_ConvertToJointConstraint.py

Go to the documentation of this file.

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

import motion_planning_msgs.msg
import geometric_shapes_msgs.msg
import geometry_msgs.msg
import sensor_msgs.msg
import roslib.rostime
import std_msgs.msg

class ConvertToJointConstraintRequest(roslib.message.Message):
  _md5sum = "8b3ecfc1134a2ed8c555c48c08a7aff2"
  _type = "motion_planning_msgs/ConvertToJointConstraintRequest"
  _has_header = False #flag to mark the presence of a Header object
  _full_text = """string model_id


motion_planning_msgs/WorkspaceParameters workspace_parameters




motion_planning_msgs/RobotState start_state


string[] joint_names


motion_planning_msgs/RobotState[] init_states


motion_planning_msgs/Constraints constraints


float64 allowed_time


================================================================================
MSG: motion_planning_msgs/WorkspaceParameters
# This message contains a set of parameters useful in
# setting up the workspace for planning
geometric_shapes_msgs/Shape  workspace_region_shape
geometry_msgs/PoseStamped    workspace_region_pose


================================================================================
MSG: geometric_shapes_msgs/Shape
byte SPHERE=0
byte BOX=1
byte CYLINDER=2
byte MESH=3

byte type


#### define sphere, box, cylinder ####
# the origin of each shape is considered at the shape's center

# for sphere
# radius := dimensions[0]

# for cylinder
# radius := dimensions[0]
# length := dimensions[1]
# the length is along the Z axis

# for box
# size_x := dimensions[0]
# size_y := dimensions[1]
# size_z := dimensions[2]
float64[] dimensions


#### define mesh ####

# list of triangles; triangle k is defined by tre vertices located
# at indices triangles[3k], triangles[3k+1], triangles[3k+2]
int32[] triangles
geometry_msgs/Point[] vertices

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

================================================================================
MSG: geometry_msgs/PoseStamped
# A Pose with reference coordinate frame and timestamp
Header header
Pose 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/Pose
# A representation of pose in free space, composed of postion and orientation. 
Point position
Quaternion orientation

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

float64 x
float64 y
float64 z
float64 w

================================================================================
MSG: motion_planning_msgs/RobotState
# This message contains information about the robot state, i.e. the positions of its joints and links
sensor_msgs/JointState joint_state
motion_planning_msgs/MultiDOFJointState multi_dof_joint_state
================================================================================
MSG: sensor_msgs/JointState
# This is a message that holds data to describe the state of a set of torque controlled joints. 
#
# The state of each joint (revolute or prismatic) is defined by:
#  * the position of the joint (rad or m),
#  * the velocity of the joint (rad/s or m/s) and 
#  * the effort that is applied in the joint (Nm or N).
#
# Each joint is uniquely identified by its name
# The header specifies the time at which the joint states were recorded. All the joint states
# in one message have to be recorded at the same time.
#
# This message consists of a multiple arrays, one for each part of the joint state. 
# The goal is to make each of the fields optional. When e.g. your joints have no
# effort associated with them, you can leave the effort array empty. 
#
# All arrays in this message should have the same size, or be empty.
# This is the only way to uniquely associate the joint name with the correct
# states.


Header header

string[] name
float64[] position
float64[] velocity
float64[] effort

================================================================================
MSG: motion_planning_msgs/MultiDOFJointState
#A representation of a multi-dof joint state
time stamp
string[] joint_names
string[] frame_ids
string[] child_frame_ids
geometry_msgs/Pose[] poses

================================================================================
MSG: motion_planning_msgs/Constraints
# This message contains a list of motion planning constraints.

motion_planning_msgs/JointConstraint[] joint_constraints
motion_planning_msgs/PositionConstraint[] position_constraints
motion_planning_msgs/OrientationConstraint[] orientation_constraints
motion_planning_msgs/VisibilityConstraint[] visibility_constraints

================================================================================
MSG: motion_planning_msgs/JointConstraint
# Constrain the position of a joint to be within a certain bound
string joint_name

# the bound to be achieved is [position - tolerance_below, position + tolerance_above]
float64 position
float64 tolerance_above
float64 tolerance_below

# A weighting factor for this constraint
float64 weight
================================================================================
MSG: motion_planning_msgs/PositionConstraint
# This message contains the definition of a position constraint.
Header header

# The robot link this constraint refers to
string link_name

# The offset (in the link frame) for the target point on the link we are planning for
geometry_msgs/Point target_point_offset

# The nominal/target position for the point we are planning for
geometry_msgs/Point position

# The shape of the bounded region that constrains the position of the end-effector
# This region is always centered at the position defined above
geometric_shapes_msgs/Shape constraint_region_shape

# The orientation of the bounded region that constrains the position of the end-effector. 
# This allows the specification of non-axis aligned constraints
geometry_msgs/Quaternion constraint_region_orientation

# Constraint weighting factor - a weight for this constraint
float64 weight
================================================================================
MSG: motion_planning_msgs/OrientationConstraint
# This message contains the definition of an orientation constraint.
Header header

# The robot link this constraint refers to
string link_name

# The type of the constraint
int32 type
int32 LINK_FRAME=0
int32 HEADER_FRAME=1

# The desired orientation of the robot link specified as a quaternion
geometry_msgs/Quaternion orientation

# optional RPY error tolerances specified if 
float64 absolute_roll_tolerance
float64 absolute_pitch_tolerance
float64 absolute_yaw_tolerance

# Constraint weighting factor - a weight for this constraint
float64 weight

================================================================================
MSG: motion_planning_msgs/VisibilityConstraint
# This message contains the definition of a visibility constraint.
Header header

