00001 """autogenerated by genmsg_py from GetPathRequest.msg. Do not edit."""
00002 import roslib.message
00003 import struct
00004
00005 import walk_msgs.msg
00006 import geometry_msgs.msg
00007 import roslib.rostime
00008
00009 class GetPathRequest(roslib.message.Message):
00010 _md5sum = "9325cbcfc330e3e7667ffad5cb6d4c50"
00011 _type = "walk_msgs/GetPathRequest"
00012 _has_header = False
00013 _full_text = """geometry_msgs/Pose initial_left_foot_position
00014 geometry_msgs/Pose initial_right_foot_position
00015 geometry_msgs/Point initial_center_of_mass_position
00016
00017 geometry_msgs/Pose final_left_foot_position
00018 geometry_msgs/Pose final_right_foot_position
00019 geometry_msgs/Point final_center_of_mass_position
00020
00021 bool start_with_left_foot
00022
00023 walk_msgs/Footprint2d[] footprints
00024
00025 ================================================================================
00026 MSG: geometry_msgs/Pose
00027 # A representation of pose in free space, composed of postion and orientation.
00028 Point position
00029 Quaternion orientation
00030
00031 ================================================================================
00032 MSG: geometry_msgs/Point
00033 # This contains the position of a point in free space
00034 float64 x
00035 float64 y
00036 float64 z
00037
00038 ================================================================================
00039 MSG: geometry_msgs/Quaternion
00040 # This represents an orientation in free space in quaternion form.
00041
00042 float64 x
00043 float64 y
00044 float64 z
00045 float64 w
00046
00047 ================================================================================
00048 MSG: walk_msgs/Footprint2d
00049 time beginTime
00050 duration duration
00051 float64 x
00052 float64 y
00053 float64 theta
00054
00055 """
00056 __slots__ = ['initial_left_foot_position','initial_right_foot_position','initial_center_of_mass_position','final_left_foot_position','final_right_foot_position','final_center_of_mass_position','start_with_left_foot','footprints']
00057 _slot_types = ['geometry_msgs/Pose','geometry_msgs/Pose','geometry_msgs/Point','geometry_msgs/Pose','geometry_msgs/Pose','geometry_msgs/Point','bool','walk_msgs/Footprint2d[]']
00058
00059 def __init__(self, *args, **kwds):
00060 """
00061 Constructor. Any message fields that are implicitly/explicitly
00062 set to None will be assigned a default value. The recommend
00063 use is keyword arguments as this is more robust to future message
00064 changes. You cannot mix in-order arguments and keyword arguments.
00065
00066 The available fields are:
00067 initial_left_foot_position,initial_right_foot_position,initial_center_of_mass_position,final_left_foot_position,final_right_foot_position,final_center_of_mass_position,start_with_left_foot,footprints
00068
00069 @param args: complete set of field values, in .msg order
00070 @param kwds: use keyword arguments corresponding to message field names
00071 to set specific fields.
00072 """
00073 if args or kwds:
00074 super(GetPathRequest, self).__init__(*args, **kwds)
00075
00076 if self.initial_left_foot_position is None:
00077 self.initial_left_foot_position = geometry_msgs.msg.Pose()
00078 if self.initial_right_foot_position is None:
00079 self.initial_right_foot_position = geometry_msgs.msg.Pose()
00080 if self.initial_center_of_mass_position is None:
00081 self.initial_center_of_mass_position = geometry_msgs.msg.Point()
00082 if self.final_left_foot_position is None:
00083 self.final_left_foot_position = geometry_msgs.msg.Pose()
00084 if self.final_right_foot_position is None:
00085 self.final_right_foot_position = geometry_msgs.msg.Pose()
00086 if self.final_center_of_mass_position is None:
00087 self.final_center_of_mass_position = geometry_msgs.msg.Point()
00088 if self.start_with_left_foot is None:
00089 self.start_with_left_foot = False
00090 if self.footprints is None:
00091 self.footprints = []
00092 else:
00093 self.initial_left_foot_position = geometry_msgs.msg.Pose()
00094 self.initial_right_foot_position = geometry_msgs.msg.Pose()
00095 self.initial_center_of_mass_position = geometry_msgs.msg.Point()
00096 self.final_left_foot_position = geometry_msgs.msg.Pose()
00097 self.final_right_foot_position = geometry_msgs.msg.Pose()
00098 self.final_center_of_mass_position = geometry_msgs.msg.Point()
00099 self.start_with_left_foot = False
00100 self.footprints = []
00101
00102 def _get_types(self):
00103 """
00104 internal API method
00105 """
00106 return self._slot_types
00107
00108 def serialize(self, buff):
00109 """
00110 serialize message into buffer
00111 @param buff: buffer
00112 @type buff: StringIO
00113 """
00114 try:
00115 _x = self
