00001 """autogenerated by genmsg_py from UpdateMapRequest.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 UpdateMapRequest(roslib.message.Message):
00011 _md5sum = "f0bf8d67881fb4de54c9e8a9fee43e78"
00012 _type = "cob_3d_mapping_msgs/UpdateMapRequest"
00013 _has_header = False
00014 _full_text = """cob_3d_mapping_msgs/ShapeArray map
00015
00016 ================================================================================
00017 MSG: cob_3d_mapping_msgs/ShapeArray
00018 # An array of poses with a header for global reference.
00019
00020 Header header
00021
00022 cob_3d_mapping_msgs/Shape[] shapes
00023 ================================================================================
00024 MSG: std_msgs/Header
00025 # Standard metadata for higher-level stamped data types.
00026 # This is generally used to communicate timestamped data
00027 # in a particular coordinate frame.
00028 #
00029 # sequence ID: consecutively increasing ID
00030 uint32 seq
00031 #Two-integer timestamp that is expressed as:
00032 # * stamp.secs: seconds (stamp_secs) since epoch
00033 # * stamp.nsecs: nanoseconds since stamp_secs
00034 # time-handling sugar is provided by the client library
00035 time stamp
00036 #Frame this data is associated with
00037 # 0: no frame
00038 # 1: global frame
00039 string frame_id
00040
00041 ================================================================================
00042 MSG: cob_3d_mapping_msgs/Shape
00043 Header header
00044
00045 uint8 POLYGON=0
00046 uint8 LINE=1
00047 uint8 CURVED=2
00048 uint8 MESH=3
00049 uint8 OTHER=4
00050 uint8 CYLINDER=5
00051 # potential extensions: SPHERE, CYLINDER, BOX
00052
00053 uint8 type
00054
00055
00056 int32 id
00057 # define shape parameters
00058 # for plane
00059 # normal vector = params[0],params[1],params[2]
00060 # d = params[3]
00061 # for line
00062 # direction vector = params[0],params[1],params[2]
00063 #
00064 #for cylinder
00065 # symmetry axis = params[0],params[1],params[2]
00066 # z axis = params[3], params[4], params[5]
00067 # origin = params[6], params[7], params[8]
00068 # radius = params[9]
00069 #
00070 float64[] params
00071
00072 sensor_msgs/PointCloud2[] points
00073
00074 #### define mesh ####
00075 # each three entries form a triangle; indices of points are stored
00076 int32[] vertices
00077
00078 geometry_msgs/Point32 centroid
00079 std_msgs/ColorRGBA color
00080 bool[] holes
00081
00082 ================================================================================
00083 MSG: sensor_msgs/PointCloud2
00084 # This message holds a collection of N-dimensional points, which may
00085 # contain additional information such as normals, intensity, etc. The
00086 # point data is stored as a binary blob, its layout described by the
00087 # contents of the "fields" array.
00088
00089 # The point cloud data may be organized 2d (image-like) or 1d
00090 # (unordered). Point clouds organized as 2d images may be produced by
00091 # camera depth sensors such as stereo or time-of-flight.
00092
00093 # Time of sensor data acquisition, and the coordinate frame ID (for 3d
00094 # points).
00095 Header header
00096
00097 # 2D structure of the point cloud. If the cloud is unordered, height is
00098 # 1 and width is the length of the point cloud.
00099 uint32 height
00100 uint32 width
00101
00102 # Describes the channels and their layout in the binary data blob.
00103 PointField[] fields
00104
00105 bool is_bigendian # Is this data bigendian?
00106 uint32 point_step # Length of a point in bytes
00107 uint32 row_step # Length of a row in bytes
00108 uint8[] data # Actual point data, size is (row_step*height)
00109
00110 bool is_dense # True if there are no invalid points
00111
00112 ================================================================================
00113 MSG: sensor_msgs/PointField
00114 # This message holds the description of one point entry in the
00115 # PointCloud2 message format.
00116 uint8 INT8 = 1
00117 uint8 UINT8 = 2
00118 uint8 INT16 = 3
00119 uint8 UINT16 = 4
00120 uint8 INT32 = 5
00121 uint8 UINT32 = 6
00122 uint8 FLOAT32 = 7
00123 uint8 FLOAT64 = 8
00124
00125 string name # Name of field
00126 uint32 offset # Offset from start of point struct
00127 uint8 datatype # Datatype enumeration, see above
00128 uint32 count # How many elements in the field
00129
00130 ================================================================================
00131 MSG: geometry_msgs/Point32
00132 # This contains the position of a point in free space(with 32 bits of precision).
00133 # It is recommeded to use Point wherever possible instead of Point32.
00134 #
00135 # This recommendation is to promote interoperability.
00136 #
00137 # This message is designed to take up less space when sending
00138 # lots of points at once, as in the case of a PointCloud.
00139
00140 float32 x
00141 float32 y
00142 float32 z
00143 ================================================================================
00144 MSG: std_msgs/ColorRGBA
00145 float32 r
00146 float32 g
00147 float32 b
00148 float32 a
00149
00150 """
00151 __slots__ = ['map']
00152 _slot_types = ['cob_3d_mapping_msgs/ShapeArray']
00153
00154 def __init__(self, *args, **kwds):
00155 """
00156 Constructor. Any message fields that are implicitly/explicitly
00157 set to None will be assigned a default value. The recommend
00158 use is keyword arguments as this is more robust to future message
00159 changes. You cannot mix in-order arguments and keyword arguments.
00160
00161 The available fields are:
00162 map
00163
00164 @param args: complete set of field values, in .msg order
00165 @param kwds: use keyword arguments corresponding to message field names
00166 to set specific fields.
