00001 """autogenerated by genmsg_py from SimplePoseConstraint.msg. Do not edit."""
00002 import roslib.message
00003 import struct
00004
00005 import geometry_msgs.msg
00006 import std_msgs.msg
00007
00008 class SimplePoseConstraint(roslib.message.Message):
00009 _md5sum = "3483d830eb84ecd3059741fd417b30da"
00010 _type = "arm_navigation_msgs/SimplePoseConstraint"
00011 _has_header = True
00012 _full_text = """# This message contains the definition of a simple pose constraint
00013 # that specifies the pose for a particular link of the robot and corresponding
00014 # (absolute) position and orientation tolerances
00015
00016 # The standard ROS message header
00017 Header header
00018
00019 # The robot link this constraint refers to
00020 string link_name
00021
00022 # The desired position of the robot link
00023 geometry_msgs/Pose pose
00024
00025 # Position (absolute) tolerance
00026 geometry_msgs/Point absolute_position_tolerance
00027
00028 # Orientation (absolute) tolerance
00029 float64 absolute_roll_tolerance
00030 float64 absolute_yaw_tolerance
00031 float64 absolute_pitch_tolerance
00032
00033 int32 orientation_constraint_type
00034 int32 HEADER_FRAME=0
00035 int32 LINK_FRAME=1
00036
00037 ================================================================================
00038 MSG: std_msgs/Header
00039 # Standard metadata for higher-level stamped data types.
00040 # This is generally used to communicate timestamped data
00041 # in a particular coordinate frame.
00042 #
00043 # sequence ID: consecutively increasing ID
00044 uint32 seq
00045 #Two-integer timestamp that is expressed as:
00046 # * stamp.secs: seconds (stamp_secs) since epoch
00047 # * stamp.nsecs: nanoseconds since stamp_secs
00048 # time-handling sugar is provided by the client library
00049 time stamp
00050 #Frame this data is associated with
00051 # 0: no frame
00052 # 1: global frame
00053 string frame_id
00054
00055 ================================================================================
00056 MSG: geometry_msgs/Pose
00057 # A representation of pose in free space, composed of postion and orientation.
00058 Point position
00059 Quaternion orientation
00060
00061 ================================================================================
00062 MSG: geometry_msgs/Point
00063 # This contains the position of a point in free space
00064 float64 x
00065 float64 y
00066 float64 z
00067
00068 ================================================================================
00069 MSG: geometry_msgs/Quaternion
00070 # This represents an orientation in free space in quaternion form.
00071
00072 float64 x
00073 float64 y
00074 float64 z
00075 float64 w
00076
00077 """
00078
00079 HEADER_FRAME = 0
00080 LINK_FRAME = 1
00081
00082 __slots__ = ['header','link_name','pose','absolute_position_tolerance','absolute_roll_tolerance','absolute_yaw_tolerance','absolute_pitch_tolerance','orientation_constraint_type']
00083 _slot_types = ['Header','string','geometry_msgs/Pose','geometry_msgs/Point','float64','float64','float64','int32']
00084
00085 def __init__(self, *args, **kwds):
00086 """
00087 Constructor. Any message fields that are implicitly/explicitly
00088 set to None will be assigned a default value. The recommend
00089 use is keyword arguments as this is more robust to future message
00090 changes. You cannot mix in-order arguments and keyword arguments.
00091
00092 The available fields are:
00093 header,link_name,pose,absolute_position_tolerance,absolute_roll_tolerance,absolute_yaw_tolerance,absolute_pitch_tolerance,orientation_constraint_type
00094
00095 @param args: complete set of field values, in .msg order
00096 @param kwds: use keyword arguments corresponding to message field names
00097 to set specific fields.
00098 """
00099 if args or kwds:
00100 super(SimplePoseConstraint, self).__init__(*args, **kwds)
00101
00102 if self.header is None:
00103 self.header = std_msgs.msg._Header.Header()
00104 if self.link_name is None:
00105 self.link_name = ''
00106 if self.pose is None:
00107 self.pose = geometry_msgs.msg.Pose()
00108 if self.absolute_position_tolerance is None:
00109 self.absolute_position_tolerance = geometry_msgs.msg.Point()
00110 if self.absolute_roll_tolerance is None:
00111 self.absolute_roll_tolerance = 0.
00112 if self.absolute_yaw_tolerance is None:
00113 self.absolute_yaw_tolerance = 0.
00114 if self.absolute_pitch_tolerance is None:
00115 self.absolute_pitch_tolerance = 0.
00116 if self.orientation_constraint_type is None:
00117 self.orientation_constraint_type = 0
00118 else:
00119 self.header = std_msgs.msg._Header.Header()
00120 self.link_name = ''
00121 self.pose = geometry_msgs.msg.Pose()
00122 self.absolute_position_tolerance = geometry_msgs.msg.Point()
00123 self.absolute_roll_tolerance = 0.
00124 self.absolute_yaw_tolerance = 0.
00125 self.absolute_pitch_tolerance = 0.