# The point stamped target that needs to be kept within view of the sensor
geometry_msgs/PointStamped target

# The local pose of the frame in which visibility is to be maintained
# The frame id should represent the robot link to which the sensor is attached
# The visual axis of the sensor is assumed to be along the X axis of this frame
geometry_msgs/PoseStamped sensor_pose

# The deviation (in radians) that will be tolerated
# Constraint error will be measured as the solid angle between the 
# X axis of the frame defined above and the vector between the origin 
# of the frame defined above and the target location
float64 absolute_tolerance


================================================================================
MSG: geometry_msgs/PointStamped
# This represents a Point with reference coordinate frame and timestamp
Header header
Point point

"""
  __slots__ = ['model_id','workspace_parameters','start_state','joint_names','init_states','constraints','allowed_time']
  _slot_types = ['string','motion_planning_msgs/WorkspaceParameters','motion_planning_msgs/RobotState','string[]','motion_planning_msgs/RobotState[]','motion_planning_msgs/Constraints','float64']

  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:
       model_id,workspace_parameters,start_state,joint_names,init_states,constraints,allowed_time
    
    @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(ConvertToJointConstraintRequest, self).__init__(*args, **kwds)
      #message fields cannot be None, assign default values for those that are
      if self.model_id is None:
        self.model_id = ''
      if self.workspace_parameters is None:
        self.workspace_parameters = motion_planning_msgs.msg.WorkspaceParameters()
      if self.start_state is None:
        self.start_state = motion_planning_msgs.msg.RobotState()
      if self.joint_names is None:
        self.joint_names = []
      if self.init_states is None:
        self.init_states = []
      if self.constraints is None:
        self.constraints = motion_planning_msgs.msg.Constraints()
      if self.allowed_time is None:
        self.allowed_time = 0.
    else:
      self.model_id = ''
      self.workspace_parameters = motion_planning_msgs.msg.WorkspaceParameters()
      self.start_state = motion_planning_msgs.msg.RobotState()
      self.joint_names = []
      self.init_states = []
      self.constraints = motion_planning_msgs.msg.Constraints()
      self.allowed_time = 0.

