Class: Pr2_controllers_msgs::PointHeadAction

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

Constant Summary collapse

@@struct_C = 
::ROS::Struct.new("C")
@@struct_l2dL3 = 
::ROS::Struct.new("l2dL3")
@@struct_d = 
::ROS::Struct.new("d")
@@struct_L3 = 
::ROS::Struct.new("L3")
@@struct_d6 = 
::ROS::Struct.new("d6")
@@struct_L2 = 
::ROS::Struct.new("L2")
@@struct_L = 
::ROS::Struct.new("L")
@@slot_types = 
['pr2_controllers_msgs/PointHeadActionGoal','pr2_controllers_msgs/PointHeadActionResult','pr2_controllers_msgs/PointHeadActionFeedback']

Instance Attribute Summary collapse

Class Method Summary collapse

Instance Method Summary collapse

Constructor Details

#initialize(args = {}) ⇒ PointHeadAction

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/PointHeadAction.rb', line 180

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::PointHeadActionGoal.new
  end
  if args[:action_result]
    @action_result = args[:action_result]
  else
    @action_result = Pr2_controllers_msgs::PointHeadActionResult.new
  end
  if args[:action_feedback]
    @action_feedback = args[:action_feedback]
  else
    @action_feedback = Pr2_controllers_msgs::PointHeadActionFeedback.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/PointHeadAction.rb', line 162

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/PointHeadAction.rb', line 162

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/PointHeadAction.rb', line 162

def action_result
  @action_result
end

Class Method Details

.md5sum ⇒ Object 



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# File 'lib/pr2_controllers_msgs/PointHeadAction.rb', line 22

def self.md5sum
  "7252920f1243de1b741f14f214125371"
end

.type ⇒ Object 



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# File 'lib/pr2_controllers_msgs/PointHeadAction.rb', line 26

def self.type
  "pr2_controllers_msgs/PointHeadAction"
end

Instance Method Details

#_get_types ⇒ String

internal API method

Returns:

  • (String) —

    Message type string.



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# File 'lib/pr2_controllers_msgs/PointHeadAction.rb', line 201

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/PointHeadAction.rb', line 258

def deserialize(str)

  begin
    if @action_goal == nil
      @action_goal = Pr2_controllers_msgs::PointHeadActionGoal.new
    end
    if @action_result == nil
      @action_result = Pr2_controllers_msgs::PointHeadActionResult.new
    end
    if @action_feedback == nil
      @action_feedback = Pr2_controllers_msgs::PointHeadActionFeedback.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.target.header.seq, @action_goal.goal.target.header.stamp.secs, @action_goal.goal.target.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.target.header.frame_id = str[start..(end_point-1)]
    start = end_point
    end_point += ROS::Struct::calc_size('d6')
    (@action_goal.goal.target.point.x, @action_goal.goal.target.point.y, @action_goal.goal.target.point.z, @action_goal.goal.pointing_axis.x, @action_goal.goal.pointing_axis.y, @action_goal.goal.pointing_axis.z,) = @@struct_d6.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.pointing_frame = str[start..(end_point-1)]
    start = end_point
    end_point += ROS::Struct::calc_size('l2dL3')
    (@action_goal.goal.min_duration.secs, @action_goal.goal.min_duration.nsecs, @action_goal.goal.max_velocity, @action_result.header.seq, @action_result.header.stamp.secs, @action_result.header.stamp.nsecs,) = @@struct_l2dL3.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)]
    start = end_point
    end_point += ROS::Struct::calc_size('d')
    (@action_feedback.feedback.pointing_angle_error,) = @@struct_d.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/PointHeadAction.rb', line 30

def has_header?
  false
end

#message_definition ⇒ Object 



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# File 'lib/pr2_controllers_msgs/PointHeadAction.rb', line 34

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

PointHeadActionGoal action_goal
PointHeadActionResult action_result
PointHeadActionFeedback action_feedback

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

Header header
actionlib_msgs/GoalID goal_id
PointHeadGoal 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/PointHeadGoal
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
geometry_msgs/PointStamped target
geometry_msgs/Vector3 pointing_axis
string pointing_frame
duration min_duration
float64 max_velocity

================================================================================
MSG: geometry_msgs/PointStamped
# This represents a Point with reference coordinate frame and timestamp
Header header
Point point

================================================================================
MSG: geometry_msgs/Point
# This contains the position of a point in free space
float64 x
float64 y
float64 z

================================================================================
MSG: geometry_msgs/Vector3
# This represents a vector in free space. 

float64 x
float64 y
float64 z
================================================================================
MSG: pr2_controllers_msgs/PointHeadActionResult
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======

Header header
actionlib_msgs/GoalStatus status
PointHeadResult 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/PointHeadResult
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======

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

Header header
actionlib_msgs/GoalStatus status
PointHeadFeedback feedback

================================================================================
MSG: pr2_controllers_msgs/PointHeadFeedback
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
float64 pointing_angle_error

"
end

#serialize(buff) ⇒ Object

serialize message into buffer

Parameters:

  • buff (IO) —

    buffer



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# File 'lib/pr2_controllers_msgs/PointHeadAction.rb', line 207

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.target.header.seq, @action_goal.goal.target.header.stamp.secs, @action_goal.goal.target.header.stamp.nsecs))
    _x = @action_goal.goal.target.header.frame_id
    length = _x.length
    buff.write([length, _x].pack("La#{length}"))
    buff.write(@@struct_d6.pack(@action_goal.goal.target.point.x, @action_goal.goal.target.point.y, @action_goal.goal.target.point.z, @action_goal.goal.pointing_axis.x, @action_goal.goal.pointing_axis.y, @action_goal.goal.pointing_axis.z))
    _x = @action_goal.goal.pointing_frame
    length = _x.length
    buff.write([length, _x].pack("La#{length}"))
    buff.write(@@struct_l2dL3.pack(@action_goal.goal.min_duration.secs, @action_goal.goal.min_duration.nsecs, @action_goal.goal.max_velocity, @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}"))
    buff.write(@@struct_d.pack(@action_feedback.feedback.pointing_angle_error))
  rescue => exception
    raise "some erro in serialize: #{exception}"

  end
end