_AllowedContactSpecification.py
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00001 """autogenerated by genpy from arm_navigation_msgs/AllowedContactSpecification.msg. Do not edit."""
00002 import sys
00003 python3 = True if sys.hexversion > 0x03000000 else False
00004 import genpy
00005 import struct
00006 
00007 import arm_navigation_msgs.msg
00008 import geometry_msgs.msg
00009 import std_msgs.msg
00010 
00011 class AllowedContactSpecification(genpy.Message):
00012   _md5sum = "81f9b47ac49a467ae008d3d9485628a3"
00013   _type = "arm_navigation_msgs/AllowedContactSpecification"
00014   _has_header = False #flag to mark the presence of a Header object
00015   _full_text = """# The names of the regions
00016 string name
00017 
00018 # The shape of the region in the environment
00019 arm_navigation_msgs/Shape shape
00020 
00021 # The pose of the space defining the region
00022 geometry_msgs/PoseStamped pose_stamped
00023 
00024 # The set of links that will be allowed to have penetration contact within this region
00025 string[] link_names
00026 
00027 # The maximum penetration depth allowed for every link
00028 float64 penetration_depth
00029 
00030 ================================================================================
00031 MSG: arm_navigation_msgs/Shape
00032 byte SPHERE=0
00033 byte BOX=1
00034 byte CYLINDER=2
00035 byte MESH=3
00036 
00037 byte type
00038 
00039 
00040 #### define sphere, box, cylinder ####
00041 # the origin of each shape is considered at the shape's center
00042 
00043 # for sphere
00044 # radius := dimensions[0]
00045 
00046 # for cylinder
00047 # radius := dimensions[0]
00048 # length := dimensions[1]
00049 # the length is along the Z axis
00050 
00051 # for box
00052 # size_x := dimensions[0]
00053 # size_y := dimensions[1]
00054 # size_z := dimensions[2]
00055 float64[] dimensions
00056 
00057 
00058 #### define mesh ####
00059 
00060 # list of triangles; triangle k is defined by tre vertices located
00061 # at indices triangles[3k], triangles[3k+1], triangles[3k+2]
00062 int32[] triangles
00063 geometry_msgs/Point[] vertices
00064 
00065 ================================================================================
00066 MSG: geometry_msgs/Point
00067 # This contains the position of a point in free space
00068 float64 x
00069 float64 y
00070 float64 z
00071 
00072 ================================================================================
00073 MSG: geometry_msgs/PoseStamped
00074 # A Pose with reference coordinate frame and timestamp
00075 Header header
00076 Pose pose
00077 
00078 ================================================================================
00079 MSG: std_msgs/Header
00080 # Standard metadata for higher-level stamped data types.
00081 # This is generally used to communicate timestamped data 
00082 # in a particular coordinate frame.
00083 # 
00084 # sequence ID: consecutively increasing ID 
00085 uint32 seq
00086 #Two-integer timestamp that is expressed as:
00087 # * stamp.secs: seconds (stamp_secs) since epoch
00088 # * stamp.nsecs: nanoseconds since stamp_secs
00089 # time-handling sugar is provided by the client library
00090 time stamp
00091 #Frame this data is associated with
00092 # 0: no frame
00093 # 1: global frame
00094 string frame_id
00095 
00096 ================================================================================
00097 MSG: geometry_msgs/Pose
00098 # A representation of pose in free space, composed of postion and orientation. 
00099 Point position
00100 Quaternion orientation
00101 
00102 ================================================================================
00103 MSG: geometry_msgs/Quaternion
00104 # This represents an orientation in free space in quaternion form.
00105 
00106 float64 x
00107 float64 y
00108 float64 z
00109 float64 w
00110 
00111 """
00112   __slots__ = ['name','shape','pose_stamped','link_names','penetration_depth']
00113   _slot_types = ['string','arm_navigation_msgs/Shape','geometry_msgs/PoseStamped','string[]','float64']
00114 
00115   def __init__(self, *args, **kwds):
00116     """
00117     Constructor. Any message fields that are implicitly/explicitly
00118     set to None will be assigned a default value. The recommend
00119     use is keyword arguments as this is more robust to future message
00120     changes.  You cannot mix in-order arguments and keyword arguments.
00121 
00122     The available fields are:
00123        name,shape,pose_stamped,link_names,penetration_depth
00124 
00125     :param args: complete set of field values, in .msg order
00126     :param kwds: use keyword arguments corresponding to message field names
00127     to set specific fields.
