00001 """autogenerated by genmsg_py from ModifyMapRequest.msg. Do not edit."""
00002 import roslib.message
00003 import struct
00004
00005 import geometry_msgs.msg
00006 import sensor_msgs.msg
00007 import cob_3d_mapping_msgs.msg
00008 import std_msgs.msg
00009
00010 class ModifyMapRequest(roslib.message.Message):
00011 _md5sum = "c96952e7e16d2fe9667a1835875e82aa"
00012 _type = "cob_3d_mapping_msgs/ModifyMapRequest"
00013 _has_header = False
00014 _full_text = """uint8 ADD=0
00015 uint8 MODIFY=1
00016 uint8 DELETE=2
00017
00018 int32 action
00019 cob_3d_mapping_msgs/ShapeArray InMap
00020
00021 ================================================================================
00022 MSG: cob_3d_mapping_msgs/ShapeArray
00023 # An array of poses with a header for global reference.
00024
00025 Header header
00026
00027 cob_3d_mapping_msgs/Shape[] shapes
00028 ================================================================================
00029 MSG: std_msgs/Header
00030 # Standard metadata for higher-level stamped data types.
00031 # This is generally used to communicate timestamped data
00032 # in a particular coordinate frame.
00033 #
00034 # sequence ID: consecutively increasing ID
00035 uint32 seq
00036 #Two-integer timestamp that is expressed as:
00037 # * stamp.secs: seconds (stamp_secs) since epoch
00038 # * stamp.nsecs: nanoseconds since stamp_secs
00039 # time-handling sugar is provided by the client library
00040 time stamp
00041 #Frame this data is associated with
00042 # 0: no frame
00043 # 1: global frame
00044 string frame_id
00045
00046 ================================================================================
00047 MSG: cob_3d_mapping_msgs/Shape
00048 Header header
00049
00050 uint8 POLYGON=0
00051 uint8 LINE=1
00052 uint8 CURVED=2
00053 uint8 MESH=3
00054 uint8 OTHER=4
00055 uint8 CYLINDER=5
00056 # potential extensions: SPHERE, CYLINDER, BOX
00057
00058 uint8 type
00059
00060
00061 int32 id
00062 # define shape parameters
00063 # for plane
00064 # normal vector = params[0],params[1],params[2]
00065 # d = params[3]
00066 # for line
00067 # direction vector = params[0],params[1],params[2]
00068 #
00069 #for cylinder
00070 # symmetry axis = params[0],params[1],params[2]
00071 # z axis = params[3], params[4], params[5]
00072 # origin = params[6], params[7], params[8]
00073 # radius = params[9]
00074 #
00075 float64[] params
00076
00077 sensor_msgs/PointCloud2[] points
00078
00079 #### define mesh ####
00080 # each three entries form a triangle; indices of points are stored
00081 int32[] vertices
00082
00083 geometry_msgs/Point32 centroid
00084 std_msgs/ColorRGBA color
00085 bool[] holes
00086
00087 ================================================================================
00088 MSG: sensor_msgs/PointCloud2
00089 # This message holds a collection of N-dimensional points, which may
00090 # contain additional information such as normals, intensity, etc. The
00091 # point data is stored as a binary blob, its layout described by the
00092 # contents of the "fields" array.
00093
00094 # The point cloud data may be organized 2d (image-like) or 1d
00095 # (unordered). Point clouds organized as 2d images may be produced by
00096 # camera depth sensors such as stereo or time-of-flight.
00097
00098 # Time of sensor data acquisition, and the coordinate frame ID (for 3d
00099 # points).
00100 Header header
00101
00102 # 2D structure of the point cloud. If the cloud is unordered, height is
00103 # 1 and width is the length of the point cloud.
00104 uint32 height
00105 uint32 width
00106
00107 # Describes the channels and their layout in the binary data blob.
00108 PointField[] fields
00109
00110 bool is_bigendian # Is this data bigendian?
00111 uint32 point_step # Length of a point in bytes
00112 uint32 row_step # Length of a row in bytes
00113 uint8[] data # Actual point data, size is (row_step*height)
00114
00115 bool is_dense # True if there are no invalid points
00116
00117 ================================================================================
00118 MSG: sensor_msgs/PointField
00119 # This message holds the description of one point entry in the
00120 # PointCloud2 message format.
00121 uint8 INT8 = 1
00122 uint8 UINT8 = 2
00123 uint8 INT16 = 3
00124 uint8 UINT16 = 4
00125 uint8 INT32 = 5
00126 uint8 UINT32 = 6
00127 uint8 FLOAT32 = 7
00128 uint8 FLOAT64 = 8
00129
00130 string name # Name of field
00131 uint32 offset # Offset from start of point struct
00132 uint8 datatype # Datatype enumeration, see above
00133 uint32 count # How many elements in the field
00134
00135 ================================================================================
00136 MSG: geometry_msgs/Point32
00137 # This contains the position of a point in free space(with 32 bits of precision).
00138 # It is recommeded to use Point wherever possible instead of Point32.
00139 #
00140 # This recommendation is to promote interoperability.
00141 #
00142 # This message is designed to take up less space when sending
00143 # lots of points at once, as in the case of a PointCloud.
00144
00145 float32 x
00146 float32 y
00147 float32 z
00148 ================================================================================
00149 MSG: std_msgs/ColorRGBA
00150 float32 r
00151 float32 g
00152 float32 b
00153 float32 a
00154
00155 """
00156
00157 ADD = 0
00158 MODIFY = 1
00159 DELETE = 2
00160
00161 __slots__ = ['action','InMap']
00162 _slot_types = ['int32','cob_3d_mapping_msgs/ShapeArray']
00163
00164 def __init__(self, *args, **kwds):
00165 """
00166 Constructor. Any message fields that are implicitly/explicitly
00167 set to None will be assigned a default value. The recommend
00168 use is keyword arguments as this is more robust to future message
00169 changes. You cannot mix in-order arguments and keyword arguments.
