00001 """autogenerated by genpy from articulation_msgs/TrackModelSrvRequest.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 TrackModelSrvRequest(genpy.Message):
00013 _md5sum = "492b025b4d335f83e3fab65eb3211a27"
00014 _type = "articulation_msgs/TrackModelSrvRequest"
00015 _has_header = False
00016 _full_text = """
00017
00018
00019
00020
00021
00022
00023
00024
00025
00026
00027 articulation_msgs/ModelMsg model
00028
00029
00030 ================================================================================
00031 MSG: articulation_msgs/ModelMsg
00032 # Single kinematic model
00033 #
00034 # A kinematic model is defined by its model class name, and a set of parameters.
00035 # The client may additionally specify a model id, that can be used to colorize the
00036 # model when visualized using the RVIZ model display.
00037 #
00038 # For a list of currently implemented models, see the documetation at
00039 # http://www.ros.org/wiki/articulation_models
00040 #
00041 #
00042
00043 std_msgs/Header header # frame and timestamp
00044
00045 int32 id # user specified model id
00046 string name # name of the model family (e.g. "rotational",
00047 # "prismatic", "pca-gp", "rigid")
00048 articulation_msgs/ParamMsg[] params # model parameters
00049 articulation_msgs/TrackMsg track # trajectory from which the model is estimated, or
00050 # that is evaluated using the model
00051
00052 ================================================================================
00053 MSG: std_msgs/Header
00054 # Standard metadata for higher-level stamped data types.
00055 # This is generally used to communicate timestamped data
00056 # in a particular coordinate frame.
00057 #
00058 # sequence ID: consecutively increasing ID
00059 uint32 seq
00060 #Two-integer timestamp that is expressed as:
00061 # * stamp.secs: seconds (stamp_secs) since epoch
00062 # * stamp.nsecs: nanoseconds since stamp_secs
00063 # time-handling sugar is provided by the client library
00064 time stamp
00065 #Frame this data is associated with
00066 # 0: no frame
00067 # 1: global frame
00068 string frame_id
00069
00070 ================================================================================
00071 MSG: articulation_msgs/ParamMsg
00072 # Single parameter passed to or from model fitting
00073 #
00074 # This mechanism allows to flexibly pass parameters to
00075 # model fitting (and vice versa). Note that these parameters
00076 # are model-specific: A client may supply additional
00077 # parameters to the model estimator, and, similarly, a estimator
00078 # may add the estimated model parameters to the model message.
00079 # When the model is then evaluated, for example to make predictions
00080 # or to compute the likelihood, the model class can then use
00081 # these parameters.
00082 #
00083 # A parameter has a name, a value, and a type. The type globally
00084 # indicates whether it is a prior parameter (prior to model fitting),
00085 # or a model parameter (found during model fitting, using a maximum-
00086 # likelihood estimator), or a cached evaluation (e.g., the likelihood
00087 # or the BIC are a typical "side"-product of model estimation, and
00088 # can therefore already be cached).
00089 #
00090 # For a list of currently used parameters, see the documentation at
00091 # http://www.ros.org/wiki/articulation_models
00092 #
00093
00094 uint8 PRIOR=0 # indicates a prior model parameter
00095 # (e.g., "sigma_position")
00096 uint8 PARAM=1 # indicates a estimated model parameter
00097 # (e.g., "rot_radius", the estimated radius)
00098 uint8 EVAL=2 # indicates a cached evaluation of the model, given
00099 # the current trajectory
00100 # (e.g., "loglikelihood", the log likelihood of the
00101 # data, given the model and its parameters)
00102
00103 string name # name of the parameter
00104 float64 value # value of the parameter
00105 uint8 type # type of the parameter (PRIOR, PARAM, EVAL)
00106
00107
00108 ================================================================================
00109 MSG: articulation_msgs/TrackMsg
00110 # Single kinematic trajectory
00111 #
00112 # This message contains a kinematic trajectory. The trajectory is specified
00113 # as a vector of 6D poses. An additional flag, track_type, indicates whether
00114 # the track is valid, and whether it includes orientation. The track id
00115 # can be used for automatic coloring in the RVIZ track plugin, and can be
00116 # freely chosen by the client.
00117 #
00118 # A model is fitting only from the trajectory stored in the pose[]-vector.
00119 # Additional information may be associated to each pose using the channels
00120 # vector, with arbitrary # fields (e.g., to include applied/measured forces).
00121 #
00122 # After model evaluation,
00123 # also the associated configurations of the object are stored in the channels,
00124 # named "q[0]".."q[DOF-1]", where DOF is the number of degrees of freedom.
00125 # Model evaluation also projects the poses in the pose vector onto the model,
00126 # and stores these ideal poses in the vector pose_projected. Further, during model
00127 # evaluation, a new set of (uniform) configurations over the valid configuration
00128 # range is sampled, and the result is stored in pose_resampled.
00129 # The vector pose_flags contains additional display flags for the poses in the
00130 # pose vector, for example, whether a pose is visible and/or
00131 # the end of a trajectory segment. At the moment, this is only used by the
00132 # prior_model_learner.
00133 #
00134
00135 std_msgs/Header header # frame and timestamp
00136 int32 id # used-specified track id
00137
00138 geometry_msgs/Pose[] pose # sequence of poses, defining the observed trajectory
00139 std_msgs/Header[] pose_headers # Timestamp and frame for each pose (and pose_projected)
00140 geometry_msgs/Pose[] pose_projected # sequence of poses, projected to the model
00141 # (after model evaluation)
00142 geometry_msgs/Pose[] pose_resampled # sequence of poses, re-sampled from the model in
00143 # the valid configuration range
00144 uint32[] pose_flags # bit-wise combination of POSE_VISIBLE and POSE_END_OF_SEGMENT
00145
00146 uint32 POSE_VISIBLE=1
00147 uint32 POSE_END_OF_SEGMENT=2
00148
00149 # Each channel should have the same number of elements as pose array,
00150 # and the data in each channel should correspond 1:1 with each pose
00151 # possible channels: "width", "height", "rgb", ...
00152 sensor_msgs/ChannelFloat32[] channels
00153
00154
00155
00156 ================================================================================
00157 MSG: geometry_msgs/Pose
00158 # A representation of pose in free space, composed of postion and orientation.
00159 Point position
00160 Quaternion orientation
00161
00162 ================================================================================
00163 MSG: geometry_msgs/Point
00164 # This contains the position of a point in free space
00165 float64 x
00166 float64 y
00167 float64 z
00168
00169 ================================================================================
00170 MSG: geometry_msgs/Quaternion
00171 # This represents an orientation in free space in quaternion form.
