00001 """autogenerated by genpy from arm_navigation_msgs/DisplayTrajectory.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 trajectory_msgs.msg
00009 import geometry_msgs.msg
00010 import sensor_msgs.msg
00011 import genpy
00012 import std_msgs.msg
00013
00014 class DisplayTrajectory(genpy.Message):
00015 _md5sum = "382f217803665e4718c4edbac445582c"
00016 _type = "arm_navigation_msgs/DisplayTrajectory"
00017 _has_header = False
00018 _full_text = """# The model id for which this path has been generated
00019 string model_id
00020 # The representation of the path contains position values for all the joints that are moving along the path
00021 arm_navigation_msgs/RobotTrajectory trajectory
00022 # The robot state is used to obtain positions for all/some of the joints of the robot.
00023 # It is used by the path display node to determine the positions of the joints that are not specified in the joint path message above.
00024 # If the robot state message contains joint position information for joints that are also mentioned in the joint path message, the positions in the joint path message will overwrite the positions specified in the robot state message.
00025 RobotState robot_state
00026
00027 ================================================================================
00028 MSG: arm_navigation_msgs/RobotTrajectory
00029 trajectory_msgs/JointTrajectory joint_trajectory
00030 arm_navigation_msgs/MultiDOFJointTrajectory multi_dof_joint_trajectory
00031
00032 ================================================================================
00033 MSG: trajectory_msgs/JointTrajectory
00034 Header header
00035 string[] joint_names
00036 JointTrajectoryPoint[] points
00037 ================================================================================
00038 MSG: std_msgs/Header
00039 # Standard metadata for higher-level stamped data types.
00040 # This is generally used to communicate timestamped data
00041 # in a particular coordinate frame.
00042 #
00043 # sequence ID: consecutively increasing ID
00044 uint32 seq
00045 #Two-integer timestamp that is expressed as:
00046 # * stamp.secs: seconds (stamp_secs) since epoch
00047 # * stamp.nsecs: nanoseconds since stamp_secs
00048 # time-handling sugar is provided by the client library
00049 time stamp
00050 #Frame this data is associated with
00051 # 0: no frame
00052 # 1: global frame
00053 string frame_id
00054
00055 ================================================================================
00056 MSG: trajectory_msgs/JointTrajectoryPoint
00057 float64[] positions
00058 float64[] velocities
00059 float64[] accelerations
00060 duration time_from_start
00061 ================================================================================
00062 MSG: arm_navigation_msgs/MultiDOFJointTrajectory
00063 #A representation of a multi-dof joint trajectory
00064 duration stamp
00065 string[] joint_names
00066 string[] frame_ids
00067 string[] child_frame_ids
00068 MultiDOFJointTrajectoryPoint[] points
00069
00070 ================================================================================
00071 MSG: arm_navigation_msgs/MultiDOFJointTrajectoryPoint
00072 geometry_msgs/Pose[] poses
00073 duration time_from_start
00074 ================================================================================
00075 MSG: geometry_msgs/Pose
00076 # A representation of pose in free space, composed of postion and orientation.
00077 Point position
00078 Quaternion orientation
00079
00080 ================================================================================
00081 MSG: geometry_msgs/Point
00082 # This contains the position of a point in free space
00083 float64 x
00084 float64 y
00085 float64 z
00086
00087 ================================================================================
00088 MSG: geometry_msgs/Quaternion
00089 # This represents an orientation in free space in quaternion form.
00090
00091 float64 x
00092 float64 y
00093 float64 z
00094 float64 w
00095
00096 ================================================================================
00097 MSG: arm_navigation_msgs/RobotState
00098 # This message contains information about the robot state, i.e. the positions of its joints and links
00099 sensor_msgs/JointState joint_state
00100 arm_navigation_msgs/MultiDOFJointState multi_dof_joint_state
00101
00102 ================================================================================
00103 MSG: sensor_msgs/JointState
00104 # This is a message that holds data to describe the state of a set of torque controlled joints.
00105 #
00106 # The state of each joint (revolute or prismatic) is defined by:
00107 # * the position of the joint (rad or m),
00108 # * the velocity of the joint (rad/s or m/s) and
00109 # * the effort that is applied in the joint (Nm or N).
00110 #
00111 # Each joint is uniquely identified by its name
00112 # The header specifies the time at which the joint states were recorded. All the joint states
00113 # in one message have to be recorded at the same time.
00114 #
00115 # This message consists of a multiple arrays, one for each part of the joint state.
00116 # The goal is to make each of the fields optional. When e.g. your joints have no
00117 # effort associated with them, you can leave the effort array empty.
00118 #
00119 # All arrays in this message should have the same size, or be empty.
00120 # This is the only way to uniquely associate the joint name with the correct
00121 # states.
00122
00123
00124 Header header
00125
00126 string[] name
00127 float64[] position
00128 float64[] velocity
00129 float64[] effort
00130
00131 ================================================================================
00132 MSG: arm_navigation_msgs/MultiDOFJointState
00133 #A representation of a multi-dof joint state
00134 time stamp
00135 string[] joint_names
00136 string[] frame_ids
00137 string[] child_frame_ids
00138 geometry_msgs/Pose[] poses
00139
00140 """
00141 __slots__ = ['model_id','trajectory','robot_state']
00142 _slot_types = ['string','arm_navigation_msgs/RobotTrajectory','arm_navigation_msgs/RobotState']
00143
00144 def __init__(self, *args, **kwds):
00145 """
00146 Constructor. Any message fields that are implicitly/explicitly
00147 set to None will be assigned a default value. The recommend
00148 use is keyword arguments as this is more robust to future message
00149 changes. You cannot mix in-order arguments and keyword arguments.
