Class: Sensor_msgs::JointState

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

Constant Summary collapse

@@struct_L3 = 
::ROS::Struct.new("L3")
@@struct_L = 
::ROS::Struct.new("L")
@@slot_types = 
['Header','string[]','float64[]','float64[]','float64[]']

Instance Attribute Summary collapse

Class Method Summary collapse

Instance Method Summary collapse

Constructor Details

#initialize(args = {}) ⇒ JointState

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

  • :name (string[]) —

    initialize value

  • :position (float64[]) —

    initialize value

  • :velocity (float64[]) —

    initialize value

  • :effort (float64[]) —

    initialize value



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# File 'lib/sensor_msgs/JointState.rb', line 84

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[:name]
    @name = args[:name]
  else
    @name = []
  end
  if args[:position]
    @position = args[:position]
  else
    @position = []
  end
  if args[:velocity]
    @velocity = args[:velocity]
  else
    @velocity = []
  end
  if args[:effort]
    @effort = args[:effort]
  else
    @effort = []
  end
end

Instance Attribute Details

#effort ⇒ Object

Returns the value of attribute effort.



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# File 'lib/sensor_msgs/JointState.rb', line 69

def effort
  @effort
end

#header ⇒ Object

Returns the value of attribute header.



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# File 'lib/sensor_msgs/JointState.rb', line 69

def header
  @header
end

#name ⇒ Object

Returns the value of attribute name.



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# File 'lib/sensor_msgs/JointState.rb', line 69

def name
  @name
end

#position ⇒ Object

Returns the value of attribute position.



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# File 'lib/sensor_msgs/JointState.rb', line 69

def position
  @position
end

#velocity ⇒ Object

Returns the value of attribute velocity.



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# File 'lib/sensor_msgs/JointState.rb', line 69

def velocity
  @velocity
end

Class Method Details

.md5sum ⇒ Object 



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# File 'lib/sensor_msgs/JointState.rb', line 9

def self.md5sum
  "3066dcd76a6cfaef579bd0f34173e9fd"
end

.type ⇒ Object 



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# File 'lib/sensor_msgs/JointState.rb', line 13

def self.type
  "sensor_msgs/JointState"
end

Instance Method Details

#_get_types ⇒ String

internal API method

Returns:

  • (String) —

    Message type string.



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# File 'lib/sensor_msgs/JointState.rb', line 115

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/sensor_msgs/JointState.rb', line 153

def deserialize(str)

  begin
    if @header == nil
      @header = Std_msgs::Header.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 += 4
    (length,) = @@struct_L.unpack(str[start..(end_point-1)])
    @name = []
    length.times do
      start = end_point
      end_point += 4
      (length,) = @@struct_L.unpack(str[start..(end_point-1)])
      start = end_point
      end_point += length
      val1 = str[start..(end_point-1)]
      @name.push(val1)
    end
    start = end_point
    end_point += 4
    (length,) = @@struct_L.unpack(str[start..(end_point-1)])
    pattern = "d#{length}"
    start = end_point
    end_point += ROS::Struct::calc_size("#{pattern}")
    @position = str[start..(end_point-1)].unpack(pattern)
    start = end_point
    end_point += 4
    (length,) = @@struct_L.unpack(str[start..(end_point-1)])
    pattern = "d#{length}"
    start = end_point
    end_point += ROS::Struct::calc_size("#{pattern}")
    @velocity = str[start..(end_point-1)].unpack(pattern)
    start = end_point
    end_point += 4
    (length,) = @@struct_L.unpack(str[start..(end_point-1)])
    pattern = "d#{length}"
    start = end_point
    end_point += ROS::Struct::calc_size("#{pattern}")
    @effort = str[start..(end_point-1)].unpack(pattern)
    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/sensor_msgs/JointState.rb', line 17

def has_header?
  true
end

#message_definition ⇒ Object 



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# File 'lib/sensor_msgs/JointState.rb', line 21

def message_definition
  "# This is a message that holds data to describe the state of a set of torque controlled joints. 
#
# The state of each joint (revolute or prismatic) is defined by:
#  * the position of the joint (rad or m),
#  * the velocity of the joint (rad/s or m/s) and 
#  * the effort that is applied in the joint (Nm or N).
#
# Each joint is uniquely identified by its name
# The header specifies the time at which the joint states were recorded. All the joint states
# in one message have to be recorded at the same time.
#
# This message consists of a multiple arrays, one for each part of the joint state. 
# The goal is to make each of the fields optional. When e.g. your joints have no
# effort associated with them, you can leave the effort array empty. 
#
# All arrays in this message should have the same size, or be empty.
# This is the only way to uniquely associate the joint name with the correct
# states.


Header header

string[] name
float64[] position
float64[] velocity
float64[] effort

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

"
end

#serialize(buff) ⇒ Object

serialize message into buffer

Parameters:

  • buff (IO) —

    buffer



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# File 'lib/sensor_msgs/JointState.rb', line 121

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}"))
    length = @name.length
    buff.write(@@struct_L.pack(length))
    for val1 in @name
      length = val1.length
      buff.write([length, val1].pack("La#{length}"))
    end
    length = @position.length
    buff.write(@@struct_L.pack(length))
    pattern = "d#{length}"
    buff.write(*@position.pack(pattern))
    length = @velocity.length
    buff.write(@@struct_L.pack(length))
    pattern = "d#{length}"
    buff.write(*@velocity.pack(pattern))
    length = @effort.length
    buff.write(@@struct_L.pack(length))
    pattern = "d#{length}"
    buff.write(*@effort.pack(pattern))
  rescue => exception
    raise "some erro in serialize: #{exception}"

  end
end