edu.wpi.rail.jrosbridge.messages.geometry

Class TransformStamped

java.lang.Object

edu.wpi.rail.jrosbridge.JsonWrapper

edu.wpi.rail.jrosbridge.messages.Message

edu.wpi.rail.jrosbridge.messages.geometry.TransformStamped

public class TransformStamped
extends Message

The geometry_msgs/TransformStamped message. This expresses a transform from coordinate frame header.frame_id to the coordinate frame child_frame_id This message is mostly used by the tf package. See its documentation for more information.

Version:

April 1, 2014

Author:

Russell Toris -- rctoris@wpi.edu

Field Summary

Fields

Modifier and Type	Field and Description
static String	FIELD_CHILD_FRAME_ID The name of the child frame ID field for the message.
static String	FIELD_HEADER The name of the header field for the message.
static String	FIELD_TRANSFORM The name of the transform 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
TransformStamped() Create a new TransformStamped with all 0s.
TransformStamped(Header header, String childFrameID, Transform transform) Create a new TransformStamped with the given values.

Method Summary

Methods

Modifier and Type	Method and Description
TransformStamped	clone() Create a clone of this TransformStamped.
static TransformStamped	fromJsonObject(javax.json.JsonObject jsonObject) Create a new TransformStamped based on the given JSON object.
static TransformStamped	fromJsonString(String jsonString) Create a new TransformStamped based on the given JSON string.
static TransformStamped	fromMessage(Message m) Create a new TransformStamped based on the given Message.
String	getChildFrameID() Get the child frame ID value of this transform.
Header	getHeader() Get the header value of this transform.
Transform	getTransform() Get the transform value of this transform.

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_HEADER

public static final String FIELD_HEADER

The name of the header field for the message.

See Also:

Constant Field Values

FIELD_CHILD_FRAME_ID

public static final String FIELD_CHILD_FRAME_ID

The name of the child frame ID field for the message.

See Also:

Constant Field Values

FIELD_TRANSFORM

public static final String FIELD_TRANSFORM

The name of the transform field for the message.

See Also:

Constant Field Values

TYPE

public static final String TYPE

The message type.

See Also:

Constant Field Values

Constructor Detail

TransformStamped

public TransformStamped()

Create a new TransformStamped with all 0s.

TransformStamped

public TransformStamped(Header header,
                String childFrameID,
                Transform transform)

Create a new TransformStamped with the given values.

Parameters:

header - The header value of the transform.

childFrameID - The child frame ID value of the transform.

transform - The transform value of the transform.

Method Detail

getHeader

public Header getHeader()

Get the header value of this transform.

Returns:

The header value of this transform.

getChildFrameID

public String getChildFrameID()

Get the child frame ID value of this transform.

Returns:

The child frame ID value of this transform.

getTransform

public Transform getTransform()

Get the transform value of this transform.

Returns:

The transform value of this transform.

clone

public TransformStamped clone()

Create a clone of this TransformStamped.

Overrides:

clone in class Message

fromJsonString

public static TransformStamped fromJsonString(String jsonString)

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

Parameters:

jsonString - The JSON string to parse.

Returns:

A TransformStamped message based on the given JSON string.

fromMessage

public static TransformStamped fromMessage(Message m)

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

Parameters:

m - The Message to parse.

Returns:

A TransformStamped message based on the given Message.

fromJsonObject

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

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

Parameters:

jsonObject - The JSON object to parse.

Returns:

A TransformStamped message based on the given JSON object.