_PosePath.py

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"""autogenerated by genpy from iri_wam_cartesian_planning/PosePathRequest.msg. Do not edit."""
import sys
python3 = True if sys.hexversion > 0x03000000 else False
import genpy
import struct

import geometry_msgs.msg
import std_msgs.msg

class PosePathRequest(genpy.Message):
  _md5sum = "7fc2e660c267a5557c9f8ad5ce85acfd"
  _type = "iri_wam_cartesian_planning/PosePathRequest"
  _has_header = False #flag to mark the presence of a Header object
  _full_text = """geometry_msgs/PoseStamped init_pose
geometry_msgs/PoseStamped goal_pose
int16 states

================================================================================
MSG: geometry_msgs/PoseStamped
# A Pose with reference coordinate frame and timestamp
Header header
Pose pose

================================================================================
MSG: std_msgs/Header
# Standard metadata for higher-level stamped data types.
# This is generally used to communicate timestamped data 
# in a particular coordinate frame.
# 
# sequence ID: consecutively increasing ID 
uint32 seq
#Two-integer timestamp that is expressed as:
# * stamp.secs: seconds (stamp_secs) since epoch
# * stamp.nsecs: nanoseconds since stamp_secs
# time-handling sugar is provided by the client library
time stamp
#Frame this data is associated with
# 0: no frame
# 1: global frame
string frame_id

================================================================================
MSG: geometry_msgs/Pose
# A representation of pose in free space, composed of postion and orientation. 
Point position
Quaternion orientation

================================================================================
MSG: geometry_msgs/Point
# This contains the position of a point in free space
float64 x
float64 y
float64 z

================================================================================
MSG: geometry_msgs/Quaternion
# This represents an orientation in free space in quaternion form.

float64 x
float64 y
float64 z
float64 w

"""
  __slots__ = ['init_pose','goal_pose','states']
  _slot_types = ['geometry_msgs/PoseStamped','geometry_msgs/PoseStamped','int16']

  def __init__(self, *args, **kwds):
    """
    Constructor. Any message fields that are implicitly/explicitly
    set to None will be assigned a default value. The recommend
    use is keyword arguments as this is more robust to future message
    changes.  You cannot mix in-order arguments and keyword arguments.

    The available fields are:
       init_pose,goal_pose,states

    :param args: complete set of field values, in .msg order
    :param kwds: use keyword arguments corresponding to message field names
    to set specific fields.
    """
    if args or kwds:
      super(PosePathRequest, self).__init__(*args, **kwds)
      #message fields cannot be None, assign default values for those that are
      if self.init_pose is None:
        self.init_pose = geometry_msgs.msg.PoseStamped()
      if self.goal_pose is None:
        self.goal_pose = geometry_msgs.msg.PoseStamped()
      if self.states is None:
        self.states = 0
    else:
      self.init_pose = geometry_msgs.msg.PoseStamped()
      self.goal_pose = geometry_msgs.msg.PoseStamped()
      self.states = 0

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

  def serialize(self, buff):
    """
    serialize message into buffer
    :param buff: buffer, ``StringIO``
    """
    try:
      _x = self
      buff.write(_struct_3I.pack(_x.init_pose.header.seq, _x.init_pose.header.stamp.secs, _x.init_pose.header.stamp.nsecs))
      _x = self.init_pose.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_7d3I.pack(_x.init_pose.pose.position.x, _x.init_pose.pose.position.y, _x.init_pose.pose.position.z, _x.init_pose.pose.orientation.x, _x.init_pose.pose.orientation.y, _x.init_pose.pose.orientation.z, _x.init_pose.pose.orientation.w, _x.goal_pose.header.seq, _x.goal_pose.header.stamp.secs, _x.goal_pose.header.stamp.nsecs))
      _x = self.goal_pose.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_7dh.pack(_x.goal_pose.pose.position.x, _x.goal_pose.pose.position.y, _x.goal_pose.pose.position.z, _x.goal_pose.pose.orientation.x, _x.goal_pose.pose.orientation.y, _x.goal_pose.pose.orientation.z, _x.goal_pose.pose.orientation.w, _x.states))
    except struct.error as se: self._check_types(se)
    except TypeError as te: self._check_types(te)

