00001 """autogenerated by genmsg_py from Plane.msg. Do not edit."""
00002 import roslib.message
00003 import struct
00004
00005 import geometry_msgs.msg
00006 import std_msgs.msg
00007
00008 class Plane(roslib.message.Message):
00009 _md5sum = "e876d3c2247eeda0c0207fae33ce01a9"
00010 _type = "fast_plane_detection/Plane"
00011 _has_header = False
00012 _full_text = """# Informs that a plane has been detected at a given location
00013
00014 # The pose gives you the transform that take you to the coordinate system
00015 # of the plane, with the origin somewhere in the plane and the
00016 # z axis normal to the plane
00017 geometry_msgs/PoseStamped pose
00018
00019 # Point + normal vector of the plane
00020 geometry_msgs/PointStamped plane_point
00021 geometry_msgs/Vector3Stamped normal
00022 geometry_msgs/PointStamped slave_point
00023
00024 # These values give you the observed extents of the plane, along x and y,
00025 # in the plane's own coordinate system (above)
00026 # there is no guarantee that the origin of the plane coordinate system is
00027 # inside the boundary defined by these values.
00028 geometry_msgs/Point32 top_left
00029 geometry_msgs/Point32 top_right
00030
00031 geometry_msgs/Point32 bottom_left
00032 geometry_msgs/Point32 bottom_right
00033
00034 # There is no guarantee that the plane doe NOT extend further than these
00035 # values; this is just as far as we've observed it.
00036
00037 # Whether the detection has succeeded or failed
00038 int32 SUCCESS = 1
00039 int32 FEW_INLIERS = 2
00040 int32 NO_PLANE = 3
00041 int32 OTHER_ERROR = 4
00042 int32 result
00043
00044 # inliers over whole region
00045 float32 percentage_inliers
00046 # inliers of valid disparities
00047 int32 percentage_disp_inliers
00048 # number of valid disparities
00049 int32 percentage_valid_disp
00050
00051 # confidence indicators of plane detection
00052 # mean squared error
00053 float32 error
00054
00055 ================================================================================
00056 MSG: geometry_msgs/PoseStamped
00057 # A Pose with reference coordinate frame and timestamp
00058 Header header
00059 Pose pose
00060
00061 ================================================================================
00062 MSG: std_msgs/Header
00063 # Standard metadata for higher-level stamped data types.
00064 # This is generally used to communicate timestamped data
00065 # in a particular coordinate frame.
00066 #
00067 # sequence ID: consecutively increasing ID
00068 uint32 seq
00069 #Two-integer timestamp that is expressed as:
00070 # * stamp.secs: seconds (stamp_secs) since epoch
00071 # * stamp.nsecs: nanoseconds since stamp_secs
00072 # time-handling sugar is provided by the client library
00073 time stamp
00074 #Frame this data is associated with
00075 # 0: no frame
00076 # 1: global frame
00077 string frame_id
00078
00079 ================================================================================
00080 MSG: geometry_msgs/Pose
00081 # A representation of pose in free space, composed of postion and orientation.
00082 Point position
00083 Quaternion orientation
00084
00085 ================================================================================
00086 MSG: geometry_msgs/Point
00087 # This contains the position of a point in free space
00088 float64 x
00089 float64 y
00090 float64 z
00091
00092 ================================================================================
00093 MSG: geometry_msgs/Quaternion
00094 # This represents an orientation in free space in quaternion form.
00095
00096 float64 x
00097 float64 y
00098 float64 z
00099 float64 w
00100
00101 ================================================================================
00102 MSG: geometry_msgs/PointStamped
00103 # This represents a Point with reference coordinate frame and timestamp
00104 Header header
00105 Point point
00106
00107 ================================================================================
00108 MSG: geometry_msgs/Vector3Stamped
00109 # This represents a Vector3 with reference coordinate frame and timestamp
00110 Header header
00111 Vector3 vector
00112
00113 ================================================================================
00114 MSG: geometry_msgs/Vector3
00115 # This represents a vector in free space.
00116
00117 float64 x
00118 float64 y
00119 float64 z
00120 ================================================================================
00121 MSG: geometry_msgs/Point32
00122 # This contains the position of a point in free space(with 32 bits of precision).
00123 # It is recommeded to use Point wherever possible instead of Point32.
00124 #
00125 # This recommendation is to promote interoperability.
