAction.rb', line 148

def action_feedback
  @action_feedback
end

#action_goal ⇒ Object

Returns the value of attribute action_goal.



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# File 'lib/pr2_controllers_msgs/JointTrajectoryAction.rb', line 148

def action_goal
  @action_goal
end

#action_result ⇒ Object

Returns the value of attribute action_result.



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# File 'lib/pr2_controllers_msgs/JointTrajectoryAction.rb', line 148

def action_result
  @action_result
end

Class Method Details

.md5sum ⇒ Object 



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# File 'lib/pr2_controllers_msgs/JointTrajectoryAction.rb', line 21

def self.md5sum
  "368cde325f76ad543f39a85373230b73"
end

.type ⇒ Object 



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# File 'lib/pr2_controllers_msgs/JointTrajectoryAction.rb', line 25

def self.type
  "pr2_controllers_msgs/JointTrajectoryAction"
end

Instance Method Details

#_get_types ⇒ String

internal API method

Returns:

  • (String) —

    Message type string.



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# File 'lib/pr2_controllers_msgs/JointTrajectoryAction.rb', line 185

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/pr2_controllers_msgs/JointTrajectoryAction.rb', line 262

def deserialize(str)

  begin
    if @action_goal == nil
      @action_goal = Pr2_controllers_msgs::JointTrajectoryActionGoal.new
    end
    if @action_result == nil
      @action_result = Pr2_controllers_msgs::JointTrajectoryActionResult.new
    end
    if @action_feedback == nil
      @action_feedback = Pr2_controllers_msgs::JointTrajectoryActionFeedback.new
    end
    end_point = 0
    start = end_point
    end_point += ROS::Struct::calc_size('L3')
    (@action_goal.header.seq, @action_goal.header.stamp.secs, @action_goal.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
    @action_goal.header.frame_id = str[start..(end_point-1)]
    start = end_point
    end_point += ROS::Struct::calc_size('L2')
    (@action_goal.goal_id.stamp.secs, @action_goal.goal_id.stamp.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
    @action_goal.goal_id.id = str[start..(end_point-1)]
    start = end_point
    end_point += ROS::Struct::calc_size('L3')
    (@action_goal.goal.trajectory.header.seq, @action_goal.goal.trajectory.header.stamp.secs, @action_goal.goal.trajectory.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
    @action_goal.goal.trajectory.header.frame_id = str[start..(end_point-1)]
    start = end_point
    end_point += 4
    (length,) = @@struct_L.unpack(str[start..(end_point-1)])
    @action_goal.goal.trajectory.joint_names = []
    length.times do
      start = end_point
      end_point += 4
      (length,) = @@struct_L.unpack(str[start..(end_point-1)])
      start = end_point
      end_point += length
      val1 = str[start..(end_point-1)]
      @action_goal.goal.trajectory.joint_names.push(val1)
    end
    start = end_point
    end_point += 4
    (length,) = @@struct_L.unpack(str[start..(end_point-1)])
    @action_goal.goal.trajectory.points = []
    length.times do
      val1 = Trajectory_msgs::JointTrajectoryPoint.new
      start = end_point
      end_point += 4
      (length,) = @@struct_L.unpack(str[start..(end_point-1)])
      pattern = "d#{length}"
      start = end_point
      end_point += ROS::Struct::calc_size("#{pattern}")
      val1.positions = str[start..(end_point-1)].unpack(pattern)
      start = end_point
      end_point += 4
      (length,) = @@struct_L.unpack(str[start..(end_point-1)])
      pattern = "d#{length}"
      start = end_point
      end_point += ROS::Struct::calc_size("#{pattern}")
      val1.velocities = str[start..(end_point-1)].unpack(pattern)
      start = end_point
      end_point += 4
      (length,) = @@struct_L.unpack(str[start..(end_point-1)])
      pattern = "d#{length}"
      start = end_point
      end_point += ROS::Struct::calc_size("#{pattern}")
      val1.accelerations = str[start..(end_point-1)].unpack(pattern)
      _v154 = val1.time_from_start
      _x = _v154
      start = end_point
      end_point += ROS::Struct::calc_size('l2')
      (_x.secs, _x.nsecs,) = @@struct_l2.unpack(str[start..(end_point-1)])
      @action_goal.goal.trajectory.points.push(val1)
    end
    start = end_point
    end_point += ROS::Struct::calc_size('L3')
    (@action_result.header.seq, @action_result.header.stamp.secs, @action_result.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
    @action_result.header.frame_id = str[start..(end_point-1)]
    start = end_point
    end_point += ROS::Struct::calc_size('L2')
    (@action_result.status.goal_id.stamp.secs, @action_result.status.goal_id.stamp.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
    @action_result.status.goal_id.id = str[start..(end_point-1)]
    start = end_point
    end_point += ROS::Struct::calc_size('C')
    (@action_result.status.status,) = @@struct_C.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
    @action_result.status.text = str[start..(end_point-1)]
    start = end_point
    end_point += ROS::Struct::calc_size('L3')
    (@action_feedback.header.seq, @action_feedback.header.stamp.secs, @action_feedback.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
    @action_feedback.header.frame_id = str[start..(end_point-1)]
    start = end_point
    end_point += ROS::Struct::calc_size('L2')
    (@action_feedback.status.goal_id.stamp.secs, @action_feedback.status.goal_id.stamp.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
    @action_feedback.status.goal_id.id = str[start..(end_point-1)]
    start = end_point
    end_point += ROS::Struct::calc_size('C')
    (@action_feedback.status.status,) = @@struct_C.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
    @action_feedback.status.text = 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/pr2_controllers_msgs/JointTrajectoryAction.rb', line 29