  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:
      _x = self.model_id
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      buff.write(_struct_b.pack(self.workspace_parameters.workspace_region_shape.type))
      length = len(self.workspace_parameters.workspace_region_shape.dimensions)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.workspace_parameters.workspace_region_shape.dimensions))
      length = len(self.workspace_parameters.workspace_region_shape.triangles)
      buff.write(_struct_I.pack(length))
      pattern = '<%si'%length
      buff.write(struct.pack(pattern, *self.workspace_parameters.workspace_region_shape.triangles))
      length = len(self.workspace_parameters.workspace_region_shape.vertices)
      buff.write(_struct_I.pack(length))
      for val1 in self.workspace_parameters.workspace_region_shape.vertices:
        _x = val1
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
      _x = self
      buff.write(_struct_3I.pack(_x.workspace_parameters.workspace_region_pose.header.seq, _x.workspace_parameters.workspace_region_pose.header.stamp.secs, _x.workspace_parameters.workspace_region_pose.header.stamp.nsecs))
      _x = self.workspace_parameters.workspace_region_pose.header.frame_id
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_7d3I.pack(_x.workspace_parameters.workspace_region_pose.pose.position.x, _x.workspace_parameters.workspace_region_pose.pose.position.y, _x.workspace_parameters.workspace_region_pose.pose.position.z, _x.workspace_parameters.workspace_region_pose.pose.orientation.x, _x.workspace_parameters.workspace_region_pose.pose.orientation.y, _x.workspace_parameters.workspace_region_pose.pose.orientation.z, _x.workspace_parameters.workspace_region_pose.pose.orientation.w, _x.start_state.joint_state.header.seq, _x.start_state.joint_state.header.stamp.secs, _x.start_state.joint_state.header.stamp.nsecs))
      _x = self.start_state.joint_state.header.frame_id
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.start_state.joint_state.name)
      buff.write(_struct_I.pack(length))
      for val1 in self.start_state.joint_state.name:
        length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.start_state.joint_state.position)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.start_state.joint_state.position))
      length = len(self.start_state.joint_state.velocity)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.start_state.joint_state.velocity))
      length = len(self.start_state.joint_state.effort)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.start_state.joint_state.effort))
      _x = self
      buff.write(_struct_2I.pack(_x.start_state.multi_dof_joint_state.stamp.secs, _x.start_state.multi_dof_joint_state.stamp.nsecs))
      length = len(self.start_state.multi_dof_joint_state.joint_names)
      buff.write(_struct_I.pack(length))
      for val1 in self.start_state.multi_dof_joint_state.joint_names:
        length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.start_state.multi_dof_joint_state.frame_ids)
      buff.write(_struct_I.pack(length))
      for val1 in self.start_state.multi_dof_joint_state.frame_ids:
        length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.start_state.multi_dof_joint_state.child_frame_ids)
      buff.write(_struct_I.pack(length))
      for val1 in self.start_state.multi_dof_joint_state.child_frame_ids:
        length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.start_state.multi_dof_joint_state.poses)
      buff.write(_struct_I.pack(length))
      for val1 in self.start_state.multi_dof_joint_state.poses:
        _v1 = val1.position
        _x = _v1
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v2 = val1.orientation
        _x = _v2
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
      length = len(self.joint_names)
      buff.write(_struct_I.pack(length))
      for val1 in self.joint_names:
        length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.init_states)
      buff.write(_struct_I.pack(length))
      for val1 in self.init_states:
        _v3 = val1.joint_state
        _v4 = _v3.header
        buff.write(_struct_I.pack(_v4.seq))
        _v5 = _v4.stamp
        _x = _v5
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v4.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        length = len(_v3.name)
        buff.write(_struct_I.pack(length))
        for val3 in _v3.name:
          length = len(val3)
          buff.write(struct.pack('<I%ss'%length, length, val3))
        length = len(_v3.position)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(struct.pack(pattern, *_v3.position))
        length = len(_v3.velocity)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(struct.pack(pattern, *_v3.velocity))
        length = len(_v3.effort)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(struct.pack(pattern, *_v3.effort))
        _v6 = val1.multi_dof_joint_state
        _v7 = _v6.stamp
        _x = _v7
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        length = len(_v6.joint_names)
        buff.write(_struct_I.pack(length))
        for val3 in _v6.joint_names:
          length = len(val3)
          buff.write(struct.pack('<I%ss'%length, length, val3))
        length = len(_v6.frame_ids)
        buff.write(_struct_I.pack(length))
        for val3 in _v6.frame_ids:
          length = len(val3)
          buff.write(struct.pack('<I%ss'%length, length, val3))
        length = len(_v6.child_frame_ids)
        buff.write(_struct_I.pack(length))
        for val3 in _v6.child_frame_ids:
          length = len(val3)
          buff.write(struct.pack('<I%ss'%length, length, val3))
        length = len(_v6.poses)
        buff.write(_struct_I.pack(length))
        for val3 in _v6.poses:
          _v8 = val3.position
          _x = _v8
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
          _v9 = val3.orientation
          _x = _v9
          buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
      length = len(self.constraints.joint_constraints)
      buff.write(_struct_I.pack(length))
      for val1 in self.constraints.joint_constraints:
        _x = val1.joint_name
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = val1
        buff.write(_struct_4d.pack(_x.position, _x.tolerance_above, _x.tolerance_below, _x.weight))
      length = len(self.constraints.position_constraints)
      buff.write(_struct_I.pack(length))
      for val1 in self.constraints.position_constraints:
        _v10 = val1.header
        buff.write(_struct_I.pack(_v10.seq))
        _v11 = _v10.stamp
        _x = _v11
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v10.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = val1.link_name
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _v12 = val1.target_point_offset
        _x = _v12
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v13 = val1.position
        _x = _v13
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v14 = val1.constraint_region_shape
        buff.write(_struct_b.pack(_v14.type))
        length = len(_v14.dimensions)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(struct.pack(pattern, *_v14.dimensions))
        length = len(_v14.triangles)
        buff.write(_struct_I.pack(length))
        pattern = '<%si'%length
        buff.write(struct.pack(pattern, *_v14.triangles))
        length = len(_v14.vertices)
        buff.write(_struct_I.pack(length))
        for val3 in _v14.vertices:
          _x = val3
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v15 = val1.constraint_region_orientation
        _x = _v15
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
        buff.write(_struct_d.pack(val1.weight))
      length = len(self.constraints.orientation_constraints)
      buff.write(_struct_I.pack(length))
      for val1 in self.constraints.orientation_constraints:
        _v16 = val1.header
        buff.write(_struct_I.pack(_v16.seq))
        _v17 = _v16.stamp
        _x = _v17
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v16.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = val1.link_name
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        buff.write(_struct_i.pack(val1.type))
        _v18 = val1.orientation
        _x = _v18
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
        _x = val1
        buff.write(_struct_4d.pack(_x.absolute_roll_tolerance, _x.absolute_pitch_tolerance, _x.absolute_yaw_tolerance, _x.weight))
