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_GetPath.py

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

import halfsteps_pattern_generator.msg
import walk_msgs.msg
import geometry_msgs.msg
import roslib.rostime

class GetPathRequest(roslib.message.Message):
  _md5sum = "e063e957046b30786d0c14db34db37f1"
  _type = "halfsteps_pattern_generator/GetPathRequest"
  _has_header = False #flag to mark the presence of a Header object
  _full_text = """geometry_msgs/Pose initial_left_foot_position
geometry_msgs/Pose initial_right_foot_position
geometry_msgs/Point initial_center_of_mass_position

geometry_msgs/Pose final_left_foot_position
geometry_msgs/Pose final_right_foot_position
geometry_msgs/Point final_center_of_mass_position

bool start_with_left_foot

halfsteps_pattern_generator/Footprint[] footprints

================================================================================
MSG: geometry_msgs/Pose
# A representation of pose in free space, composed of postion and orientation. 
Point position
Quaternion orientation

================================================================================
MSG: geometry_msgs/Point
# This contains the position of a point in free space
float64 x
float64 y
float64 z

================================================================================
MSG: geometry_msgs/Quaternion
# This represents an orientation in free space in quaternion form.

float64 x
float64 y
float64 z
float64 w

================================================================================
MSG: halfsteps_pattern_generator/Footprint
walk_msgs/Footprint2d footprint
float64 slideUp
float64 slideDown
float64 horizontalDistance
float64 stepHeight

================================================================================
MSG: walk_msgs/Footprint2d
time beginTime
duration duration
float64 x
float64 y
float64 theta

"""
  __slots__ = ['initial_left_foot_position','initial_right_foot_position','initial_center_of_mass_position','final_left_foot_position','final_right_foot_position','final_center_of_mass_position','start_with_left_foot','footprints']
  _slot_types = ['geometry_msgs/Pose','geometry_msgs/Pose','geometry_msgs/Point','geometry_msgs/Pose','geometry_msgs/Pose','geometry_msgs/Point','bool','halfsteps_pattern_generator/Footprint[]']

  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:
       initial_left_foot_position,initial_right_foot_position,initial_center_of_mass_position,final_left_foot_position,final_right_foot_position,final_center_of_mass_position,start_with_left_foot,footprints
    
    @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(GetPathRequest, self).__init__(*args, **kwds)
      #message fields cannot be None, assign default values for those that are
      if self.initial_left_foot_position is None:
        self.initial_left_foot_position = geometry_msgs.msg.Pose()
      if self.initial_right_foot_position is None:
        self.initial_right_foot_position = geometry_msgs.msg.Pose()
      if self.initial_center_of_mass_position is None:
        self.initial_center_of_mass_position = geometry_msgs.msg.Point()
      if self.final_left_foot_position is None:
        self.final_left_foot_position = geometry_msgs.msg.Pose()
      if self.final_right_foot_position is None:
        self.final_right_foot_position = geometry_msgs.msg.Pose()
      if self.final_center_of_mass_position is None:
        self.final_center_of_mass_position = geometry_msgs.msg.Point()
      if self.start_with_left_foot is None:
        self.start_with_left_foot = False
      if self.footprints is None:
        self.footprints = []
    else:
      self.initial_left_foot_position = geometry_msgs.msg.Pose()
      self.initial_right_foot_position = geometry_msgs.msg.Pose()
      self.initial_center_of_mass_position = geometry_msgs.msg.Point()
      self.final_left_foot_position = geometry_msgs.msg.Pose()
      self.final_right_foot_position = geometry_msgs.msg.Pose()
      self.final_center_of_mass_position = geometry_msgs.msg.Point()
      self.start_with_left_foot = False
      self.footprints = []