00172
00173 float64 x
00174 float64 y
00175 float64 z
00176 float64 w
00177
00178 ================================================================================
00179 MSG: sensor_msgs/ChannelFloat32
00180 # This message is used by the PointCloud message to hold optional data
00181 # associated with each point in the cloud. The length of the values
00182 # array should be the same as the length of the points array in the
00183 # PointCloud, and each value should be associated with the corresponding
00184 # point.
00185
00186 # Channel names in existing practice include:
00187 # "u", "v" - row and column (respectively) in the left stereo image.
00188 # This is opposite to usual conventions but remains for
00189 # historical reasons. The newer PointCloud2 message has no
00190 # such problem.
00191 # "rgb" - For point clouds produced by color stereo cameras. uint8
00192 # (R,G,B) values packed into the least significant 24 bits,
00193 # in order.
00194 # "intensity" - laser or pixel intensity.
00195 # "distance"
00196
00197 # The channel name should give semantics of the channel (e.g.
00198 # "intensity" instead of "value").
00199 string name
00200
00201 # The values array should be 1-1 with the elements of the associated
00202 # PointCloud.
00203 float32[] values
00204
00205 """
00206 __slots__ = ['model']
00207 _slot_types = ['articulation_msgs/ModelMsg']
00208
00209 def __init__(self, *args, **kwds):
00210 """
00211 Constructor. Any message fields that are implicitly/explicitly
00212 set to None will be assigned a default value. The recommend
00213 use is keyword arguments as this is more robust to future message
00214 changes. You cannot mix in-order arguments and keyword arguments.
00215
00216 The available fields are:
00217 model
00218
00219 :param args: complete set of field values, in .msg order
00220 :param kwds: use keyword arguments corresponding to message field names
00221 to set specific fields.
00222 """
00223 if args or kwds:
00224 super(TrackModelSrvRequest, self).__init__(*args, **kwds)
00225 #message fields cannot be None, assign default values for those that are
00226 if self.model is None:
00227 self.model = articulation_msgs.msg.ModelMsg()
00228 else:
00229 self.model = articulation_msgs.msg.ModelMsg()
00230
00231 def _get_types(self):
00232 """
00233 internal API method
00234 """
00235 return self._slot_types
00236
00237 def serialize(self, buff):
00238 """
00239 serialize message into buffer
00240 :param buff: buffer, ``StringIO``
00241 """
00242 try:
00243 _x = self
00244 buff.write(_struct_3I.pack(_x.model.header.seq, _x.model.header.stamp.secs, _x.model.header.stamp.nsecs))
00245 _x = self.model.header.frame_id
00246 length = len(_x)
00247 if python3 or type(_x) == unicode:
00248 _x = _x.encode('utf-8')
00249 length = len(_x)
00250 buff.write(struct.pack('<I%ss'%length, length, _x))
00251 buff.write(_struct_i.pack(self.model.id))
00252 _x = self.model.name
00253 length = len(_x)
00254 if python3 or type(_x) == unicode:
00255 _x = _x.encode('utf-8')
00256 length = len(_x)
00257 buff.write(struct.pack('<I%ss'%length, length, _x))
00258 length = len(self.model.params)
00259 buff.write(_struct_I.pack(length))
00260 for val1 in self.model.params:
00261 _x = val1.name
00262 length = len(_x)
00263 if python3 or type(_x) == unicode:
00264 _x = _x.encode('utf-8')
00265 length = len(_x)
00266 buff.write(struct.pack('<I%ss'%length, length, _x))
00267 _x = val1
00268 buff.write(_struct_dB.pack(_x.value, _x.type))
00269 _x = self
00270 buff.write(_struct_3I.pack(_x.model.track.header.seq, _x.model.track.header.stamp.secs, _x.model.track.header.stamp.nsecs))
00271 _x = self.model.track.header.frame_id
00272 length = len(_x)
00273 if python3 or type(_x) == unicode:
00274 _x = _x.encode('utf-8')
00275 length = len(_x)
00276 buff.write(struct.pack('<I%ss'%length, length, _x))
00277 buff.write(_struct_i.pack(self.model.track.id))
00278 length = len(self.model.track.pose)
00279 buff.write(_struct_I.pack(length))
00280 for val1 in self.model.track.pose:
00281 _v1 = val1.position
00282 _x = _v1
00283 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00284 _v2 = val1.orientation
00285 _x = _v2
00286 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00287 length = len(self.model.track.pose_headers)
00288 buff.write(_struct_I.pack(length))
00289 for val1 in self.model.track.pose_headers:
00290 buff.write(_struct_I.pack(val1.seq))
00291 _v3 = val1.stamp
00292 _x = _v3
00293 buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00294 _x = val1.frame_id
00295 length = len(_x)
00296 if python3 or type(_x) == unicode:
00297 _x = _x.encode('utf-8')
00298 length = len(_x)
00299 buff.write(struct.pack('<I%ss'%length, length, _x))
00300 length = len(self.model.track.pose_projected)
00301 buff.write(_struct_I.pack(length))
00302 for val1 in self.model.track.pose_projected:
00303 _v4 = val1.position
00304 _x = _v4
00305 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00306 _v5 = val1.orientation
00307 _x = _v5
00308 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00309 length = len(self.model.track.pose_resampled)
00310 buff.write(_struct_I.pack(length))
00311 for val1 in self.model.track.pose_resampled:
00312 _v6 = val1.position
00313 _x = _v6
00314 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00315 _v7 = val1.orientation
00316 _x = _v7
00317 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00318 length = len(self.model.track.pose_flags)
00319 buff.write(_struct_I.pack(length))
00320 pattern = '<%sI'%length
00321 buff.write(struct.pack(pattern, *self.model.track.pose_flags))
00322 length = len(self.model.track.channels)
00323 buff.write(_struct_I.pack(length))
00324 for val1 in self.model.track.channels:
00325 _x = val1.name
00326 length = len(_x)
00327 if python3 or type(_x) == unicode:
00328 _x = _x.encode('utf-8')
00329 length = len(_x)
00330 buff.write(struct.pack('<I%ss'%length, length, _x))
00331 length = len(val1.values)
00332 buff.write(_struct_I.pack(length))
00333 pattern = '<%sf'%length
00334 buff.write(struct.pack(pattern, *val1.values))
00335 except struct.error as se: self._check_types(se)
00336 except TypeError as te: self._check_types(te)
00337
00338 def deserialize(self, str):
00339 """
00340 unpack serialized message in str into this message instance
00341 :param str: byte array of serialized message, ``str``
00342 """
00343 try:
00344 if self.model is None:
00345 self.model = articulation_msgs.msg.ModelMsg()
00346 end = 0
00347 _x = self
00348 start = end
00349 end += 12
00350 (_x.model.header.seq, _x.model.header.stamp.secs, _x.model.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.model.header.frame_id = str[start:end].decode('utf-8')
00358 else:
00359 self.model.header.frame_id = str[start:end]
00360 start = end