00170
00171 The available fields are:
00172 action,InMap
00173
00174 @param args: complete set of field values, in .msg order
00175 @param kwds: use keyword arguments corresponding to message field names
00176 to set specific fields.
00177 """
00178 if args or kwds:
00179 super(ModifyMapRequest, self).__init__(*args, **kwds)
00180
00181 if self.action is None:
00182 self.action = 0
00183 if self.InMap is None:
00184 self.InMap = cob_3d_mapping_msgs.msg.ShapeArray()
00185 else:
00186 self.action = 0
00187 self.InMap = cob_3d_mapping_msgs.msg.ShapeArray()
00188
00189 def _get_types(self):
00190 """
00191 internal API method
00192 """
00193 return self._slot_types
00194
00195 def serialize(self, buff):
00196 """
00197 serialize message into buffer
00198 @param buff: buffer
00199 @type buff: StringIO
00200 """
00201 try:
00202 _x = self
00203 buff.write(_struct_i3I.pack(_x.action, _x.InMap.header.seq, _x.InMap.header.stamp.secs, _x.InMap.header.stamp.nsecs))
00204 _x = self.InMap.header.frame_id
00205 length = len(_x)
00206 buff.write(struct.pack('<I%ss'%length, length, _x))
00207 length = len(self.InMap.shapes)
00208 buff.write(_struct_I.pack(length))
00209 for val1 in self.InMap.shapes:
00210 _v1 = val1.header
00211 buff.write(_struct_I.pack(_v1.seq))
00212 _v2 = _v1.stamp
00213 _x = _v2
00214 buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00215 _x = _v1.frame_id
00216 length = len(_x)
00217 buff.write(struct.pack('<I%ss'%length, length, _x))
00218 _x = val1
00219 buff.write(_struct_Bi.pack(_x.type, _x.id))
00220 length = len(val1.params)
00221 buff.write(_struct_I.pack(length))
00222 pattern = '<%sd'%length
00223 buff.write(struct.pack(pattern, *val1.params))
00224 length = len(val1.points)
00225 buff.write(_struct_I.pack(length))
00226 for val2 in val1.points:
00227 _v3 = val2.header
00228 buff.write(_struct_I.pack(_v3.seq))
00229 _v4 = _v3.stamp
00230 _x = _v4
00231 buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00232 _x = _v3.frame_id
00233 length = len(_x)
00234 buff.write(struct.pack('<I%ss'%length, length, _x))
00235 _x = val2
00236 buff.write(_struct_2I.pack(_x.height, _x.width))
00237 length = len(val2.fields)
00238 buff.write(_struct_I.pack(length))
00239 for val3 in val2.fields:
00240 _x = val3.name
00241 length = len(_x)
00242 buff.write(struct.pack('<I%ss'%length, length, _x))
00243 _x = val3
00244 buff.write(_struct_IBI.pack(_x.offset, _x.datatype, _x.count))
00245 _x = val2
00246 buff.write(_struct_B2I.pack(_x.is_bigendian, _x.point_step, _x.row_step))
00247 _x = val2.data
00248 length = len(_x)
00249
00250 if type(_x) in [list, tuple]:
00251 buff.write(struct.pack('<I%sB'%length, length, *_x))
00252 else:
00253 buff.write(struct.pack('<I%ss'%length, length, _x))
00254 buff.write(_struct_B.pack(val2.is_dense))
00255 length = len(val1.vertices)
00256 buff.write(_struct_I.pack(length))
00257 pattern = '<%si'%length
00258 buff.write(struct.pack(pattern, *val1.vertices))
00259 _v5 = val1.centroid
00260 _x = _v5
00261 buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))
00262 _v6 = val1.color
00263 _x = _v6
00264 buff.write(_struct_4f.pack(_x.r, _x.g, _x.b, _x.a))
00265 length = len(val1.holes)
00266 buff.write(_struct_I.pack(length))
00267 pattern = '<%sB'%length
00268 buff.write(struct.pack(pattern, *val1.holes))
00269 except struct.error as se: self._check_types(se)
00270 except TypeError as te: self._check_types(te)
00271
00272 def deserialize(self, str):
00273 """
00274 unpack serialized message in str into this message instance
00275 @param str: byte array of serialized message
00276 @type str: str
00277 """
00278 try:
00279 if self.InMap is None:
00280 self.InMap = cob_3d_mapping_msgs.msg.ShapeArray()
00281 end = 0
00282 _x = self
00283 start = end
00284 end += 16
00285 (_x.action, _x.InMap.header.seq, _x.InMap.header.stamp.secs, _x.InMap.header.stamp.nsecs,) = _struct_i3I.unpack(str[start:end])
00286 start = end
00287 end += 4
00288 (length,) = _struct_I.unpack(str[start:end])
00289 start = end
00290 end += length
00291 self.InMap.header.frame_id = str[start:end]
00292 start = end
00293 end += 4
00294 (length,) = _struct_I.unpack(str[start:end])
00295 self.InMap.shapes = []
00296 for i in range(0, length):
00297 val1 = cob_3d_mapping_msgs.msg.Shape()
00298 _v7 = val1.header
00299 start = end
00300 end += 4
00301 (_v7.seq,) = _struct_I.unpack(str[start:end])
00302 _v8 = _v7.stamp
00303 _x = _v8
00304 start = end
00305 end += 8
00306 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
00307 start = end
00308 end += 4
00309 (length,) = _struct_I.unpack(str[start:end])
00310 start = end
00311 end += length
00312 _v7.frame_id = str[start:end]
00313 _x = val1
00314 start = end
00315 end += 5
00316 (_x.type, _x.id,) = _struct_Bi.unpack(str[start:end])
00317 start = end
00318 end += 4
00319 (length,) = _struct_I.unpack(str[start:end])
00320 pattern = '<%sd'%length
00321 start = end
00322 end += struct.calcsize(pattern)
00323 val1.params = struct.unpack(pattern, str[start:end])
00324 start = end
00325 end += 4
00326 (length,) = _struct_I.unpack(str[start:end])
00327 val1.points = []
