00001 """autogenerated by genpy from object_manipulation_msgs/ReactivePlaceActionGoal.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 trajectory_msgs.msg
00008 import object_manipulation_msgs.msg
00009 import actionlib_msgs.msg
00010 import geometry_msgs.msg
00011 import genpy
00012 import std_msgs.msg
00013
00014 class ReactivePlaceActionGoal(genpy.Message):
00015 _md5sum = "f70629d4244203e19c14919dbd7fb5d4"
00016 _type = "object_manipulation_msgs/ReactivePlaceActionGoal"
00017 _has_header = True
00018 _full_text = """# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00019
00020 Header header
00021 actionlib_msgs/GoalID goal_id
00022 ReactivePlaceGoal goal
00023
00024 ================================================================================
00025 MSG: std_msgs/Header
00026 # Standard metadata for higher-level stamped data types.
00027 # This is generally used to communicate timestamped data
00028 # in a particular coordinate frame.
00029 #
00030 # sequence ID: consecutively increasing ID
00031 uint32 seq
00032 #Two-integer timestamp that is expressed as:
00033 # * stamp.secs: seconds (stamp_secs) since epoch
00034 # * stamp.nsecs: nanoseconds since stamp_secs
00035 # time-handling sugar is provided by the client library
00036 time stamp
00037 #Frame this data is associated with
00038 # 0: no frame
00039 # 1: global frame
00040 string frame_id
00041
00042 ================================================================================
00043 MSG: actionlib_msgs/GoalID
00044 # The stamp should store the time at which this goal was requested.
00045 # It is used by an action server when it tries to preempt all
00046 # goals that were requested before a certain time
00047 time stamp
00048
00049 # The id provides a way to associate feedback and
00050 # result message with specific goal requests. The id
00051 # specified must be unique.
00052 string id
00053
00054
00055 ================================================================================
00056 MSG: object_manipulation_msgs/ReactivePlaceGoal
00057 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00058 # an action for placing the object using tactile sensor feedback.
00059 # a reactive place starts from the current pose of the gripper and ends
00060 # at a desired place pose, presumably using the touch sensors along the way
00061
00062 # the name of the arm being used
00063 string arm_name
00064
00065 # the desired final place pose for the hand
00066 geometry_msgs/PoseStamped final_place_pose
00067
00068 # the joint trajectory to use for the place (if available)
00069 # this trajectory is expected to start at the current pose of the gripper
00070 # and end at the desired place pose
00071 trajectory_msgs/JointTrajectory trajectory
00072
00073 # the name of the support surface in the collision environment, if any
00074 string collision_support_surface_name
00075
00076 # the name in the collision environment of the object being placed, if any
00077 string collision_object_name
00078
00079 ================================================================================
00080 MSG: geometry_msgs/PoseStamped
00081 # A Pose with reference coordinate frame and timestamp
00082 Header header
00083 Pose pose
00084
00085 ================================================================================
00086 MSG: geometry_msgs/Pose
00087 # A representation of pose in free space, composed of postion and orientation.
00088 Point position
00089 Quaternion orientation
00090
00091 ================================================================================
00092 MSG: geometry_msgs/Point
00093 # This contains the position of a point in free space
00094 float64 x
00095 float64 y
00096 float64 z
00097
00098 ================================================================================
00099 MSG: geometry_msgs/Quaternion
00100 # This represents an orientation in free space in quaternion form.
00101
00102 float64 x
00103 float64 y
00104 float64 z
00105 float64 w
00106
00107 ================================================================================
00108 MSG: trajectory_msgs/JointTrajectory
00109 Header header
00110 string[] joint_names
00111 JointTrajectoryPoint[] points
00112 ================================================================================
00113 MSG: trajectory_msgs/JointTrajectoryPoint
00114 float64[] positions
00115 float64[] velocities
00116 float64[] accelerations
00117 duration time_from_start
00118 """
00119 __slots__ = ['header','goal_id','goal']
00120 _slot_types = ['std_msgs/Header','actionlib_msgs/GoalID','object_manipulation_msgs/ReactivePlaceGoal']
00121
00122 def __init__(self, *args, **kwds):
00123 """
00124 Constructor. Any message fields that are implicitly/explicitly
00125 set to None will be assigned a default value. The recommend
00126 use is keyword arguments as this is more robust to future message
00127 changes. You cannot mix in-order arguments and keyword arguments.
