Class: Visualization_msgs::Marker

Inherits:
ROS::Message
  • Object
show all
Defined in:
lib/visualization_msgs/Marker.rb

Constant Summary collapse

ARROW =

Pseudo-constants

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CUBE = 
1
SPHERE = 
2
CYLINDER = 
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LINE_STRIP = 
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LINE_LIST = 
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CUBE_LIST = 
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SPHERE_LIST = 
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POINTS = 
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TEXT_VIEW_FACING = 
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MESH_RESOURCE = 
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TRIANGLE_LIST = 
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ADD = 
0
MODIFY = 
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DELETE = 
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@@struct_f4 = 
::ROS::Struct.new("f4")
@@struct_L3 = 
::ROS::Struct.new("L3")
@@struct_C = 
::ROS::Struct.new("C")
@@struct_l3d10f4l2C = 
::ROS::Struct.new("l3d10f4l2C")
@@struct_d3 = 
::ROS::Struct.new("d3")
@@struct_L = 
::ROS::Struct.new("L")
@@slot_types = 
['Header','string','int32','int32','int32','geometry_msgs/Pose','geometry_msgs/Vector3','std_msgs/ColorRGBA','duration','bool','geometry_msgs/Point[]','std_msgs/ColorRGBA[]','string','string','bool']

Instance Attribute Summary collapse

Class Method Summary collapse

Instance Method Summary collapse

Constructor Details

#initialize(args = {}) ⇒ Marker

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

  • :ns (string) —

    initialize value

  • :id (int32) —

    initialize value

  • :type (int32) —

    initialize value

  • :action (int32) —

    initialize value

  • :pose (geometry_msgs/Pose) —

    initialize value

  • :scale (geometry_msgs/Vector3) —

    initialize value

  • :color (std_msgs/ColorRGBA) —

    initialize value

  • :lifetime (duration) —

    initialize value

  • :frame_locked (bool) —

    initialize value

  • :points (geometry_msgs/Point[]) —

    initialize value

  • :colors (std_msgs/ColorRGBA[]) —

    initialize value

  • :text (string) —

    initialize value

  • :mesh_resource (string) —

    initialize value

  • :mesh_use_embedded_materials (bool) —

    initialize value



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# File 'lib/visualization_msgs/Marker.rb', line 174

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[:ns]
    @ns = args[:ns]
  else
    @ns = ''
  end
  if args[:id]
    @id = args[:id]
  else
    @id = 0
  end
  if args[:type]
    @type = args[:type]
  else
    @type = 0
  end
  if args[:action]
    @action = args[:action]
  else
    @action = 0
  end
  if args[:pose]
    @pose = args[:pose]
  else
    @pose = Geometry_msgs::Pose.new
  end
  if args[:scale]
    @scale = args[:scale]
  else
    @scale = Geometry_msgs::Vector3.new
  end
  if args[:color]
    @color = args[:color]
  else
    @color = Std_msgs::ColorRGBA.new
  end
  if args[:lifetime]
    @lifetime = args[:lifetime]
  else
    @lifetime = ROS::Duration.new
  end
  if args[:frame_locked]
    @frame_locked = args[:frame_locked]
  else
    @frame_locked = false
  end
  if args[:points]
    @points = args[:points]
  else
    @points = []
  end
  if args[:colors]
    @colors = args[:colors]
  else
    @colors = []
  end
  if args[:text]
    @text = args[:text]
  else
    @text = ''
  end
  if args[:mesh_resource]
    @mesh_resource = args[:mesh_resource]
  else
    @mesh_resource = ''
  end
  if args[:mesh_use_embedded_materials]
    @mesh_use_embedded_materials = args[:mesh_use_embedded_materials]
  else
    @mesh_use_embedded_materials = false
  end
end

Instance Attribute Details

#action ⇒ Object

Returns the value of attribute action.



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# File 'lib/visualization_msgs/Marker.rb', line 145

def action
  @action
end

#color ⇒ Object

Returns the value of attribute color.



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# File 'lib/visualization_msgs/Marker.rb', line 145

def color
  @color
end

#colors ⇒ Object

Returns the value of attribute colors.



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# File 'lib/visualization_msgs/Marker.rb', line 145

def colors
  @colors
end

#frame_locked ⇒ Object

Returns the value of attribute frame_locked.



