_PreplanHeadScanActionGoal.py
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00001 """autogenerated by genpy from head_monitor_msgs/PreplanHeadScanActionGoal.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 arm_navigation_msgs.msg
00008 import actionlib_msgs.msg
00009 import geometry_msgs.msg
00010 import head_monitor_msgs.msg
00011 import sensor_msgs.msg
00012 import genpy
00013 import std_msgs.msg
00014 
00015 class PreplanHeadScanActionGoal(genpy.Message):
00016   _md5sum = "d6d529901f1841831659ba61c8e488bc"
00017   _type = "head_monitor_msgs/PreplanHeadScanActionGoal"
00018   _has_header = True #flag to mark the presence of a Header object
00019   _full_text = """# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00020 
00021 Header header
00022 actionlib_msgs/GoalID goal_id
00023 PreplanHeadScanGoal goal
00024 
00025 ================================================================================
00026 MSG: std_msgs/Header
00027 # Standard metadata for higher-level stamped data types.
00028 # This is generally used to communicate timestamped data 
00029 # in a particular coordinate frame.
00030 # 
00031 # sequence ID: consecutively increasing ID 
00032 uint32 seq
00033 #Two-integer timestamp that is expressed as:
00034 # * stamp.secs: seconds (stamp_secs) since epoch
00035 # * stamp.nsecs: nanoseconds since stamp_secs
00036 # time-handling sugar is provided by the client library
00037 time stamp
00038 #Frame this data is associated with
00039 # 0: no frame
00040 # 1: global frame
00041 string frame_id
00042 
00043 ================================================================================
00044 MSG: actionlib_msgs/GoalID
00045 # The stamp should store the time at which this goal was requested.
00046 # It is used by an action server when it tries to preempt all
00047 # goals that were requested before a certain time
00048 time stamp
00049 
00050 # The id provides a way to associate feedback and
00051 # result message with specific goal requests. The id
00052 # specified must be unique.
00053 string id
00054 
00055 
00056 ================================================================================
00057 MSG: head_monitor_msgs/PreplanHeadScanGoal
00058 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00059 # The motion plan request
00060 string group_name
00061 string head_monitor_link
00062 arm_navigation_msgs/MotionPlanRequest motion_plan_request
00063 
00064 ================================================================================
00065 MSG: arm_navigation_msgs/MotionPlanRequest
00066 # This service contains the definition for a request to the motion
00067 # planner and the output it provides
00068 
00069 # Parameters for the workspace that the planner should work inside
00070 arm_navigation_msgs/WorkspaceParameters workspace_parameters
00071 
00072 # Starting state updates. If certain joints should be considered
00073 # at positions other than the current ones, these positions should
00074 # be set here
00075 arm_navigation_msgs/RobotState start_state
00076 
00077 # The goal state for the model to plan for. The goal is achieved
00078 # if all constraints are satisfied
00079 arm_navigation_msgs/Constraints goal_constraints
00080 
00081 # No state at any point along the path in the produced motion plan will violate these constraints
00082 arm_navigation_msgs/Constraints path_constraints
00083 
00084 # The name of the motion planner to use. If no name is specified,
00085 # a default motion planner will be used
00086 string planner_id
00087 
00088 # The name of the group of joints on which this planner is operating
00089 string group_name
00090 
00091 # The number of times this plan is to be computed. Shortest solution
00092 # will be reported.
00093 int32 num_planning_attempts
00094 
00095 # The maximum amount of time the motion planner is allowed to plan for
00096 duration allowed_planning_time
00097 
00098 # An expected path duration (in seconds) along with an expected discretization of the path allows the planner to determine the discretization of the trajectory that it returns
00099 duration expected_path_duration
00100 duration expected_path_dt
00101 
00102 ================================================================================
00103 MSG: arm_navigation_msgs/WorkspaceParameters
00104 # This message contains a set of parameters useful in
00105 # setting up the workspace for planning
00106 arm_navigation_msgs/Shape  workspace_region_shape
00107 geometry_msgs/PoseStamped    workspace_region_pose
00108 
00109 
00110 ================================================================================
00111 MSG: arm_navigation_msgs/Shape
00112 byte SPHERE=0
00113 byte BOX=1
00114 byte CYLINDER=2
00115 byte MESH=3
00116 
00117 byte type
00118 
00119 
00120 #### define sphere, box, cylinder ####
00121 # the origin of each shape is considered at the shape's center
00122 
00123 # for sphere
00124 # radius := dimensions[0]
00125 
00126 # for cylinder
00127 # radius := dimensions[0]
00128 # length := dimensions[1]
00129 # the length is along the Z axis
00130 
00131 # for box
00132 # size_x := dimensions[0]
00133 # size_y := dimensions[1]
00134 # size_z := dimensions[2]
00135 float64[] dimensions
00136 
00137 
00138 #### define mesh ####
00139 
00140 # list of triangles; triangle k is defined by tre vertices located
00141 # at indices triangles[3k], triangles[3k+1], triangles[3k+2]
00142 int32[] triangles
00143 geometry_msgs/Point[] vertices
00144 
00145 ================================================================================
00146 MSG: geometry_msgs/Point
00147 # This contains the position of a point in free space
00148 float64 x
00149 float64 y
00150 float64 z
00151 
00152 ================================================================================
00153 MSG: geometry_msgs/PoseStamped
00154 # A Pose with reference coordinate frame and timestamp
00155 Header header
00156 Pose pose
00157 
00158 ================================================================================
00159 MSG: geometry_msgs/Pose
00160 # A representation of pose in free space, composed of postion and orientation. 
00161 Point position
00162 Quaternion orientation
00163 
00164 ================================================================================
00165 MSG: geometry_msgs/Quaternion
00166 # This represents an orientation in free space in quaternion form.
00167 
00168 float64 x
00169 float64 y
00170 float64 z
00171 float64 w
00172 
00173 ================================================================================
00174 MSG: arm_navigation_msgs/RobotState
00175 # This message contains information about the robot state, i.e. the positions of its joints and links
00176 sensor_msgs/JointState joint_state
00177 arm_navigation_msgs/MultiDOFJointState multi_dof_joint_state
00178 
00179 ================================================================================
00180 MSG: sensor_msgs/JointState
00181 # This is a message that holds data to describe the state of a set of torque controlled joints. 
00182 #
00183 # The state of each joint (revolute or prismatic) is defined by:
00184 #  * the position of the joint (rad or m),
00185 #  * the velocity of the joint (rad/s or m/s) and 
00186 #  * the effort that is applied in the joint (Nm or N).
00187 #
00188 # Each joint is uniquely identified by its name
00189 # The header specifies the time at which the joint states were recorded. All the joint states
00190 # in one message have to be recorded at the same time.
00191 #
00192 # This message consists of a multiple arrays, one for each part of the joint state. 
00193 # The goal is to make each of the fields optional. When e.g. your joints have no
00194 # effort associated with them, you can leave the effort array empty. 
00195 #
00196 # All arrays in this message should have the same size, or be empty.
00197 # This is the only way to uniquely associate the joint name with the correct
00198 # states.
00199 
00200 
00201 Header header
00202 
00203 string[] name
00204 float64[] position
00205 float64[] velocity
00206 float64[] effort
00207 
00208 ================================================================================
00209 MSG: arm_navigation_msgs/MultiDOFJointState
00210 #A representation of a multi-dof joint state
00211 time stamp
00212 string[] joint_names
00213 string[] frame_ids
00214 string[] child_frame_ids
00215 geometry_msgs/Pose[] poses
00216 
00217 ================================================================================
00218 MSG: arm_navigation_msgs/Constraints
00219 # This message contains a list of motion planning constraints.
00220 
00221 arm_navigation_msgs/JointConstraint[] joint_constraints
00222 arm_navigation_msgs/PositionConstraint[] position_constraints
00223 arm_navigation_msgs/OrientationConstraint[] orientation_constraints
00224 arm_navigation_msgs/VisibilityConstraint[] visibility_constraints
00225 
00226 ================================================================================
00227 MSG: arm_navigation_msgs/JointConstraint
00228 # Constrain the position of a joint to be within a certain bound
00229 string joint_name
00230 
00231 # the bound to be achieved is [position - tolerance_below, position + tolerance_above]
00232 float64 position
00233 float64 tolerance_above
00234 float64 tolerance_below
00235 
00236 # A weighting factor for this constraint
00237 float64 weight
00238 ================================================================================
00239 MSG: arm_navigation_msgs/PositionConstraint
00240 # This message contains the definition of a position constraint.
00241 Header header
00242 
00243 # The robot link this constraint refers to
00244 string link_name
00245 
00246 # The offset (in the link frame) for the target point on the link we are planning for
00247 geometry_msgs/Point target_point_offset
00248 
00249 # The nominal/target position for the point we are planning for
00250 geometry_msgs/Point position
00251 
00252 # The shape of the bounded region that constrains the position of the end-effector
00253 # This region is always centered at the position defined above
00254 arm_navigation_msgs/Shape constraint_region_shape
00255 
00256 # The orientation of the bounded region that constrains the position of the end-effector. 
00257 # This allows the specification of non-axis aligned constraints
00258 geometry_msgs/Quaternion constraint_region_orientation
00259 
00260 # Constraint weighting factor - a weight for this constraint
00261 float64 weight
00262 
00263 ================================================================================
00264 MSG: arm_navigation_msgs/OrientationConstraint
00265 # This message contains the definition of an orientation constraint.
00266 Header header
00267 
00268 # The robot link this constraint refers to
00269 string link_name
00270 
00271 # The type of the constraint
00272 int32 type
00273 int32 LINK_FRAME=0
00274 int32 HEADER_FRAME=1
00275 
00276 # The desired orientation of the robot link specified as a quaternion
00277 geometry_msgs/Quaternion orientation
00278 
00279 # optional RPY error tolerances specified if 
00280 float64 absolute_roll_tolerance
00281 float64 absolute_pitch_tolerance
00282 float64 absolute_yaw_tolerance
00283 
00284 # Constraint weighting factor - a weight for this constraint
00285 float64 weight
00286 
00287 ================================================================================
00288 MSG: arm_navigation_msgs/VisibilityConstraint
00289 # This message contains the definition of a visibility constraint.
00290 Header header
00291 
00292 # The point stamped target that needs to be kept within view of the sensor
00293 geometry_msgs/PointStamped target
00294 
00295 # The local pose of the frame in which visibility is to be maintained
00296 # The frame id should represent the robot link to which the sensor is attached
00297 # The visual axis of the sensor is assumed to be along the X axis of this frame
00298 geometry_msgs/PoseStamped sensor_pose
00299 
00300 # The deviation (in radians) that will be tolerated
00301 # Constraint error will be measured as the solid angle between the 
00302 # X axis of the frame defined above and the vector between the origin 
00303 # of the frame defined above and the target location
00304 float64 absolute_tolerance
00305 
00306 
00307 ================================================================================
00308 MSG: geometry_msgs/PointStamped
00309 # This represents a Point with reference coordinate frame and timestamp
00310 Header header
00311 Point point
00312 
00313 """
00314   __slots__ = ['header','goal_id','goal']
00315   _slot_types = ['std_msgs/Header','actionlib_msgs/GoalID','head_monitor_msgs/PreplanHeadScanGoal']
00316 
00317   def __init__(self, *args, **kwds):
00318     """
00319     Constructor. Any message fields that are implicitly/explicitly
00320     set to None will be assigned a default value. The recommend
00321     use is keyword arguments as this is more robust to future message
00322     changes.  You cannot mix in-order arguments and keyword arguments.
00323 
00324     The available fields are:
00325        header,goal_id,goal
00326 
00327     :param args: complete set of field values, in .msg order
00328     :param kwds: use keyword arguments corresponding to message field names
00329     to set specific fields.
