Class: Pr2_controllers_msgs::JointTrajectoryControllerState

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

Constant Summary collapse

@@struct_L3 = 
::ROS::Struct.new("L3")
@@struct_l2 = 
::ROS::Struct.new("l2")
@@struct_L = 
::ROS::Struct.new("L")
@@slot_types = 
['Header','string[]','trajectory_msgs/JointTrajectoryPoint','trajectory_msgs/JointTrajectoryPoint','trajectory_msgs/JointTrajectoryPoint']

Instance Attribute Summary collapse

Class Method Summary collapse

Instance Method Summary collapse

Constructor Details

#initialize(args = {}) ⇒ JointTrajectoryControllerState

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

  • :joint_names (string[]) —

    initialize value

  • :desired (trajectory_msgs/JointTrajectoryPoint) —

    initialize value

  • :actual (trajectory_msgs/JointTrajectoryPoint) —

    initialize value

  • :error (trajectory_msgs/JointTrajectoryPoint) —

    initialize value



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# File 'lib/pr2_controllers_msgs/JointTrajectoryControllerState.rb', line 72

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[:joint_names]
    @joint_names = args[:joint_names]
  else
    @joint_names = []
  end
  if args[:desired]
    @desired = args[:desired]
  else
    @desired = Trajectory_msgs::JointTrajectoryPoint.new
  end
  if args[:actual]
    @actual = args[:actual]
  else
    @actual = Trajectory_msgs::JointTrajectoryPoint.new
  end
  if args[:error]
    @error = args[:error]
  else
    @error = Trajectory_msgs::JointTrajectoryPoint.new
  end
end

Instance Attribute Details

#actual ⇒ Object

Returns the value of attribute actual.



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# File 'lib/pr2_controllers_msgs/JointTrajectoryControllerState.rb', line 56

def actual
  @actual
end

#desired ⇒ Object

Returns the value of attribute desired.



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# File 'lib/pr2_controllers_msgs/JointTrajectoryControllerState.rb', line 56

def desired
  @desired
end

#error ⇒ Object

Returns the value of attribute error.



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# File 'lib/pr2_controllers_msgs/JointTrajectoryControllerState.rb', line 56

def error
  @error
end

#header ⇒ Object

Returns the value of attribute header.



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# File 'lib/pr2_controllers_msgs/JointTrajectoryControllerState.rb', line 56

def header
  @header
end

#joint_names ⇒ Object

Returns the value of attribute joint_names.



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# File 'lib/pr2_controllers_msgs/JointTrajectoryControllerState.rb', line 56

def joint_names
  @joint_names
end

Class Method Details

.md5sum ⇒ Object 



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# File 'lib/pr2_controllers_msgs/JointTrajectoryControllerState.rb', line 11

def self.md5sum
  "b11d532a92ee589417fdd76559eb1d9e"
end

.type ⇒ Object 



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# File 'lib/pr2_controllers_msgs/JointTrajectoryControllerState.rb', line 15

def self.type
  "pr2_controllers_msgs/JointTrajectoryControllerState"
end

Instance Method Details

#_get_types ⇒ String

internal API method

Returns:

  • (String) —

    Message type string.



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# File 'lib/pr2_controllers_msgs/JointTrajectoryControllerState.rb', line 103

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/JointTrajectoryControllerState.rb', line 168

def deserialize(str)

  begin
    if @header == nil
      @header = Std_msgs::Header.new
    end
    if @desired == nil
      @desired = Trajectory_msgs::JointTrajectoryPoint.new
    end
    if @actual == nil
      @actual = Trajectory_msgs::JointTrajectoryPoint.new
    end
    if @error == nil
      @error = Trajectory_msgs::JointTrajectoryPoint.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)])
    @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)]
      @joint_names.push(val1)
    end
    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}")
    @desired.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}")
    @desired.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}")
    @desired.accelerations = str[start..(end_point-1)].unpack(pattern)
    start = end_point
    end_point += ROS::Struct::calc_size('l2')
    (@desired.time_from_start.secs, @desired.time_from_start.nsecs,) = @@struct_l2.unpack(str[start..(end_point-1)])
    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}")
    @actual.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}")
    @actual.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}")
    @actual.accelerations = str[start..(end_point-1)].unpack(pattern)
    start = end_point
    end_point += ROS::Struct::calc_size('l2')
    (@actual.time_from_start.secs, @actual.time_from_start.nsecs,) = @@struct_l2.unpack(str[start..(end_point-1)])
    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}")
    @error.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}")
    @error.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}")
    @error.accelerations = str[start..(end_point-1)].unpack(pattern)
    start = end_point
    end_point += ROS::Struct::calc_size('l2')
    (@error.time_from_start.secs, @error.time_from_start.nsecs,) = @@struct_l2.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) 


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# File 'lib/pr2_controllers_msgs/JointTrajectoryControllerState.rb', line 19

def has_header?
  true
end

#message_definition ⇒ Object 



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# File 'lib/pr2_controllers_msgs/JointTrajectoryControllerState.rb', line 23

def message_definition
  "Header header
string[] joint_names
trajectory_msgs/JointTrajectoryPoint desired
trajectory_msgs/JointTrajectoryPoint actual
trajectory_msgs/JointTrajectoryPoint error  # Redundant, but useful

================================================================================
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: 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



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# File 'lib/pr2_controllers_msgs/JointTrajectoryControllerState.rb', line 109

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 = @joint_names.length
    buff.write(@@struct_L.pack(length))
    for val1 in @joint_names
      length = val1.length
      buff.write([length, val1].pack("La#{length}"))
    end
    length = @desired.positions.length
    buff.write(@@struct_L.pack(length))
    pattern = "d#{length}"
    buff.write(*@desired.positions.pack(pattern))
    length = @desired.velocities.length
    buff.write(@@struct_L.pack(length))
    pattern = "d#{length}"
    buff.write(*@desired.velocities.pack(pattern))
    length = @desired.accelerations.length
    buff.write(@@struct_L.pack(length))
    pattern = "d#{length}"
    buff.write(*@desired.accelerations.pack(pattern))
    buff.write(@@struct_l2.pack(@desired.time_from_start.secs, @desired.time_from_start.nsecs))
    length = @actual.positions.length
    buff.write(@@struct_L.pack(length))
    pattern = "d#{length}"
    buff.write(*@actual.positions.pack(pattern))
    length = @actual.velocities.length
    buff.write(@@struct_L.pack(length))
    pattern = "d#{length}"
    buff.write(*@actual.velocities.pack(pattern))
    length = @actual.accelerations.length
    buff.write(@@struct_L.pack(length))
    pattern = "d#{length}"
    buff.write(*@actual.accelerations.pack(pattern))
    buff.write(@@struct_l2.pack(@actual.time_from_start.secs, @actual.time_from_start.nsecs))
    length = @error.positions.length
    buff.write(@@struct_L.pack(length))
    pattern = "d#{length}"
    buff.write(*@error.positions.pack(pattern))
    length = @error.velocities.length
    buff.write(@@struct_L.pack(length))
    pattern = "d#{length}"
    buff.write(*@error.velocities.pack(pattern))
    length = @error.accelerations.length
    buff.write(@@struct_L.pack(length))
    pattern = "d#{length}"
    buff.write(*@error.accelerations.pack(pattern))
    buff.write(@@struct_l2.pack(@error.time_from_start.secs, @error.time_from_start.nsecs))
  rescue => exception
    raise "some erro in serialize: #{exception}"

  end
end