def __init__(self, messages, bagmsg_length=True):
if bagmsg_length:
VecBagMsg.__init__(self, messages)
else:
VecBagMsg.__init__(self, 0)
self.status = VecBuiltInType(messages, np.int8, False)
self.service = VecBuiltInType(messages, np.uint16, False)
def __init__(self, messages, bagmsg_length=True):
if bagmsg_length:
VecBagMsg.__init__(self, messages)
else:
VecBagMsg.__init__(self, 0)
self.header = VecHeader(messages, False)
self.force = VecBuiltInTypeArray(3, messages, np.float64, False)
self.moment = VecBuiltInTypeArray(3, messages, np.float64, False)
self.actuation = VecBuiltInTypeArray(6, messages, np.float64, False)
self.pwm = VecBuiltInTypeArray(6, messages, np.float64, False)
self.rpm = VecBuiltInTypeArray(6, messages, np.float64, False)
self.att_p_gains = VecBuiltInTypeArray(3, messages, np.float64, False)
self.att_i_gains = VecBuiltInTypeArray(3, messages, np.float64, False)
self.att_d_gains = VecBuiltInTypeArray(3, messages, np.float64, False)
self.current_rpy = VecBuiltInTypeArray(3, messages, np.float64, False)
self.desired_rpy = VecBuiltInTypeArray(3, messages, np.float64, False)
self.desired_position = VecBuiltInTypeArray(3, messages, np.float64,
False)
self.desired_velocity = VecBuiltInTypeArray(3, messages, np.float64,
False)
self.desired_omega = VecBuiltInTypeArray(3, messages, np.float64,
False)
self.error_rpy = VecBuiltInTypeArray(3, messages, np.float64, False)
self.err_int = VecBuiltInTypeArray(3, messages, np.float64, False)
self.time_Step = VecBuiltInType(messages, np.float64, False)
self.quat_error = VecBuiltInTypeArray(3, messages, np.float64, False)
def write_message(self, msg, t, count):
VecBagMsg.write_message(self, t, count)
self.x_offset.write_message(msg.x_offset, t, count)
self.y_offset.write_message(msg.y_offset, t, count)
self.height.write_message(msg.height, t, count)
self.width.write_message(msg.width, t, count)
self.do_rectify.write_message(msg.do_rectify, t, count)
def __init__(self, messages, bagmsg_length=True):
if bagmsg_length:
VecBagMsg.__init__(self, messages)
else:
VecBagMsg.__init__(self, 0)
self.header = VecHeader(messages, False)
self.illuminance = VecBuiltInType(messages, np.float64, False)
self.variance = VecBuiltInType(messages, np.float64, False)
def __init__(self, messages, bagmsg_length=True):
if bagmsg_length:
VecBagMsg.__init__(self, messages)
else:
VecBagMsg.__init__(self, 0)
self.type = VecBuiltInType(messages, np.uint8, False)
self.id = VecBuiltInType(messages, np.uint8, False)
self.intensity = VecBuiltInType(messages, np.float32, False)
def write_message(self, msg, t, count):
VecBagMsg.write_message(self, t, count)
self.header.write_message(msg.header, t, count)
self.radiation_type.write_message(msg.radiation_type, t, count)
self.field_of_view.write_message(msg.field_of_view, t, count)
self.min_range.write_message(msg.min_range, t, count)
self.max_range.write_message(msg.max_range, t, count)
self.range.write_message(msg.range, t, count)
def __init__(self, messages, bagmsg_length=True):
if bagmsg_length:
VecBagMsg.__init__(self, messages)
else:
VecBagMsg.__init__(self, 0)
self.header = VecHeader(messages, False)
self.time_ref = VecTime(messages, False)
self.source = []
def write_message(self, msg, t, count):
VecBagMsg.write_message(self, t, count)
self.header.write_message(msg.header, t, count)
self.status.write_message(msg.status, t, count)
self.latitude.write_message(msg.latitude, t, count)
self.longitude.write_message(msg.longitude, t, count)
self.position_covariance[:, count] = msg.position_covariance
self.position_covariance_type.write_message(msg.position_covariance_type, t, count)
def __init__(self, messages, bagmsg_length = True):
