00001 """autogenerated by genpy from articulation_msgs/ModelMsg.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 sensor_msgs.msg
00008 import geometry_msgs.msg
00009 import articulation_msgs.msg
00010 import std_msgs.msg
00011
00012 class ModelMsg(genpy.Message):
00013 _md5sum = "d6fd23ca956a2c6fee31f2452ddba34d"
00014 _type = "articulation_msgs/ModelMsg"
00015 _has_header = True
00016 _full_text = """# Single kinematic model
00017 #
00018 # A kinematic model is defined by its model class name, and a set of parameters.
00019 # The client may additionally specify a model id, that can be used to colorize the
00020 # model when visualized using the RVIZ model display.
00021 #
00022 # For a list of currently implemented models, see the documetation at
00023 # http://www.ros.org/wiki/articulation_models
00024 #
00025 #
00026
00027 std_msgs/Header header # frame and timestamp
00028
00029 int32 id # user specified model id
00030 string name # name of the model family (e.g. "rotational",
00031 # "prismatic", "pca-gp", "rigid")
00032 articulation_msgs/ParamMsg[] params # model parameters
00033 articulation_msgs/TrackMsg track # trajectory from which the model is estimated, or
00034 # that is evaluated using the model
00035
00036 ================================================================================
00037 MSG: std_msgs/Header
00038 # Standard metadata for higher-level stamped data types.
00039 # This is generally used to communicate timestamped data
00040 # in a particular coordinate frame.
00041 #
00042 # sequence ID: consecutively increasing ID
00043 uint32 seq
00044 #Two-integer timestamp that is expressed as:
00045 # * stamp.secs: seconds (stamp_secs) since epoch
00046 # * stamp.nsecs: nanoseconds since stamp_secs
00047 # time-handling sugar is provided by the client library
00048 time stamp
00049 #Frame this data is associated with
00050 # 0: no frame
00051 # 1: global frame
00052 string frame_id
00053
00054 ================================================================================
00055 MSG: articulation_msgs/ParamMsg
00056 # Single parameter passed to or from model fitting
00057 #
00058 # This mechanism allows to flexibly pass parameters to
00059 # model fitting (and vice versa). Note that these parameters
00060 # are model-specific: A client may supply additional
00061 # parameters to the model estimator, and, similarly, a estimator
00062 # may add the estimated model parameters to the model message.
00063 # When the model is then evaluated, for example to make predictions
00064 # or to compute the likelihood, the model class can then use
00065 # these parameters.
00066 #
00067 # A parameter has a name, a value, and a type. The type globally
00068 # indicates whether it is a prior parameter (prior to model fitting),
00069 # or a model parameter (found during model fitting, using a maximum-
00070 # likelihood estimator), or a cached evaluation (e.g., the likelihood
00071 # or the BIC are a typical "side"-product of model estimation, and
00072 # can therefore already be cached).
00073 #
00074 # For a list of currently used parameters, see the documentation at
00075 # http://www.ros.org/wiki/articulation_models
00076 #
00077
00078 uint8 PRIOR=0 # indicates a prior model parameter
00079 # (e.g., "sigma_position")
00080 uint8 PARAM=1 # indicates a estimated model parameter
00081 # (e.g., "rot_radius", the estimated radius)
00082 uint8 EVAL=2 # indicates a cached evaluation of the model, given
00083 # the current trajectory
00084 # (e.g., "loglikelihood", the log likelihood of the
00085 # data, given the model and its parameters)
00086
00087 string name # name of the parameter
00088 float64 value # value of the parameter
00089 uint8 type # type of the parameter (PRIOR, PARAM, EVAL)
00090
00091
00092 ================================================================================
00093 MSG: articulation_msgs/TrackMsg
00094 # Single kinematic trajectory
00095 #
00096 # This message contains a kinematic trajectory. The trajectory is specified
00097 # as a vector of 6D poses. An additional flag, track_type, indicates whether
00098 # the track is valid, and whether it includes orientation. The track id
00099 # can be used for automatic coloring in the RVIZ track plugin, and can be
00100 # freely chosen by the client.
00101 #
00102 # A model is fitting only from the trajectory stored in the pose[]-vector.
