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00001 """autogenerated by genmsg_py from HeadMonitorFeedback.msg. Do not edit.""" 00002 import roslib.message 00003 import struct 00004 00005 import arm_navigation_msgs.msg 00006 import geometry_msgs.msg 00007 import std_msgs.msg 00008 import roslib.rostime 00009 import sensor_msgs.msg 00010 00011 class HeadMonitorFeedback(roslib.message.Message): 00012 _md5sum = "28369e3e74e07eaa07a53a310edb3d35" 00013 _type = "head_monitor_msgs/HeadMonitorFeedback" 00014 _has_header = False #flag to mark the presence of a Header object 00015 _full_text = """# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ====== 00016 arm_navigation_msgs/RobotState current_state 00017 arm_navigation_msgs/RobotState paused_trajectory_state 00018 arm_navigation_msgs/CollisionObject paused_collision_map 00019 00020 00021 00022 ================================================================================ 00023 MSG: arm_navigation_msgs/RobotState 00024 # This message contains information about the robot state, i.e. the positions of its joints and links 00025 sensor_msgs/JointState joint_state 00026 arm_navigation_msgs/MultiDOFJointState multi_dof_joint_state 00027 00028 ================================================================================ 00029 MSG: sensor_msgs/JointState 00030 # This is a message that holds data to describe the state of a set of torque controlled joints. 00031 # 00032 # The state of each joint (revolute or prismatic) is defined by: 00033 # * the position of the joint (rad or m), 00034 # * the velocity of the joint (rad/s or m/s) and 00035 # * the effort that is applied in the joint (Nm or N). 00036 # 00037 # Each joint is uniquely identified by its name 00038 # The header specifies the time at which the joint states were recorded. All the joint states 00039 # in one message have to be recorded at the same time. 00040 # 00041 # This message consists of a multiple arrays, one for each part of the joint state. 00042 # The goal is to make each of the fields optional. When e.g. your joints have no 00043 # effort associated with them, you can leave the effort array empty. 00044 # 00045 # All arrays in this message should have the same size, or be empty. 00046 # This is the only way to uniquely associate the joint name with the correct 00047 # states. 00048 00049 00050 Header header 00051 00052 string[] name 00053 float64[] position 00054 float64[] velocity 00055 float64[] effort 00056 00057 ================================================================================ 00058 MSG: std_msgs/Header 00059 # Standard metadata for higher-level stamped data types. 00060 # This is generally used to communicate timestamped data 00061 # in a particular coordinate frame. 00062 # 00063 # sequence ID: consecutively increasing ID 00064 uint32 seq 00065 #Two-integer timestamp that is expressed as: 00066 # * stamp.secs: seconds (stamp_secs) since epoch 00067 # * stamp.nsecs: nanoseconds since stamp_secs 00068 # time-handling sugar is provided by the client library 00069 time stamp 00070 #Frame this data is associated with 00071 # 0: no frame 00072 # 1: global frame 00073 string frame_id 00074 00075 ================================================================================ 00076 MSG: arm_navigation_msgs/MultiDOFJointState 00077 #A representation of a multi-dof joint state 00078 time stamp 00079 string[] joint_names 00080 string[] frame_ids 00081 string[] child_frame_ids 00082 geometry_msgs/Pose[] poses 00083 00084 ================================================================================ 00085 MSG: geometry_msgs/Pose 00086 # A representation of pose in free space, composed of postion and orientation. 00087 Point position 00088 Quaternion orientation 00089 00090 ================================================================================ 00091 MSG: geometry_msgs/Point 00092 # This contains the position of a point in free space 00093 float64 x 00094 float64 y 00095 float64 z 00096 00097 ================================================================================ 00098 MSG: geometry_msgs/Quaternion 00099 # This represents an orientation in free space in quaternion form. 00100 00101 float64 x 00102 float64 y 00103 float64 z 00104 float64 w 00105 00106 ================================================================================ 00107 MSG: arm_navigation_msgs/CollisionObject 00108 # a header, used for interpreting the poses 00109 Header header 00110 00111 # the id of the object 00112 string id 00113 00114 # The padding used for filtering points near the object. 00115 # This does not affect collision checking for the object. 00116 # Set to negative to get zero padding. 00117 float32 padding 00118 00119 #This contains what is to be done with the object 00120 CollisionObjectOperation operation 00121 00122 #the shapes associated with the object 00123 arm_navigation_msgs/Shape[] shapes 00124 00125 #the poses associated with the shapes - will be transformed using the header 00126 geometry_msgs/Pose[] poses 00127 00128 ================================================================================ 00129 MSG: arm_navigation_msgs/CollisionObjectOperation 00130 #Puts the object into the environment 00131 #or updates the object if already added 00132 byte ADD=0 00133 00134 #Removes the object from the environment entirely 00135 byte REMOVE=1 00136 00137 #Only valid within the context of a CollisionAttachedObject message 00138 #Will be ignored if sent with an CollisionObject message 00139 #Takes an attached