_DisplayPath.py

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

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

class DisplayPath(roslib.message.Message):
  _md5sum = "b8dfa63887ffce8861d5beaef6427319"
  _type = "motion_planning_msgs/DisplayPath"
  _has_header = False #flag to mark the presence of a Header object
  _full_text = """# The model id for which this path has been generated
string model_id
# The representation of the path contains position values for all the joints that are moving along the path
JointPath path
# The robot state is used to obtain positions for all/some of the joints of the robot. 
# It is used by the path display node to determine the positions of the joints that are not specified in the joint path message above. 
# If the robot state message contains joint position information for joints that are also mentioned in the joint path message, the positions in the joint path message will overwrite the positions specified in the robot state message. 
RobotState robot_state
================================================================================
MSG: motion_planning_msgs/JointPath
# This message defines a joint path 

# The standard ROS header
Header header

# Vector of joint names for which positions are specified. 
# The size of this vector must match the size of each waypoint below
string[] joint_names

# A vector of waypoints. 
# Each waypoint is a vector of joint positions. 
# Each waypoint must have the same size as the vector of joint names
JointPathPoint[] points
================================================================================
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: motion_planning_msgs/JointPathPoint
# The joint path point contains a vector of joint positions.
float64[] positions

================================================================================
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: 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__ = ['model_id','path','robot_state']
  _slot_types = ['string','motion_planning_msgs/JointPath','motion_planning_msgs/RobotState']

  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,path,robot_state
    
    @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(DisplayPath, 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.path is None:
        self.path = motion_planning_msgs.msg.JointPath()
      if self.robot_state is None:
        self.robot_state = motion_planning_msgs.msg.RobotState()
    else:
      self.model_id = ''
      self.path = motion_planning_msgs.msg.JointPath()
      self.robot_state = motion_planning_msgs.msg.RobotState()