      length = len(self.constraints.visibility_constraints)
      buff.write(_struct_I.pack(length))
      for val1 in self.constraints.visibility_constraints:
        _v19 = val1.header
        buff.write(_struct_I.pack(_v19.seq))
        _v20 = _v19.stamp
        _x = _v20
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v19.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _v21 = val1.target
        _v22 = _v21.header
        buff.write(_struct_I.pack(_v22.seq))
        _v23 = _v22.stamp
        _x = _v23
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v22.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _v24 = _v21.point
        _x = _v24
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v25 = val1.sensor_pose
        _v26 = _v25.header
        buff.write(_struct_I.pack(_v26.seq))
        _v27 = _v26.stamp
        _x = _v27
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v26.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _v28 = _v25.pose
        _v29 = _v28.position
        _x = _v29
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v30 = _v28.orientation
        _x = _v30
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
        buff.write(_struct_d.pack(val1.absolute_tolerance))
      buff.write(_struct_d.pack(self.allowed_time))
    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:
      if self.workspace_parameters is None:
        self.workspace_parameters = motion_planning_msgs.msg.WorkspaceParameters()
      if self.start_state is None:
        self.start_state = motion_planning_msgs.msg.RobotState()
      if self.constraints is None:
        self.constraints = motion_planning_msgs.msg.Constraints()
      end = 0
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.model_id = str[start:end]
      start = end
      end += 1
      (self.workspace_parameters.workspace_region_shape.type,) = _struct_b.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.workspace_parameters.workspace_region_shape.dimensions = struct.unpack(pattern, str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%si'%length
      start = end
      end += struct.calcsize(pattern)
      self.workspace_parameters.workspace_region_shape.triangles = struct.unpack(pattern, str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.workspace_parameters.workspace_region_shape.vertices = []
      for i in xrange(0, length):
        val1 = geometry_msgs.msg.Point()
        _x = val1
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        self.workspace_parameters.workspace_region_shape.vertices.append(val1)
      _x = self
      start = end
      end += 12
      (_x.workspace_parameters.workspace_region_pose.header.seq, _x.workspace_parameters.workspace_region_pose.header.stamp.secs, _x.workspace_parameters.workspace_region_pose.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.workspace_parameters.workspace_region_pose.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 68
      (_x.workspace_parameters.workspace_region_pose.pose.position.x, _x.workspace_parameters.workspace_region_pose.pose.position.y, _x.workspace_parameters.workspace_region_pose.pose.position.z, _x.workspace_parameters.workspace_region_pose.pose.orientation.x, _x.workspace_parameters.workspace_region_pose.pose.orientation.y, _x.workspace_parameters.workspace_region_pose.pose.orientation.z, _x.workspace_parameters.workspace_region_pose.pose.orientation.w, _x.start_state.joint_state.header.seq, _x.start_state.joint_state.header.stamp.secs, _x.start_state.joint_state.header.stamp.nsecs,) = _struct_7d3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.start_state.joint_state.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.start_state.joint_state.name = []
      for i in xrange(0, length):
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1 = str[start:end]
        self.start_state.joint_state.name.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.start_state.joint_state.position = struct.unpack(pattern, str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.start_state.joint_state.velocity = struct.unpack(pattern, str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.start_state.joint_state.effort = struct.unpack(pattern, str[start:end])
      _x = self
      start = end
      end += 8
      (_x.start_state.multi_dof_joint_state.stamp.secs, _x.start_state.multi_dof_joint_state.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.start_state.multi_dof_joint_state.joint_names = []
      for i in xrange(0, length):
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1 = str[start:end]
        self.start_state.multi_dof_joint_state.joint_names.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.start_state.multi_dof_joint_state.frame_ids = []
      for i in xrange(0, length):
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1 = str[start:end]
        self.start_state.multi_dof_joint_state.frame_ids.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.start_state.multi_dof_joint_state.child_frame_ids = []
      for i in xrange(0, length):
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1 = str[start:end]
        self.start_state.multi_dof_joint_state.child_frame_ids.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.start_state.multi_dof_joint_state.poses = []
      for i in xrange(0, length):
        val1 = geometry_msgs.msg.Pose()
        _v31 = val1.position
        _x = _v31
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v32 = val1.orientation
        _x = _v32
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        self.start_state.multi_dof_joint_state.poses.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.joint_names = []
      for i in xrange(0, length):
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1 = str[start:end]
        self.joint_names.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.init_states = []
      for i in xrange(0, length):
        val1 = motion_planning_msgs.msg.RobotState()
        _v33 = val1.joint_state
        _v34 = _v33.header
        start = end
        end += 4
        (_v34.seq,) = _struct_I.unpack(str[start:end])
        _v35 = _v34.stamp
        _x = _v35
        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
        _v34.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v33.name = []
        for i in xrange(0, length):
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          val3 = str[start:end]
          _v33.name.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        _v33.position = struct.unpack(pattern, str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        _v33.velocity = struct.unpack(pattern, str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        _v33.effort = struct.unpack(pattern, str[start:end])
        _v36 = val1.multi_dof_joint_state
        _v37 = _v36.stamp
        _x = _v37
        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])
        _v36.joint_names = []
        for i in xrange(0, length):
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          val3 = str[start:end]
          _v36.joint_names.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v36.frame_ids = []
        for i in xrange(0, length):
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          val3 = str[start:end]
          _v36.frame_ids.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v36.child_frame_ids = []
        for i in xrange(0, length):
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          val3 = str[start:end]
          _v36.child_frame_ids.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v36.poses = []
        for i in xrange(0, length):
          val3 = geometry_msgs.msg.Pose()
          _v38 = val3.position
          _x = _v38
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
          _v39 = val3.orientation
          _x = _v39
          start = end
          end += 32
          (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
          _v36.poses.append(val3)
        self.init_states.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.constraints.joint_constraints = []
      for i in xrange(0, length):
        val1 = motion_planning_msgs.msg.JointConstraint()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1.joint_name = str[start:end]
        _x = val1
        start = end
        end += 32
        (_x.position, _x.tolerance_above, _x.tolerance_below, _x.weight,) = _struct_4d.unpack(str[start:end])
