Class: Pr2_controllers_msgs::PointHeadActionGoal

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

Constant Summary collapse

@@struct_L3 = 
::ROS::Struct.new("L3")
@@struct_d6 = 
::ROS::Struct.new("d6")
@@struct_L2 = 
::ROS::Struct.new("L2")
@@struct_l2d = 
::ROS::Struct.new("l2d")
@@struct_L = 
::ROS::Struct.new("L")
@@slot_types = 
['Header','actionlib_msgs/GoalID','pr2_controllers_msgs/PointHeadGoal']

Instance Attribute Summary collapse

Class Method Summary collapse

Instance Method Summary collapse

Constructor Details

#initialize(args = {}) ⇒ PointHeadActionGoal

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/PointHeadGoal) —

    initialize value



113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
 
# File 'lib/pr2_controllers_msgs/PointHeadActionGoal.rb', line 113

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::PointHeadGoal.new
  end
end

Instance Attribute Details

#goal ⇒ Object

Returns the value of attribute goal.



97
98
99
 
# File 'lib/pr2_controllers_msgs/PointHeadActionGoal.rb', line 97

def goal
  @goal
end

#goal_id ⇒ Object

Returns the value of attribute goal_id.



97
98
99
 
# File 'lib/pr2_controllers_msgs/PointHeadActionGoal.rb', line 97

def goal_id
  @goal_id
end

#header ⇒ Object

Returns the value of attribute header.



97
98
99
 
# File 'lib/pr2_controllers_msgs/PointHeadActionGoal.rb', line 97

def header
  @header
end

Class Method Details

.md5sum ⇒ Object 



16
17
18
 
# File 'lib/pr2_controllers_msgs/PointHeadActionGoal.rb', line 16

def self.md5sum
  "b53a8323d0ba7b310ba17a2d3a82a6b8"
end

.type ⇒ Object 



20
21
22
 
# File 'lib/pr2_controllers_msgs/PointHeadActionGoal.rb', line 20

def self.type
  "pr2_controllers_msgs/PointHeadActionGoal"
end

Instance Method Details

#_get_types ⇒ String

internal API method

Returns:

  • (String) —

    Message type string.



134
135
136
 
# File 'lib/pr2_controllers_msgs/PointHeadActionGoal.rb', line 134

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



167
168
169
170
171
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
 
# File 'lib/pr2_controllers_msgs/PointHeadActionGoal.rb', line 167

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::PointHeadGoal.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.target.header.seq, @goal.target.header.stamp.secs, @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
    @goal.target.header.frame_id = str[start..(end_point-1)]
    start = end_point
    end_point += ROS::Struct::calc_size('d6')
    (@goal.target.point.x, @goal.target.point.y, @goal.target.point.z, @goal.pointing_axis.x, @goal.pointing_axis.y, @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
    @goal.pointing_frame = str[start..(end_point-1)]
    start = end_point
    end_point += ROS::Struct::calc_size('l2d')
    (@goal.min_duration.secs, @goal.min_duration.nsecs, @goal.max_velocity,) = @@struct_l2d.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) 


24
25
26
 
# File 'lib/pr2_controllers_msgs/PointHeadActionGoal.rb', line 24

def has_header?
  true
end

#message_definition ⇒ Object 



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
83
84
85
86
87
88
89
90
91
92
93
94
95
96
 
# File 'lib/pr2_controllers_msgs/PointHeadActionGoal.rb', line 28

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

#serialize(buff) ⇒ Object

serialize message into buffer

Parameters:

  • buff (IO) —

    buffer



140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
 
# File 'lib/pr2_controllers_msgs/PointHeadActionGoal.rb', line 140

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.target.header.seq, @goal.target.header.stamp.secs, @goal.target.header.stamp.nsecs))
    _x = @goal.target.header.frame_id
    length = _x.length
    buff.write([length, _x].pack("La#{length}"))
    buff.write(@@struct_d6.pack(@goal.target.point.x, @goal.target.point.y, @goal.target.point.z, @goal.pointing_axis.x, @goal.pointing_axis.y, @goal.pointing_axis.z))
    _x = @goal.pointing_frame
    length = _x.length
    buff.write([length, _x].pack("La#{length}"))
    buff.write(@@struct_l2d.pack(@goal.min_duration.secs, @goal.min_duration.nsecs, @goal.max_velocity))
  rescue => exception
    raise "some erro in serialize: #{exception}"

  end
end