00361 end += 4
00362 (self.model.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.model.name = str[start:end].decode('utf-8')
00370 else:
00371 self.model.name = str[start:end]
00372 start = end
00373 end += 4
00374 (length,) = _struct_I.unpack(str[start:end])
00375 self.model.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.model.params.append(val1)
00392 _x = self
00393 start = end
00394 end += 12
00395 (_x.model.track.header.seq, _x.model.track.header.stamp.secs, _x.model.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.model.track.header.frame_id = str[start:end].decode('utf-8')
00403 else:
00404 self.model.track.header.frame_id = str[start:end]
00405 start = end
00406 end += 4
00407 (self.model.track.id,) = _struct_i.unpack(str[start:end])
00408 start = end
00409 end += 4
00410 (length,) = _struct_I.unpack(str[start:end])
00411 self.model.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.model.track.pose.append(val1)
00425 start = end
00426 end += 4
00427 (length,) = _struct_I.unpack(str[start:end])
00428 self.model.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.model.track.pose_headers.append(val1)
00449 start = end
00450 end += 4
00451 (length,) = _struct_I.unpack(str[start:end])
00452 self.model.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.model.track.pose_projected.append(val1)
00466 start = end
00467 end += 4
00468 (length,) = _struct_I.unpack(str[start:end])
00469 self.model.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.model.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.model.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.model.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.model.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.model.header.seq, _x.model.header.stamp.secs, _x.model.header.stamp.nsecs))
00527 _x = self.model.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.model.id))
00534 _x = self.model.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.model.params)
00541 buff.write(_struct_I.pack(length))
00542 for val1 in self.model.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.model.track.header.seq, _x.model.track.header.stamp.secs, _x.model.track.header.stamp.nsecs))
00553 _x = self.model.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.model.track.id))
00560 length = len(self.model.track.pose)
00561 buff.write(_struct_I.pack(length))
00562 for val1 in self.model.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.model.track.pose_headers)
00570 buff.write(_struct_I.pack(length))
00571 for val1 in self.model.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.model.track.pose_projected)
00583 buff.write(_struct_I.pack(length))
00584 for val1 in self.model.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.model.track.pose_resampled)
00592 buff.write(_struct_I.pack(length))
00593 for val1 in self.model.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.model.track.pose_flags)
00601 buff.write(_struct_I.pack(length))
00602 pattern = '<%sI'%length
00603 buff.write(self.model.track.pose_flags.tostring())
00604 length = len(self.model.track.channels)
00605 buff.write(_struct_I.pack(length))
00606 for val1 in self.model.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.model is None:
00628 self.model = articulation_msgs.msg.ModelMsg()
00629 end = 0
00630 _x = self
00631 start = end
00632 end += 12
00633 (_x.model.header.seq, _x.model.header.stamp.secs, _x.model.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00634 start = end
00635 end += 4
00636 (length,) = _struct_I.unpack(str[start:end])
00637 start = end
00638 end += length
00639 if python3:
00640 self.model.header.frame_id = str[start:end].decode('utf-8')
00641 else:
00642 self.model.header.frame_id = str[start:end]
00643 start = end
00644 end += 4
00645 (self.model.id,) = _struct_i.unpack(str[start:end])
00646 start = end
00647 end += 4
00648 (length,) = _struct_I.unpack(str[start:end])
00649 start = end
00650 end += length
00651 if python3:
00652 self.model.name = str[start:end].decode('utf-8')
00653 else:
00654 self.model.name = str[start:end]
00655 start = end
00656 end += 4
00657 (length,) = _struct_I.unpack(str[start:end])
00658 self.model.params = []
00659 for i in range(0, length):
00660 val1 = articulation_msgs.msg.ParamMsg()
00661 start = end
00662 end += 4
00663 (length,) = _struct_I.unpack(str[start:end])
00664 start = end
00665 end += length
00666 if python3:
00667 val1.name = str[start:end].decode('utf-8')
00668 else:
00669 val1.name = str[start:end]
00670 _x = val1
00671 start = end
00672 end += 9
00673 (_x.value, _x.type,) = _struct_dB.unpack(str[start:end])
00674 self.model.params.append(val1)
00675 _x = self
00676 start = end
00677 end += 12
00678 (_x.model.track.header.seq, _x.model.track.header.stamp.secs, _x.model.track.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00679 start = end
00680 end += 4
00681 (length,) = _struct_I.unpack(str[start:end])
00682 start = end
00683 end += length
00684 if python3:
00685 self.model.track.header.frame_id = str[start:end].decode('utf-8')
00686 else:
00687 self.model.track.header.frame_id = str[start:end]
00688 start = end
00689 end += 4
00690 (self.model.track.id,) = _struct_i.unpack(str[start:end])
00691 start = end
00692 end += 4
00693 (length,) = _struct_I.unpack(str[start:end])
00694 self.model.track.pose = []
00695 for i in range(0, length):
00696 val1 = geometry_msgs.msg.Pose()
00697 _v22 = val1.position
00698 _x = _v22
00699 start = end
00700 end += 24
00701 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00702 _v23 = val1.orientation
00703 _x = _v23
00704 start = end
00705 end += 32
00706 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
00707 self.model.track.pose.append(val1)
00708 start = end
00709 end += 4
00710 (length,) = _struct_I.unpack(str[start:end])
00711 self.model.track.pose_headers = []
00712 for i in range(0, length):
00713 val1 = std_msgs.msg.Header()
00714 start = end
00715 end += 4
00716 (val1.seq,) = _struct_I.unpack(str[start:end])
00717 _v24 = val1.stamp
00718 _x = _v24
00719 start = end
00720 end += 8
00721 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
00722 start = end
00723 end += 4
00724 (length,) = _struct_I.unpack(str[start:end])
00725 start = end
00726 end += length
00727 if python3:
00728 val1.frame_id = str[start:end].decode('utf-8')
00729 else:
00730 val1.frame_id = str[start:end]
00731 self.model.track.pose_headers.append(val1)
00732 start = end
00733 end += 4
00734 (length,) = _struct_I.unpack(str[start:end])
00735 self.model.track.pose_projected = []
00736 for i in range(0, length):
00737 val1 = geometry_msgs.msg.Pose()
00738 _v25 = val1.position
00739 _x = _v25
00740 start = end
00741 end += 24
00742 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00743 _v26 = val1.orientation
