00001 """autogenerated by genmsg_py from GetPositionIKRequest.msg. Do not edit."""
00002 import roslib.message
00003 import struct
00004
00005 import arm_navigation_msgs.msg
00006 import kinematics_msgs.msg
00007 import roslib.rostime
00008 import geometry_msgs.msg
00009 import sensor_msgs.msg
00010 import std_msgs.msg
00011
00012 class GetPositionIKRequest(roslib.message.Message):
00013 _md5sum = "bf9ee33930d9eaff390b8af4a213ba62"
00014 _type = "kinematics_msgs/GetPositionIKRequest"
00015 _has_header = False
00016 _full_text = """
00017
00018 kinematics_msgs/PositionIKRequest ik_request
00019
00020 duration timeout
00021
00022 ================================================================================
00023 MSG: kinematics_msgs/PositionIKRequest
00024 # A Position IK request message
00025 # The name of the link for which we are computing IK
00026 string ik_link_name
00027
00028 # The (stamped) pose of the link
00029 geometry_msgs/PoseStamped pose_stamped
00030
00031 # A RobotState consisting of hint/seed positions for the IK computation.
00032 # These may be used to seed the IK search.
00033 # The seed state MUST contain state for all joints to be used by the IK solver
00034 # to compute IK. The list of joints that the IK solver deals with can be found using
00035 # the kinematics_msgs/GetKinematicSolverInfo
00036 arm_navigation_msgs/RobotState ik_seed_state
00037
00038 # Additional state information can be provided here to specify the starting positions
00039 # of other joints/links on the robot.
00040 arm_navigation_msgs/RobotState robot_state
00041
00042 ================================================================================
00043 MSG: geometry_msgs/PoseStamped
00044 # A Pose with reference coordinate frame and timestamp
00045 Header header
00046 Pose pose
00047
00048 ================================================================================
00049 MSG: std_msgs/Header
00050 # Standard metadata for higher-level stamped data types.
00051 # This is generally used to communicate timestamped data
00052 # in a particular coordinate frame.
00053 #
00054 # sequence ID: consecutively increasing ID
00055 uint32 seq
00056 #Two-integer timestamp that is expressed as:
00057 # * stamp.secs: seconds (stamp_secs) since epoch
00058 # * stamp.nsecs: nanoseconds since stamp_secs
00059 # time-handling sugar is provided by the client library
00060 time stamp
00061 #Frame this data is associated with
00062 # 0: no frame
00063 # 1: global frame
00064 string frame_id
00065
00066 ================================================================================
00067 MSG: geometry_msgs/Pose
00068 # A representation of pose in free space, composed of postion and orientation.
00069 Point position
00070 Quaternion orientation
00071
00072 ================================================================================
00073 MSG: geometry_msgs/Point
00074 # This contains the position of a point in free space
00075 float64 x
00076 float64 y
00077 float64 z
00078
00079 ================================================================================
00080 MSG: geometry_msgs/Quaternion
00081 # This represents an orientation in free space in quaternion form.
00082
00083 float64 x
00084 float64 y
00085 float64 z
00086 float64 w
00087
00088 ================================================================================
00089 MSG: arm_navigation_msgs/RobotState
00090 # This message contains information about the robot state, i.e. the positions of its joints and links
00091 sensor_msgs/JointState joint_state
00092 arm_navigation_msgs/MultiDOFJointState multi_dof_joint_state
00093
00094 ================================================================================
00095 MSG: sensor_msgs/JointState
00096 # This is a message that holds data to describe the state of a set of torque controlled joints.
00097 #
00098 # The state of each joint (revolute or prismatic) is defined by:
00099 # * the position of the joint (rad or m),
00100 # * the velocity of the joint (rad/s or m/s) and
00101 # * the effort that is applied in the joint (Nm or N).
00102 #
00103 # Each joint is uniquely identified by its name
00104 # The header specifies the time at which the joint states were recorded. All the joint states
00105 # in one message have to be recorded at the same time.
00106 #
00107 # This message consists of a multiple arrays, one for each part of the joint state.
00108 # The goal is to make each of the fields optional. When e.g. your joints have no
00109 # effort associated with them, you can leave the effort array empty.
00110 #
00111 # All arrays in this message should have the same size, or be empty.
00112 # This is the only way to uniquely associate the joint name with the correct
00113 # states.
00114
00115
00116 Header header
00117
00118 string[] name
00119 float64[] position
00120 float64[] velocity
00121 float64[] effort
00122
00123 ================================================================================
00124 MSG: arm_navigation_msgs/MultiDOFJointState
00125 #A representation of a multi-dof joint state
00126 time stamp
00127 string[] joint_names
00128 string[] frame_ids
00129 string[] child_frame_ids
00130 geometry_msgs/Pose[] poses
00131
00132 """
00133 __slots__ = ['ik_request','timeout']
00134 _slot_types = ['kinematics_msgs/PositionIKRequest','duration']
00135
00136 def __init__(self, *args, **kwds):
00137 """
00138 Constructor. Any message fields that are implicitly/explicitly
00139 set to None will be assigned a default value. The recommend
00140 use is keyword arguments as this is more robust to future message
00141 changes. You cannot mix in-order arguments and keyword arguments.
00142
00143 The available fields are:
00144 ik_request,timeout
00145
00146 @param args: complete set of field values, in .msg order
00147 @param kwds: use keyword arguments corresponding to message field names
00148 to set specific fields.
00149 """
00150 if args or kwds:
00151 super(GetPositionIKRequest, self).__init__(*args, **kwds)
00152
00153 if self.ik_request is None:
00154 self.ik_request = kinematics_msgs.msg.PositionIKRequest()
00155 if self.timeout is None:
00156 self.timeout = roslib.rostime.Duration()
00157 else:
00158 self.ik_request = kinematics_msgs.msg.PositionIKRequest()
00159 self.timeout = roslib.rostime.Duration()
00160
00161 def _get_types(self):
00162 """
00163 internal API method
00164 """
00165 return self._slot_types
00166
00167 def serialize(self, buff):
00168 """
00169 serialize message into buffer
00170 @param buff: buffer
00171 @type buff: StringIO
00172 """
00173 try:
00174 _x = self.ik_request.ik_link_name
00175 length = len(_x)
00176 buff.write(struct.pack('<I%ss'%length, length, _x))
00177 _x = self
00178 buff.write(_struct_3I.pack(_x.ik_request.pose_stamped.header.seq, _x.ik_request.pose_stamped.header.stamp.secs, _x.ik_request.pose_stamped.header.stamp.nsecs))
00179 _x = self.ik_request.pose_stamped.header.frame_id
00180 length = len(_x)
00181 buff.write(struct.pack('<I%ss'%length, length, _x))
00182 _x = self
00183 buff.write(_struct_7d3I.pack(_x.ik_request.pose_stamped.pose.position.x, _x.ik_request.pose_stamped.pose.position.y, _x.ik_request.pose_stamped.pose.position.z, _x.ik_request.pose_stamped.pose.orientation.x, _x.ik_request.pose_stamped.pose.orientation.y, _x.ik_request.pose_stamped.pose.orientation.z, _x.ik_request.pose_stamped.pose.orientation.w, _x.ik_request.ik_seed_state.joint_state.header.seq, _x.ik_request.ik_seed_state.joint_state.header.stamp.secs, _x.ik_request.ik_seed_state.joint_state.header.stamp.nsecs))
00184 _x = self.ik_request.ik_seed_state.joint_state.header.frame_id
