00001 """autogenerated by genmsg_py from State.msg. Do not edit."""
00002 import roslib.message
00003 import struct
00004
00005 import wiimote.msg
00006 import geometry_msgs.msg
00007 import roslib.rostime
00008 import std_msgs.msg
00009
00010 class State(roslib.message.Message):
00011 _md5sum = "a69651e8129655c6ed3c5039e468362c"
00012 _type = "wiimote/State"
00013 _has_header = True
00014 _full_text = """#
00015 # Wiimote State message containing one complete Wiimote state
00016
00017 # Note: For ease of manipulation this message often uses
00018 # int8[] when a bit vector would work. One might
00019 # wish to use uint8[], but then Python takes
00020 # the respective structure as a string and disallows
00021 # item assignment.
00022
00023 int8 INVALID = -1
00024 float32 INVALID_FLOAT = -1.0
00025
00026 int8 MSG_BTN_1 = 0
00027 int8 MSG_BTN_2 = 1
00028 int8 MSG_BTN_A = 2
00029 int8 MSG_BTN_B = 3
00030 int8 MSG_BTN_PLUS = 4
00031 int8 MSG_BTN_MINUS = 5
00032 int8 MSG_BTN_LEFT = 6
00033 int8 MSG_BTN_RIGHT = 7
00034 int8 MSG_BTN_UP = 8
00035 int8 MSG_BTN_DOWN = 9
00036 int8 MSG_BTN_HOME = 10
00037 int8 MSG_BTN_Z = 0
00038 int8 MSG_BTN_C = 1
00039 int8 MSG_CLASSIC_BTN_X = 0
00040 int8 MSG_CLASSIC_BTN_Y = 1
00041 int8 MSG_CLASSIC_BTN_A = 2
00042 int8 MSG_CLASSIC_BTN_B = 3
00043 int8 MSG_CLASSIC_BTN_PLUS = 4
00044 int8 MSG_CLASSIC_BTN_MINUS = 5
00045 int8 MSG_CLASSIC_BTN_LEFT = 6
00046 int8 MSG_CLASSIC_BTN_RIGHT = 7
00047 int8 MSG_CLASSIC_BTN_UP = 8
00048 int8 MSG_CLASSIC_BTN_DOWN = 9
00049 int8 MSG_CLASSIC_BTN_HOME = 10
00050 int8 MSG_CLASSIC_BTN_L = 11
00051 int8 MSG_CLASSIC_BTN_R = 12
00052 int8 MSG_CLASSIC_BTN_ZL = 13
00053 int8 MSG_CLASSIC_BTN_ZR = 14
00054
00055 #-----------------------------
00056 # Header
00057 #----------------------
00058
00059 Header header
00060
00061 #----------------------
00062 # Gyro reading
00063 #-----------------------------
00064 # In radians/sec. If reading is invalid,
00065 # for instance b/c no gyro is attached to the Wii, then
00066 # set first element of covariance to -1 (same as imu_data.msg):
00067 # Covariance matrix (roll, pitch, yaw) in radians^2/sec^2.
00068
00069 geometry_msgs/Vector3 angular_velocity_zeroed
00070 geometry_msgs/Vector3 angular_velocity_raw
00071 float64[9] angular_velocity_covariance
00072
00073 #----------------------
00074 # Accelerometer reading
00075 #-----------------------------
00076 # Acceleration in m/sec^2. Covariance matrix
00077 # (x,y,z) in m^2/sec^4. (all same as imu_data.msg)
00078
00079 geometry_msgs/Vector3 linear_acceleration_zeroed
00080 geometry_msgs/Vector3 linear_acceleration_raw
00081 float64[9] linear_acceleration_covariance
00082
00083 #------------------------------
00084 # Nunchuk Accelerometer reading
00085 #------------------------------
00086 geometry_msgs/Vector3 nunchuk_acceleration_zeroed
00087 geometry_msgs/Vector3 nunchuk_acceleration_raw
00088
00089 #-----------------
00090 # Nunchuk Joystick
00091 #-----------------
00092 float32[2] nunchuk_joystick_zeroed
00093 float32[2] nunchuk_joystick_raw
00094
00095 #----------------------
00096 # Wiimote buttons
00097 #-----------------------------
00098 # Mappings from Wiimote button name
00099 # to array position are defined above.
