_GetChompCollisionCost.py

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

import arm_navigation_msgs.msg
import geometry_msgs.msg
import std_msgs.msg
import genpy
import sensor_msgs.msg

class GetChompCollisionCostRequest(genpy.Message):
  _md5sum = "acabb6bac55143035edcf10159a5b130"
  _type = "chomp_motion_planner/GetChompCollisionCostRequest"
  _has_header = False #flag to mark the presence of a Header object
  _full_text = """
string[] links



arm_navigation_msgs/RobotState state


================================================================================
MSG: arm_navigation_msgs/RobotState
# This message contains information about the robot state, i.e. the positions of its joints and links
sensor_msgs/JointState joint_state
arm_navigation_msgs/MultiDOFJointState multi_dof_joint_state

================================================================================
MSG: sensor_msgs/JointState
# This is a message that holds data to describe the state of a set of torque controlled joints. 
#
# The state of each joint (revolute or prismatic) is defined by:
#  * the position of the joint (rad or m),
#  * the velocity of the joint (rad/s or m/s) and 
#  * the effort that is applied in the joint (Nm or N).
#
# Each joint is uniquely identified by its name
# The header specifies the time at which the joint states were recorded. All the joint states
# in one message have to be recorded at the same time.
#
# This message consists of a multiple arrays, one for each part of the joint state. 
# The goal is to make each of the fields optional. When e.g. your joints have no
# effort associated with them, you can leave the effort array empty. 
#
# All arrays in this message should have the same size, or be empty.
# This is the only way to uniquely associate the joint name with the correct
# states.


Header header

string[] name
float64[] position
float64[] velocity
float64[] effort

================================================================================
MSG: std_msgs/Header
# Standard metadata for higher-level stamped data types.
# This is generally used to communicate timestamped data 
# in a particular coordinate frame.
# 
# sequence ID: consecutively increasing ID 
uint32 seq
#Two-integer timestamp that is expressed as:
# * stamp.secs: seconds (stamp_secs) since epoch
# * stamp.nsecs: nanoseconds since stamp_secs
# time-handling sugar is provided by the client library
time stamp
#Frame this data is associated with
# 0: no frame
# 1: global frame
string frame_id

================================================================================
MSG: arm_navigation_msgs/MultiDOFJointState
#A representation of a multi-dof joint state
time stamp
string[] joint_names
string[] frame_ids
string[] child_frame_ids
geometry_msgs/Pose[] poses

================================================================================
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__ = ['links','state']
  _slot_types = ['string[]','arm_navigation_msgs/RobotState']

  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:
       links,state

    :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(GetChompCollisionCostRequest, self).__init__(*args, **kwds)
      #message fields cannot be None, assign default values for those that are
      if self.links is None:
        self.links = []
      if self.state is None:
        self.state = arm_navigation_msgs.msg.RobotState()
    else:
      self.links = []
      self.state = arm_navigation_msgs.msg.RobotState()