00128
00129 The available fields are:
00130 header,goal_id,goal
00131
00132 :param args: complete set of field values, in .msg order
00133 :param kwds: use keyword arguments corresponding to message field names
00134 to set specific fields.
00135 """
00136 if args or kwds:
00137 super(ReactivePlaceActionGoal, self).__init__(*args, **kwds)
00138
00139 if self.header is None:
00140 self.header = std_msgs.msg.Header()
00141 if self.goal_id is None:
00142 self.goal_id = actionlib_msgs.msg.GoalID()
00143 if self.goal is None:
00144 self.goal = object_manipulation_msgs.msg.ReactivePlaceGoal()
00145 else:
00146 self.header = std_msgs.msg.Header()
00147 self.goal_id = actionlib_msgs.msg.GoalID()
00148 self.goal = object_manipulation_msgs.msg.ReactivePlaceGoal()
00149
00150 def _get_types(self):
00151 """
00152 internal API method
00153 """
00154 return self._slot_types
00155
00156 def serialize(self, buff):
00157 """
00158 serialize message into buffer
00159 :param buff: buffer, ``StringIO``
00160 """
00161 try:
00162 _x = self
00163 buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
00164 _x = self.header.frame_id
00165 length = len(_x)
00166 if python3 or type(_x) == unicode:
00167 _x = _x.encode('utf-8')
00168 length = len(_x)
00169 buff.write(struct.pack('<I%ss'%length, length, _x))
00170 _x = self
00171 buff.write(_struct_2I.pack(_x.goal_id.stamp.secs, _x.goal_id.stamp.nsecs))
00172 _x = self.goal_id.id
00173 length = len(_x)
00174 if python3 or type(_x) == unicode:
00175 _x = _x.encode('utf-8')
00176 length = len(_x)
00177 buff.write(struct.pack('<I%ss'%length, length, _x))
00178 _x = self.goal.arm_name
00179 length = len(_x)
00180 if python3 or type(_x) == unicode:
00181 _x = _x.encode('utf-8')
00182 length = len(_x)
00183 buff.write(struct.pack('<I%ss'%length, length, _x))
00184 _x = self
00185 buff.write(_struct_3I.pack(_x.goal.final_place_pose.header.seq, _x.goal.final_place_pose.header.stamp.secs, _x.goal.final_place_pose.header.stamp.nsecs))
00186 _x = self.goal.final_place_pose.header.frame_id
00187 length = len(_x)
00188 if python3 or type(_x) == unicode:
00189 _x = _x.encode('utf-8')
00190 length = len(_x)
00191 buff.write(struct.pack('<I%ss'%length, length, _x))
00192 _x = self
00193 buff.write(_struct_7d3I.pack(_x.goal.final_place_pose.pose.position.x, _x.goal.final_place_pose.pose.position.y, _x.goal.final_place_pose.pose.position.z, _x.goal.final_place_pose.pose.orientation.x, _x.goal.final_place_pose.pose.orientation.y, _x.goal.final_place_pose.pose.orientation.z, _x.goal.final_place_pose.pose.orientation.w, _x.goal.trajectory.header.seq, _x.goal.trajectory.header.stamp.secs, _x.goal.trajectory.header.stamp.nsecs))
00194 _x = self.goal.trajectory.header.frame_id
00195 length = len(_x)
00196 if python3 or type(_x) == unicode:
00197 _x = _x.encode('utf-8')
00198 length = len(_x)
00199 buff.write(struct.pack('<I%ss'%length, length, _x))
00200 length = len(self.goal.trajectory.joint_names)
00201 buff.write(_struct_I.pack(length))
00202 for val1 in self.goal.trajectory.joint_names:
00203 length = len(val1)
00204 if python3 or type(val1) == unicode:
00205 val1 = val1.encode('utf-8')
00206 length = len(val1)
00207 buff.write(struct.pack('<I%ss'%length, length, val1))
00208 length = len(self.goal.trajectory.points)
00209 buff.write(_struct_I.pack(length))
00210 for val1 in self.goal.trajectory.points:
00211 length = len(val1.positions)
00212 buff.write(_struct_I.pack(length))
00213 pattern = '<%sd'%length
00214 buff.write(struct.pack(pattern, *val1.positions))
00215 length = len(val1.velocities)
00216 buff.write(_struct_I.pack(length))
00217 pattern = '<%sd'%length
00218 buff.write(struct.pack(pattern, *val1.velocities))
