Class: Geometry_msgs::TwistStamped

Inherits:
ROS::Message
  • Object
show all
Defined in:
lib/geometry_msgs/TwistStamped.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/Twist']

Instance Attribute Summary collapse

Class Method Summary collapse

Instance Method Summary collapse

Constructor Details

#initialize(args = {}) ⇒ TwistStamped

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

  • :twist (geometry_msgs/Twist)

    initialize value



74
75
76
77
78
79
80
81
82
83
84
85
86
# File 'lib/geometry_msgs/TwistStamped.rb', line 74

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[:twist]
    @twist = args[:twist]
  else
    @twist = Geometry_msgs::Twist.new
  end
end

Instance Attribute Details

#headerObject

Returns the value of attribute header.



61
62
63
# File 'lib/geometry_msgs/TwistStamped.rb', line 61

def header
  @header
end

#twistObject

Returns the value of attribute twist.



61
62
63
# File 'lib/geometry_msgs/TwistStamped.rb', line 61

def twist
  @twist
end

Class Method Details

.md5sumObject



11
12
13
# File 'lib/geometry_msgs/TwistStamped.rb', line 11

def self.md5sum
  "98d34b0043a2093cf9d9345ab6eef12e"
end

.typeObject



15
16
17
# File 'lib/geometry_msgs/TwistStamped.rb', line 15

def self.type
  "geometry_msgs/TwistStamped"
end

Instance Method Details

#_get_typesString

internal API method

Returns:

  • (String)

    Message type string.



90
91
92
# File 'lib/geometry_msgs/TwistStamped.rb', line 90

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


111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
# File 'lib/geometry_msgs/TwistStamped.rb', line 111

def deserialize(str)

  begin
    if @header == nil
      @header = Std_msgs::Header.new
    end
    if @twist == nil
      @twist = Geometry_msgs::Twist.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')
    (@twist.linear.x, @twist.linear.y, @twist.linear.z, @twist.angular.x, @twist.angular.y, @twist.angular.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)


19
20
21
# File 'lib/geometry_msgs/TwistStamped.rb', line 19

def has_header?
  true
end

#message_definitionObject



23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
# File 'lib/geometry_msgs/TwistStamped.rb', line 23

def message_definition
  "# A twist with reference coordinate frame and timestamp
Header header
Twist twist

================================================================================
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/Twist
# This expresses velocity in free space broken into it's linear and angular parts. 
Vector3  linear
Vector3  angular

================================================================================
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



96
97
98
99
100
101
102
103
104
105
106
107
# File 'lib/geometry_msgs/TwistStamped.rb', line 96

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(@twist.linear.x, @twist.linear.y, @twist.linear.z, @twist.angular.x, @twist.angular.y, @twist.angular.z))
  rescue => exception
    raise "some erro in serialize: #{exception}"

  end
end