240 lines
7.7 KiB
JavaScript
240 lines
7.7 KiB
JavaScript
// Auto-generated. Do not edit!
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// (in-package jog_msgs.msg)
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"use strict";
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const _serializer = _ros_msg_utils.Serialize;
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const _arraySerializer = _serializer.Array;
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const _deserializer = _ros_msg_utils.Deserialize;
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const _arrayDeserializer = _deserializer.Array;
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const _finder = _ros_msg_utils.Find;
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const _getByteLength = _ros_msg_utils.getByteLength;
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let geometry_msgs = _finder('geometry_msgs');
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let std_msgs = _finder('std_msgs');
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//-----------------------------------------------------------
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class JogFrame {
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constructor(initObj={}) {
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if (initObj === null) {
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// initObj === null is a special case for deserialization where we don't initialize fields
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this.header = null;
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this.group_name = null;
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this.link_name = null;
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this.linear_delta = null;
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this.angular_delta = null;
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this.avoid_collisions = null;
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}
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else {
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if (initObj.hasOwnProperty('header')) {
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this.header = initObj.header
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}
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else {
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this.header = new std_msgs.msg.Header();
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}
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if (initObj.hasOwnProperty('group_name')) {
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this.group_name = initObj.group_name
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}
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else {
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this.group_name = '';
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}
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if (initObj.hasOwnProperty('link_name')) {
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this.link_name = initObj.link_name
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}
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else {
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this.link_name = '';
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}
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if (initObj.hasOwnProperty('linear_delta')) {
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this.linear_delta = initObj.linear_delta
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}
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else {
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this.linear_delta = new geometry_msgs.msg.Vector3();
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}
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if (initObj.hasOwnProperty('angular_delta')) {
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this.angular_delta = initObj.angular_delta
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}
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else {
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this.angular_delta = new geometry_msgs.msg.Vector3();
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}
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if (initObj.hasOwnProperty('avoid_collisions')) {
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this.avoid_collisions = initObj.avoid_collisions
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}
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else {
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this.avoid_collisions = false;
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}
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}
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}
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static serialize(obj, buffer, bufferOffset) {
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// Serializes a message object of type JogFrame
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// Serialize message field [header]
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bufferOffset = std_msgs.msg.Header.serialize(obj.header, buffer, bufferOffset);
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// Serialize message field [group_name]
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bufferOffset = _serializer.string(obj.group_name, buffer, bufferOffset);
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// Serialize message field [link_name]
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bufferOffset = _serializer.string(obj.link_name, buffer, bufferOffset);
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// Serialize message field [linear_delta]
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bufferOffset = geometry_msgs.msg.Vector3.serialize(obj.linear_delta, buffer, bufferOffset);
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// Serialize message field [angular_delta]
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bufferOffset = geometry_msgs.msg.Vector3.serialize(obj.angular_delta, buffer, bufferOffset);
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// Serialize message field [avoid_collisions]
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bufferOffset = _serializer.bool(obj.avoid_collisions, buffer, bufferOffset);
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return bufferOffset;
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}
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static deserialize(buffer, bufferOffset=[0]) {
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//deserializes a message object of type JogFrame
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let len;
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let data = new JogFrame(null);
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// Deserialize message field [header]
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data.header = std_msgs.msg.Header.deserialize(buffer, bufferOffset);
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// Deserialize message field [group_name]
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data.group_name = _deserializer.string(buffer, bufferOffset);
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// Deserialize message field [link_name]
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data.link_name = _deserializer.string(buffer, bufferOffset);
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// Deserialize message field [linear_delta]
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data.linear_delta = geometry_msgs.msg.Vector3.deserialize(buffer, bufferOffset);
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// Deserialize message field [angular_delta]
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data.angular_delta = geometry_msgs.msg.Vector3.deserialize(buffer, bufferOffset);
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// Deserialize message field [avoid_collisions]
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data.avoid_collisions = _deserializer.bool(buffer, bufferOffset);
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return data;
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}
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static getMessageSize(object) {
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let length = 0;
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length += std_msgs.msg.Header.getMessageSize(object.header);
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length += object.group_name.length;
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length += object.link_name.length;
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return length + 57;
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}
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static datatype() {
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// Returns string type for a message object
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return 'jog_msgs/JogFrame';
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}
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static md5sum() {
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//Returns md5sum for a message object
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return 'e342f29bf6beaf00261bdae365abfff9';
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}
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static messageDefinition() {
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// Returns full string definition for message
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return `
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# This is a message to hold data to jog by specifying a target
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# frame. It uses MoveIt! kinematics, so you need to specify the
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# JointGroup name to use in group_name. (lienar|angular)_delta is the
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# amount of displacement.
