_BaseOdometryState.py
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00001 """autogenerated by genpy from pr2_mechanism_controllers/BaseOdometryState.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 geometry_msgs.msg
00008 
00009 class BaseOdometryState(genpy.Message):
00010   _md5sum = "8a483e137ebc37abafa4c26549091dd6"
00011   _type = "pr2_mechanism_controllers/BaseOdometryState"
00012   _has_header = False #flag to mark the presence of a Header object
00013   _full_text = """geometry_msgs/Twist velocity
00014 string[] wheel_link_names
00015 float64[] drive_constraint_errors
00016 float64[] longitudinal_slip_constraint_errors
00017 ================================================================================
00018 MSG: geometry_msgs/Twist
00019 # This expresses velocity in free space broken into it's linear and angular parts. 
00020 Vector3  linear
00021 Vector3  angular
00022 
00023 ================================================================================
00024 MSG: geometry_msgs/Vector3
00025 # This represents a vector in free space. 
00026 
00027 float64 x
00028 float64 y
00029 float64 z
00030 """
00031   __slots__ = ['velocity','wheel_link_names','drive_constraint_errors','longitudinal_slip_constraint_errors']
00032   _slot_types = ['geometry_msgs/Twist','string[]','float64[]','float64[]']
00033 
00034   def __init__(self, *args, **kwds):
00035     """
00036     Constructor. Any message fields that are implicitly/explicitly
00037     set to None will be assigned a default value. The recommend
00038     use is keyword arguments as this is more robust to future message
00039     changes.  You cannot mix in-order arguments and keyword arguments.
00040 
00041     The available fields are:
00042        velocity,wheel_link_names,drive_constraint_errors,longitudinal_slip_constraint_errors
00043 
00044     :param args: complete set of field values, in .msg order
00045     :param kwds: use keyword arguments corresponding to message field names
00046     to set specific fields.
00047     """
00048     if args or kwds:
00049       super(BaseOdometryState, self).__init__(*args, **kwds)
00050       #message fields cannot be None, assign default values for those that are
00051       if self.velocity is None:
00052         self.velocity = geometry_msgs.msg.Twist()
00053       if self.wheel_link_names is None:
00054         self.wheel_link_names = []
00055       if self.drive_constraint_errors is None:
00056         self.drive_constraint_errors = []
00057       if self.longitudinal_slip_constraint_errors is None:
00058         self.longitudinal_slip_constraint_errors = []
00059     else:
00060       self.velocity = geometry_msgs.msg.Twist()
00061       self.wheel_link_names = []
00062       self.drive_constraint_errors = []
00063       self.longitudinal_slip_constraint_errors = []
00064 
00065   def _get_types(self):
00066     """
00067     internal API method
00068     """
00069     return self._slot_types
00070 
00071   def serialize(self, buff):
00072     """
00073     serialize message into buffer
00074     :param buff: buffer, ``StringIO``
00075     """
00076     try:
00077       _x = self
00078       buff.write(_struct_6d.pack(_x.velocity.linear.x, _x.velocity.linear.y, _x.velocity.linear.z, _x.velocity.angular.x, _x.velocity.angular.y, _x.velocity.angular.z))
00079       length = len(self.wheel_link_names)
00080       buff.write(_struct_I.pack(length))
00081       for val1 in self.wheel_link_names:
00082         length = len(val1)
00083         if python3 or type(val1) == unicode:
00084           val1 = val1.encode('utf-8')
00085           length = len(val1)
00086         buff.write(struct.pack('<I%ss'%length, length, val1))
00087       length = len(self.drive_constraint_errors)
00088       buff.write(_struct_I.pack(length))
00089       pattern = '<%sd'%length
00090       buff.write(struct.pack(pattern, *self.drive_constraint_errors))
00091       length = len(self.longitudinal_slip_constraint_errors)
00092       buff.write(_struct_I.pack(length))
00093       pattern = '<%sd'%length
00094       buff.write(struct.pack(pattern, *self.longitudinal_slip_constraint_errors))
00095     except struct.error as se: self._check_types(se)
00096     except TypeError as te: self._check_types(te)
00097 
00098   def deserialize(self, str):
00099     """
00100     unpack serialized message in str into this message instance
00101     :param str: byte array of serialized message, ``str``
00102     """
00103     try:
00104       if self.velocity is None:
00105         self.velocity = geometry_msgs.msg.Twist()
00106       end = 0
00107       _x = self
00108       start = end
00109       end += 48
00110       (_x.velocity.linear.x, _x.velocity.linear.y, _x.velocity.linear.z, _x.velocity.angular.x, _x.velocity.angular.y, _x.velocity.angular.z,) = _struct_6d.unpack(str[start:end])