def has_header?
  false
end

#message_definition ⇒ Object 



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# File 'lib/pr2_controllers_msgs/JointTrajectoryAction.rb', line 33

def message_definition
  "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======

JointTrajectoryActionGoal action_goal
JointTrajectoryActionResult action_result
JointTrajectoryActionFeedback action_feedback

================================================================================
MSG: pr2_controllers_msgs/JointTrajectoryActionGoal
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======

Header header
actionlib_msgs/GoalID goal_id
JointTrajectoryGoal goal

================================================================================
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: actionlib_msgs/GoalID
# The stamp should store the time at which this goal was requested.
# It is used by an action server when it tries to preempt all
# goals that were requested before a certain time
time stamp

# The id provides a way to associate feedback and
# result message with specific goal requests. The id
# specified must be unique.
string id


================================================================================
MSG: pr2_controllers_msgs/JointTrajectoryGoal
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
trajectory_msgs/JointTrajectory trajectory

================================================================================
MSG: trajectory_msgs/JointTrajectory
Header header
string[] joint_names
JointTrajectoryPoint[] points
================================================================================
MSG: trajectory_msgs/JointTrajectoryPoint
float64[] positions
float64[] velocities
float64[] accelerations
duration time_from_start
================================================================================
MSG: pr2_controllers_msgs/JointTrajectoryActionResult
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======

Header header
actionlib_msgs/GoalStatus status
JointTrajectoryResult result

================================================================================
MSG: actionlib_msgs/GoalStatus
GoalID goal_id
uint8 status
uint8 PENDING         = 0   # The goal has yet to be processed by the action server
uint8 ACTIVE          = 1   # The goal is currently being processed by the action server
uint8 PREEMPTED       = 2   # The goal received a cancel request after it started executing
                          #   and has since completed its execution (Terminal State)
uint8 SUCCEEDED       = 3   # The goal was achieved successfully by the action server (Terminal State)
uint8 ABORTED         = 4   # The goal was aborted during execution by the action server due
                          #    to some failure (Terminal State)
uint8 REJECTED        = 5   # The goal was rejected by the action server without being processed,
                          #    because the goal was unattainable or invalid (Terminal State)
uint8 PREEMPTING      = 6   # The goal received a cancel request after it started executing
                          #    and has not yet completed execution
uint8 RECALLING       = 7   # The goal received a cancel request before it started executing,
                          #    but the action server has not yet confirmed that the goal is canceled
uint8 RECALLED        = 8   # The goal received a cancel request before it started executing
                          #    and was successfully cancelled (Terminal State)
uint8 LOST            = 9   # An action client can determine that a goal is LOST. This should not be
                          #    sent over the wire by an action server

