_FindADoorActionResult.py
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00001 """autogenerated by genpy from iri_door_detector/FindADoorActionResult.msg. Do not edit."""
00002 import sys
00003 python3 = True if sys.hexversion > 0x03000000 else False
00004 import genpy
00005 import struct
00006 
00007 import arm_navigation_msgs.msg
00008 import actionlib_msgs.msg
00009 import geometry_msgs.msg
00010 import iri_door_detector.msg
00011 import sensor_msgs.msg
00012 import genpy
00013 import std_msgs.msg
00014 
00015 class FindADoorActionResult(genpy.Message):
00016   _md5sum = "6cc5ec3da569ede50554339713683f58"
00017   _type = "iri_door_detector/FindADoorActionResult"
00018   _has_header = True #flag to mark the presence of a Header object
00019   _full_text = """# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00020 
00021 Header header
00022 actionlib_msgs/GoalStatus status
00023 FindADoorResult result
00024 
00025 ================================================================================
00026 MSG: std_msgs/Header
00027 # Standard metadata for higher-level stamped data types.
00028 # This is generally used to communicate timestamped data 
00029 # in a particular coordinate frame.
00030 # 
00031 # sequence ID: consecutively increasing ID 
00032 uint32 seq
00033 #Two-integer timestamp that is expressed as:
00034 # * stamp.secs: seconds (stamp_secs) since epoch
00035 # * stamp.nsecs: nanoseconds since stamp_secs
00036 # time-handling sugar is provided by the client library
00037 time stamp
00038 #Frame this data is associated with
00039 # 0: no frame
00040 # 1: global frame
00041 string frame_id
00042 
00043 ================================================================================
00044 MSG: actionlib_msgs/GoalStatus
00045 GoalID goal_id
00046 uint8 status
00047 uint8 PENDING         = 0   # The goal has yet to be processed by the action server
00048 uint8 ACTIVE          = 1   # The goal is currently being processed by the action server
00049 uint8 PREEMPTED       = 2   # The goal received a cancel request after it started executing
00050                             #   and has since completed its execution (Terminal State)
00051 uint8 SUCCEEDED       = 3   # The goal was achieved successfully by the action server (Terminal State)
00052 uint8 ABORTED         = 4   # The goal was aborted during execution by the action server due
00053                             #    to some failure (Terminal State)
00054 uint8 REJECTED        = 5   # The goal was rejected by the action server without being processed,
00055                             #    because the goal was unattainable or invalid (Terminal State)
00056 uint8 PREEMPTING      = 6   # The goal received a cancel request after it started executing
00057                             #    and has not yet completed execution
00058 uint8 RECALLING       = 7   # The goal received a cancel request before it started executing,
00059                             #    but the action server has not yet confirmed that the goal is canceled
00060 uint8 RECALLED        = 8   # The goal received a cancel request before it started executing
00061                             #    and was successfully cancelled (Terminal State)
00062 uint8 LOST            = 9   # An action client can determine that a goal is LOST. This should not be
00063                             #    sent over the wire by an action server
00064 
00065 #Allow for the user to associate a string with GoalStatus for debugging
00066 string text
00067 
00068 
00069 ================================================================================
00070 MSG: actionlib_msgs/GoalID
00071 # The stamp should store the time at which this goal was requested.
00072 # It is used by an action server when it tries to preempt all
00073 # goals that were requested before a certain time
00074 time stamp
00075 
00076 # The id provides a way to associate feedback and
00077 # result message with specific goal requests. The id
00078 # specified must be unique.
00079 string id
00080 
00081 
00082 ================================================================================
00083 MSG: iri_door_detector/FindADoorResult
00084 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00085 # Define the result
00086 geometry_msgs/PoseStamped base_poses
00087 arm_navigation_msgs/MotionPlanRequest arm_poses
00088 string planner_service_name
00089 string state
00090 
00091 ================================================================================
00092 MSG: geometry_msgs/PoseStamped
00093 # A Pose with reference coordinate frame and timestamp
00094 Header header
00095 Pose pose
00096 
00097 ================================================================================
00098 MSG: geometry_msgs/Pose
00099 # A representation of pose in free space, composed of postion and orientation. 
00100 Point position
00101 Quaternion orientation
00102 
00103 ================================================================================
00104 MSG: geometry_msgs/Point
00105 # This contains the position of a point in free space
00106 float64 x
00107 float64 y
00108 float64 z
00109 
00110 ================================================================================
00111 MSG: geometry_msgs/Quaternion
00112 # This represents an orientation in free space in quaternion form.
00113 
00114 float64 x
00115 float64 y
00116 float64 z
00117 float64 w
00118 
00119 ================================================================================
00120 MSG: arm_navigation_msgs/MotionPlanRequest
00121 # This service contains the definition for a request to the motion
00122 # planner and the output it provides
00123 
00124 # Parameters for the workspace that the planner should work inside
00125 arm_navigation_msgs/WorkspaceParameters workspace_parameters
00126 
00127 # Starting state updates. If certain joints should be considered
00128 # at positions other than the current ones, these positions should
00129 # be set here
00130 arm_navigation_msgs/RobotState start_state
00131 
00132 # The goal state for the model to plan for. The goal is achieved
00133 # if all constraints are satisfied
00134 arm_navigation_msgs/Constraints goal_constraints
00135 
00136 # No state at any point along the path in the produced motion plan will violate these constraints
00137 arm_navigation_msgs/Constraints path_constraints
00138 
00139 # The name of the motion planner to use. If no name is specified,
00140 # a default motion planner will be used
00141 string planner_id
00142 
00143 # The name of the group of joints on which this planner is operating
00144 string group_name
00145 
00146 # The number of times this plan is to be computed. Shortest solution
00147 # will be reported.
00148 int32 num_planning_attempts
00149 
00150 # The maximum amount of time the motion planner is allowed to plan for
00151 duration allowed_planning_time
00152 
00153 # 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
00154 duration expected_path_duration
00155 duration expected_path_dt
00156 
00157 ================================================================================
00158 MSG: arm_navigation_msgs/WorkspaceParameters
00159 # This message contains a set of parameters useful in
00160 # setting up the workspace for planning
00161 arm_navigation_msgs/Shape  workspace_region_shape
00162 geometry_msgs/PoseStamped    workspace_region_pose
00163 
00164 
00165 ================================================================================
00166 MSG: arm_navigation_msgs/Shape
00167 byte SPHERE=0
00168 byte BOX=1
00169 byte CYLINDER=2
00170 byte MESH=3
00171 
00172 byte type
00173 
00174 
00175 #### define sphere, box, cylinder ####
00176 # the origin of each shape is considered at the shape's center
00177 
00178 # for sphere
00179 # radius := dimensions[0]
00180 
00181 # for cylinder
00182 # radius := dimensions[0]
00183 # length := dimensions[1]
00184 # the length is along the Z axis
00185 
00186 # for box
00187 # size_x := dimensions[0]
00188 # size_y := dimensions[1]
00189 # size_z := dimensions[2]
00190 float64[] dimensions
00191 
00192 
00193 #### define mesh ####
00194 
00195 # list of triangles; triangle k is defined by tre vertices located
00196 # at indices triangles[3k], triangles[3k+1], triangles[3k+2]
00197 int32[] triangles
00198 geometry_msgs/Point[] vertices
00199 
00200 ================================================================================
00201 MSG: arm_navigation_msgs/RobotState
00202 # This message contains information about the robot state, i.e. the positions of its joints and links
00203 sensor_msgs/JointState joint_state
00204 arm_navigation_msgs/MultiDOFJointState multi_dof_joint_state
00205 
00206 ================================================================================
00207 MSG: sensor_msgs/JointState
00208 # This is a message that holds data to describe the state of a set of torque controlled joints. 
00209 #
00210 # The state of each joint (revolute or prismatic) is defined by:
00211 #  * the position of the joint (rad or m),
00212 #  * the velocity of the joint (rad/s or m/s) and 
00213 #  * the effort that is applied in the joint (Nm or N).
00214 #
00215 # Each joint is uniquely identified by its name
00216 # The header specifies the time at which the joint states were recorded. All the joint states
00217 # in one message have to be recorded at the same time.
00218 #
00219 # This message consists of a multiple arrays, one for each part of the joint state. 
00220 # The goal is to make each of the fields optional. When e.g. your joints have no
00221 # effort associated with them, you can leave the effort array empty. 
00222 #
00223 # All arrays in this message should have the same size, or be empty.
00224 # This is the only way to uniquely associate the joint name with the correct
00225 # states.
00226 
00227 
00228 Header header
00229 
00230 string[] name
00231 float64[] position
00232 float64[] velocity
00233 float64[] effort
00234 
00235 ================================================================================
00236 MSG: arm_navigation_msgs/MultiDOFJointState
00237 #A representation of a multi-dof joint state
00238 time stamp
00239 string[] joint_names
00240 string[] frame_ids
00241 string[] child_frame_ids
00242 geometry_msgs/Pose[] poses
00243 
00244 ================================================================================
00245 MSG: arm_navigation_msgs/Constraints
00246 # This message contains a list of motion planning constraints.
00247 
00248 arm_navigation_msgs/JointConstraint[] joint_constraints
00249 arm_navigation_msgs/PositionConstraint[] position_constraints
00250 arm_navigation_msgs/OrientationConstraint[] orientation_constraints
00251 arm_navigation_msgs/VisibilityConstraint[] visibility_constraints
00252 
00253 ================================================================================
00254 MSG: arm_navigation_msgs/JointConstraint
00255 # Constrain the position of a joint to be within a certain bound
00256 string joint_name
00257 
00258 # the bound to be achieved is [position - tolerance_below, position + tolerance_above]
00259 float64 position
00260 float64 tolerance_above
00261 float64 tolerance_below
00262 
00263 # A weighting factor for this constraint
00264 float64 weight
00265 ================================================================================
00266 MSG: arm_navigation_msgs/PositionConstraint
00267 # This message contains the definition of a position constraint.
00268 Header header
00269 
00270 # The robot link this constraint refers to
00271 string link_name
00272 
00273 # The offset (in the link frame) for the target point on the link we are planning for
00274 geometry_msgs/Point target_point_offset
00275 
00276 # The nominal/target position for the point we are planning for
00277 geometry_msgs/Point position
00278 
00279 # The shape of the bounded region that constrains the position of the end-effector
00280 # This region is always centered at the position defined above
00281 arm_navigation_msgs/Shape constraint_region_shape
00282 
00283 # The orientation of the bounded region that constrains the position of the end-effector. 
00284 # This allows the specification of non-axis aligned constraints
00285 geometry_msgs/Quaternion constraint_region_orientation
00286 
00287 # Constraint weighting factor - a weight for this constraint
00288 float64 weight
00289 
00290 ================================================================================
00291 MSG: arm_navigation_msgs/OrientationConstraint
00292 # This message contains the definition of an orientation constraint.
00293 Header header
00294 
00295 # The robot link this constraint refers to
00296 string link_name
00297 
00298 # The type of the constraint
00299 int32 type
00300 int32 LINK_FRAME=0
00301 int32 HEADER_FRAME=1
00302 
00303 # The desired orientation of the robot link specified as a quaternion
00304 geometry_msgs/Quaternion orientation
00305 
00306 # optional RPY error tolerances specified if 
00307 float64 absolute_roll_tolerance
00308 float64 absolute_pitch_tolerance
00309 float64 absolute_yaw_tolerance
00310 
00311 # Constraint weighting factor - a weight for this constraint
00312 float64 weight
00313 
00314 ================================================================================
00315 MSG: arm_navigation_msgs/VisibilityConstraint
00316 # This message contains the definition of a visibility constraint.
00317 Header header
00318 
00319 # The point stamped target that needs to be kept within view of the sensor
00320 geometry_msgs/PointStamped target
00321 
00322 # The local pose of the frame in which visibility is to be maintained
00323 # The frame id should represent the robot link to which the sensor is attached
00324 # The visual axis of the sensor is assumed to be along the X axis of this frame
00325 geometry_msgs/PoseStamped sensor_pose
00326 
00327 # The deviation (in radians) that will be tolerated
00328 # Constraint error will be measured as the solid angle between the 
00329 # X axis of the frame defined above and the vector between the origin 
00330 # of the frame defined above and the target location
00331 float64 absolute_tolerance
00332 
00333 
00334 ================================================================================
00335 MSG: geometry_msgs/PointStamped
00336 # This represents a Point with reference coordinate frame and timestamp
00337 Header header
00338 Point point
00339 
00340 """
00341   __slots__ = ['header','status','result']
00342   _slot_types = ['std_msgs/Header','actionlib_msgs/GoalStatus','iri_door_detector/FindADoorResult']
00343 
00344   def __init__(self, *args, **kwds):
00345     """
00346     Constructor. Any message fields that are implicitly/explicitly
00347     set to None will be assigned a default value. The recommend
00348     use is keyword arguments as this is more robust to future message
00349     changes.  You cannot mix in-order arguments and keyword arguments.
00350 
00351     The available fields are:
00352        header,status,result
00353 
00354     :param args: complete set of field values, in .msg order
00355     :param kwds: use keyword arguments corresponding to message field names
00356     to set specific fields.
