_PreplanHeadScanGoal.py
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00001 """autogenerated by genpy from head_monitor_msgs/PreplanHeadScanGoal.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 sensor_msgs.msg
00009 import geometry_msgs.msg
00010 import genpy
00011 import std_msgs.msg
00012 
00013 class PreplanHeadScanGoal(genpy.Message):
00014   _md5sum = "565652fd52e32966cc5c599108653bf9"
00015   _type = "head_monitor_msgs/PreplanHeadScanGoal"
00016   _has_header = False #flag to mark the presence of a Header object
00017   _full_text = """# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00018 # The motion plan request
00019 string group_name
00020 string head_monitor_link
00021 arm_navigation_msgs/MotionPlanRequest motion_plan_request
00022 
00023 ================================================================================
00024 MSG: arm_navigation_msgs/MotionPlanRequest
00025 # This service contains the definition for a request to the motion
00026 # planner and the output it provides
00027 
00028 # Parameters for the workspace that the planner should work inside
00029 arm_navigation_msgs/WorkspaceParameters workspace_parameters
00030 
00031 # Starting state updates. If certain joints should be considered
00032 # at positions other than the current ones, these positions should
00033 # be set here
00034 arm_navigation_msgs/RobotState start_state
00035 
00036 # The goal state for the model to plan for. The goal is achieved
00037 # if all constraints are satisfied
00038 arm_navigation_msgs/Constraints goal_constraints
00039 
00040 # No state at any point along the path in the produced motion plan will violate these constraints
00041 arm_navigation_msgs/Constraints path_constraints
00042 
00043 # The name of the motion planner to use. If no name is specified,
00044 # a default motion planner will be used
00045 string planner_id
00046 
00047 # The name of the group of joints on which this planner is operating
00048 string group_name
00049 
00050 # The number of times this plan is to be computed. Shortest solution
00051 # will be reported.
00052 int32 num_planning_attempts
00053 
00054 # The maximum amount of time the motion planner is allowed to plan for
00055 duration allowed_planning_time
00056 
00057 # 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
00058 duration expected_path_duration
00059 duration expected_path_dt
00060 
00061 ================================================================================
00062 MSG: arm_navigation_msgs/WorkspaceParameters
00063 # This message contains a set of parameters useful in
00064 # setting up the workspace for planning
00065 arm_navigation_msgs/Shape  workspace_region_shape
00066 geometry_msgs/PoseStamped    workspace_region_pose
00067 
00068 
00069 ================================================================================
00070 MSG: arm_navigation_msgs/Shape
00071 byte SPHERE=0
00072 byte BOX=1
00073 byte CYLINDER=2
00074 byte MESH=3
00075 
00076 byte type
00077 
00078 
00079 #### define sphere, box, cylinder ####
00080 # the origin of each shape is considered at the shape's center
00081 
00082 # for sphere
00083 # radius := dimensions[0]
00084 
00085 # for cylinder
00086 # radius := dimensions[0]
00087 # length := dimensions[1]
00088 # the length is along the Z axis
00089 
00090 # for box
00091 # size_x := dimensions[0]
00092 # size_y := dimensions[1]
00093 # size_z := dimensions[2]
00094 float64[] dimensions
00095 
00096 
00097 #### define mesh ####
00098 
00099 # list of triangles; triangle k is defined by tre vertices located
00100 # at indices triangles[3k], triangles[3k+1], triangles[3k+2]
00101 int32[] triangles
00102 geometry_msgs/Point[] vertices
00103 
00104 ================================================================================
00105 MSG: geometry_msgs/Point
00106 # This contains the position of a point in free space
00107 float64 x
00108 float64 y
00109 float64 z
00110 
00111 ================================================================================
00112 MSG: geometry_msgs/PoseStamped
00113 # A Pose with reference coordinate frame and timestamp
00114 Header header
00115 Pose pose
00116 
00117 ================================================================================
00118 MSG: std_msgs/Header
00119 # Standard metadata for higher-level stamped data types.
00120 # This is generally used to communicate timestamped data 
00121 # in a particular coordinate frame.
00122 # 
00123 # sequence ID: consecutively increasing ID 
00124 uint32 seq
00125 #Two-integer timestamp that is expressed as:
00126 # * stamp.secs: seconds (stamp_secs) since epoch
00127 # * stamp.nsecs: nanoseconds since stamp_secs
00128 # time-handling sugar is provided by the client library
00129 time stamp
00130 #Frame this data is associated with
00131 # 0: no frame
00132 # 1: global frame
00133 string frame_id
00134 
00135 ================================================================================
00136 MSG: geometry_msgs/Pose
00137 # A representation of pose in free space, composed of postion and orientation. 
00138 Point position
00139 Quaternion orientation
00140 
00141 ================================================================================
00142 MSG: geometry_msgs/Quaternion
00143 # This represents an orientation in free space in quaternion form.
00144 
00145 float64 x
00146 float64 y
00147 float64 z
00148 float64 w
00149 
00150 ================================================================================
00151 MSG: arm_navigation_msgs/RobotState
00152 # This message contains information about the robot state, i.e. the positions of its joints and links
00153 sensor_msgs/JointState joint_state
00154 arm_navigation_msgs/MultiDOFJointState multi_dof_joint_state
00155 
00156 ================================================================================
00157 MSG: sensor_msgs/JointState
00158 # This is a message that holds data to describe the state of a set of torque controlled joints. 
00159 #
00160 # The state of each joint (revolute or prismatic) is defined by:
00161 #  * the position of the joint (rad or m),
00162 #  * the velocity of the joint (rad/s or m/s) and 
00163 #  * the effort that is applied in the joint (Nm or N).
00164 #
00165 # Each joint is uniquely identified by its name
00166 # The header specifies the time at which the joint states were recorded. All the joint states
00167 # in one message have to be recorded at the same time.
00168 #
00169 # This message consists of a multiple arrays, one for each part of the joint state. 
00170 # The goal is to make each of the fields optional. When e.g. your joints have no
00171 # effort associated with them, you can leave the effort array empty. 
00172 #
00173 # All arrays in this message should have the same size, or be empty.
00174 # This is the only way to uniquely associate the joint name with the correct
00175 # states.
00176 
00177 
00178 Header header
00179 
00180 string[] name
00181 float64[] position
00182 float64[] velocity
00183 float64[] effort
00184 
00185 ================================================================================
00186 MSG: arm_navigation_msgs/MultiDOFJointState
00187 #A representation of a multi-dof joint state
00188 time stamp
00189 string[] joint_names
00190 string[] frame_ids
00191 string[] child_frame_ids
00192 geometry_msgs/Pose[] poses
00193 
00194 ================================================================================
00195 MSG: arm_navigation_msgs/Constraints
00196 # This message contains a list of motion planning constraints.
00197 
00198 arm_navigation_msgs/JointConstraint[] joint_constraints
00199 arm_navigation_msgs/PositionConstraint[] position_constraints
00200 arm_navigation_msgs/OrientationConstraint[] orientation_constraints
00201 arm_navigation_msgs/VisibilityConstraint[] visibility_constraints
00202 
00203 ================================================================================
00204 MSG: arm_navigation_msgs/JointConstraint
00205 # Constrain the position of a joint to be within a certain bound
00206 string joint_name
00207 
00208 # the bound to be achieved is [position - tolerance_below, position + tolerance_above]
00209 float64 position
00210 float64 tolerance_above
00211 float64 tolerance_below
00212 
00213 # A weighting factor for this constraint
00214 float64 weight
00215 ================================================================================
00216 MSG: arm_navigation_msgs/PositionConstraint
00217 # This message contains the definition of a position constraint.
00218 Header header
00219 
00220 # The robot link this constraint refers to
00221 string link_name
00222 
00223 # The offset (in the link frame) for the target point on the link we are planning for
00224 geometry_msgs/Point target_point_offset
00225 
00226 # The nominal/target position for the point we are planning for
00227 geometry_msgs/Point position
00228 
00229 # The shape of the bounded region that constrains the position of the end-effector
00230 # This region is always centered at the position defined above
00231 arm_navigation_msgs/Shape constraint_region_shape
00232 
00233 # The orientation of the bounded region that constrains the position of the end-effector. 
00234 # This allows the specification of non-axis aligned constraints
00235 geometry_msgs/Quaternion constraint_region_orientation
00236 
00237 # Constraint weighting factor - a weight for this constraint
00238 float64 weight
00239 
00240 ================================================================================
00241 MSG: arm_navigation_msgs/OrientationConstraint
00242 # This message contains the definition of an orientation constraint.
00243 Header header
00244 
00245 # The robot link this constraint refers to
00246 string link_name
00247 
00248 # The type of the constraint
00249 int32 type
00250 int32 LINK_FRAME=0
00251 int32 HEADER_FRAME=1
00252 
00253 # The desired orientation of the robot link specified as a quaternion
00254 geometry_msgs/Quaternion orientation
00255 
00256 # optional RPY error tolerances specified if 
00257 float64 absolute_roll_tolerance
00258 float64 absolute_pitch_tolerance
00259 float64 absolute_yaw_tolerance
00260 
00261 # Constraint weighting factor - a weight for this constraint
00262 float64 weight
00263 
00264 ================================================================================
00265 MSG: arm_navigation_msgs/VisibilityConstraint
00266 # This message contains the definition of a visibility constraint.
00267 Header header
00268 
00269 # The point stamped target that needs to be kept within view of the sensor
00270 geometry_msgs/PointStamped target
00271 
00272 # The local pose of the frame in which visibility is to be maintained
00273 # The frame id should represent the robot link to which the sensor is attached
00274 # The visual axis of the sensor is assumed to be along the X axis of this frame
00275 geometry_msgs/PoseStamped sensor_pose
00276 
00277 # The deviation (in radians) that will be tolerated
00278 # Constraint error will be measured as the solid angle between the 
00279 # X axis of the frame defined above and the vector between the origin 
00280 # of the frame defined above and the target location
00281 float64 absolute_tolerance
00282 
00283 
00284 ================================================================================
00285 MSG: geometry_msgs/PointStamped
00286 # This represents a Point with reference coordinate frame and timestamp
00287 Header header
00288 Point point
00289 
00290 """
00291   __slots__ = ['group_name','head_monitor_link','motion_plan_request']
00292   _slot_types = ['string','string','arm_navigation_msgs/MotionPlanRequest']
00293 
00294   def __init__(self, *args, **kwds):
00295     """
00296     Constructor. Any message fields that are implicitly/explicitly
00297     set to None will be assigned a default value. The recommend
00298     use is keyword arguments as this is more robust to future message
00299     changes.  You cannot mix in-order arguments and keyword arguments.
00300 
00301     The available fields are:
00302        group_name,head_monitor_link,motion_plan_request
00303 
00304     :param args: complete set of field values, in .msg order
00305     :param kwds: use keyword arguments corresponding to message field names
00306     to set specific fields.