object, detaches from the attached link 00140 #But adds back in as regular object 00141 byte DETACH_AND_ADD_AS_OBJECT=2 00142 00143 #Only valid within the context of a CollisionAttachedObject message 00144 #Will be ignored if sent with an CollisionObject message 00145 #Takes current object in the environment and removes it as 00146 #a regular object 00147 byte ATTACH_AND_REMOVE_AS_OBJECT=3 00148 00149 # Byte code for operation 00150 byte operation 00151 00152 ================================================================================ 00153 MSG: arm_navigation_msgs/Shape 00154 byte SPHERE=0 00155 byte BOX=1 00156 byte CYLINDER=2 00157 byte MESH=3 00158 00159 byte type 00160 00161 00162 #### define sphere, box, cylinder #### 00163 # the origin of each shape is considered at the shape's center 00164 00165 # for sphere 00166 # radius := dimensions[0] 00167 00168 # for cylinder 00169 # radius := dimensions[0] 00170 # length := dimensions[1] 00171 # the length is along the Z axis 00172 00173 # for box 00174 # size_x := dimensions[0] 00175 # size_y := dimensions[1] 00176 # size_z := dimensions[2] 00177 float64[] dimensions 00178 00179 00180 #### define mesh #### 00181 00182 # list of triangles; triangle k is defined by tre vertices located 00183 # at indices triangles[3k], triangles[3k+1], triangles[3k+2] 00184 int32[] triangles 00185 geometry_msgs/Point[] vertices 00186 00187 """ 00188 __slots__ = ['current_state','paused_trajectory_state','paused_collision_map'] 00189 _slot_types = ['arm_navigation_msgs/RobotState','arm_navigation_msgs/RobotState','arm_navigation_msgs/CollisionObject'] 00190 00191 def __init__(self, *args, **kwds): 00192 """ 00193 Constructor. Any message fields that are implicitly/explicitly 00194 set to None will be assigned a default value. The recommend 00195 use is keyword arguments as this is more robust to future message 00196 changes. You cannot mix in-order arguments and keyword arguments. 00197 00198 The available fields are: 00199 current_state,paused_trajectory_state,paused_collision_map 00200 00201 @param args: complete set of field values, in .msg order 00202 @param kwds: use keyword arguments corresponding to message field names 00203 to set specific fields. 00204 """ 00205 if args or kwds: 00206 super(HeadMonitorFeedback, self).__init__(*args, **kwds) 00207 #message fields cannot be None, assign default values for those that are 00208 if self.current_state is None: 00209 self.current_state = arm_navigation_msgs.msg.RobotState() 00210 if self.paused_trajectory_state is None: 00211 self.paused_trajectory_state = arm_navigation_msgs.msg.RobotState() 00212 if self.paused_collision_map is None: 00213 self.paused_collision_map = arm_navigation_msgs.msg.CollisionObject() 00214 else: 00215 self.current_state = arm_navigation_msgs.msg.RobotState() 00216 self.paused_trajectory_state = arm_navigation_msgs.msg.RobotState() 00217 self.paused_collision_map = arm_navigation_msgs.msg.CollisionObject() 00218 00219 def _get_types(self): 00220 """ 00221 internal API method 00222 """ 00223 return self._slot_types 00224 00225 def serialize(self, buff): 00226 """ 00227 serialize message into buffer 00228 @param buff: buffer 00229 @type buff: StringIO 00230 """ 00231 try: 00232 _x = self 00233 buff.write(_struct_3I.pack(_x.current_state.joint_state.header.seq, _x.current_state.joint_state.header.stamp.secs, _x.current_state.joint_state.header.stamp.nsecs)) 00234 _x = self.current_state.joint_state.header.frame_id 00235 length = len(_x) 00236 buff.write(struct.pack('<I%ss'%length, length, _x)) 00237 length = len(self.current_state.joint_state.name) 00238 buff.write(_struct_I.pack(length)) 00239 for val1 in self.current_state.joint_state.name: 00240 length = len(val1) 00241 buff.write(struct.pack('<I%ss'%length, length, val1)) 00242 length = len(self.current_state.joint_state.position) 00243 buff.write(_struct_I.pack(length)) 00244 pattern = '<%sd'%length 00245 buff.write(struct.pack(pattern, *self.current_state.joint_state.position)) 00246 length = len(self.current_state.joint_state.velocity) 00247 buff.write(_struct_I.pack(length)) 00248 pattern = '<%sd'%length 00249 buff.write(struct.pack(pattern, *self.current_state.joint_state.velocity)) 00250 length = len(self.current_state.joint_state.effort) 00251 buff.write(_struct_I.pack(length)) 00252 pattern = '<%sd'%length 00253 buff.write(struct.pack(pattern, *self.current_state.joint_state.effort)) 00254 _x = self 00255 buff.write(_struct_2I.pack(_x.current_state.multi_dof_joint_state.stamp.secs, _x.current_state.multi_dof_joint_state.stamp.nsecs)) 00256 length = len(self.current_state.multi_dof_joint_state.joint_names) 00257 buff.write(_struct_I.pack(length)) 00258 for val1 in self.current_state.multi_dof_joint_state.joint_names: 00259 length = len(val1) 00260 buff.write(struct.pack('<I%ss'%length, length, val1)) 00261 length = len(self.current_state.multi_dof_joint_state.frame_ids) 00262 buff.write(_struct_I.pack(length)) 00263 for val1 in self.current_state.multi_dof_joint_state.frame_ids: 00264 length = len(val1) 00265 buff.write(struct.pack('<I%ss'%length, length, val1)) 00266 length = len(self.current_state.multi_dof_joint_state.child_frame_ids) 00267 buff.write(_struct_I.pack(length)) 00268 for val1 in self.current_state.multi_dof_joint_state.child_frame_ids: 00269 length = len(val1) 00270 buff.write(struct.pack('<I%ss'%length, length, val1)) 00271 length = len(self.current_state.multi_dof_joint_state.poses) 00272 buff.write(_struct_I.pack(length)) 00273 for val1 in