  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_34dB.pack(_x.initial_left_foot_position.position.x, _x.initial_left_foot_position.position.y, _x.initial_left_foot_position.position.z, _x.initial_left_foot_position.orientation.x, _x.initial_left_foot_position.orientation.y, _x.initial_left_foot_position.orientation.z, _x.initial_left_foot_position.orientation.w, _x.initial_right_foot_position.position.x, _x.initial_right_foot_position.position.y, _x.initial_right_foot_position.position.z, _x.initial_right_foot_position.orientation.x, _x.initial_right_foot_position.orientation.y, _x.initial_right_foot_position.orientation.z, _x.initial_right_foot_position.orientation.w, _x.initial_center_of_mass_position.x, _x.initial_center_of_mass_position.y, _x.initial_center_of_mass_position.z, _x.final_left_foot_position.position.x, _x.final_left_foot_position.position.y, _x.final_left_foot_position.position.z, _x.final_left_foot_position.orientation.x, _x.final_left_foot_position.orientation.y, _x.final_left_foot_position.orientation.z, _x.final_left_foot_position.orientation.w, _x.final_right_foot_position.position.x, _x.final_right_foot_position.position.y, _x.final_right_foot_position.position.z, _x.final_right_foot_position.orientation.x, _x.final_right_foot_position.orientation.y, _x.final_right_foot_position.orientation.z, _x.final_right_foot_position.orientation.w, _x.final_center_of_mass_position.x, _x.final_center_of_mass_position.y, _x.final_center_of_mass_position.z, _x.start_with_left_foot))
      length = len(self.footprints)
      buff.write(_struct_I.pack(length))
      for val1 in self.footprints:
        _v1 = val1.footprint
        _v2 = _v1.beginTime
        _x = _v2
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _v3 = _v1.duration
        _x = _v3
        buff.write(_struct_2i.pack(_x.secs, _x.nsecs))
        _x = _v1
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.theta))
        _x = val1
        buff.write(_struct_4d.pack(_x.slideUp, _x.slideDown, _x.horizontalDistance, _x.stepHeight))
    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.initial_left_foot_position is None:
        self.initial_left_foot_position = geometry_msgs.msg.Pose()
      if self.initial_right_foot_position is None:
        self.initial_right_foot_position = geometry_msgs.msg.Pose()
      if self.initial_center_of_mass_position is None:
        self.initial_center_of_mass_position = geometry_msgs.msg.Point()
      if self.final_left_foot_position is None:
        self.final_left_foot_position = geometry_msgs.msg.Pose()
      if self.final_right_foot_position is None:
        self.final_right_foot_position = geometry_msgs.msg.Pose()
      if self.final_center_of_mass_position is None:
        self.final_center_of_mass_position = geometry_msgs.msg.Point()
      end = 0
      _x = self
      start = end
      end += 273
      (_x.initial_left_foot_position.position.x, _x.initial_left_foot_position.position.y, _x.initial_left_foot_position.position.z, _x.initial_left_foot_position.orientation.x, _x.initial_left_foot_position.orientation.y, _x.initial_left_foot_position.orientation.z, _x.initial_left_foot_position.orientation.w, _x.initial_right_foot_position.position.x, _x.initial_right_foot_position.position.y, _x.initial_right_foot_position.position.z, _x.initial_right_foot_position.orientation.x, _x.initial_right_foot_position.orientation.y, _x.initial_right_foot_position.orientation.z, _x.initial_right_foot_position.orientation.w, _x.initial_center_of_mass_position.x, _x.initial_center_of_mass_position.y, _x.initial_center_of_mass_position.z, _x.final_left_foot_position.position.x, _x.final_left_foot_position.position.y, _x.final_left_foot_position.position.z, _x.final_left_foot_position.orientation.x, _x.final_left_foot_position.orientation.y, _x.final_left_foot_position.orientation.z, _x.final_left_foot_position.orientation.w, _x.final_right_foot_position.position.x, _x.final_right_foot_position.position.y, _x.final_right_foot_position.position.z, _x.final_right_foot_position.orientation.x, _x.final_right_foot_position.orientation.y, _x.final_right_foot_position.orientation.z, _x.final_right_foot_position.orientation.w, _x.final_center_of_mass_position.x, _x.final_center_of_mass_position.y, _x.final_center_of_mass_position.z, _x.start_with_left_foot,) = _struct_34dB.unpack(str[start:end])
      self.start_with_left_foot = bool(self.start_with_left_foot)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.footprints = []
      for i in range(0, length):
        val1 = halfsteps_pattern_generator.msg.Footprint()
        _v4 = val1.footprint
        _v5 = _v4.beginTime
        _x = _v5
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
        _v6 = _v4.duration
        _x = _v6
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2i.unpack(str[start:end])
        _x = _v4
        start = end
        end += 24
        (_x.x, _x.y, _x.theta,) = _struct_3d.unpack(str[start:end])
        _x = val1
        start = end
        end += 32
        (_x.slideUp, _x.slideDown, _x.horizontalDistance, _x.stepHeight,) = _struct_4d.unpack(str[start:end])
        self.footprints.append(val1)
