00001 """autogenerated by genpy from collvoid_msgs/collvoid_debug.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 geometry_msgs.msg
00008 import nav_msgs.msg
00009 import std_msgs.msg
00010
00011 class collvoid_debug(genpy.Message):
00012 _md5sum = "a304cee99f1657d40961f7cc6bca76f7"
00013 _type = "collvoid_msgs/collvoid_debug"
00014 _has_header = True
00015 _full_text = """Header header
00016 int32 run
00017 geometry_msgs/Twist cmd_vel
00018 geometry_msgs/Vector3Stamped holo_vel
00019 nav_msgs/Odometry odom
00020 nav_msgs/Odometry ground_truth
00021 geometry_msgs/PoseStamped located_pose
00022 float32 loc_error
00023 float32 radius_uncertainty
00024 ================================================================================
00025 MSG: std_msgs/Header
00026 # Standard metadata for higher-level stamped data types.
00027 # This is generally used to communicate timestamped data
00028 # in a particular coordinate frame.
00029 #
00030 # sequence ID: consecutively increasing ID
00031 uint32 seq
00032 #Two-integer timestamp that is expressed as:
00033 # * stamp.secs: seconds (stamp_secs) since epoch
00034 # * stamp.nsecs: nanoseconds since stamp_secs
00035 # time-handling sugar is provided by the client library
00036 time stamp
00037 #Frame this data is associated with
00038 # 0: no frame
00039 # 1: global frame
00040 string frame_id
00041
00042 ================================================================================
00043 MSG: geometry_msgs/Twist
00044 # This expresses velocity in free space broken into it's linear and angular parts.
00045 Vector3 linear
00046 Vector3 angular
00047
00048 ================================================================================
00049 MSG: geometry_msgs/Vector3
00050 # This represents a vector in free space.
00051
00052 float64 x
00053 float64 y
00054 float64 z
00055 ================================================================================
00056 MSG: geometry_msgs/Vector3Stamped
00057 # This represents a Vector3 with reference coordinate frame and timestamp
00058 Header header
00059 Vector3 vector
00060
00061 ================================================================================
00062 MSG: nav_msgs/Odometry
00063 # This represents an estimate of a position and velocity in free space.
00064 # The pose in this message should be specified in the coordinate frame given by header.frame_id.
00065 # The twist in this message should be specified in the coordinate frame given by the child_frame_id
00066 Header header
00067 string child_frame_id
00068 geometry_msgs/PoseWithCovariance pose
00069 geometry_msgs/TwistWithCovariance twist
00070
00071 ================================================================================
00072 MSG: geometry_msgs/PoseWithCovariance
00073 # This represents a pose in free space with uncertainty.
00074
00075 Pose pose
00076
00077 # Row-major representation of the 6x6 covariance matrix
00078 # The orientation parameters use a fixed-axis representation.
00079 # In order, the parameters are:
00080 # (x, y, z, rotation about X axis, rotation about Y axis, rotation about Z axis)
00081 float64[36] covariance
00082
00083 ================================================================================
00084 MSG: geometry_msgs/Pose
00085 # A representation of pose in free space, composed of postion and orientation.
00086 Point position
00087 Quaternion orientation
00088
00089 ================================================================================
00090 MSG: geometry_msgs/Point
00091 # This contains the position of a point in free space
00092 float64 x
00093 float64 y
00094 float64 z
00095
00096 ================================================================================
00097 MSG: geometry_msgs/Quaternion
00098 # This represents an orientation in free space in quaternion form.
00099
00100 float64 x
00101 float64 y
00102 float64 z
00103 float64 w
00104
00105 ================================================================================
00106 MSG: geometry_msgs/TwistWithCovariance
00107 # This expresses velocity in free space with uncertianty.
00108
00109 Twist twist
00110
00111 # Row-major representation of the 6x6 covariance matrix
00112 # The orientation parameters use a fixed-axis representation.