00100 #
00101 bool[11] buttons
00102 bool[2] nunchuk_buttons
00103
00104 #----------------------
00105 # Wiimote LED states:
00106 #-----------------------------
00107
00108 bool[4] LEDs
00109
00110 #----------------------
00111 # Wiimote Rumble
00112 #-----------------------------
00113 # State (True or False)
00114
00115 bool rumble
00116
00117 #----------------------
00118 # IR Light sensor (Camera)
00119 #-----------------------------
00120 # The Wiimote handles up to four light sources,
00121 # and the wiimote_node.py software is written to
00122 # that limit as well. For future expansion
00123 # we make the following array extensible, rather
00124 # than locking its length down to four:
00125
00126 wiimote/IrSourceInfo[] ir_tracking
00127
00128 #----------------------
00129 # Wiimote battery
00130 #-----------------------------
00131 # A battery reading consists of two numbers:
00132 # the battery percentage, and the raw reading.
00133 # Maximum battery is 208 units (unknown how this
00134 # relates to electrical properties):
00135
00136 float32 raw_battery
00137 float32 percent_battery
00138
00139 #----------------------
00140 # Time of most recent zeroing:
00141 #-----------------------------
00142
00143 time zeroing_time
00144
00145 #----------------------
00146 # Error vector
00147 #-----------------------------
00148 # For error condition definitions see wiimoteConstants.py
00149 # Value of zero means all is well. (Currently NOT used).
00150
00151 uint64 errors
00152
00153 ================================================================================
00154 MSG: std_msgs/Header
00155 # Standard metadata for higher-level stamped data types.
00156 # This is generally used to communicate timestamped data
00157 # in a particular coordinate frame.
00158 #
00159 # sequence ID: consecutively increasing ID
00160 uint32 seq
00161 #Two-integer timestamp that is expressed as:
00162 # * stamp.secs: seconds (stamp_secs) since epoch
00163 # * stamp.nsecs: nanoseconds since stamp_secs
00164 # time-handling sugar is provided by the client library
00165 time stamp
00166 #Frame this data is associated with
00167 # 0: no frame
00168 # 1: global frame
00169 string frame_id
00170
00171 ================================================================================
00172 MSG: geometry_msgs/Vector3
00173 # This represents a vector in free space.
00174
00175 float64 x
00176 float64 y
00177 float64 z
00178 ================================================================================
00179 MSG: wiimote/IrSourceInfo
00180 # Sensor data pertaining to the Wiimote infrared camera.
00181 # This message contains data for one of the four infrared
00182 # light sources that the camera detects.
00183 #
00184 # Each light is specified with a 2D position and
00185 # a 'source magnitude' (ir_size). If the x dimension
00186 # is set to INVALID_FLOAT, then no light was detected for
00187 # the respective light. The Wiimote handles up to
00188 # four light sources, and the wiimote_node.py software
00189 # is written to that limit as well.
00190 #
00191 # I am unsure what the 'ir_size' values represent.
00192 # They are described as 'source magnitude' in some places. I
00193 # *assume* this is signal amplitude, but it's unclear.
00194 # Note that current lowest level cwiid driver does not
00195 # seem to pass the ir_size value to the cwiid Wiimote.c.