00307     """
00308     if args or kwds:
00309       super(PreplanHeadScanGoal, self).__init__(*args, **kwds)
00310       #message fields cannot be None, assign default values for those that are
00311       if self.group_name is None:
00312         self.group_name = ''
00313       if self.head_monitor_link is None:
00314         self.head_monitor_link = ''
00315       if self.motion_plan_request is None:
00316         self.motion_plan_request = arm_navigation_msgs.msg.MotionPlanRequest()
00317     else:
00318       self.group_name = ''
00319       self.head_monitor_link = ''
00320       self.motion_plan_request = arm_navigation_msgs.msg.MotionPlanRequest()
00321 
00322   def _get_types(self):
00323     """
00324     internal API method
00325     """
00326     return self._slot_types
00327 
00328   def serialize(self, buff):
00329     """
00330     serialize message into buffer
00331     :param buff: buffer, ``StringIO``
00332     """
00333     try:
00334       _x = self.group_name
00335       length = len(_x)
00336       if python3 or type(_x) == unicode:
00337         _x = _x.encode('utf-8')
00338         length = len(_x)
00339       buff.write(struct.pack('<I%ss'%length, length, _x))
00340       _x = self.head_monitor_link
00341       length = len(_x)
00342       if python3 or type(_x) == unicode:
00343         _x = _x.encode('utf-8')
00344         length = len(_x)
00345       buff.write(struct.pack('<I%ss'%length, length, _x))
00346       buff.write(_struct_b.pack(self.motion_plan_request.workspace_parameters.workspace_region_shape.type))
00347       length = len(self.motion_plan_request.workspace_parameters.workspace_region_shape.dimensions)
00348       buff.write(_struct_I.pack(length))
00349       pattern = '<%sd'%length
00350       buff.write(struct.pack(pattern, *self.motion_plan_request.workspace_parameters.workspace_region_shape.dimensions))
00351       length = len(self.motion_plan_request.workspace_parameters.workspace_region_shape.triangles)
00352       buff.write(_struct_I.pack(length))
00353       pattern = '<%si'%length
00354       buff.write(struct.pack(pattern, *self.motion_plan_request.workspace_parameters.workspace_region_shape.triangles))
00355       length = len(self.motion_plan_request.workspace_parameters.workspace_region_shape.vertices)
00356       buff.write(_struct_I.pack(length))
00357       for val1 in self.motion_plan_request.workspace_parameters.workspace_region_shape.vertices:
00358         _x = val1
00359         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00360       _x = self
00361       buff.write(_struct_3I.pack(_x.motion_plan_request.workspace_parameters.workspace_region_pose.header.seq, _x.motion_plan_request.workspace_parameters.workspace_region_pose.header.stamp.secs, _x.motion_plan_request.workspace_parameters.workspace_region_pose.header.stamp.nsecs))
00362       _x = self.motion_plan_request.workspace_parameters.workspace_region_pose.header.frame_id
00363       length = len(_x)
00364       if python3 or type(_x) == unicode:
00365         _x = _x.encode('utf-8')
00366         length = len(_x)
00367       buff.write(struct.pack('<I%ss'%length, length, _x))
00368       _x = self
00369       buff.write(_struct_7d3I.pack(_x.motion_plan_request.workspace_parameters.workspace_region_pose.pose.position.x, _x.motion_plan_request.workspace_parameters.workspace_region_pose.pose.position.y, _x.motion_plan_request.workspace_parameters.workspace_region_pose.pose.position.z, _x.motion_plan_request.workspace_parameters.workspace_region_pose.pose.orientation.x, _x.motion_plan_request.workspace_parameters.workspace_region_pose.pose.orientation.y, _x.motion_plan_request.workspace_parameters.workspace_region_pose.pose.orientation.z, _x.motion_plan_request.workspace_parameters.workspace_region_pose.pose.orientation.w, _x.motion_plan_request.start_state.joint_state.header.seq, _x.motion_plan_request.start_state.joint_state.header.stamp.secs, _x.motion_plan_request.start_state.joint_state.header.stamp.nsecs))
00370       _x = self.motion_plan_request.start_state.joint_state.header.frame_id
00371       length = len(_x)
00372       if python3 or type(_x) == unicode:
00373         _x = _x.encode('utf-8')
00374         length = len(_x)
00375       buff.write(struct.pack('<I%ss'%length, length, _x))
00376       length = len(self.motion_plan_request.start_state.joint_state.name)
00377       buff.write(_struct_I.pack(length))
00378       for val1 in self.motion_plan_request.start_state.joint_state.name:
00379         length = len(val1)
00380         if python3 or type(val1) == unicode:
00381           val1 = val1.encode('utf-8')
00382           length = len(val1)
00383         buff.write(struct.pack('<I%ss'%length, length, val1))
00384       length = len(self.motion_plan_request.start_state.joint_state.position)
00385       buff.write(_struct_I.pack(length))
00386       pattern = '<%sd'%length
00387       buff.write(struct.pack(pattern, *self.motion_plan_request.start_state.joint_state.position))
00388       length = len(self.motion_plan_request.start_state.joint_state.velocity)
00389       buff.write(_struct_I.pack(length))
00390       pattern = '<%sd'%length
00391       buff.write(struct.pack(pattern, *self.motion_plan_request.start_state.joint_state.velocity))
00392       length = len(self.motion_plan_request.start_state.joint_state.effort)
00393       buff.write(_struct_I.pack(length))
00394       pattern = '<%sd'%length
00395       buff.write(struct.pack(pattern, *self.motion_plan_request.start_state.joint_state.effort))
00396       _x = self
00397       buff.write(_struct_2I.pack(_x.motion_plan_request.start_state.multi_dof_joint_state.stamp.secs, _x.motion_plan_request.start_state.multi_dof_joint_state.stamp.nsecs))
00398       length = len(self.motion_plan_request.start_state.multi_dof_joint_state.joint_names)
00399       buff.write(_struct_I.pack(length))
00400       for val1 in self.motion_plan_request.start_state.multi_dof_joint_state.joint_names:
00401         length = len(val1)
00402         if python3 or type(val1) == unicode:
00403           val1 = val1.encode('utf-8')
00404           length = len(val1)
00405         buff.write(struct.pack('<I%ss'%length, length, val1))
00406       length = len(self.motion_plan_request.start_state.multi_dof_joint_state.frame_ids)
00407       buff.write(_struct_I.pack(length))
00408       for val1 in self.motion_plan_request.start_state.multi_dof_joint_state.frame_ids:
00409         length = len(val1)
00410         if python3 or type(val1) == unicode:
00411           val1 = val1.encode('utf-8')
00412           length = len(val1)
00413         buff.write(struct.pack('<I%ss'%length, length, val1))
00414       length = len(self.motion_plan_request.start_state.multi_dof_joint_state.child_frame_ids)
00415       buff.write(_struct_I.pack(length))
00416       for val1 in self.motion_plan_request.start_state.multi_dof_joint_state.child_frame_ids:
00417         length = len(val1)
00418         if python3 or type(val1) == unicode:
00419           val1 = val1.encode('utf-8')
00420           length = len(val1)
00421         buff.write(struct.pack('<I%ss'%length, length, val1))
00422       length = len(self.motion_plan_request.start_state.multi_dof_joint_state.poses)
00423       buff.write(_struct_I.pack(length))
00424       for val1 in self.motion_plan_request.start_state.multi_dof_joint_state.poses:
00425         _v1 = val1.position
00426         _x = _v1
00427         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00428         _v2 = val1.orientation
00429         _x = _v2
00430         buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00431       length = len(self.motion_plan_request.goal_constraints.joint_constraints)
00432       buff.write(_struct_I.pack(length))
00433       for val1 in self.motion_plan_request.goal_constraints.joint_constraints:
00434         _x = val1.joint_name
00435         length = len(_x)
00436         if python3 or type(_x) == unicode:
00437           _x = _x.encode('utf-8')
00438           length = len(_x)
00439         buff.write(struct.pack('<I%ss'%length, length, _x))
00440         _x = val1
00441         buff.write(_struct_4d.pack(_x.position, _x.tolerance_above, _x.tolerance_below, _x.weight))
00442       length = len(self.motion_plan_request.goal_constraints.position_constraints)
00443       buff.write(_struct_I.pack(length))
00444       for val1 in self.motion_plan_request.goal_constraints.position_constraints:
00445         _v3 = val1.header
00446         buff.write(_struct_I.pack(_v3.seq))
00447         _v4 = _v3.stamp
00448         _x = _v4
00449         buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00450         _x = _v3.frame_id
00451         length = len(_x)
00452         if python3 or type(_x) == unicode:
00453           _x = _x.encode('utf-8')
00454           length = len(_x)
00455         buff.write(struct.pack('<I%ss'%length, length, _x))
00456         _x = val1.link_name
00457         length = len(_x)
00458         if python3 or type(_x) == unicode:
00459           _x = _x.encode('utf-8')
00460           length = len(_x)
00461         buff.write(struct.pack('<I%ss'%length, length, _x))
00462         _v5 = val1.target_point_offset
00463         _x = _v5
00464         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00465         _v6 = val1.position
00466         _x = _v6
00467         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00468         _v7 = val1.constraint_region_shape
00469         buff.write(_struct_b.pack(_v7.type))
00470         length = len(_v7.dimensions)
00471         buff.write(_struct_I.pack(length))
00472         pattern = '<%sd'%length
00473         buff.write(struct.pack(pattern, *_v7.dimensions))
00474         length = len(_v7.triangles)
00475         buff.write(_struct_I.pack(length))
00476         pattern = '<%si'%length
00477         buff.write(struct.pack(pattern, *_v7.triangles))
00478         length = len(_v7.vertices)
00479         buff.write(_struct_I.pack(length))
00480         for val3 in _v7.vertices:
00481           _x = val3
00482           buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00483         _v8 = val1.constraint_region_orientation
00484         _x = _v8
00485         buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00486         buff.write(_struct_d.pack(val1.weight))
00487       length = len(self.motion_plan_request.goal_constraints.orientation_constraints)
00488       buff.write(_struct_I.pack(length))
00489       for val1 in self.motion_plan_request.goal_constraints.orientation_constraints:
00490         _v9 = val1.header
00491         buff.write(_struct_I.pack(_v9.seq))
00492         _v10 = _v9.stamp
00493         _x = _v10
00494         buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00495         _x = _v9.frame_id
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         _x = val1.link_name
00502         length = len(_x)
00503         if python3 or type(_x) == unicode:
00504           _x = _x.encode('utf-8')
00505           length = len(_x)
00506         buff.write(struct.pack('<I%ss'%length, length, _x))
00507         buff.write(_struct_i.pack(val1.type))
00508         _v11 = val1.orientation
00509         _x = _v11
00510         buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00511         _x = val1
00512         buff.write(_struct_4d.pack(_x.absolute_roll_tolerance, _x.absolute_pitch_tolerance, _x.absolute_yaw_tolerance, _x.weight))
00513       length = len(self.motion_plan_request.goal_constraints.visibility_constraints)
00514       buff.write(_struct_I.pack(length))
00515       for val1 in self.motion_plan_request.goal_constraints.visibility_constraints:
00516         _v12 = val1.header
00517         buff.write(_struct_I.pack(_v12.seq))
00518         _v13 = _v12.stamp
00519         _x = _v13
00520         buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00521         _x = _v12.frame_id
00522         length = len(_x)
00523         if python3 or type(_x) == unicode:
00524           _x = _x.encode('utf-8')
00525           length = len(_x)
00526         buff.write(struct.pack('<I%ss'%length, length, _x))
00527         _v14 = val1.target
00528         _v15 = _v14.header
00529         buff.write(_struct_I.pack(_v15.seq))
00530         _v16 = _v15.stamp
00531         _x = _v16
00532         buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00533         _x = _v15.frame_id
00534         length = len(_x)
00535         if python3 or type(_x) == unicode:
00536           _x = _x.encode('utf-8')
00537           length = len(_x)
00538         buff.write(struct.pack('<I%ss'%length, length, _x))
00539         _v17 = _v14.point
00540         _x = _v17
00541         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00542         _v18 = val1.sensor_pose
00543         _v19 = _v18.header
00544         buff.write(_struct_I.pack(_v19.seq))
00545         _v20 = _v19.stamp
00546         _x = _v20
00547         buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00548         _x = _v19.frame_id
00549         length = len(_x)
00550         if python3 or type(_x) == unicode:
00551           _x = _x.encode('utf-8')
00552           length = len(_x)
00553         buff.write(struct.pack('<I%ss'%length, length, _x))
00554         _v21 = _v18.pose
00555         _v22 = _v21.position
00556         _x = _v22
00557         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00558         _v23 = _v21.orientation
00559         _x = _v23
00560         buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00561         buff.write(_struct_d.pack(val1.absolute_tolerance))
00562       length = len(self.motion_plan_request.path_constraints.joint_constraints)
00563       buff.write(_struct_I.pack(length))
00564       for val1 in self.motion_plan_request.path_constraints.joint_constraints:
00565         _x = val1.joint_name
00566         length = len(_x)
00567         if python3 or type(_x) == unicode:
00568           _x = _x.encode('utf-8')
00569           length = len(_x)
00570         buff.write(struct.pack('<I%ss'%length, length, _x))
00571         _x = val1
00572         buff.write(_struct_4d.pack(_x.position, _x.tolerance_above, _x.tolerance_below, _x.weight))
00573       length = len(self.motion_plan_request.path_constraints.position_constraints)
00574       buff.write(_struct_I.pack(length))
00575       for val1 in self.motion_plan_request.path_constraints.position_constraints:
00576         _v24 = val1.header
00577         buff.write(_struct_I.pack(_v24.seq))
00578         _v25 = _v24.stamp
00579         _x = _v25
00580         buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00581         _x = _v24.frame_id
00582         length = len(_x)
00583         if python3 or type(_x) == unicode:
00584           _x = _x.encode('utf-8')
00585           length = len(_x)
00586         buff.write(struct.pack('<I%ss'%length, length, _x))
00587         _x = val1.link_name
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         _v26 = val1.target_point_offset
00594         _x = _v26
00595         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00596         _v27 = val1.position
00597         _x = _v27
00598         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00599         _v28 = val1.constraint_region_shape
00600         buff.write(_struct_b.pack(_v28.type))
00601         length = len(_v28.dimensions)
00602         buff.write(_struct_I.pack(length))
00603         pattern = '<%sd'%length
00604         buff.write(struct.pack(pattern, *_v28.dimensions))
00605         length = len(_v28.triangles)
00606         buff.write(_struct_I.pack(length))
00607         pattern = '<%si'%length
00608         buff.write(struct.pack(pattern, *_v28.triangles))
00609         length = len(_v28.vertices)
00610         buff.write(_struct_I.pack(length))
00611         for val3 in _v28.vertices:
00612           _x = val3
00613           buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00614         _v29 = val1.constraint_region_orientation
00615         _x = _v29
00616         buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00617         buff.write(_struct_d.pack(val1.weight))
00618       length = len(self.motion_plan_request.path_constraints.orientation_constraints)
00619       buff.write(_struct_I.pack(length))
00620       for val1 in self.motion_plan_request.path_constraints.orientation_constraints:
00621         _v30 = val1.header
00622         buff.write(_struct_I.pack(_v30.seq))
00623         _v31 = _v30.stamp
00624         _x = _v31
00625         buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00626         _x = _v30.frame_id
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         _x = val1.link_name
00633         length = len(_x)
00634         if python3 or type(_x) == unicode:
00635           _x = _x.encode('utf-8')
00636           length = len(_x)
00637         buff.write(struct.pack('<I%ss'%length, length, _x))
00638         buff.write(_struct_i.pack(val1.type))
00639         _v32 = val1.orientation
00640         _x = _v32
00641         buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00642         _x = val1
00643         buff.write(_struct_4d.pack(_x.absolute_roll_tolerance, _x.absolute_pitch_tolerance, _x.absolute_yaw_tolerance, _x.weight))
00644       length = len(self.motion_plan_request.path_constraints.visibility_constraints)
00645       buff.write(_struct_I.pack(length))
00646       for val1 in self.motion_plan_request.path_constraints.visibility_constraints:
00647         _v33 = val1.header
00648         buff.write(_struct_I.pack(_v33.seq))
00649         _v34 = _v33.stamp
00650         _x = _v34
00651         buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00652         _x = _v33.frame_id
00653         length = len(_x)
00654         if python3 or type(_x) == unicode:
00655           _x = _x.encode('utf-8')
00656           length = len(_x)
00657         buff.write(struct.pack('<I%ss'%length, length, _x))
00658         _v35 = val1.target
00659         _v36 = _v35.header
00660         buff.write(_struct_I.pack(_v36.seq))
00661         _v37 = _v36.stamp
00662         _x = _v37
00663         buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00664         _x = _v36.frame_id
00665         length = len(_x)
00666         if python3 or type(_x) == unicode:
00667           _x = _x.encode('utf-8')
00668           length = len(_x)
00669         buff.write(struct.pack('<I%ss'%length, length, _x))
00670         _v38 = _v35.point
00671         _x = _v38
00672         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00673         _v39 = val1.sensor_pose
00674         _v40 = _v39.header
00675         buff.write(_struct_I.pack(_v40.seq))
00676         _v41 = _v40.stamp
00677         _x = _v41
00678         buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00679         _x = _v40.frame_id
00680         length = len(_x)
00681         if python3 or type(_x) == unicode:
00682           _x = _x.encode('utf-8')
00683           length = len(_x)
00684         buff.write(struct.pack('<I%ss'%length, length, _x))
00685         _v42 = _v39.pose
00686         _v43 = _v42.position
00687         _x = _v43
00688         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00689         _v44 = _v42.orientation
00690         _x = _v44
00691         buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00692         buff.write(_struct_d.pack(val1.absolute_tolerance))
00693       _x = self.motion_plan_request.planner_id
00694       length = len(_x)
00695       if python3 or type(_x) == unicode:
00696         _x = _x.encode('utf-8')
00697         length = len(_x)
00698       buff.write(struct.pack('<I%ss'%length, length, _x))
00699       _x = self.motion_plan_request.group_name
00700       length = len(_x)
00701       if python3 or type(_x) == unicode:
00702         _x = _x.encode('utf-8')
00703         length = len(_x)
00704       buff.write(struct.pack('<I%ss'%length, length, _x))
00705       _x = self
00706       buff.write(_struct_7i.pack(_x.motion_plan_request.num_planning_attempts, _x.motion_plan_request.allowed_planning_time.secs, _x.motion_plan_request.allowed_planning_time.nsecs, _x.motion_plan_request.expected_path_duration.secs, _x.motion_plan_request.expected_path_duration.nsecs, _x.motion_plan_request.expected_path_dt.secs, _x.motion_plan_request.expected_path_dt.nsecs))
00707     except struct.error as se: self._check_types(se)
00708     except TypeError as te: self._check_types(te)
00709 
00710   def deserialize(self, str):
00711     """
00712     unpack serialized message in str into this message instance
00713     :param str: byte array of serialized message, ``str``
00714     """
00715     try:
00716       if self.motion_plan_request is None:
00717         self.motion_plan_request = arm_navigation_msgs.msg.MotionPlanRequest()
00718       end = 0
00719       start = end
00720       end += 4
00721       (length,) = _struct_I.unpack(str[start:end])
00722       start = end
00723       end += length
00724       if python3:
00725         self.group_name = str[start:end].decode('utf-8')
00726       else:
00727         self.group_name = str[start:end]
00728       start = end
00729       end += 4
00730       (length,) = _struct_I.unpack(str[start:end])
00731       start = end
00732       end += length
00733       if python3:
00734         self.head_monitor_link = str[start:end].decode('utf-8')
00735       else:
00736         self.head_monitor_link = str[start:end]
00737       start = end
00738       end += 1
00739       (self.motion_plan_request.workspace_parameters.workspace_region_shape.type,) = _struct_b.unpack(str[start:end])
00740       start = end
00741       end += 4
00742       (length,) = _struct_I.unpack(str[start:end])
00743       pattern = '<%sd'%length
00744       start = end
00745       end += struct.calcsize(pattern)
00746       self.motion_plan_request.workspace_parameters.workspace_region_shape.dimensions = struct.unpack(pattern, str[start:end])
00747       start = end
00748       end += 4
00749       (length,) = _struct_I.unpack(str[start:end])
00750       pattern = '<%si'%length
00751       start = end
00752       end += struct.calcsize(pattern)
00753       self.motion_plan_request.workspace_parameters.workspace_region_shape.triangles = struct.unpack(pattern, str[start:end])
00754       start = end
00755       end += 4
00756       (length,) = _struct_I.unpack(str[start:end])
00757       self.motion_plan_request.workspace_parameters.workspace_region_shape.vertices = []
00758       for i in range(0, length):
00759         val1 = geometry_msgs.msg.Point()
00760         _x = val1
00761         start = end
00762         end += 24
00763         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00764         self.motion_plan_request.workspace_parameters.workspace_region_shape.vertices.append(val1)
00765       _x = self
00766       start = end
00767       end += 12
00768       (_x.motion_plan_request.workspace_parameters.workspace_region_pose.header.seq, _x.motion_plan_request.workspace_parameters.workspace_region_pose.header.stamp.secs, _x.motion_plan_request.workspace_parameters.workspace_region_pose.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00769       start = end
00770       end += 4
00771       (length,) = _struct_I.unpack(str[start:end])
00772       start = end
00773       end += length
00774       if python3:
00775         self.motion_plan_request.workspace_parameters.workspace_region_pose.header.frame_id = str[start:end].decode('utf-8')
00776       else:
00777         self.motion_plan_request.workspace_parameters.workspace_region_pose.header.frame_id = str[start:end]
00778       _x = self
00779       start = end
00780       end += 68
00781       (_x.motion_plan_request.workspace_parameters.workspace_region_pose.pose.position.x, _x.motion_plan_request.workspace_parameters.workspace_region_pose.pose.position.y, _x.motion_plan_request.workspace_parameters.workspace_region_pose.pose.position.z, _x.motion_plan_request.workspace_parameters.workspace_region_pose.pose.orientation.x, _x.motion_plan_request.workspace_parameters.workspace_region_pose.pose.orientation.y, _x.motion_plan_request.workspace_parameters.workspace_region_pose.pose.orientation.z, _x.motion_plan_request.workspace_parameters.workspace_region_pose.pose.orientation.w, _x.motion_plan_request.start_state.joint_state.header.seq, _x.motion_plan_request.start_state.joint_state.header.stamp.secs, _x.motion_plan_request.start_state.joint_state.header.stamp.nsecs,) = _struct_7d3I.unpack(str[start:end])
00782       start = end
00783       end += 4
00784       (length,) = _struct_I.unpack(str[start:end])
00785       start = end
00786       end += length
00787       if python3:
00788         self.motion_plan_request.start_state.joint_state.header.frame_id = str[start:end].decode('utf-8')
00789       else:
00790         self.motion_plan_request.start_state.joint_state.header.frame_id = str[start:end]
00791       start = end
00792       end += 4
00793       (length,) = _struct_I.unpack(str[start:end])
00794       self.motion_plan_request.start_state.joint_state.name = []
00795       for i in range(0, length):
00796         start = end
00797         end += 4
00798         (length,) = _struct_I.unpack(str[start:end])
00799         start = end
00800         end += length
00801         if python3:
00802           val1 = str[start:end].decode('utf-8')
00803         else:
00804           val1 = str[start:end]
00805         self.motion_plan_request.start_state.joint_state.name.append(val1)
00806       start = end
00807       end += 4
00808       (length,) = _struct_I.unpack(str[start:end])
00809       pattern = '<%sd'%length
00810       start = end
00811       end += struct.calcsize(pattern)
00812       self.motion_plan_request.start_state.joint_state.position = struct.unpack(pattern, str[start:end])
00813       start = end
00814       end += 4
00815       (length,) = _struct_I.unpack(str[start:end])
00816       pattern = '<%sd'%length
00817       start = end
00818       end += struct.calcsize(pattern)
00819       self.motion_plan_request.start_state.joint_state.velocity = struct.unpack(pattern, str[start:end])
00820       start = end
00821       end += 4
00822       (length,) = _struct_I.unpack(str[start:end])
00823       pattern = '<%sd'%length
00824       start = end
00825       end += struct.calcsize(pattern)
00826       self.motion_plan_request.start_state.joint_state.effort = struct.unpack(pattern, str[start:end])
00827       _x = self
00828       start = end
00829       end += 8
00830       (_x.motion_plan_request.start_state.multi_dof_joint_state.stamp.secs, _x.motion_plan_request.start_state.multi_dof_joint_state.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00831       start = end
00832       end += 4
00833       (length,) = _struct_I.unpack(str[start:end])
00834       self.motion_plan_request.start_state.multi_dof_joint_state.joint_names = []
00835       for i in range(0, length):
00836         start = end
00837         end += 4
00838         (length,) = _struct_I.unpack(str[start:end])
00839         start = end
00840         end += length
00841         if python3:
00842           val1 = str[start:end].decode('utf-8')
00843         else:
00844           val1 = str[start:end]
00845         self.motion_plan_request.start_state.multi_dof_joint_state.joint_names.append(val1)
00846       start = end
00847       end += 4
00848       (length,) = _struct_I.unpack(str[start:end])
00849       self.motion_plan_request.start_state.multi_dof_joint_state.frame_ids = []
00850       for i in range(0, length):
00851         start = end
00852         end += 4
00853         (length,) = _struct_I.unpack(str[start:end])
00854         start = end
00855         end += length
00856         if python3:
00857           val1 = str[start:end].decode('utf-8')
00858         else:
00859           val1 = str[start:end]