00330     """
00331     if args or kwds:
00332       super(PreplanHeadScanActionGoal, self).__init__(*args, **kwds)
00333       #message fields cannot be None, assign default values for those that are
00334       if self.header is None:
00335         self.header = std_msgs.msg.Header()
00336       if self.goal_id is None:
00337         self.goal_id = actionlib_msgs.msg.GoalID()
00338       if self.goal is None:
00339         self.goal = head_monitor_msgs.msg.PreplanHeadScanGoal()
00340     else:
00341       self.header = std_msgs.msg.Header()
00342       self.goal_id = actionlib_msgs.msg.GoalID()
00343       self.goal = head_monitor_msgs.msg.PreplanHeadScanGoal()
00344 
00345   def _get_types(self):
00346     """
00347     internal API method
00348     """
00349     return self._slot_types
00350 
00351   def serialize(self, buff):
00352     """
00353     serialize message into buffer
00354     :param buff: buffer, ``StringIO``
00355     """
00356     try:
00357       _x = self
00358       buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
00359       _x = self.header.frame_id
00360       length = len(_x)
00361       if python3 or type(_x) == unicode:
00362         _x = _x.encode('utf-8')
00363         length = len(_x)
00364       buff.write(struct.pack('<I%ss'%length, length, _x))
00365       _x = self
00366       buff.write(_struct_2I.pack(_x.goal_id.stamp.secs, _x.goal_id.stamp.nsecs))
00367       _x = self.goal_id.id
00368       length = len(_x)
00369       if python3 or type(_x) == unicode:
00370         _x = _x.encode('utf-8')
00371         length = len(_x)
00372       buff.write(struct.pack('<I%ss'%length, length, _x))
00373       _x = self.goal.group_name
00374       length = len(_x)
00375       if python3 or type(_x) == unicode:
00376         _x = _x.encode('utf-8')
00377         length = len(_x)
00378       buff.write(struct.pack('<I%ss'%length, length, _x))
00379       _x = self.goal.head_monitor_link
00380       length = len(_x)
00381       if python3 or type(_x) == unicode:
00382         _x = _x.encode('utf-8')
00383         length = len(_x)
00384       buff.write(struct.pack('<I%ss'%length, length, _x))
00385       buff.write(_struct_b.pack(self.goal.motion_plan_request.workspace_parameters.workspace_region_shape.type))
00386       length = len(self.goal.motion_plan_request.workspace_parameters.workspace_region_shape.dimensions)
00387       buff.write(_struct_I.pack(length))
00388       pattern = '<%sd'%length
00389       buff.write(struct.pack(pattern, *self.goal.motion_plan_request.workspace_parameters.workspace_region_shape.dimensions))
00390       length = len(self.goal.motion_plan_request.workspace_parameters.workspace_region_shape.triangles)
00391       buff.write(_struct_I.pack(length))
00392       pattern = '<%si'%length
00393       buff.write(struct.pack(pattern, *self.goal.motion_plan_request.workspace_parameters.workspace_region_shape.triangles))
00394       length = len(self.goal.motion_plan_request.workspace_parameters.workspace_region_shape.vertices)
00395       buff.write(_struct_I.pack(length))
00396       for val1 in self.goal.motion_plan_request.workspace_parameters.workspace_region_shape.vertices:
00397         _x = val1
00398         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00399       _x = self
00400       buff.write(_struct_3I.pack(_x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.header.seq, _x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.header.stamp.secs, _x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.header.stamp.nsecs))
00401       _x = self.goal.motion_plan_request.workspace_parameters.workspace_region_pose.header.frame_id
00402       length = len(_x)
00403       if python3 or type(_x) == unicode:
00404         _x = _x.encode('utf-8')
00405         length = len(_x)
00406       buff.write(struct.pack('<I%ss'%length, length, _x))
00407       _x = self
00408       buff.write(_struct_7d3I.pack(_x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.pose.position.x, _x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.pose.position.y, _x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.pose.position.z, _x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.pose.orientation.x, _x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.pose.orientation.y, _x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.pose.orientation.z, _x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.pose.orientation.w, _x.goal.motion_plan_request.start_state.joint_state.header.seq, _x.goal.motion_plan_request.start_state.joint_state.header.stamp.secs, _x.goal.motion_plan_request.start_state.joint_state.header.stamp.nsecs))
00409       _x = self.goal.motion_plan_request.start_state.joint_state.header.frame_id
00410       length = len(_x)
00411       if python3 or type(_x) == unicode:
00412         _x = _x.encode('utf-8')
00413         length = len(_x)
00414       buff.write(struct.pack('<I%ss'%length, length, _x))
00415       length = len(self.goal.motion_plan_request.start_state.joint_state.name)
00416       buff.write(_struct_I.pack(length))
00417       for val1 in self.goal.motion_plan_request.start_state.joint_state.name:
00418         length = len(val1)
00419         if python3 or type(val1) == unicode:
00420           val1 = val1.encode('utf-8')
00421           length = len(val1)
00422         buff.write(struct.pack('<I%ss'%length, length, val1))
00423       length = len(self.goal.motion_plan_request.start_state.joint_state.position)
00424       buff.write(_struct_I.pack(length))
00425       pattern = '<%sd'%length
00426       buff.write(struct.pack(pattern, *self.goal.motion_plan_request.start_state.joint_state.position))
00427       length = len(self.goal.motion_plan_request.start_state.joint_state.velocity)
00428       buff.write(_struct_I.pack(length))
00429       pattern = '<%sd'%length
00430       buff.write(struct.pack(pattern, *self.goal.motion_plan_request.start_state.joint_state.velocity))
00431       length = len(self.goal.motion_plan_request.start_state.joint_state.effort)
00432       buff.write(_struct_I.pack(length))
00433       pattern = '<%sd'%length
00434       buff.write(struct.pack(pattern, *self.goal.motion_plan_request.start_state.joint_state.effort))
00435       _x = self
00436       buff.write(_struct_2I.pack(_x.goal.motion_plan_request.start_state.multi_dof_joint_state.stamp.secs, _x.goal.motion_plan_request.start_state.multi_dof_joint_state.stamp.nsecs))
00437       length = len(self.goal.motion_plan_request.start_state.multi_dof_joint_state.joint_names)
00438       buff.write(_struct_I.pack(length))
00439       for val1 in self.goal.motion_plan_request.start_state.multi_dof_joint_state.joint_names:
00440         length = len(val1)
00441         if python3 or type(val1) == unicode:
00442           val1 = val1.encode('utf-8')
00443           length = len(val1)
00444         buff.write(struct.pack('<I%ss'%length, length, val1))
00445       length = len(self.goal.motion_plan_request.start_state.multi_dof_joint_state.frame_ids)
00446       buff.write(_struct_I.pack(length))
00447       for val1 in self.goal.motion_plan_request.start_state.multi_dof_joint_state.frame_ids:
00448         length = len(val1)
00449         if python3 or type(val1) == unicode:
00450           val1 = val1.encode('utf-8')
00451           length = len(val1)
00452         buff.write(struct.pack('<I%ss'%length, length, val1))
00453       length = len(self.goal.motion_plan_request.start_state.multi_dof_joint_state.child_frame_ids)
00454       buff.write(_struct_I.pack(length))
00455       for val1 in self.goal.motion_plan_request.start_state.multi_dof_joint_state.child_frame_ids:
00456         length = len(val1)
00457         if python3 or type(val1) == unicode:
00458           val1 = val1.encode('utf-8')
00459           length = len(val1)
00460         buff.write(struct.pack('<I%ss'%length, length, val1))
00461       length = len(self.goal.motion_plan_request.start_state.multi_dof_joint_state.poses)
00462       buff.write(_struct_I.pack(length))
00463       for val1 in self.goal.motion_plan_request.start_state.multi_dof_joint_state.poses:
00464         _v1 = val1.position
00465         _x = _v1
00466         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00467         _v2 = val1.orientation
00468         _x = _v2
00469         buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00470       length = len(self.goal.motion_plan_request.goal_constraints.joint_constraints)
00471       buff.write(_struct_I.pack(length))
00472       for val1 in self.goal.motion_plan_request.goal_constraints.joint_constraints:
00473         _x = val1.joint_name
00474         length = len(_x)
00475         if python3 or type(_x) == unicode:
00476           _x = _x.encode('utf-8')
00477           length = len(_x)
00478         buff.write(struct.pack('<I%ss'%length, length, _x))
00479         _x = val1
00480         buff.write(_struct_4d.pack(_x.position, _x.tolerance_above, _x.tolerance_below, _x.weight))
00481       length = len(self.goal.motion_plan_request.goal_constraints.position_constraints)
00482       buff.write(_struct_I.pack(length))
00483       for val1 in self.goal.motion_plan_request.goal_constraints.position_constraints:
00484         _v3 = val1.header
00485         buff.write(_struct_I.pack(_v3.seq))
00486         _v4 = _v3.stamp
00487         _x = _v4
00488         buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00489         _x = _v3.frame_id
00490         length = len(_x)
00491         if python3 or type(_x) == unicode:
00492           _x = _x.encode('utf-8')
00493           length = len(_x)
00494         buff.write(struct.pack('<I%ss'%length, length, _x))
00495         _x = val1.link_name
00496         length = len(_x)
00497         if python3 or type(_x) == unicode:
00498           _x = _x.encode('utf-8')
00499           length = len(_x)
00500         buff.write(struct.pack('<I%ss'%length, length, _x))
00501         _v5 = val1.target_point_offset
00502         _x = _v5
00503         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00504         _v6 = val1.position
00505         _x = _v6
00506         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00507         _v7 = val1.constraint_region_shape
00508         buff.write(_struct_b.pack(_v7.type))
00509         length = len(_v7.dimensions)
00510         buff.write(_struct_I.pack(length))
00511         pattern = '<%sd'%length
00512         buff.write(struct.pack(pattern, *_v7.dimensions))
00513         length = len(_v7.triangles)
00514         buff.write(_struct_I.pack(length))
00515         pattern = '<%si'%length
00516         buff.write(struct.pack(pattern, *_v7.triangles))
00517         length = len(_v7.vertices)
00518         buff.write(_struct_I.pack(length))
00519         for val3 in _v7.vertices:
00520           _x = val3
00521           buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00522         _v8 = val1.constraint_region_orientation
00523         _x = _v8
00524         buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00525         buff.write(_struct_d.pack(val1.weight))
00526       length = len(self.goal.motion_plan_request.goal_constraints.orientation_constraints)
00527       buff.write(_struct_I.pack(length))
00528       for val1 in self.goal.motion_plan_request.goal_constraints.orientation_constraints:
00529         _v9 = val1.header
00530         buff.write(_struct_I.pack(_v9.seq))
00531         _v10 = _v9.stamp
00532         _x = _v10
00533         buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00534         _x = _v9.frame_id
00535         length = len(_x)
00536         if python3 or type(_x) == unicode:
00537           _x = _x.encode('utf-8')
00538           length = len(_x)
00539         buff.write(struct.pack('<I%ss'%length, length, _x))
00540         _x = val1.link_name
00541         length = len(_x)
00542         if python3 or type(_x) == unicode:
00543           _x = _x.encode('utf-8')
00544           length = len(_x)
00545         buff.write(struct.pack('<I%ss'%length, length, _x))
00546         buff.write(_struct_i.pack(val1.type))
00547         _v11 = val1.orientation
00548         _x = _v11
00549         buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00550         _x = val1
00551         buff.write(_struct_4d.pack(_x.absolute_roll_tolerance, _x.absolute_pitch_tolerance, _x.absolute_yaw_tolerance, _x.weight))
00552       length = len(self.goal.motion_plan_request.goal_constraints.visibility_constraints)
00553       buff.write(_struct_I.pack(length))
00554       for val1 in self.goal.motion_plan_request.goal_constraints.visibility_constraints:
00555         _v12 = val1.header
00556         buff.write(_struct_I.pack(_v12.seq))
00557         _v13 = _v12.stamp
00558         _x = _v13
00559         buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00560         _x = _v12.frame_id
00561         length = len(_x)
00562         if python3 or type(_x) == unicode:
00563           _x = _x.encode('utf-8')
00564           length = len(_x)
00565         buff.write(struct.pack('<I%ss'%length, length, _x))
00566         _v14 = val1.target
00567         _v15 = _v14.header
00568         buff.write(_struct_I.pack(_v15.seq))
00569         _v16 = _v15.stamp
00570         _x = _v16
00571         buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00572         _x = _v15.frame_id
00573         length = len(_x)
00574         if python3 or type(_x) == unicode:
00575           _x = _x.encode('utf-8')
00576           length = len(_x)
00577         buff.write(struct.pack('<I%ss'%length, length, _x))
00578         _v17 = _v14.point
00579         _x = _v17
00580         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00581         _v18 = val1.sensor_pose
00582         _v19 = _v18.header
00583         buff.write(_struct_I.pack(_v19.seq))
00584         _v20 = _v19.stamp
00585         _x = _v20
00586         buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00587         _x = _v19.frame_id
00588         length = len(_x)
00589         if python3 or type(_x) == unicode:
00590           _x = _x.encode('utf-8')
00591           length = len(_x)
00592         buff.write(struct.pack('<I%ss'%length, length, _x))
00593         _v21 = _v18.pose
00594         _v22 = _v21.position
00595         _x = _v22
00596         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00597         _v23 = _v21.orientation
00598         _x = _v23
00599         buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00600         buff.write(_struct_d.pack(val1.absolute_tolerance))
00601       length = len(self.goal.motion_plan_request.path_constraints.joint_constraints)
