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00001 """autogenerated by genmsg_py from PreplanHeadScanActionGoal.msg. Do not edit.""" 00002 import roslib.message 00003 import struct 00004 00005 import arm_navigation_msgs.msg 00006 import roslib.rostime 00007 import actionlib_msgs.msg 00008 import geometry_msgs.msg 00009 import head_monitor_msgs.msg 00010 import sensor_msgs.msg 00011 import std_msgs.msg 00012 00013 class PreplanHeadScanActionGoal(roslib.message.Message): 00014 _md5sum = "d6d529901f1841831659ba61c8e488bc" 00015 _type = "head_monitor_msgs/PreplanHeadScanActionGoal" 00016 _has_header = True #flag to mark the presence of a Header object 00017 _full_text = """# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ====== 00018 00019 Header header 00020 actionlib_msgs/GoalID goal_id 00021 PreplanHeadScanGoal goal 00022 00023 ================================================================================ 00024 MSG: std_msgs/Header 00025 # Standard metadata for higher-level stamped data types. 00026 # This is generally used to communicate timestamped data 00027 # in a particular coordinate frame. 00028 # 00029 # sequence ID: consecutively increasing ID 00030 uint32 seq 00031 #Two-integer timestamp that is expressed as: 00032 # * stamp.secs: seconds (stamp_secs) since epoch 00033 # * stamp.nsecs: nanoseconds since stamp_secs 00034 # time-handling sugar is provided by the client library 00035 time stamp 00036 #Frame this data is associated with 00037 # 0: no frame 00038 # 1: global frame 00039 string frame_id 00040 00041 ================================================================================ 00042 MSG: actionlib_msgs/GoalID 00043 # The stamp should store the time at which this goal was requested. 00044 # It is used by an action server when it tries to preempt all 00045 # goals that were requested before a certain time 00046 time stamp 00047 00048 # The id provides a way to associate feedback and 00049 # result message with specific goal requests. The id 00050 # specified must be unique. 00051 string id 00052 00053 00054 ================================================================================ 00055 MSG: head_monitor_msgs/PreplanHeadScanGoal 00056 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ====== 00057 # The motion plan request 00058 string group_name 00059 string head_monitor_link 00060 arm_navigation_msgs/MotionPlanRequest motion_plan_request 00061 00062 ================================================================================ 00063 MSG: arm_navigation_msgs/MotionPlanRequest 00064 # This service contains the definition for a request to the motion 00065 # planner and the output it provides 00066 00067 # Parameters for the workspace that the planner should work inside 00068 arm_navigation_msgs/WorkspaceParameters workspace_parameters 00069 00070 # Starting state updates. If certain joints should be considered 00071 # at positions other than the current ones, these positions should 00072 # be set here 00073 arm_navigation_msgs/RobotState start_state 00074 00075 # The goal state for the model to plan for. The goal is achieved 00076 # if all constraints are satisfied 00077 arm_navigation_msgs/Constraints goal_constraints 00078 00079 # No state at any point along the path in the produced motion plan will violate these constraints 00080 arm_navigation_msgs/Constraints path_constraints 00081 00082 # The name of the motion planner to use. If no name is specified, 00083 # a default motion planner will be used 00084 string planner_id 00085 00086 # The name of the group of joints on which this planner is operating 00087 string group_name 00088 00089 # The number of times this plan is to be computed. Shortest solution 00090 # will be reported. 00091 int32 num_planning_attempts 00092 00093 # The maximum amount of time the motion planner is allowed to plan for 00094 duration allowed_planning_time 00095 00096 # An expected path duration (in seconds) along with an expected discretization of the path allows the planner to determine the discretization of the trajectory that it returns 00097 duration expected_path_duration 00098 duration expected_path_dt 00099 00100 ================================================================================ 00101 MSG: arm_navigation_msgs/WorkspaceParameters 00102 # This message contains a set of parameters useful in 00103 # setting up the workspace for planning 00104 arm_navigation_msgs/Shape workspace_region_shape 00105 geometry_msgs/PoseStamped workspace_region_pose 00106 00107 00108 ================================================================================ 00109 MSG: arm_navigation_msgs/Shape 00110 byte SPHERE=0 00111 byte BOX=1 00112 byte CYLINDER=2 00113 byte MESH=3 00114 00115 byte type 00116 00117 00118 #### define sphere, box, cylinder #### 00119 # the origin of each shape is considered at the shape's center 00120 00121 # for sphere 00122 # radius := dimensions[0] 00123 00124 # for cylinder 00125 # radius := dimensions[0] 00126 # length := dimensions[1] 00127 # the length is along the Z axis 00128 00129 # for box 00130 # size_x := dimensions[0] 00131 # size_y := dimensions[1] 00132 # size_z := dimensions[2] 00133 float64[] dimensions 00134 00135 00136 #### define mesh #### 00137 00138 # list of triangles; triangle k is defined by tre vertices located 00139 # at indices triangles[3k], triangles[3k+1], triangles[3k+2] 00140 int32[] triangles 00141 geometry_msgs/Point[] vertices 00142 00143 ================================================================================ 00144 MSG: geometry_msgs/Point 00145 # This contains the position of a point in free space 00146 float64 x 00147 float64 y 00148 float64 z 00149 00150 ================================================================================ 00151 MSG: geometry_msgs/PoseStamped 00152 # A Pose with reference coordinate frame and timestamp 00153 Header header 00154 Pose pose 00155 00156 ================================================================================ 00157 MSG: geometry_msgs/Pose 00158 # A representation of pose in free space, composed of postion and orientation. 00159 Point position 00160 Quaternion orientation 00161 00162 ================================================================================ 00163 MSG: geometry_msgs/Quaternion 00164 # This represents an orientation in free space in quaternion form. 00165 00166 float64 x 00167 float64 y 00168 float64 z 00169 float64 w 00170 00171 ================================================================================ 00172 MSG: arm_navigation_msgs/RobotState 00173 # This message contains information about the robot state, i.e. the positions of its joints and links 00174 sensor_msgs/JointState joint_state 00175 arm_navigation_msgs/MultiDOFJointState multi_dof_joint_state 00176 00177 ================================================================================ 00178 MSG: sensor_msgs/JointState 00179 # This is a message that holds data to describe the state of a set of torque controlled joints. 00180 # 00181 # The state of each joint (revolute or prismatic) is defined by: 00182 # * the position of the joint (rad or m), 00183 # * the velocity of the joint (rad/s or m/s) and 00184 # * the effort that is applied in the joint (Nm or N). 00185 # 00186 # Each joint is uniquely identified by its name 00187 # The header specifies the time at which the joint states were recorded. All the joint states 00188 # in one message have to be recorded at the same time. 00189 # 00190 # This message consists of a multiple arrays, one for each part of the joint state. 00191 # The goal is to make each of the fields optional. When e.g. your joints have no 00192 # effort associated with them, you can leave the effort array empty. 00193 # 00194 # All arrays in this message should have the same size, or be empty. 00195 # This is the only way to uniquely associate the joint name with the correct 00196 # states. 00197 00198 00199 Header header 00200 00201 string[] name 00202 float64[] position 00203 float64[] velocity 00204 float64[] effort 00205 00206 ================================================================================ 00207 MSG: arm_navigation_msgs/MultiDOFJointState 00208 #A representation of a multi-dof joint state 00209 time stamp 00210 string[] joint_names 00211 string[] frame_ids 00212 string[] child_frame_ids 00213 geometry_msgs/Pose[] poses 00214 00215 ================================================================================ 00216 MSG: arm_navigation_msgs/Constraints 00217 # This message contains a list of motion planning constraints. 00218 00219 arm_navigation_msgs/JointConstraint[] joint_constraints 00220 arm_navigation_msgs/PositionConstraint[] position_constraints 00221 arm_navigation_msgs/OrientationConstraint[] orientation_constraints 00222 arm_navigation_msgs/VisibilityConstraint[] visibility_constraints 00223 00224 ================================================================================ 00225 MSG: arm_navigation_msgs/JointConstraint 00226 # Constrain the position of a joint to be within a certain bound 00227 string joint_name 00228 00229 # the bound to be achieved is [position - tolerance_below, position + tolerance_above] 00230 float64 position 00231 float64 tolerance_above 00232 float64 tolerance_below 00233 00234 # A weighting factor for this constraint 00235 float64 weight 00236 ================================================================================ 00237 MSG: arm_navigation_msgs/PositionConstraint 00238 # This message contains the definition of a position constraint. 00239 Header header 00240 00241 # The robot link this constraint refers to 00242 string link_name 00243 00244 # The offset (in the link frame) for the target point on the link we are planning for 00245 geometry_msgs/Point target_point_offset 00246 00247 # The nominal/target position for the point we are planning for 00248 geometry_msgs/Point position 00249 00250 # The shape of the bounded region that constrains the position of the end-effector 00251 # This region is always centered at the position defined above 00252 arm_navigation_msgs/Shape constraint_region_shape 00253 00254 # The orientation of the bounded region that constrains the position of the end-effector. 00255 # This allows the specification of non-axis aligned constraints 00256 geometry_msgs/Quaternion constraint_region_orientation 00257 00258 # Constraint weighting factor - a weight for this constraint 00259 float64 weight 00260 00261 ================================================================================ 00262 MSG: arm_navigation_msgs/OrientationConstraint 00263 # This message contains the definition of an orientation constraint. 00264 Header header 00265 00266 # The robot link this constraint refers to 00267 string link_name 00268 00269 # The type of the constraint 00270 int32 type 00271 int32 LINK_FRAME=0 00272 int32 HEADER_FRAME=1 00273 00274 # The desired orientation of the robot link specified as a quaternion 00275 geometry_msgs/Quaternion orientation 00276 00277 # optional RPY error tolerances specified if 00278 float64 absolute_roll_tolerance 00279 float64 absolute_pitch_tolerance 00280 float64 absolute_yaw_tolerance 00281 00282 # Constraint weighting factor - a weight for this constraint 00283 float64 weight 00284 00285 ================================================================================ 00286 MSG: arm_navigation_msgs/VisibilityConstraint 00287 # This message contains the definition of a visibility constraint. 