_MultiDOFJointTrajectory.py

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

import motion_planning_msgs.msg
import geometry_msgs.msg
import roslib.rostime

class MultiDOFJointTrajectory(roslib.message.Message):
  _md5sum = "524f128fb0a65e2838b0e3e3f75207d0"
  _type = "motion_planning_msgs/MultiDOFJointTrajectory"
  _has_header = False #flag to mark the presence of a Header object
  _full_text = """#A representation of a multi-dof joint trajectory
duration stamp
string[] joint_names
string[] frame_ids
string[] child_frame_ids
MultiDOFJointTrajectoryPoint[] points

================================================================================
MSG: motion_planning_msgs/MultiDOFJointTrajectoryPoint
geometry_msgs/Pose[] poses
duration time_from_start
================================================================================
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__ = ['stamp','joint_names','frame_ids','child_frame_ids','points']
  _slot_types = ['duration','string[]','string[]','string[]','motion_planning_msgs/MultiDOFJointTrajectoryPoint[]']

  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:
       stamp,joint_names,frame_ids,child_frame_ids,points
    
    @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(MultiDOFJointTrajectory, self).__init__(*args, **kwds)
      #message fields cannot be None, assign default values for those that are
      if self.stamp is None:
        self.stamp = roslib.rostime.Duration()
      if self.joint_names is None:
        self.joint_names = []
      if self.frame_ids is None:
        self.frame_ids = []
      if self.child_frame_ids is None:
        self.child_frame_ids = []
      if self.points is None:
        self.points = []
    else:
      self.stamp = roslib.rostime.Duration()
      self.joint_names = []
      self.frame_ids = []
      self.child_frame_ids = []
      self.points = []

  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
      buff.write(_struct_2i.pack(_x.stamp.secs, _x.stamp.nsecs))
      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.frame_ids)
      buff.write(_struct_I.pack(length))
      for val1 in self.frame_ids:
        length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.child_frame_ids)
      buff.write(_struct_I.pack(length))
      for val1 in self.child_frame_ids:
        length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.points)
      buff.write(_struct_I.pack(length))
      for val1 in self.points:
        length = len(val1.poses)
        buff.write(_struct_I.pack(length))
        for val2 in val1.poses:
          _v1 = val2.position
          _x = _v1
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
          _v2 = val2.orientation
          _x = _v2
          buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
        _v3 = val1.time_from_start
        _x = _v3
        buff.write(_struct_2i.pack(_x.secs, _x.nsecs))
    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.stamp is None:
        self.stamp = roslib.rostime.Duration()
      end = 0
      _x = self
      start = end
      end += 8
      (_x.stamp.secs, _x.stamp.nsecs,) = _struct_2i.unpack(str[start:end])
      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.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.frame_ids.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.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.child_frame_ids.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.points = []
      for i in xrange(0, length):
        val1 = motion_planning_msgs.msg.MultiDOFJointTrajectoryPoint()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.poses = []
        for i in xrange(0, length):
          val2 = geometry_msgs.msg.Pose()
          _v4 = val2.position
          _x = _v4
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
          _v5 = val2.orientation
          _x = _v5
          start = end
          end += 32
          (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
          val1.poses.append(val2)
        _v6 = val1.time_from_start
        _x = _v6
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2i.unpack(str[start:end])
        self.points.append(val1)
      self.stamp.canon()
      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
      buff.write(_struct_2i.pack(_x.stamp.secs, _x.stamp.nsecs))
      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.frame_ids)
      buff.write(_struct_I.pack(length))
      for val1 in self.frame_ids:
        length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.child_frame_ids)
      buff.write(_struct_I.pack(length))
      for val1 in self.child_frame_ids:
        length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.points)
      buff.write(_struct_I.pack(length))
      for val1 in self.points:
        length = len(val1.poses)
        buff.write(_struct_I.pack(length))
        for val2 in val1.poses:
          _v7 = val2.position
          _x = _v7
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
          _v8 = val2.orientation
          _x = _v8
          buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
        _v9 = val1.time_from_start
        _x = _v9
        buff.write(_struct_2i.pack(_x.secs, _x.nsecs))
    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.stamp is None:
        self.stamp = roslib.rostime.Duration()
      end = 0
      _x = self
      start = end
      end += 8
      (_x.stamp.secs, _x.stamp.nsecs,) = _struct_2i.unpack(str[start:end])
      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.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.frame_ids.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.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.child_frame_ids.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.points = []
      for i in xrange(0, length):
        val1 = motion_planning_msgs.msg.MultiDOFJointTrajectoryPoint()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.poses = []
        for i in xrange(0, length):
          val2 = geometry_msgs.msg.Pose()
          _v10 = val2.position
          _x = _v10
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
          _v11 = val2.orientation
          _x = _v11
          start = end
          end += 32
          (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
          val1.poses.append(val2)
        _v12 = val1.time_from_start
        _x = _v12
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2i.unpack(str[start:end])
        self.points.append(val1)
      self.stamp.canon()
      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_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