_robot_sensorgetdata.py
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00001 """autogenerated by genpy from openraveros/robot_sensorgetdataRequest.msg. Do not edit."""
00002 import sys
00003 python3 = True if sys.hexversion > 0x03000000 else False
00004 import genpy
00005 import struct
00006 
00007 
00008 class robot_sensorgetdataRequest(genpy.Message):
00009   _md5sum = "16c6c6e588b27fa8e6f4aced22a05d49"
00010   _type = "openraveros/robot_sensorgetdataRequest"
00011   _has_header = False #flag to mark the presence of a Header object
00012   _full_text = """
00013 
00014 int32 robotid
00015 uint32 sensorindex
00016 
00017 """
00018   __slots__ = ['robotid','sensorindex']
00019   _slot_types = ['int32','uint32']
00020 
00021   def __init__(self, *args, **kwds):
00022     """
00023     Constructor. Any message fields that are implicitly/explicitly
00024     set to None will be assigned a default value. The recommend
00025     use is keyword arguments as this is more robust to future message
00026     changes.  You cannot mix in-order arguments and keyword arguments.
00027 
00028     The available fields are:
00029        robotid,sensorindex
00030 
00031     :param args: complete set of field values, in .msg order
00032     :param kwds: use keyword arguments corresponding to message field names
00033     to set specific fields.
00034     """
00035     if args or kwds:
00036       super(robot_sensorgetdataRequest, self).__init__(*args, **kwds)
00037       #message fields cannot be None, assign default values for those that are
00038       if self.robotid is None:
00039         self.robotid = 0
00040       if self.sensorindex is None:
00041         self.sensorindex = 0
00042     else:
00043       self.robotid = 0
00044       self.sensorindex = 0
00045 
00046   def _get_types(self):
00047     """
00048     internal API method
00049     """
00050     return self._slot_types
00051 
00052   def serialize(self, buff):
00053     """
00054     serialize message into buffer
00055     :param buff: buffer, ``StringIO``
00056     """
00057     try:
00058       _x = self
00059       buff.write(_struct_iI.pack(_x.robotid, _x.sensorindex))
00060     except struct.error as se: self._check_types(se)
00061     except TypeError as te: self._check_types(te)
00062 
00063   def deserialize(self, str):
00064     """
00065     unpack serialized message in str into this message instance
00066     :param str: byte array of serialized message, ``str``
00067     """
00068     try:
00069       end = 0
00070       _x = self
00071       start = end
00072       end += 8
00073       (_x.robotid, _x.sensorindex,) = _struct_iI.unpack(str[start:end])
00074       return self
00075     except struct.error as e:
00076       raise genpy.DeserializationError(e) #most likely buffer underfill
00077 
00078 
00079   def serialize_numpy(self, buff, numpy):
00080     """
00081     serialize message with numpy array types into buffer
00082     :param buff: buffer, ``StringIO``
00083     :param numpy: numpy python module
00084     """
00085     try:
00086       _x = self
00087       buff.write(_struct_iI.pack(_x.robotid, _x.sensorindex))
00088     except struct.error as se: self._check_types(se)
00089     except TypeError as te: self._check_types(te)
00090 
00091   def deserialize_numpy(self, str, numpy):
00092     """
00093     unpack serialized message in str into this message instance using numpy for array types
00094     :param str: byte array of serialized message, ``str``
00095     :param numpy: numpy python module
00096     """
00097     try:
00098       end = 0
00099       _x = self
00100       start = end
00101       end += 8
00102       (_x.robotid, _x.sensorindex,) = _struct_iI.unpack(str[start:end])
00103       return self
00104     except struct.error as e:
00105       raise genpy.DeserializationError(e) #most likely buffer underfill
00106 
00107 _struct_I = genpy.struct_I
00108 _struct_iI = struct.Struct("<iI")
00109 """autogenerated by genpy from openraveros/robot_sensorgetdataResponse.msg. Do not edit."""