00116 buff.write(_struct_34dB.pack(_x.initial_left_foot_position.position.x, _x.initial_left_foot_position.position.y, _x.initial_left_foot_position.position.z, _x.initial_left_foot_position.orientation.x, _x.initial_left_foot_position.orientation.y, _x.initial_left_foot_position.orientation.z, _x.initial_left_foot_position.orientation.w, _x.initial_right_foot_position.position.x, _x.initial_right_foot_position.position.y, _x.initial_right_foot_position.position.z, _x.initial_right_foot_position.orientation.x, _x.initial_right_foot_position.orientation.y, _x.initial_right_foot_position.orientation.z, _x.initial_right_foot_position.orientation.w, _x.initial_center_of_mass_position.x, _x.initial_center_of_mass_position.y, _x.initial_center_of_mass_position.z, _x.final_left_foot_position.position.x, _x.final_left_foot_position.position.y, _x.final_left_foot_position.position.z, _x.final_left_foot_position.orientation.x, _x.final_left_foot_position.orientation.y, _x.final_left_foot_position.orientation.z, _x.final_left_foot_position.orientation.w, _x.final_right_foot_position.position.x, _x.final_right_foot_position.position.y, _x.final_right_foot_position.position.z, _x.final_right_foot_position.orientation.x, _x.final_right_foot_position.orientation.y, _x.final_right_foot_position.orientation.z, _x.final_right_foot_position.orientation.w, _x.final_center_of_mass_position.x, _x.final_center_of_mass_position.y, _x.final_center_of_mass_position.z, _x.start_with_left_foot))
00117 length = len(self.footprints)
00118 buff.write(_struct_I.pack(length))
00119 for val1 in self.footprints:
00120 _v1 = val1.beginTime
00121 _x = _v1
00122 buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00123 _v2 = val1.duration
00124 _x = _v2
00125 buff.write(_struct_2i.pack(_x.secs, _x.nsecs))
00126 _x = val1
00127 buff.write(_struct_3d.pack(_x.x, _x.y, _x.theta))
00128 except struct.error as se: self._check_types(se)
00129 except TypeError as te: self._check_types(te)
00130
00131 def deserialize(self, str):
00132 """
00133 unpack serialized message in str into this message instance
00134 @param str: byte array of serialized message
00135 @type str: str
00136 """
00137 try:
00138 if self.initial_left_foot_position is None:
00139 self.initial_left_foot_position = geometry_msgs.msg.Pose()
00140 if self.initial_right_foot_position is None:
00141 self.initial_right_foot_position = geometry_msgs.msg.Pose()
00142 if self.initial_center_of_mass_position is None:
00143 self.initial_center_of_mass_position = geometry_msgs.msg.Point()
00144 if self.final_left_foot_position is None:
00145 self.final_left_foot_position = geometry_msgs.msg.Pose()
00146 if self.final_right_foot_position is None:
00147 self.final_right_foot_position = geometry_msgs.msg.Pose()
00148 if self.final_center_of_mass_position is None:
00149 self.final_center_of_mass_position = geometry_msgs.msg.Point()
00150 end = 0
00151 _x = self
00152 start = end
00153 end += 273
00154 (_x.initial_left_foot_position.position.x, _x.initial_left_foot_position.position.y, _x.initial_left_foot_position.position.z, _x.initial_left_foot_position.orientation.x, _x.initial_left_foot_position.orientation.y, _x.initial_left_foot_position.orientation.z, _x.initial_left_foot_position.orientation.w, _x.initial_right_foot_position.position.x, _x.initial_right_foot_position.position.y, _x.initial_right_foot_position.position.z, _x.initial_right_foot_position.orientation.x, _x.initial_right_foot_position.orientation.y, _x.initial_right_foot_position.orientation.z, _x.initial_right_foot_position.orientation.w, _x.initial_center_of_mass_position.x, _x.initial_center_of_mass_position.y, _x.initial_center_of_mass_position.z, _x.final_left_foot_position.position.x, _x.final_left_foot_position.position.y, _x.final_left_foot_position.position.z, _x.final_left_foot_position.orientation.x, _x.final_left_foot_position.orientation.y, _x.final_left_foot_position.orientation.z, _x.final_left_foot_position.orientation.w, _x.final_right_foot_position.position.x, _x.final_right_foot_position.position.y, _x.final_right_foot_position.position.z, _x.final_right_foot_position.orientation.x, _x.final_right_foot_position.orientation.y, _x.final_right_foot_position.orientation.z, _x.final_right_foot_position.orientation.w, _x.final_center_of_mass_position.x, _x.final_center_of_mass_position.y, _x.final_center_of_mass_position.z, _x.start_with_left_foot,) = _struct_34dB.unpack(str[start:end])
00155 self.start_with_left_foot = bool(self.start_with_left_foot)
00156 start = end
00157 end += 4
00158 (length,) = _struct_I.unpack(str[start:end])
00159 self.footprints = []
00160 for i in range(0, length):
00161 val1 = walk_msgs.msg.Footprint2d()
00162 _v3 = val1.beginTime
00163 _x = _v3
00164 start = end
00165 end += 8
00166 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
00167 _v4 = val1.duration
00168 _x = _v4
00169 start = end
00170 end += 8
00171 (_x.secs, _x.nsecs,) = _struct_2i.unpack(str[start:end])
00172 _x = val1
00173 start = end
00174 end += 24
00175 (_x.x, _x.y, _x.theta,) = _struct_3d.unpack(str[start:end])
00176 self.footprints.append(val1)
00177 return self
00178 except struct.error as e:
00179 raise roslib.message.DeserializationError(e)
00180
00181
00182 def serialize_numpy(self, buff, numpy):
00183 """
00184 serialize message with numpy array types into buffer
00185 @param buff: buffer
00186 @type buff: StringIO
00187 @param numpy: numpy python module
00188 @type numpy module
00189 """
00190 try:
00191 _x = self