00126 #
00127 # This message is designed to take up less space when sending
00128 # lots of points at once, as in the case of a PointCloud.
00129
00130 float32 x
00131 float32 y
00132 float32 z
00133 """
00134
00135 SUCCESS = 1
00136 FEW_INLIERS = 2
00137 NO_PLANE = 3
00138 OTHER_ERROR = 4
00139
00140 __slots__ = ['pose','plane_point','normal','slave_point','top_left','top_right','bottom_left','bottom_right','result','percentage_inliers','percentage_disp_inliers','percentage_valid_disp','error']
00141 _slot_types = ['geometry_msgs/PoseStamped','geometry_msgs/PointStamped','geometry_msgs/Vector3Stamped','geometry_msgs/PointStamped','geometry_msgs/Point32','geometry_msgs/Point32','geometry_msgs/Point32','geometry_msgs/Point32','int32','float32','int32','int32','float32']
00142
00143 def __init__(self, *args, **kwds):
00144 """
00145 Constructor. Any message fields that are implicitly/explicitly
00146 set to None will be assigned a default value. The recommend
00147 use is keyword arguments as this is more robust to future message
00148 changes. You cannot mix in-order arguments and keyword arguments.
00149
00150 The available fields are:
00151 pose,plane_point,normal,slave_point,top_left,top_right,bottom_left,bottom_right,result,percentage_inliers,percentage_disp_inliers,percentage_valid_disp,error
00152
00153 @param args: complete set of field values, in .msg order
00154 @param kwds: use keyword arguments corresponding to message field names
00155 to set specific fields.
00156 """
00157 if args or kwds:
00158 super(Plane, self).__init__(*args, **kwds)
00159
00160 if self.pose is None:
00161 self.pose = geometry_msgs.msg.PoseStamped()
00162 if self.plane_point is None:
00163 self.plane_point = geometry_msgs.msg.PointStamped()
00164 if self.normal is None:
00165 self.normal = geometry_msgs.msg.Vector3Stamped()
00166 if self.slave_point is None:
00167 self.slave_point = geometry_msgs.msg.PointStamped()
00168 if self.top_left is None:
00169 self.top_left = geometry_msgs.msg.Point32()
00170 if self.top_right is None:
00171 self.top_right = geometry_msgs.msg.Point32()
00172 if self.bottom_left is None:
00173 self.bottom_left = geometry_msgs.msg.Point32()
00174 if self.bottom_right is None:
00175 self.bottom_right = geometry_msgs.msg.Point32()
00176 if self.result is None:
00177 self.result = 0
00178 if self.percentage_inliers is None:
00179 self.percentage_inliers = 0.
00180 if self.percentage_disp_inliers is None:
00181 self.percentage_disp_inliers = 0
00182 if self.percentage_valid_disp is None:
00183 self.percentage_valid_disp = 0
00184 if self.error is None:
00185 self.error = 0.
00186 else:
00187 self.pose = geometry_msgs.msg.PoseStamped()
00188 self.plane_point = geometry_msgs.msg.PointStamped()
00189 self.normal = geometry_msgs.msg.Vector3Stamped()
00190 self.slave_point = geometry_msgs.msg.PointStamped()
00191 self.top_left = geometry_msgs.msg.Point32()
00192 self.top_right = geometry_msgs.msg.Point32()
00193 self.bottom_left = geometry_msgs.msg.Point32()
00194 self.bottom_right = geometry_msgs.msg.Point32()
00195 self.result = 0
00196 self.percentage_inliers = 0.
00197 self.percentage_disp_inliers = 0
00198 self.percentage_valid_disp = 0
00199 self.error = 0.