00357     """
00358     if args or kwds:
00359       super(FindADoorActionResult, self).__init__(*args, **kwds)
00360       #message fields cannot be None, assign default values for those that are
00361       if self.header is None:
00362         self.header = std_msgs.msg.Header()
00363       if self.status is None:
00364         self.status = actionlib_msgs.msg.GoalStatus()
00365       if self.result is None:
00366         self.result = iri_door_detector.msg.FindADoorResult()
00367     else:
00368       self.header = std_msgs.msg.Header()
00369       self.status = actionlib_msgs.msg.GoalStatus()
00370       self.result = iri_door_detector.msg.FindADoorResult()
00371 
00372   def _get_types(self):
00373     """
00374     internal API method
00375     """
00376     return self._slot_types
00377 
00378   def serialize(self, buff):
00379     """
00380     serialize message into buffer
00381     :param buff: buffer, ``StringIO``
00382     """
00383     try:
00384       _x = self
00385       buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
00386       _x = self.header.frame_id
00387       length = len(_x)
00388       if python3 or type(_x) == unicode:
00389         _x = _x.encode('utf-8')
00390         length = len(_x)
00391       buff.write(struct.pack('<I%ss'%length, length, _x))
00392       _x = self
00393       buff.write(_struct_2I.pack(_x.status.goal_id.stamp.secs, _x.status.goal_id.stamp.nsecs))
00394       _x = self.status.goal_id.id
00395       length = len(_x)
00396       if python3 or type(_x) == unicode:
00397         _x = _x.encode('utf-8')
00398         length = len(_x)
00399       buff.write(struct.pack('<I%ss'%length, length, _x))
00400       buff.write(_struct_B.pack(self.status.status))
00401       _x = self.status.text
00402       length = len(_x)
00403       if python3 or type(_x) == unicode:
00404         _x = _x.encode('utf-8')
00405         length = len(_x)
00406       buff.write(struct.pack('<I%ss'%length, length, _x))
00407       _x = self
00408       buff.write(_struct_3I.pack(_x.result.base_poses.header.seq, _x.result.base_poses.header.stamp.secs, _x.result.base_poses.header.stamp.nsecs))
00409       _x = self.result.base_poses.header.frame_id
00410       length = len(_x)
00411       if python3 or type(_x) == unicode:
00412         _x = _x.encode('utf-8')
00413         length = len(_x)
00414       buff.write(struct.pack('<I%ss'%length, length, _x))
00415       _x = self
00416       buff.write(_struct_7db.pack(_x.result.base_poses.pose.position.x, _x.result.base_poses.pose.position.y, _x.result.base_poses.pose.position.z, _x.result.base_poses.pose.orientation.x, _x.result.base_poses.pose.orientation.y, _x.result.base_poses.pose.orientation.z, _x.result.base_poses.pose.orientation.w, _x.result.arm_poses.workspace_parameters.workspace_region_shape.type))
00417       length = len(self.result.arm_poses.workspace_parameters.workspace_region_shape.dimensions)
00418       buff.write(_struct_I.pack(length))
00419       pattern = '<%sd'%length
00420       buff.write(struct.pack(pattern, *self.result.arm_poses.workspace_parameters.workspace_region_shape.dimensions))
00421       length = len(self.result.arm_poses.workspace_parameters.workspace_region_shape.triangles)
00422       buff.write(_struct_I.pack(length))
00423       pattern = '<%si'%length
00424       buff.write(struct.pack(pattern, *self.result.arm_poses.workspace_parameters.workspace_region_shape.triangles))
00425       length = len(self.result.arm_poses.workspace_parameters.workspace_region_shape.vertices)
00426       buff.write(_struct_I.pack(length))
00427       for val1 in self.result.arm_poses.workspace_parameters.workspace_region_shape.vertices:
00428         _x = val1
00429         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00430       _x = self
00431       buff.write(_struct_3I.pack(_x.result.arm_poses.workspace_parameters.workspace_region_pose.header.seq, _x.result.arm_poses.workspace_parameters.workspace_region_pose.header.stamp.secs, _x.result.arm_poses.workspace_parameters.workspace_region_pose.header.stamp.nsecs))
00432       _x = self.result.arm_poses.workspace_parameters.workspace_region_pose.header.frame_id
00433       length = len(_x)
00434       if python3 or type(_x) == unicode:
00435         _x = _x.encode('utf-8')
00436         length = len(_x)
00437       buff.write(struct.pack('<I%ss'%length, length, _x))
00438       _x = self
00439       buff.write(_struct_7d3I.pack(_x.result.arm_poses.workspace_parameters.workspace_region_pose.pose.position.x, _x.result.arm_poses.workspace_parameters.workspace_region_pose.pose.position.y, _x.result.arm_poses.workspace_parameters.workspace_region_pose.pose.position.z, _x.result.arm_poses.workspace_parameters.workspace_region_pose.pose.orientation.x, _x.result.arm_poses.workspace_parameters.workspace_region_pose.pose.orientation.y, _x.result.arm_poses.workspace_parameters.workspace_region_pose.pose.orientation.z, _x.result.arm_poses.workspace_parameters.workspace_region_pose.pose.orientation.w, _x.result.arm_poses.start_state.joint_state.header.seq, _x.result.arm_poses.start_state.joint_state.header.stamp.secs, _x.result.arm_poses.start_state.joint_state.header.stamp.nsecs))
00440       _x = self.result.arm_poses.start_state.joint_state.header.frame_id
00441       length = len(_x)
00442       if python3 or type(_x) == unicode:
00443         _x = _x.encode('utf-8')
00444         length = len(_x)
00445       buff.write(struct.pack('<I%ss'%length, length, _x))
00446       length = len(self.result.arm_poses.start_state.joint_state.name)
00447       buff.write(_struct_I.pack(length))
00448       for val1 in self.result.arm_poses.start_state.joint_state.name:
00449         length = len(val1)
00450         if python3 or type(val1) == unicode:
00451           val1 = val1.encode('utf-8')
00452           length = len(val1)
00453         buff.write(struct.pack('<I%ss'%length, length, val1))
00454       length = len(self.result.arm_poses.start_state.joint_state.position)
00455       buff.write(_struct_I.pack(length))
00456       pattern = '<%sd'%length
00457       buff.write(struct.pack(pattern, *self.result.arm_poses.start_state.joint_state.position))
00458       length = len(self.result.arm_poses.start_state.joint_state.velocity)
00459       buff.write(_struct_I.pack(length))
00460       pattern = '<%sd'%length
00461       buff.write(struct.pack(pattern, *self.result.arm_poses.start_state.joint_state.velocity))
00462       length = len(self.result.arm_poses.start_state.joint_state.effort)
00463       buff.write(_struct_I.pack(length))
00464       pattern = '<%sd'%length
00465       buff.write(struct.pack(pattern, *self.result.arm_poses.start_state.joint_state.effort))
00466       _x = self
00467       buff.write(_struct_2I.pack(_x.result.arm_poses.start_state.multi_dof_joint_state.stamp.secs, _x.result.arm_poses.start_state.multi_dof_joint_state.stamp.nsecs))
00468       length = len(self.result.arm_poses.start_state.multi_dof_joint_state.joint_names)
00469       buff.write(_struct_I.pack(length))
00470       for val1 in self.result.arm_poses.start_state.multi_dof_joint_state.joint_names:
00471         length = len(val1)
00472         if python3 or type(val1) == unicode:
00473           val1 = val1.encode('utf-8')
00474           length = len(val1)
00475         buff.write(struct.pack('<I%ss'%length, length, val1))
00476       length = len(self.result.arm_poses.start_state.multi_dof_joint_state.frame_ids)
00477       buff.write(_struct_I.pack(length))
00478       for val1 in self.result.arm_poses.start_state.multi_dof_joint_state.frame_ids:
00479         length = len(val1)
00480         if python3 or type(val1) == unicode:
00481           val1 = val1.encode('utf-8')
00482           length = len(val1)
00483         buff.write(struct.pack('<I%ss'%length, length, val1))
00484       length = len(self.result.arm_poses.start_state.multi_dof_joint_state.child_frame_ids)
00485       buff.write(_struct_I.pack(length))
00486       for val1 in self.result.arm_poses.start_state.multi_dof_joint_state.child_frame_ids:
00487         length = len(val1)
00488         if python3 or type(val1) == unicode:
00489           val1 = val1.encode('utf-8')
00490           length = len(val1)
00491         buff.write(struct.pack('<I%ss'%length, length, val1))
00492       length = len(self.result.arm_poses.start_state.multi_dof_joint_state.poses)
00493       buff.write(_struct_I.pack(length))
00494       for val1 in self.result.arm_poses.start_state.multi_dof_joint_state.poses:
00495         _v1 = val1.position
00496         _x = _v1
00497         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00498         _v2 = val1.orientation
00499         _x = _v2
00500         buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00501       length = len(self.result.arm_poses.goal_constraints.joint_constraints)
00502       buff.write(_struct_I.pack(length))
00503       for val1 in self.result.arm_poses.goal_constraints.joint_constraints:
00504         _x = val1.joint_name
00505         length = len(_x)
00506         if python3 or type(_x) == unicode:
00507           _x = _x.encode('utf-8')
00508           length = len(_x)
00509         buff.write(struct.pack('<I%ss'%length, length, _x))
00510         _x = val1
00511         buff.write(_struct_4d.pack(_x.position, _x.tolerance_above, _x.tolerance_below, _x.weight))
00512       length = len(self.result.arm_poses.goal_constraints.position_constraints)
00513       buff.write(_struct_I.pack(length))
00514       for val1 in self.result.arm_poses.goal_constraints.position_constraints:
00515         _v3 = val1.header
00516         buff.write(_struct_I.pack(_v3.seq))
00517         _v4 = _v3.stamp
00518         _x = _v4
00519         buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00520         _x = _v3.frame_id
00521         length = len(_x)
00522         if python3 or type(_x) == unicode:
00523           _x = _x.encode('utf-8')
00524           length = len(_x)
00525         buff.write(struct.pack('<I%ss'%length, length, _x))
00526         _x = val1.link_name
00527         length = len(_x)
00528         if python3 or type(_x) == unicode:
00529           _x = _x.encode('utf-8')
00530           length = len(_x)
00531         buff.write(struct.pack('<I%ss'%length, length, _x))
00532         _v5 = val1.target_point_offset
00533         _x = _v5
00534         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00535         _v6 = val1.position
00536         _x = _v6
00537         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00538         _v7 = val1.constraint_region_shape
00539         buff.write(_struct_b.pack(_v7.type))
00540         length = len(_v7.dimensions)
00541         buff.write(_struct_I.pack(length))
00542         pattern = '<%sd'%length
00543         buff.write(struct.pack(pattern, *_v7.dimensions))
00544         length = len(_v7.triangles)
00545         buff.write(_struct_I.pack(length))
00546         pattern = '<%si'%length
00547         buff.write(struct.pack(pattern, *_v7.triangles))
00548         length = len(_v7.vertices)
00549         buff.write(_struct_I.pack(length))
00550         for val3 in _v7.vertices:
00551           _x = val3
00552           buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00553         _v8 = val1.constraint_region_orientation
00554         _x = _v8
00555         buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00556         buff.write(_struct_d.pack(val1.weight))
00557       length = len(self.result.arm_poses.goal_constraints.orientation_constraints)
00558       buff.write(_struct_I.pack(length))
00559       for val1 in self.result.arm_poses.goal_constraints.orientation_constraints:
00560         _v9 = val1.header
00561         buff.write(_struct_I.pack(_v9.seq))
00562         _v10 = _v9.stamp
00563         _x = _v10
00564         buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00565         _x = _v9.frame_id
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.link_name
00572         length = len(_x)
00573         if python3 or type(_x) == unicode:
00574           _x = _x.encode('utf-8')
00575           length = len(_x)
00576         buff.write(struct.pack('<I%ss'%length, length, _x))
00577         buff.write(_struct_i.pack(val1.type))
00578         _v11 = val1.orientation
00579         _x = _v11
00580         buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00581         _x = val1
00582         buff.write(_struct_4d.pack(_x.absolute_roll_tolerance, _x.absolute_pitch_tolerance, _x.absolute_yaw_tolerance, _x.weight))
00583       length = len(self.result.arm_poses.goal_constraints.visibility_constraints)
00584       buff.write(_struct_I.pack(length))
00585       for val1 in self.result.arm_poses.goal_constraints.visibility_constraints:
00586         _v12 = val1.header
00587         buff.write(_struct_I.pack(_v12.seq))
00588         _v13 = _v12.stamp
00589         _x = _v13
00590         buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00591         _x = _v12.frame_id
00592         length = len(_x)
00593         if python3 or type(_x) == unicode:
00594           _x = _x.encode('utf-8')
00595           length = len(_x)
00596         buff.write(struct.pack('<I%ss'%length, length, _x))
00597         _v14 = val1.target
00598         _v15 = _v14.header
00599         buff.write(_struct_I.pack(_v15.seq))
00600         _v16 = _v15.stamp
00601         _x = _v16
00602         buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00603         _x = _v15.frame_id
00604         length = len(_x)
00605         if python3 or type(_x) == unicode:
00606           _x = _x.encode('utf-8')
00607           length = len(_x)
00608         buff.write(struct.pack('<I%ss'%length, length, _x))
00609         _v17 = _v14.point
00610         _x = _v17
00611         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00612         _v18 = val1.sensor_pose
00613         _v19 = _v18.header
00614         buff.write(_struct_I.pack(_v19.seq))
00615         _v20 = _v19.stamp
00616         _x = _v20
00617         buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00618         _x = _v19.frame_id
00619         length = len(_x)
00620         if python3 or type(_x) == unicode:
00621           _x = _x.encode('utf-8')
00622           length = len(_x)
00623         buff.write(struct.pack('<I%ss'%length, length, _x))
00624         _v21 = _v18.pose
00625         _v22 = _v21.position
00626         _x = _v22
00627         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00628         _v23 = _v21.orientation
00629         _x = _v23
00630         buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00631         buff.write(_struct_d.pack(val1.absolute_tolerance))
00632       length = len(self.result.arm_poses.path_constraints.joint_constraints)
00633       buff.write(_struct_I.pack(length))
00634       for val1 in self.result.arm_poses.path_constraints.joint_constraints:
00635         _x = val1.joint_name
00636         length = len(_x)
00637         if python3 or type(_x) == unicode:
00638           _x = _x.encode('utf-8')