00113 # In order, the parameters are:
00114 # (x, y, z, rotation about X axis, rotation about Y axis, rotation about Z axis)
00115 float64[36] covariance
00116
00117 ================================================================================
00118 MSG: geometry_msgs/PoseStamped
00119 # A Pose with reference coordinate frame and timestamp
00120 Header header
00121 Pose pose
00122
00123 """
00124 __slots__ = ['header','run','cmd_vel','holo_vel','odom','ground_truth','located_pose','loc_error','radius_uncertainty']
00125 _slot_types = ['std_msgs/Header','int32','geometry_msgs/Twist','geometry_msgs/Vector3Stamped','nav_msgs/Odometry','nav_msgs/Odometry','geometry_msgs/PoseStamped','float32','float32']
00126
00127 def __init__(self, *args, **kwds):
00128 """
00129 Constructor. Any message fields that are implicitly/explicitly
00130 set to None will be assigned a default value. The recommend
00131 use is keyword arguments as this is more robust to future message
00132 changes. You cannot mix in-order arguments and keyword arguments.
00133
00134 The available fields are:
00135 header,run,cmd_vel,holo_vel,odom,ground_truth,located_pose,loc_error,radius_uncertainty
00136
00137 :param args: complete set of field values, in .msg order
00138 :param kwds: use keyword arguments corresponding to message field names
00139 to set specific fields.
00140 """
00141 if args or kwds:
00142 super(collvoid_debug, self).__init__(*args, **kwds)
00143
00144 if self.header is None:
00145 self.header = std_msgs.msg.Header()
00146 if self.run is None:
00147 self.run = 0
00148 if self.cmd_vel is None:
00149 self.cmd_vel = geometry_msgs.msg.Twist()
00150 if self.holo_vel is None:
00151 self.holo_vel = geometry_msgs.msg.Vector3Stamped()
00152 if self.odom is None:
00153 self.odom = nav_msgs.msg.Odometry()
00154 if self.ground_truth is None:
00155 self.ground_truth = nav_msgs.msg.Odometry()
00156 if self.located_pose is None:
00157 self.located_pose = geometry_msgs.msg.PoseStamped()
00158 if self.loc_error is None:
00159 self.loc_error = 0.
00160 if self.radius_uncertainty is None:
00161 self.radius_uncertainty = 0.
00162 else:
00163 self.header = std_msgs.msg.Header()
00164 self.run = 0
00165 self.cmd_vel = geometry_msgs.msg.Twist()
00166 self.holo_vel = geometry_msgs.msg.Vector3Stamped()
00167 self.odom = nav_msgs.msg.Odometry()
00168 self.ground_truth = nav_msgs.msg.Odometry()
00169 self.located_pose = geometry_msgs.msg.PoseStamped()
00170 self.loc_error = 0.
00171 self.radius_uncertainty = 0.
00172
00173 def _get_types(self):
00174 """
00175 internal API method
00176 """
00177 return self._slot_types
00178
00179 def serialize(self, buff):
00180 """
00181 serialize message into buffer
00182 :param buff: buffer, ``StringIO``
00183 """
00184 try:
00185 _x = self
00186 buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
00187 _x = self.header.frame_id
00188 length = len(_x)
00189 if python3 or type(_x) == unicode:
00190 _x = _x.encode('utf-8')
00191 length = len(_x)
00192 buff.write(struct.pack('<I%ss'%length, length, _x))
00193 _x = self
00194 buff.write(_struct_i6d3I.pack(_x.run, _x.cmd_vel.linear.x, _x.cmd_vel.linear.y, _x.cmd_vel.linear.z, _x.cmd_vel.angular.x, _x.cmd_vel.angular.y, _x.cmd_vel.angular.z, _x.holo_vel.header.seq, _x.holo_vel.header.stamp.secs, _x.holo_vel.header.stamp.nsecs))
00195 _x = self.holo_vel.header.frame_id