00200
00201 def _get_types(self):
00202 """
00203 internal API method
00204 """
00205 return self._slot_types
00206
00207 def serialize(self, buff):
00208 """
00209 serialize message into buffer
00210 @param buff: buffer
00211 @type buff: StringIO
00212 """
00213 try:
00214 _x = self
00215 buff.write(_struct_3I.pack(_x.pose.header.seq, _x.pose.header.stamp.secs, _x.pose.header.stamp.nsecs))
00216 _x = self.pose.header.frame_id
00217 length = len(_x)
00218 buff.write(struct.pack('<I%ss'%length, length, _x))
00219 _x = self
00220 buff.write(_struct_7d3I.pack(_x.pose.pose.position.x, _x.pose.pose.position.y, _x.pose.pose.position.z, _x.pose.pose.orientation.x, _x.pose.pose.orientation.y, _x.pose.pose.orientation.z, _x.pose.pose.orientation.w, _x.plane_point.header.seq, _x.plane_point.header.stamp.secs, _x.plane_point.header.stamp.nsecs))
00221 _x = self.plane_point.header.frame_id
00222 length = len(_x)
00223 buff.write(struct.pack('<I%ss'%length, length, _x))
00224 _x = self
00225 buff.write(_struct_3d3I.pack(_x.plane_point.point.x, _x.plane_point.point.y, _x.plane_point.point.z, _x.normal.header.seq, _x.normal.header.stamp.secs, _x.normal.header.stamp.nsecs))
00226 _x = self.normal.header.frame_id
00227 length = len(_x)
00228 buff.write(struct.pack('<I%ss'%length, length, _x))
00229 _x = self
00230 buff.write(_struct_3d3I.pack(_x.normal.vector.x, _x.normal.vector.y, _x.normal.vector.z, _x.slave_point.header.seq, _x.slave_point.header.stamp.secs, _x.slave_point.header.stamp.nsecs))
00231 _x = self.slave_point.header.frame_id
00232 length = len(_x)
00233 buff.write(struct.pack('<I%ss'%length, length, _x))
00234 _x = self
00235 buff.write(_struct_3d12fif2if.pack(_x.slave_point.point.x, _x.slave_point.point.y, _x.slave_point.point.z, _x.top_left.x, _x.top_left.y, _x.top_left.z, _x.top_right.x, _x.top_right.y, _x.top_right.z, _x.bottom_left.x, _x.bottom_left.y, _x.bottom_left.z, _x.bottom_right.x, _x.bottom_right.y, _x.bottom_right.z, _x.result, _x.percentage_inliers, _x.percentage_disp_inliers, _x.percentage_valid_disp, _x.error))
00236 except struct.error as se: self._check_types(se)
00237 except TypeError as te: self._check_types(te)
00238
00239 def deserialize(self, str):
00240 """
00241 unpack serialized message in str into this message instance
00242 @param str: byte array of serialized message
00243 @type str: str
00244 """
00245 try:
00246 if self.pose is None:
00247 self.pose = geometry_msgs.msg.PoseStamped()
00248 if self.plane_point is None:
00249 self.plane_point = geometry_msgs.msg.PointStamped()
00250 if self.normal is None:
00251 self.normal = geometry_msgs.msg.Vector3Stamped()
00252 if self.slave_point is None:
00253 self.slave_point = geometry_msgs.msg.PointStamped()
00254 if self.top_left is None:
00255 self.top_left = geometry_msgs.msg.Point32()
00256 if self.top_right is None:
00257 self.top_right = geometry_msgs.msg.Point32()
00258 if self.bottom_left is None:
00259 self.bottom_left = geometry_msgs.msg.Point32()
00260 if self.bottom_right is None:
00261 self.bottom_right = geometry_msgs.msg.Point32()
00262 end = 0
00263 _x = self
00264 start = end
00265 end += 12
00266 (_x.pose.header.seq, _x.pose.header.stamp.secs, _x.pose.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00267 start = end
00268 end += 4
00269 (length,) = _struct_I.unpack(str[start:end])
00270 start = end
00271 end += length
00272 self.pose.header.frame_id = str[start:end]
00273 _x = self
00274 start = end
00275 end += 68
00276 (_x.pose.pose.position.x, _x.pose.pose.position.y, _x.pose.pose.position.z, _x.pose.pose.orientation.x, _x.pose.pose.orientation.y, _x.pose.pose.orientation.z, _x.pose.pose.orientation.w, _x.plane_point.header.seq, _x.plane_point.header.stamp.secs, _x.plane_point.header.stamp.nsecs,) = _struct_7d3I.unpack(str[start:end])
