00001 """autogenerated by genpy from articulation_msgs/TrackMsg.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 sensor_msgs.msg
00008 import geometry_msgs.msg
00009 import std_msgs.msg
00010
00011 class TrackMsg(genpy.Message):
00012 _md5sum = "f74375fd0f97f92e2767ab0a80c15590"
00013 _type = "articulation_msgs/TrackMsg"
00014 _has_header = True
00015 _full_text = """# Single kinematic trajectory
00016 #
00017 # This message contains a kinematic trajectory. The trajectory is specified
00018 # as a vector of 6D poses. An additional flag, track_type, indicates whether
00019 # the track is valid, and whether it includes orientation. The track id
00020 # can be used for automatic coloring in the RVIZ track plugin, and can be
00021 # freely chosen by the client.
00022 #
00023 # A model is fitting only from the trajectory stored in the pose[]-vector.
00024 # Additional information may be associated to each pose using the channels
00025 # vector, with arbitrary # fields (e.g., to include applied/measured forces).
00026 #
00027 # After model evaluation,
00028 # also the associated configurations of the object are stored in the channels,
00029 # named "q[0]".."q[DOF-1]", where DOF is the number of degrees of freedom.
00030 # Model evaluation also projects the poses in the pose vector onto the model,
00031 # and stores these ideal poses in the vector pose_projected. Further, during model
00032 # evaluation, a new set of (uniform) configurations over the valid configuration
00033 # range is sampled, and the result is stored in pose_resampled.
00034 # The vector pose_flags contains additional display flags for the poses in the
00035 # pose vector, for example, whether a pose is visible and/or
00036 # the end of a trajectory segment. At the moment, this is only used by the
00037 # prior_model_learner.
00038 #
00039
00040 std_msgs/Header header # frame and timestamp
00041 int32 id # used-specified track id
00042
00043 geometry_msgs/Pose[] pose # sequence of poses, defining the observed trajectory
00044 std_msgs/Header[] pose_headers # Timestamp and frame for each pose (and pose_projected)
00045 geometry_msgs/Pose[] pose_projected # sequence of poses, projected to the model
00046 # (after model evaluation)
00047 geometry_msgs/Pose[] pose_resampled # sequence of poses, re-sampled from the model in
00048 # the valid configuration range
00049 uint32[] pose_flags # bit-wise combination of POSE_VISIBLE and POSE_END_OF_SEGMENT
00050
00051 uint32 POSE_VISIBLE=1
00052 uint32 POSE_END_OF_SEGMENT=2
00053
00054 # Each channel should have the same number of elements as pose array,
00055 # and the data in each channel should correspond 1:1 with each pose
00056 # possible channels: "width", "height", "rgb", ...
00057 sensor_msgs/ChannelFloat32[] channels
00058
00059
00060
00061 ================================================================================
00062 MSG: std_msgs/Header
00063 # Standard metadata for higher-level stamped data types.
00064 # This is generally used to communicate timestamped data
00065 # in a particular coordinate frame.
00066 #
00067 # sequence ID: consecutively increasing ID
00068 uint32 seq
00069 #Two-integer timestamp that is expressed as:
00070 # * stamp.secs: seconds (stamp_secs) since epoch
00071 # * stamp.nsecs: nanoseconds since stamp_secs
00072 # time-handling sugar is provided by the client library
00073 time stamp
00074 #Frame this data is associated with
00075 # 0: no frame
00076 # 1: global frame
00077 string frame_id
00078
00079 ================================================================================
00080 MSG: geometry_msgs/Pose
00081 # A representation of pose in free space, composed of postion and orientation.
00082 Point position
00083 Quaternion orientation
00084
00085 ================================================================================
00086 MSG: geometry_msgs/Point
00087 # This contains the position of a point in free space
00088 float64 x
00089 float64 y
00090 float64 z
00091
00092 ================================================================================
00093 MSG: geometry_msgs/Quaternion
00094 # This represents an orientation in free space in quaternion form.
00095
00096 float64 x
00097 float64 y
00098 float64 z
00099 float64 w
00100
00101 ================================================================================
00102 MSG: sensor_msgs/ChannelFloat32
00103 # This message is used by the PointCloud message to hold optional data
00104 # associated with each point in the cloud. The length of the values
00105 # array should be the same as the length of the points array in the
00106 # PointCloud, and each value should be associated with the corresponding
00107 # point.
