00001 """autogenerated by genmsg_py from ModelHypothesis.msg. Do not edit."""
00002 import roslib.message
00003 import struct
00004
00005 import arm_navigation_msgs.msg
00006 import geometry_msgs.msg
00007 import std_msgs.msg
00008
00009 class ModelHypothesis(roslib.message.Message):
00010 _md5sum = "4fbf66f058abb32b34d3bbb399568762"
00011 _type = "object_recognition_gui/ModelHypothesis"
00012 _has_header = False
00013 _full_text = """#describes a hypothesis about a recognized object (mesh+pose)
00014
00015 arm_navigation_msgs/Shape mesh
00016 geometry_msgs/PoseStamped pose
00017
00018 ================================================================================
00019 MSG: arm_navigation_msgs/Shape
00020 byte SPHERE=0
00021 byte BOX=1
00022 byte CYLINDER=2
00023 byte MESH=3
00024
00025 byte type
00026
00027
00028 #### define sphere, box, cylinder ####
00029 # the origin of each shape is considered at the shape's center
00030
00031 # for sphere
00032 # radius := dimensions[0]
00033
00034 # for cylinder
00035 # radius := dimensions[0]
00036 # length := dimensions[1]
00037 # the length is along the Z axis
00038
00039 # for box
00040 # size_x := dimensions[0]
00041 # size_y := dimensions[1]
00042 # size_z := dimensions[2]
00043 float64[] dimensions
00044
00045
00046 #### define mesh ####
00047
00048 # list of triangles; triangle k is defined by tre vertices located
00049 # at indices triangles[3k], triangles[3k+1], triangles[3k+2]
00050 int32[] triangles
00051 geometry_msgs/Point[] vertices
00052
00053 ================================================================================
00054 MSG: geometry_msgs/Point
00055 # This contains the position of a point in free space
00056 float64 x
00057 float64 y
00058 float64 z
00059
00060 ================================================================================
00061 MSG: geometry_msgs/PoseStamped
00062 # A Pose with reference coordinate frame and timestamp
00063 Header header
00064 Pose pose
00065
00066 ================================================================================
00067 MSG: std_msgs/Header
00068 # Standard metadata for higher-level stamped data types.
00069 # This is generally used to communicate timestamped data
00070 # in a particular coordinate frame.
00071 #
00072 # sequence ID: consecutively increasing ID
00073 uint32 seq
00074 #Two-integer timestamp that is expressed as:
00075 # * stamp.secs: seconds (stamp_secs) since epoch
00076 # * stamp.nsecs: nanoseconds since stamp_secs
00077 # time-handling sugar is provided by the client library
00078 time stamp
00079 #Frame this data is associated with
00080 # 0: no frame
00081 # 1: global frame
00082 string frame_id
00083
00084 ================================================================================
00085 MSG: geometry_msgs/Pose
00086 # A representation of pose in free space, composed of postion and orientation.
00087 Point position
00088 Quaternion orientation
00089
00090 ================================================================================
00091 MSG: geometry_msgs/Quaternion
00092 # This represents an orientation in free space in quaternion form.
00093
00094 float64 x
00095 float64 y
00096 float64 z
00097 float64 w
00098
00099 """
00100 __slots__ = ['mesh','pose']
00101 _slot_types = ['arm_navigation_msgs/Shape','geometry_msgs/PoseStamped']
00102
00103 def __init__(self, *args, **kwds):
00104 """
00105 Constructor. Any message fields that are implicitly/explicitly
00106 set to None will be assigned a default value. The recommend
00107 use is keyword arguments as this is more robust to future message
00108 changes. You cannot mix in-order arguments and keyword arguments.
00109
00110 The available fields are:
00111 mesh,pose
00112
00113 @param args: complete set of field values, in .msg order
00114 @param kwds: use keyword arguments corresponding to message field names
00115 to set specific fields.