      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_34dB.pack(_x.initial_left_foot_position.position.x, _x.initial_left_foot_position.position.y, _x.initial_left_foot_position.position.z, _x.initial_left_foot_position.orientation.x, _x.initial_left_foot_position.orientation.y, _x.initial_left_foot_position.orientation.z, _x.initial_left_foot_position.orientation.w, _x.initial_right_foot_position.position.x, _x.initial_right_foot_position.position.y, _x.initial_right_foot_position.position.z, _x.initial_right_foot_position.orientation.x, _x.initial_right_foot_position.orientation.y, _x.initial_right_foot_position.orientation.z, _x.initial_right_foot_position.orientation.w, _x.initial_center_of_mass_position.x, _x.initial_center_of_mass_position.y, _x.initial_center_of_mass_position.z, _x.final_left_foot_position.position.x, _x.final_left_foot_position.position.y, _x.final_left_foot_position.position.z, _x.final_left_foot_position.orientation.x, _x.final_left_foot_position.orientation.y, _x.final_left_foot_position.orientation.z, _x.final_left_foot_position.orientation.w, _x.final_right_foot_position.position.x, _x.final_right_foot_position.position.y, _x.final_right_foot_position.position.z, _x.final_right_foot_position.orientation.x, _x.final_right_foot_position.orientation.y, _x.final_right_foot_position.orientation.z, _x.final_right_foot_position.orientation.w, _x.final_center_of_mass_position.x, _x.final_center_of_mass_position.y, _x.final_center_of_mass_position.z, _x.start_with_left_foot))
      length = len(self.footprints)
      buff.write(_struct_I.pack(length))
      for val1 in self.footprints:
        _v7 = val1.footprint
        _v8 = _v7.beginTime
        _x = _v8
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _v9 = _v7.duration
        _x = _v9
        buff.write(_struct_2i.pack(_x.secs, _x.nsecs))
        _x = _v7
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.theta))
        _x = val1
        buff.write(_struct_4d.pack(_x.slideUp, _x.slideDown, _x.horizontalDistance, _x.stepHeight))
    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.initial_left_foot_position is None:
        self.initial_left_foot_position = geometry_msgs.msg.Pose()
      if self.initial_right_foot_position is None:
        self.initial_right_foot_position = geometry_msgs.msg.Pose()
      if self.initial_center_of_mass_position is None:
        self.initial_center_of_mass_position = geometry_msgs.msg.Point()
      if self.final_left_foot_position is None:
        self.final_left_foot_position = geometry_msgs.msg.Pose()
      if self.final_right_foot_position is None:
        self.final_right_foot_position = geometry_msgs.msg.Pose()
      if self.final_center_of_mass_position is None:
        self.final_center_of_mass_position = geometry_msgs.msg.Point()
      end = 0
      _x = self
      start = end
      end += 273
      (_x.initial_left_foot_position.position.x, _x.initial_left_foot_position.position.y, _x.initial_left_foot_position.position.z, _x.initial_left_foot_position.orientation.x, _x.initial_left_foot_position.orientation.y, _x.initial_left_foot_position.orientation.z, _x.initial_left_foot_position.orientation.w, _x.initial_right_foot_position.position.x, _x.initial_right_foot_position.position.y, _x.initial_right_foot_position.position.z, _x.initial_right_foot_position.orientation.x, _x.initial_right_foot_position.orientation.y, _x.initial_right_foot_position.orientation.z, _x.initial_right_foot_position.orientation.w, _x.initial_center_of_mass_position.x, _x.initial_center_of_mass_position.y, _x.initial_center_of_mass_position.z, _x.final_left_foot_position.position.x, _x.final_left_foot_position.position.y, _x.final_left_foot_position.position.z, _x.final_left_foot_position.orientation.x, _x.final_left_foot_position.orientation.y, _x.final_left_foot_position.orientation.z, _x.final_left_foot_position.orientation.w, _x.final_right_foot_position.position.x, _x.final_right_foot_position.position.y, _x.final_right_foot_position.position.z, _x.final_right_foot_position.orientation.x, _x.final_right_foot_position.orientation.y, _x.final_right_foot_position.orientation.z, _x.final_right_foot_position.orientation.w, _x.final_center_of_mass_position.x, _x.final_center_of_mass_position.y, _x.final_center_of_mass_position.z, _x.start_with_left_foot,) = _struct_34dB.unpack(str[start:end])
      self.start_with_left_foot = bool(self.start_with_left_foot)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.footprints = []
      for i in range(0, length):
        val1 = halfsteps_pattern_generator.msg.Footprint()
        _v10 = val1.footprint
        _v11 = _v10.beginTime
        _x = _v11
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
        _v12 = _v10.duration
        _x = _v12
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2i.unpack(str[start:end])
        _x = _v10
        start = end
        end += 24
        (_x.x, _x.y, _x.theta,) = _struct_3d.unpack(str[start:end])
        _x = val1
        start = end
        end += 32
        (_x.slideUp, _x.slideDown, _x.horizontalDistance, _x.stepHeight,) = _struct_4d.unpack(str[start:end])
        self.footprints.append(val1)
      return self
    except struct.error as e:
      raise roslib.message.DeserializationError(e) #most likely buffer underfill

