Class: Sensor_msgs::Range

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

Constant Summary collapse

ULTRASOUND =

Pseudo-constants

0
INFRARED = 
1
@@struct_L3 = 
::ROS::Struct.new("L3")
@@struct_Cf4 = 
::ROS::Struct.new("Cf4")
@@struct_L = 
::ROS::Struct.new("L")
@@slot_types = 
['Header','uint8','float32','float32','float32','float32']

Instance Attribute Summary collapse

Class Method Summary collapse

Instance Method Summary collapse

Constructor Details

#initialize(args = {}) ⇒ Range

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

  • :radiation_type (uint8) —

    initialize value

  • :field_of_view (float32) —

    initialize value

  • :min_range (float32) —

    initialize value

  • :max_range (float32) —

    initialize value

  • :range (float32) —

    initialize value



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# File 'lib/sensor_msgs/Range.rb', line 94

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[:radiation_type]
    @radiation_type = args[:radiation_type]
  else
    @radiation_type = 0
  end
  if args[:field_of_view]
    @field_of_view = args[:field_of_view]
  else
    @field_of_view = 0.0
  end
  if args[:min_range]
    @min_range = args[:min_range]
  else
    @min_range = 0.0
  end
  if args[:max_range]
    @max_range = args[:max_range]
  else
    @max_range = 0.0
  end
  if args[:range]
    @range = args[:range]
  else
    @range = 0.0
  end
end

Instance Attribute Details

#field_of_view ⇒ Object

Returns the value of attribute field_of_view.



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# File 'lib/sensor_msgs/Range.rb', line 77

def field_of_view
  @field_of_view
end

#header ⇒ Object

Returns the value of attribute header.



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# File 'lib/sensor_msgs/Range.rb', line 77

def header
  @header
end

#max_range ⇒ Object

Returns the value of attribute max_range.



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# File 'lib/sensor_msgs/Range.rb', line 77

def max_range
  @max_range
end

#min_range ⇒ Object

Returns the value of attribute min_range.



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# File 'lib/sensor_msgs/Range.rb', line 77

def min_range
  @min_range
end

#radiation_type ⇒ Object

Returns the value of attribute radiation_type.



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# File 'lib/sensor_msgs/Range.rb', line 77

def radiation_type
  @radiation_type
end

#range ⇒ Object

Returns the value of attribute range.



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# File 'lib/sensor_msgs/Range.rb', line 77

def range
  @range
end

Class Method Details

.md5sum ⇒ Object 



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

def self.md5sum
  "c005c34273dc426c67a020a87bc24148"
end

.type ⇒ Object 



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

def self.type
  "sensor_msgs/Range"
end

Instance Method Details

#_get_types ⇒ String

internal API method

Returns:

  • (String) —

    Message type string.



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# File 'lib/sensor_msgs/Range.rb', line 130

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/Range.rb', line 151

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('Cf4')
    (@radiation_type, @field_of_view, @min_range, @max_range, @range,) = @@struct_Cf4.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/Range.rb', line 17

def has_header?
  true
end

#message_definition ⇒ Object 



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

def message_definition
  "# Single range reading from an active ranger that emits energy and reports
# one range reading that is valid along an arc at the distance measured. 
# This message is not appropriate for fixed-range obstacle detectors, 
# such as the Sharp GP2D15. This message is also not appropriate for laser 
# scanners. See the LaserScan message if you are working with a laser scanner.

Header header    	# timestamp in the header is the time the ranger
 	# returned the distance reading

# Radiation type enums
# If you want a value added to this list, send an email to the ros-users list
uint8 ULTRASOUND=0
uint8 INFRARED=1

uint8 radiation_type    # the type of radiation used by the sensor
 	# (sound, IR, etc) [enum]

float32 field_of_view   # the size of the arc that the distance reading is
 	# valid for [rad]
 	# the object causing the range reading may have
 	# been anywhere within -field_of_view/2 and
 	# field_of_view/2 at the measured range. 
                      # 0 angle corresponds to the x-axis of the sensor.

float32 min_range       # minimum range value [m]
float32 max_range       # maximum range value [m]

float32 range           # range data [m]
 	# (Note: values < range_min or > range_max
 	# should be discarded)

================================================================================
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/Range.rb', line 136

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_Cf4.pack(@radiation_type, @field_of_view, @min_range, @max_range, @range))
  rescue => exception
    raise "some erro in serialize: #{exception}"

  end
end