#Allow for the user to associate a string with GoalStatus for debugging
string text


================================================================================
MSG: pr2_controllers_msgs/JointTrajectoryResult
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======

================================================================================
MSG: pr2_controllers_msgs/JointTrajectoryActionFeedback
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======

Header header
actionlib_msgs/GoalStatus status
JointTrajectoryFeedback feedback

================================================================================
MSG: pr2_controllers_msgs/JointTrajectoryFeedback
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======


"
end

#serialize(buff) ⇒ Object

serialize message into buffer

Parameters:

  • buff (IO) —

    buffer



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# File 'lib/pr2_controllers_msgs/JointTrajectoryAction.rb', line 191

def serialize(buff)
  begin
    buff.write(@@struct_L3.pack(@action_goal.header.seq, @action_goal.header.stamp.secs, @action_goal.header.stamp.nsecs))
    _x = @action_goal.header.frame_id
    length = _x.length
    buff.write([length, _x].pack("La#{length}"))
    buff.write(@@struct_L2.pack(@action_goal.goal_id.stamp.secs, @action_goal.goal_id.stamp.nsecs))
    _x = @action_goal.goal_id.id
    length = _x.length
    buff.write([length, _x].pack("La#{length}"))
    buff.write(@@struct_L3.pack(@action_goal.goal.trajectory.header.seq, @action_goal.goal.trajectory.header.stamp.secs, @action_goal.goal.trajectory.header.stamp.nsecs))
    _x = @action_goal.goal.trajectory.header.frame_id
    length = _x.length
    buff.write([length, _x].pack("La#{length}"))
    length = @action_goal.goal.trajectory.joint_names.length
    buff.write(@@struct_L.pack(length))
    for val1 in @action_goal.goal.trajectory.joint_names
      length = val1.length
      buff.write([length, val1].pack("La#{length}"))
    end
    length = @action_goal.goal.trajectory.points.length
    buff.write(@@struct_L.pack(length))
    for val1 in @action_goal.goal.trajectory.points
      length = val1.positions.length
      buff.write(@@struct_L.pack(length))
      pattern = "d#{length}"
      buff.write(*val1.positions.pack(pattern))
      length = val1.velocities.length
      buff.write(@@struct_L.pack(length))
      pattern = "d#{length}"
      buff.write(*val1.velocities.pack(pattern))
      length = val1.accelerations.length
      buff.write(@@struct_L.pack(length))
      pattern = "d#{length}"
      buff.write(*val1.accelerations.pack(pattern))
      _v153 = val1.time_from_start
      _x = _v153
      buff.write(@@struct_l2.pack(_x.secs, _x.nsecs))
    end
    buff.write(@@struct_L3.pack(@action_result.header.seq, @action_result.header.stamp.secs, @action_result.header.stamp.nsecs))
    _x = @action_result.header.frame_id
    length = _x.length
    buff.write([length, _x].pack("La#{length}"))
    buff.write(@@struct_L2.pack(@action_result.status.goal_id.stamp.secs, @action_result.status.goal_id.stamp.nsecs))
    _x = @action_result.status.goal_id.id
    length = _x.length
    buff.write([length, _x].pack("La#{length}"))
    buff.write(@@struct_C.pack(@action_result.status.status))
    _x = @action_result.status.text
    length = _x.length
    buff.write([length, _x].pack("La#{length}"))
    buff.write(@@struct_L3.pack(@action_feedback.header.seq, @action_feedback.header.stamp.secs, @action_feedback.header.stamp.nsecs))
    _x = @action_feedback.header.frame_id
    length = _x.length
    buff.write([length, _x].pack("La#{length}"))
    buff.write(@@struct_L2.pack(@action_feedback.status.goal_id.stamp.secs, @action_feedback.status.goal_id.stamp.nsecs))
    _x = @action_feedback.status.goal_id.id
    length = _x.length
    buff.write([length, _x].pack("La#{length}"))
    buff.write(@@struct_C.pack(@action_feedback.status.status))
    _x = @action_feedback.status.text
    length = _x.length
    buff.write([length, _x].pack("La#{length}"))
  rescue => exception
    raise "some erro in serialize: #{exception}"

  end
end