        self.constraints.joint_constraints.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.constraints.position_constraints = []
      for i in xrange(0, length):
        val1 = motion_planning_msgs.msg.PositionConstraint()
        _v40 = val1.header
        start = end
        end += 4
        (_v40.seq,) = _struct_I.unpack(str[start:end])
        _v41 = _v40.stamp
        _x = _v41
        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
        _v40.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1.link_name = str[start:end]
        _v42 = val1.target_point_offset
        _x = _v42
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v43 = val1.position
        _x = _v43
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v44 = val1.constraint_region_shape
        start = end
        end += 1
        (_v44.type,) = _struct_b.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        _v44.dimensions = struct.unpack(pattern, str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%si'%length
        start = end
        end += struct.calcsize(pattern)
        _v44.triangles = struct.unpack(pattern, str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v44.vertices = []
        for i in xrange(0, length):
          val3 = geometry_msgs.msg.Point()
          _x = val3
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
          _v44.vertices.append(val3)
        _v45 = val1.constraint_region_orientation
        _x = _v45
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        start = end
        end += 8
        (val1.weight,) = _struct_d.unpack(str[start:end])
        self.constraints.position_constraints.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.constraints.orientation_constraints = []
      for i in xrange(0, length):
        val1 = motion_planning_msgs.msg.OrientationConstraint()
        _v46 = val1.header
        start = end
        end += 4
        (_v46.seq,) = _struct_I.unpack(str[start:end])
        _v47 = _v46.stamp
        _x = _v47
        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
        _v46.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1.link_name = str[start:end]
        start = end
        end += 4
        (val1.type,) = _struct_i.unpack(str[start:end])
        _v48 = val1.orientation
        _x = _v48
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        _x = val1
        start = end
        end += 32
        (_x.absolute_roll_tolerance, _x.absolute_pitch_tolerance, _x.absolute_yaw_tolerance, _x.weight,) = _struct_4d.unpack(str[start:end])
        self.constraints.orientation_constraints.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.constraints.visibility_constraints = []
      for i in xrange(0, length):
        val1 = motion_planning_msgs.msg.VisibilityConstraint()
        _v49 = val1.header
        start = end
        end += 4
        (_v49.seq,) = _struct_I.unpack(str[start:end])
        _v50 = _v49.stamp
        _x = _v50
        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
        _v49.frame_id = str[start:end]
        _v51 = val1.target
        _v52 = _v51.header
        start = end
        end += 4
        (_v52.seq,) = _struct_I.unpack(str[start:end])
        _v53 = _v52.stamp
        _x = _v53
        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
        _v52.frame_id = str[start:end]
        _v54 = _v51.point
        _x = _v54
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v55 = val1.sensor_pose
        _v56 = _v55.header
        start = end
        end += 4
        (_v56.seq,) = _struct_I.unpack(str[start:end])
        _v57 = _v56.stamp
        _x = _v57
        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
        _v56.frame_id = str[start:end]
        _v58 = _v55.pose
        _v59 = _v58.position
        _x = _v59
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v60 = _v58.orientation
        _x = _v60
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        start = end
        end += 8
        (val1.absolute_tolerance,) = _struct_d.unpack(str[start:end])
        self.constraints.visibility_constraints.append(val1)
      start = end
      end += 8
      (self.allowed_time,) = _struct_d.unpack(str[start:end])
      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:
      _x = self.model_id
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      buff.write(_struct_b.pack(self.workspace_parameters.workspace_region_shape.type))
      length = len(self.workspace_parameters.workspace_region_shape.dimensions)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.workspace_parameters.workspace_region_shape.dimensions.tostring())
      length = len(self.workspace_parameters.workspace_region_shape.triangles)
      buff.write(_struct_I.pack(length))
      pattern = '<%si'%length
      buff.write(self.workspace_parameters.workspace_region_shape.triangles.tostring())
      length = len(self.workspace_parameters.workspace_region_shape.vertices)
      buff.write(_struct_I.pack(length))
      for val1 in self.workspace_parameters.workspace_region_shape.vertices:
        _x = val1
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
      _x = self
      buff.write(_struct_3I.pack(_x.workspace_parameters.workspace_region_pose.header.seq, _x.workspace_parameters.workspace_region_pose.header.stamp.secs, _x.workspace_parameters.workspace_region_pose.header.stamp.nsecs))
      _x = self.workspace_parameters.workspace_region_pose.header.frame_id
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_7d3I.pack(_x.workspace_parameters.workspace_region_pose.pose.position.x, _x.workspace_parameters.workspace_region_pose.pose.position.y, _x.workspace_parameters.workspace_region_pose.pose.position.z, _x.workspace_parameters.workspace_region_pose.pose.orientation.x, _x.workspace_parameters.workspace_region_pose.pose.orientation.y, _x.workspace_parameters.workspace_region_pose.pose.orientation.z, _x.workspace_parameters.workspace_region_pose.pose.orientation.w, _x.start_state.joint_state.header.seq, _x.start_state.joint_state.header.stamp.secs, _x.start_state.joint_state.header.stamp.nsecs))
      _x = self.start_state.joint_state.header.frame_id
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.start_state.joint_state.name)
      buff.write(_struct_I.pack(length))
      for val1 in self.start_state.joint_state.name:
        length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.start_state.joint_state.position)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.start_state.joint_state.position.tostring())
      length = len(self.start_state.joint_state.velocity)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.start_state.joint_state.velocity.tostring())
      length = len(self.start_state.joint_state.effort)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.start_state.joint_state.effort.tostring())
      _x = self
      buff.write(_struct_2I.pack(_x.start_state.multi_dof_joint_state.stamp.secs, _x.start_state.multi_dof_joint_state.stamp.nsecs))
      length = len(self.start_state.multi_dof_joint_state.joint_names)
      buff.write(_struct_I.pack(length))
      for val1 in self.start_state.multi_dof_joint_state.joint_names:
        length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.start_state.multi_dof_joint_state.frame_ids)
      buff.write(_struct_I.pack(length))
      for val1 in self.start_state.multi_dof_joint_state.frame_ids:
        length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.start_state.multi_dof_joint_state.child_frame_ids)
      buff.write(_struct_I.pack(length))
      for val1 in self.start_state.multi_dof_joint_state.child_frame_ids:
        length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.start_state.multi_dof_joint_state.poses)
      buff.write(_struct_I.pack(length))
      for val1 in self.start_state.multi_dof_joint_state.poses:
        _v61 = val1.position
        _x = _v61
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v62 = val1.orientation
        _x = _v62
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
      length = len(self.joint_names)
      buff.write(_struct_I.pack(length))
      for val1 in self.joint_names:
        length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.init_states)
      buff.write(_struct_I.pack(length))
      for val1 in self.init_states:
        _v63 = val1.joint_state
        _v64 = _v63.header
        buff.write(_struct_I.pack(_v64.seq))
        _v65 = _v64.stamp
        _x = _v65