00185 length = len(_x)
00186 buff.write(struct.pack('<I%ss'%length, length, _x))
00187 length = len(self.ik_request.ik_seed_state.joint_state.name)
00188 buff.write(_struct_I.pack(length))
00189 for val1 in self.ik_request.ik_seed_state.joint_state.name:
00190 length = len(val1)
00191 buff.write(struct.pack('<I%ss'%length, length, val1))
00192 length = len(self.ik_request.ik_seed_state.joint_state.position)
00193 buff.write(_struct_I.pack(length))
00194 pattern = '<%sd'%length
00195 buff.write(struct.pack(pattern, *self.ik_request.ik_seed_state.joint_state.position))
00196 length = len(self.ik_request.ik_seed_state.joint_state.velocity)
00197 buff.write(_struct_I.pack(length))
00198 pattern = '<%sd'%length
00199 buff.write(struct.pack(pattern, *self.ik_request.ik_seed_state.joint_state.velocity))
00200 length = len(self.ik_request.ik_seed_state.joint_state.effort)
00201 buff.write(_struct_I.pack(length))
00202 pattern = '<%sd'%length
00203 buff.write(struct.pack(pattern, *self.ik_request.ik_seed_state.joint_state.effort))
00204 _x = self
00205 buff.write(_struct_2I.pack(_x.ik_request.ik_seed_state.multi_dof_joint_state.stamp.secs, _x.ik_request.ik_seed_state.multi_dof_joint_state.stamp.nsecs))
00206 length = len(self.ik_request.ik_seed_state.multi_dof_joint_state.joint_names)
00207 buff.write(_struct_I.pack(length))
00208 for val1 in self.ik_request.ik_seed_state.multi_dof_joint_state.joint_names:
00209 length = len(val1)
00210 buff.write(struct.pack('<I%ss'%length, length, val1))
00211 length = len(self.ik_request.ik_seed_state.multi_dof_joint_state.frame_ids)
00212 buff.write(_struct_I.pack(length))
00213 for val1 in self.ik_request.ik_seed_state.multi_dof_joint_state.frame_ids:
00214 length = len(val1)
00215 buff.write(struct.pack('<I%ss'%length, length, val1))
00216 length = len(self.ik_request.ik_seed_state.multi_dof_joint_state.child_frame_ids)
00217 buff.write(_struct_I.pack(length))
00218 for val1 in self.ik_request.ik_seed_state.multi_dof_joint_state.child_frame_ids:
00219 length = len(val1)
00220 buff.write(struct.pack('<I%ss'%length, length, val1))
00221 length = len(self.ik_request.ik_seed_state.multi_dof_joint_state.poses)
00222 buff.write(_struct_I.pack(length))
00223 for val1 in self.ik_request.ik_seed_state.multi_dof_joint_state.poses:
00224 _v1 = val1.position
00225 _x = _v1
00226 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00227 _v2 = val1.orientation
00228 _x = _v2
00229 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00230 _x = self
00231 buff.write(_struct_3I.pack(_x.ik_request.robot_state.joint_state.header.seq, _x.ik_request.robot_state.joint_state.header.stamp.secs, _x.ik_request.robot_state.joint_state.header.stamp.nsecs))
00232 _x = self.ik_request.robot_state.joint_state.header.frame_id
00233 length = len(_x)
00234 buff.write(struct.pack('<I%ss'%length, length, _x))
00235 length = len(self.ik_request.robot_state.joint_state.name)
00236 buff.write(_struct_I.pack(length))
00237 for val1 in self.ik_request.robot_state.joint_state.name:
00238 length = len(val1)
00239 buff.write(struct.pack('<I%ss'%length, length, val1))
00240 length = len(self.ik_request.robot_state.joint_state.position)
00241 buff.write(_struct_I.pack(length))
00242 pattern = '<%sd'%length
00243 buff.write(struct.pack(pattern, *self.ik_request.robot_state.joint_state.position))
00244 length = len(self.ik_request.robot_state.joint_state.velocity)
00245 buff.write(_struct_I.pack(length))
00246 pattern = '<%sd'%length
00247 buff.write(struct.pack(pattern, *self.ik_request.robot_state.joint_state.velocity))
00248 length = len(self.ik_request.robot_state.joint_state.effort)
00249 buff.write(_struct_I.pack(length))
00250 pattern = '<%sd'%length
00251 buff.write(struct.pack(pattern, *self.ik_request.robot_state.joint_state.effort))
00252 _x = self
00253 buff.write(_struct_2I.pack(_x.ik_request.robot_state.multi_dof_joint_state.stamp.secs, _x.ik_request.robot_state.multi_dof_joint_state.stamp.nsecs))
00254 length = len(self.ik_request.robot_state.multi_dof_joint_state.joint_names)
00255 buff.write(_struct_I.pack(length))
00256 for val1 in self.ik_request.robot_state.multi_dof_joint_state.joint_names:
00257 length = len(val1)
00258 buff.write(struct.pack('<I%ss'%length, length, val1))
00259 length = len(self.ik_request.robot_state.multi_dof_joint_state.frame_ids)
00260 buff.write(_struct_I.pack(length))
00261 for val1 in self.ik_request.robot_state.multi_dof_joint_state.frame_ids:
00262 length = len(val1)
00263 buff.write(struct.pack('<I%ss'%length, length, val1))
00264 length = len(self.ik_request.robot_state.multi_dof_joint_state.child_frame_ids)
00265 buff.write(_struct_I.pack(length))
00266 for val1 in self.ik_request.robot_state.multi_dof_joint_state.child_frame_ids:
00267 length = len(val1)
00268 buff.write(struct.pack('<I%ss'%length, length, val1))
00269 length = len(self.ik_request.robot_state.multi_dof_joint_state.poses)
00270 buff.write(_struct_I.pack(length))
00271 for val1 in self.ik_request.robot_state.multi_dof_joint_state.poses:
00272 _v3 = val1.position
00273 _x = _v3
00274 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00275 _v4 = val1.orientation
00276 _x = _v4
00277 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00278 _x = self
00279 buff.write(_struct_2i.pack(_x.timeout.secs, _x.timeout.nsecs))
00280 except struct.error as se: self._check_types(se)
00281 except TypeError as te: self._check_types(te)
00282
00283 def deserialize(self, str):
00284 """
00285 unpack serialized message in str into this message instance
00286 @param str: byte array of serialized message
00287 @type str: str
00288 """
00289 try:
00290 if self.ik_request is None:
00291 self.ik_request = kinematics_msgs.msg.PositionIKRequest()
00292 if self.timeout is None:
00293 self.timeout = roslib.rostime.Duration()
00294 end = 0
00295 start = end
00296 end += 4
00297 (length,) = _struct_I.unpack(str[start:end])
00298 start = end
00299 end += length
00300 self.ik_request.ik_link_name = str[start:end]
00301 _x = self
00302 start = end
00303 end += 12
00304 (_x.ik_request.pose_stamped.header.seq, _x.ik_request.pose_stamped.header.stamp.secs, _x.ik_request.pose_stamped.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00305 start = end
00306 end += 4
00307 (length,) = _struct_I.unpack(str[start:end])
00308 start = end
00309 end += length
00310 self.ik_request.pose_stamped.header.frame_id = str[start:end]
00311 _x = self
00312 start = end
00313 end += 68
00314 (_x.ik_request.pose_stamped.pose.position.x, _x.ik_request.pose_stamped.pose.position.y, _x.ik_request.pose_stamped.pose.position.z, _x.ik_request.pose_stamped.pose.orientation.x, _x.ik_request.pose_stamped.pose.orientation.y, _x.ik_request.pose_stamped.pose.orientation.z, _x.ik_request.pose_stamped.pose.orientation.w, _x.ik_request.ik_seed_state.joint_state.header.seq, _x.ik_request.ik_seed_state.joint_state.header.stamp.secs, _x.ik_request.ik_seed_state.joint_state.header.stamp.nsecs,) = _struct_7d3I.unpack(str[start:end])
00315 start = end
00316 end += 4
00317 (length,) = _struct_I.unpack(str[start:end])
00318 start = end
00319 end += length
00320 self.ik_request.ik_seed_state.joint_state.header.frame_id = str[start:end]
00321 start = end
00322 end += 4
00323 (length,) = _struct_I.unpack(str[start:end])
00324 self.ik_request.ik_seed_state.joint_state.name = []
00325 for i in range(0, length):
00326 start = end
00327 end += 4
00328 (length,) = _struct_I.unpack(str[start:end])
00329 start = end
00330 end += length
00331 val1 = str[start:end]
00332 self.ik_request.ik_seed_state.joint_state.name.append(val1)
00333 start = end
