00001 """autogenerated by genpy from walk_msgs/GetPathRequest.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 walk_msgs.msg
00008 import geometry_msgs.msg
00009 import genpy
00010
00011 class GetPathRequest(genpy.Message):
00012 _md5sum = "9325cbcfc330e3e7667ffad5cb6d4c50"
00013 _type = "walk_msgs/GetPathRequest"
00014 _has_header = False
00015 _full_text = """geometry_msgs/Pose initial_left_foot_position
00016 geometry_msgs/Pose initial_right_foot_position
00017 geometry_msgs/Point initial_center_of_mass_position
00018
00019 geometry_msgs/Pose final_left_foot_position
00020 geometry_msgs/Pose final_right_foot_position
00021 geometry_msgs/Point final_center_of_mass_position
00022
00023 bool start_with_left_foot
00024
00025 walk_msgs/Footprint2d[] footprints
00026
00027 ================================================================================
00028 MSG: geometry_msgs/Pose
00029 # A representation of pose in free space, composed of postion and orientation.
00030 Point position
00031 Quaternion orientation
00032
00033 ================================================================================
00034 MSG: geometry_msgs/Point
00035 # This contains the position of a point in free space
00036 float64 x
00037 float64 y
00038 float64 z
00039
00040 ================================================================================
00041 MSG: geometry_msgs/Quaternion
00042 # This represents an orientation in free space in quaternion form.
00043
00044 float64 x
00045 float64 y
00046 float64 z
00047 float64 w
00048
00049 ================================================================================
00050 MSG: walk_msgs/Footprint2d
00051 time beginTime
00052 duration duration
00053 float64 x
00054 float64 y
00055 float64 theta
00056
00057 """
00058 __slots__ = ['initial_left_foot_position','initial_right_foot_position','initial_center_of_mass_position','final_left_foot_position','final_right_foot_position','final_center_of_mass_position','start_with_left_foot','footprints']
00059 _slot_types = ['geometry_msgs/Pose','geometry_msgs/Pose','geometry_msgs/Point','geometry_msgs/Pose','geometry_msgs/Pose','geometry_msgs/Point','bool','walk_msgs/Footprint2d[]']
00060
00061 def __init__(self, *args, **kwds):
00062 """
00063 Constructor. Any message fields that are implicitly/explicitly
00064 set to None will be assigned a default value. The recommend
00065 use is keyword arguments as this is more robust to future message
00066 changes. You cannot mix in-order arguments and keyword arguments.
00067
00068 The available fields are:
00069 initial_left_foot_position,initial_right_foot_position,initial_center_of_mass_position,final_left_foot_position,final_right_foot_position,final_center_of_mass_position,start_with_left_foot,footprints
00070
00071 :param args: complete set of field values, in .msg order
00072 :param kwds: use keyword arguments corresponding to message field names
00073 to set specific fields.
00074 """
00075 if args or kwds:
00076 super(GetPathRequest, self).__init__(*args, **kwds)
00077
00078 if self.initial_left_foot_position is None:
00079 self.initial_left_foot_position = geometry_msgs.msg.Pose()
00080 if self.initial_right_foot_position is None:
00081 self.initial_right_foot_position = geometry_msgs.msg.Pose()
00082 if self.initial_center_of_mass_position is None:
00083 self.initial_center_of_mass_position = geometry_msgs.msg.Point()
00084 if self.final_left_foot_position is None:
00085 self.final_left_foot_position = geometry_msgs.msg.Pose()
00086 if self.final_right_foot_position is None:
00087 self.final_right_foot_position = geometry_msgs.msg.Pose()
00088 if self.final_center_of_mass_position is None:
00089 self.final_center_of_mass_position = geometry_msgs.msg.Point()
00090 if self.start_with_left_foot is None:
00091 self.start_with_left_foot = False
00092 if self.footprints is None:
00093 self.footprints = []
00094 else:
00095 self.initial_left_foot_position = geometry_msgs.msg.Pose()
00096 self.initial_right_foot_position = geometry_msgs.msg.Pose()
00097 self.initial_center_of_mass_position = geometry_msgs.msg.Point()
00098 self.final_left_foot_position = geometry_msgs.msg.Pose()
00099 self.final_right_foot_position = geometry_msgs.msg.Pose()
00100 self.final_center_of_mass_position = geometry_msgs.msg.Point()
00101 self.start_with_left_foot = False
00102 self.footprints = []
00103
00104 def _get_types(self):
00105 """
00106 internal API method
00107 """
00108 return self._slot_types
00109
00110 def serialize(self, buff):
00111 """
00112 serialize message into buffer
00113 :param buff: buffer, ``StringIO``
00114 """
00115 try:
00116 _x = self
