_OrientationConstraint.py

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

import geometry_msgs.msg
import std_msgs.msg

class OrientationConstraint(roslib.message.Message):
  _md5sum = "27d99749ba49d4a822298bbd1e0988ba"
  _type = "motion_planning_msgs/OrientationConstraint"
  _has_header = True #flag to mark the presence of a Header object
  _full_text = """# 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: 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/Quaternion
# This represents an orientation in free space in quaternion form.

float64 x
float64 y
float64 z
float64 w

"""
  # Pseudo-constants
  LINK_FRAME = 0
  HEADER_FRAME = 1

  __slots__ = ['header','link_name','type','orientation','absolute_roll_tolerance','absolute_pitch_tolerance','absolute_yaw_tolerance','weight']
  _slot_types = ['Header','string','int32','geometry_msgs/Quaternion','float64','float64','float64','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:
       header,link_name,type,orientation,absolute_roll_tolerance,absolute_pitch_tolerance,absolute_yaw_tolerance,weight
    
    @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(OrientationConstraint, self).__init__(*args, **kwds)
      #message fields cannot be None, assign default values for those that are
      if self.header is None:
        self.header = std_msgs.msg._Header.Header()
      if self.link_name is None:
        self.link_name = ''
      if self.type is None:
        self.type = 0
      if self.orientation is None:
        self.orientation = geometry_msgs.msg.Quaternion()
      if self.absolute_roll_tolerance is None:
        self.absolute_roll_tolerance = 0.
      if self.absolute_pitch_tolerance is None:
        self.absolute_pitch_tolerance = 0.
      if self.absolute_yaw_tolerance is None:
        self.absolute_yaw_tolerance = 0.
      if self.weight is None:
        self.weight = 0.
    else:
      self.header = std_msgs.msg._Header.Header()
      self.link_name = ''
      self.type = 0
      self.orientation = geometry_msgs.msg.Quaternion()
      self.absolute_roll_tolerance = 0.
      self.absolute_pitch_tolerance = 0.
      self.absolute_yaw_tolerance = 0.
      self.weight = 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
      buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
      _x = self.header.frame_id
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self.link_name
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_i8d.pack(_x.type, _x.orientation.x, _x.orientation.y, _x.orientation.z, _x.orientation.w, _x.absolute_roll_tolerance, _x.absolute_pitch_tolerance, _x.absolute_yaw_tolerance, _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:
      if self.header is None:
        self.header = std_msgs.msg._Header.Header()
      if self.orientation is None:
        self.orientation = geometry_msgs.msg.Quaternion()
      end = 0
      _x = self
      start = end
      end += 12
      (_x.header.seq, _x.header.stamp.secs, _x.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.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.link_name = str[start:end]
      _x = self
      start = end
      end += 68
      (_x.type, _x.orientation.x, _x.orientation.y, _x.orientation.z, _x.orientation.w, _x.absolute_roll_tolerance, _x.absolute_pitch_tolerance, _x.absolute_yaw_tolerance, _x.weight,) = _struct_i8d.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
      buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
      _x = self.header.frame_id
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self.link_name
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_i8d.pack(_x.type, _x.orientation.x, _x.orientation.y, _x.orientation.z, _x.orientation.w, _x.absolute_roll_tolerance, _x.absolute_pitch_tolerance, _x.absolute_yaw_tolerance, _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:
      if self.header is None:
        self.header = std_msgs.msg._Header.Header()
      if self.orientation is None:
        self.orientation = geometry_msgs.msg.Quaternion()
      end = 0
      _x = self
      start = end
      end += 12
      (_x.header.seq, _x.header.stamp.secs, _x.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.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.link_name = str[start:end]
      _x = self
      start = end
      end += 68
      (_x.type, _x.orientation.x, _x.orientation.y, _x.orientation.z, _x.orientation.w, _x.absolute_roll_tolerance, _x.absolute_pitch_tolerance, _x.absolute_yaw_tolerance, _x.weight,) = _struct_i8d.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_3I = struct.Struct("<3I")
_struct_i8d = struct.Struct("<i8d")

---

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