00110 import sys
00111 python3 = True if sys.hexversion > 0x03000000 else False
00112 import genpy
00113 import struct
00114 
00115 import std_msgs.msg
00116 import sensor_msgs.msg
00117 
00118 class robot_sensorgetdataResponse(genpy.Message):
00119   _md5sum = "64f6b8c9c89198aeabcca9b38d5e881a"
00120   _type = "openraveros/robot_sensorgetdataResponse"
00121   _has_header = False #flag to mark the presence of a Header object
00122   _full_text = """
00123 
00124 string type
00125 
00126 
00127 
00128 
00129 float32[] laserrange
00130 
00131 
00132 float32[] laserpos
00133 
00134 
00135 float32[] laserint
00136 
00137 
00138 sensor_msgs/CameraInfo caminfo
00139 sensor_msgs/Image camimage
00140 
00141 
00142 ================================================================================
00143 MSG: sensor_msgs/CameraInfo
00144 # This message defines meta information for a camera. It should be in a
00145 # camera namespace on topic "camera_info" and accompanied by up to five
00146 # image topics named:
00147 #
00148 #   image_raw - raw data from the camera driver, possibly Bayer encoded
00149 #   image            - monochrome, distorted
00150 #   image_color      - color, distorted
00151 #   image_rect       - monochrome, rectified
00152 #   image_rect_color - color, rectified
00153 #
00154 # The image_pipeline contains packages (image_proc, stereo_image_proc)
00155 # for producing the four processed image topics from image_raw and
00156 # camera_info. The meaning of the camera parameters are described in
00157 # detail at http://www.ros.org/wiki/image_pipeline/CameraInfo.
00158 #
00159 # The image_geometry package provides a user-friendly interface to
00160 # common operations using this meta information. If you want to, e.g.,
00161 # project a 3d point into image coordinates, we strongly recommend
00162 # using image_geometry.
00163 #
00164 # If the camera is uncalibrated, the matrices D, K, R, P should be left
00165 # zeroed out. In particular, clients may assume that K[0] == 0.0
00166 # indicates an uncalibrated camera.
00167 
00168 #######################################################################
00169 #                     Image acquisition info                          #
00170 #######################################################################
00171 
00172 # Time of image acquisition, camera coordinate frame ID
00173 Header header    # Header timestamp should be acquisition time of image
00174                  # Header frame_id should be optical frame of camera
00175                  # origin of frame should be optical center of camera
00176                  # +x should point to the right in the image
00177                  # +y should point down in the image
00178                  # +z should point into the plane of the image
00179 
00180 
00181 #######################################################################
00182 #                      Calibration Parameters                         #
00183 #######################################################################
00184 # These are fixed during camera calibration. Their values will be the #
00185 # same in all messages until the camera is recalibrated. Note that    #
00186 # self-calibrating systems may "recalibrate" frequently.              #
00187 #                                                                     #
00188 # The internal parameters can be used to warp a raw (distorted) image #
00189 # to:                                                                 #
00190 #   1. An undistorted image (requires D and K)                        #
00191 #   2. A rectified image (requires D, K, R)                           #
00192 # The projection matrix P projects 3D points into the rectified image.#
00193 #######################################################################
00194 
00195 # The image dimensions with which the camera was calibrated. Normally
00196 # this will be the full camera resolution in pixels.
00197 uint32 height
00198 uint32 width
00199 
00200 # The distortion model used. Supported models are listed in
00201 # sensor_msgs/distortion_models.h. For most cameras, "plumb_bob" - a
00202 # simple model of radial and tangential distortion - is sufficent.
00203 string distortion_model
00204 
00205 # The distortion parameters, size depending on the distortion model.
00206 # For "plumb_bob", the 5 parameters are: (k1, k2, t1, t2, k3).
00207 float64[] D
00208 
00209 # Intrinsic camera matrix for the raw (distorted) images.
00210 #     [fx  0 cx]
00211 # K = [ 0 fy cy]
00212 #     [ 0  0  1]
00213 # Projects 3D points in the camera coordinate frame to 2D pixel
00214 # coordinates using the focal lengths (fx, fy) and principal point
00215 # (cx, cy).
00216 float64[9]  K # 3x3 row-major matrix
00217 
00218 # Rectification matrix (stereo cameras only)
00219 # A rotation matrix aligning the camera coordinate system to the ideal
00220 # stereo image plane so that epipolar lines in both stereo images are
00221 # parallel.
