00001 """autogenerated by genpy from asctec_hl_comm/mav_ctrl.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 std_msgs.msg
00008
00009 class mav_ctrl(genpy.Message):
00010 _md5sum = "845e0a830a06ad942cc0b1907c31bc38"
00011 _type = "asctec_hl_comm/mav_ctrl"
00012 _has_header = True
00013 _full_text = """Header header
00014
00015 int8 type #message type
00016
00017 # control commands, all units in SI units !!!
00018 # There are 3 operating modes of the helicopter:
00019 # 1. Acceleration: x, y, z correspond to x_dotdot etc... with the exception that yaw is angular velocity
00020 # Inputs must be in body-coordinates
00021 # Currently x~pitch, y~roll, z~thrust, units in rad and rad/s for yaw
00022 # 2. Velocity: x, y, z, yaw correspond to x_dot etc...
00023 # Vehicle must have it's own pose estimation e.g. vision/GPS
00024 # Inputs must be in body-coordinates
00025 # Units in m/s and rad/s respectively
00026 # 3. Position
00027 # Vehicle must have it's own pose estimation e.g. vision/GPS
00028 # Inputs in fixed coordinate system
00029 # v_max_* is only valid for this mode and limits the velocity a vehicle approaches the waypoint
00030
00031 float32 x
00032 float32 y
00033 float32 z
00034 float32 yaw
00035 float32 v_max_xy
00036 float32 v_max_z
00037
00038 int8 acceleration = 1
00039 int8 velocity = 2
00040 int8 position = 3
00041 int8 velocity_body = 4
00042 int8 position_body = 5
00043
00044 ================================================================================
00045 MSG: std_msgs/Header
00046 # Standard metadata for higher-level stamped data types.
00047 # This is generally used to communicate timestamped data
00048 # in a particular coordinate frame.
00049 #
00050 # sequence ID: consecutively increasing ID
00051 uint32 seq
00052 #Two-integer timestamp that is expressed as:
00053 # * stamp.secs: seconds (stamp_secs) since epoch
00054 # * stamp.nsecs: nanoseconds since stamp_secs
00055 # time-handling sugar is provided by the client library
00056 time stamp
00057 #Frame this data is associated with
00058 # 0: no frame
00059 # 1: global frame
00060 string frame_id
00061
00062 """
00063
00064 acceleration = 1
00065 velocity = 2
00066 position = 3
00067 velocity_body = 4
00068 position_body = 5
00069
00070 __slots__ = ['header','type','x','y','z','yaw','v_max_xy','v_max_z']
00071 _slot_types = ['std_msgs/Header','int8','float32','float32','float32','float32','float32','float32']
00072
00073 def __init__(self, *args, **kwds):
00074 """
00075 Constructor. Any message fields that are implicitly/explicitly
00076 set to None will be assigned a default value. The recommend
00077 use is keyword arguments as this is more robust to future message
00078 changes. You cannot mix in-order arguments and keyword arguments.
00079
00080 The available fields are:
00081 header,type,x,y,z,yaw,v_max_xy,v_max_z
00082
00083 :param args: complete set of field values, in .msg order
00084 :param kwds: use keyword arguments corresponding to message field names
00085 to set specific fields.
00086 """
00087 if args or kwds:
00088 super(mav_ctrl, self).__init__(*args, **kwds)
00089
00090 if self.header is None:
00091 self.header = std_msgs.msg.Header()
00092 if self.type is None:
00093 self.type = 0
00094 if self.x is None:
00095 self.x = 0.
00096 if self.y is None:
00097 self.y = 0.
00098 if self.z is None:
00099 self.z = 0.
00100 if self.yaw is None:
00101 self.yaw = 0.
00102 if self.v_max_xy is None:
00103 self.v_max_xy = 0.
00104 if self.v_max_z is None:
00105 self.v_max_z = 0.
00106 else:
00107 self.header = std_msgs.msg.Header()
00108 self.type = 0
00109 self.x = 0.
00110 self.y = 0.
