00001 """autogenerated by genmsg_py from FindContainerActionGoal.msg. Do not edit."""
00002 import roslib.message
00003 import struct
00004
00005 import object_manipulation_msgs.msg
00006 import roslib.rostime
00007 import actionlib_msgs.msg
00008 import geometry_msgs.msg
00009 import sensor_msgs.msg
00010 import std_msgs.msg
00011
00012 class FindContainerActionGoal(roslib.message.Message):
00013 _md5sum = "73af42153064c0356cf7b83cc612719f"
00014 _type = "object_manipulation_msgs/FindContainerActionGoal"
00015 _has_header = True
00016 _full_text = """# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00017
00018 Header header
00019 actionlib_msgs/GoalID goal_id
00020 FindContainerGoal goal
00021
00022 ================================================================================
00023 MSG: std_msgs/Header
00024 # Standard metadata for higher-level stamped data types.
00025 # This is generally used to communicate timestamped data
00026 # in a particular coordinate frame.
00027 #
00028 # sequence ID: consecutively increasing ID
00029 uint32 seq
00030 #Two-integer timestamp that is expressed as:
00031 # * stamp.secs: seconds (stamp_secs) since epoch
00032 # * stamp.nsecs: nanoseconds since stamp_secs
00033 # time-handling sugar is provided by the client library
00034 time stamp
00035 #Frame this data is associated with
00036 # 0: no frame
00037 # 1: global frame
00038 string frame_id
00039
00040 ================================================================================
00041 MSG: actionlib_msgs/GoalID
00042 # The stamp should store the time at which this goal was requested.
00043 # It is used by an action server when it tries to preempt all
00044 # goals that were requested before a certain time
00045 time stamp
00046
00047 # The id provides a way to associate feedback and
00048 # result message with specific goal requests. The id
00049 # specified must be unique.
00050 string id
00051
00052
00053 ================================================================================
00054 MSG: object_manipulation_msgs/FindContainerGoal
00055 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00056 # The cloud
00057 sensor_msgs/PointCloud2 cloud
00058
00059 # starting estimate of bounding box
00060 # all output will be in this frame
00061 # Assumes axis-aligned with header frame,
00062 # and WON'T take orientation into account.
00063 geometry_msgs/PoseStamped box_pose
00064 geometry_msgs/Vector3 box_dims
00065
00066 # the direction that the container opens (in bounding box header frame)
00067 geometry_msgs/Vector3 opening_dir
00068
00069
00070 ================================================================================
00071 MSG: sensor_msgs/PointCloud2
00072 # This message holds a collection of N-dimensional points, which may
00073 # contain additional information such as normals, intensity, etc. The
00074 # point data is stored as a binary blob, its layout described by the
00075 # contents of the "fields" array.
00076
00077 # The point cloud data may be organized 2d (image-like) or 1d
00078 # (unordered). Point clouds organized as 2d images may be produced by
00079 # camera depth sensors such as stereo or time-of-flight.
00080
00081 # Time of sensor data acquisition, and the coordinate frame ID (for 3d
00082 # points).
00083 Header header
00084
00085 # 2D structure of the point cloud. If the cloud is unordered, height is
00086 # 1 and width is the length of the point cloud.
00087 uint32 height
00088 uint32 width
00089
00090 # Describes the channels and their layout in the binary data blob.
00091 PointField[] fields
00092
00093 bool is_bigendian # Is this data bigendian?
00094 uint32 point_step # Length of a point in bytes
00095 uint32 row_step # Length of a row in bytes
00096 uint8[] data # Actual point data, size is (row_step*height)
00097
00098 bool is_dense # True if there are no invalid points
00099
00100 ================================================================================
00101 MSG: sensor_msgs/PointField
00102 # This message holds the description of one point entry in the
00103 # PointCloud2 message format.
00104 uint8 INT8 = 1
00105 uint8 UINT8 = 2
00106 uint8 INT16 = 3
00107 uint8 UINT16 = 4
00108 uint8 INT32 = 5
00109 uint8 UINT32 = 6
00110 uint8 FLOAT32 = 7
00111 uint8 FLOAT64 = 8
00112
00113 string name # Name of field
00114 uint32 offset # Offset from start of point struct
00115 uint8 datatype # Datatype enumeration, see above
00116 uint32 count # How many elements in the field
00117
00118 ================================================================================
00119 MSG: geometry_msgs/PoseStamped
00120 # A Pose with reference coordinate frame and timestamp
00121 Header header
00122 Pose pose
00123
00124 ================================================================================
00125 MSG: geometry_msgs/Pose
00126 # A representation of pose in free space, composed of postion and orientation.