00128     """
00129     if args or kwds:
00130       super(AllowedContactSpecification, self).__init__(*args, **kwds)
00131       #message fields cannot be None, assign default values for those that are
00132       if self.name is None:
00133         self.name = ''
00134       if self.shape is None:
00135         self.shape = arm_navigation_msgs.msg.Shape()
00136       if self.pose_stamped is None:
00137         self.pose_stamped = geometry_msgs.msg.PoseStamped()
00138       if self.link_names is None:
00139         self.link_names = []
00140       if self.penetration_depth is None:
00141         self.penetration_depth = 0.
00142     else:
00143       self.name = ''
00144       self.shape = arm_navigation_msgs.msg.Shape()
00145       self.pose_stamped = geometry_msgs.msg.PoseStamped()
00146       self.link_names = []
00147       self.penetration_depth = 0.
00148 
00149   def _get_types(self):
00150     """
00151     internal API method
00152     """
00153     return self._slot_types
00154 
00155   def serialize(self, buff):
00156     """
00157     serialize message into buffer
00158     :param buff: buffer, ``StringIO``
00159     """
00160     try:
00161       _x = self.name
00162       length = len(_x)
00163       if python3 or type(_x) == unicode:
00164         _x = _x.encode('utf-8')
00165         length = len(_x)
00166       buff.write(struct.pack('<I%ss'%length, length, _x))
00167       buff.write(_struct_b.pack(self.shape.type))
00168       length = len(self.shape.dimensions)
00169       buff.write(_struct_I.pack(length))
00170       pattern = '<%sd'%length
00171       buff.write(struct.pack(pattern, *self.shape.dimensions))
00172       length = len(self.shape.triangles)
00173       buff.write(_struct_I.pack(length))
00174       pattern = '<%si'%length
00175       buff.write(struct.pack(pattern, *self.shape.triangles))
00176       length = len(self.shape.vertices)
00177       buff.write(_struct_I.pack(length))
00178       for val1 in self.shape.vertices:
00179         _x = val1
00180         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00181       _x = self
00182       buff.write(_struct_3I.pack(_x.pose_stamped.header.seq, _x.pose_stamped.header.stamp.secs, _x.pose_stamped.header.stamp.nsecs))
00183       _x = self.pose_stamped.header.frame_id
00184       length = len(_x)
00185       if python3 or type(_x) == unicode:
00186         _x = _x.encode('utf-8')
00187         length = len(_x)
00188       buff.write(struct.pack('<I%ss'%length, length, _x))
00189       _x = self
00190       buff.write(_struct_7d.pack(_x.pose_stamped.pose.position.x, _x.pose_stamped.pose.position.y, _x.pose_stamped.pose.position.z, _x.pose_stamped.pose.orientation.x, _x.pose_stamped.pose.orientation.y, _x.pose_stamped.pose.orientation.z, _x.pose_stamped.pose.orientation.w))
00191       length = len(self.link_names)
00192       buff.write(_struct_I.pack(length))
00193       for val1 in self.link_names:
00194         length = len(val1)
00195         if python3 or type(val1) == unicode:
00196           val1 = val1.encode('utf-8')
00197           length = len(val1)
00198         buff.write(struct.pack('<I%ss'%length, length, val1))
00199       buff.write(_struct_d.pack(self.penetration_depth))
00200     except struct.error as se: self._check_types(se)
00201     except TypeError as te: self._check_types(te)
00202 
00203   def deserialize(self, str):
00204     """
00205     unpack serialized message in str into this message instance
00206     :param str: byte array of serialized message, ``str``
00207     """
00208     try:
00209       if self.shape is None:
00210         self.shape = arm_navigation_msgs.msg.Shape()
00211       if self.pose_stamped is None:
00212         self.pose_stamped = geometry_msgs.msg.PoseStamped()
00213       end = 0
00214       start = end
00215       end += 4
00216       (length,) = _struct_I.unpack(str[start:end])
00217       start = end
00218       end += length
00219       if python3:
00220         self.name = str[start:end].decode('utf-8')
00221       else:
00222         self.name = str[start:end]
00223       start = end
00224       end += 1
00225       (self.shape.type,) = _struct_b.unpack(str[start:end])
00226       start = end
00227       end += 4
00228       (length,) = _struct_I.unpack(str[start:end])
00229       pattern = '<%sd'%length
00230       start = end
00231       end += struct.calcsize(pattern)
