_RobotTrajectory.py

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

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

class RobotTrajectory(roslib.message.Message):
  _md5sum = "5bc8324620001e5c07a09d0bbfaaf093"
  _type = "motion_planning_msgs/RobotTrajectory"
  _has_header = False #flag to mark the presence of a Header object
  _full_text = """trajectory_msgs/JointTrajectory joint_trajectory
motion_planning_msgs/MultiDOFJointTrajectory multi_dof_joint_trajectory
================================================================================
MSG: trajectory_msgs/JointTrajectory
Header header
string[] joint_names
JointTrajectoryPoint[] 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: trajectory_msgs/JointTrajectoryPoint
float64[] positions
float64[] velocities
float64[] accelerations
duration time_from_start
================================================================================
MSG: motion_planning_msgs/MultiDOFJointTrajectory
#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__ = ['joint_trajectory','multi_dof_joint_trajectory']
  _slot_types = ['trajectory_msgs/JointTrajectory','motion_planning_msgs/MultiDOFJointTrajectory']

  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_trajectory,multi_dof_joint_trajectory
    
    @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(RobotTrajectory, self).__init__(*args, **kwds)
      #message fields cannot be None, assign default values for those that are
      if self.joint_trajectory is None:
        self.joint_trajectory = trajectory_msgs.msg.JointTrajectory()
      if self.multi_dof_joint_trajectory is None:
        self.multi_dof_joint_trajectory = motion_planning_msgs.msg.MultiDOFJointTrajectory()
    else:
      self.joint_trajectory = trajectory_msgs.msg.JointTrajectory()
      self.multi_dof_joint_trajectory = motion_planning_msgs.msg.MultiDOFJointTrajectory()