00167 """
00168 if args or kwds:
00169 super(UpdateMapRequest, self).__init__(*args, **kwds)
00170
00171 if self.map is None:
00172 self.map = cob_3d_mapping_msgs.msg.ShapeArray()
00173 else:
00174 self.map = cob_3d_mapping_msgs.msg.ShapeArray()
00175
00176 def _get_types(self):
00177 """
00178 internal API method
00179 """
00180 return self._slot_types
00181
00182 def serialize(self, buff):
00183 """
00184 serialize message into buffer
00185 @param buff: buffer
00186 @type buff: StringIO
00187 """
00188 try:
00189 _x = self
00190 buff.write(_struct_3I.pack(_x.map.header.seq, _x.map.header.stamp.secs, _x.map.header.stamp.nsecs))
00191 _x = self.map.header.frame_id
00192 length = len(_x)
00193 buff.write(struct.pack('<I%ss'%length, length, _x))
00194 length = len(self.map.shapes)
00195 buff.write(_struct_I.pack(length))
00196 for val1 in self.map.shapes:
00197 _v1 = val1.header
00198 buff.write(_struct_I.pack(_v1.seq))
00199 _v2 = _v1.stamp
00200 _x = _v2
00201 buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00202 _x = _v1.frame_id
00203 length = len(_x)
00204 buff.write(struct.pack('<I%ss'%length, length, _x))
00205 _x = val1
00206 buff.write(_struct_Bi.pack(_x.type, _x.id))
00207 length = len(val1.params)
00208 buff.write(_struct_I.pack(length))
00209 pattern = '<%sd'%length
00210 buff.write(struct.pack(pattern, *val1.params))
00211 length = len(val1.points)
00212 buff.write(_struct_I.pack(length))
00213 for val2 in val1.points:
00214 _v3 = val2.header
00215 buff.write(_struct_I.pack(_v3.seq))
00216 _v4 = _v3.stamp
00217 _x = _v4
00218 buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00219 _x = _v3.frame_id
00220 length = len(_x)
00221 buff.write(struct.pack('<I%ss'%length, length, _x))
00222 _x = val2
00223 buff.write(_struct_2I.pack(_x.height, _x.width))
00224 length = len(val2.fields)
00225 buff.write(_struct_I.pack(length))
00226 for val3 in val2.fields:
00227 _x = val3.name
00228 length = len(_x)
00229 buff.write(struct.pack('<I%ss'%length, length, _x))
00230 _x = val3
00231 buff.write(_struct_IBI.pack(_x.offset, _x.datatype, _x.count))
00232 _x = val2
00233 buff.write(_struct_B2I.pack(_x.is_bigendian, _x.point_step, _x.row_step))
00234 _x = val2.data
00235 length = len(_x)
00236
00237 if type(_x) in [list, tuple]:
00238 buff.write(struct.pack('<I%sB'%length, length, *_x))
00239 else:
00240 buff.write(struct.pack('<I%ss'%length, length, _x))
00241 buff.write(_struct_B.pack(val2.is_dense))
00242 length = len(val1.vertices)
00243 buff.write(_struct_I.pack(length))
00244 pattern = '<%si'%length
00245 buff.write(struct.pack(pattern, *val1.vertices))
00246 _v5 = val1.centroid
00247 _x = _v5
00248 buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))
00249 _v6 = val1.color
00250 _x = _v6
00251 buff.write(_struct_4f.pack(_x.r, _x.g, _x.b, _x.a))
00252 length = len(val1.holes)
00253 buff.write(_struct_I.pack(length))
00254 pattern = '<%sB'%length
00255 buff.write(struct.pack(pattern, *val1.holes))
00256 except struct.error as se: self._check_types(se)
00257 except TypeError as te: self._check_types(te)
00258
00259 def deserialize(self, str):
00260 """
00261 unpack serialized message in str into this message instance
00262 @param str: byte array of serialized message
00263 @type str: str
00264 """
00265 try:
00266 if self.map is None:
00267 self.map = cob_3d_mapping_msgs.msg.ShapeArray()
00268 end = 0
00269 _x = self
00270 start = end
00271 end += 12
00272 (_x.map.header.seq, _x.map.header.stamp.secs, _x.map.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00273 start = end
00274 end += 4
00275 (length,) = _struct_I.unpack(str[start:end])
00276 start = end
00277 end += length
00278 self.map.header.frame_id = str[start:end]
00279 start = end
00280 end += 4
00281 (length,) = _struct_I.unpack(str[start:end])
00282 self.map.shapes = []
00283 for i in range(0, length):
00284 val1 = cob_3d_mapping_msgs.msg.Shape()
00285 _v7 = val1.header
00286 start = end
00287 end += 4
00288 (_v7.seq,) = _struct_I.unpack(str[start:end])
00289 _v8 = _v7.stamp
00290 _x = _v8
00291 start = end
00292 end += 8
00293 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
00294 start = end
00295 end += 4
00296 (length,) = _struct_I.unpack(str[start:end])
00297 start = end
00298 end += length
00299 _v7.frame_id = str[start:end]
00300 _x = val1
00301 start = end
00302 end += 5
00303 (_x.type, _x.id,) = _struct_Bi.unpack(str[start:end])
00304 start = end
00305 end += 4
00306 (length,) = _struct_I.unpack(str[start:end])
00307 pattern = '<%sd'%length
00308 start = end
00309 end += struct.calcsize(pattern)
00310 val1.params = struct.unpack(pattern, str[start:end])
00311 start = end
00312 end += 4
00313 (length,) = _struct_I.unpack(str[start:end])
00314 val1.points = []
00315 for i in range(0, length):
00316 val2 = sensor_msgs.msg.PointCloud2()
00317 _v9 = val2.header
00318 start = end
00319 end += 4
00320 (_v9.seq,) = _struct_I.unpack(str[start:end])
00321 _v10 = _v9.stamp