  def deserialize(self, str):
    """
    unpack serialized message in str into this message instance
    :param str: byte array of serialized message, ``str``
    """
    try:
      if self.init_pose is None:
        self.init_pose = geometry_msgs.msg.PoseStamped()
      if self.goal_pose is None:
        self.goal_pose = geometry_msgs.msg.PoseStamped()
      end = 0
      _x = self
      start = end
      end += 12
      (_x.init_pose.header.seq, _x.init_pose.header.stamp.secs, _x.init_pose.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.init_pose.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.init_pose.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 68
      (_x.init_pose.pose.position.x, _x.init_pose.pose.position.y, _x.init_pose.pose.position.z, _x.init_pose.pose.orientation.x, _x.init_pose.pose.orientation.y, _x.init_pose.pose.orientation.z, _x.init_pose.pose.orientation.w, _x.goal_pose.header.seq, _x.goal_pose.header.stamp.secs, _x.goal_pose.header.stamp.nsecs,) = _struct_7d3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.goal_pose.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.goal_pose.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 58
      (_x.goal_pose.pose.position.x, _x.goal_pose.pose.position.y, _x.goal_pose.pose.position.z, _x.goal_pose.pose.orientation.x, _x.goal_pose.pose.orientation.y, _x.goal_pose.pose.orientation.z, _x.goal_pose.pose.orientation.w, _x.states,) = _struct_7dh.unpack(str[start:end])
      return self
    except struct.error as e:
      raise genpy.DeserializationError(e) #most likely buffer underfill


  def serialize_numpy(self, buff, numpy):
    """
    serialize message with numpy array types into buffer
    :param buff: buffer, ``StringIO``
    :param numpy: numpy python module
    """
    try:
      _x = self
      buff.write(_struct_3I.pack(_x.init_pose.header.seq, _x.init_pose.header.stamp.secs, _x.init_pose.header.stamp.nsecs))
      _x = self.init_pose.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_7d3I.pack(_x.init_pose.pose.position.x, _x.init_pose.pose.position.y, _x.init_pose.pose.position.z, _x.init_pose.pose.orientation.x, _x.init_pose.pose.orientation.y, _x.init_pose.pose.orientation.z, _x.init_pose.pose.orientation.w, _x.goal_pose.header.seq, _x.goal_pose.header.stamp.secs, _x.goal_pose.header.stamp.nsecs))
      _x = self.goal_pose.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_7dh.pack(_x.goal_pose.pose.position.x, _x.goal_pose.pose.position.y, _x.goal_pose.pose.position.z, _x.goal_pose.pose.orientation.x, _x.goal_pose.pose.orientation.y, _x.goal_pose.pose.orientation.z, _x.goal_pose.pose.orientation.w, _x.states))
    except struct.error as se: self._check_types(se)
    except TypeError as te: self._check_types(te)

