00001 """autogenerated by genmsg_py from FindBasePoseActionGoal.msg. Do not edit."""
00002 import roslib.message
00003 import struct
00004
00005 import find_base_pose.msg
00006 import geometry_msgs.msg
00007 import roslib.rostime
00008 import actionlib_msgs.msg
00009 import std_msgs.msg
00010
00011 class FindBasePoseActionGoal(roslib.message.Message):
00012 _md5sum = "bf89a80b1cd87667297de97513bd63c2"
00013 _type = "find_base_pose/FindBasePoseActionGoal"
00014 _has_header = True
00015 _full_text = """# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00016
00017 Header header
00018 actionlib_msgs/GoalID goal_id
00019 FindBasePoseGoal goal
00020
00021 ================================================================================
00022 MSG: std_msgs/Header
00023 # Standard metadata for higher-level stamped data types.
00024 # This is generally used to communicate timestamped data
00025 # in a particular coordinate frame.
00026 #
00027 # sequence ID: consecutively increasing ID
00028 uint32 seq
00029 #Two-integer timestamp that is expressed as:
00030 # * stamp.secs: seconds (stamp_secs) since epoch
00031 # * stamp.nsecs: nanoseconds since stamp_secs
00032 # time-handling sugar is provided by the client library
00033 time stamp
00034 #Frame this data is associated with
00035 # 0: no frame
00036 # 1: global frame
00037 string frame_id
00038
00039 ================================================================================
00040 MSG: actionlib_msgs/GoalID
00041 # The stamp should store the time at which this goal was requested.
00042 # It is used by an action server when it tries to preempt all
00043 # goals that were requested before a certain time
00044 time stamp
00045
00046 # The id provides a way to associate feedback and
00047 # result message with specific goal requests. The id
00048 # specified must be unique.
00049 string id
00050
00051
00052 ================================================================================
00053 MSG: find_base_pose/FindBasePoseGoal
00054 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00055 geometry_msgs/PoseStamped[] target_poses
00056 std_msgs/Int32[] arm
00057
00058 ================================================================================
00059 MSG: geometry_msgs/PoseStamped
00060 # A Pose with reference coordinate frame and timestamp
00061 Header header
00062 Pose pose
00063
00064 ================================================================================
00065 MSG: geometry_msgs/Pose
00066 # A representation of pose in free space, composed of postion and orientation.
00067 Point position
00068 Quaternion orientation
00069
00070 ================================================================================
00071 MSG: geometry_msgs/Point
00072 # This contains the position of a point in free space
00073 float64 x
00074 float64 y
00075 float64 z
00076
00077 ================================================================================
00078 MSG: geometry_msgs/Quaternion
00079 # This represents an orientation in free space in quaternion form.
00080
00081 float64 x
00082 float64 y
00083 float64 z
00084 float64 w
00085
00086 ================================================================================
00087 MSG: std_msgs/Int32
00088 int32 data
00089 """
00090 __slots__ = ['header','goal_id','goal']
00091 _slot_types = ['Header','actionlib_msgs/GoalID','find_base_pose/FindBasePoseGoal']
00092
00093 def __init__(self, *args, **kwds):
00094 """
00095 Constructor. Any message fields that are implicitly/explicitly
00096 set to None will be assigned a default value. The recommend
00097 use is keyword arguments as this is more robust to future message
00098 changes. You cannot mix in-order arguments and keyword arguments.
00099
00100 The available fields are:
00101 header,goal_id,goal
00102
00103 @param args: complete set of field values, in .msg order
00104 @param kwds: use keyword arguments corresponding to message field names
00105 to set specific fields.