00334 end += 4
00335 (length,) = _struct_I.unpack(str[start:end])
00336 pattern = '<%sd'%length
00337 start = end
00338 end += struct.calcsize(pattern)
00339 self.ik_request.ik_seed_state.joint_state.position = struct.unpack(pattern, str[start:end])
00340 start = end
00341 end += 4
00342 (length,) = _struct_I.unpack(str[start:end])
00343 pattern = '<%sd'%length
00344 start = end
00345 end += struct.calcsize(pattern)
00346 self.ik_request.ik_seed_state.joint_state.velocity = struct.unpack(pattern, str[start:end])
00347 start = end
00348 end += 4
00349 (length,) = _struct_I.unpack(str[start:end])
00350 pattern = '<%sd'%length
00351 start = end
00352 end += struct.calcsize(pattern)
00353 self.ik_request.ik_seed_state.joint_state.effort = struct.unpack(pattern, str[start:end])
00354 _x = self
00355 start = end
00356 end += 8
00357 (_x.ik_request.ik_seed_state.multi_dof_joint_state.stamp.secs, _x.ik_request.ik_seed_state.multi_dof_joint_state.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00358 start = end
00359 end += 4
00360 (length,) = _struct_I.unpack(str[start:end])
00361 self.ik_request.ik_seed_state.multi_dof_joint_state.joint_names = []
00362 for i in range(0, length):
00363 start = end
00364 end += 4
00365 (length,) = _struct_I.unpack(str[start:end])
00366 start = end
00367 end += length
00368 val1 = str[start:end]
00369 self.ik_request.ik_seed_state.multi_dof_joint_state.joint_names.append(val1)
00370 start = end
00371 end += 4
00372 (length,) = _struct_I.unpack(str[start:end])
00373 self.ik_request.ik_seed_state.multi_dof_joint_state.frame_ids = []
00374 for i in range(0, length):
00375 start = end
00376 end += 4
00377 (length,) = _struct_I.unpack(str[start:end])
00378 start = end
00379 end += length
00380 val1 = str[start:end]
00381 self.ik_request.ik_seed_state.multi_dof_joint_state.frame_ids.append(val1)
00382 start = end
00383 end += 4
00384 (length,) = _struct_I.unpack(str[start:end])
00385 self.ik_request.ik_seed_state.multi_dof_joint_state.child_frame_ids = []
00386 for i in range(0, length):
00387 start = end
00388 end += 4
00389 (length,) = _struct_I.unpack(str[start:end])
00390 start = end
00391 end += length
00392 val1 = str[start:end]
00393 self.ik_request.ik_seed_state.multi_dof_joint_state.child_frame_ids.append(val1)
00394 start = end
00395 end += 4
00396 (length,) = _struct_I.unpack(str[start:end])
00397 self.ik_request.ik_seed_state.multi_dof_joint_state.poses = []
00398 for i in range(0, length):
00399 val1 = geometry_msgs.msg.Pose()
00400 _v5 = val1.position
00401 _x = _v5
00402 start = end
00403 end += 24
00404 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00405 _v6 = val1.orientation
00406 _x = _v6
00407 start = end
00408 end += 32
00409 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
00410 self.ik_request.ik_seed_state.multi_dof_joint_state.poses.append(val1)
00411 _x = self
00412 start = end
00413 end += 12
00414 (_x.ik_request.robot_state.joint_state.header.seq, _x.ik_request.robot_state.joint_state.header.stamp.secs, _x.ik_request.robot_state.joint_state.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00415 start = end
00416 end += 4
00417 (length,) = _struct_I.unpack(str[start:end])
00418 start = end
00419 end += length
00420 self.ik_request.robot_state.joint_state.header.frame_id = str[start:end]
00421 start = end
00422 end += 4
00423 (length,) = _struct_I.unpack(str[start:end])
00424 self.ik_request.robot_state.joint_state.name = []
00425 for i in range(0, length):
00426 start = end
00427 end += 4
00428 (length,) = _struct_I.unpack(str[start:end])
00429 start = end
00430 end += length
00431 val1 = str[start:end]
00432 self.ik_request.robot_state.joint_state.name.append(val1)
00433 start = end
00434 end += 4
00435 (length,) = _struct_I.unpack(str[start:end])
00436 pattern = '<%sd'%length
00437 start = end
00438 end += struct.calcsize(pattern)
00439 self.ik_request.robot_state.joint_state.position = struct.unpack(pattern, str[start:end])
00440 start = end
00441 end += 4
00442 (length,) = _struct_I.unpack(str[start:end])
00443 pattern = '<%sd'%length
00444 start = end
00445 end += struct.calcsize(pattern)
00446 self.ik_request.robot_state.joint_state.velocity = struct.unpack(pattern, str[start:end])
00447 start = end
00448 end += 4
00449 (length,) = _struct_I.unpack(str[start:end])
00450 pattern = '<%sd'%length
00451 start = end
00452 end += struct.calcsize(pattern)
00453 self.ik_request.robot_state.joint_state.effort = struct.unpack(pattern, str[start:end])
00454 _x = self
00455 start = end
00456 end += 8
00457 (_x.ik_request.robot_state.multi_dof_joint_state.stamp.secs, _x.ik_request.robot_state.multi_dof_joint_state.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00458 start = end
00459 end += 4
00460 (length,) = _struct_I.unpack(str[start:end])
00461 self.ik_request.robot_state.multi_dof_joint_state.joint_names = []
00462 for i in range(0, length):
00463 start = end
00464 end += 4
00465 (length,) = _struct_I.unpack(str[start:end])
00466 start = end
00467 end += length
00468 val1 = str[start:end]
00469 self.ik_request.robot_state.multi_dof_joint_state.joint_names.append(val1)
00470 start = end
00471 end += 4
00472 (length,) = _struct_I.unpack(str[start:end])
00473 self.ik_request.robot_state.multi_dof_joint_state.frame_ids = []
00474 for i in range(0, length):
00475 start = end
00476 end += 4
00477 (length,) = _struct_I.unpack(str[start:end])
00478 start = end
00479 end += length
00480 val1 = str[start:end]
00481 self.ik_request.robot_state.multi_dof_joint_state.frame_ids.append(val1)
00482 start = end
00483 end += 4
00484 (length,) = _struct_I.unpack(str[start:end])
00485 self.ik_request.robot_state.multi_dof_joint_state.child_frame_ids = []
00486 for i in range(0, length):
00487 start = end
00488 end += 4
00489 (length,) = _struct_I.unpack(str[start:end])
00490 start = end
00491 end += length
00492 val1 = str[start:end]
00493 self.ik_request.robot_state.multi_dof_joint_state.child_frame_ids.append(val1)
00494 start = end
00495 end += 4
00496 (length,) = _struct_I.unpack(str[start:end])
00497 self.ik_request.robot_state.multi_dof_joint_state.poses = []
00498 for i in range(0, length):
00499 val1 = geometry_msgs.msg.Pose()
00500 _v7 = val1.position
00501 _x = _v7
00502 start = end
00503 end += 24
00504 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00505 _v8 = val1.orientation
00506 _x = _v8
00507 start = end
00508 end += 32
00509 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
00510 self.ik_request.robot_state.multi_dof_joint_state.poses.append(val1)
00511 _x = self
00512 start = end
00513 end += 8
00514 (_x.timeout.secs, _x.timeout.nsecs,) = _struct_2i.unpack(str[start:end])
00515 self.timeout.canon()
00516 return self
00517 except struct.error as e:
00518 raise roslib.message.DeserializationError(e)
00519
00520
00521 def serialize_numpy(self, buff, numpy):
00522 """
00523 serialize message with numpy array types into buffer
00524 @param buff: buffer
00525 @type buff: StringIO
00526 @param numpy: numpy python module
00527 @type numpy module
00528 """
00529 try:
00530 _x = self.ik_request.ik_link_name
00531 length = len(_x)
00532 buff.write(struct.pack('<I%ss'%length, length, _x))
00533 _x = self
00534 buff.write(_struct_3I.pack(_x.ik_request.pose_stamped.header.seq, _x.ik_request.pose_stamped.header.stamp.secs, _x.ik_request.pose_stamped.header.stamp.nsecs))
00535 _x = self.ik_request.pose_stamped.header.frame_id
00536 length = len(_x)
00537 buff.write(struct.pack('<I%ss'%length, length, _x))
00538 _x = self