00150
00151 The available fields are:
00152 model_id,trajectory,robot_state
00153
00154 :param args: complete set of field values, in .msg order
00155 :param kwds: use keyword arguments corresponding to message field names
00156 to set specific fields.
00157 """
00158 if args or kwds:
00159 super(DisplayTrajectory, self).__init__(*args, **kwds)
00160
00161 if self.model_id is None:
00162 self.model_id = ''
00163 if self.trajectory is None:
00164 self.trajectory = arm_navigation_msgs.msg.RobotTrajectory()
00165 if self.robot_state is None:
00166 self.robot_state = arm_navigation_msgs.msg.RobotState()
00167 else:
00168 self.model_id = ''
00169 self.trajectory = arm_navigation_msgs.msg.RobotTrajectory()
00170 self.robot_state = arm_navigation_msgs.msg.RobotState()
00171
00172 def _get_types(self):
00173 """
00174 internal API method
00175 """
00176 return self._slot_types
00177
00178 def serialize(self, buff):
00179 """
00180 serialize message into buffer
00181 :param buff: buffer, ``StringIO``
00182 """
00183 try:
00184 _x = self.model_id
00185 length = len(_x)
00186 if python3 or type(_x) == unicode:
00187 _x = _x.encode('utf-8')
00188 length = len(_x)
00189 buff.write(struct.pack('<I%ss'%length, length, _x))
00190 _x = self
00191 buff.write(_struct_3I.pack(_x.trajectory.joint_trajectory.header.seq, _x.trajectory.joint_trajectory.header.stamp.secs, _x.trajectory.joint_trajectory.header.stamp.nsecs))
00192 _x = self.trajectory.joint_trajectory.header.frame_id
00193 length = len(_x)
00194 if python3 or type(_x) == unicode:
00195 _x = _x.encode('utf-8')
00196 length = len(_x)
00197 buff.write(struct.pack('<I%ss'%length, length, _x))
00198 length = len(self.trajectory.joint_trajectory.joint_names)
00199 buff.write(_struct_I.pack(length))
00200 for val1 in self.trajectory.joint_trajectory.joint_names:
00201 length = len(val1)
00202 if python3 or type(val1) == unicode:
00203 val1 = val1.encode('utf-8')
00204 length = len(val1)
00205 buff.write(struct.pack('<I%ss'%length, length, val1))
00206 length = len(self.trajectory.joint_trajectory.points)
00207 buff.write(_struct_I.pack(length))
00208 for val1 in self.trajectory.joint_trajectory.points:
00209 length = len(val1.positions)
00210 buff.write(_struct_I.pack(length))
00211 pattern = '<%sd'%length
00212 buff.write(struct.pack(pattern, *val1.positions))
00213 length = len(val1.velocities)
00214 buff.write(_struct_I.pack(length))
00215 pattern = '<%sd'%length
00216 buff.write(struct.pack(pattern, *val1.velocities))
00217 length = len(val1.accelerations)
00218 buff.write(_struct_I.pack(length))
00219 pattern = '<%sd'%length
00220 buff.write(struct.pack(pattern, *val1.accelerations))
00221 _v1 = val1.time_from_start
00222 _x = _v1
00223 buff.write(_struct_2i.pack(_x.secs, _x.nsecs))
00224 _x = self
00225 buff.write(_struct_2i.pack(_x.trajectory.multi_dof_joint_trajectory.stamp.secs, _x.trajectory.multi_dof_joint_trajectory.stamp.nsecs))
00226 length = len(self.trajectory.multi_dof_joint_trajectory.joint_names)
00227 buff.write(_struct_I.pack(length))
00228 for val1 in self.trajectory.multi_dof_joint_trajectory.joint_names:
00229 length = len(val1)
00230 if python3 or type(val1) == unicode:
00231 val1 = val1.encode('utf-8')
00232 length = len(val1)
00233 buff.write(struct.pack('<I%ss'%length, length, val1))
00234 length = len(self.trajectory.multi_dof_joint_trajectory.frame_ids)
00235 buff.write(_struct_I.pack(length))
00236 for val1 in self.trajectory.multi_dof_joint_trajectory.frame_ids:
00237 length = len(val1)
00238 if python3 or type(val1) == unicode:
00239 val1 = val1.encode('utf-8')
00240 length = len(val1)
00241 buff.write(struct.pack('<I%ss'%length, length, val1))
00242 length = len(self.trajectory.multi_dof_joint_trajectory.child_frame_ids)
00243 buff.write(_struct_I.pack(length))
00244 for val1 in self.trajectory.multi_dof_joint_trajectory.child_frame_ids:
00245 length = len(val1)
00246 if python3 or type(val1) == unicode:
00247 val1 = val1.encode('utf-8')
00248 length = len(val1)
00249 buff.write(struct.pack('<I%ss'%length, length, val1))
00250 length = len(self.trajectory.multi_dof_joint_trajectory.points)
00251 buff.write(_struct_I.pack(length))
00252 for val1 in self.trajectory.multi_dof_joint_trajectory.points:
00253 length = len(val1.poses)
00254 buff.write(_struct_I.pack(length))
00255 for val2 in val1.poses:
00256 _v2 = val2.position
00257 _x = _v2
00258 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00259 _v3 = val2.orientation
00260 _x = _v3
00261 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00262 _v4 = val1.time_from_start
00263 _x = _v4
00264 buff.write(_struct_2i.pack(_x.secs, _x.nsecs))
00265 _x = self
00266 buff.write(_struct_3I.pack(_x.robot_state.joint_state.header.seq, _x.robot_state.joint_state.header.stamp.secs, _x.robot_state.joint_state.header.stamp.nsecs))