00196 # For now this size will therefore be set INVALID
00197
00198 float64 x
00199 float64 y
00200 int64 ir_size
00201
00202 """
00203
00204 INVALID = -1
00205 INVALID_FLOAT = -1.0
00206 MSG_BTN_1 = 0
00207 MSG_BTN_2 = 1
00208 MSG_BTN_A = 2
00209 MSG_BTN_B = 3
00210 MSG_BTN_PLUS = 4
00211 MSG_BTN_MINUS = 5
00212 MSG_BTN_LEFT = 6
00213 MSG_BTN_RIGHT = 7
00214 MSG_BTN_UP = 8
00215 MSG_BTN_DOWN = 9
00216 MSG_BTN_HOME = 10
00217 MSG_BTN_Z = 0
00218 MSG_BTN_C = 1
00219 MSG_CLASSIC_BTN_X = 0
00220 MSG_CLASSIC_BTN_Y = 1
00221 MSG_CLASSIC_BTN_A = 2
00222 MSG_CLASSIC_BTN_B = 3
00223 MSG_CLASSIC_BTN_PLUS = 4
00224 MSG_CLASSIC_BTN_MINUS = 5
00225 MSG_CLASSIC_BTN_LEFT = 6
00226 MSG_CLASSIC_BTN_RIGHT = 7
00227 MSG_CLASSIC_BTN_UP = 8
00228 MSG_CLASSIC_BTN_DOWN = 9
00229 MSG_CLASSIC_BTN_HOME = 10
00230 MSG_CLASSIC_BTN_L = 11
00231 MSG_CLASSIC_BTN_R = 12
00232 MSG_CLASSIC_BTN_ZL = 13
00233 MSG_CLASSIC_BTN_ZR = 14
00234
00235 __slots__ = ['header','angular_velocity_zeroed','angular_velocity_raw','angular_velocity_covariance','linear_acceleration_zeroed','linear_acceleration_raw','linear_acceleration_covariance','nunchuk_acceleration_zeroed','nunchuk_acceleration_raw','nunchuk_joystick_zeroed','nunchuk_joystick_raw','buttons','nunchuk_buttons','LEDs','rumble','ir_tracking','raw_battery','percent_battery','zeroing_time','errors']
00236 _slot_types = ['Header','geometry_msgs/Vector3','geometry_msgs/Vector3','float64[9]','geometry_msgs/Vector3','geometry_msgs/Vector3','float64[9]','geometry_msgs/Vector3','geometry_msgs/Vector3','float32[2]','float32[2]','bool[11]','bool[2]','bool[4]','bool','wiimote/IrSourceInfo[]','float32','float32','time','uint64']
00237
00238 def __init__(self, *args, **kwds):
00239 """
00240 Constructor. Any message fields that are implicitly/explicitly
00241 set to None will be assigned a default value. The recommend
00242 use is keyword arguments as this is more robust to future message
00243 changes. You cannot mix in-order arguments and keyword arguments.
00244
00245 The available fields are:
00246 header,angular_velocity_zeroed,angular_velocity_raw,angular_velocity_covariance,linear_acceleration_zeroed,linear_acceleration_raw,linear_acceleration_covariance,nunchuk_acceleration_zeroed,nunchuk_acceleration_raw,nunchuk_joystick_zeroed,nunchuk_joystick_raw,buttons,nunchuk_buttons,LEDs,rumble,ir_tracking,raw_battery,percent_battery,zeroing_time,errors
00247
00248 @param args: complete set of field values, in .msg order
00249 @param kwds: use keyword arguments corresponding to message field names
00250 to set specific fields.
00251 """
00252 if args or kwds:
00253 super(State, self).__init__(*args, **kwds)
00254
00255 if self.header is None:
00256 self.header = std_msgs.msg._Header.Header()
00257 if self.angular_velocity_zeroed is None:
00258 self.angular_velocity_zeroed = geometry_msgs.msg.Vector3()
00259 if self.angular_velocity_raw is None:
00260 self.angular_velocity_raw = geometry_msgs.msg.Vector3()
00261 if self.angular_velocity_covariance is None:
00262 self.angular_velocity_covariance = [0.,0.,0.,0.,0.,0.,0.,0.,0.]
00263 if self.linear_acceleration_zeroed is None:
00264 self.linear_acceleration_zeroed = geometry_msgs.msg.Vector3()
00265 if self.linear_acceleration_raw is None:
00266 self.linear_acceleration_raw = geometry_msgs.msg.Vector3()
00267 if self.linear_acceleration_covariance is None:
00268 self.linear_acceleration_covariance = [0.,0.,0.,0.,0.,0.,0.,0.,0.]
00269 if self.nunchuk_acceleration_zeroed is None:
00270 self.nunchuk_acceleration_zeroed = geometry_msgs.msg.Vector3()
00271 if self.nunchuk_acceleration_raw is None:
00272 self.nunchuk_acceleration_raw = geometry_msgs.msg.Vector3()
00273 if self.nunchuk_joystick_zeroed is None:
00274 self.nunchuk_joystick_zeroed = [0.,0.]
00275 if self.nunchuk_joystick_raw is None:
00276 self.nunchuk_joystick_raw = [0.,0.]