  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))
      _x = self
      buff.write(_struct_3I.pack(_x.path.header.seq, _x.path.header.stamp.secs, _x.path.header.stamp.nsecs))
      _x = self.path.header.frame_id
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.path.joint_names)
      buff.write(_struct_I.pack(length))
      for val1 in self.path.joint_names:
        length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.path.points)
      buff.write(_struct_I.pack(length))
      for val1 in self.path.points:
        length = len(val1.positions)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(struct.pack(pattern, *val1.positions))
      _x = self
      buff.write(_struct_3I.pack(_x.robot_state.joint_state.header.seq, _x.robot_state.joint_state.header.stamp.secs, _x.robot_state.joint_state.header.stamp.nsecs))
      _x = self.robot_state.joint_state.header.frame_id
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.robot_state.joint_state.name)
      buff.write(_struct_I.pack(length))
      for val1 in self.robot_state.joint_state.name:
        length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.robot_state.joint_state.position)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.robot_state.joint_state.position))
      length = len(self.robot_state.joint_state.velocity)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.robot_state.joint_state.velocity))
      length = len(self.robot_state.joint_state.effort)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.robot_state.joint_state.effort))
      _x = self
      buff.write(_struct_2I.pack(_x.robot_state.multi_dof_joint_state.stamp.secs, _x.robot_state.multi_dof_joint_state.stamp.nsecs))
      length = len(self.robot_state.multi_dof_joint_state.joint_names)
      buff.write(_struct_I.pack(length))
      for val1 in self.robot_state.multi_dof_joint_state.joint_names:
        length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.robot_state.multi_dof_joint_state.frame_ids)
      buff.write(_struct_I.pack(length))
      for val1 in self.robot_state.multi_dof_joint_state.frame_ids:
        length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.robot_state.multi_dof_joint_state.child_frame_ids)
      buff.write(_struct_I.pack(length))
      for val1 in self.robot_state.multi_dof_joint_state.child_frame_ids:
        length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.robot_state.multi_dof_joint_state.poses)
      buff.write(_struct_I.pack(length))
      for val1 in self.robot_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))
    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.path is None:
        self.path = motion_planning_msgs.msg.JointPath()
      if self.robot_state is None:
        self.robot_state = motion_planning_msgs.msg.RobotState()
      end = 0
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.model_id = str[start:end]
      _x = self
      start = end
      end += 12
      (_x.path.header.seq, _x.path.header.stamp.secs, _x.path.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.path.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.path.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.path.joint_names.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.path.points = []
      for i in xrange(0, length):
        val1 = motion_planning_msgs.msg.JointPathPoint()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        val1.positions = struct.unpack(pattern, str[start:end])
        self.path.points.append(val1)
      _x = self
      start = end
      end += 12
      (_x.robot_state.joint_state.header.seq, _x.robot_state.joint_state.header.stamp.secs, _x.robot_state.joint_state.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.robot_state.joint_state.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.robot_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.robot_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.robot_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.robot_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.robot_state.joint_state.effort = struct.unpack(pattern, str[start:end])
      _x = self
      start = end
      end += 8
      (_x.robot_state.multi_dof_joint_state.stamp.secs, _x.robot_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.robot_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.robot_state.multi_dof_joint_state.joint_names.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.robot_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.robot_state.multi_dof_joint_state.frame_ids.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.robot_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.robot_state.multi_dof_joint_state.child_frame_ids.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.robot_state.multi_dof_joint_state.poses = []
      for i in xrange(0, length):
        val1 = geometry_msgs.msg.Pose()
        _v3 = val1.position
        _x = _v3
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v4 = val1.orientation
        _x = _v4
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        self.robot_state.multi_dof_joint_state.poses.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:
      _x = self.model_id
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_3I.pack(_x.path.header.seq, _x.path.header.stamp.secs, _x.path.header.stamp.nsecs))
      _x = self.path.header.frame_id
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.path.joint_names)
      buff.write(_struct_I.pack(length))
      for val1 in self.path.joint_names:
        length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.path.points)
      buff.write(_struct_I.pack(length))
      for val1 in self.path.points:
        length = len(val1.positions)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(val1.positions.tostring())
      _x = self
      buff.write(_struct_3I.pack(_x.robot_state.joint_state.header.seq, _x.robot_state.joint_state.header.stamp.secs, _x.robot_state.joint_state.header.stamp.nsecs))
      _x = self.robot_state.joint_state.header.frame_id
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.robot_state.joint_state.name)
      buff.write(_struct_I.pack(length))
      for val1 in self.robot_state.joint_state.name:
        length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.robot_state.joint_state.position)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.robot_state.joint_state.position.tostring())
      length = len(self.robot_state.joint_state.velocity)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.robot_state.joint_state.velocity.tostring())
      length = len(self.robot_state.joint_state.effort)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.robot_state.joint_state.effort.tostring())
      _x = self
      buff.write(_struct_2I.pack(_x.robot_state.multi_dof_joint_state.stamp.secs, _x.robot_state.multi_dof_joint_state.stamp.nsecs))
      length = len(self.robot_state.multi_dof_joint_state.joint_names)
      buff.write(_struct_I.pack(length))
      for val1 in self.robot_state.multi_dof_joint_state.joint_names:
        length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.robot_state.multi_dof_joint_state.frame_ids)
      buff.write(_struct_I.pack(length))
      for val1 in self.robot_state.multi_dof_joint_state.frame_ids:
        length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.robot_state.multi_dof_joint_state.child_frame_ids)
      buff.write(_struct_I.pack(length))
      for val1 in self.robot_state.multi_dof_joint_state.child_frame_ids:
        length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.robot_state.multi_dof_joint_state.poses)
      buff.write(_struct_I.pack(length))
      for val1 in self.robot_state.multi_dof_joint_state.poses:
        _v5 = val1.position
        _x = _v5
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v6 = val1.orientation
        _x = _v6
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
    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.path is None:
        self.path = motion_planning_msgs.msg.JointPath()
      if self.robot_state is None:
        self.robot_state = motion_planning_msgs.msg.RobotState()
      end = 0
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.model_id = str[start:end]
      _x = self
      start = end
      end += 12
      (_x.path.header.seq, _x.path.header.stamp.secs, _x.path.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.path.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.path.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.path.joint_names.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.path.points = []
      for i in xrange(0, length):
        val1 = motion_planning_msgs.msg.JointPathPoint()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        val1.positions = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
        self.path.points.append(val1)
      _x = self
      start = end
      end += 12
      (_x.robot_state.joint_state.header.seq, _x.robot_state.joint_state.header.stamp.secs, _x.robot_state.joint_state.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.robot_state.joint_state.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.robot_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.robot_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.robot_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.robot_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.robot_state.joint_state.effort = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
      _x = self
      start = end
      end += 8
      (_x.robot_state.multi_dof_joint_state.stamp.secs, _x.robot_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.robot_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.robot_state.multi_dof_joint_state.joint_names.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.robot_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.robot_state.multi_dof_joint_state.frame_ids.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.robot_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.robot_state.multi_dof_joint_state.child_frame_ids.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.robot_state.multi_dof_joint_state.poses = []
      for i in xrange(0, length):
        val1 = geometry_msgs.msg.Pose()
        _v7 = val1.position
        _x = _v7
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v8 = val1.orientation
        _x = _v8
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        self.robot_state.multi_dof_joint_state.poses.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")
_struct_3I = struct.Struct("<3I")
_struct_2I = struct.Struct("<2I")
_struct_3d = struct.Struct("<3d")

---

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