00860         self.motion_plan_request.start_state.multi_dof_joint_state.frame_ids.append(val1)
00861       start = end
00862       end += 4
00863       (length,) = _struct_I.unpack(str[start:end])
00864       self.motion_plan_request.start_state.multi_dof_joint_state.child_frame_ids = []
00865       for i in range(0, length):
00866         start = end
00867         end += 4
00868         (length,) = _struct_I.unpack(str[start:end])
00869         start = end
00870         end += length
00871         if python3:
00872           val1 = str[start:end].decode('utf-8')
00873         else:
00874           val1 = str[start:end]
00875         self.motion_plan_request.start_state.multi_dof_joint_state.child_frame_ids.append(val1)
00876       start = end
00877       end += 4
00878       (length,) = _struct_I.unpack(str[start:end])
00879       self.motion_plan_request.start_state.multi_dof_joint_state.poses = []
00880       for i in range(0, length):
00881         val1 = geometry_msgs.msg.Pose()
00882         _v45 = val1.position
00883         _x = _v45
00884         start = end
00885         end += 24
00886         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00887         _v46 = val1.orientation
00888         _x = _v46
00889         start = end
00890         end += 32
00891         (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
00892         self.motion_plan_request.start_state.multi_dof_joint_state.poses.append(val1)
00893       start = end
00894       end += 4
00895       (length,) = _struct_I.unpack(str[start:end])
00896       self.motion_plan_request.goal_constraints.joint_constraints = []
00897       for i in range(0, length):
00898         val1 = arm_navigation_msgs.msg.JointConstraint()
00899         start = end
00900         end += 4
00901         (length,) = _struct_I.unpack(str[start:end])
00902         start = end
00903         end += length
00904         if python3:
00905           val1.joint_name = str[start:end].decode('utf-8')
00906         else:
00907           val1.joint_name = str[start:end]
00908         _x = val1
00909         start = end
00910         end += 32
00911         (_x.position, _x.tolerance_above, _x.tolerance_below, _x.weight,) = _struct_4d.unpack(str[start:end])
00912         self.motion_plan_request.goal_constraints.joint_constraints.append(val1)
00913       start = end
00914       end += 4
00915       (length,) = _struct_I.unpack(str[start:end])
00916       self.motion_plan_request.goal_constraints.position_constraints = []
00917       for i in range(0, length):
00918         val1 = arm_navigation_msgs.msg.PositionConstraint()
00919         _v47 = val1.header
00920         start = end
00921         end += 4
00922         (_v47.seq,) = _struct_I.unpack(str[start:end])
00923         _v48 = _v47.stamp
00924         _x = _v48
00925         start = end
00926         end += 8
00927         (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
00928         start = end
00929         end += 4
00930         (length,) = _struct_I.unpack(str[start:end])
00931         start = end
00932         end += length
00933         if python3:
00934           _v47.frame_id = str[start:end].decode('utf-8')
00935         else:
00936           _v47.frame_id = str[start:end]
00937         start = end
00938         end += 4
00939         (length,) = _struct_I.unpack(str[start:end])
00940         start = end
00941         end += length
00942         if python3:
00943           val1.link_name = str[start:end].decode('utf-8')
00944         else:
00945           val1.link_name = str[start:end]
00946         _v49 = val1.target_point_offset
00947         _x = _v49
00948         start = end
00949         end += 24
00950         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00951         _v50 = val1.position
00952         _x = _v50
00953         start = end
00954         end += 24
00955         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00956         _v51 = val1.constraint_region_shape
00957         start = end
00958         end += 1
00959         (_v51.type,) = _struct_b.unpack(str[start:end])
00960         start = end
00961         end += 4
00962         (length,) = _struct_I.unpack(str[start:end])
00963         pattern = '<%sd'%length
00964         start = end
00965         end += struct.calcsize(pattern)
00966         _v51.dimensions = struct.unpack(pattern, str[start:end])
00967         start = end
00968         end += 4
00969         (length,) = _struct_I.unpack(str[start:end])
00970         pattern = '<%si'%length
00971         start = end
00972         end += struct.calcsize(pattern)
00973         _v51.triangles = struct.unpack(pattern, str[start:end])
00974         start = end
00975         end += 4
00976         (length,) = _struct_I.unpack(str[start:end])
00977         _v51.vertices = []
00978         for i in range(0, length):
00979           val3 = geometry_msgs.msg.Point()
00980           _x = val3
00981           start = end
00982           end += 24
00983           (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00984           _v51.vertices.append(val3)
00985         _v52 = val1.constraint_region_orientation
00986         _x = _v52
00987         start = end
00988         end += 32
00989         (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
00990         start = end
00991         end += 8
00992         (val1.weight,) = _struct_d.unpack(str[start:end])
00993         self.motion_plan_request.goal_constraints.position_constraints.append(val1)
00994       start = end
00995       end += 4
00996       (length,) = _struct_I.unpack(str[start:end])
00997       self.motion_plan_request.goal_constraints.orientation_constraints = []
00998       for i in range(0, length):
00999         val1 = arm_navigation_msgs.msg.OrientationConstraint()
01000         _v53 = val1.header
01001         start = end
01002         end += 4
01003         (_v53.seq,) = _struct_I.unpack(str[start:end])
01004         _v54 = _v53.stamp
01005         _x = _v54
01006         start = end
01007         end += 8
01008         (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
01009         start = end
01010         end += 4
01011         (length,) = _struct_I.unpack(str[start:end])
01012         start = end
01013         end += length
01014         if python3:
01015           _v53.frame_id = str[start:end].decode('utf-8')
01016         else:
01017           _v53.frame_id = str[start:end]
01018         start = end
01019         end += 4
01020         (length,) = _struct_I.unpack(str[start:end])
01021         start = end
01022         end += length
01023         if python3:
01024           val1.link_name = str[start:end].decode('utf-8')
01025         else:
01026           val1.link_name = str[start:end]
01027         start = end
01028         end += 4
01029         (val1.type,) = _struct_i.unpack(str[start:end])
01030         _v55 = val1.orientation
01031         _x = _v55
01032         start = end
01033         end += 32
01034         (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
01035         _x = val1
01036         start = end
01037         end += 32
01038         (_x.absolute_roll_tolerance, _x.absolute_pitch_tolerance, _x.absolute_yaw_tolerance, _x.weight,) = _struct_4d.unpack(str[start:end])
01039         self.motion_plan_request.goal_constraints.orientation_constraints.append(val1)
01040       start = end
01041       end += 4
01042       (length,) = _struct_I.unpack(str[start:end])
01043       self.motion_plan_request.goal_constraints.visibility_constraints = []
01044       for i in range(0, length):
01045         val1 = arm_navigation_msgs.msg.VisibilityConstraint()
01046         _v56 = val1.header
01047         start = end
01048         end += 4
01049         (_v56.seq,) = _struct_I.unpack(str[start:end])
01050         _v57 = _v56.stamp
01051         _x = _v57
01052         start = end
01053         end += 8
01054         (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
01055         start = end
01056         end += 4
01057         (length,) = _struct_I.unpack(str[start:end])
01058         start = end
01059         end += length
01060         if python3:
01061           _v56.frame_id = str[start:end].decode('utf-8')
01062         else:
01063           _v56.frame_id = str[start:end]
01064         _v58 = val1.target
01065         _v59 = _v58.header
01066         start = end
01067         end += 4
01068         (_v59.seq,) = _struct_I.unpack(str[start:end])
01069         _v60 = _v59.stamp
01070         _x = _v60
01071         start = end
01072         end += 8
01073         (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
01074         start = end
01075         end += 4
01076         (length,) = _struct_I.unpack(str[start:end])
01077         start = end
01078         end += length
01079         if python3:
01080           _v59.frame_id = str[start:end].decode('utf-8')
01081         else:
01082           _v59.frame_id = str[start:end]
01083         _v61 = _v58.point
01084         _x = _v61
01085         start = end
01086         end += 24
01087         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
01088         _v62 = val1.sensor_pose
01089         _v63 = _v62.header
01090         start = end
01091         end += 4
01092         (_v63.seq,) = _struct_I.unpack(str[start:end])
01093         _v64 = _v63.stamp
01094         _x = _v64
01095         start = end
01096         end += 8
01097         (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
01098         start = end
01099         end += 4
01100         (length,) = _struct_I.unpack(str[start:end])
01101         start = end
01102         end += length
01103         if python3:
01104           _v63.frame_id = str[start:end].decode('utf-8')
01105         else:
01106           _v63.frame_id = str[start:end]
01107         _v65 = _v62.pose
01108         _v66 = _v65.position
01109         _x = _v66
01110         start = end
01111         end += 24
01112         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
01113         _v67 = _v65.orientation
01114         _x = _v67
01115         start = end
01116         end += 32
01117         (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
01118         start = end
01119         end += 8
01120         (val1.absolute_tolerance,) = _struct_d.unpack(str[start:end])
01121         self.motion_plan_request.goal_constraints.visibility_constraints.append(val1)
01122       start = end
01123       end += 4
01124       (length,) = _struct_I.unpack(str[start:end])
01125       self.motion_plan_request.path_constraints.joint_constraints = []
01126       for i in range(0, length):
01127         val1 = arm_navigation_msgs.msg.JointConstraint()
01128         start = end
01129         end += 4
01130         (length,) = _struct_I.unpack(str[start:end])
01131         start = end
01132         end += length
01133         if python3:
01134           val1.joint_name = str[start:end].decode('utf-8')
01135         else:
01136           val1.joint_name = str[start:end]
01137         _x = val1
01138         start = end
01139         end += 32
01140         (_x.position, _x.tolerance_above, _x.tolerance_below, _x.weight,) = _struct_4d.unpack(str[start:end])
01141         self.motion_plan_request.path_constraints.joint_constraints.append(val1)
01142       start = end
01143       end += 4
01144       (length,) = _struct_I.unpack(str[start:end])
01145       self.motion_plan_request.path_constraints.position_constraints = []
01146       for i in range(0, length):
01147         val1 = arm_navigation_msgs.msg.PositionConstraint()
01148         _v68 = val1.header
01149         start = end
01150         end += 4
01151         (_v68.seq,) = _struct_I.unpack(str[start:end])
01152         _v69 = _v68.stamp
01153         _x = _v69
01154         start = end
01155         end += 8
01156         (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
01157         start = end
01158         end += 4
01159         (length,) = _struct_I.unpack(str[start:end])
01160         start = end
01161         end += length
01162         if python3:
01163           _v68.frame_id = str[start:end].decode('utf-8')
01164         else:
01165           _v68.frame_id = str[start:end]
01166         start = end
01167         end += 4
01168         (length,) = _struct_I.unpack(str[start:end])
01169         start = end
01170         end += length
01171         if python3:
01172           val1.link_name = str[start:end].decode('utf-8')
01173         else:
01174           val1.link_name = str[start:end]
01175         _v70 = val1.target_point_offset
01176         _x = _v70
01177         start = end
01178         end += 24
01179         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
01180         _v71 = val1.position
01181         _x = _v71
01182         start = end
01183         end += 24
01184         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
01185         _v72 = val1.constraint_region_shape
01186         start = end
01187         end += 1
01188         (_v72.type,) = _struct_b.unpack(str[start:end])
01189         start = end
01190         end += 4
01191         (length,) = _struct_I.unpack(str[start:end])
01192         pattern = '<%sd'%length
01193         start = end
01194         end += struct.calcsize(pattern)
01195         _v72.dimensions = struct.unpack(pattern, str[start:end])
01196         start = end
01197         end += 4
01198         (length,) = _struct_I.unpack(str[start:end])
01199         pattern = '<%si'%length
01200         start = end
01201         end += struct.calcsize(pattern)
01202         _v72.triangles = struct.unpack(pattern, str[start:end])
01203         start = end
01204         end += 4
01205         (length,) = _struct_I.unpack(str[start:end])
01206         _v72.vertices = []
01207         for i in range(0, length):
01208           val3 = geometry_msgs.msg.Point()
01209           _x = val3
01210           start = end
01211           end += 24
01212           (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