00106 """
00107 if args or kwds:
00108 super(FindBasePoseActionGoal, self).__init__(*args, **kwds)
00109
00110 if self.header is None:
00111 self.header = std_msgs.msg._Header.Header()
00112 if self.goal_id is None:
00113 self.goal_id = actionlib_msgs.msg.GoalID()
00114 if self.goal is None:
00115 self.goal = find_base_pose.msg.FindBasePoseGoal()
00116 else:
00117 self.header = std_msgs.msg._Header.Header()
00118 self.goal_id = actionlib_msgs.msg.GoalID()
00119 self.goal = find_base_pose.msg.FindBasePoseGoal()
00120
00121 def _get_types(self):
00122 """
00123 internal API method
00124 """
00125 return self._slot_types
00126
00127 def serialize(self, buff):
00128 """
00129 serialize message into buffer
00130 @param buff: buffer
00131 @type buff: StringIO
00132 """
00133 try:
00134 _x = self
00135 buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
00136 _x = self.header.frame_id
00137 length = len(_x)
00138 buff.write(struct.pack('<I%ss'%length, length, _x))
00139 _x = self
00140 buff.write(_struct_2I.pack(_x.goal_id.stamp.secs, _x.goal_id.stamp.nsecs))
00141 _x = self.goal_id.id
00142 length = len(_x)
00143 buff.write(struct.pack('<I%ss'%length, length, _x))
00144 length = len(self.goal.target_poses)
00145 buff.write(_struct_I.pack(length))
00146 for val1 in self.goal.target_poses:
00147 _v1 = val1.header
00148 buff.write(_struct_I.pack(_v1.seq))
00149 _v2 = _v1.stamp
00150 _x = _v2
00151 buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00152 _x = _v1.frame_id
00153 length = len(_x)
00154 buff.write(struct.pack('<I%ss'%length, length, _x))
00155 _v3 = val1.pose
00156 _v4 = _v3.position
00157 _x = _v4
00158 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00159 _v5 = _v3.orientation
00160 _x = _v5
00161 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00162 length = len(self.goal.arm)
00163 buff.write(_struct_I.pack(length))
00164 for val1 in self.goal.arm:
00165 buff.write(_struct_i.pack(val1.data))
00166 except struct.error as se: self._check_types(se)
00167 except TypeError as te: self._check_types(te)
00168
00169 def deserialize(self, str):
00170 """
00171 unpack serialized message in str into this message instance
00172 @param str: byte array of serialized message
00173 @type str: str
00174 """
00175 try:
00176 if self.header is None:
00177 self.header = std_msgs.msg._Header.Header()
00178 if self.goal_id is None:
00179 self.goal_id = actionlib_msgs.msg.GoalID()
00180 if self.goal is None:
00181 self.goal = find_base_pose.msg.FindBasePoseGoal()
00182 end = 0
00183 _x = self
00184 start = end
00185 end += 12
00186 (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00187 start = end
00188 end += 4
00189 (length,) = _struct_I.unpack(str[start:end])
00190 start = end
00191 end += length
00192 self.header.frame_id = str[start:end]
00193 _x = self
00194 start = end
00195 end += 8
00196 (_x.goal_id.stamp.secs, _x.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00197 start = end
00198 end += 4
00199 (length,) = _struct_I.unpack(str[start:end])
00200 start = end
00201 end += length
00202 self.goal_id.id = str[start:end]
00203 start = end
00204 end += 4
00205 (length,) = _struct_I.unpack(str[start:end])
00206 self.goal.target_poses = []
00207 for i in range(0, length):
00208 val1 = geometry_msgs.msg.PoseStamped()
00209 _v6 = val1.header
00210 start = end
00211 end += 4
00212 (_v6.seq,) = _struct_I.unpack(str[start:end])
00213 _v7 = _v6.stamp
00214 _x = _v7
00215 start = end
00216 end += 8
00217 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
00218 start = end
00219 end += 4
00220 (length,) = _struct_I.unpack(str[start:end])
00221 start = end
00222 end += length
00223 _v6.frame_id = str[start:end]
00224 _v8 = val1.pose
00225 _v9 = _v8.position
00226 _x = _v9
00227 start = end
00228 end += 24
00229 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00230 _v10 = _v8.orientation
00231 _x = _v10
00232 start = end
00233 end += 32
00234 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
00235 self.goal.target_poses.append(val1)
00236 start = end
00237 end += 4
00238 (length,) = _struct_I.unpack(str[start:end])
00239 self.goal.arm = []
00240 for i in range(0, length):
00241 val1 = std_msgs.msg.Int32()
00242 start = end
00243 end += 4
00244 (val1.data,) = _struct_i.unpack(str[start:end])
00245 self.goal.arm.append(val1)
00246 return self
