_MultiDOFJointTrajectory.py
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00001 """autogenerated by genpy from arm_navigation_msgs/MultiDOFJointTrajectory.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 arm_navigation_msgs.msg
00008 import geometry_msgs.msg
00009 import genpy
00010 
00011 class MultiDOFJointTrajectory(genpy.Message):
00012   _md5sum = "524f128fb0a65e2838b0e3e3f75207d0"
00013   _type = "arm_navigation_msgs/MultiDOFJointTrajectory"
00014   _has_header = False #flag to mark the presence of a Header object
00015   _full_text = """#A representation of a multi-dof joint trajectory
00016 duration stamp
00017 string[] joint_names
00018 string[] frame_ids
00019 string[] child_frame_ids
00020 MultiDOFJointTrajectoryPoint[] points
00021 
00022 ================================================================================
00023 MSG: arm_navigation_msgs/MultiDOFJointTrajectoryPoint
00024 geometry_msgs/Pose[] poses
00025 duration time_from_start
00026 ================================================================================
00027 MSG: geometry_msgs/Pose
00028 # A representation of pose in free space, composed of postion and orientation. 
00029 Point position
00030 Quaternion orientation
00031 
00032 ================================================================================
00033 MSG: geometry_msgs/Point
00034 # This contains the position of a point in free space
00035 float64 x
00036 float64 y
00037 float64 z
00038 
00039 ================================================================================
00040 MSG: geometry_msgs/Quaternion
00041 # This represents an orientation in free space in quaternion form.
00042 
00043 float64 x
00044 float64 y
00045 float64 z
00046 float64 w
00047 
00048 """
00049   __slots__ = ['stamp','joint_names','frame_ids','child_frame_ids','points']
00050   _slot_types = ['duration','string[]','string[]','string[]','arm_navigation_msgs/MultiDOFJointTrajectoryPoint[]']
00051 
00052   def __init__(self, *args, **kwds):
00053     """
00054     Constructor. Any message fields that are implicitly/explicitly
00055     set to None will be assigned a default value. The recommend
00056     use is keyword arguments as this is more robust to future message
00057     changes.  You cannot mix in-order arguments and keyword arguments.
00058 
00059     The available fields are:
00060        stamp,joint_names,frame_ids,child_frame_ids,points
00061 
00062     :param args: complete set of field values, in .msg order
00063     :param kwds: use keyword arguments corresponding to message field names
00064     to set specific fields.
00065     """
00066     if args or kwds:
00067       super(MultiDOFJointTrajectory, self).__init__(*args, **kwds)
00068       #message fields cannot be None, assign default values for those that are
00069       if self.stamp is None:
00070         self.stamp = genpy.Duration()
00071       if self.joint_names is None:
00072         self.joint_names = []
00073       if self.frame_ids is None:
00074         self.frame_ids = []
00075       if self.child_frame_ids is None:
00076         self.child_frame_ids = []
00077       if self.points is None:
00078         self.points = []
00079     else:
00080       self.stamp = genpy.Duration()
00081       self.joint_names = []
00082       self.frame_ids = []
00083       self.child_frame_ids = []
00084       self.points = []
00085 
00086   def _get_types(self):
00087     """
00088     internal API method
00089     """
00090     return self._slot_types
00091 
00092   def serialize(self, buff):
00093     """
00094     serialize message into buffer
00095     :param buff: buffer, ``StringIO``
00096     """
00097     try:
00098       _x = self
00099       buff.write(_struct_2i.pack(_x.stamp.secs, _x.stamp.nsecs))
00100       length = len(self.joint_names)
00101       buff.write(_struct_I.pack(length))
00102       for val1 in self.joint_names:
00103         length = len(val1)
00104         if python3 or type(val1) == unicode:
00105           val1 = val1.encode('utf-8')
00106           length = len(val1)
00107         buff.write(struct.pack('<I%ss'%length, length, val1))
00108       length = len(self.frame_ids)
00109       buff.write(_struct_I.pack(length))
00110       for val1 in self.frame_ids:
00111         length = len(val1)
00112         if python3 or type(val1) == unicode:
00113           val1 = val1.encode('utf-8')
00114           length = len(val1)
00115         buff.write(struct.pack('<I%ss'%length, length, val1))
00116       length = len(self.child_frame_ids)
00117       buff.write(_struct_I.pack(length))
00118       for val1 in self.child_frame_ids:
00119         length = len(val1)
00120         if python3 or type(val1) == unicode:
00121           val1 = val1.encode('utf-8')
00122           length = len(val1)
00123         buff.write(struct.pack('<I%ss'%length, length, val1))
