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00001 """autogenerated by genmsg_py from FilterJointTrajectoryWithConstraintsRequest.msg. Do not edit.""" 00002 import roslib.message 00003 import struct 00004 00005 import trajectory_msgs.msg 00006 import arm_navigation_msgs.msg 00007 import roslib.rostime 00008 import geometry_msgs.msg 00009 import sensor_msgs.msg 00010 import std_msgs.msg 00011 00012 class FilterJointTrajectoryWithConstraintsRequest(roslib.message.Message): 00013 _md5sum = "a710f518dceebd50ec8ca1f44b6d32de" 00014 _type = "arm_navigation_msgs/FilterJointTrajectoryWithConstraintsRequest" 00015 _has_header = False #flag to mark the presence of a Header object 00016 _full_text = """ 00017 trajectory_msgs/JointTrajectory trajectory 00018 00019 00020 string group_name 00021 00022 00023 00024 arm_navigation_msgs/JointLimits[] limits 00025 00026 00027 00028 00029 arm_navigation_msgs/RobotState start_state 00030 00031 00032 Constraints path_constraints 00033 00034 00035 Constraints goal_constraints 00036 00037 duration allowed_time 00038 00039 ================================================================================ 00040 MSG: trajectory_msgs/JointTrajectory 00041 Header header 00042 string[] joint_names 00043 JointTrajectoryPoint[] points 00044 ================================================================================ 00045 MSG: std_msgs/Header 00046 # Standard metadata for higher-level stamped data types. 00047 # This is generally used to communicate timestamped data 00048 # in a particular coordinate frame. 00049 # 00050 # sequence ID: consecutively increasing ID 00051 uint32 seq 00052 #Two-integer timestamp that is expressed as: 00053 # * stamp.secs: seconds (stamp_secs) since epoch 00054 # * stamp.nsecs: nanoseconds since stamp_secs 00055 # time-handling sugar is provided by the client library 00056 time stamp 00057 #Frame this data is associated with 00058 # 0: no frame 00059 # 1: global frame 00060 string frame_id 00061 00062 ================================================================================ 00063 MSG: trajectory_msgs/JointTrajectoryPoint 00064 float64[] positions 00065 float64[] velocities 00066 float64[] accelerations 00067 duration time_from_start 00068 ================================================================================ 00069 MSG: arm_navigation_msgs/JointLimits 00070 # This message contains information about limits of a particular joint (or control dimension) 00071 string joint_name 00072 00073 # true if the joint has position limits 00074 bool has_position_limits 00075 00076 # min and max position limits 00077 float64 min_position 00078 float64 max_position 00079 00080 # true if joint has velocity limits 00081 bool has_velocity_limits 00082 00083 # max velocity limit 00084 float64 max_velocity 00085 # min_velocity is assumed to be -max_velocity 00086 00087 # true if joint has acceleration limits 00088 bool has_acceleration_limits 00089 # max acceleration limit 00090 float64 max_acceleration 00091 # min_acceleration is assumed to be -max_acceleration 00092 00093 ================================================================================ 00094 MSG: arm_navigation_msgs/RobotState 00095 # This message contains information about the robot state, i.e. the positions of its joints and links 00096 sensor_msgs/JointState joint_state 00097 arm_navigation_msgs/MultiDOFJointState multi_dof_joint_state 00098 00099 ================================================================================ 00100 MSG: sensor_msgs/JointState 00101 # This is a message that holds data to describe the state of a set of torque controlled joints. 00102 # 00103 # The state of each joint (revolute or prismatic) is defined by: 00104 # * the position of the joint (rad or m), 00105 # * the velocity of the joint (rad/s or m/s) and 00106 # * the effort that is applied in the joint (Nm or N). 00107 # 00108 # Each joint is uniquely identified by its name 00109 # The header specifies the time at which the joint states were recorded. All the joint states 00110 # in one message have to be recorded at the same time. 00111 # 00112 # This message consists of a multiple arrays, one for each part of the joint state. 00113 # The goal is to make each of the fields optional. When e.g. your joints have no 00114 # effort associated with them, you can leave the effort array empty. 00115 # 00116 # All arrays in this message should have the same size, or be empty. 00117 # This is the only way to uniquely associate the joint name with the correct 00118 # states. 00119 00120 00121 Header header 00122 00123 string[] name 00124 float64[] position 00125 float64[] velocity 00126 float64[] effort 00127 00128 ================================================================================ 00129 MSG: arm_navigation_msgs/MultiDOFJointState 00130 #A representation of a multi-dof joint state 00131 time stamp 00132 string[] joint_names 00133 string[] frame_ids 00134 string[] child_frame_ids 00135 geometry_msgs/Pose[] poses 00136 00137 ================================================================================ 00138 MSG: geometry_msgs/Pose 00139 # A representation of pose in free space, composed of postion and orientation. 00140 Point position 00141 Quaternion orientation 00142 00143 ================================================================================ 00144 MSG: geometry_msgs/Point 00145 # This contains the position of a point in free space 00146 float64 x 00147 float64 y 00148 float64 z 00149 00150 ================================================================================ 00151 MSG: geometry_msgs/Quaternion 00152 # This represents an orientation in free space in quaternion form. 00153 00154 float64 x 00155 float64 y 00156 float64 z 00157 float64 w 00158 00159 ================================================================================ 00160 MSG: arm_navigation_msgs/Constraints 00161 # This message contains a list of motion planning constraints. 00162 00163 arm_navigation_msgs/JointConstraint[] joint_constraints 00164 arm_navigation_msgs/PositionConstraint[] position_constraints 00165 arm_navigation_msgs/OrientationConstraint[] orientation_constraints 00166 arm_navigation_msgs/VisibilityConstraint[] visibility_constraints 00167 00168 ================================================================================ 00169 MSG: arm_navigation_msgs/JointConstraint 00170 # Constrain the position of a joint to be within a certain bound 00171 string joint_name 00172 00173 # the bound to be achieved is [position - tolerance_below, position + tolerance_above] 00174 float64 position 00175 float64 tolerance_above 00176 float64 tolerance_below 00177 00178 # A weighting factor for this constraint 00179 float64 weight 00180 ================================================================================ 00181 MSG: arm_navigation_msgs/PositionConstraint 00182 # This message contains the definition of a position constraint. 00183 Header header 00184 00185 # The robot link this constraint refers to 00186 string link_name 00187 00188 # The offset (in the link frame) for the target point on the link we are planning for 00189 geometry_msgs/Point target_point_offset 00190 00191 # The nominal/target position for the point we are planning for 00192 geometry_msgs/Point position 00193 00194 # The shape of the bounded region that constrains the position of the end-effector 00195 # This region is always centered at the position defined above 00196 arm_navigation_msgs/Shape constraint_region_shape 00197 00198 # The orientation of the bounded region that constrains the position of the end-effector. 00199 # This allows the specification of non-axis aligned constraints 00200 geometry_msgs/Quaternion constraint_region_orientation 00201 00202 # Constraint weighting factor - a weight for this constraint 00203 float64 weight 00204 00205 ================================================================================ 00206 MSG: arm_navigation_msgs/Shape 00207 byte SPHERE=0 00208 byte BOX=1 00209 byte CYLINDER=2 00210 byte MESH=3 00211 00212 byte type 00213 00214 00215 #### define sphere, box, cylinder #### 00216 # the origin of each shape is considered at the shape's center 00217 00218 # for sphere 00219 # radius := dimensions[0] 00220 00221 # for cylinder 00222 # radius := dimensions[0] 00223 # length := dimensions[1] 00224 # the length is along the Z axis 00225 00226 # for box 00227 # size_x := dimensions[0] 00228 # size_y := dimensions[1] 00229 # size_z := dimensions[2] 00230 float64[] dimensions 00231 00232 00233 #### define mesh #### 00234 00235 # list of triangles; triangle k is defined by tre vertices located 00236 # at indices triangles[3k], triangles[3k+1], triangles[3k+2] 00237 int32[] triangles 00238 geometry_msgs/Point[] vertices 00239 00240 ================================================================================ 00241 MSG: arm_navigation_msgs/OrientationConstraint 00242 # This message contains the definition of an orientation constraint. 00243 Header header 00244 00245 # The robot link this constraint refers to 00246 string link_name 00247 00248 # The type of the constraint 00249 int32 type 00250 int32 LINK_FRAME=0 00251 int32 HEADER_FRAME=1 00252 00253 # The desired orientation of the robot link specified as a quaternion 00254 geometry_msgs/Quaternion orientation 00255 00256 # optional RPY error tolerances specified if 00257 float64 absolute_roll_tolerance 00258 float64 absolute_pitch_tolerance 00259 float64 absolute_yaw_tolerance 00260 00261 # Constraint weighting factor - a weight for this constraint 00262 float64 weight 00263 00264 ================================================================================ 00265 MSG: arm_navigation_msgs/VisibilityConstraint 00266 # This message contains the definition of a visibility constraint. 00267 Header header 00268 00269 # The point stamped target that needs to be kept within view of the sensor 00270 geometry_msgs/PointStamped target 00271 00272 # The local pose of the frame in which visibility is to be maintained 00273 # The frame id should represent the robot link to which the sensor is attached 00274 # The visual axis of the sensor is assumed to be along the X axis of this frame 00275 geometry_msgs/PoseStamped sensor_pose 00276 00277 # The deviation (in radians) that will be tolerated 00278 # Constraint error will be measured as the solid angle between the 00279 # X axis of the frame defined above and the vector between the origin 00280 # of the frame defined above and the target location 00281 float64 absolute_tolerance 00282 00283 00284 ================================================================================ 00285 MSG: geometry_msgs/PointStamped 00286 # This represents a Point with reference coordinate frame and timestamp 00287 Header header 00288 Point point 00289 00290 ================================================================================ 00291 MSG: geometry_msgs/PoseStamped 00292 # A Pose with reference coordinate frame and timestamp 00293 Header header 00294 Pose pose 00295 00296 """ 00297 __slots__ = ['trajectory','group_name','limits','start_state','path_constraints','goal_constraints','allowed_time'] 00298 _slot_types = ['trajectory_msgs/JointTrajectory','string','arm_navigation_msgs/JointLimits[]','arm_navigation_msgs/RobotState','arm_navigation_msgs/Constraints','arm_navigation_msgs/Constraints','duration'] 00299 00300 def __init__(self, *args, **kwds): 00301 """ 00302 Constructor. Any message fields that are implicitly/explicitly 00303 set to None will be assigned a default value. The recommend 00304 use is keyword arguments as this is more robust to future message 00305 changes. You cannot mix in-order arguments and keyword arguments. 