00126 self.orientation_constraint_type = 0
00127
00128 def _get_types(self):
00129 """
00130 internal API method
00131 """
00132 return self._slot_types
00133
00134 def serialize(self, buff):
00135 """
00136 serialize message into buffer
00137 @param buff: buffer
00138 @type buff: StringIO
00139 """
00140 try:
00141 _x = self
00142 buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
00143 _x = self.header.frame_id
00144 length = len(_x)
00145 buff.write(struct.pack('<I%ss'%length, length, _x))
00146 _x = self.link_name
00147 length = len(_x)
00148 buff.write(struct.pack('<I%ss'%length, length, _x))
00149 _x = self
00150 buff.write(_struct_13di.pack(_x.pose.position.x, _x.pose.position.y, _x.pose.position.z, _x.pose.orientation.x, _x.pose.orientation.y, _x.pose.orientation.z, _x.pose.orientation.w, _x.absolute_position_tolerance.x, _x.absolute_position_tolerance.y, _x.absolute_position_tolerance.z, _x.absolute_roll_tolerance, _x.absolute_yaw_tolerance, _x.absolute_pitch_tolerance, _x.orientation_constraint_type))
00151 except struct.error as se: self._check_types(se)
00152 except TypeError as te: self._check_types(te)
00153
00154 def deserialize(self, str):
00155 """
00156 unpack serialized message in str into this message instance
00157 @param str: byte array of serialized message
00158 @type str: str
00159 """
00160 try:
00161 if self.header is None:
00162 self.header = std_msgs.msg._Header.Header()
00163 if self.pose is None:
00164 self.pose = geometry_msgs.msg.Pose()
00165 if self.absolute_position_tolerance is None:
00166 self.absolute_position_tolerance = geometry_msgs.msg.Point()
00167 end = 0
00168 _x = self
00169 start = end
00170 end += 12
00171 (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00172 start = end
00173 end += 4
00174 (length,) = _struct_I.unpack(str[start:end])
00175 start = end
00176 end += length
00177 self.header.frame_id = str[start:end]
00178 start = end
00179 end += 4
00180 (length,) = _struct_I.unpack(str[start:end])
00181 start = end
00182 end += length
00183 self.link_name = str[start:end]
00184 _x = self
00185 start = end
00186 end += 108
00187 (_x.pose.position.x, _x.pose.position.y, _x.pose.position.z, _x.pose.orientation.x, _x.pose.orientation.y, _x.pose.orientation.z, _x.pose.orientation.w, _x.absolute_position_tolerance.x, _x.absolute_position_tolerance.y, _x.absolute_position_tolerance.z, _x.absolute_roll_tolerance, _x.absolute_yaw_tolerance, _x.absolute_pitch_tolerance, _x.orientation_constraint_type,) = _struct_13di.unpack(str[start:end])
00188 return self
00189 except struct.error as e:
00190 raise roslib.message.DeserializationError(e)
00191
00192
00193 def serialize_numpy(self, buff, numpy):
00194 """
00195 serialize message with numpy array types into buffer
00196 @param buff: buffer
00197 @type buff: StringIO
00198 @param numpy: numpy python module
00199 @type numpy module
00200 """
00201 try:
00202 _x = self
00203 buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
00204 _x = self.header.frame_id
00205 length = len(_x)
00206 buff.write(struct.pack('<I%ss'%length, length, _x))
00207 _x = self.link_name
00208 length = len(_x)
00209 buff.write(struct.pack('<I%ss'%length, length, _x))
00210 _x = self
00211 buff.write(_struct_13di.pack(_x.pose.position.x, _x.pose.position.y, _x.pose.position.z, _x.pose.orientation.x, _x.pose.orientation.y, _x.pose.orientation.z, _x.pose.orientation.w, _x.absolute_position_tolerance.x, _x.absolute_position_tolerance.y, _x.absolute_position_tolerance.z, _x.absolute_roll_tolerance, _x.absolute_yaw_tolerance, _x.absolute_pitch_tolerance, _x.orientation_constraint_type))
00212 except struct.error as se: self._check_types(se)
00213 except TypeError as te: self._check_types(te)
00214
00215 def deserialize_numpy(self, str, numpy):
00216 """
00217 unpack serialized message in str into this message instance using numpy for array types
00218 @param str: byte array of serialized message
00219 @type str: str
00220 @param numpy: numpy python module
00221 @type numpy: module
00222 """
00223 try:
00224 if self.header is None:
00225 self.header = std_msgs.msg._Header.Header()
00226 if self.pose is None:
00227 self.pose = geometry_msgs.msg.Pose()
00228 if self.absolute_position_tolerance is None:
00229 self.absolute_position_tolerance = geometry_msgs.msg.Point()
00230 end = 0
00231 _x = self
00232 start = end
00233 end += 12
00234 (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00235 start = end
00236 end += 4
00237 (length,) = _struct_I.unpack(str[start:end])
00238 start = end
00239 end += length
00240 self.header.frame_id = str[start:end]
00241 start = end
00242 end += 4
00243 (length,) = _struct_I.unpack(str[start:end])
00244 start = end
00245 end += length
00246 self.link_name = str[start:end]
00247 _x = self
00248 start = end
00249 end += 108
00250 (_x.pose.position.x, _x.pose.position.y, _x.pose.position.z, _x.pose.orientation.x, _x.pose.orientation.y, _x.pose.orientation.z, _x.pose.orientation.w, _x.absolute_position_tolerance.x, _x.absolute_position_tolerance.y, _x.absolute_position_tolerance.z, _x.absolute_roll_tolerance, _x.absolute_yaw_tolerance, _x.absolute_pitch_tolerance, _x.orientation_constraint_type,) = _struct_13di.unpack(str[start:end])
00251 return self
00252 except struct.error as e:
00253 raise roslib.message.DeserializationError(e)
00254
00255 _struct_I = roslib.message.struct_I
00256 _struct_13di = struct.Struct("<13di")
00257 _struct_3I = struct.Struct("<3I")