00744 _x = _v26
00745 start = end
00746 end += 32
00747 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
00748 self.model.track.pose_projected.append(val1)
00749 start = end
00750 end += 4
00751 (length,) = _struct_I.unpack(str[start:end])
00752 self.model.track.pose_resampled = []
00753 for i in range(0, length):
00754 val1 = geometry_msgs.msg.Pose()
00755 _v27 = val1.position
00756 _x = _v27
00757 start = end
00758 end += 24
00759 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00760 _v28 = val1.orientation
00761 _x = _v28
00762 start = end
00763 end += 32
00764 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
00765 self.model.track.pose_resampled.append(val1)
00766 start = end
00767 end += 4
00768 (length,) = _struct_I.unpack(str[start:end])
00769 pattern = '<%sI'%length
00770 start = end
00771 end += struct.calcsize(pattern)
00772 self.model.track.pose_flags = numpy.frombuffer(str[start:end], dtype=numpy.uint32, count=length)
00773 start = end
00774 end += 4
00775 (length,) = _struct_I.unpack(str[start:end])
00776 self.model.track.channels = []
00777 for i in range(0, length):
00778 val1 = sensor_msgs.msg.ChannelFloat32()
00779 start = end
00780 end += 4
00781 (length,) = _struct_I.unpack(str[start:end])
00782 start = end
00783 end += length
00784 if python3:
00785 val1.name = str[start:end].decode('utf-8')
00786 else:
00787 val1.name = str[start:end]
00788 start = end
00789 end += 4
00790 (length,) = _struct_I.unpack(str[start:end])
00791 pattern = '<%sf'%length
00792 start = end
00793 end += struct.calcsize(pattern)
00794 val1.values = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=length)
00795 self.model.track.channels.append(val1)
00796 return self
00797 except struct.error as e:
00798 raise genpy.DeserializationError(e) #most likely buffer underfill
00799
00800 _struct_I = genpy.struct_I
00801 _struct_i = struct.Struct("<i")
00802 _struct_dB = struct.Struct("<dB")
00803 _struct_3I = struct.Struct("<3I")
00804 _struct_4d = struct.Struct("<4d")
00805 _struct_2I = struct.Struct("<2I")
00806 _struct_3d = struct.Struct("<3d")
00807 """autogenerated by genpy from articulation_msgs/TrackModelSrvResponse.msg. Do not edit."""
00808 import sys
00809 python3 = True if sys.hexversion > 0x03000000 else False
00810 import genpy
00811 import struct
00812
00813 import sensor_msgs.msg
00814 import geometry_msgs.msg
00815 import articulation_msgs.msg
00816 import std_msgs.msg
00817
00818 class TrackModelSrvResponse(genpy.Message):
00819 _md5sum = "492b025b4d335f83e3fab65eb3211a27"
00820 _type = "articulation_msgs/TrackModelSrvResponse"
00821 _has_header = False #flag to mark the presence of a Header object
00822 _full_text = """articulation_msgs/ModelMsg model
00823
00824
00825
00826
00827
00828
00829 ================================================================================
00830 MSG: articulation_msgs/ModelMsg
00831 # Single kinematic model
00832 #
00833 # A kinematic model is defined by its model class name, and a set of parameters.
00834 # The client may additionally specify a model id, that can be used to colorize the
00835 # model when visualized using the RVIZ model display.
00836 #
00837 # For a list of currently implemented models, see the documetation at
00838 # http://www.ros.org/wiki/articulation_models
00839 #
00840 #
00841
00842 std_msgs/Header header # frame and timestamp
00843
00844 int32 id # user specified model id
00845 string name # name of the model family (e.g. "rotational",
00846 # "prismatic", "pca-gp", "rigid")
00847 articulation_msgs/ParamMsg[] params # model parameters
00848 articulation_msgs/TrackMsg track # trajectory from which the model is estimated, or
00849 # that is evaluated using the model
00850
00851 ================================================================================
00852 MSG: std_msgs/Header
00853 # Standard metadata for higher-level stamped data types.
00854 # This is generally used to communicate timestamped data
00855 # in a particular coordinate frame.
00856 #
00857 # sequence ID: consecutively increasing ID
00858 uint32 seq
00859 #Two-integer timestamp that is expressed as:
00860 # * stamp.secs: seconds (stamp_secs) since epoch
00861 # * stamp.nsecs: nanoseconds since stamp_secs
00862 # time-handling sugar is provided by the client library
00863 time stamp
00864 #Frame this data is associated with
00865 # 0: no frame
00866 # 1: global frame
00867 string frame_id
00868
00869 ================================================================================
00870 MSG: articulation_msgs/ParamMsg
00871 # Single parameter passed to or from model fitting
00872 #
00873 # This mechanism allows to flexibly pass parameters to
00874 # model fitting (and vice versa). Note that these parameters
00875 # are model-specific: A client may supply additional
00876 # parameters to the model estimator, and, similarly, a estimator
00877 # may add the estimated model parameters to the model message.
00878 # When the model is then evaluated, for example to make predictions
00879 # or to compute the likelihood, the model class can then use
00880 # these parameters.
00881 #
00882 # A parameter has a name, a value, and a type. The type globally
00883 # indicates whether it is a prior parameter (prior to model fitting),
00884 # or a model parameter (found during model fitting, using a maximum-
00885 # likelihood estimator), or a cached evaluation (e.g., the likelihood
00886 # or the BIC are a typical "side"-product of model estimation, and
00887 # can therefore already be cached).
00888 #
00889 # For a list of currently used parameters, see the documentation at
00890 # http://www.ros.org/wiki/articulation_models
00891 #
00892
00893 uint8 PRIOR=0 # indicates a prior model parameter
00894 # (e.g., "sigma_position")
00895 uint8 PARAM=1 # indicates a estimated model parameter
00896 # (e.g., "rot_radius", the estimated radius)
00897 uint8 EVAL=2 # indicates a cached evaluation of the model, given
00898 # the current trajectory
00899 # (e.g., "loglikelihood", the log likelihood of the
00900 # data, given the model and its parameters)
00901
00902 string name # name of the parameter
00903 float64 value # value of the parameter
00904 uint8 type # type of the parameter (PRIOR, PARAM, EVAL)
00905
00906
00907 ================================================================================
00908 MSG: articulation_msgs/TrackMsg
00909 # Single kinematic trajectory
00910 #
00911 # This message contains a kinematic trajectory. The trajectory is specified
00912 # as a vector of 6D poses. An additional flag, track_type, indicates whether
00913 # the track is valid, and whether it includes orientation. The track id
00914 # can be used for automatic coloring in the RVIZ track plugin, and can be
00915 # freely chosen by the client.
