Class: Pr2_controllers_msgs::Pr2GripperCommandActionResult

Inherits:
ROS::Message
  • Object
show all
Defined in:
lib/pr2_controllers_msgs/Pr2GripperCommandActionResult.rb

Constant Summary collapse

@@struct_d2C2 = 
::ROS::Struct.new("d2C2")
@@struct_L3 = 
::ROS::Struct.new("L3")
@@struct_C = 
::ROS::Struct.new("C")
@@struct_L2 = 
::ROS::Struct.new("L2")
@@struct_L = 
::ROS::Struct.new("L")
@@slot_types = 
['Header','actionlib_msgs/GoalStatus','pr2_controllers_msgs/Pr2GripperCommandResult']

Instance Attribute Summary collapse

Class Method Summary collapse

Instance Method Summary collapse

Constructor Details

#initialize(args = {}) ⇒ Pr2GripperCommandActionResult

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

  • :status (actionlib_msgs/GoalStatus) —

    initialize value

  • :result (pr2_controllers_msgs/Pr2GripperCommandResult) —

    initialize value



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# File 'lib/pr2_controllers_msgs/Pr2GripperCommandActionResult.rb', line 115

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[:status]
    @status = args[:status]
  else
    @status = Actionlib_msgs::GoalStatus.new
  end
  if args[:result]
    @result = args[:result]
  else
    @result = Pr2_controllers_msgs::Pr2GripperCommandResult.new
  end
end

Instance Attribute Details

#header ⇒ Object

Returns the value of attribute header.



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# File 'lib/pr2_controllers_msgs/Pr2GripperCommandActionResult.rb', line 99

def header
  @header
end

#result ⇒ Object

Returns the value of attribute result.



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# File 'lib/pr2_controllers_msgs/Pr2GripperCommandActionResult.rb', line 99

def result
  @result
end

#status ⇒ Object

Returns the value of attribute status.



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# File 'lib/pr2_controllers_msgs/Pr2GripperCommandActionResult.rb', line 99

def status
  @status
end

Class Method Details

.md5sum ⇒ Object 



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# File 'lib/pr2_controllers_msgs/Pr2GripperCommandActionResult.rb', line 13

def self.md5sum
  "143702cb2df0f163c5283cedc5efc6b6"
end

.type ⇒ Object 



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# File 'lib/pr2_controllers_msgs/Pr2GripperCommandActionResult.rb', line 17

def self.type
  "pr2_controllers_msgs/Pr2GripperCommandActionResult"
end

Instance Method Details

#_get_types ⇒ String

internal API method

Returns:

  • (String) —

    Message type string.



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# File 'lib/pr2_controllers_msgs/Pr2GripperCommandActionResult.rb', line 136

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/pr2_controllers_msgs/Pr2GripperCommandActionResult.rb', line 165

def deserialize(str)

  begin
    if @header == nil
      @header = Std_msgs::Header.new
    end
    if @status == nil
      @status = Actionlib_msgs::GoalStatus.new
    end
    if @result == nil
      @result = Pr2_controllers_msgs::Pr2GripperCommandResult.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('L2')
    (@status.goal_id.stamp.secs, @status.goal_id.stamp.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
    @status.goal_id.id = str[start..(end_point-1)]
    start = end_point
    end_point += ROS::Struct::calc_size('C')
    (@status.status,) = @@struct_C.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
    @status.text = str[start..(end_point-1)]
    start = end_point
    end_point += ROS::Struct::calc_size('d2C2')
    (@result.position, @result.effort, @result.stalled, @result.reached_goal,) = @@struct_d2C2.unpack(str[start..(end_point-1)])
    @result.stalled = bool(@result.stalled)
    @result.reached_goal = bool(@result.reached_goal)
    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/pr2_controllers_msgs/Pr2GripperCommandActionResult.rb', line 21

def has_header?
  true
end

#message_definition ⇒ Object 



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# File 'lib/pr2_controllers_msgs/Pr2GripperCommandActionResult.rb', line 25

def message_definition
  "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======

Header header
actionlib_msgs/GoalStatus status
Pr2GripperCommandResult result

================================================================================
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: actionlib_msgs/GoalStatus
GoalID goal_id
uint8 status
uint8 PENDING         = 0   # The goal has yet to be processed by the action server
uint8 ACTIVE          = 1   # The goal is currently being processed by the action server
uint8 PREEMPTED       = 2   # The goal received a cancel request after it started executing
                          #   and has since completed its execution (Terminal State)
uint8 SUCCEEDED       = 3   # The goal was achieved successfully by the action server (Terminal State)
uint8 ABORTED         = 4   # The goal was aborted during execution by the action server due
                          #    to some failure (Terminal State)
uint8 REJECTED        = 5   # The goal was rejected by the action server without being processed,
                          #    because the goal was unattainable or invalid (Terminal State)
uint8 PREEMPTING      = 6   # The goal received a cancel request after it started executing
                          #    and has not yet completed execution
uint8 RECALLING       = 7   # The goal received a cancel request before it started executing,
                          #    but the action server has not yet confirmed that the goal is canceled
uint8 RECALLED        = 8   # The goal received a cancel request before it started executing
                          #    and was successfully cancelled (Terminal State)
uint8 LOST            = 9   # An action client can determine that a goal is LOST. This should not be
                          #    sent over the wire by an action server

#Allow for the user to associate a string with GoalStatus for debugging
string text


================================================================================
MSG: actionlib_msgs/GoalID
# The stamp should store the time at which this goal was requested.
# It is used by an action server when it tries to preempt all
# goals that were requested before a certain time
time stamp

# The id provides a way to associate feedback and
# result message with specific goal requests. The id
# specified must be unique.
string id


================================================================================
MSG: pr2_controllers_msgs/Pr2GripperCommandResult
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
float64 position  # The current gripper gap size (in meters)
float64 effort    # The current effort exerted (in Newtons)
bool stalled      # True iff the gripper is exerting max effort and not moving
bool reached_goal # True iff the gripper position has reached the commanded setpoint

"
end

#serialize(buff) ⇒ Object

serialize message into buffer

Parameters:

  • buff (IO) —

    buffer



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# File 'lib/pr2_controllers_msgs/Pr2GripperCommandActionResult.rb', line 142

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_L2.pack(@status.goal_id.stamp.secs, @status.goal_id.stamp.nsecs))
    _x = @status.goal_id.id
    length = _x.length
    buff.write([length, _x].pack("La#{length}"))
    buff.write(@@struct_C.pack(@status.status))
    _x = @status.text
    length = _x.length
    buff.write([length, _x].pack("La#{length}"))
    buff.write(@@struct_d2C2.pack(@result.position, @result.effort, @result.stalled, @result.reached_goal))
  rescue => exception
    raise "some erro in serialize: #{exception}"

  end
end