00328 for i in range(0, length):
00329 val2 = sensor_msgs.msg.PointCloud2()
00330 _v9 = val2.header
00331 start = end
00332 end += 4
00333 (_v9.seq,) = _struct_I.unpack(str[start:end])
00334 _v10 = _v9.stamp
00335 _x = _v10
00336 start = end
00337 end += 8
00338 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
00339 start = end
00340 end += 4
00341 (length,) = _struct_I.unpack(str[start:end])
00342 start = end
00343 end += length
00344 _v9.frame_id = str[start:end]
00345 _x = val2
00346 start = end
00347 end += 8
00348 (_x.height, _x.width,) = _struct_2I.unpack(str[start:end])
00349 start = end
00350 end += 4
00351 (length,) = _struct_I.unpack(str[start:end])
00352 val2.fields = []
00353 for i in range(0, length):
00354 val3 = sensor_msgs.msg.PointField()
00355 start = end
00356 end += 4
00357 (length,) = _struct_I.unpack(str[start:end])
00358 start = end
00359 end += length
00360 val3.name = str[start:end]
00361 _x = val3
00362 start = end
00363 end += 9
00364 (_x.offset, _x.datatype, _x.count,) = _struct_IBI.unpack(str[start:end])
00365 val2.fields.append(val3)
00366 _x = val2
00367 start = end
00368 end += 9
00369 (_x.is_bigendian, _x.point_step, _x.row_step,) = _struct_B2I.unpack(str[start:end])
00370 val2.is_bigendian = bool(val2.is_bigendian)
00371 start = end
00372 end += 4
00373 (length,) = _struct_I.unpack(str[start:end])
00374 start = end
00375 end += length
00376 val2.data = str[start:end]
00377 start = end
00378 end += 1
00379 (val2.is_dense,) = _struct_B.unpack(str[start:end])
00380 val2.is_dense = bool(val2.is_dense)
00381 val1.points.append(val2)
00382 start = end
00383 end += 4
00384 (length,) = _struct_I.unpack(str[start:end])
00385 pattern = '<%si'%length
00386 start = end
00387 end += struct.calcsize(pattern)
00388 val1.vertices = struct.unpack(pattern, str[start:end])
00389 _v11 = val1.centroid
00390 _x = _v11
00391 start = end
00392 end += 12
00393 (_x.x, _x.y, _x.z,) = _struct_3f.unpack(str[start:end])
00394 _v12 = val1.color
00395 _x = _v12
00396 start = end
00397 end += 16
00398 (_x.r, _x.g, _x.b, _x.a,) = _struct_4f.unpack(str[start:end])
00399 start = end
00400 end += 4
00401 (length,) = _struct_I.unpack(str[start:end])
00402 pattern = '<%sB'%length
00403 start = end
00404 end += struct.calcsize(pattern)
00405 val1.holes = struct.unpack(pattern, str[start:end])
00406 val1.holes = map(bool, val1.holes)
00407 self.InMap.shapes.append(val1)
00408 return self
00409 except struct.error as e:
00410 raise roslib.message.DeserializationError(e)
00411
00412
00413 def serialize_numpy(self, buff, numpy):
00414 """
00415 serialize message with numpy array types into buffer
00416 @param buff: buffer
00417 @type buff: StringIO
00418 @param numpy: numpy python module
00419 @type numpy module
00420 """
00421 try:
00422 _x = self
00423 buff.write(_struct_i3I.pack(_x.action, _x.InMap.header.seq, _x.InMap.header.stamp.secs, _x.InMap.header.stamp.nsecs))
00424 _x = self.InMap.header.frame_id
00425 length = len(_x)
00426 buff.write(struct.pack('<I%ss'%length, length, _x))
00427 length = len(self.InMap.shapes)
00428 buff.write(_struct_I.pack(length))
00429 for val1 in self.InMap.shapes:
00430 _v13 = val1.header
00431 buff.write(_struct_I.pack(_v13.seq))
00432 _v14 = _v13.stamp
00433 _x = _v14
00434 buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00435 _x = _v13.frame_id
00436 length = len(_x)
00437 buff.write(struct.pack('<I%ss'%length, length, _x))
00438 _x = val1
00439 buff.write(_struct_Bi.pack(_x.type, _x.id))
00440 length = len(val1.params)
00441 buff.write(_struct_I.pack(length))
00442 pattern = '<%sd'%length
00443 buff.write(val1.params.tostring())
00444 length = len(val1.points)
00445 buff.write(_struct_I.pack(length))
00446 for val2 in val1.points:
00447 _v15 = val2.header
00448 buff.write(_struct_I.pack(_v15.seq))
00449 _v16 = _v15.stamp
00450 _x = _v16
00451 buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00452 _x = _v15.frame_id
00453 length = len(_x)
00454 buff.write(struct.pack('<I%ss'%length, length, _x))
00455 _x = val2
00456 buff.write(_struct_2I.pack(_x.height, _x.width))
00457 length = len(val2.fields)
00458 buff.write(_struct_I.pack(length))
00459 for val3 in val2.fields:
00460 _x = val3.name
00461 length = len(_x)
00462 buff.write(struct.pack('<I%ss'%length, length, _x))
00463 _x = val3
00464 buff.write(_struct_IBI.pack(_x.offset, _x.datatype, _x.count))
00465 _x = val2
00466 buff.write(_struct_B2I.pack(_x.is_bigendian, _x.point_step, _x.row_step))
00467 _x = val2.data
00468 length = len(_x)
00469
00470 if type(_x) in [list, tuple]:
00471 buff.write(struct.pack('<I%sB'%length, length, *_x))
00472 else:
00473 buff.write(struct.pack('<I%ss'%length, length, _x))
00474 buff.write(_struct_B.pack(val2.is_dense))
00475 length = len(val1.vertices)
00476 buff.write(_struct_I.pack(length))
00477 pattern = '<%si'%length
00478 buff.write(val1.vertices.tostring())
00479 _v17 = val1.centroid
00480 _x = _v17
00481 buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))
00482 _v18 = val1.color
00483 _x = _v18
00484 buff.write(_struct_4f.pack(_x.r, _x.g, _x.b, _x.a))