00222 float64[9]  R # 3x3 row-major matrix
00223 
00224 # Projection/camera matrix
00225 #     [fx'  0  cx' Tx]
00226 # P = [ 0  fy' cy' Ty]
00227 #     [ 0   0   1   0]
00228 # By convention, this matrix specifies the intrinsic (camera) matrix
00229 #  of the processed (rectified) image. That is, the left 3x3 portion
00230 #  is the normal camera intrinsic matrix for the rectified image.
00231 # It projects 3D points in the camera coordinate frame to 2D pixel
00232 #  coordinates using the focal lengths (fx', fy') and principal point
00233 #  (cx', cy') - these may differ from the values in K.
00234 # For monocular cameras, Tx = Ty = 0. Normally, monocular cameras will
00235 #  also have R = the identity and P[1:3,1:3] = K.
00236 # For a stereo pair, the fourth column [Tx Ty 0]' is related to the
00237 #  position of the optical center of the second camera in the first
00238 #  camera's frame. We assume Tz = 0 so both cameras are in the same
00239 #  stereo image plane. The first camera always has Tx = Ty = 0. For
00240 #  the right (second) camera of a horizontal stereo pair, Ty = 0 and
00241 #  Tx = -fx' * B, where B is the baseline between the cameras.
00242 # Given a 3D point [X Y Z]', the projection (x, y) of the point onto
00243 #  the rectified image is given by:
00244 #  [u v w]' = P * [X Y Z 1]'
00245 #         x = u / w
00246 #         y = v / w
00247 #  This holds for both images of a stereo pair.
00248 float64[12] P # 3x4 row-major matrix
00249 
00250 
00251 #######################################################################
00252 #                      Operational Parameters                         #
00253 #######################################################################
00254 # These define the image region actually captured by the camera       #
00255 # driver. Although they affect the geometry of the output image, they #
00256 # may be changed freely without recalibrating the camera.             #
00257 #######################################################################
00258 
00259 # Binning refers here to any camera setting which combines rectangular
00260 #  neighborhoods of pixels into larger "super-pixels." It reduces the
00261 #  resolution of the output image to
00262 #  (width / binning_x) x (height / binning_y).
00263 # The default values binning_x = binning_y = 0 is considered the same
00264 #  as binning_x = binning_y = 1 (no subsampling).
00265 uint32 binning_x
00266 uint32 binning_y
00267 
00268 # Region of interest (subwindow of full camera resolution), given in
00269 #  full resolution (unbinned) image coordinates. A particular ROI
00270 #  always denotes the same window of pixels on the camera sensor,
00271 #  regardless of binning settings.
00272 # The default setting of roi (all values 0) is considered the same as
00273 #  full resolution (roi.width = width, roi.height = height).
00274 RegionOfInterest roi
00275 
00276 ================================================================================
00277 MSG: std_msgs/Header
00278 # Standard metadata for higher-level stamped data types.
00279 # This is generally used to communicate timestamped data 
00280 # in a particular coordinate frame.
00281 # 
00282 # sequence ID: consecutively increasing ID 
00283 uint32 seq
00284 #Two-integer timestamp that is expressed as:
00285 # * stamp.secs: seconds (stamp_secs) since epoch
00286 # * stamp.nsecs: nanoseconds since stamp_secs
00287 # time-handling sugar is provided by the client library
00288 time stamp
00289 #Frame this data is associated with
00290 # 0: no frame
00291 # 1: global frame
00292 string frame_id
00293 
00294 ================================================================================
00295 MSG: sensor_msgs/RegionOfInterest
00296 # This message is used to specify a region of interest within an image.
00297 #
00298 # When used to specify the ROI setting of the camera when the image was
00299 # taken, the height and width fields should either match the height and
00300 # width fields for the associated image; or height = width = 0
00301 # indicates that the full resolution image was captured.
00302 
00303 uint32 x_offset  # Leftmost pixel of the ROI
00304                  # (0 if the ROI includes the left edge of the image)
00305 uint32 y_offset  # Topmost pixel of the ROI
00306                  # (0 if the ROI includes the top edge of the image)
00307 uint32 height    # Height of ROI
00308 uint32 width     # Width of ROI
00309 
00310 # True if a distinct rectified ROI should be calculated from the "raw"
00311 # ROI in this message. Typically this should be False if the full image
00312 # is captured (ROI not used), and True if a subwindow is captured (ROI
00313 # used).
