Class: Sensor_msgs::Imu

Inherits:
ROS::Message
  • Object
show all
Defined in:
lib/sensor_msgs/Imu.rb

Constant Summary collapse

@@struct_L3 = 
::ROS::Struct.new("L3")
@@struct_d3 = 
::ROS::Struct.new("d3")
@@struct_d4 = 
::ROS::Struct.new("d4")
@@struct_d9 = 
::ROS::Struct.new("d9")
@@struct_L = 
::ROS::Struct.new("L")
@@slot_types = 
['Header','geometry_msgs/Quaternion','float64[9]','geometry_msgs/Vector3','float64[9]','geometry_msgs/Vector3','float64[9]']

Instance Attribute Summary collapse

Class Method Summary collapse

Instance Method Summary collapse

Constructor Details

#initialize(args = {}) ⇒ Imu

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

  • :orientation (geometry_msgs/Quaternion) —

    initialize value

  • :orientation_covariance (float64[9]) —

    initialize value

  • :angular_velocity (geometry_msgs/Vector3) —

    initialize value

  • :angular_velocity_covariance (float64[9]) —

    initialize value

  • :linear_acceleration (geometry_msgs/Vector3) —

    initialize value

  • :linear_acceleration_covariance (float64[9]) —

    initialize value



101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
 
# File 'lib/sensor_msgs/Imu.rb', line 101

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[:orientation]
    @orientation = args[:orientation]
  else
    @orientation = Geometry_msgs::Quaternion.new
  end
  if args[:orientation_covariance]
    @orientation_covariance = args[:orientation_covariance]
  else
    @orientation_covariance = [0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0]
  end
  if args[:angular_velocity]
    @angular_velocity = args[:angular_velocity]
  else
    @angular_velocity = Geometry_msgs::Vector3.new
  end
  if args[:angular_velocity_covariance]
    @angular_velocity_covariance = args[:angular_velocity_covariance]
  else
    @angular_velocity_covariance = [0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0]
  end
  if args[:linear_acceleration]
    @linear_acceleration = args[:linear_acceleration]
  else
    @linear_acceleration = Geometry_msgs::Vector3.new
  end
  if args[:linear_acceleration_covariance]
    @linear_acceleration_covariance = args[:linear_acceleration_covariance]
  else
    @linear_acceleration_covariance = [0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0]
  end
end

Instance Attribute Details

#angular_velocity ⇒ Object

Returns the value of attribute angular_velocity.



81
82
83
 
# File 'lib/sensor_msgs/Imu.rb', line 81

def angular_velocity
  @angular_velocity
end

#angular_velocity_covariance ⇒ Object

Returns the value of attribute angular_velocity_covariance.



81
82
83
 
# File 'lib/sensor_msgs/Imu.rb', line 81

def angular_velocity_covariance
  @angular_velocity_covariance
end

#header ⇒ Object

Returns the value of attribute header.



81
82
83
 
# File 'lib/sensor_msgs/Imu.rb', line 81

def header
  @header
end

#linear_acceleration ⇒ Object

Returns the value of attribute linear_acceleration.



81
82
83
 
# File 'lib/sensor_msgs/Imu.rb', line 81

def linear_acceleration
  @linear_acceleration
end

#linear_acceleration_covariance ⇒ Object

Returns the value of attribute linear_acceleration_covariance.



81
82
83
 
# File 'lib/sensor_msgs/Imu.rb', line 81

def linear_acceleration_covariance
  @linear_acceleration_covariance
end

#orientation ⇒ Object

Returns the value of attribute orientation.



81
82
83
 
# File 'lib/sensor_msgs/Imu.rb', line 81

def orientation
  @orientation
end

#orientation_covariance ⇒ Object

Returns the value of attribute orientation_covariance.



81
82
83
 
# File 'lib/sensor_msgs/Imu.rb', line 81

def orientation_covariance
  @orientation_covariance
end

Class Method Details

.md5sum ⇒ Object 



11
12
13
 
# File 'lib/sensor_msgs/Imu.rb', line 11

def self.md5sum
  "6a62c6daae103f4ff57a132d6f95cec2"
end

.type ⇒ Object 



15
16
17
 
# File 'lib/sensor_msgs/Imu.rb', line 15

def self.type
  "sensor_msgs/Imu"
end

Instance Method Details

#_get_types ⇒ String

internal API method

Returns:

  • (String) —

    Message type string.