00196 length = len(_x)
00197 if python3 or type(_x) == unicode:
00198 _x = _x.encode('utf-8')
00199 length = len(_x)
00200 buff.write(struct.pack('<I%ss'%length, length, _x))
00201 _x = self
00202 buff.write(_struct_3d3I.pack(_x.holo_vel.vector.x, _x.holo_vel.vector.y, _x.holo_vel.vector.z, _x.odom.header.seq, _x.odom.header.stamp.secs, _x.odom.header.stamp.nsecs))
00203 _x = self.odom.header.frame_id
00204 length = len(_x)
00205 if python3 or type(_x) == unicode:
00206 _x = _x.encode('utf-8')
00207 length = len(_x)
00208 buff.write(struct.pack('<I%ss'%length, length, _x))
00209 _x = self.odom.child_frame_id
00210 length = len(_x)
00211 if python3 or type(_x) == unicode:
00212 _x = _x.encode('utf-8')
00213 length = len(_x)
00214 buff.write(struct.pack('<I%ss'%length, length, _x))
00215 _x = self
00216 buff.write(_struct_7d.pack(_x.odom.pose.pose.position.x, _x.odom.pose.pose.position.y, _x.odom.pose.pose.position.z, _x.odom.pose.pose.orientation.x, _x.odom.pose.pose.orientation.y, _x.odom.pose.pose.orientation.z, _x.odom.pose.pose.orientation.w))
00217 buff.write(_struct_36d.pack(*self.odom.pose.covariance))
00218 _x = self
00219 buff.write(_struct_6d.pack(_x.odom.twist.twist.linear.x, _x.odom.twist.twist.linear.y, _x.odom.twist.twist.linear.z, _x.odom.twist.twist.angular.x, _x.odom.twist.twist.angular.y, _x.odom.twist.twist.angular.z))
00220 buff.write(_struct_36d.pack(*self.odom.twist.covariance))
00221 _x = self
00222 buff.write(_struct_3I.pack(_x.ground_truth.header.seq, _x.ground_truth.header.stamp.secs, _x.ground_truth.header.stamp.nsecs))
00223 _x = self.ground_truth.header.frame_id
00224 length = len(_x)
00225 if python3 or type(_x) == unicode:
00226 _x = _x.encode('utf-8')
00227 length = len(_x)
00228 buff.write(struct.pack('<I%ss'%length, length, _x))
00229 _x = self.ground_truth.child_frame_id
00230 length = len(_x)
00231 if python3 or type(_x) == unicode:
00232 _x = _x.encode('utf-8')
00233 length = len(_x)
00234 buff.write(struct.pack('<I%ss'%length, length, _x))
00235 _x = self
00236 buff.write(_struct_7d.pack(_x.ground_truth.pose.pose.position.x, _x.ground_truth.pose.pose.position.y, _x.ground_truth.pose.pose.position.z, _x.ground_truth.pose.pose.orientation.x, _x.ground_truth.pose.pose.orientation.y, _x.ground_truth.pose.pose.orientation.z, _x.ground_truth.pose.pose.orientation.w))
00237 buff.write(_struct_36d.pack(*self.ground_truth.pose.covariance))
00238 _x = self
00239 buff.write(_struct_6d.pack(_x.ground_truth.twist.twist.linear.x, _x.ground_truth.twist.twist.linear.y, _x.ground_truth.twist.twist.linear.z, _x.ground_truth.twist.twist.angular.x, _x.ground_truth.twist.twist.angular.y, _x.ground_truth.twist.twist.angular.z))
00240 buff.write(_struct_36d.pack(*self.ground_truth.twist.covariance))
00241 _x = self
00242 buff.write(_struct_3I.pack(_x.located_pose.header.seq, _x.located_pose.header.stamp.secs, _x.located_pose.header.stamp.nsecs))
00243 _x = self.located_pose.header.frame_id
00244 length = len(_x)
00245 if python3 or type(_x) == unicode:
00246 _x = _x.encode('utf-8')
00247 length = len(_x)
00248 buff.write(struct.pack('<I%ss'%length, length, _x))
00249 _x = self
00250 buff.write(_struct_7d2f.pack(_x.located_pose.pose.position.x, _x.located_pose.pose.position.y, _x.located_pose.pose.position.z, _x.located_pose.pose.orientation.x, _x.located_pose.pose.orientation.y, _x.located_pose.pose.orientation.z, _x.located_pose.pose.orientation.w, _x.loc_error, _x.radius_uncertainty))