00314 bool do_rectify
00315 
00316 ================================================================================
00317 MSG: sensor_msgs/Image
00318 # This message contains an uncompressed image
00319 # (0, 0) is at top-left corner of image
00320 #
00321 
00322 Header header        # Header timestamp should be acquisition time of image
00323                      # Header frame_id should be optical frame of camera
00324                      # origin of frame should be optical center of cameara
00325                      # +x should point to the right in the image
00326                      # +y should point down in the image
00327                      # +z should point into to plane of the image
00328                      # If the frame_id here and the frame_id of the CameraInfo
00329                      # message associated with the image conflict
00330                      # the behavior is undefined
00331 
00332 uint32 height         # image height, that is, number of rows
00333 uint32 width          # image width, that is, number of columns
00334 
00335 # The legal values for encoding are in file src/image_encodings.cpp
00336 # If you want to standardize a new string format, join
00337 # ros-users@lists.sourceforge.net and send an email proposing a new encoding.
00338 
00339 string encoding       # Encoding of pixels -- channel meaning, ordering, size
00340                       # taken from the list of strings in src/image_encodings.cpp
00341 
00342 uint8 is_bigendian    # is this data bigendian?
00343 uint32 step           # Full row length in bytes
00344 uint8[] data          # actual matrix data, size is (step * rows)
00345 
00346 """
00347   __slots__ = ['type','laserrange','laserpos','laserint','caminfo','camimage']
00348   _slot_types = ['string','float32[]','float32[]','float32[]','sensor_msgs/CameraInfo','sensor_msgs/Image']
00349 
00350   def __init__(self, *args, **kwds):
00351     """
00352     Constructor. Any message fields that are implicitly/explicitly
00353     set to None will be assigned a default value. The recommend
00354     use is keyword arguments as this is more robust to future message
00355     changes.  You cannot mix in-order arguments and keyword arguments.
00356 
00357     The available fields are:
00358        type,laserrange,laserpos,laserint,caminfo,camimage
00359 
00360     :param args: complete set of field values, in .msg order
00361     :param kwds: use keyword arguments corresponding to message field names
00362     to set specific fields.
00363     """
00364     if args or kwds:
00365       super(robot_sensorgetdataResponse, self).__init__(*args, **kwds)
00366       #message fields cannot be None, assign default values for those that are
00367       if self.type is None:
00368         self.type = ''
00369       if self.laserrange is None:
00370         self.laserrange = []
00371       if self.laserpos is None:
00372         self.laserpos = []
00373       if self.laserint is None:
00374         self.laserint = []
00375       if self.caminfo is None:
00376         self.caminfo = sensor_msgs.msg.CameraInfo()
00377       if self.camimage is None:
00378         self.camimage = sensor_msgs.msg.Image()
00379     else:
00380       self.type = ''
00381       self.laserrange = []
00382       self.laserpos = []
00383       self.laserint = []
00384       self.caminfo = sensor_msgs.msg.CameraInfo()
00385       self.camimage = sensor_msgs.msg.Image()
00386 
00387   def _get_types(self):
00388     """
00389     internal API method
00390     """
00391     return self._slot_types
00392 
00393   def serialize(self, buff):
00394     """
00395     serialize message into buffer
00396     :param buff: buffer, ``StringIO``
00397     """
00398     try:
00399       _x = self.type
00400       length = len(_x)
00401       if python3 or type(_x) == unicode:
00402         _x = _x.encode('utf-8')
00403         length = len(_x)
00404       buff.write(struct.pack('<I%ss'%length, length, _x))
00405       length = len(self.laserrange)
00406       buff.write(_struct_I.pack(length))
00407       pattern = '<%sf'%length
00408       buff.write(struct.pack(pattern, *self.laserrange))
00409       length = len(self.laserpos)
00410       buff.write(_struct_I.pack(length))
00411       pattern = '<%sf'%length