00485 length = len(val1.holes)
00486 buff.write(_struct_I.pack(length))
00487 pattern = '<%sB'%length
00488 buff.write(val1.holes.tostring())
00489 except struct.error as se: self._check_types(se)
00490 except TypeError as te: self._check_types(te)
00491
00492 def deserialize_numpy(self, str, numpy):
00493 """
00494 unpack serialized message in str into this message instance using numpy for array types
00495 @param str: byte array of serialized message
00496 @type str: str
00497 @param numpy: numpy python module
00498 @type numpy: module
00499 """
00500 try:
00501 if self.InMap is None:
00502 self.InMap = cob_3d_mapping_msgs.msg.ShapeArray()
00503 end = 0
00504 _x = self
00505 start = end
00506 end += 16
00507 (_x.action, _x.InMap.header.seq, _x.InMap.header.stamp.secs, _x.InMap.header.stamp.nsecs,) = _struct_i3I.unpack(str[start:end])
00508 start = end
00509 end += 4
00510 (length,) = _struct_I.unpack(str[start:end])
00511 start = end
00512 end += length
00513 self.InMap.header.frame_id = str[start:end]
00514 start = end
00515 end += 4
00516 (length,) = _struct_I.unpack(str[start:end])
00517 self.InMap.shapes = []
00518 for i in range(0, length):
00519 val1 = cob_3d_mapping_msgs.msg.Shape()
00520 _v19 = val1.header
00521 start = end
00522 end += 4
00523 (_v19.seq,) = _struct_I.unpack(str[start:end])
00524 _v20 = _v19.stamp
00525 _x = _v20
00526 start = end
00527 end += 8
00528 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
00529 start = end
00530 end += 4
00531 (length,) = _struct_I.unpack(str[start:end])
00532 start = end
00533 end += length
00534 _v19.frame_id = str[start:end]
00535 _x = val1
00536 start = end
00537 end += 5
00538 (_x.type, _x.id,) = _struct_Bi.unpack(str[start:end])
00539 start = end
00540 end += 4
00541 (length,) = _struct_I.unpack(str[start:end])
00542 pattern = '<%sd'%length
00543 start = end
00544 end += struct.calcsize(pattern)
00545 val1.params = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00546 start = end
00547 end += 4
00548 (length,) = _struct_I.unpack(str[start:end])
00549 val1.points = []
00550 for i in range(0, length):
00551 val2 = sensor_msgs.msg.PointCloud2()
00552 _v21 = val2.header
00553 start = end
00554 end += 4
00555 (_v21.seq,) = _struct_I.unpack(str[start:end])
00556 _v22 = _v21.stamp
00557 _x = _v22
00558 start = end
00559 end += 8
00560 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
00561 start = end
00562 end += 4
00563 (length,) = _struct_I.unpack(str[start:end])
00564 start = end
00565 end += length
00566 _v21.frame_id = str[start:end]
00567 _x = val2
00568 start = end
00569 end += 8
00570 (_x.height, _x.width,) = _struct_2I.unpack(str[start:end])
00571 start = end
00572 end += 4
00573 (length,) = _struct_I.unpack(str[start:end])
00574 val2.fields = []
00575 for i in range(0, length):
00576 val3 = sensor_msgs.msg.PointField()
00577 start = end
00578 end += 4
00579 (length,) = _struct_I.unpack(str[start:end])
00580 start = end
00581 end += length
00582 val3.name = str[start:end]
00583 _x = val3
00584 start = end
00585 end += 9
00586 (_x.offset, _x.datatype, _x.count,) = _struct_IBI.unpack(str[start:end])
00587 val2.fields.append(val3)
00588 _x = val2
00589 start = end
00590 end += 9
00591 (_x.is_bigendian, _x.point_step, _x.row_step,) = _struct_B2I.unpack(str[start:end])
00592 val2.is_bigendian = bool(val2.is_bigendian)
00593 start = end
00594 end += 4
00595 (length,) = _struct_I.unpack(str[start:end])
00596 start = end
00597 end += length
00598 val2.data = str[start:end]
00599 start = end
00600 end += 1
00601 (val2.is_dense,) = _struct_B.unpack(str[start:end])
00602 val2.is_dense = bool(val2.is_dense)
00603 val1.points.append(val2)
00604 start = end
00605 end += 4
00606 (length,) = _struct_I.unpack(str[start:end])
00607 pattern = '<%si'%length
00608 start = end
00609 end += struct.calcsize(pattern)
00610 val1.vertices = numpy.frombuffer(str[start:end], dtype=numpy.int32, count=length)
00611 _v23 = val1.centroid
00612 _x = _v23
00613 start = end
00614 end += 12
00615 (_x.x, _x.y, _x.z,) = _struct_3f.unpack(str[start:end])
00616 _v24 = val1.color
00617 _x = _v24
00618 start = end
00619 end += 16
00620 (_x.r, _x.g, _x.b, _x.a,) = _struct_4f.unpack(str[start:end])
00621 start = end
00622 end += 4
00623 (length,) = _struct_I.unpack(str[start:end])
00624 pattern = '<%sB'%length
00625 start = end
00626 end += struct.calcsize(pattern)
00627 val1.holes = numpy.frombuffer(str[start:end], dtype=numpy.bool, count=length)
00628 val1.holes = map(bool, val1.holes)
00629 self.InMap.shapes.append(val1)
00630 return self
00631 except struct.error as e:
00632 raise roslib.message.DeserializationError(e)
00633
00634 _struct_I = roslib.message.struct_I
00635 _struct_IBI = struct.Struct("<IBI")
00636 _struct_B = struct.Struct("<B")
00637 _struct_Bi = struct.Struct("<Bi")
00638 _struct_3f = struct.Struct("<3f")
00639 _struct_i3I = struct.Struct("<i3I")
00640 _struct_B2I = struct.Struct("<B2I")
00641 _struct_4f = struct.Struct("<4f")
00642 _struct_2I = struct.Struct("<2I")
00643 """autogenerated by genmsg_py from ModifyMapResponse.msg. Do not edit."""