00251 except struct.error as se: self._check_types(se)
00252 except TypeError as te: self._check_types(te)
00253
00254 def deserialize(self, str):
00255 """
00256 unpack serialized message in str into this message instance
00257 :param str: byte array of serialized message, ``str``
00258 """
00259 try:
00260 if self.header is None:
00261 self.header = std_msgs.msg.Header()
00262 if self.cmd_vel is None:
00263 self.cmd_vel = geometry_msgs.msg.Twist()
00264 if self.holo_vel is None:
00265 self.holo_vel = geometry_msgs.msg.Vector3Stamped()
00266 if self.odom is None:
00267 self.odom = nav_msgs.msg.Odometry()
00268 if self.ground_truth is None:
00269 self.ground_truth = nav_msgs.msg.Odometry()
00270 if self.located_pose is None:
00271 self.located_pose = geometry_msgs.msg.PoseStamped()
00272 end = 0
00273 _x = self
00274 start = end
00275 end += 12
00276 (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00277 start = end
00278 end += 4
00279 (length,) = _struct_I.unpack(str[start:end])
00280 start = end
00281 end += length
00282 if python3:
00283 self.header.frame_id = str[start:end].decode('utf-8')
00284 else:
00285 self.header.frame_id = str[start:end]
00286 _x = self
00287 start = end
00288 end += 64
00289 (_x.run, _x.cmd_vel.linear.x, _x.cmd_vel.linear.y, _x.cmd_vel.linear.z, _x.cmd_vel.angular.x, _x.cmd_vel.angular.y, _x.cmd_vel.angular.z, _x.holo_vel.header.seq, _x.holo_vel.header.stamp.secs, _x.holo_vel.header.stamp.nsecs,) = _struct_i6d3I.unpack(str[start:end])
00290 start = end
00291 end += 4
00292 (length,) = _struct_I.unpack(str[start:end])
00293 start = end
00294 end += length
00295 if python3:
00296 self.holo_vel.header.frame_id = str[start:end].decode('utf-8')
00297 else:
00298 self.holo_vel.header.frame_id = str[start:end]
00299 _x = self
00300 start = end
00301 end += 36
00302 (_x.holo_vel.vector.x, _x.holo_vel.vector.y, _x.holo_vel.vector.z, _x.odom.header.seq, _x.odom.header.stamp.secs, _x.odom.header.stamp.nsecs,) = _struct_3d3I.unpack(str[start:end])
00303 start = end
00304 end += 4
00305 (length,) = _struct_I.unpack(str[start:end])
00306 start = end
00307 end += length
00308 if python3:
00309 self.odom.header.frame_id = str[start:end].decode('utf-8')
00310 else:
00311 self.odom.header.frame_id = str[start:end]
00312 start = end
00313 end += 4
00314 (length,) = _struct_I.unpack(str[start:end])
00315 start = end
00316 end += length
00317 if python3:
00318 self.odom.child_frame_id = str[start:end].decode('utf-8')
00319 else:
00320 self.odom.child_frame_id = str[start:end]
00321 _x = self
00322 start = end
00323 end += 56
00324 (_x.odom.pose.pose.position.x, _x.odom.pose.pose.position.y, _x.odom.pose.pose.position.z, _x.odom.pose.pose.orientation.x, _x.odom.pose.pose.orientation.y, _x.odom.pose.pose.orientation.z, _x.odom.pose.pose.orientation.w,) = _struct_7d.unpack(str[start:end])
00325 start = end
00326 end += 288
00327 self.odom.pose.covariance = _struct_36d.unpack(str[start:end])
00328 _x = self
00329 start = end
00330 end += 48
00331 (_x.odom.twist.twist.linear.x, _x.odom.twist.twist.linear.y, _x.odom.twist.twist.linear.z, _x.odom.twist.twist.angular.x, _x.odom.twist.twist.angular.y, _x.odom.twist.twist.angular.z,) = _struct_6d.unpack(str[start:end])