self.current_state.multi_dof_joint_state.poses: 00274 _v1 = val1.position 00275 _x = _v1 00276 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z)) 00277 _v2 = val1.orientation 00278 _x = _v2 00279 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w)) 00280 _x = self 00281 buff.write(_struct_3I.pack(_x.paused_trajectory_state.joint_state.header.seq, _x.paused_trajectory_state.joint_state.header.stamp.secs, _x.paused_trajectory_state.joint_state.header.stamp.nsecs)) 00282 _x = self.paused_trajectory_state.joint_state.header.frame_id 00283 length = len(_x) 00284 buff.write(struct.pack('<I%ss'%length, length, _x)) 00285 length = len(self.paused_trajectory_state.joint_state.name) 00286 buff.write(_struct_I.pack(length)) 00287 for val1 in self.paused_trajectory_state.joint_state.name: 00288 length = len(val1) 00289 buff.write(struct.pack('<I%ss'%length, length, val1)) 00290 length = len(self.paused_trajectory_state.joint_state.position) 00291 buff.write(_struct_I.pack(length)) 00292 pattern = '<%sd'%length 00293 buff.write(struct.pack(pattern, *self.paused_trajectory_state.joint_state.position)) 00294 length = len(self.paused_trajectory_state.joint_state.velocity) 00295 buff.write(_struct_I.pack(length)) 00296 pattern = '<%sd'%length 00297 buff.write(struct.pack(pattern, *self.paused_trajectory_state.joint_state.velocity)) 00298 length = len(self.paused_trajectory_state.joint_state.effort) 00299 buff.write(_struct_I.pack(length)) 00300 pattern = '<%sd'%length 00301 buff.write(struct.pack(pattern, *self.paused_trajectory_state.joint_state.effort)) 00302 _x = self 00303 buff.write(_struct_2I.pack(_x.paused_trajectory_state.multi_dof_joint_state.stamp.secs, _x.paused_trajectory_state.multi_dof_joint_state.stamp.nsecs)) 00304 length = len(self.paused_trajectory_state.multi_dof_joint_state.joint_names) 00305 buff.write(_struct_I.pack(length)) 00306 for val1 in self.paused_trajectory_state.multi_dof_joint_state.joint_names: 00307 length = len(val1) 00308 buff.write(struct.pack('<I%ss'%length, length, val1)) 00309 length = len(self.paused_trajectory_state.multi_dof_joint_state.frame_ids) 00310 buff.write(_struct_I.pack(length)) 00311 for val1 in self.paused_trajectory_state.multi_dof_joint_state.frame_ids: 00312 length = len(val1) 00313 buff.write(struct.pack('<I%ss'%length, length, val1)) 00314 length = len(self.paused_trajectory_state.multi_dof_joint_state.child_frame_ids) 00315 buff.write(_struct_I.pack(length)) 00316 for val1 in self.paused_trajectory_state.multi_dof_joint_state.child_frame_ids: 00317 length = len(val1) 00318 buff.write(struct.pack('<I%ss'%length, length, val1)) 00319 length = len(self.paused_trajectory_state.multi_dof_joint_state.poses) 00320 buff.write(_struct_I.pack(length)) 00321 for val1 in self.paused_trajectory_state.multi_dof_joint_state.poses: 00322 _v3 = val1.position 00323 _x = _v3 00324 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z)) 00325 _v4 = val1.orientation 00326 _x = _v4 00327 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w)) 00328 _x = self 00329 buff.write(_struct_3I.pack(_x.paused_collision_map.header.seq, _x.paused_collision_map.header.stamp.secs, _x.paused_collision_map.header.stamp.nsecs)) 00330 _x = self.paused_collision_map.header.frame_id 00331 length = len(_x) 00332 buff.write(struct.pack('<I%ss'%length, length, _x)) 00333 _x = self.paused_collision_map.id 00334 length = len(_x) 00335 buff.write(struct.pack('<I%ss'%length, length, _x)) 00336 _x = self 00337 buff.write(_struct_fb.pack(_x.paused_collision_map.padding, _x.paused_collision_map.operation.operation)) 00338 length = len(self.paused_collision_map.shapes) 00339 buff.write(_struct_I.pack(length)) 00340 for val1 in self.paused_collision_map.shapes: 00341 buff.write(_struct_b.pack(val1.type)) 00342 length = len(val1.dimensions) 00343 buff.write(_struct_I.pack(length)) 00344 pattern = '<%sd'%length 00345 buff.write(struct.pack(pattern, *val1.dimensions)) 00346 length = len(val1.triangles) 00347 buff.write(_struct_I.pack(length)) 00348 pattern = '<%si'%length 00349 buff.write(struct.pack(pattern, *val1.triangles)) 00350 length = len(val1.vertices) 00351 buff.write(_struct_I.pack(length)) 00352 for val2 in val1.vertices: 00353 _x = val2 00354 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z)) 00355 length = len(self.paused_collision_map.poses) 00356 buff.write(_struct_I.pack(length)) 00357 for val1 in self.paused_collision_map.poses: 00358 _v5 = val1.position 00359 _x = _v5 00360 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z)) 00361 _v6 = val1.orientation 00362 _x = _v6 00363 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w)) 00364 except struct.error as se: self._check_types(se) 00365 except TypeError as te: self._check_types(te) 00366 00367 def deserialize(self, str): 00368 """ 00369 unpack serialized message in str into this message instance 00370 @param str: byte array of serialized message 00371 @type str: str 00372 """ 00373 try: 00374 if self.current_state is None: 00375 self.current_state = arm_navigation_msgs.msg.RobotState() 00376 if self.paused_trajectory_state is None: 00377 self.paused_trajectory_state = arm_navigation_msgs.msg.RobotState() 00378 if self.paused_collision_map is None: 00379 self.paused_collision_map = arm_navigation_msgs.msg.CollisionObject() 00380 end = 0 00381 _x = self 00382 start = end 00383 end += 12 00384 (_x.current_state.joint_state.header.seq, _x.current_state.joint_state.header.stamp.secs, _x.current_state.joint_state.