00108
00109 # Channel names in existing practice include:
00110 # "u", "v" - row and column (respectively) in the left stereo image.
00111 # This is opposite to usual conventions but remains for
00112 # historical reasons. The newer PointCloud2 message has no
00113 # such problem.
00114 # "rgb" - For point clouds produced by color stereo cameras. uint8
00115 # (R,G,B) values packed into the least significant 24 bits,
00116 # in order.
00117 # "intensity" - laser or pixel intensity.
00118 # "distance"
00119
00120 # The channel name should give semantics of the channel (e.g.
00121 # "intensity" instead of "value").
00122 string name
00123
00124 # The values array should be 1-1 with the elements of the associated
00125 # PointCloud.
00126 float32[] values
00127
00128 """
00129 # Pseudo-constants
00130 POSE_VISIBLE = 1
00131 POSE_END_OF_SEGMENT = 2
00132
00133 __slots__ = ['header','id','pose','pose_headers','pose_projected','pose_resampled','pose_flags','channels']
00134 _slot_types = ['std_msgs/Header','int32','geometry_msgs/Pose[]','std_msgs/Header[]','geometry_msgs/Pose[]','geometry_msgs/Pose[]','uint32[]','sensor_msgs/ChannelFloat32[]']
00135
00136 def __init__(self, *args, **kwds):
00137 """
00138 Constructor. Any message fields that are implicitly/explicitly
00139 set to None will be assigned a default value. The recommend
00140 use is keyword arguments as this is more robust to future message
00141 changes. You cannot mix in-order arguments and keyword arguments.
00142
00143 The available fields are:
00144 header,id,pose,pose_headers,pose_projected,pose_resampled,pose_flags,channels
00145
00146 :param args: complete set of field values, in .msg order
00147 :param kwds: use keyword arguments corresponding to message field names
00148 to set specific fields.
00149 """
00150 if args or kwds:
00151 super(TrackMsg, self).__init__(*args, **kwds)
00152 #message fields cannot be None, assign default values for those that are
00153 if self.header is None:
00154 self.header = std_msgs.msg.Header()
00155 if self.id is None:
00156 self.id = 0
00157 if self.pose is None:
00158 self.pose = []
00159 if self.pose_headers is None:
00160 self.pose_headers = []
00161 if self.pose_projected is None:
00162 self.pose_projected = []
00163 if self.pose_resampled is None:
00164 self.pose_resampled = []
00165 if self.pose_flags is None:
00166 self.pose_flags = []
00167 if self.channels is None:
00168 self.channels = []
00169 else:
00170 self.header = std_msgs.msg.Header()
00171 self.id = 0
00172 self.pose = []
00173 self.pose_headers = []
00174 self.pose_projected = []
00175 self.pose_resampled = []
00176 self.pose_flags = []
00177 self.channels = []
00178
00179 def _get_types(self):
00180 """
00181 internal API method
00182 """
00183 return self._slot_types
00184
00185 def serialize(self, buff):
00186 """
00187 serialize message into buffer
00188 :param buff: buffer, ``StringIO``
00189 """
00190 try:
00191 _x = self
00192 buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
00193 _x = self.header.frame_id
00194 length = len(_x)
00195 if python3 or type(_x) == unicode:
00196 _x = _x.encode('utf-8')
00197 length = len(_x)
00198 buff.write(struct.pack('<I%ss'%length, length, _x))
00199 buff.write(_struct_i.pack(self.id))
00200 length = len(self.pose)
00201 buff.write(_struct_I.pack(length))
00202 for val1 in self.pose:
00203 _v1 = val1.position
00204 _x = _v1
00205 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00206 _v2 = val1.orientation
00207 _x = _v2
00208 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00209 length = len(self.pose_headers)
00210 buff.write(_struct_I.pack(length))
00211 for val1 in self.pose_headers:
00212 buff.write(_struct_I.pack(val1.seq))
00213 _v3 = val1.stamp
00214 _x = _v3
00215 buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00216 _x = val1.frame_id
00217 length = len(_x)
00218 if python3 or type(_x) == unicode:
00219 _x = _x.encode('utf-8')
00220 length = len(_x)
00221 buff.write(struct.pack('<I%ss'%length, length, _x))
00222 length = len(self.pose_projected)
00223 buff.write(_struct_I.pack(length))
00224 for val1 in self.pose_projected:
00225 _v4 = val1.position
00226 _x = _v4