00192 buff.write(_struct_34dB.pack(_x.initial_left_foot_position.position.x, _x.initial_left_foot_position.position.y, _x.initial_left_foot_position.position.z, _x.initial_left_foot_position.orientation.x, _x.initial_left_foot_position.orientation.y, _x.initial_left_foot_position.orientation.z, _x.initial_left_foot_position.orientation.w, _x.initial_right_foot_position.position.x, _x.initial_right_foot_position.position.y, _x.initial_right_foot_position.position.z, _x.initial_right_foot_position.orientation.x, _x.initial_right_foot_position.orientation.y, _x.initial_right_foot_position.orientation.z, _x.initial_right_foot_position.orientation.w, _x.initial_center_of_mass_position.x, _x.initial_center_of_mass_position.y, _x.initial_center_of_mass_position.z, _x.final_left_foot_position.position.x, _x.final_left_foot_position.position.y, _x.final_left_foot_position.position.z, _x.final_left_foot_position.orientation.x, _x.final_left_foot_position.orientation.y, _x.final_left_foot_position.orientation.z, _x.final_left_foot_position.orientation.w, _x.final_right_foot_position.position.x, _x.final_right_foot_position.position.y, _x.final_right_foot_position.position.z, _x.final_right_foot_position.orientation.x, _x.final_right_foot_position.orientation.y, _x.final_right_foot_position.orientation.z, _x.final_right_foot_position.orientation.w, _x.final_center_of_mass_position.x, _x.final_center_of_mass_position.y, _x.final_center_of_mass_position.z, _x.start_with_left_foot))
00193 length = len(self.footprints)
00194 buff.write(_struct_I.pack(length))
00195 for val1 in self.footprints:
00196 _v5 = val1.beginTime
00197 _x = _v5
00198 buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00199 _v6 = val1.duration
00200 _x = _v6
00201 buff.write(_struct_2i.pack(_x.secs, _x.nsecs))
00202 _x = val1
00203 buff.write(_struct_3d.pack(_x.x, _x.y, _x.theta))
00204 except struct.error as se: self._check_types(se)
00205 except TypeError as te: self._check_types(te)
00206
00207 def deserialize_numpy(self, str, numpy):
00208 """
00209 unpack serialized message in str into this message instance using numpy for array types
00210 @param str: byte array of serialized message
00211 @type str: str
00212 @param numpy: numpy python module
00213 @type numpy: module
00214 """
00215 try:
00216 if self.initial_left_foot_position is None:
00217 self.initial_left_foot_position = geometry_msgs.msg.Pose()
00218 if self.initial_right_foot_position is None:
00219 self.initial_right_foot_position = geometry_msgs.msg.Pose()
00220 if self.initial_center_of_mass_position is None:
00221 self.initial_center_of_mass_position = geometry_msgs.msg.Point()
00222 if self.final_left_foot_position is None:
00223 self.final_left_foot_position = geometry_msgs.msg.Pose()
00224 if self.final_right_foot_position is None:
00225 self.final_right_foot_position = geometry_msgs.msg.Pose()
00226 if self.final_center_of_mass_position is None:
00227 self.final_center_of_mass_position = geometry_msgs.msg.Point()
00228 end = 0
00229 _x = self
00230 start = end
00231 end += 273
00232 (_x.initial_left_foot_position.position.x, _x.initial_left_foot_position.position.y, _x.initial_left_foot_position.position.z, _x.initial_left_foot_position.orientation.x, _x.initial_left_foot_position.orientation.y, _x.initial_left_foot_position.orientation.z, _x.initial_left_foot_position.orientation.w, _x.initial_right_foot_position.position.x, _x.initial_right_foot_position.position.y, _x.initial_right_foot_position.position.z, _x.initial_right_foot_position.orientation.x, _x.initial_right_foot_position.orientation.y, _x.initial_right_foot_position.orientation.z, _x.initial_right_foot_position.orientation.w, _x.initial_center_of_mass_position.x, _x.initial_center_of_mass_position.y, _x.initial_center_of_mass_position.z, _x.final_left_foot_position.position.x, _x.final_left_foot_position.position.y, _x.final_left_foot_position.position.z, _x.final_left_foot_position.orientation.x, _x.final_left_foot_position.orientation.y, _x.final_left_foot_position.orientation.z, _x.final_left_foot_position.orientation.w, _x.final_right_foot_position.position.x, _x.final_right_foot_position.position.y, _x.final_right_foot_position.position.z, _x.final_right_foot_position.orientation.x, _x.final_right_foot_position.orientation.y, _x.final_right_foot_position.orientation.z, _x.final_right_foot_position.orientation.w, _x.final_center_of_mass_position.x, _x.final_center_of_mass_position.y, _x.final_center_of_mass_position.z, _x.start_with_left_foot,) = _struct_34dB.unpack(str[start:end])
00233 self.start_with_left_foot = bool(self.start_with_left_foot)
00234 start = end
00235 end += 4
00236 (length,) = _struct_I.unpack(str[start:end])
00237 self.footprints = []
00238 for i in range(0, length):
00239 val1 = walk_msgs.msg.Footprint2d()
00240 _v7 = val1.beginTime
00241 _x = _v7
00242 start = end
00243 end += 8
00244 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
00245 _v8 = val1.duration
00246 _x = _v8
00247 start = end
00248 end += 8
00249 (_x.secs, _x.nsecs,) = _struct_2i.unpack(str[start:end])
00250 _x = val1
00251 start = end
00252 end += 24
00253 (_x.x, _x.y, _x.theta,) = _struct_3d.unpack(str[start:end])
00254 self.footprints.append(val1)
00255 return self
00256 except struct.error as e:
00257 raise roslib.message.DeserializationError(e)
00258
00259 _struct_I = roslib.message.struct_I
00260 _struct_2i = struct.Struct("<2i")
00261 _struct_3d = struct.Struct("<3d")
00262 _struct_2I = struct.Struct("<2I")
00263 _struct_34dB = struct.Struct("<34dB")
00264 """autogenerated by genmsg_py from GetPathResponse.msg. Do not edit."""
