_LaserTrajCmd.py

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"""autogenerated by genpy from pr2_msgs/LaserTrajCmd.msg. Do not edit."""
import sys
python3 = True if sys.hexversion > 0x03000000 else False
import genpy
import struct

import genpy
import std_msgs.msg

class LaserTrajCmd(genpy.Message):
  _md5sum = "68a1665e9079049dce55a0384cb2e9b5"
  _type = "pr2_msgs/LaserTrajCmd"
  _has_header = True #flag to mark the presence of a Header object
  _full_text = """# This message is used to set the profile that the tilt laser controller
# executes.
Header header
string profile              # options are currently "linear" or "linear_blended"
float64[] position          # Laser positions
duration[] time_from_start  # Times to reach laser positions in seconds
float64 max_velocity        # Set <= 0 to use default
float64 max_acceleration    # Set <= 0 to use default

================================================================================
MSG: std_msgs/Header
# Standard metadata for higher-level stamped data types.
# This is generally used to communicate timestamped data 
# in a particular coordinate frame.
# 
# sequence ID: consecutively increasing ID 
uint32 seq
#Two-integer timestamp that is expressed as:
# * stamp.secs: seconds (stamp_secs) since epoch
# * stamp.nsecs: nanoseconds since stamp_secs
# time-handling sugar is provided by the client library
time stamp
#Frame this data is associated with
# 0: no frame
# 1: global frame
string frame_id

"""
  __slots__ = ['header','profile','position','time_from_start','max_velocity','max_acceleration']
  _slot_types = ['std_msgs/Header','string','float64[]','duration[]','float64','float64']

  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:
       header,profile,position,time_from_start,max_velocity,max_acceleration

    :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(LaserTrajCmd, self).__init__(*args, **kwds)
      #message fields cannot be None, assign default values for those that are
      if self.header is None:
        self.header = std_msgs.msg.Header()
      if self.profile is None:
        self.profile = ''
      if self.position is None:
        self.position = []
      if self.time_from_start is None:
        self.time_from_start = []
      if self.max_velocity is None:
        self.max_velocity = 0.
      if self.max_acceleration is None:
        self.max_acceleration = 0.
    else:
      self.header = std_msgs.msg.Header()
      self.profile = ''
      self.position = []
      self.time_from_start = []
      self.max_velocity = 0.
      self.max_acceleration = 0.

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

  def serialize(self, buff):
    """
    serialize message into buffer
    :param buff: buffer, ``StringIO``
    """
    try:
      _x = self
      buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
      _x = self.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self.profile
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.position)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.position))
      length = len(self.time_from_start)
      buff.write(_struct_I.pack(length))
      for val1 in self.time_from_start:
        _x = val1
        buff.write(_struct_2i.pack(_x.secs, _x.nsecs))
      _x = self
      buff.write(_struct_2d.pack(_x.max_velocity, _x.max_acceleration))
    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.header is None:
        self.header = std_msgs.msg.Header()
      if self.time_from_start is None:
        self.time_from_start = None
      end = 0
      _x = self
      start = end
      end += 12
      (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.profile = str[start:end].decode('utf-8')
      else:
        self.profile = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.position = struct.unpack(pattern, str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.time_from_start = []
      for i in range(0, length):
        val1 = genpy.Duration()
        _x = val1
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2i.unpack(str[start:end])
        self.time_from_start.append(val1)
      _x = self
      start = end
      end += 16
      (_x.max_velocity, _x.max_acceleration,) = _struct_2d.unpack(str[start:end])
      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:
      _x = self
      buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
      _x = self.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self.profile
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.position)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.position.tostring())
      length = len(self.time_from_start)
      buff.write(_struct_I.pack(length))
      for val1 in self.time_from_start:
        _x = val1
        buff.write(_struct_2i.pack(_x.secs, _x.nsecs))
      _x = self
      buff.write(_struct_2d.pack(_x.max_velocity, _x.max_acceleration))
    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.header is None:
        self.header = std_msgs.msg.Header()
      if self.time_from_start is None:
        self.time_from_start = None
      end = 0
      _x = self
      start = end
      end += 12
      (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.profile = str[start:end].decode('utf-8')
      else:
        self.profile = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.position = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.time_from_start = []
      for i in range(0, length):
        val1 = genpy.Duration()
        _x = val1
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2i.unpack(str[start:end])
        self.time_from_start.append(val1)
      _x = self
      start = end
      end += 16
      (_x.max_velocity, _x.max_acceleration,) = _struct_2d.unpack(str[start:end])
      return self
    except struct.error as e:
      raise genpy.DeserializationError(e) #most likely buffer underfill

_struct_I = genpy.struct_I
_struct_2d = struct.Struct("<2d")
_struct_3I = struct.Struct("<3I")
_struct_2i = struct.Struct("<2i")