00227 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00228 _v5 = val1.orientation
00229 _x = _v5
00230 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00231 length = len(self.pose_resampled)
00232 buff.write(_struct_I.pack(length))
00233 for val1 in self.pose_resampled:
00234 _v6 = val1.position
00235 _x = _v6
00236 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00237 _v7 = val1.orientation
00238 _x = _v7
00239 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00240 length = len(self.pose_flags)
00241 buff.write(_struct_I.pack(length))
00242 pattern = '<%sI'%length
00243 buff.write(struct.pack(pattern, *self.pose_flags))
00244 length = len(self.channels)
00245 buff.write(_struct_I.pack(length))
00246 for val1 in self.channels:
00247 _x = val1.name
00248 length = len(_x)
00249 if python3 or type(_x) == unicode:
00250 _x = _x.encode('utf-8')
00251 length = len(_x)
00252 buff.write(struct.pack('<I%ss'%length, length, _x))
00253 length = len(val1.values)
00254 buff.write(_struct_I.pack(length))
00255 pattern = '<%sf'%length
00256 buff.write(struct.pack(pattern, *val1.values))
00257 except struct.error as se: self._check_types(se)
00258 except TypeError as te: self._check_types(te)
00259
00260 def deserialize(self, str):
00261 """
00262 unpack serialized message in str into this message instance
00263 :param str: byte array of serialized message, ``str``
00264 """
00265 try:
00266 if self.header is None:
00267 self.header = std_msgs.msg.Header()
00268 if self.pose is None:
00269 self.pose = None
00270 if self.pose_headers is None:
00271 self.pose_headers = None
00272 if self.pose_projected is None:
00273 self.pose_projected = None
00274 if self.pose_resampled is None:
00275 self.pose_resampled = None
00276 if self.channels is None:
00277 self.channels = None
00278 end = 0
00279 _x = self
00280 start = end
00281 end += 12
00282 (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00283 start = end
00284 end += 4
00285 (length,) = _struct_I.unpack(str[start:end])
00286 start = end
00287 end += length
00288 if python3:
00289 self.header.frame_id = str[start:end].decode('utf-8')
00290 else:
00291 self.header.frame_id = str[start:end]
00292 start = end
00293 end += 4
00294 (self.id,) = _struct_i.unpack(str[start:end])
00295 start = end
00296 end += 4
00297 (length,) = _struct_I.unpack(str[start:end])
00298 self.pose = []
00299 for i in range(0, length):
00300 val1 = geometry_msgs.msg.Pose()
00301 _v8 = val1.position
00302 _x = _v8
00303 start = end
00304 end += 24
00305 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00306 _v9 = val1.orientation
00307 _x = _v9
00308 start = end
00309 end += 32
00310 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
00311 self.pose.append(val1)
00312 start = end
00313 end += 4
00314 (length,) = _struct_I.unpack(str[start:end])
00315 self.pose_headers = []
00316 for i in range(0, length):
00317 val1 = std_msgs.msg.Header()
00318 start = end
00319 end += 4
00320 (val1.seq,) = _struct_I.unpack(str[start:end])
00321 _v10 = val1.stamp
00322 _x = _v10
00323 start = end
00324 end += 8
00325 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
00326 start = end
00327 end += 4
00328 (length,) = _struct_I.unpack(str[start:end])
00329 start = end
00330 end += length
00331 if python3:
00332 val1.frame_id = str[start:end].decode('utf-8')
00333 else:
00334 val1.frame_id = str[start:end]
00335 self.pose_headers.append(val1)
00336 start = end
00337 end += 4
00338 (length,) = _struct_I.unpack(str[start:end])
00339 self.pose_projected = []
00340 for i in range(0, length):
00341 val1 = geometry_msgs.msg.Pose()
00342 _v11 = val1.position
00343 _x = _v11
00344 start = end
00345 end += 24
00346 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00347 _v12 = val1.orientation
00348 _x = _v12
00349 start = end
00350 end += 32
00351 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
00352 self.pose_projected.append(val1)
00353 start = end
00354 end += 4
00355 (length,) = _struct_I.unpack(str[start:end])
00356 self.pose_resampled = []
00357 for i in range(0, length):
00358 val1 = geometry_msgs.msg.Pose()
00359 _v13 = val1.position
00360 _x = _v13
00361 start = end
00362 end += 24