01213           _v72.vertices.append(val3)
01214         _v73 = val1.constraint_region_orientation
01215         _x = _v73
01216         start = end
01217         end += 32
01218         (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
01219         start = end
01220         end += 8
01221         (val1.weight,) = _struct_d.unpack(str[start:end])
01222         self.motion_plan_request.path_constraints.position_constraints.append(val1)
01223       start = end
01224       end += 4
01225       (length,) = _struct_I.unpack(str[start:end])
01226       self.motion_plan_request.path_constraints.orientation_constraints = []
01227       for i in range(0, length):
01228         val1 = arm_navigation_msgs.msg.OrientationConstraint()
01229         _v74 = val1.header
01230         start = end
01231         end += 4
01232         (_v74.seq,) = _struct_I.unpack(str[start:end])
01233         _v75 = _v74.stamp
01234         _x = _v75
01235         start = end
01236         end += 8
01237         (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
01238         start = end
01239         end += 4
01240         (length,) = _struct_I.unpack(str[start:end])
01241         start = end
01242         end += length
01243         if python3:
01244           _v74.frame_id = str[start:end].decode('utf-8')
01245         else:
01246           _v74.frame_id = str[start:end]
01247         start = end
01248         end += 4
01249         (length,) = _struct_I.unpack(str[start:end])
01250         start = end
01251         end += length
01252         if python3:
01253           val1.link_name = str[start:end].decode('utf-8')
01254         else:
01255           val1.link_name = str[start:end]
01256         start = end
01257         end += 4
01258         (val1.type,) = _struct_i.unpack(str[start:end])
01259         _v76 = val1.orientation
01260         _x = _v76
01261         start = end
01262         end += 32
01263         (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
01264         _x = val1
01265         start = end
01266         end += 32
01267         (_x.absolute_roll_tolerance, _x.absolute_pitch_tolerance, _x.absolute_yaw_tolerance, _x.weight,) = _struct_4d.unpack(str[start:end])
01268         self.motion_plan_request.path_constraints.orientation_constraints.append(val1)
01269       start = end
01270       end += 4
01271       (length,) = _struct_I.unpack(str[start:end])
01272       self.motion_plan_request.path_constraints.visibility_constraints = []
01273       for i in range(0, length):
01274         val1 = arm_navigation_msgs.msg.VisibilityConstraint()
01275         _v77 = val1.header
01276         start = end
01277         end += 4
01278         (_v77.seq,) = _struct_I.unpack(str[start:end])
01279         _v78 = _v77.stamp
01280         _x = _v78
01281         start = end
01282         end += 8
01283         (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
01284         start = end
01285         end += 4
01286         (length,) = _struct_I.unpack(str[start:end])
01287         start = end
01288         end += length
01289         if python3:
01290           _v77.frame_id = str[start:end].decode('utf-8')
01291         else:
01292           _v77.frame_id = str[start:end]
01293         _v79 = val1.target
01294         _v80 = _v79.header
01295         start = end
01296         end += 4
01297         (_v80.seq,) = _struct_I.unpack(str[start:end])
01298         _v81 = _v80.stamp
01299         _x = _v81
01300         start = end
01301         end += 8
01302         (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
01303         start = end
01304         end += 4
01305         (length,) = _struct_I.unpack(str[start:end])
01306         start = end
01307         end += length
01308         if python3:
01309           _v80.frame_id = str[start:end].decode('utf-8')
01310         else:
01311           _v80.frame_id = str[start:end]
01312         _v82 = _v79.point
01313         _x = _v82
01314         start = end
01315         end += 24
01316         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
01317         _v83 = val1.sensor_pose
01318         _v84 = _v83.header
01319         start = end
01320         end += 4
01321         (_v84.seq,) = _struct_I.unpack(str[start:end])
01322         _v85 = _v84.stamp
01323         _x = _v85
01324         start = end
01325         end += 8
01326         (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
01327         start = end
01328         end += 4
01329         (length,) = _struct_I.unpack(str[start:end])
01330         start = end
01331         end += length
01332         if python3:
01333           _v84.frame_id = str[start:end].decode('utf-8')
01334         else:
01335           _v84.frame_id = str[start:end]
01336         _v86 = _v83.pose
01337         _v87 = _v86.position
01338         _x = _v87
01339         start = end
01340         end += 24
01341         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
01342         _v88 = _v86.orientation
01343         _x = _v88
01344         start = end
01345         end += 32
01346         (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
01347         start = end
01348         end += 8
01349         (val1.absolute_tolerance,) = _struct_d.unpack(str[start:end])
01350         self.motion_plan_request.path_constraints.visibility_constraints.append(val1)
01351       start = end
01352       end += 4
01353       (length,) = _struct_I.unpack(str[start:end])
01354       start = end
01355       end += length
01356       if python3:
01357         self.motion_plan_request.planner_id = str[start:end].decode('utf-8')
01358       else:
01359         self.motion_plan_request.planner_id = str[start:end]
01360       start = end
01361       end += 4
01362       (length,) = _struct_I.unpack(str[start:end])
01363       start = end
01364       end += length
01365       if python3:
01366         self.motion_plan_request.group_name = str[start:end].decode('utf-8')
01367       else:
01368         self.motion_plan_request.group_name = str[start:end]
01369       _x = self
01370       start = end
01371       end += 28
01372       (_x.motion_plan_request.num_planning_attempts, _x.motion_plan_request.allowed_planning_time.secs, _x.motion_plan_request.allowed_planning_time.nsecs, _x.motion_plan_request.expected_path_duration.secs, _x.motion_plan_request.expected_path_duration.nsecs, _x.motion_plan_request.expected_path_dt.secs, _x.motion_plan_request.expected_path_dt.nsecs,) = _struct_7i.unpack(str[start:end])
01373       return self
01374     except struct.error as e:
01375       raise genpy.DeserializationError(e) #most likely buffer underfill
01376 
01377 
01378   def serialize_numpy(self, buff, numpy):
01379     """
01380     serialize message with numpy array types into buffer
01381     :param buff: buffer, ``StringIO``
01382     :param numpy: numpy python module
01383     """
01384     try:
01385       _x = self.group_name
01386       length = len(_x)
01387       if python3 or type(_x) == unicode:
01388         _x = _x.encode('utf-8')
01389         length = len(_x)
01390       buff.write(struct.pack('<I%ss'%length, length, _x))
01391       _x = self.head_monitor_link
01392       length = len(_x)
01393       if python3 or type(_x) == unicode:
01394         _x = _x.encode('utf-8')
01395         length = len(_x)
01396       buff.write(struct.pack('<I%ss'%length, length, _x))
01397       buff.write(_struct_b.pack(self.motion_plan_request.workspace_parameters.workspace_region_shape.type))
01398       length = len(self.motion_plan_request.workspace_parameters.workspace_region_shape.dimensions)
01399       buff.write(_struct_I.pack(length))
01400       pattern = '<%sd'%length
01401       buff.write(self.motion_plan_request.workspace_parameters.workspace_region_shape.dimensions.tostring())
01402       length = len(self.motion_plan_request.workspace_parameters.workspace_region_shape.triangles)
01403       buff.write(_struct_I.pack(length))
01404       pattern = '<%si'%length
01405       buff.write(self.motion_plan_request.workspace_parameters.workspace_region_shape.triangles.tostring())
01406       length = len(self.motion_plan_request.workspace_parameters.workspace_region_shape.vertices)
01407       buff.write(_struct_I.pack(length))
01408       for val1 in self.motion_plan_request.workspace_parameters.workspace_region_shape.vertices:
01409         _x = val1
01410         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
01411       _x = self
01412       buff.write(_struct_3I.pack(_x.motion_plan_request.workspace_parameters.workspace_region_pose.header.seq, _x.motion_plan_request.workspace_parameters.workspace_region_pose.header.stamp.secs, _x.motion_plan_request.workspace_parameters.workspace_region_pose.header.stamp.nsecs))
01413       _x = self.motion_plan_request.workspace_parameters.workspace_region_pose.header.frame_id
01414       length = len(_x)
01415       if python3 or type(_x) == unicode:
01416         _x = _x.encode('utf-8')
01417         length = len(_x)
01418       buff.write(struct.pack('<I%ss'%length, length, _x))
01419       _x = self
01420       buff.write(_struct_7d3I.pack(_x.motion_plan_request.workspace_parameters.workspace_region_pose.pose.position.x, _x.motion_plan_request.workspace_parameters.workspace_region_pose.pose.position.y, _x.motion_plan_request.workspace_parameters.workspace_region_pose.pose.position.z, _x.motion_plan_request.workspace_parameters.workspace_region_pose.pose.orientation.x, _x.motion_plan_request.workspace_parameters.workspace_region_pose.pose.orientation.y, _x.motion_plan_request.workspace_parameters.workspace_region_pose.pose.orientation.z, _x.motion_plan_request.workspace_parameters.workspace_region_pose.pose.orientation.w, _x.motion_plan_request.start_state.joint_state.header.seq, _x.motion_plan_request.start_state.joint_state.header.stamp.secs, _x.motion_plan_request.start_state.joint_state.header.stamp.nsecs))
01421       _x = self.motion_plan_request.start_state.joint_state.header.frame_id
01422       length = len(_x)
01423       if python3 or type(_x) == unicode:
01424         _x = _x.encode('utf-8')
01425         length = len(_x)
01426       buff.write(struct.pack('<I%ss'%length, length, _x))
01427       length = len(self.motion_plan_request.start_state.joint_state.name)
01428       buff.write(_struct_I.pack(length))
01429       for val1 in self.motion_plan_request.start_state.joint_state.name:
01430         length = len(val1)
01431         if python3 or type(val1) == unicode:
01432           val1 = val1.encode('utf-8')
01433           length = len(val1)
01434         buff.write(struct.pack('<I%ss'%length, length, val1))
01435       length = len(self.motion_plan_request.start_state.joint_state.position)
01436       buff.write(_struct_I.pack(length))
01437       pattern = '<%sd'%length
01438       buff.write(self.motion_plan_request.start_state.joint_state.position.tostring())
01439       length = len(self.motion_plan_request.start_state.joint_state.velocity)
01440       buff.write(_struct_I.pack(length))
01441       pattern = '<%sd'%length
01442       buff.write(self.motion_plan_request.start_state.joint_state.velocity.tostring())
01443       length = len(self.motion_plan_request.start_state.joint_state.effort)
01444       buff.write(_struct_I.pack(length))
01445       pattern = '<%sd'%length
01446       buff.write(self.motion_plan_request.start_state.joint_state.effort.tostring())
01447       _x = self
01448       buff.write(_struct_2I.pack(_x.motion_plan_request.start_state.multi_dof_joint_state.stamp.secs, _x.motion_plan_request.start_state.multi_dof_joint_state.stamp.nsecs))
01449       length = len(self.motion_plan_request.start_state.multi_dof_joint_state.joint_names)
01450       buff.write(_struct_I.pack(length))
01451       for val1 in self.motion_plan_request.start_state.multi_dof_joint_state.joint_names:
01452         length = len(val1)
01453         if python3 or type(val1) == unicode:
01454           val1 = val1.encode('utf-8')
01455           length = len(val1)
01456         buff.write(struct.pack('<I%ss'%length, length, val1))
01457       length = len(self.motion_plan_request.start_state.multi_dof_joint_state.frame_ids)
01458       buff.write(_struct_I.pack(length))
01459       for val1 in self.motion_plan_request.start_state.multi_dof_joint_state.frame_ids:
01460         length = len(val1)
01461         if python3 or type(val1) == unicode:
01462           val1 = val1.encode('utf-8')
01463           length = len(val1)
01464         buff.write(struct.pack('<I%ss'%length, length, val1))
01465       length = len(self.motion_plan_request.start_state.multi_dof_joint_state.child_frame_ids)
01466       buff.write(_struct_I.pack(length))
01467       for val1 in self.motion_plan_request.start_state.multi_dof_joint_state.child_frame_ids:
01468         length = len(val1)
01469         if python3 or type(val1) == unicode:
01470           val1 = val1.encode('utf-8')
01471           length = len(val1)
01472         buff.write(struct.pack('<I%ss'%length, length, val1))
01473       length = len(self.motion_plan_request.start_state.multi_dof_joint_state.poses)
01474       buff.write(_struct_I.pack(length))
01475       for val1 in self.motion_plan_request.start_state.multi_dof_joint_state.poses:
01476         _v89 = val1.position
01477         _x = _v89
01478         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
01479         _v90 = val1.orientation
01480         _x = _v90
01481         buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
01482       length = len(self.motion_plan_request.goal_constraints.joint_constraints)
01483       buff.write(_struct_I.pack(length))
01484       for val1 in self.motion_plan_request.goal_constraints.joint_constraints:
01485         _x = val1.joint_name
01486         length = len(_x)
01487         if python3 or type(_x) == unicode:
01488           _x = _x.encode('utf-8')
01489           length = len(_x)
01490         buff.write(struct.pack('<I%ss'%length, length, _x))