00412       buff.write(struct.pack(pattern, *self.laserpos))
00413       length = len(self.laserint)
00414       buff.write(_struct_I.pack(length))
00415       pattern = '<%sf'%length
00416       buff.write(struct.pack(pattern, *self.laserint))
00417       _x = self
00418       buff.write(_struct_3I.pack(_x.caminfo.header.seq, _x.caminfo.header.stamp.secs, _x.caminfo.header.stamp.nsecs))
00419       _x = self.caminfo.header.frame_id
00420       length = len(_x)
00421       if python3 or type(_x) == unicode:
00422         _x = _x.encode('utf-8')
00423         length = len(_x)
00424       buff.write(struct.pack('<I%ss'%length, length, _x))
00425       _x = self
00426       buff.write(_struct_2I.pack(_x.caminfo.height, _x.caminfo.width))
00427       _x = self.caminfo.distortion_model
00428       length = len(_x)
00429       if python3 or type(_x) == unicode:
00430         _x = _x.encode('utf-8')
00431         length = len(_x)
00432       buff.write(struct.pack('<I%ss'%length, length, _x))
00433       length = len(self.caminfo.D)
00434       buff.write(_struct_I.pack(length))
00435       pattern = '<%sd'%length
00436       buff.write(struct.pack(pattern, *self.caminfo.D))
00437       buff.write(_struct_9d.pack(*self.caminfo.K))
00438       buff.write(_struct_9d.pack(*self.caminfo.R))
00439       buff.write(_struct_12d.pack(*self.caminfo.P))
00440       _x = self
00441       buff.write(_struct_6IB3I.pack(_x.caminfo.binning_x, _x.caminfo.binning_y, _x.caminfo.roi.x_offset, _x.caminfo.roi.y_offset, _x.caminfo.roi.height, _x.caminfo.roi.width, _x.caminfo.roi.do_rectify, _x.camimage.header.seq, _x.camimage.header.stamp.secs, _x.camimage.header.stamp.nsecs))
00442       _x = self.camimage.header.frame_id
00443       length = len(_x)
00444       if python3 or type(_x) == unicode:
00445         _x = _x.encode('utf-8')
00446         length = len(_x)
00447       buff.write(struct.pack('<I%ss'%length, length, _x))
00448       _x = self
00449       buff.write(_struct_2I.pack(_x.camimage.height, _x.camimage.width))
00450       _x = self.camimage.encoding
00451       length = len(_x)
00452       if python3 or type(_x) == unicode:
00453         _x = _x.encode('utf-8')
00454         length = len(_x)
00455       buff.write(struct.pack('<I%ss'%length, length, _x))
00456       _x = self
00457       buff.write(_struct_BI.pack(_x.camimage.is_bigendian, _x.camimage.step))
00458       _x = self.camimage.data
00459       length = len(_x)
00460       # - if encoded as a list instead, serialize as bytes instead of string
00461       if type(_x) in [list, tuple]:
00462         buff.write(struct.pack('<I%sB'%length, length, *_x))
00463       else:
00464         buff.write(struct.pack('<I%ss'%length, length, _x))
00465     except struct.error as se: self._check_types(se)
00466     except TypeError as te: self._check_types(te)
00467 
00468   def deserialize(self, str):
00469     """
00470     unpack serialized message in str into this message instance
00471     :param str: byte array of serialized message, ``str``
00472     """
00473     try:
00474       if self.caminfo is None:
00475         self.caminfo = sensor_msgs.msg.CameraInfo()
00476       if self.camimage is None:
00477         self.camimage = sensor_msgs.msg.Image()
00478       end = 0
00479       start = end
00480       end += 4
00481       (length,) = _struct_I.unpack(str[start:end])
00482       start = end
00483       end += length
00484       if python3:
00485         self.type = str[start:end].decode('utf-8')
00486       else:
00487         self.type = str[start:end]
00488       start = end
00489       end += 4
00490       (length,) = _struct_I.unpack(str[start:end])
00491       pattern = '<%sf'%length
00492       start = end
00493       end += struct.calcsize(pattern)
00494       self.laserrange = struct.unpack(pattern, str[start:end])
00495       start = end
00496       end += 4
00497       (length,) = _struct_I.unpack(str[start:end])
00498       pattern = '<%sf'%length
00499       start = end
00500       end += struct.calcsize(pattern)
00501       self.laserpos = struct.unpack(pattern, str[start:end])
00502       start = end
00503       end += 4
00504       (length,) = _struct_I.unpack(str[start:end])
00505       pattern = '<%sf'%length
00506       start = end
00507       end += struct.calcsize(pattern)