00103 # Additional information may be associated to each pose using the channels
00104 # vector, with arbitrary # fields (e.g., to include applied/measured forces).
00105 #
00106 # After model evaluation,
00107 # also the associated configurations of the object are stored in the channels,
00108 # named "q[0]".."q[DOF-1]", where DOF is the number of degrees of freedom.
00109 # Model evaluation also projects the poses in the pose vector onto the model,
00110 # and stores these ideal poses in the vector pose_projected. Further, during model
00111 # evaluation, a new set of (uniform) configurations over the valid configuration
00112 # range is sampled, and the result is stored in pose_resampled.
00113 # The vector pose_flags contains additional display flags for the poses in the
00114 # pose vector, for example, whether a pose is visible and/or
00115 # the end of a trajectory segment. At the moment, this is only used by the
00116 # prior_model_learner.
00117 #
00118
00119 std_msgs/Header header # frame and timestamp
00120 int32 id # used-specified track id
00121
00122 geometry_msgs/Pose[] pose # sequence of poses, defining the observed trajectory
00123 std_msgs/Header[] pose_headers # Timestamp and frame for each pose (and pose_projected)
00124 geometry_msgs/Pose[] pose_projected # sequence of poses, projected to the model
00125 # (after model evaluation)
00126 geometry_msgs/Pose[] pose_resampled # sequence of poses, re-sampled from the model in
00127 # the valid configuration range
00128 uint32[] pose_flags # bit-wise combination of POSE_VISIBLE and POSE_END_OF_SEGMENT
00129
00130 uint32 POSE_VISIBLE=1
00131 uint32 POSE_END_OF_SEGMENT=2
00132
00133 # Each channel should have the same number of elements as pose array,
00134 # and the data in each channel should correspond 1:1 with each pose
00135 # possible channels: "width", "height", "rgb", ...
00136 sensor_msgs/ChannelFloat32[] channels
00137
00138
00139
00140 ================================================================================
00141 MSG: geometry_msgs/Pose
00142 # A representation of pose in free space, composed of postion and orientation.
00143 Point position
00144 Quaternion orientation
00145
00146 ================================================================================
00147 MSG: geometry_msgs/Point
00148 # This contains the position of a point in free space
00149 float64 x
00150 float64 y
00151 float64 z
00152
00153 ================================================================================
00154 MSG: geometry_msgs/Quaternion
00155 # This represents an orientation in free space in quaternion form.
00156
00157 float64 x
00158 float64 y
00159 float64 z
00160 float64 w
00161
00162 ================================================================================
00163 MSG: sensor_msgs/ChannelFloat32
00164 # This message is used by the PointCloud message to hold optional data
00165 # associated with each point in the cloud. The length of the values
00166 # array should be the same as the length of the points array in the
00167 # PointCloud, and each value should be associated with the corresponding
00168 # point.
00169
00170 # Channel names in existing practice include:
00171 # "u", "v" - row and column (respectively) in the left stereo image.
00172 # This is opposite to usual conventions but remains for
00173 # historical reasons. The newer PointCloud2 message has no
00174 # such problem.
00175 # "rgb" - For point clouds produced by color stereo cameras. uint8
00176 # (R,G,B) values packed into the least significant 24 bits,
00177 # in order.
00178 # "intensity" - laser or pixel intensity.
00179 # "distance"
00180
00181 # The channel name should give semantics of the channel (e.g.
00182 # "intensity" instead of "value").
00183 string name
00184
00185 # The values array should be 1-1 with the elements of the associated
00186 # PointCloud.
00187 float32[] values
00188
00189 """
00190 __slots__ = ['header','id','name','params','track']
00191 _slot_types = ['std_msgs/Header','int32','string','articulation_msgs/ParamMsg[]','articulation_msgs/TrackMsg']
00192
00193 def __init__(self, *args, **kwds):
00194 """
00195 Constructor. Any message fields that are implicitly/explicitly
00196 set to None will be assigned a default value. The recommend
00197 use is keyword arguments as this is more robust to future message
00198 changes. You cannot mix in-order arguments and keyword arguments.