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v64.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        length = len(_v63.name)
        buff.write(_struct_I.pack(length))
        for val3 in _v63.name:
          length = len(val3)
          buff.write(struct.pack('<I%ss'%length, length, val3))
        length = len(_v63.position)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(_v63.position.tostring())
        length = len(_v63.velocity)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(_v63.velocity.tostring())
        length = len(_v63.effort)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(_v63.effort.tostring())
        _v66 = val1.multi_dof_joint_state
        _v67 = _v66.stamp
        _x = _v67
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        length = len(_v66.joint_names)
        buff.write(_struct_I.pack(length))
        for val3 in _v66.joint_names:
          length = len(val3)
          buff.write(struct.pack('<I%ss'%length, length, val3))
        length = len(_v66.frame_ids)
        buff.write(_struct_I.pack(length))
        for val3 in _v66.frame_ids:
          length = len(val3)
          buff.write(struct.pack('<I%ss'%length, length, val3))
        length = len(_v66.child_frame_ids)
        buff.write(_struct_I.pack(length))
        for val3 in _v66.child_frame_ids:
          length = len(val3)
          buff.write(struct.pack('<I%ss'%length, length, val3))
        length = len(_v66.poses)
        buff.write(_struct_I.pack(length))
        for val3 in _v66.poses:
          _v68 = val3.position
          _x = _v68
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
          _v69 = val3.orientation
          _x = _v69
          buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
      length = len(self.constraints.joint_constraints)
      buff.write(_struct_I.pack(length))
      for val1 in self.constraints.joint_constraints:
        _x = val1.joint_name
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = val1
        buff.write(_struct_4d.pack(_x.position, _x.tolerance_above, _x.tolerance_below, _x.weight))
      length = len(self.constraints.position_constraints)
      buff.write(_struct_I.pack(length))
      for val1 in self.constraints.position_constraints:
        _v70 = val1.header
        buff.write(_struct_I.pack(_v70.seq))
        _v71 = _v70.stamp
        _x = _v71
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v70.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = val1.link_name
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _v72 = val1.target_point_offset
        _x = _v72
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v73 = val1.position
        _x = _v73
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v74 = val1.constraint_region_shape
        buff.write(_struct_b.pack(_v74.type))
        length = len(_v74.dimensions)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(_v74.dimensions.tostring())
        length = len(_v74.triangles)
        buff.write(_struct_I.pack(length))
        pattern = '<%si'%length
        buff.write(_v74.triangles.tostring())
        length = len(_v74.vertices)
        buff.write(_struct_I.pack(length))
        for val3 in _v74.vertices:
          _x = val3
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v75 = val1.constraint_region_orientation
        _x = _v75
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
        buff.write(_struct_d.pack(val1.weight))
      length = len(self.constraints.orientation_constraints)
      buff.write(_struct_I.pack(length))
      for val1 in self.constraints.orientation_constraints:
        _v76 = val1.header
        buff.write(_struct_I.pack(_v76.seq))
        _v77 = _v76.stamp
        _x = _v77
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v76.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = val1.link_name
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        buff.write(_struct_i.pack(val1.type))
        _v78 = val1.orientation
        _x = _v78
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
        _x = val1
        buff.write(_struct_4d.pack(_x.absolute_roll_tolerance, _x.absolute_pitch_tolerance, _x.absolute_yaw_tolerance, _x.weight))
      length = len(self.constraints.visibility_constraints)
      buff.write(_struct_I.pack(length))
      for val1 in self.constraints.visibility_constraints:
        _v79 = val1.header
        buff.write(_struct_I.pack(_v79.seq))
        _v80 = _v79.stamp
        _x = _v80
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v79.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _v81 = val1.target
        _v82 = _v81.header
        buff.write(_struct_I.pack(_v82.seq))
        _v83 = _v82.stamp
        _x = _v83
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v82.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _v84 = _v81.point
        _x = _v84
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v85 = val1.sensor_pose
        _v86 = _v85.header
        buff.write(_struct_I.pack(_v86.seq))
        _v87 = _v86.stamp
        _x = _v87
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v86.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _v88 = _v85.pose
        _v89 = _v88.position
        _x = _v89
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v90 = _v88.orientation
        _x = _v90
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
        buff.write(_struct_d.pack(val1.absolute_tolerance))
      buff.write(_struct_d.pack(self.allowed_time))
    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:
      if self.workspace_parameters is None:
        self.workspace_parameters = motion_planning_msgs.msg.WorkspaceParameters()
      if self.start_state is None:
        self.start_state = motion_planning_msgs.msg.RobotState()
      if self.constraints is None:
        self.constraints = motion_planning_msgs.msg.Constraints()
      end = 0
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.model_id = str[start:end]
      start = end
      end += 1
      (self.workspace_parameters.workspace_region_shape.type,) = _struct_b.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.workspace_parameters.workspace_region_shape.dimensions = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%si'%length
      start = end
      end += struct.calcsize(pattern)
      self.workspace_parameters.workspace_region_shape.triangles = numpy.frombuffer(str[start:end], dtype=numpy.int32, count=length)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.workspace_parameters.workspace_region_shape.vertices = []
      for i in xrange(0, length):
        val1 = geometry_msgs.msg.Point()
        _x = val1
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        self.workspace_parameters.workspace_region_shape.vertices.append(val1)
      _x = self
      start = end
      end += 12
      (_x.workspace_parameters.workspace_region_pose.header.seq, _x.workspace_parameters.workspace_region_pose.header.stamp.secs, _x.workspace_parameters.workspace_region_pose.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.workspace_parameters.workspace_region_pose.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 68
      (_x.workspace_parameters.workspace_region_pose.pose.position.x, _x.workspace_parameters.workspace_region_pose.pose.position.y, _x.workspace_parameters.workspace_region_pose.pose.position.z, _x.workspace_parameters.workspace_region_pose.pose.orientation.x, _x.workspace_parameters.workspace_region_pose.pose.orientation.y, _x.workspace_parameters.workspace_region_pose.pose.orientation.z, _x.workspace_parameters.workspace_region_pose.pose.orientation.w, _x.start_state.joint_state.header.seq, _x.start_state.joint_state.header.stamp.secs, _x.start_state.joint_state.header.stamp.nsecs,) = _struct_7d3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.start_state.joint_state.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.start_state.joint_state.name = []
      for i in xrange(0, length):
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1 = str[start:end]
        self.start_state.joint_state.name.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.start_state.joint_state.position = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.start_state.joint_state.velocity = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.start_state.joint_state.effort = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
      _x = self
      start = end
      end += 8