00117 buff.write(_struct_34dB.pack(_x.initial_left_foot_position.position.x, _x.initial_left_foot_position.position.y, _x.initial_left_foot_position.position.z, _x.initial_left_foot_position.orientation.x, _x.initial_left_foot_position.orientation.y, _x.initial_left_foot_position.orientation.z, _x.initial_left_foot_position.orientation.w, _x.initial_right_foot_position.position.x, _x.initial_right_foot_position.position.y, _x.initial_right_foot_position.position.z, _x.initial_right_foot_position.orientation.x, _x.initial_right_foot_position.orientation.y, _x.initial_right_foot_position.orientation.z, _x.initial_right_foot_position.orientation.w, _x.initial_center_of_mass_position.x, _x.initial_center_of_mass_position.y, _x.initial_center_of_mass_position.z, _x.final_left_foot_position.position.x, _x.final_left_foot_position.position.y, _x.final_left_foot_position.position.z, _x.final_left_foot_position.orientation.x, _x.final_left_foot_position.orientation.y, _x.final_left_foot_position.orientation.z, _x.final_left_foot_position.orientation.w, _x.final_right_foot_position.position.x, _x.final_right_foot_position.position.y, _x.final_right_foot_position.position.z, _x.final_right_foot_position.orientation.x, _x.final_right_foot_position.orientation.y, _x.final_right_foot_position.orientation.z, _x.final_right_foot_position.orientation.w, _x.final_center_of_mass_position.x, _x.final_center_of_mass_position.y, _x.final_center_of_mass_position.z, _x.start_with_left_foot))
00118 length = len(self.footprints)
00119 buff.write(_struct_I.pack(length))
00120 for val1 in self.footprints:
00121 _v1 = val1.beginTime
00122 _x = _v1
00123 buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00124 _v2 = val1.duration
00125 _x = _v2
00126 buff.write(_struct_2i.pack(_x.secs, _x.nsecs))
00127 _x = val1
00128 buff.write(_struct_3d.pack(_x.x, _x.y, _x.theta))
00129 except struct.error as se: self._check_types(se)
00130 except TypeError as te: self._check_types(te)
00131
00132 def deserialize(self, str):
00133 """
00134 unpack serialized message in str into this message instance
00135 :param str: byte array of serialized message, ``str``
00136 """
00137 try:
00138 if self.initial_left_foot_position is None:
00139 self.initial_left_foot_position = geometry_msgs.msg.Pose()
00140 if self.initial_right_foot_position is None:
00141 self.initial_right_foot_position = geometry_msgs.msg.Pose()
00142 if self.initial_center_of_mass_position is None:
00143 self.initial_center_of_mass_position = geometry_msgs.msg.Point()
00144 if self.final_left_foot_position is None:
00145 self.final_left_foot_position = geometry_msgs.msg.Pose()
00146 if self.final_right_foot_position is None:
00147 self.final_right_foot_position = geometry_msgs.msg.Pose()
00148 if self.final_center_of_mass_position is None:
00149 self.final_center_of_mass_position = geometry_msgs.msg.Point()
00150 if self.footprints is None:
00151 self.footprints = None
00152 end = 0
00153 _x = self
00154 start = end
00155 end += 273
00156 (_x.initial_left_foot_position.position.x, _x.initial_left_foot_position.position.y, _x.initial_left_foot_position.position.z, _x.initial_left_foot_position.orientation.x, _x.initial_left_foot_position.orientation.y, _x.initial_left_foot_position.orientation.z, _x.initial_left_foot_position.orientation.w, _x.initial_right_foot_position.position.x, _x.initial_right_foot_position.position.y, _x.initial_right_foot_position.position.z, _x.initial_right_foot_position.orientation.x, _x.initial_right_foot_position.orientation.y, _x.initial_right_foot_position.orientation.z, _x.initial_right_foot_position.orientation.w, _x.initial_center_of_mass_position.x, _x.initial_center_of_mass_position.y, _x.initial_center_of_mass_position.z, _x.final_left_foot_position.position.x, _x.final_left_foot_position.position.y, _x.final_left_foot_position.position.z, _x.final_left_foot_position.orientation.x, _x.final_left_foot_position.orientation.y, _x.final_left_foot_position.orientation.z, _x.final_left_foot_position.orientation.w, _x.final_right_foot_position.position.x, _x.final_right_foot_position.position.y, _x.final_right_foot_position.position.z, _x.final_right_foot_position.orientation.x, _x.final_right_foot_position.orientation.y, _x.final_right_foot_position.orientation.z, _x.final_right_foot_position.orientation.w, _x.final_center_of_mass_position.x, _x.final_center_of_mass_position.y, _x.final_center_of_mass_position.z, _x.start_with_left_foot,) = _struct_34dB.unpack(str[start:end])
00157 self.start_with_left_foot = bool(self.start_with_left_foot)
00158 start = end
00159 end += 4
00160 (length,) = _struct_I.unpack(str[start:end])
00161 self.footprints = []
00162 for i in range(0, length):
00163 val1 = walk_msgs.msg.Footprint2d()
00164 _v3 = val1.beginTime
00165 _x = _v3
00166 start = end
00167 end += 8
00168 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
00169 _v4 = val1.duration
00170 _x = _v4
00171 start = end
00172 end += 8
00173 (_x.secs, _x.nsecs,) = _struct_2i.unpack(str[start:end])
00174 _x = val1
00175 start = end
00176 end += 24
00177 (_x.x, _x.y, _x.theta,) = _struct_3d.unpack(str[start:end])
00178 self.footprints.append(val1)
00179 return self
00180 except struct.error as e:
00181 raise genpy.DeserializationError(e)
00182
00183
00184 def serialize_numpy(self, buff, numpy):
00185 """
00186 serialize message with numpy array types into buffer
00187 :param buff: buffer, ``StringIO``
00188 :param numpy: numpy python module
00189 """
00190 try:
00191 _x = self