00322 _x = _v10
00323 start = end
00324 end += 8
00325 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
00326 start = end
00327 end += 4
00328 (length,) = _struct_I.unpack(str[start:end])
00329 start = end
00330 end += length
00331 _v9.frame_id = str[start:end]
00332 _x = val2
00333 start = end
00334 end += 8
00335 (_x.height, _x.width,) = _struct_2I.unpack(str[start:end])
00336 start = end
00337 end += 4
00338 (length,) = _struct_I.unpack(str[start:end])
00339 val2.fields = []
00340 for i in range(0, length):
00341 val3 = sensor_msgs.msg.PointField()
00342 start = end
00343 end += 4
00344 (length,) = _struct_I.unpack(str[start:end])
00345 start = end
00346 end += length
00347 val3.name = str[start:end]
00348 _x = val3
00349 start = end
00350 end += 9
00351 (_x.offset, _x.datatype, _x.count,) = _struct_IBI.unpack(str[start:end])
00352 val2.fields.append(val3)
00353 _x = val2
00354 start = end
00355 end += 9
00356 (_x.is_bigendian, _x.point_step, _x.row_step,) = _struct_B2I.unpack(str[start:end])
00357 val2.is_bigendian = bool(val2.is_bigendian)
00358 start = end
00359 end += 4
00360 (length,) = _struct_I.unpack(str[start:end])
00361 start = end
00362 end += length
00363 val2.data = str[start:end]
00364 start = end
00365 end += 1
00366 (val2.is_dense,) = _struct_B.unpack(str[start:end])
00367 val2.is_dense = bool(val2.is_dense)
00368 val1.points.append(val2)
00369 start = end
00370 end += 4
00371 (length,) = _struct_I.unpack(str[start:end])
00372 pattern = '<%si'%length
00373 start = end
00374 end += struct.calcsize(pattern)
00375 val1.vertices = struct.unpack(pattern, str[start:end])
00376 _v11 = val1.centroid
00377 _x = _v11
00378 start = end
00379 end += 12
00380 (_x.x, _x.y, _x.z,) = _struct_3f.unpack(str[start:end])
00381 _v12 = val1.color
00382 _x = _v12
00383 start = end
00384 end += 16
00385 (_x.r, _x.g, _x.b, _x.a,) = _struct_4f.unpack(str[start:end])
00386 start = end
00387 end += 4
00388 (length,) = _struct_I.unpack(str[start:end])
00389 pattern = '<%sB'%length
00390 start = end
00391 end += struct.calcsize(pattern)
00392 val1.holes = struct.unpack(pattern, str[start:end])
00393 val1.holes = map(bool, val1.holes)
00394 self.map.shapes.append(val1)
00395 return self
00396 except struct.error as e:
00397 raise roslib.message.DeserializationError(e)
00398
00399
00400 def serialize_numpy(self, buff, numpy):
00401 """
00402 serialize message with numpy array types into buffer
00403 @param buff: buffer
00404 @type buff: StringIO
00405 @param numpy: numpy python module
00406 @type numpy module
00407 """
00408 try:
00409 _x = self
00410 buff.write(_struct_3I.pack(_x.map.header.seq, _x.map.header.stamp.secs, _x.map.header.stamp.nsecs))
00411 _x = self.map.header.frame_id
00412 length = len(_x)
00413 buff.write(struct.pack('<I%ss'%length, length, _x))
00414 length = len(self.map.shapes)
00415 buff.write(_struct_I.pack(length))
00416 for val1 in self.map.shapes:
00417 _v13 = val1.header
00418 buff.write(_struct_I.pack(_v13.seq))
00419 _v14 = _v13.stamp
00420 _x = _v14
00421 buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00422 _x = _v13.frame_id
00423 length = len(_x)
00424 buff.write(struct.pack('<I%ss'%length, length, _x))
00425 _x = val1
00426 buff.write(_struct_Bi.pack(_x.type, _x.id))
00427 length = len(val1.params)
00428 buff.write(_struct_I.pack(length))
00429 pattern = '<%sd'%length
00430 buff.write(val1.params.tostring())
00431 length = len(val1.points)
00432 buff.write(_struct_I.pack(length))
00433 for val2 in val1.points:
00434 _v15 = val2.header
00435 buff.write(_struct_I.pack(_v15.seq))
00436 _v16 = _v15.stamp
00437 _x = _v16
00438 buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00439 _x = _v15.frame_id
00440 length = len(_x)
00441 buff.write(struct.pack('<I%ss'%length, length, _x))
00442 _x = val2
00443 buff.write(_struct_2I.pack(_x.height, _x.width))
00444 length = len(val2.fields)
00445 buff.write(_struct_I.pack(length))
00446 for val3 in val2.fields:
00447 _x = val3.name
00448 length = len(_x)
00449 buff.write(struct.pack('<I%ss'%length, length, _x))
00450 _x = val3
00451 buff.write(_struct_IBI.pack(_x.offset, _x.datatype, _x.count))
00452 _x = val2
00453 buff.write(_struct_B2I.pack(_x.is_bigendian, _x.point_step, _x.row_step))
00454 _x = val2.data
00455 length = len(_x)
00456
00457 if type(_x) in [list, tuple]:
00458 buff.write(struct.pack('<I%sB'%length, length, *_x))
00459 else:
00460 buff.write(struct.pack('<I%ss'%length, length, _x))
00461 buff.write(_struct_B.pack(val2.is_dense))
00462 length = len(val1.vertices)
00463 buff.write(_struct_I.pack(length))
00464 pattern = '<%si'%length
00465 buff.write(val1.vertices.tostring())
00466 _v17 = val1.centroid
00467 _x = _v17
00468 buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))
00469 _v18 = val1.color
00470 _x = _v18
00471 buff.write(_struct_4f.pack(_x.r, _x.g, _x.b, _x.a))
00472 length = len(val1.holes)
00473 buff.write(_struct_I.pack(length))
00474 pattern = '<%sB'%length