00306 00307 The available fields are: 00308 trajectory,group_name,limits,start_state,path_constraints,goal_constraints,allowed_time 00309 00310 @param args: complete set of field values, in .msg order 00311 @param kwds: use keyword arguments corresponding to message field names 00312 to set specific fields. 00313 """ 00314 if args or kwds: 00315 super(FilterJointTrajectoryWithConstraintsRequest, self).__init__(*args, **kwds) 00316 #message fields cannot be None, assign default values for those that are 00317 if self.trajectory is None: 00318 self.trajectory = trajectory_msgs.msg.JointTrajectory() 00319 if self.group_name is None: 00320 self.group_name = '' 00321 if self.limits is None: 00322 self.limits = [] 00323 if self.start_state is None: 00324 self.start_state = arm_navigation_msgs.msg.RobotState() 00325 if self.path_constraints is None: 00326 self.path_constraints = arm_navigation_msgs.msg.Constraints() 00327 if self.goal_constraints is None: 00328 self.goal_constraints = arm_navigation_msgs.msg.Constraints() 00329 if self.allowed_time is None: 00330 self.allowed_time = roslib.rostime.Duration() 00331 else: 00332 self.trajectory = trajectory_msgs.msg.JointTrajectory() 00333 self.group_name = '' 00334 self.limits = [] 00335 self.start_state = arm_navigation_msgs.msg.RobotState() 00336 self.path_constraints = arm_navigation_msgs.msg.Constraints() 00337 self.goal_constraints = arm_navigation_msgs.msg.Constraints() 00338 self.allowed_time = roslib.rostime.Duration() 00339 00340 def _get_types(self): 00341 """ 00342 internal API method 00343 """ 00344 return self._slot_types 00345 00346 def serialize(self, buff): 00347 """ 00348 serialize message into buffer 00349 @param buff: buffer 00350 @type buff: StringIO 00351 """ 00352 try: 00353 _x = self 00354 buff.write(_struct_3I.pack(_x.trajectory.header.seq, _x.trajectory.header.stamp.secs, _x.trajectory.header.stamp.nsecs)) 00355 _x = self.trajectory.header.frame_id 00356 length = len(_x) 00357 buff.write(struct.pack('<I%ss'%length, length, _x)) 00358 length = len(self.trajectory.joint_names) 00359 buff.write(_struct_I.pack(length)) 00360 for val1 in self.trajectory.joint_names: 00361 length = len(val1) 00362 buff.write(struct.pack('<I%ss'%length, length, val1)) 00363 length = len(self.trajectory.points) 00364 buff.write(_struct_I.pack(length)) 00365 for val1 in self.trajectory.points: 00366 length = len(val1.positions) 00367 buff.write(_struct_I.pack(length)) 00368 pattern = '<%sd'%length 00369 buff.write(struct.pack(pattern, *val1.positions)) 00370 length = len(val1.velocities) 00371 buff.write(_struct_I.pack(length)) 00372 pattern = '<%sd'%length 00373 buff.write(struct.pack(pattern, *val1.velocities)) 00374 length = len(val1.accelerations) 00375 buff.write(_struct_I.pack(length)) 00376 pattern = '<%sd'%length 00377 buff.write(struct.pack(pattern, *val1.accelerations)) 00378 _v1 = val1.time_from_start 00379 _x = _v1 00380 buff.write(_struct_2i.pack(_x.secs, _x.nsecs)) 00381 _x = self.group_name 00382 length = len(_x) 00383 buff.write(struct.pack('<I%ss'%length, length, _x)) 00384 length = len(self.limits) 00385 buff.write(_struct_I.pack(length)) 00386 for val1 in self.limits: 00387 _x = val1.joint_name 00388 length = len(_x) 00389 buff.write(struct.pack('<I%ss'%length, length, _x)) 00390 _x = val1 00391 buff.write(_struct_B2dBdBd.pack(_x.has_position_limits, _x.min_position, _x.max_position, _x.has_velocity_limits, _x.max_velocity, _x.has_acceleration_limits, _x.max_acceleration)) 00392 _x = self 00393 buff.write(_struct_3I.pack(_x.start_state.joint_state.header.seq, _x.start_state.joint_state.header.stamp.secs, _x.start_state.joint_state.header.stamp.nsecs)) 00394 _x = self.start_state.joint_state.header.frame_id 00395 length = len(_x) 00396 buff.write(struct.pack('<I%ss'%length, length, _x)) 00397 length = len(self.start_state.joint_state.name) 00398 buff.write(_struct_I.pack(length)) 00399 for val1 in self.start_state.joint_state.name: 00400 length = len(val1) 00401 buff.write(struct.pack('<I%ss'%length, length, val1)) 00402 length = len(self.start_state.joint_state.position) 00403 buff.write(_struct_I.pack(length)) 00404 pattern = '<%sd'%length 00405 buff.write(struct.pack(pattern, *self.start_state.joint_state.position)) 00406 length = len(self.start_state.joint_state.velocity) 00407 buff.write(_struct_I.pack(length)) 00408 pattern = '<%sd'%length 00409 buff.write(struct.pack(pattern, *self.start_state.joint_state.velocity)) 00410 length = len(self.start_state.joint_state.effort) 00411 buff.write(_struct_I.pack(length)) 00412 pattern = '<%sd'%length 00413 buff.write(struct.pack(pattern, *self.start_state.joint_state.effort)) 00414 _x = self 00415 buff.write(_struct_2I.pack(_x.start_state.multi_dof_joint_state.stamp.secs, _x.start_state.multi_dof_joint_state.stamp.nsecs)) 00416 length = len(self.start_state.multi_dof_joint_state.joint_names) 00417 buff.write(_struct_I.pack(length)) 00418 for val1 in self.start_state.multi_dof_joint_state.joint_names: 00419 length = len(val1) 00420 buff.write(struct.pack('<I%ss'%length, length, val1)) 00421 length = len(self.start_state.multi_dof_joint_state.frame_ids) 00422 buff.write(_struct_I.pack(length)) 00423 for val1 in self.start_state.multi_dof_joint_state.frame_ids: 00424 length = len(val1) 00425 buff.write(struct.pack('<I%ss'%length, length, val1)) 00426 length = len(self.start_state.multi_dof_joint_state.child_frame_ids) 00427 buff.write(_struct_I.pack(length)) 00428 for val1 in self.start_state.multi_dof_joint_state.child_frame_ids: 00429 length = len(val1) 00430 buff.write(struct.pack('<I%ss'%length, length, val1)) 00431 length = len(self.start_state.multi_dof_joint_state.poses) 00432 buff.write(_struct_I.pack(length)) 00433 for val1 in self.start_state.multi_dof_joint_state.poses: 00434 _v2 = val1.position 00435 _x = _v2 00436 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z)) 00437 _v3 = val1.orientation 00438 _x = _v3 00439 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w)) 00440 length = len(self.path_constraints.joint_constraints) 00441 buff.write(_struct_I.pack(length)) 00442 for val1 in self.path_constraints.joint_constraints: 00443 _x = val1.joint_name 00444 length = len(_x) 00445 buff.write(struct.pack('<I%ss'%length, length, _x)) 00446 _x = val1 00447 buff.write(_struct_4d.pack(_x.position, _x.tolerance_above, _x.tolerance_below, _x.weight)) 00448 length = len(self.path_constraints.position_constraints) 00449 buff.write(_struct_I.pack(length)) 00450 for val1 in self.path_constraints.position_constraints: 00451 _v4 = val1.header 00452 buff.write(_struct_I.pack(_v4.seq)) 00453 _v5 = _v4.stamp 00454 _x = _v5 00455 buff.write(_struct_2I.pack(_x.secs, _x.nsecs)) 00456 _x = _v4.frame_id 00457 length = len(_x) 00458 buff.write(struct.pack('<I%ss'%length, length, _x)) 00459 _x = val1.link_name 00460 length = len(_x) 00461 buff.write(struct.pack('<I%ss'%length, length, _x)) 00462 _v6 = val1.target_point_offset 00463 _x = _v6 00464 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z)) 00465 _v7 = val1.position 00466 _x = _v7 00467 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z)) 00468 _v8 = val1.constraint_region_shape 00469 buff.write(_struct_b.pack(_v8.type)) 00470 length = len(_v8.dimensions) 00471 buff.write(_struct_I.pack(length)) 00472 pattern = '<%sd'%length 00473 buff.write(struct.pack(pattern, *_v8.dimensions)) 00474 length = len(_v8.triangles) 00475 buff.write(_struct_I.pack(length)) 00476 pattern = '<%si'%length 00477 buff.write(struct.pack(pattern, *_v8.triangles)) 00478 length = len(_v8.vertices) 00479 buff.write(_struct_I.pack(length)) 00480 for val3 in _v8.vertices: 00481 _x = val3 00482 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z)) 00483 _v9 = val1.constraint_region_orientation 00484 _x = _v9 00485 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w)) 00486 buff.write(_struct_d.pack(val1.weight)) 00487 length = len(self.path_constraints.orientation_constraints) 00488 buff.write(_struct_I.pack(length)) 00489 for val1 in self.path_constraints.orientation_constraints: 00490 _v10 = val1.header 00491 buff.write(_struct_I.pack(_v10.seq)) 00492 _v11 = _v10.stamp 00493 _x = _v11 00494 buff.write(_struct_2I.pack(_x.secs, _x.nsecs)) 00495 _x = _v10.frame_id 00496 length = len(_x) 00497 buff.write(struct.pack('<I%ss'%length, length, _x)) 00498 _x = val1.link_name 00499 length = len(_x) 00500 buff.write(struct.pack('<I%ss'%length, length, _x)) 00501 buff.write(_struct_i.pack(val1.type)) 00502 _v12 = val1.orientation 00503 _x = _v12 00504 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w)) 00505 _x = val1 00506 buff.write(_struct_4d.pack(_x.absolute_roll_tolerance, _x.absolute_pitch_tolerance, _x.absolute_yaw_tolerance, _x.weight)) 00507 length = len(self.path_constraints.visibility_constraints) 00508 buff.write(_struct_I.pack(length)) 00509 for val1 in self.path_constraints.visibility_constraints: 00510 _v13 = val1.header 00511 buff.write(_struct_I.pack(_v13.seq)) 00512 _v14 = _v13.stamp 00513 _x = _v14 00514 buff.write(_struct_2I.pack(_x.secs, _x.nsecs)) 00515 _x = _v13.frame_id 00516 length = len(_x) 00517 buff.write(struct.pack('<I%ss'%length, length, _x)) 00518 _v15 = val1.target 00519 _v16 = _v15.header 00520 buff.write(_struct_I.pack(_v16.seq)) 00521 _v17 = _v16.stamp 00522 _x = _v17 00523 buff.write(_struct_2I.pack(_x.secs, _x.nsecs)) 00524 _x = _v16.frame_id 00525 length = len(_x) 00526 buff.write(struct.pack('<I%ss'%length, length, _x)) 00527 _v18 = _v15.point 00528 _x = _v18 00529 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z)) 00530 _v19 = val1.sensor_pose 00531 _v20 = _v19.header 00532 buff.write(_struct_I.pack(_v20.seq)) 00533 _v21 = _v20.stamp 00534 _x = _v21 00535 buff.write(_struct_2I.pack(_x.secs, _x.nsecs)) 00536 _x = _v20.frame_id 00537 length = len(_x) 00538 buff.write(struct.pack('<I%ss'%length, length, _x)) 00539 _v22 = _v19.pose 00540 _v23 = _v22.position 00541 _x = _v23 00542 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z)) 00543 _v24 = _v22.orientation 00544 _x = _v24 00545 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w)) 00546 buff.write(_struct_d.pack(val1.absolute_tolerance)) 00547 length = len(self.goal_constraints.joint_constraints) 00548 buff.write(_struct_I.pack(length)) 00549 for val1 in self.goal_constraints.joint_constraints: 00550 _x = val1.joint_name 00551 length = len(_x) 00552 buff.write(struct.pack('<I%ss'%length, length, _x)) 00553 _x = val1 00554 buff.write(_struct_4d.pack(_x.position, _x.tolerance_above, _x.tolerance_below, _x.weight)) 00555 length = len(self.goal_constraints.position_constraints) 00556 buff.write(_struct_I.pack(length)) 00557 for val1 in self.goal_constraints.position_constraints: 00558 _v25 = val1.header 00559 buff.write(_struct_I.pack(_v25.seq)) 00560 _v26 = _v25.stamp 00561 _x = _v26 00562 buff.write(_struct_2I.pack(_x.secs, _x.nsecs)) 00563 _x = _v25.frame_id 00564 length = len(_x) 00565 buff.write(struct.pack('<I%ss'%length, length, _x)) 00566 _x = val1.link_name 00567 length = len(_x) 00568 buff.write(struct.pack('<I%ss'%length, length, _x)) 00569 _v27 = val1.target_point_offset 00570 _x = _v27 00571 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z)) 00572 _v28 = val1.position 00573 _x = _v28 00574 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z)) 00575 _v29 = val1.constraint_region_shape 00576 buff.write(_struct_b.pack(_v29.type)) 00577 length = len(_v29.dimensions) 00578 buff.write(_struct_I.pack(length)) 00579 pattern = '<%sd'%length 00580 buff.write(struct.pack(pattern, *_v29.dimensions)) 00581 length = len(_v29.triangles) 00582 buff.write(_struct_I.pack(length)) 00583 pattern = '<%si'%length 00584 buff.write(struct.pack(pattern, *_v29.triangles)) 00585 length = len(_v29.vertices) 00586 buff.write(_struct_I.pack(length)) 00587 