00192 buff.write(_struct_34dB.pack(_x.initial_left_foot_position.position.x, _x.initial_left_foot_position.position.y, _x.initial_left_foot_position.position.z, _x.initial_left_foot_position.orientation.x, _x.initial_left_foot_position.orientation.y, _x.initial_left_foot_position.orientation.z, _x.initial_left_foot_position.orientation.w, _x.initial_right_foot_position.position.x, _x.initial_right_foot_position.position.y, _x.initial_right_foot_position.position.z, _x.initial_right_foot_position.orientation.x, _x.initial_right_foot_position.orientation.y, _x.initial_right_foot_position.orientation.z, _x.initial_right_foot_position.orientation.w, _x.initial_center_of_mass_position.x, _x.initial_center_of_mass_position.y, _x.initial_center_of_mass_position.z, _x.final_left_foot_position.position.x, _x.final_left_foot_position.position.y, _x.final_left_foot_position.position.z, _x.final_left_foot_position.orientation.x, _x.final_left_foot_position.orientation.y, _x.final_left_foot_position.orientation.z, _x.final_left_foot_position.orientation.w, _x.final_right_foot_position.position.x, _x.final_right_foot_position.position.y, _x.final_right_foot_position.position.z, _x.final_right_foot_position.orientation.x, _x.final_right_foot_position.orientation.y, _x.final_right_foot_position.orientation.z, _x.final_right_foot_position.orientation.w, _x.final_center_of_mass_position.x, _x.final_center_of_mass_position.y, _x.final_center_of_mass_position.z, _x.start_with_left_foot))
00193 length = len(self.footprints)
00194 buff.write(_struct_I.pack(length))
00195 for val1 in self.footprints:
00196 _v5 = val1.beginTime
00197 _x = _v5
00198 buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00199 _v6 = val1.duration
00200 _x = _v6
00201 buff.write(_struct_2i.pack(_x.secs, _x.nsecs))
00202 _x = val1
00203 buff.write(_struct_3d.pack(_x.x, _x.y, _x.theta))
00204 except struct.error as se: self._check_types(se)
00205 except TypeError as te: self._check_types(te)
00206
00207 def deserialize_numpy(self, str, numpy):
00208 """
00209 unpack serialized message in str into this message instance using numpy for array types
00210 :param str: byte array of serialized message, ``str``
00211 :param numpy: numpy python module
00212 """
00213 try:
00214 if self.initial_left_foot_position is None:
00215 self.initial_left_foot_position = geometry_msgs.msg.Pose()
00216 if self.initial_right_foot_position is None:
00217 self.initial_right_foot_position = geometry_msgs.msg.Pose()
00218 if self.initial_center_of_mass_position is None:
00219 self.initial_center_of_mass_position = geometry_msgs.msg.Point()
00220 if self.final_left_foot_position is None:
00221 self.final_left_foot_position = geometry_msgs.msg.Pose()
00222 if self.final_right_foot_position is None:
00223 self.final_right_foot_position = geometry_msgs.msg.Pose()
00224 if self.final_center_of_mass_position is None:
00225 self.final_center_of_mass_position = geometry_msgs.msg.Point()
00226 if self.footprints is None:
00227 self.footprints = None
00228 end = 0
00229 _x = self
00230 start = end
00231 end += 273
00232 (_x.initial_left_foot_position.position.x, _x.initial_left_foot_position.position.y, _x.initial_left_foot_position.position.z, _x.initial_left_foot_position.orientation.x, _x.initial_left_foot_position.orientation.y, _x.initial_left_foot_position.orientation.z, _x.initial_left_foot_position.orientation.w, _x.initial_right_foot_position.position.x, _x.initial_right_foot_position.position.y, _x.initial_right_foot_position.position.z, _x.initial_right_foot_position.orientation.x, _x.initial_right_foot_position.orientation.y, _x.initial_right_foot_position.orientation.z, _x.initial_right_foot_position.orientation.w, _x.initial_center_of_mass_position.x, _x.initial_center_of_mass_position.y, _x.initial_center_of_mass_position.z, _x.final_left_foot_position.position.x, _x.final_left_foot_position.position.y, _x.final_left_foot_position.position.z, _x.final_left_foot_position.orientation.x, _x.final_left_foot_position.orientation.y, _x.final_left_foot_position.orientation.z, _x.final_left_foot_position.orientation.w, _x.final_right_foot_position.position.x, _x.final_right_foot_position.position.y, _x.final_right_foot_position.position.z, _x.final_right_foot_position.orientation.x, _x.final_right_foot_position.orientation.y, _x.final_right_foot_position.orientation.z, _x.final_right_foot_position.orientation.w, _x.final_center_of_mass_position.x, _x.final_center_of_mass_position.y, _x.final_center_of_mass_position.z, _x.start_with_left_foot,) = _struct_34dB.unpack(str[start:end])
00233 self.start_with_left_foot = bool(self.start_with_left_foot)
00234 start = end
00235 end += 4
00236 (length,) = _struct_I.unpack(str[start:end])
00237 self.footprints = []
00238 for i in range(0, length):
00239 val1 = walk_msgs.msg.Footprint2d()
00240 _v7 = val1.beginTime
00241 _x = _v7
00242 start = end
00243 end += 8
00244 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
00245 _v8 = val1.duration
00246 _x = _v8
00247 start = end
00248 end += 8
00249 (_x.secs, _x.nsecs,) = _struct_2i.unpack(str[start:end])
00250 _x = val1
00251 start = end
00252 end += 24
00253 (_x.x, _x.y, _x.theta,) = _struct_3d.unpack(str[start:end])
00254 self.footprints.append(val1)
00255 return self
00256 except struct.error as e:
00257 raise genpy.DeserializationError(e)
00258
00259 _struct_I = genpy.struct_I
00260 _struct_2i = struct.Struct("<2i")
00261 _struct_3d = struct.Struct("<3d")
00262 _struct_2I = struct.Struct("<2I")
00263 _struct_34dB = struct.Struct("<34dB")
00264 """autogenerated by genpy from walk_msgs/GetPathResponse.msg. Do not edit."""