00916 #
00917 # A model is fitting only from the trajectory stored in the pose[]-vector.
00918 # Additional information may be associated to each pose using the channels
00919 # vector, with arbitrary # fields (e.g., to include applied/measured forces).
00920 #
00921 # After model evaluation,
00922 # also the associated configurations of the object are stored in the channels,
00923 # named "q[0]".."q[DOF-1]", where DOF is the number of degrees of freedom.
00924 # Model evaluation also projects the poses in the pose vector onto the model,
00925 # and stores these ideal poses in the vector pose_projected. Further, during model
00926 # evaluation, a new set of (uniform) configurations over the valid configuration
00927 # range is sampled, and the result is stored in pose_resampled.
00928 # The vector pose_flags contains additional display flags for the poses in the
00929 # pose vector, for example, whether a pose is visible and/or
00930 # the end of a trajectory segment. At the moment, this is only used by the
00931 # prior_model_learner.
00932 #
00933
00934 std_msgs/Header header # frame and timestamp
00935 int32 id # used-specified track id
00936
00937 geometry_msgs/Pose[] pose # sequence of poses, defining the observed trajectory
00938 std_msgs/Header[] pose_headers # Timestamp and frame for each pose (and pose_projected)
00939 geometry_msgs/Pose[] pose_projected # sequence of poses, projected to the model
00940 # (after model evaluation)
00941 geometry_msgs/Pose[] pose_resampled # sequence of poses, re-sampled from the model in
00942 # the valid configuration range
00943 uint32[] pose_flags # bit-wise combination of POSE_VISIBLE and POSE_END_OF_SEGMENT
00944
00945 uint32 POSE_VISIBLE=1
00946 uint32 POSE_END_OF_SEGMENT=2
00947
00948 # Each channel should have the same number of elements as pose array,
00949 # and the data in each channel should correspond 1:1 with each pose
00950 # possible channels: "width", "height", "rgb", ...
00951 sensor_msgs/ChannelFloat32[] channels
00952
00953
00954
00955 ================================================================================
00956 MSG: geometry_msgs/Pose
00957 # A representation of pose in free space, composed of postion and orientation.
00958 Point position
00959 Quaternion orientation
00960
00961 ================================================================================
00962 MSG: geometry_msgs/Point
00963 # This contains the position of a point in free space
00964 float64 x
00965 float64 y
00966 float64 z
00967
00968 ================================================================================
00969 MSG: geometry_msgs/Quaternion
00970 # This represents an orientation in free space in quaternion form.
00971
00972 float64 x
00973 float64 y
00974 float64 z
00975 float64 w
00976
00977 ================================================================================
00978 MSG: sensor_msgs/ChannelFloat32
00979 # This message is used by the PointCloud message to hold optional data
00980 # associated with each point in the cloud. The length of the values
00981 # array should be the same as the length of the points array in the
00982 # PointCloud, and each value should be associated with the corresponding
00983 # point.
00984
00985 # Channel names in existing practice include:
00986 # "u", "v" - row and column (respectively) in the left stereo image.
00987 # This is opposite to usual conventions but remains for
00988 # historical reasons. The newer PointCloud2 message has no
00989 # such problem.
00990 # "rgb" - For point clouds produced by color stereo cameras. uint8
00991 # (R,G,B) values packed into the least significant 24 bits,
00992 # in order.
00993 # "intensity" - laser or pixel intensity.
00994 # "distance"
00995
00996 # The channel name should give semantics of the channel (e.g.
00997 # "intensity" instead of "value").
00998 string name
00999
01000 # The values array should be 1-1 with the elements of the associated
01001 # PointCloud.
01002 float32[] values
01003
01004 """
01005 __slots__ = ['model']
01006 _slot_types = ['articulation_msgs/ModelMsg']
01007
01008 def __init__(self, *args, **kwds):
01009 """
01010 Constructor. Any message fields that are implicitly/explicitly
01011 set to None will be assigned a default value. The recommend
01012 use is keyword arguments as this is more robust to future message
01013 changes. You cannot mix in-order arguments and keyword arguments.
01014
01015 The available fields are:
01016 model
01017
01018 :param args: complete set of field values, in .msg order
01019 :param kwds: use keyword arguments corresponding to message field names
01020 to set specific fields.