00116 """
00117 if args or kwds:
00118 super(ModelHypothesis, self).__init__(*args, **kwds)
00119
00120 if self.mesh is None:
00121 self.mesh = arm_navigation_msgs.msg.Shape()
00122 if self.pose is None:
00123 self.pose = geometry_msgs.msg.PoseStamped()
00124 else:
00125 self.mesh = arm_navigation_msgs.msg.Shape()
00126 self.pose = geometry_msgs.msg.PoseStamped()
00127
00128 def _get_types(self):
00129 """
00130 internal API method
00131 """
00132 return self._slot_types
00133
00134 def serialize(self, buff):
00135 """
00136 serialize message into buffer
00137 @param buff: buffer
00138 @type buff: StringIO
00139 """
00140 try:
00141 buff.write(_struct_b.pack(self.mesh.type))
00142 length = len(self.mesh.dimensions)
00143 buff.write(_struct_I.pack(length))
00144 pattern = '<%sd'%length
00145 buff.write(struct.pack(pattern, *self.mesh.dimensions))
00146 length = len(self.mesh.triangles)
00147 buff.write(_struct_I.pack(length))
00148 pattern = '<%si'%length
00149 buff.write(struct.pack(pattern, *self.mesh.triangles))
00150 length = len(self.mesh.vertices)
00151 buff.write(_struct_I.pack(length))
00152 for val1 in self.mesh.vertices:
00153 _x = val1
00154 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00155 _x = self
00156 buff.write(_struct_3I.pack(_x.pose.header.seq, _x.pose.header.stamp.secs, _x.pose.header.stamp.nsecs))
00157 _x = self.pose.header.frame_id
00158 length = len(_x)
00159 buff.write(struct.pack('<I%ss'%length, length, _x))
00160 _x = self
00161 buff.write(_struct_7d.pack(_x.pose.pose.position.x, _x.pose.pose.position.y, _x.pose.pose.position.z, _x.pose.pose.orientation.x, _x.pose.pose.orientation.y, _x.pose.pose.orientation.z, _x.pose.pose.orientation.w))
00162 except struct.error as se: self._check_types(se)
00163 except TypeError as te: self._check_types(te)
00164
00165 def deserialize(self, str):
00166 """
00167 unpack serialized message in str into this message instance
00168 @param str: byte array of serialized message
00169 @type str: str
00170 """
00171 try:
00172 if self.mesh is None:
00173 self.mesh = arm_navigation_msgs.msg.Shape()
00174 if self.pose is None:
00175 self.pose = geometry_msgs.msg.PoseStamped()
00176 end = 0
00177 start = end
00178 end += 1
00179 (self.mesh.type,) = _struct_b.unpack(str[start:end])
00180 start = end
00181 end += 4
00182 (length,) = _struct_I.unpack(str[start:end])
00183 pattern = '<%sd'%length
00184 start = end
00185 end += struct.calcsize(pattern)
00186 self.mesh.dimensions = struct.unpack(pattern, str[start:end])
00187 start = end
00188 end += 4
00189 (length,) = _struct_I.unpack(str[start:end])
00190 pattern = '<%si'%length
00191 start = end
00192 end += struct.calcsize(pattern)
00193 self.mesh.triangles = struct.unpack(pattern, str[start:end])
00194 start = end
00195 end += 4
00196 (length,) = _struct_I.unpack(str[start:end])
00197 self.mesh.vertices = []
00198 for i in range(0, length):
00199 val1 = geometry_msgs.msg.Point()
00200 _x = val1
00201 start = end
00202 end += 24
00203 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00204 self.mesh.vertices.append(val1)
00205 _x = self
00206 start = end
00207 end += 12
00208 (_x.pose.header.seq, _x.pose.header.stamp.secs, _x.pose.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00209 start = end
00210 end += 4
00211 (length,) = _struct_I.unpack(str[start:end])
00212 start = end
00213 end += length
00214 self.pose.header.frame_id = str[start:end]
00215 _x = self
00216 start = end
00217 end += 56
00218 (_x.pose.pose.position.x, _x.pose.pose.position.y, _x.pose.pose.position.z, _x.pose.pose.orientation.x, _x.pose.pose.orientation.y, _x.pose.pose.orientation.z, _x.pose.pose.orientation.w,) = _struct_7d.unpack(str[start:end])
00219 return self
00220 except struct.error as e:
00221 raise roslib.message.DeserializationError(e)