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end]) 00385 start = end 00386 end += 4 00387 (length,) = _struct_I.unpack(str[start:end]) 00388 start = end 00389 end += length 00390 self.current_state.joint_state.header.frame_id = str[start:end] 00391 start = end 00392 end += 4 00393 (length,) = _struct_I.unpack(str[start:end]) 00394 self.current_state.joint_state.name = [] 00395 for i in range(0, length): 00396 start = end 00397 end += 4 00398 (length,) = _struct_I.unpack(str[start:end]) 00399 start = end 00400 end += length 00401 val1 = str[start:end] 00402 self.current_state.joint_state.name.append(val1) 00403 start = end 00404 end += 4 00405 (length,) = _struct_I.unpack(str[start:end]) 00406 pattern = '<%sd'%length 00407 start = end 00408 end += struct.calcsize(pattern) 00409 self.current_state.joint_state.position = struct.unpack(pattern, str[start:end]) 00410 start = end 00411 end += 4 00412 (length,) = _struct_I.unpack(str[start:end]) 00413 pattern = '<%sd'%length 00414 start = end 00415 end += struct.calcsize(pattern) 00416 self.current_state.joint_state.velocity = struct.unpack(pattern, str[start:end]) 00417 start = end 00418 end += 4 00419 (length,) = _struct_I.unpack(str[start:end]) 00420 pattern = '<%sd'%length 00421 start = end 00422 end += struct.calcsize(pattern) 00423 self.current_state.joint_state.effort = struct.unpack(pattern, str[start:end]) 00424 _x = self 00425 start = end 00426 end += 8 00427 (_x.current_state.multi_dof_joint_state.stamp.secs, _x.current_state.multi_dof_joint_state.stamp.nsecs,) = _struct_2I.unpack(str[start:end]) 00428 start = end 00429 end += 4 00430 (length,) = _struct_I.unpack(str[start:end]) 00431 self.current_state.multi_dof_joint_state.joint_names = [] 00432 for i in range(0, length): 00433 start = end 00434 end += 4 00435 (length,) = _struct_I.unpack(str[start:end]) 00436 start = end 00437 end += length 00438 val1 = str[start:end] 00439 self.current_state.multi_dof_joint_state.joint_names.append(val1) 00440 start = end 00441 end += 4 00442 (length,) = _struct_I.unpack(str[start:end]) 00443 self.current_state.multi_dof_joint_state.frame_ids = [] 00444 for i in range(0, length): 00445 start = end 00446 end += 4 00447 (length,) = _struct_I.unpack(str[start:end]) 00448 start = end 00449 end += length 00450 val1 = str[start:end] 00451 self.current_state.multi_dof_joint_state.frame_ids.append(val1) 00452 start = end 00453 end += 4 00454 (length,) = _struct_I.unpack(str[start:end]) 00455 self.current_state.multi_dof_joint_state.child_frame_ids = [] 00456 for i in range(0, length): 00457 start = end 00458 end += 4 00459 (length,) = _struct_I.unpack(str[start:end]) 00460 start = end 00461 end += length 00462 val1 = str[start:end] 00463 self.current_state.multi_dof_joint_state.child_frame_ids.append(val1) 00464 start = end 00465 end += 4 00466 (length,) = _struct_I.unpack(str[start:end]) 00467 self.current_state.multi_dof_joint_state.poses = [] 00468 for i in range(0, length): 00469 val1 = geometry_msgs.msg.Pose() 00470 _v7 = val1.position 00471 _x = _v7 00472 start = end 00473 end += 24 00474 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end]) 00475 _v8 = val1.orientation 00476 _x = _v8 00477 start = end 00478 end += 32 00479 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end]) 00480 self.current_state.multi_dof_joint_state.poses.append(val1) 00481 _x = self 00482 start = end 00483 end += 12 00484 (_x.paused_trajectory_state.joint_state.header.seq, _x.paused_trajectory_state.joint_state.header.stamp.secs, _x.paused_trajectory_state.joint_state.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end]) 00485 start = end 00486 end += 4 00487 (length,) = _struct_I.unpack(str[start:end]) 00488 start = end 00489 end += length 00490 self.paused_trajectory_state.joint_state.header.frame_id = str[start:end] 00491 start = end 00492 end += 4 00493 (length,) = _struct_I.unpack(str[start:end]) 00494 self.paused_trajectory_state.joint_state.name = [] 00495 for i in range(0, length): 00496 start = end 00497 end += 4 00498 (length,) = _struct_I.unpack(str[start:end]) 00499 start = end 00500 end += length 00501 val1 = str[start:end] 00502 self.paused_trajectory_state.joint_state.name.append(val1) 00503 start = end 00504 end += 4 00505 (length,) = _struct_I.unpack(str[start:end]) 00506 pattern = '<%sd'%length 00507 start = end 00508 end += struct.calcsize(pattern) 00509 self.paused_trajectory_state.joint_state.position = struct.unpack(pattern, str[start:end]) 00510 start = end 00511 end += 4 00512 (length,) = _struct_I.unpack(str[start:end]) 00513 pattern = '<%sd'%length 00514 start = end 00515 end += struct.calcsize(pattern) 00516 self.paused_trajectory_state.joint_state.velocity = struct.unpack(pattern, str[start:end]) 00517 start = end 00518 end += 4 00519 (length,) = _struct_I.unpack(str[start:end]) 00520 pattern = '<%sd'%length 00521 start = end 00522 end += struct.calcsize(pattern) 00523 self.paused_trajectory_state.joint_state.effort = struct.unpack(pattern, str[start:end]) 00524 _x = self 00525 start = end 00526 end += 8 00527 (_x.paused_trajectory_state.multi_dof_joint_state.stamp.secs, _x.paused_trajectory_state.multi_dof_joint_state.stamp.nsecs,) = _struct_2I.unpack(str[start:end]) 00528 start = end 00529 end += 4 00530 (length,) = _struct_I.unpack(str[start:end]) 00531 self.paused_trajectory_state.multi_dof_joint_state.joint_names = [] 00532 for i in range(0, length): 00533 start = end 00534 end += 4 00535 (length,) = _struct_I.unpack(str[start:end]) 00536 start = end 00537 end += length 00538 val1 = str[start:end] 00539 self.paused_trajectory_state.multi_dof_joint_state.joint_names.append(val1) 