_HeadMonitorFeedback.py

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"""autogenerated by genpy from head_monitor_msgs/HeadMonitorFeedback.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 HeadMonitorFeedback(genpy.Message):
  _md5sum = "28369e3e74e07eaa07a53a310edb3d35"
  _type = "head_monitor_msgs/HeadMonitorFeedback"
  _has_header = False #flag to mark the presence of a Header object
  _full_text = """# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
arm_navigation_msgs/RobotState current_state
arm_navigation_msgs/RobotState paused_trajectory_state
arm_navigation_msgs/CollisionObject paused_collision_map



================================================================================
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

================================================================================
MSG: arm_navigation_msgs/CollisionObject
# a header, used for interpreting the poses
Header header

# the id of the object
string id

# The padding used for filtering points near the object.
# This does not affect collision checking for the object.  
# Set to negative to get zero padding.
float32 padding

#This contains what is to be done with the object
CollisionObjectOperation operation

#the shapes associated with the object
arm_navigation_msgs/Shape[] shapes

#the poses associated with the shapes - will be transformed using the header
geometry_msgs/Pose[] poses

================================================================================
MSG: arm_navigation_msgs/CollisionObjectOperation
#Puts the object into the environment
#or updates the object if already added
byte ADD=0

#Removes the object from the environment entirely
byte REMOVE=1

#Only valid within the context of a CollisionAttachedObject message
#Will be ignored if sent with an CollisionObject message
#Takes an attached object, detaches from the attached link
#But adds back in as regular object
byte DETACH_AND_ADD_AS_OBJECT=2

#Only valid within the context of a CollisionAttachedObject message
#Will be ignored if sent with an CollisionObject message
#Takes current object in the environment and removes it as
#a regular object
byte ATTACH_AND_REMOVE_AS_OBJECT=3

# Byte code for operation
byte operation

================================================================================
MSG: arm_navigation_msgs/Shape
byte SPHERE=0
byte BOX=1
byte CYLINDER=2
byte MESH=3

byte type


#### define sphere, box, cylinder ####
# the origin of each shape is considered at the shape's center

# for sphere
# radius := dimensions[0]

# for cylinder
# radius := dimensions[0]
# length := dimensions[1]
# the length is along the Z axis

# for box
# size_x := dimensions[0]
# size_y := dimensions[1]
# size_z := dimensions[2]
float64[] dimensions


#### define mesh ####

# list of triangles; triangle k is defined by tre vertices located
# at indices triangles[3k], triangles[3k+1], triangles[3k+2]
int32[] triangles
geometry_msgs/Point[] vertices

"""
  __slots__ = ['current_state','paused_trajectory_state','paused_collision_map']
  _slot_types = ['arm_navigation_msgs/RobotState','arm_navigation_msgs/RobotState','arm_navigation_msgs/CollisionObject']

  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:
       current_state,paused_trajectory_state,paused_collision_map

    :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(HeadMonitorFeedback, self).__init__(*args, **kwds)
      #message fields cannot be None, assign default values for those that are
      if self.current_state is None:
        self.current_state = arm_navigation_msgs.msg.RobotState()
      if self.paused_trajectory_state is None:
        self.paused_trajectory_state = arm_navigation_msgs.msg.RobotState()
      if self.paused_collision_map is None:
        self.paused_collision_map = arm_navigation_msgs.msg.CollisionObject()
    else:
      self.current_state = arm_navigation_msgs.msg.RobotState()
      self.paused_trajectory_state = arm_navigation_msgs.msg.RobotState()
      self.paused_collision_map = arm_navigation_msgs.msg.CollisionObject()