00288 Header header 00289 00290 # The point stamped target that needs to be kept within view of the sensor 00291 geometry_msgs/PointStamped target 00292 00293 # The local pose of the frame in which visibility is to be maintained 00294 # The frame id should represent the robot link to which the sensor is attached 00295 # The visual axis of the sensor is assumed to be along the X axis of this frame 00296 geometry_msgs/PoseStamped sensor_pose 00297 00298 # The deviation (in radians) that will be tolerated 00299 # Constraint error will be measured as the solid angle between the 00300 # X axis of the frame defined above and the vector between the origin 00301 # of the frame defined above and the target location 00302 float64 absolute_tolerance 00303 00304 00305 ================================================================================ 00306 MSG: geometry_msgs/PointStamped 00307 # This represents a Point with reference coordinate frame and timestamp 00308 Header header 00309 Point point 00310 00311 """ 00312 __slots__ = ['header','goal_id','goal'] 00313 _slot_types = ['Header','actionlib_msgs/GoalID','head_monitor_msgs/PreplanHeadScanGoal'] 00314 00315 def __init__(self, *args, **kwds): 00316 """ 00317 Constructor. Any message fields that are implicitly/explicitly 00318 set to None will be assigned a default value. The recommend 00319 use is keyword arguments as this is more robust to future message 00320 changes. You cannot mix in-order arguments and keyword arguments. 00321 00322 The available fields are: 00323 header,goal_id,goal 00324 00325 @param args: complete set of field values, in .msg order 00326 @param kwds: use keyword arguments corresponding to message field names 00327 to set specific fields. 00328 """ 00329 if args or kwds: 00330 super(PreplanHeadScanActionGoal, self).__init__(*args, **kwds) 00331 #message fields cannot be None, assign default values for those that are 00332 if self.header is None: 00333 self.header = std_msgs.msg._Header.Header() 00334 if self.goal_id is None: 00335 self.goal_id = actionlib_msgs.msg.GoalID() 00336 if self.goal is None: 00337 self.goal = head_monitor_msgs.msg.PreplanHeadScanGoal() 00338 else: 00339 self.header = std_msgs.msg._Header.Header() 00340 self.goal_id = actionlib_msgs.msg.GoalID() 00341 self.goal = head_monitor_msgs.msg.PreplanHeadScanGoal() 00342 00343 def _get_types(self): 00344 """ 00345 internal API method 00346 """ 00347 return self._slot_types 00348 00349 def serialize(self, buff): 00350 """ 00351 serialize message into buffer 00352 @param buff: buffer 00353 @type buff: StringIO 00354 """ 00355 try: 00356 _x = self 00357 buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs)) 00358 _x = self.header.frame_id 00359 length = len(_x) 00360 buff.write(struct.pack('<I%ss'%length, length, _x)) 00361 _x = self 00362 buff.write(_struct_2I.pack(_x.goal_id.stamp.secs, _x.goal_id.stamp.nsecs)) 00363 _x = self.goal_id.id 00364 length = len(_x) 00365 buff.write(struct.pack('<I%ss'%length, length, _x)) 00366 _x = self.goal.group_name 00367 length = len(_x) 00368 buff.write(struct.pack('<I%ss'%length, length, _x)) 00369 _x = self.goal.head_monitor_link 00370 length = len(_x) 00371 buff.write(struct.pack('<I%ss'%length, length, _x)) 00372 buff.write(_struct_b.pack(self.goal.motion_plan_request.workspace_parameters.workspace_region_shape.type)) 00373 length = len(self.goal.motion_plan_request.workspace_parameters.workspace_region_shape.dimensions) 00374 buff.write(_struct_I.pack(length)) 00375 pattern = '<%sd'%length 00376 buff.write(struct.pack(pattern, *self.goal.motion_plan_request.workspace_parameters.workspace_region_shape.dimensions)) 00377 length = len(self.goal.motion_plan_request.workspace_parameters.workspace_region_shape.triangles) 00378 buff.write(_struct_I.pack(length)) 00379 pattern = '<%si'%length 00380 buff.write(struct.pack(pattern, *self.goal.motion_plan_request.workspace_parameters.workspace_region_shape.triangles)) 00381 length = len(self.goal.motion_plan_request.workspace_parameters.workspace_region_shape.vertices) 00382 buff.write(_struct_I.pack(length)) 00383 for val1 in self.goal.motion_plan_request.workspace_parameters.workspace_region_shape.vertices: 00384 _x = val1 00385 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z)) 00386 _x = self 00387 buff.write(_struct_3I.pack(_x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.header.seq, _x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.header.stamp.secs, _x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.header.stamp.nsecs)) 00388 _x = self.goal.motion_plan_request.workspace_parameters.workspace_region_pose.header.frame_id 00389 length = len(_x) 00390 buff.write(struct.pack('<I%ss'%length, length, _x)) 00391 _x = self 00392 buff.write(_struct_7d3I.pack(_x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.pose.position.x, _x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.pose.position.y, _x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.pose.position.z, _x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.pose.orientation.x, _x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.pose.orientation.y, _x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.pose.orientation.z, _x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.pose.orientation.w, _x.goal.motion_plan_request.start_state.joint_state.header.seq, _x.goal.motion_plan_request.start_state.joint_state.header.stamp.secs, _x.goal.motion_plan_request.start_state.joint_state.header.stamp.nsecs)) 00393 _x = self.goal.motion_plan_request.start_state.joint_state.header.frame_id 00394 length = len(_x) 00395 buff.write(struct.pack('<I%ss'%length, length, _x)) 00396 length = len(self.goal.motion_plan_request.start_state.joint_state.name) 00397 buff.write(_struct_I.pack(length)) 00398 for val1 in self.goal.motion_plan_request.start_state.joint_state.name: 00399 length = len(val1) 00400 buff.write(struct.pack('<I%ss'%length, length, val1)) 00401 length = len(self.goal.motion_plan_request.start_state.joint_state.position) 00402 buff.write(_struct_I.pack(length)) 00403 pattern = '<%sd'%length 00404 buff.write(struct.pack(pattern, *self.goal.motion_plan_request.start_state.joint_state.position)) 00405 length = len(self.goal.motion_plan_request.start_state.joint_state.velocity) 00406 buff.write(_struct_I.pack(length)) 00407 pattern = '<%sd'%length 00408 buff.write(struct.pack(pattern, *self.goal.motion_plan_request.start_state.joint_state.velocity)) 00409 length = len(self.goal.motion_plan_request.start_state.joint_state.effort) 00410 buff.write(_struct_I.pack(length)) 00411 pattern = '<%sd'%length 00412 buff.write(struct.pack(pattern, *self.goal.motion_plan_request.start_state.joint_state.effort)) 00413 _x = self 00414 buff.write(_struct_2I.pack(_x.goal.motion_plan_request.start_state.multi_dof_joint_state.stamp.secs, _x.goal.motion_plan_request.start_state.multi_dof_joint_state.stamp.nsecs)) 00415 length = len(self.goal.motion_plan_request.start_state.multi_dof_joint_state.joint_names) 00416 buff.write(_struct_I.pack(length)) 00417 for val1 in self.goal.motion_plan_request.start_state.multi_dof_joint_state.joint_names: 00418 length = len(val1) 00419 buff.write(struct.pack('<I%ss'%length, length, val1)) 00420 length = len(self.goal.motion_plan_request.start_state.multi_dof_joint_state.frame_ids) 00421 buff.write(_struct_I.pack(length)) 00422 for val1 in self.goal.motion_plan_request.start_state.multi_dof_joint_state.frame_ids: 00423 length = len(val1) 00424 buff.write(struct.pack('<I%ss'%length, length, val1)) 00425 length = len(self.goal.motion_plan_request.start_state.multi_dof_joint_state.child_frame_ids) 00426 buff.write(_struct_I.pack(length)) 00427 for val1 in self.goal.motion_plan_request.start_state.multi_dof_joint_state.child_frame_ids: 00428 length = len(val1) 00429 buff.write(struct.pack('<I%ss'%length, length, val1)) 00430 length = len(self.goal.motion_plan_request.start_state.multi_dof_joint_state.poses) 00431 buff.write(_struct_I.pack(length)) 00432 for val1 in self.goal.motion_plan_request.start_state.multi_dof_joint_state.poses: 00433 _v1 = val1.position 00434 _x = _v1 00435 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z)) 00436 _v2 = val1.orientation 00437 _x = _v2 00438 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w)) 00439 length = len(self.goal.motion_plan_request.goal_constraints.joint_constraints) 00440 buff.write(_struct_I.pack(length)) 00441 for val1 in self.goal.motion_plan_request.goal_constraints.joint_constraints: 00442 _x = val1.joint_name 00443 length = len(_x) 00444 buff.write(struct.pack('<I%ss'%length, length, _x)) 00445 _x = val1 00446 buff.write(_struct_4d.pack(_x.position, _x.tolerance_above, _x.tolerance_below, _x.weight)) 00447 length = len(self.goal.motion_plan_request.goal_constraints.position_constraints) 00448 buff.write(_struct_I.pack(length)) 00449 for val1 in self.goal.motion_plan_request.goal_constraints.position_constraints: 00450 _v3 = val1.header 00451 buff.write(_struct_I.pack(_v3.seq)) 00452 _v4 = _v3.stamp 00453 _x = _v4 00454 buff.write(_struct_2I.pack(_x.secs, _x.nsecs)) 00455 _x = _v3.frame_id 00456 length = len(_x) 00457 buff.write(struct.pack('<I%ss'%length, length, _x)) 00458 _x = val1.link_name 00459 length = len(_x) 00460 buff.write(struct.pack('<I%ss'%length, length, _x)) 00461 _v5 = val1.target_point_offset 00462 _x = _v5 00463 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z)) 00464 _v6 = val1.position 00465 _x = _v6 00466 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z)) 00467 _v7 = val1.constraint_region_shape 00468 buff.write(_struct_b.pack(_v7.type)) 00469 length = len(_v7.dimensions) 00470 buff.write(_struct_I.pack(length)) 00471 pattern = '<%sd'%length 00472 buff.write(struct.pack(pattern, *_v7.dimensions)) 00473 length = len(_v7.triangles) 00474 buff.write(_struct_I.pack(length)) 00475 pattern = '<%si'%length 00476 buff.write(struct.pack(pattern, *_v7.triangles)) 00477 length = len(_v7.vertices) 00478 buff.write(_struct_I.pack(length)) 00479 for val3 in _v7.vertices: 00480 _x = val3 00481 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z)) 00482 _v8 = val1.constraint_region_orientation 00483 _x = _v8 00484 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w)) 00485 buff.write(_struct_d.pack(val1.weight)) 00486 length = len(self.goal.motion_plan_request.goal_constraints.orientation_constraints) 00487 buff.write(_struct_I.pack(length)) 00488 for val1 in self.goal.motion_plan_request.goal_constraints.orientation_constraints: 00489 _v9 = val1.header 00490 buff.write(_struct_I.pack(_v9.seq)) 00491 _v10 = _v9.stamp 00492 _x = _v10 00493 buff.write(_struct_2I.pack(_x.secs, _x.nsecs)) 00494 _x = _v9.frame_id 00495 length = len(_x) 00496 