01021 """
01022 if args or kwds:
01023 super(TrackModelSrvResponse, self).__init__(*args, **kwds)
01024 #message fields cannot be None, assign default values for those that are
01025 if self.model is None:
01026 self.model = articulation_msgs.msg.ModelMsg()
01027 else:
01028 self.model = articulation_msgs.msg.ModelMsg()
01029
01030 def _get_types(self):
01031 """
01032 internal API method
01033 """
01034 return self._slot_types
01035
01036 def serialize(self, buff):
01037 """
01038 serialize message into buffer
01039 :param buff: buffer, ``StringIO``
01040 """
01041 try:
01042 _x = self
01043 buff.write(_struct_3I.pack(_x.model.header.seq, _x.model.header.stamp.secs, _x.model.header.stamp.nsecs))
01044 _x = self.model.header.frame_id
01045 length = len(_x)
01046 if python3 or type(_x) == unicode:
01047 _x = _x.encode('utf-8')
01048 length = len(_x)
01049 buff.write(struct.pack('<I%ss'%length, length, _x))
01050 buff.write(_struct_i.pack(self.model.id))
01051 _x = self.model.name
01052 length = len(_x)
01053 if python3 or type(_x) == unicode:
01054 _x = _x.encode('utf-8')
01055 length = len(_x)
01056 buff.write(struct.pack('<I%ss'%length, length, _x))
01057 length = len(self.model.params)
01058 buff.write(_struct_I.pack(length))
01059 for val1 in self.model.params:
01060 _x = val1.name
01061 length = len(_x)
01062 if python3 or type(_x) == unicode:
01063 _x = _x.encode('utf-8')
01064 length = len(_x)
01065 buff.write(struct.pack('<I%ss'%length, length, _x))
01066 _x = val1
01067 buff.write(_struct_dB.pack(_x.value, _x.type))
01068 _x = self
01069 buff.write(_struct_3I.pack(_x.model.track.header.seq, _x.model.track.header.stamp.secs, _x.model.track.header.stamp.nsecs))
01070 _x = self.model.track.header.frame_id
01071 length = len(_x)
01072 if python3 or type(_x) == unicode:
01073 _x = _x.encode('utf-8')
01074 length = len(_x)
01075 buff.write(struct.pack('<I%ss'%length, length, _x))
01076 buff.write(_struct_i.pack(self.model.track.id))
01077 length = len(self.model.track.pose)
01078 buff.write(_struct_I.pack(length))
01079 for val1 in self.model.track.pose:
01080 _v29 = val1.position
01081 _x = _v29
01082 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
01083 _v30 = val1.orientation
01084 _x = _v30
01085 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
01086 length = len(self.model.track.pose_headers)
01087 buff.write(_struct_I.pack(length))
01088 for val1 in self.model.track.pose_headers:
01089 buff.write(_struct_I.pack(val1.seq))
01090 _v31 = val1.stamp
01091 _x = _v31
01092 buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
01093 _x = val1.frame_id
01094 length = len(_x)
01095 if python3 or type(_x) == unicode:
01096 _x = _x.encode('utf-8')
01097 length = len(_x)
01098 buff.write(struct.pack('<I%ss'%length, length, _x))
01099 length = len(self.model.track.pose_projected)
01100 buff.write(_struct_I.pack(length))
01101 for val1 in self.model.track.pose_projected:
01102 _v32 = val1.position
01103 _x = _v32
01104 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
01105 _v33 = val1.orientation
01106 _x = _v33
01107 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
01108 length = len(self.model.track.pose_resampled)
01109 buff.write(_struct_I.pack(length))
01110 for val1 in self.model.track.pose_resampled:
01111 _v34 = val1.position
01112 _x = _v34
01113 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
01114 _v35 = val1.orientation
01115 _x = _v35
01116 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
01117 length = len(self.model.track.pose_flags)
01118 buff.write(_struct_I.pack(length))
01119 pattern = '<%sI'%length
01120 buff.write(struct.pack(pattern, *self.model.track.pose_flags))
01121 length = len(self.model.track.channels)
01122 buff.write(_struct_I.pack(length))
01123 for val1 in self.model.track.channels:
01124 _x = val1.name
01125 length = len(_x)
01126 if python3 or type(_x) == unicode:
01127 _x = _x.encode('utf-8')
01128 length = len(_x)
01129 buff.write(struct.pack('<I%ss'%length, length, _x))
01130 length = len(val1.values)
01131 buff.write(_struct_I.pack(length))
01132 pattern = '<%sf'%length
01133 buff.write(struct.pack(pattern, *val1.values))
01134 except struct.error as se: self._check_types(se)
01135 except TypeError as te: self._check_types(te)
01136
01137 def deserialize(self, str):
01138 """
01139 unpack serialized message in str into this message instance
01140 :param str: byte array of serialized message, ``str``
01141 """
01142 try:
01143 if self.model is None:
01144 self.model = articulation_msgs.msg.ModelMsg()
01145 end = 0
01146 _x = self
01147 start = end
01148 end += 12
01149 (_x.model.header.seq, _x.model.header.stamp.secs, _x.model.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
01150 start = end
01151 end += 4
01152 (length,) = _struct_I.unpack(str[start:end])
01153 start = end
01154 end += length
01155 if python3:
01156 self.model.header.frame_id = str[start:end].decode('utf-8')
01157 else:
01158 self.model.header.frame_id = str[start:end]
01159 start = end
01160 end += 4
01161 (self.model.id,) = _struct_i.unpack(str[start:end])
01162 start = end
01163 end += 4
01164 (length,) = _struct_I.unpack(str[start:end])
01165 start = end
01166 end += length
01167 if python3:
01168 self.model.name = str[start:end].decode('utf-8')
01169 else:
01170 self.model.name = str[start:end]
01171 start = end
01172 end += 4
01173 (length,) = _struct_I.unpack(str[start:end])
01174 self.model.params = []
01175 for i in range(0, length):
01176 val1 = articulation_msgs.msg.ParamMsg()
01177 start = end
01178 end += 4
01179 (length,) = _struct_I.unpack(str[start:end])
01180 start = end
01181 end += length
01182 if python3:
01183 val1.name = str[start:end].decode('utf-8')
01184 else:
01185 val1.name = str[start:end]
01186 _x = val1
01187 start = end
01188 end += 9
01189 (_x.value, _x.type,) = _struct_dB.unpack(str[start:end])
01190 self.model.params.append(val1)
01191 _x = self
01192 start = end
01193 end += 12
01194 (_x.model.track.header.seq, _x.model.track.header.stamp.secs, _x.model.track.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
01195 start = end
01196 end += 4
01197 (length,) = _struct_I.unpack(str[start:end])
01198 start = end
01199 end += length
01200 if python3:
01201 self.model.track.header.frame_id = str[start:end].decode('utf-8')
01202 else:
01203 self.model.track.header.frame_id = str[start:end]
01204 start = end
01205 end += 4
01206 (self.model.track.id,) = _struct_i.unpack(str[start:end])
01207 start = end
01208 end += 4
01209 (length,) = _struct_I.unpack(str[start:end])
01210 self.model.track.pose = []
01211 for i in range(0, length):