00111       start = end
00112       end += 4
00113       (length,) = _struct_I.unpack(str[start:end])
00114       self.wheel_link_names = []
00115       for i in range(0, length):
00116         start = end
00117         end += 4
00118         (length,) = _struct_I.unpack(str[start:end])
00119         start = end
00120         end += length
00121         if python3:
00122           val1 = str[start:end].decode('utf-8')
00123         else:
00124           val1 = str[start:end]
00125         self.wheel_link_names.append(val1)
00126       start = end
00127       end += 4
00128       (length,) = _struct_I.unpack(str[start:end])
00129       pattern = '<%sd'%length
00130       start = end
00131       end += struct.calcsize(pattern)
00132       self.drive_constraint_errors = struct.unpack(pattern, str[start:end])
00133       start = end
00134       end += 4
00135       (length,) = _struct_I.unpack(str[start:end])
00136       pattern = '<%sd'%length
00137       start = end
00138       end += struct.calcsize(pattern)
00139       self.longitudinal_slip_constraint_errors = struct.unpack(pattern, str[start:end])
00140       return self
00141     except struct.error as e:
00142       raise genpy.DeserializationError(e) #most likely buffer underfill
00143 
00144 
00145   def serialize_numpy(self, buff, numpy):
00146     """
00147     serialize message with numpy array types into buffer
00148     :param buff: buffer, ``StringIO``
00149     :param numpy: numpy python module
00150     """
00151     try:
00152       _x = self
00153       buff.write(_struct_6d.pack(_x.velocity.linear.x, _x.velocity.linear.y, _x.velocity.linear.z, _x.velocity.angular.x, _x.velocity.angular.y, _x.velocity.angular.z))
00154       length = len(self.wheel_link_names)
00155       buff.write(_struct_I.pack(length))
00156       for val1 in self.wheel_link_names:
00157         length = len(val1)
00158         if python3 or type(val1) == unicode:
00159           val1 = val1.encode('utf-8')
00160           length = len(val1)
00161         buff.write(struct.pack('<I%ss'%length, length, val1))
00162       length = len(self.drive_constraint_errors)
00163       buff.write(_struct_I.pack(length))
00164       pattern = '<%sd'%length
00165       buff.write(self.drive_constraint_errors.tostring())
00166       length = len(self.longitudinal_slip_constraint_errors)
00167       buff.write(_struct_I.pack(length))
00168       pattern = '<%sd'%length
00169       buff.write(self.longitudinal_slip_constraint_errors.tostring())
00170     except struct.error as se: self._check_types(se)
00171     except TypeError as te: self._check_types(te)
00172 
00173   def deserialize_numpy(self, str, numpy):
00174     """
00175     unpack serialized message in str into this message instance using numpy for array types
00176     :param str: byte array of serialized message, ``str``
00177     :param numpy: numpy python module
00178     """
00179     try:
00180       if self.velocity is None:
00181         self.velocity = geometry_msgs.msg.Twist()
00182       end = 0
00183       _x = self
00184       start = end
00185       end += 48
00186       (_x.velocity.linear.x, _x.velocity.linear.y, _x.velocity.linear.z, _x.velocity.angular.x, _x.velocity.angular.y, _x.velocity.angular.z,) = _struct_6d.unpack(str[start:end])
00187       start = end
00188       end += 4
00189       (length,) = _struct_I.unpack(str[start:end])
00190       self.wheel_link_names = []
00191       for i in range(0, length):
00192         start = end
00193         end += 4
00194         (length,) = _struct_I.unpack(str[start:end])
00195         start = end
00196         end += length
00197         if python3:
00198           val1 = str[start:end].decode('utf-8')
00199         else:
00200           val1 = str[start:end]
00201         self.wheel_link_names.append(val1)
00202       start = end
00203       end += 4
00204       (length,) = _struct_I.unpack(str[start:end])
00205       pattern = '<%sd'%length
00206       start = end
00207       end += struct.calcsize(pattern)
00208       self.drive_constraint_errors = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00209       start = end
00210       end += 4
00211       (length,) = _struct_I.unpack(str[start:end])
00212       pattern = '<%sd'%length
00213       start = end
00214       end += struct.calcsize(pattern)
00215       self.longitudinal_slip_constraint_errors = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00216       return self
00217     except struct.error as e:
00218       raise genpy.DeserializationError(e) #most likely buffer underfill
00219 
00220 _struct_I = genpy.struct_I
00221 _struct_6d = struct.Struct("<6d")


pr2_mechanism_controllers
Author(s): Sachin Chita, John Hsu, Melonee Wise
autogenerated on Fri Jan 3 2014 11:41:46