00265 import roslib.message
00266 import struct
00267
00268 import geometry_msgs.msg
00269 import walk_msgs.msg
00270 import nav_msgs.msg
00271 import std_msgs.msg
00272
00273 class GetPathResponse(roslib.message.Message):
00274 _md5sum = "76d3891998acfa84511d5b8b9e0f9b97"
00275 _type = "walk_msgs/GetPathResponse"
00276 _has_header = False
00277 _full_text = """walk_msgs/WalkPath path
00278
00279
00280 ================================================================================
00281 MSG: walk_msgs/WalkPath
00282 nav_msgs/Path left_foot
00283 nav_msgs/Path right_foot
00284 walk_msgs/PathPoint3d center_of_mass
00285 walk_msgs/PathPoint2d zmp
00286
00287 ================================================================================
00288 MSG: nav_msgs/Path
00289 #An array of poses that represents a Path for a robot to follow
00290 Header header
00291 geometry_msgs/PoseStamped[] poses
00292
00293 ================================================================================
00294 MSG: std_msgs/Header
00295 # Standard metadata for higher-level stamped data types.
00296 # This is generally used to communicate timestamped data
00297 # in a particular coordinate frame.
00298 #
00299 # sequence ID: consecutively increasing ID
00300 uint32 seq
00301 #Two-integer timestamp that is expressed as:
00302 # * stamp.secs: seconds (stamp_secs) since epoch
00303 # * stamp.nsecs: nanoseconds since stamp_secs
00304 # time-handling sugar is provided by the client library
00305 time stamp
00306 #Frame this data is associated with
00307 # 0: no frame
00308 # 1: global frame
00309 string frame_id
00310
00311 ================================================================================
00312 MSG: geometry_msgs/PoseStamped
00313 # A Pose with reference coordinate frame and timestamp
00314 Header header
00315 Pose pose
00316
00317 ================================================================================
00318 MSG: geometry_msgs/Pose
00319 # A representation of pose in free space, composed of postion and orientation.
00320 Point position
00321 Quaternion orientation
00322
00323 ================================================================================
00324 MSG: geometry_msgs/Point
00325 # This contains the position of a point in free space
00326 float64 x
00327 float64 y
00328 float64 z
00329
00330 ================================================================================
00331 MSG: geometry_msgs/Quaternion
00332 # This represents an orientation in free space in quaternion form.
00333
00334 float64 x
00335 float64 y
00336 float64 z
00337 float64 w
00338
00339 ================================================================================
00340 MSG: walk_msgs/PathPoint3d
00341 Header header
00342 geometry_msgs/PointStamped[] points
00343
00344 ================================================================================
00345 MSG: geometry_msgs/PointStamped
00346 # This represents a Point with reference coordinate frame and timestamp
00347 Header header
00348 Point point
00349
00350 ================================================================================
00351 MSG: walk_msgs/PathPoint2d
00352 Header header
00353 walk_msgs/Point2dStamped[] points
00354
00355 ================================================================================
00356 MSG: walk_msgs/Point2dStamped
00357 Header header
00358 Point2d point
00359
00360 ================================================================================
00361 MSG: walk_msgs/Point2d
00362 float64 x
00363 float64 y
00364
00365 """
00366 __slots__ = ['path']
00367 _slot_types = ['walk_msgs/WalkPath']
00368
00369 def __init__(self, *args, **kwds):
00370 """
00371 Constructor. Any message fields that are implicitly/explicitly
00372 set to None will be assigned a default value. The recommend
00373 use is keyword arguments as this is more robust to future message
00374 changes. You cannot mix in-order arguments and keyword arguments.
00375
00376 The available fields are:
00377 path
00378
00379 @param args: complete set of field values, in .msg order
00380 @param kwds: use keyword arguments corresponding to message field names
00381 to set specific fields.