00602       buff.write(_struct_I.pack(length))
00603       for val1 in self.goal.motion_plan_request.path_constraints.joint_constraints:
00604         _x = val1.joint_name
00605         length = len(_x)
00606         if python3 or type(_x) == unicode:
00607           _x = _x.encode('utf-8')
00608           length = len(_x)
00609         buff.write(struct.pack('<I%ss'%length, length, _x))
00610         _x = val1
00611         buff.write(_struct_4d.pack(_x.position, _x.tolerance_above, _x.tolerance_below, _x.weight))
00612       length = len(self.goal.motion_plan_request.path_constraints.position_constraints)
00613       buff.write(_struct_I.pack(length))
00614       for val1 in self.goal.motion_plan_request.path_constraints.position_constraints:
00615         _v24 = val1.header
00616         buff.write(_struct_I.pack(_v24.seq))
00617         _v25 = _v24.stamp
00618         _x = _v25
00619         buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00620         _x = _v24.frame_id
00621         length = len(_x)
00622         if python3 or type(_x) == unicode:
00623           _x = _x.encode('utf-8')
00624           length = len(_x)
00625         buff.write(struct.pack('<I%ss'%length, length, _x))
00626         _x = val1.link_name
00627         length = len(_x)
00628         if python3 or type(_x) == unicode:
00629           _x = _x.encode('utf-8')
00630           length = len(_x)
00631         buff.write(struct.pack('<I%ss'%length, length, _x))
00632         _v26 = val1.target_point_offset
00633         _x = _v26
00634         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00635         _v27 = val1.position
00636         _x = _v27
00637         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00638         _v28 = val1.constraint_region_shape
00639         buff.write(_struct_b.pack(_v28.type))
00640         length = len(_v28.dimensions)
00641         buff.write(_struct_I.pack(length))
00642         pattern = '<%sd'%length
00643         buff.write(struct.pack(pattern, *_v28.dimensions))
00644         length = len(_v28.triangles)
00645         buff.write(_struct_I.pack(length))
00646         pattern = '<%si'%length
00647         buff.write(struct.pack(pattern, *_v28.triangles))
00648         length = len(_v28.vertices)
00649         buff.write(_struct_I.pack(length))
00650         for val3 in _v28.vertices:
00651           _x = val3
00652           buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00653         _v29 = val1.constraint_region_orientation
00654         _x = _v29
00655         buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00656         buff.write(_struct_d.pack(val1.weight))
00657       length = len(self.goal.motion_plan_request.path_constraints.orientation_constraints)
00658       buff.write(_struct_I.pack(length))
00659       for val1 in self.goal.motion_plan_request.path_constraints.orientation_constraints:
00660         _v30 = val1.header
00661         buff.write(_struct_I.pack(_v30.seq))
00662         _v31 = _v30.stamp
00663         _x = _v31
00664         buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00665         _x = _v30.frame_id
00666         length = len(_x)
00667         if python3 or type(_x) == unicode:
00668           _x = _x.encode('utf-8')
00669           length = len(_x)
00670         buff.write(struct.pack('<I%ss'%length, length, _x))
00671         _x = val1.link_name
00672         length = len(_x)
00673         if python3 or type(_x) == unicode:
00674           _x = _x.encode('utf-8')
00675           length = len(_x)
00676         buff.write(struct.pack('<I%ss'%length, length, _x))
00677         buff.write(_struct_i.pack(val1.type))
00678         _v32 = val1.orientation
00679         _x = _v32
00680         buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00681         _x = val1
00682         buff.write(_struct_4d.pack(_x.absolute_roll_tolerance, _x.absolute_pitch_tolerance, _x.absolute_yaw_tolerance, _x.weight))
00683       length = len(self.goal.motion_plan_request.path_constraints.visibility_constraints)
00684       buff.write(_struct_I.pack(length))
00685       for val1 in self.goal.motion_plan_request.path_constraints.visibility_constraints:
00686         _v33 = val1.header
00687         buff.write(_struct_I.pack(_v33.seq))
00688         _v34 = _v33.stamp
00689         _x = _v34
00690         buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00691         _x = _v33.frame_id
00692         length = len(_x)
00693         if python3 or type(_x) == unicode:
00694           _x = _x.encode('utf-8')
00695           length = len(_x)
00696         buff.write(struct.pack('<I%ss'%length, length, _x))
00697         _v35 = val1.target
00698         _v36 = _v35.header
00699         buff.write(_struct_I.pack(_v36.seq))
00700         _v37 = _v36.stamp
00701         _x = _v37
00702         buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00703         _x = _v36.frame_id
00704         length = len(_x)
00705         if python3 or type(_x) == unicode:
00706           _x = _x.encode('utf-8')
00707           length = len(_x)
00708         buff.write(struct.pack('<I%ss'%length, length, _x))
00709         _v38 = _v35.point
00710         _x = _v38
00711         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00712         _v39 = val1.sensor_pose
00713         _v40 = _v39.header
00714         buff.write(_struct_I.pack(_v40.seq))
00715         _v41 = _v40.stamp
00716         _x = _v41
00717         buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00718         _x = _v40.frame_id
00719         length = len(_x)
00720         if python3 or type(_x) == unicode:
00721           _x = _x.encode('utf-8')
00722           length = len(_x)
00723         buff.write(struct.pack('<I%ss'%length, length, _x))
00724         _v42 = _v39.pose
00725         _v43 = _v42.position
00726         _x = _v43
00727         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00728         _v44 = _v42.orientation
00729         _x = _v44
00730         buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00731         buff.write(_struct_d.pack(val1.absolute_tolerance))
00732       _x = self.goal.motion_plan_request.planner_id
00733       length = len(_x)
00734       if python3 or type(_x) == unicode:
00735         _x = _x.encode('utf-8')
00736         length = len(_x)
00737       buff.write(struct.pack('<I%ss'%length, length, _x))
00738       _x = self.goal.motion_plan_request.group_name
00739       length = len(_x)
00740       if python3 or type(_x) == unicode:
00741         _x = _x.encode('utf-8')
00742         length = len(_x)
00743       buff.write(struct.pack('<I%ss'%length, length, _x))
00744       _x = self
00745       buff.write(_struct_7i.pack(_x.goal.motion_plan_request.num_planning_attempts, _x.goal.motion_plan_request.allowed_planning_time.secs, _x.goal.motion_plan_request.allowed_planning_time.nsecs, _x.goal.motion_plan_request.expected_path_duration.secs, _x.goal.motion_plan_request.expected_path_duration.nsecs, _x.goal.motion_plan_request.expected_path_dt.secs, _x.goal.motion_plan_request.expected_path_dt.nsecs))
00746     except struct.error as se: self._check_types(se)
00747     except TypeError as te: self._check_types(te)
00748 
00749   def deserialize(self, str):
00750     """
00751     unpack serialized message in str into this message instance
00752     :param str: byte array of serialized message, ``str``
00753     """
00754     try:
00755       if self.header is None:
00756         self.header = std_msgs.msg.Header()
00757       if self.goal_id is None:
00758         self.goal_id = actionlib_msgs.msg.GoalID()
00759       if self.goal is None:
00760         self.goal = head_monitor_msgs.msg.PreplanHeadScanGoal()
00761       end = 0
00762       _x = self
00763       start = end
00764       end += 12
00765       (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00766       start = end
00767       end += 4
00768       (length,) = _struct_I.unpack(str[start:end])
00769       start = end
00770       end += length
00771       if python3:
00772         self.header.frame_id = str[start:end].decode('utf-8')
00773       else:
00774         self.header.frame_id = str[start:end]
00775       _x = self
00776       start = end
00777       end += 8
00778       (_x.goal_id.stamp.secs, _x.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00779       start = end
00780       end += 4
00781       (length,) = _struct_I.unpack(str[start:end])
00782       start = end
00783       end += length
00784       if python3:
00785         self.goal_id.id = str[start:end].decode('utf-8')
00786       else:
00787         self.goal_id.id = str[start:end]
00788       start = end
00789       end += 4
00790       (length,) = _struct_I.unpack(str[start:end])
00791       start = end
00792       end += length
00793       if python3:
00794         self.goal.group_name = str[start:end].decode('utf-8')
00795       else:
00796         self.goal.group_name = str[start:end]
00797       start = end
00798       end += 4
00799       (length,) = _struct_I.unpack(str[start:end])
00800       start = end
00801       end += length
00802       if python3:
00803         self.goal.head_monitor_link = str[start:end].decode('utf-8')
00804       else:
00805         self.goal.head_monitor_link = str[start:end]
00806       start = end
00807       end += 1
00808       (self.goal.motion_plan_request.workspace_parameters.workspace_region_shape.type,) = _struct_b.unpack(str[start:end])
00809       start = end
00810       end += 4
00811       (length,) = _struct_I.unpack(str[start:end])
00812       pattern = '<%sd'%length
00813       start = end
00814       end += struct.calcsize(pattern)
00815       self.goal.motion_plan_request.workspace_parameters.workspace_region_shape.dimensions = struct.unpack(pattern, str[start:end])
00816       start = end
00817       end += 4
00818       (length,) = _struct_I.unpack(str[start:end])
00819       pattern = '<%si'%length
00820       start = end
00821       end += struct.calcsize(pattern)
00822       self.goal.motion_plan_request.workspace_parameters.workspace_region_shape.triangles = struct.unpack(pattern, str[start:end])
00823       start = end
00824       end += 4
00825       (length,) = _struct_I.unpack(str[start:end])
00826       self.goal.motion_plan_request.workspace_parameters.workspace_region_shape.vertices = []
00827       for i in range(0, length):
00828         val1 = geometry_msgs.msg.Point()
00829         _x = val1
00830         start = end
00831         end += 24
00832         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00833         self.goal.motion_plan_request.workspace_parameters.workspace_region_shape.vertices.append(val1)
00834       _x = self
00835       start = end
00836       end += 12
00837       (_x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.header.seq, _x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.header.stamp.secs, _x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00838       start = end
00839       end += 4
00840       (length,) = _struct_I.unpack(str[start:end])
00841       start = end
00842       end += length
00843       if python3:
00844         self.goal.motion_plan_request.workspace_parameters.workspace_region_pose.header.frame_id = str[start:end].decode('utf-8')
00845       else:
00846         self.goal.motion_plan_request.workspace_parameters.workspace_region_pose.header.frame_id = str[start:end]
00847       _x = self
00848       start = end
00849       end += 68
00850       (_x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.pose.position.x, _x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.pose.position.y, _x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.pose.position.z, _x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.pose.orientation.x, _x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.pose.orientation.y, _x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.pose.orientation.z, _x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.pose.orientation.w, _x.goal.motion_plan_request.start_state.joint_state.header.seq, _x.goal.motion_plan_request.start_state.joint_state.header.stamp.secs, _x.goal.motion_plan_request.start_state.joint_state.header.stamp.nsecs,) = _struct_7d3I.unpack(str[start:end])
00851       start = end
00852       end += 4
00853       (length,) = _struct_I.unpack(str[start:end])
00854       start = end
00855       end += length
00856       if python3:
00857         self.goal.motion_plan_request.start_state.joint_state.header.frame_id = str[start:end].decode('utf-8')
00858       else:
00859         self.goal.motion_plan_request.start_state.joint_state.header.frame_id = str[start:end]
00860       start = end
00861       end += 4
00862       (length,) = _struct_I.unpack(str[start:end])
00863       self.goal.motion_plan_request.start_state.joint_state.name = []
00864       for i in range(0, length):
00865         start = end
00866         end += 4
00867         (length,) = _struct_I.unpack(str[start:end])
00868         start = end
00869         end += length
00870         if python3:
00871           val1 = str[start:end].decode('utf-8')
00872         else:
00873           val1 = str[start:end]
00874         self.goal.motion_plan_request.start_state.joint_state.name.append(val1)
00875       start = end
00876       end += 4
00877       (length,) = _struct_I.unpack(str[start:end])
00878       pattern = '<%sd'%length
00879       start = end
00880       end += struct.calcsize(pattern)
00881       self.goal.motion_plan_request.start_state.joint_state.position = struct.unpack(pattern, str[start:end])
00882       start = end
00883       end += 4
00884       (length,) = _struct_I.unpack(str[start:end])
00885       pattern = '<%sd'%length
00886       start = end
00887       end += struct.calcsize(pattern)
00888       self.goal.motion_plan_request.start_state.joint_state.velocity = struct.unpack(pattern, str[start:end])
00889       start = end
00890       end += 4
00891       (length,) = _struct_I.unpack(str[start:end])
00892       pattern = '<%sd'%length
00893       start = end
00894       end += struct.calcsize(pattern)
00895       self.goal.motion_plan_request.start_state.joint_state.effort = struct.unpack(pattern, str[start:end])
00896       _x = self
00897       start = end
00898       end += 8
00899       (_x.goal.motion_plan_request.start_state.multi_dof_joint_state.stamp.secs, _x.goal.motion_plan_request.start_state.multi_dof_joint_state.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00900       start = end
00901       end += 4
00902       (length,) = _struct_I.unpack(str[start:end])