if bagmsg_length:
VecBagMsg.__init__(self, messages)
else:
VecBagMsg.__init__(self, 0)
self.header = VecHeader(messages, False)
self.magnetic_field = VecVector3(messages, False)
self.magnetic_field_covariance = np.zeros((9, messages), dtype=np.float64)
def __init__(self, messages, bagmsg_length=True):
if bagmsg_length:
VecBagMsg.__init__(self, messages)
else:
VecBagMsg.__init__(self, 0)
self.name = []
self.offset = VecBuiltInType(messages, np.uint32, False)
self.datatype = VecBuiltInType(messages, np.uint8, False)
self.count = VecBuiltInType(messages, np.uint32, False)
def __init__(self, messages, bagmsg_length = True):
if bagmsg_length:
VecBagMsg.__init__(self, messages)
else:
VecBagMsg.__init__(self, 0)
self.header = VecHeader(messages, False)
self.child_frame_id = []
self.pose = VecPoseWithCovariance(messages, False)
self.twist = VecTwistWithCovariance(messages, False)
def write_message(self, msg, t, count):
VecBagMsg.write_message(self, t, count)
self.header.write_message(msg.header, t, count)
self.orientation.write_message(msg.orientation, t, count)
self.orientation_covariance[:, count] = msg.orientation_covariance
self.angular_velocity.write_message(msg.angular_velocity, t, count)
self.angular_velocity_covariance[:, count] = msg.angular_velocity_covariance
self.linear_acceleration.write_message(msg.linear_acceleration, t, count)
self.linear_acceleration_covariance[:, count] = msg.linear_acceleration_covariance
def __init__(self, messages, bagmsg_length=True):
if bagmsg_length:
VecBagMsg.__init__(self, messages)
else:
VecBagMsg.__init__(self, 0)
self.x_offset = VecBuiltInType(messages, np.uint32, False)
self.y_offset = VecBuiltInType(messages, np.uint32, False)
self.height = VecBuiltInType(messages, np.uint32, False)
self.width = VecBuiltInType(messages, np.uint32, False)
self.do_rectify = VecBuiltInType(messages, np.uint8, False)
def __init__(self, messages, bagmsg_length=True):
if bagmsg_length:
VecBagMsg.__init__(self, messages)
else:
VecBagMsg.__init__(self, 0)
self.header = VecHeader(messages, False)
self.radiation_type = VecBuiltInType(messages, np.uint8, False)
self.field_of_view = VecBuiltInType(messages, np.float32, False)
self.min_range = VecBuiltInType(messages, np.float32, False)
self.max_range = VecBuiltInType(messages, np.float32, False)
self.range = VecBuiltInType(messages, np.float32, False)
def __init__(self, messages, bagmsg_length = True):
if bagmsg_length:
VecBagMsg.__init__(self, messages)
else:
VecBagMsg.__init__(self, 0)
self.header = VecHeader(messages, False)
self.status = VecNavSatStatus(messages, False)
self.latitude = VecBuiltInType(messages, np.float64, False)
self.longitude = VecBuiltInType(messages, np.float64, False)
self.position_covariance = np.zeros((9, messages), dtype=np.float64)
self.position_covariance_type = VecBuiltInType(messages, np.uint8, False)
def __init__(self, messages, bagmsg_length = True):
if bagmsg_length:
VecBagMsg.__init__(self, messages)
else:
VecBagMsg.__init__(self, 0)
self.header = VecHeader(messages, False)
self.orientation = VecQuaternion(messages, False)
self.orientation_covariance = np.zeros((9, messages), dtype=np.float64)
self.angular_velocity = VecVector3(messages, False)
self.angular_velocity_covariance = np.zeros((9, messages), dtype=np.float64)
self.linear_acceleration = VecVector3(messages, False)
self.linear_acceleration_covariance = np.zeros((9, messages), dtype=np.float64)
def write_message(self, msg, t, count):
VecBagMsg.write_message(self, t, count)
self.header.write_message(msg.header, t, count)
self.force.write_message(msg.Force, t, count)
self.moment.write_message(msg.Moment, t, count)