00277 start = end
00278 end += 4
00279 (length,) = _struct_I.unpack(str[start:end])
00280 start = end
00281 end += length
00282 self.plane_point.header.frame_id = str[start:end]
00283 _x = self
00284 start = end
00285 end += 36
00286 (_x.plane_point.point.x, _x.plane_point.point.y, _x.plane_point.point.z, _x.normal.header.seq, _x.normal.header.stamp.secs, _x.normal.header.stamp.nsecs,) = _struct_3d3I.unpack(str[start:end])
00287 start = end
00288 end += 4
00289 (length,) = _struct_I.unpack(str[start:end])
00290 start = end
00291 end += length
00292 self.normal.header.frame_id = str[start:end]
00293 _x = self
00294 start = end
00295 end += 36
00296 (_x.normal.vector.x, _x.normal.vector.y, _x.normal.vector.z, _x.slave_point.header.seq, _x.slave_point.header.stamp.secs, _x.slave_point.header.stamp.nsecs,) = _struct_3d3I.unpack(str[start:end])
00297 start = end
00298 end += 4
00299 (length,) = _struct_I.unpack(str[start:end])
00300 start = end
00301 end += length
00302 self.slave_point.header.frame_id = str[start:end]
00303 _x = self
00304 start = end
00305 end += 92
00306 (_x.slave_point.point.x, _x.slave_point.point.y, _x.slave_point.point.z, _x.top_left.x, _x.top_left.y, _x.top_left.z, _x.top_right.x, _x.top_right.y, _x.top_right.z, _x.bottom_left.x, _x.bottom_left.y, _x.bottom_left.z, _x.bottom_right.x, _x.bottom_right.y, _x.bottom_right.z, _x.result, _x.percentage_inliers, _x.percentage_disp_inliers, _x.percentage_valid_disp, _x.error,) = _struct_3d12fif2if.unpack(str[start:end])
00307 return self
00308 except struct.error as e:
00309 raise roslib.message.DeserializationError(e)
00310
00311
00312 def serialize_numpy(self, buff, numpy):
00313 """
00314 serialize message with numpy array types into buffer
00315 @param buff: buffer
00316 @type buff: StringIO
00317 @param numpy: numpy python module
00318 @type numpy module
00319 """
00320 try:
00321 _x = self
00322 buff.write(_struct_3I.pack(_x.pose.header.seq, _x.pose.header.stamp.secs, _x.pose.header.stamp.nsecs))
00323 _x = self.pose.header.frame_id
00324 length = len(_x)
00325 buff.write(struct.pack('<I%ss'%length, length, _x))
00326 _x = self
00327 buff.write(_struct_7d3I.pack(_x.pose.pose.position.x, _x.pose.pose.position.y, _x.pose.pose.position.z, _x.pose.pose.orientation.x, _x.pose.pose.orientation.y, _x.pose.pose.orientation.z, _x.pose.pose.orientation.w, _x.plane_point.header.seq, _x.plane_point.header.stamp.secs, _x.plane_point.header.stamp.nsecs))
00328 _x = self.plane_point.header.frame_id
00329 length = len(_x)
00330 buff.write(struct.pack('<I%ss'%length, length, _x))
00331 _x = self
00332 buff.write(_struct_3d3I.pack(_x.plane_point.point.x, _x.plane_point.point.y, _x.plane_point.point.z, _x.normal.header.seq, _x.normal.header.stamp.secs, _x.normal.header.stamp.nsecs))
00333 _x = self.normal.header.frame_id
00334 length = len(_x)
00335 buff.write(struct.pack('<I%ss'%length, length, _x))
00336 _x = self
00337 buff.write(_struct_3d3I.pack(_x.normal.vector.x, _x.normal.vector.y, _x.normal.vector.z, _x.slave_point.header.seq, _x.slave_point.header.stamp.secs, _x.slave_point.header.stamp.nsecs))
00338 _x = self.slave_point.header.frame_id
00339 length = len(_x)
00340 buff.write(struct.pack('<I%ss'%length, length, _x))
00341 _x = self
00342 buff.write(_struct_3d12fif2if.pack(_x.slave_point.point.x, _x.slave_point.point.y, _x.slave_point.point.z, _x.top_left.x, _x.top_left.y, _x.top_left.z, _x.top_right.x, _x.top_right.y, _x.top_right.z, _x.bottom_left.x, _x.bottom_left.y, _x.bottom_left.z, _x.bottom_right.x, _x.bottom_right.y, _x.bottom_right.z, _x.result, _x.percentage_inliers, _x.percentage_disp_inliers, _x.percentage_valid_disp, _x.error))
