Class: Sensor_msgs::NavSatFix

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

Constant Summary collapse

COVARIANCE_TYPE_UNKNOWN =

Pseudo-constants

0
COVARIANCE_TYPE_APPROXIMATED = 
1
COVARIANCE_TYPE_DIAGONAL_KNOWN = 
2
COVARIANCE_TYPE_KNOWN = 
3
@@struct_L3 = 
::ROS::Struct.new("L3")
@@struct_cSd3 = 
::ROS::Struct.new("cSd3")
@@struct_d9 = 
::ROS::Struct.new("d9")
@@struct_C = 
::ROS::Struct.new("C")
@@struct_L = 
::ROS::Struct.new("L")
@@slot_types = 
['Header','sensor_msgs/NavSatStatus','float64','float64','float64','float64[9]','uint8']

Instance Attribute Summary collapse

Class Method Summary collapse

Instance Method Summary collapse

Constructor Details

#initialize(args = {}) ⇒ NavSatFix

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

  • :status (sensor_msgs/NavSatStatus) —

    initialize value

  • :latitude (float64) —

    initialize value

  • :longitude (float64) —

    initialize value

  • :altitude (float64) —

    initialize value

  • :position_covariance (float64[9]) —

    initialize value

  • :position_covariance_type (uint8) —

    initialize value



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# File 'lib/sensor_msgs/NavSatFix.rb', line 141

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[:status]
    @status = args[:status]
  else
    @status = Sensor_msgs::NavSatStatus.new
  end
  if args[:latitude]
    @latitude = args[:latitude]
  else
    @latitude = 0.0
  end
  if args[:longitude]
    @longitude = args[:longitude]
  else
    @longitude = 0.0
  end
  if args[:altitude]
    @altitude = args[:altitude]
  else
    @altitude = 0.0
  end
  if args[:position_covariance]
    @position_covariance = args[:position_covariance]
  else
    @position_covariance = [0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0]
  end
  if args[:position_covariance_type]
    @position_covariance_type = args[:position_covariance_type]
  else
    @position_covariance_type = 0
  end
end

Instance Attribute Details

#altitude ⇒ Object

Returns the value of attribute altitude.



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

def altitude
  @altitude
end

#header ⇒ Object

Returns the value of attribute header.



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

def header
  @header
end

#latitude ⇒ Object

Returns the value of attribute latitude.



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

def latitude
  @latitude
end

#longitude ⇒ Object

Returns the value of attribute longitude.



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

def longitude
  @longitude
end

#position_covariance ⇒ Object

Returns the value of attribute position_covariance.



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

def position_covariance
  @position_covariance
end

#position_covariance_type ⇒ Object

Returns the value of attribute position_covariance_type.



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

def position_covariance_type
  @position_covariance_type
end

#status ⇒ Object

Returns the value of attribute status.



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

def status
  @status
end

Class Method Details

.md5sum ⇒ Object 



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# File 'lib/sensor_msgs/NavSatFix.rb', line 10

def self.md5sum
  "2d3a8cd499b9b4a0249fb98fd05cfa48"
end

.type ⇒ Object 



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# File 'lib/sensor_msgs/NavSatFix.rb', line 14

def self.type
  "sensor_msgs/NavSatFix"
end

Instance Method Details

#_get_types ⇒ String

internal API method

Returns:

  • (String) —

    Message type string.



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# File 'lib/sensor_msgs/NavSatFix.rb', line 182

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/NavSatFix.rb', line 205

def deserialize(str)

  begin
    if @header == nil
      @header = Std_msgs::Header.new
    end
    if @status == nil
      @status = Sensor_msgs::NavSatStatus.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('cSd3')
    (@status.status, @status.service, @latitude, @longitude, @altitude,) = @@struct_cSd3.unpack(str[start..(end_point-1)])
    start = end_point
    end_point += 8
    @position_covariance = @@struct_d9.unpack(str[start..(end_point-1)])
    start = end_point
    end_point += ROS::Struct::calc_size('C')
    (@position_covariance_type,) = @@struct_C.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) 


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# File 'lib/sensor_msgs/NavSatFix.rb', line 18

def has_header?
  true
end

#message_definition ⇒ Object 



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# File 'lib/sensor_msgs/NavSatFix.rb', line 22

def message_definition
  "# Navigation Satellite fix for any Global Navigation Satellite System
#
# Specified using the WGS 84 reference ellipsoid

# header.stamp specifies the ROS time for this measurement (the
#        corresponding satellite time may be reported using the
#        sensor_msgs/TimeReference message).
#
# header.frame_id is the frame of reference reported by the satellite
#        receiver, usually the location of the antenna.  This is a
#        Euclidean frame relative to the vehicle, not a reference
#        ellipsoid.
Header header

# satellite fix status information
sensor_msgs/NavSatStatus status

# Latitude [degrees]. Positive is north of equator; negative is south.
float64 latitude

# Longitude [degrees]. Positive is east of prime meridian; negative is west.
float64 longitude

# Altitude [m]. Positive is above the WGS 84 ellipsoid
# (quiet NaN if no altitude is available).
float64 altitude

# Position covariance [m^2] defined relative to a tangential plane
# through the reported position. The components are East, North, and
# Up (ENU), in row-major order.
#
# Beware: this coordinate system exhibits singularities at the poles.

float64[9] position_covariance

# If the covariance of the fix is known, fill it in completely. If the
# GPS receiver provides the variance of each measurement, put them
# along the diagonal. If only Dilution of Precision is available,
# estimate an approximate covariance from that.

uint8 COVARIANCE_TYPE_UNKNOWN = 0
uint8 COVARIANCE_TYPE_APPROXIMATED = 1
uint8 COVARIANCE_TYPE_DIAGONAL_KNOWN = 2
uint8 COVARIANCE_TYPE_KNOWN = 3

uint8 position_covariance_type

================================================================================
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: sensor_msgs/NavSatStatus
# Navigation Satellite fix status for any Global Navigation Satellite System

# Whether to output an augmented fix is determined by both the fix
# type and the last time differential corrections were received.  A
# fix is valid when status >= STATUS_FIX.

int8 STATUS_NO_FIX =  -1        # unable to fix position
int8 STATUS_FIX =      0        # unaugmented fix
int8 STATUS_SBAS_FIX = 1        # with satellite-based augmentation
int8 STATUS_GBAS_FIX = 2        # with ground-based augmentation

int8 status

# Bits defining which Global Navigation Satellite System signals were
# used by the receiver.

uint16 SERVICE_GPS =     1
uint16 SERVICE_GLONASS = 2
uint16 SERVICE_COMPASS = 4      # includes BeiDou.
uint16 SERVICE_GALILEO = 8

uint16 service

"
end

#serialize(buff) ⇒ Object

serialize message into buffer

Parameters:

  • buff (IO) —

    buffer



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# File 'lib/sensor_msgs/NavSatFix.rb', line 188

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_cSd3.pack(@status.status, @status.service, @latitude, @longitude, @altitude))
    buff.write(@@struct_d9.pack(*@position_covariance))
    buff.write(@@struct_C.pack(@position_covariance_type))
  rescue => exception
    raise "some erro in serialize: #{exception}"

  end
end