00001 """autogenerated by genmsg_py from NavSatFix.msg. Do not edit."""
00002 import roslib.message
00003 import struct
00004
00005 import sensor_msgs.msg
00006 import std_msgs.msg
00007
00008 class NavSatFix(roslib.message.Message):
00009 _md5sum = "2d3a8cd499b9b4a0249fb98fd05cfa48"
00010 _type = "sensor_msgs/NavSatFix"
00011 _has_header = True
00012 _full_text = """# Navigation Satellite fix for any Global Navigation Satellite System
00013 #
00014 # Specified using the WGS 84 reference ellipsoid
00015
00016 # Header specifies ROS time and frame of reference for this fix.
00017 Header header
00018
00019 # satellite fix status information
00020 sensor_msgs/NavSatStatus status
00021
00022 # Latitude [degrees]. Positive is north of equator; negative is south.
00023 float64 latitude
00024
00025 # Longitude [degrees]. Positive is east of prime meridian; negative is west.
00026 float64 longitude
00027
00028 # Altitude [m]. Positive is above the WGS 84 ellipsoid.
00029 float64 altitude
00030
00031 # Position covariance [m^2] defined relative to a tangential plane
00032 # through the reported position. The components are East, North, and
00033 # Up (ENU), in row-major order.
00034 #
00035 # Beware: this coordinate system exhibits singularities at the poles.
00036
00037 float64[9] position_covariance
00038
00039 # If the covariance of the fix is known, fill it in completely. If the
00040 # GPS receiver provides the variance of each measurement, put them
00041 # along the diagonal. If only Dilution of Precision is available,
00042 # estimate an approximate covariance from that.
00043
00044 uint8 COVARIANCE_TYPE_UNKNOWN = 0
00045 uint8 COVARIANCE_TYPE_APPROXIMATED = 1
00046 uint8 COVARIANCE_TYPE_DIAGONAL_KNOWN = 2
00047 uint8 COVARIANCE_TYPE_KNOWN = 3
00048
00049 uint8 position_covariance_type
00050
00051 ================================================================================
00052 MSG: std_msgs/Header
00053 # Standard metadata for higher-level stamped data types.
00054 # This is generally used to communicate timestamped data
00055 # in a particular coordinate frame.
00056 #
00057 # sequence ID: consecutively increasing ID
00058 uint32 seq
00059 #Two-integer timestamp that is expressed as:
00060 # * stamp.secs: seconds (stamp_secs) since epoch
00061 # * stamp.nsecs: nanoseconds since stamp_secs
00062 # time-handling sugar is provided by the client library
00063 time stamp
00064 #Frame this data is associated with
00065 # 0: no frame
00066 # 1: global frame
00067 string frame_id
00068
00069 ================================================================================
00070 MSG: sensor_msgs/NavSatStatus
00071 # Navigation Satellite fix status for any Global Navigation Satellite System
00072
00073 # Whether to output an augmented fix is determined by both the fix
00074 # type and the last time differential corrections were received. A
00075 # fix is valid when status >= STATUS_FIX.
00076
00077 int8 STATUS_NO_FIX = -1 # unable to fix position
00078 int8 STATUS_FIX = 0 # unaugmented fix
00079 int8 STATUS_SBAS_FIX = 1 # with satellite-based augmentation
00080 int8 STATUS_GBAS_FIX = 2 # with ground-based augmentation
00081
00082 int8 status
00083
00084 # Bits defining which Global Navigation Satellite System signals were
00085 # used by the receiver.
00086
00087 uint16 SERVICE_GPS = 1
00088 uint16 SERVICE_GLONASS = 2
00089 uint16 SERVICE_COMPASS = 4 # includes BeiDou.
00090 uint16 SERVICE_GALILEO = 8
00091
00092 uint16 service
00093
00094 """
00095
00096 COVARIANCE_TYPE_UNKNOWN = 0
00097 COVARIANCE_TYPE_APPROXIMATED = 1
00098 COVARIANCE_TYPE_DIAGONAL_KNOWN = 2
00099 COVARIANCE_TYPE_KNOWN = 3
00100
00101 __slots__ = ['header','status','latitude','longitude','altitude','position_covariance','position_covariance_type']
00102 _slot_types = ['Header','sensor_msgs/NavSatStatus','float64','float64','float64','float64[9]','uint8']
00103
00104 def __init__(self, *args, **kwds):
00105 """
00106 Constructor. Any message fields that are implicitly/explicitly
00107 set to None will be assigned a default value. The recommend
00108 use is keyword arguments as this is more robust to future message
00109 changes. You cannot mix in-order arguments and keyword arguments.
00110
00111 The available fields are:
00112 header,status,latitude,longitude,altitude,position_covariance,position_covariance_type
00113
00114 @param args: complete set of field values, in .msg order
00115 @param kwds: use keyword arguments corresponding to message field names
00116 to set specific fields.
00117 """
00118 if args or kwds:
00119 super(NavSatFix, self).__init__(*args, **kwds)
00120
00121 if self.header is None:
00122 self.header = std_msgs.msg._Header.Header()
00123 if self.status is None:
00124 self.status = sensor_msgs.msg.NavSatStatus()
00125 if self.latitude is None:
00126 self.latitude = 0.