00639           length = len(_x)
00640         buff.write(struct.pack('<I%ss'%length, length, _x))
00641         _x = val1
00642         buff.write(_struct_4d.pack(_x.position, _x.tolerance_above, _x.tolerance_below, _x.weight))
00643       length = len(self.result.arm_poses.path_constraints.position_constraints)
00644       buff.write(_struct_I.pack(length))
00645       for val1 in self.result.arm_poses.path_constraints.position_constraints:
00646         _v24 = val1.header
00647         buff.write(_struct_I.pack(_v24.seq))
00648         _v25 = _v24.stamp
00649         _x = _v25
00650         buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00651         _x = _v24.frame_id
00652         length = len(_x)
00653         if python3 or type(_x) == unicode:
00654           _x = _x.encode('utf-8')
00655           length = len(_x)
00656         buff.write(struct.pack('<I%ss'%length, length, _x))
00657         _x = val1.link_name
00658         length = len(_x)
00659         if python3 or type(_x) == unicode:
00660           _x = _x.encode('utf-8')
00661           length = len(_x)
00662         buff.write(struct.pack('<I%ss'%length, length, _x))
00663         _v26 = val1.target_point_offset
00664         _x = _v26
00665         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00666         _v27 = val1.position
00667         _x = _v27
00668         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00669         _v28 = val1.constraint_region_shape
00670         buff.write(_struct_b.pack(_v28.type))
00671         length = len(_v28.dimensions)
00672         buff.write(_struct_I.pack(length))
00673         pattern = '<%sd'%length
00674         buff.write(struct.pack(pattern, *_v28.dimensions))
00675         length = len(_v28.triangles)
00676         buff.write(_struct_I.pack(length))
00677         pattern = '<%si'%length
00678         buff.write(struct.pack(pattern, *_v28.triangles))
00679         length = len(_v28.vertices)
00680         buff.write(_struct_I.pack(length))
00681         for val3 in _v28.vertices:
00682           _x = val3
00683           buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00684         _v29 = val1.constraint_region_orientation
00685         _x = _v29
00686         buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00687         buff.write(_struct_d.pack(val1.weight))
00688       length = len(self.result.arm_poses.path_constraints.orientation_constraints)
00689       buff.write(_struct_I.pack(length))
00690       for val1 in self.result.arm_poses.path_constraints.orientation_constraints:
00691         _v30 = val1.header
00692         buff.write(_struct_I.pack(_v30.seq))
00693         _v31 = _v30.stamp
00694         _x = _v31
00695         buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00696         _x = _v30.frame_id
00697         length = len(_x)
00698         if python3 or type(_x) == unicode:
00699           _x = _x.encode('utf-8')
00700           length = len(_x)
00701         buff.write(struct.pack('<I%ss'%length, length, _x))
00702         _x = val1.link_name
00703         length = len(_x)
00704         if python3 or type(_x) == unicode:
00705           _x = _x.encode('utf-8')
00706           length = len(_x)
00707         buff.write(struct.pack('<I%ss'%length, length, _x))
00708         buff.write(_struct_i.pack(val1.type))
00709         _v32 = val1.orientation
00710         _x = _v32
00711         buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00712         _x = val1
00713         buff.write(_struct_4d.pack(_x.absolute_roll_tolerance, _x.absolute_pitch_tolerance, _x.absolute_yaw_tolerance, _x.weight))
00714       length = len(self.result.arm_poses.path_constraints.visibility_constraints)
00715       buff.write(_struct_I.pack(length))
00716       for val1 in self.result.arm_poses.path_constraints.visibility_constraints:
00717         _v33 = val1.header
00718         buff.write(_struct_I.pack(_v33.seq))
00719         _v34 = _v33.stamp
00720         _x = _v34
00721         buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00722         _x = _v33.frame_id
00723         length = len(_x)
00724         if python3 or type(_x) == unicode:
00725           _x = _x.encode('utf-8')
00726           length = len(_x)
00727         buff.write(struct.pack('<I%ss'%length, length, _x))
00728         _v35 = val1.target
00729         _v36 = _v35.header
00730         buff.write(_struct_I.pack(_v36.seq))
00731         _v37 = _v36.stamp
00732         _x = _v37
00733         buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00734         _x = _v36.frame_id
00735         length = len(_x)
00736         if python3 or type(_x) == unicode:
00737           _x = _x.encode('utf-8')
00738           length = len(_x)
00739         buff.write(struct.pack('<I%ss'%length, length, _x))
00740         _v38 = _v35.point
00741         _x = _v38
00742         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00743         _v39 = val1.sensor_pose
00744         _v40 = _v39.header
00745         buff.write(_struct_I.pack(_v40.seq))
00746         _v41 = _v40.stamp
00747         _x = _v41
00748         buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00749         _x = _v40.frame_id
00750         length = len(_x)
00751         if python3 or type(_x) == unicode:
00752           _x = _x.encode('utf-8')
00753           length = len(_x)
00754         buff.write(struct.pack('<I%ss'%length, length, _x))
00755         _v42 = _v39.pose
00756         _v43 = _v42.position
00757         _x = _v43
00758         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00759         _v44 = _v42.orientation
00760         _x = _v44
00761         buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00762         buff.write(_struct_d.pack(val1.absolute_tolerance))
00763       _x = self.result.arm_poses.planner_id
00764       length = len(_x)
00765       if python3 or type(_x) == unicode:
00766         _x = _x.encode('utf-8')
00767         length = len(_x)
00768       buff.write(struct.pack('<I%ss'%length, length, _x))
00769       _x = self.result.arm_poses.group_name
00770       length = len(_x)
00771       if python3 or type(_x) == unicode:
00772         _x = _x.encode('utf-8')
00773         length = len(_x)
00774       buff.write(struct.pack('<I%ss'%length, length, _x))
00775       _x = self
00776       buff.write(_struct_7i.pack(_x.result.arm_poses.num_planning_attempts, _x.result.arm_poses.allowed_planning_time.secs, _x.result.arm_poses.allowed_planning_time.nsecs, _x.result.arm_poses.expected_path_duration.secs, _x.result.arm_poses.expected_path_duration.nsecs, _x.result.arm_poses.expected_path_dt.secs, _x.result.arm_poses.expected_path_dt.nsecs))
00777       _x = self.result.planner_service_name
00778       length = len(_x)
00779       if python3 or type(_x) == unicode:
00780         _x = _x.encode('utf-8')
00781         length = len(_x)
00782       buff.write(struct.pack('<I%ss'%length, length, _x))
00783       _x = self.result.state
00784       length = len(_x)
00785       if python3 or type(_x) == unicode:
00786         _x = _x.encode('utf-8')
00787         length = len(_x)
00788       buff.write(struct.pack('<I%ss'%length, length, _x))
00789     except struct.error as se: self._check_types(se)
00790     except TypeError as te: self._check_types(te)
00791 
00792   def deserialize(self, str):
00793     """
00794     unpack serialized message in str into this message instance
00795     :param str: byte array of serialized message, ``str``
00796     """
00797     try:
00798       if self.header is None:
00799         self.header = std_msgs.msg.Header()
00800       if self.status is None:
00801         self.status = actionlib_msgs.msg.GoalStatus()
00802       if self.result is None:
00803         self.result = iri_door_detector.msg.FindADoorResult()
00804       end = 0
00805       _x = self
00806       start = end
00807       end += 12
00808       (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00809       start = end
00810       end += 4
00811       (length,) = _struct_I.unpack(str[start:end])
00812       start = end
00813       end += length
00814       if python3:
00815         self.header.frame_id = str[start:end].decode('utf-8')
00816       else:
00817         self.header.frame_id = str[start:end]
00818       _x = self
00819       start = end
00820       end += 8
00821       (_x.status.goal_id.stamp.secs, _x.status.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00822       start = end
00823       end += 4
00824       (length,) = _struct_I.unpack(str[start:end])
00825       start = end
00826       end += length
00827       if python3:
00828         self.status.goal_id.id = str[start:end].decode('utf-8')
00829       else:
00830         self.status.goal_id.id = str[start:end]
00831       start = end
00832       end += 1
00833       (self.status.status,) = _struct_B.unpack(str[start:end])
00834       start = end
00835       end += 4
00836       (length,) = _struct_I.unpack(str[start:end])
00837       start = end
00838       end += length
00839       if python3:
00840         self.status.text = str[start:end].decode('utf-8')
00841       else:
00842         self.status.text = str[start:end]
00843       _x = self
00844       start = end
00845       end += 12
00846       (_x.result.base_poses.header.seq, _x.result.base_poses.header.stamp.secs, _x.result.base_poses.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00847       start = end
00848       end += 4
00849       (length,) = _struct_I.unpack(str[start:end])
00850       start = end
00851       end += length
00852       if python3:
00853         self.result.base_poses.header.frame_id = str[start:end].decode('utf-8')
00854       else:
00855         self.result.base_poses.header.frame_id = str[start:end]
00856       _x = self
00857       start = end
00858       end += 57
00859       (_x.result.base_poses.pose.position.x, _x.result.base_poses.pose.position.y, _x.result.base_poses.pose.position.z, _x.result.base_poses.pose.orientation.x, _x.result.base_poses.pose.orientation.y, _x.result.base_poses.pose.orientation.z, _x.result.base_poses.pose.orientation.w, _x.result.arm_poses.workspace_parameters.workspace_region_shape.type,) = _struct_7db.unpack(str[start:end])
00860       start = end
00861       end += 4
00862       (length,) = _struct_I.unpack(str[start:end])
00863       pattern = '<%sd'%length
00864       start = end
00865       end += struct.calcsize(pattern)
00866       self.result.arm_poses.workspace_parameters.workspace_region_shape.dimensions = struct.unpack(pattern, str[start:end])
00867       start = end
00868       end += 4
00869       (length,) = _struct_I.unpack(str[start:end])
00870       pattern = '<%si'%length
00871       start = end
00872       end += struct.calcsize(pattern)
00873       self.result.arm_poses.workspace_parameters.workspace_region_shape.triangles = struct.unpack(pattern, str[start:end])
00874       start = end
00875       end += 4
00876       (length,) = _struct_I.unpack(str[start:end])
00877       self.result.arm_poses.workspace_parameters.workspace_region_shape.vertices = []
00878       for i in range(0, length):
00879         val1 = geometry_msgs.msg.Point()
00880         _x = val1
00881         start = end
00882         end += 24
00883         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00884         self.result.arm_poses.workspace_parameters.workspace_region_shape.vertices.append(val1)
00885       _x = self
00886       start = end
00887       end += 12
00888       (_x.result.arm_poses.workspace_parameters.workspace_region_pose.header.seq, _x.result.arm_poses.workspace_parameters.workspace_region_pose.header.stamp.secs, _x.result.arm_poses.workspace_parameters.workspace_region_pose.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00889       start = end
00890       end += 4
00891       (length,) = _struct_I.unpack(str[start:end])
00892       start = end
00893       end += length
00894       if python3:
00895         self.result.arm_poses.workspace_parameters.workspace_region_pose.header.frame_id = str[start:end].decode('utf-8')
00896       else:
00897         self.result.arm_poses.workspace_parameters.workspace_region_pose.header.frame_id = str[start:end]
00898       _x = self
00899       start = end
00900       end += 68
00901       (_x.result.arm_poses.workspace_parameters.workspace_region_pose.pose.position.x, _x.result.arm_poses.workspace_parameters.workspace_region_pose.pose.position.y, _x.result.arm_poses.workspace_parameters.workspace_region_pose.pose.position.z, _x.result.arm_poses.workspace_parameters.workspace_region_pose.pose.orientation.x, _x.result.arm_poses.workspace_parameters.workspace_region_pose.pose.orientation.y, _x.result.arm_poses.workspace_parameters.workspace_region_pose.pose.orientation.z, _x.result.arm_poses.workspace_parameters.workspace_region_pose.pose.orientation.w, _x.result.arm_poses.start_state.joint_state.header.seq, _x.result.arm_poses.start_state.joint_state.header.stamp.secs, _x.result.arm_poses.start_state.joint_state.header.stamp.nsecs,) = _struct_7d3I.unpack(str[start:end])
00902       start = end
00903       end += 4
00904       (length,) = _struct_I.unpack(str[start:end])
00905       start = end
00906       end += length
00907       if python3:
00908         self.result.arm_poses.start_state.joint_state.header.frame_id = str[start:end].decode('utf-8')
00909       else:
00910         self.result.arm_poses.start_state.joint_state.header.frame_id = str[start:end]
00911       start = end
00912       end += 4
00913       (length,) = _struct_I.unpack(str[start:end])
00914       self.result.arm_poses.start_state.joint_state.name = []
00915       for i in range(0, length):
00916         start = end
00917         end += 4
00918         (length,) = _struct_I.unpack(str[start:end])
00919         start = end
00920         end += length
00921         if python3:
00922           val1 = str[start:end].decode('utf-8')
00923         else:
00924           val1 = str[start:end]
00925         self.result.arm_poses.start_state.joint_state.name.append(val1)
00926       start = end
00927       end += 4
00928       (length,) = _struct_I.unpack(str[start:end])
00929       pattern = '<%sd'%length
00930       start = end
00931       end += struct.calcsize(pattern)
00932       self.result.arm_poses.start_state.joint_state.position = struct.unpack(pattern, str[start:end])
00933       start = end
00934       end += 4
00935       (length,) = _struct_I.unpack(str[start:end])
00936       pattern = '<%sd'%length
00937       start = end
00938       end += struct.calcsize(pattern)
00939       self.result.arm_poses.start_state.joint_state.velocity = struct.unpack(pattern, str[start:end])
00940       start = end
00941       end += 4
00942       (length,) = _struct_I.unpack(str[start:end])
00943       pattern = '<%sd'%length
00944       start = end
00945       end += struct.calcsize(pattern)
00946       self.result.arm_poses.start_state.joint_state.effort = struct.unpack(pattern, str[start:end])
00947       _x = self
00948       start = end
00949       end += 8