00247 except struct.error as e:
00248 raise roslib.message.DeserializationError(e)
00249
00250
00251 def serialize_numpy(self, buff, numpy):
00252 """
00253 serialize message with numpy array types into buffer
00254 @param buff: buffer
00255 @type buff: StringIO
00256 @param numpy: numpy python module
00257 @type numpy module
00258 """
00259 try:
00260 _x = self
00261 buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
00262 _x = self.header.frame_id
00263 length = len(_x)
00264 buff.write(struct.pack('<I%ss'%length, length, _x))
00265 _x = self
00266 buff.write(_struct_2I.pack(_x.goal_id.stamp.secs, _x.goal_id.stamp.nsecs))
00267 _x = self.goal_id.id
00268 length = len(_x)
00269 buff.write(struct.pack('<I%ss'%length, length, _x))
00270 length = len(self.goal.target_poses)
00271 buff.write(_struct_I.pack(length))
00272 for val1 in self.goal.target_poses:
00273 _v11 = val1.header
00274 buff.write(_struct_I.pack(_v11.seq))
00275 _v12 = _v11.stamp
00276 _x = _v12
00277 buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00278 _x = _v11.frame_id
00279 length = len(_x)
00280 buff.write(struct.pack('<I%ss'%length, length, _x))
00281 _v13 = val1.pose
00282 _v14 = _v13.position
00283 _x = _v14
00284 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00285 _v15 = _v13.orientation
00286 _x = _v15
00287 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00288 length = len(self.goal.arm)
00289 buff.write(_struct_I.pack(length))
00290 for val1 in self.goal.arm:
00291 buff.write(_struct_i.pack(val1.data))
00292 except struct.error as se: self._check_types(se)
00293 except TypeError as te: self._check_types(te)
00294
00295 def deserialize_numpy(self, str, numpy):
00296 """
00297 unpack serialized message in str into this message instance using numpy for array types
00298 @param str: byte array of serialized message
00299 @type str: str
00300 @param numpy: numpy python module
00301 @type numpy: module
00302 """
00303 try:
00304 if self.header is None:
00305 self.header = std_msgs.msg._Header.Header()
00306 if self.goal_id is None:
00307 self.goal_id = actionlib_msgs.msg.GoalID()
00308 if self.goal is None:
00309 self.goal = find_base_pose.msg.FindBasePoseGoal()
00310 end = 0
00311 _x = self
00312 start = end
00313 end += 12
00314 (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00315 start = end
00316 end += 4
00317 (length,) = _struct_I.unpack(str[start:end])
00318 start = end
00319 end += length
00320 self.header.frame_id = str[start:end]
00321 _x = self
00322 start = end
00323 end += 8
00324 (_x.goal_id.stamp.secs, _x.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00325 start = end
00326 end += 4
00327 (length,) = _struct_I.unpack(str[start:end])
00328 start = end
00329 end += length
00330 self.goal_id.id = str[start:end]
00331 start = end
00332 end += 4
00333 (length,) = _struct_I.unpack(str[start:end])
00334 self.goal.target_poses = []
00335 for i in range(0, length):
00336 val1 = geometry_msgs.msg.PoseStamped()
00337 _v16 = val1.header
00338 start = end
00339 end += 4
00340 (_v16.seq,) = _struct_I.unpack(str[start:end])
00341 _v17 = _v16.stamp
00342 _x = _v17
00343 start = end
00344 end += 8
00345 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
00346 start = end
00347 end += 4
00348 (length,) = _struct_I.unpack(str[start:end])
00349 start = end
00350 end += length
00351 _v16.frame_id = str[start:end]
00352 _v18 = val1.pose
00353 _v19 = _v18.position
00354 _x = _v19
00355 start = end
00356 end += 24
00357 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00358 _v20 = _v18.orientation
00359 _x = _v20
00360 start = end
00361 end += 32
00362 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
00363 self.goal.target_poses.append(val1)
00364 start = end
00365 end += 4
00366 (length,) = _struct_I.unpack(str[start:end])
00367 self.goal.arm = []
00368 for i in range(0, length):
00369 val1 = std_msgs.msg.Int32()
00370 start = end
00371 end += 4
00372 (val1.data,) = _struct_i.unpack(str[start:end])
00373 self.goal.arm.append(val1)
00374 return self
00375 except struct.error as e:
00376 raise roslib.message.DeserializationError(e)
00377
00378 _struct_I = roslib.message.struct_I
00379 _struct_i = struct.Struct("<i")
00380 _struct_3I = struct.Struct("<3I")
00381 _struct_4d = struct.Struct("<4d")
00382 _struct_2I = struct.Struct("<2I")
00383 _struct_3d = struct.Struct("<3d")
