_DynamicObstacle.py

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"""autogenerated by genmsg_py from DynamicObstacle.msg. Do not edit."""
import roslib.message
import struct

import dynamic_obs_msgs.msg
import geometry_msgs.msg
import std_msgs.msg

class DynamicObstacle(roslib.message.Message):
  _md5sum = "e54c01ba99bdd49728083a910750888c"
  _type = "dynamic_obs_msgs/DynamicObstacle"
  _has_header = False #flag to mark the presence of a Header object
  _full_text = """#the radius of the dynamic obstacle
float64 radius

#a list of possible trajectories it may follow (with probabilities summing to 1)
DynObsTrajectory[] trajectories

================================================================================
MSG: dynamic_obs_msgs/DynObsTrajectory
#a dynamic obstacle trajectory

#the probability of the obstacle following this trajectory
float64 probability

#whether this obstacle should be treated like a static obstacle at the end of its trajectory (true) 
#or the obstacle is ignored after the end of its trajectory (false)
bool exists_after

#the time parameterized path
geometry_msgs/PoseWithCovarianceStamped[] points

================================================================================
MSG: geometry_msgs/PoseWithCovarianceStamped
# This expresses an estimated pose with a reference coordinate frame and timestamp

Header header
PoseWithCovariance pose

================================================================================
MSG: std_msgs/Header
# Standard metadata for higher-level stamped data types.
# This is generally used to communicate timestamped data 
# in a particular coordinate frame.
# 
# sequence ID: consecutively increasing ID 
uint32 seq
#Two-integer timestamp that is expressed as:
# * stamp.secs: seconds (stamp_secs) since epoch
# * stamp.nsecs: nanoseconds since stamp_secs
# time-handling sugar is provided by the client library
time stamp
#Frame this data is associated with
# 0: no frame
# 1: global frame
string frame_id

================================================================================
MSG: geometry_msgs/PoseWithCovariance
# This represents a pose in free space with uncertainty.

Pose pose

# Row-major representation of the 6x6 covariance matrix
# 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)
float64[36] covariance

================================================================================
MSG: geometry_msgs/Pose
# A representation of pose in free space, composed of postion and orientation. 
Point position
Quaternion orientation

================================================================================
MSG: geometry_msgs/Point
# This contains the position of a point in free space
float64 x
float64 y
float64 z

================================================================================
MSG: geometry_msgs/Quaternion
# This represents an orientation in free space in quaternion form.

float64 x
float64 y
float64 z
float64 w

"""
  __slots__ = ['radius','trajectories']
  _slot_types = ['float64','dynamic_obs_msgs/DynObsTrajectory[]']

  def __init__(self, *args, **kwds):
    """
    Constructor. Any message fields that are implicitly/explicitly
    set to None will be assigned a default value. The recommend
    use is keyword arguments as this is more robust to future message
    changes.  You cannot mix in-order arguments and keyword arguments.
    
    The available fields are:
       radius,trajectories
    
    @param args: complete set of field values, in .msg order
    @param kwds: use keyword arguments corresponding to message field names
    to set specific fields. 
    """
    if args or kwds:
      super(DynamicObstacle, self).__init__(*args, **kwds)
      #message fields cannot be None, assign default values for those that are
      if self.radius is None:
        self.radius = 0.
      if self.trajectories is None:
        self.trajectories = []
    else:
      self.radius = 0.
      self.trajectories = []

  def _get_types(self):
    """
    internal API method
    """
    return self._slot_types

  def serialize(self, buff):
    """
    serialize message into buffer
    @param buff: buffer
    @type  buff: StringIO
    """
    try:
      buff.write(_struct_d.pack(self.radius))
      length = len(self.trajectories)
      buff.write(_struct_I.pack(length))
      for val1 in self.trajectories:
        _x = val1
        buff.write(_struct_dB.pack(_x.probability, _x.exists_after))
        length = len(val1.points)
        buff.write(_struct_I.pack(length))
        for val2 in val1.points:
          _v1 = val2.header
          buff.write(_struct_I.pack(_v1.seq))
          _v2 = _v1.stamp
          _x = _v2
          buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
          _x = _v1.frame_id
          length = len(_x)
          buff.write(struct.pack('<I%ss'%length, length, _x))
          _v3 = val2.pose
          _v4 = _v3.pose
          _v5 = _v4.position
          _x = _v5
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
          _v6 = _v4.orientation
          _x = _v6
          buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
          buff.write(_struct_36d.pack(*_v3.covariance))
    except struct.error, se: self._check_types(se)
    except TypeError, te: self._check_types(te)

