edu.wpi.rail.jrosbridge.messages.geometry

Class TwistWithCovariance

java.lang.Object

edu.wpi.rail.jrosbridge.JsonWrapper

edu.wpi.rail.jrosbridge.messages.Message

edu.wpi.rail.jrosbridge.messages.geometry.TwistWithCovariance

public class TwistWithCovariance
extends Message

The geometry_msgs/TwistWithCovariance message. This expresses velocity 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_TWIST The name of the twist 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
TwistWithCovariance() Create a new TwistWithCovariance with all 0 values.
TwistWithCovariance(Twist twist) Create a new TwistWithCovariance with the given twist.
TwistWithCovariance(Twist twist, double[] covariance) Create a new TwistWithCovariance with the given twist and covariance matrix.

Method Summary

Methods

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

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_TWIST

public static final String FIELD_TWIST

The name of the twist 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

TwistWithCovariance

public TwistWithCovariance()

Create a new TwistWithCovariance with all 0 values.

TwistWithCovariance

public TwistWithCovariance(Twist twist)

Create a new TwistWithCovariance with the given twist. The covariance matrix will be all 0s.

Parameters:

twist - The twist value of the twist.

TwistWithCovariance

public TwistWithCovariance(Twist twist,
                   double[] covariance)

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

Parameters:

twist - The twist value of the twist.

covariance - The covariance matrix as an array.

Method Detail

getTwist

public Twist getTwist()

Get the twist value of this twist.

Returns:

The twist value of this twist.

getCovariance

public double[] getCovariance()

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

Returns:

The covariance matrix of this twist as an array.

getCovarianceMatrix

public double[][] getCovarianceMatrix()

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

Returns:

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

clone

public TwistWithCovariance clone()

Create a clone of this TwistWithCovariance.

Overrides:

clone in class Message

fromJsonString

public static TwistWithCovariance fromJsonString(String jsonString)

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

Parameters:

jsonString - The JSON string to parse.

Returns:

A TwistWithCovariance message based on the given JSON string.

fromMessage

public static TwistWithCovariance fromMessage(Message m)

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

Parameters:

m - The Message to parse.

Returns:

A TwistWithCovariance message based on the given Message.

fromJsonObject

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

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

Parameters:

jsonObject - The JSON object to parse.

Returns:

A TwistWithCovariance message based on the given JSON object.