_AggregatedPoseTwist.py

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

import geometry_msgs.msg
import collvoid_msgs.msg
import std_msgs.msg

class AggregatedPoseTwist(genpy.Message):
  _md5sum = "b57a6e1f6dc93663d454cab62daa81a6"
  _type = "collvoid_msgs/AggregatedPoseTwist"
  _has_header = True #flag to mark the presence of a Header object
  _full_text = """Header header
collvoid_msgs/PoseTwistWithCovariance[] posetwists
================================================================================
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

================================================================================
MSG: collvoid_msgs/PoseTwistWithCovariance
Header header
string robot_id
float32 radius
bool holo_robot
bool controlled
geometry_msgs/Vector3 holonomic_velocity
geometry_msgs/PoseWithCovariance pose
geometry_msgs/TwistWithCovariance twist
geometry_msgs/PolygonStamped footprint

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

float64 x
float64 y
float64 z
================================================================================
MSG: geometry_msgs/PoseWithCovariance
# This represents a pose in free space with uncertainty.

Pose pose

# Row-major representation of the 6x6 covariance matrix
# The orientation parameters use a fixed-axis representation.
# In order, the parameters are:
# (x, y, z, rotation about X axis, rotation about Y axis, rotation about Z axis)
float64[36] covariance

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

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

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

float64 x
float64 y
float64 z
float64 w

================================================================================
MSG: geometry_msgs/TwistWithCovariance
# This expresses velocity in free space with uncertianty.

Twist twist

# Row-major representation of the 6x6 covariance matrix
# The orientation parameters use a fixed-axis representation.
# In order, the parameters are:
# (x, y, z, rotation about X axis, rotation about Y axis, rotation about Z axis)
float64[36] covariance

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

================================================================================
MSG: geometry_msgs/PolygonStamped
# This represents a Polygon with reference coordinate frame and timestamp
Header header
Polygon polygon

================================================================================
MSG: geometry_msgs/Polygon
#A specification of a polygon where the first and last points are assumed to be connected
Point32[] points

================================================================================
MSG: geometry_msgs/Point32
# This contains the position of a point in free space(with 32 bits of precision).
# It is recommeded to use Point wherever possible instead of Point32.  
# 
# This recommendation is to promote interoperability.  
#
# This message is designed to take up less space when sending
# lots of points at once, as in the case of a PointCloud.  

float32 x
float32 y
float32 z
"""
  __slots__ = ['header','posetwists']
  _slot_types = ['std_msgs/Header','collvoid_msgs/PoseTwistWithCovariance[]']

  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,posetwists

    :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(AggregatedPoseTwist, 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.posetwists is None:
        self.posetwists = []
    else:
      self.header = std_msgs.msg.Header()
      self.posetwists = []

  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))
      length = len(self.posetwists)
      buff.write(_struct_I.pack(length))
      for val1 in self.posetwists:
        _v1 = val1.header
        buff.write(_struct_I.pack(_v1.seq))
        _v2 = _v1.stamp
        _x = _v2
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v1.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 = val1.robot_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 = val1
        buff.write(_struct_f2B.pack(_x.radius, _x.holo_robot, _x.controlled))
        _v3 = val1.holonomic_velocity
        _x = _v3
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v4 = val1.pose
        _v5 = _v4.pose
        _v6 = _v5.position
        _x = _v6
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v7 = _v5.orientation
        _x = _v7
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
        buff.write(_struct_36d.pack(*_v4.covariance))
        _v8 = val1.twist
        _v9 = _v8.twist
        _v10 = _v9.linear
        _x = _v10
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v11 = _v9.angular
        _x = _v11
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        buff.write(_struct_36d.pack(*_v8.covariance))
        _v12 = val1.footprint
        _v13 = _v12.header
        buff.write(_struct_I.pack(_v13.seq))
        _v14 = _v13.stamp
        _x = _v14
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v13.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))
        _v15 = _v12.polygon
        length = len(_v15.points)
        buff.write(_struct_I.pack(length))
        for val4 in _v15.points:
          _x = val4
          buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))
    except struct.error as se: self._check_types(se)
    except TypeError as te: self._check_types(te)