00644 import roslib.message
00645 import struct
00646
00647 import geometry_msgs.msg
00648 import sensor_msgs.msg
00649 import cob_3d_mapping_msgs.msg
00650 import std_msgs.msg
00651
00652 class ModifyMapResponse(roslib.message.Message):
00653 _md5sum = "8a1c921c83cb652598badd9952c1507e"
00654 _type = "cob_3d_mapping_msgs/ModifyMapResponse"
00655 _has_header = False
00656 _full_text = """cob_3d_mapping_msgs/ShapeArray OutMap
00657
00658 ================================================================================
00659 MSG: cob_3d_mapping_msgs/ShapeArray
00660 # An array of poses with a header for global reference.
00661
00662 Header header
00663
00664 cob_3d_mapping_msgs/Shape[] shapes
00665 ================================================================================
00666 MSG: std_msgs/Header
00667 # Standard metadata for higher-level stamped data types.
00668 # This is generally used to communicate timestamped data
00669 # in a particular coordinate frame.
00670 #
00671 # sequence ID: consecutively increasing ID
00672 uint32 seq
00673 #Two-integer timestamp that is expressed as:
00674 # * stamp.secs: seconds (stamp_secs) since epoch
00675 # * stamp.nsecs: nanoseconds since stamp_secs
00676 # time-handling sugar is provided by the client library
00677 time stamp
00678 #Frame this data is associated with
00679 # 0: no frame
00680 # 1: global frame
00681 string frame_id
00682
00683 ================================================================================
00684 MSG: cob_3d_mapping_msgs/Shape
00685 Header header
00686
00687 uint8 POLYGON=0
00688 uint8 LINE=1
00689 uint8 CURVED=2
00690 uint8 MESH=3
00691 uint8 OTHER=4
00692 uint8 CYLINDER=5
00693 # potential extensions: SPHERE, CYLINDER, BOX
00694
00695 uint8 type
00696
00697
00698 int32 id
00699 # define shape parameters
00700 # for plane
00701 # normal vector = params[0],params[1],params[2]
00702 # d = params[3]
00703 # for line
00704 # direction vector = params[0],params[1],params[2]
00705 #
00706 #for cylinder
00707 # symmetry axis = params[0],params[1],params[2]
00708 # z axis = params[3], params[4], params[5]
00709 # origin = params[6], params[7], params[8]
00710 # radius = params[9]
00711 #
00712 float64[] params
00713
00714 sensor_msgs/PointCloud2[] points
00715
00716 #### define mesh ####
00717 # each three entries form a triangle; indices of points are stored
00718 int32[] vertices
00719
00720 geometry_msgs/Point32 centroid
00721 std_msgs/ColorRGBA color
00722 bool[] holes
00723
00724 ================================================================================
00725 MSG: sensor_msgs/PointCloud2
00726 # This message holds a collection of N-dimensional points, which may
00727 # contain additional information such as normals, intensity, etc. The
00728 # point data is stored as a binary blob, its layout described by the
00729 # contents of the "fields" array.
00730
00731 # The point cloud data may be organized 2d (image-like) or 1d
00732 # (unordered). Point clouds organized as 2d images may be produced by
00733 # camera depth sensors such as stereo or time-of-flight.
00734
00735 # Time of sensor data acquisition, and the coordinate frame ID (for 3d
00736 # points).
00737 Header header
00738
00739 # 2D structure of the point cloud. If the cloud is unordered, height is
00740 # 1 and width is the length of the point cloud.
00741 uint32 height
00742 uint32 width
00743
00744 # Describes the channels and their layout in the binary data blob.
00745 PointField[] fields
00746
00747 bool is_bigendian # Is this data bigendian?
00748 uint32 point_step # Length of a point in bytes
00749 uint32 row_step # Length of a row in bytes
00750 uint8[] data # Actual point data, size is (row_step*height)
00751
00752 bool is_dense # True if there are no invalid points
00753
00754 ================================================================================
00755 MSG: sensor_msgs/PointField
00756 # This message holds the description of one point entry in the
00757 # PointCloud2 message format.
00758 uint8 INT8 = 1
00759 uint8 UINT8 = 2
00760 uint8 INT16 = 3
00761 uint8 UINT16 = 4
00762 uint8 INT32 = 5
00763 uint8 UINT32 = 6
00764 uint8 FLOAT32 = 7
00765 uint8 FLOAT64 = 8
00766
00767 string name # Name of field
00768 uint32 offset # Offset from start of point struct
00769 uint8 datatype # Datatype enumeration, see above
00770 uint32 count # How many elements in the field
00771
00772 ================================================================================
00773 MSG: geometry_msgs/Point32
00774 # This contains the position of a point in free space(with 32 bits of precision).
00775 # It is recommeded to use Point wherever possible instead of Point32.
00776 #
00777 # This recommendation is to promote interoperability.
00778 #
00779 # This message is designed to take up less space when sending
00780 # lots of points at once, as in the case of a PointCloud.
00781
00782 float32 x
00783 float32 y
00784 float32 z
00785 ================================================================================
00786 MSG: std_msgs/ColorRGBA
00787 float32 r
00788 float32 g
00789 float32 b
00790 float32 a
00791
00792 """
00793 __slots__ = ['OutMap']
00794 _slot_types = ['cob_3d_mapping_msgs/ShapeArray']
00795
00796 def __init__(self, *args, **kwds):
00797 """
00798 Constructor. Any message fields that are implicitly/explicitly
00799 set to None will be assigned a default value. The recommend
00800 use is keyword arguments as this is more robust to future message
00801 changes. You cannot mix in-order arguments and keyword arguments.
00802
00803 The available fields are:
00804 OutMap
00805
00806 @param args: complete set of field values, in .msg order
00807 @param kwds: use keyword arguments corresponding to message field names
00808 to set specific fields.