00127 Point position
00128 Quaternion orientation
00129
00130 ================================================================================
00131 MSG: geometry_msgs/Point
00132 # This contains the position of a point in free space
00133 float64 x
00134 float64 y
00135 float64 z
00136
00137 ================================================================================
00138 MSG: geometry_msgs/Quaternion
00139 # This represents an orientation in free space in quaternion form.
00140
00141 float64 x
00142 float64 y
00143 float64 z
00144 float64 w
00145
00146 ================================================================================
00147 MSG: geometry_msgs/Vector3
00148 # This represents a vector in free space.
00149
00150 float64 x
00151 float64 y
00152 float64 z
00153 """
00154 __slots__ = ['header','goal_id','goal']
00155 _slot_types = ['Header','actionlib_msgs/GoalID','object_manipulation_msgs/FindContainerGoal']
00156
00157 def __init__(self, *args, **kwds):
00158 """
00159 Constructor. Any message fields that are implicitly/explicitly
00160 set to None will be assigned a default value. The recommend
00161 use is keyword arguments as this is more robust to future message
00162 changes. You cannot mix in-order arguments and keyword arguments.
00163
00164 The available fields are:
00165 header,goal_id,goal
00166
00167 @param args: complete set of field values, in .msg order
00168 @param kwds: use keyword arguments corresponding to message field names
00169 to set specific fields.
00170 """
00171 if args or kwds:
00172 super(FindContainerActionGoal, self).__init__(*args, **kwds)
00173
00174 if self.header is None:
00175 self.header = std_msgs.msg._Header.Header()
00176 if self.goal_id is None:
00177 self.goal_id = actionlib_msgs.msg.GoalID()
00178 if self.goal is None:
00179 self.goal = object_manipulation_msgs.msg.FindContainerGoal()
00180 else:
00181 self.header = std_msgs.msg._Header.Header()
00182 self.goal_id = actionlib_msgs.msg.GoalID()
00183 self.goal = object_manipulation_msgs.msg.FindContainerGoal()
00184
00185 def _get_types(self):
00186 """
00187 internal API method
00188 """
00189 return self._slot_types
00190
00191 def serialize(self, buff):
00192 """
00193 serialize message into buffer
00194 @param buff: buffer
00195 @type buff: StringIO
00196 """
00197 try:
00198 _x = self
00199 buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
00200 _x = self.header.frame_id
00201 length = len(_x)
00202 buff.write(struct.pack('<I%ss'%length, length, _x))
00203 _x = self
00204 buff.write(_struct_2I.pack(_x.goal_id.stamp.secs, _x.goal_id.stamp.nsecs))
00205 _x = self.goal_id.id
00206 length = len(_x)
00207 buff.write(struct.pack('<I%ss'%length, length, _x))
00208 _x = self
00209 buff.write(_struct_3I.pack(_x.goal.cloud.header.seq, _x.goal.cloud.header.stamp.secs, _x.goal.cloud.header.stamp.nsecs))
00210 _x = self.goal.cloud.header.frame_id
00211 length = len(_x)
00212 buff.write(struct.pack('<I%ss'%length, length, _x))
00213 _x = self
00214 buff.write(_struct_2I.pack(_x.goal.cloud.height, _x.goal.cloud.width))
00215 length = len(self.goal.cloud.fields)
00216 buff.write(_struct_I.pack(length))
00217 for val1 in self.goal.cloud.fields:
00218 _x = val1.name
00219 length = len(_x)
00220 buff.write(struct.pack('<I%ss'%length, length, _x))
00221 _x = val1
00222 buff.write(_struct_IBI.pack(_x.offset, _x.datatype, _x.count))
00223 _x = self
00224 buff.write(_struct_B2I.pack(_x.goal.cloud.is_bigendian, _x.goal.cloud.point_step, _x.goal.cloud.row_step))
00225 _x = self.goal.cloud.data
00226 length = len(_x)
00227
00228 if type(_x) in [list, tuple]:
00229 buff.write(struct.pack('<I%sB'%length, length, *_x))
00230 else:
00231 buff.write(struct.pack('<I%ss'%length, length, _x))
00232 _x = self
00233 buff.write(_struct_B3I.pack(_x.goal.cloud.is_dense, _x.goal.box_pose.header.seq, _x.goal.box_pose.header.stamp.secs, _x.goal.box_pose.header.stamp.nsecs))
00234 _x = self.goal.box_pose.header.frame_id
00235 length = len(_x)
00236 buff.write(struct.pack('<I%ss'%length, length, _x))
00237 _x = self
00238 buff.write(_struct_13d.pack(_x.goal.box_pose.pose.position.x, _x.goal.box_pose.pose.position.y, _x.goal.box_pose.pose.position.z, _x.goal.box_pose.pose.orientation.x, _x.goal.box_pose.pose.orientation.y, _x.goal.box_pose.pose.orientation.z, _x.goal.box_pose.pose.orientation.w, _x.goal.box_dims.x, _x.goal.box_dims.y, _x.goal.box_dims.z, _x.goal.opening_dir.x, _x.goal.opening_dir.y, _x.goal.opening_dir.z))
00239 except struct.error as se: self._check_types(se)
00240 except TypeError as te: self._check_types(te)
00241
00242 def deserialize(self, str):
00243 """
00244 unpack serialized message in str into this message instance
00245 @param str: byte array of serialized message
00246 @type str: str
00247 """
00248 try:
00249 if self.header is None:
00250 self.header = std_msgs.msg._Header.Header()
00251 if self.goal_id is None:
00252 self.goal_id = actionlib_msgs.msg.GoalID()
00253 if self.goal is None:
00254 self.goal = object_manipulation_msgs.msg.FindContainerGoal()
00255 end = 0
00256 _x = self
00257 start = end
00258 end += 12
00259 (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00260 start = end
00261 end += 4
00262 (length,) = _struct_I.unpack(str[start:end])
00263 start = end
00264 end += length
00265 self.header.frame_id = str[start:end]
00266 _x = self
00267 start = end
00268 end += 8
00269 (_x.goal_id.stamp.secs, _x.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00270 start = end
00271 end += 4
00272 (length,) = _struct_I.unpack(str[start:end])
00273 start = end
00274 end += length
00275 self.goal_id.id = str[start:end]
00276 _x = self
00277 start = end
00278 end += 12
00279 (_x.goal.cloud.header.seq, _x.goal.cloud.header.stamp.secs, _x.goal.cloud.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00280 start = end
00281 end += 4
00282 (length,) = _struct_I.unpack(str[start:end])
00283 start = end
00284 end += length
00285 self.goal.cloud.header.frame_id = str[start:end]
00286 _x = self
00287 start = end
00288 end += 8
00289 (_x.goal.cloud.height, _x.goal.cloud.width,) = _struct_2I.unpack(str[start:end])
00290 start = end
00291 end += 4
00292 (length,) = _struct_I.unpack(str[start:end])
00293 self.goal.cloud.fields = []
00294 for i in range(0, length):
00295 val1 = sensor_msgs.msg.PointField()
00296 start = end
00297 end += 4
00298 (length,) = _struct_I.unpack(str[start:end])
00299 start = end
00300 end += length
00301 val1.name = str[start:end]
00302 _x = val1
00303 start = end
00304 end += 9
00305 (_x.offset, _x.datatype, _x.count,) = _struct_IBI.unpack(str[start:end])
00306 self.goal.cloud.fields.append(val1)
00307 _x = self
00308 start = end
00309 end += 9
00310 (_x.goal.cloud.is_bigendian, _x.goal.cloud.point_step, _x.goal.cloud.row_step,) = _struct_B2I.unpack(str[start:end])
00311 self.goal.cloud.is_bigendian = bool(self.goal.cloud.is_bigendian)
00312 start = end
00313 end += 4
00314 (length,) = _struct_I.unpack(str[start:end])
00315 start = end
00316 end += length
00317 self.goal.cloud.data = str[start:end]
00318 _x = self
00319 start = end
00320 end += 13
00321 (_x.goal.cloud.is_dense, _x.goal.box_pose.header.seq, _x.goal.box_pose.header.stamp.secs, _x.goal.box_pose.header.stamp.nsecs,) = _struct_B3I.unpack(str[start:end])