00332 start = end
00333 end += 288
00334 self.odom.twist.covariance = _struct_36d.unpack(str[start:end])
00335 _x = self
00336 start = end
00337 end += 12
00338 (_x.ground_truth.header.seq, _x.ground_truth.header.stamp.secs, _x.ground_truth.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00339 start = end
00340 end += 4
00341 (length,) = _struct_I.unpack(str[start:end])
00342 start = end
00343 end += length
00344 if python3:
00345 self.ground_truth.header.frame_id = str[start:end].decode('utf-8')
00346 else:
00347 self.ground_truth.header.frame_id = str[start:end]
00348 start = end
00349 end += 4
00350 (length,) = _struct_I.unpack(str[start:end])
00351 start = end
00352 end += length
00353 if python3:
00354 self.ground_truth.child_frame_id = str[start:end].decode('utf-8')
00355 else:
00356 self.ground_truth.child_frame_id = str[start:end]
00357 _x = self
00358 start = end
00359 end += 56
00360 (_x.ground_truth.pose.pose.position.x, _x.ground_truth.pose.pose.position.y, _x.ground_truth.pose.pose.position.z, _x.ground_truth.pose.pose.orientation.x, _x.ground_truth.pose.pose.orientation.y, _x.ground_truth.pose.pose.orientation.z, _x.ground_truth.pose.pose.orientation.w,) = _struct_7d.unpack(str[start:end])
00361 start = end
00362 end += 288
00363 self.ground_truth.pose.covariance = _struct_36d.unpack(str[start:end])
00364 _x = self
00365 start = end
00366 end += 48
00367 (_x.ground_truth.twist.twist.linear.x, _x.ground_truth.twist.twist.linear.y, _x.ground_truth.twist.twist.linear.z, _x.ground_truth.twist.twist.angular.x, _x.ground_truth.twist.twist.angular.y, _x.ground_truth.twist.twist.angular.z,) = _struct_6d.unpack(str[start:end])
00368 start = end
00369 end += 288
00370 self.ground_truth.twist.covariance = _struct_36d.unpack(str[start:end])
00371 _x = self
00372 start = end
00373 end += 12
00374 (_x.located_pose.header.seq, _x.located_pose.header.stamp.secs, _x.located_pose.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00375 start = end
00376 end += 4
00377 (length,) = _struct_I.unpack(str[start:end])
00378 start = end
00379 end += length
00380 if python3:
00381 self.located_pose.header.frame_id = str[start:end].decode('utf-8')
00382 else:
00383 self.located_pose.header.frame_id = str[start:end]
00384 _x = self
00385 start = end
00386 end += 64
00387 (_x.located_pose.pose.position.x, _x.located_pose.pose.position.y, _x.located_pose.pose.position.z, _x.located_pose.pose.orientation.x, _x.located_pose.pose.orientation.y, _x.located_pose.pose.orientation.z, _x.located_pose.pose.orientation.w, _x.loc_error, _x.radius_uncertainty,) = _struct_7d2f.unpack(str[start:end])
00388 return self
00389 except struct.error as e:
00390 raise genpy.DeserializationError(e)
00391
00392
00393 def serialize_numpy(self, buff, numpy):
00394 """
00395 serialize message with numpy array types into buffer
00396 :param buff: buffer, ``StringIO``
00397 :param numpy: numpy python module
00398 """
00399 try:
00400 _x = self
00401 buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
00402 _x = self.header.frame_id
00403 length = len(_x)
00404 if python3 or type(_x) == unicode:
00405 _x = _x.encode('utf-8')
00406 length = len(_x)
00407 buff.write(struct.pack('<I%ss'%length, length, _x))
00408 _x = self