01491         _x = val1
01492         buff.write(_struct_4d.pack(_x.position, _x.tolerance_above, _x.tolerance_below, _x.weight))
01493       length = len(self.motion_plan_request.goal_constraints.position_constraints)
01494       buff.write(_struct_I.pack(length))
01495       for val1 in self.motion_plan_request.goal_constraints.position_constraints:
01496         _v91 = val1.header
01497         buff.write(_struct_I.pack(_v91.seq))
01498         _v92 = _v91.stamp
01499         _x = _v92
01500         buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
01501         _x = _v91.frame_id
01502         length = len(_x)
01503         if python3 or type(_x) == unicode:
01504           _x = _x.encode('utf-8')
01505           length = len(_x)
01506         buff.write(struct.pack('<I%ss'%length, length, _x))
01507         _x = val1.link_name
01508         length = len(_x)
01509         if python3 or type(_x) == unicode:
01510           _x = _x.encode('utf-8')
01511           length = len(_x)
01512         buff.write(struct.pack('<I%ss'%length, length, _x))
01513         _v93 = val1.target_point_offset
01514         _x = _v93
01515         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
01516         _v94 = val1.position
01517         _x = _v94
01518         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
01519         _v95 = val1.constraint_region_shape
01520         buff.write(_struct_b.pack(_v95.type))
01521         length = len(_v95.dimensions)
01522         buff.write(_struct_I.pack(length))
01523         pattern = '<%sd'%length
01524         buff.write(_v95.dimensions.tostring())
01525         length = len(_v95.triangles)
01526         buff.write(_struct_I.pack(length))
01527         pattern = '<%si'%length
01528         buff.write(_v95.triangles.tostring())
01529         length = len(_v95.vertices)
01530         buff.write(_struct_I.pack(length))
01531         for val3 in _v95.vertices:
01532           _x = val3
01533           buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
01534         _v96 = val1.constraint_region_orientation
01535         _x = _v96
01536         buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
01537         buff.write(_struct_d.pack(val1.weight))
01538       length = len(self.motion_plan_request.goal_constraints.orientation_constraints)
01539       buff.write(_struct_I.pack(length))
01540       for val1 in self.motion_plan_request.goal_constraints.orientation_constraints:
01541         _v97 = val1.header
01542         buff.write(_struct_I.pack(_v97.seq))
01543         _v98 = _v97.stamp
01544         _x = _v98
01545         buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
01546         _x = _v97.frame_id
01547         length = len(_x)
01548         if python3 or type(_x) == unicode:
01549           _x = _x.encode('utf-8')
01550           length = len(_x)
01551         buff.write(struct.pack('<I%ss'%length, length, _x))
01552         _x = val1.link_name
01553         length = len(_x)
01554         if python3 or type(_x) == unicode:
01555           _x = _x.encode('utf-8')
01556           length = len(_x)
01557         buff.write(struct.pack('<I%ss'%length, length, _x))
01558         buff.write(_struct_i.pack(val1.type))
01559         _v99 = val1.orientation
01560         _x = _v99
01561         buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
01562         _x = val1
01563         buff.write(_struct_4d.pack(_x.absolute_roll_tolerance, _x.absolute_pitch_tolerance, _x.absolute_yaw_tolerance, _x.weight))
01564       length = len(self.motion_plan_request.goal_constraints.visibility_constraints)
01565       buff.write(_struct_I.pack(length))
01566       for val1 in self.motion_plan_request.goal_constraints.visibility_constraints:
01567         _v100 = val1.header
01568         buff.write(_struct_I.pack(_v100.seq))
01569         _v101 = _v100.stamp
01570         _x = _v101
01571         buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
01572         _x = _v100.frame_id
01573         length = len(_x)
01574         if python3 or type(_x) == unicode:
01575           _x = _x.encode('utf-8')
01576           length = len(_x)
01577         buff.write(struct.pack('<I%ss'%length, length, _x))
01578         _v102 = val1.target
01579         _v103 = _v102.header
01580         buff.write(_struct_I.pack(_v103.seq))
01581         _v104 = _v103.stamp
01582         _x = _v104
01583         buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
01584         _x = _v103.frame_id
01585         length = len(_x)
01586         if python3 or type(_x) == unicode:
01587           _x = _x.encode('utf-8')
01588           length = len(_x)
01589         buff.write(struct.pack('<I%ss'%length, length, _x))
01590         _v105 = _v102.point
01591         _x = _v105
01592         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
01593         _v106 = val1.sensor_pose
01594         _v107 = _v106.header
01595         buff.write(_struct_I.pack(_v107.seq))
01596         _v108 = _v107.stamp
01597         _x = _v108
01598         buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
01599         _x = _v107.frame_id
01600         length = len(_x)
01601         if python3 or type(_x) == unicode:
01602           _x = _x.encode('utf-8')
01603           length = len(_x)
01604         buff.write(struct.pack('<I%ss'%length, length, _x))
01605         _v109 = _v106.pose
01606         _v110 = _v109.position
01607         _x = _v110
01608         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
01609         _v111 = _v109.orientation
01610         _x = _v111
01611         buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
01612         buff.write(_struct_d.pack(val1.absolute_tolerance))
01613       length = len(self.motion_plan_request.path_constraints.joint_constraints)
01614       buff.write(_struct_I.pack(length))
01615       for val1 in self.motion_plan_request.path_constraints.joint_constraints:
01616         _x = val1.joint_name
01617         length = len(_x)
01618         if python3 or type(_x) == unicode:
01619           _x = _x.encode('utf-8')
01620           length = len(_x)
01621         buff.write(struct.pack('<I%ss'%length, length, _x))
01622         _x = val1
01623         buff.write(_struct_4d.pack(_x.position, _x.tolerance_above, _x.tolerance_below, _x.weight))
01624       length = len(self.motion_plan_request.path_constraints.position_constraints)
01625       buff.write(_struct_I.pack(length))
01626       for val1 in self.motion_plan_request.path_constraints.position_constraints:
01627         _v112 = val1.header
01628         buff.write(_struct_I.pack(_v112.seq))
01629         _v113 = _v112.stamp
01630         _x = _v113
01631         buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
01632         _x = _v112.frame_id
01633         length = len(_x)
01634         if python3 or type(_x) == unicode:
01635           _x = _x.encode('utf-8')
01636           length = len(_x)
01637         buff.write(struct.pack('<I%ss'%length, length, _x))
01638         _x = val1.link_name
01639         length = len(_x)
01640         if python3 or type(_x) == unicode:
01641           _x = _x.encode('utf-8')
01642           length = len(_x)
01643         buff.write(struct.pack('<I%ss'%length, length, _x))
01644         _v114 = val1.target_point_offset
01645         _x = _v114
01646         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
01647         _v115 = val1.position
01648         _x = _v115
01649         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
01650         _v116 = val1.constraint_region_shape
01651         buff.write(_struct_b.pack(_v116.type))
01652         length = len(_v116.dimensions)
01653         buff.write(_struct_I.pack(length))
01654         pattern = '<%sd'%length
01655         buff.write(_v116.dimensions.tostring())
01656         length = len(_v116.triangles)
01657         buff.write(_struct_I.pack(length))
01658         pattern = '<%si'%length
01659         buff.write(_v116.triangles.tostring())
01660         length = len(_v116.vertices)
01661         buff.write(_struct_I.pack(length))
01662         for val3 in _v116.vertices:
01663           _x = val3
01664           buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
01665         _v117 = val1.constraint_region_orientation
01666         _x = _v117
01667         buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
01668         buff.write(_struct_d.pack(val1.weight))
01669       length = len(self.motion_plan_request.path_constraints.orientation_constraints)
01670       buff.write(_struct_I.pack(length))
01671       for val1 in self.motion_plan_request.path_constraints.orientation_constraints:
01672         _v118 = val1.header
01673         buff.write(_struct_I.pack(_v118.seq))
01674         _v119 = _v118.stamp
01675         _x = _v119
01676         buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
01677         _x = _v118.frame_id
01678         length = len(_x)
01679         if python3 or type(_x) == unicode:
01680           _x = _x.encode('utf-8')
01681           length = len(_x)
01682         buff.write(struct.pack('<I%ss'%length, length, _x))
01683         _x = val1.link_name
01684         length = len(_x)
01685         if python3 or type(_x) == unicode:
01686           _x = _x.encode('utf-8')
01687           length = len(_x)
01688         buff.write(struct.pack('<I%ss'%length, length, _x))
01689         buff.write(_struct_i.pack(val1.type))
01690         _v120 = val1.orientation
01691         _x = _v120
01692         buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
01693         _x = val1
01694         buff.write(_struct_4d.pack(_x.absolute_roll_tolerance, _x.absolute_pitch_tolerance, _x.absolute_yaw_tolerance, _x.weight))
01695       length = len(self.motion_plan_request.path_constraints.visibility_constraints)
01696       buff.write(_struct_I.pack(length))
01697       for val1 in self.motion_plan_request.path_constraints.visibility_constraints:
01698         _v121 = val1.header
01699         buff.write(_struct_I.pack(_v121.seq))
01700         _v122 = _v121.stamp
01701         _x = _v122
01702         buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
01703         _x = _v121.frame_id
01704         length = len(_x)
01705         if python3 or type(_x) == unicode:
01706           _x = _x.encode('utf-8')
01707           length = len(_x)
01708         buff.write(struct.pack('<I%ss'%length, length, _x))
01709         _v123 = val1.target
01710         _v124 = _v123.header
01711         buff.write(_struct_I.pack(_v124.seq))
01712         _v125 = _v124.stamp
01713         _x = _v125
01714         buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
01715         _x = _v124.frame_id
01716         length = len(_x)
01717         if python3 or type(_x) == unicode:
01718           _x = _x.encode('utf-8')
01719           length = len(_x)
01720         buff.write(struct.pack('<I%ss'%length, length, _x))
01721         _v126 = _v123.point
01722         _x = _v126
01723         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
01724         _v127 = val1.sensor_pose
01725         _v128 = _v127.header
01726         buff.write(_struct_I.pack(_v128.seq))
01727         _v129 = _v128.stamp
01728         _x = _v129
01729         buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
01730         _x = _v128.frame_id
01731         length = len(_x)
01732         if python3 or type(_x) == unicode:
01733           _x = _x.encode('utf-8')
01734           length = len(_x)
01735         buff.write(struct.pack('<I%ss'%length, length, _x))
01736         _v130 = _v127.pose
01737         _v131 = _v130.position
01738         _x = _v131
01739         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
01740         _v132 = _v130.orientation
01741         _x = _v132
01742         buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
01743         buff.write(_struct_d.pack(val1.absolute_tolerance))
01744       _x = self.motion_plan_request.planner_id
01745       length = len(_x)
01746       if python3 or type(_x) == unicode:
01747         _x = _x.encode('utf-8')
01748         length = len(_x)
01749       buff.write(struct.pack('<I%ss'%length, length, _x))
01750       _x = self.motion_plan_request.group_name
01751       length = len(_x)
01752       if python3 or type(_x) == unicode:
01753         _x = _x.encode('utf-8')
01754         length = len(_x)
01755       buff.write(struct.pack('<I%ss'%length, length, _x))
01756       _x = self
01757       buff.write(_struct_7i.pack(_x.motion_plan_request.num_planning_attempts, _x.motion_plan_request.allowed_planning_time.secs, _x.motion_plan_request.allowed_planning_time.nsecs, _x.motion_plan_request.expected_path_duration.secs, _x.motion_plan_request.expected_path_duration.nsecs, _x.motion_plan_request.expected_path_dt.secs, _x.motion_plan_request.expected_path_dt.nsecs))
01758     except struct.error as se: self._check_types(se)
01759     except TypeError as te: self._check_types(te)
01760 
01761   def deserialize_numpy(self, str, numpy):
01762     """
01763     unpack serialized message in str into this message instance using numpy for array types
01764     :param str: byte array of serialized message, ``str``
01765     :param numpy: numpy python module
01766     """
01767     try:
01768       if self.motion_plan_request is None:
01769         self.motion_plan_request = arm_navigation_msgs.msg.MotionPlanRequest()
01770       end = 0
01771       start = end
01772       end += 4
01773       (length,) = _struct_I.unpack(str[start:end])
01774       start = end
01775       end += length
01776       if python3:
01777         self.group_name = str[start:end].decode('utf-8')
01778       else:
01779         self.group_name = str[start:end]
01780       start = end
01781       end += 4
01782       (length,) = _struct_I.unpack(str[start:end])
01783       start = end
01784       end += length
01785       if python3:
01786         self.head_monitor_link = str[start:end].decode('utf-8')
01787       else:
01788         self.head_monitor_link = str[start:end]
01789       start = end
01790       end += 1
01791       (self.motion_plan_request.workspace_parameters.workspace_region_shape.type,) = _struct_b.unpack(str[start:end])
01792       start = end
01793       end += 4
01794       (length,) = _struct_I.unpack(str[start:end])
01795       pattern = '<%sd'%length
01796       start = end
01797       end += struct.calcsize(pattern)
01798       self.motion_plan_request.workspace_parameters.workspace_region_shape.dimensions = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
01799       start = end
01800       end += 4
01801       (length,) = _struct_I.unpack(str[start:end])
01802       pattern = '<%si'%length
01803       start = end
01804       end += struct.calcsize(pattern)
01805       self.motion_plan_request.workspace_parameters.workspace_region_shape.triangles = numpy.frombuffer(str[start:end], dtype=numpy.int32, count=length)
01806       start = end
01807       end += 4
01808       (length,) = _struct_I.unpack(str[start:end])
01809       self.motion_plan_request.workspace_parameters.workspace_region_shape.vertices = []
01810       for i in range(0, length):
01811         val1 = geometry_msgs.msg.Point()
01812         _x = val1
01813         start = end
01814         end += 24
01815         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
01816         self.motion_plan_request.workspace_parameters.workspace_region_shape.vertices.append(val1)
01817       _x = self
01818       start = end
01819       end += 12
01820       (_x.motion_plan_request.workspace_parameters.workspace_region_pose.header.seq, _x.motion_plan_request.workspace_parameters.workspace_region_pose.header.stamp.secs, _x.motion_plan_request.workspace_parameters.workspace_region_pose.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
01821       start = end
01822       end += 4
01823       (length,) = _struct_I.unpack(str[start:end])
01824       start = end
01825       end += length
01826       if python3:
01827         self.motion_plan_request.workspace_parameters.workspace_region_pose.header.frame_id = str[start:end].decode('utf-8')
01828       else:
01829         self.motion_plan_request.workspace_parameters.workspace_region_pose.header.frame_id = str[start:end]
01830       _x = self
01831       start = end
01832       end += 68
01833       (_x.motion_plan_request.workspace_parameters.workspace_region_pose.pose.position.x, _x.motion_plan_request.workspace_parameters.workspace_region_pose.pose.position.y, _x.motion_plan_request.workspace_parameters.workspace_region_pose.pose.position.z, _x.motion_plan_request.workspace_parameters.workspace_region_pose.pose.orientation.x, _x.motion_plan_request.workspace_parameters.workspace_region_pose.pose.orientation.y, _x.motion_plan_request.workspace_parameters.workspace_region_pose.pose.orientation.z, _x.motion_plan_request.workspace_parameters.workspace_region_pose.pose.orientation.w, _x.motion_plan_request.start_state.joint_state.header.seq, _x.motion_plan_request.start_state.joint_state.header.stamp.secs, _x.motion_plan_request.start_state.joint_state.header.stamp.nsecs,) = _struct_7d3I.unpack(str[start:end])
01834       start = end
01835       end += 4
01836       (length,) = _struct_I.unpack(str[start:end])
01837       start = end
01838       end += length
01839       if python3:
01840         self.motion_plan_request.start_state.joint_state.header.frame_id = str[start:end].decode('utf-8')
01841       else:
01842         self.motion_plan_request.start_state.joint_state.header.frame_id = str[start:end]
01843       start = end
01844       end += 4
01845       (length,) = _struct_I.unpack(str[start:end])
01846       self.motion_plan_request.start_state.joint_state.name = []
01847       for i in range(0, length):
01848         start = end
01849         end += 4
01850         (length,) = _struct_I.unpack(str[start:end])
01851         start = end
01852         end += length
01853         if python3:
01854           val1 = str[start:end].decode('utf-8')
01855         else:
01856           val1 = str[start:end]
01857         self.motion_plan_request.start_state.joint_state.name.append(val1)
01858       start = end
01859       end += 4
01860       (length,) = _struct_I.unpack(str[start:end])
01861       pattern = '<%sd'%length
01862       start = end
01863       end += struct.calcsize(pattern)
01864       self.motion_plan_request.start_state.joint_state.position = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
01865       start = end
01866       end += 4
01867       (length,) = _struct_I.unpack(str[start:end])
01868       pattern = '<%sd'%length
01869       start = end
01870       end += struct.calcsize(pattern)
01871       self.motion_plan_request.start_state.joint_state.velocity = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
01872       start = end
01873       end += 4
01874       (length,) = _struct_I.unpack(str[start:end])
01875       pattern = '<%sd'%length
01876       start = end
01877       end += struct.calcsize(pattern)
01878       self.motion_plan_request.start_state.joint_state.effort = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
01879       _x = self
01880       start = end
01881       end += 8
01882       (_x.motion_plan_request.start_state.multi_dof_joint_state.stamp.secs, _x.motion_plan_request.start_state.multi_dof_joint_state.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
01883       start = end
01884       end += 4
01885       (length,) = _struct_I.unpack(str[start:end])
01886       self.motion_plan_request.start_state.multi_dof_joint_state.joint_names = []
01887       for i in range(0, length):
01888         start = end
01889         end += 4
01890         (length,) = _struct_I.unpack(str[start:end])
01891         start = end
01892         end += length
01893         if python3:
01894           val1 = str[start:end].decode('utf-8')
01895         else:
01896           val1 = str[start:end]
01897         self.motion_plan_request.start_state.multi_dof_joint_state.joint_names.append(val1)
01898       start = end
01899       end += 4
01900       (length,) = _struct_I.unpack(str[start:end])
01901       self.motion_plan_request.start_state.multi_dof_joint_state.frame_ids = []
01902       for i in range(0, length):
01903         start = end
01904         end += 4
01905         (length,) = _struct_I.unpack(str[start:end])
01906         start = end
01907         end += length
01908         if python3:
01909           val1 = str[start:end].decode('utf-8')
01910         else:
01911           val1 = str[start:end]
01912         self.motion_plan_request.start_state.multi_dof_joint_state.frame_ids.append(val1)
01913       start = end
01914       end += 4
01915       (length,) = _struct_I.unpack(str[start:end])
01916       self.motion_plan_request.start_state.multi_dof_joint_state.child_frame_ids = []
01917       for i in range(0, length):
01918         start = end
01919         end += 4
01920         (length,) = _struct_I.unpack(str[start:end])
01921         start = end
01922         end += length
01923         if python3:
01924           val1 = str[start:end].decode('utf-8')
01925         else:
01926           val1 = str[start:end]
01927         self.motion_plan_request.start_state.multi_dof_joint_state.child_frame_ids.append(val1)
01928       start = end
01929       end += 4
01930       (length,) = _struct_I.unpack(str[start:end])
01931       self.motion_plan_request.start_state.multi_dof_joint_state.poses = []
01932       for i in range(0, length):
01933         val1 = geometry_msgs.msg.Pose()
01934         _v133 = val1.position
01935         _x = _v133
01936         start = end
01937         end += 24
01938         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
01939         _v134 = val1.orientation
01940         _x = _v134
01941         start = end
01942         end += 32
01943         (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
01944         self.motion_plan_request.start_state.multi_dof_joint_state.poses.append(val1)
01945       start = end
01946       end += 4
01947       (length,) = _struct_I.unpack(str[start:end])
01948       self.motion_plan_request.goal_constraints.joint_constraints = []
01949       for i in range(0, length):
01950         val1 = arm_navigation_msgs.msg.JointConstraint()
01951         start = end
01952         end += 4
01953         (length,) = _struct_I.unpack(str[start:end])
01954         start = end
01955         end += length
01956         if python3:
01957           val1.joint_name = str[start:end].decode('utf-8')
01958         else:
01959           val1.joint_name = str[start:end]
01960         _x = val1
01961         start = end
01962         end += 32
01963         (_x.position, _x.tolerance_above, _x.tolerance_below, _x.weight,) = _struct_4d.unpack(str[start:end])
01964         self.motion_plan_request.goal_constraints.joint_constraints.append(val1)
01965       start = end
01966       end += 4
01967       (length,) = _struct_I.unpack(str[start:end])
01968       self.motion_plan_request.goal_constraints.position_constraints = []
01969       for i in range(0, length):
01970         val1 = arm_navigation_msgs.msg.PositionConstraint()
01971         _v135 = val1.header
01972         start = end
01973         end += 4
01974         (_v135.seq,) = _struct_I.unpack(str[start:end])
01975         _v136 = _v135.stamp
01976         _x = _v136
01977         start = end
01978         end += 8
01979         (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
01980         start = end
01981         end += 4
01982         (length,) = _struct_I.unpack(str[start:end])
01983         start = end
01984         end += length
01985         if python3:
01986           _v135.frame_id = str[start:end].decode('utf-8')
01987         else:
01988           _v135.frame_id = str[start:end]
01989         start = end
01990         end += 4
01991         (length,) = _struct_I.unpack(str[start:end])
01992         start = end
01993         end += length
01994         if python3:
01995           val1.link_name = str[start:end].decode('utf-8')
01996         else:
01997           val1.link_name = str[start:end]
01998         _v137 = val1.target_point_offset
01999         _x = _v137
02000         start = end
02001         end += 24
02002         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
02003         _v138 = val1.position
02004         _x = _v138
02005         start = end
02006         end += 24
02007         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
02008         _v139 = val1.constraint_region_shape
02009         start = end
02010         end += 1
02011         (_v139.type,) = _struct_b.unpack(str[start:end])
02012         start = end
02013         end += 4
02014         (length,) = _struct_I.unpack(str[start:end])
02015         pattern = '<%sd'%length
02016         start = end
02017         end += struct.calcsize(pattern)
02018         _v139.dimensions = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
02019         start = end
02020         end += 4
02021         (length,) = _struct_I.unpack(str[start:end])
02022         pattern = '<%si'%length
02023         start = end
02024         end += struct.calcsize(pattern)
02025         _v139.triangles = numpy.frombuffer(str[start:end], dtype=numpy.int32, count=length)
02026         start = end
02027         end += 4
02028         (length,) = _struct_I.unpack(str[start:end])
02029         _v139.vertices = []
02030         for i in range(0, length):
02031           val3 = geometry_msgs.msg.Point()
02032           _x = val3
02033           start = end
02034           end += 24
02035           (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
02036           _v139.vertices.append(val3)
02037         _v140 = val1.constraint_region_orientation
02038         _x = _v140
02039         start = end
02040         end += 32
02041         (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
02042         start = end
02043         end += 8
02044         (val1.weight,) = _struct_d.unpack(str[start:end])
02045         self.motion_plan_request.goal_constraints.position_constraints.append(val1)
02046       start = end
02047       end += 4
02048       (length,) = _struct_I.unpack(str[start:end])
02049       self.motion_plan_request.goal_constraints.orientation_constraints = []
02050       for i in range(0, length):
02051         val1 = arm_navigation_msgs.msg.OrientationConstraint()
02052         _v141 = val1.header
02053         start = end
02054         end += 4
02055         (_v141.seq,) = _struct_I.unpack(str[start:end])
02056         _v142 = _v141.stamp
02057         _x = _v142
02058         start = end
02059         end += 8
02060         (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
02061         start = end
02062         end += 4
02063         (length,) = _struct_I.unpack(str[start:end])
02064         start = end
02065         end += length
02066         if python3:
02067           _v141.frame_id = str[start:end].decode('utf-8')
02068         else:
02069           _v141.frame_id = str[start:end]
02070         start = end
02071         end += 4
02072         (length,) = _struct_I.unpack(str[start:end])
02073         start = end
02074         end += length
02075         if python3:
02076           val1.link_name = str[start:end].decode('utf-8')
02077         else:
02078           val1.link_name = str[start:end]
02079         start = end
02080         end += 4
02081         (val1.type,) = _struct_i.unpack(str[start:end])
02082         _v143 = val1.orientation
02083         _x = _v143
02084         start = end
02085         end += 32
02086         (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
02087         _x = val1
02088         start = end
02089         end += 32
02090         (_x.absolute_roll_tolerance, _x.absolute_pitch_tolerance, _x.absolute_yaw_tolerance, _x.weight,) = _struct_4d.unpack(str[start:end])