00267 _x = self.robot_state.joint_state.header.frame_id
00268 length = len(_x)
00269 if python3 or type(_x) == unicode:
00270 _x = _x.encode('utf-8')
00271 length = len(_x)
00272 buff.write(struct.pack('<I%ss'%length, length, _x))
00273 length = len(self.robot_state.joint_state.name)
00274 buff.write(_struct_I.pack(length))
00275 for val1 in self.robot_state.joint_state.name:
00276 length = len(val1)
00277 if python3 or type(val1) == unicode:
00278 val1 = val1.encode('utf-8')
00279 length = len(val1)
00280 buff.write(struct.pack('<I%ss'%length, length, val1))
00281 length = len(self.robot_state.joint_state.position)
00282 buff.write(_struct_I.pack(length))
00283 pattern = '<%sd'%length
00284 buff.write(struct.pack(pattern, *self.robot_state.joint_state.position))
00285 length = len(self.robot_state.joint_state.velocity)
00286 buff.write(_struct_I.pack(length))
00287 pattern = '<%sd'%length
00288 buff.write(struct.pack(pattern, *self.robot_state.joint_state.velocity))
00289 length = len(self.robot_state.joint_state.effort)
00290 buff.write(_struct_I.pack(length))
00291 pattern = '<%sd'%length
00292 buff.write(struct.pack(pattern, *self.robot_state.joint_state.effort))
00293 _x = self
00294 buff.write(_struct_2I.pack(_x.robot_state.multi_dof_joint_state.stamp.secs, _x.robot_state.multi_dof_joint_state.stamp.nsecs))
00295 length = len(self.robot_state.multi_dof_joint_state.joint_names)
00296 buff.write(_struct_I.pack(length))
00297 for val1 in self.robot_state.multi_dof_joint_state.joint_names:
00298 length = len(val1)
00299 if python3 or type(val1) == unicode:
00300 val1 = val1.encode('utf-8')
00301 length = len(val1)
00302 buff.write(struct.pack('<I%ss'%length, length, val1))
00303 length = len(self.robot_state.multi_dof_joint_state.frame_ids)
00304 buff.write(_struct_I.pack(length))
00305 for val1 in self.robot_state.multi_dof_joint_state.frame_ids:
00306 length = len(val1)
00307 if python3 or type(val1) == unicode:
00308 val1 = val1.encode('utf-8')
00309 length = len(val1)
00310 buff.write(struct.pack('<I%ss'%length, length, val1))
00311 length = len(self.robot_state.multi_dof_joint_state.child_frame_ids)
00312 buff.write(_struct_I.pack(length))
00313 for val1 in self.robot_state.multi_dof_joint_state.child_frame_ids:
00314 length = len(val1)
00315 if python3 or type(val1) == unicode:
00316 val1 = val1.encode('utf-8')
00317 length = len(val1)
00318 buff.write(struct.pack('<I%ss'%length, length, val1))
00319 length = len(self.robot_state.multi_dof_joint_state.poses)
00320 buff.write(_struct_I.pack(length))
00321 for val1 in self.robot_state.multi_dof_joint_state.poses:
00322 _v5 = val1.position
00323 _x = _v5
00324 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00325 _v6 = val1.orientation
00326 _x = _v6
00327 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00328 except struct.error as se: self._check_types(se)
00329 except TypeError as te: self._check_types(te)
00330
00331 def deserialize(self, str):
00332 """
00333 unpack serialized message in str into this message instance
00334 :param str: byte array of serialized message, ``str``
00335 """
00336 try:
00337 if self.trajectory is None:
00338 self.trajectory = arm_navigation_msgs.msg.RobotTrajectory()
00339 if self.robot_state is None:
00340 self.robot_state = arm_navigation_msgs.msg.RobotState()
00341 end = 0
00342 start = end
00343 end += 4
00344 (length,) = _struct_I.unpack(str[start:end])
00345 start = end
00346 end += length
00347 if python3:
00348 self.model_id = str[start:end].decode('utf-8')
00349 else:
00350 self.model_id = str[start:end]
00351 _x = self
00352 start = end
00353 end += 12
00354 (_x.trajectory.joint_trajectory.header.seq, _x.trajectory.joint_trajectory.header.stamp.secs, _x.trajectory.joint_trajectory.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00355 start = end
00356 end += 4
00357 (length,) = _struct_I.unpack(str[start:end])
00358 start = end
00359 end += length
00360 if python3:
00361 self.trajectory.joint_trajectory.header.frame_id = str[start:end].decode('utf-8')
00362 else:
00363 self.trajectory.joint_trajectory.header.frame_id = str[start:end]
00364 start = end
00365 end += 4
00366 (length,) = _struct_I.unpack(str[start:end])
00367 self.trajectory.joint_trajectory.joint_names = []
00368 for i in range(0, length):
00369 start = end
00370 end += 4
00371 (length,) = _struct_I.unpack(str[start:end])
00372 start = end
00373 end += length
00374 if python3:
00375 val1 = str[start:end].decode('utf-8')
00376 else:
00377 val1 = str[start:end]
00378 self.trajectory.joint_trajectory.joint_names.append(val1)
00379 start = end
00380 end += 4
00381 (length,) = _struct_I.unpack(str[start:end])
00382 self.trajectory.joint_trajectory.points = []
00383 for i in range(0, length):
00384 val1 = trajectory_msgs.msg.JointTrajectoryPoint()
00385 start = end