00277 if self.buttons is None:
00278 self.buttons = [False,False,False,False,False,False,False,False,False,False,False]
00279 if self.nunchuk_buttons is None:
00280 self.nunchuk_buttons = [False,False]
00281 if self.LEDs is None:
00282 self.LEDs = [False,False,False,False]
00283 if self.rumble is None:
00284 self.rumble = False
00285 if self.ir_tracking is None:
00286 self.ir_tracking = []
00287 if self.raw_battery is None:
00288 self.raw_battery = 0.
00289 if self.percent_battery is None:
00290 self.percent_battery = 0.
00291 if self.zeroing_time is None:
00292 self.zeroing_time = roslib.rostime.Time()
00293 if self.errors is None:
00294 self.errors = 0
00295 else:
00296 self.header = std_msgs.msg._Header.Header()
00297 self.angular_velocity_zeroed = geometry_msgs.msg.Vector3()
00298 self.angular_velocity_raw = geometry_msgs.msg.Vector3()
00299 self.angular_velocity_covariance = [0.,0.,0.,0.,0.,0.,0.,0.,0.]
00300 self.linear_acceleration_zeroed = geometry_msgs.msg.Vector3()
00301 self.linear_acceleration_raw = geometry_msgs.msg.Vector3()
00302 self.linear_acceleration_covariance = [0.,0.,0.,0.,0.,0.,0.,0.,0.]
00303 self.nunchuk_acceleration_zeroed = geometry_msgs.msg.Vector3()
00304 self.nunchuk_acceleration_raw = geometry_msgs.msg.Vector3()
00305 self.nunchuk_joystick_zeroed = [0.,0.]
00306 self.nunchuk_joystick_raw = [0.,0.]
00307 self.buttons = [False,False,False,False,False,False,False,False,False,False,False]
00308 self.nunchuk_buttons = [False,False]
00309 self.LEDs = [False,False,False,False]
00310 self.rumble = False
00311 self.ir_tracking = []
00312 self.raw_battery = 0.
00313 self.percent_battery = 0.
00314 self.zeroing_time = roslib.rostime.Time()
00315 self.errors = 0
00316
00317 def _get_types(self):
00318 """
00319 internal API method
00320 """
00321 return self._slot_types
00322
00323 def serialize(self, buff):
00324 """
00325 serialize message into buffer
00326 @param buff: buffer
00327 @type buff: StringIO
00328 """
00329 try:
00330 _x = self
00331 buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
00332 _x = self.header.frame_id
00333 length = len(_x)
00334 buff.write(struct.pack('<I%ss'%length, length, _x))
00335 _x = self
00336 buff.write(_struct_6d.pack(_x.angular_velocity_zeroed.x, _x.angular_velocity_zeroed.y, _x.angular_velocity_zeroed.z, _x.angular_velocity_raw.x, _x.angular_velocity_raw.y, _x.angular_velocity_raw.z))
00337 buff.write(_struct_9d.pack(*self.angular_velocity_covariance))
00338 _x = self
00339 buff.write(_struct_6d.pack(_x.linear_acceleration_zeroed.x, _x.linear_acceleration_zeroed.y, _x.linear_acceleration_zeroed.z, _x.linear_acceleration_raw.x, _x.linear_acceleration_raw.y, _x.linear_acceleration_raw.z))
00340 buff.write(_struct_9d.pack(*self.linear_acceleration_covariance))
00341 _x = self
00342 buff.write(_struct_6d.pack(_x.nunchuk_acceleration_zeroed.x, _x.nunchuk_acceleration_zeroed.y, _x.nunchuk_acceleration_zeroed.z, _x.nunchuk_acceleration_raw.x, _x.nunchuk_acceleration_raw.y, _x.nunchuk_acceleration_raw.z))
00343 buff.write(_struct_2f.pack(*self.nunchuk_joystick_zeroed))
00344 buff.write(_struct_2f.pack(*self.nunchuk_joystick_raw))
00345 buff.write(_struct_11B.pack(*self.buttons))
00346 buff.write(_struct_2B.pack(*self.nunchuk_buttons))
00347 buff.write(_struct_4B.pack(*self.LEDs))
00348 buff.write(_struct_B.pack(self.rumble))
00349 length = len(self.ir_tracking)
00350 buff.write(_struct_I.pack(length))
00351 for val1 in self.ir_tracking:
00352 _x = val1
00353 buff.write(_struct_2dq.pack(_x.x, _x.y, _x.ir_size))
