Class: Pr2_controllers_msgs::SingleJointPositionActionGoal

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

Constant Summary collapse

@@struct_dl2d = 
::ROS::Struct.new("dl2d")
@@struct_L3 = 
::ROS::Struct.new("L3")
@@struct_L2 = 
::ROS::Struct.new("L2")
@@struct_L = 
::ROS::Struct.new("L")
@@slot_types = 
['Header','actionlib_msgs/GoalID','pr2_controllers_msgs/SingleJointPositionGoal']

Instance Attribute Summary collapse

Class Method Summary collapse

Instance Method Summary collapse

Constructor Details

#initialize(args = {}) ⇒ SingleJointPositionActionGoal

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/SingleJointPositionGoal) —

    initialize value



87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
 
# File 'lib/pr2_controllers_msgs/SingleJointPositionActionGoal.rb', line 87

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::SingleJointPositionGoal.new
  end
end

Instance Attribute Details

#goal ⇒ Object

Returns the value of attribute goal.



72
73
74
 
# File 'lib/pr2_controllers_msgs/SingleJointPositionActionGoal.rb', line 72

def goal
  @goal
end

#goal_id ⇒ Object

Returns the value of attribute goal_id.



72
73
74
 
# File 'lib/pr2_controllers_msgs/SingleJointPositionActionGoal.rb', line 72

def goal_id
  @goal_id
end

#header ⇒ Object

Returns the value of attribute header.



72
73
74
 
# File 'lib/pr2_controllers_msgs/SingleJointPositionActionGoal.rb', line 72

def header
  @header
end

Class Method Details

.md5sum ⇒ Object 



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

def self.md5sum
  "4b0d3d091471663e17749c1d0db90f61"
end

.type ⇒ Object 



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

def self.type
  "pr2_controllers_msgs/SingleJointPositionActionGoal"
end

Instance Method Details

#_get_types ⇒ String

internal API method

Returns:

  • (String) —

    Message type string.



108
109
110
 
# File 'lib/pr2_controllers_msgs/SingleJointPositionActionGoal.rb', line 108

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



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
169
170
171
 
# File 'lib/pr2_controllers_msgs/SingleJointPositionActionGoal.rb', line 133

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::SingleJointPositionGoal.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('dl2d')
    (@goal.position, @goal.min_duration.secs, @goal.min_duration.nsecs, @goal.max_velocity,) = @@struct_dl2d.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/SingleJointPositionActionGoal.rb', line 21

def has_header?
  true
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
 
# File 'lib/pr2_controllers_msgs/SingleJointPositionActionGoal.rb', line 25

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

Header header
actionlib_msgs/GoalID goal_id
SingleJointPositionGoal 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/SingleJointPositionGoal
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
float64 position
duration min_duration
float64 max_velocity

"
end

#serialize(buff) ⇒ Object

serialize message into buffer

Parameters:

  • buff (IO) —

    buffer



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

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_dl2d.pack(@goal.position, @goal.min_duration.secs, @goal.min_duration.nsecs, @goal.max_velocity))
  rescue => exception
    raise "some erro in serialize: #{exception}"

  end
end