Class: Tf::TfMessage

Inherits:
ROS::Message
  • Object
show all
Defined in:
lib/tf/tfMessage.rb

Constant Summary collapse

@@struct_d4 = 
::ROS::Struct.new("d4")
@@struct_L2 = 
::ROS::Struct.new("L2")
@@struct_d3 = 
::ROS::Struct.new("d3")
@@struct_L = 
::ROS::Struct.new("L")
@@slot_types = 
['geometry_msgs/TransformStamped[]']

Instance Attribute Summary collapse

Class Method Summary collapse

Instance Method Summary collapse

Constructor Details

#initialize(args = {}) ⇒ TfMessage

Constructor. You can set the default values using keyword operators.

Parameters:

  • args (Hash) (defaults to: {}) —

    keyword for initializing values

Options Hash (args):

  • :transforms (geometry_msgs/TransformStamped[]) —

    initialize value



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# File 'lib/tf/tfMessage.rb', line 97

def initialize(args={})
  # message fields cannot be None, assign default values for those that are
  if args[:transforms]
    @transforms = args[:transforms]
  else
    @transforms = []
  end
end

Instance Attribute Details

#transforms ⇒ Object

Returns the value of attribute transforms.



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# File 'lib/tf/tfMessage.rb', line 84

def transforms
  @transforms
end

Class Method Details

.md5sum ⇒ Object 



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# File 'lib/tf/tfMessage.rb', line 13

def self.md5sum
  "94810edda583a504dfda3829e70d7eec"
end

.type ⇒ Object 



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# File 'lib/tf/tfMessage.rb', line 17

def self.type
  "tf/tfMessage"
end

Instance Method Details

#_get_types ⇒ String

internal API method

Returns:

  • (String) —

    Message type string.



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# File 'lib/tf/tfMessage.rb', line 108

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/tf/tfMessage.rb', line 146

def deserialize(str)

  begin
    end_point = 0
    start = end_point
    end_point += 4
    (length,) = @@struct_L.unpack(str[start..(end_point-1)])
    @transforms = []
    length.times do
      val1 = Geometry_msgs::TransformStamped.new
      _v148 = val1.header
      start = end_point
      end_point += ROS::Struct::calc_size('L')
      (_v148.seq,) = @@struct_L.unpack(str[start..(end_point-1)])
      _v149 = _v148.stamp
      _x = _v149
      start = end_point
      end_point += ROS::Struct::calc_size('L2')
      (_x.secs, _x.nsecs,) = @@struct_L2.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
      _v148.frame_id = 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
      val1.child_frame_id = str[start..(end_point-1)]
      _v150 = val1.transform
      _v151 = _v150.translation
      _x = _v151
      start = end_point
      end_point += ROS::Struct::calc_size('d3')
      (_x.x, _x.y, _x.z,) = @@struct_d3.unpack(str[start..(end_point-1)])
      _v152 = _v150.rotation
      _x = _v152
      start = end_point
      end_point += ROS::Struct::calc_size('d4')
      (_x.x, _x.y, _x.z, _x.w,) = @@struct_d4.unpack(str[start..(end_point-1)])
      @transforms.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/tf/tfMessage.rb', line 21

def has_header?
  false
end

#message_definition ⇒ Object 



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# File 'lib/tf/tfMessage.rb', line 25

def message_definition
  "geometry_msgs/TransformStamped[] transforms

================================================================================
MSG: geometry_msgs/TransformStamped
# This expresses a transform from coordinate frame header.frame_id
# to the coordinate frame child_frame_id
#
# This message is mostly used by the 
# <a href=\"http://www.ros.org/wiki/tf\">tf</a> package. 
# See it's documentation for more information.

Header header
string child_frame_id # the frame id of the child frame
Transform transform

================================================================================
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/Transform
# This represents the transform between two coordinate frames in free space.

Vector3 translation
Quaternion rotation

================================================================================
MSG: geometry_msgs/Vector3
# This represents a vector in free space. 

float64 x
float64 y
float64 z
================================================================================
MSG: geometry_msgs/Quaternion
# This represents an orientation in free space in quaternion form.

float64 x
float64 y
float64 z
float64 w

"
end

#serialize(buff) ⇒ Object

serialize message into buffer

Parameters:

  • buff (IO) —

    buffer



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# File 'lib/tf/tfMessage.rb', line 114

def serialize(buff)
  begin
    length = @transforms.length
    buff.write(@@struct_L.pack(length))
    for val1 in @transforms
      _v143 = val1.header
      buff.write(@@struct_L.pack(_v143.seq))
      _v144 = _v143.stamp
      _x = _v144
      buff.write(@@struct_L2.pack(_x.secs, _x.nsecs))
      _x = _v143.frame_id
      length = _x.length
      buff.write([length, _x].pack("La#{length}"))
      _x = val1.child_frame_id
      length = _x.length
      buff.write([length, _x].pack("La#{length}"))
      _v145 = val1.transform
      _v146 = _v145.translation
      _x = _v146
      buff.write(@@struct_d3.pack(_x.x, _x.y, _x.z))
      _v147 = _v145.rotation
      _x = _v147
      buff.write(@@struct_d4.pack(_x.x, _x.y, _x.z, _x.w))
    end
  rescue => exception
    raise "some erro in serialize: #{exception}"

  end
end