for val3 in _v29.vertices: 00588 _x = val3 00589 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z)) 00590 _v30 = val1.constraint_region_orientation 00591 _x = _v30 00592 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w)) 00593 buff.write(_struct_d.pack(val1.weight)) 00594 length = len(self.goal_constraints.orientation_constraints) 00595 buff.write(_struct_I.pack(length)) 00596 for val1 in self.goal_constraints.orientation_constraints: 00597 _v31 = val1.header 00598 buff.write(_struct_I.pack(_v31.seq)) 00599 _v32 = _v31.stamp 00600 _x = _v32 00601 buff.write(_struct_2I.pack(_x.secs, _x.nsecs)) 00602 _x = _v31.frame_id 00603 length = len(_x) 00604 buff.write(struct.pack('<I%ss'%length, length, _x)) 00605 _x = val1.link_name 00606 length = len(_x) 00607 buff.write(struct.pack('<I%ss'%length, length, _x)) 00608 buff.write(_struct_i.pack(val1.type)) 00609 _v33 = val1.orientation 00610 _x = _v33 00611 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w)) 00612 _x = val1 00613 buff.write(_struct_4d.pack(_x.absolute_roll_tolerance, _x.absolute_pitch_tolerance, _x.absolute_yaw_tolerance, _x.weight)) 00614 length = len(self.goal_constraints.visibility_constraints) 00615 buff.write(_struct_I.pack(length)) 00616 for val1 in self.goal_constraints.visibility_constraints: 00617 _v34 = val1.header 00618 buff.write(_struct_I.pack(_v34.seq)) 00619 _v35 = _v34.stamp 00620 _x = _v35 00621 buff.write(_struct_2I.pack(_x.secs, _x.nsecs)) 00622 _x = _v34.frame_id 00623 length = len(_x) 00624 buff.write(struct.pack('<I%ss'%length, length, _x)) 00625 _v36 = val1.target 00626 _v37 = _v36.header 00627 buff.write(_struct_I.pack(_v37.seq)) 00628 _v38 = _v37.stamp 00629 _x = _v38 00630 buff.write(_struct_2I.pack(_x.secs, _x.nsecs)) 00631 _x = _v37.frame_id 00632 length = len(_x) 00633 buff.write(struct.pack('<I%ss'%length, length, _x)) 00634 _v39 = _v36.point 00635 _x = _v39 00636 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z)) 00637 _v40 = val1.sensor_pose 00638 _v41 = _v40.header 00639 buff.write(_struct_I.pack(_v41.seq)) 00640 _v42 = _v41.stamp 00641 _x = _v42 00642 buff.write(_struct_2I.pack(_x.secs, _x.nsecs)) 00643 _x = _v41.frame_id 00644 length = len(_x) 00645 buff.write(struct.pack('<I%ss'%length, length, _x)) 00646 _v43 = _v40.pose 00647 _v44 = _v43.position 00648 _x = _v44 00649 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z)) 00650 _v45 = _v43.orientation 00651 _x = _v45 00652 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w)) 00653 buff.write(_struct_d.pack(val1.absolute_tolerance)) 00654 _x = self 00655 buff.write(_struct_2i.pack(_x.allowed_time.secs, _x.allowed_time.nsecs)) 00656 except struct.error as se: self._check_types(se) 00657 except TypeError as te: self._check_types(te) 00658 00659 def deserialize(self, str): 00660 """ 00661 unpack serialized message in str into this message instance 00662 @param str: byte array of serialized message 00663 @type str: str 00664 """ 00665 try: 00666 if self.trajectory is None: 00667 self.trajectory = trajectory_msgs.msg.JointTrajectory() 00668 if self.start_state is None: 00669 self.start_state = arm_navigation_msgs.msg.RobotState() 00670 if self.path_constraints is None: 00671 self.path_constraints = arm_navigation_msgs.msg.Constraints() 00672 if self.goal_constraints is None: 00673 self.goal_constraints = arm_navigation_msgs.msg.Constraints() 00674 if self.allowed_time is None: 00675 self.allowed_time = roslib.rostime.Duration() 00676 end = 0 00677 _x = self 00678 start = end 00679 end += 12 00680 (_x.trajectory.header.seq, _x.trajectory.header.stamp.secs, _x.trajectory.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end]) 00681 start = end 00682 end += 4 00683 (length,) = _struct_I.unpack(str[start:end]) 00684 start = end 00685 end += length 00686 self.trajectory.header.frame_id = str[start:end] 00687 start = end 00688 end += 4 00689 (length,) = _struct_I.unpack(str[start:end]) 00690 self.trajectory.joint_names = [] 00691 for i in range(0, length): 00692 start = end 00693 end += 4 00694 (length,) = _struct_I.unpack(str[start:end]) 00695 start = end 00696 end += length 00697 val1 = str[start:end] 00698 self.trajectory.joint_names.append(val1) 00699 start = end 00700 end += 4 00701 (length,) = _struct_I.unpack(str[start:end]) 00702 self.trajectory.points = [] 00703 for i in range(0, length): 00704 val1 = trajectory_msgs.msg.JointTrajectoryPoint() 00705 start = end 00706 end += 4 00707 (length,) = _struct_I.unpack(str[start:end]) 00708 pattern = '<%sd'%length 00709 start = end 00710 end += struct.calcsize(pattern) 00711 val1.positions = struct.unpack(pattern, str[start:end]) 00712 start = end 00713 end += 4 00714 (length,) = _struct_I.unpack(str[start:end]) 00715 pattern = '<%sd'%length 00716 start = end 00717 end += struct.calcsize(pattern) 00718 val1.velocities = struct.unpack(pattern, str[start:end]) 00719 start = end 00720 end += 4 00721 (length,) = _struct_I.unpack(str[start:end]) 00722 pattern = '<%sd'%length 00723 start = end 00724 end += struct.calcsize(pattern) 00725 val1.accelerations = struct.unpack(pattern, str[start:end]) 00726 _v46 = val1.time_from_start 00727 _x = _v46 00728 start = end 00729 end += 8 00730 (_x.secs, _x.nsecs,) = _struct_2i.unpack(str[start:end]) 00731 self.trajectory.points.append(val1) 00732 start = end 00733 end += 4 00734 (length,) = _struct_I.unpack(str[start:end]) 00735 start = end 00736 end += length 00737 self.group_name = str[start:end] 00738 start = end 00739 end += 4 00740 (length,) = _struct_I.unpack(str[start:end]) 00741 self.limits = [] 00742 for i in range(0, length): 00743 val1 = arm_navigation_msgs.msg.JointLimits() 00744 start = end 00745 end += 4 00746 (length,) = _struct_I.unpack(str[start:end]) 00747 start = end 00748 end += length 00749 val1.joint_name = str[start:end] 00750 _x = val1 00751 start = end 00752 end += 35 00753 (_x.has_position_limits, _x.min_position, _x.max_position, _x.has_velocity_limits, _x.max_velocity, _x.has_acceleration_limits, _x.max_acceleration,) = _struct_B2dBdBd.unpack(str[start:end]) 00754 val1.has_position_limits = bool(val1.has_position_limits) 00755 val1.has_velocity_limits = bool(val1.has_velocity_limits) 00756 val1.has_acceleration_limits = bool(val1.has_acceleration_limits) 00757 self.limits.append(val1) 00758 _x = self 00759 start = end 00760 end += 12 00761 (_x.start_state.joint_state.header.seq, _x.start_state.joint_state.header.stamp.secs, _x.start_state.joint_state.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end]) 00762 start = end 00763 end += 4 00764 (length,) = _struct_I.unpack(str[start:end]) 00765 start = end 00766 end += length 00767 self.start_state.joint_state.header.frame_id = str[start:end] 00768 start = end 00769 end += 4 00770 (length,) = _struct_I.unpack(str[start:end]) 00771 self.start_state.joint_state.name = [] 00772 for i in range(0, length): 00773 start = end 00774 end += 4 00775 (length,) = _struct_I.unpack(str[start:end]) 00776 start = end 00777 end += length 00778 val1 = str[start:end] 00779 self.start_state.joint_state.name.append(val1) 00780 start = end 00781 end += 4 00782 (length,) = _struct_I.unpack(str[start:end]) 00783 pattern = '<%sd'%length 00784 start = end 00785 end += struct.calcsize(pattern) 00786 self.start_state.joint_state.position = struct.unpack(pattern, str[start:end]) 00787 start = end 00788 end += 4 00789 (length,) = _struct_I.unpack(str[start:end]) 00790 pattern = '<%sd'%length 00791 start = end 00792 end += struct.calcsize(pattern) 00793 self.start_state.joint_state.velocity = struct.unpack(pattern, str[start:end]) 00794 start = end 00795 end += 4 00796 (length,) = _struct_I.unpack(str[start:end]) 00797 pattern = '<%sd'%length 00798 start = end 00799 end += struct.calcsize(pattern) 00800 self.start_state.joint_state.effort = struct.unpack(pattern, str[start:end]) 00801 _x = self 00802 start = end 00803 end += 8 00804 (_x.start_state.multi_dof_joint_state.stamp.secs, _x.start_state.multi_dof_joint_state.stamp.nsecs,) = _struct_2I.unpack(str[start:end]) 00805 start = end 00806 end += 4 00807 (length,) = _struct_I.unpack(str[start:end]) 00808 self.start_state.multi_dof_joint_state.joint_names = [] 00809 for i in range(0, length): 00810 start = end 00811 end += 4 00812 (length,) = _struct_I.unpack(str[start:end]) 00813 start = end 00814 end += length 00815 val1 = str[start:end] 00816 self.start_state.multi_dof_joint_state.joint_names.append(val1) 00817 start = end 00818 end += 4 00819 (length,) = _struct_I.unpack(str[start:end]) 00820 self.start_state.multi_dof_joint_state.frame_ids = [] 00821 for i in range(0, length): 00822 start = end 00823 end += 4 00824 (length,) = _struct_I.unpack(str[start:end]) 00825 start = end 00826 end += length 00827 val1 = str[start:end] 00828 self.start_state.multi_dof_joint_state.frame_ids.append(val1) 00829 start = end 00830 end += 4 00831 (length,) = _struct_I.unpack(str[start:end]) 00832 self.start_state.multi_dof_joint_state.child_frame_ids = [] 00833 for i in range(0, length): 00834 start = end 00835 end += 4 00836 (length,) = _struct_I.unpack(str[start:end]) 00837 start = end 00838 end += length 00839 val1 = str[start:end] 00840 self.start_state.multi_dof_joint_state.child_frame_ids.append(val1) 00841 start = end 00842 end += 4 00843 (length,) = _struct_I.unpack(str[start:end]) 00844 self.start_state.multi_dof_joint_state.poses = [] 00845 for i in range(0, length): 00846 val1 = geometry_msgs.msg.Pose() 00847 _v47 = val1.position 00848 _x = _v47 00849 start = end 00850 end += 24 00851 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end]) 00852 _v48 = val1.orientation 00853 _x = _v48 00854 start = end 00855 end += 32 00856 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end]) 00857 self.start_state.multi_dof_joint_state.poses.append(val1) 00858 start = end 00859 end += 4 00860 (length,) = _struct_I.unpack(str[start:end]) 00861 self.path_constraints.joint_constraints = [] 00862 for i in range(0, length): 00863 val1 = arm_navigation_msgs.msg.JointConstraint() 00864 start = end 00865 end += 4 00866 (length,) = _struct_I.unpack(str[start:end]) 00867 start = end 00868 end += length 00869 val1.joint_name = str[start:end] 00870 _x = val1 00871 start = end 00872 end += 32 00873 (_x.position, _x.tolerance_above, _x.tolerance_below, _x.weight,) = _struct_4d.unpack(str[start:end]) 00874 self.path_constraints.joint_constraints.append(val1) 00875 start = end 00876 end += 4 00877 (length,) = _struct_I.unpack(str[start:end]) 00878 self.path_constraints.position_constraints = [] 00879 for i in range(0, length): 00880 val1 = arm_navigation_msgs.msg.PositionConstraint() 00881 _v49 = val1.header 00882 start = end 00883 end += 4 00884 (_v49.seq,) = _struct_I.unpack(str[start:end]) 00885 _v50 = _v49.stamp 00886 _x = _v50 00887 start = end 00888 end += 8 00889 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end]) 00890 start = end 00891 end += 4 00892 (length,) = _struct_I.unpack(str[start:end]) 00893 start = end 00894 end += length 00895 _v49.frame_id = str[start:end] 00896 start = end 00897 end += 4 00898 (length,) = _struct_I.unpack(str[start:end]) 00899 start = end 00900 end += length 00901 val1.link_name = str[start:end] 00902 _v51 = val1.target_point_offset 00903 _x = _v51 00904 start = end 00905 end += 24 00906 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end]) 00907 _v52 = val1.position 00908 _x = _v52 00909 start = end 00910 end += 24 00911 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end]) 00912 _v53 = val1.constraint_region_shape 00913 start = end 00914 end += 1 00915 (_v53.type,) = _struct_b.unpack(str[start:end]) 00916 start = end 00917 end += 4 00918 (length,) = _struct_I.unpack(str[start:end]) 00919 pattern = '<%sd'%length 00920 start = end 00921 end += struct.calcsize(pattern) 00922 _v53.dimensions = struct.unpack(pattern, str[start:end]) 00923 start = end 00924 end += 4 00925 (length,) = _struct_I.unpack(str[start:end]) 00926 pattern = '<%si'%length 00927 start = end 00928 end += struct.calcsize(pattern) 00929 _v53.triangles = struct.unpack(pattern, str[start:end]) 00930 start = end 00931 end += 4 00932 (length,) = _struct_I.unpack(str[start:end]) 00933 _v53.vertices = [] 00934 for i in range(0, length): 00935 val3 = geometry_msgs.msg.Point() 00936 _x = val3 00937 start = end 00938 end += 24 00939 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end]) 00940 _v53.vertices.append(val3) 00941 _v54 = val1.constraint_region_orientation 00942 _x = _v54 00943 start = end 00944 end += 32 00945 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end]) 00946 start = end 00947 end += 8 00948 (val1.weight,) = _struct_d.unpack(str[start:end]) 00949 self.path_constraints.position_constraints.append(val1) 00950 start = end 00951 end += 4 00952 (length,) = _struct_I.unpack(str[start:end]) 00953 self.path_constraints.orientation_constraints = [] 00954 for i in range(0, length): 00955 val1 = arm_navigation_msgs.msg.OrientationConstraint() 00956 _v55 = val1.header 00957 start = end 00958 end += 4 00959 (_v55.seq,) = _struct_I.unpack(str[start:end]) 00960 _v56 = _v55.stamp 00961 _x = _v56 00962 start = end 00963 end += 8 00964 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end]) 00965 start = end 00966 end += 4 00967 (length,) = _struct_I.unpack(str[start:end]) 00968 start = end 00969 end += length 00970 _v55.frame_id = str[start:end] 00971 start = end 00972 end += 4 00973 (length,) = _struct_I.unpack(str[start:end]) 00974 start = end 00975 end += length 00976 val1.link_name = str[start:end] 00977 start = end 00978 end += 4 00979 (val1.type,) = _struct_i.unpack(str[start:end]) 00980 _v57 = val1.orientation 00981 _x = _v57 00982 start = end 00983 end += 32 00984 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end]) 00985 _x = val1 00986 start = end 00987 end += 32 00988 (_x.absolute_roll_tolerance, _x.absolute_pitch_tolerance, _x.absolute_yaw_tolerance, _x.weight,) = _struct_4d.unpack(str[start:end]) 00989 self.path_constraints.orientation_constraints.append(val1) 00990 start = end 00991 end += 4 00992 (length,) = _struct_I.unpack(str[start:end]) 00993 self.path_constraints.visibility_constraints = [] 00994 for i in range(0, length): 00995 val1 = arm_navigation_msgs.msg.VisibilityConstraint() 00996 _v58 = val1.header 00997 start = end 00998 end += 4 00999 (_v58.seq,) = _struct_I.unpack(str[start:end]) 01000 _v59 = _v58.stamp 01001 _x = _v59 01002 start = end 01003 end += 8 01004 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end]) 01005 start = end 01006 end += 4 01007 (length,) = _struct_I.unpack(str[start:end]) 01008 start = end 01009 end += length 01010 _v58.frame_id = str[start:end] 01011 _v60 = val1.target 01012 _v61 = _v60.header 01013 start = end 01014 end += 4 01015 (_v61.seq,) = _struct_I.unpack(str[start:end]) 01016 _v62 = _v61.stamp 01017 _x = _v62 01018 start = end 01019 end += 8 01020 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end]) 01021 start = end 01022 end += 4 01023 (length,) = _struct_I.unpack(str[start:end]) 01024 start = end 01025 end += length 01026 _v61.frame_id = str[start:end] 01027 _v63 = _v60.point 01028 _x = _v63 01029 start = end 01030 end += 24 01031 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end]) 01032 _v64 = val1.sensor_pose 01033 _v65 = _v64.header 01034 start = end 01035 end += 4 01036 (_v65.seq,) = _struct_I.unpack(str[start:end]) 01037 _v66 = _v65.stamp 01038 _x = _v66 01039 start = end 01040 end += 8 01041 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end]) 01042 start = end 01043 end += 4 01044 (length,) = _struct_I.unpack(str[start:end]) 01045 start = end 01046 end += length 01047 _v65.frame_id = str[start:end] 01048 _v67 = _v64.pose 01049 _v68 = _v67.position 01050 _x = _v68 01051 start = end 01052 end += 24 01053 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end]) 01054 _v69 = _v67.orientation 01055 _x = _v69 01056 start = end 01057 end += 32 01058 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end]) 01059 start = end 01060 end += 8 01061 (val1.absolute_tolerance,) = _struct_d.unpack(str[start:end]) 01062 self.path_constraints.visibility_constraints.append(val1) 01063 start = end 01064 end += 4 01065 (length,) = _struct_I.unpack(str[start:end]) 01066 self.goal_constraints.joint_constraints = [] 01067 for i in range(0, length): 01068 val1 = arm_navigation_msgs.msg.JointConstraint() 01069 start = end 01070 end += 4 01071 (length,) = _struct_I.unpack(str[start:end]) 01072 start = end 01073 end += length 01074 val1.joint_name = str[start:end] 01075 _x = val1 01076 start = end 01077 end += 32 01078 (_x.position, _x.tolerance_above, _x.tolerance_below, _x.weight,) = _struct_4d.unpack(str[start:end]) 01079 self.goal_constraints.joint_constraints.append(val1) 01080 start = end 01081 end += 4 01082 (length,) = _struct_I.unpack(str[start:end]) 01083 self.goal_constraints.position_constraints = [] 01084 for i in range(0, length): 01085 val1 = arm_navigation_msgs.msg.PositionConstraint() 01086 _v70 = val1.header 01087 start = end 01088 end += 4 01089 (_v70.seq,) = _struct_I.unpack(str[start:end]) 01090 _v71 = _v70.stamp 01091 _x = _v71 01092 start = end 01093 end += 8 01094 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end]) 01095 start = end 01096 end += 4 01097 (length,) = _struct_I.unpack(str[start:end]) 01098 start = end 01099 end += length 01100 _v70.frame_id = str[start:end] 01101 start = end 01102 end += 4 01103 (length,) = _struct_I.unpack(str[start:end]) 01104 start = end 01105 end += length 01106 val1.link_name = str[start:end] 01107 _v72 = val1.target_point_offset 01108 _x = _v72 01109 start = end 01110 end += 24 01111 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end]) 01112 _v73 = val1.position 01113 _x = _v73 01114 start = end 01115 end += 24 01116 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end]) 01117 _v74 = val1.constraint_region_shape 01118 start = end 01119 end += 1 01120 (_v74.type,) = _struct_b.unpack(str[start:end]) 01121 start = end 01122 end += 4 01123 (length,) = _struct_I.unpack(str[start:end]) 01124 pattern = '<%sd'%length 01125 start = end 01126 end += struct.calcsize(pattern) 01127 _v74.dimensions = struct.unpack(pattern, str[start:end]) 01128 start = end 01129 end += 4 01130 (length,) = _struct_I.unpack(str[start:end]) 01131 pattern = '<%si'%length 01132 start = end 01133 end += struct.calcsize(pattern) 01134 _v74.triangles = struct.unpack(pattern, str[start:end]) 01135 start = end 01136 end += 4 01137 (length,) = _struct_I.unpack(str[start:end]) 01138 _v74.vertices = [] 01139 for i in range(0, length): 01140 val3 = geometry_msgs.msg.Point() 01141 _x = val3 01142 start = end 01143 end += 24 01144 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end]) 01145 _v74.vertices.append(val3) 01146 _v75 = val1.constraint_region_orientation 01147 _x = _v75 01148 start = end 01149 end += 32 01150 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end]) 01151 start = end 01152 end += 8 01153 (val1.weight,) = _struct_d.unpack(str[start:end]) 01154 self.goal_constraints.position_constraints.append(val1) 01155 start = end 01156 end += 4 01157 (length,) = _struct_I.unpack(str[start:end]) 01158 self.goal_constraints.orientation_constraints = [] 01159 for i in range(0, length): 01160 val1 = arm_navigation_msgs.msg.OrientationConstraint() 01161 _v76 = val1.header 01162 start = end 01163 end += 4 01164 (_v76.seq,) = _struct_I.unpack(str[start:end]) 01165 _v77 = _v76.stamp 01166 _x = _v77 01167 start = end 01168 end += 8 01169 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end]) 01170 start = end 01171 end += 4 01172 (length,) = _struct_I.unpack(str[start:end]) 01173 start = end 01174 end += length 01175 _v76.frame_id = str[start:end] 01176 start = end 01177 end += 4 01178 (length,) = _struct_I.unpack(str[start:end]) 01179 start = end 01180 end += length 01181 val1.link_name = str[start:end] 01182 start = end 01183 end += 4 01184 (val1.type,) = _struct_i.unpack(str[start:end]) 01185 _v78 = val1.orientation 01186 _x = _v78 01187 start = end 01188 end += 32 01189 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end]) 01190 _x = val1 01191 start = end 01192 end += 32 01193 (_x.absolute_roll_tolerance, _x.absolute_pitch_tolerance, _x.absolute_yaw_tolerance, _x.weight,) = _struct_4d.unpack(str[start:end]) 01194 self.goal_constraints.orientation_constraints.append(val1) 01195 start = end 01196 end += 4 01197 (length,) = _struct_I.unpack(str[start:end]) 01198 self.goal_constraints.visibility_constraints = [] 01199 for i in range(0, length): 01200 val1 = arm_navigation_msgs.msg.VisibilityConstraint() 01201 _v79 = val1.header 01202 start = end 01203 end += 4 01204 (_v79.seq,) = _struct_I.unpack(str[start:end]) 01205 _v80 = _v79.stamp 01206 _x = _v80 01207 start = end 01208 end += 8 01209 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end]) 01210 start = end 01211 end += 4 01212 (length,) = _struct_I.unpack(str[start:end]) 01213 start = end 01214 end += length 01215 _v79.frame_id = str[start:end] 01216 _v81 = val1.target 01217 _v82 = _v81.header 01218 start = end 01219 end += 4 01220 (_v82.seq,) = _struct_I.unpack(str[start:end]) 01221 _v83 = _v82.stamp 01222 _x = _v83 01223 start = end 01224 end += 8 01225 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end]) 01226 start = end 01227 end += 4 01228 (length,) = _struct_I.unpack(str[start:end]) 01229 start = end 01230 end += length 01231 _v82.frame_id = str[start:end] 01232 _v84 = _v81.point 01233 _x = _v84 01234 start = end 01235 end += 24 01236 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end]) 01237 _v85 = val1.sensor_pose 01238 _v86 = _v85.header 01239 start = end 01240 end += 4 01241 (_v86.seq,) = _struct_I.unpack(str[start:end]) 01242 _v87 = _v86.stamp 01243 _x = _v87 01244 start = end 01245 end += 8 01246 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end]) 01247 start = end 01248 end += 4 01249 (length,) = _struct_I.unpack(str[start:end]) 01250 start = end 01251 end += length 01252 _v86.frame_id = str[start:end] 01253 _v88 = _v85.pose 01254 _v89 = _v88.position 01255 _x = _v89 01256 start = end 01257 end += 24 01258 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end]) 01259 _v90 = _v88.orientation 01260 _x = _v90 01261 start = end 01262 end += 32 01263 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end]) 01264 start = end 01265 end += 8 01266 (val1.absolute_tolerance,) = _struct_d.unpack(str[start:end]) 01267 self.goal_constraints.visibility_constraints.append(val1) 01268 _x = self 01269 start = end 01270 end += 8 01271 (_x.allowed_time.secs, _x.allowed_time.nsecs,) = _struct_2i.unpack(str[start:end]) 01272 self.allowed_time.canon() 01273 return self 01274 except struct.error as e: 01275 raise roslib.message.DeserializationError(e) #most likely buffer underfill 01276 01277 01278 def serialize_numpy(self, buff, numpy): 01279 """ 01280 serialize message with numpy array types into buffer 01281 @param buff: buffer 01282 @type buff: StringIO 01283 @param numpy: numpy python module 01284 @type numpy module 01285 """ 01286 try: 01287 _x = self 01288 buff.write(_struct_3I.pack(_x.trajectory.header.seq, _x.trajectory.header.stamp.secs, _x.trajectory.header.stamp.nsecs)) 01289 _x = self.trajectory.header.frame_id 01290 length = len(_x) 01291 buff.write(struct.pack('<I%ss'%length, length, _x)) 01292 length = len(self.trajectory.joint_names) 01293 buff.write(_struct_I.pack(length)) 01294 for val1 in self.trajectory.joint_names: 01295 length = len(val1) 01296 buff.write(struct.pack('<I%ss'%length, length, val1)) 01297 length = len(self.trajectory.points) 