00809 """
00810 if args or kwds:
00811 super(ModifyMapResponse, self).__init__(*args, **kwds)
00812
00813 if self.OutMap is None:
00814 self.OutMap = cob_3d_mapping_msgs.msg.ShapeArray()
00815 else:
00816 self.OutMap = cob_3d_mapping_msgs.msg.ShapeArray()
00817
00818 def _get_types(self):
00819 """
00820 internal API method
00821 """
00822 return self._slot_types
00823
00824 def serialize(self, buff):
00825 """
00826 serialize message into buffer
00827 @param buff: buffer
00828 @type buff: StringIO
00829 """
00830 try:
00831 _x = self
00832 buff.write(_struct_3I.pack(_x.OutMap.header.seq, _x.OutMap.header.stamp.secs, _x.OutMap.header.stamp.nsecs))
00833 _x = self.OutMap.header.frame_id
00834 length = len(_x)
00835 buff.write(struct.pack('<I%ss'%length, length, _x))
00836 length = len(self.OutMap.shapes)
00837 buff.write(_struct_I.pack(length))
00838 for val1 in self.OutMap.shapes:
00839 _v25 = val1.header
00840 buff.write(_struct_I.pack(_v25.seq))
00841 _v26 = _v25.stamp
00842 _x = _v26
00843 buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00844 _x = _v25.frame_id
00845 length = len(_x)
00846 buff.write(struct.pack('<I%ss'%length, length, _x))
00847 _x = val1
00848 buff.write(_struct_Bi.pack(_x.type, _x.id))
00849 length = len(val1.params)
00850 buff.write(_struct_I.pack(length))
00851 pattern = '<%sd'%length
00852 buff.write(struct.pack(pattern, *val1.params))
00853 length = len(val1.points)
00854 buff.write(_struct_I.pack(length))
00855 for val2 in val1.points:
00856 _v27 = val2.header
00857 buff.write(_struct_I.pack(_v27.seq))
00858 _v28 = _v27.stamp
00859 _x = _v28
00860 buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00861 _x = _v27.frame_id
00862 length = len(_x)
00863 buff.write(struct.pack('<I%ss'%length, length, _x))
00864 _x = val2
00865 buff.write(_struct_2I.pack(_x.height, _x.width))
00866 length = len(val2.fields)
00867 buff.write(_struct_I.pack(length))
00868 for val3 in val2.fields:
00869 _x = val3.name
00870 length = len(_x)
00871 buff.write(struct.pack('<I%ss'%length, length, _x))
00872 _x = val3
00873 buff.write(_struct_IBI.pack(_x.offset, _x.datatype, _x.count))
00874 _x = val2
00875 buff.write(_struct_B2I.pack(_x.is_bigendian, _x.point_step, _x.row_step))
00876 _x = val2.data
00877 length = len(_x)
00878
00879 if type(_x) in [list, tuple]:
00880 buff.write(struct.pack('<I%sB'%length, length, *_x))
00881 else:
00882 buff.write(struct.pack('<I%ss'%length, length, _x))
00883 buff.write(_struct_B.pack(val2.is_dense))
00884 length = len(val1.vertices)
00885 buff.write(_struct_I.pack(length))
00886 pattern = '<%si'%length
00887 buff.write(struct.pack(pattern, *val1.vertices))
00888 _v29 = val1.centroid
00889 _x = _v29
00890 buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))
00891 _v30 = val1.color
00892 _x = _v30
00893 buff.write(_struct_4f.pack(_x.r, _x.g, _x.b, _x.a))
00894 length = len(val1.holes)
00895 buff.write(_struct_I.pack(length))
00896 pattern = '<%sB'%length
00897 buff.write(struct.pack(pattern, *val1.holes))
00898 except struct.error as se: self._check_types(se)
00899 except TypeError as te: self._check_types(te)
00900
00901 def deserialize(self, str):
00902 """
00903 unpack serialized message in str into this message instance
00904 @param str: byte array of serialized message
00905 @type str: str
00906 """
00907 try:
00908 if self.OutMap is None:
00909 self.OutMap = cob_3d_mapping_msgs.msg.ShapeArray()
00910 end = 0
00911 _x = self
00912 start = end
00913 end += 12
00914 (_x.OutMap.header.seq, _x.OutMap.header.stamp.secs, _x.OutMap.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00915 start = end
00916 end += 4
00917 (length,) = _struct_I.unpack(str[start:end])
00918 start = end
00919 end += length
00920 self.OutMap.header.frame_id = str[start:end]
00921 start = end
00922 end += 4
00923 (length,) = _struct_I.unpack(str[start:end])
00924 self.OutMap.shapes = []
00925 for i in range(0, length):
00926 val1 = cob_3d_mapping_msgs.msg.Shape()
00927 _v31 = val1.header
00928 start = end
00929 end += 4
00930 (_v31.seq,) = _struct_I.unpack(str[start:end])
00931 _v32 = _v31.stamp
00932 _x = _v32
00933 start = end
00934 end += 8
00935 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
00936 start = end
00937 end += 4
00938 (length,) = _struct_I.unpack(str[start:end])
00939 start = end
00940 end += length
00941 _v31.frame_id = str[start:end]
00942 _x = val1
00943 start = end
00944 end += 5
00945 (_x.type, _x.id,) = _struct_Bi.unpack(str[start:end])
00946 start = end
00947 end += 4
00948 (length,) = _struct_I.unpack(str[start:end])
00949 pattern = '<%sd'%length
00950 start = end
00951 end += struct.calcsize(pattern)
00952 val1.params = struct.unpack(pattern, str[start:end])
00953 start = end
00954 end += 4
00955 (length,) = _struct_I.unpack(str[start:end])
00956 val1.points = []
00957 for i in range(0, length):
00958 val2 = sensor_msgs.msg.PointCloud2()
00959 _v33 = val2.header
00960 start = end
00961 end += 4
00962 (_v33.seq,) = _struct_I.unpack(str[start:end])
00963 _v34 = _v33.stamp
00964 _x = _v34
00965 start = end