00508       self.laserint = struct.unpack(pattern, str[start:end])
00509       _x = self
00510       start = end
00511       end += 12
00512       (_x.caminfo.header.seq, _x.caminfo.header.stamp.secs, _x.caminfo.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00513       start = end
00514       end += 4
00515       (length,) = _struct_I.unpack(str[start:end])
00516       start = end
00517       end += length
00518       if python3:
00519         self.caminfo.header.frame_id = str[start:end].decode('utf-8')
00520       else:
00521         self.caminfo.header.frame_id = str[start:end]
00522       _x = self
00523       start = end
00524       end += 8
00525       (_x.caminfo.height, _x.caminfo.width,) = _struct_2I.unpack(str[start:end])
00526       start = end
00527       end += 4
00528       (length,) = _struct_I.unpack(str[start:end])
00529       start = end
00530       end += length
00531       if python3:
00532         self.caminfo.distortion_model = str[start:end].decode('utf-8')
00533       else:
00534         self.caminfo.distortion_model = str[start:end]
00535       start = end
00536       end += 4
00537       (length,) = _struct_I.unpack(str[start:end])
00538       pattern = '<%sd'%length
00539       start = end
00540       end += struct.calcsize(pattern)
00541       self.caminfo.D = struct.unpack(pattern, str[start:end])
00542       start = end
00543       end += 72
00544       self.caminfo.K = _struct_9d.unpack(str[start:end])
00545       start = end
00546       end += 72
00547       self.caminfo.R = _struct_9d.unpack(str[start:end])
00548       start = end
00549       end += 96
00550       self.caminfo.P = _struct_12d.unpack(str[start:end])
00551       _x = self
00552       start = end
00553       end += 37
00554       (_x.caminfo.binning_x, _x.caminfo.binning_y, _x.caminfo.roi.x_offset, _x.caminfo.roi.y_offset, _x.caminfo.roi.height, _x.caminfo.roi.width, _x.caminfo.roi.do_rectify, _x.camimage.header.seq, _x.camimage.header.stamp.secs, _x.camimage.header.stamp.nsecs,) = _struct_6IB3I.unpack(str[start:end])
00555       self.caminfo.roi.do_rectify = bool(self.caminfo.roi.do_rectify)
00556       start = end
00557       end += 4
00558       (length,) = _struct_I.unpack(str[start:end])
00559       start = end
00560       end += length
00561       if python3:
00562         self.camimage.header.frame_id = str[start:end].decode('utf-8')
00563       else:
00564         self.camimage.header.frame_id = str[start:end]
00565       _x = self
00566       start = end
00567       end += 8
00568       (_x.camimage.height, _x.camimage.width,) = _struct_2I.unpack(str[start:end])
00569       start = end
00570       end += 4
00571       (length,) = _struct_I.unpack(str[start:end])
00572       start = end
00573       end += length
00574       if python3:
00575         self.camimage.encoding = str[start:end].decode('utf-8')
00576       else:
00577         self.camimage.encoding = str[start:end]
00578       _x = self
00579       start = end
00580       end += 5
00581       (_x.camimage.is_bigendian, _x.camimage.step,) = _struct_BI.unpack(str[start:end])
00582       start = end
00583       end += 4
00584       (length,) = _struct_I.unpack(str[start:end])
00585       start = end
00586       end += length
00587       if python3:
00588         self.camimage.data = str[start:end].decode('utf-8')
00589       else:
00590         self.camimage.data = str[start:end]
00591       return self
00592     except struct.error as e:
00593       raise genpy.DeserializationError(e) #most likely buffer underfill
00594 
00595 
00596   def serialize_numpy(self, buff, numpy):
00597     """
00598     serialize message with numpy array types into buffer
00599     :param buff: buffer, ``StringIO``
00600     :param numpy: numpy python module
00601     """
00602     try:
00603       _x = self.type
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       length = len(self.laserrange)
00610       buff.write(_struct_I.pack(length))
00611       pattern = '<%sf'%length
00612       buff.write(self.laserrange.tostring())
00613       length = len(self.laserpos)
00614       buff.write(_struct_I.pack(length))
00615       pattern = '<%sf'%length
00616       buff.write(self.laserpos.tostring())
00617       length = len(self.laserint)
00618       buff.write(_struct_I.pack(length))