  def deserialize_numpy(self, str, numpy):
    """
    unpack serialized message in str into this message instance using numpy for array types
    :param str: byte array of serialized message, ``str``
    :param numpy: numpy python module
    """
    try:
      if self.init_pose is None:
        self.init_pose = geometry_msgs.msg.PoseStamped()
      if self.goal_pose is None:
        self.goal_pose = geometry_msgs.msg.PoseStamped()
      end = 0
      _x = self
      start = end
      end += 12
      (_x.init_pose.header.seq, _x.init_pose.header.stamp.secs, _x.init_pose.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.init_pose.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.init_pose.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 68
      (_x.init_pose.pose.position.x, _x.init_pose.pose.position.y, _x.init_pose.pose.position.z, _x.init_pose.pose.orientation.x, _x.init_pose.pose.orientation.y, _x.init_pose.pose.orientation.z, _x.init_pose.pose.orientation.w, _x.goal_pose.header.seq, _x.goal_pose.header.stamp.secs, _x.goal_pose.header.stamp.nsecs,) = _struct_7d3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.goal_pose.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.goal_pose.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 58
      (_x.goal_pose.pose.position.x, _x.goal_pose.pose.position.y, _x.goal_pose.pose.position.z, _x.goal_pose.pose.orientation.x, _x.goal_pose.pose.orientation.y, _x.goal_pose.pose.orientation.z, _x.goal_pose.pose.orientation.w, _x.states,) = _struct_7dh.unpack(str[start:end])
      return self
    except struct.error as e:
      raise genpy.DeserializationError(e) #most likely buffer underfill

_struct_I = genpy.struct_I
_struct_7dh = struct.Struct("<7dh")
_struct_3I = struct.Struct("<3I")
_struct_7d3I = struct.Struct("<7d3I")
"""autogenerated by genpy from iri_wam_cartesian_planning/PosePathResponse.msg. Do not edit."""
import sys
python3 = True if sys.hexversion > 0x03000000 else False
import genpy
import struct

import geometry_msgs.msg
import std_msgs.msg

class PosePathResponse(genpy.Message):
  _md5sum = "691d0e2a78c35a9fa9032d57f54e553a"
  _type = "iri_wam_cartesian_planning/PosePathResponse"
  _has_header = False #flag to mark the presence of a Header object
  _full_text = """geometry_msgs/PoseStamped[] poses_solution
bool solution_found


================================================================================
MSG: geometry_msgs/PoseStamped
# A Pose with reference coordinate frame and timestamp
Header header
Pose pose

================================================================================
MSG: std_msgs/Header
# Standard metadata for higher-level stamped data types.
# This is generally used to communicate timestamped data 
# in a particular coordinate frame.
# 
# sequence ID: consecutively increasing ID 
uint32 seq
#Two-integer timestamp that is expressed as:
# * stamp.secs: seconds (stamp_secs) since epoch
# * stamp.nsecs: nanoseconds since stamp_secs
# time-handling sugar is provided by the client library
time stamp
#Frame this data is associated with
# 0: no frame
# 1: global frame
string frame_id

================================================================================
MSG: geometry_msgs/Pose
# A representation of pose in free space, composed of postion and orientation. 
Point position
Quaternion orientation

================================================================================
MSG: geometry_msgs/Point
# This contains the position of a point in free space
float64 x
float64 y
float64 z

================================================================================
MSG: geometry_msgs/Quaternion
# This represents an orientation in free space in quaternion form.

float64 x
float64 y
float64 z
float64 w

"""
  __slots__ = ['poses_solution','solution_found']
  _slot_types = ['geometry_msgs/PoseStamped[]','bool']

  def __init__(self, *args, **kwds):
    """
    Constructor. Any message fields that are implicitly/explicitly
    set to None will be assigned a default value. The recommend
    use is keyword arguments as this is more robust to future message
    changes.  You cannot mix in-order arguments and keyword arguments.

    The available fields are:
       poses_solution,solution_found

    :param args: complete set of field values, in .msg order
    :param kwds: use keyword arguments corresponding to message field names
    to set specific fields.
    """
    if args or kwds:
      super(PosePathResponse, self).__init__(*args, **kwds)
      #message fields cannot be None, assign default values for those that are
      if self.poses_solution is None:
        self.poses_solution = []
      if self.solution_found is None:
        self.solution_found = False
    else:
      self.poses_solution = []
      self.solution_found = False