00382 """
00383 if args or kwds:
00384 super(GetPathResponse, self).__init__(*args, **kwds)
00385
00386 if self.path is None:
00387 self.path = walk_msgs.msg.WalkPath()
00388 else:
00389 self.path = walk_msgs.msg.WalkPath()
00390
00391 def _get_types(self):
00392 """
00393 internal API method
00394 """
00395 return self._slot_types
00396
00397 def serialize(self, buff):
00398 """
00399 serialize message into buffer
00400 @param buff: buffer
00401 @type buff: StringIO
00402 """
00403 try:
00404 _x = self
00405 buff.write(_struct_3I.pack(_x.path.left_foot.header.seq, _x.path.left_foot.header.stamp.secs, _x.path.left_foot.header.stamp.nsecs))
00406 _x = self.path.left_foot.header.frame_id
00407 length = len(_x)
00408 buff.write(struct.pack('<I%ss'%length, length, _x))
00409 length = len(self.path.left_foot.poses)
00410 buff.write(_struct_I.pack(length))
00411 for val1 in self.path.left_foot.poses:
00412 _v9 = val1.header
00413 buff.write(_struct_I.pack(_v9.seq))
00414 _v10 = _v9.stamp
00415 _x = _v10
00416 buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00417 _x = _v9.frame_id
00418 length = len(_x)
00419 buff.write(struct.pack('<I%ss'%length, length, _x))
00420 _v11 = val1.pose
00421 _v12 = _v11.position
00422 _x = _v12
00423 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00424 _v13 = _v11.orientation
00425 _x = _v13
00426 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00427 _x = self
00428 buff.write(_struct_3I.pack(_x.path.right_foot.header.seq, _x.path.right_foot.header.stamp.secs, _x.path.right_foot.header.stamp.nsecs))
00429 _x = self.path.right_foot.header.frame_id
00430 length = len(_x)
00431 buff.write(struct.pack('<I%ss'%length, length, _x))
00432 length = len(self.path.right_foot.poses)
00433 buff.write(_struct_I.pack(length))
00434 for val1 in self.path.right_foot.poses:
00435 _v14 = val1.header
00436 buff.write(_struct_I.pack(_v14.seq))
00437 _v15 = _v14.stamp
00438 _x = _v15
00439 buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00440 _x = _v14.frame_id
00441 length = len(_x)
00442 buff.write(struct.pack('<I%ss'%length, length, _x))
00443 _v16 = val1.pose
00444 _v17 = _v16.position
00445 _x = _v17
00446 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00447 _v18 = _v16.orientation
00448 _x = _v18
00449 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00450 _x = self
00451 buff.write(_struct_3I.pack(_x.path.center_of_mass.header.seq, _x.path.center_of_mass.header.stamp.secs, _x.path.center_of_mass.header.stamp.nsecs))
00452 _x = self.path.center_of_mass.header.frame_id
00453 length = len(_x)
00454 buff.write(struct.pack('<I%ss'%length, length, _x))
00455 length = len(self.path.center_of_mass.points)
00456 buff.write(_struct_I.pack(length))
00457 for val1 in self.path.center_of_mass.points:
00458 _v19 = val1.header
00459 buff.write(_struct_I.pack(_v19.seq))
00460 _v20 = _v19.stamp
00461 _x = _v20
00462 buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00463 _x = _v19.frame_id
00464 length = len(_x)
00465 buff.write(struct.pack('<I%ss'%length, length, _x))
00466 _v21 = val1.point
00467 _x = _v21
00468 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00469 _x = self
00470 buff.write(_struct_3I.pack(_x.path.zmp.header.seq, _x.path.zmp.header.stamp.secs, _x.path.zmp.header.stamp.nsecs))
00471 _x = self.path.zmp.header.frame_id
00472 length = len(_x)
00473 buff.write(struct.pack('<I%ss'%length, length, _x))
00474 length = len(self.path.zmp.points)
00475 buff.write(_struct_I.pack(length))
00476 for val1 in self.path.zmp.points:
00477 _v22 = val1.header
00478 buff.write(_struct_I.pack(_v22.seq))
00479 _v23 = _v22.stamp
00480 _x = _v23
00481 buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00482 _x = _v22.frame_id
00483 length = len(_x)
00484 buff.write(struct.pack('<I%ss'%length, length, _x))
00485 _v24 = val1.point
00486 _x = _v24
00487 buff.write(_struct_2d.pack(_x.x, _x.y))
00488 except struct.error as se: self._check_types(se)
00489 except TypeError as te: self._check_types(te)
00490
00491 def deserialize(self, str):
00492 """
00493 unpack serialized message in str into this message instance
00494 @param str: byte array of serialized message
00495 @type str: str
00496 """
00497 try:
00498 if self.path is None:
00499 self.path = walk_msgs.msg.WalkPath()
00500 end = 0
00501 _x = self
00502 start = end
00503 end += 12
00504 (_x.path.left_foot.header.seq, _x.path.left_foot.header.stamp.secs, _x.path.left_foot.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00505 start = end
00506 end += 4
00507 (length,) = _struct_I.unpack(str[start:end])
00508 start = end
00509 end += length
00510 self.path.left_foot.header.frame_id = str[start:end]
00511 start = end
00512 end += 4
00513 (length,) = _struct_I.unpack(str[start:end])