00950       (_x.result.arm_poses.start_state.multi_dof_joint_state.stamp.secs, _x.result.arm_poses.start_state.multi_dof_joint_state.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00951       start = end
00952       end += 4
00953       (length,) = _struct_I.unpack(str[start:end])
00954       self.result.arm_poses.start_state.multi_dof_joint_state.joint_names = []
00955       for i in range(0, length):
00956         start = end
00957         end += 4
00958         (length,) = _struct_I.unpack(str[start:end])
00959         start = end
00960         end += length
00961         if python3:
00962           val1 = str[start:end].decode('utf-8')
00963         else:
00964           val1 = str[start:end]
00965         self.result.arm_poses.start_state.multi_dof_joint_state.joint_names.append(val1)
00966       start = end
00967       end += 4
00968       (length,) = _struct_I.unpack(str[start:end])
00969       self.result.arm_poses.start_state.multi_dof_joint_state.frame_ids = []
00970       for i in range(0, length):
00971         start = end
00972         end += 4
00973         (length,) = _struct_I.unpack(str[start:end])
00974         start = end
00975         end += length
00976         if python3:
00977           val1 = str[start:end].decode('utf-8')
00978         else:
00979           val1 = str[start:end]
00980         self.result.arm_poses.start_state.multi_dof_joint_state.frame_ids.append(val1)
00981       start = end
00982       end += 4
00983       (length,) = _struct_I.unpack(str[start:end])
00984       self.result.arm_poses.start_state.multi_dof_joint_state.child_frame_ids = []
00985       for i in range(0, length):
00986         start = end
00987         end += 4
00988         (length,) = _struct_I.unpack(str[start:end])
00989         start = end
00990         end += length
00991         if python3:
00992           val1 = str[start:end].decode('utf-8')
00993         else:
00994           val1 = str[start:end]
00995         self.result.arm_poses.start_state.multi_dof_joint_state.child_frame_ids.append(val1)
00996       start = end
00997       end += 4
00998       (length,) = _struct_I.unpack(str[start:end])
00999       self.result.arm_poses.start_state.multi_dof_joint_state.poses = []
01000       for i in range(0, length):
01001         val1 = geometry_msgs.msg.Pose()
01002         _v45 = val1.position
01003         _x = _v45
01004         start = end
01005         end += 24
01006         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
01007         _v46 = val1.orientation
01008         _x = _v46
01009         start = end
01010         end += 32
01011         (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
01012         self.result.arm_poses.start_state.multi_dof_joint_state.poses.append(val1)
01013       start = end
01014       end += 4
01015       (length,) = _struct_I.unpack(str[start:end])
01016       self.result.arm_poses.goal_constraints.joint_constraints = []
01017       for i in range(0, length):
01018         val1 = arm_navigation_msgs.msg.JointConstraint()
01019         start = end
01020         end += 4
01021         (length,) = _struct_I.unpack(str[start:end])
01022         start = end
01023         end += length
01024         if python3:
01025           val1.joint_name = str[start:end].decode('utf-8')
01026         else:
01027           val1.joint_name = str[start:end]
01028         _x = val1
01029         start = end
01030         end += 32
01031         (_x.position, _x.tolerance_above, _x.tolerance_below, _x.weight,) = _struct_4d.unpack(str[start:end])
01032         self.result.arm_poses.goal_constraints.joint_constraints.append(val1)
01033       start = end
01034       end += 4
01035       (length,) = _struct_I.unpack(str[start:end])
01036       self.result.arm_poses.goal_constraints.position_constraints = []
01037       for i in range(0, length):
01038         val1 = arm_navigation_msgs.msg.PositionConstraint()
01039         _v47 = val1.header
01040         start = end
01041         end += 4
01042         (_v47.seq,) = _struct_I.unpack(str[start:end])
01043         _v48 = _v47.stamp
01044         _x = _v48
01045         start = end
01046         end += 8
01047         (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
01048         start = end
01049         end += 4
01050         (length,) = _struct_I.unpack(str[start:end])
01051         start = end
01052         end += length
01053         if python3:
01054           _v47.frame_id = str[start:end].decode('utf-8')
01055         else:
01056           _v47.frame_id = str[start:end]
01057         start = end
01058         end += 4
01059         (length,) = _struct_I.unpack(str[start:end])
01060         start = end
01061         end += length
01062         if python3:
01063           val1.link_name = str[start:end].decode('utf-8')
01064         else:
01065           val1.link_name = str[start:end]
01066         _v49 = val1.target_point_offset
01067         _x = _v49
01068         start = end
01069         end += 24
01070         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
01071         _v50 = val1.position
01072         _x = _v50
01073         start = end
01074         end += 24
01075         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
01076         _v51 = val1.constraint_region_shape
01077         start = end
01078         end += 1
01079         (_v51.type,) = _struct_b.unpack(str[start:end])
01080         start = end
01081         end += 4
01082         (length,) = _struct_I.unpack(str[start:end])
01083         pattern = '<%sd'%length
01084         start = end
01085         end += struct.calcsize(pattern)
01086         _v51.dimensions = struct.unpack(pattern, str[start:end])
01087         start = end
01088         end += 4
01089         (length,) = _struct_I.unpack(str[start:end])
01090         pattern = '<%si'%length
01091         start = end
01092         end += struct.calcsize(pattern)
01093         _v51.triangles = struct.unpack(pattern, str[start:end])
01094         start = end
01095         end += 4
01096         (length,) = _struct_I.unpack(str[start:end])
01097         _v51.vertices = []
01098         for i in range(0, length):
01099           val3 = geometry_msgs.msg.Point()
01100           _x = val3
01101           start = end
01102           end += 24
01103           (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
01104           _v51.vertices.append(val3)
01105         _v52 = val1.constraint_region_orientation
01106         _x = _v52
01107         start = end
01108         end += 32
01109         (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
01110         start = end
01111         end += 8
01112         (val1.weight,) = _struct_d.unpack(str[start:end])
01113         self.result.arm_poses.goal_constraints.position_constraints.append(val1)
01114       start = end
01115       end += 4
01116       (length,) = _struct_I.unpack(str[start:end])
01117       self.result.arm_poses.goal_constraints.orientation_constraints = []
01118       for i in range(0, length):
01119         val1 = arm_navigation_msgs.msg.OrientationConstraint()
01120         _v53 = val1.header
01121         start = end
01122         end += 4
01123         (_v53.seq,) = _struct_I.unpack(str[start:end])
01124         _v54 = _v53.stamp
01125         _x = _v54
01126         start = end
01127         end += 8
01128         (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
01129         start = end
01130         end += 4
01131         (length,) = _struct_I.unpack(str[start:end])
01132         start = end
01133         end += length
01134         if python3:
01135           _v53.frame_id = str[start:end].decode('utf-8')
01136         else:
01137           _v53.frame_id = str[start:end]
01138         start = end
01139         end += 4
01140         (length,) = _struct_I.unpack(str[start:end])
01141         start = end
01142         end += length
01143         if python3:
01144           val1.link_name = str[start:end].decode('utf-8')
01145         else:
01146           val1.link_name = str[start:end]
01147         start = end
01148         end += 4
01149         (val1.type,) = _struct_i.unpack(str[start:end])
01150         _v55 = val1.orientation
01151         _x = _v55
01152         start = end
01153         end += 32
01154         (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
01155         _x = val1
01156         start = end
01157         end += 32
01158         (_x.absolute_roll_tolerance, _x.absolute_pitch_tolerance, _x.absolute_yaw_tolerance, _x.weight,) = _struct_4d.unpack(str[start:end])
01159         self.result.arm_poses.goal_constraints.orientation_constraints.append(val1)
01160       start = end
01161       end += 4
01162       (length,) = _struct_I.unpack(str[start:end])
01163       self.result.arm_poses.goal_constraints.visibility_constraints = []
01164       for i in range(0, length):
01165         val1 = arm_navigation_msgs.msg.VisibilityConstraint()
01166         _v56 = val1.header
01167         start = end
01168         end += 4
01169         (_v56.seq,) = _struct_I.unpack(str[start:end])
01170         _v57 = _v56.stamp
01171         _x = _v57
01172         start = end
01173         end += 8
01174         (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
01175         start = end
01176         end += 4
01177         (length,) = _struct_I.unpack(str[start:end])
01178         start = end
01179         end += length
01180         if python3:
01181           _v56.frame_id = str[start:end].decode('utf-8')
01182         else:
01183           _v56.frame_id = str[start:end]
01184         _v58 = val1.target
01185         _v59 = _v58.header
01186         start = end
01187         end += 4
01188         (_v59.seq,) = _struct_I.unpack(str[start:end])
01189         _v60 = _v59.stamp
01190         _x = _v60
01191         start = end
01192         end += 8
01193         (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
01194         start = end
01195         end += 4
01196         (length,) = _struct_I.unpack(str[start:end])
01197         start = end
01198         end += length
01199         if python3:
01200           _v59.frame_id = str[start:end].decode('utf-8')
01201         else:
01202           _v59.frame_id = str[start:end]
01203         _v61 = _v58.point
01204         _x = _v61
01205         start = end
01206         end += 24
01207         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
01208         _v62 = val1.sensor_pose
01209         _v63 = _v62.header
01210         start = end
01211         end += 4
01212         (_v63.seq,) = _struct_I.unpack(str[start:end])
01213         _v64 = _v63.stamp
01214         _x = _v64
01215         start = end
01216         end += 8
01217         (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
01218         start = end
01219         end += 4
01220         (length,) = _struct_I.unpack(str[start:end])
01221         start = end
01222         end += length
01223         if python3:
01224           _v63.frame_id = str[start:end].decode('utf-8')
01225         else:
01226           _v63.frame_id = str[start:end]
01227         _v65 = _v62.pose
01228         _v66 = _v65.position
01229         _x = _v66
01230         start = end
01231         end += 24
01232         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
01233         _v67 = _v65.orientation
01234         _x = _v67
01235         start = end
01236         end += 32
01237         (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
01238         start = end
01239         end += 8
01240         (val1.absolute_tolerance,) = _struct_d.unpack(str[start:end])
01241         self.result.arm_poses.goal_constraints.visibility_constraints.append(val1)
01242       start = end
01243       end += 4
01244       (length,) = _struct_I.unpack(str[start:end])
01245       self.result.arm_poses.path_constraints.joint_constraints = []
01246       for i in range(0, length):
01247         val1 = arm_navigation_msgs.msg.JointConstraint()
01248         start = end
01249         end += 4
01250         (length,) = _struct_I.unpack(str[start:end])
01251         start = end
01252         end += length
01253         if python3:
01254           val1.joint_name = str[start:end].decode('utf-8')
01255         else:
01256           val1.joint_name = str[start:end]
01257         _x = val1
01258         start = end
01259         end += 32
01260         (_x.position, _x.tolerance_above, _x.tolerance_below, _x.weight,) = _struct_4d.unpack(str[start:end])
01261         self.result.arm_poses.path_constraints.joint_constraints.append(val1)
01262       start = end
01263       end += 4
01264       (length,) = _struct_I.unpack(str[start:end])
01265       self.result.arm_poses.path_constraints.position_constraints = []
01266       for i in range(0, length):
01267         val1 = arm_navigation_msgs.msg.PositionConstraint()
01268         _v68 = val1.header
01269         start = end
01270         end += 4
01271         (_v68.seq,) = _struct_I.unpack(str[start:end])
01272         _v69 = _v68.stamp
01273         _x = _v69
01274         start = end
01275         end += 8
01276         (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
01277         start = end
01278         end += 4
01279         (length,) = _struct_I.unpack(str[start:end])
01280         start = end
01281         end += length
01282         if python3:
01283           _v68.frame_id = str[start:end].decode('utf-8')
01284         else:
01285           _v68.frame_id = str[start:end]
01286         start = end
01287         end += 4
01288         (length,) = _struct_I.unpack(str[start:end])
01289         start = end
01290         end += length
01291         if python3:
01292           val1.link_name = str[start:end].decode('utf-8')
01293         else:
01294           val1.link_name = str[start:end]
01295         _v70 = val1.target_point_offset
01296         _x = _v70
01297         start = end
01298         end += 24
01299         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
01300         _v71 = val1.position
01301         _x = _v71
01302         start = end
01303         end += 24
01304         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
01305         _v72 = val1.constraint_region_shape
01306         start = end
01307         end += 1
01308         (_v72.type,) = _struct_b.unpack(str[start:end])
01309         start = end
01310         end += 4
01311         (length,) = _struct_I.unpack(str[start:end])
01312         pattern = '<%sd'%length
01313         start = end
01314         end += struct.calcsize(pattern)
01315         _v72.dimensions = struct.unpack(pattern, str[start:end])
01316         start = end
01317         end += 4
01318         (length,) = _struct_I.unpack(str[start:end])
01319         pattern = '<%si'%length
01320         start = end
01321         end += struct.calcsize(pattern)
01322         _v72.triangles = struct.unpack(pattern, str[start:end])
01323         start = end
01324         end += 4
01325         (length,) = _struct_I.unpack(str[start:end])
01326         _v72.vertices = []
01327         for i in range(0, length):
01328           val3 = geometry_msgs.msg.Point()