00539 buff.write(_struct_7d3I.pack(_x.ik_request.pose_stamped.pose.position.x, _x.ik_request.pose_stamped.pose.position.y, _x.ik_request.pose_stamped.pose.position.z, _x.ik_request.pose_stamped.pose.orientation.x, _x.ik_request.pose_stamped.pose.orientation.y, _x.ik_request.pose_stamped.pose.orientation.z, _x.ik_request.pose_stamped.pose.orientation.w, _x.ik_request.ik_seed_state.joint_state.header.seq, _x.ik_request.ik_seed_state.joint_state.header.stamp.secs, _x.ik_request.ik_seed_state.joint_state.header.stamp.nsecs))
00540 _x = self.ik_request.ik_seed_state.joint_state.header.frame_id
00541 length = len(_x)
00542 buff.write(struct.pack('<I%ss'%length, length, _x))
00543 length = len(self.ik_request.ik_seed_state.joint_state.name)
00544 buff.write(_struct_I.pack(length))
00545 for val1 in self.ik_request.ik_seed_state.joint_state.name:
00546 length = len(val1)
00547 buff.write(struct.pack('<I%ss'%length, length, val1))
00548 length = len(self.ik_request.ik_seed_state.joint_state.position)
00549 buff.write(_struct_I.pack(length))
00550 pattern = '<%sd'%length
00551 buff.write(self.ik_request.ik_seed_state.joint_state.position.tostring())
00552 length = len(self.ik_request.ik_seed_state.joint_state.velocity)
00553 buff.write(_struct_I.pack(length))
00554 pattern = '<%sd'%length
00555 buff.write(self.ik_request.ik_seed_state.joint_state.velocity.tostring())
00556 length = len(self.ik_request.ik_seed_state.joint_state.effort)
00557 buff.write(_struct_I.pack(length))
00558 pattern = '<%sd'%length
00559 buff.write(self.ik_request.ik_seed_state.joint_state.effort.tostring())
00560 _x = self
00561 buff.write(_struct_2I.pack(_x.ik_request.ik_seed_state.multi_dof_joint_state.stamp.secs, _x.ik_request.ik_seed_state.multi_dof_joint_state.stamp.nsecs))
00562 length = len(self.ik_request.ik_seed_state.multi_dof_joint_state.joint_names)
00563 buff.write(_struct_I.pack(length))
00564 for val1 in self.ik_request.ik_seed_state.multi_dof_joint_state.joint_names:
00565 length = len(val1)
00566 buff.write(struct.pack('<I%ss'%length, length, val1))
00567 length = len(self.ik_request.ik_seed_state.multi_dof_joint_state.frame_ids)
00568 buff.write(_struct_I.pack(length))
00569 for val1 in self.ik_request.ik_seed_state.multi_dof_joint_state.frame_ids:
00570 length = len(val1)
00571 buff.write(struct.pack('<I%ss'%length, length, val1))
00572 length = len(self.ik_request.ik_seed_state.multi_dof_joint_state.child_frame_ids)
00573 buff.write(_struct_I.pack(length))
00574 for val1 in self.ik_request.ik_seed_state.multi_dof_joint_state.child_frame_ids:
00575 length = len(val1)
00576 buff.write(struct.pack('<I%ss'%length, length, val1))
00577 length = len(self.ik_request.ik_seed_state.multi_dof_joint_state.poses)
00578 buff.write(_struct_I.pack(length))
00579 for val1 in self.ik_request.ik_seed_state.multi_dof_joint_state.poses:
00580 _v9 = val1.position
00581 _x = _v9
00582 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00583 _v10 = val1.orientation
00584 _x = _v10
00585 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00586 _x = self
00587 buff.write(_struct_3I.pack(_x.ik_request.robot_state.joint_state.header.seq, _x.ik_request.robot_state.joint_state.header.stamp.secs, _x.ik_request.robot_state.joint_state.header.stamp.nsecs))
00588 _x = self.ik_request.robot_state.joint_state.header.frame_id
00589 length = len(_x)
00590 buff.write(struct.pack('<I%ss'%length, length, _x))
00591 length = len(self.ik_request.robot_state.joint_state.name)
00592 buff.write(_struct_I.pack(length))
00593 for val1 in self.ik_request.robot_state.joint_state.name:
00594 length = len(val1)
00595 buff.write(struct.pack('<I%ss'%length, length, val1))
00596 length = len(self.ik_request.robot_state.joint_state.position)
00597 buff.write(_struct_I.pack(length))
00598 pattern = '<%sd'%length
00599 buff.write(self.ik_request.robot_state.joint_state.position.tostring())
00600 length = len(self.ik_request.robot_state.joint_state.velocity)
00601 buff.write(_struct_I.pack(length))
00602 pattern = '<%sd'%length
00603 buff.write(self.ik_request.robot_state.joint_state.velocity.tostring())
00604 length = len(self.ik_request.robot_state.joint_state.effort)
00605 buff.write(_struct_I.pack(length))
00606 pattern = '<%sd'%length
00607 buff.write(self.ik_request.robot_state.joint_state.effort.tostring())
00608 _x = self
00609 buff.write(_struct_2I.pack(_x.ik_request.robot_state.multi_dof_joint_state.stamp.secs, _x.ik_request.robot_state.multi_dof_joint_state.stamp.nsecs))
00610 length = len(self.ik_request.robot_state.multi_dof_joint_state.joint_names)
00611 buff.write(_struct_I.pack(length))
00612 for val1 in self.ik_request.robot_state.multi_dof_joint_state.joint_names:
00613 length = len(val1)
00614 buff.write(struct.pack('<I%ss'%length, length, val1))
00615 length = len(self.ik_request.robot_state.multi_dof_joint_state.frame_ids)
00616 buff.write(_struct_I.pack(length))
00617 for val1 in self.ik_request.robot_state.multi_dof_joint_state.frame_ids:
00618 length = len(val1)
00619 buff.write(struct.pack('<I%ss'%length, length, val1))
00620 length = len(self.ik_request.robot_state.multi_dof_joint_state.child_frame_ids)
00621 buff.write(_struct_I.pack(length))
00622 for val1 in self.ik_request.robot_state.multi_dof_joint_state.child_frame_ids:
00623 length = len(val1)
00624 buff.write(struct.pack('<I%ss'%length, length, val1))
00625 length = len(self.ik_request.robot_state.multi_dof_joint_state.poses)
00626 buff.write(_struct_I.pack(length))
00627 for val1 in self.ik_request.robot_state.multi_dof_joint_state.poses:
00628 _v11 = val1.position
00629 _x = _v11
00630 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00631 _v12 = val1.orientation
00632 _x = _v12
00633 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00634 _x = self
00635 buff.write(_struct_2i.pack(_x.timeout.secs, _x.timeout.nsecs))
00636 except struct.error as se: self._check_types(se)
00637 except TypeError as te: self._check_types(te)
00638
00639 def deserialize_numpy(self, str, numpy):
00640 """
00641 unpack serialized message in str into this message instance using numpy for array types
00642 @param str: byte array of serialized message
00643 @type str: str
00644 @param numpy: numpy python module
00645 @type numpy: module
00646 """
00647 try:
00648 if self.ik_request is None:
00649 self.ik_request = kinematics_msgs.msg.PositionIKRequest()
00650 if self.timeout is None:
00651 self.timeout = roslib.rostime.Duration()
00652 end = 0
00653 start = end
00654 end += 4
00655 (length,) = _struct_I.unpack(str[start:end])
00656 start = end
00657 end += length
00658 self.ik_request.ik_link_name = str[start:end]
00659 _x = self
00660 start = end
00661 end += 12
00662 (_x.ik_request.pose_stamped.header.seq, _x.ik_request.pose_stamped.header.stamp.secs, _x.ik_request.pose_stamped.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00663 start = end
00664 end += 4
00665 (length,) = _struct_I.unpack(str[start:end])
00666 start = end
00667 end += length
00668 self.ik_request.pose_stamped.header.frame_id = str[start:end]
00669 _x = self
00670 start = end
00671 end += 68
00672 (_x.ik_request.pose_stamped.pose.position.x, _x.ik_request.pose_stamped.pose.position.y, _x.ik_request.pose_stamped.pose.position.z, _x.ik_request.pose_stamped.pose.orientation.x, _x.ik_request.pose_stamped.pose.orientation.y, _x.ik_request.pose_stamped.pose.orientation.z, _x.ik_request.pose_stamped.pose.orientation.w, _x.ik_request.ik_seed_state.joint_state.header.seq, _x.ik_request.ik_seed_state.joint_state.header.stamp.secs, _x.ik_request.ik_seed_state.joint_state.header.stamp.nsecs,) = _struct_7d3I.unpack(str[start:end])
00673 start = end
00674 end += 4
00675 (length,) = _struct_I.unpack(str[start:end])
00676 start = end