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# File 'lib/visualization_msgs/Marker.rb', line 145

def frame_locked
  @frame_locked
end

#header ⇒ Object

Returns the value of attribute header.



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# File 'lib/visualization_msgs/Marker.rb', line 145

def header
  @header
end

#id ⇒ Object

Returns the value of attribute id.



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# File 'lib/visualization_msgs/Marker.rb', line 145

def id
  @id
end

#lifetime ⇒ Object

Returns the value of attribute lifetime.



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# File 'lib/visualization_msgs/Marker.rb', line 145

def lifetime
  @lifetime
end

#mesh_resource ⇒ Object

Returns the value of attribute mesh_resource.



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# File 'lib/visualization_msgs/Marker.rb', line 145

def mesh_resource
  @mesh_resource
end

#mesh_use_embedded_materials ⇒ Object

Returns the value of attribute mesh_use_embedded_materials.



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# File 'lib/visualization_msgs/Marker.rb', line 145

def mesh_use_embedded_materials
  @mesh_use_embedded_materials
end

#ns ⇒ Object

Returns the value of attribute ns.



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# File 'lib/visualization_msgs/Marker.rb', line 145

def ns
  @ns
end

#points ⇒ Object

Returns the value of attribute points.



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# File 'lib/visualization_msgs/Marker.rb', line 145

def points
  @points
end

#pose ⇒ Object

Returns the value of attribute pose.



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# File 'lib/visualization_msgs/Marker.rb', line 145

def pose
  @pose
end

#scale ⇒ Object

Returns the value of attribute scale.



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# File 'lib/visualization_msgs/Marker.rb', line 145

def scale
  @scale
end

#text ⇒ Object

Returns the value of attribute text.



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# File 'lib/visualization_msgs/Marker.rb', line 145

def text
  @text
end

#type ⇒ Object

Returns the value of attribute type.



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# File 'lib/visualization_msgs/Marker.rb', line 145

def type
  @type
end

Class Method Details

.md5sum ⇒ Object 



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# File 'lib/visualization_msgs/Marker.rb', line 15

def self.md5sum
  "18326976df9d29249efc939e00342cde"
end

.type ⇒ Object 



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# File 'lib/visualization_msgs/Marker.rb', line 19

def self.type
  "visualization_msgs/Marker"
end

Instance Method Details

#_get_types ⇒ String

internal API method

Returns:

  • (String) —

    Message type string.



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# File 'lib/visualization_msgs/Marker.rb', line 255

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/visualization_msgs/Marker.rb', line 298

def deserialize(str)

  begin
    if @header == nil
      @header = Std_msgs::Header.new
    end
    if @pose == nil
      @pose = Geometry_msgs::Pose.new
    end
    if @scale == nil
      @scale = Geometry_msgs::Vector3.new
    end
    if @color == nil
      @color = Std_msgs::ColorRGBA.new
    end
    if @lifetime == nil
      @lifetime = ROS::Duration.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)])
    start = end_point
    end_point += length
    @ns = str[start..(end_point-1)]
    start = end_point
    end_point += ROS::Struct::calc_size('l3d10f4l2C')
    (@id, @type, @action, @pose.position.x, @pose.position.y, @pose.position.z, @pose.orientation.x, @pose.orientation.y, @pose.orientation.z, @pose.orientation.w, @scale.x, @scale.y, @scale.z, @color.r, @color.g, @color.b, @color.a, @lifetime.secs, @lifetime.nsecs, @frame_locked,) = @@struct_l3d10f4l2C.unpack(str[start..(end_point-1)])
    @frame_locked = bool(@frame_locked)
    start = end_point
    end_point += 4
    (length,) = @@struct_L.unpack(str[start..(end_point-1)])
    @points = []
    length.times do
      val1 = Geometry_msgs::Point.new
      _x = val1
      start = end_point
      end_point += ROS::Struct::calc_size('d3')
      (_x.x, _x.y, _x.z,) = @@struct_d3.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)])
    @colors = []
    length.times do
      val1 = Std_msgs::ColorRGBA.new
      _x = val1
      start = end_point
      end_point += ROS::Struct::calc_size('f4')
      (_x.r, _x.g, _x.b, _x.a,) = @@struct_f4.unpack(str[start..(end_point-1)])
      @colors.push(val1)
    end
    start = end_point
    end_point += 4
    (length,) = @@struct_L.unpack(str[start..(end_point-1)])
    start = end_point
    end_point += length
    @text = 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
    @mesh_resource = str[start..(end_point-1)]
    start = end_point
    end_point += ROS::Struct::calc_size('C')
    (@mesh_use_embedded_materials,) = @@struct_C.unpack(str[start..(end_point-1)])
    @mesh_use_embedded_materials = bool(@mesh_use_embedded_materials)
    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/visualization_msgs/Marker.rb', line 23