00514 self.path.left_foot.poses = []
00515 for i in range(0, length):
00516 val1 = geometry_msgs.msg.PoseStamped()
00517 _v25 = val1.header
00518 start = end
00519 end += 4
00520 (_v25.seq,) = _struct_I.unpack(str[start:end])
00521 _v26 = _v25.stamp
00522 _x = _v26
00523 start = end
00524 end += 8
00525 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
00526 start = end
00527 end += 4
00528 (length,) = _struct_I.unpack(str[start:end])
00529 start = end
00530 end += length
00531 _v25.frame_id = str[start:end]
00532 _v27 = val1.pose
00533 _v28 = _v27.position
00534 _x = _v28
00535 start = end
00536 end += 24
00537 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00538 _v29 = _v27.orientation
00539 _x = _v29
00540 start = end
00541 end += 32
00542 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
00543 self.path.left_foot.poses.append(val1)
00544 _x = self
00545 start = end
00546 end += 12
00547 (_x.path.right_foot.header.seq, _x.path.right_foot.header.stamp.secs, _x.path.right_foot.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00548 start = end
00549 end += 4
00550 (length,) = _struct_I.unpack(str[start:end])
00551 start = end
00552 end += length
00553 self.path.right_foot.header.frame_id = str[start:end]
00554 start = end
00555 end += 4
00556 (length,) = _struct_I.unpack(str[start:end])
00557 self.path.right_foot.poses = []
00558 for i in range(0, length):
00559 val1 = geometry_msgs.msg.PoseStamped()
00560 _v30 = val1.header
00561 start = end
00562 end += 4
00563 (_v30.seq,) = _struct_I.unpack(str[start:end])
00564 _v31 = _v30.stamp
00565 _x = _v31
00566 start = end
00567 end += 8
00568 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
00569 start = end
00570 end += 4
00571 (length,) = _struct_I.unpack(str[start:end])
00572 start = end
00573 end += length
00574 _v30.frame_id = str[start:end]
00575 _v32 = val1.pose
00576 _v33 = _v32.position
00577 _x = _v33
00578 start = end
00579 end += 24
00580 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00581 _v34 = _v32.orientation
00582 _x = _v34
00583 start = end
00584 end += 32
00585 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
00586 self.path.right_foot.poses.append(val1)
00587 _x = self
00588 start = end
00589 end += 12
00590 (_x.path.center_of_mass.header.seq, _x.path.center_of_mass.header.stamp.secs, _x.path.center_of_mass.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00591 start = end
00592 end += 4
00593 (length,) = _struct_I.unpack(str[start:end])
00594 start = end
00595 end += length
00596 self.path.center_of_mass.header.frame_id = str[start:end]
00597 start = end
00598 end += 4
00599 (length,) = _struct_I.unpack(str[start:end])
00600 self.path.center_of_mass.points = []
00601 for i in range(0, length):
00602 val1 = geometry_msgs.msg.PointStamped()
00603 _v35 = val1.header
00604 start = end
00605 end += 4
00606 (_v35.seq,) = _struct_I.unpack(str[start:end])
00607 _v36 = _v35.stamp
00608 _x = _v36
00609 start = end
00610 end += 8
00611 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
00612 start = end
00613 end += 4
00614 (length,) = _struct_I.unpack(str[start:end])
00615 start = end
00616 end += length
00617 _v35.frame_id = str[start:end]
00618 _v37 = val1.point
00619 _x = _v37
00620 start = end
00621 end += 24
00622 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00623 self.path.center_of_mass.points.append(val1)
00624 _x = self
00625 start = end
00626 end += 12
00627 (_x.path.zmp.header.seq, _x.path.zmp.header.stamp.secs, _x.path.zmp.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00628 start = end
00629 end += 4
00630 (length,) = _struct_I.unpack(str[start:end])
00631 start = end
00632 end += length
00633 self.path.zmp.header.frame_id = str[start:end]
00634 start = end
00635 end += 4
00636 (length,) = _struct_I.unpack(str[start:end])
00637 self.path.zmp.points = []
00638 for i in range(0, length):
00639 val1 = walk_msgs.msg.Point2dStamped()
00640 _v38 = val1.header
00641 start = end
00642 end += 4
00643 (_v38.seq,) = _struct_I.unpack(str[start:end])
00644 _v39 = _v38.stamp
00645 _x = _v39
00646 start = end
00647 end += 8
00648 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
00649 start = end
00650 end += 4
00651 (length,) = _struct_I.unpack(str[start:end])
00652 start = end
00653 end += length
00654 _v38.frame_id = str[start:end]
00655 _v40 = val1.point
00656 _x = _v40
00657 start = end
00658 end += 16
00659 (_x.x, _x.y,) = _struct_2d.unpack(str[start:end])
00660 self.path.zmp.points.append(val1)
00661 return self
00662 except struct.error as e:
00663 raise roslib.message.DeserializationError(e)
00664
00665
00666 def serialize_numpy(self, buff, numpy):
00667 """
00668 serialize message with numpy array types into buffer
00669 @param buff: buffer
00670 @type buff: StringIO