00386 end += 4
00387 (length,) = _struct_I.unpack(str[start:end])
00388 pattern = '<%sd'%length
00389 start = end
00390 end += struct.calcsize(pattern)
00391 val1.positions = struct.unpack(pattern, str[start:end])
00392 start = end
00393 end += 4
00394 (length,) = _struct_I.unpack(str[start:end])
00395 pattern = '<%sd'%length
00396 start = end
00397 end += struct.calcsize(pattern)
00398 val1.velocities = struct.unpack(pattern, str[start:end])
00399 start = end
00400 end += 4
00401 (length,) = _struct_I.unpack(str[start:end])
00402 pattern = '<%sd'%length
00403 start = end
00404 end += struct.calcsize(pattern)
00405 val1.accelerations = struct.unpack(pattern, str[start:end])
00406 _v7 = val1.time_from_start
00407 _x = _v7
00408 start = end
00409 end += 8
00410 (_x.secs, _x.nsecs,) = _struct_2i.unpack(str[start:end])
00411 self.trajectory.joint_trajectory.points.append(val1)
00412 _x = self
00413 start = end
00414 end += 8
00415 (_x.trajectory.multi_dof_joint_trajectory.stamp.secs, _x.trajectory.multi_dof_joint_trajectory.stamp.nsecs,) = _struct_2i.unpack(str[start:end])
00416 start = end
00417 end += 4
00418 (length,) = _struct_I.unpack(str[start:end])
00419 self.trajectory.multi_dof_joint_trajectory.joint_names = []
00420 for i in range(0, length):
00421 start = end
00422 end += 4
00423 (length,) = _struct_I.unpack(str[start:end])
00424 start = end
00425 end += length
00426 if python3:
00427 val1 = str[start:end].decode('utf-8')
00428 else:
00429 val1 = str[start:end]
00430 self.trajectory.multi_dof_joint_trajectory.joint_names.append(val1)
00431 start = end
00432 end += 4
00433 (length,) = _struct_I.unpack(str[start:end])
00434 self.trajectory.multi_dof_joint_trajectory.frame_ids = []
00435 for i in range(0, length):
00436 start = end
00437 end += 4
00438 (length,) = _struct_I.unpack(str[start:end])
00439 start = end
00440 end += length
00441 if python3:
00442 val1 = str[start:end].decode('utf-8')
00443 else:
00444 val1 = str[start:end]
00445 self.trajectory.multi_dof_joint_trajectory.frame_ids.append(val1)
00446 start = end
00447 end += 4
00448 (length,) = _struct_I.unpack(str[start:end])
00449 self.trajectory.multi_dof_joint_trajectory.child_frame_ids = []
00450 for i in range(0, length):
00451 start = end
00452 end += 4
00453 (length,) = _struct_I.unpack(str[start:end])
00454 start = end
00455 end += length
00456 if python3:
00457 val1 = str[start:end].decode('utf-8')
00458 else:
00459 val1 = str[start:end]
00460 self.trajectory.multi_dof_joint_trajectory.child_frame_ids.append(val1)
00461 start = end
00462 end += 4
00463 (length,) = _struct_I.unpack(str[start:end])
00464 self.trajectory.multi_dof_joint_trajectory.points = []
00465 for i in range(0, length):
00466 val1 = arm_navigation_msgs.msg.MultiDOFJointTrajectoryPoint()
00467 start = end
00468 end += 4
00469 (length,) = _struct_I.unpack(str[start:end])
00470 val1.poses = []
00471 for i in range(0, length):
00472 val2 = geometry_msgs.msg.Pose()
00473 _v8 = val2.position
00474 _x = _v8
00475 start = end
00476 end += 24
00477 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00478 _v9 = val2.orientation
00479 _x = _v9
00480 start = end
00481 end += 32
00482 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
00483 val1.poses.append(val2)
00484 _v10 = val1.time_from_start
00485 _x = _v10
00486 start = end
00487 end += 8
00488 (_x.secs, _x.nsecs,) = _struct_2i.unpack(str[start:end])
00489 self.trajectory.multi_dof_joint_trajectory.points.append(val1)
00490 _x = self
00491 start = end
00492 end += 12
00493 (_x.robot_state.joint_state.header.seq, _x.robot_state.joint_state.header.stamp.secs, _x.robot_state.joint_state.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00494 start = end
00495 end += 4
00496 (length,) = _struct_I.unpack(str[start:end])
00497 start = end
00498 end += length
00499 if python3:
00500 self.robot_state.joint_state.header.frame_id = str[start:end].decode('utf-8')
00501 else:
00502 self.robot_state.joint_state.header.frame_id = str[start:end]
00503 start = end
00504 end += 4
00505 (length,) = _struct_I.unpack(str[start:end])
00506 self.robot_state.joint_state.name = []
00507 for i in range(0, length):
00508 start = end
00509 end += 4
00510 (length,) = _struct_I.unpack(str[start:end])
00511 start = end
00512 end += length
00513 if python3:
00514 val1 = str[start:end].decode('utf-8')
00515 else:
00516 val1 = str[start:end]
00517 self.robot_state.joint_state.name.append(val1)
00518 start = end
00519 end += 4
00520 (length,) = _struct_I.unpack(str[start:end])
00521 pattern = '<%sd'%length
00522 start = end
00523 end += struct.calcsize(pattern)
00524 self.robot_state.joint_state.position = struct.unpack(pattern, str[start:end])
00525 start = end
00526 end += 4
00527 (length,) = _struct_I.unpack(str[start:end])
00528 pattern = '<%sd'%length
00529 start = end