00222
00223
00224 def serialize_numpy(self, buff, numpy):
00225 """
00226 serialize message with numpy array types into buffer
00227 @param buff: buffer
00228 @type buff: StringIO
00229 @param numpy: numpy python module
00230 @type numpy module
00231 """
00232 try:
00233 buff.write(_struct_b.pack(self.mesh.type))
00234 length = len(self.mesh.dimensions)
00235 buff.write(_struct_I.pack(length))
00236 pattern = '<%sd'%length
00237 buff.write(self.mesh.dimensions.tostring())
00238 length = len(self.mesh.triangles)
00239 buff.write(_struct_I.pack(length))
00240 pattern = '<%si'%length
00241 buff.write(self.mesh.triangles.tostring())
00242 length = len(self.mesh.vertices)
00243 buff.write(_struct_I.pack(length))
00244 for val1 in self.mesh.vertices:
00245 _x = val1
00246 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00247 _x = self
00248 buff.write(_struct_3I.pack(_x.pose.header.seq, _x.pose.header.stamp.secs, _x.pose.header.stamp.nsecs))
00249 _x = self.pose.header.frame_id
00250 length = len(_x)
00251 buff.write(struct.pack('<I%ss'%length, length, _x))
00252 _x = self
00253 buff.write(_struct_7d.pack(_x.pose.pose.position.x, _x.pose.pose.position.y, _x.pose.pose.position.z, _x.pose.pose.orientation.x, _x.pose.pose.orientation.y, _x.pose.pose.orientation.z, _x.pose.pose.orientation.w))
00254 except struct.error as se: self._check_types(se)
00255 except TypeError as te: self._check_types(te)
00256
00257 def deserialize_numpy(self, str, numpy):
00258 """
00259 unpack serialized message in str into this message instance using numpy for array types
00260 @param str: byte array of serialized message
00261 @type str: str
00262 @param numpy: numpy python module
00263 @type numpy: module
00264 """
00265 try:
00266 if self.mesh is None:
00267 self.mesh = arm_navigation_msgs.msg.Shape()
00268 if self.pose is None:
00269 self.pose = geometry_msgs.msg.PoseStamped()
00270 end = 0
00271 start = end
00272 end += 1
00273 (self.mesh.type,) = _struct_b.unpack(str[start:end])
00274 start = end
00275 end += 4
00276 (length,) = _struct_I.unpack(str[start:end])
00277 pattern = '<%sd'%length
00278 start = end
00279 end += struct.calcsize(pattern)
00280 self.mesh.dimensions = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00281 start = end
00282 end += 4
00283 (length,) = _struct_I.unpack(str[start:end])
00284 pattern = '<%si'%length
00285 start = end
00286 end += struct.calcsize(pattern)
00287 self.mesh.triangles = numpy.frombuffer(str[start:end], dtype=numpy.int32, count=length)
00288 start = end
00289 end += 4
00290 (length,) = _struct_I.unpack(str[start:end])
00291 self.mesh.vertices = []
00292 for i in range(0, length):
00293 val1 = geometry_msgs.msg.Point()
00294 _x = val1
00295 start = end
00296 end += 24
00297 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00298 self.mesh.vertices.append(val1)
00299 _x = self
00300 start = end
00301 end += 12
00302 (_x.pose.header.seq, _x.pose.header.stamp.secs, _x.pose.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00303 start = end
00304 end += 4
00305 (length,) = _struct_I.unpack(str[start:end])
00306 start = end
00307 end += length
00308 self.pose.header.frame_id = str[start:end]
00309 _x = self
00310 start = end
00311 end += 56
00312 (_x.pose.pose.position.x, _x.pose.pose.position.y, _x.pose.pose.position.z, _x.pose.pose.orientation.x, _x.pose.pose.orientation.y, _x.pose.pose.orientation.z, _x.pose.pose.orientation.w,) = _struct_7d.unpack(str[start:end])
00313 return self
00314 except struct.error as e:
00315 raise roslib.message.DeserializationError(e)
00316
00317 _struct_I = roslib.message.struct_I
00318 _struct_3I = struct.Struct("<3I")
00319 _struct_b = struct.Struct("<b")
00320 _struct_7d = struct.Struct("<7d")
00321 _struct_3d = struct.Struct("<3d")