00540 start = end 00541 end += 4 00542 (length,) = _struct_I.unpack(str[start:end]) 00543 self.paused_trajectory_state.multi_dof_joint_state.frame_ids = [] 00544 for i in range(0, length): 00545 start = end 00546 end += 4 00547 (length,) = _struct_I.unpack(str[start:end]) 00548 start = end 00549 end += length 00550 val1 = str[start:end] 00551 self.paused_trajectory_state.multi_dof_joint_state.frame_ids.append(val1) 00552 start = end 00553 end += 4 00554 (length,) = _struct_I.unpack(str[start:end]) 00555 self.paused_trajectory_state.multi_dof_joint_state.child_frame_ids = [] 00556 for i in range(0, length): 00557 start = end 00558 end += 4 00559 (length,) = _struct_I.unpack(str[start:end]) 00560 start = end 00561 end += length 00562 val1 = str[start:end] 00563 self.paused_trajectory_state.multi_dof_joint_state.child_frame_ids.append(val1) 00564 start = end 00565 end += 4 00566 (length,) = _struct_I.unpack(str[start:end]) 00567 self.paused_trajectory_state.multi_dof_joint_state.poses = [] 00568 for i in range(0, length): 00569 val1 = geometry_msgs.msg.Pose() 00570 _v9 = val1.position 00571 _x = _v9 00572 start = end 00573 end += 24 00574 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end]) 00575 _v10 = val1.orientation 00576 _x = _v10 00577 start = end 00578 end += 32 00579 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end]) 00580 self.paused_trajectory_state.multi_dof_joint_state.poses.append(val1) 00581 _x = self 00582 start = end 00583 end += 12 00584 (_x.paused_collision_map.header.seq, _x.paused_collision_map.header.stamp.secs, _x.paused_collision_map.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end]) 00585 start = end 00586 end += 4 00587 (length,) = _struct_I.unpack(str[start:end]) 00588 start = end 00589 end += length 00590 self.paused_collision_map.header.frame_id = str[start:end] 00591 start = end 00592 end += 4 00593 (length,) = _struct_I.unpack(str[start:end]) 00594 start = end 00595 end += length 00596 self.paused_collision_map.id = str[start:end] 00597 _x = self 00598 start = end 00599 end += 5 00600 (_x.paused_collision_map.padding, _x.paused_collision_map.operation.operation,) = _struct_fb.unpack(str[start:end]) 00601 start = end 00602 end += 4 00603 (length,) = _struct_I.unpack(str[start:end]) 00604 self.paused_collision_map.shapes = [] 00605 for i in range(0, length): 00606 val1 = arm_navigation_msgs.msg.Shape() 00607 start = end 00608 end += 1 00609 (val1.type,) = _struct_b.unpack(str[start:end]) 00610 start = end 00611 end += 4 00612 (length,) = _struct_I.unpack(str[start:end]) 00613 pattern = '<%sd'%length 00614 start = end 00615 end += struct.calcsize(pattern) 00616 val1.dimensions = struct.unpack(pattern, str[start:end]) 00617 start = end 00618 end += 4 00619 (length,) = _struct_I.unpack(str[start:end]) 00620 pattern = '<%si'%length 00621 start = end 00622 end += struct.calcsize(pattern) 00623 val1.triangles = struct.unpack(pattern, str[start:end]) 00624 start = end 00625 end += 4 00626 (length,) = _struct_I.unpack(str[start:end]) 00627 val1.vertices = [] 00628 for i in range(0, length): 00629 val2 = geometry_msgs.msg.Point() 00630 _x = val2 00631 start = end 00632 end += 24 00633 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end]) 00634 val1.vertices.append(val2) 00635 self.paused_collision_map.shapes.append(val1) 00636 start = end 00637 end += 4 00638 (length,) = _struct_I.unpack(str[start:end]) 00639 self.paused_collision_map.poses = [] 00640 for i in range(0, length): 00641 val1 = geometry_msgs.msg.Pose() 00642 _v11 = val1.position 00643 _x = _v11 00644 start = end 00645 end += 24 00646 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end]) 00647 _v12 = val1.orientation 00648 _x = _v12 00649 start = end 00650 end += 32 00651 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end]) 00652 self.paused_collision_map.poses.append(val1) 00653 return self 00654 except struct.error as e: 00655 raise roslib.message.DeserializationError(e) #most likely buffer underfill 00656 00657 00658 def serialize_numpy(self, buff, numpy): 00659 """ 00660 serialize message with numpy array types into buffer 00661 @param buff: buffer 00662 @type buff: StringIO 00663 @param numpy: numpy python module 00664 @type numpy module 00665 """ 00666 try: 00667 _x = self 00668 buff.write(_struct_3I.pack(_x.current_state.joint_state.header.seq, _x.current_state.joint_state.header.stamp.secs, _x.current_state.joint_state.header.stamp.nsecs)) 00669 _x = self.current_state.joint_state.header.frame_id 00670 length = len(_x) 00671 buff.write(struct.pack('<I%ss'%length, length, _x)) 00672 length = len(self.current_state.joint_state.name) 00673 buff.write(_struct_I.pack(length)) 00674 for val1 in self.current_state.joint_state.name: 00675 length = len(val1) 00676 buff.write(struct.pack('<I%ss'%length, length, val1)) 00677 length = len(self.current_state.joint_state.position) 00678 buff.write(_struct_I.pack(length)) 00679 pattern = '<%sd'%length 00680 buff.write(self.current_state.joint_state.position.tostring()) 00681 length = len(self.current_state.joint_state.velocity) 00682 buff.write(_struct_I.pack(length)) 00683 pattern = '<%sd'%length 00684 buff.write(self.current_state.joint_state.velocity.tostring()) 00685 length = len(self.current_state.joint_state.effort) 00686 buff.write(_struct_I.pack(length)) 00687 pattern = '<%sd'%length 00688 buff.write(self.current_state.joint_state.effort.tostring()) 00689 _x = self 00690 buff.write(_struct_2I.pack(_x.current_state.multi_dof_joint_state.stamp.secs, _x.current_state.multi_dof_joint_state.stamp.nsecs)) 