00363 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00364 _v14 = val1.orientation
00365 _x = _v14
00366 start = end
00367 end += 32
00368 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
00369 self.pose_resampled.append(val1)
00370 start = end
00371 end += 4
00372 (length,) = _struct_I.unpack(str[start:end])
00373 pattern = '<%sI'%length
00374 start = end
00375 end += struct.calcsize(pattern)
00376 self.pose_flags = struct.unpack(pattern, str[start:end])
00377 start = end
00378 end += 4
00379 (length,) = _struct_I.unpack(str[start:end])
00380 self.channels = []
00381 for i in range(0, length):
00382 val1 = sensor_msgs.msg.ChannelFloat32()
00383 start = end
00384 end += 4
00385 (length,) = _struct_I.unpack(str[start:end])
00386 start = end
00387 end += length
00388 if python3:
00389 val1.name = str[start:end].decode('utf-8')
00390 else:
00391 val1.name = str[start:end]
00392 start = end
00393 end += 4
00394 (length,) = _struct_I.unpack(str[start:end])
00395 pattern = '<%sf'%length
00396 start = end
00397 end += struct.calcsize(pattern)
00398 val1.values = struct.unpack(pattern, str[start:end])
00399 self.channels.append(val1)
00400 return self
00401 except struct.error as e:
00402 raise genpy.DeserializationError(e) #most likely buffer underfill
00403
00404
00405 def serialize_numpy(self, buff, numpy):
00406 """
00407 serialize message with numpy array types into buffer
00408 :param buff: buffer, ``StringIO``
00409 :param numpy: numpy python module
00410 """
00411 try:
00412 _x = self
00413 buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
00414 _x = self.header.frame_id
00415 length = len(_x)
00416 if python3 or type(_x) == unicode:
00417 _x = _x.encode('utf-8')
00418 length = len(_x)
00419 buff.write(struct.pack('<I%ss'%length, length, _x))
00420 buff.write(_struct_i.pack(self.id))
00421 length = len(self.pose)
00422 buff.write(_struct_I.pack(length))
00423 for val1 in self.pose:
00424 _v15 = val1.position
00425 _x = _v15
00426 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00427 _v16 = val1.orientation
00428 _x = _v16
00429 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00430 length = len(self.pose_headers)
00431 buff.write(_struct_I.pack(length))
00432 for val1 in self.pose_headers:
00433 buff.write(_struct_I.pack(val1.seq))
00434 _v17 = val1.stamp
00435 _x = _v17
00436 buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00437 _x = val1.frame_id
00438 length = len(_x)
00439 if python3 or type(_x) == unicode:
00440 _x = _x.encode('utf-8')
00441 length = len(_x)
00442 buff.write(struct.pack('<I%ss'%length, length, _x))
00443 length = len(self.pose_projected)
00444 buff.write(_struct_I.pack(length))
00445 for val1 in self.pose_projected:
00446 _v18 = val1.position
00447 _x = _v18
00448 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00449 _v19 = val1.orientation
00450 _x = _v19
00451 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00452 length = len(self.pose_resampled)
00453 buff.write(_struct_I.pack(length))
00454 for val1 in self.pose_resampled:
00455 _v20 = val1.position
00456 _x = _v20
00457 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00458 _v21 = val1.orientation
00459 _x = _v21
00460 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00461 length = len(self.pose_flags)
00462 buff.write(_struct_I.pack(length))
00463 pattern = '<%sI'%length
00464 buff.write(self.pose_flags.tostring())
00465 length = len(self.channels)
00466 buff.write(_struct_I.pack(length))
00467 for val1 in self.channels:
00468 _x = val1.name
00469 length = len(_x)
00470 if python3 or type(_x) == unicode:
00471 _x = _x.encode('utf-8')
00472 length = len(_x)
00473 buff.write(struct.pack('<I%ss'%length, length, _x))
00474 length = len(val1.values)
00475 buff.write(_struct_I.pack(length))
00476 pattern = '<%sf'%length
00477 buff.write(val1.values.tostring())
00478 except struct.error as se: self._check_types(se)
00479 except TypeError as te: self._check_types(te)
00480
00481 def deserialize_numpy(self, str, numpy):
00482 """
00483 unpack serialized message in str into this message instance using numpy for array types
00484 :param str: byte array of serialized message, ``str``
00485 :param numpy: numpy python module