00354 _x = self
00355 buff.write(_struct_2f2IQ.pack(_x.raw_battery, _x.percent_battery, _x.zeroing_time.secs, _x.zeroing_time.nsecs, _x.errors))
00356 except struct.error, se: self._check_types(se)
00357 except TypeError, te: self._check_types(te)
00358
00359 def deserialize(self, str):
00360 """
00361 unpack serialized message in str into this message instance
00362 @param str: byte array of serialized message
00363 @type str: str
00364 """
00365 try:
00366 if self.header is None:
00367 self.header = std_msgs.msg._Header.Header()
00368 if self.angular_velocity_zeroed is None:
00369 self.angular_velocity_zeroed = geometry_msgs.msg.Vector3()
00370 if self.angular_velocity_raw is None:
00371 self.angular_velocity_raw = geometry_msgs.msg.Vector3()
00372 if self.linear_acceleration_zeroed is None:
00373 self.linear_acceleration_zeroed = geometry_msgs.msg.Vector3()
00374 if self.linear_acceleration_raw is None:
00375 self.linear_acceleration_raw = geometry_msgs.msg.Vector3()
00376 if self.nunchuk_acceleration_zeroed is None:
00377 self.nunchuk_acceleration_zeroed = geometry_msgs.msg.Vector3()
00378 if self.nunchuk_acceleration_raw is None:
00379 self.nunchuk_acceleration_raw = geometry_msgs.msg.Vector3()
00380 if self.zeroing_time is None:
00381 self.zeroing_time = roslib.rostime.Time()
00382 end = 0
00383 _x = self
00384 start = end
00385 end += 12
00386 (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00387 start = end
00388 end += 4
00389 (length,) = _struct_I.unpack(str[start:end])
00390 start = end
00391 end += length
00392 self.header.frame_id = str[start:end]
00393 _x = self
00394 start = end
00395 end += 48
00396 (_x.angular_velocity_zeroed.x, _x.angular_velocity_zeroed.y, _x.angular_velocity_zeroed.z, _x.angular_velocity_raw.x, _x.angular_velocity_raw.y, _x.angular_velocity_raw.z,) = _struct_6d.unpack(str[start:end])
00397 start = end
00398 end += 72
00399 self.angular_velocity_covariance = _struct_9d.unpack(str[start:end])
00400 _x = self
00401 start = end
00402 end += 48
00403 (_x.linear_acceleration_zeroed.x, _x.linear_acceleration_zeroed.y, _x.linear_acceleration_zeroed.z, _x.linear_acceleration_raw.x, _x.linear_acceleration_raw.y, _x.linear_acceleration_raw.z,) = _struct_6d.unpack(str[start:end])
00404 start = end
00405 end += 72
00406 self.linear_acceleration_covariance = _struct_9d.unpack(str[start:end])
00407 _x = self
00408 start = end
00409 end += 48
00410 (_x.nunchuk_acceleration_zeroed.x, _x.nunchuk_acceleration_zeroed.y, _x.nunchuk_acceleration_zeroed.z, _x.nunchuk_acceleration_raw.x, _x.nunchuk_acceleration_raw.y, _x.nunchuk_acceleration_raw.z,) = _struct_6d.unpack(str[start:end])
00411 start = end
00412 end += 8
00413 self.nunchuk_joystick_zeroed = _struct_2f.unpack(str[start:end])
00414 start = end
00415 end += 8
00416 self.nunchuk_joystick_raw = _struct_2f.unpack(str[start:end])
00417 start = end
00418 end += 11
00419 self.buttons = _struct_11B.unpack(str[start:end])
00420 self.buttons = map(bool, self.buttons)
00421 start = end
00422 end += 2
00423 self.nunchuk_buttons = _struct_2B.unpack(str[start:end])
00424 self.nunchuk_buttons = map(bool, self.nunchuk_buttons)
00425 start = end
00426 end += 4
00427 self.LEDs = _struct_4B.unpack(str[start:end])
00428 self.LEDs = map(bool, self.LEDs)
00429 start = end
00430 end += 1
00431 (self.rumble,) = _struct_B.unpack(str[start:end])
00432 self.rumble = bool(self.rumble)
00433 start = end
00434 end += 4
00435 (length,) = _struct_I.unpack(str[start:end])
00436 self.ir_tracking = []
00437 for i in xrange(0, length):
