Class: Geometry_msgs::WrenchStamped

Inherits:
ROS::Message
  • Object
show all
Defined in:
lib/geometry_msgs/WrenchStamped.rb

Constant Summary collapse

@@struct_L3 = 
::ROS::Struct.new("L3")
@@struct_d6 = 
::ROS::Struct.new("d6")
@@struct_L = 
::ROS::Struct.new("L")
@@slot_types = 
['Header','geometry_msgs/Wrench']

Instance Attribute Summary collapse

Class Method Summary collapse

Instance Method Summary collapse

Constructor Details

#initialize(args = {}) ⇒ WrenchStamped

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

  • :wrench (geometry_msgs/Wrench) —

    initialize value



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# File 'lib/geometry_msgs/WrenchStamped.rb', line 75

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[:wrench]
    @wrench = args[:wrench]
  else
    @wrench = Geometry_msgs::Wrench.new
  end
end

Instance Attribute Details

#header ⇒ Object

Returns the value of attribute header.



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# File 'lib/geometry_msgs/WrenchStamped.rb', line 62

def header
  @header
end

#wrench ⇒ Object

Returns the value of attribute wrench.



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# File 'lib/geometry_msgs/WrenchStamped.rb', line 62

def wrench
  @wrench
end

Class Method Details

.md5sum ⇒ Object 



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# File 'lib/geometry_msgs/WrenchStamped.rb', line 11

def self.md5sum
  "d78d3cb249ce23087ade7e7d0c40cfa7"
end

.type ⇒ Object 



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# File 'lib/geometry_msgs/WrenchStamped.rb', line 15

def self.type
  "geometry_msgs/WrenchStamped"
end

Instance Method Details

#_get_types ⇒ String

internal API method

Returns:

  • (String) —

    Message type string.



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# File 'lib/geometry_msgs/WrenchStamped.rb', line 91

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/geometry_msgs/WrenchStamped.rb', line 112

def deserialize(str)

  begin
    if @header == nil
      @header = Std_msgs::Header.new
    end
    if @wrench == nil
      @wrench = Geometry_msgs::Wrench.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('d6')
    (@wrench.force.x, @wrench.force.y, @wrench.force.z, @wrench.torque.x, @wrench.torque.y, @wrench.torque.z,) = @@struct_d6.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/geometry_msgs/WrenchStamped.rb', line 19

def has_header?
  true
end

#message_definition ⇒ Object 



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# File 'lib/geometry_msgs/WrenchStamped.rb', line 23

def message_definition
  "# A wrench with reference coordinate frame and timestamp
Header header
Wrench wrench

================================================================================
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/Wrench
# This represents force in free space, seperated into 
# it's linear and angular parts.  
Vector3  force
Vector3  torque

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

float64 x
float64 y
float64 z
"
end

#serialize(buff) ⇒ Object

serialize message into buffer

Parameters:

  • buff (IO) —

    buffer



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# File 'lib/geometry_msgs/WrenchStamped.rb', line 97

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_d6.pack(@wrench.force.x, @wrench.force.y, @wrench.force.z, @wrench.torque.x, @wrench.torque.y, @wrench.torque.z))
  rescue => exception
    raise "some erro in serialize: #{exception}"

  end
end