00322 self.goal.cloud.is_dense = bool(self.goal.cloud.is_dense)
00323 start = end
00324 end += 4
00325 (length,) = _struct_I.unpack(str[start:end])
00326 start = end
00327 end += length
00328 self.goal.box_pose.header.frame_id = str[start:end]
00329 _x = self
00330 start = end
00331 end += 104
00332 (_x.goal.box_pose.pose.position.x, _x.goal.box_pose.pose.position.y, _x.goal.box_pose.pose.position.z, _x.goal.box_pose.pose.orientation.x, _x.goal.box_pose.pose.orientation.y, _x.goal.box_pose.pose.orientation.z, _x.goal.box_pose.pose.orientation.w, _x.goal.box_dims.x, _x.goal.box_dims.y, _x.goal.box_dims.z, _x.goal.opening_dir.x, _x.goal.opening_dir.y, _x.goal.opening_dir.z,) = _struct_13d.unpack(str[start:end])
00333 return self
00334 except struct.error as e:
00335 raise roslib.message.DeserializationError(e)
00336
00337
00338 def serialize_numpy(self, buff, numpy):
00339 """
00340 serialize message with numpy array types into buffer
00341 @param buff: buffer
00342 @type buff: StringIO
00343 @param numpy: numpy python module
00344 @type numpy module
00345 """
00346 try:
00347 _x = self
00348 buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
00349 _x = self.header.frame_id
00350 length = len(_x)
00351 buff.write(struct.pack('<I%ss'%length, length, _x))
00352 _x = self
00353 buff.write(_struct_2I.pack(_x.goal_id.stamp.secs, _x.goal_id.stamp.nsecs))
00354 _x = self.goal_id.id
00355 length = len(_x)
00356 buff.write(struct.pack('<I%ss'%length, length, _x))
00357 _x = self
00358 buff.write(_struct_3I.pack(_x.goal.cloud.header.seq, _x.goal.cloud.header.stamp.secs, _x.goal.cloud.header.stamp.nsecs))
00359 _x = self.goal.cloud.header.frame_id
00360 length = len(_x)
00361 buff.write(struct.pack('<I%ss'%length, length, _x))
00362 _x = self
00363 buff.write(_struct_2I.pack(_x.goal.cloud.height, _x.goal.cloud.width))
00364 length = len(self.goal.cloud.fields)
00365 buff.write(_struct_I.pack(length))
00366 for val1 in self.goal.cloud.fields:
00367 _x = val1.name
00368 length = len(_x)
00369 buff.write(struct.pack('<I%ss'%length, length, _x))
00370 _x = val1
00371 buff.write(_struct_IBI.pack(_x.offset, _x.datatype, _x.count))
00372 _x = self
00373 buff.write(_struct_B2I.pack(_x.goal.cloud.is_bigendian, _x.goal.cloud.point_step, _x.goal.cloud.row_step))
00374 _x = self.goal.cloud.data
00375 length = len(_x)
00376
00377 if type(_x) in [list, tuple]:
00378 buff.write(struct.pack('<I%sB'%length, length, *_x))
00379 else:
00380 buff.write(struct.pack('<I%ss'%length, length, _x))
00381 _x = self
00382 buff.write(_struct_B3I.pack(_x.goal.cloud.is_dense, _x.goal.box_pose.header.seq, _x.goal.box_pose.header.stamp.secs, _x.goal.box_pose.header.stamp.nsecs))
00383 _x = self.goal.box_pose.header.frame_id
00384 length = len(_x)
00385 buff.write(struct.pack('<I%ss'%length, length, _x))
00386 _x = self
00387 buff.write(_struct_13d.pack(_x.goal.box_pose.pose.position.x, _x.goal.box_pose.pose.position.y, _x.goal.box_pose.pose.position.z, _x.goal.box_pose.pose.orientation.x, _x.goal.box_pose.pose.orientation.y, _x.goal.box_pose.pose.orientation.z, _x.goal.box_pose.pose.orientation.w, _x.goal.box_dims.x, _x.goal.box_dims.y, _x.goal.box_dims.z, _x.goal.opening_dir.x, _x.goal.opening_dir.y, _x.goal.opening_dir.z))
00388 except struct.error as se: self._check_types(se)
00389 except TypeError as te: self._check_types(te)
00390
00391 def deserialize_numpy(self, str, numpy):
00392 """
00393 unpack serialized message in str into this message instance using numpy for array types
00394 @param str: byte array of serialized message
00395 @type str: str
00396 @param numpy: numpy python module
