Class: Sensor_msgs::LaserScan

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

Constant Summary collapse

@@struct_f7 = 
::ROS::Struct.new("f7")
@@struct_L3 = 
::ROS::Struct.new("L3")
@@struct_L = 
::ROS::Struct.new("L")
@@slot_types = 
['Header','float32','float32','float32','float32','float32','float32','float32','float32[]','float32[]']

Instance Attribute Summary collapse

Class Method Summary collapse

Instance Method Summary collapse

Constructor Details

#initialize(args = {}) ⇒ LaserScan

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

  • :angle_min (float32) —

    initialize value

  • :angle_max (float32) —

    initialize value

  • :angle_increment (float32) —

    initialize value

  • :time_increment (float32) —

    initialize value

  • :scan_time (float32) —

    initialize value

  • :range_min (float32) —

    initialize value

  • :range_max (float32) —

    initialize value

  • :ranges (float32[]) —

    initialize value

  • :intensities (float32[]) —

    initialize value



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# File 'lib/sensor_msgs/LaserScan.rb', line 93

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[:angle_min]
    @angle_min = args[:angle_min]
  else
    @angle_min = 0.0
  end
  if args[:angle_max]
    @angle_max = args[:angle_max]
  else
    @angle_max = 0.0
  end
  if args[:angle_increment]
    @angle_increment = args[:angle_increment]
  else
    @angle_increment = 0.0
  end
  if args[:time_increment]
    @time_increment = args[:time_increment]
  else
    @time_increment = 0.0
  end
  if args[:scan_time]
    @scan_time = args[:scan_time]
  else
    @scan_time = 0.0
  end
  if args[:range_min]
    @range_min = args[:range_min]
  else
    @range_min = 0.0
  end
  if args[:range_max]
    @range_max = args[:range_max]
  else
    @range_max = 0.0
  end
  if args[:ranges]
    @ranges = args[:ranges]
  else
    @ranges = []
  end
  if args[:intensities]
    @intensities = args[:intensities]
  else
    @intensities = []
  end
end

Instance Attribute Details

#angle_increment ⇒ Object

Returns the value of attribute angle_increment.



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# File 'lib/sensor_msgs/LaserScan.rb', line 72

def angle_increment
  @angle_increment
end

#angle_max ⇒ Object

Returns the value of attribute angle_max.



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# File 'lib/sensor_msgs/LaserScan.rb', line 72

def angle_max
  @angle_max
end

#angle_min ⇒ Object

Returns the value of attribute angle_min.



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# File 'lib/sensor_msgs/LaserScan.rb', line 72

def angle_min
  @angle_min
end

#header ⇒ Object

Returns the value of attribute header.



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# File 'lib/sensor_msgs/LaserScan.rb', line 72

def header
  @header
end

#intensities ⇒ Object

Returns the value of attribute intensities.



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# File 'lib/sensor_msgs/LaserScan.rb', line 72

def intensities
  @intensities
end

#range_max ⇒ Object

Returns the value of attribute range_max.



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# File 'lib/sensor_msgs/LaserScan.rb', line 72

def range_max
  @range_max
end

#range_min ⇒ Object

Returns the value of attribute range_min.



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# File 'lib/sensor_msgs/LaserScan.rb', line 72

def range_min
  @range_min
end

#ranges ⇒ Object

Returns the value of attribute ranges.



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# File 'lib/sensor_msgs/LaserScan.rb', line 72

def ranges
  @ranges
end

#scan_time ⇒ Object

Returns the value of attribute scan_time.



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# File 'lib/sensor_msgs/LaserScan.rb', line 72

def scan_time
  @scan_time
end

#time_increment ⇒ Object

Returns the value of attribute time_increment.



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# File 'lib/sensor_msgs/LaserScan.rb', line 72

def time_increment
  @time_increment
end

Class Method Details

.md5sum ⇒ Object 



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

def self.md5sum
  "90c7ef2dc6895d81024acba2ac42f369"
end

.type ⇒ Object 



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

def self.type
  "sensor_msgs/LaserScan"
end

Instance Method Details

#_get_types ⇒ String

internal API method

Returns:

  • (String) —

    Message type string.



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# File 'lib/sensor_msgs/LaserScan.rb', line 149

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/LaserScan.rb', line 178

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 += ROS::Struct::calc_size('f7')
    (@angle_min, @angle_max, @angle_increment, @time_increment, @scan_time, @range_min, @range_max,) = @@struct_f7.unpack(str[start..(end_point-1)])
    start = end_point
    end_point += 4
    (length,) = @@struct_L.unpack(str[start..(end_point-1)])
    pattern = "f#{length}"
    start = end_point
    end_point += ROS::Struct::calc_size("#{pattern}")
    @ranges = str[start..(end_point-1)].unpack(pattern)
    start = end_point
    end_point += 4
    (length,) = @@struct_L.unpack(str[start..(end_point-1)])
    pattern = "f#{length}"
    start = end_point
    end_point += ROS::Struct::calc_size("#{pattern}")
    @intensities = 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/LaserScan.rb', line 17

def has_header?
  true
end

#message_definition ⇒ Object 



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

def message_definition
  "# Single scan from a planar laser range-finder
#
# If you have another ranging device with different behavior (e.g. a sonar
# array), please find or create a different message, since applications
# will make fairly laser-specific assumptions about this data

Header header            # timestamp in the header is the acquisition time of 
                       # the first ray in the scan.
                       #
                       # in frame frame_id, angles are measured around 
                       # the positive Z axis (counterclockwise, if Z is up)
                       # with zero angle being forward along the x axis
                       
float32 angle_min        # start angle of the scan [rad]
float32 angle_max        # end angle of the scan [rad]
float32 angle_increment  # angular distance between measurements [rad]

float32 time_increment   # time between measurements [seconds] - if your scanner
                       # is moving, this will be used in interpolating position
                       # of 3d points
float32 scan_time        # time between scans [seconds]

float32 range_min        # minimum range value [m]
float32 range_max        # maximum range value [m]

float32[] ranges         # range data [m] (Note: values < range_min or > range_max should be discarded)
float32[] intensities    # intensity data [device-specific units].  If your
                       # device does not provide intensities, please leave
                       # the array empty.

================================================================================
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/LaserScan.rb', line 155

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_f7.pack(@angle_min, @angle_max, @angle_increment, @time_increment, @scan_time, @range_min, @range_max))
    length = @ranges.length
    buff.write(@@struct_L.pack(length))
    pattern = "f#{length}"
    buff.write(*@ranges.pack(pattern))
    length = @intensities.length
    buff.write(@@struct_L.pack(length))
    pattern = "f#{length}"
    buff.write(*@intensities.pack(pattern))
  rescue => exception
    raise "some erro in serialize: #{exception}"

  end
end