00409 buff.write(_struct_i6d3I.pack(_x.run, _x.cmd_vel.linear.x, _x.cmd_vel.linear.y, _x.cmd_vel.linear.z, _x.cmd_vel.angular.x, _x.cmd_vel.angular.y, _x.cmd_vel.angular.z, _x.holo_vel.header.seq, _x.holo_vel.header.stamp.secs, _x.holo_vel.header.stamp.nsecs))
00410 _x = self.holo_vel.header.frame_id
00411 length = len(_x)
00412 if python3 or type(_x) == unicode:
00413 _x = _x.encode('utf-8')
00414 length = len(_x)
00415 buff.write(struct.pack('<I%ss'%length, length, _x))
00416 _x = self
00417 buff.write(_struct_3d3I.pack(_x.holo_vel.vector.x, _x.holo_vel.vector.y, _x.holo_vel.vector.z, _x.odom.header.seq, _x.odom.header.stamp.secs, _x.odom.header.stamp.nsecs))
00418 _x = self.odom.header.frame_id
00419 length = len(_x)
00420 if python3 or type(_x) == unicode:
00421 _x = _x.encode('utf-8')
00422 length = len(_x)
00423 buff.write(struct.pack('<I%ss'%length, length, _x))
00424 _x = self.odom.child_frame_id
00425 length = len(_x)
00426 if python3 or type(_x) == unicode:
00427 _x = _x.encode('utf-8')
00428 length = len(_x)
00429 buff.write(struct.pack('<I%ss'%length, length, _x))
00430 _x = self
00431 buff.write(_struct_7d.pack(_x.odom.pose.pose.position.x, _x.odom.pose.pose.position.y, _x.odom.pose.pose.position.z, _x.odom.pose.pose.orientation.x, _x.odom.pose.pose.orientation.y, _x.odom.pose.pose.orientation.z, _x.odom.pose.pose.orientation.w))
00432 buff.write(self.odom.pose.covariance.tostring())
00433 _x = self
00434 buff.write(_struct_6d.pack(_x.odom.twist.twist.linear.x, _x.odom.twist.twist.linear.y, _x.odom.twist.twist.linear.z, _x.odom.twist.twist.angular.x, _x.odom.twist.twist.angular.y, _x.odom.twist.twist.angular.z))
00435 buff.write(self.odom.twist.covariance.tostring())
00436 _x = self
00437 buff.write(_struct_3I.pack(_x.ground_truth.header.seq, _x.ground_truth.header.stamp.secs, _x.ground_truth.header.stamp.nsecs))
00438 _x = self.ground_truth.header.frame_id
00439 length = len(_x)
00440 if python3 or type(_x) == unicode:
00441 _x = _x.encode('utf-8')
00442 length = len(_x)
00443 buff.write(struct.pack('<I%ss'%length, length, _x))
00444 _x = self.ground_truth.child_frame_id
00445 length = len(_x)
00446 if python3 or type(_x) == unicode:
00447 _x = _x.encode('utf-8')
00448 length = len(_x)
00449 buff.write(struct.pack('<I%ss'%length, length, _x))
00450 _x = self
00451 buff.write(_struct_7d.pack(_x.ground_truth.pose.pose.position.x, _x.ground_truth.pose.pose.position.y, _x.ground_truth.pose.pose.position.z, _x.ground_truth.pose.pose.orientation.x, _x.ground_truth.pose.pose.orientation.y, _x.ground_truth.pose.pose.orientation.z, _x.ground_truth.pose.pose.orientation.w))
00452 buff.write(self.ground_truth.pose.covariance.tostring())
00453 _x = self
00454 buff.write(_struct_6d.pack(_x.ground_truth.twist.twist.linear.x, _x.ground_truth.twist.twist.linear.y, _x.ground_truth.twist.twist.linear.z, _x.ground_truth.twist.twist.angular.x, _x.ground_truth.twist.twist.angular.y, _x.ground_truth.twist.twist.angular.z))
00455 buff.write(self.ground_truth.twist.covariance.tostring())
00456 _x = self
00457 buff.write(_struct_3I.pack(_x.located_pose.header.seq, _x.located_pose.header.stamp.secs, _x.located_pose.header.stamp.nsecs))
00458 _x = self.located_pose.header.frame_id
00459 length = len(_x)
00460 if python3 or type(_x) == unicode:
00461 _x = _x.encode('utf-8')
00462 length = len(_x)
00463 buff.write(struct.pack('<I%ss'%length, length, _x))
00464 _x = self