00475 buff.write(val1.holes.tostring())
00476 except struct.error as se: self._check_types(se)
00477 except TypeError as te: self._check_types(te)
00478
00479 def deserialize_numpy(self, str, numpy):
00480 """
00481 unpack serialized message in str into this message instance using numpy for array types
00482 @param str: byte array of serialized message
00483 @type str: str
00484 @param numpy: numpy python module
00485 @type numpy: module
00486 """
00487 try:
00488 if self.map is None:
00489 self.map = cob_3d_mapping_msgs.msg.ShapeArray()
00490 end = 0
00491 _x = self
00492 start = end
00493 end += 12
00494 (_x.map.header.seq, _x.map.header.stamp.secs, _x.map.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00495 start = end
00496 end += 4
00497 (length,) = _struct_I.unpack(str[start:end])
00498 start = end
00499 end += length
00500 self.map.header.frame_id = str[start:end]
00501 start = end
00502 end += 4
00503 (length,) = _struct_I.unpack(str[start:end])
00504 self.map.shapes = []
00505 for i in range(0, length):
00506 val1 = cob_3d_mapping_msgs.msg.Shape()
00507 _v19 = val1.header
00508 start = end
00509 end += 4
00510 (_v19.seq,) = _struct_I.unpack(str[start:end])
00511 _v20 = _v19.stamp
00512 _x = _v20
00513 start = end
00514 end += 8
00515 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
00516 start = end
00517 end += 4
00518 (length,) = _struct_I.unpack(str[start:end])
00519 start = end
00520 end += length
00521 _v19.frame_id = str[start:end]
00522 _x = val1
00523 start = end
00524 end += 5
00525 (_x.type, _x.id,) = _struct_Bi.unpack(str[start:end])
00526 start = end
00527 end += 4
00528 (length,) = _struct_I.unpack(str[start:end])
00529 pattern = '<%sd'%length
00530 start = end
00531 end += struct.calcsize(pattern)
00532 val1.params = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00533 start = end
00534 end += 4
00535 (length,) = _struct_I.unpack(str[start:end])
00536 val1.points = []
00537 for i in range(0, length):
00538 val2 = sensor_msgs.msg.PointCloud2()
00539 _v21 = val2.header
00540 start = end
00541 end += 4
00542 (_v21.seq,) = _struct_I.unpack(str[start:end])
00543 _v22 = _v21.stamp
00544 _x = _v22
00545 start = end
00546 end += 8
00547 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
00548 start = end
00549 end += 4
00550 (length,) = _struct_I.unpack(str[start:end])
00551 start = end
00552 end += length
00553 _v21.frame_id = str[start:end]
00554 _x = val2
00555 start = end
00556 end += 8
00557 (_x.height, _x.width,) = _struct_2I.unpack(str[start:end])
00558 start = end
00559 end += 4
00560 (length,) = _struct_I.unpack(str[start:end])
00561 val2.fields = []
00562 for i in range(0, length):
00563 val3 = sensor_msgs.msg.PointField()
00564 start = end
00565 end += 4
00566 (length,) = _struct_I.unpack(str[start:end])
00567 start = end
00568 end += length
00569 val3.name = str[start:end]
00570 _x = val3
00571 start = end
00572 end += 9
00573 (_x.offset, _x.datatype, _x.count,) = _struct_IBI.unpack(str[start:end])
00574 val2.fields.append(val3)
00575 _x = val2
00576 start = end
00577 end += 9
00578 (_x.is_bigendian, _x.point_step, _x.row_step,) = _struct_B2I.unpack(str[start:end])
00579 val2.is_bigendian = bool(val2.is_bigendian)
00580 start = end
00581 end += 4
00582 (length,) = _struct_I.unpack(str[start:end])
00583 start = end
00584 end += length
00585 val2.data = str[start:end]
00586 start = end
00587 end += 1
00588 (val2.is_dense,) = _struct_B.unpack(str[start:end])
00589 val2.is_dense = bool(val2.is_dense)
00590 val1.points.append(val2)
00591 start = end
00592 end += 4
00593 (length,) = _struct_I.unpack(str[start:end])
00594 pattern = '<%si'%length
00595 start = end
00596 end += struct.calcsize(pattern)
00597 val1.vertices = numpy.frombuffer(str[start:end], dtype=numpy.int32, count=length)
00598 _v23 = val1.centroid
00599 _x = _v23
00600 start = end
00601 end += 12
00602 (_x.x, _x.y, _x.z,) = _struct_3f.unpack(str[start:end])
00603 _v24 = val1.color
00604 _x = _v24
00605 start = end
00606 end += 16
00607 (_x.r, _x.g, _x.b, _x.a,) = _struct_4f.unpack(str[start:end])
00608 start = end
00609 end += 4
00610 (length,) = _struct_I.unpack(str[start:end])
00611 pattern = '<%sB'%length
00612 start = end
00613 end += struct.calcsize(pattern)
00614 val1.holes = numpy.frombuffer(str[start:end], dtype=numpy.bool, count=length)
00615 val1.holes = map(bool, val1.holes)
00616 self.map.shapes.append(val1)
00617 return self
00618 except struct.error as e:
00619 raise roslib.message.DeserializationError(e)
00620
00621 _struct_I = roslib.message.struct_I
00622 _struct_IBI = struct.Struct("<IBI")
00623 _struct_B = struct.Struct("<B")
00624 _struct_Bi = struct.Struct("<Bi")
00625 _struct_3f = struct.Struct("<3f")
00626 _struct_3I = struct.Struct("<3I")
00627 _struct_B2I = struct.Struct("<B2I")
00628 _struct_4f = struct.Struct("<4f")
00629 _struct_2I = struct.Struct("<2I")
00630 """autogenerated by genmsg_py from UpdateMapResponse.msg. Do not edit."""