00677 end += length
00678 self.ik_request.ik_seed_state.joint_state.header.frame_id = str[start:end]
00679 start = end
00680 end += 4
00681 (length,) = _struct_I.unpack(str[start:end])
00682 self.ik_request.ik_seed_state.joint_state.name = []
00683 for i in range(0, length):
00684 start = end
00685 end += 4
00686 (length,) = _struct_I.unpack(str[start:end])
00687 start = end
00688 end += length
00689 val1 = str[start:end]
00690 self.ik_request.ik_seed_state.joint_state.name.append(val1)
00691 start = end
00692 end += 4
00693 (length,) = _struct_I.unpack(str[start:end])
00694 pattern = '<%sd'%length
00695 start = end
00696 end += struct.calcsize(pattern)
00697 self.ik_request.ik_seed_state.joint_state.position = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00698 start = end
00699 end += 4
00700 (length,) = _struct_I.unpack(str[start:end])
00701 pattern = '<%sd'%length
00702 start = end
00703 end += struct.calcsize(pattern)
00704 self.ik_request.ik_seed_state.joint_state.velocity = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00705 start = end
00706 end += 4
00707 (length,) = _struct_I.unpack(str[start:end])
00708 pattern = '<%sd'%length
00709 start = end
00710 end += struct.calcsize(pattern)
00711 self.ik_request.ik_seed_state.joint_state.effort = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00712 _x = self
00713 start = end
00714 end += 8
00715 (_x.ik_request.ik_seed_state.multi_dof_joint_state.stamp.secs, _x.ik_request.ik_seed_state.multi_dof_joint_state.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00716 start = end
00717 end += 4
00718 (length,) = _struct_I.unpack(str[start:end])
00719 self.ik_request.ik_seed_state.multi_dof_joint_state.joint_names = []
00720 for i in range(0, length):
00721 start = end
00722 end += 4
00723 (length,) = _struct_I.unpack(str[start:end])
00724 start = end
00725 end += length
00726 val1 = str[start:end]
00727 self.ik_request.ik_seed_state.multi_dof_joint_state.joint_names.append(val1)
00728 start = end
00729 end += 4
00730 (length,) = _struct_I.unpack(str[start:end])
00731 self.ik_request.ik_seed_state.multi_dof_joint_state.frame_ids = []
00732 for i in range(0, length):
00733 start = end
00734 end += 4
00735 (length,) = _struct_I.unpack(str[start:end])
00736 start = end
00737 end += length
00738 val1 = str[start:end]
00739 self.ik_request.ik_seed_state.multi_dof_joint_state.frame_ids.append(val1)
00740 start = end
00741 end += 4
00742 (length,) = _struct_I.unpack(str[start:end])
00743 self.ik_request.ik_seed_state.multi_dof_joint_state.child_frame_ids = []
00744 for i in range(0, length):
00745 start = end
00746 end += 4
00747 (length,) = _struct_I.unpack(str[start:end])
00748 start = end
00749 end += length
00750 val1 = str[start:end]
00751 self.ik_request.ik_seed_state.multi_dof_joint_state.child_frame_ids.append(val1)
00752 start = end
00753 end += 4
00754 (length,) = _struct_I.unpack(str[start:end])
00755 self.ik_request.ik_seed_state.multi_dof_joint_state.poses = []
00756 for i in range(0, length):
00757 val1 = geometry_msgs.msg.Pose()
00758 _v13 = val1.position
00759 _x = _v13
00760 start = end
00761 end += 24
00762 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00763 _v14 = val1.orientation
00764 _x = _v14
00765 start = end
00766 end += 32
00767 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
00768 self.ik_request.ik_seed_state.multi_dof_joint_state.poses.append(val1)
00769 _x = self
00770 start = end
00771 end += 12
00772 (_x.ik_request.robot_state.joint_state.header.seq, _x.ik_request.robot_state.joint_state.header.stamp.secs, _x.ik_request.robot_state.joint_state.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00773 start = end
00774 end += 4
00775 (length,) = _struct_I.unpack(str[start:end])
00776 start = end
00777 end += length
00778 self.ik_request.robot_state.joint_state.header.frame_id = str[start:end]
00779 start = end
00780 end += 4
00781 (length,) = _struct_I.unpack(str[start:end])
00782 self.ik_request.robot_state.joint_state.name = []
00783 for i in range(0, length):
00784 start = end
00785 end += 4
00786 (length,) = _struct_I.unpack(str[start:end])
00787 start = end
00788 end += length
00789 val1 = str[start:end]
00790 self.ik_request.robot_state.joint_state.name.append(val1)
00791 start = end
00792 end += 4
00793 (length,) = _struct_I.unpack(str[start:end])
00794 pattern = '<%sd'%length
00795 start = end
00796 end += struct.calcsize(pattern)
00797 self.ik_request.robot_state.joint_state.position = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00798 start = end
00799 end += 4
00800 (length,) = _struct_I.unpack(str[start:end])
00801 pattern = '<%sd'%length
00802 start = end
00803 end += struct.calcsize(pattern)
00804 self.ik_request.robot_state.joint_state.velocity = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00805 start = end
00806 end += 4
00807 (length,) = _struct_I.unpack(str[start:end])
00808 pattern = '<%sd'%length
00809 start = end
00810 end += struct.calcsize(pattern)
00811 self.ik_request.robot_state.joint_state.effort = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00812 _x = self
00813 start = end
00814 end += 8
00815 (_x.ik_request.robot_state.multi_dof_joint_state.stamp.secs, _x.ik_request.robot_state.multi_dof_joint_state.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00816 start = end
00817 end += 4
00818 (length,) = _struct_I.unpack(str[start:end])
00819 self.ik_request.robot_state.multi_dof_joint_state.joint_names = []
00820 for i in range(0, length):
00821 start = end
00822 end += 4
00823 (length,) = _struct_I.unpack(str[start:end])
00824 start = end
00825 end += length
00826 val1 = str[start:end]
00827 self.ik_request.robot_state.multi_dof_joint_state.joint_names.append(val1)
00828 start = end
00829 end += 4
00830 (length,) = _struct_I.unpack(str[start:end])
00831 self.ik_request.robot_state.multi_dof_joint_state.frame_ids = []
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.ik_request.robot_state.multi_dof_joint_state.frame_ids.append(val1)
00840 start = end
00841 end += 4
00842 (length,) = _struct_I.unpack(str[start:end])
00843 self.ik_request.robot_state.multi_dof_joint_state.child_frame_ids = []
00844 for i in range(0, length):
00845 start = end
00846 end += 4
00847 (length,) = _struct_I.unpack(str[start:end])
00848 start = end
00849 end += length
00850 val1 = str[start:end]
00851 self.ik_request.robot_state.multi_dof_joint_state.child_frame_ids.append(val1)
00852 start = end
00853 end += 4
00854 (length,) = _struct_I.unpack(str[start:end])
00855 self.ik_request.robot_state.multi_dof_joint_state.poses = []
00856 for i in range(0, length):
00857 val1 = geometry_msgs.msg.Pose()
00858 _v15 = val1.position
00859 _x = _v15
00860 start = end
00861 end += 24
00862 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00863 _v16 = val1.orientation
00864 _x = _v16
00865 start = end
00866 end += 32
00867 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
00868 self.ik_request.robot_state.multi_dof_joint_state.poses.append(val1)
00869 _x = self
00870 start = end
00871 end += 8
00872 (_x.timeout.secs, _x.timeout.nsecs,) = _struct_2i.unpack(str[start:end])
00873 self.timeout.canon()
00874 return self
00875 except struct.error as e:
00876 raise roslib.message.DeserializationError(e)
00877
00878 _struct_I = roslib.message.struct_I
00879 _struct_7d3I = struct.Struct("<7d3I")
00880 _struct_3I = struct.Struct("<3I")
00881 _struct_4d = struct.Struct("<4d")
00882 _struct_2i = struct.Struct("<2i")
00883 _struct_2I = struct.Struct("<2I")
00884 _struct_3d = struct.Struct("<3d")
00885 """autogenerated by genmsg_py from GetPositionIKResponse.msg. Do not edit."""