  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.joint_trajectory.header.seq, _x.joint_trajectory.header.stamp.secs, _x.joint_trajectory.header.stamp.nsecs))
      _x = self.joint_trajectory.header.frame_id
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.joint_trajectory.joint_names)
      buff.write(_struct_I.pack(length))
      for val1 in self.joint_trajectory.joint_names:
        length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.joint_trajectory.points)
      buff.write(_struct_I.pack(length))
      for val1 in self.joint_trajectory.points:
        length = len(val1.positions)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(struct.pack(pattern, *val1.positions))
        length = len(val1.velocities)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(struct.pack(pattern, *val1.velocities))
        length = len(val1.accelerations)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(struct.pack(pattern, *val1.accelerations))
        _v1 = val1.time_from_start
        _x = _v1
        buff.write(_struct_2i.pack(_x.secs, _x.nsecs))
      _x = self
      buff.write(_struct_2i.pack(_x.multi_dof_joint_trajectory.stamp.secs, _x.multi_dof_joint_trajectory.stamp.nsecs))
      length = len(self.multi_dof_joint_trajectory.joint_names)
      buff.write(_struct_I.pack(length))
      for val1 in self.multi_dof_joint_trajectory.joint_names:
        length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.multi_dof_joint_trajectory.frame_ids)
      buff.write(_struct_I.pack(length))
      for val1 in self.multi_dof_joint_trajectory.frame_ids:
        length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.multi_dof_joint_trajectory.child_frame_ids)
      buff.write(_struct_I.pack(length))
      for val1 in self.multi_dof_joint_trajectory.child_frame_ids:
        length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.multi_dof_joint_trajectory.points)
      buff.write(_struct_I.pack(length))
      for val1 in self.multi_dof_joint_trajectory.points:
        length = len(val1.poses)
        buff.write(_struct_I.pack(length))
        for val2 in val1.poses:
          _v2 = val2.position
          _x = _v2
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
          _v3 = val2.orientation
          _x = _v3
          buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
        _v4 = val1.time_from_start
        _x = _v4
        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.joint_trajectory is None:
        self.joint_trajectory = trajectory_msgs.msg.JointTrajectory()
      if self.multi_dof_joint_trajectory is None:
        self.multi_dof_joint_trajectory = motion_planning_msgs.msg.MultiDOFJointTrajectory()
      end = 0
      _x = self
      start = end
      end += 12
      (_x.joint_trajectory.header.seq, _x.joint_trajectory.header.stamp.secs, _x.joint_trajectory.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.joint_trajectory.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.joint_trajectory.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_trajectory.joint_names.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.joint_trajectory.points = []
      for i in xrange(0, length):
        val1 = trajectory_msgs.msg.JointTrajectoryPoint()
        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])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        val1.velocities = 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)
        val1.accelerations = struct.unpack(pattern, str[start:end])
        _v5 = val1.time_from_start
        _x = _v5
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2i.unpack(str[start:end])
        self.joint_trajectory.points.append(val1)
      _x = self
      start = end
      end += 8
      (_x.multi_dof_joint_trajectory.stamp.secs, _x.multi_dof_joint_trajectory.stamp.nsecs,) = _struct_2i.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.multi_dof_joint_trajectory.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.multi_dof_joint_trajectory.joint_names.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.multi_dof_joint_trajectory.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.multi_dof_joint_trajectory.frame_ids.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.multi_dof_joint_trajectory.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.multi_dof_joint_trajectory.child_frame_ids.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.multi_dof_joint_trajectory.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()
          _v6 = val2.position
          _x = _v6
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
          _v7 = val2.orientation
          _x = _v7
          start = end
          end += 32
          (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
          val1.poses.append(val2)
        _v8 = val1.time_from_start
        _x = _v8
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2i.unpack(str[start:end])
        self.multi_dof_joint_trajectory.points.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
      buff.write(_struct_3I.pack(_x.joint_trajectory.header.seq, _x.joint_trajectory.header.stamp.secs, _x.joint_trajectory.header.stamp.nsecs))
      _x = self.joint_trajectory.header.frame_id
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.joint_trajectory.joint_names)
      buff.write(_struct_I.pack(length))
      for val1 in self.joint_trajectory.joint_names:
        length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.joint_trajectory.points)
      buff.write(_struct_I.pack(length))
      for val1 in self.joint_trajectory.points:
        length = len(val1.positions)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(val1.positions.tostring())
        length = len(val1.velocities)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(val1.velocities.tostring())
        length = len(val1.accelerations)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(val1.accelerations.tostring())
        _v9 = val1.time_from_start
        _x = _v9
        buff.write(_struct_2i.pack(_x.secs, _x.nsecs))
      _x = self
      buff.write(_struct_2i.pack(_x.multi_dof_joint_trajectory.stamp.secs, _x.multi_dof_joint_trajectory.stamp.nsecs))
      length = len(self.multi_dof_joint_trajectory.joint_names)
      buff.write(_struct_I.pack(length))
      for val1 in self.multi_dof_joint_trajectory.joint_names:
        length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.multi_dof_joint_trajectory.frame_ids)
      buff.write(_struct_I.pack(length))
      for val1 in self.multi_dof_joint_trajectory.frame_ids:
        length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.multi_dof_joint_trajectory.child_frame_ids)
      buff.write(_struct_I.pack(length))
      for val1 in self.multi_dof_joint_trajectory.child_frame_ids:
        length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.multi_dof_joint_trajectory.points)
      buff.write(_struct_I.pack(length))
      for val1 in self.multi_dof_joint_trajectory.points:
        length = len(val1.poses)
        buff.write(_struct_I.pack(length))
        for val2 in val1.poses:
          _v10 = val2.position
          _x = _v10
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
          _v11 = val2.orientation
          _x = _v11
          buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
        _v12 = val1.time_from_start
        _x = _v12
        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.joint_trajectory is None:
        self.joint_trajectory = trajectory_msgs.msg.JointTrajectory()
      if self.multi_dof_joint_trajectory is None:
        self.multi_dof_joint_trajectory = motion_planning_msgs.msg.MultiDOFJointTrajectory()
      end = 0
      _x = self
      start = end
      end += 12
      (_x.joint_trajectory.header.seq, _x.joint_trajectory.header.stamp.secs, _x.joint_trajectory.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.joint_trajectory.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.joint_trajectory.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_trajectory.joint_names.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.joint_trajectory.points = []
      for i in xrange(0, length):
        val1 = trajectory_msgs.msg.JointTrajectoryPoint()
        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)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        val1.velocities = 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)
        val1.accelerations = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
        _v13 = val1.time_from_start
        _x = _v13
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2i.unpack(str[start:end])
        self.joint_trajectory.points.append(val1)
      _x = self
      start = end
      end += 8
      (_x.multi_dof_joint_trajectory.stamp.secs, _x.multi_dof_joint_trajectory.stamp.nsecs,) = _struct_2i.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.multi_dof_joint_trajectory.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.multi_dof_joint_trajectory.joint_names.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.multi_dof_joint_trajectory.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.multi_dof_joint_trajectory.frame_ids.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.multi_dof_joint_trajectory.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.multi_dof_joint_trajectory.child_frame_ids.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.multi_dof_joint_trajectory.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()
          _v14 = val2.position
          _x = _v14
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
          _v15 = val2.orientation
          _x = _v15
          start = end
          end += 32
          (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
          val1.poses.append(val2)
        _v16 = val1.time_from_start
        _x = _v16
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2i.unpack(str[start:end])
        self.multi_dof_joint_trajectory.points.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