00397 @type numpy: module
00398 """
00399 try:
00400 if self.header is None:
00401 self.header = std_msgs.msg._Header.Header()
00402 if self.goal_id is None:
00403 self.goal_id = actionlib_msgs.msg.GoalID()
00404 if self.goal is None:
00405 self.goal = object_manipulation_msgs.msg.FindContainerGoal()
00406 end = 0
00407 _x = self
00408 start = end
00409 end += 12
00410 (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00411 start = end
00412 end += 4
00413 (length,) = _struct_I.unpack(str[start:end])
00414 start = end
00415 end += length
00416 self.header.frame_id = str[start:end]
00417 _x = self
00418 start = end
00419 end += 8
00420 (_x.goal_id.stamp.secs, _x.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00421 start = end
00422 end += 4
00423 (length,) = _struct_I.unpack(str[start:end])
00424 start = end
00425 end += length
00426 self.goal_id.id = str[start:end]
00427 _x = self
00428 start = end
00429 end += 12
00430 (_x.goal.cloud.header.seq, _x.goal.cloud.header.stamp.secs, _x.goal.cloud.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00431 start = end
00432 end += 4
00433 (length,) = _struct_I.unpack(str[start:end])
00434 start = end
00435 end += length
00436 self.goal.cloud.header.frame_id = str[start:end]
00437 _x = self
00438 start = end
00439 end += 8
00440 (_x.goal.cloud.height, _x.goal.cloud.width,) = _struct_2I.unpack(str[start:end])
00441 start = end
00442 end += 4
00443 (length,) = _struct_I.unpack(str[start:end])
00444 self.goal.cloud.fields = []
00445 for i in range(0, length):
00446 val1 = sensor_msgs.msg.PointField()
00447 start = end
00448 end += 4
00449 (length,) = _struct_I.unpack(str[start:end])
00450 start = end
00451 end += length
00452 val1.name = str[start:end]
00453 _x = val1
00454 start = end
00455 end += 9
00456 (_x.offset, _x.datatype, _x.count,) = _struct_IBI.unpack(str[start:end])
00457 self.goal.cloud.fields.append(val1)
00458 _x = self
00459 start = end
00460 end += 9
00461 (_x.goal.cloud.is_bigendian, _x.goal.cloud.point_step, _x.goal.cloud.row_step,) = _struct_B2I.unpack(str[start:end])
00462 self.goal.cloud.is_bigendian = bool(self.goal.cloud.is_bigendian)
00463 start = end
00464 end += 4
00465 (length,) = _struct_I.unpack(str[start:end])
00466 start = end
00467 end += length
00468 self.goal.cloud.data = str[start:end]
00469 _x = self
00470 start = end
00471 end += 13
00472 (_x.goal.cloud.is_dense, _x.goal.box_pose.header.seq, _x.goal.box_pose.header.stamp.secs, _x.goal.box_pose.header.stamp.nsecs,) = _struct_B3I.unpack(str[start:end])
00473 self.goal.cloud.is_dense = bool(self.goal.cloud.is_dense)
00474 start = end
00475 end += 4
00476 (length,) = _struct_I.unpack(str[start:end])
00477 start = end
00478 end += length
00479 self.goal.box_pose.header.frame_id = str[start:end]
00480 _x = self
00481 start = end
00482 end += 104
00483 (_x.goal.box_pose.pose.position.x, _x.goal.box_pose.pose.position.y, _x.goal.box_pose.pose.position.z, _x.goal.box_pose.pose.orientation.x, _x.goal.box_pose.pose.orientation.y, _x.goal.box_pose.pose.orientation.z, _x.goal.box_pose.pose.orientation.w, _x.goal.box_dims.x, _x.goal.box_dims.y, _x.goal.box_dims.z, _x.goal.opening_dir.x, _x.goal.opening_dir.y, _x.goal.opening_dir.z,) = _struct_13d.unpack(str[start:end])
00484 return self
00485 except struct.error as e:
00486 raise roslib.message.DeserializationError(e)
00487
00488 _struct_I = roslib.message.struct_I
00489 _struct_IBI = struct.Struct("<IBI")
00490 _struct_13d = struct.Struct("<13d")
00491 _struct_3I = struct.Struct("<3I")
00492 _struct_B3I = struct.Struct("<B3I")
00493 _struct_B2I = struct.Struct("<B2I")
00494 _struct_2I = struct.Struct("<2I")