01329           _x = val3
01330           start = end
01331           end += 24
01332           (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
01333           _v72.vertices.append(val3)
01334         _v73 = val1.constraint_region_orientation
01335         _x = _v73
01336         start = end
01337         end += 32
01338         (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
01339         start = end
01340         end += 8
01341         (val1.weight,) = _struct_d.unpack(str[start:end])
01342         self.result.arm_poses.path_constraints.position_constraints.append(val1)
01343       start = end
01344       end += 4
01345       (length,) = _struct_I.unpack(str[start:end])
01346       self.result.arm_poses.path_constraints.orientation_constraints = []
01347       for i in range(0, length):
01348         val1 = arm_navigation_msgs.msg.OrientationConstraint()
01349         _v74 = val1.header
01350         start = end
01351         end += 4
01352         (_v74.seq,) = _struct_I.unpack(str[start:end])
01353         _v75 = _v74.stamp
01354         _x = _v75
01355         start = end
01356         end += 8
01357         (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
01358         start = end
01359         end += 4
01360         (length,) = _struct_I.unpack(str[start:end])
01361         start = end
01362         end += length
01363         if python3:
01364           _v74.frame_id = str[start:end].decode('utf-8')
01365         else:
01366           _v74.frame_id = str[start:end]
01367         start = end
01368         end += 4
01369         (length,) = _struct_I.unpack(str[start:end])
01370         start = end
01371         end += length
01372         if python3:
01373           val1.link_name = str[start:end].decode('utf-8')
01374         else:
01375           val1.link_name = str[start:end]
01376         start = end
01377         end += 4
01378         (val1.type,) = _struct_i.unpack(str[start:end])
01379         _v76 = val1.orientation
01380         _x = _v76
01381         start = end
01382         end += 32
01383         (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
01384         _x = val1
01385         start = end
01386         end += 32
01387         (_x.absolute_roll_tolerance, _x.absolute_pitch_tolerance, _x.absolute_yaw_tolerance, _x.weight,) = _struct_4d.unpack(str[start:end])
01388         self.result.arm_poses.path_constraints.orientation_constraints.append(val1)
01389       start = end
01390       end += 4
01391       (length,) = _struct_I.unpack(str[start:end])
01392       self.result.arm_poses.path_constraints.visibility_constraints = []
01393       for i in range(0, length):
01394         val1 = arm_navigation_msgs.msg.VisibilityConstraint()
01395         _v77 = val1.header
01396         start = end
01397         end += 4
01398         (_v77.seq,) = _struct_I.unpack(str[start:end])
01399         _v78 = _v77.stamp
01400         _x = _v78
01401         start = end
01402         end += 8
01403         (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
01404         start = end
01405         end += 4
01406         (length,) = _struct_I.unpack(str[start:end])
01407         start = end
01408         end += length
01409         if python3:
01410           _v77.frame_id = str[start:end].decode('utf-8')
01411         else:
01412           _v77.frame_id = str[start:end]
01413         _v79 = val1.target
01414         _v80 = _v79.header
01415         start = end
01416         end += 4
01417         (_v80.seq,) = _struct_I.unpack(str[start:end])
01418         _v81 = _v80.stamp
01419         _x = _v81
01420         start = end
01421         end += 8
01422         (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
01423         start = end
01424         end += 4
01425         (length,) = _struct_I.unpack(str[start:end])
01426         start = end
01427         end += length
01428         if python3:
01429           _v80.frame_id = str[start:end].decode('utf-8')
01430         else:
01431           _v80.frame_id = str[start:end]
01432         _v82 = _v79.point
01433         _x = _v82
01434         start = end
01435         end += 24
01436         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
01437         _v83 = val1.sensor_pose
01438         _v84 = _v83.header
01439         start = end
01440         end += 4
01441         (_v84.seq,) = _struct_I.unpack(str[start:end])
01442         _v85 = _v84.stamp
01443         _x = _v85
01444         start = end
01445         end += 8
01446         (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
01447         start = end
01448         end += 4
01449         (length,) = _struct_I.unpack(str[start:end])
01450         start = end
01451         end += length
01452         if python3:
01453           _v84.frame_id = str[start:end].decode('utf-8')
01454         else:
01455           _v84.frame_id = str[start:end]
01456         _v86 = _v83.pose
01457         _v87 = _v86.position
01458         _x = _v87
01459         start = end
01460         end += 24
01461         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
01462         _v88 = _v86.orientation
01463         _x = _v88
01464         start = end
01465         end += 32
01466         (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
01467         start = end
01468         end += 8
01469         (val1.absolute_tolerance,) = _struct_d.unpack(str[start:end])
01470         self.result.arm_poses.path_constraints.visibility_constraints.append(val1)
01471       start = end
01472       end += 4
01473       (length,) = _struct_I.unpack(str[start:end])
01474       start = end
01475       end += length
01476       if python3:
01477         self.result.arm_poses.planner_id = str[start:end].decode('utf-8')
01478       else:
01479         self.result.arm_poses.planner_id = str[start:end]
01480       start = end
01481       end += 4
01482       (length,) = _struct_I.unpack(str[start:end])
01483       start = end
01484       end += length
01485       if python3:
01486         self.result.arm_poses.group_name = str[start:end].decode('utf-8')
01487       else:
01488         self.result.arm_poses.group_name = str[start:end]
01489       _x = self
01490       start = end
01491       end += 28
01492       (_x.result.arm_poses.num_planning_attempts, _x.result.arm_poses.allowed_planning_time.secs, _x.result.arm_poses.allowed_planning_time.nsecs, _x.result.arm_poses.expected_path_duration.secs, _x.result.arm_poses.expected_path_duration.nsecs, _x.result.arm_poses.expected_path_dt.secs, _x.result.arm_poses.expected_path_dt.nsecs,) = _struct_7i.unpack(str[start:end])
01493       start = end
01494       end += 4
01495       (length,) = _struct_I.unpack(str[start:end])
01496       start = end
01497       end += length
01498       if python3:
01499         self.result.planner_service_name = str[start:end].decode('utf-8')
01500       else:
01501         self.result.planner_service_name = str[start:end]
01502       start = end
01503       end += 4
01504       (length,) = _struct_I.unpack(str[start:end])
01505       start = end
01506       end += length
01507       if python3:
01508         self.result.state = str[start:end].decode('utf-8')
01509       else:
01510         self.result.state = str[start:end]
01511       return self
01512     except struct.error as e:
01513       raise genpy.DeserializationError(e) #most likely buffer underfill
01514 
01515 
01516   def serialize_numpy(self, buff, numpy):
01517     """
01518     serialize message with numpy array types into buffer
01519     :param buff: buffer, ``StringIO``
01520     :param numpy: numpy python module
01521     """
01522     try:
01523       _x = self
01524       buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
01525       _x = self.header.frame_id
01526       length = len(_x)
01527       if python3 or type(_x) == unicode:
01528         _x = _x.encode('utf-8')
01529         length = len(_x)
01530       buff.write(struct.pack('<I%ss'%length, length, _x))
01531       _x = self
01532       buff.write(_struct_2I.pack(_x.status.goal_id.stamp.secs, _x.status.goal_id.stamp.nsecs))
01533       _x = self.status.goal_id.id
01534       length = len(_x)
01535       if python3 or type(_x) == unicode:
01536         _x = _x.encode('utf-8')
01537         length = len(_x)
01538       buff.write(struct.pack('<I%ss'%length, length, _x))
01539       buff.write(_struct_B.pack(self.status.status))
01540       _x = self.status.text
01541       length = len(_x)
01542       if python3 or type(_x) == unicode:
01543         _x = _x.encode('utf-8')
01544         length = len(_x)
01545       buff.write(struct.pack('<I%ss'%length, length, _x))
01546       _x = self
01547       buff.write(_struct_3I.pack(_x.result.base_poses.header.seq, _x.result.base_poses.header.stamp.secs, _x.result.base_poses.header.stamp.nsecs))
01548       _x = self.result.base_poses.header.frame_id
01549       length = len(_x)
01550       if python3 or type(_x) == unicode:
01551         _x = _x.encode('utf-8')
01552         length = len(_x)
01553       buff.write(struct.pack('<I%ss'%length, length, _x))
01554       _x = self
01555       buff.write(_struct_7db.pack(_x.result.base_poses.pose.position.x, _x.result.base_poses.pose.position.y, _x.result.base_poses.pose.position.z, _x.result.base_poses.pose.orientation.x, _x.result.base_poses.pose.orientation.y, _x.result.base_poses.pose.orientation.z, _x.result.base_poses.pose.orientation.w, _x.result.arm_poses.workspace_parameters.workspace_region_shape.type))
01556       length = len(self.result.arm_poses.workspace_parameters.workspace_region_shape.dimensions)
01557       buff.write(_struct_I.pack(length))
01558       pattern = '<%sd'%length
01559       buff.write(self.result.arm_poses.workspace_parameters.workspace_region_shape.dimensions.tostring())
01560       length = len(self.result.arm_poses.workspace_parameters.workspace_region_shape.triangles)
01561       buff.write(_struct_I.pack(length))
01562       pattern = '<%si'%length
01563       buff.write(self.result.arm_poses.workspace_parameters.workspace_region_shape.triangles.tostring())
01564       length = len(self.result.arm_poses.workspace_parameters.workspace_region_shape.vertices)
01565       buff.write(_struct_I.pack(length))
01566       for val1 in self.result.arm_poses.workspace_parameters.workspace_region_shape.vertices:
01567         _x = val1
01568         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
01569       _x = self
01570       buff.write(_struct_3I.pack(_x.result.arm_poses.workspace_parameters.workspace_region_pose.header.seq, _x.result.arm_poses.workspace_parameters.workspace_region_pose.header.stamp.secs, _x.result.arm_poses.workspace_parameters.workspace_region_pose.header.stamp.nsecs))
01571       _x = self.result.arm_poses.workspace_parameters.workspace_region_pose.header.frame_id
01572       length = len(_x)
01573       if python3 or type(_x) == unicode:
01574         _x = _x.encode('utf-8')
01575         length = len(_x)
01576       buff.write(struct.pack('<I%ss'%length, length, _x))
01577       _x = self
01578       buff.write(_struct_7d3I.pack(_x.result.arm_poses.workspace_parameters.workspace_region_pose.pose.position.x, _x.result.arm_poses.workspace_parameters.workspace_region_pose.pose.position.y, _x.result.arm_poses.workspace_parameters.workspace_region_pose.pose.position.z, _x.result.arm_poses.workspace_parameters.workspace_region_pose.pose.orientation.x, _x.result.arm_poses.workspace_parameters.workspace_region_pose.pose.orientation.y, _x.result.arm_poses.workspace_parameters.workspace_region_pose.pose.orientation.z, _x.result.arm_poses.workspace_parameters.workspace_region_pose.pose.orientation.w, _x.result.arm_poses.start_state.joint_state.header.seq, _x.result.arm_poses.start_state.joint_state.header.stamp.secs, _x.result.arm_poses.start_state.joint_state.header.stamp.nsecs))
01579       _x = self.result.arm_poses.start_state.joint_state.header.frame_id
01580       length = len(_x)
01581       if python3 or type(_x) == unicode:
01582         _x = _x.encode('utf-8')
01583         length = len(_x)
01584       buff.write(struct.pack('<I%ss'%length, length, _x))
01585       length = len(self.result.arm_poses.start_state.joint_state.name)
01586       buff.write(_struct_I.pack(length))
01587       for val1 in self.result.arm_poses.start_state.joint_state.name:
01588         length = len(val1)
01589         if python3 or type(val1) == unicode:
01590           val1 = val1.encode('utf-8')
01591           length = len(val1)
01592         buff.write(struct.pack('<I%ss'%length, length, val1))
01593       length = len(self.result.arm_poses.start_state.joint_state.position)
01594       buff.write(_struct_I.pack(length))
01595       pattern = '<%sd'%length
01596       buff.write(self.result.arm_poses.start_state.joint_state.position.tostring())
01597       length = len(self.result.arm_poses.start_state.joint_state.velocity)
01598       buff.write(_struct_I.pack(length))
01599       pattern = '<%sd'%length
01600       buff.write(self.result.arm_poses.start_state.joint_state.velocity.tostring())
01601       length = len(self.result.arm_poses.start_state.joint_state.effort)
01602       buff.write(_struct_I.pack(length))
01603       pattern = '<%sd'%length
01604       buff.write(self.result.arm_poses.start_state.joint_state.effort.tostring())
01605       _x = self
01606       buff.write(_struct_2I.pack(_x.result.arm_poses.start_state.multi_dof_joint_state.stamp.secs, _x.result.arm_poses.start_state.multi_dof_joint_state.stamp.nsecs))
01607       length = len(self.result.arm_poses.start_state.multi_dof_joint_state.joint_names)
01608       buff.write(_struct_I.pack(length))
01609       for val1 in self.result.arm_poses.start_state.multi_dof_joint_state.joint_names:
01610         length = len(val1)
01611         if python3 or type(val1) == unicode:
01612           val1 = val1.encode('utf-8')
01613           length = len(val1)
01614         buff.write(struct.pack('<I%ss'%length, length, val1))
01615       length = len(self.result.arm_poses.start_state.multi_dof_joint_state.frame_ids)
01616       buff.write(_struct_I.pack(length))
01617       for val1 in self.result.arm_poses.start_state.multi_dof_joint_state.frame_ids:
01618         length = len(val1)
01619         if python3 or type(val1) == unicode:
01620           val1 = val1.encode('utf-8')
01621           length = len(val1)
01622         buff.write(struct.pack('<I%ss'%length, length, val1))
01623       length = len(self.result.arm_poses.start_state.multi_dof_joint_state.child_frame_ids)
01624       buff.write(_struct_I.pack(length))
01625       for val1 in self.result.arm_poses.start_state.multi_dof_joint_state.child_frame_ids:
01626         length = len(val1)
01627         if python3 or type(val1) == unicode:
01628           val1 = val1.encode('utf-8')
01629           length = len(val1)
01630         buff.write(struct.pack('<I%ss'%length, length, val1))
01631       length = len(self.result.arm_poses.start_state.multi_dof_joint_state.poses)
01632       buff.write(_struct_I.pack(length))
