edu.wpi.rail.jrosbridge.messages.geometry

Class PoseWithCovariance

java.lang.Object

edu.wpi.rail.jrosbridge.JsonWrapper

edu.wpi.rail.jrosbridge.messages.Message

edu.wpi.rail.jrosbridge.messages.geometry.PoseWithCovariance

public class PoseWithCovariance
extends Message

The geometry_msgs/PoseWithCovariance message. This represents a pose in free space with uncertainty. The orientation parameters use a fixed-axis representation. In order, the parameters are: (x, y, z, rotation about X axis, rotation about Y axis, rotation about Z axis).

Version:

April 1, 2014

Author:

Russell Toris -- rctoris@wpi.edu

Field Summary

Fields

Modifier and Type	Field and Description
static int	COVARIANCE_COLUMNS The number of columns in the covariance matrix.
static int	COVARIANCE_ROWS The number of rows in the covariance matrix.
static int	COVARIANCE_SIZE The size of the covariance matrix.
static String	FIELD_COVARIANCE The name of the covariance field for the message.
static String	FIELD_POSE The name of the pose field for the message.
static String	TYPE The message type.

Fields inherited from class edu.wpi.rail.jrosbridge.messages.Message

EMPTY_MESSAGE

Fields inherited from class edu.wpi.rail.jrosbridge.JsonWrapper

EMPTY_JSON

Constructor Summary

Constructors

Constructor and Description
PoseWithCovariance() Create a new PoseWithCovariance with all 0 values.
PoseWithCovariance(Pose pose) Create a new PoseWithCovariance with the given pose.
PoseWithCovariance(Pose pose, double[] covariance) Create a new PoseWithCovariance with the given pose and covariance matrix.

Method Summary

Methods

Modifier and Type	Method and Description
PoseWithCovariance	clone() Create a clone of this PoseWithCovariance.
static PoseWithCovariance	fromJsonObject(javax.json.JsonObject jsonObject) Create a new PoseWithCovariance based on the given JSON object.
static PoseWithCovariance	fromJsonString(String jsonString) Create a new PoseWithCovariance based on the given JSON string.
static PoseWithCovariance	fromMessage(Message m) Create a new PoseWithCovariance based on the given Message.
double[]	getCovariance() Get the covariance matrix of this pose as an array.
double[][]	getCovarianceMatrix() Get the covariance matrix of this pose as a 2d-array.
Pose	getPose() Get the pose value of this pose.

Methods inherited from class edu.wpi.rail.jrosbridge.messages.Message

getMessageType, setMessageType

Methods inherited from class edu.wpi.rail.jrosbridge.JsonWrapper

equals, hashCode, toJsonObject, toString

Methods inherited from class java.lang.Object

finalize, getClass, notify, notifyAll, wait, wait, wait

Field Detail

FIELD_POSE

public static final String FIELD_POSE

The name of the pose field for the message.

See Also:

Constant Field Values

FIELD_COVARIANCE

public static final String FIELD_COVARIANCE

The name of the covariance field for the message.

See Also:

Constant Field Values

TYPE

public static final String TYPE

The message type.

See Also:

Constant Field Values

COVARIANCE_ROWS

public static final int COVARIANCE_ROWS

The number of rows in the covariance matrix.

See Also:

Constant Field Values

COVARIANCE_COLUMNS

public static final int COVARIANCE_COLUMNS

The number of columns in the covariance matrix.

See Also:

Constant Field Values

COVARIANCE_SIZE

public static final int COVARIANCE_SIZE

The size of the covariance matrix.

See Also:

Constant Field Values

Constructor Detail

PoseWithCovariance

public PoseWithCovariance()

Create a new PoseWithCovariance with all 0 values.

PoseWithCovariance

public PoseWithCovariance(Pose pose)

Create a new PoseWithCovariance with the given pose. The covariance matrix will be all 0s.

Parameters:

pose - The pose value of the pose.

PoseWithCovariance

public PoseWithCovariance(Pose pose,
                  double[] covariance)

Create a new PoseWithCovariance with the given pose and covariance matrix. If the given array is not of size PoseWithCovariance.COVARIANCE_SIZE, all 0s will be used instead. The values of the array will be copied into this object.

Parameters:

pose - The pose value of the pose.

covariance - The covariance matrix as an array.

Method Detail

getPose

public Pose getPose()

Get the pose value of this pose.

Returns:

The pose value of this pose.

getCovariance

public double[] getCovariance()

Get the covariance matrix of this pose as an array. Note that this array should never be modified directly.

Returns:

The covariance matrix of this pose as an array.

getCovarianceMatrix

public double[][] getCovarianceMatrix()

Get the covariance matrix of this pose as a 2d-array. Note that this array should never be modified directly.

Returns:

The covariance matrix of this pose as a 2d-array.

clone

public PoseWithCovariance clone()

Create a clone of this PoseWithCovariance.

Overrides:

clone in class Message

fromJsonString

public static PoseWithCovariance fromJsonString(String jsonString)

Create a new PoseWithCovariance based on the given JSON string. Any missing values will be set to their defaults.

Parameters:

jsonString - The JSON string to parse.

Returns:

A PoseWithCovariance message based on the given JSON string.

fromMessage

public static PoseWithCovariance fromMessage(Message m)

Create a new PoseWithCovariance based on the given Message. Any missing values will be set to their defaults.

Parameters:

m - The Message to parse.

Returns:

A PoseWithCovariance message based on the given Message.

fromJsonObject

public static PoseWithCovariance fromJsonObject(javax.json.JsonObject jsonObject)

Create a new PoseWithCovariance based on the given JSON object. Any missing values will be set to their defaults.

Parameters:

jsonObject - The JSON object to parse.

Returns:

A PoseWithCovariance message based on the given JSON object.