$search
00001 """autogenerated by genmsg_py from JointTrajectory.msg. Do not edit.""" 00002 import roslib.message 00003 import struct 00004 00005 import trajectory_msgs.msg 00006 import roslib.rostime 00007 import std_msgs.msg 00008 00009 class JointTrajectory(roslib.message.Message): 00010 _md5sum = "72214029c6fba47b2135714577dd745e" 00011 _type = "trajectory_msgs/JointTrajectory" 00012 _has_header = True #flag to mark the presence of a Header object 00013 _full_text = """Header header 00014 string[] joint_names 00015 JointTrajectoryPoint[] points 00016 ================================================================================ 00017 MSG: std_msgs/Header 00018 # Standard metadata for higher-level stamped data types. 00019 # This is generally used to communicate timestamped data 00020 # in a particular coordinate frame. 00021 # 00022 # sequence ID: consecutively increasing ID 00023 uint32 seq 00024 #Two-integer timestamp that is expressed as: 00025 # * stamp.secs: seconds (stamp_secs) since epoch 00026 # * stamp.nsecs: nanoseconds since stamp_secs 00027 # time-handling sugar is provided by the client library 00028 time stamp 00029 #Frame this data is associated with 00030 # 0: no frame 00031 # 1: global frame 00032 string frame_id 00033 00034 ================================================================================ 00035 MSG: trajectory_msgs/JointTrajectoryPoint 00036 float64[] positions 00037 float64[] velocities 00038 float64[] accelerations 00039 duration time_from_start 00040 """ 00041 __slots__ = ['header','joint_names','points'] 00042 _slot_types = ['Header','string[]','trajectory_msgs/JointTrajectoryPoint[]'] 00043 00044 def __init__(self, *args, **kwds): 00045 """ 00046 Constructor. Any message fields that are implicitly/explicitly 00047 set to None will be assigned a default value. The recommend 00048 use is keyword arguments as this is more robust to future message 00049 changes. You cannot mix in-order arguments and keyword arguments. 00050 00051 The available fields are: 00052 header,joint_names,points 00053 00054 @param args: complete set of field values, in .msg order 00055 @param kwds: use keyword arguments corresponding to message field names 00056 to set specific fields. 00057 """ 00058 if args or kwds: 00059 super(JointTrajectory, self).__init__(*args, **kwds) 00060 #message fields cannot be None, assign default values for those that are 00061 if self.header is None: 00062 self.header = std_msgs.msg._Header.Header() 00063 if self.joint_names is None: 00064 self.joint_names = [] 00065 if self.points is None: 00066 self.points = [] 00067 else: 00068 self.header = std_msgs.msg._Header.Header() 00069 self.joint_names = [] 00070 self.points = [] 00071 00072 def _get_types(self): 00073 """ 00074 internal API method 00075 """ 00076 return self._slot_types 00077 00078 def serialize(self, buff): 00079 """ 00080 serialize message into buffer 00081 @param buff: buffer 00082 @type buff: StringIO 00083 """ 00084 try: 00085 _x = self 00086 buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs)) 00087 _x = self.header.frame_id 00088 length = len(_x) 00089 buff.write(struct.pack('<I%ss'%length, length, _x)) 00090 length = len(self.joint_names) 00091 buff.write(_struct_I.pack(length)) 00092 for val1 in self.joint_names: 00093 length = len(val1) 00094 buff.write(struct.pack('<I%ss'%length, length, val1)) 00095 length = len(self.points) 00096 buff.write(_struct_I.pack(length)) 00097 for val1 in self.points: 00098 length = len(val1.positions) 00099 buff.write(_struct_I.pack(length)) 00100 pattern = '<%sd'%length 00101 buff.write(struct.pack(pattern, *val1.positions)) 00102 length = len(val1.velocities) 00103 buff.write(_struct_I.pack(length)) 00104 pattern = '<%sd'%length 00105 buff.write(struct.pack(pattern, *val1.velocities)) 00106 length = len(val1.accelerations) 00107 buff.write(_struct_I.pack(length)) 00108 pattern = '<%sd'%length 00109 buff.write(struct.pack(pattern, *val1.accelerations)) 00110 _v1 = val1.time_from_start 00111 _x = _v1 00112 buff.write(_struct_2i.pack(_x.secs, _x.nsecs)) 00113 except struct.error as se: self._check_types(se) 00114 except TypeError as te: self._check_types(te) 00115 00116 def deserialize(self, str): 00117 """ 00118 unpack serialized message in str into this message instance 00119 @param str: byte array of serialized message 00120 @type str: str 00121 """ 00122 try: 00123 if self.header is None: 00124 self.header = std_msgs.msg._Header.Header() 00125 end = 0 00126 _x = self 00127 start = end 00128 end += 12 00129 (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end]) 00130 start = end 00131 end += 4 00132 (length,) = _struct_I.unpack(str[start:end]) 00133 start = end 00134 end += length 00135 self.header.frame_id = str[start:end] 00136 start = end 00137 end += 4 00138 (length,) = _struct_I.unpack(str[start:end]) 00139 self.joint_names = [] 00140 for i in range(0, length): 00141 start = end 00142 end += 4 00143 (length,) = _struct_I.unpack(str[start:end]) 00144 start = end 00145 end += length 00146 val1 = str[start:end] 00147 