01298 buff.write(_struct_I.pack(length)) 01299 for val1 in self.trajectory.points: 01300 length = len(val1.positions) 01301 buff.write(_struct_I.pack(length)) 01302 pattern = '<%sd'%length 01303 buff.write(val1.positions.tostring()) 01304 length = len(val1.velocities) 01305 buff.write(_struct_I.pack(length)) 01306 pattern = '<%sd'%length 01307 buff.write(val1.velocities.tostring()) 01308 length = len(val1.accelerations) 01309 buff.write(_struct_I.pack(length)) 01310 pattern = '<%sd'%length 01311 buff.write(val1.accelerations.tostring()) 01312 _v91 = val1.time_from_start 01313 _x = _v91 01314 buff.write(_struct_2i.pack(_x.secs, _x.nsecs)) 01315 _x = self.group_name 01316 length = len(_x) 01317 buff.write(struct.pack('<I%ss'%length, length, _x)) 01318 length = len(self.limits) 01319 buff.write(_struct_I.pack(length)) 01320 for val1 in self.limits: 01321 _x = val1.joint_name 01322 length = len(_x) 01323 buff.write(struct.pack('<I%ss'%length, length, _x)) 01324 _x = val1 01325 buff.write(_struct_B2dBdBd.pack(_x.has_position_limits, _x.min_position, _x.max_position, _x.has_velocity_limits, _x.max_velocity, _x.has_acceleration_limits, _x.max_acceleration)) 01326 _x = self 01327 buff.write(_struct_3I.pack(_x.start_state.joint_state.header.seq, _x.start_state.joint_state.header.stamp.secs, _x.start_state.joint_state.header.stamp.nsecs)) 01328 _x = self.start_state.joint_state.header.frame_id 01329 length = len(_x) 01330 buff.write(struct.pack('<I%ss'%length, length, _x)) 01331 length = len(self.start_state.joint_state.name) 01332 buff.write(_struct_I.pack(length)) 01333 for val1 in self.start_state.joint_state.name: 01334 length = len(val1) 01335 buff.write(struct.pack('<I%ss'%length, length, val1)) 01336 length = len(self.start_state.joint_state.position) 01337 buff.write(_struct_I.pack(length)) 01338 pattern = '<%sd'%length 01339 buff.write(self.start_state.joint_state.position.tostring()) 01340 length = len(self.start_state.joint_state.velocity) 01341 buff.write(_struct_I.pack(length)) 01342 pattern = '<%sd'%length 01343 buff.write(self.start_state.joint_state.velocity.tostring()) 01344 length = len(self.start_state.joint_state.effort) 01345 buff.write(_struct_I.pack(length)) 01346 pattern = '<%sd'%length 01347 buff.write(self.start_state.joint_state.effort.tostring()) 01348 _x = self 01349 buff.write(_struct_2I.pack(_x.start_state.multi_dof_joint_state.stamp.secs, _x.start_state.multi_dof_joint_state.stamp.nsecs)) 01350 length = len(self.start_state.multi_dof_joint_state.joint_names) 01351 buff.write(_struct_I.pack(length)) 01352 for val1 in self.start_state.multi_dof_joint_state.joint_names: 01353 length = len(val1) 01354 buff.write(struct.pack('<I%ss'%length, length, val1)) 01355 length = len(self.start_state.multi_dof_joint_state.frame_ids) 01356 buff.write(_struct_I.pack(length)) 01357 for val1 in self.start_state.multi_dof_joint_state.frame_ids: 01358 length = len(val1) 01359 buff.write(struct.pack('<I%ss'%length, length, val1)) 01360 length = len(self.start_state.multi_dof_joint_state.child_frame_ids) 01361 buff.write(_struct_I.pack(length)) 01362 for val1 in self.start_state.multi_dof_joint_state.child_frame_ids: 01363 length = len(val1) 01364 buff.write(struct.pack('<I%ss'%length, length, val1)) 01365 length = len(self.start_state.multi_dof_joint_state.poses) 01366 buff.write(_struct_I.pack(length)) 01367 for val1 in self.start_state.multi_dof_joint_state.poses: 01368 _v92 = val1.position 01369 _x = _v92 01370 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z)) 01371 _v93 = val1.orientation 01372 _x = _v93 01373 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w)) 01374 length = len(self.path_constraints.joint_constraints) 01375 buff.write(_struct_I.pack(length)) 01376 for val1 in self.path_constraints.joint_constraints: 01377 _x = val1.joint_name 01378 length = len(_x) 01379 buff.write(struct.pack('<I%ss'%length, length, _x)) 01380 _x = val1 01381 buff.write(_struct_4d.pack(_x.position, _x.tolerance_above, _x.tolerance_below, _x.weight)) 01382 length = len(self.path_constraints.position_constraints) 01383 buff.write(_struct_I.pack(length)) 01384 for val1 in self.path_constraints.position_constraints: 01385 _v94 = val1.header 01386 buff.write(_struct_I.pack(_v94.seq)) 01387 _v95 = _v94.stamp 01388 _x = _v95 01389 buff.write(_struct_2I.pack(_x.secs, _x.nsecs)) 01390 _x = _v94.frame_id 01391 length = len(_x) 01392 buff.write(struct.pack('<I%ss'%length, length, _x)) 01393 _x = val1.link_name 01394 length = len(_x) 01395 buff.write(struct.pack('<I%ss'%length, length, _x)) 01396 _v96 = val1.target_point_offset 01397 _x = _v96 01398 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z)) 01399 _v97 = val1.position 01400 _x = _v97 01401 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z)) 01402 _v98 = val1.constraint_region_shape 01403 buff.write(_struct_b.pack(_v98.type)) 01404 length = len(_v98.dimensions) 01405 buff.write(_struct_I.pack(length)) 01406 pattern = '<%sd'%length 01407 buff.write(_v98.dimensions.tostring()) 01408 length = len(_v98.triangles) 01409 buff.write(_struct_I.pack(length)) 01410 pattern = '<%si'%length 01411 buff.write(_v98.triangles.tostring()) 01412 length = len(_v98.vertices) 01413 buff.write(_struct_I.pack(length)) 01414 for val3 in _v98.vertices: 01415 _x = val3 01416 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z)) 01417 _v99 = val1.constraint_region_orientation 01418 _x = _v99 01419 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w)) 01420 buff.write(_struct_d.pack(val1.weight)) 01421 length = len(self.path_constraints.orientation_constraints) 01422 buff.write(_struct_I.pack(length)) 01423 for val1 in self.path_constraints.orientation_constraints: 01424 _v100 = val1.header 01425 buff.write(_struct_I.pack(_v100.seq)) 01426 _v101 = _v100.stamp 01427 _x = _v101 01428 buff.write(_struct_2I.pack(_x.secs, _x.nsecs)) 01429 _x = _v100.frame_id 01430 length = len(_x) 01431 buff.write(struct.pack('<I%ss'%length, length, _x)) 01432 _x = val1.link_name 01433 length = len(_x) 01434 buff.write(struct.pack('<I%ss'%length, length, _x)) 01435 buff.write(_struct_i.pack(val1.type)) 01436 _v102 = val1.orientation 01437 _x = _v102 01438 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w)) 01439 _x = val1 01440 buff.write(_struct_4d.pack(_x.absolute_roll_tolerance, _x.absolute_pitch_tolerance, _x.absolute_yaw_tolerance, _x.weight)) 01441 length = len(self.path_constraints.visibility_constraints) 01442 buff.write(_struct_I.pack(length)) 01443 for val1 in self.path_constraints.visibility_constraints: 01444 _v103 = val1.header 01445 buff.write(_struct_I.pack(_v103.seq)) 01446 _v104 = _v103.stamp 01447 _x = _v104 01448 buff.write(_struct_2I.pack(_x.secs, _x.nsecs)) 01449 _x = _v103.frame_id 01450 length = len(_x) 01451 buff.write(struct.pack('<I%ss'%length, length, _x)) 01452 _v105 = val1.target 01453 _v106 = _v105.header 01454 buff.write(_struct_I.pack(_v106.seq)) 01455 _v107 = _v106.stamp 01456 _x = _v107 01457 buff.write(_struct_2I.pack(_x.secs, _x.nsecs)) 01458 _x = _v106.frame_id 01459 length = len(_x) 01460 buff.write(struct.pack('<I%ss'%length, length, _x)) 01461 _v108 = _v105.point 01462 _x = _v108 01463 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z)) 01464 _v109 = val1.sensor_pose 01465 _v110 = _v109.header 01466 buff.write(_struct_I.pack(_v110.seq)) 01467 _v111 = _v110.stamp 01468 _x = _v111 01469 buff.write(_struct_2I.pack(_x.secs, _x.nsecs)) 01470 _x = _v110.frame_id 01471 length = len(_x) 01472 buff.write(struct.pack('<I%ss'%length, length, _x)) 01473 _v112 = _v109.pose 01474 _v113 = _v112.position 01475 _x = _v113 01476 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z)) 01477 _v114 = _v112.orientation 01478 _x = _v114 01479 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w)) 01480 buff.write(_struct_d.pack(val1.absolute_tolerance)) 01481 length = len(self.goal_constraints.joint_constraints) 01482 buff.write(_struct_I.pack(length)) 01483 for val1 in self.goal_constraints.joint_constraints: 01484 _x = val1.joint_name 01485 length = len(_x) 01486 buff.write(struct.pack('<I%ss'%length, length, _x)) 01487 _x = val1 01488 buff.write(_struct_4d.pack(_x.position, _x.tolerance_above, _x.tolerance_below, _x.weight)) 01489 length = len(self.goal_constraints.position_constraints) 01490 buff.write(_struct_I.pack(length)) 01491 for val1 in self.goal_constraints.position_constraints: 01492 _v115 = val1.header 01493 buff.write(_struct_I.pack(_v115.seq)) 01494 _v116 = _v115.stamp 01495 _x = _v116 01496 buff.write(_struct_2I.pack(_x.secs, _x.nsecs)) 01497 _x = _v115.frame_id 01498 length = len(_x) 01499 buff.write(struct.pack('<I%ss'%length, length, _x)) 01500 _x = val1.link_name 01501 length = len(_x) 01502 buff.write(struct.pack('<I%ss'%length, length, _x)) 01503 _v117 = val1.target_point_offset 01504 _x = _v117 01505 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z)) 01506 _v118 = val1.position 01507 _x = _v118 01508 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z)) 01509 _v119 = val1.constraint_region_shape 01510 buff.write(_struct_b.pack(_v119.type)) 01511 length = len(_v119.dimensions) 01512 buff.write(_struct_I.pack(length)) 01513 pattern = '<%sd'%length 01514 buff.write(_v119.dimensions.tostring()) 01515 length = len(_v119.triangles) 01516 buff.write(_struct_I.pack(length)) 01517 pattern = '<%si'%length 01518 buff.write(_v119.triangles.tostring()) 01519 length = len(_v119.vertices) 01520 buff.write(_struct_I.pack(length)) 01521 for val3 in _v119.vertices: 01522 _x = val3 01523 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z)) 01524 _v120 = val1.constraint_region_orientation 01525 _x = _v120 01526 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w)) 01527 buff.write(_struct_d.pack(val1.weight)) 01528 length = len(self.goal_constraints.orientation_constraints) 01529 buff.write(_struct_I.pack(length)) 01530 for val1 in self.goal_constraints.orientation_constraints: 01531 _v121 = val1.header 01532 buff.write(_struct_I.pack(_v121.seq)) 01533 _v122 = _v121.stamp 01534 _x = _v122 01535 buff.write(_struct_2I.pack(_x.secs, _x.nsecs)) 01536 _x = _v121.frame_id 01537 length = len(_x) 01538 buff.write(struct.pack('<I%ss'%length, length, _x)) 01539 _x = val1.link_name 01540 length = len(_x) 01541 buff.write(struct.pack('<I%ss'%length, length, _x)) 01542 buff.write(_struct_i.pack(val1.type)) 01543 _v123 = val1.orientation 01544 _x = _v123 01545 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w)) 01546 _x = val1 01547 buff.write(_struct_4d.pack(_x.absolute_roll_tolerance, _x.absolute_pitch_tolerance, _x.absolute_yaw_tolerance, _x.weight)) 01548 length = len(self.goal_constraints.visibility_constraints) 01549 buff.write(_struct_I.pack(length)) 01550 for val1 in self.goal_constraints.visibility_constraints: 01551 _v124 = val1.header 01552 buff.write(_struct_I.pack(_v124.seq)) 01553 _v125 = _v124.stamp 01554 _x = _v125 01555 buff.write(_struct_2I.pack(_x.secs, _x.nsecs)) 01556 _x = _v124.frame_id 01557 length = len(_x) 01558 buff.write(struct.pack('<I%ss'%length, length, _x)) 01559 _v126 = val1.target 01560 _v127 = _v126.header 01561 buff.write(_struct_I.pack(_v127.seq)) 01562 _v128 = _v127.stamp 01563 _x = _v128 01564 buff.write(_struct_2I.pack(_x.secs, _x.nsecs)) 01565 _x = _v127.frame_id 01566 length = len(_x) 01567 buff.write(struct.pack('<I%ss'%length, length, _x)) 01568 _v129 = _v126.point 01569 _x = _v129 01570 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z)) 01571 _v130 = val1.sensor_pose 01572 _v131 = _v130.header 01573 buff.write(_struct_I.pack(_v131.seq)) 01574 _v132 = _v131.stamp 01575 _x = _v132 01576 buff.write(_struct_2I.pack(_x.secs, _x.nsecs)) 01577 _x = _v131.frame_id 01578 length = len(_x) 01579 buff.write(struct.pack('<I%ss'%length, length, _x)) 01580 _v133 = _v130.pose 01581 _v134 = _v133.position 01582 _x = _v134 01583 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z)) 01584 _v135 = _v133.orientation 01585 _x = _v135 01586 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w)) 01587 buff.write(_struct_d.pack(val1.absolute_tolerance)) 01588 _x = self 01589 buff.write(_struct_2i.pack(_x.allowed_time.secs, _x.allowed_time.nsecs)) 01590 except struct.error as se: self._check_types(se) 01591 except TypeError as te: self._check_types(te) 01592 01593 def deserialize_numpy(self, str, numpy): 01594 """ 01595 unpack serialized message in str into this message instance using numpy for array types 01596 @param str: byte array of serialized message 01597 @type str: str 01598 @param numpy: numpy python module 01599 @type numpy: module 01600 """ 01601 try: 01602 if self.trajectory is None: 01603 self.trajectory = trajectory_msgs.msg.JointTrajectory() 01604 if self.start_state is None: 01605 self.start_state = arm_navigation_msgs.msg.RobotState() 01606 if self.path_constraints is None: 01607 self.path_constraints = arm_navigation_msgs.msg.Constraints() 01608 if self.goal_constraints is None: 01609 self.goal_constraints = arm_navigation_msgs.msg.Constraints() 01610 if self.allowed_time is None: 01611 self.allowed_time = roslib.rostime.Duration() 01612 end = 0 01613 _x = self 01614 start = end 01615 end += 12 01616 (_x.trajectory.header.seq, _x.trajectory.header.stamp.secs, _x.trajectory.