_LinkStates.py

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"""autogenerated by genpy from gazebo_msgs/LinkStates.msg. Do not edit."""
import sys
python3 = True if sys.hexversion > 0x03000000 else False
import genpy
import struct

import geometry_msgs.msg

class LinkStates(genpy.Message):
  _md5sum = "48c080191eb15c41858319b4d8a609c2"
  _type = "gazebo_msgs/LinkStates"
  _has_header = False #flag to mark the presence of a Header object
  _full_text = """# broadcast all link states in world frame
string[] name                 # link names
geometry_msgs/Pose[] pose     # desired pose in world frame
geometry_msgs/Twist[] twist   # desired twist in world frame

================================================================================
MSG: geometry_msgs/Pose
# A representation of pose in free space, composed of postion and orientation. 
Point position
Quaternion orientation

================================================================================
MSG: geometry_msgs/Point
# This contains the position of a point in free space
float64 x
float64 y
float64 z

================================================================================
MSG: geometry_msgs/Quaternion
# This represents an orientation in free space in quaternion form.

float64 x
float64 y
float64 z
float64 w

================================================================================
MSG: geometry_msgs/Twist
# This expresses velocity in free space broken into its linear and angular parts.
Vector3  linear
Vector3  angular

================================================================================
MSG: geometry_msgs/Vector3
# This represents a vector in free space. 

float64 x
float64 y
float64 z
"""
  __slots__ = ['name','pose','twist']
  _slot_types = ['string[]','geometry_msgs/Pose[]','geometry_msgs/Twist[]']

  def __init__(self, *args, **kwds):
    """
    Constructor. Any message fields that are implicitly/explicitly
    set to None will be assigned a default value. The recommend
    use is keyword arguments as this is more robust to future message
    changes.  You cannot mix in-order arguments and keyword arguments.

    The available fields are:
       name,pose,twist

    :param args: complete set of field values, in .msg order
    :param kwds: use keyword arguments corresponding to message field names
    to set specific fields.
    """
    if args or kwds:
      super(LinkStates, self).__init__(*args, **kwds)
      #message fields cannot be None, assign default values for those that are
      if self.name is None:
        self.name = []
      if self.pose is None:
        self.pose = []
      if self.twist is None:
        self.twist = []
    else:
      self.name = []
      self.pose = []
      self.twist = []

  def _get_types(self):
    """
    internal API method
    """
    return self._slot_types

  def serialize(self, buff):
    """
    serialize message into buffer
    :param buff: buffer, ``StringIO``
    """
    try:
      length = len(self.name)
      buff.write(_struct_I.pack(length))
      for val1 in self.name:
        length = len(val1)
        if python3 or type(val1) == unicode:
          val1 = val1.encode('utf-8')
          length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.pose)
      buff.write(_struct_I.pack(length))
      for val1 in self.pose:
        _v1 = val1.position
        _x = _v1
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v2 = val1.orientation
        _x = _v2
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
      length = len(self.twist)
      buff.write(_struct_I.pack(length))
      for val1 in self.twist:
        _v3 = val1.linear
        _x = _v3
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v4 = val1.angular
        _x = _v4
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))

  def deserialize(self, str):
    """
    unpack serialized message in str into this message instance
    :param str: byte array of serialized message, ``str``
    """
    try:
      if self.pose is None:
        self.pose = None
      if self.twist is None:
        self.twist = None
      end = 0
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.name = []
      for i in range(0, length):
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1 = str[start:end].decode('utf-8')
        else:
          val1 = str[start:end]
        self.name.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.pose = []
      for i in range(0, length):
        val1 = geometry_msgs.msg.Pose()
        _v5 = val1.position
        _x = _v5
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v6 = val1.orientation
        _x = _v6
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        self.pose.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.twist = []
      for i in range(0, length):
        val1 = geometry_msgs.msg.Twist()
        _v7 = val1.linear
        _x = _v7
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v8 = val1.angular
        _x = _v8
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        self.twist.append(val1)
      return self
    except struct.error as e:
      raise genpy.DeserializationError(e) #most likely buffer underfill


  def serialize_numpy(self, buff, numpy):
    """
    serialize message with numpy array types into buffer
    :param buff: buffer, ``StringIO``
    :param numpy: numpy python module
    """
    try:
      length = len(self.name)
      buff.write(_struct_I.pack(length))
      for val1 in self.name:
        length = len(val1)
        if python3 or type(val1) == unicode:
          val1 = val1.encode('utf-8')
          length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.pose)
      buff.write(_struct_I.pack(length))
      for val1 in self.pose:
        _v9 = val1.position
        _x = _v9
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v10 = val1.orientation
        _x = _v10
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
      length = len(self.twist)
      buff.write(_struct_I.pack(length))
      for val1 in self.twist:
        _v11 = val1.linear
        _x = _v11
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v12 = val1.angular
        _x = _v12
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))

  def deserialize_numpy(self, str, numpy):
    """
    unpack serialized message in str into this message instance using numpy for array types
    :param str: byte array of serialized message, ``str``
    :param numpy: numpy python module
    """
    try:
      if self.pose is None:
        self.pose = None
      if self.twist is None:
        self.twist = None
      end = 0
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.name = []
      for i in range(0, length):
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1 = str[start:end].decode('utf-8')
        else:
          val1 = str[start:end]
        self.name.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.pose = []
      for i in range(0, length):
        val1 = geometry_msgs.msg.Pose()
        _v13 = val1.position
        _x = _v13
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v14 = val1.orientation
        _x = _v14
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        self.pose.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.twist = []
      for i in range(0, length):
        val1 = geometry_msgs.msg.Twist()
        _v15 = val1.linear
        _x = _v15
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v16 = val1.angular
        _x = _v16
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        self.twist.append(val1)
      return self
    except struct.error as e:
      raise genpy.DeserializationError(e) #most likely buffer underfill

_struct_I = genpy.struct_I
_struct_4d = struct.Struct("<4d")
_struct_3d = struct.Struct("<3d")