00966 end += 8
00967 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
00968 start = end
00969 end += 4
00970 (length,) = _struct_I.unpack(str[start:end])
00971 start = end
00972 end += length
00973 _v33.frame_id = str[start:end]
00974 _x = val2
00975 start = end
00976 end += 8
00977 (_x.height, _x.width,) = _struct_2I.unpack(str[start:end])
00978 start = end
00979 end += 4
00980 (length,) = _struct_I.unpack(str[start:end])
00981 val2.fields = []
00982 for i in range(0, length):
00983 val3 = sensor_msgs.msg.PointField()
00984 start = end
00985 end += 4
00986 (length,) = _struct_I.unpack(str[start:end])
00987 start = end
00988 end += length
00989 val3.name = str[start:end]
00990 _x = val3
00991 start = end
00992 end += 9
00993 (_x.offset, _x.datatype, _x.count,) = _struct_IBI.unpack(str[start:end])
00994 val2.fields.append(val3)
00995 _x = val2
00996 start = end
00997 end += 9
00998 (_x.is_bigendian, _x.point_step, _x.row_step,) = _struct_B2I.unpack(str[start:end])
00999 val2.is_bigendian = bool(val2.is_bigendian)
01000 start = end
01001 end += 4
01002 (length,) = _struct_I.unpack(str[start:end])
01003 start = end
01004 end += length
01005 val2.data = str[start:end]
01006 start = end
01007 end += 1
01008 (val2.is_dense,) = _struct_B.unpack(str[start:end])
01009 val2.is_dense = bool(val2.is_dense)
01010 val1.points.append(val2)
01011 start = end
01012 end += 4
01013 (length,) = _struct_I.unpack(str[start:end])
01014 pattern = '<%si'%length
01015 start = end
01016 end += struct.calcsize(pattern)
01017 val1.vertices = struct.unpack(pattern, str[start:end])
01018 _v35 = val1.centroid
01019 _x = _v35
01020 start = end
01021 end += 12
01022 (_x.x, _x.y, _x.z,) = _struct_3f.unpack(str[start:end])
01023 _v36 = val1.color
01024 _x = _v36
01025 start = end
01026 end += 16
01027 (_x.r, _x.g, _x.b, _x.a,) = _struct_4f.unpack(str[start:end])
01028 start = end
01029 end += 4
01030 (length,) = _struct_I.unpack(str[start:end])
01031 pattern = '<%sB'%length
01032 start = end
01033 end += struct.calcsize(pattern)
01034 val1.holes = struct.unpack(pattern, str[start:end])
01035 val1.holes = map(bool, val1.holes)
01036 self.OutMap.shapes.append(val1)
01037 return self
01038 except struct.error as e:
01039 raise roslib.message.DeserializationError(e)
01040
01041
01042 def serialize_numpy(self, buff, numpy):
01043 """
01044 serialize message with numpy array types into buffer
01045 @param buff: buffer
01046 @type buff: StringIO
01047 @param numpy: numpy python module
01048 @type numpy module
01049 """
01050 try:
01051 _x = self
01052 buff.write(_struct_3I.pack(_x.OutMap.header.seq, _x.OutMap.header.stamp.secs, _x.OutMap.header.stamp.nsecs))
01053 _x = self.OutMap.header.frame_id
01054 length = len(_x)
01055 buff.write(struct.pack('<I%ss'%length, length, _x))
01056 length = len(self.OutMap.shapes)
01057 buff.write(_struct_I.pack(length))
01058 for val1 in self.OutMap.shapes:
01059 _v37 = val1.header
01060 buff.write(_struct_I.pack(_v37.seq))
01061 _v38 = _v37.stamp
01062 _x = _v38
01063 buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
01064 _x = _v37.frame_id
01065 length = len(_x)
01066 buff.write(struct.pack('<I%ss'%length, length, _x))
01067 _x = val1
01068 buff.write(_struct_Bi.pack(_x.type, _x.id))
01069 length = len(val1.params)
01070 buff.write(_struct_I.pack(length))
01071 pattern = '<%sd'%length
01072 buff.write(val1.params.tostring())
01073 length = len(val1.points)
01074 buff.write(_struct_I.pack(length))
01075 for val2 in val1.points:
01076 _v39 = val2.header
01077 buff.write(_struct_I.pack(_v39.seq))
01078 _v40 = _v39.stamp
01079 _x = _v40
01080 buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
01081 _x = _v39.frame_id
01082 length = len(_x)
01083 buff.write(struct.pack('<I%ss'%length, length, _x))
01084 _x = val2
01085 buff.write(_struct_2I.pack(_x.height, _x.width))
01086 length = len(val2.fields)
01087 buff.write(_struct_I.pack(length))
01088 for val3 in val2.fields:
01089 _x = val3.name
01090 length = len(_x)
01091 buff.write(struct.pack('<I%ss'%length, length, _x))
01092 _x = val3
01093 buff.write(_struct_IBI.pack(_x.offset, _x.datatype, _x.count))
01094 _x = val2
01095 buff.write(_struct_B2I.pack(_x.is_bigendian, _x.point_step, _x.row_step))
01096 _x = val2.data
01097 length = len(_x)
01098
01099 if type(_x) in [list, tuple]:
01100 buff.write(struct.pack('<I%sB'%length, length, *_x))
01101 else:
01102 buff.write(struct.pack('<I%ss'%length, length, _x))
01103 buff.write(_struct_B.pack(val2.is_dense))
01104 length = len(val1.vertices)
01105 buff.write(_struct_I.pack(length))
01106 pattern = '<%si'%length
01107 buff.write(val1.vertices.tostring())
01108 _v41 = val1.centroid
01109 _x = _v41
01110 buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))
01111 _v42 = val1.color
01112 _x = _v42
01113 buff.write(_struct_4f.pack(_x.r, _x.g, _x.b, _x.a))
01114 length = len(val1.holes)
01115 buff.write(_struct_I.pack(length))
01116 pattern = '<%sB'%length
01117 buff.write(val1.holes.tostring())
01118 except struct.error as se: self._check_types(se)
