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_Shape.py

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

import geometry_msgs.msg
import sensor_msgs.msg
import std_msgs.msg

class Shape(roslib.message.Message):
  _md5sum = "4b246117387834ce19a9588f1768195f"
  _type = "cob_3d_mapping_msgs/Shape"
  _has_header = True #flag to mark the presence of a Header object
  _full_text = """Header header

uint8 POLYGON=0
uint8 LINE=1
uint8 CURVED=2
uint8 MESH=3
uint8 OTHER=4
uint8 CYLINDER=5
# potential extensions: SPHERE, CYLINDER, BOX

uint8 type


int32 id
# define shape parameters
# for plane
# normal vector = params[0],params[1],params[2]
#       d = params[3]
# for line
# direction vector = params[0],params[1],params[2]
#
#for cylinder
# symmetry axis = params[0],params[1],params[2]
# z axis        = params[3], params[4], params[5]
# origin        = params[6], params[7], params[8]
# radius        = params[9]
# 
float64[] params

sensor_msgs/PointCloud2[] points

#### define mesh ####
# each three entries form a triangle; indices of points are stored
int32[] vertices

geometry_msgs/Point32 centroid
std_msgs/ColorRGBA color
bool[] holes

================================================================================
MSG: std_msgs/Header
# Standard metadata for higher-level stamped data types.
# This is generally used to communicate timestamped data 
# in a particular coordinate frame.
# 
# sequence ID: consecutively increasing ID 
uint32 seq
#Two-integer timestamp that is expressed as:
# * stamp.secs: seconds (stamp_secs) since epoch
# * stamp.nsecs: nanoseconds since stamp_secs
# time-handling sugar is provided by the client library
time stamp
#Frame this data is associated with
# 0: no frame
# 1: global frame
string frame_id

================================================================================
MSG: sensor_msgs/PointCloud2
# This message holds a collection of N-dimensional points, which may
# contain additional information such as normals, intensity, etc. The
# point data is stored as a binary blob, its layout described by the
# contents of the "fields" array.

# The point cloud data may be organized 2d (image-like) or 1d
# (unordered). Point clouds organized as 2d images may be produced by
# camera depth sensors such as stereo or time-of-flight.

# Time of sensor data acquisition, and the coordinate frame ID (for 3d
# points).
Header header

# 2D structure of the point cloud. If the cloud is unordered, height is
# 1 and width is the length of the point cloud.
uint32 height
uint32 width

# Describes the channels and their layout in the binary data blob.
PointField[] fields

bool    is_bigendian # Is this data bigendian?
uint32  point_step   # Length of a point in bytes
uint32  row_step     # Length of a row in bytes
uint8[] data         # Actual point data, size is (row_step*height)

bool is_dense        # True if there are no invalid points

================================================================================
MSG: sensor_msgs/PointField
# This message holds the description of one point entry in the
# PointCloud2 message format.
uint8 INT8    = 1
uint8 UINT8   = 2
uint8 INT16   = 3
uint8 UINT16  = 4
uint8 INT32   = 5
uint8 UINT32  = 6
uint8 FLOAT32 = 7
uint8 FLOAT64 = 8

string name      # Name of field
uint32 offset    # Offset from start of point struct
uint8  datatype  # Datatype enumeration, see above
uint32 count     # How many elements in the field

================================================================================
MSG: geometry_msgs/Point32
# This contains the position of a point in free space(with 32 bits of precision).
# It is recommeded to use Point wherever possible instead of Point32.  
# 
# This recommendation is to promote interoperability.  
#
# This message is designed to take up less space when sending
# lots of points at once, as in the case of a PointCloud.  

float32 x
float32 y
float32 z
================================================================================
MSG: std_msgs/ColorRGBA
float32 r
float32 g
float32 b
float32 a

"""
  # Pseudo-constants
  POLYGON = 0
  LINE = 1
  CURVED = 2
  MESH = 3
  OTHER = 4
  CYLINDER = 5

  __slots__ = ['header','type','id','params','points','vertices','centroid','color','holes']
  _slot_types = ['Header','uint8','int32','float64[]','sensor_msgs/PointCloud2[]','int32[]','geometry_msgs/Point32','std_msgs/ColorRGBA','bool[]']

  def __init__(self, *args, **kwds):
    """
    Constructor. Any message fields that are implicitly/explicitly
    set to None will be assigned a default value. The recommend
    use is keyword arguments as this is more robust to future message
    changes.  You cannot mix in-order arguments and keyword arguments.
    