00631 import roslib.message
00632 import struct
00633
00634 import geometry_msgs.msg
00635 import sensor_msgs.msg
00636 import cob_3d_mapping_msgs.msg
00637 import std_msgs.msg
00638
00639 class UpdateMapResponse(roslib.message.Message):
00640 _md5sum = "f0bf8d67881fb4de54c9e8a9fee43e78"
00641 _type = "cob_3d_mapping_msgs/UpdateMapResponse"
00642 _has_header = False
00643 _full_text = """cob_3d_mapping_msgs/ShapeArray map
00644
00645
00646 ================================================================================
00647 MSG: cob_3d_mapping_msgs/ShapeArray
00648 # An array of poses with a header for global reference.
00649
00650 Header header
00651
00652 cob_3d_mapping_msgs/Shape[] shapes
00653 ================================================================================
00654 MSG: std_msgs/Header
00655 # Standard metadata for higher-level stamped data types.
00656 # This is generally used to communicate timestamped data
00657 # in a particular coordinate frame.
00658 #
00659 # sequence ID: consecutively increasing ID
00660 uint32 seq
00661 #Two-integer timestamp that is expressed as:
00662 # * stamp.secs: seconds (stamp_secs) since epoch
00663 # * stamp.nsecs: nanoseconds since stamp_secs
00664 # time-handling sugar is provided by the client library
00665 time stamp
00666 #Frame this data is associated with
00667 # 0: no frame
00668 # 1: global frame
00669 string frame_id
00670
00671 ================================================================================
00672 MSG: cob_3d_mapping_msgs/Shape
00673 Header header
00674
00675 uint8 POLYGON=0
00676 uint8 LINE=1
00677 uint8 CURVED=2
00678 uint8 MESH=3
00679 uint8 OTHER=4
00680 uint8 CYLINDER=5
00681 # potential extensions: SPHERE, CYLINDER, BOX
00682
00683 uint8 type
00684
00685
00686 int32 id
00687 # define shape parameters
00688 # for plane
00689 # normal vector = params[0],params[1],params[2]
00690 # d = params[3]
00691 # for line
00692 # direction vector = params[0],params[1],params[2]
00693 #
00694 #for cylinder
00695 # symmetry axis = params[0],params[1],params[2]
00696 # z axis = params[3], params[4], params[5]
00697 # origin = params[6], params[7], params[8]
00698 # radius = params[9]
00699 #
00700 float64[] params
00701
00702 sensor_msgs/PointCloud2[] points
00703
00704 #### define mesh ####
00705 # each three entries form a triangle; indices of points are stored
00706 int32[] vertices
00707
00708 geometry_msgs/Point32 centroid
00709 std_msgs/ColorRGBA color
00710 bool[] holes
00711
00712 ================================================================================
00713 MSG: sensor_msgs/PointCloud2
00714 # This message holds a collection of N-dimensional points, which may
00715 # contain additional information such as normals, intensity, etc. The
00716 # point data is stored as a binary blob, its layout described by the
00717 # contents of the "fields" array.
00718
00719 # The point cloud data may be organized 2d (image-like) or 1d
00720 # (unordered). Point clouds organized as 2d images may be produced by
00721 # camera depth sensors such as stereo or time-of-flight.
00722
00723 # Time of sensor data acquisition, and the coordinate frame ID (for 3d
00724 # points).
00725 Header header
00726
00727 # 2D structure of the point cloud. If the cloud is unordered, height is
00728 # 1 and width is the length of the point cloud.
00729 uint32 height
00730 uint32 width
00731
00732 # Describes the channels and their layout in the binary data blob.
00733 PointField[] fields
00734
00735 bool is_bigendian # Is this data bigendian?
00736 uint32 point_step # Length of a point in bytes
00737 uint32 row_step # Length of a row in bytes
00738 uint8[] data # Actual point data, size is (row_step*height)
00739
00740 bool is_dense # True if there are no invalid points
00741
00742 ================================================================================
00743 MSG: sensor_msgs/PointField
00744 # This message holds the description of one point entry in the
00745 # PointCloud2 message format.
00746 uint8 INT8 = 1
00747 uint8 UINT8 = 2
00748 uint8 INT16 = 3
00749 uint8 UINT16 = 4
00750 uint8 INT32 = 5
00751 uint8 UINT32 = 6
00752 uint8 FLOAT32 = 7
00753 uint8 FLOAT64 = 8
00754
00755 string name # Name of field
00756 uint32 offset # Offset from start of point struct
00757 uint8 datatype # Datatype enumeration, see above
00758 uint32 count # How many elements in the field
00759
00760 ================================================================================
00761 MSG: geometry_msgs/Point32
00762 # This contains the position of a point in free space(with 32 bits of precision).
00763 # It is recommeded to use Point wherever possible instead of Point32.
00764 #
00765 # This recommendation is to promote interoperability.
00766 #
00767 # This message is designed to take up less space when sending
00768 # lots of points at once, as in the case of a PointCloud.
00769
00770 float32 x
00771 float32 y
00772 float32 z
00773 ================================================================================
00774 MSG: std_msgs/ColorRGBA
00775 float32 r
00776 float32 g
00777 float32 b
00778 float32 a
00779
00780 """
00781 __slots__ = ['map']
00782 _slot_types = ['cob_3d_mapping_msgs/ShapeArray']
00783
00784 def __init__(self, *args, **kwds):
00785 """
00786 Constructor. Any message fields that are implicitly/explicitly
00787 set to None will be assigned a default value. The recommend
00788 use is keyword arguments as this is more robust to future message
00789 changes. You cannot mix in-order arguments and keyword arguments.
00790
00791 The available fields are:
00792 map
00793
00794 @param args: complete set of field values, in .msg order
00795 @param kwds: use keyword arguments corresponding to message field names
00796 to set specific fields.
