_MultiDOFJointTrajectoryPoint.py

Go to the documentation of this file.

"""autogenerated by genpy from arm_navigation_msgs/MultiDOFJointTrajectoryPoint.msg. Do not edit."""
import sys
python3 = True if sys.hexversion > 0x03000000 else False
import genpy
import struct

import geometry_msgs.msg
import genpy

class MultiDOFJointTrajectoryPoint(genpy.Message):
  _md5sum = "9be3ee3b5fa289b5394ab4ca9e54fa4e"
  _type = "arm_navigation_msgs/MultiDOFJointTrajectoryPoint"
  _has_header = False #flag to mark the presence of a Header object
  _full_text = """geometry_msgs/Pose[] poses
duration time_from_start
================================================================================
MSG: geometry_msgs/Pose
# A representation of pose in free space, composed of postion and orientation. 
Point position
Quaternion orientation

================================================================================
MSG: geometry_msgs/Point
# This contains the position of a point in free space
float64 x
float64 y
float64 z

================================================================================
MSG: geometry_msgs/Quaternion
# This represents an orientation in free space in quaternion form.

float64 x
float64 y
float64 z
float64 w

"""
  __slots__ = ['poses','time_from_start']
  _slot_types = ['geometry_msgs/Pose[]','duration']

  def __init__(self, *args, **kwds):
    """
    Constructor. Any message fields that are implicitly/explicitly
    set to None will be assigned a default value. The recommend
    use is keyword arguments as this is more robust to future message
    changes.  You cannot mix in-order arguments and keyword arguments.

    The available fields are:
       poses,time_from_start

    :param args: complete set of field values, in .msg order
    :param kwds: use keyword arguments corresponding to message field names
    to set specific fields.
    """
    if args or kwds:
      super(MultiDOFJointTrajectoryPoint, self).__init__(*args, **kwds)
      #message fields cannot be None, assign default values for those that are
      if self.poses is None:
        self.poses = []
      if self.time_from_start is None:
        self.time_from_start = genpy.Duration()
    else:
      self.poses = []
      self.time_from_start = genpy.Duration()

  def _get_types(self):
    """
    internal API method
    """
    return self._slot_types

  def serialize(self, buff):
    """
    serialize message into buffer
    :param buff: buffer, ``StringIO``
    """
    try:
      length = len(self.poses)
      buff.write(_struct_I.pack(length))
      for val1 in self.poses:
        _v1 = val1.position
        _x = _v1
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v2 = val1.orientation
        _x = _v2
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
      _x = self
      buff.write(_struct_2i.pack(_x.time_from_start.secs, _x.time_from_start.nsecs))
    except struct.error as se: self._check_types(se)
    except TypeError as te: self._check_types(te)

  def deserialize(self, str):
    """
    unpack serialized message in str into this message instance
    :param str: byte array of serialized message, ``str``
    """
    try:
      if self.poses is None:
        self.poses = None
      if self.time_from_start is None:
        self.time_from_start = genpy.Duration()
      end = 0
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.poses = []
      for i in range(0, length):
        val1 = geometry_msgs.msg.Pose()
        _v3 = val1.position
        _x = _v3
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v4 = val1.orientation
        _x = _v4
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        self.poses.append(val1)
      _x = self
      start = end
      end += 8
      (_x.time_from_start.secs, _x.time_from_start.nsecs,) = _struct_2i.unpack(str[start:end])
      self.time_from_start.canon()
      return self
    except struct.error as e:
      raise genpy.DeserializationError(e) #most likely buffer underfill


  def serialize_numpy(self, buff, numpy):
    """
    serialize message with numpy array types into buffer
    :param buff: buffer, ``StringIO``
    :param numpy: numpy python module
    """
    try:
      length = len(self.poses)
      buff.write(_struct_I.pack(length))
      for val1 in self.poses:
        _v5 = val1.position
        _x = _v5
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v6 = val1.orientation
        _x = _v6
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
      _x = self
      buff.write(_struct_2i.pack(_x.time_from_start.secs, _x.time_from_start.nsecs))
    except struct.error as se: self._check_types(se)
    except TypeError as te: self._check_types(te)

  def deserialize_numpy(self, str, numpy):
    """
    unpack serialized message in str into this message instance using numpy for array types
    :param str: byte array of serialized message, ``str``
    :param numpy: numpy python module
    """
    try:
      if self.poses is None:
        self.poses = None
      if self.time_from_start is None:
        self.time_from_start = genpy.Duration()
      end = 0
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.poses = []
      for i in range(0, length):
        val1 = geometry_msgs.msg.Pose()
        _v7 = val1.position
        _x = _v7
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v8 = val1.orientation
        _x = _v8
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        self.poses.append(val1)
      _x = self
      start = end
      end += 8
      (_x.time_from_start.secs, _x.time_from_start.nsecs,) = _struct_2i.unpack(str[start:end])
      self.time_from_start.canon()
      return self
    except struct.error as e:
      raise genpy.DeserializationError(e) #most likely buffer underfill

_struct_I = genpy.struct_I
_struct_4d = struct.Struct("<4d")
_struct_2i = struct.Struct("<2i")
_struct_3d = struct.Struct("<3d")