How to pick the content out of a ROS Point message?
4 visualizzazioni (ultimi 30 giorni)
Mostra commenti meno recenti
Andreas Schwager
il 27 Ago 2021
Risposto: Cam Salzberger
il 27 Ago 2021
Hello,
How to pick the content out of a ROS Point message?
Or how to get members out of a cell arry into a simple array?
The following code runs, but is there any way avoiding the for-loop and cpoying the data direct from cell array member to an array?
Euler = readMessages(BagFile,startIdx:endIdx);
for ii = 1:size(Euler,1)
yaw(ii) = Euler{ii}.Point.X;
pitch(ii) = Euler{ii}.Point.Y;
roll(ii) = Euler{ii}.Point.Z;
end
0 Commenti
Risposta accettata
Cam Salzberger
il 27 Ago 2021
Hello Andreas,
cellfun is useful for operations like this, where you want to do the same thing on each cell. Probably the best and most efficient code would look something like this:
% Use struct message format for faster read time
Euler = readMessages(BagFile,startIdx:endIdx,"DataFormat","struct");
[yaw, pitch, roll] = cellfun(@getXYZFromPoint, Euler);
function [x, y, z] = getXYZFromPoint(msg)
% Extract internal message first for efficiency
% (matters more for more nested messages)
vec = msg.Point;
x = vec.X;
y = vec.Y;
z = vec.Z;
end
If on the other hand you wanted to turn the cell array of messages (or message structs) into a message object or struct array, you could just do this:
EulerArr = [Euler{:}];
Note that all messages have to have the same structure for that to work.
-Cam
0 Commenti
Più risposte (0)
Vedere anche
Categorie
Scopri di più su Specialized Messages in Help Center e File Exchange
Prodotti
Community Treasure Hunt
Find the treasures in MATLAB Central and discover how the community can help you!
Start Hunting!