00219 length = len(val1.accelerations)
00220 buff.write(_struct_I.pack(length))
00221 pattern = '<%sd'%length
00222 buff.write(struct.pack(pattern, *val1.accelerations))
00223 _v1 = val1.time_from_start
00224 _x = _v1
00225 buff.write(_struct_2i.pack(_x.secs, _x.nsecs))
00226 _x = self.goal.collision_support_surface_name
00227 length = len(_x)
00228 if python3 or type(_x) == unicode:
00229 _x = _x.encode('utf-8')
00230 length = len(_x)
00231 buff.write(struct.pack('<I%ss'%length, length, _x))
00232 _x = self.goal.collision_object_name
00233 length = len(_x)
00234 if python3 or type(_x) == unicode:
00235 _x = _x.encode('utf-8')
00236 length = len(_x)
00237 buff.write(struct.pack('<I%ss'%length, length, _x))
00238 except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
00239 except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))
00240
00241 def deserialize(self, str):
00242 """
00243 unpack serialized message in str into this message instance
00244 :param str: byte array of serialized message, ``str``
00245 """
00246 try:
00247 if self.header is None:
00248 self.header = std_msgs.msg.Header()
00249 if self.goal_id is None:
00250 self.goal_id = actionlib_msgs.msg.GoalID()
00251 if self.goal is None:
00252 self.goal = object_manipulation_msgs.msg.ReactivePlaceGoal()
00253 end = 0
00254 _x = self
00255 start = end
00256 end += 12
00257 (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00258 start = end
00259 end += 4
00260 (length,) = _struct_I.unpack(str[start:end])
00261 start = end
00262 end += length
00263 if python3:
00264 self.header.frame_id = str[start:end].decode('utf-8')
00265 else:
00266 self.header.frame_id = str[start:end]
00267 _x = self
00268 start = end
00269 end += 8
00270 (_x.goal_id.stamp.secs, _x.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00271 start = end
00272 end += 4
00273 (length,) = _struct_I.unpack(str[start:end])
00274 start = end
00275 end += length
00276 if python3:
00277 self.goal_id.id = str[start:end].decode('utf-8')
00278 else:
00279 self.goal_id.id = str[start:end]
00280 start = end
00281 end += 4
00282 (length,) = _struct_I.unpack(str[start:end])
00283 start = end
00284 end += length
00285 if python3:
00286 self.goal.arm_name = str[start:end].decode('utf-8')
00287 else:
00288 self.goal.arm_name = str[start:end]
00289 _x = self
00290 start = end
00291 end += 12
00292 (_x.goal.final_place_pose.header.seq, _x.goal.final_place_pose.header.stamp.secs, _x.goal.final_place_pose.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00293 start = end
00294 end += 4
00295 (length,) = _struct_I.unpack(str[start:end])
00296 start = end
00297 end += length
00298 if python3:
00299 self.goal.final_place_pose.header.frame_id = str[start:end].decode('utf-8')
00300 else:
00301 self.goal.final_place_pose.header.frame_id = str[start:end]
00302 _x = self
00303 start = end
00304 end += 68
00305 (_x.goal.final_place_pose.pose.position.x, _x.goal.final_place_pose.pose.position.y, _x.goal.final_place_pose.pose.position.z, _x.goal.final_place_pose.pose.orientation.x, _x.goal.final_place_pose.pose.orientation.y, _x.goal.final_place_pose.pose.orientation.z, _x.goal.final_place_pose.pose.orientation.w, _x.goal.trajectory.header.seq, _x.goal.trajectory.header.stamp.secs, _x.goal.trajectory.header.stamp.nsecs,) = _struct_7d3I.unpack(str[start:end])
00306 start = end
00307 end += 4
00308 (length,) = _struct_I.unpack(str[start:end])
00309 start = end
00310 end += length
00311 if python3:
00312 self.goal.trajectory.header.frame_id = str[start:end].decode('utf-8')
00313 else:
00314 self.goal.trajectory.header.frame_id = str[start:end]
00315 start = end
00316 end += 4
00317 (length,) = _struct_I.unpack(str[start:end])