00691 length = len(self.current_state.multi_dof_joint_state.joint_names) 00692 buff.write(_struct_I.pack(length)) 00693 for val1 in self.current_state.multi_dof_joint_state.joint_names: 00694 length = len(val1) 00695 buff.write(struct.pack('<I%ss'%length, length, val1)) 00696 length = len(self.current_state.multi_dof_joint_state.frame_ids) 00697 buff.write(_struct_I.pack(length)) 00698 for val1 in self.current_state.multi_dof_joint_state.frame_ids: 00699 length = len(val1) 00700 buff.write(struct.pack('<I%ss'%length, length, val1)) 00701 length = len(self.current_state.multi_dof_joint_state.child_frame_ids) 00702 buff.write(_struct_I.pack(length)) 00703 for val1 in self.current_state.multi_dof_joint_state.child_frame_ids: 00704 length = len(val1) 00705 buff.write(struct.pack('<I%ss'%length, length, val1)) 00706 length = len(self.current_state.multi_dof_joint_state.poses) 00707 buff.write(_struct_I.pack(length)) 00708 for val1 in self.current_state.multi_dof_joint_state.poses: 00709 _v13 = val1.position 00710 _x = _v13 00711 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z)) 00712 _v14 = val1.orientation 00713 _x = _v14 00714 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w)) 00715 _x = self 00716 buff.write(_struct_3I.pack(_x.paused_trajectory_state.joint_state.header.seq, _x.paused_trajectory_state.joint_state.header.stamp.secs, _x.paused_trajectory_state.joint_state.header.stamp.nsecs)) 00717 _x = self.paused_trajectory_state.joint_state.header.frame_id 00718 length = len(_x) 00719 buff.write(struct.pack('<I%ss'%length, length, _x)) 00720 length = len(self.paused_trajectory_state.joint_state.name) 00721 buff.write(_struct_I.pack(length)) 00722 for val1 in self.paused_trajectory_state.joint_state.name: 00723 length = len(val1) 00724 buff.write(struct.pack('<I%ss'%length, length, val1)) 00725 length = len(self.paused_trajectory_state.joint_state.position) 00726 buff.write(_struct_I.pack(length)) 00727 pattern = '<%sd'%length 00728 buff.write(self.paused_trajectory_state.joint_state.position.tostring()) 00729 length = len(self.paused_trajectory_state.joint_state.velocity) 00730 buff.write(_struct_I.pack(length)) 00731 pattern = '<%sd'%length 00732 buff.write(self.paused_trajectory_state.joint_state.velocity.tostring()) 00733 length = len(self.paused_trajectory_state.joint_state.effort) 00734 buff.write(_struct_I.pack(length)) 00735 pattern = '<%sd'%length 00736 buff.write(self.paused_trajectory_state.joint_state.effort.tostring()) 00737 _x = self 00738 buff.write(_struct_2I.pack(_x.paused_trajectory_state.multi_dof_joint_state.stamp.secs, _x.paused_trajectory_state.multi_dof_joint_state.stamp.nsecs)) 00739 length = len(self.paused_trajectory_state.multi_dof_joint_state.joint_names) 00740 buff.write(_struct_I.pack(length)) 00741 for val1 in self.paused_trajectory_state.multi_dof_joint_state.joint_names: 00742 length = len(val1) 00743 buff.write(struct.pack('<I%ss'%length, length, val1)) 00744 length = len(self.paused_trajectory_state.multi_dof_joint_state.frame_ids) 00745 buff.write(_struct_I.pack(length)) 00746 for val1 in self.paused_trajectory_state.multi_dof_joint_state.frame_ids: 00747 length = len(val1) 00748 buff.write(struct.pack('<I%ss'%length, length, val1)) 00749 length = len(self.paused_trajectory_state.multi_dof_joint_state.child_frame_ids) 00750 buff.write(_struct_I.pack(length)) 00751 for val1 in self.paused_trajectory_state.multi_dof_joint_state.child_frame_ids: 00752 length = len(val1) 00753 buff.write(struct.pack('<I%ss'%length, length, val1)) 00754 length = len(self.paused_trajectory_state.multi_dof_joint_state.poses) 00755 buff.write(_struct_I.pack(length)) 00756 for val1 in self.paused_trajectory_state.multi_dof_joint_state.poses: 00757 _v15 = val1.position 00758 _x = _v15 00759 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z)) 00760 _v16 = val1.orientation 00761 _x = _v16 00762 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w)) 00763 _x = self 00764 buff.write(_struct_3I.pack(_x.paused_collision_map.header.seq, _x.paused_collision_map.header.stamp.secs, _x.paused_collision_map.header.stamp.nsecs)) 00765 _x = self.paused_collision_map.header.frame_id 00766 length = len(_x) 00767 buff.write(struct.pack('<I%ss'%length, length, _x)) 00768 _x = self.paused_collision_map.id 00769 length = len(_x) 00770 buff.write(struct.pack('<I%ss'%length, length, _x)) 00771 _x = self 00772 buff.write(_struct_fb.pack(_x.paused_collision_map.padding, _x.paused_collision_map.operation.operation)) 00773 length = len(self.paused_collision_map.shapes) 00774 buff.write(_struct_I.pack(length)) 00775 for val1 in self.paused_collision_map.shapes: 00776 buff.write(_struct_b.pack(val1.type)) 00777 length = len(val1.dimensions) 00778 buff.write(_struct_I.pack(length)) 00779 pattern = '<%sd'%length 00780 buff.write(val1.dimensions.tostring()) 00781 length = len(val1.triangles) 00782 buff.write(_struct_I.pack(length)) 00783 pattern = '<%si'%length 00784 buff.write(val1.triangles.tostring()) 00785 length = len(val1.vertices) 00786 buff.write(_struct_I.pack(length)) 00787 for val2 in val1.vertices: 00788 _x = val2 00789 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z)) 00790 length = len(self.paused_collision_map.poses) 00791 buff.write(_struct_I.pack(length)) 00792 for val1 in self.paused_collision_map.poses: 00793 _v17 = val1.position 00794 _x = _v17 00795 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z)) 00796 _v18 = val1.orientation 00797 _x = _v18 00798 