def has_header?
  true
end

#message_definition ⇒ Object 



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# File 'lib/visualization_msgs/Marker.rb', line 27

def message_definition
  "# See http://www.ros.org/wiki/rviz/DisplayTypes/Marker and http://www.ros.org/wiki/rviz/Tutorials/Markers%3A%20Basic%20Shapes for more information on using this message with rviz

uint8 ARROW=0
uint8 CUBE=1
uint8 SPHERE=2
uint8 CYLINDER=3
uint8 LINE_STRIP=4
uint8 LINE_LIST=5
uint8 CUBE_LIST=6
uint8 SPHERE_LIST=7
uint8 POINTS=8
uint8 TEXT_VIEW_FACING=9
uint8 MESH_RESOURCE=10
uint8 TRIANGLE_LIST=11

uint8 ADD=0
uint8 MODIFY=0
uint8 DELETE=2

Header header                        # header for time/frame information
string ns                            # Namespace to place this object in... used in conjunction with id to create a unique name for the object
int32 id 		                         # object ID useful in conjunction with the namespace for manipulating and deleting the object later
int32 type 		                       # Type of object
int32 action 	                       # 0 add/modify an object, 1 (deprecated), 2 deletes an object
geometry_msgs/Pose pose                 # Pose of the object
geometry_msgs/Vector3 scale             # Scale of the object 1,1,1 means default (usually 1 meter square)
std_msgs/ColorRGBA color             # Color [0.0-1.0]
duration lifetime                    # How long the object should last before being automatically deleted.  0 means forever
bool frame_locked                    # If this marker should be frame-locked, i.e. retransformed into its frame every timestep

#Only used if the type specified has some use for them (eg. POINTS, LINE_STRIP, ...)
geometry_msgs/Point[] points
#Only used if the type specified has some use for them (eg. POINTS, LINE_STRIP, ...)
#number of colors must either be 0 or equal to the number of points
#NOTE: alpha is not yet used
std_msgs/ColorRGBA[] colors

# NOTE: only used for text markers
string text

# NOTE: only used for MESH_RESOURCE markers
string mesh_resource
bool mesh_use_embedded_materials

================================================================================
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/Pose
# A representation of pose in free space, composed of postion and orientation. 
Point position
Quaternion orientation

================================================================================
MSG: geometry_msgs/Point
# This contains the position of a point 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

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

float64 x
float64 y
float64 z
================================================================================
MSG: std_msgs/ColorRGBA
float32 r
float32 g
float32 b
float32 a

"
end

#serialize(buff) ⇒ Object

serialize message into buffer

Parameters:

  • buff (IO) —

    buffer



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# File 'lib/visualization_msgs/Marker.rb', line 261

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}"))
    _x = @ns
    length = _x.length
    buff.write([length, _x].pack("La#{length}"))
    buff.write(@@struct_l3d10f4l2C.pack(@id, @type, @action, @pose.position.x, @pose.position.y, @pose.position.z, @pose.orientation.x, @pose.orientation.y, @pose.orientation.z, @pose.orientation.w, @scale.x, @scale.y, @scale.z, @color.r, @color.g, @color.b, @color.a, @lifetime.secs, @lifetime.nsecs, @frame_locked))
    length = @points.length
    buff.write(@@struct_L.pack(length))
    for val1 in @points
      _x = val1
      buff.write(@@struct_d3.pack(_x.x, _x.y, _x.z))
    end
    length = @colors.length
    buff.write(@@struct_L.pack(length))
    for val1 in @colors
      _x = val1
      buff.write(@@struct_f4.pack(_x.r, _x.g, _x.b, _x.a))
    end
    _x = @text
    length = _x.length
    buff.write([length, _x].pack("La#{length}"))
    _x = @mesh_resource
    length = _x.length
    buff.write([length, _x].pack("La#{length}"))
    buff.write(@@struct_C.pack(@mesh_use_embedded_materials))
  rescue => exception
    raise "some erro in serialize: #{exception}"

  end
end