00530 end += struct.calcsize(pattern)
00531 self.robot_state.joint_state.velocity = struct.unpack(pattern, str[start:end])
00532 start = end
00533 end += 4
00534 (length,) = _struct_I.unpack(str[start:end])
00535 pattern = '<%sd'%length
00536 start = end
00537 end += struct.calcsize(pattern)
00538 self.robot_state.joint_state.effort = struct.unpack(pattern, str[start:end])
00539 _x = self
00540 start = end
00541 end += 8
00542 (_x.robot_state.multi_dof_joint_state.stamp.secs, _x.robot_state.multi_dof_joint_state.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00543 start = end
00544 end += 4
00545 (length,) = _struct_I.unpack(str[start:end])
00546 self.robot_state.multi_dof_joint_state.joint_names = []
00547 for i in range(0, length):
00548 start = end
00549 end += 4
00550 (length,) = _struct_I.unpack(str[start:end])
00551 start = end
00552 end += length
00553 if python3:
00554 val1 = str[start:end].decode('utf-8')
00555 else:
00556 val1 = str[start:end]
00557 self.robot_state.multi_dof_joint_state.joint_names.append(val1)
00558 start = end
00559 end += 4
00560 (length,) = _struct_I.unpack(str[start:end])
00561 self.robot_state.multi_dof_joint_state.frame_ids = []
00562 for i in range(0, length):
00563 start = end
00564 end += 4
00565 (length,) = _struct_I.unpack(str[start:end])
00566 start = end
00567 end += length
00568 if python3:
00569 val1 = str[start:end].decode('utf-8')
00570 else:
00571 val1 = str[start:end]
00572 self.robot_state.multi_dof_joint_state.frame_ids.append(val1)
00573 start = end
00574 end += 4
00575 (length,) = _struct_I.unpack(str[start:end])
00576 self.robot_state.multi_dof_joint_state.child_frame_ids = []
00577 for i in range(0, length):
00578 start = end
00579 end += 4
00580 (length,) = _struct_I.unpack(str[start:end])
00581 start = end
00582 end += length
00583 if python3:
00584 val1 = str[start:end].decode('utf-8')
00585 else:
00586 val1 = str[start:end]
00587 self.robot_state.multi_dof_joint_state.child_frame_ids.append(val1)
00588 start = end
00589 end += 4
00590 (length,) = _struct_I.unpack(str[start:end])
00591 self.robot_state.multi_dof_joint_state.poses = []
00592 for i in range(0, length):
00593 val1 = geometry_msgs.msg.Pose()
00594 _v11 = val1.position
00595 _x = _v11
00596 start = end
00597 end += 24
00598 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00599 _v12 = val1.orientation
00600 _x = _v12
00601 start = end
00602 end += 32
00603 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
00604 self.robot_state.multi_dof_joint_state.poses.append(val1)
00605 return self
00606 except struct.error as e:
00607 raise genpy.DeserializationError(e)
00608
00609
00610 def serialize_numpy(self, buff, numpy):
00611 """
00612 serialize message with numpy array types into buffer
00613 :param buff: buffer, ``StringIO``
00614 :param numpy: numpy python module
00615 """
00616 try:
00617 _x = self.model_id
00618 length = len(_x)
00619 if python3 or type(_x) == unicode:
00620 _x = _x.encode('utf-8')
00621 length = len(_x)
00622 buff.write(struct.pack('<I%ss'%length, length, _x))
00623 _x = self
00624 buff.write(_struct_3I.pack(_x.trajectory.joint_trajectory.header.seq, _x.trajectory.joint_trajectory.header.stamp.secs, _x.trajectory.joint_trajectory.header.stamp.nsecs))
00625 _x = self.trajectory.joint_trajectory.header.frame_id
00626 length = len(_x)
00627 if python3 or type(_x) == unicode:
00628 _x = _x.encode('utf-8')
00629 length = len(_x)
00630 buff.write(struct.pack('<I%ss'%length, length, _x))
00631 length = len(self.trajectory.joint_trajectory.joint_names)
00632 buff.write(_struct_I.pack(length))
00633 for val1 in self.trajectory.joint_trajectory.joint_names:
00634 length = len(val1)
00635 if python3 or type(val1) == unicode:
00636 val1 = val1.encode('utf-8')
00637 length = len(val1)
00638 buff.write(struct.pack('<I%ss'%length, length, val1))
00639 length = len(self.trajectory.joint_trajectory.points)
00640 buff.write(_struct_I.pack(length))
00641 for val1 in self.trajectory.joint_trajectory.points:
00642 length = len(val1.positions)
00643 buff.write(_struct_I.pack(length))
00644 pattern = '<%sd'%length
00645 buff.write(val1.positions.tostring())
00646 length = len(val1.velocities)
00647 buff.write(_struct_I.pack(length))
00648 pattern = '<%sd'%length
00649 buff.write(val1.velocities.tostring())
00650 length = len(val1.accelerations)
00651 buff.write(_struct_I.pack(length))
00652 pattern = '<%sd'%length
00653 buff.write(val1.accelerations.tostring())
00654 _v13 = val1.time_from_start
00655 _x = _v13
00656 buff.write(_struct_2i.pack(_x.secs, _x.nsecs))
00657 _x = self
00658 buff.write(_struct_2i.pack(_x.trajectory.multi_dof_joint_trajectory.stamp.secs, _x.trajectory.multi_dof_joint_trajectory.stamp.nsecs))
00659 length = len(self.trajectory.multi_dof_joint_trajectory.joint_names)