00903       self.goal.motion_plan_request.start_state.multi_dof_joint_state.joint_names = []
00904       for i in range(0, length):
00905         start = end
00906         end += 4
00907         (length,) = _struct_I.unpack(str[start:end])
00908         start = end
00909         end += length
00910         if python3:
00911           val1 = str[start:end].decode('utf-8')
00912         else:
00913           val1 = str[start:end]
00914         self.goal.motion_plan_request.start_state.multi_dof_joint_state.joint_names.append(val1)
00915       start = end
00916       end += 4
00917       (length,) = _struct_I.unpack(str[start:end])
00918       self.goal.motion_plan_request.start_state.multi_dof_joint_state.frame_ids = []
00919       for i in range(0, length):
00920         start = end
00921         end += 4
00922         (length,) = _struct_I.unpack(str[start:end])
00923         start = end
00924         end += length
00925         if python3:
00926           val1 = str[start:end].decode('utf-8')
00927         else:
00928           val1 = str[start:end]
00929         self.goal.motion_plan_request.start_state.multi_dof_joint_state.frame_ids.append(val1)
00930       start = end
00931       end += 4
00932       (length,) = _struct_I.unpack(str[start:end])
00933       self.goal.motion_plan_request.start_state.multi_dof_joint_state.child_frame_ids = []
00934       for i in range(0, length):
00935         start = end
00936         end += 4
00937         (length,) = _struct_I.unpack(str[start:end])
00938         start = end
00939         end += length
00940         if python3:
00941           val1 = str[start:end].decode('utf-8')
00942         else:
00943           val1 = str[start:end]
00944         self.goal.motion_plan_request.start_state.multi_dof_joint_state.child_frame_ids.append(val1)
00945       start = end
00946       end += 4
00947       (length,) = _struct_I.unpack(str[start:end])
00948       self.goal.motion_plan_request.start_state.multi_dof_joint_state.poses = []
00949       for i in range(0, length):
00950         val1 = geometry_msgs.msg.Pose()
00951         _v45 = val1.position
00952         _x = _v45
00953         start = end
00954         end += 24
00955         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00956         _v46 = val1.orientation
00957         _x = _v46
00958         start = end
00959         end += 32
00960         (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
00961         self.goal.motion_plan_request.start_state.multi_dof_joint_state.poses.append(val1)
00962       start = end
00963       end += 4
00964       (length,) = _struct_I.unpack(str[start:end])
00965       self.goal.motion_plan_request.goal_constraints.joint_constraints = []
00966       for i in range(0, length):
00967         val1 = arm_navigation_msgs.msg.JointConstraint()
00968         start = end
00969         end += 4
00970         (length,) = _struct_I.unpack(str[start:end])
00971         start = end
00972         end += length
00973         if python3:
00974           val1.joint_name = str[start:end].decode('utf-8')
00975         else:
00976           val1.joint_name = str[start:end]
00977         _x = val1
00978         start = end
00979         end += 32
00980         (_x.position, _x.tolerance_above, _x.tolerance_below, _x.weight,) = _struct_4d.unpack(str[start:end])
00981         self.goal.motion_plan_request.goal_constraints.joint_constraints.append(val1)
00982       start = end
00983       end += 4
00984       (length,) = _struct_I.unpack(str[start:end])
00985       self.goal.motion_plan_request.goal_constraints.position_constraints = []
00986       for i in range(0, length):
00987         val1 = arm_navigation_msgs.msg.PositionConstraint()
00988         _v47 = val1.header
00989         start = end
00990         end += 4
00991         (_v47.seq,) = _struct_I.unpack(str[start:end])
00992         _v48 = _v47.stamp
00993         _x = _v48
00994         start = end
00995         end += 8
00996         (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
00997         start = end
00998         end += 4
00999         (length,) = _struct_I.unpack(str[start:end])
01000         start = end
01001         end += length
01002         if python3:
01003           _v47.frame_id = str[start:end].decode('utf-8')
01004         else:
01005           _v47.frame_id = str[start:end]
01006         start = end
01007         end += 4
01008         (length,) = _struct_I.unpack(str[start:end])
01009         start = end
01010         end += length
01011         if python3:
01012           val1.link_name = str[start:end].decode('utf-8')
01013         else:
01014           val1.link_name = str[start:end]
01015         _v49 = val1.target_point_offset
01016         _x = _v49
01017         start = end
01018         end += 24
01019         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
01020         _v50 = val1.position
01021         _x = _v50
01022         start = end
01023         end += 24
01024         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
01025         _v51 = val1.constraint_region_shape
01026         start = end
01027         end += 1
01028         (_v51.type,) = _struct_b.unpack(str[start:end])
01029         start = end
01030         end += 4
01031         (length,) = _struct_I.unpack(str[start:end])
01032         pattern = '<%sd'%length
01033         start = end
01034         end += struct.calcsize(pattern)
01035         _v51.dimensions = struct.unpack(pattern, str[start:end])
01036         start = end
01037         end += 4
01038         (length,) = _struct_I.unpack(str[start:end])
01039         pattern = '<%si'%length
01040         start = end
01041         end += struct.calcsize(pattern)
01042         _v51.triangles = struct.unpack(pattern, str[start:end])
01043         start = end
01044         end += 4
01045         (length,) = _struct_I.unpack(str[start:end])
01046         _v51.vertices = []
01047         for i in range(0, length):
01048           val3 = geometry_msgs.msg.Point()
01049           _x = val3
01050           start = end
01051           end += 24
01052           (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
01053           _v51.vertices.append(val3)
01054         _v52 = val1.constraint_region_orientation
01055         _x = _v52
01056         start = end
01057         end += 32
01058         (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
01059         start = end
01060         end += 8
01061         (val1.weight,) = _struct_d.unpack(str[start:end])
01062         self.goal.motion_plan_request.goal_constraints.position_constraints.append(val1)
01063       start = end
01064       end += 4
01065       (length,) = _struct_I.unpack(str[start:end])
01066       self.goal.motion_plan_request.goal_constraints.orientation_constraints = []
01067       for i in range(0, length):
01068         val1 = arm_navigation_msgs.msg.OrientationConstraint()
01069         _v53 = val1.header
01070         start = end
01071         end += 4
01072         (_v53.seq,) = _struct_I.unpack(str[start:end])
01073         _v54 = _v53.stamp
01074         _x = _v54
01075         start = end
01076         end += 8
01077         (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
01078         start = end
01079         end += 4
01080         (length,) = _struct_I.unpack(str[start:end])
01081         start = end
01082         end += length
01083         if python3:
01084           _v53.frame_id = str[start:end].decode('utf-8')
01085         else:
01086           _v53.frame_id = str[start:end]
01087         start = end
01088         end += 4
01089         (length,) = _struct_I.unpack(str[start:end])
01090         start = end
01091         end += length
01092         if python3:
01093           val1.link_name = str[start:end].decode('utf-8')
01094         else:
01095           val1.link_name = str[start:end]
01096         start = end
01097         end += 4
01098         (val1.type,) = _struct_i.unpack(str[start:end])
01099         _v55 = val1.orientation
01100         _x = _v55
01101         start = end
01102         end += 32
01103         (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
01104         _x = val1
01105         start = end
01106         end += 32
01107         (_x.absolute_roll_tolerance, _x.absolute_pitch_tolerance, _x.absolute_yaw_tolerance, _x.weight,) = _struct_4d.unpack(str[start:end])
01108         self.goal.motion_plan_request.goal_constraints.orientation_constraints.append(val1)
01109       start = end
01110       end += 4
01111       (length,) = _struct_I.unpack(str[start:end])
01112       self.goal.motion_plan_request.goal_constraints.visibility_constraints = []
01113       for i in range(0, length):
01114         val1 = arm_navigation_msgs.msg.VisibilityConstraint()
01115         _v56 = val1.header
01116         start = end
01117         end += 4
01118         (_v56.seq,) = _struct_I.unpack(str[start:end])
01119         _v57 = _v56.stamp
01120         _x = _v57
01121         start = end
01122         end += 8
01123         (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
01124         start = end
01125         end += 4
01126         (length,) = _struct_I.unpack(str[start:end])
01127         start = end
01128         end += length
01129         if python3:
01130           _v56.frame_id = str[start:end].decode('utf-8')
01131         else:
01132           _v56.frame_id = str[start:end]
01133         _v58 = val1.target
01134         _v59 = _v58.header
01135         start = end
01136         end += 4
01137         (_v59.seq,) = _struct_I.unpack(str[start:end])
01138         _v60 = _v59.stamp
01139         _x = _v60
01140         start = end
01141         end += 8
01142         (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
01143         start = end
01144         end += 4
01145         (length,) = _struct_I.unpack(str[start:end])
01146         start = end
01147         end += length
01148         if python3:
01149           _v59.frame_id = str[start:end].decode('utf-8')
01150         else:
01151           _v59.frame_id = str[start:end]
01152         _v61 = _v58.point
01153         _x = _v61
01154         start = end
01155         end += 24
01156         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
01157         _v62 = val1.sensor_pose
01158         _v63 = _v62.header
01159         start = end
01160         end += 4
01161         (_v63.seq,) = _struct_I.unpack(str[start:end])
01162         _v64 = _v63.stamp
01163         _x = _v64
01164         start = end
01165         end += 8
01166         (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
01167         start = end
01168         end += 4
01169         (length,) = _struct_I.unpack(str[start:end])
01170         start = end
01171         end += length
01172         if python3:
01173           _v63.frame_id = str[start:end].decode('utf-8')
01174         else:
01175           _v63.frame_id = str[start:end]
01176         _v65 = _v62.pose
01177         _v66 = _v65.position
01178         _x = _v66
01179         start = end
01180         end += 24
01181         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
01182         _v67 = _v65.orientation
01183         _x = _v67
01184         start = end
01185         end += 32
01186         (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
01187         start = end
01188         end += 8
01189         (val1.absolute_tolerance,) = _struct_d.unpack(str[start:end])
01190         self.goal.motion_plan_request.goal_constraints.visibility_constraints.append(val1)
01191       start = end
01192       end += 4
01193       (length,) = _struct_I.unpack(str[start:end])
01194       self.goal.motion_plan_request.path_constraints.joint_constraints = []
01195       for i in range(0, length):
01196         val1 = arm_navigation_msgs.msg.JointConstraint()
01197         start = end
01198         end += 4
01199         (length,) = _struct_I.unpack(str[start:end])
01200         start = end
01201         end += length
01202         if python3:
01203           val1.joint_name = str[start:end].decode('utf-8')
01204         else:
01205           val1.joint_name = str[start:end]
01206         _x = val1
01207         start = end
01208         end += 32
01209         (_x.position, _x.tolerance_above, _x.tolerance_below, _x.weight,) = _struct_4d.unpack(str[start:end])
01210         self.goal.motion_plan_request.path_constraints.joint_constraints.append(val1)
01211       start = end
01212       end += 4
01213       (length,) = _struct_I.unpack(str[start:end])
01214       self.goal.motion_plan_request.path_constraints.position_constraints = []
01215       for i in range(0, length):
01216         val1 = arm_navigation_msgs.msg.PositionConstraint()
01217         _v68 = val1.header
01218         start = end
01219         end += 4
01220         (_v68.seq,) = _struct_I.unpack(str[start:end])
01221         _v69 = _v68.stamp
01222         _x = _v69
01223         start = end
01224         end += 8
01225         (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
01226         start = end
01227         end += 4
01228         (length,) = _struct_I.unpack(str[start:end])
01229         start = end
01230         end += length
01231         if python3:
01232           _v68.frame_id = str[start:end].decode('utf-8')
01233         else:
01234           _v68.frame_id = str[start:end]
01235         start = end
01236         end += 4
01237         (length,) = _struct_I.unpack(str[start:end])
01238         start = end
01239         end += length
01240         if python3:
01241           val1.link_name = str[start:end].decode('utf-8')
01242         else:
01243           val1.link_name = str[start:end]
01244         _v70 = val1.target_point_offset
01245         _x = _v70
01246         start = end
01247         end += 24
01248         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
01249         _v71 = val1.position
01250         _x = _v71
01251         start = end
01252         end += 24
01253         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
01254         _v72 = val1.constraint_region_shape
01255         start = end
01256         end += 1
01257         (_v72.type,) = _struct_b.unpack(str[start:end])
01258         start = end
01259         end += 4
01260         (length,) = _struct_I.unpack(str[start:end])
01261         pattern = '<%sd'%length
01262         start = end
01263         end += struct.calcsize(pattern)
01264         _v72.dimensions = struct.unpack(pattern, str[start:end])
01265         start = end
01266         end += 4
01267         (length,) = _struct_I.unpack(str[start:end])
01268         pattern = '<%si'%length
01269         start = end