00199
00200 The available fields are:
00201 header,id,name,params,track
00202
00203 :param args: complete set of field values, in .msg order
00204 :param kwds: use keyword arguments corresponding to message field names
00205 to set specific fields.
00206 """
00207 if args or kwds:
00208 super(ModelMsg, self).__init__(*args, **kwds)
00209 #message fields cannot be None, assign default values for those that are
00210 if self.header is None:
00211 self.header = std_msgs.msg.Header()
00212 if self.id is None:
00213 self.id = 0
00214 if self.name is None:
00215 self.name = ''
00216 if self.params is None:
00217 self.params = []
00218 if self.track is None:
00219 self.track = articulation_msgs.msg.TrackMsg()
00220 else:
00221 self.header = std_msgs.msg.Header()
00222 self.id = 0
00223 self.name = ''
00224 self.params = []
00225 self.track = articulation_msgs.msg.TrackMsg()
00226
00227 def _get_types(self):
00228 """
00229 internal API method
00230 """
00231 return self._slot_types
00232
00233 def serialize(self, buff):
00234 """
00235 serialize message into buffer
00236 :param buff: buffer, ``StringIO``
00237 """
00238 try:
00239 _x = self
00240 buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
00241 _x = self.header.frame_id
00242 length = len(_x)
00243 if python3 or type(_x) == unicode:
00244 _x = _x.encode('utf-8')
00245 length = len(_x)
00246 buff.write(struct.pack('<I%ss'%length, length, _x))
00247 buff.write(_struct_i.pack(self.id))
00248 _x = self.name
00249 length = len(_x)
00250 if python3 or type(_x) == unicode:
00251 _x = _x.encode('utf-8')
00252 length = len(_x)
00253 buff.write(struct.pack('<I%ss'%length, length, _x))
00254 length = len(self.params)
00255 buff.write(_struct_I.pack(length))
00256 for val1 in self.params:
00257 _x = val1.name
00258 length = len(_x)
00259 if python3 or type(_x) == unicode:
00260 _x = _x.encode('utf-8')
00261 length = len(_x)
00262 buff.write(struct.pack('<I%ss'%length, length, _x))
00263 _x = val1
00264 buff.write(_struct_dB.pack(_x.value, _x.type))
00265 _x = self
00266 buff.write(_struct_3I.pack(_x.track.header.seq, _x.track.header.stamp.secs, _x.track.header.stamp.nsecs))
00267 _x = self.track.header.frame_id
00268 length = len(_x)
00269 if python3 or type(_x) == unicode:
00270 _x = _x.encode('utf-8')
00271 length = len(_x)
00272 buff.write(struct.pack('<I%ss'%length, length, _x))
00273 buff.write(_struct_i.pack(self.track.id))
00274 length = len(self.track.pose)
00275 buff.write(_struct_I.pack(length))
00276 for val1 in self.track.pose:
00277 _v1 = val1.position
00278 _x = _v1
00279 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00280 _v2 = val1.orientation
00281 _x = _v2
00282 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00283 length = len(self.track.pose_headers)
00284 buff.write(_struct_I.pack(length))
00285 for val1 in self.track.pose_headers:
00286 buff.write(_struct_I.pack(val1.seq))
00287 _v3 = val1.stamp
00288 _x = _v3
00289 buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00290 _x = val1.frame_id
00291 length = len(_x)
00292 if python3 or type(_x) == unicode:
00293 _x = _x.encode('utf-8')
00294 length = len(_x)
00295 buff.write(struct.pack('<I%ss'%length, length, _x))
00296 length = len(self.track.pose_projected)
00297 buff.write(_struct_I.pack(length))
00298 for val1 in self.track.pose_projected:
00299 _v4 = val1.position
00300 _x = _v4
00301 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00302 _v5 = val1.orientation
00303 _x = _v5
00304 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00305 length = len(self.track.pose_resampled)
00306 buff.write(_struct_I.pack(length))
00307 for val1 in self.track.pose_resampled:
00308 _v6 = val1.position
00309 _x = _v6
00310 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00311 _v7 = val1.orientation
00312 _x = _v7
00313 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00314 length = len(self.track.pose_flags)