00797 """
00798 if args or kwds:
00799 super(UpdateMapResponse, self).__init__(*args, **kwds)
00800
00801 if self.map is None:
00802 self.map = cob_3d_mapping_msgs.msg.ShapeArray()
00803 else:
00804 self.map = cob_3d_mapping_msgs.msg.ShapeArray()
00805
00806 def _get_types(self):
00807 """
00808 internal API method
00809 """
00810 return self._slot_types
00811
00812 def serialize(self, buff):
00813 """
00814 serialize message into buffer
00815 @param buff: buffer
00816 @type buff: StringIO
00817 """
00818 try:
00819 _x = self
00820 buff.write(_struct_3I.pack(_x.map.header.seq, _x.map.header.stamp.secs, _x.map.header.stamp.nsecs))
00821 _x = self.map.header.frame_id
00822 length = len(_x)
00823 buff.write(struct.pack('<I%ss'%length, length, _x))
00824 length = len(self.map.shapes)
00825 buff.write(_struct_I.pack(length))
00826 for val1 in self.map.shapes:
00827 _v25 = val1.header
00828 buff.write(_struct_I.pack(_v25.seq))
00829 _v26 = _v25.stamp
00830 _x = _v26
00831 buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00832 _x = _v25.frame_id
00833 length = len(_x)
00834 buff.write(struct.pack('<I%ss'%length, length, _x))
00835 _x = val1
00836 buff.write(_struct_Bi.pack(_x.type, _x.id))
00837 length = len(val1.params)
00838 buff.write(_struct_I.pack(length))
00839 pattern = '<%sd'%length
00840 buff.write(struct.pack(pattern, *val1.params))
00841 length = len(val1.points)
00842 buff.write(_struct_I.pack(length))
00843 for val2 in val1.points:
00844 _v27 = val2.header
00845 buff.write(_struct_I.pack(_v27.seq))
00846 _v28 = _v27.stamp
00847 _x = _v28
00848 buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00849 _x = _v27.frame_id
00850 length = len(_x)
00851 buff.write(struct.pack('<I%ss'%length, length, _x))
00852 _x = val2
00853 buff.write(_struct_2I.pack(_x.height, _x.width))
00854 length = len(val2.fields)
00855 buff.write(_struct_I.pack(length))
00856 for val3 in val2.fields:
00857 _x = val3.name
00858 length = len(_x)
00859 buff.write(struct.pack('<I%ss'%length, length, _x))
00860 _x = val3
00861 buff.write(_struct_IBI.pack(_x.offset, _x.datatype, _x.count))
00862 _x = val2
00863 buff.write(_struct_B2I.pack(_x.is_bigendian, _x.point_step, _x.row_step))
00864 _x = val2.data
00865 length = len(_x)
00866
00867 if type(_x) in [list, tuple]:
00868 buff.write(struct.pack('<I%sB'%length, length, *_x))
00869 else:
00870 buff.write(struct.pack('<I%ss'%length, length, _x))
00871 buff.write(_struct_B.pack(val2.is_dense))
00872 length = len(val1.vertices)
00873 buff.write(_struct_I.pack(length))
00874 pattern = '<%si'%length
00875 buff.write(struct.pack(pattern, *val1.vertices))
00876 _v29 = val1.centroid
00877 _x = _v29
00878 buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))
00879 _v30 = val1.color
00880 _x = _v30
00881 buff.write(_struct_4f.pack(_x.r, _x.g, _x.b, _x.a))
00882 length = len(val1.holes)
00883 buff.write(_struct_I.pack(length))
00884 pattern = '<%sB'%length
00885 buff.write(struct.pack(pattern, *val1.holes))
00886 except struct.error as se: self._check_types(se)
00887 except TypeError as te: self._check_types(te)
00888
00889 def deserialize(self, str):
00890 """
00891 unpack serialized message in str into this message instance
00892 @param str: byte array of serialized message
00893 @type str: str
00894 """
00895 try:
00896 if self.map is None:
00897 self.map = cob_3d_mapping_msgs.msg.ShapeArray()
00898 end = 0
00899 _x = self
00900 start = end
00901 end += 12
00902 (_x.map.header.seq, _x.map.header.stamp.secs, _x.map.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00903 start = end
00904 end += 4
00905 (length,) = _struct_I.unpack(str[start:end])
00906 start = end
00907 end += length
00908 self.map.header.frame_id = str[start:end]
00909 start = end
00910 end += 4
00911 (length,) = _struct_I.unpack(str[start:end])
00912 self.map.shapes = []
00913 for i in range(0, length):
00914 val1 = cob_3d_mapping_msgs.msg.Shape()
00915 _v31 = val1.header
00916 start = end
00917 end += 4
00918 (_v31.seq,) = _struct_I.unpack(str[start:end])
00919 _v32 = _v31.stamp
00920 _x = _v32
00921 start = end
00922 end += 8
00923 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
00924 start = end
00925 end += 4
00926 (length,) = _struct_I.unpack(str[start:end])
00927 start = end
00928 end += length
00929 _v31.frame_id = str[start:end]
00930 _x = val1
00931 start = end
00932 end += 5
00933 (_x.type, _x.id,) = _struct_Bi.unpack(str[start:end])
00934 start = end
00935 end += 4
00936 (length,) = _struct_I.unpack(str[start:end])
00937 pattern = '<%sd'%length
00938 start = end
00939 end += struct.calcsize(pattern)
00940 val1.params = struct.unpack(pattern, str[start:end])
00941 start = end
00942 end += 4
00943 (length,) = _struct_I.unpack(str[start:end])
00944 val1.points = []
00945 for i in range(0, length):
00946 val2 = sensor_msgs.msg.PointCloud2()
00947 _v33 = val2.header
00948 start = end
00949 end += 4
00950 (_v33.seq,) = _struct_I.unpack(str[start:end])
00951 _v34 = _v33.stamp
00952 _x = _v34
00953 start = end
00954 end += 8