00318 self.goal.trajectory.joint_names = []
00319 for i in range(0, length):
00320 start = end
00321 end += 4
00322 (length,) = _struct_I.unpack(str[start:end])
00323 start = end
00324 end += length
00325 if python3:
00326 val1 = str[start:end].decode('utf-8')
00327 else:
00328 val1 = str[start:end]
00329 self.goal.trajectory.joint_names.append(val1)
00330 start = end
00331 end += 4
00332 (length,) = _struct_I.unpack(str[start:end])
00333 self.goal.trajectory.points = []
00334 for i in range(0, length):
00335 val1 = trajectory_msgs.msg.JointTrajectoryPoint()
00336 start = end
00337 end += 4
00338 (length,) = _struct_I.unpack(str[start:end])
00339 pattern = '<%sd'%length
00340 start = end
00341 end += struct.calcsize(pattern)
00342 val1.positions = struct.unpack(pattern, str[start:end])
00343 start = end
00344 end += 4
00345 (length,) = _struct_I.unpack(str[start:end])
00346 pattern = '<%sd'%length
00347 start = end
00348 end += struct.calcsize(pattern)
00349 val1.velocities = struct.unpack(pattern, str[start:end])
00350 start = end
00351 end += 4
00352 (length,) = _struct_I.unpack(str[start:end])
00353 pattern = '<%sd'%length
00354 start = end
00355 end += struct.calcsize(pattern)
00356 val1.accelerations = struct.unpack(pattern, str[start:end])
00357 _v2 = val1.time_from_start
00358 _x = _v2
00359 start = end
00360 end += 8
00361 (_x.secs, _x.nsecs,) = _struct_2i.unpack(str[start:end])
00362 self.goal.trajectory.points.append(val1)
00363 start = end
00364 end += 4
00365 (length,) = _struct_I.unpack(str[start:end])
00366 start = end
00367 end += length
00368 if python3:
00369 self.goal.collision_support_surface_name = str[start:end].decode('utf-8')
00370 else:
00371 self.goal.collision_support_surface_name = str[start:end]
00372 start = end
00373 end += 4
00374 (length,) = _struct_I.unpack(str[start:end])
00375 start = end
00376 end += length
00377 if python3:
00378 self.goal.collision_object_name = str[start:end].decode('utf-8')
00379 else:
00380 self.goal.collision_object_name = str[start:end]
00381 return self
00382 except struct.error as e:
00383 raise genpy.DeserializationError(e)
00384
00385
00386 def serialize_numpy(self, buff, numpy):
00387 """
00388 serialize message with numpy array types into buffer
00389 :param buff: buffer, ``StringIO``
00390 :param numpy: numpy python module
00391 """
00392 try:
00393 _x = self
00394 buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
00395 _x = self.header.frame_id
00396 length = len(_x)
00397 if python3 or type(_x) == unicode:
00398 _x = _x.encode('utf-8')
00399 length = len(_x)
00400 buff.write(struct.pack('<I%ss'%length, length, _x))
00401 _x = self
00402 buff.write(_struct_2I.pack(_x.goal_id.stamp.secs, _x.goal_id.stamp.nsecs))
00403 _x = self.goal_id.id
00404 length = len(_x)
00405 if python3 or type(_x) == unicode:
00406 _x = _x.encode('utf-8')
00407 length = len(_x)
00408 buff.write(struct.pack('<I%ss'%length, length, _x))
00409 _x = self.goal.arm_name
00410 length = len(_x)
00411 if python3 or type(_x) == unicode:
00412 _x = _x.encode('utf-8')
00413 length = len(_x)
00414 buff.write(struct.pack('<I%ss'%length, length, _x))
00415 _x = self
00416 buff.write(_struct_3I.pack(_x.goal.final_place_pose.header.seq, _x.goal.final_place_pose.header.stamp.secs, _x.goal.final_place_pose.header.stamp.nsecs))
00417 _x = self.goal.final_place_pose.header.frame_id
00418 length = len(_x)
00419 if python3 or type(_x) == unicode:
00420 _x = _x.encode('utf-8')
00421 length = len(_x)
00422 buff.write(struct.pack('<I%ss'%length, length, _x))
00423 _x = self