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end]) 01617 start = end 01618 end += 4 01619 (length,) = _struct_I.unpack(str[start:end]) 01620 start = end 01621 end += length 01622 self.trajectory.header.frame_id = str[start:end] 01623 start = end 01624 end += 4 01625 (length,) = _struct_I.unpack(str[start:end]) 01626 self.trajectory.joint_names = [] 01627 for i in range(0, length): 01628 start = end 01629 end += 4 01630 (length,) = _struct_I.unpack(str[start:end]) 01631 start = end 01632 end += length 01633 val1 = str[start:end] 01634 self.trajectory.joint_names.append(val1) 01635 start = end 01636 end += 4 01637 (length,) = _struct_I.unpack(str[start:end]) 01638 self.trajectory.points = [] 01639 for i in range(0, length): 01640 val1 = trajectory_msgs.msg.JointTrajectoryPoint() 01641 start = end 01642 end += 4 01643 (length,) = _struct_I.unpack(str[start:end]) 01644 pattern = '<%sd'%length 01645 start = end 01646 end += struct.calcsize(pattern) 01647 val1.positions = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length) 01648 start = end 01649 end += 4 01650 (length,) = _struct_I.unpack(str[start:end]) 01651 pattern = '<%sd'%length 01652 start = end 01653 end += struct.calcsize(pattern) 01654 val1.velocities = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length) 01655 start = end 01656 end += 4 01657 (length,) = _struct_I.unpack(str[start:end]) 01658 pattern = '<%sd'%length 01659 start = end 01660 end += struct.calcsize(pattern) 01661 val1.accelerations = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length) 01662 _v136 = val1.time_from_start 01663 _x = _v136 01664 start = end 01665 end += 8 01666 (_x.secs, _x.nsecs,) = _struct_2i.unpack(str[start:end]) 01667 self.trajectory.points.append(val1) 01668 start = end 01669 end += 4 01670 (length,) = _struct_I.unpack(str[start:end]) 01671 start = end 01672 end += length 01673 self.group_name = str[start:end] 01674 start = end 01675 end += 4 01676 (length,) = _struct_I.unpack(str[start:end]) 01677 self.limits = [] 01678 for i in range(0, length): 01679 val1 = arm_navigation_msgs.msg.JointLimits() 01680 start = end 01681 end += 4 01682 (length,) = _struct_I.unpack(str[start:end]) 01683 start = end 01684 end += length 01685 val1.joint_name = str[start:end] 01686 _x = val1 01687 start = end 01688 end += 35 01689 (_x.has_position_limits, _x.min_position, _x.max_position, _x.has_velocity_limits, _x.max_velocity, _x.has_acceleration_limits, _x.max_acceleration,) = _struct_B2dBdBd.unpack(str[start:end]) 01690 val1.has_position_limits = bool(val1.has_position_limits) 01691 val1.has_velocity_limits = bool(val1.has_velocity_limits) 01692 val1.has_acceleration_limits = bool(val1.has_acceleration_limits) 01693 self.limits.append(val1) 01694 _x = self 01695 start = end 01696 end += 12 01697 (_x.start_state.joint_state.header.seq, _x.start_state.joint_state.header.stamp.secs, _x.start_state.joint_state.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end]) 01698 start = end 01699 end += 4 01700 (length,) = _struct_I.unpack(str[start:end]) 01701 start = end 01702 end += length 01703 self.start_state.joint_state.header.frame_id = str[start:end] 01704 start = end 01705 end += 4 01706 (length,) = _struct_I.unpack(str[start:end]) 01707 self.start_state.joint_state.name = [] 01708 for i in range(0, length): 01709 start = end 01710 end += 4 01711 (length,) = _struct_I.unpack(str[start:end]) 01712 start = end 01713 end += length 01714 val1 = str[start:end] 01715 self.start_state.joint_state.name.append(val1) 01716 start = end 01717 end += 4 01718 (length,) = _struct_I.unpack(str[start:end]) 01719 pattern = '<%sd'%length 01720 start = end 01721 end += struct.calcsize(pattern) 01722 self.start_state.joint_state.position = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length) 01723 start = end 01724 end += 4 01725 (length,) = _struct_I.unpack(str[start:end]) 01726 pattern = '<%sd'%length 01727 start = end 01728 end += struct.calcsize(pattern) 01729 self.start_state.joint_state.velocity = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length) 01730 start = end 01731 end += 4 01732 (length,) = _struct_I.unpack(str[start:end]) 01733 pattern = '<%sd'%length 01734 start = end 01735 end += struct.calcsize(pattern) 01736 self.start_state.joint_state.effort = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length) 01737 _x = self 01738 start = end 01739 end += 8 01740 (_x.start_state.multi_dof_joint_state.stamp.secs, _x.start_state.multi_dof_joint_state.stamp.nsecs,) = _struct_2I.unpack(str[start:end]) 01741 start = end 01742 end += 4 01743 (length,) = _struct_I.unpack(str[start:end]) 01744 self.start_state.multi_dof_joint_state.joint_names = [] 01745 for i in range(0, length): 01746 start = end 01747 end += 4 01748 (length,) = _struct_I.unpack(str[start:end]) 01749 start = end 01750 end += length 01751 val1 = str[start:end] 01752 self.start_state.multi_dof_joint_state.joint_names.append(val1) 01753 start = end 01754 end += 4 01755 (length,) = _struct_I.unpack(str[start:end]) 01756 self.start_state.multi_dof_joint_state.frame_ids = [] 01757 for i in range(0, length): 01758 start = end 01759 end += 4 01760 (length,) = _struct_I.unpack(str[start:end]) 01761 start = end 01762 end += length 01763 val1 = str[start:end] 01764 self.start_state.multi_dof_joint_state.frame_ids.append(val1) 01765 start = end 01766 end += 4 01767 (length,) = _struct_I.unpack(str[start:end]) 01768 self.start_state.multi_dof_joint_state.child_frame_ids = [] 01769 for i in range(0, length): 01770 start = end 01771 end += 4 01772 (length,) = _struct_I.unpack(str[start:end]) 01773 start = end 01774 end += length 01775 val1 = str[start:end] 01776 self.start_state.multi_dof_joint_state.child_frame_ids.append(val1) 01777 start = end 01778 end += 4 01779 (length,) = _struct_I.unpack(str[start:end]) 01780 self.start_state.multi_dof_joint_state.poses = [] 01781 for i in range(0, length): 01782 val1 = geometry_msgs.msg.Pose() 01783 _v137 = val1.position 01784 _x = _v137 01785 start = end 01786 end += 24 01787 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end]) 01788 _v138 = val1.orientation 01789 _x = _v138 01790 start = end 01791 end += 32 01792 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end]) 01793 self.start_state.multi_dof_joint_state.poses.append(val1) 01794 start = end 01795 end += 4 01796 (length,) = _struct_I.unpack(str[start:end]) 01797 self.path_constraints.joint_constraints = [] 01798 for i in range(0, length): 01799 val1 = arm_navigation_msgs.msg.JointConstraint() 01800 start = end 01801 end += 4 01802 (length,) = _struct_I.unpack(str[start:end]) 01803 start = end 01804 end += length 01805 val1.joint_name = str[start:end] 01806 _x = val1 01807 start = end 01808 end += 32 01809 (_x.position, _x.tolerance_above, _x.tolerance_below, _x.weight,) = _struct_4d.unpack(str[start:end]) 01810 self.path_constraints.joint_constraints.append(val1) 01811 start = end 01812 end += 4 01813 (length,) = _struct_I.unpack(str[start:end]) 01814 self.path_constraints.position_constraints = [] 01815 for i in range(0, length): 01816 val1 = arm_navigation_msgs.msg.PositionConstraint() 01817 _v139 = val1.header 01818 start = end 01819 end += 4 01820 (_v139.seq,) = _struct_I.unpack(str[start:end]) 01821 _v140 = _v139.stamp 01822 _x = _v140 01823 start = end 01824 end += 8 01825 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end]) 01826 start = end 01827 end += 4 01828 (length,) = _struct_I.unpack(str[start:end]) 01829 start = end 01830 end += length 01831 _v139.frame_id = str[start:end] 01832 start = end 01833 end += 4 01834 (length,) = _struct_I.unpack(str[start:end]) 01835 start = end 01836 end += length 01837 val1.link_name = str[start:end] 01838 _v141 = val1.target_point_offset 01839 _x = _v141 01840 start = end 01841 end += 24 01842 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end]) 01843 _v142 = val1.position 01844 _x = _v142 01845 start = end 01846 end += 24 01847 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end]) 01848 _v143 = val1.constraint_region_shape 01849 start = end 01850 end += 1 01851 (_v143.type,) = _struct_b.unpack(str[start:end]) 01852 start = end 01853 end += 4 01854 (length,) = _struct_I.unpack(str[start:end]) 01855 pattern = '<%sd'%length 01856 start = end 01857 end += struct.calcsize(pattern) 01858 _v143.dimensions = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length) 01859 start = end 01860 end += 4 01861 (length,) = _struct_I.unpack(str[start:end]) 01862 pattern = '<%si'%length 01863 start = end 01864 end += struct.calcsize(pattern) 01865 _v143.triangles = numpy.frombuffer(str[start:end], dtype=numpy.int32, count=length) 01866 start = end 01867 end += 4 01868 (length,) = _struct_I.unpack(str[start:end]) 01869 _v143.vertices = [] 01870 for i in range(0, length): 01871 val3 = geometry_msgs.msg.Point() 01872 _x = val3 01873 start = end 01874 end += 24 01875 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end]) 01876 _v143.vertices.append(val3) 01877 _v144 = val1.constraint_region_orientation 01878 _x = _v144 01879 start = end 01880 end += 32 01881 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end]) 01882 start = end 01883 end += 8 01884 (val1.weight,) = _struct_d.unpack(str[start:end]) 01885 self.path_constraints.position_constraints.append(val1) 01886 start = end 01887 end += 4 01888 (length,) = _struct_I.unpack(str[start:end]) 01889 self.path_constraints.orientation_constraints = [] 01890 for i in range(0, length): 01891 val1 = arm_navigation_msgs.msg.OrientationConstraint() 01892 _v145 = val1.header 01893 start = end 01894 end += 4 01895 (_v145.seq,) = _struct_I.unpack(str[start:end]) 01896 _v146 = _v145.stamp 01897 _x = _v146 01898 start = end 01899 end += 8 01900 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end]) 01901 start = end 01902 end += 4 01903 (length,) = _struct_I.unpack(str[start:end]) 01904 start = end 01905 end += length 01906 _v145.frame_id = str[start:end] 01907 start = end 01908 end += 4 01909 (length,) = _struct_I.unpack(str[start:end]) 01910 start = end 01911 end += length 01912 val1.link_name = str[start:end] 01913 start = end 01914 end += 4 01915 (val1.type,) = _struct_i.unpack(str[start:end]) 01916 _v147 = val1.orientation 01917 _x = _v147 01918 start = end 01919 end += 32 01920 