00955 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
00956 start = end
00957 end += 4
00958 (length,) = _struct_I.unpack(str[start:end])
00959 start = end
00960 end += length
00961 _v33.frame_id = str[start:end]
00962 _x = val2
00963 start = end
00964 end += 8
00965 (_x.height, _x.width,) = _struct_2I.unpack(str[start:end])
00966 start = end
00967 end += 4
00968 (length,) = _struct_I.unpack(str[start:end])
00969 val2.fields = []
00970 for i in range(0, length):
00971 val3 = sensor_msgs.msg.PointField()
00972 start = end
00973 end += 4
00974 (length,) = _struct_I.unpack(str[start:end])
00975 start = end
00976 end += length
00977 val3.name = str[start:end]
00978 _x = val3
00979 start = end
00980 end += 9
00981 (_x.offset, _x.datatype, _x.count,) = _struct_IBI.unpack(str[start:end])
00982 val2.fields.append(val3)
00983 _x = val2
00984 start = end
00985 end += 9
00986 (_x.is_bigendian, _x.point_step, _x.row_step,) = _struct_B2I.unpack(str[start:end])
00987 val2.is_bigendian = bool(val2.is_bigendian)
00988 start = end
00989 end += 4
00990 (length,) = _struct_I.unpack(str[start:end])
00991 start = end
00992 end += length
00993 val2.data = str[start:end]
00994 start = end
00995 end += 1
00996 (val2.is_dense,) = _struct_B.unpack(str[start:end])
00997 val2.is_dense = bool(val2.is_dense)
00998 val1.points.append(val2)
00999 start = end
01000 end += 4
01001 (length,) = _struct_I.unpack(str[start:end])
01002 pattern = '<%si'%length
01003 start = end
01004 end += struct.calcsize(pattern)
01005 val1.vertices = struct.unpack(pattern, str[start:end])
01006 _v35 = val1.centroid
01007 _x = _v35
01008 start = end
01009 end += 12
01010 (_x.x, _x.y, _x.z,) = _struct_3f.unpack(str[start:end])
01011 _v36 = val1.color
01012 _x = _v36
01013 start = end
01014 end += 16
01015 (_x.r, _x.g, _x.b, _x.a,) = _struct_4f.unpack(str[start:end])
01016 start = end
01017 end += 4
01018 (length,) = _struct_I.unpack(str[start:end])
01019 pattern = '<%sB'%length
01020 start = end
01021 end += struct.calcsize(pattern)
01022 val1.holes = struct.unpack(pattern, str[start:end])
01023 val1.holes = map(bool, val1.holes)
01024 self.map.shapes.append(val1)
01025 return self
01026 except struct.error as e:
01027 raise roslib.message.DeserializationError(e)
01028
01029
01030 def serialize_numpy(self, buff, numpy):
01031 """
01032 serialize message with numpy array types into buffer
01033 @param buff: buffer
01034 @type buff: StringIO
01035 @param numpy: numpy python module
01036 @type numpy module
01037 """
01038 try:
01039 _x = self
01040 buff.write(_struct_3I.pack(_x.map.header.seq, _x.map.header.stamp.secs, _x.map.header.stamp.nsecs))
01041 _x = self.map.header.frame_id
01042 length = len(_x)
01043 buff.write(struct.pack('<I%ss'%length, length, _x))
01044 length = len(self.map.shapes)
01045 buff.write(_struct_I.pack(length))
01046 for val1 in self.map.shapes:
01047 _v37 = val1.header
01048 buff.write(_struct_I.pack(_v37.seq))
01049 _v38 = _v37.stamp
01050 _x = _v38
01051 buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
01052 _x = _v37.frame_id
01053 length = len(_x)
01054 buff.write(struct.pack('<I%ss'%length, length, _x))
01055 _x = val1
01056 buff.write(_struct_Bi.pack(_x.type, _x.id))
01057 length = len(val1.params)
01058 buff.write(_struct_I.pack(length))
01059 pattern = '<%sd'%length
01060 buff.write(val1.params.tostring())
01061 length = len(val1.points)
01062 buff.write(_struct_I.pack(length))
01063 for val2 in val1.points:
01064 _v39 = val2.header
01065 buff.write(_struct_I.pack(_v39.seq))
01066 _v40 = _v39.stamp
01067 _x = _v40
01068 buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
01069 _x = _v39.frame_id
01070 length = len(_x)
01071 buff.write(struct.pack('<I%ss'%length, length, _x))
01072 _x = val2
01073 buff.write(_struct_2I.pack(_x.height, _x.width))
01074 length = len(val2.fields)
01075 buff.write(_struct_I.pack(length))
01076 for val3 in val2.fields:
01077 _x = val3.name
01078 length = len(_x)
01079 buff.write(struct.pack('<I%ss'%length, length, _x))
01080 _x = val3
01081 buff.write(_struct_IBI.pack(_x.offset, _x.datatype, _x.count))
01082 _x = val2
01083 buff.write(_struct_B2I.pack(_x.is_bigendian, _x.point_step, _x.row_step))
01084 _x = val2.data
01085 length = len(_x)
01086
01087 if type(_x) in [list, tuple]:
01088 buff.write(struct.pack('<I%sB'%length, length, *_x))
01089 else:
01090 buff.write(struct.pack('<I%ss'%length, length, _x))
01091 buff.write(_struct_B.pack(val2.is_dense))
01092 length = len(val1.vertices)
01093 buff.write(_struct_I.pack(length))
01094 pattern = '<%si'%length
01095 buff.write(val1.vertices.tostring())
01096 _v41 = val1.centroid
01097 _x = _v41
01098 buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))
01099 _v42 = val1.color
01100 _x = _v42
01101 buff.write(_struct_4f.pack(_x.r, _x.g, _x.b, _x.a))
01102 length = len(val1.holes)
01103 buff.write(_struct_I.pack(length))
01104 pattern = '<%sB'%length
01105 buff.write(val1.holes.tostring())
01106 except struct.error as se: self._check_types(se)