      (_x.start_state.multi_dof_joint_state.stamp.secs, _x.start_state.multi_dof_joint_state.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.start_state.multi_dof_joint_state.joint_names = []
      for i in xrange(0, length):
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1 = str[start:end]
        self.start_state.multi_dof_joint_state.joint_names.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.start_state.multi_dof_joint_state.frame_ids = []
      for i in xrange(0, length):
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1 = str[start:end]
        self.start_state.multi_dof_joint_state.frame_ids.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.start_state.multi_dof_joint_state.child_frame_ids = []
      for i in xrange(0, length):
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1 = str[start:end]
        self.start_state.multi_dof_joint_state.child_frame_ids.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.start_state.multi_dof_joint_state.poses = []
      for i in xrange(0, length):
        val1 = geometry_msgs.msg.Pose()
        _v91 = val1.position
        _x = _v91
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v92 = val1.orientation
        _x = _v92
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        self.start_state.multi_dof_joint_state.poses.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.joint_names = []
      for i in xrange(0, length):
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1 = str[start:end]
        self.joint_names.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.init_states = []
      for i in xrange(0, length):
        val1 = motion_planning_msgs.msg.RobotState()
        _v93 = val1.joint_state
        _v94 = _v93.header
        start = end
        end += 4
        (_v94.seq,) = _struct_I.unpack(str[start:end])
        _v95 = _v94.stamp
        _x = _v95
        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
        _v94.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v93.name = []
        for i in xrange(0, length):
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          val3 = str[start:end]
          _v93.name.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        _v93.position = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        _v93.velocity = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        _v93.effort = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
        _v96 = val1.multi_dof_joint_state
        _v97 = _v96.stamp
        _x = _v97
        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])
        _v96.joint_names = []
        for i in xrange(0, length):
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          val3 = str[start:end]
          _v96.joint_names.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v96.frame_ids = []
        for i in xrange(0, length):
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          val3 = str[start:end]
          _v96.frame_ids.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v96.child_frame_ids = []
        for i in xrange(0, length):
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          val3 = str[start:end]
          _v96.child_frame_ids.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v96.poses = []
        for i in xrange(0, length):
          val3 = geometry_msgs.msg.Pose()
          _v98 = val3.position
          _x = _v98
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
          _v99 = val3.orientation
          _x = _v99
          start = end
          end += 32
          (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
          _v96.poses.append(val3)
        self.init_states.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.constraints.joint_constraints = []
      for i in xrange(0, length):
        val1 = motion_planning_msgs.msg.JointConstraint()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1.joint_name = str[start:end]
        _x = val1
        start = end
        end += 32
        (_x.position, _x.tolerance_above, _x.tolerance_below, _x.weight,) = _struct_4d.unpack(str[start:end])
        self.constraints.joint_constraints.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.constraints.position_constraints = []
      for i in xrange(0, length):
        val1 = motion_planning_msgs.msg.PositionConstraint()
        _v100 = val1.header
        start = end
        end += 4
        (_v100.seq,) = _struct_I.unpack(str[start:end])
        _v101 = _v100.stamp
        _x = _v101
        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
        _v100.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1.link_name = str[start:end]
        _v102 = val1.target_point_offset
        _x = _v102
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v103 = val1.position
        _x = _v103
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v104 = val1.constraint_region_shape
        start = end
        end += 1
        (_v104.type,) = _struct_b.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        _v104.dimensions = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%si'%length
        start = end
        end += struct.calcsize(pattern)
        _v104.triangles = numpy.frombuffer(str[start:end], dtype=numpy.int32, count=length)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v104.vertices = []
        for i in xrange(0, length):
          val3 = geometry_msgs.msg.Point()
          _x = val3
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
          _v104.vertices.append(val3)
        _v105 = val1.constraint_region_orientation
        _x = _v105
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        start = end
        end += 8
        (val1.weight,) = _struct_d.unpack(str[start:end])
        self.constraints.position_constraints.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.constraints.orientation_constraints = []
      for i in xrange(0, length):
        val1 = motion_planning_msgs.msg.OrientationConstraint()
        _v106 = val1.header
        start = end
        end += 4
        (_v106.seq,) = _struct_I.unpack(str[start:end])
        _v107 = _v106.stamp
        _x = _v107
        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
        _v106.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1.link_name = str[start:end]
        start = end
        end += 4
        (val1.type,) = _struct_i.unpack(str[start:end])
        _v108 = val1.orientation
        _x = _v108
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        _x = val1
        start = end
        end += 32
        (_x.absolute_roll_tolerance, _x.absolute_pitch_tolerance, _x.absolute_yaw_tolerance, _x.weight,) = _struct_4d.unpack(str[start:end])
        self.constraints.orientation_constraints.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.constraints.visibility_constraints = []
      for i in xrange(0, length):
        val1 = motion_planning_msgs.msg.VisibilityConstraint()
        _v109 = val1.header
        start = end
        end += 4
        (_v109.seq,) = _struct_I.unpack(str[start:end])
        _v110 = _v109.stamp
        _x = _v110
        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
        _v109.frame_id = str[start:end]
        _v111 = val1.target
        _v112 = _v111.header
        start = end
        end += 4
        (_v112.seq,) = _struct_I.unpack(str[start:end])
        _v113 = _v112.stamp
        _x = _v113
        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
        _v112.frame_id = str[start:end]
        _v114 = _v111.point
        _x = _v114
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v115 = val1.sensor_pose
        _v116 = _v115.header
        start = end
        end += 4
        (_v116.seq,) = _struct_I.unpack(str[start:end])
        _v117 = _v116.stamp
        _x = _v117
        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
        _v116.frame_id = str[start:end]
        _v118 = _v115.pose
        _v119 = _v118.position
        _x = _v119
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v120 = _v118.orientation
        _x = _v120
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        start = end
        end += 8
        (val1.absolute_tolerance,) = _struct_d.unpack(str[start:end])
        self.constraints.visibility_constraints.append(val1)
      start = end
      end += 8
      (self.allowed_time,) = _struct_d.unpack(str[start:end])
      return self
    except struct.error, e:
      raise roslib.message.DeserializationError(e) #most likely buffer underfill