00671 @param numpy: numpy python module
00672 @type numpy module
00673 """
00674 try:
00675 _x = self
00676 buff.write(_struct_3I.pack(_x.path.left_foot.header.seq, _x.path.left_foot.header.stamp.secs, _x.path.left_foot.header.stamp.nsecs))
00677 _x = self.path.left_foot.header.frame_id
00678 length = len(_x)
00679 buff.write(struct.pack('<I%ss'%length, length, _x))
00680 length = len(self.path.left_foot.poses)
00681 buff.write(_struct_I.pack(length))
00682 for val1 in self.path.left_foot.poses:
00683 _v41 = val1.header
00684 buff.write(_struct_I.pack(_v41.seq))
00685 _v42 = _v41.stamp
00686 _x = _v42
00687 buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00688 _x = _v41.frame_id
00689 length = len(_x)
00690 buff.write(struct.pack('<I%ss'%length, length, _x))
00691 _v43 = val1.pose
00692 _v44 = _v43.position
00693 _x = _v44
00694 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00695 _v45 = _v43.orientation
00696 _x = _v45
00697 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00698 _x = self
00699 buff.write(_struct_3I.pack(_x.path.right_foot.header.seq, _x.path.right_foot.header.stamp.secs, _x.path.right_foot.header.stamp.nsecs))
00700 _x = self.path.right_foot.header.frame_id
00701 length = len(_x)
00702 buff.write(struct.pack('<I%ss'%length, length, _x))
00703 length = len(self.path.right_foot.poses)
00704 buff.write(_struct_I.pack(length))
00705 for val1 in self.path.right_foot.poses:
00706 _v46 = val1.header
00707 buff.write(_struct_I.pack(_v46.seq))
00708 _v47 = _v46.stamp
00709 _x = _v47
00710 buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00711 _x = _v46.frame_id
00712 length = len(_x)
00713 buff.write(struct.pack('<I%ss'%length, length, _x))
00714 _v48 = val1.pose
00715 _v49 = _v48.position
00716 _x = _v49
00717 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00718 _v50 = _v48.orientation
00719 _x = _v50
00720 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00721 _x = self
00722 buff.write(_struct_3I.pack(_x.path.center_of_mass.header.seq, _x.path.center_of_mass.header.stamp.secs, _x.path.center_of_mass.header.stamp.nsecs))
00723 _x = self.path.center_of_mass.header.frame_id
00724 length = len(_x)
00725 buff.write(struct.pack('<I%ss'%length, length, _x))
00726 length = len(self.path.center_of_mass.points)
00727 buff.write(_struct_I.pack(length))
00728 for val1 in self.path.center_of_mass.points:
00729 _v51 = val1.header
00730 buff.write(_struct_I.pack(_v51.seq))
00731 _v52 = _v51.stamp
00732 _x = _v52
00733 buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00734 _x = _v51.frame_id
00735 length = len(_x)
00736 buff.write(struct.pack('<I%ss'%length, length, _x))
00737 _v53 = val1.point
00738 _x = _v53
00739 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00740 _x = self
00741 buff.write(_struct_3I.pack(_x.path.zmp.header.seq, _x.path.zmp.header.stamp.secs, _x.path.zmp.header.stamp.nsecs))
00742 _x = self.path.zmp.header.frame_id
00743 length = len(_x)
00744 buff.write(struct.pack('<I%ss'%length, length, _x))
00745 length = len(self.path.zmp.points)
00746 buff.write(_struct_I.pack(length))
00747 for val1 in self.path.zmp.points:
00748 _v54 = val1.header
00749 buff.write(_struct_I.pack(_v54.seq))
00750 _v55 = _v54.stamp
00751 _x = _v55
00752 buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00753 _x = _v54.frame_id
00754 length = len(_x)
00755 buff.write(struct.pack('<I%ss'%length, length, _x))
00756 _v56 = val1.point
00757 _x = _v56
00758 buff.write(_struct_2d.pack(_x.x, _x.y))
00759 except struct.error as se: self._check_types(se)
00760 except TypeError as te: self._check_types(te)
00761
00762 def deserialize_numpy(self, str, numpy):
00763 """
00764 unpack serialized message in str into this message instance using numpy for array types
00765 @param str: byte array of serialized message
00766 @type str: str
00767 @param numpy: numpy python module
00768 @type numpy: module
00769 """
00770 try:
00771 if self.path is None:
00772 self.path = walk_msgs.msg.WalkPath()
00773 end = 0
00774 _x = self
00775 start = end
00776 end += 12
00777 (_x.path.left_foot.header.seq, _x.path.left_foot.header.stamp.secs, _x.path.left_foot.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00778 start = end
00779 end += 4
00780 (length,) = _struct_I.unpack(str[start:end])
00781 start = end
00782 end += length
00783 self.path.left_foot.header.frame_id = str[start:end]
00784 start = end
00785 end += 4
00786 (length,) = _struct_I.unpack(str[start:end])
00787 self.path.left_foot.poses = []
00788 for i in range(0, length):
00789 val1 = geometry_msgs.msg.PoseStamped()
00790 _v57 = val1.header
00791 start = end
00792 end += 4
00793 (_v57.seq,) = _struct_I.unpack(str[start:end])
00794 _v58 = _v57.stamp
00795 _x = _v58
00796 start = end
00797 end += 8