00232       self.shape.dimensions = struct.unpack(pattern, str[start:end])
00233       start = end
00234       end += 4
00235       (length,) = _struct_I.unpack(str[start:end])
00236       pattern = '<%si'%length
00237       start = end
00238       end += struct.calcsize(pattern)
00239       self.shape.triangles = struct.unpack(pattern, str[start:end])
00240       start = end
00241       end += 4
00242       (length,) = _struct_I.unpack(str[start:end])
00243       self.shape.vertices = []
00244       for i in range(0, length):
00245         val1 = geometry_msgs.msg.Point()
00246         _x = val1
00247         start = end
00248         end += 24
00249         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00250         self.shape.vertices.append(val1)
00251       _x = self
00252       start = end
00253       end += 12
00254       (_x.pose_stamped.header.seq, _x.pose_stamped.header.stamp.secs, _x.pose_stamped.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00255       start = end
00256       end += 4
00257       (length,) = _struct_I.unpack(str[start:end])
00258       start = end
00259       end += length
00260       if python3:
00261         self.pose_stamped.header.frame_id = str[start:end].decode('utf-8')
00262       else:
00263         self.pose_stamped.header.frame_id = str[start:end]
00264       _x = self
00265       start = end
00266       end += 56
00267       (_x.pose_stamped.pose.position.x, _x.pose_stamped.pose.position.y, _x.pose_stamped.pose.position.z, _x.pose_stamped.pose.orientation.x, _x.pose_stamped.pose.orientation.y, _x.pose_stamped.pose.orientation.z, _x.pose_stamped.pose.orientation.w,) = _struct_7d.unpack(str[start:end])
00268       start = end
00269       end += 4
00270       (length,) = _struct_I.unpack(str[start:end])
00271       self.link_names = []
00272       for i in range(0, length):
00273         start = end
00274         end += 4
00275         (length,) = _struct_I.unpack(str[start:end])
00276         start = end
00277         end += length
00278         if python3:
00279           val1 = str[start:end].decode('utf-8')
00280         else:
00281           val1 = str[start:end]
00282         self.link_names.append(val1)
00283       start = end
00284       end += 8
00285       (self.penetration_depth,) = _struct_d.unpack(str[start:end])
00286       return self
00287     except struct.error as e:
00288       raise genpy.DeserializationError(e) #most likely buffer underfill
00289 
00290 
00291   def serialize_numpy(self, buff, numpy):
00292     """
00293     serialize message with numpy array types into buffer
00294     :param buff: buffer, ``StringIO``
00295     :param numpy: numpy python module
00296     """
00297     try:
00298       _x = self.name
00299       length = len(_x)
00300       if python3 or type(_x) == unicode:
00301         _x = _x.encode('utf-8')
00302         length = len(_x)
00303       buff.write(struct.pack('<I%ss'%length, length, _x))
00304       buff.write(_struct_b.pack(self.shape.type))
00305       length = len(self.shape.dimensions)
00306       buff.write(_struct_I.pack(length))
00307       pattern = '<%sd'%length
00308       buff.write(self.shape.dimensions.tostring())
00309       length = len(self.shape.triangles)
00310       buff.write(_struct_I.pack(length))
00311       pattern = '<%si'%length
00312       buff.write(self.shape.triangles.tostring())
00313       length = len(self.shape.vertices)
00314       buff.write(_struct_I.pack(length))
00315       for val1 in self.shape.vertices:
00316         _x = val1
00317         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00318       _x = self
00319       buff.write(_struct_3I.pack(_x.pose_stamped.header.seq, _x.pose_stamped.header.stamp.secs, _x.pose_stamped.header.stamp.nsecs))
00320       _x = self.pose_stamped.header.frame_id
00321       length = len(_x)
00322       if python3 or type(_x) == unicode:
00323         _x = _x.encode('utf-8')
00324         length = len(_x)
00325       buff.write(struct.pack('<I%ss'%length, length, _x))
00326       _x = self
00327       buff.write(_struct_7d.pack(_x.pose_stamped.pose.position.x, _x.pose_stamped.pose.position.y, _x.pose_stamped.pose.position.z, _x.pose_stamped.pose.orientation.x, _x.pose_stamped.pose.orientation.y, _x.pose_stamped.pose.orientation.z, _x.pose_stamped.pose.orientation.w))
00328       length = len(self.link_names)
00329       buff.write(_struct_I.pack(length))