  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.links)
      buff.write(_struct_I.pack(length))
      for val1 in self.links:
        length = len(val1)
        if python3 or type(val1) == unicode:
          val1 = val1.encode('utf-8')
          length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      _x = self
      buff.write(_struct_3I.pack(_x.state.joint_state.header.seq, _x.state.joint_state.header.stamp.secs, _x.state.joint_state.header.stamp.nsecs))
      _x = self.state.joint_state.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.state.joint_state.name)
      buff.write(_struct_I.pack(length))
      for val1 in self.state.joint_state.name:
        length = len(val1)
        if python3 or type(val1) == unicode:
          val1 = val1.encode('utf-8')
          length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.state.joint_state.position)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.state.joint_state.position))
      length = len(self.state.joint_state.velocity)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.state.joint_state.velocity))
      length = len(self.state.joint_state.effort)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.state.joint_state.effort))
      _x = self
      buff.write(_struct_2I.pack(_x.state.multi_dof_joint_state.stamp.secs, _x.state.multi_dof_joint_state.stamp.nsecs))
      length = len(self.state.multi_dof_joint_state.joint_names)
      buff.write(_struct_I.pack(length))
      for val1 in self.state.multi_dof_joint_state.joint_names:
        length = len(val1)
        if python3 or type(val1) == unicode:
          val1 = val1.encode('utf-8')
          length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.state.multi_dof_joint_state.frame_ids)
      buff.write(_struct_I.pack(length))
      for val1 in self.state.multi_dof_joint_state.frame_ids:
        length = len(val1)
        if python3 or type(val1) == unicode:
          val1 = val1.encode('utf-8')
          length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.state.multi_dof_joint_state.child_frame_ids)
      buff.write(_struct_I.pack(length))
      for val1 in self.state.multi_dof_joint_state.child_frame_ids:
        length = len(val1)
        if python3 or type(val1) == unicode:
          val1 = val1.encode('utf-8')
          length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.state.multi_dof_joint_state.poses)
      buff.write(_struct_I.pack(length))
      for val1 in self.state.multi_dof_joint_state.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))
    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.state is None:
        self.state = arm_navigation_msgs.msg.RobotState()
      end = 0
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.links = []
      for i in range(0, length):
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1 = str[start:end].decode('utf-8')
        else:
          val1 = str[start:end]
        self.links.append(val1)
      _x = self
      start = end
      end += 12
      (_x.state.joint_state.header.seq, _x.state.joint_state.header.stamp.secs, _x.state.joint_state.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.state.joint_state.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.state.joint_state.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.state.joint_state.name = []
      for i in range(0, length):
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1 = str[start:end].decode('utf-8')
        else:
          val1 = str[start:end]
        self.state.joint_state.name.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.state.joint_state.position = struct.unpack(pattern, str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.state.joint_state.velocity = struct.unpack(pattern, str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.state.joint_state.effort = struct.unpack(pattern, str[start:end])
      _x = self
      start = end
      end += 8
      (_x.state.multi_dof_joint_state.stamp.secs, _x.state.multi_dof_joint_state.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.state.multi_dof_joint_state.joint_names = []
      for i in range(0, length):
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1 = str[start:end].decode('utf-8')
        else:
          val1 = str[start:end]
        self.state.multi_dof_joint_state.joint_names.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.state.multi_dof_joint_state.frame_ids = []
      for i in range(0, length):
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1 = str[start:end].decode('utf-8')
        else:
          val1 = str[start:end]
        self.state.multi_dof_joint_state.frame_ids.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.state.multi_dof_joint_state.child_frame_ids = []
      for i in range(0, length):
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1 = str[start:end].decode('utf-8')
        else:
          val1 = str[start:end]
        self.state.multi_dof_joint_state.child_frame_ids.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.state.multi_dof_joint_state.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.state.multi_dof_joint_state.poses.append(val1)
      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.links)
      buff.write(_struct_I.pack(length))
      for val1 in self.links:
        length = len(val1)
        if python3 or type(val1) == unicode:
          val1 = val1.encode('utf-8')
          length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      _x = self
      buff.write(_struct_3I.pack(_x.state.joint_state.header.seq, _x.state.joint_state.header.stamp.secs, _x.state.joint_state.header.stamp.nsecs))
      _x = self.state.joint_state.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.state.joint_state.name)
      buff.write(_struct_I.pack(length))
      for val1 in self.state.joint_state.name:
        length = len(val1)
        if python3 or type(val1) == unicode:
          val1 = val1.encode('utf-8')
          length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.state.joint_state.position)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.state.joint_state.position.tostring())
      length = len(self.state.joint_state.velocity)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.state.joint_state.velocity.tostring())
      length = len(self.state.joint_state.effort)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.state.joint_state.effort.tostring())
      _x = self
      buff.write(_struct_2I.pack(_x.state.multi_dof_joint_state.stamp.secs, _x.state.multi_dof_joint_state.stamp.nsecs))
      length = len(self.state.multi_dof_joint_state.joint_names)
      buff.write(_struct_I.pack(length))
      for val1 in self.state.multi_dof_joint_state.joint_names:
        length = len(val1)
        if python3 or type(val1) == unicode:
          val1 = val1.encode('utf-8')
          length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.state.multi_dof_joint_state.frame_ids)
      buff.write(_struct_I.pack(length))
      for val1 in self.state.multi_dof_joint_state.frame_ids:
        length = len(val1)
        if python3 or type(val1) == unicode:
          val1 = val1.encode('utf-8')
          length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.state.multi_dof_joint_state.child_frame_ids)
      buff.write(_struct_I.pack(length))
      for val1 in self.state.multi_dof_joint_state.child_frame_ids:
        length = len(val1)
        if python3 or type(val1) == unicode:
          val1 = val1.encode('utf-8')
          length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.state.multi_dof_joint_state.poses)
      buff.write(_struct_I.pack(length))
      for val1 in self.state.multi_dof_joint_state.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))
    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.state is None:
        self.state = arm_navigation_msgs.msg.RobotState()
      end = 0
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.links = []
      for i in range(0, length):
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1 = str[start:end].decode('utf-8')
        else:
          val1 = str[start:end]
        self.links.append(val1)
      _x = self
      start = end
      end += 12
      (_x.state.joint_state.header.seq, _x.state.joint_state.header.stamp.secs, _x.state.joint_state.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.state.joint_state.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.state.joint_state.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.state.joint_state.name = []
      for i in range(0, length):
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1 = str[start:end].decode('utf-8')
        else:
          val1 = str[start:end]
        self.state.joint_state.name.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.state.joint_state.position = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.state.joint_state.velocity = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.state.joint_state.effort = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
      _x = self
      start = end
      end += 8
      (_x.state.multi_dof_joint_state.stamp.secs, _x.state.multi_dof_joint_state.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.state.multi_dof_joint_state.joint_names = []
      for i in range(0, length):
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1 = str[start:end].decode('utf-8')
        else:
          val1 = str[start:end]
        self.state.multi_dof_joint_state.joint_names.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.state.multi_dof_joint_state.frame_ids = []
      for i in range(0, length):
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1 = str[start:end].decode('utf-8')
        else:
          val1 = str[start:end]
        self.state.multi_dof_joint_state.frame_ids.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.state.multi_dof_joint_state.child_frame_ids = []
      for i in range(0, length):
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1 = str[start:end].decode('utf-8')
        else:
          val1 = str[start:end]
        self.state.multi_dof_joint_state.child_frame_ids.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.state.multi_dof_joint_state.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.state.multi_dof_joint_state.poses.append(val1)
      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_3I = struct.Struct("<3I")
_struct_2I = struct.Struct("<2I")
_struct_3d = struct.Struct("<3d")
"""autogenerated by genpy from chomp_motion_planner/GetChompCollisionCostResponse.msg. Do not edit."""
import sys
python3 = True if sys.hexversion > 0x03000000 else False
import genpy
import struct