01633       for val1 in self.result.arm_poses.start_state.multi_dof_joint_state.poses:
01634         _v89 = val1.position
01635         _x = _v89
01636         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
01637         _v90 = val1.orientation
01638         _x = _v90
01639         buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
01640       length = len(self.result.arm_poses.goal_constraints.joint_constraints)
01641       buff.write(_struct_I.pack(length))
01642       for val1 in self.result.arm_poses.goal_constraints.joint_constraints:
01643         _x = val1.joint_name
01644         length = len(_x)
01645         if python3 or type(_x) == unicode:
01646           _x = _x.encode('utf-8')
01647           length = len(_x)
01648         buff.write(struct.pack('<I%ss'%length, length, _x))
01649         _x = val1
01650         buff.write(_struct_4d.pack(_x.position, _x.tolerance_above, _x.tolerance_below, _x.weight))
01651       length = len(self.result.arm_poses.goal_constraints.position_constraints)
01652       buff.write(_struct_I.pack(length))
01653       for val1 in self.result.arm_poses.goal_constraints.position_constraints:
01654         _v91 = val1.header
01655         buff.write(_struct_I.pack(_v91.seq))
01656         _v92 = _v91.stamp
01657         _x = _v92
01658         buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
01659         _x = _v91.frame_id
01660         length = len(_x)
01661         if python3 or type(_x) == unicode:
01662           _x = _x.encode('utf-8')
01663           length = len(_x)
01664         buff.write(struct.pack('<I%ss'%length, length, _x))
01665         _x = val1.link_name
01666         length = len(_x)
01667         if python3 or type(_x) == unicode:
01668           _x = _x.encode('utf-8')
01669           length = len(_x)
01670         buff.write(struct.pack('<I%ss'%length, length, _x))
01671         _v93 = val1.target_point_offset
01672         _x = _v93
01673         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
01674         _v94 = val1.position
01675         _x = _v94
01676         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
01677         _v95 = val1.constraint_region_shape
01678         buff.write(_struct_b.pack(_v95.type))
01679         length = len(_v95.dimensions)
01680         buff.write(_struct_I.pack(length))
01681         pattern = '<%sd'%length
01682         buff.write(_v95.dimensions.tostring())
01683         length = len(_v95.triangles)
01684         buff.write(_struct_I.pack(length))
01685         pattern = '<%si'%length
01686         buff.write(_v95.triangles.tostring())
01687         length = len(_v95.vertices)
01688         buff.write(_struct_I.pack(length))
01689         for val3 in _v95.vertices:
01690           _x = val3
01691           buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
01692         _v96 = val1.constraint_region_orientation
01693         _x = _v96
01694         buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
01695         buff.write(_struct_d.pack(val1.weight))
01696       length = len(self.result.arm_poses.goal_constraints.orientation_constraints)
01697       buff.write(_struct_I.pack(length))
01698       for val1 in self.result.arm_poses.goal_constraints.orientation_constraints:
01699         _v97 = val1.header
01700         buff.write(_struct_I.pack(_v97.seq))
01701         _v98 = _v97.stamp
01702         _x = _v98
01703         buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
01704         _x = _v97.frame_id
01705         length = len(_x)
01706         if python3 or type(_x) == unicode:
01707           _x = _x.encode('utf-8')
01708           length = len(_x)
01709         buff.write(struct.pack('<I%ss'%length, length, _x))
01710         _x = val1.link_name
01711         length = len(_x)
01712         if python3 or type(_x) == unicode:
01713           _x = _x.encode('utf-8')
01714           length = len(_x)
01715         buff.write(struct.pack('<I%ss'%length, length, _x))
01716         buff.write(_struct_i.pack(val1.type))
01717         _v99 = val1.orientation
01718         _x = _v99
01719         buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
01720         _x = val1
01721         buff.write(_struct_4d.pack(_x.absolute_roll_tolerance, _x.absolute_pitch_tolerance, _x.absolute_yaw_tolerance, _x.weight))
01722       length = len(self.result.arm_poses.goal_constraints.visibility_constraints)
01723       buff.write(_struct_I.pack(length))
01724       for val1 in self.result.arm_poses.goal_constraints.visibility_constraints:
01725         _v100 = val1.header
01726         buff.write(_struct_I.pack(_v100.seq))
01727         _v101 = _v100.stamp
01728         _x = _v101
01729         buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
01730         _x = _v100.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         _v102 = val1.target
01737         _v103 = _v102.header
01738         buff.write(_struct_I.pack(_v103.seq))
01739         _v104 = _v103.stamp
01740         _x = _v104
01741         buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
01742         _x = _v103.frame_id
01743         length = len(_x)
01744         if python3 or type(_x) == unicode:
01745           _x = _x.encode('utf-8')
01746           length = len(_x)
01747         buff.write(struct.pack('<I%ss'%length, length, _x))
01748         _v105 = _v102.point
01749         _x = _v105
01750         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
01751         _v106 = val1.sensor_pose
01752         _v107 = _v106.header
01753         buff.write(_struct_I.pack(_v107.seq))
01754         _v108 = _v107.stamp
01755         _x = _v108
01756         buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
01757         _x = _v107.frame_id
01758         length = len(_x)
01759         if python3 or type(_x) == unicode:
01760           _x = _x.encode('utf-8')
01761           length = len(_x)
01762         buff.write(struct.pack('<I%ss'%length, length, _x))
01763         _v109 = _v106.pose
01764         _v110 = _v109.position
01765         _x = _v110
01766         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
01767         _v111 = _v109.orientation
01768         _x = _v111
01769         buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
01770         buff.write(_struct_d.pack(val1.absolute_tolerance))
01771       length = len(self.result.arm_poses.path_constraints.joint_constraints)
01772       buff.write(_struct_I.pack(length))
01773       for val1 in self.result.arm_poses.path_constraints.joint_constraints:
01774         _x = val1.joint_name
01775         length = len(_x)
01776         if python3 or type(_x) == unicode:
01777           _x = _x.encode('utf-8')
01778           length = len(_x)
01779         buff.write(struct.pack('<I%ss'%length, length, _x))
01780         _x = val1
01781         buff.write(_struct_4d.pack(_x.position, _x.tolerance_above, _x.tolerance_below, _x.weight))
01782       length = len(self.result.arm_poses.path_constraints.position_constraints)
01783       buff.write(_struct_I.pack(length))
01784       for val1 in self.result.arm_poses.path_constraints.position_constraints:
01785         _v112 = val1.header
01786         buff.write(_struct_I.pack(_v112.seq))
01787         _v113 = _v112.stamp
01788         _x = _v113
01789         buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
01790         _x = _v112.frame_id
01791         length = len(_x)
01792         if python3 or type(_x) == unicode:
01793           _x = _x.encode('utf-8')
01794           length = len(_x)
01795         buff.write(struct.pack('<I%ss'%length, length, _x))
01796         _x = val1.link_name
01797         length = len(_x)
01798         if python3 or type(_x) == unicode:
01799           _x = _x.encode('utf-8')
01800           length = len(_x)
01801         buff.write(struct.pack('<I%ss'%length, length, _x))
01802         _v114 = val1.target_point_offset
01803         _x = _v114
01804         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
01805         _v115 = val1.position
01806         _x = _v115
01807         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
01808         _v116 = val1.constraint_region_shape
01809         buff.write(_struct_b.pack(_v116.type))
01810         length = len(_v116.dimensions)
01811         buff.write(_struct_I.pack(length))
01812         pattern = '<%sd'%length
01813         buff.write(_v116.dimensions.tostring())
01814         length = len(_v116.triangles)
01815         buff.write(_struct_I.pack(length))
01816         pattern = '<%si'%length
01817         buff.write(_v116.triangles.tostring())
01818         length = len(_v116.vertices)
01819         buff.write(_struct_I.pack(length))
01820         for val3 in _v116.vertices:
01821           _x = val3
01822           buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
01823         _v117 = val1.constraint_region_orientation
01824         _x = _v117
01825         buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
01826         buff.write(_struct_d.pack(val1.weight))
01827       length = len(self.result.arm_poses.path_constraints.orientation_constraints)
01828       buff.write(_struct_I.pack(length))
01829       for val1 in self.result.arm_poses.path_constraints.orientation_constraints:
01830         _v118 = val1.header
01831         buff.write(_struct_I.pack(_v118.seq))
01832         _v119 = _v118.stamp
01833         _x = _v119
01834         buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
01835         _x = _v118.frame_id
01836         length = len(_x)
01837         if python3 or type(_x) == unicode:
01838           _x = _x.encode('utf-8')
01839           length = len(_x)
01840         buff.write(struct.pack('<I%ss'%length, length, _x))
01841         _x = val1.link_name
01842         length = len(_x)
01843         if python3 or type(_x) == unicode:
01844           _x = _x.encode('utf-8')
01845           length = len(_x)
01846         buff.write(struct.pack('<I%ss'%length, length, _x))
01847         buff.write(_struct_i.pack(val1.type))
01848         _v120 = val1.orientation
01849         _x = _v120
01850         buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
01851         _x = val1
01852         buff.write(_struct_4d.pack(_x.absolute_roll_tolerance, _x.absolute_pitch_tolerance, _x.absolute_yaw_tolerance, _x.weight))
01853       length = len(self.result.arm_poses.path_constraints.visibility_constraints)
01854       buff.write(_struct_I.pack(length))
01855       for val1 in self.result.arm_poses.path_constraints.visibility_constraints:
01856         _v121 = val1.header
01857         buff.write(_struct_I.pack(_v121.seq))
01858         _v122 = _v121.stamp
01859         _x = _v122
01860         buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
01861         _x = _v121.frame_id
01862         length = len(_x)
01863         if python3 or type(_x) == unicode:
01864           _x = _x.encode('utf-8')
01865           length = len(_x)
01866         buff.write(struct.pack('<I%ss'%length, length, _x))
01867         _v123 = val1.target
01868         _v124 = _v123.header
01869         buff.write(_struct_I.pack(_v124.seq))
01870         _v125 = _v124.stamp
01871         _x = _v125
01872         buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
01873         _x = _v124.frame_id
01874         length = len(_x)
01875         if python3 or type(_x) == unicode:
01876           _x = _x.encode('utf-8')
01877           length = len(_x)
01878         buff.write(struct.pack('<I%ss'%length, length, _x))
01879         _v126 = _v123.point
01880         _x = _v126
01881         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
01882         _v127 = val1.sensor_pose
01883         _v128 = _v127.header
01884         buff.write(_struct_I.pack(_v128.seq))
01885         _v129 = _v128.stamp
01886         _x = _v129
01887         buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
01888         _x = _v128.frame_id
01889         length = len(_x)
01890         if python3 or type(_x) == unicode:
01891           _x = _x.encode('utf-8')
01892           length = len(_x)
01893         buff.write(struct.pack('<I%ss'%length, length, _x))
01894         _v130 = _v127.pose
01895         _v131 = _v130.position
01896         _x = _v131
01897         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
01898         _v132 = _v130.orientation
01899         _x = _v132
01900         buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
01901         buff.write(_struct_d.pack(val1.absolute_tolerance))
01902       _x = self.result.arm_poses.planner_id
01903       length = len(_x)
01904       if python3 or type(_x) == unicode:
01905         _x = _x.encode('utf-8')
01906         length = len(_x)
01907       buff.write(struct.pack('<I%ss'%length, length, _x))
01908       _x = self.result.arm_poses.group_name
01909       length = len(_x)
01910       if python3 or type(_x) == unicode:
01911         _x = _x.encode('utf-8')
01912         length = len(_x)
01913       buff.write(struct.pack('<I%ss'%length, length, _x))
01914       _x = self
01915       buff.write(_struct_7i.pack(_x.result.arm_poses.num_planning_attempts, _x.result.arm_poses.allowed_planning_time.secs, _x.result.arm_poses.allowed_planning_time.nsecs, _x.result.arm_poses.expected_path_duration.secs, _x.result.arm_poses.expected_path_duration.nsecs, _x.result.arm_poses.expected_path_dt.secs, _x.result.arm_poses.expected_path_dt.nsecs))
01916       _x = self.result.planner_service_name
01917       length = len(_x)
01918       if python3 or type(_x) == unicode:
01919         _x = _x.encode('utf-8')
01920         length = len(_x)
01921       buff.write(struct.pack('<I%ss'%length, length, _x))
01922       _x = self.result.state
01923       length = len(_x)
01924       if python3 or type(_x) == unicode:
01925         _x = _x.encode('utf-8')
01926         length = len(_x)
01927       buff.write(struct.pack('<I%ss'%length, length, _x))
01928     except struct.error as se: self._check_types(se)
01929     except TypeError as te: self._check_types(te)
01930 
01931   def deserialize_numpy(self, str, numpy):
01932     """
01933     unpack serialized message in str into this message instance using numpy for array types
01934     :param str: byte array of serialized message, ``str``
01935     :param numpy: numpy python module
01936     """
01937     try:
01938       if self.header is None:
01939         self.header = std_msgs.msg.Header()
01940       if self.status is None:
01941         self.status = actionlib_msgs.msg.GoalStatus()
01942       if self.result is None:
01943         self.result = iri_door_detector.msg.FindADoorResult()
01944       end = 0
01945       _x = self
01946       start = end
01947       end += 12
01948       (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
01949       start = end
01950       end += 4
01951       (length,) = _struct_I.unpack(str[start:end])
01952       start = end
01953       end += length
01954       if python3:
01955         self.header.frame_id = str[start:end].decode('utf-8')
01956       else:
01957         self.header.frame_id = str[start:end]