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

  def serialize(self, buff):
    """
    serialize message into buffer
    :param buff: buffer, ``StringIO``
    """
    try:
      _x = self
      buff.write(_struct_3I.pack(_x.current_state.joint_state.header.seq, _x.current_state.joint_state.header.stamp.secs, _x.current_state.joint_state.header.stamp.nsecs))
      _x = self.current_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.current_state.joint_state.name)
      buff.write(_struct_I.pack(length))
      for val1 in self.current_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.current_state.joint_state.position)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.current_state.joint_state.position))
      length = len(self.current_state.joint_state.velocity)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.current_state.joint_state.velocity))
      length = len(self.current_state.joint_state.effort)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.current_state.joint_state.effort))
      _x = self
      buff.write(_struct_2I.pack(_x.current_state.multi_dof_joint_state.stamp.secs, _x.current_state.multi_dof_joint_state.stamp.nsecs))
      length = len(self.current_state.multi_dof_joint_state.joint_names)
      buff.write(_struct_I.pack(length))
      for val1 in self.current_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.current_state.multi_dof_joint_state.frame_ids)
      buff.write(_struct_I.pack(length))
      for val1 in self.current_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.current_state.multi_dof_joint_state.child_frame_ids)
      buff.write(_struct_I.pack(length))
      for val1 in self.current_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.current_state.multi_dof_joint_state.poses)
      buff.write(_struct_I.pack(length))
      for val1 in self.current_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))
      _x = self
      buff.write(_struct_3I.pack(_x.paused_trajectory_state.joint_state.header.seq, _x.paused_trajectory_state.joint_state.header.stamp.secs, _x.paused_trajectory_state.joint_state.header.stamp.nsecs))
      _x = self.paused_trajectory_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.paused_trajectory_state.joint_state.name)
      buff.write(_struct_I.pack(length))
      for val1 in self.paused_trajectory_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.paused_trajectory_state.joint_state.position)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.paused_trajectory_state.joint_state.position))
      length = len(self.paused_trajectory_state.joint_state.velocity)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.paused_trajectory_state.joint_state.velocity))
      length = len(self.paused_trajectory_state.joint_state.effort)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.paused_trajectory_state.joint_state.effort))
      _x = self
      buff.write(_struct_2I.pack(_x.paused_trajectory_state.multi_dof_joint_state.stamp.secs, _x.paused_trajectory_state.multi_dof_joint_state.stamp.nsecs))
      length = len(self.paused_trajectory_state.multi_dof_joint_state.joint_names)
      buff.write(_struct_I.pack(length))
      for val1 in self.paused_trajectory_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.paused_trajectory_state.multi_dof_joint_state.frame_ids)
      buff.write(_struct_I.pack(length))
      for val1 in self.paused_trajectory_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.paused_trajectory_state.multi_dof_joint_state.child_frame_ids)
      buff.write(_struct_I.pack(length))
      for val1 in self.paused_trajectory_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.paused_trajectory_state.multi_dof_joint_state.poses)
      buff.write(_struct_I.pack(length))
      for val1 in self.paused_trajectory_state.multi_dof_joint_state.poses:
        _v3 = val1.position
        _x = _v3
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v4 = val1.orientation
        _x = _v4
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
      _x = self
      buff.write(_struct_3I.pack(_x.paused_collision_map.header.seq, _x.paused_collision_map.header.stamp.secs, _x.paused_collision_map.header.stamp.nsecs))
      _x = self.paused_collision_map.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))
      _x = self.paused_collision_map.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))
      _x = self
      buff.write(_struct_fb.pack(_x.paused_collision_map.padding, _x.paused_collision_map.operation.operation))
      length = len(self.paused_collision_map.shapes)
      buff.write(_struct_I.pack(length))
      for val1 in self.paused_collision_map.shapes:
        buff.write(_struct_b.pack(val1.type))
        length = len(val1.dimensions)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(struct.pack(pattern, *val1.dimensions))
        length = len(val1.triangles)
        buff.write(_struct_I.pack(length))
        pattern = '<%si'%length
        buff.write(struct.pack(pattern, *val1.triangles))
        length = len(val1.vertices)
        buff.write(_struct_I.pack(length))
        for val2 in val1.vertices:
          _x = val2
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
      length = len(self.paused_collision_map.poses)
      buff.write(_struct_I.pack(length))
      for val1 in self.paused_collision_map.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(self, str):
    """
    unpack serialized message in str into this message instance
    :param str: byte array of serialized message, ``str``
    """
    try:
      if self.current_state is None:
        self.current_state = arm_navigation_msgs.msg.RobotState()
      if self.paused_trajectory_state is None:
        self.paused_trajectory_state = arm_navigation_msgs.msg.RobotState()