01270         end += struct.calcsize(pattern)
01271         _v72.triangles = struct.unpack(pattern, str[start:end])
01272         start = end
01273         end += 4
01274         (length,) = _struct_I.unpack(str[start:end])
01275         _v72.vertices = []
01276         for i in range(0, length):
01277           val3 = geometry_msgs.msg.Point()
01278           _x = val3
01279           start = end
01280           end += 24
01281           (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
01282           _v72.vertices.append(val3)
01283         _v73 = val1.constraint_region_orientation
01284         _x = _v73
01285         start = end
01286         end += 32
01287         (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
01288         start = end
01289         end += 8
01290         (val1.weight,) = _struct_d.unpack(str[start:end])
01291         self.goal.motion_plan_request.path_constraints.position_constraints.append(val1)
01292       start = end
01293       end += 4
01294       (length,) = _struct_I.unpack(str[start:end])
01295       self.goal.motion_plan_request.path_constraints.orientation_constraints = []
01296       for i in range(0, length):
01297         val1 = arm_navigation_msgs.msg.OrientationConstraint()
01298         _v74 = val1.header
01299         start = end
01300         end += 4
01301         (_v74.seq,) = _struct_I.unpack(str[start:end])
01302         _v75 = _v74.stamp
01303         _x = _v75
01304         start = end
01305         end += 8
01306         (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
01307         start = end
01308         end += 4
01309         (length,) = _struct_I.unpack(str[start:end])
01310         start = end
01311         end += length
01312         if python3:
01313           _v74.frame_id = str[start:end].decode('utf-8')
01314         else:
01315           _v74.frame_id = str[start:end]
01316         start = end
01317         end += 4
01318         (length,) = _struct_I.unpack(str[start:end])
01319         start = end
01320         end += length
01321         if python3:
01322           val1.link_name = str[start:end].decode('utf-8')
01323         else:
01324           val1.link_name = str[start:end]
01325         start = end
01326         end += 4
01327         (val1.type,) = _struct_i.unpack(str[start:end])
01328         _v76 = val1.orientation
01329         _x = _v76
01330         start = end
01331         end += 32
01332         (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
01333         _x = val1
01334         start = end
01335         end += 32
01336         (_x.absolute_roll_tolerance, _x.absolute_pitch_tolerance, _x.absolute_yaw_tolerance, _x.weight,) = _struct_4d.unpack(str[start:end])
01337         self.goal.motion_plan_request.path_constraints.orientation_constraints.append(val1)
01338       start = end
01339       end += 4
01340       (length,) = _struct_I.unpack(str[start:end])
01341       self.goal.motion_plan_request.path_constraints.visibility_constraints = []
01342       for i in range(0, length):
01343         val1 = arm_navigation_msgs.msg.VisibilityConstraint()
01344         _v77 = val1.header
01345         start = end
01346         end += 4
01347         (_v77.seq,) = _struct_I.unpack(str[start:end])
01348         _v78 = _v77.stamp
01349         _x = _v78
01350         start = end
01351         end += 8
01352         (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
01353         start = end
01354         end += 4
01355         (length,) = _struct_I.unpack(str[start:end])
01356         start = end
01357         end += length
01358         if python3:
01359           _v77.frame_id = str[start:end].decode('utf-8')
01360         else:
01361           _v77.frame_id = str[start:end]
01362         _v79 = val1.target
01363         _v80 = _v79.header
01364         start = end
01365         end += 4
01366         (_v80.seq,) = _struct_I.unpack(str[start:end])
01367         _v81 = _v80.stamp
01368         _x = _v81
01369         start = end
01370         end += 8
01371         (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
01372         start = end
01373         end += 4
01374         (length,) = _struct_I.unpack(str[start:end])
01375         start = end
01376         end += length
01377         if python3:
01378           _v80.frame_id = str[start:end].decode('utf-8')
01379         else:
01380           _v80.frame_id = str[start:end]
01381         _v82 = _v79.point
01382         _x = _v82
01383         start = end
01384         end += 24
01385         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
01386         _v83 = val1.sensor_pose
01387         _v84 = _v83.header
01388         start = end
01389         end += 4
01390         (_v84.seq,) = _struct_I.unpack(str[start:end])
01391         _v85 = _v84.stamp
01392         _x = _v85
01393         start = end
01394         end += 8
01395         (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
01396         start = end
01397         end += 4
01398         (length,) = _struct_I.unpack(str[start:end])
01399         start = end
01400         end += length
01401         if python3:
01402           _v84.frame_id = str[start:end].decode('utf-8')
01403         else:
01404           _v84.frame_id = str[start:end]
01405         _v86 = _v83.pose
01406         _v87 = _v86.position
01407         _x = _v87
01408         start = end
01409         end += 24
01410         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
01411         _v88 = _v86.orientation
01412         _x = _v88
01413         start = end
01414         end += 32
01415         (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
01416         start = end
01417         end += 8
01418         (val1.absolute_tolerance,) = _struct_d.unpack(str[start:end])
01419         self.goal.motion_plan_request.path_constraints.visibility_constraints.append(val1)
01420       start = end
01421       end += 4
01422       (length,) = _struct_I.unpack(str[start:end])
01423       start = end
01424       end += length
01425       if python3:
01426         self.goal.motion_plan_request.planner_id = str[start:end].decode('utf-8')
01427       else:
01428         self.goal.motion_plan_request.planner_id = str[start:end]
01429       start = end
01430       end += 4
01431       (length,) = _struct_I.unpack(str[start:end])
01432       start = end
01433       end += length
01434       if python3:
01435         self.goal.motion_plan_request.group_name = str[start:end].decode('utf-8')
01436       else:
01437         self.goal.motion_plan_request.group_name = str[start:end]
01438       _x = self
01439       start = end
01440       end += 28
01441       (_x.goal.motion_plan_request.num_planning_attempts, _x.goal.motion_plan_request.allowed_planning_time.secs, _x.goal.motion_plan_request.allowed_planning_time.nsecs, _x.goal.motion_plan_request.expected_path_duration.secs, _x.goal.motion_plan_request.expected_path_duration.nsecs, _x.goal.motion_plan_request.expected_path_dt.secs, _x.goal.motion_plan_request.expected_path_dt.nsecs,) = _struct_7i.unpack(str[start:end])
01442       return self
01443     except struct.error as e:
01444       raise genpy.DeserializationError(e) #most likely buffer underfill
01445 
01446 
01447   def serialize_numpy(self, buff, numpy):
01448     """
01449     serialize message with numpy array types into buffer
01450     :param buff: buffer, ``StringIO``
01451     :param numpy: numpy python module
01452     """
01453     try:
01454       _x = self
01455       buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
01456       _x = self.header.frame_id
01457       length = len(_x)
01458       if python3 or type(_x) == unicode:
01459         _x = _x.encode('utf-8')
01460         length = len(_x)
01461       buff.write(struct.pack('<I%ss'%length, length, _x))
01462       _x = self
01463       buff.write(_struct_2I.pack(_x.goal_id.stamp.secs, _x.goal_id.stamp.nsecs))
01464       _x = self.goal_id.id
01465       length = len(_x)
01466       if python3 or type(_x) == unicode:
01467         _x = _x.encode('utf-8')
01468         length = len(_x)
01469       buff.write(struct.pack('<I%ss'%length, length, _x))
01470       _x = self.goal.group_name
01471       length = len(_x)
01472       if python3 or type(_x) == unicode:
01473         _x = _x.encode('utf-8')
01474         length = len(_x)
01475       buff.write(struct.pack('<I%ss'%length, length, _x))
01476       _x = self.goal.head_monitor_link
01477       length = len(_x)
01478       if python3 or type(_x) == unicode:
01479         _x = _x.encode('utf-8')
01480         length = len(_x)
01481       buff.write(struct.pack('<I%ss'%length, length, _x))
01482       buff.write(_struct_b.pack(self.goal.motion_plan_request.workspace_parameters.workspace_region_shape.type))
01483       length = len(self.goal.motion_plan_request.workspace_parameters.workspace_region_shape.dimensions)
01484       buff.write(_struct_I.pack(length))
01485       pattern = '<%sd'%length
01486       buff.write(self.goal.motion_plan_request.workspace_parameters.workspace_region_shape.dimensions.tostring())
01487       length = len(self.goal.motion_plan_request.workspace_parameters.workspace_region_shape.triangles)
01488       buff.write(_struct_I.pack(length))
01489       pattern = '<%si'%length
01490       buff.write(self.goal.motion_plan_request.workspace_parameters.workspace_region_shape.triangles.tostring())
01491       length = len(self.goal.motion_plan_request.workspace_parameters.workspace_region_shape.vertices)
01492       buff.write(_struct_I.pack(length))
01493       for val1 in self.goal.motion_plan_request.workspace_parameters.workspace_region_shape.vertices:
01494         _x = val1
01495         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
01496       _x = self
01497       buff.write(_struct_3I.pack(_x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.header.seq, _x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.header.stamp.secs, _x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.header.stamp.nsecs))
01498       _x = self.goal.motion_plan_request.workspace_parameters.workspace_region_pose.header.frame_id
01499       length = len(_x)
01500       if python3 or type(_x) == unicode:
01501         _x = _x.encode('utf-8')
01502         length = len(_x)
01503       buff.write(struct.pack('<I%ss'%length, length, _x))
01504       _x = self
01505       buff.write(_struct_7d3I.pack(_x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.pose.position.x, _x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.pose.position.y, _x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.pose.position.z, _x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.pose.orientation.x, _x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.pose.orientation.y, _x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.pose.orientation.z, _x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.pose.orientation.w, _x.goal.motion_plan_request.start_state.joint_state.header.seq, _x.goal.motion_plan_request.start_state.joint_state.header.stamp.secs, _x.goal.motion_plan_request.start_state.joint_state.header.stamp.nsecs))
01506       _x = self.goal.motion_plan_request.start_state.joint_state.header.frame_id
01507       length = len(_x)
01508       if python3 or type(_x) == unicode:
01509         _x = _x.encode('utf-8')
01510         length = len(_x)
01511       buff.write(struct.pack('<I%ss'%length, length, _x))
01512       length = len(self.goal.motion_plan_request.start_state.joint_state.name)
01513       buff.write(_struct_I.pack(length))
01514       for val1 in self.goal.motion_plan_request.start_state.joint_state.name:
01515         length = len(val1)
01516         if python3 or type(val1) == unicode:
01517           val1 = val1.encode('utf-8')
01518           length = len(val1)
01519         buff.write(struct.pack('<I%ss'%length, length, val1))
01520       length = len(self.goal.motion_plan_request.start_state.joint_state.position)
01521       buff.write(_struct_I.pack(length))
01522       pattern = '<%sd'%length
01523       buff.write(self.goal.motion_plan_request.start_state.joint_state.position.tostring())
01524       length = len(self.goal.motion_plan_request.start_state.joint_state.velocity)
01525       buff.write(_struct_I.pack(length))
01526       pattern = '<%sd'%length
01527       buff.write(self.goal.motion_plan_request.start_state.joint_state.velocity.tostring())
01528       length = len(self.goal.motion_plan_request.start_state.joint_state.effort)
01529       buff.write(_struct_I.pack(length))
01530       pattern = '<%sd'%length
01531       buff.write(self.goal.motion_plan_request.start_state.joint_state.effort.tostring())
01532       _x = self
01533       buff.write(_struct_2I.pack(_x.goal.motion_plan_request.start_state.multi_dof_joint_state.stamp.secs, _x.goal.motion_plan_request.start_state.multi_dof_joint_state.stamp.nsecs))
01534       length = len(self.goal.motion_plan_request.start_state.multi_dof_joint_state.joint_names)
01535       buff.write(_struct_I.pack(length))
01536       for val1 in self.goal.motion_plan_request.start_state.multi_dof_joint_state.joint_names:
01537         length = len(val1)
01538         if python3 or type(val1) == unicode:
01539           val1 = val1.encode('utf-8')
01540           length = len(val1)
01541         buff.write(struct.pack('<I%ss'%length, length, val1))
01542       length = len(self.goal.motion_plan_request.start_state.multi_dof_joint_state.frame_ids)
01543       buff.write(_struct_I.pack(length))
01544       for val1 in self.goal.motion_plan_request.start_state.multi_dof_joint_state.frame_ids:
01545         length = len(val1)
01546         if python3 or type(val1) == unicode:
01547           val1 = val1.encode('utf-8')
01548           length = len(val1)
01549         buff.write(struct.pack('<I%ss'%length, length, val1))
01550       length = len(self.goal.motion_plan_request.start_state.multi_dof_joint_state.child_frame_ids)
01551       buff.write(_struct_I.pack(length))
01552       for val1 in self.goal.motion_plan_request.start_state.multi_dof_joint_state.child_frame_ids:
01553         length = len(val1)
01554         if python3 or type(val1) == unicode:
01555           val1 = val1.encode('utf-8')
01556           length = len(val1)
01557         buff.write(struct.pack('<I%ss'%length, length, val1))
01558       length = len(self.goal.motion_plan_request.start_state.multi_dof_joint_state.poses)
01559       buff.write(_struct_I.pack(length))
01560       for val1 in self.goal.motion_plan_request.start_state.multi_dof_joint_state.poses:
01561         _v89 = val1.position
01562         _x = _v89