00660 buff.write(_struct_I.pack(length))
00661 for val1 in self.trajectory.multi_dof_joint_trajectory.joint_names:
00662 length = len(val1)
00663 if python3 or type(val1) == unicode:
00664 val1 = val1.encode('utf-8')
00665 length = len(val1)
00666 buff.write(struct.pack('<I%ss'%length, length, val1))
00667 length = len(self.trajectory.multi_dof_joint_trajectory.frame_ids)
00668 buff.write(_struct_I.pack(length))
00669 for val1 in self.trajectory.multi_dof_joint_trajectory.frame_ids:
00670 length = len(val1)
00671 if python3 or type(val1) == unicode:
00672 val1 = val1.encode('utf-8')
00673 length = len(val1)
00674 buff.write(struct.pack('<I%ss'%length, length, val1))
00675 length = len(self.trajectory.multi_dof_joint_trajectory.child_frame_ids)
00676 buff.write(_struct_I.pack(length))
00677 for val1 in self.trajectory.multi_dof_joint_trajectory.child_frame_ids:
00678 length = len(val1)
00679 if python3 or type(val1) == unicode:
00680 val1 = val1.encode('utf-8')
00681 length = len(val1)
00682 buff.write(struct.pack('<I%ss'%length, length, val1))
00683 length = len(self.trajectory.multi_dof_joint_trajectory.points)
00684 buff.write(_struct_I.pack(length))
00685 for val1 in self.trajectory.multi_dof_joint_trajectory.points:
00686 length = len(val1.poses)
00687 buff.write(_struct_I.pack(length))
00688 for val2 in val1.poses:
00689 _v14 = val2.position
00690 _x = _v14
00691 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00692 _v15 = val2.orientation
00693 _x = _v15
00694 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00695 _v16 = val1.time_from_start
00696 _x = _v16
00697 buff.write(_struct_2i.pack(_x.secs, _x.nsecs))
00698 _x = self
00699 buff.write(_struct_3I.pack(_x.robot_state.joint_state.header.seq, _x.robot_state.joint_state.header.stamp.secs, _x.robot_state.joint_state.header.stamp.nsecs))
00700 _x = self.robot_state.joint_state.header.frame_id
00701 length = len(_x)
00702 if python3 or type(_x) == unicode:
00703 _x = _x.encode('utf-8')
00704 length = len(_x)
00705 buff.write(struct.pack('<I%ss'%length, length, _x))
00706 length = len(self.robot_state.joint_state.name)
00707 buff.write(_struct_I.pack(length))
00708 for val1 in self.robot_state.joint_state.name:
00709 length = len(val1)
00710 if python3 or type(val1) == unicode:
00711 val1 = val1.encode('utf-8')
00712 length = len(val1)
00713 buff.write(struct.pack('<I%ss'%length, length, val1))
00714 length = len(self.robot_state.joint_state.position)
00715 buff.write(_struct_I.pack(length))
00716 pattern = '<%sd'%length
00717 buff.write(self.robot_state.joint_state.position.tostring())
00718 length = len(self.robot_state.joint_state.velocity)
00719 buff.write(_struct_I.pack(length))
00720 pattern = '<%sd'%length
00721 buff.write(self.robot_state.joint_state.velocity.tostring())
00722 length = len(self.robot_state.joint_state.effort)
00723 buff.write(_struct_I.pack(length))
00724 pattern = '<%sd'%length
00725 buff.write(self.robot_state.joint_state.effort.tostring())
00726 _x = self
00727 buff.write(_struct_2I.pack(_x.robot_state.multi_dof_joint_state.stamp.secs, _x.robot_state.multi_dof_joint_state.stamp.nsecs))
00728 length = len(self.robot_state.multi_dof_joint_state.joint_names)
00729 buff.write(_struct_I.pack(length))
00730 for val1 in self.robot_state.multi_dof_joint_state.joint_names:
00731 length = len(val1)
00732 if python3 or type(val1) == unicode:
00733 val1 = val1.encode('utf-8')
00734 length = len(val1)
00735 buff.write(struct.pack('<I%ss'%length, length, val1))
00736 length = len(self.robot_state.multi_dof_joint_state.frame_ids)
00737 buff.write(_struct_I.pack(length))
00738 for val1 in self.robot_state.multi_dof_joint_state.frame_ids:
00739 length = len(val1)
00740 if python3 or type(val1) == unicode:
00741 val1 = val1.encode('utf-8')
00742 length = len(val1)
00743 buff.write(struct.pack('<I%ss'%length, length, val1))
00744 length = len(self.robot_state.multi_dof_joint_state.child_frame_ids)
00745 buff.write(_struct_I.pack(length))
00746 for val1 in self.robot_state.multi_dof_joint_state.child_frame_ids:
00747 length = len(val1)
00748 if python3 or type(val1) == unicode:
00749 val1 = val1.encode('utf-8')
00750 length = len(val1)
00751 buff.write(struct.pack('<I%ss'%length, length, val1))
00752 length = len(self.robot_state.multi_dof_joint_state.poses)
00753 buff.write(_struct_I.pack(length))
00754 for val1 in self.robot_state.multi_dof_joint_state.poses:
00755 _v17 = val1.position
00756 _x = _v17
00757 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00758 _v18 = val1.orientation
00759 _x = _v18
00760 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00761 except struct.error as se: self._check_types(se)
00762 except TypeError as te: self._check_types(te)
00763
00764 def deserialize_numpy(self, str, numpy):
00765 """
00766 unpack serialized message in str into this message instance using numpy for array types