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end]) 01921 _x = val1 01922 start = end 01923 end += 32 01924 (_x.absolute_roll_tolerance, _x.absolute_pitch_tolerance, _x.absolute_yaw_tolerance, _x.weight,) = _struct_4d.unpack(str[start:end]) 01925 self.path_constraints.orientation_constraints.append(val1) 01926 start = end 01927 end += 4 01928 (length,) = _struct_I.unpack(str[start:end]) 01929 self.path_constraints.visibility_constraints = [] 01930 for i in range(0, length): 01931 val1 = arm_navigation_msgs.msg.VisibilityConstraint() 01932 _v148 = val1.header 01933 start = end 01934 end += 4 01935 (_v148.seq,) = _struct_I.unpack(str[start:end]) 01936 _v149 = _v148.stamp 01937 _x = _v149 01938 start = end 01939 end += 8 01940 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end]) 01941 start = end 01942 end += 4 01943 (length,) = _struct_I.unpack(str[start:end]) 01944 start = end 01945 end += length 01946 _v148.frame_id = str[start:end] 01947 _v150 = val1.target 01948 _v151 = _v150.header 01949 start = end 01950 end += 4 01951 (_v151.seq,) = _struct_I.unpack(str[start:end]) 01952 _v152 = _v151.stamp 01953 _x = _v152 01954 start = end 01955 end += 8 01956 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end]) 01957 start = end 01958 end += 4 01959 (length,) = _struct_I.unpack(str[start:end]) 01960 start = end 01961 end += length 01962 _v151.frame_id = str[start:end] 01963 _v153 = _v150.point 01964 _x = _v153 01965 start = end 01966 end += 24 01967 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end]) 01968 _v154 = val1.sensor_pose 01969 _v155 = _v154.header 01970 start = end 01971 end += 4 01972 (_v155.seq,) = _struct_I.unpack(str[start:end]) 01973 _v156 = _v155.stamp 01974 _x = _v156 01975 start = end 01976 end += 8 01977 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end]) 01978 start = end 01979 end += 4 01980 (length,) = _struct_I.unpack(str[start:end]) 01981 start = end 01982 end += length 01983 _v155.frame_id = str[start:end] 01984 _v157 = _v154.pose 01985 _v158 = _v157.position 01986 _x = _v158 01987 start = end 01988 end += 24 01989 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end]) 01990 _v159 = _v157.orientation 01991 _x = _v159 01992 start = end 01993 end += 32 01994 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end]) 01995 start = end 01996 end += 8 01997 (val1.absolute_tolerance,) = _struct_d.unpack(str[start:end]) 01998 self.path_constraints.visibility_constraints.append(val1) 01999 start = end 02000 end += 4 02001 (length,) = _struct_I.unpack(str[start:end]) 02002 self.goal_constraints.joint_constraints = [] 02003 for i in range(0, length): 02004 val1 = arm_navigation_msgs.msg.JointConstraint() 02005 start = end 02006 end += 4 02007 (length,) = _struct_I.unpack(str[start:end]) 02008 start = end 02009 end += length 02010 val1.joint_name = str[start:end] 02011 _x = val1 02012 start = end 02013 end += 32 02014 (_x.position, _x.tolerance_above, _x.tolerance_below, _x.weight,) = _struct_4d.unpack(str[start:end]) 02015 self.goal_constraints.joint_constraints.append(val1) 02016 start = end 02017 end += 4 02018 (length,) = _struct_I.unpack(str[start:end]) 02019 self.goal_constraints.position_constraints = [] 02020 for i in range(0, length): 02021 val1 = arm_navigation_msgs.msg.PositionConstraint() 02022 _v160 = val1.header 02023 start = end 02024 end += 4 02025 (_v160.seq,) = _struct_I.unpack(str[start:end]) 02026 _v161 = _v160.stamp 02027 _x = _v161 02028 start = end 02029 end += 8 02030 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end]) 02031 start = end 02032 end += 4 02033 (length,) = _struct_I.unpack(str[start:end]) 02034 start = end 02035 end += length 02036 _v160.frame_id = str[start:end] 02037 start = end 02038 end += 4 02039 (length,) = _struct_I.unpack(str[start:end]) 02040 start = end 02041 end += length 02042 val1.link_name = str[start:end] 02043 _v162 = val1.target_point_offset 02044 _x = _v162 02045 start = end 02046 end += 24 02047 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end]) 02048 _v163 = val1.position 02049 _x = _v163 02050 start = end 02051 end += 24 02052 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end]) 02053 _v164 = val1.constraint_region_shape 02054 start = end 02055 end += 1 02056 (_v164.type,) = _struct_b.unpack(str[start:end]) 02057 start = end 02058 end += 4 02059 (length,) = _struct_I.unpack(str[start:end]) 02060 pattern = '<%sd'%length 02061 start = end 02062 end += struct.calcsize(pattern) 02063 _v164.dimensions = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length) 02064 start = end 02065 end += 4 02066 (length,) = _struct_I.unpack(str[start:end]) 02067 pattern = '<%si'%length 02068 start = end 02069 end += struct.calcsize(pattern) 02070 _v164.triangles = numpy.frombuffer(str[start:end], dtype=numpy.int32, count=length) 02071 start = end 02072 end += 4 02073 (length,) = _struct_I.unpack(str[start:end]) 02074 _v164.vertices = [] 02075 for i in range(0, length): 02076 val3 = geometry_msgs.msg.Point() 02077 _x = val3 02078 start = end 02079 end += 24 02080 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end]) 02081 _v164.vertices.append(val3) 02082 _v165 = val1.constraint_region_orientation 02083 _x = _v165 02084 start = end 02085 end += 32 02086 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end]) 02087 start = end 02088 end += 8 02089 (val1.weight,) = _struct_d.unpack(str[start:end]) 02090 self.goal_constraints.position_constraints.append(val1) 02091 start = end 02092 end += 4 02093 (length,) = _struct_I.unpack(str[start:end]) 02094 self.goal_constraints.orientation_constraints = [] 02095 for i in range(0, length): 02096 val1 = arm_navigation_msgs.msg.OrientationConstraint() 02097 _v166 = val1.header 02098 start = end 02099 end += 4 02100 (_v166.seq,) = _struct_I.unpack(str[start:end]) 02101 _v167 = _v166.stamp 02102 _x = _v167 02103 start = end 02104 end += 8 02105 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end]) 02106 start = end 02107 end += 4 02108 (length,) = _struct_I.unpack(str[start:end]) 02109 start = end 02110 end += length 02111 _v166.frame_id = str[start:end] 02112 start = end 02113 end += 4 02114 (length,) = _struct_I.unpack(str[start:end]) 02115 start = end 02116 end += length 02117 val1.link_name = str[start:end] 02118 start = end 02119 end += 4 02120 (val1.type,) = _struct_i.unpack(str[start:end]) 02121 _v168 = val1.orientation 02122 _x = _v168 02123 start = end 02124 end += 32 02125 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end]) 02126 _x = val1 02127 start = end 02128 end += 32 02129 (_x.absolute_roll_tolerance, _x.absolute_pitch_tolerance, _x.absolute_yaw_tolerance, _x.weight,) = _struct_4d.unpack(str[start:end]) 02130 self.goal_constraints.orientation_constraints.append(val1) 02131 start = end 02132 end += 4 02133 (length,) = _struct_I.unpack(str[start:end]) 02134 self.goal_constraints.visibility_constraints = [] 02135 for i in range(0, length): 02136 val1 = arm_navigation_msgs.msg.VisibilityConstraint() 02137 _v169 = val1.header 02138 start = end 02139 end += 4 02140 (_v169.seq,) = _struct_I.unpack(str[start:end]) 02141 _v170 = _v169.stamp 02142 _x = _v170 02143 start = end 02144 end += 8 02145 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end]) 02146 start = end 02147 end += 4 02148 (length,) = _struct_I.unpack(str[start:end]) 02149 start = end 02150 end += length 02151 _v169.frame_id = str[start:end] 02152 _v171 = val1.target 02153 _v172 = _v171.header 02154 start = end 02155 end += 4 02156 (_v172.seq,) = _struct_I.unpack(str[start:end]) 02157 _v173 = _v172.stamp 02158 _x = _v173 02159 start = end 02160 end += 8 02161 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end]) 02162 start = end 02163 end += 4 02164 (length,) = _struct_I.unpack(str[start:end]) 02165 start = end 02166 end += length 02167 _v172.frame_id = str[start:end] 02168 _v174 = _v171.point 02169 _x = _v174 02170 start = end 02171 end += 24 02172 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end]) 02173 _v175 = val1.sensor_pose 02174 _v176 = _v175.header 02175 start = end 02176 end += 4 02177 (_v176.seq,) = _struct_I.unpack(str[start:end]) 02178 _v177 = _v176.stamp 02179 _x = _v177 02180 start = end 02181 end += 8 02182 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end]) 02183 start = end 02184 end += 4 02185 (length,) = _struct_I.unpack(str[start:end]) 02186 start = end 02187 end += length 02188 _v176.frame_id = str[start:end] 02189 _v178 = _v175.pose 02190 _v179 = _v178.position 02191 _x = _v179 02192 start = end 02193 end += 24 02194 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end]) 02195 _v180 = _v178.orientation 02196 _x = _v180 02197 start = end 02198 end += 32 02199 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end]) 02200 start = end 02201 end += 8 02202 (val1.absolute_tolerance,) = _struct_d.unpack(str[start:end]) 02203 self.goal_constraints.visibility_constraints.append(val1) 02204 _x = self 02205 start = end 02206 end += 8 02207 (_x.allowed_time.secs, _x.allowed_time.nsecs,) = _struct_2i.unpack(str[start:end]) 02208 self.allowed_time.canon() 02209 return self 02210 except struct.error as e: 02211 raise roslib.message.DeserializationError(e) #most likely buffer underfill 02212 02213 _struct_I = roslib.message.struct_I 02214 _struct_b = struct.Struct("<b") 02215 _struct_d = struct.Struct("<d") 02216 _struct_B2dBdBd = struct.Struct("<B2dBdBd") 02217 _struct_2I = struct.Struct("<2I") 02218 _struct_i = struct.Struct("<i") 02219 _struct_3I = struct.Struct("<3I") 02220 _struct_4d = struct.Struct("<4d") 02221 _struct_2i = struct.Struct("<2i") 02222 _struct_3d = struct.Struct("<3d") 02223 """autogenerated by genmsg_py from FilterJointTrajectoryWithConstraintsResponse.msg. Do not edit.""" 02224 import roslib.message 02225 import struct 02226 02227 import trajectory_msgs.msg 02228 import arm_navigation_msgs.msg 02229 import roslib.rostime 02230 import std_msgs.msg 02231 02232 class FilterJointTrajectoryWithConstraintsResponse(roslib.message.Message): 02233 _md5sum = "5b4da90f4032f9ac3da9abfb05f766cc" 02234 _type = "arm_navigation_msgs/FilterJointTrajectoryWithConstraintsResponse" 02235 _has_header = False #flag to mark the presence of a Header object 02236 _full_text = """trajectory_msgs/JointTrajectory trajectory 02237 ArmNavigationErrorCodes error_code 02238 02239 02240 ================================================================================ 02241 MSG: trajectory_msgs/JointTrajectory 02242 Header header 02243 string[] joint_names 02244 JointTrajectoryPoint[] points 02245 ================================================================================ 02246 MSG: std_msgs/Header 02247 # Standard metadata for higher-level stamped data types. 02248 # This is generally used to communicate timestamped data 02249 # in a particular coordinate frame. 