00124       length = len(self.points)
00125       buff.write(_struct_I.pack(length))
00126       for val1 in self.points:
00127         length = len(val1.poses)
00128         buff.write(_struct_I.pack(length))
00129         for val2 in val1.poses:
00130           _v1 = val2.position
00131           _x = _v1
00132           buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00133           _v2 = val2.orientation
00134           _x = _v2
00135           buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00136         _v3 = val1.time_from_start
00137         _x = _v3
00138         buff.write(_struct_2i.pack(_x.secs, _x.nsecs))
00139     except struct.error as se: self._check_types(se)
00140     except TypeError as te: self._check_types(te)
00141 
00142   def deserialize(self, str):
00143     """
00144     unpack serialized message in str into this message instance
00145     :param str: byte array of serialized message, ``str``
00146     """
00147     try:
00148       if self.stamp is None:
00149         self.stamp = genpy.Duration()
00150       if self.points is None:
00151         self.points = None
00152       end = 0
00153       _x = self
00154       start = end
00155       end += 8
00156       (_x.stamp.secs, _x.stamp.nsecs,) = _struct_2i.unpack(str[start:end])
00157       start = end
00158       end += 4
00159       (length,) = _struct_I.unpack(str[start:end])
00160       self.joint_names = []
00161       for i in range(0, length):
00162         start = end
00163         end += 4
00164         (length,) = _struct_I.unpack(str[start:end])
00165         start = end
00166         end += length
00167         if python3:
00168           val1 = str[start:end].decode('utf-8')
00169         else:
00170           val1 = str[start:end]
00171         self.joint_names.append(val1)
00172       start = end
00173       end += 4
00174       (length,) = _struct_I.unpack(str[start:end])
00175       self.frame_ids = []
00176       for i in range(0, length):
00177         start = end
00178         end += 4
00179         (length,) = _struct_I.unpack(str[start:end])
00180         start = end
00181         end += length
00182         if python3:
00183           val1 = str[start:end].decode('utf-8')
00184         else:
00185           val1 = str[start:end]
00186         self.frame_ids.append(val1)
00187       start = end
00188       end += 4
00189       (length,) = _struct_I.unpack(str[start:end])
00190       self.child_frame_ids = []
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.child_frame_ids.append(val1)
00202       start = end
00203       end += 4
00204       (length,) = _struct_I.unpack(str[start:end])
00205       self.points = []
00206       for i in range(0, length):
00207         val1 = arm_navigation_msgs.msg.MultiDOFJointTrajectoryPoint()
00208         start = end
00209         end += 4
00210         (length,) = _struct_I.unpack(str[start:end])
00211         val1.poses = []
00212         for i in range(0, length):
00213           val2 = geometry_msgs.msg.Pose()
00214           _v4 = val2.position
00215           _x = _v4
00216           start = end
00217           end += 24
00218           (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00219           _v5 = val2.orientation
00220           _x = _v5
00221           start = end
00222           end += 32
00223           (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
00224           val1.poses.append(val2)
00225         _v6 = val1.time_from_start
00226         _x = _v6
00227         start = end
00228         end += 8
00229         (_x.secs, _x.nsecs,) = _struct_2i.unpack(str[start:end])
00230         self.points.append(val1)
00231       self.stamp.canon()
00232       return self
00233     except struct.error as e:
00234       raise genpy.DeserializationError(e) #most likely buffer underfill
00235 
00236 
00237   def serialize_numpy(self, buff, numpy):
00238     """
00239     serialize message with numpy array types into buffer
00240     :param buff: buffer, ``StringIO``
00241     :param numpy: numpy python module
00242     """
00243     try:
00244       _x = self
00245       buff.write(_struct_2i.pack(_x.stamp.secs, _x.stamp.nsecs))
00246       length = len(self.joint_names)
00247       buff.write(_struct_I.pack(length))
00248       for val1 in self.joint_names:
00249         length = len(val1)
00250         if python3 or type(val1) == unicode:
00251           val1 = val1.encode('utf-8')
00252           length = len(val1)
00253         buff.write(struct.pack('<I%ss'%length, length, val1))
00254       length = len(self.frame_ids)
00255       buff.write(_struct_I.pack(length))
00256       for val1 in self.frame_ids:
00257         length = len(val1)
00258         if python3 or type(val1) == unicode:
00259           val1 = val1.encode('utf-8')
00260           length = len(val1)
00261         buff.write(struct.pack('<I%ss'%length, length, val1))