00886 import roslib.message
00887 import struct
00888
00889 import arm_navigation_msgs.msg
00890 import geometry_msgs.msg
00891 import std_msgs.msg
00892 import roslib.rostime
00893 import sensor_msgs.msg
00894
00895 class GetPositionIKResponse(roslib.message.Message):
00896 _md5sum = "5a8bbc4eb2775fe00cbd09858fd3dc65"
00897 _type = "kinematics_msgs/GetPositionIKResponse"
00898 _has_header = False
00899 _full_text = """
00900
00901 arm_navigation_msgs/RobotState solution
00902
00903 arm_navigation_msgs/ArmNavigationErrorCodes error_code
00904
00905
00906
00907 ================================================================================
00908 MSG: arm_navigation_msgs/RobotState
00909 # This message contains information about the robot state, i.e. the positions of its joints and links
00910 sensor_msgs/JointState joint_state
00911 arm_navigation_msgs/MultiDOFJointState multi_dof_joint_state
00912
00913 ================================================================================
00914 MSG: sensor_msgs/JointState
00915 # This is a message that holds data to describe the state of a set of torque controlled joints.
00916 #
00917 # The state of each joint (revolute or prismatic) is defined by:
00918 # * the position of the joint (rad or m),
00919 # * the velocity of the joint (rad/s or m/s) and
00920 # * the effort that is applied in the joint (Nm or N).
00921 #
00922 # Each joint is uniquely identified by its name
00923 # The header specifies the time at which the joint states were recorded. All the joint states
00924 # in one message have to be recorded at the same time.
00925 #
00926 # This message consists of a multiple arrays, one for each part of the joint state.
00927 # The goal is to make each of the fields optional. When e.g. your joints have no
00928 # effort associated with them, you can leave the effort array empty.
00929 #
00930 # All arrays in this message should have the same size, or be empty.
00931 # This is the only way to uniquely associate the joint name with the correct
00932 # states.
00933
00934
00935 Header header
00936
00937 string[] name
00938 float64[] position
00939 float64[] velocity
00940 float64[] effort
00941
00942 ================================================================================
00943 MSG: std_msgs/Header
00944 # Standard metadata for higher-level stamped data types.
00945 # This is generally used to communicate timestamped data
00946 # in a particular coordinate frame.
00947 #
00948 # sequence ID: consecutively increasing ID
00949 uint32 seq
00950 #Two-integer timestamp that is expressed as:
00951 # * stamp.secs: seconds (stamp_secs) since epoch
00952 # * stamp.nsecs: nanoseconds since stamp_secs
00953 # time-handling sugar is provided by the client library
00954 time stamp
00955 #Frame this data is associated with
00956 # 0: no frame
00957 # 1: global frame
00958 string frame_id
00959
00960 ================================================================================
00961 MSG: arm_navigation_msgs/MultiDOFJointState
00962 #A representation of a multi-dof joint state
00963 time stamp
00964 string[] joint_names
00965 string[] frame_ids
00966 string[] child_frame_ids
00967 geometry_msgs/Pose[] poses
00968
00969 ================================================================================
00970 MSG: geometry_msgs/Pose
00971 # A representation of pose in free space, composed of postion and orientation.
00972 Point position
00973 Quaternion orientation
00974
00975 ================================================================================
00976 MSG: geometry_msgs/Point
00977 # This contains the position of a point in free space
00978 float64 x
00979 float64 y
00980 float64 z
00981
00982 ================================================================================
00983 MSG: geometry_msgs/Quaternion
00984 # This represents an orientation in free space in quaternion form.
00985
00986 float64 x
00987 float64 y
00988 float64 z
00989 float64 w
00990
00991 ================================================================================
00992 MSG: arm_navigation_msgs/ArmNavigationErrorCodes
00993 int32 val
00994
00995 # overall behavior
00996 int32 PLANNING_FAILED=-1
00997 int32 SUCCESS=1
00998 int32 TIMED_OUT=-2
00999
01000 # start state errors
01001 int32 START_STATE_IN_COLLISION=-3
01002 int32 START_STATE_VIOLATES_PATH_CONSTRAINTS=-4
01003
01004 # goal errors
01005 int32 GOAL_IN_COLLISION=-5
01006 int32 GOAL_VIOLATES_PATH_CONSTRAINTS=-6
01007
01008 # robot state
01009 int32 INVALID_ROBOT_STATE=-7
01010 int32 INCOMPLETE_ROBOT_STATE=-8
01011
01012 # planning request errors
01013 int32 INVALID_PLANNER_ID=-9
01014 int32 INVALID_NUM_PLANNING_ATTEMPTS=-10
01015 int32 INVALID_ALLOWED_PLANNING_TIME=-11
01016 int32 INVALID_GROUP_NAME=-12
01017 int32 INVALID_GOAL_JOINT_CONSTRAINTS=-13
01018 int32 INVALID_GOAL_POSITION_CONSTRAINTS=-14
01019 int32 INVALID_GOAL_ORIENTATION_CONSTRAINTS=-15
01020 int32 INVALID_PATH_JOINT_CONSTRAINTS=-16
01021 int32 INVALID_PATH_POSITION_CONSTRAINTS=-17
01022 int32 INVALID_PATH_ORIENTATION_CONSTRAINTS=-18
01023
01024 # state/trajectory monitor errors
01025 int32 INVALID_TRAJECTORY=-19
01026 int32 INVALID_INDEX=-20
01027 int32 JOINT_LIMITS_VIOLATED=-21
01028 int32 PATH_CONSTRAINTS_VIOLATED=-22
01029 int32 COLLISION_CONSTRAINTS_VIOLATED=-23
01030 int32 GOAL_CONSTRAINTS_VIOLATED=-24
01031 int32 JOINTS_NOT_MOVING=-25
01032 int32 TRAJECTORY_CONTROLLER_FAILED=-26
01033
01034 # system errors
01035 int32 FRAME_TRANSFORM_FAILURE=-27
01036 int32 COLLISION_CHECKING_UNAVAILABLE=-28
01037 int32 ROBOT_STATE_STALE=-29
01038 int32 SENSOR_INFO_STALE=-30
01039
01040 # kinematics errors
01041 int32 NO_IK_SOLUTION=-31
01042 int32 INVALID_LINK_NAME=-32
01043 int32 IK_LINK_IN_COLLISION=-33
01044 int32 NO_FK_SOLUTION=-34
01045 int32 KINEMATICS_STATE_IN_COLLISION=-35
01046
01047 # general errors
01048 int32 INVALID_TIMEOUT=-36
01049
01050
01051 """
01052 __slots__ = ['solution','error_code']
01053 _slot_types = ['arm_navigation_msgs/RobotState','arm_navigation_msgs/ArmNavigationErrorCodes']
01054
01055 def __init__(self, *args, **kwds):
01056 """
01057 Constructor. Any message fields that are implicitly/explicitly
01058 set to None will be assigned a default value. The recommend
01059 use is keyword arguments as this is more robust to future message
01060 changes. You cannot mix in-order arguments and keyword arguments.
01061
01062 The available fields are:
01063 solution,error_code
01064
01065 @param args: complete set of field values, in .msg order
01066 @param kwds: use keyword arguments corresponding to message field names
01067 to set specific fields.