00465 buff.write(_struct_7d2f.pack(_x.located_pose.pose.position.x, _x.located_pose.pose.position.y, _x.located_pose.pose.position.z, _x.located_pose.pose.orientation.x, _x.located_pose.pose.orientation.y, _x.located_pose.pose.orientation.z, _x.located_pose.pose.orientation.w, _x.loc_error, _x.radius_uncertainty))
00466 except struct.error as se: self._check_types(se)
00467 except TypeError as te: self._check_types(te)
00468
00469 def deserialize_numpy(self, str, numpy):
00470 """
00471 unpack serialized message in str into this message instance using numpy for array types
00472 :param str: byte array of serialized message, ``str``
00473 :param numpy: numpy python module
00474 """
00475 try:
00476 if self.header is None:
00477 self.header = std_msgs.msg.Header()
00478 if self.cmd_vel is None:
00479 self.cmd_vel = geometry_msgs.msg.Twist()
00480 if self.holo_vel is None:
00481 self.holo_vel = geometry_msgs.msg.Vector3Stamped()
00482 if self.odom is None:
00483 self.odom = nav_msgs.msg.Odometry()
00484 if self.ground_truth is None:
00485 self.ground_truth = nav_msgs.msg.Odometry()
00486 if self.located_pose is None:
00487 self.located_pose = geometry_msgs.msg.PoseStamped()
00488 end = 0
00489 _x = self
00490 start = end
00491 end += 12
00492 (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00493 start = end
00494 end += 4
00495 (length,) = _struct_I.unpack(str[start:end])
00496 start = end
00497 end += length
00498 if python3:
00499 self.header.frame_id = str[start:end].decode('utf-8')
00500 else:
00501 self.header.frame_id = str[start:end]
00502 _x = self
00503 start = end
00504 end += 64
00505 (_x.run, _x.cmd_vel.linear.x, _x.cmd_vel.linear.y, _x.cmd_vel.linear.z, _x.cmd_vel.angular.x, _x.cmd_vel.angular.y, _x.cmd_vel.angular.z, _x.holo_vel.header.seq, _x.holo_vel.header.stamp.secs, _x.holo_vel.header.stamp.nsecs,) = _struct_i6d3I.unpack(str[start:end])
00506 start = end
00507 end += 4
00508 (length,) = _struct_I.unpack(str[start:end])
00509 start = end
00510 end += length
00511 if python3:
00512 self.holo_vel.header.frame_id = str[start:end].decode('utf-8')
00513 else:
00514 self.holo_vel.header.frame_id = str[start:end]
00515 _x = self
00516 start = end
00517 end += 36
00518 (_x.holo_vel.vector.x, _x.holo_vel.vector.y, _x.holo_vel.vector.z, _x.odom.header.seq, _x.odom.header.stamp.secs, _x.odom.header.stamp.nsecs,) = _struct_3d3I.unpack(str[start:end])
00519 start = end
00520 end += 4
00521 (length,) = _struct_I.unpack(str[start:end])
00522 start = end
00523 end += length
00524 if python3:
00525 self.odom.header.frame_id = str[start:end].decode('utf-8')
00526 else:
00527 self.odom.header.frame_id = str[start:end]
00528 start = end
00529 end += 4
00530 (length,) = _struct_I.unpack(str[start:end])
00531 start = end
00532 end += length
00533 if python3:
00534 self.odom.child_frame_id = str[start:end].decode('utf-8')
00535 else:
00536 self.odom.child_frame_id = str[start:end]
00537 _x = self
00538 start = end
00539 end += 56
00540 (_x.odom.pose.pose.position.x, _x.odom.pose.pose.position.y, _x.odom.pose.pose.position.z, _x.odom.pose.pose.orientation.x, _x.odom.pose.pose.orientation.y, _x.odom.pose.pose.orientation.z, _x.odom.pose.pose.orientation.w,) = _struct_7d.unpack(str[start:end])
00541 start = end
00542 end += 288
00543 self.odom.pose.covariance = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=36)
00544 _x = self
00545 start = end