00265 import sys
00266 python3 = True if sys.hexversion > 0x03000000 else False
00267 import genpy
00268 import struct
00269
00270 import geometry_msgs.msg
00271 import walk_msgs.msg
00272 import nav_msgs.msg
00273 import std_msgs.msg
00274
00275 class GetPathResponse(genpy.Message):
00276 _md5sum = "76d3891998acfa84511d5b8b9e0f9b97"
00277 _type = "walk_msgs/GetPathResponse"
00278 _has_header = False
00279 _full_text = """walk_msgs/WalkPath path
00280
00281
00282 ================================================================================
00283 MSG: walk_msgs/WalkPath
00284 nav_msgs/Path left_foot
00285 nav_msgs/Path right_foot
00286 walk_msgs/PathPoint3d center_of_mass
00287 walk_msgs/PathPoint2d zmp
00288
00289 ================================================================================
00290 MSG: nav_msgs/Path
00291 #An array of poses that represents a Path for a robot to follow
00292 Header header
00293 geometry_msgs/PoseStamped[] poses
00294
00295 ================================================================================
00296 MSG: std_msgs/Header
00297 # Standard metadata for higher-level stamped data types.
00298 # This is generally used to communicate timestamped data
00299 # in a particular coordinate frame.
00300 #
00301 # sequence ID: consecutively increasing ID
00302 uint32 seq
00303 #Two-integer timestamp that is expressed as:
00304 # * stamp.secs: seconds (stamp_secs) since epoch
00305 # * stamp.nsecs: nanoseconds since stamp_secs
00306 # time-handling sugar is provided by the client library
00307 time stamp
00308 #Frame this data is associated with
00309 # 0: no frame
00310 # 1: global frame
00311 string frame_id
00312
00313 ================================================================================
00314 MSG: geometry_msgs/PoseStamped
00315 # A Pose with reference coordinate frame and timestamp
00316 Header header
00317 Pose pose
00318
00319 ================================================================================
00320 MSG: geometry_msgs/Pose
00321 # A representation of pose in free space, composed of postion and orientation.
00322 Point position
00323 Quaternion orientation
00324
00325 ================================================================================
00326 MSG: geometry_msgs/Point
00327 # This contains the position of a point in free space
00328 float64 x
00329 float64 y
00330 float64 z
00331
00332 ================================================================================
00333 MSG: geometry_msgs/Quaternion
00334 # This represents an orientation in free space in quaternion form.
00335
00336 float64 x
00337 float64 y
00338 float64 z
00339 float64 w
00340
00341 ================================================================================
00342 MSG: walk_msgs/PathPoint3d
00343 Header header
00344 geometry_msgs/PointStamped[] points
00345
00346 ================================================================================
00347 MSG: geometry_msgs/PointStamped
00348 # This represents a Point with reference coordinate frame and timestamp
00349 Header header
00350 Point point
00351
00352 ================================================================================
00353 MSG: walk_msgs/PathPoint2d
00354 Header header
00355 walk_msgs/Point2dStamped[] points
00356
00357 ================================================================================
00358 MSG: walk_msgs/Point2dStamped
00359 Header header
00360 Point2d point
00361
00362 ================================================================================
00363 MSG: walk_msgs/Point2d
00364 float64 x
00365 float64 y
00366
00367 """
00368 __slots__ = ['path']
00369 _slot_types = ['walk_msgs/WalkPath']
00370
00371 def __init__(self, *args, **kwds):
00372 """
00373 Constructor. Any message fields that are implicitly/explicitly
00374 set to None will be assigned a default value. The recommend
00375 use is keyword arguments as this is more robust to future message
00376 changes. You cannot mix in-order arguments and keyword arguments.
00377
00378 The available fields are:
00379 path
00380
00381 :param args: complete set of field values, in .msg order
00382 :param kwds: use keyword arguments corresponding to message field names
00383 to set specific fields.
00384 """
00385 if args or kwds:
00386 super(GetPathResponse, self).__init__(*args, **kwds)
00387
00388 if self.path is None:
00389 self.path = walk_msgs.msg.WalkPath()
00390 else:
00391 self.path = walk_msgs.msg.WalkPath()
00392
00393 def _get_types(self):
00394 """
00395 internal API method
00396 """
00397 return self._slot_types
00398
00399 def serialize(self, buff):
00400 """
00401 serialize message into buffer
00402 :param buff: buffer, ``StringIO``
00403 """
00404 try:
00405 _x = self
00406 buff.write(_struct_3I.pack(_x.path.left_foot.header.seq, _x.path.left_foot.header.stamp.secs, _x.path.left_foot.header.stamp.nsecs))
00407 _x = self.path.left_foot.header.frame_id
00408 length = len(_x)
00409 if python3 or type(_x) == unicode:
00410 _x = _x.encode('utf-8')
00411 length = len(_x)
00412 buff.write(struct.pack('<I%ss'%length, length, _x))
00413 length = len(self.path.left_foot.poses)
00414 buff.write(_struct_I.pack(length))