00767 :param str: byte array of serialized message, ``str``
00768 :param numpy: numpy python module
00769 """
00770 try:
00771 if self.trajectory is None:
00772 self.trajectory = arm_navigation_msgs.msg.RobotTrajectory()
00773 if self.robot_state is None:
00774 self.robot_state = arm_navigation_msgs.msg.RobotState()
00775 end = 0
00776 start = end
00777 end += 4
00778 (length,) = _struct_I.unpack(str[start:end])
00779 start = end
00780 end += length
00781 if python3:
00782 self.model_id = str[start:end].decode('utf-8')
00783 else:
00784 self.model_id = str[start:end]
00785 _x = self
00786 start = end
00787 end += 12
00788 (_x.trajectory.joint_trajectory.header.seq, _x.trajectory.joint_trajectory.header.stamp.secs, _x.trajectory.joint_trajectory.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00789 start = end
00790 end += 4
00791 (length,) = _struct_I.unpack(str[start:end])
00792 start = end
00793 end += length
00794 if python3:
00795 self.trajectory.joint_trajectory.header.frame_id = str[start:end].decode('utf-8')
00796 else:
00797 self.trajectory.joint_trajectory.header.frame_id = str[start:end]
00798 start = end
00799 end += 4
00800 (length,) = _struct_I.unpack(str[start:end])
00801 self.trajectory.joint_trajectory.joint_names = []
00802 for i in range(0, length):
00803 start = end
00804 end += 4
00805 (length,) = _struct_I.unpack(str[start:end])
00806 start = end
00807 end += length
00808 if python3:
00809 val1 = str[start:end].decode('utf-8')
00810 else:
00811 val1 = str[start:end]
00812 self.trajectory.joint_trajectory.joint_names.append(val1)
00813 start = end
00814 end += 4
00815 (length,) = _struct_I.unpack(str[start:end])
00816 self.trajectory.joint_trajectory.points = []
00817 for i in range(0, length):
00818 val1 = trajectory_msgs.msg.JointTrajectoryPoint()
00819 start = end
00820 end += 4
00821 (length,) = _struct_I.unpack(str[start:end])
00822 pattern = '<%sd'%length
00823 start = end
00824 end += struct.calcsize(pattern)
00825 val1.positions = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00826 start = end
00827 end += 4
00828 (length,) = _struct_I.unpack(str[start:end])
00829 pattern = '<%sd'%length
00830 start = end
00831 end += struct.calcsize(pattern)
00832 val1.velocities = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00833 start = end
00834 end += 4
00835 (length,) = _struct_I.unpack(str[start:end])
00836 pattern = '<%sd'%length
00837 start = end
00838 end += struct.calcsize(pattern)
00839 val1.accelerations = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00840 _v19 = val1.time_from_start
00841 _x = _v19
00842 start = end
00843 end += 8
00844 (_x.secs, _x.nsecs,) = _struct_2i.unpack(str[start:end])
00845 self.trajectory.joint_trajectory.points.append(val1)
00846 _x = self
00847 start = end
00848 end += 8
00849 (_x.trajectory.multi_dof_joint_trajectory.stamp.secs, _x.trajectory.multi_dof_joint_trajectory.stamp.nsecs,) = _struct_2i.unpack(str[start:end])
00850 start = end
00851 end += 4
00852 (length,) = _struct_I.unpack(str[start:end])
00853 self.trajectory.multi_dof_joint_trajectory.joint_names = []
00854 for i in range(0, length):
00855 start = end
00856 end += 4
00857 (length,) = _struct_I.unpack(str[start:end])
00858 start = end
00859 end += length
00860 if python3:
00861 val1 = str[start:end].decode('utf-8')
00862 else:
00863 val1 = str[start:end]
00864 self.trajectory.multi_dof_joint_trajectory.joint_names.append(val1)
00865 start = end
00866 end += 4
00867 (length,) = _struct_I.unpack(str[start:end])
00868 self.trajectory.multi_dof_joint_trajectory.frame_ids = []
00869 for i in range(0, length):
00870 start = end
00871 end += 4
00872 (length,) = _struct_I.unpack(str[start:end])
00873 start = end
00874 end += length
00875 if python3:
00876 val1 = str[start:end].decode('utf-8')
00877 else:
00878 val1 = str[start:end]
00879 self.trajectory.multi_dof_joint_trajectory.frame_ids.append(val1)
00880 start = end
00881 end += 4
00882 (length,) = _struct_I.unpack(str[start:end])
00883 self.trajectory.multi_dof_joint_trajectory.child_frame_ids = []
00884 for i in range(0, length):
00885 start = end
00886 end += 4
00887 (length,) = _struct_I.unpack(str[start:end])
00888 start = end
00889 end += length
00890 if python3:
00891 val1 = str[start:end].decode('utf-8')
00892 else:
00893 val1 = str[start:end]
00894 self.trajectory.multi_dof_joint_trajectory.child_frame_ids.append(val1)
00895 start = end
00896 end += 4
00897 (length,) = _struct_I.unpack(str[start:end])
00898 self.trajectory.multi_dof_joint_trajectory.points = []
00899 for i in range(0, length):
00900 val1 = arm_navigation_msgs.msg.MultiDOFJointTrajectoryPoint()
00901 start = end
00902 end += 4
00903 (length,) = _struct_I.unpack(str[start:end])
00904 val1.poses = []
00905 for i in range(0, length):
