edu.wpi.rail.jrosbridge.messages.std

Class MultiArrayLayout

java.lang.Object

edu.wpi.rail.jrosbridge.JsonWrapper

edu.wpi.rail.jrosbridge.messages.Message

edu.wpi.rail.jrosbridge.messages.std.MultiArrayLayout

public class MultiArrayLayout
extends Message

The std_msgs/MultiArrayLayout message. The multiarray declares a generic multi-dimensional array of a particular data type. Dimensions are ordered from outer most to inner most. Accessors should ALWAYS be written in terms of dimension stride and specified outer-most dimension first. multiarray(i,j,k) = data[data_offset + dim_stride[1]*i + dim_stride[2]*j + k] A standard, 3-channel 640x480 image with interleaved color channels would be specified as: dim[0].label = "height" dim[0].size = 480 dim[0].stride = 3*640*480 = 921600 (note dim[0] stride is just size of image) dim[1].label = "width" dim[1].size = 640 dim[1].stride = 3*640 = 1920 dim[2].label = "channel" dim[2].size = 3 dim[2].stride = 3 multiarray(i,j,k) refers to the ith row, jth column, and kth channel.

Version:

April 1, 2014

Author:

Russell Toris -- rctoris@wpi.edu

Field Summary

Fields

Modifier and Type	Field and Description
static String	FIELD_DATA_OFFSET The name of the data offset field for the message.
static String	FIELD_DIM The name of the dimensions 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
MultiArrayLayout() Create a new MultiArrayLayout with empty values.
MultiArrayLayout(MultiArrayDimension[] dim, int dataOffset) Create a new MultiArrayLayout with the given set of layouts.

Method Summary

Methods

Modifier and Type	Method and Description
MultiArrayLayout	clone() Create a clone of this MultiArrayLayout.
static MultiArrayLayout	fromJsonObject(javax.json.JsonObject jsonObject) Create a new MultiArrayLayout based on the given JSON object.
static MultiArrayLayout	fromJsonString(String jsonString) Create a new MultiArrayLayout based on the given JSON string.
static MultiArrayLayout	fromMessage(Message m) Create a new MultiArrayLayout based on the given Message.
MultiArrayDimension	get(int index) Get the dimension at the given index.
int	getDataOffset() Get the data offset value.
MultiArrayDimension[]	getDim() Get the dimension properties.
int	size() Get the number of dimension properties in this array layout.

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_DIM

public static final String FIELD_DIM

The name of the dimensions field for the message.

See Also:

Constant Field Values

FIELD_DATA_OFFSET

public static final String FIELD_DATA_OFFSET

The name of the data offset 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

MultiArrayLayout

public MultiArrayLayout()

Create a new MultiArrayLayout with empty values.

MultiArrayLayout

public MultiArrayLayout(MultiArrayDimension[] dim,
                int dataOffset)

Create a new MultiArrayLayout with the given set of layouts. The array of layouts will be copied into this object. The data offset is treated as a 32-bit unsigned integer. The array of properties will be copied into this object.

Parameters:

dim - The array of dimension properties.

dataOffset - The padding bytes at front of the data.

Method Detail

size

public int size()

Get the number of dimension properties in this array layout.

Returns:

The number of dimension properties in this array layout.

get

public MultiArrayDimension get(int index)

Get the dimension at the given index.

Parameters:

index - The index to get the dimension property of.

Returns:

The dimension property at the given index.

getDim

public MultiArrayDimension[] getDim()

Get the dimension properties. Note that this array should never be modified directly.

Returns:

The layouts of this array layout.

getDataOffset

public int getDataOffset()

Get the data offset value.

Returns:

The data offset value.

clone

public MultiArrayLayout clone()

Create a clone of this MultiArrayLayout.

Overrides:

clone in class Message

fromJsonString

public static MultiArrayLayout fromJsonString(String jsonString)

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

Parameters:

jsonString - The JSON string to parse.

Returns:

A MultiArrayLayout message based on the given JSON string.

fromMessage

public static MultiArrayLayout fromMessage(Message m)

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

Parameters:

m - The Message to parse.

Returns:

A MultiArrayLayout message based on the given Message.

fromJsonObject

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

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

Parameters:

jsonObject - The JSON object to parse.

Returns:

A MultiArrayLayout message based on the given JSON object.