00127 if self.longitude is None:
00128 self.longitude = 0.
00129 if self.altitude is None:
00130 self.altitude = 0.
00131 if self.position_covariance is None:
00132 self.position_covariance = [0.,0.,0.,0.,0.,0.,0.,0.,0.]
00133 if self.position_covariance_type is None:
00134 self.position_covariance_type = 0
00135 else:
00136 self.header = std_msgs.msg._Header.Header()
00137 self.status = sensor_msgs.msg.NavSatStatus()
00138 self.latitude = 0.
00139 self.longitude = 0.
00140 self.altitude = 0.
00141 self.position_covariance = [0.,0.,0.,0.,0.,0.,0.,0.,0.]
00142 self.position_covariance_type = 0
00143
00144 def _get_types(self):
00145 """
00146 internal API method
00147 """
00148 return self._slot_types
00149
00150 def serialize(self, buff):
00151 """
00152 serialize message into buffer
00153 @param buff: buffer
00154 @type buff: StringIO
00155 """
00156 try:
00157 _x = self
00158 buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
00159 _x = self.header.frame_id
00160 length = len(_x)
00161 buff.write(struct.pack('<I%ss'%length, length, _x))
00162 _x = self
00163 buff.write(_struct_bH3d.pack(_x.status.status, _x.status.service, _x.latitude, _x.longitude, _x.altitude))
00164 buff.write(_struct_9d.pack(*self.position_covariance))
00165 buff.write(_struct_B.pack(self.position_covariance_type))
00166 except struct.error as se: self._check_types(se)
00167 except TypeError as te: self._check_types(te)
00168
00169 def deserialize(self, str):
00170 """
00171 unpack serialized message in str into this message instance
00172 @param str: byte array of serialized message
00173 @type str: str
00174 """
00175 try:
00176 if self.header is None:
00177 self.header = std_msgs.msg._Header.Header()
00178 if self.status is None:
00179 self.status = sensor_msgs.msg.NavSatStatus()
00180 end = 0
00181 _x = self
00182 start = end
00183 end += 12
00184 (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00185 start = end
00186 end += 4
00187 (length,) = _struct_I.unpack(str[start:end])
00188 start = end
00189 end += length
00190 self.header.frame_id = str[start:end]
00191 _x = self
00192 start = end
00193 end += 27
00194 (_x.status.status, _x.status.service, _x.latitude, _x.longitude, _x.altitude,) = _struct_bH3d.unpack(str[start:end])
00195 start = end
00196 end += 72
00197 self.position_covariance = _struct_9d.unpack(str[start:end])
00198 start = end
00199 end += 1
00200 (self.position_covariance_type,) = _struct_B.unpack(str[start:end])
00201 return self
00202 except struct.error as e:
00203 raise roslib.message.DeserializationError(e)
00204
00205
00206 def serialize_numpy(self, buff, numpy):
00207 """
00208 serialize message with numpy array types into buffer
00209 @param buff: buffer
00210 @type buff: StringIO
00211 @param numpy: numpy python module
00212 @type numpy module
00213 """
00214 try:
00215 _x = self
00216 buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
00217 _x = self.header.frame_id
00218 length = len(_x)
00219 buff.write(struct.pack('<I%ss'%length, length, _x))
00220 _x = self
00221 buff.write(_struct_bH3d.pack(_x.status.status, _x.status.service, _x.latitude, _x.longitude, _x.altitude))
00222 buff.write(self.position_covariance.tostring())
00223 buff.write(_struct_B.pack(self.position_covariance_type))
00224 except struct.error as se: self._check_types(se)
00225 except TypeError as te: self._check_types(te)
00226
00227 def deserialize_numpy(self, str, numpy):
00228 """
00229 unpack serialized message in str into this message instance using numpy for array types
00230 @param str: byte array of serialized message
00231 @type str: str
00232 @param numpy: numpy python module
00233 @type numpy: module
00234 """
00235 try:
00236 if self.header is None:
00237 self.header = std_msgs.msg._Header.Header()
00238 if self.status is None:
00239 self.status = sensor_msgs.msg.NavSatStatus()
00240 end = 0
00241 _x = self
00242 start = end
00243 end += 12
00244 (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00245 start = end
00246 end += 4
00247 (length,) = _struct_I.unpack(str[start:end])
00248 start = end
00249 end += length
00250 self.header.frame_id = str[start:end]
00251 _x = self
00252 start = end
00253 end += 27
00254 (_x.status.status, _x.status.service, _x.latitude, _x.longitude, _x.altitude,) = _struct_bH3d.unpack(str[start:end])
00255 start = end
00256 end += 72
00257 self.position_covariance = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=9)
00258 start = end
00259 end += 1
00260 (self.position_covariance_type,) = _struct_B.unpack(str[start:end])
00261 return self
00262 except struct.error as e:
00263 raise roslib.message.DeserializationError(e)
00264
00265 _struct_I = roslib.message.struct_I
00266 _struct_3I = struct.Struct("<3I")
00267 _struct_bH3d = struct.Struct("<bH3d")
00268 _struct_9d = struct.Struct("<9d")
00269 _struct_B = struct.Struct("<B")