00798 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
00799 start = end
00800 end += 4
00801 (length,) = _struct_I.unpack(str[start:end])
00802 start = end
00803 end += length
00804 _v57.frame_id = str[start:end]
00805 _v59 = val1.pose
00806 _v60 = _v59.position
00807 _x = _v60
00808 start = end
00809 end += 24
00810 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00811 _v61 = _v59.orientation
00812 _x = _v61
00813 start = end
00814 end += 32
00815 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
00816 self.path.left_foot.poses.append(val1)
00817 _x = self
00818 start = end
00819 end += 12
00820 (_x.path.right_foot.header.seq, _x.path.right_foot.header.stamp.secs, _x.path.right_foot.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00821 start = end
00822 end += 4
00823 (length,) = _struct_I.unpack(str[start:end])
00824 start = end
00825 end += length
00826 self.path.right_foot.header.frame_id = str[start:end]
00827 start = end
00828 end += 4
00829 (length,) = _struct_I.unpack(str[start:end])
00830 self.path.right_foot.poses = []
00831 for i in range(0, length):
00832 val1 = geometry_msgs.msg.PoseStamped()
00833 _v62 = val1.header
00834 start = end
00835 end += 4
00836 (_v62.seq,) = _struct_I.unpack(str[start:end])
00837 _v63 = _v62.stamp
00838 _x = _v63
00839 start = end
00840 end += 8
00841 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
00842 start = end
00843 end += 4
00844 (length,) = _struct_I.unpack(str[start:end])
00845 start = end
00846 end += length
00847 _v62.frame_id = str[start:end]
00848 _v64 = val1.pose
00849 _v65 = _v64.position
00850 _x = _v65
00851 start = end
00852 end += 24
00853 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00854 _v66 = _v64.orientation
00855 _x = _v66
00856 start = end
00857 end += 32
00858 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
00859 self.path.right_foot.poses.append(val1)
00860 _x = self
00861 start = end
00862 end += 12
00863 (_x.path.center_of_mass.header.seq, _x.path.center_of_mass.header.stamp.secs, _x.path.center_of_mass.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00864 start = end
00865 end += 4
00866 (length,) = _struct_I.unpack(str[start:end])
00867 start = end
00868 end += length
00869 self.path.center_of_mass.header.frame_id = str[start:end]
00870 start = end
00871 end += 4
00872 (length,) = _struct_I.unpack(str[start:end])
00873 self.path.center_of_mass.points = []
00874 for i in range(0, length):
00875 val1 = geometry_msgs.msg.PointStamped()
00876 _v67 = val1.header
00877 start = end
00878 end += 4
00879 (_v67.seq,) = _struct_I.unpack(str[start:end])
00880 _v68 = _v67.stamp
00881 _x = _v68
00882 start = end
00883 end += 8
00884 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
00885 start = end
00886 end += 4
00887 (length,) = _struct_I.unpack(str[start:end])
00888 start = end
00889 end += length
00890 _v67.frame_id = str[start:end]
00891 _v69 = val1.point
00892 _x = _v69
00893 start = end
00894 end += 24
00895 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00896 self.path.center_of_mass.points.append(val1)
00897 _x = self
00898 start = end
00899 end += 12
00900 (_x.path.zmp.header.seq, _x.path.zmp.header.stamp.secs, _x.path.zmp.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00901 start = end
00902 end += 4
00903 (length,) = _struct_I.unpack(str[start:end])
00904 start = end
00905 end += length
00906 self.path.zmp.header.frame_id = str[start:end]
00907 start = end
00908 end += 4
00909 (length,) = _struct_I.unpack(str[start:end])
00910 self.path.zmp.points = []
00911 for i in range(0, length):
00912 val1 = walk_msgs.msg.Point2dStamped()
00913 _v70 = val1.header
00914 start = end
00915 end += 4
00916 (_v70.seq,) = _struct_I.unpack(str[start:end])
00917 _v71 = _v70.stamp
00918 _x = _v71
00919 start = end
00920 end += 8
00921 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
00922 start = end
00923 end += 4
00924 (length,) = _struct_I.unpack(str[start:end])
00925 start = end
00926 end += length
00927 _v70.frame_id = str[start:end]
00928 _v72 = val1.point
00929 _x = _v72
00930 start = end
00931 end += 16
00932 (_x.x, _x.y,) = _struct_2d.unpack(str[start:end])
00933 self.path.zmp.points.append(val1)
00934 return self
00935 except struct.error as e:
00936 raise roslib.message.DeserializationError(e)
00937
00938 _struct_I = roslib.message.struct_I
00939 _struct_2d = struct.Struct("<2d")
00940 _struct_3I = struct.Struct("<3I")
00941 _struct_4d = struct.Struct("<4d")
00942 _struct_2I = struct.Struct("<2I")
00943 _struct_3d = struct.Struct("<3d")
00944 class GetPath(roslib.message.ServiceDefinition):
00945 _type = 'walk_msgs/GetPath'
00946 _md5sum = '2b6fd7b841642a7520d3b2fd459370d2'
00947 _request_class = GetPathRequest
00948 _response_class = GetPathResponse