01119 except TypeError as te: self._check_types(te)
01120
01121 def deserialize_numpy(self, str, numpy):
01122 """
01123 unpack serialized message in str into this message instance using numpy for array types
01124 @param str: byte array of serialized message
01125 @type str: str
01126 @param numpy: numpy python module
01127 @type numpy: module
01128 """
01129 try:
01130 if self.OutMap is None:
01131 self.OutMap = cob_3d_mapping_msgs.msg.ShapeArray()
01132 end = 0
01133 _x = self
01134 start = end
01135 end += 12
01136 (_x.OutMap.header.seq, _x.OutMap.header.stamp.secs, _x.OutMap.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
01137 start = end
01138 end += 4
01139 (length,) = _struct_I.unpack(str[start:end])
01140 start = end
01141 end += length
01142 self.OutMap.header.frame_id = str[start:end]
01143 start = end
01144 end += 4
01145 (length,) = _struct_I.unpack(str[start:end])
01146 self.OutMap.shapes = []
01147 for i in range(0, length):
01148 val1 = cob_3d_mapping_msgs.msg.Shape()
01149 _v43 = val1.header
01150 start = end
01151 end += 4
01152 (_v43.seq,) = _struct_I.unpack(str[start:end])
01153 _v44 = _v43.stamp
01154 _x = _v44
01155 start = end
01156 end += 8
01157 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
01158 start = end
01159 end += 4
01160 (length,) = _struct_I.unpack(str[start:end])
01161 start = end
01162 end += length
01163 _v43.frame_id = str[start:end]
01164 _x = val1
01165 start = end
01166 end += 5
01167 (_x.type, _x.id,) = _struct_Bi.unpack(str[start:end])
01168 start = end
01169 end += 4
01170 (length,) = _struct_I.unpack(str[start:end])
01171 pattern = '<%sd'%length
01172 start = end
01173 end += struct.calcsize(pattern)
01174 val1.params = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
01175 start = end
01176 end += 4
01177 (length,) = _struct_I.unpack(str[start:end])
01178 val1.points = []
01179 for i in range(0, length):
01180 val2 = sensor_msgs.msg.PointCloud2()
01181 _v45 = val2.header
01182 start = end
01183 end += 4
01184 (_v45.seq,) = _struct_I.unpack(str[start:end])
01185 _v46 = _v45.stamp
01186 _x = _v46
01187 start = end
01188 end += 8
01189 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
01190 start = end
01191 end += 4
01192 (length,) = _struct_I.unpack(str[start:end])
01193 start = end
01194 end += length
01195 _v45.frame_id = str[start:end]
01196 _x = val2
01197 start = end
01198 end += 8
01199 (_x.height, _x.width,) = _struct_2I.unpack(str[start:end])
01200 start = end
01201 end += 4
01202 (length,) = _struct_I.unpack(str[start:end])
01203 val2.fields = []
01204 for i in range(0, length):
01205 val3 = sensor_msgs.msg.PointField()
01206 start = end
01207 end += 4
01208 (length,) = _struct_I.unpack(str[start:end])
01209 start = end
01210 end += length
01211 val3.name = str[start:end]
01212 _x = val3
01213 start = end
01214 end += 9
01215 (_x.offset, _x.datatype, _x.count,) = _struct_IBI.unpack(str[start:end])
01216 val2.fields.append(val3)
01217 _x = val2
01218 start = end
01219 end += 9
01220 (_x.is_bigendian, _x.point_step, _x.row_step,) = _struct_B2I.unpack(str[start:end])
01221 val2.is_bigendian = bool(val2.is_bigendian)
01222 start = end
01223 end += 4
01224 (length,) = _struct_I.unpack(str[start:end])
01225 start = end
01226 end += length
01227 val2.data = str[start:end]
01228 start = end
01229 end += 1
01230 (val2.is_dense,) = _struct_B.unpack(str[start:end])
01231 val2.is_dense = bool(val2.is_dense)
01232 val1.points.append(val2)
01233 start = end
01234 end += 4
01235 (length,) = _struct_I.unpack(str[start:end])
01236 pattern = '<%si'%length
01237 start = end
01238 end += struct.calcsize(pattern)
01239 val1.vertices = numpy.frombuffer(str[start:end], dtype=numpy.int32, count=length)
01240 _v47 = val1.centroid
01241 _x = _v47
01242 start = end
01243 end += 12
01244 (_x.x, _x.y, _x.z,) = _struct_3f.unpack(str[start:end])
01245 _v48 = val1.color
01246 _x = _v48
01247 start = end
01248 end += 16
01249 (_x.r, _x.g, _x.b, _x.a,) = _struct_4f.unpack(str[start:end])
01250 start = end
01251 end += 4
01252 (length,) = _struct_I.unpack(str[start:end])
01253 pattern = '<%sB'%length
01254 start = end
01255 end += struct.calcsize(pattern)
01256 val1.holes = numpy.frombuffer(str[start:end], dtype=numpy.bool, count=length)
01257 val1.holes = map(bool, val1.holes)
01258 self.OutMap.shapes.append(val1)
01259 return self
01260 except struct.error as e:
01261 raise roslib.message.DeserializationError(e)
01262
01263 _struct_I = roslib.message.struct_I
01264 _struct_IBI = struct.Struct("<IBI")
01265 _struct_B = struct.Struct("<B")
01266 _struct_Bi = struct.Struct("<Bi")
01267 _struct_3f = struct.Struct("<3f")
01268 _struct_3I = struct.Struct("<3I")
01269 _struct_B2I = struct.Struct("<B2I")
01270 _struct_4f = struct.Struct("<4f")
01271 _struct_2I = struct.Struct("<2I")
01272 class ModifyMap(roslib.message.ServiceDefinition):
01273 _type = 'cob_3d_mapping_msgs/ModifyMap'
01274 _md5sum = '33901de7f0436bee5dfb9d6c5f821ba5'
01275 _request_class = ModifyMapRequest
01276 _response_class = ModifyMapResponse