    The available fields are:
       header,type,id,params,points,vertices,centroid,color,holes
    
    @param args: complete set of field values, in .msg order
    @param kwds: use keyword arguments corresponding to message field names
    to set specific fields. 
    """
    if args or kwds:
      super(Shape, self).__init__(*args, **kwds)
      #message fields cannot be None, assign default values for those that are
      if self.header is None:
        self.header = std_msgs.msg._Header.Header()
      if self.type is None:
        self.type = 0
      if self.id is None:
        self.id = 0
      if self.params is None:
        self.params = []
      if self.points is None:
        self.points = []
      if self.vertices is None:
        self.vertices = []
      if self.centroid is None:
        self.centroid = geometry_msgs.msg.Point32()
      if self.color is None:
        self.color = std_msgs.msg.ColorRGBA()
      if self.holes is None:
        self.holes = []
    else:
      self.header = std_msgs.msg._Header.Header()
      self.type = 0
      self.id = 0
      self.params = []
      self.points = []
      self.vertices = []
      self.centroid = geometry_msgs.msg.Point32()
      self.color = std_msgs.msg.ColorRGBA()
      self.holes = []

  def _get_types(self):
    """
    internal API method
    """
    return self._slot_types

  def serialize(self, buff):
    """
    serialize message into buffer
    @param buff: buffer
    @type  buff: StringIO
    """
    try:
      _x = self
      buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
      _x = self.header.frame_id
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_Bi.pack(_x.type, _x.id))
      length = len(self.params)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.params))
      length = len(self.points)
      buff.write(_struct_I.pack(length))
      for val1 in self.points:
        _v1 = val1.header
        buff.write(_struct_I.pack(_v1.seq))
        _v2 = _v1.stamp
        _x = _v2
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v1.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = val1
        buff.write(_struct_2I.pack(_x.height, _x.width))
        length = len(val1.fields)
        buff.write(_struct_I.pack(length))
        for val2 in val1.fields:
          _x = val2.name
          length = len(_x)
          buff.write(struct.pack('<I%ss'%length, length, _x))
          _x = val2
          buff.write(_struct_IBI.pack(_x.offset, _x.datatype, _x.count))
        _x = val1
        buff.write(_struct_B2I.pack(_x.is_bigendian, _x.point_step, _x.row_step))
        _x = val1.data
        length = len(_x)
        # - if encoded as a list instead, serialize as bytes instead of string
        if type(_x) in [list, tuple]:
          buff.write(struct.pack('<I%sB'%length, length, *_x))
        else:
          buff.write(struct.pack('<I%ss'%length, length, _x))
        buff.write(_struct_B.pack(val1.is_dense))
      length = len(self.vertices)
      buff.write(_struct_I.pack(length))
      pattern = '<%si'%length
      buff.write(struct.pack(pattern, *self.vertices))
      _x = self
      buff.write(_struct_7f.pack(_x.centroid.x, _x.centroid.y, _x.centroid.z, _x.color.r, _x.color.g, _x.color.b, _x.color.a))
      length = len(self.holes)
      buff.write(_struct_I.pack(length))
      pattern = '<%sB'%length
      buff.write(struct.pack(pattern, *self.holes))
    except struct.error as se: self._check_types(se)
    except TypeError as te: self._check_types(te)

  def deserialize(self, str):
    """
    unpack serialized message in str into this message instance
    @param str: byte array of serialized message
    @type  str: str
    """
    try:
      if self.header is None:
        self.header = std_msgs.msg._Header.Header()
      if self.centroid is None:
        self.centroid = geometry_msgs.msg.Point32()
      if self.color is None:
        self.color = std_msgs.msg.ColorRGBA()
      end = 0
      _x = self
      start = end
      end += 12
      (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 5
      (_x.type, _x.id,) = _struct_Bi.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.params = struct.unpack(pattern, str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.points = []
      for i in range(0, length):
        val1 = sensor_msgs.msg.PointCloud2()
        _v3 = val1.header
        start = end
        end += 4
        (_v3.seq,) = _struct_I.unpack(str[start:end])
        _v4 = _v3.stamp
        _x = _v4
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        _v3.frame_id = str[start:end]
        _x = val1
        start = end
        end += 8
        (_x.height, _x.width,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.fields = []
        for i in range(0, length):
          val2 = sensor_msgs.msg.PointField()
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          val2.name = str[start:end]
          _x = val2
          start = end
          end += 9
          (_x.offset, _x.datatype, _x.count,) = _struct_IBI.unpack(str[start:end])
          val1.fields.append(val2)
        _x = val1
        start = end
        end += 9
        (_x.is_bigendian, _x.point_step, _x.row_step,) = _struct_B2I.unpack(str[start:end])
        val1.is_bigendian = bool(val1.is_bigendian)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1.data = str[start:end]
        start = end
        end += 1
        (val1.is_dense,) = _struct_B.unpack(str[start:end])
        val1.is_dense = bool(val1.is_dense)
        self.points.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%si'%length
      start = end
      end += struct.calcsize(pattern)
      self.vertices = struct.unpack(pattern, str[start:end])
      _x = self
      start = end
      end += 28
      (_x.centroid.x, _x.centroid.y, _x.centroid.z, _x.color.r, _x.color.g, _x.color.b, _x.color.a,) = _struct_7f.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sB'%length
      start = end
      end += struct.calcsize(pattern)
      self.holes = struct.unpack(pattern, str[start:end])
      self.holes = map(bool, self.holes)
      return self
    except struct.error as e:
      raise roslib.message.DeserializationError(e) #most likely buffer underfill