import chomp_motion_planner.msg

class GetChompCollisionCostResponse(genpy.Message):
  _md5sum = "bed009b7d4d6620621ef40430dbc9236"
  _type = "chomp_motion_planner/GetChompCollisionCostResponse"
  _has_header = False #flag to mark the presence of a Header object
  _full_text = """

float64[] costs




JointVelocityArray[] gradient


uint8 in_collision


================================================================================
MSG: chomp_motion_planner/JointVelocityArray
# A list of joint names
string[] joint_names

# Velocity for each of the above joints
float64[] velocities

"""
  __slots__ = ['costs','gradient','in_collision']
  _slot_types = ['float64[]','chomp_motion_planner/JointVelocityArray[]','uint8']

  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:
       costs,gradient,in_collision

    :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(GetChompCollisionCostResponse, self).__init__(*args, **kwds)
      #message fields cannot be None, assign default values for those that are
      if self.costs is None:
        self.costs = []
      if self.gradient is None:
        self.gradient = []
      if self.in_collision is None:
        self.in_collision = 0
    else:
      self.costs = []
      self.gradient = []
      self.in_collision = 0

  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.costs)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.costs))
      length = len(self.gradient)
      buff.write(_struct_I.pack(length))
      for val1 in self.gradient:
        length = len(val1.joint_names)
        buff.write(_struct_I.pack(length))
        for val2 in val1.joint_names:
          length = len(val2)
          if python3 or type(val2) == unicode:
            val2 = val2.encode('utf-8')
            length = len(val2)
          buff.write(struct.pack('<I%ss'%length, length, val2))
        length = len(val1.velocities)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(struct.pack(pattern, *val1.velocities))
      buff.write(_struct_B.pack(self.in_collision))
    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.gradient is None:
        self.gradient = None
      end = 0
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.costs = struct.unpack(pattern, str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.gradient = []
      for i in range(0, length):
        val1 = chomp_motion_planner.msg.JointVelocityArray()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.joint_names = []
        for i in range(0, length):
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            val2 = str[start:end].decode('utf-8')
          else:
            val2 = str[start:end]
          val1.joint_names.append(val2)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        val1.velocities = struct.unpack(pattern, str[start:end])
        self.gradient.append(val1)
      start = end
      end += 1
      (self.in_collision,) = _struct_B.unpack(str[start:end])
      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.costs)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.costs.tostring())
      length = len(self.gradient)
      buff.write(_struct_I.pack(length))
      for val1 in self.gradient:
        length = len(val1.joint_names)
        buff.write(_struct_I.pack(length))
        for val2 in val1.joint_names:
          length = len(val2)
          if python3 or type(val2) == unicode:
            val2 = val2.encode('utf-8')
            length = len(val2)
          buff.write(struct.pack('<I%ss'%length, length, val2))
        length = len(val1.velocities)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(val1.velocities.tostring())
      buff.write(_struct_B.pack(self.in_collision))
    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.gradient is None:
        self.gradient = None
      end = 0
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.costs = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.gradient = []
      for i in range(0, length):
        val1 = chomp_motion_planner.msg.JointVelocityArray()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.joint_names = []
        for i in range(0, length):
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            val2 = str[start:end].decode('utf-8')
          else:
            val2 = str[start:end]
          val1.joint_names.append(val2)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        val1.velocities = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
        self.gradient.append(val1)
      start = end
      end += 1
      (self.in_collision,) = _struct_B.unpack(str[start:end])
      return self
    except struct.error as e:
      raise genpy.DeserializationError(e) #most likely buffer underfill

_struct_I = genpy.struct_I
_struct_B = struct.Struct("<B")
class GetChompCollisionCost(object):
  _type          = 'chomp_motion_planner/GetChompCollisionCost'
  _md5sum = '484cb732bcae020fb22ff8ac89a6ff9f'
  _request_class  = GetChompCollisionCostRequest
  _response_class = GetChompCollisionCostResponse