01563         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
01564         _v90 = val1.orientation
01565         _x = _v90
01566         buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
01567       length = len(self.goal.motion_plan_request.goal_constraints.joint_constraints)
01568       buff.write(_struct_I.pack(length))
01569       for val1 in self.goal.motion_plan_request.goal_constraints.joint_constraints:
01570         _x = val1.joint_name
01571         length = len(_x)
01572         if python3 or type(_x) == unicode:
01573           _x = _x.encode('utf-8')
01574           length = len(_x)
01575         buff.write(struct.pack('<I%ss'%length, length, _x))
01576         _x = val1
01577         buff.write(_struct_4d.pack(_x.position, _x.tolerance_above, _x.tolerance_below, _x.weight))
01578       length = len(self.goal.motion_plan_request.goal_constraints.position_constraints)
01579       buff.write(_struct_I.pack(length))
01580       for val1 in self.goal.motion_plan_request.goal_constraints.position_constraints:
01581         _v91 = val1.header
01582         buff.write(_struct_I.pack(_v91.seq))
01583         _v92 = _v91.stamp
01584         _x = _v92
01585         buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
01586         _x = _v91.frame_id
01587         length = len(_x)
01588         if python3 or type(_x) == unicode:
01589           _x = _x.encode('utf-8')
01590           length = len(_x)
01591         buff.write(struct.pack('<I%ss'%length, length, _x))
01592         _x = val1.link_name
01593         length = len(_x)
01594         if python3 or type(_x) == unicode:
01595           _x = _x.encode('utf-8')
01596           length = len(_x)
01597         buff.write(struct.pack('<I%ss'%length, length, _x))
01598         _v93 = val1.target_point_offset
01599         _x = _v93
01600         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
01601         _v94 = val1.position
01602         _x = _v94
01603         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
01604         _v95 = val1.constraint_region_shape
01605         buff.write(_struct_b.pack(_v95.type))
01606         length = len(_v95.dimensions)
01607         buff.write(_struct_I.pack(length))
01608         pattern = '<%sd'%length
01609         buff.write(_v95.dimensions.tostring())
01610         length = len(_v95.triangles)
01611         buff.write(_struct_I.pack(length))
01612         pattern = '<%si'%length
01613         buff.write(_v95.triangles.tostring())
01614         length = len(_v95.vertices)
01615         buff.write(_struct_I.pack(length))
01616         for val3 in _v95.vertices:
01617           _x = val3
01618           buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
01619         _v96 = val1.constraint_region_orientation
01620         _x = _v96
01621         buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
01622         buff.write(_struct_d.pack(val1.weight))
01623       length = len(self.goal.motion_plan_request.goal_constraints.orientation_constraints)
01624       buff.write(_struct_I.pack(length))
01625       for val1 in self.goal.motion_plan_request.goal_constraints.orientation_constraints:
01626         _v97 = val1.header
01627         buff.write(_struct_I.pack(_v97.seq))
01628         _v98 = _v97.stamp
01629         _x = _v98
01630         buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
01631         _x = _v97.frame_id
01632         length = len(_x)
01633         if python3 or type(_x) == unicode:
01634           _x = _x.encode('utf-8')
01635           length = len(_x)
01636         buff.write(struct.pack('<I%ss'%length, length, _x))
01637         _x = val1.link_name
01638         length = len(_x)
01639         if python3 or type(_x) == unicode:
01640           _x = _x.encode('utf-8')
01641           length = len(_x)
01642         buff.write(struct.pack('<I%ss'%length, length, _x))
01643         buff.write(_struct_i.pack(val1.type))
01644         _v99 = val1.orientation
01645         _x = _v99
01646         buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
01647         _x = val1
01648         buff.write(_struct_4d.pack(_x.absolute_roll_tolerance, _x.absolute_pitch_tolerance, _x.absolute_yaw_tolerance, _x.weight))
01649       length = len(self.goal.motion_plan_request.goal_constraints.visibility_constraints)
01650       buff.write(_struct_I.pack(length))
01651       for val1 in self.goal.motion_plan_request.goal_constraints.visibility_constraints:
01652         _v100 = val1.header
01653         buff.write(_struct_I.pack(_v100.seq))
01654         _v101 = _v100.stamp
01655         _x = _v101
01656         buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
01657         _x = _v100.frame_id
01658         length = len(_x)
01659         if python3 or type(_x) == unicode:
01660           _x = _x.encode('utf-8')
01661           length = len(_x)
01662         buff.write(struct.pack('<I%ss'%length, length, _x))
01663         _v102 = val1.target
01664         _v103 = _v102.header
01665         buff.write(_struct_I.pack(_v103.seq))
01666         _v104 = _v103.stamp
01667         _x = _v104
01668         buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
01669         _x = _v103.frame_id
01670         length = len(_x)
01671         if python3 or type(_x) == unicode:
01672           _x = _x.encode('utf-8')
01673           length = len(_x)
01674         buff.write(struct.pack('<I%ss'%length, length, _x))
01675         _v105 = _v102.point
01676         _x = _v105
01677         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
01678         _v106 = val1.sensor_pose
01679         _v107 = _v106.header
01680         buff.write(_struct_I.pack(_v107.seq))
01681         _v108 = _v107.stamp
01682         _x = _v108
01683         buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
01684         _x = _v107.frame_id
01685         length = len(_x)
01686         if python3 or type(_x) == unicode:
01687           _x = _x.encode('utf-8')
01688           length = len(_x)
01689         buff.write(struct.pack('<I%ss'%length, length, _x))
01690         _v109 = _v106.pose
01691         _v110 = _v109.position
01692         _x = _v110
01693         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
01694         _v111 = _v109.orientation
01695         _x = _v111
01696         buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
01697         buff.write(_struct_d.pack(val1.absolute_tolerance))
01698       length = len(self.goal.motion_plan_request.path_constraints.joint_constraints)
01699       buff.write(_struct_I.pack(length))
01700       for val1 in self.goal.motion_plan_request.path_constraints.joint_constraints:
01701         _x = val1.joint_name
01702         length = len(_x)
01703         if python3 or type(_x) == unicode:
01704           _x = _x.encode('utf-8')
01705           length = len(_x)
01706         buff.write(struct.pack('<I%ss'%length, length, _x))
01707         _x = val1
01708         buff.write(_struct_4d.pack(_x.position, _x.tolerance_above, _x.tolerance_below, _x.weight))
01709       length = len(self.goal.motion_plan_request.path_constraints.position_constraints)
01710       buff.write(_struct_I.pack(length))
01711       for val1 in self.goal.motion_plan_request.path_constraints.position_constraints:
01712         _v112 = val1.header
01713         buff.write(_struct_I.pack(_v112.seq))
01714         _v113 = _v112.stamp
01715         _x = _v113
01716         buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
01717         _x = _v112.frame_id
01718         length = len(_x)
01719         if python3 or type(_x) == unicode:
01720           _x = _x.encode('utf-8')
01721           length = len(_x)
01722         buff.write(struct.pack('<I%ss'%length, length, _x))
01723         _x = val1.link_name
01724         length = len(_x)
01725         if python3 or type(_x) == unicode:
01726           _x = _x.encode('utf-8')
01727           length = len(_x)
01728         buff.write(struct.pack('<I%ss'%length, length, _x))
01729         _v114 = val1.target_point_offset
01730         _x = _v114
01731         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
01732         _v115 = val1.position
01733         _x = _v115
01734         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
01735         _v116 = val1.constraint_region_shape
01736         buff.write(_struct_b.pack(_v116.type))
01737         length = len(_v116.dimensions)
01738         buff.write(_struct_I.pack(length))
01739         pattern = '<%sd'%length
01740         buff.write(_v116.dimensions.tostring())
01741         length = len(_v116.triangles)
01742         buff.write(_struct_I.pack(length))
01743         pattern = '<%si'%length
01744         buff.write(_v116.triangles.tostring())
01745         length = len(_v116.vertices)
01746         buff.write(_struct_I.pack(length))
01747         for val3 in _v116.vertices:
01748           _x = val3
01749           buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
01750         _v117 = val1.constraint_region_orientation
01751         _x = _v117
01752         buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
01753         buff.write(_struct_d.pack(val1.weight))
01754       length = len(self.goal.motion_plan_request.path_constraints.orientation_constraints)
01755       buff.write(_struct_I.pack(length))
01756       for val1 in self.goal.motion_plan_request.path_constraints.orientation_constraints:
01757         _v118 = val1.header
01758         buff.write(_struct_I.pack(_v118.seq))
01759         _v119 = _v118.stamp
01760         _x = _v119
01761         buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
01762         _x = _v118.frame_id
01763         length = len(_x)
01764         if python3 or type(_x) == unicode:
01765           _x = _x.encode('utf-8')
01766           length = len(_x)
01767         buff.write(struct.pack('<I%ss'%length, length, _x))
01768         _x = val1.link_name
01769         length = len(_x)
01770         if python3 or type(_x) == unicode:
01771           _x = _x.encode('utf-8')
01772           length = len(_x)
01773         buff.write(struct.pack('<I%ss'%length, length, _x))
01774         buff.write(_struct_i.pack(val1.type))
01775         _v120 = val1.orientation
01776         _x = _v120
01777         buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
01778         _x = val1
01779         buff.write(_struct_4d.pack(_x.absolute_roll_tolerance, _x.absolute_pitch_tolerance, _x.absolute_yaw_tolerance, _x.weight))
01780       length = len(self.goal.motion_plan_request.path_constraints.visibility_constraints)
01781       buff.write(_struct_I.pack(length))
01782       for val1 in self.goal.motion_plan_request.path_constraints.visibility_constraints:
01783         _v121 = val1.header
01784         buff.write(_struct_I.pack(_v121.seq))
01785         _v122 = _v121.stamp
01786         _x = _v122
01787         buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
01788         _x = _v121.frame_id
01789         length = len(_x)
01790         if python3 or type(_x) == unicode:
01791           _x = _x.encode('utf-8')
01792           length = len(_x)
01793         buff.write(struct.pack('<I%ss'%length, length, _x))
01794         _v123 = val1.target
01795         _v124 = _v123.header
01796         buff.write(_struct_I.pack(_v124.seq))
01797         _v125 = _v124.stamp
01798         _x = _v125
01799         buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
01800         _x = _v124.frame_id
01801         length = len(_x)
01802         if python3 or type(_x) == unicode:
01803           _x = _x.encode('utf-8')
01804           length = len(_x)
01805         buff.write(struct.pack('<I%ss'%length, length, _x))
01806         _v126 = _v123.point
01807         _x = _v126
01808         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
01809         _v127 = val1.sensor_pose
01810         _v128 = _v127.header
01811         buff.write(_struct_I.pack(_v128.seq))
01812         _v129 = _v128.stamp
01813         _x = _v129
01814         buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
01815         _x = _v128.frame_id
01816         length = len(_x)
01817         if python3 or type(_x) == unicode:
01818           _x = _x.encode('utf-8')
01819           length = len(_x)
01820         buff.write(struct.pack('<I%ss'%length, length, _x))
01821         _v130 = _v127.pose
01822         _v131 = _v130.position
01823         _x = _v131
01824         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
01825         _v132 = _v130.orientation
01826         _x = _v132
01827         buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
01828         buff.write(_struct_d.pack(val1.absolute_tolerance))
01829       _x = self.goal.motion_plan_request.planner_id
01830       length = len(_x)
01831       if python3 or type(_x) == unicode:
01832         _x = _x.encode('utf-8')
01833         length = len(_x)
01834       buff.write(struct.pack('<I%ss'%length, length, _x))
01835       _x = self.goal.motion_plan_request.group_name
01836       length = len(_x)
01837       if python3 or type(_x) == unicode:
01838         _x = _x.encode('utf-8')
01839         length = len(_x)
01840       buff.write(struct.pack('<I%ss'%length, length, _x))
01841       _x = self
01842       buff.write(_struct_7i.pack(_x.goal.motion_plan_request.num_planning_attempts, _x.goal.motion_plan_request.allowed_planning_time.secs, _x.goal.motion_plan_request.allowed_planning_time.nsecs, _x.goal.motion_plan_request.expected_path_duration.secs, _x.goal.motion_plan_request.expected_path_duration.nsecs, _x.goal.motion_plan_request.expected_path_dt.secs, _x.goal.motion_plan_request.expected_path_dt.nsecs))
01843     except struct.error as se: self._check_types(se)
01844     except TypeError as te: self._check_types(te)
01845 
01846   def deserialize_numpy(self, str, numpy):
01847     """
01848     unpack serialized message in str into this message instance using numpy for array types
01849     :param str: byte array of serialized message, ``str``
01850     :param numpy: numpy python module
01851     """
01852     try:
01853       if self.header is None:
01854         self.header = std_msgs.msg.Header()
01855       if self.goal_id is None:
01856         self.goal_id = actionlib_msgs.msg.GoalID()
01857       if self.goal is None:
01858         self.goal = head_monitor_msgs.msg.PreplanHeadScanGoal()
01859       end = 0
01860       _x = self
01861       start = end
01862       end += 12
01863       (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
01864       start = end
01865       end += 4
01866       (length,) = _struct_I.unpack(str[start:end])