buff.write(struct.pack('<I%ss'%length, length, _x)) 00497 _x = val1.link_name 00498 length = len(_x) 00499 buff.write(struct.pack('<I%ss'%length, length, _x)) 00500 buff.write(_struct_i.pack(val1.type)) 00501 _v11 = val1.orientation 00502 _x = _v11 00503 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w)) 00504 _x = val1 00505 buff.write(_struct_4d.pack(_x.absolute_roll_tolerance, _x.absolute_pitch_tolerance, _x.absolute_yaw_tolerance, _x.weight)) 00506 length = len(self.goal.motion_plan_request.goal_constraints.visibility_constraints) 00507 buff.write(_struct_I.pack(length)) 00508 for val1 in self.goal.motion_plan_request.goal_constraints.visibility_constraints: 00509 _v12 = val1.header 00510 buff.write(_struct_I.pack(_v12.seq)) 00511 _v13 = _v12.stamp 00512 _x = _v13 00513 buff.write(_struct_2I.pack(_x.secs, _x.nsecs)) 00514 _x = _v12.frame_id 00515 length = len(_x) 00516 buff.write(struct.pack('<I%ss'%length, length, _x)) 00517 _v14 = val1.target 00518 _v15 = _v14.header 00519 buff.write(_struct_I.pack(_v15.seq)) 00520 _v16 = _v15.stamp 00521 _x = _v16 00522 buff.write(_struct_2I.pack(_x.secs, _x.nsecs)) 00523 _x = _v15.frame_id 00524 length = len(_x) 00525 buff.write(struct.pack('<I%ss'%length, length, _x)) 00526 _v17 = _v14.point 00527 _x = _v17 00528 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z)) 00529 _v18 = val1.sensor_pose 00530 _v19 = _v18.header 00531 buff.write(_struct_I.pack(_v19.seq)) 00532 _v20 = _v19.stamp 00533 _x = _v20 00534 buff.write(_struct_2I.pack(_x.secs, _x.nsecs)) 00535 _x = _v19.frame_id 00536 length = len(_x) 00537 buff.write(struct.pack('<I%ss'%length, length, _x)) 00538 _v21 = _v18.pose 00539 _v22 = _v21.position 00540 _x = _v22 00541 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z)) 00542 _v23 = _v21.orientation 00543 _x = _v23 00544 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w)) 00545 buff.write(_struct_d.pack(val1.absolute_tolerance)) 00546 length = len(self.goal.motion_plan_request.path_constraints.joint_constraints) 00547 buff.write(_struct_I.pack(length)) 00548 for val1 in self.goal.motion_plan_request.path_constraints.joint_constraints: 00549 _x = val1.joint_name 00550 length = len(_x) 00551 buff.write(struct.pack('<I%ss'%length, length, _x)) 00552 _x = val1 00553 buff.write(_struct_4d.pack(_x.position, _x.tolerance_above, _x.tolerance_below, _x.weight)) 00554 length = len(self.goal.motion_plan_request.path_constraints.position_constraints) 00555 buff.write(_struct_I.pack(length)) 00556 for val1 in self.goal.motion_plan_request.path_constraints.position_constraints: 00557 _v24 = val1.header 00558 buff.write(_struct_I.pack(_v24.seq)) 00559 _v25 = _v24.stamp 00560 _x = _v25 00561 buff.write(_struct_2I.pack(_x.secs, _x.nsecs)) 00562 _x = _v24.frame_id 00563 length = len(_x) 00564 buff.write(struct.pack('<I%ss'%length, length, _x)) 00565 _x = val1.link_name 00566 length = len(_x) 00567 buff.write(struct.pack('<I%ss'%length, length, _x)) 00568 _v26 = val1.target_point_offset 00569 _x = _v26 00570 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z)) 00571 _v27 = val1.position 00572 _x = _v27 00573 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z)) 00574 _v28 = val1.constraint_region_shape 00575 buff.write(_struct_b.pack(_v28.type)) 00576 length = len(_v28.dimensions) 00577 buff.write(_struct_I.pack(length)) 00578 pattern = '<%sd'%length 00579 buff.write(struct.pack(pattern, *_v28.dimensions)) 00580 length = len(_v28.triangles) 00581 buff.write(_struct_I.pack(length)) 00582 pattern = '<%si'%length 00583 buff.write(struct.pack(pattern, *_v28.triangles)) 00584 length = len(_v28.vertices) 00585 buff.write(_struct_I.pack(length)) 00586 for val3 in _v28.vertices: 00587 _x = val3 00588 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z)) 00589 _v29 = val1.constraint_region_orientation 00590 _x = _v29 00591 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w)) 00592 buff.write(_struct_d.pack(val1.weight)) 00593 length = len(self.goal.motion_plan_request.path_constraints.orientation_constraints) 00594 buff.write(_struct_I.pack(length)) 00595 for val1 in self.goal.motion_plan_request.path_constraints.orientation_constraints: 00596 _v30 = val1.header 00597 buff.write(_struct_I.pack(_v30.seq)) 00598 _v31 = _v30.stamp 00599 _x = _v31 00600 buff.write(_struct_2I.pack(_x.secs, _x.nsecs)) 00601 _x = _v30.frame_id 00602 length = len(_x) 00603 buff.write(struct.pack('<I%ss'%length, length, _x)) 00604 _x = val1.link_name 00605 length = len(_x) 00606 buff.write(struct.pack('<I%ss'%length, length, _x)) 00607 buff.write(_struct_i.pack(val1.type)) 00608 _v32 = val1.orientation 00609 _x = _v32 00610 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w)) 00611 _x = val1 00612 buff.write(_struct_4d.pack(_x.absolute_roll_tolerance, _x.absolute_pitch_tolerance, _x.absolute_yaw_tolerance, _x.weight)) 00613 length = len(self.goal.motion_plan_request.path_constraints.visibility_constraints) 00614 buff.write(_struct_I.pack(length)) 00615 for val1 in self.goal.motion_plan_request.path_constraints.visibility_constraints: 00616 _v33 = val1.header 00617 buff.write(_struct_I.pack(_v33.seq)) 00618 _v34 = _v33.stamp 00619 _x = _v34 00620 buff.write(_struct_2I.pack(_x.secs, _x.nsecs)) 00621 _x = _v33.frame_id 00622 length = len(_x) 00623 buff.write(struct.pack('<I%ss'%length, length, _x)) 00624 _v35 = val1.target 00625 _v36 = _v35.header 00626 buff.write(_struct_I.pack(_v36.seq)) 00627 _v37 = _v36.stamp 00628 _x = _v37 00629 buff.write(_struct_2I.pack(_x.secs, _x.nsecs)) 00630 _x = _v36.frame_id 00631 length = len(_x) 00632 buff.write(struct.pack('<I%ss'%length, length, _x)) 00633 _v38 = _v35.point 00634 _x = _v38 00635 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z)) 00636 _v39 = val1.sensor_pose 00637 _v40 = _v39.header 00638 buff.write(_struct_I.pack(_v40.seq)) 00639 _v41 = _v40.stamp 00640 _x = _v41 00641 buff.write(_struct_2I.pack(_x.secs, _x.nsecs)) 00642 _x = _v40.frame_id 00643 length = len(_x) 00644 buff.write(struct.pack('<I%ss'%length, length, _x)) 00645 _v42 = _v39.pose 00646 _v43 = _v42.position 00647 _x = _v43 00648 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z)) 00649 _v44 = _v42.orientation 00650 _x = _v44 00651 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w)) 00652 buff.write(_struct_d.pack(val1.absolute_tolerance)) 00653 _x = self.goal.motion_plan_request.planner_id 00654 length = len(_x) 00655 buff.write(struct.pack('<I%ss'%length, length, _x)) 00656 _x = self.goal.motion_plan_request.group_name 00657 length = len(_x) 00658 buff.write(struct.pack('<I%ss'%length, length, _x)) 00659 _x = self 00660 buff.write(_struct_7i.pack(_x.goal.motion_plan_request.num_planning_attempts, _x.goal.motion_plan_request.allowed_planning_time.secs, _x.goal.motion_plan_request.allowed_planning_time.nsecs, _x.goal.motion_plan_request.expected_path_duration.secs, _x.goal.motion_plan_request.expected_path_duration.nsecs, _x.goal.motion_plan_request.expected_path_dt.secs, _x.goal.motion_plan_request.expected_path_dt.nsecs)) 00661 except struct.error as se: self._check_types(se) 00662 except TypeError as te: self._check_types(te) 00663 00664 def deserialize(self, str): 00665 """ 00666 unpack serialized message in str into this message instance 00667 @param str: byte array of serialized message 00668 @type str: str 00669 """ 00670 try: 00671 if self.header is None: 00672 self.header = std_msgs.msg._Header.Header() 00673 if self.goal_id is None: 00674 self.goal_id = actionlib_msgs.msg.GoalID() 00675 if self.goal is None: 00676 self.goal = head_monitor_msgs.msg.PreplanHeadScanGoal() 00677 end = 0 00678 _x = self 00679 start = end 00680 end += 12 00681 (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end]) 00682 start = end 00683 end += 4 00684 (length,) = _struct_I.unpack(str[start:end]) 00685 start = end 00686 end += length 00687 self.header.frame_id = str[start:end] 00688 _x = self 00689 start = end 00690 end += 8 00691 (_x.goal_id.stamp.secs, _x.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end]) 00692 start = end 00693 end += 4 00694 (length,) = _struct_I.unpack(str[start:end]) 00695 start = end 00696 end += length 00697 self.goal_id.id = str[start:end] 00698 start = end 00699 end += 4 00700 (length,) = _struct_I.unpack(str[start:end]) 00701 start = end 00702 end += length 00703 self.goal.group_name = str[start:end] 00704 start = end 00705 end += 4 00706 (length,) = _struct_I.unpack(str[start:end]) 00707 start = end 00708 end += length 00709 self.goal.head_monitor_link = str[start:end] 00710 start = end 00711 end += 1 00712 (self.goal.motion_plan_request.workspace_parameters.workspace_region_shape.type,) = _struct_b.unpack(str[start:end]) 00713 start = end 00714 end += 4 00715 (length,) = _struct_I.unpack(str[start:end]) 00716 pattern = '<%sd'%length 00717 start = end 00718 end += struct.calcsize(pattern) 00719 self.goal.motion_plan_request.workspace_parameters.workspace_region_shape.dimensions = struct.unpack(pattern, str[start:end]) 00720 start = end 00721 end += 4 00722 (length,) = _struct_I.unpack(str[start:end]) 00723 pattern = '<%si'%length 00724 start = end 00725 end += struct.calcsize(pattern) 00726 self.goal.motion_plan_request.workspace_parameters.workspace_region_shape.triangles = struct.unpack(pattern, str[start:end]) 00727 start = end 00728 end += 4 00729 (length,) = _struct_I.unpack(str[start:end]) 00730 self.goal.motion_plan_request.workspace_parameters.workspace_region_shape.vertices = [] 00731 for i in range(0, length): 00732 val1 = geometry_msgs.msg.Point() 00733 _x = val1 00734 start = end 00735 end += 24 00736 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end]) 00737 self.goal.motion_plan_request.workspace_parameters.workspace_region_shape.vertices.append(val1) 00738 _x = self 00739 start = end 00740 end += 12 00741 (_x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.header.seq, _x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.header.stamp.secs, _x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end]) 00742 start = end 00743 end += 4 00744 (length,) = _struct_I.unpack(str[start:end]) 00745 start = end 00746 end += length 00747 self.goal.motion_plan_request.workspace_parameters.workspace_region_pose.header.frame_id = str[start:end] 00748 _x = self 00749 start = end 00750 end += 68 00751 (_x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.pose.position.x, _x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.pose.position.y, _x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.pose.position.z, _x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.pose.orientation.x, _x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.pose.orientation.y, _x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.pose.orientation.z, _x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.pose.orientation.w, _x.goal.motion_plan_request.start_state.joint_state.header.seq, _x.goal.motion_plan_request.start_state.joint_state.header.stamp.secs, _x.goal.motion_plan_request.start_state.joint_state.header.stamp.nsecs,) = _struct_7d3I.unpack(str[start:end]) 00752 start = end 00753 end += 4 00754 (length,) = _struct_I.unpack(str[start:end]) 00755 start = end 