Class: Pr2_controllers_msgs::JointTrajectoryActionGoal

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

Constant Summary collapse

@@struct_L3 = 
::ROS::Struct.new("L3")
@@struct_L2 = 
::ROS::Struct.new("L2")
@@struct_l2 = 
::ROS::Struct.new("l2")
@@struct_L = 
::ROS::Struct.new("L")
@@slot_types = 
['Header','actionlib_msgs/GoalID','pr2_controllers_msgs/JointTrajectoryGoal']

Instance Attribute Summary collapse

Class Method Summary collapse

Instance Method Summary collapse

Constructor Details

#initialize(args = {}) ⇒ JointTrajectoryActionGoal

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

  • :goal_id (actionlib_msgs/GoalID) —

    initialize value

  • :goal (pr2_controllers_msgs/JointTrajectoryGoal) —

    initialize value



98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
 
# File 'lib/pr2_controllers_msgs/JointTrajectoryActionGoal.rb', line 98

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[:goal_id]
    @goal_id = args[:goal_id]
  else
    @goal_id = Actionlib_msgs::GoalID.new
  end
  if args[:goal]
    @goal = args[:goal]
  else
    @goal = Pr2_controllers_msgs::JointTrajectoryGoal.new
  end
end

Instance Attribute Details

#goal ⇒ Object

Returns the value of attribute goal.



83
84
85
 
# File 'lib/pr2_controllers_msgs/JointTrajectoryActionGoal.rb', line 83

def goal
  @goal
end

#goal_id ⇒ Object

Returns the value of attribute goal_id.



83
84
85
 
# File 'lib/pr2_controllers_msgs/JointTrajectoryActionGoal.rb', line 83

def goal_id
  @goal_id
end

#header ⇒ Object

Returns the value of attribute header.



83
84
85
 
# File 'lib/pr2_controllers_msgs/JointTrajectoryActionGoal.rb', line 83

def header
  @header
end

Class Method Details

.md5sum ⇒ Object 



15
16
17
 
# File 'lib/pr2_controllers_msgs/JointTrajectoryActionGoal.rb', line 15

def self.md5sum
  "aee77e81e3afb8d91af4939d603609d8"
end

.type ⇒ Object 



19
20
21
 
# File 'lib/pr2_controllers_msgs/JointTrajectoryActionGoal.rb', line 19

def self.type
  "pr2_controllers_msgs/JointTrajectoryActionGoal"
end

Instance Method Details

#_get_types ⇒ String

internal API method

Returns:

  • (String) —

    Message type string.



119
120
121
 
# File 'lib/pr2_controllers_msgs/JointTrajectoryActionGoal.rb', line 119

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



172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
 
# File 'lib/pr2_controllers_msgs/JointTrajectoryActionGoal.rb', line 172

def deserialize(str)

  begin
    if @header == nil
      @header = Std_msgs::Header.new
    end
    if @goal_id == nil
      @goal_id = Actionlib_msgs::GoalID.new
    end
    if @goal == nil
      @goal = Pr2_controllers_msgs::JointTrajectoryGoal.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('L2')
    (@goal_id.stamp.secs, @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
    @goal_id.id = str[start..(end_point-1)]
    start = end_point
    end_point += ROS::Struct::calc_size('L3')
    (@goal.trajectory.header.seq, @goal.trajectory.header.stamp.secs, @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
    @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)])
    @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)]
      @goal.trajectory.joint_names.push(val1)
    end
    start = end_point
    end_point += 4
    (length,) = @@struct_L.unpack(str[start..(end_point-1)])
    @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)
      _v158 = val1.time_from_start
      _x = _v158
      start = end_point
      end_point += ROS::Struct::calc_size('l2')
      (_x.secs, _x.nsecs,) = @@struct_l2.unpack(str[start..(end_point-1)])
      @goal.trajectory.points.push(val1)
    end
    return self
  rescue => exception
    raise "message DeserializationError: #{exception}" #most likely buffer underfill
  end
end

#has_header? ⇒ Boolean

Returns:

  • (Boolean) 


23
24
25
 
# File 'lib/pr2_controllers_msgs/JointTrajectoryActionGoal.rb', line 23

def has_header?
  true
end

#message_definition ⇒ Object 



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
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
 
# File 'lib/pr2_controllers_msgs/JointTrajectoryActionGoal.rb', line 27

def message_definition
  "# ====== 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
"
end

#serialize(buff) ⇒ Object

serialize message into buffer

Parameters:

  • buff (IO) —

    buffer



125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
 
# File 'lib/pr2_controllers_msgs/JointTrajectoryActionGoal.rb', line 125

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_L2.pack(@goal_id.stamp.secs, @goal_id.stamp.nsecs))
    _x = @goal_id.id
    length = _x.length
    buff.write([length, _x].pack("La#{length}"))
    buff.write(@@struct_L3.pack(@goal.trajectory.header.seq, @goal.trajectory.header.stamp.secs, @goal.trajectory.header.stamp.nsecs))
    _x = @goal.trajectory.header.frame_id
    length = _x.length
    buff.write([length, _x].pack("La#{length}"))
    length = @goal.trajectory.joint_names.length
    buff.write(@@struct_L.pack(length))
    for val1 in @goal.trajectory.joint_names
      length = val1.length
      buff.write([length, val1].pack("La#{length}"))
    end
    length = @goal.trajectory.points.length
    buff.write(@@struct_L.pack(length))
    for val1 in @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))
      _v157 = val1.time_from_start
      _x = _v157
      buff.write(@@struct_l2.pack(_x.secs, _x.nsecs))
    end
  rescue => exception
    raise "some erro in serialize: #{exception}"

  end
end