Class: Sensor_msgs::PointCloud

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

Constant Summary collapse

@@struct_L3 = 
::ROS::Struct.new("L3")
@@struct_f3 = 
::ROS::Struct.new("f3")
@@struct_L = 
::ROS::Struct.new("L")
@@slot_types = 
['Header','geometry_msgs/Point32[]','sensor_msgs/ChannelFloat32[]']

Instance Attribute Summary collapse

Class Method Summary collapse

Instance Method Summary collapse

Constructor Details

#initialize(args = {}) ⇒ PointCloud

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

  • :points (geometry_msgs/Point32[]) —

    initialize value

  • :channels (sensor_msgs/ChannelFloat32[]) —

    initialize value



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# File 'lib/sensor_msgs/PointCloud.rb', line 113

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[:points]
    @points = args[:points]
  else
    @points = []
  end
  if args[:channels]
    @channels = args[:channels]
  else
    @channels = []
  end
end

Instance Attribute Details

#channels ⇒ Object

Returns the value of attribute channels.



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# File 'lib/sensor_msgs/PointCloud.rb', line 99

def channels
  @channels
end

#header ⇒ Object

Returns the value of attribute header.



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# File 'lib/sensor_msgs/PointCloud.rb', line 99

def header
  @header
end

#points ⇒ Object

Returns the value of attribute points.



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# File 'lib/sensor_msgs/PointCloud.rb', line 99

def points
  @points
end

Class Method Details

.md5sum ⇒ Object 



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# File 'lib/sensor_msgs/PointCloud.rb', line 11

def self.md5sum
  "d8e9c3f5afbdd8a130fd1d2763945fca"
end

.type ⇒ Object 



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# File 'lib/sensor_msgs/PointCloud.rb', line 15

def self.type
  "sensor_msgs/PointCloud"
end

Instance Method Details

#_get_types ⇒ String

internal API method

Returns:

  • (String) —

    Message type string.



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# File 'lib/sensor_msgs/PointCloud.rb', line 134

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/PointCloud.rb', line 171

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)])
    @points = []
    length.times do
      val1 = Geometry_msgs::Point32.new
      _x = val1
      start = end_point
      end_point += ROS::Struct::calc_size('f3')
      (_x.x, _x.y, _x.z,) = @@struct_f3.unpack(str[start..(end_point-1)])
      @points.push(val1)
    end
    start = end_point
    end_point += 4
    (length,) = @@struct_L.unpack(str[start..(end_point-1)])
    @channels = []
    length.times do
      val1 = Sensor_msgs::ChannelFloat32.new
      start = end_point
      end_point += 4
      (length,) = @@struct_L.unpack(str[start..(end_point-1)])
      start = end_point
      end_point += length
      val1.name = 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}")
      val1.values = str[start..(end_point-1)].unpack(pattern)
      @channels.push(val1)
    end
    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/PointCloud.rb', line 19

def has_header?
  true
end

#message_definition ⇒ Object 



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# File 'lib/sensor_msgs/PointCloud.rb', line 23

def message_definition
  "# This message holds a collection of 3d points, plus optional additional
# information about each point.

# Time of sensor data acquisition, coordinate frame ID.
Header header

# Array of 3d points. Each Point32 should be interpreted as a 3d point
# in the frame given in the header.
geometry_msgs/Point32[] points

# Each channel should have the same number of elements as points array,
# and the data in each channel should correspond 1:1 with each point.
# Channel names in common practice are listed in ChannelFloat32.msg.
ChannelFloat32[] channels

================================================================================
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/Point32
# This contains the position of a point in free space(with 32 bits of precision).
# It is recommeded to use Point wherever possible instead of Point32.  
# 
# This recommendation is to promote interoperability.  
#
# This message is designed to take up less space when sending
# lots of points at once, as in the case of a PointCloud.  

float32 x
float32 y
float32 z
================================================================================
MSG: sensor_msgs/ChannelFloat32
# This message is used by the PointCloud message to hold optional data
# associated with each point in the cloud. The length of the values
# array should be the same as the length of the points array in the
# PointCloud, and each value should be associated with the corresponding
# point.

# Channel names in existing practice include:
#   \"u\", \"v\" - row and column (respectively) in the left stereo image.
#              This is opposite to usual conventions but remains for
#              historical reasons. The newer PointCloud2 message has no
#              such problem.
#   \"rgb\" - For point clouds produced by color stereo cameras. uint8
#           (R,G,B) values packed into the least significant 24 bits,
#           in order.
#   \"intensity\" - laser or pixel intensity.
#   \"distance\"

# The channel name should give semantics of the channel (e.g.
# \"intensity\" instead of \"value\").
string name

# The values array should be 1-1 with the elements of the associated
# PointCloud.
float32[] values

"
end

#serialize(buff) ⇒ Object

serialize message into buffer

Parameters:

  • buff (IO) —

    buffer



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# File 'lib/sensor_msgs/PointCloud.rb', line 140

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 = @points.length
    buff.write(@@struct_L.pack(length))
    for val1 in @points
      _x = val1
      buff.write(@@struct_f3.pack(_x.x, _x.y, _x.z))
    end
    length = @channels.length
    buff.write(@@struct_L.pack(length))
    for val1 in @channels
      _x = val1.name
      length = _x.length
      buff.write([length, _x].pack("La#{length}"))
      length = val1.values.length
      buff.write(@@struct_L.pack(length))
      pattern = "f#{length}"
      buff.write(*val1.values.pack(pattern))
    end
  rescue => exception
    raise "some erro in serialize: #{exception}"

  end
end