00315 buff.write(_struct_I.pack(length))
00316 pattern = '<%sI'%length
00317 buff.write(struct.pack(pattern, *self.track.pose_flags))
00318 length = len(self.track.channels)
00319 buff.write(_struct_I.pack(length))
00320 for val1 in self.track.channels:
00321 _x = val1.name
00322 length = len(_x)
00323 if python3 or type(_x) == unicode:
00324 _x = _x.encode('utf-8')
00325 length = len(_x)
00326 buff.write(struct.pack('<I%ss'%length, length, _x))
00327 length = len(val1.values)
00328 buff.write(_struct_I.pack(length))
00329 pattern = '<%sf'%length
00330 buff.write(struct.pack(pattern, *val1.values))
00331 except struct.error as se: self._check_types(se)
00332 except TypeError as te: self._check_types(te)
00333
00334 def deserialize(self, str):
00335 """
00336 unpack serialized message in str into this message instance
00337 :param str: byte array of serialized message, ``str``
00338 """
00339 try:
00340 if self.header is None:
00341 self.header = std_msgs.msg.Header()
00342 if self.params is None:
00343 self.params = None
00344 if self.track is None:
00345 self.track = articulation_msgs.msg.TrackMsg()
00346 end = 0
00347 _x = self
00348 start = end
00349 end += 12
00350 (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00351 start = end
00352 end += 4
00353 (length,) = _struct_I.unpack(str[start:end])
00354 start = end
00355 end += length
00356 if python3:
00357 self.header.frame_id = str[start:end].decode('utf-8')
00358 else:
00359 self.header.frame_id = str[start:end]
00360 start = end
00361 end += 4
00362 (self.id,) = _struct_i.unpack(str[start:end])
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.name = str[start:end].decode('utf-8')
00370 else:
00371 self.name = str[start:end]
00372 start = end
00373 end += 4
00374 (length,) = _struct_I.unpack(str[start:end])
00375 self.params = []
00376 for i in range(0, length):
00377 val1 = articulation_msgs.msg.ParamMsg()
00378 start = end
00379 end += 4
00380 (length,) = _struct_I.unpack(str[start:end])
00381 start = end
00382 end += length
00383 if python3:
00384 val1.name = str[start:end].decode('utf-8')
00385 else:
00386 val1.name = str[start:end]
00387 _x = val1
00388 start = end
00389 end += 9
00390 (_x.value, _x.type,) = _struct_dB.unpack(str[start:end])
00391 self.params.append(val1)
00392 _x = self
00393 start = end
00394 end += 12
00395 (_x.track.header.seq, _x.track.header.stamp.secs, _x.track.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00396 start = end
00397 end += 4
00398 (length,) = _struct_I.unpack(str[start:end])
00399 start = end
00400 end += length
00401 if python3:
00402 self.track.header.frame_id = str[start:end].decode('utf-8')
00403 else:
00404 self.track.header.frame_id = str[start:end]
00405 start = end
00406 end += 4
00407 (self.track.id,) = _struct_i.unpack(str[start:end])
00408 start = end
00409 end += 4
00410 (length,) = _struct_I.unpack(str[start:end])
00411 self.track.pose = []
00412 for i in range(0, length):
00413 val1 = geometry_msgs.msg.Pose()
00414 _v8 = val1.position
00415 _x = _v8
00416 start = end
00417 end += 24
00418 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00419 _v9 = val1.orientation
00420 _x = _v9
00421 start = end
00422 end += 32
00423 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
00424 self.track.pose.append(val1)
00425 start = end
00426 end += 4
00427 (length,) = _struct_I.unpack(str[start:end])
00428 self.track.pose_headers = []
00429 for i in range(0, length):
00430 val1 = std_msgs.msg.Header()
00431 start = end
00432 end += 4
00433 (val1.seq,) = _struct_I.unpack(str[start:end])
00434 _v10 = val1.stamp
00435 _x = _v10
00436 start = end
00437 end += 8
00438 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
00439 start = end
00440 end += 4
00441 (length,) = _struct_I.unpack(str[start:end])
00442 start = end
00443 end += length
00444 if python3:
00445 val1.frame_id = str[start:end].decode('utf-8')
00446 else:
00447 val1.frame_id = str[start:end]
00448 self.track.pose_headers.append(val1)
00449 start = end
00450 end += 4
00451 (length,) = _struct_I.unpack(str[start:end])
00452 self.track.pose_projected = []
00453 for i in range(0, length):
00454 val1 = geometry_msgs.msg.Pose()
00455 _v11 = val1.position
00456 _x = _v11
00457 start = end
00458 end += 24
00459 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00460 _v12 = val1.orientation
00461 _x = _v12
00462 start = end
00463 end += 32
00464 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
00465 self.track.pose_projected.append(val1)
00466 start = end
00467 end += 4
00468 (length,) = _struct_I.unpack(str[start:end])
00469 self.track.pose_resampled = []
00470 for i in range(0, length):
00471 val1 = geometry_msgs.msg.Pose()
00472 _v13 = val1.position
00473 _x = _v13
00474 start = end
00475 end += 24
00476 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00477 _v14 = val1.orientation
00478 _x = _v14
00479 start = end
00480 end += 32
00481 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
00482 self.track.pose_resampled.append(val1)
00483 start = end
00484 end += 4
00485 (length,) = _struct_I.unpack(str[start:end])
00486 pattern = '<%sI'%length
00487 start = end
00488 end += struct.calcsize(pattern)
00489 self.track.pose_flags = struct.unpack(pattern, str[start:end])
00490 start = end
00491 end += 4
00492 (length,) = _struct_I.unpack(str[start:end])
00493 self.track.channels = []
00494 for i in range(0, length):
00495 val1 = sensor_msgs.msg.ChannelFloat32()
00496 start = end
00497 end += 4
00498 (length,) = _struct_I.unpack(str[start:end])
00499 start = end
00500 end += length
00501 if python3:
00502 val1.name = str[start:end].decode('utf-8')
00503 else:
00504 val1.name = str[start:end]
00505 start = end
00506 end += 4
00507 (length,) = _struct_I.unpack(str[start:end])
00508 pattern = '<%sf'%length
00509 start = end
00510 end += struct.calcsize(pattern)
00511 val1.values = struct.unpack(pattern, str[start:end])
00512 self.track.channels.append(val1)
00513 return self
00514 except struct.error as e:
00515 raise genpy.DeserializationError(e) #most likely buffer underfill
00516
00517
00518 def serialize_numpy(self, buff, numpy):
00519 """
00520 serialize message with numpy array types into buffer
00521 :param buff: buffer, ``StringIO``
00522 :param numpy: numpy python module
00523 """
00524 try:
00525 _x = self
00526 buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
00527 _x = self.header.frame_id
00528 length = len(_x)
00529 if python3 or type(_x) == unicode:
00530 _x = _x.encode('utf-8')
00531 length = len(_x)
00532 buff.write(struct.pack('<I%ss'%length, length, _x))
00533 buff.write(_struct_i.pack(self.id))
00534 _x = self.name
00535 length = len(_x)
00536 if python3 or type(_x) == unicode:
00537 _x = _x.encode('utf-8')
00538 length = len(_x)
00539 buff.write(struct.pack('<I%ss'%length, length, _x))
00540 length = len(self.params)
00541 buff.write(_struct_I.pack(length))
00542 for val1 in self.params:
00543 _x = val1.name
00544 length = len(_x)
00545 if python3 or type(_x) == unicode:
00546 _x = _x.encode('utf-8')
00547 length = len(_x)
00548 buff.write(struct.pack('<I%ss'%length, length, _x))
00549 _x = val1
00550 buff.write(_struct_dB.pack(_x.value, _x.type))
00551 _x = self
00552 buff.write(_struct_3I.pack(_x.track.header.seq, _x.track.header.stamp.secs, _x.track.header.stamp.nsecs))
00553 _x = self.track.header.frame_id
00554 length = len(_x)
00555 if python3 or type(_x) == unicode:
00556 _x = _x.encode('utf-8')
00557 length = len(_x)
00558 buff.write(struct.pack('<I%ss'%length, length, _x))
00559 buff.write(_struct_i.pack(self.track.id))
00560 length = len(self.track.pose)
00561 buff.write(_struct_I.pack(length))
00562 for val1 in self.track.pose:
00563 _v15 = val1.position
00564 _x = _v15
00565 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00566 _v16 = val1.orientation