_struct_I = roslib.message.struct_I
_struct_2i = struct.Struct("<2i")
_struct_4d = struct.Struct("<4d")
_struct_3d = struct.Struct("<3d")
_struct_2I = struct.Struct("<2I")
_struct_34dB = struct.Struct("<34dB")
"""autogenerated by genmsg_py from GetPathResponse.msg. Do not edit."""
import roslib.message
import struct

import geometry_msgs.msg
import walk_msgs.msg
import nav_msgs.msg
import std_msgs.msg

class GetPathResponse(roslib.message.Message):
  _md5sum = "76d3891998acfa84511d5b8b9e0f9b97"
  _type = "halfsteps_pattern_generator/GetPathResponse"
  _has_header = False #flag to mark the presence of a Header object
  _full_text = """walk_msgs/WalkPath path


================================================================================
MSG: walk_msgs/WalkPath
nav_msgs/Path left_foot
nav_msgs/Path right_foot
walk_msgs/PathPoint3d center_of_mass
walk_msgs/PathPoint2d zmp

================================================================================
MSG: nav_msgs/Path
#An array of poses that represents a Path for a robot to follow
Header header
geometry_msgs/PoseStamped[] poses

================================================================================
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: geometry_msgs/PoseStamped
# A Pose with reference coordinate frame and timestamp
Header header
Pose pose

================================================================================
MSG: geometry_msgs/Pose
# A representation of pose in free space, composed of postion and orientation. 
Point position
Quaternion orientation

================================================================================
MSG: geometry_msgs/Point
# This contains the position of a point in free space
float64 x
float64 y
float64 z

================================================================================
MSG: geometry_msgs/Quaternion
# This represents an orientation in free space in quaternion form.

float64 x
float64 y
float64 z
float64 w

================================================================================
MSG: walk_msgs/PathPoint3d
Header header
geometry_msgs/PointStamped[] points

================================================================================
MSG: geometry_msgs/PointStamped
# This represents a Point with reference coordinate frame and timestamp
Header header
Point point

================================================================================
MSG: walk_msgs/PathPoint2d
Header header
walk_msgs/Point2dStamped[] points