00756 end += length 00757 self.goal.motion_plan_request.start_state.joint_state.header.frame_id = str[start:end] 00758 start = end 00759 end += 4 00760 (length,) = _struct_I.unpack(str[start:end]) 00761 self.goal.motion_plan_request.start_state.joint_state.name = [] 00762 for i in range(0, length): 00763 start = end 00764 end += 4 00765 (length,) = _struct_I.unpack(str[start:end]) 00766 start = end 00767 end += length 00768 val1 = str[start:end] 00769 self.goal.motion_plan_request.start_state.joint_state.name.append(val1) 00770 start = end 00771 end += 4 00772 (length,) = _struct_I.unpack(str[start:end]) 00773 pattern = '<%sd'%length 00774 start = end 00775 end += struct.calcsize(pattern) 00776 self.goal.motion_plan_request.start_state.joint_state.position = struct.unpack(pattern, str[start:end]) 00777 start = end 00778 end += 4 00779 (length,) = _struct_I.unpack(str[start:end]) 00780 pattern = '<%sd'%length 00781 start = end 00782 end += struct.calcsize(pattern) 00783 self.goal.motion_plan_request.start_state.joint_state.velocity = struct.unpack(pattern, str[start:end]) 00784 start = end 00785 end += 4 00786 (length,) = _struct_I.unpack(str[start:end]) 00787 pattern = '<%sd'%length 00788 start = end 00789 end += struct.calcsize(pattern) 00790 self.goal.motion_plan_request.start_state.joint_state.effort = struct.unpack(pattern, str[start:end]) 00791 _x = self 00792 start = end 00793 end += 8 00794 (_x.goal.motion_plan_request.start_state.multi_dof_joint_state.stamp.secs, _x.goal.motion_plan_request.start_state.multi_dof_joint_state.stamp.nsecs,) = _struct_2I.unpack(str[start:end]) 00795 start = end 00796 end += 4 00797 (length,) = _struct_I.unpack(str[start:end]) 00798 self.goal.motion_plan_request.start_state.multi_dof_joint_state.joint_names = [] 00799 for i in range(0, length): 00800 start = end 00801 end += 4 00802 (length,) = _struct_I.unpack(str[start:end]) 00803 start = end 00804 end += length 00805 val1 = str[start:end] 00806 self.goal.motion_plan_request.start_state.multi_dof_joint_state.joint_names.append(val1) 00807 start = end 00808 end += 4 00809 (length,) = _struct_I.unpack(str[start:end]) 00810 self.goal.motion_plan_request.start_state.multi_dof_joint_state.frame_ids = [] 00811 for i in range(0, length): 00812 start = end 00813 end += 4 00814 (length,) = _struct_I.unpack(str[start:end]) 00815 start = end 00816 end += length 00817 val1 = str[start:end] 00818 self.goal.motion_plan_request.start_state.multi_dof_joint_state.frame_ids.append(val1) 00819 start = end 00820 end += 4 00821 (length,) = _struct_I.unpack(str[start:end]) 00822 self.goal.motion_plan_request.start_state.multi_dof_joint_state.child_frame_ids = [] 00823 for i in range(0, length): 00824 start = end 00825 end += 4 00826 (length,) = _struct_I.unpack(str[start:end]) 00827 start = end 00828 end += length 00829 val1 = str[start:end] 00830 self.goal.motion_plan_request.start_state.multi_dof_joint_state.child_frame_ids.append(val1) 00831 start = end 00832 end += 4 00833 (length,) = _struct_I.unpack(str[start:end]) 00834 self.goal.motion_plan_request.start_state.multi_dof_joint_state.poses = [] 00835 for i in range(0, length): 00836 val1 = geometry_msgs.msg.Pose() 00837 _v45 = val1.position 00838 _x = _v45 00839 start = end 00840 end += 24 00841 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end]) 00842 _v46 = val1.orientation 00843 _x = _v46 00844 start = end 00845 end += 32 00846 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end]) 00847 self.goal.motion_plan_request.start_state.multi_dof_joint_state.poses.append(val1) 00848 start = end 00849 end += 4 00850 (length,) = _struct_I.unpack(str[start:end]) 00851 self.goal.motion_plan_request.goal_constraints.joint_constraints = [] 00852 for i in range(0, length): 00853 val1 = arm_navigation_msgs.msg.JointConstraint() 00854 start = end 00855 end += 4 00856 (length,) = _struct_I.unpack(str[start:end]) 00857 start = end 00858 end += length 00859 val1.joint_name = str[start:end] 00860 _x = val1 00861 start = end 00862 end += 32 00863 (_x.position, _x.tolerance_above, _x.tolerance_below, _x.weight,) = _struct_4d.unpack(str[start:end]) 00864 self.goal.motion_plan_request.goal_constraints.joint_constraints.append(val1) 00865 start = end 00866 end += 4 00867 (length,) = _struct_I.unpack(str[start:end]) 00868 self.goal.motion_plan_request.goal_constraints.position_constraints = [] 00869 for i in range(0, length): 00870 val1 = arm_navigation_msgs.msg.PositionConstraint() 00871 _v47 = val1.header 00872 start = end 00873 end += 4 00874 (_v47.seq,) = _struct_I.unpack(str[start:end]) 00875 _v48 = _v47.stamp 00876 _x = _v48 00877 start = end 00878 end += 8 00879 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end]) 00880 start = end 00881 end += 4 00882 (length,) = _struct_I.unpack(str[start:end]) 00883 start = end 00884 end += length 00885 _v47.frame_id = str[start:end] 00886 start = end 00887 end += 4 00888 (length,) = _struct_I.unpack(str[start:end]) 00889 start = end 00890 end += length 00891 val1.link_name = str[start:end] 00892 _v49 = val1.target_point_offset 00893 _x = _v49 00894 start = end 00895 end += 24 00896 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end]) 00897 _v50 = val1.position 00898 _x = _v50 00899 start = end 00900 end += 24 00901 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end]) 00902 _v51 = val1.constraint_region_shape 00903 start = end 00904 end += 1 00905 (_v51.type,) = _struct_b.unpack(str[start:end]) 00906 start = end 00907 end += 4 00908 (length,) = _struct_I.unpack(str[start:end]) 00909 pattern = '<%sd'%length 00910 start = end 00911 end += struct.calcsize(pattern) 00912 _v51.dimensions = struct.unpack(pattern, str[start:end]) 00913 start = end 00914 end += 4 00915 (length,) = _struct_I.unpack(str[start:end]) 00916 pattern = '<%si'%length 00917 start = end 00918 end += struct.calcsize(pattern) 00919 _v51.triangles = struct.unpack(pattern, str[start:end]) 00920 start = end 00921 end += 4 00922 (length,) = _struct_I.unpack(str[start:end]) 00923 _v51.vertices = [] 00924 for i in range(0, length): 00925 val3 = geometry_msgs.msg.Point() 00926 _x = val3 00927 start = end 00928 end += 24 00929 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end]) 00930 _v51.vertices.append(val3) 00931 _v52 = val1.constraint_region_orientation 00932 _x = _v52 00933 start = end 00934 end += 32 00935 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end]) 00936 start = end 00937 end += 8 00938 (val1.weight,) = _struct_d.unpack(str[start:end]) 00939 self.goal.motion_plan_request.goal_constraints.position_constraints.append(val1) 00940 start = end 00941 end += 4 00942 (length,) = _struct_I.unpack(str[start:end]) 00943 self.goal.motion_plan_request.goal_constraints.orientation_constraints = [] 00944 for i in range(0, length): 00945 val1 = arm_navigation_msgs.msg.OrientationConstraint() 00946 _v53 = val1.header 00947 start = end 00948 end += 4 00949 (_v53.seq,) = _struct_I.unpack(str[start:end]) 00950 _v54 = _v53.stamp 00951 _x = _v54 00952 start = end 00953 end += 8 00954 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end]) 00955 start = end 00956 end += 4 00957 (length,) = _struct_I.unpack(str[start:end]) 00958 start = end 00959 end += length 00960 _v53.frame_id = str[start:end] 00961 start = end 00962 end += 4 00963 (length,) = _struct_I.unpack(str[start:end]) 00964 start = end 00965 end += length 00966 val1.link_name = str[start:end] 00967 start = end 00968 end += 4 00969 (val1.type,) = _struct_i.unpack(str[start:end]) 00970 _v55 = val1.orientation 00971 _x = _v55 00972 start = end 00973 end += 32 00974 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end]) 00975 _x = val1 00976 start = end 00977 end += 32 00978 (_x.absolute_roll_tolerance, _x.absolute_pitch_tolerance, _x.absolute_yaw_tolerance, _x.weight,) = _struct_4d.unpack(str[start:end]) 00979 self.goal.motion_plan_request.goal_constraints.orientation_constraints.append(val1) 00980 start = end 00981 end += 4 00982 (length,) = _struct_I.unpack(str[start:end]) 00983 self.goal.motion_plan_request.goal_constraints.visibility_constraints = [] 00984 for i in range(0, length): 00985 val1 = arm_navigation_msgs.msg.VisibilityConstraint() 00986 _v56 = val1.header 00987 start = end 00988 end += 4 00989 (_v56.seq,) = _struct_I.unpack(str[start:end]) 00990 _v57 = _v56.stamp 00991 _x = _v57 00992 start = end 00993 end += 8 00994 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end]) 00995 start = end 00996 end += 4 00997 (length,) = _struct_I.unpack(str[start:end]) 00998 start = end 00999 end += length 01000 _v56.frame_id = str[start:end] 01001 _v58 = val1.target 01002 _v59 = _v58.header 01003 start = end 01004 end += 4 01005 (_v59.seq,) = _struct_I.unpack(str[start:end]) 01006 _v60 = _v59.stamp 01007 _x = _v60 01008 start = end 01009 end += 8 01010 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end]) 01011 start = end 01012 end += 4 01013 (length,) = _struct_I.unpack(str[start:end]) 01014 start = end 01015 end += length 01016 _v59.frame_id = str[start:end] 01017 _v61 = _v58.point 01018 _x = _v61 01019 start = end 01020 end += 24 01021 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end]) 01022 _v62 = val1.sensor_pose 01023 _v63 = _v62.header 01024 start = end 01025 end += 4 01026 (_v63.seq,) = _struct_I.unpack(str[start:end]) 01027 _v64 = _v63.stamp 01028 _x = _v64 01029 start = end 01030 end += 8 01031 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end]) 01032 start = end 01033 end += 4 01034 (length,) = _struct_I.unpack(str[start:end]) 01035 start = end 01036 end += length 01037 _v63.frame_id = str[start:end] 01038 _v65 = _v62.pose 01039 _v66 = _v65.position 01040 _x = _v66 01041 start = end 01042 end += 24 01043 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end]) 01044 _v67 = _v65.orientation 01045 _x = _v67 01046 start = end 01047 end += 32 01048 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end]) 01049 start = end 01050 end += 8 01051 (val1.absolute_tolerance,) = _struct_d.unpack(str[start:end]) 01052 self.goal.motion_plan_request.goal_constraints.visibility_constraints.append(val1) 01053 start = end 01054 end += 4 01055 (length,) = _struct_I.unpack(str[start:end]) 01056 self.goal.motion_plan_request.path_constraints.joint_constraints = [] 01057 for i in range(0, length): 01058 val1 = arm_navigation_msgs.msg.JointConstraint() 01059 start = end 01060 end += 4 01061 (length,) = _struct_I.unpack(str[start:end]) 01062 start = end 01063 end += length 01064 val1.joint_name = str[start:end] 01065 _x = val1 01066 start = end 01067 end += 32 01068 (_x.position, _x.tolerance_above, _x.tolerance_below, _x.weight,) = _struct_4d.unpack(str[start:end]) 01069 self.goal.motion_plan_request.path_constraints.joint_constraints.append(val1) 01070 start = end 01071 end += 4 01072 (length,) = _struct_I.unpack(str[start:end]) 01073 self.goal.motion_plan_request.path_constraints.position_constraints = [] 01074 for i in range(0, length): 01075 val1 = arm_navigation_msgs.msg.PositionConstraint() 01076 _v68 = val1.header 01077 start = end 01078 end += 4 01079 (_v68.seq,) = _struct_I.unpack(str[start:end]) 01080 _v69 = _v68.stamp 01081 _x = _v69 01082 start = end 01083 end += 8 01084 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end]) 01085 start = end 01086 end += 4 01087 (length,) = _struct_I.unpack(str[start:end]) 01088 start = end 01089 end += length 01090 _v68.frame_id = str[start:end] 01091 start = end 01092 end += 4 01093 (length,) = _struct_I.unpack(str[start:end]) 01094 start = end 01095 end += length 01096 val1.link_name = str[start:end] 01097 _v70 = val1.target_point_offset 01098 _x = _v70 01099 start = end 01100 end += 24 01101 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end]) 01102 _v71 = val1.position 01103 _x = _v71 01104 start = end 01105 end += 24 01106 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end]) 01107 _v72 = val1.constraint_region_shape 01108 start = end 01109 end += 1 01110 (_v72.type,) = _struct_b.unpack(str[start:end]) 01111 start = end 01112 end += 4 01113 (length,) = _struct_I.unpack(str[start:end]) 01114 pattern = '<%sd'%length 01115 start = end 01116 end += struct.calcsize(pattern) 01117 _v72.dimensions = struct.unpack(pattern, str[start:end]) 01118 start = end 01119 end += 4 01120 (length,) = _struct_I.unpack(str[start:end]) 01121 pattern = '<%si'%length 01122 start = end 01123 end += struct.calcsize(pattern) 01124 _v72.triangles = struct.unpack(pattern, str[start:end]) 01125 start = end 01126 end += 4 01127 (length,) = _struct_I.unpack(str[start:end]) 01128 _v72.vertices = [] 01129 for i in range(0, length): 01130 val3 = geometry_msgs.msg.Point() 01131 _x = val3 01132 start = end 01133 end += 24 01134 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end]) 01135 _v72.vertices.append(val3) 01136 _v73 = val1.constraint_region_orientation 01137 _x = _v73 01138 start = end 01139 end += 32 01140 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end]) 01141 start = end 01142 end += 8 01143 (val1.weight,) = _struct_d.unpack(str[start:end]) 01144 self.goal.motion_plan_request.path_constraints.position_constraints.append(val1) 01145 start = end 01146 end += 4 01147 (length,) = _struct_I.unpack(str[start:end]) 01148 self.goal.motion_plan_request.path_constraints.orientation_constraints = [] 01149 for i in range(0, length): 01150 val1 = arm_navigation_msgs.msg.OrientationConstraint() 01151 _v74 = val1.header 01152 start = end 01153 end += 4 01154 (_v74.seq,) = _struct_I.unpack(str[start:end]) 01155 _v75 = _v74.stamp 01156 _x = _v75 01157 start = end 01158 end += 8 01159 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end]) 01160 start = end 01161 end += 4 01162 (length,) = _struct_I.unpack(str[start:end]) 01163 start = end 01164 end += length 01165 _v74.frame_id = str[start:end] 01166 start = end 01167 end += 4 01168 (length,) = _struct_I.unpack(str[start:end]) 01169 start = end 01170 end += length 01171 val1.link_name = str[start:end] 01172 start = end 01173 end += 4 01174 (val1.type,) = _struct_i.unpack(str[start:end]) 01175 _v76 = val1.orientation 01176 _x = _v76 01177 start = end 01178 end += 32 01179 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end]) 01180 _x = val1 01181 start = end 01182 end += 32 01183 (_x.absolute_roll_tolerance, _x.absolute_pitch_tolerance, _x.absolute_yaw_tolerance, _x.weight,) = _struct_4d.unpack(str[start:end]) 01184 self.goal.motion_plan_request.path_constraints.orientation_constraints.append(val1) 01185 start = end 01186 end += 4 01187 (length,) = _struct_I.unpack(str[start:end]) 01188 self.goal.motion_plan_request.path_constraints.visibility_constraints = [] 01189 for i in range(0, length): 01190 val1 = arm_navigation_msgs.msg.VisibilityConstraint() 01191 _v77 = val1.header 01192 start = end 01193 end += 4 01194 (_v77.seq,) = _struct_I.unpack(str[start:end]) 01195 _v78 = _v77.stamp 01196 _x = _v78 01197 start = end 01198 end += 8 01199 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end]) 01200 start = end 01201 end += 4 01202 (length,) = _struct_I.unpack(str[start:end]) 01203 start = end 01204 end += length 01205 _v77.frame_id = str[start:end] 01206 _v79 = val1.target 01207 _v80 = _v79.header 01208 start = end 01209 end += 4 01210 (_v80.seq,) = _struct_I.unpack(str[start:end]) 01211 _v81 = _v80.stamp 01212 _x = _v81 01213 start = end 01214 end += 8 01215 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end]) 01216 start = end 01217 end += 4 01218 (length,) = _struct_I.unpack(str[start:end]) 01219 start = end 01220 end += length 01221 _v80.frame_id = str[start:end] 01222 _v82 = _v79.point 01223 _x = _v82 01224 start = end 01225 end += 24 01226 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end]) 01227 _v83 = val1.sensor_pose 01228 _v84 = _v83.header 01229 start = end 01230 end += 4 01231 (_v84.seq,) = _struct_I.unpack(str[start:end]) 01232 _v85 = _v84.stamp 01233 _x = _v85 01234 start = end 01235 end += 8 01236 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end]) 01237 start = end 01238 end += 4 01239 (length,) = _struct_I.unpack(str[start:end]) 01240 start = end 01241 end += length 01242 _v84.frame_id = str[start:end] 01243 _v86 = _v83.pose 01244 _v87 = _v86.position 01245 _x = _v87 01246 start = end 01247 end += 24 01248 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end]) 01249 _v88 = _v86.orientation 01250 _x = _v88 01251 start = end 01252 end += 32 01253 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end]) 01254 start = end 01255 end += 8 01256 (val1.absolute_tolerance,) = _struct_d.unpack(str[start:end]) 01257 self.goal.motion_plan_request.path_constraints.visibility_constraints.append(val1) 01258 start = end 01259 end += 4 01260 (length,) = _struct_I.unpack(str[start:end]) 01261 start = end 01262 end += length 01263 self.goal.motion_plan_request.planner_id = str[start:end] 01264 start = end 01265 end += 4 01266 (length,) = _struct_I.unpack(str[start:end]) 01267 start = end 01268 end += length 01269 self.goal.motion_plan_request.group_name = str[start:end] 01270 _x = self 01271 start = end 01272 end += 28 01273 (_x.goal.motion_plan_request.num_planning_attempts, _x.goal.motion_plan_request.allowed_planning_time.secs, _x.goal.motion_plan_request.allowed_planning_time.nsecs, _x.goal.motion_plan_request.expected_path_duration.secs, _x.goal.motion_plan_request.expected_path_duration.nsecs, _x.goal.motion_plan_request.expected_path_dt.secs, _x.goal.motion_plan_request.expected_path_dt.nsecs,) = _struct_7i.unpack(str[start:end]) 01274 return self 01275 except struct.error as e: 01276 raise roslib.message.DeserializationError(e) #most likely buffer underfill 01277 01278 01279 def serialize_numpy(self, buff, numpy): 01280 """ 01281 serialize message with numpy array types into buffer 01282 @param buff: buffer 01283 @type buff: StringIO 01284 @param numpy: numpy python module 01285 @type numpy module 01286 """ 01287 try: 01288 _x = self 01289 buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs)) 01290 _x = self.header.frame_id 01291 length = len(_x) 01292 buff.write(struct.pack('<I%ss'%length, length, _x)) 01293 _x = self 01294 buff.write(_struct_2I.pack(_x.goal_id.stamp.secs, _x.goal_id.stamp.nsecs)) 01295 _x = self.goal_id.id 01296 length = len(_x) 01297 buff.write(struct.pack('<I%ss'%length, length, _x)) 01298 _x = self.goal.group_name 01299 length = len(_x) 01300 buff.write(struct.pack('<I%ss'%length, length, _x)) 01301 _x = self.goal.head_monitor_link 01302 length = len(_x) 01303 buff.write(struct.pack('<I%ss'%length, length, _x)) 01304 buff.write(_struct_b.pack(self.goal.motion_plan_request.workspace_parameters.workspace_region_shape.type)) 01305 length = len(self.goal.motion_plan_request.workspace_parameters.workspace_region_shape.dimensions) 01306 buff.write(_struct_I.pack(length)) 01307 pattern = '<%sd'%length 01308 buff.write(self.goal.motion_plan_request.workspace_parameters.workspace_region_shape.dimensions.tostring()) 01309 length = len(self.goal.motion_plan_request.workspace_parameters.workspace_region_shape.triangles) 01310 buff.write(_struct_I.pack(length)) 01311 pattern = '<%si'%length 01312 buff.write(self.goal.motion_plan_request.workspace_parameters.workspace_region_shape.triangles.tostring()) 01313 length = len(self.goal.motion_plan_request.workspace_parameters.workspace_region_shape.vertices) 01314 buff.write(_struct_I.pack(length)) 01315 for val1 in self.goal.motion_plan_request.workspace_parameters.workspace_region_shape.vertices: 01316 _x = val1 01317 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z)) 01318 _x = self 01319 buff.write(_struct_3I.pack(_x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.header.seq, _x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.header.stamp.secs, _x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.header.stamp.nsecs)) 01320 _x = self.goal.motion_plan_request.workspace_parameters.workspace_region_pose.header.frame_id 01321 length = len(_x) 01322 buff.write(struct.pack('<I%ss'%length, length, _x)) 01323 _x = self 01324 buff.write(_struct_7d3I.pack(_x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.pose.position.x, _x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.pose.position.y, _x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.pose.position.z, _x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.pose.orientation.x, _x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.pose.orientation.y, _x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.pose.orientation.z, _x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.pose.orientation.w, _x.goal.motion_plan_request.start_state.joint_state.header.seq, _x.goal.motion_plan_request.start_state.joint_state.header.stamp.secs, _x.goal.motion_plan_request.start_state.joint_state.header.stamp.nsecs)) 01325 _x = self.goal.motion_plan_request.start_state.joint_state.header.frame_id 01326 length = len(_x) 01327 buff.write(struct.pack('<I%ss'%length, length, _x)) 01328 length = len(self.goal.motion_plan_request.start_state.joint_state.name) 01329 buff.write(_struct_I.pack(length)) 01330 for val1 in self.goal.motion_plan_request.start_state.joint_state.name: 01331 length = len(val1) 01332 buff.write(struct.pack('<I%ss'%length, length, val1)) 01333 length = len(self.goal.motion_plan_request.start_state.joint_state.position) 01334 buff.write(_struct_I.pack(length)) 01335 pattern = '<%sd'%length 01336 buff.write(self.goal.motion_plan_request.start_state.joint_state.position.tostring()) 01337 length = len(self.goal.motion_plan_request.start_state.joint_state.velocity) 01338 buff.write(_struct_I.pack(length)) 01339 pattern = '<%sd'%length 01340 buff.write(self.goal.motion_plan_request.start_state.joint_state.velocity.tostring()) 01341 length = len(self.goal.motion_plan_request.start_state.joint_state.effort) 01342 buff.write(_struct_I.pack(length)) 01343 pattern = '<%sd'%length 01344 buff.write(self.goal.motion_plan_request.start_state.joint_state.effort.tostring()) 01345 _x = self 01346 buff.write(_struct_2I.pack(_x.goal.motion_plan_request.start_state.multi_dof_joint_state.stamp.secs, _x.goal.motion_plan_request.start_state.multi_dof_joint_state.stamp.nsecs)) 01347 length = len(self.goal.motion_plan_request.start_state.multi_dof_joint_state.joint_names) 01348 