Class: Pr2_controllers_msgs::PointHeadGoal

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

Constant Summary collapse

@@struct_L3 = 
::ROS::Struct.new("L3")
@@struct_d6 = 
::ROS::Struct.new("d6")
@@struct_l2d = 
::ROS::Struct.new("l2d")
@@struct_L = 
::ROS::Struct.new("L")
@@slot_types = 
['geometry_msgs/PointStamped','geometry_msgs/Vector3','string','duration','float64']

Instance Attribute Summary collapse

Class Method Summary collapse

Instance Method Summary collapse

Constructor Details

#initialize(args = {}) ⇒ PointHeadGoal

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

Parameters:

  • args (Hash) (defaults to: {}) —

    keyword for initializing values

Options Hash (args):

  • :target (geometry_msgs/PointStamped) —

    initialize value

  • :pointing_axis (geometry_msgs/Vector3) —

    initialize value

  • :pointing_frame (string) —

    initialize value

  • :min_duration (duration) —

    initialize value

  • :max_velocity (float64) —

    initialize value



90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
 
# File 'lib/pr2_controllers_msgs/PointHeadGoal.rb', line 90

def initialize(args={})
  # message fields cannot be None, assign default values for those that are
  if args[:target]
    @target = args[:target]
  else
    @target = Geometry_msgs::PointStamped.new
  end
  if args[:pointing_axis]
    @pointing_axis = args[:pointing_axis]
  else
    @pointing_axis = Geometry_msgs::Vector3.new
  end
  if args[:pointing_frame]
    @pointing_frame = args[:pointing_frame]
  else
    @pointing_frame = ''
  end
  if args[:min_duration]
    @min_duration = args[:min_duration]
  else
    @min_duration = ROS::Duration.new
  end
  if args[:max_velocity]
    @max_velocity = args[:max_velocity]
  else
    @max_velocity = 0.0
  end
end

Instance Attribute Details

#max_velocity ⇒ Object

Returns the value of attribute max_velocity.



73
74
75
 
# File 'lib/pr2_controllers_msgs/PointHeadGoal.rb', line 73

def max_velocity
  @max_velocity
end

#min_duration ⇒ Object

Returns the value of attribute min_duration.



73
74
75
 
# File 'lib/pr2_controllers_msgs/PointHeadGoal.rb', line 73

def min_duration
  @min_duration
end

#pointing_axis ⇒ Object

Returns the value of attribute pointing_axis.



73
74
75
 
# File 'lib/pr2_controllers_msgs/PointHeadGoal.rb', line 73

def pointing_axis
  @pointing_axis
end

#pointing_frame ⇒ Object

Returns the value of attribute pointing_frame.



73
74
75
 
# File 'lib/pr2_controllers_msgs/PointHeadGoal.rb', line 73

def pointing_frame
  @pointing_frame
end

#target ⇒ Object

Returns the value of attribute target.



73
74
75
 
# File 'lib/pr2_controllers_msgs/PointHeadGoal.rb', line 73

def target
  @target
end

Class Method Details

.md5sum ⇒ Object 



13
14
15
 
# File 'lib/pr2_controllers_msgs/PointHeadGoal.rb', line 13

def self.md5sum
  "8b92b1cd5e06c8a94c917dc3209a4c1d"
end

.type ⇒ Object 



17
18
19
 
# File 'lib/pr2_controllers_msgs/PointHeadGoal.rb', line 17

def self.type
  "pr2_controllers_msgs/PointHeadGoal"
end

Instance Method Details

#_get_types ⇒ String

internal API method

Returns:

  • (String) —

    Message type string.



121
122
123
 
# File 'lib/pr2_controllers_msgs/PointHeadGoal.rb', line 121

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



146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
 
# File 'lib/pr2_controllers_msgs/PointHeadGoal.rb', line 146

def deserialize(str)

  begin
    if @target == nil
      @target = Geometry_msgs::PointStamped.new
    end
    if @pointing_axis == nil
      @pointing_axis = Geometry_msgs::Vector3.new
    end
    if @min_duration == nil
      @min_duration = ROS::Duration.new
    end
    end_point = 0
    start = end_point
    end_point += ROS::Struct::calc_size('L3')
    (@target.header.seq, @target.header.stamp.secs, @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
    @target.header.frame_id = str[start..(end_point-1)]
    start = end_point
    end_point += ROS::Struct::calc_size('d6')
    (@target.point.x, @target.point.y, @target.point.z, @pointing_axis.x, @pointing_axis.y, @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
    @pointing_frame = str[start..(end_point-1)]
    start = end_point
    end_point += ROS::Struct::calc_size('l2d')
    (@min_duration.secs, @min_duration.nsecs, @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) 


21
22
23
 
# File 'lib/pr2_controllers_msgs/PointHeadGoal.rb', line 21

def has_header?
  false
end

#message_definition ⇒ Object 



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

def message_definition
  "# ====== 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: 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: 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



127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
 
# File 'lib/pr2_controllers_msgs/PointHeadGoal.rb', line 127

def serialize(buff)
  begin
    buff.write(@@struct_L3.pack(@target.header.seq, @target.header.stamp.secs, @target.header.stamp.nsecs))
    _x = @target.header.frame_id
    length = _x.length
    buff.write([length, _x].pack("La#{length}"))
    buff.write(@@struct_d6.pack(@target.point.x, @target.point.y, @target.point.z, @pointing_axis.x, @pointing_axis.y, @pointing_axis.z))
    _x = @pointing_frame
    length = _x.length
    buff.write([length, _x].pack("La#{length}"))
    buff.write(@@struct_l2d.pack(@min_duration.secs, @min_duration.nsecs, @max_velocity))
  rescue => exception
    raise "some erro in serialize: #{exception}"

  end
end