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w)) 00799 except struct.error as se: self._check_types(se) 00800 except TypeError as te: self._check_types(te) 00801 00802 def deserialize_numpy(self, str, numpy): 00803 """ 00804 unpack serialized message in str into this message instance using numpy for array types 00805 @param str: byte array of serialized message 00806 @type str: str 00807 @param numpy: numpy python module 00808 @type numpy: module 00809 """ 00810 try: 00811 if self.current_state is None: 00812 self.current_state = arm_navigation_msgs.msg.RobotState() 00813 if self.paused_trajectory_state is None: 00814 self.paused_trajectory_state = arm_navigation_msgs.msg.RobotState() 00815 if self.paused_collision_map is None: 00816 self.paused_collision_map = arm_navigation_msgs.msg.CollisionObject() 00817 end = 0 00818 _x = self 00819 start = end 00820 end += 12 00821 (_x.current_state.joint_state.header.seq, _x.current_state.joint_state.header.stamp.secs, _x.current_state.joint_state.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end]) 00822 start = end 00823 end += 4 00824 (length,) = _struct_I.unpack(str[start:end]) 00825 start = end 00826 end += length 00827 self.current_state.joint_state.header.frame_id = str[start:end] 00828 start = end 00829 end += 4 00830 (length,) = _struct_I.unpack(str[start:end]) 00831 self.current_state.joint_state.name = [] 00832 for i in range(0, length): 00833 start = end 00834 end += 4 00835 (length,) = _struct_I.unpack(str[start:end]) 00836 start = end 00837 end += length 00838 val1 = str[start:end] 00839 self.current_state.joint_state.name.append(val1) 00840 start = end 00841 end += 4 00842 (length,) = _struct_I.unpack(str[start:end]) 00843 pattern = '<%sd'%length 00844 start = end 00845 end += struct.calcsize(pattern) 00846 self.current_state.joint_state.position = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length) 00847 start = end 00848 end += 4 00849 (length,) = _struct_I.unpack(str[start:end]) 00850 pattern = '<%sd'%length 00851 start = end 00852 end += struct.calcsize(pattern) 00853 self.current_state.joint_state.velocity = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length) 00854 start = end 00855 end += 4 00856 (length,) = _struct_I.unpack(str[start:end]) 00857 pattern = '<%sd'%length 00858 start = end 00859 end += struct.calcsize(pattern) 00860 self.current_state.joint_state.effort = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length) 00861 _x = self 00862 start = end 00863 end += 8 00864 (_x.current_state.multi_dof_joint_state.stamp.secs, _x.current_state.multi_dof_joint_state.stamp.nsecs,) = _struct_2I.unpack(str[start:end]) 00865 start = end 00866 end += 4 00867 (length,) = _struct_I.unpack(str[start:end]) 00868 self.current_state.multi_dof_joint_state.joint_names = [] 00869 for i in range(0, length): 00870 start = end 00871 end += 4 00872 (length,) = _struct_I.unpack(str[start:end]) 00873 start = end 00874 end += length 00875 val1 = str[start:end] 00876 self.current_state.multi_dof_joint_state.joint_names.append(val1) 00877 start = end 00878 end += 4 00879 (length,) = _struct_I.unpack(str[start:end]) 00880 self.current_state.multi_dof_joint_state.frame_ids = [] 00881 for i in range(0, length): 00882 start = end 00883 end += 4 00884 (length,) = _struct_I.unpack(str[start:end]) 00885 start = end 00886 end += length 00887 val1 = str[start:end] 00888 self.current_state.multi_dof_joint_state.frame_ids.append(val1) 00889 start = end 00890 end += 4 00891 (length,) = _struct_I.unpack(str[start:end]) 00892 self.current_state.multi_dof_joint_state.child_frame_ids = [] 00893 for i in range(0, length): 00894 start = end 00895 end += 4 00896 (length,) = _struct_I.unpack(str[start:end]) 00897 start = end 00898 end += length 00899 val1 = str[start:end] 00900 self.current_state.multi_dof_joint_state.child_frame_ids.append(val1) 00901 start = end 00902 end += 4 00903 (length,) = _struct_I.unpack(str[start:end]) 00904 self.current_state.multi_dof_joint_state.poses = [] 00905 for i in range(0, length): 00906 val1 = geometry_msgs.msg.Pose() 00907 _v19 = val1.position 00908 _x = _v19 00909 start = end 00910 end += 24 00911 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end]) 00912 _v20 = val1.orientation 00913 _x = _v20 00914 start = end 00915 end += 32 00916 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end]) 00917 self.current_state.multi_dof_joint_state.poses.append(val1) 00918 _x = self 00919 start = end 00920 end += 12 00921 (_x.paused_trajectory_state.joint_state.header.seq, _x.paused_trajectory_state.joint_state.header.stamp.secs, _x.paused_trajectory_state.joint_state.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end]) 00922 start = end 00923 end += 4 00924 (length,) = _struct_I.unpack(str[start:end]) 00925 start = end 00926 end += length 00927 self.paused_trajectory_state.joint_state.header.frame_id = str[start:end] 00928 start = end 00929 end += 4 00930 (length,) = _struct_I.unpack(str[start:end]) 00931 self.paused_trajectory_state.joint_state.name = [] 00932 for i in range(0, length): 00933 start = end 00934 end += 4 00935 (length,) = _struct_I.unpack(str[start:end]) 00936 start = end 00937 end += length 00938 val1 = str[start:end] 00939 self.paused_trajectory_state.joint_state.name.append(val1) 00940 start = end 00941 end += 4 00942 (length,) = _struct_I.unpack(str[start:end]) 00943 pattern = '<%sd'%length 00944 start = end 00945 end += struct.calcsize(pattern) 00946 self.paused_trajectory_state.joint_state.position = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length) 