buff.write(_struct_I.pack(length)) 01349 for val1 in self.goal.motion_plan_request.start_state.multi_dof_joint_state.joint_names: 01350 length = len(val1) 01351 buff.write(struct.pack('<I%ss'%length, length, val1)) 01352 length = len(self.goal.motion_plan_request.start_state.multi_dof_joint_state.frame_ids) 01353 buff.write(_struct_I.pack(length)) 01354 for val1 in self.goal.motion_plan_request.start_state.multi_dof_joint_state.frame_ids: 01355 length = len(val1) 01356 buff.write(struct.pack('<I%ss'%length, length, val1)) 01357 length = len(self.goal.motion_plan_request.start_state.multi_dof_joint_state.child_frame_ids) 01358 buff.write(_struct_I.pack(length)) 01359 for val1 in self.goal.motion_plan_request.start_state.multi_dof_joint_state.child_frame_ids: 01360 length = len(val1) 01361 buff.write(struct.pack('<I%ss'%length, length, val1)) 01362 length = len(self.goal.motion_plan_request.start_state.multi_dof_joint_state.poses) 01363 buff.write(_struct_I.pack(length)) 01364 for val1 in self.goal.motion_plan_request.start_state.multi_dof_joint_state.poses: 01365 _v89 = val1.position 01366 _x = _v89 01367 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z)) 01368 _v90 = val1.orientation 01369 _x = _v90 01370 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w)) 01371 length = len(self.goal.motion_plan_request.goal_constraints.joint_constraints) 01372 buff.write(_struct_I.pack(length)) 01373 for val1 in self.goal.motion_plan_request.goal_constraints.joint_constraints: 01374 _x = val1.joint_name 01375 length = len(_x) 01376 buff.write(struct.pack('<I%ss'%length, length, _x)) 01377 _x = val1 01378 buff.write(_struct_4d.pack(_x.position, _x.tolerance_above, _x.tolerance_below, _x.weight)) 01379 length = len(self.goal.motion_plan_request.goal_constraints.position_constraints) 01380 buff.write(_struct_I.pack(length)) 01381 for val1 in self.goal.motion_plan_request.goal_constraints.position_constraints: 01382 _v91 = val1.header 01383 buff.write(_struct_I.pack(_v91.seq)) 01384 _v92 = _v91.stamp 01385 _x = _v92 01386 buff.write(_struct_2I.pack(_x.secs, _x.nsecs)) 01387 _x = _v91.frame_id 01388 length = len(_x) 01389 buff.write(struct.pack('<I%ss'%length, length, _x)) 01390 _x = val1.link_name 01391 length = len(_x) 01392 buff.write(struct.pack('<I%ss'%length, length, _x)) 01393 _v93 = val1.target_point_offset 01394 _x = _v93 01395 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z)) 01396 _v94 = val1.position 01397 _x = _v94 01398 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z)) 01399 _v95 = val1.constraint_region_shape 01400 buff.write(_struct_b.pack(_v95.type)) 01401 length = len(_v95.dimensions) 01402 buff.write(_struct_I.pack(length)) 01403 pattern = '<%sd'%length 01404 buff.write(_v95.dimensions.tostring()) 01405 length = len(_v95.triangles) 01406 buff.write(_struct_I.pack(length)) 01407 pattern = '<%si'%length 01408 buff.write(_v95.triangles.tostring()) 01409 length = len(_v95.vertices) 01410 buff.write(_struct_I.pack(length)) 01411 for val3 in _v95.vertices: 01412 _x = val3 01413 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z)) 01414 _v96 = val1.constraint_region_orientation 01415 _x = _v96 01416 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w)) 01417 buff.write(_struct_d.pack(val1.weight)) 01418 length = len(self.goal.motion_plan_request.goal_constraints.orientation_constraints) 01419 buff.write(_struct_I.pack(length)) 01420 for val1 in self.goal.motion_plan_request.goal_constraints.orientation_constraints: 01421 _v97 = val1.header 01422 buff.write(_struct_I.pack(_v97.seq)) 01423 _v98 = _v97.stamp 01424 _x = _v98 01425 buff.write(_struct_2I.pack(_x.secs, _x.nsecs)) 01426 _x = _v97.frame_id 01427 length = len(_x) 01428 buff.write(struct.pack('<I%ss'%length, length, _x)) 01429 _x = val1.link_name 01430 length = len(_x) 01431 buff.write(struct.pack('<I%ss'%length, length, _x)) 01432 buff.write(_struct_i.pack(val1.type)) 01433 _v99 = val1.orientation 01434 _x = _v99 01435 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w)) 01436 _x = val1 01437 buff.write(_struct_4d.pack(_x.absolute_roll_tolerance, _x.absolute_pitch_tolerance, _x.absolute_yaw_tolerance, _x.weight)) 01438 length = len(self.goal.motion_plan_request.goal_constraints.visibility_constraints) 01439 buff.write(_struct_I.pack(length)) 01440 for val1 in self.goal.motion_plan_request.goal_constraints.visibility_constraints: 01441 _v100 = val1.header 01442 buff.write(_struct_I.pack(_v100.seq)) 01443 _v101 = _v100.stamp 01444 _x = _v101 01445 buff.write(_struct_2I.pack(_x.secs, _x.nsecs)) 01446 _x = _v100.frame_id 01447 length = len(_x) 01448 buff.write(struct.pack('<I%ss'%length, length, _x)) 01449 _v102 = val1.target 01450 _v103 = _v102.header 01451 buff.write(_struct_I.pack(_v103.seq)) 01452 _v104 = _v103.stamp 01453 _x = _v104 01454 buff.write(_struct_2I.pack(_x.secs, _x.nsecs)) 01455 _x = _v103.frame_id 01456 length = len(_x) 01457 buff.write(struct.pack('<I%ss'%length, length, _x)) 01458 _v105 = _v102.point 01459 _x = _v105 01460 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z)) 01461 _v106 = val1.sensor_pose 01462 _v107 = _v106.header 01463 buff.write(_struct_I.pack(_v107.seq)) 01464 _v108 = _v107.stamp 01465 _x = _v108 01466 buff.write(_struct_2I.pack(_x.secs, _x.nsecs)) 01467 _x = _v107.frame_id 01468 length = len(_x) 01469 buff.write(struct.pack('<I%ss'%length, length, _x)) 01470 _v109 = _v106.pose 01471 _v110 = _v109.position 01472 _x = _v110 01473 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z)) 01474 _v111 = _v109.orientation 01475 _x = _v111 01476 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w)) 01477 buff.write(_struct_d.pack(val1.absolute_tolerance)) 01478 length = len(self.goal.motion_plan_request.path_constraints.joint_constraints) 01479 buff.write(_struct_I.pack(length)) 01480 for val1 in self.goal.motion_plan_request.path_constraints.joint_constraints: 01481 _x = val1.joint_name 01482 length = len(_x) 01483 buff.write(struct.pack('<I%ss'%length, length, _x)) 01484 _x = val1 01485 buff.write(_struct_4d.pack(_x.position, _x.tolerance_above, _x.tolerance_below, _x.weight)) 01486 length = len(self.goal.motion_plan_request.path_constraints.position_constraints) 01487 buff.write(_struct_I.pack(length)) 01488 for val1 in self.goal.motion_plan_request.path_constraints.position_constraints: 01489 _v112 = val1.header 01490 buff.write(_struct_I.pack(_v112.seq)) 01491 _v113 = _v112.stamp 01492 _x = _v113 01493 buff.write(_struct_2I.pack(_x.secs, _x.nsecs)) 01494 _x = _v112.frame_id 01495 length = len(_x) 01496 buff.write(struct.pack('<I%ss'%length, length, _x)) 01497 _x = val1.link_name 01498 length = len(_x) 01499 buff.write(struct.pack('<I%ss'%length, length, _x)) 01500 _v114 = val1.target_point_offset 01501 _x = _v114 01502 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z)) 01503 _v115 = val1.position 01504 _x = _v115 01505 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z)) 01506 _v116 = val1.constraint_region_shape 01507 buff.write(_struct_b.pack(_v116.type)) 01508 length = len(_v116.dimensions) 01509 buff.write(_struct_I.pack(length)) 01510 pattern = '<%sd'%length 01511 buff.write(_v116.dimensions.tostring()) 01512 length = len(_v116.triangles) 01513 buff.write(_struct_I.pack(length)) 01514 pattern = '<%si'%length 01515 buff.write(_v116.triangles.tostring()) 01516 length = len(_v116.vertices) 01517 buff.write(_struct_I.pack(length)) 01518 for val3 in _v116.vertices: 01519 _x = val3 01520 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z)) 01521 _v117 = val1.constraint_region_orientation 01522 _x = _v117 01523 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w)) 01524 buff.write(_struct_d.pack(val1.weight)) 01525 length = len(self.goal.motion_plan_request.path_constraints.orientation_constraints) 01526 buff.write(_struct_I.pack(length)) 01527 for val1 in self.goal.motion_plan_request.path_constraints.orientation_constraints: 01528 _v118 = val1.header 01529 buff.write(_struct_I.pack(_v118.seq)) 01530 _v119 = _v118.stamp 01531 _x = _v119 01532 buff.write(_struct_2I.pack(_x.secs, _x.nsecs)) 01533 _x = _v118.frame_id 01534 length = len(_x) 01535 buff.write(struct.pack('<I%ss'%length, length, _x)) 01536 _x = val1.link_name 01537 length = len(_x) 01538 buff.write(struct.pack('<I%ss'%length, length, _x)) 01539 buff.write(_struct_i.pack(val1.type)) 01540 _v120 = val1.orientation 01541 _x = _v120 01542 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w)) 01543 _x = val1 01544 buff.write(_struct_4d.pack(_x.absolute_roll_tolerance, _x.absolute_pitch_tolerance, _x.absolute_yaw_tolerance, _x.weight)) 01545 length = len(self.goal.motion_plan_request.path_constraints.visibility_constraints) 01546 buff.write(_struct_I.pack(length)) 01547 for val1 in self.goal.motion_plan_request.path_constraints.visibility_constraints: 01548 _v121 = val1.header 01549 buff.write(_struct_I.pack(_v121.seq)) 01550 _v122 = _v121.stamp 01551 _x = _v122 01552 buff.write(_struct_2I.pack(_x.secs, _x.nsecs)) 01553 _x = _v121.frame_id 01554 length = len(_x) 01555 buff.write(struct.pack('<I%ss'%length, length, _x)) 01556 _v123 = val1.target 01557 _v124 = _v123.header 01558 buff.write(_struct_I.pack(_v124.seq)) 01559 _v125 = _v124.stamp 01560 _x = _v125 01561 buff.write(_struct_2I.pack(_x.secs, _x.nsecs)) 01562 _x = _v124.frame_id 01563 length = len(_x) 01564 buff.write(struct.pack('<I%ss'%length, length, _x)) 01565 _v126 = _v123.point 01566 _x = _v126 01567 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z)) 01568 _v127 = val1.sensor_pose 01569 _v128 = _v127.header 01570 buff.write(_struct_I.pack(_v128.seq)) 01571 _v129 = _v128.stamp 01572 _x = _v129 01573 buff.write(_struct_2I.pack(_x.secs, _x.nsecs)) 01574 _x = _v128.frame_id 01575 length = len(_x) 01576 buff.write(struct.pack('<I%ss'%length, length, _x)) 01577 _v130 = _v127.pose 01578 _v131 = _v130.position 01579 _x = _v131 01580 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z)) 01581 _v132 = _v130.orientation 01582 _x = _v132 01583 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w)) 01584 buff.write(_struct_d.pack(val1.absolute_tolerance)) 01585 _x = self.goal.motion_plan_request.planner_id 01586 length = len(_x) 01587 buff.write(struct.pack('<I%ss'%length, length, _x)) 01588 _x = self.goal.motion_plan_request.group_name 01589 length = len(_x) 01590 buff.write(struct.pack('<I%ss'%length, length, _x)) 01591 _x = self 01592 buff.write(_struct_7i.pack(_x.goal.motion_plan_request.num_planning_attempts, _x.goal.motion_plan_request.allowed_planning_time.secs, _x.goal.motion_plan_request.allowed_planning_time.nsecs, _x.goal.motion_plan_request.expected_path_duration.secs, _x.goal.motion_plan_request.expected_path_duration.nsecs, _x.goal.motion_plan_request.expected_path_dt.secs, _x.goal.motion_plan_request.expected_path_dt.nsecs)) 01593 except struct.error as se: self._check_types(se) 01594 except TypeError as te: self._check_types(te) 01595 01596 def deserialize_numpy(self, str, numpy): 01597 """ 01598 unpack serialized message in str into this message instance using numpy for array types 01599 @param str: byte array of serialized message 01600 @type str: str 01601 @param numpy: numpy python module 01602 @type numpy: module 01603 """ 01604 try: 01605 if self.header is None: 01606 self.header = std_msgs.msg._Header.Header() 01607 if self.goal_id is None: 01608 self.goal_id = actionlib_msgs.msg.GoalID() 01609 if self.goal is None: 01610 self.goal = head_monitor_msgs.msg.PreplanHeadScanGoal() 01611 end = 0 01612 _x = self 01613 start = end 01614 end += 12 01615 (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end]) 01616 start = end 01617 end += 4 01618 (length,) = _struct_I.unpack(str[start:end]) 01619 start = end 01620 end += length 01621 self.header.frame_id = str[start:end] 01622 _x = self 01623 start = end 01624 end += 8 01625 (_x.goal_id.stamp.secs, _x.