142
143
144
 
# File 'lib/sensor_msgs/Imu.rb', line 142

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



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
 
# File 'lib/sensor_msgs/Imu.rb', line 168

def deserialize(str)

  begin
    if @header == nil
      @header = Std_msgs::Header.new
    end
    if @orientation == nil
      @orientation = Geometry_msgs::Quaternion.new
    end
    if @angular_velocity == nil
      @angular_velocity = Geometry_msgs::Vector3.new
    end
    if @linear_acceleration == nil
      @linear_acceleration = Geometry_msgs::Vector3.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('d4')
    (@orientation.x, @orientation.y, @orientation.z, @orientation.w,) = @@struct_d4.unpack(str[start..(end_point-1)])
    start = end_point
    end_point += 8
    @orientation_covariance = @@struct_d9.unpack(str[start..(end_point-1)])
    start = end_point
    end_point += ROS::Struct::calc_size('d3')
    (@angular_velocity.x, @angular_velocity.y, @angular_velocity.z,) = @@struct_d3.unpack(str[start..(end_point-1)])
    start = end_point
    end_point += 8
    @angular_velocity_covariance = @@struct_d9.unpack(str[start..(end_point-1)])
    start = end_point
    end_point += ROS::Struct::calc_size('d3')
    (@linear_acceleration.x, @linear_acceleration.y, @linear_acceleration.z,) = @@struct_d3.unpack(str[start..(end_point-1)])
    start = end_point
    end_point += 8
    @linear_acceleration_covariance = @@struct_d9.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) 


19
20
21
 
# File 'lib/sensor_msgs/Imu.rb', line 19

def has_header?
  true
end

#message_definition ⇒ Object 



23
24
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
73
74
75
76
77
78
79
80
 
# File 'lib/sensor_msgs/Imu.rb', line 23

def message_definition
  "# This is a message to hold data from an IMU (Inertial Measurement Unit)
#
# Accelerations should be in m/s^2 (not in g's), and rotational velocity should be in rad/sec
#
# If the covariance of the measurement is known, it should be filled in (if all you know is the variance of each measurement, e.g. from the datasheet, just put those along the diagonal)
# A covariance matrix of all zeros will be interpreted as \"covariance unknown\", and to use the data a covariance will have to be assumed or gotten from some other source
#
# If you have no estimate for one of the data elements (e.g. your IMU doesn't produce an orientation estimate), please set element 0 of the associated covariance matrix to -1
# If you are interpreting this message, please check for a value of -1 in the first element of each covariance matrix, and disregard the associated estimate.

Header header

geometry_msgs/Quaternion orientation
float64[9] orientation_covariance # Row major about x, y, z axes

geometry_msgs/Vector3 angular_velocity
float64[9] angular_velocity_covariance # Row major about x, y, z axes

geometry_msgs/Vector3 linear_acceleration
float64[9] linear_acceleration_covariance # Row major x, y z 

================================================================================
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/Quaternion
# This represents an orientation in free space in quaternion form.

float64 x
float64 y
float64 z
float64 w

================================================================================
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



148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
 
# File 'lib/sensor_msgs/Imu.rb', line 148

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_d4.pack(@orientation.x, @orientation.y, @orientation.z, @orientation.w))
    buff.write(@@struct_d9.pack(*@orientation_covariance))
    buff.write(@@struct_d3.pack(@angular_velocity.x, @angular_velocity.y, @angular_velocity.z))
    buff.write(@@struct_d9.pack(*@angular_velocity_covariance))
    buff.write(@@struct_d3.pack(@linear_acceleration.x, @linear_acceleration.y, @linear_acceleration.z))
    buff.write(@@struct_d9.pack(*@linear_acceleration_covariance))
  rescue => exception
    raise "some erro in serialize: #{exception}"

  end
end