01867       start = end
01868       end += length
01869       if python3:
01870         self.header.frame_id = str[start:end].decode('utf-8')
01871       else:
01872         self.header.frame_id = str[start:end]
01873       _x = self
01874       start = end
01875       end += 8
01876       (_x.goal_id.stamp.secs, _x.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
01877       start = end
01878       end += 4
01879       (length,) = _struct_I.unpack(str[start:end])
01880       start = end
01881       end += length
01882       if python3:
01883         self.goal_id.id = str[start:end].decode('utf-8')
01884       else:
01885         self.goal_id.id = str[start:end]
01886       start = end
01887       end += 4
01888       (length,) = _struct_I.unpack(str[start:end])
01889       start = end
01890       end += length
01891       if python3:
01892         self.goal.group_name = str[start:end].decode('utf-8')
01893       else:
01894         self.goal.group_name = str[start:end]
01895       start = end
01896       end += 4
01897       (length,) = _struct_I.unpack(str[start:end])
01898       start = end
01899       end += length
01900       if python3:
01901         self.goal.head_monitor_link = str[start:end].decode('utf-8')
01902       else:
01903         self.goal.head_monitor_link = str[start:end]
01904       start = end
01905       end += 1
01906       (self.goal.motion_plan_request.workspace_parameters.workspace_region_shape.type,) = _struct_b.unpack(str[start:end])
01907       start = end
01908       end += 4
01909       (length,) = _struct_I.unpack(str[start:end])
01910       pattern = '<%sd'%length
01911       start = end
01912       end += struct.calcsize(pattern)
01913       self.goal.motion_plan_request.workspace_parameters.workspace_region_shape.dimensions = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
01914       start = end
01915       end += 4
01916       (length,) = _struct_I.unpack(str[start:end])
01917       pattern = '<%si'%length
01918       start = end
01919       end += struct.calcsize(pattern)
01920       self.goal.motion_plan_request.workspace_parameters.workspace_region_shape.triangles = numpy.frombuffer(str[start:end], dtype=numpy.int32, count=length)
01921       start = end
01922       end += 4
01923       (length,) = _struct_I.unpack(str[start:end])
01924       self.goal.motion_plan_request.workspace_parameters.workspace_region_shape.vertices = []
01925       for i in range(0, length):
01926         val1 = geometry_msgs.msg.Point()
01927         _x = val1
01928         start = end
01929         end += 24
01930         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
01931         self.goal.motion_plan_request.workspace_parameters.workspace_region_shape.vertices.append(val1)
01932       _x = self
01933       start = end
01934       end += 12
01935       (_x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.header.seq, _x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.header.stamp.secs, _x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
01936       start = end
01937       end += 4
01938       (length,) = _struct_I.unpack(str[start:end])
01939       start = end
01940       end += length
01941       if python3:
01942         self.goal.motion_plan_request.workspace_parameters.workspace_region_pose.header.frame_id = str[start:end].decode('utf-8')
01943       else:
01944         self.goal.motion_plan_request.workspace_parameters.workspace_region_pose.header.frame_id = str[start:end]
01945       _x = self
01946       start = end
01947       end += 68
01948       (_x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.pose.position.x, _x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.pose.position.y, _x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.pose.position.z, _x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.pose.orientation.x, _x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.pose.orientation.y, _x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.pose.orientation.z, _x.goal.motion_plan_request.workspace_parameters.workspace_region_pose.pose.orientation.w, _x.goal.motion_plan_request.start_state.joint_state.header.seq, _x.goal.motion_plan_request.start_state.joint_state.header.stamp.secs, _x.goal.motion_plan_request.start_state.joint_state.header.stamp.nsecs,) = _struct_7d3I.unpack(str[start:end])
01949       start = end
01950       end += 4
01951       (length,) = _struct_I.unpack(str[start:end])
01952       start = end
01953       end += length
01954       if python3:
01955         self.goal.motion_plan_request.start_state.joint_state.header.frame_id = str[start:end].decode('utf-8')
01956       else:
01957         self.goal.motion_plan_request.start_state.joint_state.header.frame_id = str[start:end]
01958       start = end
01959       end += 4
01960       (length,) = _struct_I.unpack(str[start:end])
01961       self.goal.motion_plan_request.start_state.joint_state.name = []
01962       for i in range(0, length):
01963         start = end
01964         end += 4
01965         (length,) = _struct_I.unpack(str[start:end])
01966         start = end
01967         end += length
01968         if python3:
01969           val1 = str[start:end].decode('utf-8')
01970         else:
01971           val1 = str[start:end]
01972         self.goal.motion_plan_request.start_state.joint_state.name.append(val1)
01973       start = end
01974       end += 4
01975       (length,) = _struct_I.unpack(str[start:end])
01976       pattern = '<%sd'%length
01977       start = end
01978       end += struct.calcsize(pattern)
01979       self.goal.motion_plan_request.start_state.joint_state.position = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
01980       start = end
01981       end += 4
01982       (length,) = _struct_I.unpack(str[start:end])
01983       pattern = '<%sd'%length
01984       start = end
01985       end += struct.calcsize(pattern)
01986       self.goal.motion_plan_request.start_state.joint_state.velocity = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
01987       start = end
01988       end += 4
01989       (length,) = _struct_I.unpack(str[start:end])
01990       pattern = '<%sd'%length
01991       start = end
01992       end += struct.calcsize(pattern)
01993       self.goal.motion_plan_request.start_state.joint_state.effort = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
01994       _x = self
01995       start = end
01996       end += 8
01997       (_x.goal.motion_plan_request.start_state.multi_dof_joint_state.stamp.secs, _x.goal.motion_plan_request.start_state.multi_dof_joint_state.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
01998       start = end
01999       end += 4
02000       (length,) = _struct_I.unpack(str[start:end])
02001       self.goal.motion_plan_request.start_state.multi_dof_joint_state.joint_names = []
02002       for i in range(0, length):
02003         start = end
02004         end += 4
02005         (length,) = _struct_I.unpack(str[start:end])
02006         start = end
02007         end += length
02008         if python3:
02009           val1 = str[start:end].decode('utf-8')
02010         else:
02011           val1 = str[start:end]
02012         self.goal.motion_plan_request.start_state.multi_dof_joint_state.joint_names.append(val1)
02013       start = end
02014       end += 4
02015       (length,) = _struct_I.unpack(str[start:end])
02016       self.goal.motion_plan_request.start_state.multi_dof_joint_state.frame_ids = []
02017       for i in range(0, length):
02018         start = end
02019         end += 4
02020         (length,) = _struct_I.unpack(str[start:end])
02021         start = end
02022         end += length
02023         if python3:
02024           val1 = str[start:end].decode('utf-8')
02025         else:
02026           val1 = str[start:end]
02027         self.goal.motion_plan_request.start_state.multi_dof_joint_state.frame_ids.append(val1)
02028       start = end
02029       end += 4
02030       (length,) = _struct_I.unpack(str[start:end])
02031       self.goal.motion_plan_request.start_state.multi_dof_joint_state.child_frame_ids = []
02032       for i in range(0, length):
02033         start = end
02034         end += 4
02035         (length,) = _struct_I.unpack(str[start:end])
02036         start = end
02037         end += length
02038         if python3:
02039           val1 = str[start:end].decode('utf-8')
02040         else:
02041           val1 = str[start:end]
02042         self.goal.motion_plan_request.start_state.multi_dof_joint_state.child_frame_ids.append(val1)
02043       start = end
02044       end += 4
02045       (length,) = _struct_I.unpack(str[start:end])
02046       self.goal.motion_plan_request.start_state.multi_dof_joint_state.poses = []
02047       for i in range(0, length):
02048         val1 = geometry_msgs.msg.Pose()
02049         _v133 = val1.position
02050         _x = _v133
02051         start = end
02052         end += 24
02053         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
02054         _v134 = val1.orientation
02055         _x = _v134
02056         start = end
02057         end += 32
02058         (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
02059         self.goal.motion_plan_request.start_state.multi_dof_joint_state.poses.append(val1)
02060       start = end
02061       end += 4
02062       (length,) = _struct_I.unpack(str[start:end])
02063       self.goal.motion_plan_request.goal_constraints.joint_constraints = []
02064       for i in range(0, length):
02065         val1 = arm_navigation_msgs.msg.JointConstraint()
02066         start = end
02067         end += 4
02068         (length,) = _struct_I.unpack(str[start:end])
02069         start = end
02070         end += length
02071         if python3:
02072           val1.joint_name = str[start:end].decode('utf-8')
02073         else:
02074           val1.joint_name = str[start:end]
02075         _x = val1
02076         start = end
02077         end += 32
02078         (_x.position, _x.tolerance_above, _x.tolerance_below, _x.weight,) = _struct_4d.unpack(str[start:end])
02079         self.goal.motion_plan_request.goal_constraints.joint_constraints.append(val1)
02080       start = end
02081       end += 4
02082       (length,) = _struct_I.unpack(str[start:end])
02083       self.goal.motion_plan_request.goal_constraints.position_constraints = []
02084       for i in range(0, length):
02085         val1 = arm_navigation_msgs.msg.PositionConstraint()
02086         _v135 = val1.header
02087         start = end
02088         end += 4
02089         (_v135.seq,) = _struct_I.unpack(str[start:end])
02090         _v136 = _v135.stamp
02091         _x = _v136
02092         start = end
02093         end += 8
02094         (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
02095         start = end
02096         end += 4
02097         (length,) = _struct_I.unpack(str[start:end])
02098         start = end
02099         end += length
02100         if python3:
02101           _v135.frame_id = str[start:end].decode('utf-8')
02102         else:
02103           _v135.frame_id = str[start:end]
02104         start = end
02105         end += 4
02106         (length,) = _struct_I.unpack(str[start:end])
02107         start = end
02108         end += length
02109         if python3:
02110           val1.link_name = str[start:end].decode('utf-8')
02111         else:
02112           val1.link_name = str[start:end]
02113         _v137 = val1.target_point_offset
02114         _x = _v137
02115         start = end
02116         end += 24
02117         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
02118         _v138 = val1.position
02119         _x = _v138
02120         start = end
02121         end += 24
02122         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
02123         _v139 = val1.constraint_region_shape
02124         start = end
02125         end += 1
02126         (_v139.type,) = _struct_b.unpack(str[start:end])
02127         start = end
02128         end += 4
02129         (length,) = _struct_I.unpack(str[start:end])
02130         pattern = '<%sd'%length
02131         start = end
02132         end += struct.calcsize(pattern)
02133         _v139.dimensions = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
02134         start = end
02135         end += 4
02136         (length,) = _struct_I.unpack(str[start:end])
02137         pattern = '<%si'%length
02138         start = end
02139         end += struct.calcsize(pattern)
02140         _v139.triangles = numpy.frombuffer(str[start:end], dtype=numpy.int32, count=length)
02141         start = end
02142         end += 4
02143         (length,) = _struct_I.unpack(str[start:end])
02144         _v139.vertices = []
02145         for i in range(0, length):
02146           val3 = geometry_msgs.msg.Point()
02147           _x = val3
02148           start = end
02149           end += 24
02150           (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
02151           _v139.vertices.append(val3)
02152         _v140 = val1.constraint_region_orientation
02153         _x = _v140
02154         start = end
02155         end += 32
02156         (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
02157         start = end
02158         end += 8
02159         (val1.weight,) = _struct_d.unpack(str[start:end])
02160         self.goal.motion_plan_request.goal_constraints.position_constraints.append(val1)
02161       start = end
02162       end += 4
02163       (length,) = _struct_I.unpack(str[start:end])
02164       self.goal.motion_plan_request.goal_constraints.orientation_constraints = []
02165       for i in range(0, length):
02166         val1 = arm_navigation_msgs.msg.OrientationConstraint()
02167         _v141 = val1.header
02168         start = end
02169         end += 4
02170         (_v141.seq,) = _struct_I.unpack(str[start:end])
02171         _v142 = _v141.stamp
02172         _x = _v142
02173         start = end
02174         end += 8
02175         (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
02176         start = end
02177         end += 4
02178         (length,) = _struct_I.unpack(str[start:end])
02179         start = end
02180         end += length
02181         if python3:
02182           _v141.frame_id = str[start:end].decode('utf-8')
02183         else:
02184           _v141.frame_id = str[start:end]
02185         start = end
02186         end += 4
02187         (length,) = _struct_I.unpack(str[start:end])
02188         start = end
02189         end += length
02190         if python3:
02191           val1.link_name = str[start:end].decode('utf-8')
02192         else:
02193           val1.link_name = str[start:end]
02194         start = end
02195         end += 4
02196         (val1.type,) = _struct_i.unpack(str[start:end])
02197         _v143 = val1.orientation
02198         _x = _v143
02199         start = end
02200         end += 32
02201         (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
02202         _x = val1
02203         start = end
02204         end += 32
02205         (_x.absolute_roll_tolerance, _x.absolute_pitch_tolerance, _x.absolute_yaw_tolerance, _x.weight,) = _struct_4d.unpack(str[start:end])
02206         self.goal.motion_plan_request.goal_constraints.orientation_constraints.append(val1)
02207       start = end
02208       end += 4
02209       (length,) = _struct_I.unpack(str[start:end])
02210       self.goal.motion_plan_request.goal_constraints.visibility_constraints = []
02211       for i in range(0, length):
02212         val1 = arm_navigation_msgs.msg.VisibilityConstraint()
02213         _v144 = val1.header
02214         start = end
02215         end += 4
02216         (_v144.seq,) = _struct_I.unpack(str[start:end])
02217         _v145 = _v144.stamp
02218         _x = _v145
02219         start = end
02220         end += 8
02221         (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
02222         start = end
02223         end += 4
02224         (length,) = _struct_I.unpack(str[start:end])
02225         start = end
02226         end += length
02227         if python3:
02228           _v144.frame_id = str[start:end].decode('utf-8')
02229         else:
02230           _v144.frame_id = str[start:end]
02231         _v146 = val1.target
02232         _v147 = _v146.header
02233         start = end
02234         end += 4
02235         (_v147.seq,) = _struct_I.unpack(str[start:end])
02236         _v148 = _v147.stamp
02237         _x = _v148
02238         start = end
02239         end += 8
02240         (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
02241         start = end
02242         end += 4
02243         (length,) = _struct_I.unpack(str[start:end])
02244         start = end
02245         end += length
02246         if python3:
02247           _v147.frame_id = str[start:end].decode('utf-8')
02248         else:
02249           _v147.frame_id = str[start:end]
02250         _v149 = _v146.point
02251         _x = _v149
02252         start = end
02253         end += 24
02254         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
02255         _v150 = val1.sensor_pose
02256         _v151 = _v150.header
02257         start = end
02258         end += 4
02259         (_v151.seq,) = _struct_I.unpack(str[start:end])
02260         _v152 = _v151.stamp
02261         _x = _v152
02262         start = end
02263         end += 8
02264         (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
02265         start = end
02266         end += 4
02267         (length,) = _struct_I.unpack(str[start:end])
02268         start = end
02269         end += length
02270         if python3:
02271           _v151.frame_id = str[start:end].decode('utf-8')
02272         else:
02273           _v151.frame_id = str[start:end]
02274         _v153 = _v150.pose
02275         _v154 = _v153.position
02276         _x = _v154
02277         start = end
02278         end += 24
02279         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
02280         _v155 = _v153.orientation
02281         _x = _v155
02282         start = end
02283         end += 32
02284         (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
02285         start = end
02286         end += 8
02287         (val1.absolute_tolerance,) = _struct_d.unpack(str[start:end])
02288         self.goal.motion_plan_request.goal_constraints.visibility_constraints.append(val1)
02289       start = end
02290       end += 4
02291       (length,) = _struct_I.unpack(str[start:end])
02292       self.goal.motion_plan_request.path_constraints.joint_constraints = []
02293       for i in range(0, length):
02294         val1 = arm_navigation_msgs.msg.JointConstraint()
02295         start = end
02296         end += 4
02297         (length,) = _struct_I.unpack(str[start:end])
02298         start = end
02299         end += length
02300         if python3:
02301           val1.joint_name = str[start:end].decode('utf-8')
02302         else:
02303           val1.joint_name = str[start:end]
02304         _x = val1
02305         start = end
02306         end += 32
02307         (_x.position, _x.tolerance_above, _x.tolerance_below, _x.weight,) = _struct_4d.unpack(str[start:end])
02308         self.goal.motion_plan_request.path_constraints.joint_constraints.append(val1)
02309       start = end
02310       end += 4
02311       (length,) = _struct_I.unpack(str[start:end])
02312       self.goal.motion_plan_request.path_constraints.position_constraints = []
02313       for i in range(0, length):
02314         val1 = arm_navigation_msgs.msg.PositionConstraint()
02315         _v156 = val1.header
02316         start = end
02317         end += 4
02318         (_v156.seq,) = _struct_I.unpack(str[start:end])
02319         _v157 = _v156.stamp
02320         _x = _v157
02321         start = end
02322         end += 8
02323         (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
02324         start = end
02325         end += 4
02326         (length,) = _struct_I.unpack(str[start:end])
02327         start = end
02328         end += length
02329         if python3:
02330           _v156.frame_id = str[start:end].decode('utf-8')
02331         else:
02332           _v156.frame_id = str[start:end]
02333         start = end
02334         end += 4
02335         (length,) = _struct_I.unpack(str[start:end])
02336         start = end
02337         end += length
02338         if python3:
02339           val1.link_name = str[start:end].decode('utf-8')
02340         else:
02341           val1.link_name = str[start:end]
02342         _v158 = val1.target_point_offset
02343         _x = _v158
02344         start = end
02345         end += 24
02346         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
02347         _v159 = val1.position
02348         _x = _v159
02349         start = end
02350         end += 24
02351         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
02352         _v160 = val1.constraint_region_shape
02353         start = end
02354         end += 1
02355         (_v160.type,) = _struct_b.unpack(str[start:end])
02356         start = end
02357         end += 4
02358         (length,) = _struct_I.unpack(str[start:end])
02359         pattern = '<%sd'%length
02360         start = end
02361         end += struct.calcsize(pattern)
02362         _v160.dimensions = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
02363         start = end
02364         end += 4
02365         (length,) = _struct_I.unpack(str[start:end])
02366         pattern = '<%si'%length
02367         start = end
02368         end += struct.calcsize(pattern)
02369         _v160.triangles = numpy.frombuffer(str[start:end], dtype=numpy.int32, count=length)
02370         start = end
02371         end += 4
02372         (length,) = _struct_I.unpack(str[start:end])
02373         _v160.vertices = []
02374         for i in range(0, length):
02375           val3 = geometry_msgs.msg.Point()
02376           _x = val3
02377           start = end
02378           end += 24
02379           (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
02380           _v160.vertices.append(val3)
02381         _v161 = val1.constraint_region_orientation
02382         _x = _v161
02383         start = end
02384         end += 32
02385         (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
02386         start = end
02387         end += 8
02388         (val1.weight,) = _struct_d.unpack(str[start:end])
02389         self.goal.motion_plan_request.path_constraints.position_constraints.append(val1)
02390       start = end
02391       end += 4
02392       (length,) = _struct_I.unpack(str[start:end])
02393       self.goal.motion_plan_request.path_constraints.orientation_constraints = []
02394       for i in range(0, length):
02395         val1 = arm_navigation_msgs.msg.OrientationConstraint()
02396         _v162 = val1.header
02397         start = end
02398         end += 4
02399         (_v162.seq,) = _struct_I.unpack(str[start:end])
02400         _v163 = _v162.stamp
02401         _x = _v163
02402         start = end
02403         end += 8
02404         (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
02405         start = end
02406         end += 4
02407         (length,) = _struct_I.unpack(str[start:end])
02408         start = end
02409         end += length
02410         if python3:
02411           _v162.frame_id = str[start:end].decode('utf-8')
02412         else:
02413           _v162.frame_id = str[start:end]
02414         start = end
02415         end += 4
02416         (length,) = _struct_I.unpack(str[start:end])
02417         start = end
02418         end += length
02419         if python3:
02420           val1.link_name = str[start:end].decode('utf-8')
02421         else:
02422           val1.link_name = str[start:end]
02423         start = end
02424         end += 4
02425         (val1.type,) = _struct_i.unpack(str[start:end])
02426         _v164 = val1.orientation
02427         _x = _v164
02428         start = end
02429         end += 32
02430         (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
02431         _x = val1
02432         start = end
02433         end += 32
02434         (_x.absolute_roll_tolerance, _x.absolute_pitch_tolerance, _x.absolute_yaw_tolerance, _x.weight,) = _struct_4d.unpack(str[start:end])
02435         self.goal.motion_plan_request.path_constraints.orientation_constraints.append(val1)
02436       start = end
02437       end += 4
02438       (length,) = _struct_I.unpack(str[start:end])
02439       self.goal.motion_plan_request.path_constraints.visibility_constraints = []
02440       for i in range(0, length):
02441         val1 = arm_navigation_msgs.msg.VisibilityConstraint()
02442         _v165 = val1.header
02443         start = end
02444         end += 4
02445         (_v165.seq,) = _struct_I.unpack(str[start:end])
02446         _v166 = _v165.stamp
02447         _x = _v166
02448         start = end
02449         end += 8
02450         (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
02451         start = end
02452         end += 4
02453         (length,) = _struct_I.unpack(str[start:end])
02454         start = end
02455         end += length
02456         if python3:
02457           _v165.frame_id = str[start:end].decode('utf-8')
02458         else:
02459           _v165.frame_id = str[start:end]
02460         _v167 = val1.target
02461         _v168 = _v167.header
02462         start = end
02463         end += 4
02464         (_v168.seq,) = _struct_I.unpack(str[start:end])
02465         _v169 = _v168.stamp
02466         _x = _v169
02467         start = end
02468         end += 8
02469         (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
02470         start = end
02471         end += 4
02472         (length,) = _struct_I.unpack(str[start:end])
02473         start = end
02474         end += length
02475         if python3:
02476           _v168.frame_id = str[start:end].decode('utf-8')
02477         else:
02478           _v168.frame_id = str[start:end]
02479         _v170 = _v167.point
02480         _x = _v170
02481         start = end
02482         end += 24
02483         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
02484         _v171 = val1.sensor_pose
02485         _v172 = _v171.header
02486         start = end
02487         end += 4
02488         (_v172.seq,) = _struct_I.unpack(str[start:end])
02489         _v173 = _v172.stamp
02490         _x = _v173
02491         start = end
02492         end += 8
02493         (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
02494         start = end
02495         end += 4
02496         (length,) = _struct_I.unpack(str[start:end])
02497         start = end
02498         end += length
02499         if python3:
02500           _v172.frame_id = str[start:end].decode('utf-8')
02501         else:
02502           _v172.frame_id = str[start:end]
02503         _v174 = _v171.pose
02504         _v175 = _v174.position
02505         _x = _v175
02506         start = end
02507         end += 24
02508         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
02509         _v176 = _v174.orientation
02510         _x = _v176
02511         start = end
02512         end += 32
02513         (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
02514         start = end
02515         end += 8
02516         (val1.absolute_tolerance,) = _struct_d.unpack(str[start:end])
02517         self.goal.motion_plan_request.path_constraints.visibility_constraints.append(val1)
02518       start = end
02519       end += 4
02520       (length,) = _struct_I.unpack(str[start:end])
02521       start = end
02522       end += length
02523       if python3:
02524         self.goal.motion_plan_request.planner_id = str[start:end].decode('utf-8')
02525       else:
02526         self.goal.motion_plan_request.planner_id = str[start:end]
02527       start = end
02528       end += 4
02529       (length,) = _struct_I.unpack(str[start:end])
02530       start = end
02531       end += length
02532       if python3:
02533         self.goal.motion_plan_request.group_name = str[start:end].decode('utf-8')
02534       else:
02535         self.goal.motion_plan_request.group_name = str[start:end]
02536       _x = self
02537       start = end
02538       end += 28
02539       (_x.goal.motion_plan_request.num_planning_attempts, _x.goal.motion_plan_request.allowed_planning_time.secs, _x.goal.motion_plan_request.allowed_planning_time.nsecs, _x.goal.motion_plan_request.expected_path_duration.secs, _x.goal.motion_plan_request.expected_path_duration.nsecs, _x.goal.motion_plan_request.expected_path_dt.secs, _x.goal.motion_plan_request.expected_path_dt.nsecs,) = _struct_7i.unpack(str[start:end])
02540       return self
02541     except struct.error as e:
02542       raise genpy.DeserializationError(e) #most likely buffer underfill
02543 
02544 _struct_I = genpy.struct_I
02545 _struct_b = struct.Struct("<b")
02546 _struct_d = struct.Struct("<d")
02547 _struct_7i = struct.Struct("<7i")
02548 _struct_2I = struct.Struct("<2I")
02549 _struct_i = struct.Struct("<i")
02550 _struct_3I = struct.Struct("<3I")
02551 _struct_4d = struct.Struct("<4d")
02552 _struct_7d3I = struct.Struct("<7d3I")
02553 _struct_3d = struct.Struct("<3d")


head_monitor_msgs
Author(s): Gil Jones
autogenerated on Thu Dec 12 2013 11:07:24