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# header message. You must set frame_id to define the reference
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# coordinate system of the displacament
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Header header
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# Name of JointGroup of MoveIt!
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string group_name
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# Target link name to jog. The link must be in the JoingGroup
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string link_name
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# Linear displacement vector to jog. The refrence frame is defined by
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# frame_id in header. Unit is in meter.
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geometry_msgs/Vector3 linear_delta
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# Angular displacement vector to jog. The refrence frame is defined by
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# frame_id in header. Unit is in radian.
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geometry_msgs/Vector3 angular_delta
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# It uses avoid_collisions option of MoveIt! kinematics. If it is
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# true, the robot doesn't move if any collisions occured.
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bool avoid_collisions
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================================================================================
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MSG: std_msgs/Header
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# Standard metadata for higher-level stamped data types.
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# This is generally used to communicate timestamped data
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# in a particular coordinate frame.
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#
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# sequence ID: consecutively increasing ID
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uint32 seq
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#Two-integer timestamp that is expressed as:
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# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')
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# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')
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# time-handling sugar is provided by the client library
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time stamp
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#Frame this data is associated with
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# 0: no frame
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# 1: global frame
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string frame_id
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================================================================================
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MSG: geometry_msgs/Vector3
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# This represents a vector in free space.
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# It is only meant to represent a direction. Therefore, it does not
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# make sense to apply a translation to it (e.g., when applying a
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# generic rigid transformation to a Vector3, tf2 will only apply the
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# rotation). If you want your data to be translatable too, use the
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# geometry_msgs/Point message instead.
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float64 x
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float64 y
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float64 z
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`;
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}
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static Resolve(msg) {
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// deep-construct a valid message object instance of whatever was passed in
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if (typeof msg !== 'object' || msg === null) {
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msg = {};
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}
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const resolved = new JogFrame(null);
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if (msg.header !== undefined) {
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resolved.header = std_msgs.msg.Header.Resolve(msg.header)
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}
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else {
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resolved.header = new std_msgs.msg.Header()
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}
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if (msg.group_name !== undefined) {
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resolved.group_name = msg.group_name;
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}
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else {
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resolved.group_name = ''
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}
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if (msg.link_name !== undefined) {
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resolved.link_name = msg.link_name;
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}
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else {
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resolved.link_name = ''
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}
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if (msg.linear_delta !== undefined) {
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resolved.linear_delta = geometry_msgs.msg.Vector3.Resolve(msg.linear_delta)
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}
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else {
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resolved.linear_delta = new geometry_msgs.msg.Vector3()
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}
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if (msg.angular_delta !== undefined) {
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resolved.angular_delta = geometry_msgs.msg.Vector3.Resolve(msg.angular_delta)
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}
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else {
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resolved.angular_delta = new geometry_msgs.msg.Vector3()
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}
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if (msg.avoid_collisions !== undefined) {
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resolved.avoid_collisions = msg.avoid_collisions;
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}
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else {
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resolved.avoid_collisions = false
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}
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return resolved;
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}
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};
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module.exports = JogFrame;
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