self.actuation.write_message(msg.Actuation, t, count)
self.pwm.write_message(msg.PWM, t, count)
self.rpm.write_message(msg.rpm, t, count)
self.att_p_gains.write_message(msg.Att_P_gains, t, count)
self.att_i_gains.write_message(msg.Att_I_gains, t, count)
self.att_d_gains.write_message(msg.Att_D_gains, t, count)
self.current_rpy.write_message(msg.Current_rpy, t, count)
self.desired_rpy.write_message(msg.Desired_rpy, t, count)
self.desired_position.write_message(msg.Desired_position, t, count)
self.desired_velocity.write_message(msg.Desired_velocity, t, count)
self.desired_omega.write_message(msg.Desired_omega, t, count)
self.error_rpy.write_message(msg.Error_rpy, t, count)
self.err_int.write_message(msg.err_int, t, count)
self.time_Step.write_message(msg.Time_Step, t, count)
self.quat_error.write_message(msg.Quat_error, t, count)
def get_ros_msg(self, msg_idx):
msg = sensor_msgs.msg.TimeReference()
self.write_ros_msg(msg, msg_idx)
t = VecBagMsg.get_ros_msg(self, msg_idx)
return [msg, t]
def write_message(self, msg, t, count):
VecBagMsg.write_message(self, t, count)
self.header.write_message(msg.header, t, count)
self.time_ref.write_message(msg.time_ref, t, count)
self.source.append(msg.source)
def write_message(self, msg, t, count):
VecBagMsg.write_message(self, t, count)
self.header.write_message(msg.header, t, count)
self.relative_humidity.write_message(msg.relative_humidity, t, count)
self.variance.write_message(msg.variance, t, count)
def write_message(self, msg, t, count):
VecBagMsg.write_message(self, t, count)
self.header.write_message(msg.header, t, count)
self.temperature.write_message(msg.temperature, t, count)
self.variance.write_message(msg.variance, t, count)
def get_ros_msg(self, msg_idx):
msg = sensor_msgs.msg.Illuminance()
self.write_ros_msg(msg, msg_idx)
t = VecBagMsg.get_ros_msg(self, msg_idx)
return [msg, t]
def write_message(self, msg, t, count):
VecBagMsg.write_message(self, t, count)
self.header.write_message(msg.header, t, count)
self.fluid_pressure.write_message(msg.fluid_pressure, t, count)
self.variance.write_message(msg.variance, t, count)
def write_message(self, msg, t, count):
VecBagMsg.write_message(self, t, count)
self.header.write_message(msg.header, t, count)
self.child_frame_id.append(msg.child_frame_id)
self.pose.write_message(msg.pose, t, count)
self.twist.write_message(msg.twist, t, count)
def get_rosbag_msg(self, msg_idx):
msg = Imu()
self.write_rosbag_msg(msg, msg_idx)
t = VecBagMsg.get_rosbag_msg(self, msg_idx)
return [msg, t]
def write_message(self, msg, t, count):
VecBagMsg.write_message(self, t, count)
self.type.write_message(msg.type, t, count)
self.id.write_message(msg.id, t, count)
self.intensity.write_message(msg.intensity, t, count)
def write_message(self, msg, t, count):
VecBagMsg.write_message(self, t, count)
self.name.append(msg.name)
self.offset.write_message(msg.offset, t, count)
self.datatype.write_message(msg.datatype, t, count)
self.count.write_message(msg.count, t, count)
def write_message(self, msg, t, count):
VecBagMsg.write_message(self, t, count)
self.header.write_message(msg.header, t, count)
self.magnetic_field.write_message(msg.magnetic_field, t, count)
self.magnetic_field_covariance[:,
count] = msg.magnetic_field_covariance
def write_message(self, msg, t, count):
VecBagMsg.write_message(self, t, count)
self.header.write_message(msg.header, t, count)
self.illuminance.write_message(msg.illuminance, t, count)
self.variance.write_message(msg.variance, t, count)
def write_message(self, msg, t, count):
VecBagMsg.write_message(self, t, count)
self.status.write_message(msg.status, t, count)
self.service.write_message(msg.service, t, count)
