_PoseCommand.py
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00001 """autogenerated by genpy from r2_msgs/PoseCommand.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 PoseCommand(genpy.Message):
00010   _md5sum = "325108abdcbe78370664839c919cbaa8"
00011   _type = "r2_msgs/PoseCommand"
00012   _has_header = False #flag to mark the presence of a Header object
00013   _full_text = """# A Pose with reference coordinate frame, chain definition, and command_id
00014 string commandId
00015 string refFrame
00016 geometry_msgs/Pose pose
00017 string baseFrame
00018 string toolFrame
00019 
00020 
00021 ================================================================================
00022 MSG: geometry_msgs/Pose
00023 # A representation of pose in free space, composed of postion and orientation. 
00024 Point position
00025 Quaternion orientation
00026 
00027 ================================================================================
00028 MSG: geometry_msgs/Point
00029 # This contains the position of a point in free space
00030 float64 x
00031 float64 y
00032 float64 z
00033 
00034 ================================================================================
00035 MSG: geometry_msgs/Quaternion
00036 # This represents an orientation in free space in quaternion form.
00037 
00038 float64 x
00039 float64 y
00040 float64 z
00041 float64 w
00042 
00043 """
00044   __slots__ = ['commandId','refFrame','pose','baseFrame','toolFrame']
00045   _slot_types = ['string','string','geometry_msgs/Pose','string','string']
00046 
00047   def __init__(self, *args, **kwds):
00048     """
00049     Constructor. Any message fields that are implicitly/explicitly
00050     set to None will be assigned a default value. The recommend
00051     use is keyword arguments as this is more robust to future message
00052     changes.  You cannot mix in-order arguments and keyword arguments.
00053 
00054     The available fields are:
00055        commandId,refFrame,pose,baseFrame,toolFrame
00056 
00057     :param args: complete set of field values, in .msg order
00058     :param kwds: use keyword arguments corresponding to message field names
00059     to set specific fields.
00060     """
00061     if args or kwds:
00062       super(PoseCommand, self).__init__(*args, **kwds)
00063       #message fields cannot be None, assign default values for those that are
00064       if self.commandId is None:
00065         self.commandId = ''
00066       if self.refFrame is None:
00067         self.refFrame = ''
00068       if self.pose is None:
00069         self.pose = geometry_msgs.msg.Pose()
00070       if self.baseFrame is None:
00071         self.baseFrame = ''
00072       if self.toolFrame is None:
00073         self.toolFrame = ''
00074     else:
00075       self.commandId = ''
00076       self.refFrame = ''
00077       self.pose = geometry_msgs.msg.Pose()
00078       self.baseFrame = ''
00079       self.toolFrame = ''
00080 
00081   def _get_types(self):
00082     """
00083     internal API method
00084     """
00085     return self._slot_types
00086 
00087   def serialize(self, buff):
00088     """
00089     serialize message into buffer
00090     :param buff: buffer, ``StringIO``
00091     """
00092     try:
00093       _x = self.commandId
00094       length = len(_x)
00095       if python3 or type(_x) == unicode:
00096         _x = _x.encode('utf-8')
00097         length = len(_x)
00098       buff.write(struct.pack('<I%ss'%length, length, _x))
00099       _x = self.refFrame
00100       length = len(_x)
00101       if python3 or type(_x) == unicode:
00102         _x = _x.encode('utf-8')
00103         length = len(_x)
00104       buff.write(struct.pack('<I%ss'%length, length, _x))
00105       _x = self
00106       buff.write(_struct_7d.pack(_x.pose.position.x, _x.pose.position.y, _x.pose.position.z, _x.pose.orientation.x, _x.pose.orientation.y, _x.pose.orientation.z, _x.pose.orientation.w))
00107       _x = self.baseFrame
00108       length = len(_x)
00109       if python3 or type(_x) == unicode:
00110         _x = _x.encode('utf-8')
00111         length = len(_x)
00112       buff.write(struct.pack('<I%ss'%length, length, _x))
00113       _x = self.toolFrame
00114       length = len(_x)
00115       if python3 or type(_x) == unicode:
00116         _x = _x.encode('utf-8')
00117         length = len(_x)
00118       buff.write(struct.pack('<I%ss'%length, length, _x))
00119     except struct.error as se: self._check_types(se)
00120     except TypeError as te: self._check_types(te)
00121 
00122   def deserialize(self, str):
00123     """
00124     unpack serialized message in str into this message instance
00125     :param str: byte array of serialized message, ``str``
00126     """
00127     try:
00128       if self.pose is None:
00129         self.pose = geometry_msgs.msg.Pose()
00130       end = 0
00131       start = end
00132       end += 4
00133       (length,) = _struct_I.unpack(str[start:end])
00134       start = end
00135       end += length
00136       if python3:
00137         self.commandId = str[start:end].decode('utf-8')
