ctu.nengoros.comm.rosBackend.backend.impl.turtle

Class PoseBackend

java.lang.Object

ctu.nengoros.comm.rosBackend.backend.newMessageEvent.OnNewRosMessageSource

ctu.nengoros.comm.rosBackend.backend.impl.turtle.PoseBackend

All Implemented Interfaces:

Backend, OnNewRosMessageSourceInt

public class PoseBackend
extends OnNewRosMessageSource
implements Backend

Should be able to handle messages about position of turtle in turtlesim. From rosjava/rosjava_messages: package turtlesim; public interface Pose extends org.ros.internal.message.Message { static final java.lang.String _TYPE = "turtlesim/Pose"; static final java.lang.String _DEFINITION = "float32 x\nfloat32 y\nfloat32 theta\n\nfloat32 linear_Pose\nfloat32 angular_Pose"; float getX(); void setX(float value); float getY(); void setY(float value); float getTheta(); void setTheta(float value); float getLinearPose(); void setLinearPose(float value); float getAngularPose(); void setAngularPose(float value); }

Field Summary

Fields

Modifier and Type	Field and Description
static java.lang.String	MYTYPE

Constructor Summary

Constructors

Constructor and Description
PoseBackend(java.lang.String topic, java.lang.String type, org.ros.node.ConnectedNode myRosNode, boolean publish)

Method Summary

Methods

Modifier and Type	Method and Description
float[]	decodeMessage(org.ros.internal.message.Message mess) Get message data (this receives arrays of ints, just cast them to floats).
int	gedNumOfDimensions() The data from ROS message are concatenated into one vector of float values.
void	publish(float[] data) This thing gets data of given format and publishes them as a ROS message to a specified topic.
void	setReceivedRosMessage(turtlesim.Pose mess)

Methods inherited from class ctu.nengoros.comm.rosBackend.backend.newMessageEvent.OnNewRosMessageSource

addEventListener, fireOnNewMessage, removeEventListener

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Methods inherited from interface ctu.nengoros.comm.rosBackend.backend.Backend

addEventListener, fireOnNewMessage

Methods inherited from interface ctu.nengoros.comm.rosBackend.backend.newMessageEvent.OnNewRosMessageSourceInt

removeEventListener

Field Detail

MYTYPE

public static final java.lang.String MYTYPE

See Also:

Constant Field Values

Constructor Detail

PoseBackend

public PoseBackend(java.lang.String topic,
           java.lang.String type,
           org.ros.node.ConnectedNode myRosNode,
           boolean publish)
            throws MessageFormatException

Throws:

MessageFormatException

Method Detail

publish

public void publish(float[] data)

This thing gets data of given format and publishes them as a ROS message to a specified topic. This methods hold the necessary transformations and publishing.

Specified by:

publish in interface Backend

setReceivedRosMessage

public void setReceivedRosMessage(turtlesim.Pose mess)

decodeMessage

public float[] decodeMessage(org.ros.internal.message.Message mess)

Get message data (this receives arrays of ints, just cast them to floats).

Specified by:

decodeMessage in interface Backend

Returns:

gedNumOfDimensions

public int gedNumOfDimensions()

Description copied from interface: Backend

The data from ROS message are concatenated into one vector of float values. This method returns the resulting length of this vector = number of dimensions for a Nengo Termination.

Specified by:

gedNumOfDimensions in interface Backend

Returns:

dimension of data for Nengo