00619       pattern = '<%sf'%length
00620       buff.write(self.laserint.tostring())
00621       _x = self
00622       buff.write(_struct_3I.pack(_x.caminfo.header.seq, _x.caminfo.header.stamp.secs, _x.caminfo.header.stamp.nsecs))
00623       _x = self.caminfo.header.frame_id
00624       length = len(_x)
00625       if python3 or type(_x) == unicode:
00626         _x = _x.encode('utf-8')
00627         length = len(_x)
00628       buff.write(struct.pack('<I%ss'%length, length, _x))
00629       _x = self
00630       buff.write(_struct_2I.pack(_x.caminfo.height, _x.caminfo.width))
00631       _x = self.caminfo.distortion_model
00632       length = len(_x)
00633       if python3 or type(_x) == unicode:
00634         _x = _x.encode('utf-8')
00635         length = len(_x)
00636       buff.write(struct.pack('<I%ss'%length, length, _x))
00637       length = len(self.caminfo.D)
00638       buff.write(_struct_I.pack(length))
00639       pattern = '<%sd'%length
00640       buff.write(self.caminfo.D.tostring())
00641       buff.write(self.caminfo.K.tostring())
00642       buff.write(self.caminfo.R.tostring())
00643       buff.write(self.caminfo.P.tostring())
00644       _x = self
00645       buff.write(_struct_6IB3I.pack(_x.caminfo.binning_x, _x.caminfo.binning_y, _x.caminfo.roi.x_offset, _x.caminfo.roi.y_offset, _x.caminfo.roi.height, _x.caminfo.roi.width, _x.caminfo.roi.do_rectify, _x.camimage.header.seq, _x.camimage.header.stamp.secs, _x.camimage.header.stamp.nsecs))
00646       _x = self.camimage.header.frame_id
00647       length = len(_x)
00648       if python3 or type(_x) == unicode:
00649         _x = _x.encode('utf-8')
00650         length = len(_x)
00651       buff.write(struct.pack('<I%ss'%length, length, _x))
00652       _x = self
00653       buff.write(_struct_2I.pack(_x.camimage.height, _x.camimage.width))
00654       _x = self.camimage.encoding
00655       length = len(_x)
00656       if python3 or type(_x) == unicode:
00657         _x = _x.encode('utf-8')
00658         length = len(_x)
00659       buff.write(struct.pack('<I%ss'%length, length, _x))
00660       _x = self
00661       buff.write(_struct_BI.pack(_x.camimage.is_bigendian, _x.camimage.step))
00662       _x = self.camimage.data
00663       length = len(_x)
00664       # - if encoded as a list instead, serialize as bytes instead of string
00665       if type(_x) in [list, tuple]:
00666         buff.write(struct.pack('<I%sB'%length, length, *_x))
00667       else:
00668         buff.write(struct.pack('<I%ss'%length, length, _x))
00669     except struct.error as se: self._check_types(se)
00670     except TypeError as te: self._check_types(te)
00671 
00672   def deserialize_numpy(self, str, numpy):
00673     """
00674     unpack serialized message in str into this message instance using numpy for array types
00675     :param str: byte array of serialized message, ``str``
00676     :param numpy: numpy python module
00677     """
00678     try:
00679       if self.caminfo is None:
00680         self.caminfo = sensor_msgs.msg.CameraInfo()
00681       if self.camimage is None:
00682         self.camimage = sensor_msgs.msg.Image()
00683       end = 0
00684       start = end
00685       end += 4
00686       (length,) = _struct_I.unpack(str[start:end])
00687       start = end
00688       end += length
00689       if python3:
00690         self.type = str[start:end].decode('utf-8')
00691       else:
00692         self.type = str[start:end]
00693       start = end
00694       end += 4
00695       (length,) = _struct_I.unpack(str[start:end])
00696       pattern = '<%sf'%length
00697       start = end
00698       end += struct.calcsize(pattern)
00699       self.laserrange = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=length)
00700       start = end
00701       end += 4
00702       (length,) = _struct_I.unpack(str[start:end])
00703       pattern = '<%sf'%length
00704       start = end
00705       end += struct.calcsize(pattern)
00706       self.laserpos = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=length)
00707       start = end
00708       end += 4
00709       (length,) = _struct_I.unpack(str[start:end])
00710       pattern = '<%sf'%length
00711       start = end
00712       end += struct.calcsize(pattern)
00713       self.laserint = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=length)