00343 except struct.error as se: self._check_types(se)
00344 except TypeError as te: self._check_types(te)
00345
00346 def deserialize_numpy(self, str, numpy):
00347 """
00348 unpack serialized message in str into this message instance using numpy for array types
00349 @param str: byte array of serialized message
00350 @type str: str
00351 @param numpy: numpy python module
00352 @type numpy: module
00353 """
00354 try:
00355 if self.pose is None:
00356 self.pose = geometry_msgs.msg.PoseStamped()
00357 if self.plane_point is None:
00358 self.plane_point = geometry_msgs.msg.PointStamped()
00359 if self.normal is None:
00360 self.normal = geometry_msgs.msg.Vector3Stamped()
00361 if self.slave_point is None:
00362 self.slave_point = geometry_msgs.msg.PointStamped()
00363 if self.top_left is None:
00364 self.top_left = geometry_msgs.msg.Point32()
00365 if self.top_right is None:
00366 self.top_right = geometry_msgs.msg.Point32()
00367 if self.bottom_left is None:
00368 self.bottom_left = geometry_msgs.msg.Point32()
00369 if self.bottom_right is None:
00370 self.bottom_right = geometry_msgs.msg.Point32()
00371 end = 0
00372 _x = self
00373 start = end
00374 end += 12
00375 (_x.pose.header.seq, _x.pose.header.stamp.secs, _x.pose.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00376 start = end
00377 end += 4
00378 (length,) = _struct_I.unpack(str[start:end])
00379 start = end
00380 end += length
00381 self.pose.header.frame_id = str[start:end]
00382 _x = self
00383 start = end
00384 end += 68
00385 (_x.pose.pose.position.x, _x.pose.pose.position.y, _x.pose.pose.position.z, _x.pose.pose.orientation.x, _x.pose.pose.orientation.y, _x.pose.pose.orientation.z, _x.pose.pose.orientation.w, _x.plane_point.header.seq, _x.plane_point.header.stamp.secs, _x.plane_point.header.stamp.nsecs,) = _struct_7d3I.unpack(str[start:end])
00386 start = end
00387 end += 4
00388 (length,) = _struct_I.unpack(str[start:end])
00389 start = end
00390 end += length
00391 self.plane_point.header.frame_id = str[start:end]
00392 _x = self
00393 start = end
00394 end += 36
00395 (_x.plane_point.point.x, _x.plane_point.point.y, _x.plane_point.point.z, _x.normal.header.seq, _x.normal.header.stamp.secs, _x.normal.header.stamp.nsecs,) = _struct_3d3I.unpack(str[start:end])
00396 start = end
00397 end += 4
00398 (length,) = _struct_I.unpack(str[start:end])
00399 start = end
00400 end += length
00401 self.normal.header.frame_id = str[start:end]
00402 _x = self
00403 start = end
00404 end += 36
00405 (_x.normal.vector.x, _x.normal.vector.y, _x.normal.vector.z, _x.slave_point.header.seq, _x.slave_point.header.stamp.secs, _x.slave_point.header.stamp.nsecs,) = _struct_3d3I.unpack(str[start:end])
00406 start = end
00407 end += 4
00408 (length,) = _struct_I.unpack(str[start:end])
00409 start = end
00410 end += length
00411 self.slave_point.header.frame_id = str[start:end]
00412 _x = self
00413 start = end
00414 end += 92
00415 (_x.slave_point.point.x, _x.slave_point.point.y, _x.slave_point.point.z, _x.top_left.x, _x.top_left.y, _x.top_left.z, _x.top_right.x, _x.top_right.y, _x.top_right.z, _x.bottom_left.x, _x.bottom_left.y, _x.bottom_left.z, _x.bottom_right.x, _x.bottom_right.y, _x.bottom_right.z, _x.result, _x.percentage_inliers, _x.percentage_disp_inliers, _x.percentage_valid_disp, _x.error,) = _struct_3d12fif2if.unpack(str[start:end])
00416 return self
00417 except struct.error as e:
00418 raise roslib.message.DeserializationError(e)
00419
00420 _struct_I = roslib.message.struct_I
00421 _struct_3d12fif2if = struct.Struct("<3d12fif2if")
00422 _struct_3d3I = struct.Struct("<3d3I")
00423 _struct_3I = struct.Struct("<3I")
00424 _struct_7d3I = struct.Struct("<7d3I")