00567 _x = _v16
00568 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00569 length = len(self.track.pose_headers)
00570 buff.write(_struct_I.pack(length))
00571 for val1 in self.track.pose_headers:
00572 buff.write(_struct_I.pack(val1.seq))
00573 _v17 = val1.stamp
00574 _x = _v17
00575 buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00576 _x = val1.frame_id
00577 length = len(_x)
00578 if python3 or type(_x) == unicode:
00579 _x = _x.encode('utf-8')
00580 length = len(_x)
00581 buff.write(struct.pack('<I%ss'%length, length, _x))
00582 length = len(self.track.pose_projected)
00583 buff.write(_struct_I.pack(length))
00584 for val1 in self.track.pose_projected:
00585 _v18 = val1.position
00586 _x = _v18
00587 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00588 _v19 = val1.orientation
00589 _x = _v19
00590 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00591 length = len(self.track.pose_resampled)
00592 buff.write(_struct_I.pack(length))
00593 for val1 in self.track.pose_resampled:
00594 _v20 = val1.position
00595 _x = _v20
00596 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00597 _v21 = val1.orientation
00598 _x = _v21
00599 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00600 length = len(self.track.pose_flags)
00601 buff.write(_struct_I.pack(length))
00602 pattern = '<%sI'%length
00603 buff.write(self.track.pose_flags.tostring())
00604 length = len(self.track.channels)
00605 buff.write(_struct_I.pack(length))
00606 for val1 in self.track.channels:
00607 _x = val1.name
00608 length = len(_x)
00609 if python3 or type(_x) == unicode:
00610 _x = _x.encode('utf-8')
00611 length = len(_x)
00612 buff.write(struct.pack('<I%ss'%length, length, _x))
00613 length = len(val1.values)
00614 buff.write(_struct_I.pack(length))
00615 pattern = '<%sf'%length
00616 buff.write(val1.values.tostring())
00617 except struct.error as se: self._check_types(se)
00618 except TypeError as te: self._check_types(te)
00619
00620 def deserialize_numpy(self, str, numpy):
00621 """
00622 unpack serialized message in str into this message instance using numpy for array types
00623 :param str: byte array of serialized message, ``str``
00624 :param numpy: numpy python module
00625 """
00626 try:
00627 if self.header is None:
00628 self.header = std_msgs.msg.Header()
00629 if self.params is None:
00630 self.params = None
00631 if self.track is None:
00632 self.track = articulation_msgs.msg.TrackMsg()
00633 end = 0
00634 _x = self
00635 start = end
00636 end += 12
00637 (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00638 start = end
00639 end += 4
00640 (length,) = _struct_I.unpack(str[start:end])
00641 start = end
00642 end += length
00643 if python3:
00644 self.header.frame_id = str[start:end].decode('utf-8')
00645 else:
00646 self.header.frame_id = str[start:end]
00647 start = end
00648 end += 4
00649 (self.id,) = _struct_i.unpack(str[start:end])
00650 start = end
00651 end += 4
00652 (length,) = _struct_I.unpack(str[start:end])
00653 start = end
00654 end += length
00655 if python3:
00656 self.name = str[start:end].decode('utf-8')
00657 else:
00658 self.name = str[start:end]
00659 start = end
00660 end += 4
00661 (length,) = _struct_I.unpack(str[start:end])
00662 self.params = []
00663 for i in range(0, length):
00664 val1 = articulation_msgs.msg.ParamMsg()
00665 start = end
00666 end += 4
00667 (length,) = _struct_I.unpack(str[start:end])
00668 start = end
00669 end += length
00670 if python3:
00671 val1.name = str[start:end].decode('utf-8')
00672 else:
00673 val1.name = str[start:end]
00674 _x = val1
00675 start = end
00676 end += 9
00677 (_x.value, _x.type,) = _struct_dB.unpack(str[start:end])
00678 self.params.append(val1)
00679 _x = self
00680 start = end
00681 end += 12
00682 (_x.track.header.seq, _x.track.header.stamp.secs, _x.track.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00683 start = end
00684 end += 4
