Class: Trajectory_msgs::JointTrajectoryPoint

Inherits:
ROS::Message
  • Object
show all
Defined in:
lib/trajectory_msgs/JointTrajectoryPoint.rb

Constant Summary collapse

@@struct_l2 = 
::ROS::Struct.new("l2")
@@struct_L = 
::ROS::Struct.new("L")
@@slot_types = 
['float64[]','float64[]','float64[]','duration']

Instance Attribute Summary collapse

Class Method Summary collapse

Instance Method Summary collapse

Constructor Details

#initialize(args = {}) ⇒ JointTrajectoryPoint

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

Parameters:

  • args (Hash) (defaults to: {}) —

    keyword for initializing values

Options Hash (args):

  • :positions (float64[]) —

    initialize value

  • :velocities (float64[]) —

    initialize value

  • :accelerations (float64[]) —

    initialize value

  • :time_from_start (duration) —

    initialize value



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# File 'lib/trajectory_msgs/JointTrajectoryPoint.rb', line 42

def initialize(args={})
  # message fields cannot be None, assign default values for those that are
  if args[:positions]
    @positions = args[:positions]
  else
    @positions = []
  end
  if args[:velocities]
    @velocities = args[:velocities]
  else
    @velocities = []
  end
  if args[:accelerations]
    @accelerations = args[:accelerations]
  else
    @accelerations = []
  end
  if args[:time_from_start]
    @time_from_start = args[:time_from_start]
  else
    @time_from_start = ROS::Duration.new
  end
end

Instance Attribute Details

#accelerations ⇒ Object

Returns the value of attribute accelerations.



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# File 'lib/trajectory_msgs/JointTrajectoryPoint.rb', line 28

def accelerations
  @accelerations
end

#positions ⇒ Object

Returns the value of attribute positions.



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# File 'lib/trajectory_msgs/JointTrajectoryPoint.rb', line 28

def positions
  @positions
end

#time_from_start ⇒ Object

Returns the value of attribute time_from_start.



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# File 'lib/trajectory_msgs/JointTrajectoryPoint.rb', line 28

def time_from_start
  @time_from_start
end

#velocities ⇒ Object

Returns the value of attribute velocities.



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# File 'lib/trajectory_msgs/JointTrajectoryPoint.rb', line 28

def velocities
  @velocities
end

Class Method Details

.md5sum ⇒ Object 



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# File 'lib/trajectory_msgs/JointTrajectoryPoint.rb', line 9

def self.md5sum
  "84fd2dcf68773c3dc0e9db894f4e8b40"
end

.type ⇒ Object 



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# File 'lib/trajectory_msgs/JointTrajectoryPoint.rb', line 13

def self.type
  "trajectory_msgs/JointTrajectoryPoint"
end

Instance Method Details

#_get_types ⇒ String

internal API method

Returns:

  • (String) —

    Message type string.



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# File 'lib/trajectory_msgs/JointTrajectoryPoint.rb', line 68

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/trajectory_msgs/JointTrajectoryPoint.rb', line 97

def deserialize(str)

  begin
    if @time_from_start == nil
      @time_from_start = ROS::Duration.new
    end
    end_point = 0
    start = end_point
    end_point += 4
    (length,) = @@struct_L.unpack(str[start..(end_point-1)])
    pattern = "d#{length}"
    start = end_point
    end_point += ROS::Struct::calc_size("#{pattern}")
    @positions = str[start..(end_point-1)].unpack(pattern)
    start = end_point
    end_point += 4
    (length,) = @@struct_L.unpack(str[start..(end_point-1)])
    pattern = "d#{length}"
    start = end_point
    end_point += ROS::Struct::calc_size("#{pattern}")
    @velocities = str[start..(end_point-1)].unpack(pattern)
    start = end_point
    end_point += 4
    (length,) = @@struct_L.unpack(str[start..(end_point-1)])
    pattern = "d#{length}"
    start = end_point
    end_point += ROS::Struct::calc_size("#{pattern}")
    @accelerations = str[start..(end_point-1)].unpack(pattern)
    start = end_point
    end_point += ROS::Struct::calc_size('l2')
    (@time_from_start.secs, @time_from_start.nsecs,) = @@struct_l2.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/trajectory_msgs/JointTrajectoryPoint.rb', line 17

def has_header?
  false
end

#message_definition ⇒ Object 



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# File 'lib/trajectory_msgs/JointTrajectoryPoint.rb', line 21

def message_definition
  "float64[] positions
float64[] velocities
float64[] accelerations
duration time_from_start
"
end

#serialize(buff) ⇒ Object

serialize message into buffer

Parameters:

  • buff (IO) —

    buffer



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# File 'lib/trajectory_msgs/JointTrajectoryPoint.rb', line 74

def serialize(buff)
  begin
    length = @positions.length
    buff.write(@@struct_L.pack(length))
    pattern = "d#{length}"
    buff.write(*@positions.pack(pattern))
    length = @velocities.length
    buff.write(@@struct_L.pack(length))
    pattern = "d#{length}"
    buff.write(*@velocities.pack(pattern))
    length = @accelerations.length
    buff.write(@@struct_L.pack(length))
    pattern = "d#{length}"
    buff.write(*@accelerations.pack(pattern))
    buff.write(@@struct_l2.pack(@time_from_start.secs, @time_from_start.nsecs))
  rescue => exception
    raise "some erro in serialize: #{exception}"

  end
end