  def deserialize(self, str):
    """
    unpack serialized message in str into this message instance
    @param str: byte array of serialized message
    @type  str: str
    """
    try:
      end = 0
      start = end
      end += 8
      (self.radius,) = _struct_d.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.trajectories = []
      for i in xrange(0, length):
        val1 = dynamic_obs_msgs.msg.DynObsTrajectory()
        _x = val1
        start = end
        end += 9
        (_x.probability, _x.exists_after,) = _struct_dB.unpack(str[start:end])
        val1.exists_after = bool(val1.exists_after)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.points = []
        for i in xrange(0, length):
          val2 = geometry_msgs.msg.PoseWithCovarianceStamped()
          _v7 = val2.header
          start = end
          end += 4
          (_v7.seq,) = _struct_I.unpack(str[start:end])
          _v8 = _v7.stamp
          _x = _v8
          start = end
          end += 8
          (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          _v7.frame_id = str[start:end]
          _v9 = val2.pose
          _v10 = _v9.pose
          _v11 = _v10.position
          _x = _v11
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
          _v12 = _v10.orientation
          _x = _v12
          start = end
          end += 32
          (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
          start = end
          end += 288
          _v9.covariance = _struct_36d.unpack(str[start:end])
          val1.points.append(val2)
        self.trajectories.append(val1)
      return self
    except struct.error, e:
      raise roslib.message.DeserializationError(e) #most likely buffer underfill


  def serialize_numpy(self, buff, numpy):
    """
    serialize message with numpy array types into buffer
    @param buff: buffer
    @type  buff: StringIO
    @param numpy: numpy python module
    @type  numpy module
    """
    try:
      buff.write(_struct_d.pack(self.radius))
      length = len(self.trajectories)
      buff.write(_struct_I.pack(length))
      for val1 in self.trajectories:
        _x = val1
        buff.write(_struct_dB.pack(_x.probability, _x.exists_after))
        length = len(val1.points)
        buff.write(_struct_I.pack(length))
        for val2 in val1.points:
          _v13 = val2.header
          buff.write(_struct_I.pack(_v13.seq))
          _v14 = _v13.stamp
          _x = _v14
          buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
          _x = _v13.frame_id
          length = len(_x)
          buff.write(struct.pack('<I%ss'%length, length, _x))
          _v15 = val2.pose
          _v16 = _v15.pose
          _v17 = _v16.position
          _x = _v17
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
          _v18 = _v16.orientation
          _x = _v18
          buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
          buff.write(_v15.covariance.tostring())
    except struct.error, se: self._check_types(se)
    except TypeError, te: self._check_types(te)

  def deserialize_numpy(self, str, numpy):
    """
    unpack serialized message in str into this message instance using numpy for array types
    @param str: byte array of serialized message
    @type  str: str
    @param numpy: numpy python module
    @type  numpy: module
    """
    try:
      end = 0
      start = end
      end += 8
      (self.radius,) = _struct_d.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.trajectories = []
      for i in xrange(0, length):
        val1 = dynamic_obs_msgs.msg.DynObsTrajectory()
        _x = val1
        start = end
        end += 9
        (_x.probability, _x.exists_after,) = _struct_dB.unpack(str[start:end])
        val1.exists_after = bool(val1.exists_after)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.points = []
        for i in xrange(0, length):
          val2 = geometry_msgs.msg.PoseWithCovarianceStamped()
          _v19 = val2.header
          start = end
          end += 4
          (_v19.seq,) = _struct_I.unpack(str[start:end])
          _v20 = _v19.stamp
          _x = _v20
          start = end
          end += 8
          (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          _v19.frame_id = str[start:end]
          _v21 = val2.pose
          _v22 = _v21.pose
          _v23 = _v22.position
          _x = _v23
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
          _v24 = _v22.orientation
          _x = _v24
          start = end
          end += 32
          (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
          start = end
          end += 288
          _v21.covariance = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=36)
          val1.points.append(val2)
        self.trajectories.append(val1)
      return self
    except struct.error, e:
      raise roslib.message.DeserializationError(e) #most likely buffer underfill

_struct_I = roslib.message.struct_I
_struct_d = struct.Struct("<d")
_struct_36d = struct.Struct("<36d")
_struct_dB = struct.Struct("<dB")
_struct_4d = struct.Struct("<4d")
_struct_2I = struct.Struct("<2I")
_struct_3d = struct.Struct("<3d")

---

dynamic_obs_msgs
Author(s): Mike Phillips
autogenerated on Fri Jan 11 09:12:31 2013