01107 except TypeError as te: self._check_types(te)
01108
01109 def deserialize_numpy(self, str, numpy):
01110 """
01111 unpack serialized message in str into this message instance using numpy for array types
01112 @param str: byte array of serialized message
01113 @type str: str
01114 @param numpy: numpy python module
01115 @type numpy: module
01116 """
01117 try:
01118 if self.map is None:
01119 self.map = cob_3d_mapping_msgs.msg.ShapeArray()
01120 end = 0
01121 _x = self
01122 start = end
01123 end += 12
01124 (_x.map.header.seq, _x.map.header.stamp.secs, _x.map.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
01125 start = end
01126 end += 4
01127 (length,) = _struct_I.unpack(str[start:end])
01128 start = end
01129 end += length
01130 self.map.header.frame_id = str[start:end]
01131 start = end
01132 end += 4
01133 (length,) = _struct_I.unpack(str[start:end])
01134 self.map.shapes = []
01135 for i in range(0, length):
01136 val1 = cob_3d_mapping_msgs.msg.Shape()
01137 _v43 = val1.header
01138 start = end
01139 end += 4
01140 (_v43.seq,) = _struct_I.unpack(str[start:end])
01141 _v44 = _v43.stamp
01142 _x = _v44
01143 start = end
01144 end += 8
01145 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
01146 start = end
01147 end += 4
01148 (length,) = _struct_I.unpack(str[start:end])
01149 start = end
01150 end += length
01151 _v43.frame_id = str[start:end]
01152 _x = val1
01153 start = end
01154 end += 5
01155 (_x.type, _x.id,) = _struct_Bi.unpack(str[start:end])
01156 start = end
01157 end += 4
01158 (length,) = _struct_I.unpack(str[start:end])
01159 pattern = '<%sd'%length
01160 start = end
01161 end += struct.calcsize(pattern)
01162 val1.params = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
01163 start = end
01164 end += 4
01165 (length,) = _struct_I.unpack(str[start:end])
01166 val1.points = []
01167 for i in range(0, length):
01168 val2 = sensor_msgs.msg.PointCloud2()
01169 _v45 = val2.header
01170 start = end
01171 end += 4
01172 (_v45.seq,) = _struct_I.unpack(str[start:end])
01173 _v46 = _v45.stamp
01174 _x = _v46
01175 start = end
01176 end += 8
01177 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
01178 start = end
01179 end += 4
01180 (length,) = _struct_I.unpack(str[start:end])
01181 start = end
01182 end += length
01183 _v45.frame_id = str[start:end]
01184 _x = val2
01185 start = end
01186 end += 8
01187 (_x.height, _x.width,) = _struct_2I.unpack(str[start:end])
01188 start = end
01189 end += 4
01190 (length,) = _struct_I.unpack(str[start:end])
01191 val2.fields = []
01192 for i in range(0, length):
01193 val3 = sensor_msgs.msg.PointField()
01194 start = end
01195 end += 4
01196 (length,) = _struct_I.unpack(str[start:end])
01197 start = end
01198 end += length
01199 val3.name = str[start:end]
01200 _x = val3
01201 start = end
01202 end += 9
01203 (_x.offset, _x.datatype, _x.count,) = _struct_IBI.unpack(str[start:end])
01204 val2.fields.append(val3)
01205 _x = val2
01206 start = end
01207 end += 9
01208 (_x.is_bigendian, _x.point_step, _x.row_step,) = _struct_B2I.unpack(str[start:end])
01209 val2.is_bigendian = bool(val2.is_bigendian)
01210 start = end
01211 end += 4
01212 (length,) = _struct_I.unpack(str[start:end])
01213 start = end
01214 end += length
01215 val2.data = str[start:end]
01216 start = end
01217 end += 1
01218 (val2.is_dense,) = _struct_B.unpack(str[start:end])
01219 val2.is_dense = bool(val2.is_dense)
01220 val1.points.append(val2)
01221 start = end
01222 end += 4
01223 (length,) = _struct_I.unpack(str[start:end])
01224 pattern = '<%si'%length
01225 start = end
01226 end += struct.calcsize(pattern)
01227 val1.vertices = numpy.frombuffer(str[start:end], dtype=numpy.int32, count=length)
01228 _v47 = val1.centroid
01229 _x = _v47
01230 start = end
01231 end += 12
01232 (_x.x, _x.y, _x.z,) = _struct_3f.unpack(str[start:end])
01233 _v48 = val1.color
01234 _x = _v48
01235 start = end
01236 end += 16
01237 (_x.r, _x.g, _x.b, _x.a,) = _struct_4f.unpack(str[start:end])
01238 start = end
01239 end += 4
01240 (length,) = _struct_I.unpack(str[start:end])
01241 pattern = '<%sB'%length
01242 start = end
01243 end += struct.calcsize(pattern)
01244 val1.holes = numpy.frombuffer(str[start:end], dtype=numpy.bool, count=length)
01245 val1.holes = map(bool, val1.holes)
01246 self.map.shapes.append(val1)
01247 return self
01248 except struct.error as e:
01249 raise roslib.message.DeserializationError(e)
01250
01251 _struct_I = roslib.message.struct_I
01252 _struct_IBI = struct.Struct("<IBI")
01253 _struct_B = struct.Struct("<B")
01254 _struct_Bi = struct.Struct("<Bi")
01255 _struct_3f = struct.Struct("<3f")
01256 _struct_3I = struct.Struct("<3I")
01257 _struct_B2I = struct.Struct("<B2I")
01258 _struct_4f = struct.Struct("<4f")
01259 _struct_2I = struct.Struct("<2I")
01260 class UpdateMap(roslib.message.ServiceDefinition):
01261 _type = 'cob_3d_mapping_msgs/UpdateMap'
01262 _md5sum = 'c7e75b0cd41a377fc820044b5753691c'
01263 _request_class = UpdateMapRequest
01264 _response_class = UpdateMapResponse