00138       else:
00139         self.commandId = str[start:end]
00140       start = end
00141       end += 4
00142       (length,) = _struct_I.unpack(str[start:end])
00143       start = end
00144       end += length
00145       if python3:
00146         self.refFrame = str[start:end].decode('utf-8')
00147       else:
00148         self.refFrame = str[start:end]
00149       _x = self
00150       start = end
00151       end += 56
00152       (_x.pose.position.x, _x.pose.position.y, _x.pose.position.z, _x.pose.orientation.x, _x.pose.orientation.y, _x.pose.orientation.z, _x.pose.orientation.w,) = _struct_7d.unpack(str[start:end])
00153       start = end
00154       end += 4
00155       (length,) = _struct_I.unpack(str[start:end])
00156       start = end
00157       end += length
00158       if python3:
00159         self.baseFrame = str[start:end].decode('utf-8')
00160       else:
00161         self.baseFrame = str[start:end]
00162       start = end
00163       end += 4
00164       (length,) = _struct_I.unpack(str[start:end])
00165       start = end
00166       end += length
00167       if python3:
00168         self.toolFrame = str[start:end].decode('utf-8')
00169       else:
00170         self.toolFrame = str[start:end]
00171       return self
00172     except struct.error as e:
00173       raise genpy.DeserializationError(e) #most likely buffer underfill
00174 
00175 
00176   def serialize_numpy(self, buff, numpy):
00177     """
00178     serialize message with numpy array types into buffer
00179     :param buff: buffer, ``StringIO``
00180     :param numpy: numpy python module
00181     """
00182     try:
00183       _x = self.commandId
00184       length = len(_x)
00185       if python3 or type(_x) == unicode:
00186         _x = _x.encode('utf-8')
00187         length = len(_x)
00188       buff.write(struct.pack('<I%ss'%length, length, _x))
00189       _x = self.refFrame
00190       length = len(_x)
00191       if python3 or type(_x) == unicode:
00192         _x = _x.encode('utf-8')
00193         length = len(_x)
00194       buff.write(struct.pack('<I%ss'%length, length, _x))
00195       _x = self
00196       buff.write(_struct_7d.pack(_x.pose.position.x, _x.pose.position.y, _x.pose.position.z, _x.pose.orientation.x, _x.pose.orientation.y, _x.pose.orientation.z, _x.pose.orientation.w))
00197       _x = self.baseFrame
00198       length = len(_x)
00199       if python3 or type(_x) == unicode:
00200         _x = _x.encode('utf-8')
00201         length = len(_x)
00202       buff.write(struct.pack('<I%ss'%length, length, _x))
00203       _x = self.toolFrame
00204       length = len(_x)
00205       if python3 or type(_x) == unicode:
00206         _x = _x.encode('utf-8')
00207         length = len(_x)
00208       buff.write(struct.pack('<I%ss'%length, length, _x))
00209     except struct.error as se: self._check_types(se)
00210     except TypeError as te: self._check_types(te)
00211 
00212   def deserialize_numpy(self, str, numpy):
00213     """
00214     unpack serialized message in str into this message instance using numpy for array types
00215     :param str: byte array of serialized message, ``str``
00216     :param numpy: numpy python module
00217     """
00218     try:
00219       if self.pose is None:
00220         self.pose = geometry_msgs.msg.Pose()
00221       end = 0
00222       start = end
00223       end += 4
00224       (length,) = _struct_I.unpack(str[start:end])
00225       start = end
00226       end += length
00227       if python3:
00228         self.commandId = str[start:end].decode('utf-8')
00229       else:
00230         self.commandId = str[start:end]
00231       start = end
00232       end += 4
00233       (length,) = _struct_I.unpack(str[start:end])
00234       start = end
00235       end += length
00236       if python3:
00237         self.refFrame = str[start:end].decode('utf-8')
00238       else:
00239         self.refFrame = str[start:end]
00240       _x = self
00241       start = end
00242       end += 56
00243       (_x.pose.position.x, _x.pose.position.y, _x.pose.position.z, _x.pose.orientation.x, _x.pose.orientation.y, _x.pose.orientation.z, _x.pose.orientation.w,) = _struct_7d.unpack(str[start:end])
00244       start = end
00245       end += 4
00246       (length,) = _struct_I.unpack(str[start:end])
00247       start = end
00248       end += length
00249       if python3:
00250         self.baseFrame = str[start:end].decode('utf-8')
00251       else:
00252         self.baseFrame = str[start:end]
00253       start = end
00254       end += 4
00255       (length,) = _struct_I.unpack(str[start:end])
00256       start = end
00257       end += length
00258       if python3:
00259         self.toolFrame = str[start:end].decode('utf-8')
00260       else:
00261         self.toolFrame = str[start:end]
00262       return self
00263     except struct.error as e:
00264       raise genpy.DeserializationError(e) #most likely buffer underfill
00265 
00266 _struct_I = genpy.struct_I
00267 _struct_7d = struct.Struct("<7d")


r2_msgs
Author(s): Paul Dinh
autogenerated on Fri Jan 3 2014 11:33:55