      if self.paused_collision_map is None:
        self.paused_collision_map = arm_navigation_msgs.msg.CollisionObject()
      end = 0
      _x = self
      start = end
      end += 12
      (_x.current_state.joint_state.header.seq, _x.current_state.joint_state.header.stamp.secs, _x.current_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.current_state.joint_state.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.current_state.joint_state.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.current_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.current_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.current_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.current_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.current_state.joint_state.effort = struct.unpack(pattern, str[start:end])
      _x = self
      start = end
      end += 8
      (_x.current_state.multi_dof_joint_state.stamp.secs, _x.current_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.current_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.current_state.multi_dof_joint_state.joint_names.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.current_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.current_state.multi_dof_joint_state.frame_ids.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.current_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.current_state.multi_dof_joint_state.child_frame_ids.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.current_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.current_state.multi_dof_joint_state.poses.append(val1)
      _x = self
      start = end
      end += 12
      (_x.paused_trajectory_state.joint_state.header.seq, _x.paused_trajectory_state.joint_state.header.stamp.secs, _x.paused_trajectory_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.paused_trajectory_state.joint_state.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.paused_trajectory_state.joint_state.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.paused_trajectory_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.paused_trajectory_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.paused_trajectory_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.paused_trajectory_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.paused_trajectory_state.joint_state.effort = struct.unpack(pattern, str[start:end])
      _x = self
      start = end
      end += 8
      (_x.paused_trajectory_state.multi_dof_joint_state.stamp.secs, _x.paused_trajectory_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.paused_trajectory_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.paused_trajectory_state.multi_dof_joint_state.joint_names.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.paused_trajectory_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.paused_trajectory_state.multi_dof_joint_state.frame_ids.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.paused_trajectory_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.paused_trajectory_state.multi_dof_joint_state.child_frame_ids.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.paused_trajectory_state.multi_dof_joint_state.poses = []
      for i in range(0, length):
        val1 = geometry_msgs.msg.Pose()
        _v9 = val1.position
        _x = _v9
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v10 = val1.orientation
        _x = _v10
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        self.paused_trajectory_state.multi_dof_joint_state.poses.append(val1)
      _x = self
      start = end
      end += 12
      (_x.paused_collision_map.header.seq, _x.paused_collision_map.header.stamp.secs, _x.paused_collision_map.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.paused_collision_map.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.paused_collision_map.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.paused_collision_map.id = str[start:end].decode('utf-8')
      else:
        self.paused_collision_map.id = str[start:end]
      _x = self
      start = end
      end += 5
      (_x.paused_collision_map.padding, _x.paused_collision_map.operation.operation,) = _struct_fb.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.paused_collision_map.shapes = []
      for i in range(0, length):
        val1 = arm_navigation_msgs.msg.Shape()
        start = end
        end += 1
        (val1.type,) = _struct_b.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        val1.dimensions = struct.unpack(pattern, str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%si'%length
        start = end
        end += struct.calcsize(pattern)
        val1.triangles = struct.unpack(pattern, str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.vertices = []
        for i in range(0, length):
          val2 = geometry_msgs.msg.Point()
          _x = val2
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
          val1.vertices.append(val2)
        self.paused_collision_map.shapes.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.paused_collision_map.poses = []
      for i in range(0, length):
        val1 = geometry_msgs.msg.Pose()
        _v11 = val1.position
        _x = _v11
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v12 = val1.orientation
        _x = _v12
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        self.paused_collision_map.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:
      _x = self
      buff.write(_struct_3I.pack(_x.current_state.joint_state.header.seq, _x.current_state.joint_state.header.stamp.secs, _x.current_state.joint_state.header.stamp.nsecs))
      _x = self.current_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.current_state.joint_state.name)