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end]) 01626 start = end 01627 end += 4 01628 (length,) = _struct_I.unpack(str[start:end]) 01629 start = end 01630 end += length 01631 self.goal_id.id = str[start:end] 01632 start = end 01633 end += 4 01634 (length,) = _struct_I.unpack(str[start:end]) 01635 start = end 01636 end += length 01637 self.goal.group_name = str[start:end] 01638 start = end 01639 end += 4 01640 (length,) = _struct_I.unpack(str[start:end]) 01641 start = end 01642 end += length 01643 self.goal.head_monitor_link = str[start:end] 01644 start = end 01645 end += 1 01646 (self.goal.motion_plan_request.workspace_parameters.workspace_region_shape.type,) = _struct_b.unpack(str[start:end]) 01647 start = end 01648 end += 4 01649 (length,) = _struct_I.unpack(str[start:end]) 01650 pattern = '<%sd'%length 01651 start = end 01652 end += struct.calcsize(pattern) 01653 self.goal.motion_plan_request.workspace_parameters.workspace_region_shape.dimensions = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length) 01654 start = end 01655 end += 4 01656 (length,) = _struct_I.unpack(str[start:end]) 01657 pattern = '<%si'%length 01658 start = end 01659 end += struct.calcsize(pattern) 01660 self.goal.motion_plan_request.workspace_parameters.workspace_region_shape.triangles = numpy.frombuffer(str[start:end], dtype=numpy.int32, count=length) 01661 start = end 01662 end += 4 01663 (length,) = _struct_I.unpack(str[start:end]) 01664 self.goal.motion_plan_request.workspace_parameters.workspace_region_shape.vertices = [] 01665 for i in range(0, length): 01666 val1 = geometry_msgs.msg.Point() 01667 _x = val1 01668 start = end 01669 end += 24 01670 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end]) 01671 self.goal.motion_plan_request.workspace_parameters.workspace_region_shape.vertices.append(val1) 01672 _x = self 01673 start = end 01674 end += 12 01675 (_x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.header.seq, _x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.header.stamp.secs, _x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end]) 01676 start = end 01677 end += 4 01678 (length,) = _struct_I.unpack(str[start:end]) 01679 start = end 01680 end += length 01681 self.goal.motion_plan_request.workspace_parameters.workspace_region_pose.header.frame_id = str[start:end] 01682 _x = self 01683 start = end 01684 end += 68 01685 (_x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.pose.position.x, _x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.pose.position.y, _x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.pose.position.z, _x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.pose.orientation.x, _x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.pose.orientation.y, _x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.pose.orientation.z, _x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.pose.orientation.w, _x.goal.motion_plan_request.start_state.joint_state.header.seq, _x.goal.motion_plan_request.start_state.joint_state.header.stamp.secs, _x.goal.motion_plan_request.start_state.joint_state.header.stamp.nsecs,) = _struct_7d3I.unpack(str[start:end]) 01686 start = end 01687 end += 4 01688 (length,) = _struct_I.unpack(str[start:end]) 01689 start = end 01690 end += length 01691 self.goal.motion_plan_request.start_state.joint_state.header.frame_id = str[start:end] 01692 start = end 01693 end += 4 01694 (length,) = _struct_I.unpack(str[start:end]) 01695 self.goal.motion_plan_request.start_state.joint_state.name = [] 01696 for i in range(0, length): 01697 start = end 01698 end += 4 01699 (length,) = _struct_I.unpack(str[start:end]) 01700 start = end 01701 end += length 01702 val1 = str[start:end] 01703 self.goal.motion_plan_request.start_state.joint_state.name.append(val1) 01704 start = end 01705 end += 4 01706 (length,) = _struct_I.unpack(str[start:end]) 01707 pattern = '<%sd'%length 01708 start = end 01709 end += struct.calcsize(pattern) 01710 self.goal.motion_plan_request.start_state.joint_state.position = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length) 01711 start = end 01712 end += 4 01713 (length,) = _struct_I.unpack(str[start:end]) 01714 pattern = '<%sd'%length 01715 start = end 01716 end += struct.calcsize(pattern) 01717 self.goal.motion_plan_request.start_state.joint_state.velocity = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length) 01718 start = end 01719 end += 4 01720 (length,) = _struct_I.unpack(str[start:end]) 01721 pattern = '<%sd'%length 01722 start = end 01723 end += struct.calcsize(pattern) 01724 self.goal.motion_plan_request.start_state.joint_state.effort = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length) 01725 _x = self 01726 start = end 01727 end += 8 01728 (_x.goal.motion_plan_request.start_state.multi_dof_joint_state.stamp.secs, _x.goal.motion_plan_request.start_state.multi_dof_joint_state.stamp.nsecs,) = _struct_2I.unpack(str[start:end]) 01729 start = end 01730 end += 4 01731 (length,) = _struct_I.unpack(str[start:end]) 01732 self.goal.motion_plan_request.start_state.multi_dof_joint_state.joint_names = [] 01733 for i in range(0, length): 01734 start = end 01735 end += 4 01736 (length,) = _struct_I.unpack(str[start:end]) 01737 start = end 01738 end += length 01739 val1 = str[start:end] 01740 self.goal.motion_plan_request.start_state.multi_dof_joint_state.joint_names.append(val1) 01741 start = end 01742 end += 4 01743 (length,) = _struct_I.unpack(str[start:end]) 01744 self.goal.motion_plan_request.start_state.multi_dof_joint_state.frame_ids = [] 01745 for i in range(0, length): 01746 start = end 01747 end += 4 01748 (length,) = _struct_I.unpack(str[start:end]) 01749 start = end 01750 end += length 01751 val1 = str[start:end] 01752 self.goal.motion_plan_request.start_state.multi_dof_joint_state.frame_ids.append(val1) 01753 start = end 01754 end += 4 01755 (length,) = _struct_I.unpack(str[start:end]) 01756 self.goal.motion_plan_request.start_state.multi_dof_joint_state.child_frame_ids = [] 01757 for i in range(0, length): 01758 start = end 01759 end += 4 01760 (length,) = _struct_I.unpack(str[start:end]) 01761 start = end 01762 end += length 01763 val1 = str[start:end] 01764 self.goal.motion_plan_request.start_state.multi_dof_joint_state.child_frame_ids.append(val1) 01765 start = end 01766 end += 4 01767 (length,) = _struct_I.unpack(str[start:end]) 01768 self.goal.motion_plan_request.start_state.multi_dof_joint_state.poses = [] 01769 for i in range(0, length): 01770 val1 = geometry_msgs.msg.Pose() 01771 _v133 = val1.position 01772 _x = _v133 01773 start = end 01774 end += 24 01775 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end]) 01776 _v134 = val1.orientation 01777 _x = _v134 01778 start = end 01779 end += 32 01780 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end]) 01781 self.goal.motion_plan_request.start_state.multi_dof_joint_state.poses.append(val1) 01782 start = end 01783 end += 4 01784 (length,) = _struct_I.unpack(str[start:end]) 01785 self.goal.motion_plan_request.goal_constraints.joint_constraints = [] 01786 for i in range(0, length): 01787 val1 = arm_navigation_msgs.msg.JointConstraint() 01788 start = end 01789 end += 4 01790 (length,) = _struct_I.unpack(str[start:end]) 01791 start = end 01792 end += length 01793 val1.joint_name = str[start:end] 01794 _x = val1 01795 start = end 01796 end += 32 01797 (_x.position, _x.tolerance_above, _x.tolerance_below, _x.weight,) = _struct_4d.unpack(str[start:end]) 01798 self.goal.motion_plan_request.goal_constraints.joint_constraints.append(val1) 01799 start = end 01800 end += 4 01801 (length,) = _struct_I.unpack(str[start:end]) 01802 self.goal.motion_plan_request.goal_constraints.position_constraints = [] 01803 for i in range(0, length): 01804 val1 = arm_navigation_msgs.msg.PositionConstraint() 01805 _v135 = val1.header 01806 start = end 01807 end += 4 01808 (_v135.seq,) = _struct_I.unpack(str[start:end]) 01809 _v136 = _v135.stamp 01810 _x = _v136 01811 start = end 01812 end += 8 01813 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end]) 01814 start = end 01815 end += 4 01816 (length,) = _struct_I.unpack(str[start:end]) 01817 start = end 01818 end += length 01819 _v135.frame_id = str[start:end] 01820 start = end 01821 end += 4 01822 (length,) = _struct_I.unpack(str[start:end]) 01823 start = end 01824 end += length 01825 val1.link_name = str[start:end] 01826 _v137 = val1.target_point_offset 01827 _x = _v137 01828 start = end 01829 end += 24 01830 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end]) 01831 _v138 = val1.position 01832 _x = _v138 01833 start = end 01834 end += 24 01835 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end]) 01836 _v139 = val1.constraint_region_shape 01837 start = end 01838 end += 1 01839 (_v139.type,) = _struct_b.unpack(str[start:end]) 01840 start = end 01841 end += 4 01842 (length,) = _struct_I.unpack(str[start:end]) 01843 pattern = '<%sd'%length 01844 start = end 01845 end += struct.calcsize(pattern) 01846 _v139.dimensions = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length) 01847 start = end 01848 end += 4 01849 (length,) = _struct_I.unpack(str[start:end]) 01850 pattern = '<%si'%length 01851 start = end 01852 end += struct.calcsize(pattern) 01853 _v139.triangles = numpy.frombuffer(str[start:end], dtype=numpy.int32, count=length) 01854 start = end 01855 end += 4 01856 (length,) = _struct_I.unpack(str[start:end]) 01857 _v139.vertices = [] 01858 for i in range(0, length): 01859 val3 = geometry_msgs.msg.Point() 01860 _x = val3 01861 start = end 01862 end += 24 01863 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end]) 01864 _v139.vertices.append(val3) 01865 _v140 = val1.constraint_region_orientation 01866 _x = _v140 01867 start = end 01868 end += 32 01869 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end]) 01870 start = end 01871 end += 8 01872 (val1.weight,) = _struct_d.unpack(str[start:end]) 01873 self.goal.motion_plan_request.goal_constraints.position_constraints.append(val1) 01874 start = end 01875 end += 4 01876 (length,) = _struct_I.unpack(str[start:end]) 01877 self.goal.motion_plan_request.goal_constraints.orientation_constraints = [] 01878 for i in range(0, length): 01879 val1 = arm_navigation_msgs.msg.OrientationConstraint() 01880 _v141 = val1.header 01881 start = end 01882 end += 4 01883 (_v141.seq,) = _struct_I.unpack(str[start:end]) 01884 _v142 = _v141.stamp 01885 _x = _v142 01886 start = end 01887 end += 8 