01958       _x = self
01959       start = end
01960       end += 8
01961       (_x.status.goal_id.stamp.secs, _x.status.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
01962       start = end
01963       end += 4
01964       (length,) = _struct_I.unpack(str[start:end])
01965       start = end
01966       end += length
01967       if python3:
01968         self.status.goal_id.id = str[start:end].decode('utf-8')
01969       else:
01970         self.status.goal_id.id = str[start:end]
01971       start = end
01972       end += 1
01973       (self.status.status,) = _struct_B.unpack(str[start:end])
01974       start = end
01975       end += 4
01976       (length,) = _struct_I.unpack(str[start:end])
01977       start = end
01978       end += length
01979       if python3:
01980         self.status.text = str[start:end].decode('utf-8')
01981       else:
01982         self.status.text = str[start:end]
01983       _x = self
01984       start = end
01985       end += 12
01986       (_x.result.base_poses.header.seq, _x.result.base_poses.header.stamp.secs, _x.result.base_poses.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
01987       start = end
01988       end += 4
01989       (length,) = _struct_I.unpack(str[start:end])
01990       start = end
01991       end += length
01992       if python3:
01993         self.result.base_poses.header.frame_id = str[start:end].decode('utf-8')
01994       else:
01995         self.result.base_poses.header.frame_id = str[start:end]
01996       _x = self
01997       start = end
01998       end += 57
01999       (_x.result.base_poses.pose.position.x, _x.result.base_poses.pose.position.y, _x.result.base_poses.pose.position.z, _x.result.base_poses.pose.orientation.x, _x.result.base_poses.pose.orientation.y, _x.result.base_poses.pose.orientation.z, _x.result.base_poses.pose.orientation.w, _x.result.arm_poses.workspace_parameters.workspace_region_shape.type,) = _struct_7db.unpack(str[start:end])
02000       start = end
02001       end += 4
02002       (length,) = _struct_I.unpack(str[start:end])
02003       pattern = '<%sd'%length
02004       start = end
02005       end += struct.calcsize(pattern)
02006       self.result.arm_poses.workspace_parameters.workspace_region_shape.dimensions = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
02007       start = end
02008       end += 4
02009       (length,) = _struct_I.unpack(str[start:end])
02010       pattern = '<%si'%length
02011       start = end
02012       end += struct.calcsize(pattern)
02013       self.result.arm_poses.workspace_parameters.workspace_region_shape.triangles = numpy.frombuffer(str[start:end], dtype=numpy.int32, count=length)
02014       start = end
02015       end += 4
02016       (length,) = _struct_I.unpack(str[start:end])
02017       self.result.arm_poses.workspace_parameters.workspace_region_shape.vertices = []
02018       for i in range(0, length):
02019         val1 = geometry_msgs.msg.Point()
02020         _x = val1
02021         start = end
02022         end += 24
02023         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
02024         self.result.arm_poses.workspace_parameters.workspace_region_shape.vertices.append(val1)
02025       _x = self
02026       start = end
02027       end += 12
02028       (_x.result.arm_poses.workspace_parameters.workspace_region_pose.header.seq, _x.result.arm_poses.workspace_parameters.workspace_region_pose.header.stamp.secs, _x.result.arm_poses.workspace_parameters.workspace_region_pose.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
02029       start = end
02030       end += 4
02031       (length,) = _struct_I.unpack(str[start:end])
02032       start = end
02033       end += length
02034       if python3:
02035         self.result.arm_poses.workspace_parameters.workspace_region_pose.header.frame_id = str[start:end].decode('utf-8')
02036       else:
02037         self.result.arm_poses.workspace_parameters.workspace_region_pose.header.frame_id = str[start:end]
02038       _x = self
02039       start = end
02040       end += 68
02041       (_x.result.arm_poses.workspace_parameters.workspace_region_pose.pose.position.x, _x.result.arm_poses.workspace_parameters.workspace_region_pose.pose.position.y, _x.result.arm_poses.workspace_parameters.workspace_region_pose.pose.position.z, _x.result.arm_poses.workspace_parameters.workspace_region_pose.pose.orientation.x, _x.result.arm_poses.workspace_parameters.workspace_region_pose.pose.orientation.y, _x.result.arm_poses.workspace_parameters.workspace_region_pose.pose.orientation.z, _x.result.arm_poses.workspace_parameters.workspace_region_pose.pose.orientation.w, _x.result.arm_poses.start_state.joint_state.header.seq, _x.result.arm_poses.start_state.joint_state.header.stamp.secs, _x.result.arm_poses.start_state.joint_state.header.stamp.nsecs,) = _struct_7d3I.unpack(str[start:end])
02042       start = end
02043       end += 4
02044       (length,) = _struct_I.unpack(str[start:end])
02045       start = end
02046       end += length
02047       if python3:
02048         self.result.arm_poses.start_state.joint_state.header.frame_id = str[start:end].decode('utf-8')
02049       else:
02050         self.result.arm_poses.start_state.joint_state.header.frame_id = str[start:end]
02051       start = end
02052       end += 4
02053       (length,) = _struct_I.unpack(str[start:end])
02054       self.result.arm_poses.start_state.joint_state.name = []
02055       for i in range(0, length):
02056         start = end
02057         end += 4
02058         (length,) = _struct_I.unpack(str[start:end])
02059         start = end
02060         end += length
02061         if python3:
02062           val1 = str[start:end].decode('utf-8')
02063         else:
02064           val1 = str[start:end]
02065         self.result.arm_poses.start_state.joint_state.name.append(val1)
02066       start = end
02067       end += 4
02068       (length,) = _struct_I.unpack(str[start:end])
02069       pattern = '<%sd'%length
02070       start = end
02071       end += struct.calcsize(pattern)
02072       self.result.arm_poses.start_state.joint_state.position = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
02073       start = end
02074       end += 4
02075       (length,) = _struct_I.unpack(str[start:end])
02076       pattern = '<%sd'%length
02077       start = end
02078       end += struct.calcsize(pattern)
02079       self.result.arm_poses.start_state.joint_state.velocity = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
02080       start = end
02081       end += 4
02082       (length,) = _struct_I.unpack(str[start:end])
02083       pattern = '<%sd'%length
02084       start = end
02085       end += struct.calcsize(pattern)
02086       self.result.arm_poses.start_state.joint_state.effort = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
02087       _x = self
02088       start = end
02089       end += 8
02090       (_x.result.arm_poses.start_state.multi_dof_joint_state.stamp.secs, _x.result.arm_poses.start_state.multi_dof_joint_state.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
02091       start = end
02092       end += 4
02093       (length,) = _struct_I.unpack(str[start:end])
02094       self.result.arm_poses.start_state.multi_dof_joint_state.joint_names = []
02095       for i in range(0, length):
02096         start = end
02097         end += 4
02098         (length,) = _struct_I.unpack(str[start:end])
02099         start = end
02100         end += length
02101         if python3:
02102           val1 = str[start:end].decode('utf-8')
02103         else:
02104           val1 = str[start:end]
02105         self.result.arm_poses.start_state.multi_dof_joint_state.joint_names.append(val1)
02106       start = end
02107       end += 4
02108       (length,) = _struct_I.unpack(str[start:end])
02109       self.result.arm_poses.start_state.multi_dof_joint_state.frame_ids = []
02110       for i in range(0, length):
02111         start = end
02112         end += 4
02113         (length,) = _struct_I.unpack(str[start:end])
02114         start = end
02115         end += length
02116         if python3:
02117           val1 = str[start:end].decode('utf-8')
02118         else:
02119           val1 = str[start:end]
02120         self.result.arm_poses.start_state.multi_dof_joint_state.frame_ids.append(val1)
02121       start = end
02122       end += 4
02123       (length,) = _struct_I.unpack(str[start:end])
02124       self.result.arm_poses.start_state.multi_dof_joint_state.child_frame_ids = []
02125       for i in range(0, length):
02126         start = end
02127         end += 4
02128         (length,) = _struct_I.unpack(str[start:end])
02129         start = end
02130         end += length
02131         if python3:
02132           val1 = str[start:end].decode('utf-8')
02133         else:
02134           val1 = str[start:end]
02135         self.result.arm_poses.start_state.multi_dof_joint_state.child_frame_ids.append(val1)
02136       start = end
02137       end += 4
02138       (length,) = _struct_I.unpack(str[start:end])
02139       self.result.arm_poses.start_state.multi_dof_joint_state.poses = []
02140       for i in range(0, length):
02141         val1 = geometry_msgs.msg.Pose()
02142         _v133 = val1.position
02143         _x = _v133
02144         start = end
02145         end += 24
02146         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
02147         _v134 = val1.orientation
02148         _x = _v134
02149         start = end
02150         end += 32
02151         (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
02152         self.result.arm_poses.start_state.multi_dof_joint_state.poses.append(val1)
02153       start = end
02154       end += 4
02155       (length,) = _struct_I.unpack(str[start:end])
02156       self.result.arm_poses.goal_constraints.joint_constraints = []
02157       for i in range(0, length):
02158         val1 = arm_navigation_msgs.msg.JointConstraint()
02159         start = end
02160         end += 4
02161         (length,) = _struct_I.unpack(str[start:end])
02162         start = end
02163         end += length
02164         if python3:
02165           val1.joint_name = str[start:end].decode('utf-8')
02166         else:
02167           val1.joint_name = str[start:end]
02168         _x = val1
02169         start = end
02170         end += 32
02171         (_x.position, _x.tolerance_above, _x.tolerance_below, _x.weight,) = _struct_4d.unpack(str[start:end])
02172         self.result.arm_poses.goal_constraints.joint_constraints.append(val1)
02173       start = end
02174       end += 4
02175       (length,) = _struct_I.unpack(str[start:end])
02176       self.result.arm_poses.goal_constraints.position_constraints = []
02177       for i in range(0, length):
02178         val1 = arm_navigation_msgs.msg.PositionConstraint()
02179         _v135 = val1.header
02180         start = end
02181         end += 4
02182         (_v135.seq,) = _struct_I.unpack(str[start:end])
02183         _v136 = _v135.stamp
02184         _x = _v136
02185         start = end
02186         end += 8
02187         (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
02188         start = end
02189         end += 4
02190         (length,) = _struct_I.unpack(str[start:end])
02191         start = end
02192         end += length
02193         if python3:
02194           _v135.frame_id = str[start:end].decode('utf-8')
02195         else:
02196           _v135.frame_id = str[start:end]
02197         start = end
02198         end += 4
02199         (length,) = _struct_I.unpack(str[start:end])
02200         start = end
02201         end += length
02202         if python3:
02203           val1.link_name = str[start:end].decode('utf-8')
02204         else:
02205           val1.link_name = str[start:end]
02206         _v137 = val1.target_point_offset
02207         _x = _v137
02208         start = end
02209         end += 24
02210         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
02211         _v138 = val1.position
02212         _x = _v138
02213         start = end
02214         end += 24
02215         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
02216         _v139 = val1.constraint_region_shape
02217         start = end
02218         end += 1
02219         (_v139.type,) = _struct_b.unpack(str[start:end])
02220         start = end
02221         end += 4
02222         (length,) = _struct_I.unpack(str[start:end])
02223         pattern = '<%sd'%length
02224         start = end
02225         end += struct.calcsize(pattern)
02226         _v139.dimensions = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
02227         start = end
02228         end += 4
02229         (length,) = _struct_I.unpack(str[start:end])
02230         pattern = '<%si'%length
02231         start = end
02232         end += struct.calcsize(pattern)
02233         _v139.triangles = numpy.frombuffer(str[start:end], dtype=numpy.int32, count=length)
02234         start = end
02235         end += 4
02236         (length,) = _struct_I.unpack(str[start:end])
02237         _v139.vertices = []
02238         for i in range(0, length):
02239           val3 = geometry_msgs.msg.Point()
02240           _x = val3
02241           start = end
02242           end += 24
02243           (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
02244           _v139.vertices.append(val3)
02245         _v140 = val1.constraint_region_orientation
02246         _x = _v140
02247         start = end
02248         end += 32
02249         (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
02250         start = end
02251         end += 8
02252         (val1.weight,) = _struct_d.unpack(str[start:end])
02253         self.result.arm_poses.goal_constraints.position_constraints.append(val1)
02254       start = end
02255       end += 4
02256       (length,) = _struct_I.unpack(str[start:end])
02257       self.result.arm_poses.goal_constraints.orientation_constraints = []
02258       for i in range(0, length):
02259         val1 = arm_navigation_msgs.msg.OrientationConstraint()
02260         _v141 = val1.header
02261         start = end
02262         end += 4
02263         (_v141.seq,) = _struct_I.unpack(str[start:end])
02264         _v142 = _v141.stamp
02265         _x = _v142
02266         start = end
02267         end += 8
02268         (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
02269         start = end
02270         end += 4
02271         (length,) = _struct_I.unpack(str[start:end])
02272         start = end
02273         end += length
02274         if python3:
02275           _v141.frame_id = str[start:end].decode('utf-8')
02276         else:
02277           _v141.frame_id = str[start:end]
02278         start = end
02279         end += 4
02280         (length,) = _struct_I.unpack(str[start:end])
02281         start = end
02282         end += length
02283         if python3:
02284           val1.link_name = str[start:end].decode('utf-8')
02285         else:
02286           val1.link_name = str[start:end]
02287         start = end
02288         end += 4
02289         (val1.type,) = _struct_i.unpack(str[start:end])