      buff.write(_struct_I.pack(length))
      for val1 in self.current_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.current_state.joint_state.position)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.current_state.joint_state.position.tostring())
      length = len(self.current_state.joint_state.velocity)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.current_state.joint_state.velocity.tostring())
      length = len(self.current_state.joint_state.effort)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.current_state.joint_state.effort.tostring())
      _x = self
      buff.write(_struct_2I.pack(_x.current_state.multi_dof_joint_state.stamp.secs, _x.current_state.multi_dof_joint_state.stamp.nsecs))
      length = len(self.current_state.multi_dof_joint_state.joint_names)
      buff.write(_struct_I.pack(length))
      for val1 in self.current_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.current_state.multi_dof_joint_state.frame_ids)
      buff.write(_struct_I.pack(length))
      for val1 in self.current_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.current_state.multi_dof_joint_state.child_frame_ids)
      buff.write(_struct_I.pack(length))
      for val1 in self.current_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.current_state.multi_dof_joint_state.poses)
      buff.write(_struct_I.pack(length))
      for val1 in self.current_state.multi_dof_joint_state.poses:
        _v13 = val1.position
        _x = _v13
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v14 = val1.orientation
        _x = _v14
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
      _x = self
      buff.write(_struct_3I.pack(_x.paused_trajectory_state.joint_state.header.seq, _x.paused_trajectory_state.joint_state.header.stamp.secs, _x.paused_trajectory_state.joint_state.header.stamp.nsecs))
      _x = self.paused_trajectory_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.paused_trajectory_state.joint_state.name)
      buff.write(_struct_I.pack(length))
      for val1 in self.paused_trajectory_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.paused_trajectory_state.joint_state.position)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.paused_trajectory_state.joint_state.position.tostring())
      length = len(self.paused_trajectory_state.joint_state.velocity)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.paused_trajectory_state.joint_state.velocity.tostring())
      length = len(self.paused_trajectory_state.joint_state.effort)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.paused_trajectory_state.joint_state.effort.tostring())
      _x = self
      buff.write(_struct_2I.pack(_x.paused_trajectory_state.multi_dof_joint_state.stamp.secs, _x.paused_trajectory_state.multi_dof_joint_state.stamp.nsecs))
      length = len(self.paused_trajectory_state.multi_dof_joint_state.joint_names)
      buff.write(_struct_I.pack(length))
      for val1 in self.paused_trajectory_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.paused_trajectory_state.multi_dof_joint_state.frame_ids)
      buff.write(_struct_I.pack(length))
      for val1 in self.paused_trajectory_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.paused_trajectory_state.multi_dof_joint_state.child_frame_ids)
      buff.write(_struct_I.pack(length))
      for val1 in self.paused_trajectory_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.paused_trajectory_state.multi_dof_joint_state.poses)
      buff.write(_struct_I.pack(length))
      for val1 in self.paused_trajectory_state.multi_dof_joint_state.poses:
        _v15 = val1.position
        _x = _v15
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v16 = val1.orientation
        _x = _v16
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
      _x = self
      buff.write(_struct_3I.pack(_x.paused_collision_map.header.seq, _x.paused_collision_map.header.stamp.secs, _x.paused_collision_map.header.stamp.nsecs))
      _x = self.paused_collision_map.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))
      _x = self.paused_collision_map.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))
      _x = self
      buff.write(_struct_fb.pack(_x.paused_collision_map.padding, _x.paused_collision_map.operation.operation))
      length = len(self.paused_collision_map.shapes)
      buff.write(_struct_I.pack(length))
      for val1 in self.paused_collision_map.shapes:
        buff.write(_struct_b.pack(val1.type))
        length = len(val1.dimensions)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(val1.dimensions.tostring())
        length = len(val1.triangles)
        buff.write(_struct_I.pack(length))
        pattern = '<%si'%length
        buff.write(val1.triangles.tostring())
        length = len(val1.vertices)
        buff.write(_struct_I.pack(length))
        for val2 in val1.vertices:
          _x = val2
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
      length = len(self.paused_collision_map.poses)
      buff.write(_struct_I.pack(length))
      for val1 in self.paused_collision_map.poses:
        _v17 = val1.position
        _x = _v17
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v18 = val1.orientation
        _x = _v18
        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.current_state is None:
        self.current_state = arm_navigation_msgs.msg.RobotState()
      if self.paused_trajectory_state is None:
        self.paused_trajectory_state = arm_navigation_msgs.msg.RobotState()
      if self.paused_collision_map is None:
        self.paused_collision_map = arm_navigation_msgs.msg.CollisionObject()
      end = 0
      _x = self
      start = end
      end += 12