01068 """
01069 if args or kwds:
01070 super(GetPositionIKResponse, self).__init__(*args, **kwds)
01071
01072 if self.solution is None:
01073 self.solution = arm_navigation_msgs.msg.RobotState()
01074 if self.error_code is None:
01075 self.error_code = arm_navigation_msgs.msg.ArmNavigationErrorCodes()
01076 else:
01077 self.solution = arm_navigation_msgs.msg.RobotState()
01078 self.error_code = arm_navigation_msgs.msg.ArmNavigationErrorCodes()
01079
01080 def _get_types(self):
01081 """
01082 internal API method
01083 """
01084 return self._slot_types
01085
01086 def serialize(self, buff):
01087 """
01088 serialize message into buffer
01089 @param buff: buffer
01090 @type buff: StringIO
01091 """
01092 try:
01093 _x = self
01094 buff.write(_struct_3I.pack(_x.solution.joint_state.header.seq, _x.solution.joint_state.header.stamp.secs, _x.solution.joint_state.header.stamp.nsecs))
01095 _x = self.solution.joint_state.header.frame_id
01096 length = len(_x)
01097 buff.write(struct.pack('<I%ss'%length, length, _x))
01098 length = len(self.solution.joint_state.name)
01099 buff.write(_struct_I.pack(length))
01100 for val1 in self.solution.joint_state.name:
01101 length = len(val1)
01102 buff.write(struct.pack('<I%ss'%length, length, val1))
01103 length = len(self.solution.joint_state.position)
01104 buff.write(_struct_I.pack(length))
01105 pattern = '<%sd'%length
01106 buff.write(struct.pack(pattern, *self.solution.joint_state.position))
01107 length = len(self.solution.joint_state.velocity)
01108 buff.write(_struct_I.pack(length))
01109 pattern = '<%sd'%length
01110 buff.write(struct.pack(pattern, *self.solution.joint_state.velocity))
01111 length = len(self.solution.joint_state.effort)
01112 buff.write(_struct_I.pack(length))
01113 pattern = '<%sd'%length
01114 buff.write(struct.pack(pattern, *self.solution.joint_state.effort))
01115 _x = self
01116 buff.write(_struct_2I.pack(_x.solution.multi_dof_joint_state.stamp.secs, _x.solution.multi_dof_joint_state.stamp.nsecs))
01117 length = len(self.solution.multi_dof_joint_state.joint_names)
01118 buff.write(_struct_I.pack(length))
01119 for val1 in self.solution.multi_dof_joint_state.joint_names:
01120 length = len(val1)
01121 buff.write(struct.pack('<I%ss'%length, length, val1))
01122 length = len(self.solution.multi_dof_joint_state.frame_ids)
01123 buff.write(_struct_I.pack(length))
01124 for val1 in self.solution.multi_dof_joint_state.frame_ids:
01125 length = len(val1)
01126 buff.write(struct.pack('<I%ss'%length, length, val1))
01127 length = len(self.solution.multi_dof_joint_state.child_frame_ids)
01128 buff.write(_struct_I.pack(length))
01129 for val1 in self.solution.multi_dof_joint_state.child_frame_ids:
01130 length = len(val1)
01131 buff.write(struct.pack('<I%ss'%length, length, val1))
01132 length = len(self.solution.multi_dof_joint_state.poses)
01133 buff.write(_struct_I.pack(length))
01134 for val1 in self.solution.multi_dof_joint_state.poses:
01135 _v17 = val1.position
01136 _x = _v17
01137 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
01138 _v18 = val1.orientation
01139 _x = _v18
01140 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
01141 buff.write(_struct_i.pack(self.error_code.val))
01142 except struct.error as se: self._check_types(se)
01143 except TypeError as te: self._check_types(te)
01144
01145 def deserialize(self, str):
01146 """
01147 unpack serialized message in str into this message instance
01148 @param str: byte array of serialized message
01149 @type str: str
01150 """
01151 try:
01152 if self.solution is None:
01153 self.solution = arm_navigation_msgs.msg.RobotState()
01154 if self.error_code is None:
01155 self.error_code = arm_navigation_msgs.msg.ArmNavigationErrorCodes()
01156 end = 0
01157 _x = self
01158 start = end
01159 end += 12
01160 (_x.solution.joint_state.header.seq, _x.solution.joint_state.header.stamp.secs, _x.solution.joint_state.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
01161 start = end
01162 end += 4
01163 (length,) = _struct_I.unpack(str[start:end])
01164 start = end
01165 end += length
01166 self.solution.joint_state.header.frame_id = str[start:end]
01167 start = end
01168 end += 4
01169 (length,) = _struct_I.unpack(str[start:end])
01170 self.solution.joint_state.name = []
01171 for i in range(0, length):
01172 start = end
01173 end += 4
01174 (length,) = _struct_I.unpack(str[start:end])
01175 start = end
01176 end += length
01177 val1 = str[start:end]
01178 self.solution.joint_state.name.append(val1)
01179 start = end
01180 end += 4
01181 (length,) = _struct_I.unpack(str[start:end])
01182 pattern = '<%sd'%length
01183 start = end
01184 end += struct.calcsize(pattern)
01185 self.solution.joint_state.position = struct.unpack(pattern, str[start:end])
01186 start = end
01187 end += 4
01188 (length,) = _struct_I.unpack(str[start:end])
01189 pattern = '<%sd'%length
01190 start = end
01191 end += struct.calcsize(pattern)
01192 self.solution.joint_state.velocity = struct.unpack(pattern, str[start:end])
01193 start = end
01194 end += 4
01195 (length,) = _struct_I.unpack(str[start:end])
01196 pattern = '<%sd'%length
01197 start = end
01198 end += struct.calcsize(pattern)
01199 self.solution.joint_state.effort = struct.unpack(pattern, str[start:end])
01200 _x = self
01201 start = end
01202 end += 8
01203 (_x.solution.multi_dof_joint_state.stamp.secs, _x.solution.multi_dof_joint_state.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
01204 start = end
01205 end += 4
01206 (length,) = _struct_I.unpack(str[start:end])
01207 self.solution.multi_dof_joint_state.joint_names = []
01208 for i in range(0, length):
01209 start = end
01210 end += 4
01211 (length,) = _struct_I.unpack(str[start:end])
01212 start = end
01213 end += length
01214 val1 = str[start:end]
01215 self.solution.multi_dof_joint_state.joint_names.append(val1)
01216 start = end
01217 end += 4
01218 (length,) = _struct_I.unpack(str[start:end])
01219 self.solution.multi_dof_joint_state.frame_ids = []
01220 for i in range(0, length):
01221 start = end
01222 end += 4
01223 (length,) = _struct_I.unpack(str[start:end])
01224 start = end
01225 end += length
01226 val1 = str[start:end]
01227 self.solution.multi_dof_joint_state.frame_ids.append(val1)
01228 start = end
01229 end += 4
01230 (length,) = _struct_I.unpack(str[start:end])
01231 self.solution.multi_dof_joint_state.child_frame_ids = []
01232 for i in range(0, length):
01233 start = end
01234 end += 4
01235 (length,) = _struct_I.unpack(str[start:end])
01236 start = end
01237 end += length
01238 val1 = str[start:end]
01239 self.solution.multi_dof_joint_state.child_frame_ids.append(val1)
01240 start = end
01241 end += 4
01242 (length,) = _struct_I.unpack(str[start:end])
01243 self.solution.multi_dof_joint_state.poses = []
01244 for i in range(0, length):
01245 val1 = geometry_msgs.msg.Pose()
01246 _v19 = val1.position
01247 _x = _v19
01248 start = end
01249 end += 24
01250 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
01251 _v20 = val1.orientation
01252 _x = _v20
01253 start = end
01254 end += 32
01255 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
01256 self.solution.multi_dof_joint_state.poses.append(val1)
01257 start = end
01258 end += 4
01259 (self.error_code.val,) = _struct_i.unpack(str[start:end])
01260 return self
01261 except struct.error as e:
01262 raise roslib.message.DeserializationError(e)
01263
01264
01265 def serialize_numpy(self, buff, numpy):
01266 """