00947 start = end 00948 end += 4 00949 (length,) = _struct_I.unpack(str[start:end]) 00950 pattern = '<%sd'%length 00951 start = end 00952 end += struct.calcsize(pattern) 00953 self.paused_trajectory_state.joint_state.velocity = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length) 00954 start = end 00955 end += 4 00956 (length,) = _struct_I.unpack(str[start:end]) 00957 pattern = '<%sd'%length 00958 start = end 00959 end += struct.calcsize(pattern) 00960 self.paused_trajectory_state.joint_state.effort = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length) 00961 _x = self 00962 start = end 00963 end += 8 00964 (_x.paused_trajectory_state.multi_dof_joint_state.stamp.secs, _x.paused_trajectory_state.multi_dof_joint_state.stamp.nsecs,) = _struct_2I.unpack(str[start:end]) 00965 start = end 00966 end += 4 00967 (length,) = _struct_I.unpack(str[start:end]) 00968 self.paused_trajectory_state.multi_dof_joint_state.joint_names = [] 00969 for i in range(0, length): 00970 start = end 00971 end += 4 00972 (length,) = _struct_I.unpack(str[start:end]) 00973 start = end 00974 end += length 00975 val1 = str[start:end] 00976 self.paused_trajectory_state.multi_dof_joint_state.joint_names.append(val1) 00977 start = end 00978 end += 4 00979 (length,) = _struct_I.unpack(str[start:end]) 00980 self.paused_trajectory_state.multi_dof_joint_state.frame_ids = [] 00981 for i in range(0, length): 00982 start = end 00983 end += 4 00984 (length,) = _struct_I.unpack(str[start:end]) 00985 start = end 00986 end += length 00987 val1 = str[start:end] 00988 self.paused_trajectory_state.multi_dof_joint_state.frame_ids.append(val1) 00989 start = end 00990 end += 4 00991 (length,) = _struct_I.unpack(str[start:end]) 00992 self.paused_trajectory_state.multi_dof_joint_state.child_frame_ids = [] 00993 for i in range(0, length): 00994 start = end 00995 end += 4 00996 (length,) = _struct_I.unpack(str[start:end]) 00997 start = end 00998 end += length 00999 val1 = str[start:end] 01000 self.paused_trajectory_state.multi_dof_joint_state.child_frame_ids.append(val1) 01001 start = end 01002 end += 4 01003 (length,) = _struct_I.unpack(str[start:end]) 01004 self.paused_trajectory_state.multi_dof_joint_state.poses = [] 01005 for i in range(0, length): 01006 val1 = geometry_msgs.msg.Pose() 01007 _v21 = val1.position 01008 _x = _v21 01009 start = end 01010 end += 24 01011 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end]) 01012 _v22 = val1.orientation 01013 _x = _v22 01014 start = end 01015 end += 32 01016 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end]) 01017 self.paused_trajectory_state.multi_dof_joint_state.poses.append(val1) 01018 _x = self 01019 start = end 01020 end += 12 01021 (_x.paused_collision_map.header.seq, _x.paused_collision_map.header.stamp.secs, _x.paused_collision_map.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end]) 01022 start = end 01023 end += 4 01024 (length,) = _struct_I.unpack(str[start:end]) 01025 start = end 01026 end += length 01027 self.paused_collision_map.header.frame_id = str[start:end] 01028 start = end 01029 end += 4 01030 (length,) = _struct_I.unpack(str[start:end]) 01031 start = end 01032 end += length 01033 self.paused_collision_map.id = str[start:end] 01034 _x = self 01035 start = end 01036 end += 5 01037 (_x.paused_collision_map.padding, _x.paused_collision_map.operation.operation,) = _struct_fb.unpack(str[start:end]) 01038 start = end 01039 end += 4 01040 (length,) = _struct_I.unpack(str[start:end]) 01041 self.paused_collision_map.shapes = [] 01042 for i in range(0, length): 01043 val1 = arm_navigation_msgs.msg.Shape() 01044 start = end 01045 end += 1 01046 (val1.type,) = _struct_b.unpack(str[start:end]) 01047 start = end 01048 end += 4 01049 (length,) = _struct_I.unpack(str[start:end]) 01050 pattern = '<%sd'%length 01051 start = end 01052 end += struct.calcsize(pattern) 01053 val1.dimensions = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length) 01054 start = end 01055 end += 4 01056 (length,) = _struct_I.unpack(str[start:end]) 01057 pattern = '<%si'%length 01058 start = end 01059 end += struct.calcsize(pattern) 01060 val1.triangles = numpy.frombuffer(str[start:end], dtype=numpy.int32, count=length) 01061 start = end 01062 end += 4 01063 (length,) = _struct_I.unpack(str[start:end]) 01064 val1.vertices = [] 01065 for i in range(0, length): 01066 val2 = geometry_msgs.msg.Point() 01067 _x = val2 01068 start = end 01069 end += 24 01070 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end]) 01071 val1.vertices.append(val2) 01072 self.paused_collision_map.shapes.append(val1) 01073 start = end 01074 end += 4 01075 (length,) = _struct_I.unpack(str[start:end]) 01076 self.paused_collision_map.poses = [] 01077 for i in range(0, length): 01078 val1 = geometry_msgs.msg.Pose() 01079 _v23 = val1.position 01080 _x = _v23 01081 start = end 01082 end += 24 01083 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end]) 01084 _v24 = val1.orientation 01085 _x = _v24 01086 start = end 01087 end += 32 01088 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end]) 01089 self.paused_collision_map.poses.append(val1) 01090 return self 01091 except struct.error as e: 01092 raise roslib.message.DeserializationError(e) #most likely buffer underfill 01093 01094 _struct_I = roslib.message.struct_I 01095 _struct_b = struct.Struct("<b") 01096 _struct_3I = struct.Struct("<3I") 01097 _struct_fb = struct.Struct("<fb") 01098 _struct_4d = struct.Struct("<4d") 01099 _struct_2I = struct.Struct("<2I") 01100 _struct_3d = struct.Struct("<3d")