00714       _x = self
00715       start = end
00716       end += 12
00717       (_x.caminfo.header.seq, _x.caminfo.header.stamp.secs, _x.caminfo.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00718       start = end
00719       end += 4
00720       (length,) = _struct_I.unpack(str[start:end])
00721       start = end
00722       end += length
00723       if python3:
00724         self.caminfo.header.frame_id = str[start:end].decode('utf-8')
00725       else:
00726         self.caminfo.header.frame_id = str[start:end]
00727       _x = self
00728       start = end
00729       end += 8
00730       (_x.caminfo.height, _x.caminfo.width,) = _struct_2I.unpack(str[start:end])
00731       start = end
00732       end += 4
00733       (length,) = _struct_I.unpack(str[start:end])
00734       start = end
00735       end += length
00736       if python3:
00737         self.caminfo.distortion_model = str[start:end].decode('utf-8')
00738       else:
00739         self.caminfo.distortion_model = str[start:end]
00740       start = end
00741       end += 4
00742       (length,) = _struct_I.unpack(str[start:end])
00743       pattern = '<%sd'%length
00744       start = end
00745       end += struct.calcsize(pattern)
00746       self.caminfo.D = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00747       start = end
00748       end += 72
00749       self.caminfo.K = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=9)
00750       start = end
00751       end += 72
00752       self.caminfo.R = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=9)
00753       start = end
00754       end += 96
00755       self.caminfo.P = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=12)
00756       _x = self
00757       start = end
00758       end += 37
00759       (_x.caminfo.binning_x, _x.caminfo.binning_y, _x.caminfo.roi.x_offset, _x.caminfo.roi.y_offset, _x.caminfo.roi.height, _x.caminfo.roi.width, _x.caminfo.roi.do_rectify, _x.camimage.header.seq, _x.camimage.header.stamp.secs, _x.camimage.header.stamp.nsecs,) = _struct_6IB3I.unpack(str[start:end])
00760       self.caminfo.roi.do_rectify = bool(self.caminfo.roi.do_rectify)
00761       start = end
00762       end += 4
00763       (length,) = _struct_I.unpack(str[start:end])
00764       start = end
00765       end += length
00766       if python3:
00767         self.camimage.header.frame_id = str[start:end].decode('utf-8')
00768       else:
00769         self.camimage.header.frame_id = str[start:end]
00770       _x = self
00771       start = end
00772       end += 8
00773       (_x.camimage.height, _x.camimage.width,) = _struct_2I.unpack(str[start:end])
00774       start = end
00775       end += 4
00776       (length,) = _struct_I.unpack(str[start:end])
00777       start = end
00778       end += length
00779       if python3:
00780         self.camimage.encoding = str[start:end].decode('utf-8')
00781       else:
00782         self.camimage.encoding = str[start:end]
00783       _x = self
00784       start = end
00785       end += 5
00786       (_x.camimage.is_bigendian, _x.camimage.step,) = _struct_BI.unpack(str[start:end])
00787       start = end
00788       end += 4
00789       (length,) = _struct_I.unpack(str[start:end])
00790       start = end
00791       end += length
00792       if python3:
00793         self.camimage.data = str[start:end].decode('utf-8')
00794       else:
00795         self.camimage.data = str[start:end]
00796       return self
00797     except struct.error as e:
00798       raise genpy.DeserializationError(e) #most likely buffer underfill
00799 
00800 _struct_I = genpy.struct_I
00801 _struct_6IB3I = struct.Struct("<6IB3I")
00802 _struct_12d = struct.Struct("<12d")
00803 _struct_BI = struct.Struct("<BI")
00804 _struct_9d = struct.Struct("<9d")
00805 _struct_3I = struct.Struct("<3I")
00806 _struct_2I = struct.Struct("<2I")
00807 class robot_sensorgetdata(object):
00808   _type          = 'openraveros/robot_sensorgetdata'
00809   _md5sum = 'aaa5981131035529f11bb57580150444'
00810   _request_class  = robot_sensorgetdataRequest
00811   _response_class = robot_sensorgetdataResponse
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openraveros
Author(s): Rosen Diankov (rosen.diankov@gmail.com)
autogenerated on Sat Mar 23 2013 22:15:39