================================================================================
MSG: walk_msgs/Point2dStamped
Header header
Point2d point

================================================================================
MSG: walk_msgs/Point2d
float64 x
float64 y

"""
  __slots__ = ['path']
  _slot_types = ['walk_msgs/WalkPath']

  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:
       path
    
    @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(GetPathResponse, self).__init__(*args, **kwds)
      #message fields cannot be None, assign default values for those that are
      if self.path is None:
        self.path = walk_msgs.msg.WalkPath()
    else:
      self.path = walk_msgs.msg.WalkPath()

  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.path.left_foot.header.seq, _x.path.left_foot.header.stamp.secs, _x.path.left_foot.header.stamp.nsecs))
      _x = self.path.left_foot.header.frame_id
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.path.left_foot.poses)
      buff.write(_struct_I.pack(length))
      for val1 in self.path.left_foot.poses:
        _v13 = val1.header
        buff.write(_struct_I.pack(_v13.seq))
        _v14 = _v13.stamp
        _x = _v14
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v13.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _v15 = val1.pose
        _v16 = _v15.position
        _x = _v16
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v17 = _v15.orientation
        _x = _v17
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
      _x = self
      buff.write(_struct_3I.pack(_x.path.right_foot.header.seq, _x.path.right_foot.header.stamp.secs, _x.path.right_foot.header.stamp.nsecs))
      _x = self.path.right_foot.header.frame_id
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.path.right_foot.poses)
      buff.write(_struct_I.pack(length))
      for val1 in self.path.right_foot.poses:
        _v18 = val1.header
        buff.write(_struct_I.pack(_v18.seq))
        _v19 = _v18.stamp
        _x = _v19
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v18.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _v20 = val1.pose
        _v21 = _v20.position
        _x = _v21
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v22 = _v20.orientation
        _x = _v22
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
      _x = self
      buff.write(_struct_3I.pack(_x.path.center_of_mass.header.seq, _x.path.center_of_mass.header.stamp.secs, _x.path.center_of_mass.header.stamp.nsecs))
      _x = self.path.center_of_mass.header.frame_id
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.path.center_of_mass.points)
      buff.write(_struct_I.pack(length))
      for val1 in self.path.center_of_mass.points:
        _v23 = val1.header
        buff.write(_struct_I.pack(_v23.seq))
        _v24 = _v23.stamp
        _x = _v24
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v23.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _v25 = val1.point
        _x = _v25
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
      _x = self
      buff.write(_struct_3I.pack(_x.path.zmp.header.seq, _x.path.zmp.header.stamp.secs, _x.path.zmp.header.stamp.nsecs))
      _x = self.path.zmp.header.frame_id
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.path.zmp.points)
      buff.write(_struct_I.pack(length))
      for val1 in self.path.zmp.points:
        _v26 = val1.header
        buff.write(_struct_I.pack(_v26.seq))
        _v27 = _v26.stamp
        _x = _v27
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v26.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _v28 = val1.point
        _x = _v28
        buff.write(_struct_2d.pack(_x.x, _x.y))
    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.path is None:
        self.path = walk_msgs.msg.WalkPath()
      end = 0
      _x = self
      start = end
      end += 12
      (_x.path.left_foot.header.seq, _x.path.left_foot.header.stamp.secs, _x.path.left_foot.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.path.left_foot.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.path.left_foot.poses = []
      for i in range(0, length):
        val1 = geometry_msgs.msg.PoseStamped()
        _v29 = val1.header
        start = end
        end += 4
        (_v29.seq,) = _struct_I.unpack(str[start:end])
        _v30 = _v29.stamp
        _x = _v30
        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
        _v29.frame_id = str[start:end]
        _v31 = val1.pose
        _v32 = _v31.position
        _x = _v32
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v33 = _v31.orientation
        _x = _v33
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        self.path.left_foot.poses.append(val1)
      _x = self
      start = end
      end += 12