02290         _v143 = val1.orientation
02291         _x = _v143
02292         start = end
02293         end += 32
02294         (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
02295         _x = val1
02296         start = end
02297         end += 32
02298         (_x.absolute_roll_tolerance, _x.absolute_pitch_tolerance, _x.absolute_yaw_tolerance, _x.weight,) = _struct_4d.unpack(str[start:end])
02299         self.result.arm_poses.goal_constraints.orientation_constraints.append(val1)
02300       start = end
02301       end += 4
02302       (length,) = _struct_I.unpack(str[start:end])
02303       self.result.arm_poses.goal_constraints.visibility_constraints = []
02304       for i in range(0, length):
02305         val1 = arm_navigation_msgs.msg.VisibilityConstraint()
02306         _v144 = val1.header
02307         start = end
02308         end += 4
02309         (_v144.seq,) = _struct_I.unpack(str[start:end])
02310         _v145 = _v144.stamp
02311         _x = _v145
02312         start = end
02313         end += 8
02314         (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
02315         start = end
02316         end += 4
02317         (length,) = _struct_I.unpack(str[start:end])
02318         start = end
02319         end += length
02320         if python3:
02321           _v144.frame_id = str[start:end].decode('utf-8')
02322         else:
02323           _v144.frame_id = str[start:end]
02324         _v146 = val1.target
02325         _v147 = _v146.header
02326         start = end
02327         end += 4
02328         (_v147.seq,) = _struct_I.unpack(str[start:end])
02329         _v148 = _v147.stamp
02330         _x = _v148
02331         start = end
02332         end += 8
02333         (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
02334         start = end
02335         end += 4
02336         (length,) = _struct_I.unpack(str[start:end])
02337         start = end
02338         end += length
02339         if python3:
02340           _v147.frame_id = str[start:end].decode('utf-8')
02341         else:
02342           _v147.frame_id = str[start:end]
02343         _v149 = _v146.point
02344         _x = _v149
02345         start = end
02346         end += 24
02347         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
02348         _v150 = val1.sensor_pose
02349         _v151 = _v150.header
02350         start = end
02351         end += 4
02352         (_v151.seq,) = _struct_I.unpack(str[start:end])
02353         _v152 = _v151.stamp
02354         _x = _v152
02355         start = end
02356         end += 8
02357         (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
02358         start = end
02359         end += 4
02360         (length,) = _struct_I.unpack(str[start:end])
02361         start = end
02362         end += length
02363         if python3:
02364           _v151.frame_id = str[start:end].decode('utf-8')
02365         else:
02366           _v151.frame_id = str[start:end]
02367         _v153 = _v150.pose
02368         _v154 = _v153.position
02369         _x = _v154
02370         start = end
02371         end += 24
02372         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
02373         _v155 = _v153.orientation
02374         _x = _v155
02375         start = end
02376         end += 32
02377         (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
02378         start = end
02379         end += 8
02380         (val1.absolute_tolerance,) = _struct_d.unpack(str[start:end])
02381         self.result.arm_poses.goal_constraints.visibility_constraints.append(val1)
02382       start = end
02383       end += 4
02384       (length,) = _struct_I.unpack(str[start:end])
02385       self.result.arm_poses.path_constraints.joint_constraints = []
02386       for i in range(0, length):
02387         val1 = arm_navigation_msgs.msg.JointConstraint()
02388         start = end
02389         end += 4
02390         (length,) = _struct_I.unpack(str[start:end])
02391         start = end
02392         end += length
02393         if python3:
02394           val1.joint_name = str[start:end].decode('utf-8')
02395         else:
02396           val1.joint_name = str[start:end]
02397         _x = val1
02398         start = end
02399         end += 32
02400         (_x.position, _x.tolerance_above, _x.tolerance_below, _x.weight,) = _struct_4d.unpack(str[start:end])
02401         self.result.arm_poses.path_constraints.joint_constraints.append(val1)
02402       start = end
02403       end += 4
02404       (length,) = _struct_I.unpack(str[start:end])
02405       self.result.arm_poses.path_constraints.position_constraints = []
02406       for i in range(0, length):
02407         val1 = arm_navigation_msgs.msg.PositionConstraint()
02408         _v156 = val1.header
02409         start = end
02410         end += 4
02411         (_v156.seq,) = _struct_I.unpack(str[start:end])
02412         _v157 = _v156.stamp
02413         _x = _v157
02414         start = end
02415         end += 8
02416         (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
02417         start = end
02418         end += 4
02419         (length,) = _struct_I.unpack(str[start:end])
02420         start = end
02421         end += length
02422         if python3:
02423           _v156.frame_id = str[start:end].decode('utf-8')
02424         else:
02425           _v156.frame_id = str[start:end]
02426         start = end
02427         end += 4
02428         (length,) = _struct_I.unpack(str[start:end])
02429         start = end
02430         end += length
02431         if python3:
02432           val1.link_name = str[start:end].decode('utf-8')
02433         else:
02434           val1.link_name = str[start:end]
02435         _v158 = val1.target_point_offset
02436         _x = _v158
02437         start = end
02438         end += 24
02439         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
02440         _v159 = val1.position
02441         _x = _v159
02442         start = end
02443         end += 24
02444         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
02445         _v160 = val1.constraint_region_shape
02446         start = end
02447         end += 1
02448         (_v160.type,) = _struct_b.unpack(str[start:end])
02449         start = end
02450         end += 4
02451         (length,) = _struct_I.unpack(str[start:end])
02452         pattern = '<%sd'%length
02453         start = end
02454         end += struct.calcsize(pattern)
02455         _v160.dimensions = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
02456         start = end
02457         end += 4
02458         (length,) = _struct_I.unpack(str[start:end])
02459         pattern = '<%si'%length
02460         start = end
02461         end += struct.calcsize(pattern)
02462         _v160.triangles = numpy.frombuffer(str[start:end], dtype=numpy.int32, count=length)
02463         start = end
02464         end += 4
02465         (length,) = _struct_I.unpack(str[start:end])
02466         _v160.vertices = []
02467         for i in range(0, length):
02468           val3 = geometry_msgs.msg.Point()
02469           _x = val3
02470           start = end
02471           end += 24
02472           (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
02473           _v160.vertices.append(val3)
02474         _v161 = val1.constraint_region_orientation
02475         _x = _v161
02476         start = end
02477         end += 32
02478         (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
02479         start = end
02480         end += 8
02481         (val1.weight,) = _struct_d.unpack(str[start:end])
02482         self.result.arm_poses.path_constraints.position_constraints.append(val1)
02483       start = end
02484       end += 4
02485       (length,) = _struct_I.unpack(str[start:end])
02486       self.result.arm_poses.path_constraints.orientation_constraints = []
02487       for i in range(0, length):
02488         val1 = arm_navigation_msgs.msg.OrientationConstraint()
02489         _v162 = val1.header
02490         start = end
02491         end += 4
02492         (_v162.seq,) = _struct_I.unpack(str[start:end])
02493         _v163 = _v162.stamp
02494         _x = _v163
02495         start = end
02496         end += 8
02497         (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
02498         start = end
02499         end += 4
02500         (length,) = _struct_I.unpack(str[start:end])
02501         start = end
02502         end += length
02503         if python3:
02504           _v162.frame_id = str[start:end].decode('utf-8')
02505         else:
02506           _v162.frame_id = str[start:end]
02507         start = end
02508         end += 4
02509         (length,) = _struct_I.unpack(str[start:end])
02510         start = end
02511         end += length
02512         if python3:
02513           val1.link_name = str[start:end].decode('utf-8')
02514         else:
02515           val1.link_name = str[start:end]
02516         start = end
02517         end += 4
02518         (val1.type,) = _struct_i.unpack(str[start:end])
02519         _v164 = val1.orientation
02520         _x = _v164
02521         start = end
02522         end += 32
02523         (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
02524         _x = val1
02525         start = end
02526         end += 32
02527         (_x.absolute_roll_tolerance, _x.absolute_pitch_tolerance, _x.absolute_yaw_tolerance, _x.weight,) = _struct_4d.unpack(str[start:end])
02528         self.result.arm_poses.path_constraints.orientation_constraints.append(val1)
02529       start = end
02530       end += 4
02531       (length,) = _struct_I.unpack(str[start:end])
02532       self.result.arm_poses.path_constraints.visibility_constraints = []
02533       for i in range(0, length):
02534         val1 = arm_navigation_msgs.msg.VisibilityConstraint()
02535         _v165 = val1.header
02536         start = end
02537         end += 4
02538         (_v165.seq,) = _struct_I.unpack(str[start:end])
02539         _v166 = _v165.stamp
02540         _x = _v166
02541         start = end
02542         end += 8
02543         (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
02544         start = end
02545         end += 4
02546         (length,) = _struct_I.unpack(str[start:end])
02547         start = end
02548         end += length
02549         if python3:
02550           _v165.frame_id = str[start:end].decode('utf-8')
02551         else:
02552           _v165.frame_id = str[start:end]
02553         _v167 = val1.target
02554         _v168 = _v167.header
02555         start = end
02556         end += 4
02557         (_v168.seq,) = _struct_I.unpack(str[start:end])
02558         _v169 = _v168.stamp
02559         _x = _v169
02560         start = end
02561         end += 8
02562         (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
02563         start = end
02564         end += 4
02565         (length,) = _struct_I.unpack(str[start:end])
02566         start = end
02567         end += length
02568         if python3:
02569           _v168.frame_id = str[start:end].decode('utf-8')
02570         else:
02571           _v168.frame_id = str[start:end]
02572         _v170 = _v167.point
02573         _x = _v170
02574         start = end
02575         end += 24
02576         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
02577         _v171 = val1.sensor_pose
02578         _v172 = _v171.header
02579         start = end
02580         end += 4
02581         (_v172.seq,) = _struct_I.unpack(str[start:end])
02582         _v173 = _v172.stamp
02583         _x = _v173
02584         start = end
02585         end += 8
02586         (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
02587         start = end
02588         end += 4
02589         (length,) = _struct_I.unpack(str[start:end])
02590         start = end
02591         end += length
02592         if python3:
02593           _v172.frame_id = str[start:end].decode('utf-8')
02594         else:
02595           _v172.frame_id = str[start:end]
02596         _v174 = _v171.pose
02597         _v175 = _v174.position
02598         _x = _v175
02599         start = end
02600         end += 24
02601         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
02602         _v176 = _v174.orientation
02603         _x = _v176
02604         start = end
02605         end += 32
02606         (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
02607         start = end
02608         end += 8
02609         (val1.absolute_tolerance,) = _struct_d.unpack(str[start:end])
02610         self.result.arm_poses.path_constraints.visibility_constraints.append(val1)
02611       start = end
02612       end += 4
02613       (length,) = _struct_I.unpack(str[start:end])
02614       start = end
02615       end += length
02616       if python3:
02617         self.result.arm_poses.planner_id = str[start:end].decode('utf-8')
02618       else:
02619         self.result.arm_poses.planner_id = str[start:end]
02620       start = end
02621       end += 4
02622       (length,) = _struct_I.unpack(str[start:end])
02623       start = end
02624       end += length
02625       if python3:
02626         self.result.arm_poses.group_name = str[start:end].decode('utf-8')
02627       else:
02628         self.result.arm_poses.group_name = str[start:end]
02629       _x = self
02630       start = end
02631       end += 28
02632       (_x.result.arm_poses.num_planning_attempts, _x.result.arm_poses.allowed_planning_time.secs, _x.result.arm_poses.allowed_planning_time.nsecs, _x.result.arm_poses.expected_path_duration.secs, _x.result.arm_poses.expected_path_duration.nsecs, _x.result.arm_poses.expected_path_dt.secs, _x.result.arm_poses.expected_path_dt.nsecs,) = _struct_7i.unpack(str[start:end])
02633       start = end
02634       end += 4
02635       (length,) = _struct_I.unpack(str[start:end])
02636       start = end
02637       end += length
02638       if python3:
02639         self.result.planner_service_name = str[start:end].decode('utf-8')
02640       else:
02641         self.result.planner_service_name = str[start:end]
02642       start = end
02643       end += 4
02644       (length,) = _struct_I.unpack(str[start:end])
02645       start = end
02646       end += length
02647       if python3:
02648         self.result.state = str[start:end].decode('utf-8')
02649       else:
02650         self.result.state = str[start:end]
02651       return self
02652     except struct.error as e:
02653       raise genpy.DeserializationError(e) #most likely buffer underfill
02654 
02655 _struct_I = genpy.struct_I
02656 _struct_7db = struct.Struct("<7db")
02657 _struct_B = struct.Struct("<B")
02658 _struct_d = struct.Struct("<d")
02659 _struct_7i = struct.Struct("<7i")
02660 _struct_7d3I = struct.Struct("<7d3I")
02661 _struct_i = struct.Struct("<i")
02662 _struct_3I = struct.Struct("<3I")
02663 _struct_b = struct.Struct("<b")
02664 _struct_4d = struct.Struct("<4d")
02665 _struct_2I = struct.Struct("<2I")
02666 _struct_3d = struct.Struct("<3d")


iri_door_detector
Author(s): Jose Rodriguez
autogenerated on Fri Dec 6 2013 23:57:15