  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.posetwists is None:
        self.posetwists = 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])
      self.posetwists = []
      for i in range(0, length):
        val1 = collvoid_msgs.msg.PoseTwistWithCovariance()
        _v16 = val1.header
        start = end
        end += 4
        (_v16.seq,) = _struct_I.unpack(str[start:end])
        _v17 = _v16.stamp
        _x = _v17
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v16.frame_id = str[start:end].decode('utf-8')
        else:
          _v16.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.robot_id = str[start:end].decode('utf-8')
        else:
          val1.robot_id = str[start:end]
        _x = val1
        start = end
        end += 6
        (_x.radius, _x.holo_robot, _x.controlled,) = _struct_f2B.unpack(str[start:end])
        val1.holo_robot = bool(val1.holo_robot)
        val1.controlled = bool(val1.controlled)
        _v18 = val1.holonomic_velocity
        _x = _v18
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v19 = val1.pose
        _v20 = _v19.pose
        _v21 = _v20.position
        _x = _v21
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v22 = _v20.orientation
        _x = _v22
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        start = end
        end += 288
        _v19.covariance = _struct_36d.unpack(str[start:end])
        _v23 = val1.twist
        _v24 = _v23.twist
        _v25 = _v24.linear
        _x = _v25
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v26 = _v24.angular
        _x = _v26
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        start = end
        end += 288
        _v23.covariance = _struct_36d.unpack(str[start:end])
        _v27 = val1.footprint
        _v28 = _v27.header
        start = end
        end += 4
        (_v28.seq,) = _struct_I.unpack(str[start:end])
        _v29 = _v28.stamp
        _x = _v29
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v28.frame_id = str[start:end].decode('utf-8')
        else:
          _v28.frame_id = str[start:end]
        _v30 = _v27.polygon
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v30.points = []
        for i in range(0, length):
          val4 = geometry_msgs.msg.Point32()
          _x = val4
          start = end
          end += 12
          (_x.x, _x.y, _x.z,) = _struct_3f.unpack(str[start:end])
          _v30.points.append(val4)
        self.posetwists.append(val1)
      return self
    except struct.error as e:
      raise genpy.DeserializationError(e) #most likely buffer underfill


  def serialize_numpy(self, buff, numpy):
    """
    serialize message with numpy array types into buffer
    :param buff: buffer, ``StringIO``
    :param numpy: numpy python module
    """
    try:
      _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))
      length = len(self.posetwists)
      buff.write(_struct_I.pack(length))
      for val1 in self.posetwists:
        _v31 = val1.header
        buff.write(_struct_I.pack(_v31.seq))
        _v32 = _v31.stamp
        _x = _v32
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v31.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 = val1.robot_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 = val1
        buff.write(_struct_f2B.pack(_x.radius, _x.holo_robot, _x.controlled))
        _v33 = val1.holonomic_velocity
        _x = _v33
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v34 = val1.pose
        _v35 = _v34.pose
        _v36 = _v35.position
        _x = _v36
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v37 = _v35.orientation
        _x = _v37
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
        buff.write(_v34.covariance.tostring())
        _v38 = val1.twist
        _v39 = _v38.twist
        _v40 = _v39.linear
        _x = _v40
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v41 = _v39.angular
        _x = _v41
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        buff.write(_v38.covariance.tostring())
        _v42 = val1.footprint
        _v43 = _v42.header
        buff.write(_struct_I.pack(_v43.seq))
        _v44 = _v43.stamp
        _x = _v44
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v43.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))
        _v45 = _v42.polygon
        length = len(_v45.points)
        buff.write(_struct_I.pack(length))
        for val4 in _v45.points:
          _x = val4
          buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))
    except struct.error as se: self._check_types(se)
    except TypeError as te: self._check_types(te)

  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.posetwists is None:
        self.posetwists = 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])
      self.posetwists = []
      for i in range(0, length):
        val1 = collvoid_msgs.msg.PoseTwistWithCovariance()
        _v46 = val1.header
        start = end
        end += 4
        (_v46.seq,) = _struct_I.unpack(str[start:end])
        _v47 = _v46.stamp
        _x = _v47
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v46.frame_id = str[start:end].decode('utf-8')
        else:
          _v46.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.robot_id = str[start:end].decode('utf-8')
        else:
          val1.robot_id = str[start:end]
        _x = val1
        start = end
        end += 6
        (_x.radius, _x.holo_robot, _x.controlled,) = _struct_f2B.unpack(str[start:end])
        val1.holo_robot = bool(val1.holo_robot)
        val1.controlled = bool(val1.controlled)
        _v48 = val1.holonomic_velocity
        _x = _v48
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v49 = val1.pose
        _v50 = _v49.pose
        _v51 = _v50.position
        _x = _v51
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v52 = _v50.orientation
        _x = _v52
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        start = end
        end += 288
        _v49.covariance = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=36)
        _v53 = val1.twist
        _v54 = _v53.twist
        _v55 = _v54.linear
        _x = _v55
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v56 = _v54.angular
        _x = _v56
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        start = end
        end += 288
        _v53.covariance = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=36)
        _v57 = val1.footprint
        _v58 = _v57.header
        start = end
        end += 4
        (_v58.seq,) = _struct_I.unpack(str[start:end])
        _v59 = _v58.stamp
        _x = _v59
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v58.frame_id = str[start:end].decode('utf-8')
        else:
          _v58.frame_id = str[start:end]
        _v60 = _v57.polygon
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v60.points = []
        for i in range(0, length):
          val4 = geometry_msgs.msg.Point32()
          _x = val4
          start = end
          end += 12
          (_x.x, _x.y, _x.z,) = _struct_3f.unpack(str[start:end])
          _v60.points.append(val4)
        self.posetwists.append(val1)
      return self
    except struct.error as e:
      raise genpy.DeserializationError(e) #most likely buffer underfill

_struct_I = genpy.struct_I
_struct_f2B = struct.Struct("<f2B")
_struct_36d = struct.Struct("<36d")
_struct_3f = struct.Struct("<3f")
_struct_3I = struct.Struct("<3I")
_struct_4d = struct.Struct("<4d")
_struct_2I = struct.Struct("<2I")
_struct_3d = struct.Struct("<3d")