00906 val2 = geometry_msgs.msg.Pose()
00907 _v20 = val2.position
00908 _x = _v20
00909 start = end
00910 end += 24
00911 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00912 _v21 = val2.orientation
00913 _x = _v21
00914 start = end
00915 end += 32
00916 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
00917 val1.poses.append(val2)
00918 _v22 = val1.time_from_start
00919 _x = _v22
00920 start = end
00921 end += 8
00922 (_x.secs, _x.nsecs,) = _struct_2i.unpack(str[start:end])
00923 self.trajectory.multi_dof_joint_trajectory.points.append(val1)
00924 _x = self
00925 start = end
00926 end += 12
00927 (_x.robot_state.joint_state.header.seq, _x.robot_state.joint_state.header.stamp.secs, _x.robot_state.joint_state.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00928 start = end
00929 end += 4
00930 (length,) = _struct_I.unpack(str[start:end])
00931 start = end
00932 end += length
00933 if python3:
00934 self.robot_state.joint_state.header.frame_id = str[start:end].decode('utf-8')
00935 else:
00936 self.robot_state.joint_state.header.frame_id = str[start:end]
00937 start = end
00938 end += 4
00939 (length,) = _struct_I.unpack(str[start:end])
00940 self.robot_state.joint_state.name = []
00941 for i in range(0, length):
00942 start = end
00943 end += 4
00944 (length,) = _struct_I.unpack(str[start:end])
00945 start = end
00946 end += length
00947 if python3:
00948 val1 = str[start:end].decode('utf-8')
00949 else:
00950 val1 = str[start:end]
00951 self.robot_state.joint_state.name.append(val1)
00952 start = end
00953 end += 4
00954 (length,) = _struct_I.unpack(str[start:end])
00955 pattern = '<%sd'%length
00956 start = end
00957 end += struct.calcsize(pattern)
00958 self.robot_state.joint_state.position = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00959 start = end
00960 end += 4
00961 (length,) = _struct_I.unpack(str[start:end])
00962 pattern = '<%sd'%length
00963 start = end
00964 end += struct.calcsize(pattern)
00965 self.robot_state.joint_state.velocity = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00966 start = end
00967 end += 4
00968 (length,) = _struct_I.unpack(str[start:end])
00969 pattern = '<%sd'%length
00970 start = end
00971 end += struct.calcsize(pattern)
00972 self.robot_state.joint_state.effort = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00973 _x = self
00974 start = end
00975 end += 8
00976 (_x.robot_state.multi_dof_joint_state.stamp.secs, _x.robot_state.multi_dof_joint_state.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00977 start = end
00978 end += 4
00979 (length,) = _struct_I.unpack(str[start:end])
00980 self.robot_state.multi_dof_joint_state.joint_names = []
00981 for i in range(0, length):
00982 start = end
00983 end += 4
00984 (length,) = _struct_I.unpack(str[start:end])
00985 start = end
00986 end += length
00987 if python3:
00988 val1 = str[start:end].decode('utf-8')
00989 else:
00990 val1 = str[start:end]
00991 self.robot_state.multi_dof_joint_state.joint_names.append(val1)
00992 start = end
00993 end += 4
00994 (length,) = _struct_I.unpack(str[start:end])
00995 self.robot_state.multi_dof_joint_state.frame_ids = []
00996 for i in range(0, length):
00997 start = end
00998 end += 4
00999 (length,) = _struct_I.unpack(str[start:end])
01000 start = end
01001 end += length
01002 if python3:
01003 val1 = str[start:end].decode('utf-8')
01004 else:
01005 val1 = str[start:end]
01006 self.robot_state.multi_dof_joint_state.frame_ids.append(val1)
01007 start = end
01008 end += 4
01009 (length,) = _struct_I.unpack(str[start:end])
01010 self.robot_state.multi_dof_joint_state.child_frame_ids = []
01011 for i in range(0, length):
01012 start = end
01013 end += 4
01014 (length,) = _struct_I.unpack(str[start:end])
01015 start = end
01016 end += length
01017 if python3:
01018 val1 = str[start:end].decode('utf-8')
01019 else:
01020 val1 = str[start:end]
01021 self.robot_state.multi_dof_joint_state.child_frame_ids.append(val1)
01022 start = end
01023 end += 4
01024 (length,) = _struct_I.unpack(str[start:end])
01025 self.robot_state.multi_dof_joint_state.poses = []
01026 for i in range(0, length):
01027 val1 = geometry_msgs.msg.Pose()
01028 _v23 = val1.position
01029 _x = _v23
01030 start = end
01031 end += 24
01032 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
01033 _v24 = val1.orientation
01034 _x = _v24
01035 start = end
01036 end += 32
01037 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
01038 self.robot_state.multi_dof_joint_state.poses.append(val1)
01039 return self
01040 except struct.error as e:
01041 raise genpy.DeserializationError(e)
01042
01043 _struct_I = genpy.struct_I
01044 _struct_4d = struct.Struct("<4d")
01045 _struct_3I = struct.Struct("<3I")
01046 _struct_2i = struct.Struct("<2i")
01047 _struct_2I = struct.Struct("<2I")
01048 _struct_3d = struct.Struct("<3d")