00415 for val1 in self.path.left_foot.poses:
00416 _v9 = val1.header
00417 buff.write(_struct_I.pack(_v9.seq))
00418 _v10 = _v9.stamp
00419 _x = _v10
00420 buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00421 _x = _v9.frame_id
00422 length = len(_x)
00423 if python3 or type(_x) == unicode:
00424 _x = _x.encode('utf-8')
00425 length = len(_x)
00426 buff.write(struct.pack('<I%ss'%length, length, _x))
00427 _v11 = val1.pose
00428 _v12 = _v11.position
00429 _x = _v12
00430 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00431 _v13 = _v11.orientation
00432 _x = _v13
00433 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00434 _x = self
00435 buff.write(_struct_3I.pack(_x.path.right_foot.header.seq, _x.path.right_foot.header.stamp.secs, _x.path.right_foot.header.stamp.nsecs))
00436 _x = self.path.right_foot.header.frame_id
00437 length = len(_x)
00438 if python3 or type(_x) == unicode:
00439 _x = _x.encode('utf-8')
00440 length = len(_x)
00441 buff.write(struct.pack('<I%ss'%length, length, _x))
00442 length = len(self.path.right_foot.poses)
00443 buff.write(_struct_I.pack(length))
00444 for val1 in self.path.right_foot.poses:
00445 _v14 = val1.header
00446 buff.write(_struct_I.pack(_v14.seq))
00447 _v15 = _v14.stamp
00448 _x = _v15
00449 buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00450 _x = _v14.frame_id
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 _v16 = val1.pose
00457 _v17 = _v16.position
00458 _x = _v17
00459 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00460 _v18 = _v16.orientation
00461 _x = _v18
00462 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00463 _x = self
00464 buff.write(_struct_3I.pack(_x.path.center_of_mass.header.seq, _x.path.center_of_mass.header.stamp.secs, _x.path.center_of_mass.header.stamp.nsecs))
00465 _x = self.path.center_of_mass.header.frame_id
00466 length = len(_x)
00467 if python3 or type(_x) == unicode:
00468 _x = _x.encode('utf-8')
00469 length = len(_x)
00470 buff.write(struct.pack('<I%ss'%length, length, _x))
00471 length = len(self.path.center_of_mass.points)
00472 buff.write(_struct_I.pack(length))
00473 for val1 in self.path.center_of_mass.points:
00474 _v19 = val1.header
00475 buff.write(_struct_I.pack(_v19.seq))
00476 _v20 = _v19.stamp
00477 _x = _v20
00478 buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00479 _x = _v19.frame_id
00480 length = len(_x)
00481 if python3 or type(_x) == unicode:
00482 _x = _x.encode('utf-8')
00483 length = len(_x)
00484 buff.write(struct.pack('<I%ss'%length, length, _x))
00485 _v21 = val1.point
00486 _x = _v21
00487 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00488 _x = self
00489 buff.write(_struct_3I.pack(_x.path.zmp.header.seq, _x.path.zmp.header.stamp.secs, _x.path.zmp.header.stamp.nsecs))
00490 _x = self.path.zmp.header.frame_id
00491 length = len(_x)
00492 if python3 or type(_x) == unicode:
00493 _x = _x.encode('utf-8')
00494 length = len(_x)
00495 buff.write(struct.pack('<I%ss'%length, length, _x))
00496 length = len(self.path.zmp.points)
00497 buff.write(_struct_I.pack(length))
00498 for val1 in self.path.zmp.points:
00499 _v22 = val1.header
00500 buff.write(_struct_I.pack(_v22.seq))
00501 _v23 = _v22.stamp
00502 _x = _v23
00503 buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00504 _x = _v22.frame_id
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 _v24 = val1.point
00511 _x = _v24
00512 buff.write(_struct_2d.pack(_x.x, _x.y))
00513 except struct.error as se: self._check_types(se)
00514 except TypeError as te: self._check_types(te)
00515
00516 def deserialize(self, str):
00517 """
00518 unpack serialized message in str into this message instance
00519 :param str: byte array of serialized message, ``str``
00520 """
00521 try:
00522 if self.path is None:
00523 self.path = walk_msgs.msg.WalkPath()
00524 end = 0
00525 _x = self
00526 start = end
00527 end += 12
00528 (_x.path.left_foot.header.seq, _x.path.left_foot.header.stamp.secs, _x.path.left_foot.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00529 start = end
00530 end += 4
00531 (length,) = _struct_I.unpack(str[start:end])
00532 start = end
00533 end += length
00534 if python3:
00535 self.path.left_foot.header.frame_id = str[start:end].decode('utf-8')
00536 else:
00537 self.path.left_foot.header.frame_id = str[start:end]
00538 start = end
00539 end += 4
00540 (length,) = _struct_I.unpack(str[start:end])
00541 self.path.left_foot.poses = []
00542 for i in range(0, length):
00543 val1 = geometry_msgs.msg.PoseStamped()
00544 _v25 = val1.header
00545 start = end
00546 end += 4
00547 (_v25.seq,) = _struct_I.unpack(str[start:end])
00548 _v26 = _v25.stamp
00549 _x = _v26
00550 start = end
00551 end += 8
00552 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
00553 start = end
00554 end += 4
00555 (length,) = _struct_I.unpack(str[start:end])
00556 start = end
00557 end += length
00558 if python3:
00559 _v25.frame_id = str[start:end].decode('utf-8')
00560 else:
00561 _v25.frame_id = str[start:end]
00562 _v27 = val1.pose
00563 _v28 = _v27.position
00564 _x = _v28
00565 start = end
00566 end += 24
00567 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00568 _v29 = _v27.orientation