00424 buff.write(_struct_7d3I.pack(_x.goal.final_place_pose.pose.position.x, _x.goal.final_place_pose.pose.position.y, _x.goal.final_place_pose.pose.position.z, _x.goal.final_place_pose.pose.orientation.x, _x.goal.final_place_pose.pose.orientation.y, _x.goal.final_place_pose.pose.orientation.z, _x.goal.final_place_pose.pose.orientation.w, _x.goal.trajectory.header.seq, _x.goal.trajectory.header.stamp.secs, _x.goal.trajectory.header.stamp.nsecs))
00425 _x = self.goal.trajectory.header.frame_id
00426 length = len(_x)
00427 if python3 or type(_x) == unicode:
00428 _x = _x.encode('utf-8')
00429 length = len(_x)
00430 buff.write(struct.pack('<I%ss'%length, length, _x))
00431 length = len(self.goal.trajectory.joint_names)
00432 buff.write(_struct_I.pack(length))
00433 for val1 in self.goal.trajectory.joint_names:
00434 length = len(val1)
00435 if python3 or type(val1) == unicode:
00436 val1 = val1.encode('utf-8')
00437 length = len(val1)
00438 buff.write(struct.pack('<I%ss'%length, length, val1))
00439 length = len(self.goal.trajectory.points)
00440 buff.write(_struct_I.pack(length))
00441 for val1 in self.goal.trajectory.points:
00442 length = len(val1.positions)
00443 buff.write(_struct_I.pack(length))
00444 pattern = '<%sd'%length
00445 buff.write(val1.positions.tostring())
00446 length = len(val1.velocities)
00447 buff.write(_struct_I.pack(length))
00448 pattern = '<%sd'%length
00449 buff.write(val1.velocities.tostring())
00450 length = len(val1.accelerations)
00451 buff.write(_struct_I.pack(length))
00452 pattern = '<%sd'%length
00453 buff.write(val1.accelerations.tostring())
00454 _v3 = val1.time_from_start
00455 _x = _v3
00456 buff.write(_struct_2i.pack(_x.secs, _x.nsecs))
00457 _x = self.goal.collision_support_surface_name
00458 length = len(_x)
00459 if python3 or type(_x) == unicode:
00460 _x = _x.encode('utf-8')
00461 length = len(_x)
00462 buff.write(struct.pack('<I%ss'%length, length, _x))
00463 _x = self.goal.collision_object_name
00464 length = len(_x)
00465 if python3 or type(_x) == unicode:
00466 _x = _x.encode('utf-8')
00467 length = len(_x)
00468 buff.write(struct.pack('<I%ss'%length, length, _x))
00469 except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
00470 except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))
00471
00472 def deserialize_numpy(self, str, numpy):
00473 """
00474 unpack serialized message in str into this message instance using numpy for array types
00475 :param str: byte array of serialized message, ``str``
00476 :param numpy: numpy python module
00477 """
00478 try:
00479 if self.header is None:
00480 self.header = std_msgs.msg.Header()
00481 if self.goal_id is None:
00482 self.goal_id = actionlib_msgs.msg.GoalID()
00483 if self.goal is None:
00484 self.goal = object_manipulation_msgs.msg.ReactivePlaceGoal()
00485 end = 0
00486 _x = self
00487 start = end
00488 end += 12
00489 (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00490 start = end
00491 end += 4
00492 (length,) = _struct_I.unpack(str[start:end])
00493 start = end
00494 end += length
00495 if python3:
00496 self.header.frame_id = str[start:end].decode('utf-8')
00497 else:
00498 self.header.frame_id = str[start:end]
00499 _x = self
00500 start = end
00501 end += 8
00502 (_x.goal_id.stamp.secs, _x.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00503 start = end
00504 end += 4
00505 (length,) = _struct_I.unpack(str[start:end])
00506 start = end
00507 end += length
00508 if python3:
00509 self.goal_id.id = str[start:end].decode('utf-8')
00510 else:
00511 self.goal_id.id = str[start:end]
00512 start = end
00513 end += 4
00514 (length,) = _struct_I.unpack(str[start:end])
00515 start = end
00516 end += length
00517 if python3:
00518 self.goal.arm_name = str[start:end].decode('utf-8')
00519 else:
00520 self.goal.arm_name = str[start:end]
00521 _x = self
00522 start = end
00523 end += 12