self.joint_names.append(val1) 00148 start = end 00149 end += 4 00150 (length,) = _struct_I.unpack(str[start:end]) 00151 self.points = [] 00152 for i in range(0, length): 00153 val1 = trajectory_msgs.msg.JointTrajectoryPoint() 00154 start = end 00155 end += 4 00156 (length,) = _struct_I.unpack(str[start:end]) 00157 pattern = '<%sd'%length 00158 start = end 00159 end += struct.calcsize(pattern) 00160 val1.positions = struct.unpack(pattern, str[start:end]) 00161 start = end 00162 end += 4 00163 (length,) = _struct_I.unpack(str[start:end]) 00164 pattern = '<%sd'%length 00165 start = end 00166 end += struct.calcsize(pattern) 00167 val1.velocities = struct.unpack(pattern, str[start:end]) 00168 start = end 00169 end += 4 00170 (length,) = _struct_I.unpack(str[start:end]) 00171 pattern = '<%sd'%length 00172 start = end 00173 end += struct.calcsize(pattern) 00174 val1.accelerations = struct.unpack(pattern, str[start:end]) 00175 _v2 = val1.time_from_start 00176 _x = _v2 00177 start = end 00178 end += 8 00179 (_x.secs, _x.nsecs,) = _struct_2i.unpack(str[start:end]) 00180 self.points.append(val1) 00181 return self 00182 except struct.error as e: 00183 raise roslib.message.DeserializationError(e) #most likely buffer underfill 00184 00185 00186 def serialize_numpy(self, buff, numpy): 00187 """ 00188 serialize message with numpy array types into buffer 00189 @param buff: buffer 00190 @type buff: StringIO 00191 @param numpy: numpy python module 00192 @type numpy module 00193 """ 00194 try: 00195 _x = self 00196 buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs)) 00197 _x = self.header.frame_id 00198 length = len(_x) 00199 buff.write(struct.pack('<I%ss'%length, length, _x)) 00200 length = len(self.joint_names) 00201 buff.write(_struct_I.pack(length)) 00202 for val1 in self.joint_names: 00203 length = len(val1) 00204 buff.write(struct.pack('<I%ss'%length, length, val1)) 00205 length = len(self.points) 00206 buff.write(_struct_I.pack(length)) 00207 for val1 in self.points: 00208 length = len(val1.positions) 00209 buff.write(_struct_I.pack(length)) 00210 pattern = '<%sd'%length 00211 buff.write(val1.positions.tostring()) 00212 length = len(val1.velocities) 00213 buff.write(_struct_I.pack(length)) 00214 pattern = '<%sd'%length 00215 buff.write(val1.velocities.tostring()) 00216 length = len(val1.accelerations) 00217 buff.write(_struct_I.pack(length)) 00218 pattern = '<%sd'%length 00219 buff.write(val1.accelerations.tostring()) 00220 _v3 = val1.time_from_start 00221 _x = _v3 00222 buff.write(_struct_2i.pack(_x.secs, _x.nsecs)) 00223 except struct.error as se: self._check_types(se) 00224 except TypeError as te: self._check_types(te) 00225 00226 def deserialize_numpy(self, str, numpy): 00227 """ 00228 unpack serialized message in str into this message instance using numpy for array types 00229 @param str: byte array of serialized message 00230 @type str: str 00231 @param numpy: numpy python module 00232 @type numpy: module 00233 """ 00234 try: 00235 if self.header is None: 00236 self.header = std_msgs.msg._Header.Header() 00237 end = 0 00238 _x = self 00239 start = end 00240 end += 12 00241 (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end]) 00242 start = end 00243 end += 4 00244 (length,) = _struct_I.unpack(str[start:end]) 00245 start = end 00246 end += length 00247 self.header.frame_id = str[start:end] 00248 start = end 00249 end += 4 00250 (length,) = _struct_I.unpack(str[start:end]) 00251 self.joint_names = [] 00252 for i in range(0, length): 00253 start = end 00254 end += 4 00255 (length,) = _struct_I.unpack(str[start:end]) 00256 start = end 00257 end += length 00258 val1 = str[start:end] 00259 self.joint_names.append(val1) 00260 start = end 00261 end += 4 00262 (length,) = _struct_I.unpack(str[start:end]) 00263 self.points = [] 00264 for i in range(0, length): 00265 val1 = trajectory_msgs.msg.JointTrajectoryPoint() 00266 start = end 00267 end += 4 00268 (length,) = _struct_I.unpack(str[start:end]) 00269 pattern = '<%sd'%length 00270 start = end 00271 end += struct.calcsize(pattern) 00272 val1.positions = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length) 00273 start = end 00274 end += 4 00275 (length,) = _struct_I.unpack(str[start:end]) 00276 pattern = '<%sd'%length 00277 start = end 00278 end += struct.calcsize(pattern) 00279 val1.velocities = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length) 00280 start = end 00281 end += 4 00282 (length,) = _struct_I.unpack(str[start:end]) 00283 pattern = '<%sd'%length 00284 start = end 00285 end += struct.calcsize(pattern) 00286 val1.accelerations = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length) 00287 _v4 = val1.time_from_start 00288 _x = _v4 00289 start = end 00290 end += 8 00291 (_x.secs, _x.nsecs,) = _struct_2i.unpack(str[start:end]) 00292 self.points.append(val1) 00293 return self 00294 except struct.error as e: 00295 raise roslib.message.DeserializationError(e) #most likely buffer underfill 00296 00297 _struct_I = roslib.message.struct_I 00298 _struct_3I = struct.Struct("<3I") 00299 _struct_2i = struct.Struct("<2i")