00569 _x = _v29
00570 start = end
00571 end += 32
00572 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
00573 self.path.left_foot.poses.append(val1)
00574 _x = self
00575 start = end
00576 end += 12
00577 (_x.path.right_foot.header.seq, _x.path.right_foot.header.stamp.secs, _x.path.right_foot.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00578 start = end
00579 end += 4
00580 (length,) = _struct_I.unpack(str[start:end])
00581 start = end
00582 end += length
00583 if python3:
00584 self.path.right_foot.header.frame_id = str[start:end].decode('utf-8')
00585 else:
00586 self.path.right_foot.header.frame_id = str[start:end]
00587 start = end
00588 end += 4
00589 (length,) = _struct_I.unpack(str[start:end])
00590 self.path.right_foot.poses = []
00591 for i in range(0, length):
00592 val1 = geometry_msgs.msg.PoseStamped()
00593 _v30 = val1.header
00594 start = end
00595 end += 4
00596 (_v30.seq,) = _struct_I.unpack(str[start:end])
00597 _v31 = _v30.stamp
00598 _x = _v31
00599 start = end
00600 end += 8
00601 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
00602 start = end
00603 end += 4
00604 (length,) = _struct_I.unpack(str[start:end])
00605 start = end
00606 end += length
00607 if python3:
00608 _v30.frame_id = str[start:end].decode('utf-8')
00609 else:
00610 _v30.frame_id = str[start:end]
00611 _v32 = val1.pose
00612 _v33 = _v32.position
00613 _x = _v33
00614 start = end
00615 end += 24
00616 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00617 _v34 = _v32.orientation
00618 _x = _v34
00619 start = end
00620 end += 32
00621 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
00622 self.path.right_foot.poses.append(val1)
00623 _x = self
00624 start = end
00625 end += 12
00626 (_x.path.center_of_mass.header.seq, _x.path.center_of_mass.header.stamp.secs, _x.path.center_of_mass.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00627 start = end
00628 end += 4
00629 (length,) = _struct_I.unpack(str[start:end])
00630 start = end
00631 end += length
00632 if python3:
00633 self.path.center_of_mass.header.frame_id = str[start:end].decode('utf-8')
00634 else:
00635 self.path.center_of_mass.header.frame_id = str[start:end]
00636 start = end
00637 end += 4
00638 (length,) = _struct_I.unpack(str[start:end])
00639 self.path.center_of_mass.points = []
00640 for i in range(0, length):
00641 val1 = geometry_msgs.msg.PointStamped()
00642 _v35 = val1.header
00643 start = end
00644 end += 4
00645 (_v35.seq,) = _struct_I.unpack(str[start:end])
00646 _v36 = _v35.stamp
00647 _x = _v36
00648 start = end
00649 end += 8
00650 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
00651 start = end
00652 end += 4
00653 (length,) = _struct_I.unpack(str[start:end])
00654 start = end
00655 end += length
00656 if python3:
00657 _v35.frame_id = str[start:end].decode('utf-8')
00658 else:
00659 _v35.frame_id = str[start:end]
00660 _v37 = val1.point
00661 _x = _v37
00662 start = end
00663 end += 24
00664 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00665 self.path.center_of_mass.points.append(val1)
00666 _x = self
00667 start = end
00668 end += 12
00669 (_x.path.zmp.header.seq, _x.path.zmp.header.stamp.secs, _x.path.zmp.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00670 start = end
00671 end += 4
00672 (length,) = _struct_I.unpack(str[start:end])
00673 start = end
00674 end += length
00675 if python3:
00676 self.path.zmp.header.frame_id = str[start:end].decode('utf-8')
00677 else:
00678 self.path.zmp.header.frame_id = str[start:end]
00679 start = end
00680 end += 4
00681 (length,) = _struct_I.unpack(str[start:end])
00682 self.path.zmp.points = []
00683 for i in range(0, length):
00684 val1 = walk_msgs.msg.Point2dStamped()
00685 _v38 = val1.header
00686 start = end
00687 end += 4
00688 (_v38.seq,) = _struct_I.unpack(str[start:end])
00689 _v39 = _v38.stamp
00690 _x = _v39
00691 start = end
00692 end += 8
00693 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
00694 start = end
00695 end += 4
00696 (length,) = _struct_I.unpack(str[start:end])
00697 start = end
00698 end += length
00699 if python3:
00700 _v38.frame_id = str[start:end].decode('utf-8')
00701 else:
00702 _v38.frame_id = str[start:end]
00703 _v40 = val1.point
00704 _x = _v40
00705 start = end
00706 end += 16
00707 (_x.x, _x.y,) = _struct_2d.unpack(str[start:end])
00708 self.path.zmp.points.append(val1)
00709 return self
00710 except struct.error as e:
00711 raise genpy.DeserializationError(e)
00712
00713
00714 def serialize_numpy(self, buff, numpy):
00715 """
00716 serialize message with numpy array types into buffer
00717 :param buff: buffer, ``StringIO``
00718 :param numpy: numpy python module
00719 """
00720 try:
00721 _x = self
00722 buff.write(_struct_3I.pack(_x.path.left_foot.header.seq, _x.path.left_foot.header.stamp.secs, _x.path.left_foot.header.stamp.nsecs))
00723 _x = self.path.left_foot.header.frame_id
00724 length = len(_x)
00725 if python3 or type(_x) == unicode:
00726 _x = _x.encode('utf-8')
00727 length = len(_x)
00728 buff.write(struct.pack('<I%ss'%length, length, _x))
00729 length = len(self.path.left_foot.poses)
00730 buff.write(_struct_I.pack(length))
00731 for val1 in self.path.left_foot.poses:
00732 _v41 = val1.header
00733 buff.write(_struct_I.pack(_v41.seq))
00734 _v42 = _v41.stamp
00735 _x = _v42
00736 buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00737 _x = _v41.frame_id
00738 length = len(_x)
00739 if python3 or type(_x) == unicode:
00740 _x = _x.encode('utf-8')
00741 length = len(_x)
00742 buff.write(struct.pack('<I%ss'%length, length, _x))
00743 _v43 = val1.pose
00744 _v44 = _v43.position
00745 _x = _v44
00746 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00747 _v45 = _v43.orientation
00748 _x = _v45
00749 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00750 _x = self
00751 buff.write(_struct_3I.pack(_x.path.right_foot.header.seq, _x.path.right_foot.header.stamp.secs, _x.path.right_foot.header.stamp.nsecs))
00752 _x = self.path.right_foot.header.frame_id
00753 length = len(_x)
00754 if python3 or type(_x) == unicode:
00755 _x = _x.encode('utf-8')
00756 length = len(_x)
00757 buff.write(struct.pack('<I%ss'%length, length, _x))
00758 length = len(self.path.right_foot.poses)
00759 buff.write(_struct_I.pack(length))
00760 for val1 in self.path.right_foot.poses:
00761 _v46 = val1.header
00762 buff.write(_struct_I.pack(_v46.seq))
00763 _v47 = _v46.stamp
00764 _x = _v47
00765 buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00766 _x = _v46.frame_id
00767 length = len(_x)
00768 if python3 or type(_x) == unicode:
00769 _x = _x.encode('utf-8')
00770 length = len(_x)
00771 buff.write(struct.pack('<I%ss'%length, length, _x))
00772 _v48 = val1.pose
00773 _v49 = _v48.position
00774 _x = _v49
00775 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00776 _v50 = _v48.orientation
00777 _x = _v50
00778 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00779 _x = self
00780 buff.write(_struct_3I.pack(_x.path.center_of_mass.header.seq, _x.path.center_of_mass.header.stamp.secs, _x.path.center_of_mass.header.stamp.nsecs))
00781 _x = self.path.center_of_mass.header.frame_id
00782 length = len(_x)
00783 if python3 or type(_x) == unicode:
00784 _x = _x.encode('utf-8')
00785 length = len(_x)
00786 buff.write(struct.pack('<I%ss'%length, length, _x))
00787 length = len(self.path.center_of_mass.points)
00788 buff.write(_struct_I.pack(length))
00789 for val1 in self.path.center_of_mass.points:
00790 _v51 = val1.header
00791 buff.write(_struct_I.pack(_v51.seq))
00792 _v52 = _v51.stamp
00793 _x = _v52
00794 buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00795 _x = _v51.frame_id
00796 length = len(_x)
00797 if python3 or type(_x) == unicode:
00798 _x = _x.encode('utf-8')
00799 length = len(_x)
00800 buff.write(struct.pack('<I%ss'%length, length, _x))
00801 _v53 = val1.point
00802 _x = _v53
00803 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00804 _x = self
00805 buff.write(_struct_3I.pack(_x.path.zmp.header.seq, _x.path.zmp.header.stamp.secs, _x.path.zmp.header.stamp.nsecs))
00806 _x = self.path.zmp.header.frame_id
00807 length = len(_x)
00808 if python3 or type(_x) == unicode:
00809 _x = _x.encode('utf-8')
00810 length = len(_x)
00811 buff.write(struct.pack('<I%ss'%length, length, _x))
00812 length = len(self.path.zmp.points)
00813 buff.write(_struct_I.pack(length))
00814 for val1 in self.path.zmp.points:
00815 _v54 = val1.header
00816 buff.write(_struct_I.pack(_v54.seq))
00817 _v55 = _v54.stamp
00818 _x = _v55
00819 buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00820 _x = _v54.frame_id
00821 length = len(_x)
00822 if python3 or type(_x) == unicode:
00823 _x = _x.encode('utf-8')
00824 length = len(_x)
00825 buff.write(struct.pack('<I%ss'%length, length, _x))
00826 _v56 = val1.point
00827 _x = _v56
00828 buff.write(_struct_2d.pack(_x.x, _x.y))
00829 except struct.error as se: self._check_types(se)
00830 except TypeError as te: self._check_types(te)
00831
00832 def deserialize_numpy(self, str, numpy):
00833 """
00834 unpack serialized message in str into this message instance using numpy for array types
00835 :param str: byte array of serialized message, ``str``
00836 :param numpy: numpy python module
00837 """
00838 try:
00839 if self.path is None:
00840 self.path = walk_msgs.msg.WalkPath()
00841 end = 0
00842 _x = self
00843 start = end
00844 end += 12
00845 (_x.path.left_foot.header.seq, _x.path.left_foot.header.stamp.secs, _x.path.left_foot.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00846 start = end
00847 end += 4
00848 (length,) = _struct_I.unpack(str[start:end])
00849 start = end
00850 end += length
00851 if python3:
00852 self.path.left_foot.header.frame_id = str[start:end].decode('utf-8')
00853 else:
00854 self.path.left_foot.header.frame_id = str[start:end]
00855 start = end
00856 end += 4
00857 (length,) = _struct_I.unpack(str[start:end])
00858 self.path.left_foot.poses = []
00859 for i in range(0, length):
00860 val1 = geometry_msgs.msg.PoseStamped()
00861 _v57 = val1.header
00862 start = end
00863 end += 4
00864 (_v57.seq,) = _struct_I.unpack(str[start:end])
00865 _v58 = _v57.stamp
00866 _x = _v58
00867 start = end
00868 end += 8
00869 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
00870 start = end
00871 end += 4
00872 (length,) = _struct_I.unpack(str[start:end])
00873 start = end
00874 end += length