00524 (_x.goal.final_place_pose.header.seq, _x.goal.final_place_pose.header.stamp.secs, _x.goal.final_place_pose.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00525 start = end
00526 end += 4
00527 (length,) = _struct_I.unpack(str[start:end])
00528 start = end
00529 end += length
00530 if python3:
00531 self.goal.final_place_pose.header.frame_id = str[start:end].decode('utf-8')
00532 else:
00533 self.goal.final_place_pose.header.frame_id = str[start:end]
00534 _x = self
00535 start = end
00536 end += 68
00537 (_x.goal.final_place_pose.pose.position.x, _x.goal.final_place_pose.pose.position.y, _x.goal.final_place_pose.pose.position.z, _x.goal.final_place_pose.pose.orientation.x, _x.goal.final_place_pose.pose.orientation.y, _x.goal.final_place_pose.pose.orientation.z, _x.goal.final_place_pose.pose.orientation.w, _x.goal.trajectory.header.seq, _x.goal.trajectory.header.stamp.secs, _x.goal.trajectory.header.stamp.nsecs,) = _struct_7d3I.unpack(str[start:end])
00538 start = end
00539 end += 4
00540 (length,) = _struct_I.unpack(str[start:end])
00541 start = end
00542 end += length
00543 if python3:
00544 self.goal.trajectory.header.frame_id = str[start:end].decode('utf-8')
00545 else:
00546 self.goal.trajectory.header.frame_id = str[start:end]
00547 start = end
00548 end += 4
00549 (length,) = _struct_I.unpack(str[start:end])
00550 self.goal.trajectory.joint_names = []
00551 for i in range(0, length):
00552 start = end
00553 end += 4
00554 (length,) = _struct_I.unpack(str[start:end])
00555 start = end
00556 end += length
00557 if python3:
00558 val1 = str[start:end].decode('utf-8')
00559 else:
00560 val1 = str[start:end]
00561 self.goal.trajectory.joint_names.append(val1)
00562 start = end
00563 end += 4
00564 (length,) = _struct_I.unpack(str[start:end])
00565 self.goal.trajectory.points = []
00566 for i in range(0, length):
00567 val1 = trajectory_msgs.msg.JointTrajectoryPoint()
00568 start = end
00569 end += 4
00570 (length,) = _struct_I.unpack(str[start:end])
00571 pattern = '<%sd'%length
00572 start = end
00573 end += struct.calcsize(pattern)
00574 val1.positions = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00575 start = end
00576 end += 4
00577 (length,) = _struct_I.unpack(str[start:end])
00578 pattern = '<%sd'%length
00579 start = end
00580 end += struct.calcsize(pattern)
00581 val1.velocities = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00582 start = end
00583 end += 4
00584 (length,) = _struct_I.unpack(str[start:end])
00585 pattern = '<%sd'%length
00586 start = end
00587 end += struct.calcsize(pattern)
00588 val1.accelerations = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00589 _v4 = val1.time_from_start
00590 _x = _v4
00591 start = end
00592 end += 8
00593 (_x.secs, _x.nsecs,) = _struct_2i.unpack(str[start:end])
00594 self.goal.trajectory.points.append(val1)
00595 start = end
00596 end += 4
00597 (length,) = _struct_I.unpack(str[start:end])
00598 start = end
00599 end += length
00600 if python3:
00601 self.goal.collision_support_surface_name = str[start:end].decode('utf-8')
00602 else:
00603 self.goal.collision_support_surface_name = str[start:end]
00604 start = end
00605 end += 4
00606 (length,) = _struct_I.unpack(str[start:end])
00607 start = end
00608 end += length
00609 if python3:
00610 self.goal.collision_object_name = str[start:end].decode('utf-8')
00611 else:
00612 self.goal.collision_object_name = str[start:end]
00613 return self
00614 except struct.error as e:
00615 raise genpy.DeserializationError(e)
00616
00617 _struct_I = genpy.struct_I
00618 _struct_2i = struct.Struct("<2i")
00619 _struct_3I = struct.Struct("<3I")
00620 _struct_2I = struct.Struct("<2I")
00621 _struct_7d3I = struct.Struct("<7d3I")