01212 val1 = geometry_msgs.msg.Pose()
01213 _v36 = val1.position
01214 _x = _v36
01215 start = end
01216 end += 24
01217 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
01218 _v37 = val1.orientation
01219 _x = _v37
01220 start = end
01221 end += 32
01222 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
01223 self.model.track.pose.append(val1)
01224 start = end
01225 end += 4
01226 (length,) = _struct_I.unpack(str[start:end])
01227 self.model.track.pose_headers = []
01228 for i in range(0, length):
01229 val1 = std_msgs.msg.Header()
01230 start = end
01231 end += 4
01232 (val1.seq,) = _struct_I.unpack(str[start:end])
01233 _v38 = val1.stamp
01234 _x = _v38
01235 start = end
01236 end += 8
01237 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
01238 start = end
01239 end += 4
01240 (length,) = _struct_I.unpack(str[start:end])
01241 start = end
01242 end += length
01243 if python3:
01244 val1.frame_id = str[start:end].decode('utf-8')
01245 else:
01246 val1.frame_id = str[start:end]
01247 self.model.track.pose_headers.append(val1)
01248 start = end
01249 end += 4
01250 (length,) = _struct_I.unpack(str[start:end])
01251 self.model.track.pose_projected = []
01252 for i in range(0, length):
01253 val1 = geometry_msgs.msg.Pose()
01254 _v39 = val1.position
01255 _x = _v39
01256 start = end
01257 end += 24
01258 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
01259 _v40 = val1.orientation
01260 _x = _v40
01261 start = end
01262 end += 32
01263 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
01264 self.model.track.pose_projected.append(val1)
01265 start = end
01266 end += 4
01267 (length,) = _struct_I.unpack(str[start:end])
01268 self.model.track.pose_resampled = []
01269 for i in range(0, length):
01270 val1 = geometry_msgs.msg.Pose()
01271 _v41 = val1.position
01272 _x = _v41
01273 start = end
01274 end += 24
01275 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
01276 _v42 = val1.orientation
01277 _x = _v42
01278 start = end
01279 end += 32
01280 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
01281 self.model.track.pose_resampled.append(val1)
01282 start = end
01283 end += 4
01284 (length,) = _struct_I.unpack(str[start:end])
01285 pattern = '<%sI'%length
01286 start = end
01287 end += struct.calcsize(pattern)
01288 self.model.track.pose_flags = struct.unpack(pattern, str[start:end])
01289 start = end
01290 end += 4
01291 (length,) = _struct_I.unpack(str[start:end])
01292 self.model.track.channels = []
01293 for i in range(0, length):
01294 val1 = sensor_msgs.msg.ChannelFloat32()
01295 start = end
01296 end += 4
01297 (length,) = _struct_I.unpack(str[start:end])
01298 start = end
01299 end += length
01300 if python3:
01301 val1.name = str[start:end].decode('utf-8')
01302 else:
01303 val1.name = str[start:end]
01304 start = end
01305 end += 4
01306 (length,) = _struct_I.unpack(str[start:end])
01307 pattern = '<%sf'%length
01308 start = end
01309 end += struct.calcsize(pattern)
01310 val1.values = struct.unpack(pattern, str[start:end])
01311 self.model.track.channels.append(val1)
01312 return self
01313 except struct.error as e:
01314 raise genpy.DeserializationError(e) #most likely buffer underfill
01315
01316
01317 def serialize_numpy(self, buff, numpy):
01318 """
01319 serialize message with numpy array types into buffer
01320 :param buff: buffer, ``StringIO``
01321 :param numpy: numpy python module
01322 """
01323 try:
01324 _x = self
01325 buff.write(_struct_3I.pack(_x.model.header.seq, _x.model.header.stamp.secs, _x.model.header.stamp.nsecs))
01326 _x = self.model.header.frame_id
01327 length = len(_x)
01328 if python3 or type(_x) == unicode:
01329 _x = _x.encode('utf-8')
01330 length = len(_x)
01331 buff.write(struct.pack('<I%ss'%length, length, _x))
01332 buff.write(_struct_i.pack(self.model.id))
01333 _x = self.model.name
01334 length = len(_x)
01335 if python3 or type(_x) == unicode:
01336 _x = _x.encode('utf-8')
01337 length = len(_x)
01338 buff.write(struct.pack('<I%ss'%length, length, _x))
01339 length = len(self.model.params)
01340 buff.write(_struct_I.pack(length))
01341 for val1 in self.model.params:
01342 _x = val1.name
01343 length = len(_x)
01344 if python3 or type(_x) == unicode:
01345 _x = _x.encode('utf-8')
01346 length = len(_x)
01347 buff.write(struct.pack('<I%ss'%length, length, _x))
01348 _x = val1
01349 buff.write(_struct_dB.pack(_x.value, _x.type))
01350 _x = self
01351 buff.write(_struct_3I.pack(_x.model.track.header.seq, _x.model.track.header.stamp.secs, _x.model.track.header.stamp.nsecs))
01352 _x = self.model.track.header.frame_id
01353 length = len(_x)
01354 if python3 or type(_x) == unicode:
01355 _x = _x.encode('utf-8')
01356 length = len(_x)
01357 buff.write(struct.pack('<I%ss'%length, length, _x))
01358 buff.write(_struct_i.pack(self.model.track.id))
01359 length = len(self.model.track.pose)
01360 buff.write(_struct_I.pack(length))
01361 for val1 in self.model.track.pose:
01362 _v43 = val1.position
01363 _x = _v43
01364 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
01365 _v44 = val1.orientation
01366 _x = _v44
01367 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
01368 length = len(self.model.track.pose_headers)
01369 buff.write(_struct_I.pack(length))
01370 for val1 in self.model.track.pose_headers:
01371 buff.write(_struct_I.pack(val1.seq))
01372 _v45 = val1.stamp
01373 _x = _v45
01374 buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
01375 _x = val1.frame_id
01376 length = len(_x)
01377 if python3 or type(_x) == unicode:
01378 _x = _x.encode('utf-8')
01379 length = len(_x)
01380 buff.write(struct.pack('<I%ss'%length, length, _x))
01381 length = len(self.model.track.pose_projected)
01382 buff.write(_struct_I.pack(length))
01383 for val1 in self.model.track.pose_projected:
01384 _v46 = val1.position
01385 _x = _v46
01386 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
01387 _v47 = val1.orientation
01388 _x = _v47
01389 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
01390 length = len(self.model.track.pose_resampled)
01391 buff.write(_struct_I.pack(length))
01392 for val1 in self.model.track.pose_resampled:
01393 _v48 = val1.position
01394 _x = _v48
01395 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
01396 _v49 = val1.orientation
01397 _x = _v49
01398 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
01399 length = len(self.model.track.pose_flags)
01400 buff.write(_struct_I.pack(length))
01401 pattern = '<%sI'%length
01402 buff.write(self.model.track.pose_flags.tostring())
01403 length = len(self.model.track.channels)
01404 buff.write(_struct_I.pack(length))
01405 for val1 in self.model.track.channels:
01406 _x = val1.name
01407 length = len(_x)
01408 if python3 or type(_x) == unicode:
01409 _x = _x.encode('utf-8')
01410 length = len(_x)
01411 buff.write(struct.pack('<I%ss'%length, length, _x))
01412 length = len(val1.values)
01413 buff.write(_struct_I.pack(length))
01414 pattern = '<%sf'%length
01415 buff.write(val1.values.tostring())
01416 except struct.error as se: self._check_types(se)
01417 except TypeError as te: self._check_types(te)
01418
01419 def deserialize_numpy(self, str, numpy):
01420 """
01421 unpack serialized message in str into this message instance using numpy for array types
01422 :param str: byte array of serialized message, ``str``
01423 :param numpy: numpy python module
01424 """
01425 try:
01426 if self.model is None:
01427 self.model = articulation_msgs.msg.ModelMsg()
01428 end = 0
01429 _x = self
01430 start = end
01431 end += 12
01432 (_x.model.header.seq, _x.model.header.stamp.secs, _x.model.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
01433 start = end
01434 end += 4
01435 (length,) = _struct_I.unpack(str[start:end])
01436 start = end
01437 end += length
01438 if python3:
01439 self.model.header.frame_id = str[start:end].decode('utf-8')
01440 else:
01441 self.model.header.frame_id = str[start:end]
01442 start = end
01443 end += 4
01444 (self.model.id,) = _struct_i.unpack(str[start:end])
01445 start = end
01446 end += 4
01447 (length,) = _struct_I.unpack(str[start:end])
01448 start = end
01449 end += length
01450 if python3:
01451 self.model.name = str[start:end].decode('utf-8')
01452 else:
01453 self.model.name = str[start:end]
01454 start = end
01455 end += 4
01456 (length,) = _struct_I.unpack(str[start:end])
01457 self.model.params = []
01458 for i in range(0, length):
01459 val1 = articulation_msgs.msg.ParamMsg()
01460 start = end
01461 end += 4
01462 (length,) = _struct_I.unpack(str[start:end])
01463 start = end
01464 end += length
01465 if python3:
01466 val1.name = str[start:end].decode('utf-8')
01467 else:
01468 val1.name = str[start:end]
01469 _x = val1
01470 start = end
01471 end += 9
01472 (_x.value, _x.type,) = _struct_dB.unpack(str[start:end])
01473 self.model.params.append(val1)
01474 _x = self
01475 start = end
01476 end += 12
01477 (_x.model.track.header.seq, _x.model.track.header.stamp.secs, _x.model.track.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
01478 start = end
01479 end += 4
01480 (length,) = _struct_I.unpack(str[start:end])
01481 start = end
01482 end += length
01483 if python3:
01484 self.model.track.header.frame_id = str[start:end].decode('utf-8')
01485 else:
01486 self.model.track.header.frame_id = str[start:end]
01487 start = end
01488 end += 4
01489 (self.model.track.id,) = _struct_i.unpack(str[start:end])
01490 start = end
01491 end += 4
01492 (length,) = _struct_I.unpack(str[start:end])
01493 self.model.track.pose = []
01494 for i in range(0, length):
01495 val1 = geometry_msgs.msg.Pose()
01496 _v50 = val1.position
01497 _x = _v50
01498 start = end
01499 end += 24
01500 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
01501 _v51 = val1.orientation
01502 _x = _v51
01503 start = end
01504 end += 32
01505 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
01506 self.model.track.pose.append(val1)
01507 start = end
01508 end += 4
01509 (length,) = _struct_I.unpack(str[start:end])
01510 self.model.track.pose_headers = []
01511 for i in range(0, length):
01512 val1 = std_msgs.msg.Header()
01513 start = end
01514 end += 4
01515 (val1.seq,) = _struct_I.unpack(str[start:end])
01516 _v52 = val1.stamp
01517 _x = _v52
01518 start = end
01519 end += 8
01520 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
01521 start = end
01522 end += 4
01523 (length,) = _struct_I.unpack(str[start:end])
01524 start = end
01525 end += length
01526 if python3:
01527 val1.frame_id = str[start:end].decode('utf-8')
01528 else:
01529 val1.frame_id = str[start:end]
01530 self.model.track.pose_headers.append(val1)
01531 start = end
01532 end += 4
01533 (length,) = _struct_I.unpack(str[start:end])
01534 self.model.track.pose_projected = []
01535 for i in range(0, length):
01536 val1 = geometry_msgs.msg.Pose()
01537 _v53 = val1.position
01538 _x = _v53
01539 start = end
01540 end += 24
01541 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
01542 _v54 = val1.orientation
01543 _x = _v54
01544 start = end
01545 end += 32
01546 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
01547 self.model.track.pose_projected.append(val1)
01548 start = end
01549 end += 4
01550 (length,) = _struct_I.unpack(str[start:end])
01551 self.model.track.pose_resampled = []
01552 for i in range(0, length):
01553 val1 = geometry_msgs.msg.Pose()
01554 _v55 = val1.position
01555 _x = _v55
01556 start = end
01557 end += 24
01558 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
01559 _v56 = val1.orientation
01560 _x = _v56
01561 start = end
01562 end += 32
01563 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
01564 self.model.track.pose_resampled.append(val1)
01565 start = end
01566 end += 4
01567 (length,) = _struct_I.unpack(str[start:end])
01568 pattern = '<%sI'%length
01569 start = end
01570 end += struct.calcsize(pattern)
01571 self.model.track.pose_flags = numpy.frombuffer(str[start:end], dtype=numpy.uint32, count=length)
01572 start = end
01573 end += 4
01574 (length,) = _struct_I.unpack(str[start:end])
01575 self.model.track.channels = []
01576 for i in range(0, length):
01577 val1 = sensor_msgs.msg.ChannelFloat32()
01578 start = end
01579 end += 4
01580 (length,) = _struct_I.unpack(str[start:end])
01581 start = end
01582 end += length
01583 if python3:
01584 val1.name = str[start:end].decode('utf-8')
01585 else:
01586 val1.name = str[start:end]
01587 start = end
01588 end += 4
01589 (length,) = _struct_I.unpack(str[start:end])
01590 pattern = '<%sf'%length
01591 start = end
01592 end += struct.calcsize(pattern)
01593 val1.values = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=length)
01594 self.model.track.channels.append(val1)
01595 return self
01596 except struct.error as e:
01597 raise genpy.DeserializationError(e) #most likely buffer underfill
01598
01599 _struct_I = genpy.struct_I
01600 _struct_i = struct.Struct("<i")
01601 _struct_dB = struct.Struct("<dB")
01602 _struct_3I = struct.Struct("<3I")
01603 _struct_4d = struct.Struct("<4d")
01604 _struct_2I = struct.Struct("<2I")
01605 _struct_3d = struct.Struct("<3d")
01606 class TrackModelSrv(object):
01607 _type = 'articulation_msgs/TrackModelSrv'
01608 _md5sum = 'c9416af83362c7c0e98c9f877c3e7b6b'
01609 _request_class = TrackModelSrvRequest
01610 _response_class = TrackModelSrvResponse