00546 end += 48
00547 (_x.odom.twist.twist.linear.x, _x.odom.twist.twist.linear.y, _x.odom.twist.twist.linear.z, _x.odom.twist.twist.angular.x, _x.odom.twist.twist.angular.y, _x.odom.twist.twist.angular.z,) = _struct_6d.unpack(str[start:end])
00548 start = end
00549 end += 288
00550 self.odom.twist.covariance = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=36)
00551 _x = self
00552 start = end
00553 end += 12
00554 (_x.ground_truth.header.seq, _x.ground_truth.header.stamp.secs, _x.ground_truth.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00555 start = end
00556 end += 4
00557 (length,) = _struct_I.unpack(str[start:end])
00558 start = end
00559 end += length
00560 if python3:
00561 self.ground_truth.header.frame_id = str[start:end].decode('utf-8')
00562 else:
00563 self.ground_truth.header.frame_id = str[start:end]
00564 start = end
00565 end += 4
00566 (length,) = _struct_I.unpack(str[start:end])
00567 start = end
00568 end += length
00569 if python3:
00570 self.ground_truth.child_frame_id = str[start:end].decode('utf-8')
00571 else:
00572 self.ground_truth.child_frame_id = str[start:end]
00573 _x = self
00574 start = end
00575 end += 56
00576 (_x.ground_truth.pose.pose.position.x, _x.ground_truth.pose.pose.position.y, _x.ground_truth.pose.pose.position.z, _x.ground_truth.pose.pose.orientation.x, _x.ground_truth.pose.pose.orientation.y, _x.ground_truth.pose.pose.orientation.z, _x.ground_truth.pose.pose.orientation.w,) = _struct_7d.unpack(str[start:end])
00577 start = end
00578 end += 288
00579 self.ground_truth.pose.covariance = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=36)
00580 _x = self
00581 start = end
00582 end += 48
00583 (_x.ground_truth.twist.twist.linear.x, _x.ground_truth.twist.twist.linear.y, _x.ground_truth.twist.twist.linear.z, _x.ground_truth.twist.twist.angular.x, _x.ground_truth.twist.twist.angular.y, _x.ground_truth.twist.twist.angular.z,) = _struct_6d.unpack(str[start:end])
00584 start = end
00585 end += 288
00586 self.ground_truth.twist.covariance = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=36)
00587 _x = self
00588 start = end
00589 end += 12
00590 (_x.located_pose.header.seq, _x.located_pose.header.stamp.secs, _x.located_pose.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00591 start = end
00592 end += 4
00593 (length,) = _struct_I.unpack(str[start:end])
00594 start = end
00595 end += length
00596 if python3:
00597 self.located_pose.header.frame_id = str[start:end].decode('utf-8')
00598 else:
00599 self.located_pose.header.frame_id = str[start:end]
00600 _x = self
00601 start = end
00602 end += 64
00603 (_x.located_pose.pose.position.x, _x.located_pose.pose.position.y, _x.located_pose.pose.position.z, _x.located_pose.pose.orientation.x, _x.located_pose.pose.orientation.y, _x.located_pose.pose.orientation.z, _x.located_pose.pose.orientation.w, _x.loc_error, _x.radius_uncertainty,) = _struct_7d2f.unpack(str[start:end])
00604 return self
00605 except struct.error as e:
00606 raise genpy.DeserializationError(e)
00607
00608 _struct_I = genpy.struct_I
00609 _struct_3d3I = struct.Struct("<3d3I")
00610 _struct_i6d3I = struct.Struct("<i6d3I")
00611 _struct_7d = struct.Struct("<7d")
00612 _struct_6d = struct.Struct("<6d")
00613 _struct_36d = struct.Struct("<36d")
00614 _struct_7d2f = struct.Struct("<7d2f")
00615 _struct_3I = struct.Struct("<3I")