      (_x.path.right_foot.header.seq, _x.path.right_foot.header.stamp.secs, _x.path.right_foot.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.path.right_foot.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.path.right_foot.poses = []
      for i in range(0, length):
        val1 = geometry_msgs.msg.PoseStamped()
        _v34 = val1.header
        start = end
        end += 4
        (_v34.seq,) = _struct_I.unpack(str[start:end])
        _v35 = _v34.stamp
        _x = _v35
        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
        _v34.frame_id = str[start:end]
        _v36 = val1.pose
        _v37 = _v36.position
        _x = _v37
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v38 = _v36.orientation
        _x = _v38
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        self.path.right_foot.poses.append(val1)
      _x = self
      start = end
      end += 12
      (_x.path.center_of_mass.header.seq, _x.path.center_of_mass.header.stamp.secs, _x.path.center_of_mass.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.path.center_of_mass.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.path.center_of_mass.points = []
      for i in range(0, length):
        val1 = geometry_msgs.msg.PointStamped()
        _v39 = val1.header
        start = end
        end += 4
        (_v39.seq,) = _struct_I.unpack(str[start:end])
        _v40 = _v39.stamp
        _x = _v40
        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
        _v39.frame_id = str[start:end]
        _v41 = val1.point
        _x = _v41
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        self.path.center_of_mass.points.append(val1)
      _x = self
      start = end
      end += 12
      (_x.path.zmp.header.seq, _x.path.zmp.header.stamp.secs, _x.path.zmp.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.path.zmp.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.path.zmp.points = []
      for i in range(0, length):
        val1 = walk_msgs.msg.Point2dStamped()
        _v42 = val1.header
        start = end
        end += 4
        (_v42.seq,) = _struct_I.unpack(str[start:end])
        _v43 = _v42.stamp
        _x = _v43
        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
        _v42.frame_id = str[start:end]
        _v44 = val1.point
        _x = _v44
        start = end
        end += 16
        (_x.x, _x.y,) = _struct_2d.unpack(str[start:end])
        self.path.zmp.points.append(val1)
      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.path.left_foot.header.seq, _x.path.left_foot.header.stamp.secs, _x.path.left_foot.header.stamp.nsecs))
      _x = self.path.left_foot.header.frame_id
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.path.left_foot.poses)
      buff.write(_struct_I.pack(length))
      for val1 in self.path.left_foot.poses:
        _v45 = val1.header
        buff.write(_struct_I.pack(_v45.seq))
        _v46 = _v45.stamp
        _x = _v46
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v45.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _v47 = val1.pose
        _v48 = _v47.position
        _x = _v48
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v49 = _v47.orientation
        _x = _v49
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
      _x = self
      buff.write(_struct_3I.pack(_x.path.right_foot.header.seq, _x.path.right_foot.header.stamp.secs, _x.path.right_foot.header.stamp.nsecs))
      _x = self.path.right_foot.header.frame_id
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.path.right_foot.poses)
      buff.write(_struct_I.pack(length))
      for val1 in self.path.right_foot.poses:
        _v50 = val1.header
        buff.write(_struct_I.pack(_v50.seq))
        _v51 = _v50.stamp
        _x = _v51
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v50.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _v52 = val1.pose
        _v53 = _v52.position
        _x = _v53
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v54 = _v52.orientation
        _x = _v54
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
      _x = self
      buff.write(_struct_3I.pack(_x.path.center_of_mass.header.seq, _x.path.center_of_mass.header.stamp.secs, _x.path.center_of_mass.header.stamp.nsecs))
      _x = self.path.center_of_mass.header.frame_id
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.path.center_of_mass.points)
      buff.write(_struct_I.pack(length))
      for val1 in self.path.center_of_mass.points:
        _v55 = val1.header
        buff.write(_struct_I.pack(_v55.seq))
        _v56 = _v55.stamp
        _x = _v56
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v55.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _v57 = val1.point
        _x = _v57
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
      _x = self