00875 if python3:
00876 _v57.frame_id = str[start:end].decode('utf-8')
00877 else:
00878 _v57.frame_id = str[start:end]
00879 _v59 = val1.pose
00880 _v60 = _v59.position
00881 _x = _v60
00882 start = end
00883 end += 24
00884 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00885 _v61 = _v59.orientation
00886 _x = _v61
00887 start = end
00888 end += 32
00889 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
00890 self.path.left_foot.poses.append(val1)
00891 _x = self
00892 start = end
00893 end += 12
00894 (_x.path.right_foot.header.seq, _x.path.right_foot.header.stamp.secs, _x.path.right_foot.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00895 start = end
00896 end += 4
00897 (length,) = _struct_I.unpack(str[start:end])
00898 start = end
00899 end += length
00900 if python3:
00901 self.path.right_foot.header.frame_id = str[start:end].decode('utf-8')
00902 else:
00903 self.path.right_foot.header.frame_id = str[start:end]
00904 start = end
00905 end += 4
00906 (length,) = _struct_I.unpack(str[start:end])
00907 self.path.right_foot.poses = []
00908 for i in range(0, length):
00909 val1 = geometry_msgs.msg.PoseStamped()
00910 _v62 = val1.header
00911 start = end
00912 end += 4
00913 (_v62.seq,) = _struct_I.unpack(str[start:end])
00914 _v63 = _v62.stamp
00915 _x = _v63
00916 start = end
00917 end += 8
00918 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
00919 start = end
00920 end += 4
00921 (length,) = _struct_I.unpack(str[start:end])
00922 start = end
00923 end += length
00924 if python3:
00925 _v62.frame_id = str[start:end].decode('utf-8')
00926 else:
00927 _v62.frame_id = str[start:end]
00928 _v64 = val1.pose
00929 _v65 = _v64.position
00930 _x = _v65
00931 start = end
00932 end += 24
00933 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00934 _v66 = _v64.orientation
00935 _x = _v66
00936 start = end
00937 end += 32
00938 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
00939 self.path.right_foot.poses.append(val1)
00940 _x = self
00941 start = end
00942 end += 12
00943 (_x.path.center_of_mass.header.seq, _x.path.center_of_mass.header.stamp.secs, _x.path.center_of_mass.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00944 start = end
00945 end += 4
00946 (length,) = _struct_I.unpack(str[start:end])
00947 start = end
00948 end += length
00949 if python3:
00950 self.path.center_of_mass.header.frame_id = str[start:end].decode('utf-8')
00951 else:
00952 self.path.center_of_mass.header.frame_id = str[start:end]
00953 start = end
00954 end += 4
00955 (length,) = _struct_I.unpack(str[start:end])
00956 self.path.center_of_mass.points = []
00957 for i in range(0, length):
00958 val1 = geometry_msgs.msg.PointStamped()
00959 _v67 = val1.header
00960 start = end
00961 end += 4
00962 (_v67.seq,) = _struct_I.unpack(str[start:end])
00963 _v68 = _v67.stamp
00964 _x = _v68
00965 start = end
00966 end += 8
00967 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
00968 start = end
00969 end += 4
00970 (length,) = _struct_I.unpack(str[start:end])
00971 start = end
00972 end += length
00973 if python3:
00974 _v67.frame_id = str[start:end].decode('utf-8')
00975 else:
00976 _v67.frame_id = str[start:end]
00977 _v69 = val1.point
00978 _x = _v69
00979 start = end
00980 end += 24
00981 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00982 self.path.center_of_mass.points.append(val1)
00983 _x = self
00984 start = end
00985 end += 12
00986 (_x.path.zmp.header.seq, _x.path.zmp.header.stamp.secs, _x.path.zmp.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00987 start = end
00988 end += 4
00989 (length,) = _struct_I.unpack(str[start:end])
00990 start = end
00991 end += length
00992 if python3:
00993 self.path.zmp.header.frame_id = str[start:end].decode('utf-8')
00994 else:
00995 self.path.zmp.header.frame_id = str[start:end]
00996 start = end
00997 end += 4
00998 (length,) = _struct_I.unpack(str[start:end])
00999 self.path.zmp.points = []
01000 for i in range(0, length):
01001 val1 = walk_msgs.msg.Point2dStamped()
01002 _v70 = val1.header
01003 start = end
01004 end += 4
01005 (_v70.seq,) = _struct_I.unpack(str[start:end])
01006 _v71 = _v70.stamp
01007 _x = _v71
01008 start = end
01009 end += 8
01010 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
01011 start = end
01012 end += 4
01013 (length,) = _struct_I.unpack(str[start:end])
01014 start = end
01015 end += length
01016 if python3:
01017 _v70.frame_id = str[start:end].decode('utf-8')
01018 else:
01019 _v70.frame_id = str[start:end]
01020 _v72 = val1.point
01021 _x = _v72
01022 start = end
01023 end += 16
01024 (_x.x, _x.y,) = _struct_2d.unpack(str[start:end])
01025 self.path.zmp.points.append(val1)
01026 return self
01027 except struct.error as e:
01028 raise genpy.DeserializationError(e)
01029
01030 _struct_I = genpy.struct_I
01031 _struct_2d = struct.Struct("<2d")
01032 _struct_3I = struct.Struct("<3I")
01033 _struct_4d = struct.Struct("<4d")
01034 _struct_2I = struct.Struct("<2I")
01035 _struct_3d = struct.Struct("<3d")
01036 class GetPath(object):
01037 _type = 'walk_msgs/GetPath'
01038 _md5sum = '2b6fd7b841642a7520d3b2fd459370d2'
01039 _request_class = GetPathRequest
01040 _response_class = GetPathResponse