01267 serialize message with numpy array types into buffer
01268 @param buff: buffer
01269 @type buff: StringIO
01270 @param numpy: numpy python module
01271 @type numpy module
01272 """
01273 try:
01274 _x = self
01275 buff.write(_struct_3I.pack(_x.solution.joint_state.header.seq, _x.solution.joint_state.header.stamp.secs, _x.solution.joint_state.header.stamp.nsecs))
01276 _x = self.solution.joint_state.header.frame_id
01277 length = len(_x)
01278 buff.write(struct.pack('<I%ss'%length, length, _x))
01279 length = len(self.solution.joint_state.name)
01280 buff.write(_struct_I.pack(length))
01281 for val1 in self.solution.joint_state.name:
01282 length = len(val1)
01283 buff.write(struct.pack('<I%ss'%length, length, val1))
01284 length = len(self.solution.joint_state.position)
01285 buff.write(_struct_I.pack(length))
01286 pattern = '<%sd'%length
01287 buff.write(self.solution.joint_state.position.tostring())
01288 length = len(self.solution.joint_state.velocity)
01289 buff.write(_struct_I.pack(length))
01290 pattern = '<%sd'%length
01291 buff.write(self.solution.joint_state.velocity.tostring())
01292 length = len(self.solution.joint_state.effort)
01293 buff.write(_struct_I.pack(length))
01294 pattern = '<%sd'%length
01295 buff.write(self.solution.joint_state.effort.tostring())
01296 _x = self
01297 buff.write(_struct_2I.pack(_x.solution.multi_dof_joint_state.stamp.secs, _x.solution.multi_dof_joint_state.stamp.nsecs))
01298 length = len(self.solution.multi_dof_joint_state.joint_names)
01299 buff.write(_struct_I.pack(length))
01300 for val1 in self.solution.multi_dof_joint_state.joint_names:
01301 length = len(val1)
01302 buff.write(struct.pack('<I%ss'%length, length, val1))
01303 length = len(self.solution.multi_dof_joint_state.frame_ids)
01304 buff.write(_struct_I.pack(length))
01305 for val1 in self.solution.multi_dof_joint_state.frame_ids:
01306 length = len(val1)
01307 buff.write(struct.pack('<I%ss'%length, length, val1))
01308 length = len(self.solution.multi_dof_joint_state.child_frame_ids)
01309 buff.write(_struct_I.pack(length))
01310 for val1 in self.solution.multi_dof_joint_state.child_frame_ids:
01311 length = len(val1)
01312 buff.write(struct.pack('<I%ss'%length, length, val1))
01313 length = len(self.solution.multi_dof_joint_state.poses)
01314 buff.write(_struct_I.pack(length))
01315 for val1 in self.solution.multi_dof_joint_state.poses:
01316 _v21 = val1.position
01317 _x = _v21
01318 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
01319 _v22 = val1.orientation
01320 _x = _v22
01321 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
01322 buff.write(_struct_i.pack(self.error_code.val))
01323 except struct.error as se: self._check_types(se)
01324 except TypeError as te: self._check_types(te)
01325
01326 def deserialize_numpy(self, str, numpy):
01327 """
01328 unpack serialized message in str into this message instance using numpy for array types
01329 @param str: byte array of serialized message
01330 @type str: str
01331 @param numpy: numpy python module
01332 @type numpy: module
01333 """
01334 try:
01335 if self.solution is None:
01336 self.solution = arm_navigation_msgs.msg.RobotState()
01337 if self.error_code is None:
01338 self.error_code = arm_navigation_msgs.msg.ArmNavigationErrorCodes()
01339 end = 0
01340 _x = self
01341 start = end
01342 end += 12
01343 (_x.solution.joint_state.header.seq, _x.solution.joint_state.header.stamp.secs, _x.solution.joint_state.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
01344 start = end
01345 end += 4
01346 (length,) = _struct_I.unpack(str[start:end])
01347 start = end
01348 end += length
01349 self.solution.joint_state.header.frame_id = str[start:end]
01350 start = end
01351 end += 4
01352 (length,) = _struct_I.unpack(str[start:end])
01353 self.solution.joint_state.name = []
01354 for i in range(0, length):
01355 start = end
01356 end += 4
01357 (length,) = _struct_I.unpack(str[start:end])
01358 start = end
01359 end += length
01360 val1 = str[start:end]
01361 self.solution.joint_state.name.append(val1)
01362 start = end
01363 end += 4
01364 (length,) = _struct_I.unpack(str[start:end])
01365 pattern = '<%sd'%length
01366 start = end
01367 end += struct.calcsize(pattern)
01368 self.solution.joint_state.position = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
01369 start = end
01370 end += 4
01371 (length,) = _struct_I.unpack(str[start:end])
01372 pattern = '<%sd'%length
01373 start = end
01374 end += struct.calcsize(pattern)
01375 self.solution.joint_state.velocity = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
01376 start = end
01377 end += 4
01378 (length,) = _struct_I.unpack(str[start:end])
01379 pattern = '<%sd'%length
01380 start = end
01381 end += struct.calcsize(pattern)
01382 self.solution.joint_state.effort = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
01383 _x = self
01384 start = end
01385 end += 8
01386 (_x.solution.multi_dof_joint_state.stamp.secs, _x.solution.multi_dof_joint_state.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
01387 start = end
01388 end += 4
01389 (length,) = _struct_I.unpack(str[start:end])
01390 self.solution.multi_dof_joint_state.joint_names = []
01391 for i in range(0, length):
01392 start = end
01393 end += 4
01394 (length,) = _struct_I.unpack(str[start:end])
01395 start = end
01396 end += length
01397 val1 = str[start:end]
01398 self.solution.multi_dof_joint_state.joint_names.append(val1)
01399 start = end
01400 end += 4
01401 (length,) = _struct_I.unpack(str[start:end])
01402 self.solution.multi_dof_joint_state.frame_ids = []
01403 for i in range(0, length):
01404 start = end
01405 end += 4
01406 (length,) = _struct_I.unpack(str[start:end])
01407 start = end
01408 end += length
01409 val1 = str[start:end]
01410 self.solution.multi_dof_joint_state.frame_ids.append(val1)
01411 start = end
01412 end += 4
01413 (length,) = _struct_I.unpack(str[start:end])
01414 self.solution.multi_dof_joint_state.child_frame_ids = []
01415 for i in range(0, length):
01416 start = end
01417 end += 4
01418 (length,) = _struct_I.unpack(str[start:end])
01419 start = end
01420 end += length
01421 val1 = str[start:end]
01422 self.solution.multi_dof_joint_state.child_frame_ids.append(val1)
01423 start = end
01424 end += 4
01425 (length,) = _struct_I.unpack(str[start:end])
01426 self.solution.multi_dof_joint_state.poses = []
01427 for i in range(0, length):
01428 val1 = geometry_msgs.msg.Pose()
01429 _v23 = val1.position
01430 _x = _v23
01431 start = end
01432 end += 24
01433 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
01434 _v24 = val1.orientation
01435 _x = _v24
01436 start = end
01437 end += 32
01438 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
01439 self.solution.multi_dof_joint_state.poses.append(val1)
01440 start = end
01441 end += 4
01442 (self.error_code.val,) = _struct_i.unpack(str[start:end])
01443 return self
01444 except struct.error as e:
01445 raise roslib.message.DeserializationError(e)
01446
01447 _struct_I = roslib.message.struct_I
01448 _struct_i = struct.Struct("<i")
01449 _struct_4d = struct.Struct("<4d")
01450 _struct_3I = struct.Struct("<3I")
01451 _struct_2I = struct.Struct("<2I")
01452 _struct_3d = struct.Struct("<3d")
01453 class GetPositionIK(roslib.message.ServiceDefinition):
01454 _type = 'kinematics_msgs/GetPositionIK'
01455 _md5sum = '6d82fcb918d48c6d8a708bc55e34ace2'
01456 _request_class = GetPositionIKRequest
01457 _response_class = GetPositionIKResponse