      (_x.current_state.joint_state.header.seq, _x.current_state.joint_state.header.stamp.secs, _x.current_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.current_state.joint_state.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.current_state.joint_state.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.current_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.current_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.current_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.current_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.current_state.joint_state.effort = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
      _x = self
      start = end
      end += 8
      (_x.current_state.multi_dof_joint_state.stamp.secs, _x.current_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.current_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.current_state.multi_dof_joint_state.joint_names.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.current_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.current_state.multi_dof_joint_state.frame_ids.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.current_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.current_state.multi_dof_joint_state.child_frame_ids.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.current_state.multi_dof_joint_state.poses = []
      for i in range(0, length):
        val1 = geometry_msgs.msg.Pose()
        _v19 = val1.position
        _x = _v19
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v20 = val1.orientation
        _x = _v20
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        self.current_state.multi_dof_joint_state.poses.append(val1)
      _x = self
      start = end
      end += 12
      (_x.paused_trajectory_state.joint_state.header.seq, _x.paused_trajectory_state.joint_state.header.stamp.secs, _x.paused_trajectory_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.paused_trajectory_state.joint_state.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.paused_trajectory_state.joint_state.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.paused_trajectory_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.paused_trajectory_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.paused_trajectory_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.paused_trajectory_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.paused_trajectory_state.joint_state.effort = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
      _x = self
      start = end
      end += 8
      (_x.paused_trajectory_state.multi_dof_joint_state.stamp.secs, _x.paused_trajectory_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.paused_trajectory_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.paused_trajectory_state.multi_dof_joint_state.joint_names.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.paused_trajectory_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.paused_trajectory_state.multi_dof_joint_state.frame_ids.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.paused_trajectory_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.paused_trajectory_state.multi_dof_joint_state.child_frame_ids.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.paused_trajectory_state.multi_dof_joint_state.poses = []
      for i in range(0, length):
        val1 = geometry_msgs.msg.Pose()
        _v21 = val1.position
        _x = _v21
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v22 = val1.orientation
        _x = _v22
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        self.paused_trajectory_state.multi_dof_joint_state.poses.append(val1)
      _x = self
      start = end
      end += 12
      (_x.paused_collision_map.header.seq, _x.paused_collision_map.header.stamp.secs, _x.paused_collision_map.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.paused_collision_map.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.paused_collision_map.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.paused_collision_map.id = str[start:end].decode('utf-8')
      else:
        self.paused_collision_map.id = str[start:end]
      _x = self
      start = end
      end += 5
      (_x.paused_collision_map.padding, _x.paused_collision_map.operation.operation,) = _struct_fb.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.paused_collision_map.shapes = []
      for i in range(0, length):
        val1 = arm_navigation_msgs.msg.Shape()
        start = end
        end += 1
        (val1.type,) = _struct_b.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        val1.dimensions = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%si'%length
        start = end
        end += struct.calcsize(pattern)
        val1.triangles = numpy.frombuffer(str[start:end], dtype=numpy.int32, count=length)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.vertices = []
        for i in range(0, length):
          val2 = geometry_msgs.msg.Point()
          _x = val2
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
          val1.vertices.append(val2)
        self.paused_collision_map.shapes.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.paused_collision_map.poses = []
      for i in range(0, length):
        val1 = geometry_msgs.msg.Pose()
        _v23 = val1.position
        _x = _v23
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v24 = val1.orientation
        _x = _v24
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        self.paused_collision_map.poses.append(val1)
      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")
_struct_3I = struct.Struct("<3I")
_struct_fb = struct.Struct("<fb")
_struct_4d = struct.Struct("<4d")
_struct_2I = struct.Struct("<2I")
_struct_3d = struct.Struct("<3d")