00111 self.z = 0.
00112 self.yaw = 0.
00113 self.v_max_xy = 0.
00114 self.v_max_z = 0.
00115
00116 def _get_types(self):
00117 """
00118 internal API method
00119 """
00120 return self._slot_types
00121
00122 def serialize(self, buff):
00123 """
00124 serialize message into buffer
00125 :param buff: buffer, ``StringIO``
00126 """
00127 try:
00128 _x = self
00129 buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
00130 _x = self.header.frame_id
00131 length = len(_x)
00132 if python3 or type(_x) == unicode:
00133 _x = _x.encode('utf-8')
00134 length = len(_x)
00135 buff.write(struct.pack('<I%ss'%length, length, _x))
00136 _x = self
00137 buff.write(_struct_b6f.pack(_x.type, _x.x, _x.y, _x.z, _x.yaw, _x.v_max_xy, _x.v_max_z))
00138 except struct.error as se: self._check_types(se)
00139 except TypeError as te: self._check_types(te)
00140
00141 def deserialize(self, str):
00142 """
00143 unpack serialized message in str into this message instance
00144 :param str: byte array of serialized message, ``str``
00145 """
00146 try:
00147 if self.header is None:
00148 self.header = std_msgs.msg.Header()
00149 end = 0
00150 _x = self
00151 start = end
00152 end += 12
00153 (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00154 start = end
00155 end += 4
00156 (length,) = _struct_I.unpack(str[start:end])
00157 start = end
00158 end += length
00159 if python3:
00160 self.header.frame_id = str[start:end].decode('utf-8')
00161 else:
00162 self.header.frame_id = str[start:end]
00163 _x = self
00164 start = end
00165 end += 25
00166 (_x.type, _x.x, _x.y, _x.z, _x.yaw, _x.v_max_xy, _x.v_max_z,) = _struct_b6f.unpack(str[start:end])
00167 return self
00168 except struct.error as e:
00169 raise genpy.DeserializationError(e)
00170
00171
00172 def serialize_numpy(self, buff, numpy):
00173 """
00174 serialize message with numpy array types into buffer
00175 :param buff: buffer, ``StringIO``
00176 :param numpy: numpy python module
00177 """
00178 try:
00179 _x = self
00180 buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
00181 _x = self.header.frame_id
00182 length = len(_x)
00183 if python3 or type(_x) == unicode:
00184 _x = _x.encode('utf-8')
00185 length = len(_x)
00186 buff.write(struct.pack('<I%ss'%length, length, _x))
00187 _x = self
00188 buff.write(_struct_b6f.pack(_x.type, _x.x, _x.y, _x.z, _x.yaw, _x.v_max_xy, _x.v_max_z))
00189 except struct.error as se: self._check_types(se)
00190 except TypeError as te: self._check_types(te)
00191
00192 def deserialize_numpy(self, str, numpy):
00193 """
00194 unpack serialized message in str into this message instance using numpy for array types
00195 :param str: byte array of serialized message, ``str``
00196 :param numpy: numpy python module
00197 """
00198 try:
00199 if self.header is None:
00200 self.header = std_msgs.msg.Header()
00201 end = 0
00202 _x = self
00203 start = end
00204 end += 12
00205 (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00206 start = end
00207 end += 4
00208 (length,) = _struct_I.unpack(str[start:end])
00209 start = end
00210 end += length
00211 if python3:
00212 self.header.frame_id = str[start:end].decode('utf-8')
00213 else:
00214 self.header.frame_id = str[start:end]
00215 _x = self
00216 start = end
00217 end += 25
00218 (_x.type, _x.x, _x.y, _x.z, _x.yaw, _x.v_max_xy, _x.v_max_z,) = _struct_b6f.unpack(str[start:end])
00219 return self
00220 except struct.error as e:
00221 raise genpy.DeserializationError(e)
00222
00223 _struct_I = genpy.struct_I
00224 _struct_3I = struct.Struct("<3I")
00225 _struct_b6f = struct.Struct("<b6f")