01888 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end]) 01889 start = end 01890 end += 4 01891 (length,) = _struct_I.unpack(str[start:end]) 01892 start = end 01893 end += length 01894 _v141.frame_id = str[start:end] 01895 start = end 01896 end += 4 01897 (length,) = _struct_I.unpack(str[start:end]) 01898 start = end 01899 end += length 01900 val1.link_name = str[start:end] 01901 start = end 01902 end += 4 01903 (val1.type,) = _struct_i.unpack(str[start:end]) 01904 _v143 = val1.orientation 01905 _x = _v143 01906 start = end 01907 end += 32 01908 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end]) 01909 _x = val1 01910 start = end 01911 end += 32 01912 (_x.absolute_roll_tolerance, _x.absolute_pitch_tolerance, _x.absolute_yaw_tolerance, _x.weight,) = _struct_4d.unpack(str[start:end]) 01913 self.goal.motion_plan_request.goal_constraints.orientation_constraints.append(val1) 01914 start = end 01915 end += 4 01916 (length,) = _struct_I.unpack(str[start:end]) 01917 self.goal.motion_plan_request.goal_constraints.visibility_constraints = [] 01918 for i in range(0, length): 01919 val1 = arm_navigation_msgs.msg.VisibilityConstraint() 01920 _v144 = val1.header 01921 start = end 01922 end += 4 01923 (_v144.seq,) = _struct_I.unpack(str[start:end]) 01924 _v145 = _v144.stamp 01925 _x = _v145 01926 start = end 01927 end += 8 01928 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end]) 01929 start = end 01930 end += 4 01931 (length,) = _struct_I.unpack(str[start:end]) 01932 start = end 01933 end += length 01934 _v144.frame_id = str[start:end] 01935 _v146 = val1.target 01936 _v147 = _v146.header 01937 start = end 01938 end += 4 01939 (_v147.seq,) = _struct_I.unpack(str[start:end]) 01940 _v148 = _v147.stamp 01941 _x = _v148 01942 start = end 01943 end += 8 01944 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end]) 01945 start = end 01946 end += 4 01947 (length,) = _struct_I.unpack(str[start:end]) 01948 start = end 01949 end += length 01950 _v147.frame_id = str[start:end] 01951 _v149 = _v146.point 01952 _x = _v149 01953 start = end 01954 end += 24 01955 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end]) 01956 _v150 = val1.sensor_pose 01957 _v151 = _v150.header 01958 start = end 01959 end += 4 01960 (_v151.seq,) = _struct_I.unpack(str[start:end]) 01961 _v152 = _v151.stamp 01962 _x = _v152 01963 start = end 01964 end += 8 01965 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end]) 01966 start = end 01967 end += 4 01968 (length,) = _struct_I.unpack(str[start:end]) 01969 start = end 01970 end += length 01971 _v151.frame_id = str[start:end] 01972 _v153 = _v150.pose 01973 _v154 = _v153.position 01974 _x = _v154 01975 start = end 01976 end += 24 01977 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end]) 01978 _v155 = _v153.orientation 01979 _x = _v155 01980 start = end 01981 end += 32 01982 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end]) 01983 start = end 01984 end += 8 01985 (val1.absolute_tolerance,) = _struct_d.unpack(str[start:end]) 01986 self.goal.motion_plan_request.goal_constraints.visibility_constraints.append(val1) 01987 start = end 01988 end += 4 01989 (length,) = _struct_I.unpack(str[start:end]) 01990 self.goal.motion_plan_request.path_constraints.joint_constraints = [] 01991 for i in range(0, length): 01992 val1 = arm_navigation_msgs.msg.JointConstraint() 01993 start = end 01994 end += 4 01995 (length,) = _struct_I.unpack(str[start:end]) 01996 start = end 01997 end += length 01998 val1.joint_name = str[start:end] 01999 _x = val1 02000 start = end 02001 end += 32 02002 (_x.position, _x.tolerance_above, _x.tolerance_below, _x.weight,) = _struct_4d.unpack(str[start:end]) 02003 self.goal.motion_plan_request.path_constraints.joint_constraints.append(val1) 02004 start = end 02005 end += 4 02006 (length,) = _struct_I.unpack(str[start:end]) 02007 self.goal.motion_plan_request.path_constraints.position_constraints = [] 02008 for i in range(0, length): 02009 val1 = arm_navigation_msgs.msg.PositionConstraint() 02010 _v156 = val1.header 02011 start = end 02012 end += 4 02013 (_v156.seq,) = _struct_I.unpack(str[start:end]) 02014 _v157 = _v156.stamp 02015 _x = _v157 02016 start = end 02017 end += 8 02018 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end]) 02019 start = end 02020 end += 4 02021 (length,) = _struct_I.unpack(str[start:end]) 02022 start = end 02023 end += length 02024 _v156.frame_id = str[start:end] 02025 start = end 02026 end += 4 02027 (length,) = _struct_I.unpack(str[start:end]) 02028 start = end 02029 end += length 02030 val1.link_name = str[start:end] 02031 _v158 = val1.target_point_offset 02032 _x = _v158 02033 start = end 02034 end += 24 02035 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end]) 02036 _v159 = val1.position 02037 _x = _v159 02038 start = end 02039 end += 24 02040 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end]) 02041 _v160 = val1.constraint_region_shape 02042 start = end 02043 end += 1 02044 (_v160.type,) = _struct_b.unpack(str[start:end]) 02045 start = end 02046 end += 4 02047 (length,) = _struct_I.unpack(str[start:end]) 02048 pattern = '<%sd'%length 02049 start = end 02050 end += struct.calcsize(pattern) 02051 _v160.dimensions = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length) 02052 start = end 02053 end += 4 02054 (length,) = _struct_I.unpack(str[start:end]) 02055 pattern = '<%si'%length 02056 start = end 02057 end += struct.calcsize(pattern) 02058 _v160.triangles = numpy.frombuffer(str[start:end], dtype=numpy.int32, count=length) 02059 start = end 02060 end += 4 02061 (length,) = _struct_I.unpack(str[start:end]) 02062 _v160.vertices = [] 02063 for i in range(0, length): 02064 val3 = geometry_msgs.msg.Point() 02065 _x = val3 02066 start = end 02067 end += 24 02068 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end]) 02069 _v160.vertices.append(val3) 02070 _v161 = val1.constraint_region_orientation 02071 _x = _v161 02072 start = end 02073 end += 32 02074 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end]) 02075 start = end 02076 end += 8 02077 (val1.weight,) = _struct_d.unpack(str[start:end]) 02078 self.goal.motion_plan_request.path_constraints.position_constraints.append(val1) 02079 start = end 02080 end += 4 02081 (length,) = _struct_I.unpack(str[start:end]) 02082 self.goal.motion_plan_request.path_constraints.orientation_constraints = [] 02083 for i in range(0, length): 02084 val1 = arm_navigation_msgs.msg.OrientationConstraint() 02085 _v162 = val1.header 02086 start = end 02087 end += 4 02088 (_v162.seq,) = _struct_I.unpack(str[start:end]) 02089 _v163 = _v162.stamp 02090 _x = _v163 02091 start = end 02092 end += 8 02093 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end]) 02094 start = end 02095 end += 4 02096 (length,) = _struct_I.unpack(str[start:end]) 02097 start = end 02098 end += length 02099 _v162.frame_id = str[start:end] 02100 start = end 02101 end += 4 02102 (length,) = _struct_I.unpack(str[start:end]) 02103 start = end 02104 end += length 02105 val1.link_name = str[start:end] 02106 start = end 02107 end += 4 02108 (val1.type,) = _struct_i.unpack(str[start:end]) 02109 _v164 = val1.orientation 02110 _x = _v164 02111 start = end 02112 end += 32 02113 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end]) 02114 _x = val1 02115 start = end 02116 end += 32 02117 (_x.absolute_roll_tolerance, _x.absolute_pitch_tolerance, _x.absolute_yaw_tolerance, _x.weight,) = _struct_4d.unpack(str[start:end]) 02118 self.goal.motion_plan_request.path_constraints.orientation_constraints.append(val1) 02119 start = end 02120 end += 4 02121 (length,) = _struct_I.unpack(str[start:end]) 02122 self.goal.motion_plan_request.path_constraints.visibility_constraints = [] 02123 for i in range(0, length): 02124 val1 = arm_navigation_msgs.msg.VisibilityConstraint() 02125 _v165 = val1.header 02126 start = end 02127 end += 4 02128 (_v165.seq,) = _struct_I.unpack(str[start:end]) 02129 _v166 = _v165.stamp 02130 _x = _v166 02131 start = end 02132 end += 8 02133 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end]) 02134 start = end 02135 end += 4 02136 (length,) = _struct_I.unpack(str[start:end]) 02137 start = end 02138 end += length 02139 _v165.frame_id = str[start:end] 02140 _v167 = val1.target 02141 _v168 = _v167.header 02142 start = end 02143 end += 4 02144 (_v168.seq,) = _struct_I.unpack(str[start:end]) 02145 _v169 = _v168.stamp 02146 _x = _v169 02147 start = end 02148 end += 8 02149 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end]) 02150 start = end 02151 end += 4 02152 (length,) = _struct_I.unpack(str[start:end]) 02153 start = end 02154 end += length 02155 _v168.frame_id = str[start:end] 02156 _v170 = _v167.point 02157 _x = _v170 02158 start = end 02159 end += 24 02160 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end]) 02161 _v171 = val1.sensor_pose 02162 _v172 = _v171.header 02163 start = end 02164 end += 4 02165 (_v172.seq,) = _struct_I.unpack(str[start:end]) 02166 _v173 = _v172.stamp 02167 _x = _v173 02168 start = end 02169 end += 8 02170 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end]) 02171 start = end 02172 end += 4 02173 (length,) = _struct_I.unpack(str[start:end]) 02174 start = end 02175 end += length 02176 _v172.frame_id = str[start:end] 02177 _v174 = _v171.pose 02178 _v175 = _v174.position 02179 _x = _v175 02180 start = end 02181 end += 24 02182 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end]) 02183 _v176 = _v174.orientation 02184 _x = _v176 02185 start = end 02186 end += 32 02187 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end]) 02188 start = end 02189 end += 8 02190 (val1.absolute_tolerance,) = _struct_d.unpack(str[start:end]) 02191 self.goal.motion_plan_request.path_constraints.visibility_constraints.append(val1) 02192 start = end 02193 end += 4 02194 (length,) = _struct_I.unpack(str[start:end]) 02195 start = end 02196 end += length 02197 self.goal.motion_plan_request.planner_id = str[start:end] 02198 start = end 02199 end += 4 02200 (length,) = _struct_I.unpack(str[start:end]) 02201 start = end 02202 end += length 02203 self.goal.motion_plan_request.group_name = str[start:end] 02204 _x = self 02205 start = end 02206 end += 28 02207 (_x.goal.motion_plan_request.num_planning_attempts, _x.goal.motion_plan_request.allowed_planning_time.secs, _x.goal.motion_plan_request.allowed_planning_time.nsecs, _x.goal.motion_plan_request.expected_path_duration.secs, _x.goal.motion_plan_request.expected_path_duration.nsecs, _x.goal.motion_plan_request.expected_path_dt.secs, _x.goal.motion_plan_request.expected_path_dt.nsecs,) = _struct_7i.unpack(str[start:end]) 02208 return self 02209 except struct.error as e: 02210 raise roslib.message.DeserializationError(e) #most likely buffer underfill 02211 02212 _struct_I = roslib.message.struct_I 02213 _struct_b = struct.Struct("<b") 02214 _struct_d = struct.Struct("<d") 02215 _struct_7i = struct.Struct("<7i") 02216 _struct_2I = struct.Struct("<2I") 02217 _struct_i = struct.Struct("<i") 02218 _struct_3I = struct.Struct("<3I") 02219 _struct_4d = struct.Struct("<4d") 02220 _struct_7d3I = struct.Struct("<7d3I") 02221 _struct_3d = struct.Struct("<3d")