00486 """
00487 try:
00488 if self.header is None:
00489 self.header = std_msgs.msg.Header()
00490 if self.pose is None:
00491 self.pose = None
00492 if self.pose_headers is None:
00493 self.pose_headers = None
00494 if self.pose_projected is None:
00495 self.pose_projected = None
00496 if self.pose_resampled is None:
00497 self.pose_resampled = None
00498 if self.channels is None:
00499 self.channels = None
00500 end = 0
00501 _x = self
00502 start = end
00503 end += 12
00504 (_x.header.seq, _x.header.stamp.secs, _x.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 if python3:
00511 self.header.frame_id = str[start:end].decode('utf-8')
00512 else:
00513 self.header.frame_id = str[start:end]
00514 start = end
00515 end += 4
00516 (self.id,) = _struct_i.unpack(str[start:end])
00517 start = end
00518 end += 4
00519 (length,) = _struct_I.unpack(str[start:end])
00520 self.pose = []
00521 for i in range(0, length):
00522 val1 = geometry_msgs.msg.Pose()
00523 _v22 = val1.position
00524 _x = _v22
00525 start = end
00526 end += 24
00527 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00528 _v23 = val1.orientation
00529 _x = _v23
00530 start = end
00531 end += 32
00532 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
00533 self.pose.append(val1)
00534 start = end
00535 end += 4
00536 (length,) = _struct_I.unpack(str[start:end])
00537 self.pose_headers = []
00538 for i in range(0, length):
00539 val1 = std_msgs.msg.Header()
00540 start = end
00541 end += 4
00542 (val1.seq,) = _struct_I.unpack(str[start:end])
00543 _v24 = val1.stamp
00544 _x = _v24
00545 start = end
00546 end += 8
00547 (_x.secs, _x.nsecs,) = _struct_2I.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 if python3:
00554 val1.frame_id = str[start:end].decode('utf-8')
00555 else:
00556 val1.frame_id = str[start:end]
00557 self.pose_headers.append(val1)
00558 start = end
00559 end += 4
00560 (length,) = _struct_I.unpack(str[start:end])
00561 self.pose_projected = []
00562 for i in range(0, length):
00563 val1 = geometry_msgs.msg.Pose()
00564 _v25 = val1.position
00565 _x = _v25
00566 start = end
00567 end += 24
00568 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00569 _v26 = val1.orientation
00570 _x = _v26
00571 start = end
00572 end += 32
00573 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
00574 self.pose_projected.append(val1)
00575 start = end
00576 end += 4
00577 (length,) = _struct_I.unpack(str[start:end])
00578 self.pose_resampled = []
00579 for i in range(0, length):
00580 val1 = geometry_msgs.msg.Pose()
00581 _v27 = val1.position
00582 _x = _v27
00583 start = end
00584 end += 24
00585 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00586 _v28 = val1.orientation
00587 _x = _v28
00588 start = end
00589 end += 32
00590 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
00591 self.pose_resampled.append(val1)
00592 start = end
00593 end += 4
00594 (length,) = _struct_I.unpack(str[start:end])
00595 pattern = '<%sI'%length
00596 start = end
00597 end += struct.calcsize(pattern)
00598 self.pose_flags = numpy.frombuffer(str[start:end], dtype=numpy.uint32, count=length)
00599 start = end
00600 end += 4
00601 (length,) = _struct_I.unpack(str[start:end])
00602 self.channels = []
00603 for i in range(0, length):
00604 val1 = sensor_msgs.msg.ChannelFloat32()
00605 start = end
00606 end += 4
00607 (length,) = _struct_I.unpack(str[start:end])
00608 start = end
00609 end += length
00610 if python3:
00611 val1.name = str[start:end].decode('utf-8')
00612 else:
00613 val1.name = str[start:end]
00614 start = end
00615 end += 4
00616 (length,) = _struct_I.unpack(str[start:end])
00617 pattern = '<%sf'%length
00618 start = end
00619 end += struct.calcsize(pattern)
00620 val1.values = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=length)
00621 self.channels.append(val1)
00622 return self
00623 except struct.error as e:
00624 raise genpy.DeserializationError(e) #most likely buffer underfill
00625
00626 _struct_I = genpy.struct_I
00627 _struct_i = struct.Struct("<i")
00628 _struct_3I = struct.Struct("<3I")
00629 _struct_4d = struct.Struct("<4d")
00630 _struct_2I = struct.Struct("<2I")
00631 _struct_3d = struct.Struct("<3d")