00262       length = len(self.child_frame_ids)
00263       buff.write(_struct_I.pack(length))
00264       for val1 in self.child_frame_ids:
00265         length = len(val1)
00266         if python3 or type(val1) == unicode:
00267           val1 = val1.encode('utf-8')
00268           length = len(val1)
00269         buff.write(struct.pack('<I%ss'%length, length, val1))
00270       length = len(self.points)
00271       buff.write(_struct_I.pack(length))
00272       for val1 in self.points:
00273         length = len(val1.poses)
00274         buff.write(_struct_I.pack(length))
00275         for val2 in val1.poses:
00276           _v7 = val2.position
00277           _x = _v7
00278           buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00279           _v8 = val2.orientation
00280           _x = _v8
00281           buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00282         _v9 = val1.time_from_start
00283         _x = _v9
00284         buff.write(_struct_2i.pack(_x.secs, _x.nsecs))
00285     except struct.error as se: self._check_types(se)
00286     except TypeError as te: self._check_types(te)
00287 
00288   def deserialize_numpy(self, str, numpy):
00289     """
00290     unpack serialized message in str into this message instance using numpy for array types
00291     :param str: byte array of serialized message, ``str``
00292     :param numpy: numpy python module
00293     """
00294     try:
00295       if self.stamp is None:
00296         self.stamp = genpy.Duration()
00297       if self.points is None:
00298         self.points = None
00299       end = 0
00300       _x = self
00301       start = end
00302       end += 8
00303       (_x.stamp.secs, _x.stamp.nsecs,) = _struct_2i.unpack(str[start:end])
00304       start = end
00305       end += 4
00306       (length,) = _struct_I.unpack(str[start:end])
00307       self.joint_names = []
00308       for i in range(0, length):
00309         start = end
00310         end += 4
00311         (length,) = _struct_I.unpack(str[start:end])
00312         start = end
00313         end += length
00314         if python3:
00315           val1 = str[start:end].decode('utf-8')
00316         else:
00317           val1 = str[start:end]
00318         self.joint_names.append(val1)
00319       start = end
00320       end += 4
00321       (length,) = _struct_I.unpack(str[start:end])
00322       self.frame_ids = []
00323       for i in range(0, length):
00324         start = end
00325         end += 4
00326         (length,) = _struct_I.unpack(str[start:end])
00327         start = end
00328         end += length
00329         if python3:
00330           val1 = str[start:end].decode('utf-8')
00331         else:
00332           val1 = str[start:end]
00333         self.frame_ids.append(val1)
00334       start = end
00335       end += 4
00336       (length,) = _struct_I.unpack(str[start:end])
00337       self.child_frame_ids = []
00338       for i in range(0, length):
00339         start = end
00340         end += 4
00341         (length,) = _struct_I.unpack(str[start:end])
00342         start = end
00343         end += length
00344         if python3:
00345           val1 = str[start:end].decode('utf-8')
00346         else:
00347           val1 = str[start:end]
00348         self.child_frame_ids.append(val1)
00349       start = end
00350       end += 4
00351       (length,) = _struct_I.unpack(str[start:end])
00352       self.points = []
00353       for i in range(0, length):
00354         val1 = arm_navigation_msgs.msg.MultiDOFJointTrajectoryPoint()
00355         start = end
00356         end += 4
00357         (length,) = _struct_I.unpack(str[start:end])
00358         val1.poses = []
00359         for i in range(0, length):
00360           val2 = geometry_msgs.msg.Pose()
00361           _v10 = val2.position
00362           _x = _v10
00363           start = end
00364           end += 24
00365           (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00366           _v11 = val2.orientation
00367           _x = _v11
00368           start = end
00369           end += 32
00370           (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
00371           val1.poses.append(val2)
00372         _v12 = val1.time_from_start
00373         _x = _v12
00374         start = end
00375         end += 8
00376         (_x.secs, _x.nsecs,) = _struct_2i.unpack(str[start:end])
00377         self.points.append(val1)
00378       self.stamp.canon()
00379       return self
00380     except struct.error as e:
00381       raise genpy.DeserializationError(e) #most likely buffer underfill
00382 
00383 _struct_I = genpy.struct_I
00384 _struct_4d = struct.Struct("<4d")
00385 _struct_2i = struct.Struct("<2i")
00386 _struct_3d = struct.Struct("<3d")


arm_navigation_msgs
Author(s): Gil Jones
autogenerated on Mon Dec 2 2013 12:31:50