      buff.write(_struct_3I.pack(_x.path.zmp.header.seq, _x.path.zmp.header.stamp.secs, _x.path.zmp.header.stamp.nsecs))
      _x = self.path.zmp.header.frame_id
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.path.zmp.points)
      buff.write(_struct_I.pack(length))
      for val1 in self.path.zmp.points:
        _v58 = val1.header
        buff.write(_struct_I.pack(_v58.seq))
        _v59 = _v58.stamp
        _x = _v59
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v58.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _v60 = val1.point
        _x = _v60
        buff.write(_struct_2d.pack(_x.x, _x.y))
    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.path is None:
        self.path = walk_msgs.msg.WalkPath()
      end = 0
      _x = self
      start = end
      end += 12
      (_x.path.left_foot.header.seq, _x.path.left_foot.header.stamp.secs, _x.path.left_foot.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.path.left_foot.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.path.left_foot.poses = []
      for i in range(0, length):
        val1 = geometry_msgs.msg.PoseStamped()
        _v61 = val1.header
        start = end
        end += 4
        (_v61.seq,) = _struct_I.unpack(str[start:end])
        _v62 = _v61.stamp
        _x = _v62
        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
        _v61.frame_id = str[start:end]
        _v63 = val1.pose
        _v64 = _v63.position
        _x = _v64
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v65 = _v63.orientation
        _x = _v65
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        self.path.left_foot.poses.append(val1)
      _x = self
      start = end
      end += 12
      (_x.path.right_foot.header.seq, _x.path.right_foot.header.stamp.secs, _x.path.right_foot.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.path.right_foot.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.path.right_foot.poses = []
      for i in range(0, length):
        val1 = geometry_msgs.msg.PoseStamped()
        _v66 = val1.header
        start = end
        end += 4
        (_v66.seq,) = _struct_I.unpack(str[start:end])
        _v67 = _v66.stamp
        _x = _v67
        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
        _v66.frame_id = str[start:end]
        _v68 = val1.pose
        _v69 = _v68.position
        _x = _v69
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v70 = _v68.orientation
        _x = _v70
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        self.path.right_foot.poses.append(val1)
      _x = self
      start = end
      end += 12
      (_x.path.center_of_mass.header.seq, _x.path.center_of_mass.header.stamp.secs, _x.path.center_of_mass.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.path.center_of_mass.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.path.center_of_mass.points = []
      for i in range(0, length):
        val1 = geometry_msgs.msg.PointStamped()
        _v71 = val1.header
        start = end
        end += 4
        (_v71.seq,) = _struct_I.unpack(str[start:end])
        _v72 = _v71.stamp
        _x = _v72
        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
        _v71.frame_id = str[start:end]
        _v73 = val1.point
        _x = _v73
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        self.path.center_of_mass.points.append(val1)
      _x = self
      start = end
      end += 12
      (_x.path.zmp.header.seq, _x.path.zmp.header.stamp.secs, _x.path.zmp.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.path.zmp.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.path.zmp.points = []
      for i in range(0, length):
        val1 = walk_msgs.msg.Point2dStamped()
        _v74 = val1.header
        start = end
        end += 4
        (_v74.seq,) = _struct_I.unpack(str[start:end])
        _v75 = _v74.stamp
        _x = _v75
        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
        _v74.frame_id = str[start:end]
        _v76 = val1.point
        _x = _v76
        start = end
        end += 16
        (_x.x, _x.y,) = _struct_2d.unpack(str[start:end])
        self.path.zmp.points.append(val1)
      return self
    except struct.error as e:
      raise roslib.message.DeserializationError(e) #most likely buffer underfill

_struct_I = roslib.message.struct_I
_struct_2d = struct.Struct("<2d")
_struct_3I = struct.Struct("<3I")
_struct_4d = struct.Struct("<4d")
_struct_2I = struct.Struct("<2I")
_struct_3d = struct.Struct("<3d")
class GetPath(roslib.message.ServiceDefinition):
  _type          = 'halfsteps_pattern_generator/GetPath'
  _md5sum = '52f659c3ddcbd1a61d82d7784cec1a56'
  _request_class  = GetPathRequest
  _response_class = GetPathResponse

---

halfsteps_pattern_generator
Author(s): Nicolas Perrin, Thomas Moulard/thomas.moulard@gmail.com
autogenerated on Fri Mar 1 15:43:15 2013