02250 # 02251 # sequence ID: consecutively increasing ID 02252 uint32 seq 02253 #Two-integer timestamp that is expressed as: 02254 # * stamp.secs: seconds (stamp_secs) since epoch 02255 # * stamp.nsecs: nanoseconds since stamp_secs 02256 # time-handling sugar is provided by the client library 02257 time stamp 02258 #Frame this data is associated with 02259 # 0: no frame 02260 # 1: global frame 02261 string frame_id 02262 02263 ================================================================================ 02264 MSG: trajectory_msgs/JointTrajectoryPoint 02265 float64[] positions 02266 float64[] velocities 02267 float64[] accelerations 02268 duration time_from_start 02269 ================================================================================ 02270 MSG: arm_navigation_msgs/ArmNavigationErrorCodes 02271 int32 val 02272 02273 # overall behavior 02274 int32 PLANNING_FAILED=-1 02275 int32 SUCCESS=1 02276 int32 TIMED_OUT=-2 02277 02278 # start state errors 02279 int32 START_STATE_IN_COLLISION=-3 02280 int32 START_STATE_VIOLATES_PATH_CONSTRAINTS=-4 02281 02282 # goal errors 02283 int32 GOAL_IN_COLLISION=-5 02284 int32 GOAL_VIOLATES_PATH_CONSTRAINTS=-6 02285 02286 # robot state 02287 int32 INVALID_ROBOT_STATE=-7 02288 int32 INCOMPLETE_ROBOT_STATE=-8 02289 02290 # planning request errors 02291 int32 INVALID_PLANNER_ID=-9 02292 int32 INVALID_NUM_PLANNING_ATTEMPTS=-10 02293 int32 INVALID_ALLOWED_PLANNING_TIME=-11 02294 int32 INVALID_GROUP_NAME=-12 02295 int32 INVALID_GOAL_JOINT_CONSTRAINTS=-13 02296 int32 INVALID_GOAL_POSITION_CONSTRAINTS=-14 02297 int32 INVALID_GOAL_ORIENTATION_CONSTRAINTS=-15 02298 int32 INVALID_PATH_JOINT_CONSTRAINTS=-16 02299 int32 INVALID_PATH_POSITION_CONSTRAINTS=-17 02300 int32 INVALID_PATH_ORIENTATION_CONSTRAINTS=-18 02301 02302 # state/trajectory monitor errors 02303 int32 INVALID_TRAJECTORY=-19 02304 int32 INVALID_INDEX=-20 02305 int32 JOINT_LIMITS_VIOLATED=-21 02306 int32 PATH_CONSTRAINTS_VIOLATED=-22 02307 int32 COLLISION_CONSTRAINTS_VIOLATED=-23 02308 int32 GOAL_CONSTRAINTS_VIOLATED=-24 02309 int32 JOINTS_NOT_MOVING=-25 02310 int32 TRAJECTORY_CONTROLLER_FAILED=-26 02311 02312 # system errors 02313 int32 FRAME_TRANSFORM_FAILURE=-27 02314 int32 COLLISION_CHECKING_UNAVAILABLE=-28 02315 int32 ROBOT_STATE_STALE=-29 02316 int32 SENSOR_INFO_STALE=-30 02317 02318 # kinematics errors 02319 int32 NO_IK_SOLUTION=-31 02320 int32 INVALID_LINK_NAME=-32 02321 int32 IK_LINK_IN_COLLISION=-33 02322 int32 NO_FK_SOLUTION=-34 02323 int32 KINEMATICS_STATE_IN_COLLISION=-35 02324 02325 # general errors 02326 int32 INVALID_TIMEOUT=-36 02327 02328 02329 """ 02330 __slots__ = ['trajectory','error_code'] 02331 _slot_types = ['trajectory_msgs/JointTrajectory','arm_navigation_msgs/ArmNavigationErrorCodes'] 02332 02333 def __init__(self, *args, **kwds): 02334 """ 02335 Constructor. Any message fields that are implicitly/explicitly 02336 set to None will be assigned a default value. The recommend 02337 use is keyword arguments as this is more robust to future message 02338 changes. You cannot mix in-order arguments and keyword arguments. 02339 02340 The available fields are: 02341 trajectory,error_code 02342 02343 @param args: complete set of field values, in .msg order 02344 @param kwds: use keyword arguments corresponding to message field names 02345 to set specific fields. 02346 """ 02347 if args or kwds: 02348 super(FilterJointTrajectoryWithConstraintsResponse, self).__init__(*args, **kwds) 02349 #message fields cannot be None, assign default values for those that are 02350 if self.trajectory is None: 02351 self.trajectory = trajectory_msgs.msg.JointTrajectory() 02352 if self.error_code is None: 02353 self.error_code = arm_navigation_msgs.msg.ArmNavigationErrorCodes() 02354 else: 02355 self.trajectory = trajectory_msgs.msg.JointTrajectory() 02356 self.error_code = arm_navigation_msgs.msg.ArmNavigationErrorCodes() 02357 02358 def _get_types(self): 02359 """ 02360 internal API method 02361 """ 02362 return self._slot_types 02363 02364 def serialize(self, buff): 02365 """ 02366 serialize message into buffer 02367 @param buff: buffer 02368 @type buff: StringIO 02369 """ 02370 try: 02371 _x = self 02372 buff.write(_struct_3I.pack(_x.trajectory.header.seq, _x.trajectory.header.stamp.secs, _x.trajectory.header.stamp.nsecs)) 02373 _x = self.trajectory.header.frame_id 02374 length = len(_x) 02375 buff.write(struct.pack('<I%ss'%length, length, _x)) 02376 length = len(self.trajectory.joint_names) 02377 buff.write(_struct_I.pack(length)) 02378 for val1 in self.trajectory.joint_names: 02379 length = len(val1) 02380 buff.write(struct.pack('<I%ss'%length, length, val1)) 02381 length = len(self.trajectory.points) 02382 buff.write(_struct_I.pack(length)) 02383 for val1 in self.trajectory.points: 02384 length = len(val1.positions) 02385 buff.write(_struct_I.pack(length)) 02386 pattern = '<%sd'%length 02387 buff.write(struct.pack(pattern, *val1.positions)) 02388 length = len(val1.velocities) 02389 buff.write(_struct_I.pack(length)) 02390 pattern = '<%sd'%length 02391 buff.write(struct.pack(pattern, *val1.velocities)) 02392 length = len(val1.accelerations) 02393 buff.write(_struct_I.pack(length)) 02394 pattern = '<%sd'%length 02395 buff.write(struct.pack(pattern, *val1.accelerations)) 02396 _v181 = val1.time_from_start 02397 _x = _v181 02398 buff.write(_struct_2i.pack(_x.secs, _x.nsecs)) 02399 buff.write(_struct_i.pack(self.error_code.val)) 02400 except struct.error as se: self._check_types(se) 02401 except TypeError as te: self._check_types(te) 02402 02403 def deserialize(self, str): 02404 """ 02405 unpack serialized message in str into this message instance 02406 @param str: byte array of serialized message 02407 @type str: str 02408 """ 02409 try: 02410 if self.trajectory is None: 02411 self.trajectory = trajectory_msgs.msg.JointTrajectory() 02412 if self.error_code is None: 02413 self.error_code = arm_navigation_msgs.msg.ArmNavigationErrorCodes() 02414 end = 0 02415 _x = self 02416 start = end 02417 end += 12 02418 (_x.trajectory.header.seq, _x.trajectory.header.stamp.secs, _x.trajectory.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end]) 02419 start = end 02420 end += 4 02421 (length,) = _struct_I.unpack(str[start:end]) 02422 start = end 02423 end += length 02424 self.trajectory.header.frame_id = str[start:end] 02425 start = end 02426 end += 4 02427 (length,) = _struct_I.unpack(str[start:end]) 02428 self.trajectory.joint_names = [] 02429 for i in range(0, length): 02430 start = end 02431 end += 4 02432 (length,) = _struct_I.unpack(str[start:end]) 02433 start = end 02434 end += length 02435 val1 = str[start:end] 02436 self.trajectory.joint_names.append(val1) 02437 start = end 02438 end += 4 02439 (length,) = _struct_I.unpack(str[start:end]) 02440 self.trajectory.points = [] 02441 for i in range(0, length): 02442 val1 = trajectory_msgs.msg.JointTrajectoryPoint() 02443 start = end 02444 end += 4 02445 (length,) = _struct_I.unpack(str[start:end]) 02446 pattern = '<%sd'%length 02447 start = end 02448 end += struct.calcsize(pattern) 02449 val1.positions = struct.unpack(pattern, str[start:end]) 02450 start = end 02451 end += 4 02452 (length,) = _struct_I.unpack(str[start:end]) 02453 pattern = '<%sd'%length 02454 start = end 02455 end += struct.calcsize(pattern) 02456 val1.velocities = struct.unpack(pattern, str[start:end]) 02457 start = end 02458 end += 4 02459 (length,) = _struct_I.unpack(str[start:end]) 02460 pattern = '<%sd'%length 02461 start = end 02462 end += struct.calcsize(pattern) 02463 val1.accelerations = struct.unpack(pattern, str[start:end]) 02464 _v182 = val1.time_from_start 02465 _x = _v182 02466 start = end 02467 end += 8 02468 (_x.secs, _x.nsecs,) = _struct_2i.unpack(str[start:end]) 02469 self.trajectory.points.append(val1) 02470 start = end 02471 end += 4 02472 (self.error_code.val,) = _struct_i.unpack(str[start:end]) 02473 return self 02474 except struct.error as e: 02475 raise roslib.message.DeserializationError(e) #most likely buffer underfill 02476 02477 02478 def serialize_numpy(self, buff, numpy): 02479 """ 02480 serialize message with numpy array types into buffer 02481 @param buff: buffer 02482 @type buff: StringIO 02483 @param numpy: numpy python module 02484 @type numpy module 02485 """ 02486 try: 02487 _x = self 02488 buff.write(_struct_3I.pack(_x.trajectory.header.seq, _x.trajectory.header.stamp.secs, _x.trajectory.header.stamp.nsecs)) 02489 _x = self.trajectory.header.frame_id 02490 length = len(_x) 02491 buff.write(struct.pack('<I%ss'%length, length, _x)) 02492 length = len(self.trajectory.joint_names) 02493 buff.write(_struct_I.pack(length)) 02494 for val1 in self.trajectory.joint_names: 02495 length = len(val1) 02496 buff.write(struct.pack('<I%ss'%length, length, val1)) 02497 length = len(self.trajectory.points) 02498 buff.write(_struct_I.pack(length)) 02499 for val1 in self.trajectory.points: 02500 length = len(val1.positions) 02501 buff.write(_struct_I.pack(length)) 02502 pattern = '<%sd'%length 02503 buff.write(val1.positions.tostring()) 02504 length = len(val1.velocities) 02505 buff.write(_struct_I.pack(length)) 02506 pattern = '<%sd'%length 02507 buff.write(val1.velocities.tostring()) 02508 length = len(val1.accelerations) 02509 buff.write(_struct_I.pack(length)) 02510 pattern = '<%sd'%length 02511 buff.write(val1.accelerations.tostring()) 02512 _v183 = val1.time_from_start 02513 _x = _v183 02514 buff.write(_struct_2i.pack(_x.secs, _x.nsecs)) 02515 buff.write(_struct_i.pack(self.error_code.val)) 02516 except struct.error as se: self._check_types(se) 02517 except TypeError as te: self._check_types(te) 02518 02519 def deserialize_numpy(self, str, numpy): 02520 """ 02521 unpack serialized message in str into this message instance using numpy for array types 02522 @param str: byte array of serialized message 02523 @type str: str 02524 @param numpy: numpy python module 02525 @type numpy: module 02526 """ 02527 try: 02528 if self.trajectory is None: 02529 self.trajectory = trajectory_msgs.msg.JointTrajectory() 02530 if self.error_code is None: 02531 self.error_code = arm_navigation_msgs.msg.ArmNavigationErrorCodes() 02532 end = 0 02533 _x = self 02534 start = end 02535 end += 12 02536 (_x.trajectory.header.seq, _x.trajectory.header.stamp.secs, _x.trajectory.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end]) 02537 start = end 02538 end += 4 02539 (length,) = _struct_I.unpack(str[start:end]) 02540 start = end 02541 end += length 02542 self.trajectory.header.frame_id = str[start:end] 02543 start = end 02544 end += 4 02545 (length,) = _struct_I.unpack(str[start:end]) 02546 self.trajectory.joint_names = [] 02547 for i in range(0, length): 02548 start = end 02549 end += 4 02550 (length,) = _struct_I.unpack(str[start:end]) 02551 start = end 02552 end += length 02553 val1 = str[start:end] 02554 self.trajectory.joint_names.append(val1) 02555 start = end 02556 end += 4 02557 (length,) = _struct_I.unpack(str[start:end]) 02558 self.trajectory.points = [] 02559 for i in range(0, length): 02560 val1 = trajectory_msgs.msg.JointTrajectoryPoint() 02561 start = end 02562 end += 4 02563 (length,) = _struct_I.unpack(str[start:end]) 02564 pattern = '<%sd'%length 02565 start = end 02566 end += struct.calcsize(pattern) 02567 val1.positions = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length) 02568 start = end 02569 end += 4 02570 (length,) = _struct_I.unpack(str[start:end]) 02571 pattern = '<%sd'%length 02572 start = end 02573 end += struct.calcsize(pattern) 02574 val1.velocities = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length) 02575 start = end 02576 end += 4 02577 (length,) = _struct_I.unpack(str[start:end]) 02578 pattern = '<%sd'%length 02579 start = end 02580 end += struct.calcsize(pattern) 02581 val1.accelerations = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length) 02582 _v184 = val1.time_from_start 02583 _x = _v184 02584 start = end 02585 end += 8 02586 (_x.secs, _x.nsecs,) = _struct_2i.unpack(str[start:end]) 02587 self.trajectory.points.append(val1) 02588 start = end 02589 end += 4 02590 (self.error_code.val,) = _struct_i.unpack(str[start:end]) 02591 return self 02592 except struct.error as e: 02593 raise roslib.message.DeserializationError(e) #most likely buffer underfill 02594 02595 _struct_I = roslib.message.struct_I 02596 _struct_i = struct.Struct("<i") 02597 _struct_3I = struct.Struct("<3I") 02598 _struct_2i = struct.Struct("<2i") 02599 class FilterJointTrajectoryWithConstraints(roslib.message.ServiceDefinition): 02600 _type = 'arm_navigation_msgs/FilterJointTrajectoryWithConstraints' 02601 _md5sum = '8da2437f9cfc1409ce927ce38e556772' 02602 _request_class = FilterJointTrajectoryWithConstraintsRequest 02603 _response_class = FilterJointTrajectoryWithConstraintsResponse