02091         self.motion_plan_request.goal_constraints.orientation_constraints.append(val1)
02092       start = end
02093       end += 4
02094       (length,) = _struct_I.unpack(str[start:end])
02095       self.motion_plan_request.goal_constraints.visibility_constraints = []
02096       for i in range(0, length):
02097         val1 = arm_navigation_msgs.msg.VisibilityConstraint()
02098         _v144 = val1.header
02099         start = end
02100         end += 4
02101         (_v144.seq,) = _struct_I.unpack(str[start:end])
02102         _v145 = _v144.stamp
02103         _x = _v145
02104         start = end
02105         end += 8
02106         (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
02107         start = end
02108         end += 4
02109         (length,) = _struct_I.unpack(str[start:end])
02110         start = end
02111         end += length
02112         if python3:
02113           _v144.frame_id = str[start:end].decode('utf-8')
02114         else:
02115           _v144.frame_id = str[start:end]
02116         _v146 = val1.target
02117         _v147 = _v146.header
02118         start = end
02119         end += 4
02120         (_v147.seq,) = _struct_I.unpack(str[start:end])
02121         _v148 = _v147.stamp
02122         _x = _v148
02123         start = end
02124         end += 8
02125         (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
02126         start = end
02127         end += 4
02128         (length,) = _struct_I.unpack(str[start:end])
02129         start = end
02130         end += length
02131         if python3:
02132           _v147.frame_id = str[start:end].decode('utf-8')
02133         else:
02134           _v147.frame_id = str[start:end]
02135         _v149 = _v146.point
02136         _x = _v149
02137         start = end
02138         end += 24
02139         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
02140         _v150 = val1.sensor_pose
02141         _v151 = _v150.header
02142         start = end
02143         end += 4
02144         (_v151.seq,) = _struct_I.unpack(str[start:end])
02145         _v152 = _v151.stamp
02146         _x = _v152
02147         start = end
02148         end += 8
02149         (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
02150         start = end
02151         end += 4
02152         (length,) = _struct_I.unpack(str[start:end])
02153         start = end
02154         end += length
02155         if python3:
02156           _v151.frame_id = str[start:end].decode('utf-8')
02157         else:
02158           _v151.frame_id = str[start:end]
02159         _v153 = _v150.pose
02160         _v154 = _v153.position
02161         _x = _v154
02162         start = end
02163         end += 24
02164         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
02165         _v155 = _v153.orientation
02166         _x = _v155
02167         start = end
02168         end += 32
02169         (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
02170         start = end
02171         end += 8
02172         (val1.absolute_tolerance,) = _struct_d.unpack(str[start:end])
02173         self.motion_plan_request.goal_constraints.visibility_constraints.append(val1)
02174       start = end
02175       end += 4
02176       (length,) = _struct_I.unpack(str[start:end])
02177       self.motion_plan_request.path_constraints.joint_constraints = []
02178       for i in range(0, length):
02179         val1 = arm_navigation_msgs.msg.JointConstraint()
02180         start = end
02181         end += 4
02182         (length,) = _struct_I.unpack(str[start:end])
02183         start = end
02184         end += length
02185         if python3:
02186           val1.joint_name = str[start:end].decode('utf-8')
02187         else:
02188           val1.joint_name = str[start:end]
02189         _x = val1
02190         start = end
02191         end += 32
02192         (_x.position, _x.tolerance_above, _x.tolerance_below, _x.weight,) = _struct_4d.unpack(str[start:end])
02193         self.motion_plan_request.path_constraints.joint_constraints.append(val1)
02194       start = end
02195       end += 4
02196       (length,) = _struct_I.unpack(str[start:end])
02197       self.motion_plan_request.path_constraints.position_constraints = []
02198       for i in range(0, length):
02199         val1 = arm_navigation_msgs.msg.PositionConstraint()
02200         _v156 = val1.header
02201         start = end
02202         end += 4
02203         (_v156.seq,) = _struct_I.unpack(str[start:end])
02204         _v157 = _v156.stamp
02205         _x = _v157
02206         start = end
02207         end += 8
02208         (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
02209         start = end
02210         end += 4
02211         (length,) = _struct_I.unpack(str[start:end])
02212         start = end
02213         end += length
02214         if python3:
02215           _v156.frame_id = str[start:end].decode('utf-8')
02216         else:
02217           _v156.frame_id = str[start:end]
02218         start = end
02219         end += 4
02220         (length,) = _struct_I.unpack(str[start:end])
02221         start = end
02222         end += length
02223         if python3:
02224           val1.link_name = str[start:end].decode('utf-8')
02225         else:
02226           val1.link_name = str[start:end]
02227         _v158 = val1.target_point_offset
02228         _x = _v158
02229         start = end
02230         end += 24
02231         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
02232         _v159 = val1.position
02233         _x = _v159
02234         start = end
02235         end += 24
02236         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
02237         _v160 = val1.constraint_region_shape
02238         start = end
02239         end += 1
02240         (_v160.type,) = _struct_b.unpack(str[start:end])
02241         start = end
02242         end += 4
02243         (length,) = _struct_I.unpack(str[start:end])
02244         pattern = '<%sd'%length
02245         start = end
02246         end += struct.calcsize(pattern)
02247         _v160.dimensions = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
02248         start = end
02249         end += 4
02250         (length,) = _struct_I.unpack(str[start:end])
02251         pattern = '<%si'%length
02252         start = end
02253         end += struct.calcsize(pattern)
02254         _v160.triangles = numpy.frombuffer(str[start:end], dtype=numpy.int32, count=length)
02255         start = end
02256         end += 4
02257         (length,) = _struct_I.unpack(str[start:end])
02258         _v160.vertices = []
02259         for i in range(0, length):
02260           val3 = geometry_msgs.msg.Point()
02261           _x = val3
02262           start = end
02263           end += 24
02264           (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
02265           _v160.vertices.append(val3)
02266         _v161 = val1.constraint_region_orientation
02267         _x = _v161
02268         start = end
02269         end += 32
02270         (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
02271         start = end
02272         end += 8
02273         (val1.weight,) = _struct_d.unpack(str[start:end])
02274         self.motion_plan_request.path_constraints.position_constraints.append(val1)
02275       start = end
02276       end += 4
02277       (length,) = _struct_I.unpack(str[start:end])
02278       self.motion_plan_request.path_constraints.orientation_constraints = []
02279       for i in range(0, length):
02280         val1 = arm_navigation_msgs.msg.OrientationConstraint()
02281         _v162 = val1.header
02282         start = end
02283         end += 4
02284         (_v162.seq,) = _struct_I.unpack(str[start:end])
02285         _v163 = _v162.stamp
02286         _x = _v163
02287         start = end
02288         end += 8
02289         (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
02290         start = end
02291         end += 4
02292         (length,) = _struct_I.unpack(str[start:end])
02293         start = end
02294         end += length
02295         if python3:
02296           _v162.frame_id = str[start:end].decode('utf-8')
02297         else:
02298           _v162.frame_id = str[start:end]
02299         start = end
02300         end += 4
02301         (length,) = _struct_I.unpack(str[start:end])
02302         start = end
02303         end += length
02304         if python3:
02305           val1.link_name = str[start:end].decode('utf-8')
02306         else:
02307           val1.link_name = str[start:end]
02308         start = end
02309         end += 4
02310         (val1.type,) = _struct_i.unpack(str[start:end])
02311         _v164 = val1.orientation
02312         _x = _v164
02313         start = end
02314         end += 32
02315         (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
02316         _x = val1
02317         start = end
02318         end += 32
02319         (_x.absolute_roll_tolerance, _x.absolute_pitch_tolerance, _x.absolute_yaw_tolerance, _x.weight,) = _struct_4d.unpack(str[start:end])
02320         self.motion_plan_request.path_constraints.orientation_constraints.append(val1)
02321       start = end
02322       end += 4
02323       (length,) = _struct_I.unpack(str[start:end])
02324       self.motion_plan_request.path_constraints.visibility_constraints = []
02325       for i in range(0, length):
02326         val1 = arm_navigation_msgs.msg.VisibilityConstraint()
02327         _v165 = val1.header
02328         start = end
02329         end += 4
02330         (_v165.seq,) = _struct_I.unpack(str[start:end])
02331         _v166 = _v165.stamp
02332         _x = _v166
02333         start = end
02334         end += 8
02335         (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
02336         start = end
02337         end += 4
02338         (length,) = _struct_I.unpack(str[start:end])
02339         start = end
02340         end += length
02341         if python3:
02342           _v165.frame_id = str[start:end].decode('utf-8')
02343         else:
02344           _v165.frame_id = str[start:end]
02345         _v167 = val1.target
02346         _v168 = _v167.header
02347         start = end
02348         end += 4
02349         (_v168.seq,) = _struct_I.unpack(str[start:end])
02350         _v169 = _v168.stamp
02351         _x = _v169
02352         start = end
02353         end += 8
02354         (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
02355         start = end
02356         end += 4
02357         (length,) = _struct_I.unpack(str[start:end])
02358         start = end
02359         end += length
02360         if python3:
02361           _v168.frame_id = str[start:end].decode('utf-8')
02362         else:
02363           _v168.frame_id = str[start:end]
02364         _v170 = _v167.point
02365         _x = _v170
02366         start = end
02367         end += 24
02368         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
02369         _v171 = val1.sensor_pose
02370         _v172 = _v171.header
02371         start = end
02372         end += 4
02373         (_v172.seq,) = _struct_I.unpack(str[start:end])
02374         _v173 = _v172.stamp
02375         _x = _v173
02376         start = end
02377         end += 8
02378         (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
02379         start = end
02380         end += 4
02381         (length,) = _struct_I.unpack(str[start:end])
02382         start = end
02383         end += length
02384         if python3:
02385           _v172.frame_id = str[start:end].decode('utf-8')
02386         else:
02387           _v172.frame_id = str[start:end]
02388         _v174 = _v171.pose
02389         _v175 = _v174.position
02390         _x = _v175
02391         start = end
02392         end += 24
02393         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
02394         _v176 = _v174.orientation
02395         _x = _v176
02396         start = end
02397         end += 32
02398         (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
02399         start = end
02400         end += 8
02401         (val1.absolute_tolerance,) = _struct_d.unpack(str[start:end])
02402         self.motion_plan_request.path_constraints.visibility_constraints.append(val1)
02403       start = end
02404       end += 4
02405       (length,) = _struct_I.unpack(str[start:end])
02406       start = end
02407       end += length
02408       if python3:
02409         self.motion_plan_request.planner_id = str[start:end].decode('utf-8')
02410       else:
02411         self.motion_plan_request.planner_id = str[start:end]
02412       start = end
02413       end += 4
02414       (length,) = _struct_I.unpack(str[start:end])
02415       start = end
02416       end += length
02417       if python3:
02418         self.motion_plan_request.group_name = str[start:end].decode('utf-8')
02419       else:
02420         self.motion_plan_request.group_name = str[start:end]
02421       _x = self
02422       start = end
02423       end += 28
02424       (_x.motion_plan_request.num_planning_attempts, _x.motion_plan_request.allowed_planning_time.secs, _x.motion_plan_request.allowed_planning_time.nsecs, _x.motion_plan_request.expected_path_duration.secs, _x.motion_plan_request.expected_path_duration.nsecs, _x.motion_plan_request.expected_path_dt.secs, _x.motion_plan_request.expected_path_dt.nsecs,) = _struct_7i.unpack(str[start:end])
02425       return self
02426     except struct.error as e:
02427       raise genpy.DeserializationError(e) #most likely buffer underfill
02428 
02429 _struct_I = genpy.struct_I
02430 _struct_b = struct.Struct("<b")
02431 _struct_d = struct.Struct("<d")
02432 _struct_7i = struct.Struct("<7i")
02433 _struct_2I = struct.Struct("<2I")
02434 _struct_i = struct.Struct("<i")
02435 _struct_3I = struct.Struct("<3I")
02436 _struct_4d = struct.Struct("<4d")
02437 _struct_7d3I = struct.Struct("<7d3I")
02438 _struct_3d = struct.Struct("<3d")


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