00330       for val1 in self.link_names:
00331         length = len(val1)
00332         if python3 or type(val1) == unicode:
00333           val1 = val1.encode('utf-8')
00334           length = len(val1)
00335         buff.write(struct.pack('<I%ss'%length, length, val1))
00336       buff.write(_struct_d.pack(self.penetration_depth))
00337     except struct.error as se: self._check_types(se)
00338     except TypeError as te: self._check_types(te)
00339 
00340   def deserialize_numpy(self, str, numpy):
00341     """
00342     unpack serialized message in str into this message instance using numpy for array types
00343     :param str: byte array of serialized message, ``str``
00344     :param numpy: numpy python module
00345     """
00346     try:
00347       if self.shape is None:
00348         self.shape = arm_navigation_msgs.msg.Shape()
00349       if self.pose_stamped is None:
00350         self.pose_stamped = geometry_msgs.msg.PoseStamped()
00351       end = 0
00352       start = end
00353       end += 4
00354       (length,) = _struct_I.unpack(str[start:end])
00355       start = end
00356       end += length
00357       if python3:
00358         self.name = str[start:end].decode('utf-8')
00359       else:
00360         self.name = str[start:end]
00361       start = end
00362       end += 1
00363       (self.shape.type,) = _struct_b.unpack(str[start:end])
00364       start = end
00365       end += 4
00366       (length,) = _struct_I.unpack(str[start:end])
00367       pattern = '<%sd'%length
00368       start = end
00369       end += struct.calcsize(pattern)
00370       self.shape.dimensions = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00371       start = end
00372       end += 4
00373       (length,) = _struct_I.unpack(str[start:end])
00374       pattern = '<%si'%length
00375       start = end
00376       end += struct.calcsize(pattern)
00377       self.shape.triangles = numpy.frombuffer(str[start:end], dtype=numpy.int32, count=length)
00378       start = end
00379       end += 4
00380       (length,) = _struct_I.unpack(str[start:end])
00381       self.shape.vertices = []
00382       for i in range(0, length):
00383         val1 = geometry_msgs.msg.Point()
00384         _x = val1
00385         start = end
00386         end += 24
00387         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00388         self.shape.vertices.append(val1)
00389       _x = self
00390       start = end
00391       end += 12
00392       (_x.pose_stamped.header.seq, _x.pose_stamped.header.stamp.secs, _x.pose_stamped.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00393       start = end
00394       end += 4
00395       (length,) = _struct_I.unpack(str[start:end])
00396       start = end
00397       end += length
00398       if python3:
00399         self.pose_stamped.header.frame_id = str[start:end].decode('utf-8')
00400       else:
00401         self.pose_stamped.header.frame_id = str[start:end]
00402       _x = self
00403       start = end
00404       end += 56
00405       (_x.pose_stamped.pose.position.x, _x.pose_stamped.pose.position.y, _x.pose_stamped.pose.position.z, _x.pose_stamped.pose.orientation.x, _x.pose_stamped.pose.orientation.y, _x.pose_stamped.pose.orientation.z, _x.pose_stamped.pose.orientation.w,) = _struct_7d.unpack(str[start:end])
00406       start = end
00407       end += 4
00408       (length,) = _struct_I.unpack(str[start:end])
00409       self.link_names = []
00410       for i in range(0, length):
00411         start = end
00412         end += 4
00413         (length,) = _struct_I.unpack(str[start:end])
00414         start = end
00415         end += length
00416         if python3:
00417           val1 = str[start:end].decode('utf-8')
00418         else:
00419           val1 = str[start:end]
00420         self.link_names.append(val1)
00421       start = end
00422       end += 8
00423       (self.penetration_depth,) = _struct_d.unpack(str[start:end])
00424       return self
00425     except struct.error as e:
00426       raise genpy.DeserializationError(e) #most likely buffer underfill
00427 
00428 _struct_I = genpy.struct_I
00429 _struct_3I = struct.Struct("<3I")
00430 _struct_b = struct.Struct("<b")
00431 _struct_7d = struct.Struct("<7d")
00432 _struct_d = struct.Struct("<d")
00433 _struct_3d = struct.Struct("<3d")


arm_navigation_msgs
Author(s): Gil Jones
autogenerated on Thu Dec 12 2013 11:08:10