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

  def serialize(self, buff):
    """
    serialize message into buffer
    :param buff: buffer, ``StringIO``
    """
    try:
      length = len(self.poses_solution)
      buff.write(_struct_I.pack(length))
      for val1 in self.poses_solution:
        _v1 = val1.header
        buff.write(_struct_I.pack(_v1.seq))
        _v2 = _v1.stamp
        _x = _v2
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v1.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _v3 = val1.pose
        _v4 = _v3.position
        _x = _v4
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v5 = _v3.orientation
        _x = _v5
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
      buff.write(_struct_B.pack(self.solution_found))
    except struct.error as se: self._check_types(se)
    except TypeError as te: self._check_types(te)

  def deserialize(self, str):
    """
    unpack serialized message in str into this message instance
    :param str: byte array of serialized message, ``str``
    """
    try:
      if self.poses_solution is None:
        self.poses_solution = None
      end = 0
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.poses_solution = []
      for i in range(0, length):
        val1 = geometry_msgs.msg.PoseStamped()
        _v6 = val1.header
        start = end
        end += 4
        (_v6.seq,) = _struct_I.unpack(str[start:end])
        _v7 = _v6.stamp
        _x = _v7
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v6.frame_id = str[start:end].decode('utf-8')
        else:
          _v6.frame_id = str[start:end]
        _v8 = val1.pose
        _v9 = _v8.position
        _x = _v9
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v10 = _v8.orientation
        _x = _v10
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        self.poses_solution.append(val1)
      start = end
      end += 1
      (self.solution_found,) = _struct_B.unpack(str[start:end])
      self.solution_found = bool(self.solution_found)
      return self
    except struct.error as e:
      raise genpy.DeserializationError(e) #most likely buffer underfill


  def serialize_numpy(self, buff, numpy):
    """
    serialize message with numpy array types into buffer
    :param buff: buffer, ``StringIO``
    :param numpy: numpy python module
    """
    try:
      length = len(self.poses_solution)
      buff.write(_struct_I.pack(length))
      for val1 in self.poses_solution:
        _v11 = val1.header
        buff.write(_struct_I.pack(_v11.seq))
        _v12 = _v11.stamp
        _x = _v12
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v11.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _v13 = val1.pose
        _v14 = _v13.position
        _x = _v14
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v15 = _v13.orientation
        _x = _v15
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
      buff.write(_struct_B.pack(self.solution_found))
    except struct.error as se: self._check_types(se)
    except TypeError as te: self._check_types(te)

  def deserialize_numpy(self, str, numpy):
    """
    unpack serialized message in str into this message instance using numpy for array types
    :param str: byte array of serialized message, ``str``
    :param numpy: numpy python module
    """
    try:
      if self.poses_solution is None:
        self.poses_solution = None
      end = 0
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.poses_solution = []
      for i in range(0, length):
        val1 = geometry_msgs.msg.PoseStamped()
        _v16 = val1.header
        start = end
        end += 4
        (_v16.seq,) = _struct_I.unpack(str[start:end])
        _v17 = _v16.stamp
        _x = _v17
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v16.frame_id = str[start:end].decode('utf-8')
        else:
          _v16.frame_id = str[start:end]
        _v18 = val1.pose
        _v19 = _v18.position
        _x = _v19
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v20 = _v18.orientation
        _x = _v20
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        self.poses_solution.append(val1)
      start = end
      end += 1
      (self.solution_found,) = _struct_B.unpack(str[start:end])
      self.solution_found = bool(self.solution_found)
      return self
    except struct.error as e:
      raise genpy.DeserializationError(e) #most likely buffer underfill

_struct_I = genpy.struct_I
_struct_4d = struct.Struct("<4d")
_struct_B = struct.Struct("<B")
_struct_2I = struct.Struct("<2I")
_struct_3d = struct.Struct("<3d")
class PosePath(object):
  _type          = 'iri_wam_cartesian_planning/PosePath'
  _md5sum = '0f13053a3ebe7ed8e55e72734eb56e6b'
  _request_class  = PosePathRequest
  _response_class = PosePathResponse