00001 """autogenerated by genmsg_py from PoseWithCovarianceStamped.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 PoseWithCovarianceStamped(roslib.message.Message):
00009 _md5sum = "953b798c0f514ff060a53a3498ce6246"
00010 _type = "geometry_msgs/PoseWithCovarianceStamped"
00011 _has_header = True
00012 _full_text = """# This expresses an estimated pose with a reference coordinate frame and timestamp
00013
00014 Header header
00015 PoseWithCovariance pose
00016
00017 ================================================================================
00018 MSG: std_msgs/Header
00019 # Standard metadata for higher-level stamped data types.
00020 # This is generally used to communicate timestamped data
00021 # in a particular coordinate frame.
00022 #
00023 # sequence ID: consecutively increasing ID
00024 uint32 seq
00025 #Two-integer timestamp that is expressed as:
00026 # * stamp.secs: seconds (stamp_secs) since epoch
00027 # * stamp.nsecs: nanoseconds since stamp_secs
00028 # time-handling sugar is provided by the client library
00029 time stamp
00030 #Frame this data is associated with
00031 # 0: no frame
00032 # 1: global frame
00033 string frame_id
00034
00035 ================================================================================
00036 MSG: geometry_msgs/PoseWithCovariance
00037 # This represents a pose in free space with uncertainty.
00038
00039 Pose pose
00040
00041 # Row-major representation of the 6x6 covariance matrix
00042 # The orientation parameters use a fixed-axis representation.
00043 # In order, the parameters are:
00044 # (x, y, z, rotation about X axis, rotation about Y axis, rotation about Z axis)
00045 float64[36] covariance
00046
00047 ================================================================================
00048 MSG: geometry_msgs/Pose
00049 # A representation of pose in free space, composed of postion and orientation.
00050 Point position
00051 Quaternion orientation
00052
00053 ================================================================================
00054 MSG: geometry_msgs/Point
00055 # This contains the position of a point in free space
00056 float64 x
00057 float64 y
00058 float64 z
00059
00060 ================================================================================
00061 MSG: geometry_msgs/Quaternion
00062 # This represents an orientation in free space in quaternion form.
00063
00064 float64 x
00065 float64 y
00066 float64 z
00067 float64 w
00068
00069 """
00070 __slots__ = ['header','pose']
00071 _slot_types = ['Header','geometry_msgs/PoseWithCovariance']
00072
00073 def __init__(self, *args, **kwds):
00074 """
00075 Constructor. Any message fields that are implicitly/explicitly
00076 set to None will be assigned a default value. The recommend
00077 use is keyword arguments as this is more robust to future message
00078 changes. You cannot mix in-order arguments and keyword arguments.
00079
00080 The available fields are:
00081 header,pose
00082
00083 @param args: complete set of field values, in .msg order
00084 @param kwds: use keyword arguments corresponding to message field names
00085 to set specific fields.
00086 """
00087 if args or kwds:
00088 super(PoseWithCovarianceStamped, self).__init__(*args, **kwds)
00089
00090 if self.header is None:
00091 self.header = std_msgs.msg._Header.Header()
00092 if self.pose is None:
00093 self.pose = geometry_msgs.msg.PoseWithCovariance()
00094 else:
00095 self.header = std_msgs.msg._Header.Header()
00096 self.pose = geometry_msgs.msg.PoseWithCovariance()
00097
00098 def _get_types(self):
00099 """
00100 internal API method
00101 """
00102 return self._slot_types
00103
00104 def serialize(self, buff):
00105 """
00106 serialize message into buffer
00107 @param buff: buffer
00108 @type buff: StringIO
00109 """
00110 try:
00111 _x = self
00112 buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
00113 _x = self.header.frame_id
00114 length = len(_x)
00115 buff.write(struct.pack('<I%ss'%length, length, _x))
00116 _x = self
00117 buff.write(_struct_7d.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))
00118 buff.write(_struct_36d.pack(*self.pose.covariance))
00119 except struct.error as se: self._check_types(se)
00120 except TypeError as te: self._check_types(te)
00121
00122 def deserialize(self, str):
00123 """
00124 unpack serialized message in str into this message instance
00125 @param str: byte array of serialized message
00126 @type str: str
00127 """
00128 try:
00129 if self.header is None:
00130 self.header = std_msgs.msg._Header.Header()
00131 if self.pose is None:
00132 self.pose = geometry_msgs.msg.PoseWithCovariance()
00133 end = 0
00134 _x = self
00135 start = end
00136 end += 12
00137 (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00138 start = end
00139 end += 4
00140 (length,) = _struct_I.unpack(str[start:end])
00141 start = end
00142 end += length
00143 self.header.frame_id = str[start:end]
00144 _x = self
00145 start = end
00146 end += 56
00147 (_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,) = _struct_7d.unpack(str[start:end])
00148 start = end
00149 end += 288
00150 self.pose.covariance = _struct_36d.unpack(str[start:end])
00151 return self
00152 except struct.error as e:
00153 raise roslib.message.DeserializationError(e)
00154
00155
00156 def serialize_numpy(self, buff, numpy):
00157 """
00158 serialize message with numpy array types into buffer
00159 @param buff: buffer
00160 @type buff: StringIO
00161 @param numpy: numpy python module
00162 @type numpy module
00163 """
00164 try:
00165 _x = self
00166 buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
00167 _x = self.header.frame_id
00168 length = len(_x)
00169 buff.write(struct.pack('<I%ss'%length, length, _x))
00170 _x = self
00171 buff.write(_struct_7d.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))
00172 buff.write(self.pose.covariance.tostring())
00173 except struct.error as se: self._check_types(se)
00174 except TypeError as te: self._check_types(te)
00175
00176 def deserialize_numpy(self, str, numpy):
00177 """
00178 unpack serialized message in str into this message instance using numpy for array types
00179 @param str: byte array of serialized message
00180 @type str: str
00181 @param numpy: numpy python module
00182 @type numpy: module
00183 """
00184 try:
00185 if self.header is None:
00186 self.header = std_msgs.msg._Header.Header()
00187 if self.pose is None:
00188 self.pose = geometry_msgs.msg.PoseWithCovariance()
00189 end = 0
00190 _x = self
00191 start = end
00192 end += 12
00193 (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00194 start = end
00195 end += 4
00196 (length,) = _struct_I.unpack(str[start:end])
00197 start = end
00198 end += length
00199 self.header.frame_id = str[start:end]
00200 _x = self
00201 start = end
00202 end += 56
00203 (_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,) = _struct_7d.unpack(str[start:end])
00204 start = end
00205 end += 288
00206 self.pose.covariance = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=36)
00207 return self
00208 except struct.error as e:
00209 raise roslib.message.DeserializationError(e)
00210
00211 _struct_I = roslib.message.struct_I
00212 _struct_3I = struct.Struct("<3I")
00213 _struct_7d = struct.Struct("<7d")
00214 _struct_36d = struct.Struct("<36d")