00685 (length,) = _struct_I.unpack(str[start:end])
00686 start = end
00687 end += length
00688 if python3:
00689 self.track.header.frame_id = str[start:end].decode('utf-8')
00690 else:
00691 self.track.header.frame_id = str[start:end]
00692 start = end
00693 end += 4
00694 (self.track.id,) = _struct_i.unpack(str[start:end])
00695 start = end
00696 end += 4
00697 (length,) = _struct_I.unpack(str[start:end])
00698 self.track.pose = []
00699 for i in range(0, length):
00700 val1 = geometry_msgs.msg.Pose()
00701 _v22 = val1.position
00702 _x = _v22
00703 start = end
00704 end += 24
00705 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00706 _v23 = val1.orientation
00707 _x = _v23
00708 start = end
00709 end += 32
00710 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
00711 self.track.pose.append(val1)
00712 start = end
00713 end += 4
00714 (length,) = _struct_I.unpack(str[start:end])
00715 self.track.pose_headers = []
00716 for i in range(0, length):
00717 val1 = std_msgs.msg.Header()
00718 start = end
00719 end += 4
00720 (val1.seq,) = _struct_I.unpack(str[start:end])
00721 _v24 = val1.stamp
00722 _x = _v24
00723 start = end
00724 end += 8
00725 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
00726 start = end
00727 end += 4
00728 (length,) = _struct_I.unpack(str[start:end])
00729 start = end
00730 end += length
00731 if python3:
00732 val1.frame_id = str[start:end].decode('utf-8')
00733 else:
00734 val1.frame_id = str[start:end]
00735 self.track.pose_headers.append(val1)
00736 start = end
00737 end += 4
00738 (length,) = _struct_I.unpack(str[start:end])
00739 self.track.pose_projected = []
00740 for i in range(0, length):
00741 val1 = geometry_msgs.msg.Pose()
00742 _v25 = val1.position
00743 _x = _v25
00744 start = end
00745 end += 24
00746 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00747 _v26 = val1.orientation
00748 _x = _v26
00749 start = end
00750 end += 32
00751 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
00752 self.track.pose_projected.append(val1)
00753 start = end
00754 end += 4
00755 (length,) = _struct_I.unpack(str[start:end])
00756 self.track.pose_resampled = []
00757 for i in range(0, length):
00758 val1 = geometry_msgs.msg.Pose()
00759 _v27 = val1.position
00760 _x = _v27
00761 start = end
00762 end += 24
00763 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00764 _v28 = val1.orientation
00765 _x = _v28
00766 start = end
00767 end += 32
00768 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
00769 self.track.pose_resampled.append(val1)
00770 start = end
00771 end += 4
00772 (length,) = _struct_I.unpack(str[start:end])
00773 pattern = '<%sI'%length
00774 start = end
00775 end += struct.calcsize(pattern)
00776 self.track.pose_flags = numpy.frombuffer(str[start:end], dtype=numpy.uint32, count=length)
00777 start = end
00778 end += 4
00779 (length,) = _struct_I.unpack(str[start:end])
00780 self.track.channels = []
00781 for i in range(0, length):
00782 val1 = sensor_msgs.msg.ChannelFloat32()
00783 start = end
00784 end += 4
00785 (length,) = _struct_I.unpack(str[start:end])
00786 start = end
00787 end += length
00788 if python3:
00789 val1.name = str[start:end].decode('utf-8')
00790 else:
00791 val1.name = str[start:end]
00792 start = end
00793 end += 4
00794 (length,) = _struct_I.unpack(str[start:end])
00795 pattern = '<%sf'%length
00796 start = end
00797 end += struct.calcsize(pattern)
00798 val1.values = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=length)
00799 self.track.channels.append(val1)
00800 return self
00801 except struct.error as e:
00802 raise genpy.DeserializationError(e) #most likely buffer underfill
00803
00804 _struct_I = genpy.struct_I
00805 _struct_i = struct.Struct("<i")
00806 _struct_dB = struct.Struct("<dB")
00807 _struct_3I = struct.Struct("<3I")
00808 _struct_4d = struct.Struct("<4d")
00809 _struct_2I = struct.Struct("<2I")
00810 _struct_3d = struct.Struct("<3d")