_struct_I = roslib.message.struct_I
_struct_b = struct.Struct("<b")
_struct_d = struct.Struct("<d")
_struct_2I = struct.Struct("<2I")
_struct_i = struct.Struct("<i")
_struct_3I = struct.Struct("<3I")
_struct_4d = struct.Struct("<4d")
_struct_7d3I = struct.Struct("<7d3I")
_struct_3d = struct.Struct("<3d")
"""autogenerated by genmsg_py from ConvertToJointConstraintResponse.msg. Do not edit."""
import roslib.message
import struct

import motion_planning_msgs.msg

class ConvertToJointConstraintResponse(roslib.message.Message):
  _md5sum = "d7a8073958b17b9bc926b7fb8d466ac6"
  _type = "motion_planning_msgs/ConvertToJointConstraintResponse"
  _has_header = False #flag to mark the presence of a Header object
  _full_text = """

motion_planning_msgs/JointConstraint[] joint_constraints


================================================================================
MSG: motion_planning_msgs/JointConstraint
# Constrain the position of a joint to be within a certain bound
string joint_name

# the bound to be achieved is [position - tolerance_below, position + tolerance_above]
float64 position
float64 tolerance_above
float64 tolerance_below

# A weighting factor for this constraint
float64 weight
"""
  __slots__ = ['joint_constraints']
  _slot_types = ['motion_planning_msgs/JointConstraint[]']

  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:
       joint_constraints
    
    @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(ConvertToJointConstraintResponse, self).__init__(*args, **kwds)
      #message fields cannot be None, assign default values for those that are
      if self.joint_constraints is None:
        self.joint_constraints = []
    else:
      self.joint_constraints = []

  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:
      length = len(self.joint_constraints)
      buff.write(_struct_I.pack(length))
      for val1 in self.joint_constraints:
        _x = val1.joint_name
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = val1
        buff.write(_struct_4d.pack(_x.position, _x.tolerance_above, _x.tolerance_below, _x.weight))
    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 += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.joint_constraints = []
      for i in xrange(0, length):
        val1 = motion_planning_msgs.msg.JointConstraint()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1.joint_name = str[start:end]
        _x = val1
        start = end
        end += 32
        (_x.position, _x.tolerance_above, _x.tolerance_below, _x.weight,) = _struct_4d.unpack(str[start:end])
        self.joint_constraints.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:
      length = len(self.joint_constraints)
      buff.write(_struct_I.pack(length))
      for val1 in self.joint_constraints:
        _x = val1.joint_name
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = val1
        buff.write(_struct_4d.pack(_x.position, _x.tolerance_above, _x.tolerance_below, _x.weight))
    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 += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.joint_constraints = []
      for i in xrange(0, length):
        val1 = motion_planning_msgs.msg.JointConstraint()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1.joint_name = str[start:end]
        _x = val1
        start = end
        end += 32
        (_x.position, _x.tolerance_above, _x.tolerance_below, _x.weight,) = _struct_4d.unpack(str[start:end])
        self.joint_constraints.append(val1)
      return self
    except struct.error, e:
      raise roslib.message.DeserializationError(e) #most likely buffer underfill

_struct_I = roslib.message.struct_I
_struct_4d = struct.Struct("<4d")
class ConvertToJointConstraint(roslib.message.ServiceDefinition):
  _type          = 'motion_planning_msgs/ConvertToJointConstraint'
  _md5sum = '44f1f1ccbb08264490b769e8b8b79668'
  _request_class  = ConvertToJointConstraintRequest
  _response_class = ConvertToJointConstraintResponse

---

motion_planning_msgs
Author(s): Ioan Sucan/isucan@willowgarage.com, Sachin Chitta/sachinc@willowgarage.com
autogenerated on Fri Jan 11 09:59:45 2013