00438 val1 = wiimote.msg.IrSourceInfo()
00439 _x = val1
00440 start = end
00441 end += 24
00442 (_x.x, _x.y, _x.ir_size,) = _struct_2dq.unpack(str[start:end])
00443 self.ir_tracking.append(val1)
00444 _x = self
00445 start = end
00446 end += 24
00447 (_x.raw_battery, _x.percent_battery, _x.zeroing_time.secs, _x.zeroing_time.nsecs, _x.errors,) = _struct_2f2IQ.unpack(str[start:end])
00448 self.zeroing_time.canon()
00449 return self
00450 except struct.error, e:
00451 raise roslib.message.DeserializationError(e)
00452
00453
00454 def serialize_numpy(self, buff, numpy):
00455 """
00456 serialize message with numpy array types into buffer
00457 @param buff: buffer
00458 @type buff: StringIO
00459 @param numpy: numpy python module
00460 @type numpy module
00461 """
00462 try:
00463 _x = self
00464 buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
00465 _x = self.header.frame_id
00466 length = len(_x)
00467 buff.write(struct.pack('<I%ss'%length, length, _x))
00468 _x = self
00469 buff.write(_struct_6d.pack(_x.angular_velocity_zeroed.x, _x.angular_velocity_zeroed.y, _x.angular_velocity_zeroed.z, _x.angular_velocity_raw.x, _x.angular_velocity_raw.y, _x.angular_velocity_raw.z))
00470 buff.write(self.angular_velocity_covariance.tostring())
00471 _x = self
00472 buff.write(_struct_6d.pack(_x.linear_acceleration_zeroed.x, _x.linear_acceleration_zeroed.y, _x.linear_acceleration_zeroed.z, _x.linear_acceleration_raw.x, _x.linear_acceleration_raw.y, _x.linear_acceleration_raw.z))
00473 buff.write(self.linear_acceleration_covariance.tostring())
00474 _x = self
00475 buff.write(_struct_6d.pack(_x.nunchuk_acceleration_zeroed.x, _x.nunchuk_acceleration_zeroed.y, _x.nunchuk_acceleration_zeroed.z, _x.nunchuk_acceleration_raw.x, _x.nunchuk_acceleration_raw.y, _x.nunchuk_acceleration_raw.z))
00476 buff.write(self.nunchuk_joystick_zeroed.tostring())
00477 buff.write(self.nunchuk_joystick_raw.tostring())
00478 buff.write(self.buttons.tostring())
00479 buff.write(self.nunchuk_buttons.tostring())
00480 buff.write(self.LEDs.tostring())
00481 buff.write(_struct_B.pack(self.rumble))
00482 length = len(self.ir_tracking)
00483 buff.write(_struct_I.pack(length))
00484 for val1 in self.ir_tracking:
00485 _x = val1
00486 buff.write(_struct_2dq.pack(_x.x, _x.y, _x.ir_size))
00487 _x = self
00488 buff.write(_struct_2f2IQ.pack(_x.raw_battery, _x.percent_battery, _x.zeroing_time.secs, _x.zeroing_time.nsecs, _x.errors))
00489 except struct.error, se: self._check_types(se)
00490 except TypeError, te: self._check_types(te)
00491
00492 def deserialize_numpy(self, str, numpy):
00493 """
00494 unpack serialized message in str into this message instance using numpy for array types
00495 @param str: byte array of serialized message
00496 @type str: str
00497 @param numpy: numpy python module
00498 @type numpy: module
00499 """
00500 try:
00501 if self.header is None:
00502 self.header = std_msgs.msg._Header.Header()
00503 if self.angular_velocity_zeroed is None:
00504 self.angular_velocity_zeroed = geometry_msgs.msg.Vector3()
00505 if self.angular_velocity_raw is None:
00506 self.angular_velocity_raw = geometry_msgs.msg.Vector3()
00507 if self.linear_acceleration_zeroed is None:
00508 self.linear_acceleration_zeroed = geometry_msgs.msg.Vector3()
00509 if self.linear_acceleration_raw is None:
00510 self.linear_acceleration_raw = geometry_msgs.msg.Vector3()
00511 if self.nunchuk_acceleration_zeroed is None:
00512 self.nunchuk_acceleration_zeroed = geometry_msgs.msg.Vector3()
00513 if self.nunchuk_acceleration_raw is None:
00514 self.nunchuk_acceleration_raw = geometry_msgs.msg.Vector3()
00515 if self.zeroing_time is None:
00516 self.zeroing_time = roslib.rostime.Time()
00517 end = 0
00518 _x = self
00519 start = end
00520 end += 12
00521 (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00522 start = end
00523 end += 4
00524 (length,) = _struct_I.unpack(str[start:end])
00525 start = end
00526 end += length
00527 self.header.frame_id = str[start:end]
00528 _x = self
00529 start = end
00530 end += 48
00531 (_x.angular_velocity_zeroed.x, _x.angular_velocity_zeroed.y, _x.angular_velocity_zeroed.z, _x.angular_velocity_raw.x, _x.angular_velocity_raw.y, _x.angular_velocity_raw.z,) = _struct_6d.unpack(str[start:end])
00532 start = end
00533 end += 72
00534 self.angular_velocity_covariance = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=9)
00535 _x = self
00536 start = end
00537 end += 48
00538 (_x.linear_acceleration_zeroed.x, _x.linear_acceleration_zeroed.y, _x.linear_acceleration_zeroed.z, _x.linear_acceleration_raw.x, _x.linear_acceleration_raw.y, _x.linear_acceleration_raw.z,) = _struct_6d.unpack(str[start:end])
00539 start = end
00540 end += 72
00541 self.linear_acceleration_covariance = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=9)
00542 _x = self
00543 start = end
00544 end += 48
00545 (_x.nunchuk_acceleration_zeroed.x, _x.nunchuk_acceleration_zeroed.y, _x.nunchuk_acceleration_zeroed.z, _x.nunchuk_acceleration_raw.x, _x.nunchuk_acceleration_raw.y, _x.nunchuk_acceleration_raw.z,) = _struct_6d.unpack(str[start:end])
00546 start = end
00547 end += 8
00548 self.nunchuk_joystick_zeroed = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=2)
00549 start = end
00550 end += 8
00551 self.nunchuk_joystick_raw = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=2)
00552 start = end
00553 end += 11
00554 self.buttons = numpy.frombuffer(str[start:end], dtype=numpy.bool, count=11)
00555 self.buttons = map(bool, self.buttons)
00556 start = end
00557 end += 2
00558 self.nunchuk_buttons = numpy.frombuffer(str[start:end], dtype=numpy.bool, count=2)
00559 self.nunchuk_buttons = map(bool, self.nunchuk_buttons)
00560 start = end
00561 end += 4
00562 self.LEDs = numpy.frombuffer(str[start:end], dtype=numpy.bool, count=4)
00563 self.LEDs = map(bool, self.LEDs)
00564 start = end
00565 end += 1
00566 (self.rumble,) = _struct_B.unpack(str[start:end])
00567 self.rumble = bool(self.rumble)
00568 start = end
00569 end += 4
00570 (length,) = _struct_I.unpack(str[start:end])
00571 self.ir_tracking = []
00572 for i in xrange(0, length):
00573 val1 = wiimote.msg.IrSourceInfo()
00574 _x = val1
00575 start = end
00576 end += 24
00577 (_x.x, _x.y, _x.ir_size,) = _struct_2dq.unpack(str[start:end])
00578 self.ir_tracking.append(val1)
00579 _x = self
00580 start = end
00581 end += 24
00582 (_x.raw_battery, _x.percent_battery, _x.zeroing_time.secs, _x.zeroing_time.nsecs, _x.errors,) = _struct_2f2IQ.unpack(str[start:end])
00583 self.zeroing_time.canon()
00584 return self
00585 except struct.error, e:
00586 raise roslib.message.DeserializationError(e)
00587
00588 _struct_I = roslib.message.struct_I
00589 _struct_B = struct.Struct("<B")
00590 _struct_6d = struct.Struct("<6d")
00591 _struct_11B = struct.Struct("<11B")
00592 _struct_9d = struct.Struct("<9d")
00593 _struct_3I = struct.Struct("<3I")
00594 _struct_2f = struct.Struct("<2f")
00595 _struct_2B = struct.Struct("<2B")
00596 _struct_2f2IQ = struct.Struct("<2f2IQ")
00597 _struct_2dq = struct.Struct("<2dq")
00598 _struct_4B = struct.Struct("<4B")
