Home | Trees | Indices | Help |
|
---|
|
1 # Software License Agreement (BSD License) 2 # 3 # Copyright (c) 2009, Willow Garage, Inc. 4 # All rights reserved. 5 # 6 # Redistribution and use in source and binary forms, with or without 7 # modification, are permitted provided that the following conditions 8 # are met: 9 # 10 # * Redistributions of source code must retain the above copyright 11 # notice, this list of conditions and the following disclaimer. 12 # * Redistributions in binary form must reproduce the above 13 # copyright notice, this list of conditions and the following 14 # disclaimer in the documentation and/or other materials provided 15 # with the distribution. 16 # * Neither the name of Willow Garage, Inc. nor the names of its 17 # contributors may be used to endorse or promote products derived 18 # from this software without specific prior written permission. 19 # 20 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 21 # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 22 # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 23 # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 24 # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 25 # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 26 # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 27 # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 28 # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 29 # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 30 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 31 # POSSIBILITY OF SUCH DAMAGE. 32 # 33 # Revision $Id$ 34 35 """ 36 Support for using numpy with rospy messages. 37 38 For tutorials, see U{http://www.ros.org/wiki/rospy_tutorials/Tutorials/numpy} 39 40 Listener example:: 41 from rospy.numpy_msg import numpy_msg 42 43 rospy.init_node('mynode') 44 rospy.Subscriber("mytopic", numpy_msg(TopicType) 45 46 Publisher example:: 47 48 from rospy.numpy_msg import numpy_msg 49 import numpy 50 51 pub = rospy.Publisher('mytopic', numpy_msg(TopicType), queue_size=10) 52 rospy.init_node('mynode') 53 a = numpy.array([1.0, 2.1, 3.2, 4.3, 5.4, 6.5], dtype=numpy.float32) 54 pub.publish(a) 55 """ 56 57 import numpy 58 59 # TODO: we will need to generate a new type structure with 60 # little-endian specified and then pass that type structure into the 61 # *_numpy calls. 6264 """ 65 wrapper for factory-generated class that passes numpy module into serialize 66 """ 67 # pass in numpy module reference to prevent import in auto-generated code 68 return self.serialize_numpy(buff, numpy)6971 """ 72 wrapper for factory-generated class that passes numpy module into deserialize 73 """ 74 # pass in numpy module reference to prevent import in auto-generated code 75 return self.deserialize_numpy(str, numpy)76 77 _numpy_msg_types = {} 78 ## Use this function to generate message instances using numpy array 79 ## types for numerical arrays. 80 ## @msg_type Message class: call this functioning on the message type that you pass 81 ## into a Publisher or Subscriber call. 82 ## @returns Message class84 if msg_type in _numpy_msg_types: 85 return _numpy_msg_types[msg_type] 86 87 classdict = { '__slots__': msg_type.__slots__, '_slot_types': msg_type._slot_types, 88 '_md5sum': msg_type._md5sum, '_type': msg_type._type, 89 '_has_header': msg_type._has_header, '_full_text': msg_type._full_text, 90 'serialize': _serialize_numpy, 'deserialize': _deserialize_numpy, 91 'serialize_numpy': msg_type.serialize_numpy, 92 'deserialize_numpy': msg_type.deserialize_numpy 93 } 94 95 # create the numpy message type 96 msg_type_name = "Numpy_%s"%msg_type._type.replace('/', '__') 97 numpy_type = type(msg_type_name,(msg_type,),classdict) 98 _numpy_msg_types[msg_type] = numpy_type 99 return numpy_type100
Home | Trees | Indices | Help |
|
---|
Generated by Epydoc 3.0.1 on Mon Nov 2 03:52:39 2020 | http://epydoc.sourceforge.net |