  def serialize_numpy(self, buff, numpy):
    """
    serialize message with numpy array types into buffer
    @param buff: buffer
    @type  buff: StringIO
    @param numpy: numpy python module
    @type  numpy module
    """
    try:
      _x = self
      buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
      _x = self.header.frame_id
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_Bi.pack(_x.type, _x.id))
      length = len(self.params)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.params.tostring())
      length = len(self.points)
      buff.write(_struct_I.pack(length))
      for val1 in self.points:
        _v5 = val1.header
        buff.write(_struct_I.pack(_v5.seq))
        _v6 = _v5.stamp
        _x = _v6
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v5.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = val1
        buff.write(_struct_2I.pack(_x.height, _x.width))
        length = len(val1.fields)
        buff.write(_struct_I.pack(length))
        for val2 in val1.fields:
          _x = val2.name
          length = len(_x)
          buff.write(struct.pack('<I%ss'%length, length, _x))
          _x = val2
          buff.write(_struct_IBI.pack(_x.offset, _x.datatype, _x.count))
        _x = val1
        buff.write(_struct_B2I.pack(_x.is_bigendian, _x.point_step, _x.row_step))
        _x = val1.data
        length = len(_x)
        # - if encoded as a list instead, serialize as bytes instead of string
        if type(_x) in [list, tuple]:
          buff.write(struct.pack('<I%sB'%length, length, *_x))
        else:
          buff.write(struct.pack('<I%ss'%length, length, _x))
        buff.write(_struct_B.pack(val1.is_dense))
      length = len(self.vertices)
      buff.write(_struct_I.pack(length))
      pattern = '<%si'%length
      buff.write(self.vertices.tostring())
      _x = self
      buff.write(_struct_7f.pack(_x.centroid.x, _x.centroid.y, _x.centroid.z, _x.color.r, _x.color.g, _x.color.b, _x.color.a))
      length = len(self.holes)
      buff.write(_struct_I.pack(length))
      pattern = '<%sB'%length
      buff.write(self.holes.tostring())
    except struct.error as se: self._check_types(se)
    except TypeError as te: self._check_types(te)

  def deserialize_numpy(self, str, numpy):
    """
    unpack serialized message in str into this message instance using numpy for array types
    @param str: byte array of serialized message
    @type  str: str
    @param numpy: numpy python module
    @type  numpy: module
    """
    try:
      if self.header is None:
        self.header = std_msgs.msg._Header.Header()
      if self.centroid is None:
        self.centroid = geometry_msgs.msg.Point32()
      if self.color is None:
        self.color = std_msgs.msg.ColorRGBA()
      end = 0
      _x = self
      start = end
      end += 12
      (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 5
      (_x.type, _x.id,) = _struct_Bi.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.params = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.points = []
      for i in range(0, length):
        val1 = sensor_msgs.msg.PointCloud2()
        _v7 = val1.header
        start = end
        end += 4
        (_v7.seq,) = _struct_I.unpack(str[start:end])
        _v8 = _v7.stamp
        _x = _v8
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        _v7.frame_id = str[start:end]
        _x = val1
        start = end
        end += 8
        (_x.height, _x.width,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.fields = []
        for i in range(0, length):
          val2 = sensor_msgs.msg.PointField()
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          val2.name = str[start:end]
          _x = val2
          start = end
          end += 9
          (_x.offset, _x.datatype, _x.count,) = _struct_IBI.unpack(str[start:end])
          val1.fields.append(val2)
        _x = val1
        start = end
        end += 9
        (_x.is_bigendian, _x.point_step, _x.row_step,) = _struct_B2I.unpack(str[start:end])
        val1.is_bigendian = bool(val1.is_bigendian)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1.data = str[start:end]
        start = end
        end += 1
        (val1.is_dense,) = _struct_B.unpack(str[start:end])
        val1.is_dense = bool(val1.is_dense)
        self.points.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%si'%length
      start = end
      end += struct.calcsize(pattern)
      self.vertices = numpy.frombuffer(str[start:end], dtype=numpy.int32, count=length)
      _x = self
      start = end
      end += 28
      (_x.centroid.x, _x.centroid.y, _x.centroid.z, _x.color.r, _x.color.g, _x.color.b, _x.color.a,) = _struct_7f.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sB'%length
      start = end
      end += struct.calcsize(pattern)
      self.holes = numpy.frombuffer(str[start:end], dtype=numpy.bool, count=length)
      self.holes = map(bool, self.holes)
      return self
    except struct.error as e:
      raise roslib.message.DeserializationError(e) #most likely buffer underfill

_struct_I = roslib.message.struct_I
_struct_IBI = struct.Struct("<IBI")
_struct_B = struct.Struct("<B")
_struct_7f = struct.Struct("<7f")
_struct_Bi = struct.Struct("<Bi")
_struct_3I = struct.Struct("<3I")
_struct_B2I = struct.Struct("<B2I")
_struct_2I = struct.Struct("<2I")

---

cob_3d_mapping_msgs
Author(s): Georg Arbeiter
autogenerated on Fri Mar 1 15:02:47 2013