_PoseTwistWithCovariance.py

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

import geometry_msgs.msg
import std_msgs.msg

class PoseTwistWithCovariance(genpy.Message):
  _md5sum = "6a79eb6c33b8f61b28a446c70db3ab02"
  _type = "collvoid_msgs/PoseTwistWithCovariance"
  _has_header = True #flag to mark the presence of a Header object
  _full_text = """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: 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: 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','robot_id','radius','holo_robot','controlled','holonomic_velocity','pose','twist','footprint']
  _slot_types = ['std_msgs/Header','string','float32','bool','bool','geometry_msgs/Vector3','geometry_msgs/PoseWithCovariance','geometry_msgs/TwistWithCovariance','geometry_msgs/PolygonStamped']

  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,robot_id,radius,holo_robot,controlled,holonomic_velocity,pose,twist,footprint

    :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(PoseTwistWithCovariance, 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.robot_id is None:
        self.robot_id = ''
      if self.radius is None:
        self.radius = 0.
      if self.holo_robot is None:
        self.holo_robot = False
      if self.controlled is None:
        self.controlled = False
      if self.holonomic_velocity is None:
        self.holonomic_velocity = geometry_msgs.msg.Vector3()
      if self.pose is None:
        self.pose = geometry_msgs.msg.PoseWithCovariance()
      if self.twist is None:
        self.twist = geometry_msgs.msg.TwistWithCovariance()
      if self.footprint is None:
        self.footprint = geometry_msgs.msg.PolygonStamped()
    else:
      self.header = std_msgs.msg.Header()
      self.robot_id = ''
      self.radius = 0.
      self.holo_robot = False
      self.controlled = False
      self.holonomic_velocity = geometry_msgs.msg.Vector3()
      self.pose = geometry_msgs.msg.PoseWithCovariance()
      self.twist = geometry_msgs.msg.TwistWithCovariance()
      self.footprint = geometry_msgs.msg.PolygonStamped()

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

  def serialize(self, buff):
    """
    serialize message into buffer
    :param buff: buffer, ``StringIO``
    """
    try:
      _x = self
      buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
      _x = self.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self.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 = self
      buff.write(_struct_f2B10d.pack(_x.radius, _x.holo_robot, _x.controlled, _x.holonomic_velocity.x, _x.holonomic_velocity.y, _x.holonomic_velocity.z, _x.pose.pose.position.x, _x.pose.pose.position.y, _x.pose.pose.position.z, _x.pose.pose.orientation.x, _x.pose.pose.orientation.y, _x.pose.pose.orientation.z, _x.pose.pose.orientation.w))
      buff.write(_struct_36d.pack(*self.pose.covariance))
      _x = self
      buff.write(_struct_6d.pack(_x.twist.twist.linear.x, _x.twist.twist.linear.y, _x.twist.twist.linear.z, _x.twist.twist.angular.x, _x.twist.twist.angular.y, _x.twist.twist.angular.z))
      buff.write(_struct_36d.pack(*self.twist.covariance))
      _x = self
      buff.write(_struct_3I.pack(_x.footprint.header.seq, _x.footprint.header.stamp.secs, _x.footprint.header.stamp.nsecs))
      _x = self.footprint.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.footprint.polygon.points)
      buff.write(_struct_I.pack(length))
      for val1 in self.footprint.polygon.points:
        _x = val1
        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.holonomic_velocity is None:
        self.holonomic_velocity = geometry_msgs.msg.Vector3()
      if self.pose is None:
        self.pose = geometry_msgs.msg.PoseWithCovariance()
      if self.twist is None:
        self.twist = geometry_msgs.msg.TwistWithCovariance()
      if self.footprint is None:
        self.footprint = geometry_msgs.msg.PolygonStamped()
      end = 0
      _x = self
      start = end
      end += 12
      (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.robot_id = str[start:end].decode('utf-8')
      else:
        self.robot_id = str[start:end]
      _x = self
      start = end
      end += 86
      (_x.radius, _x.holo_robot, _x.controlled, _x.holonomic_velocity.x, _x.holonomic_velocity.y, _x.holonomic_velocity.z, _x.pose.pose.position.x, _x.pose.pose.position.y, _x.pose.pose.position.z, _x.pose.pose.orientation.x, _x.pose.pose.orientation.y, _x.pose.pose.orientation.z, _x.pose.pose.orientation.w,) = _struct_f2B10d.unpack(str[start:end])
      self.holo_robot = bool(self.holo_robot)
      self.controlled = bool(self.controlled)
      start = end
      end += 288
      self.pose.covariance = _struct_36d.unpack(str[start:end])
      _x = self
      start = end
      end += 48
      (_x.twist.twist.linear.x, _x.twist.twist.linear.y, _x.twist.twist.linear.z, _x.twist.twist.angular.x, _x.twist.twist.angular.y, _x.twist.twist.angular.z,) = _struct_6d.unpack(str[start:end])
      start = end
      end += 288
      self.twist.covariance = _struct_36d.unpack(str[start:end])
      _x = self
      start = end
      end += 12
      (_x.footprint.header.seq, _x.footprint.header.stamp.secs, _x.footprint.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.footprint.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.footprint.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.footprint.polygon.points = []
      for i in range(0, length):
        val1 = geometry_msgs.msg.Point32()
        _x = val1
        start = end
        end += 12
        (_x.x, _x.y, _x.z,) = _struct_3f.unpack(str[start:end])
        self.footprint.polygon.points.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))
      _x = self.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 = self
      buff.write(_struct_f2B10d.pack(_x.radius, _x.holo_robot, _x.controlled, _x.holonomic_velocity.x, _x.holonomic_velocity.y, _x.holonomic_velocity.z, _x.pose.pose.position.x, _x.pose.pose.position.y, _x.pose.pose.position.z, _x.pose.pose.orientation.x, _x.pose.pose.orientation.y, _x.pose.pose.orientation.z, _x.pose.pose.orientation.w))
      buff.write(self.pose.covariance.tostring())
      _x = self
      buff.write(_struct_6d.pack(_x.twist.twist.linear.x, _x.twist.twist.linear.y, _x.twist.twist.linear.z, _x.twist.twist.angular.x, _x.twist.twist.angular.y, _x.twist.twist.angular.z))
      buff.write(self.twist.covariance.tostring())
      _x = self
      buff.write(_struct_3I.pack(_x.footprint.header.seq, _x.footprint.header.stamp.secs, _x.footprint.header.stamp.nsecs))
      _x = self.footprint.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.footprint.polygon.points)
      buff.write(_struct_I.pack(length))
      for val1 in self.footprint.polygon.points:
        _x = val1
        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.holonomic_velocity is None:
        self.holonomic_velocity = geometry_msgs.msg.Vector3()
      if self.pose is None:
        self.pose = geometry_msgs.msg.PoseWithCovariance()
      if self.twist is None:
        self.twist = geometry_msgs.msg.TwistWithCovariance()
      if self.footprint is None:
        self.footprint = geometry_msgs.msg.PolygonStamped()
      end = 0
      _x = self
      start = end
      end += 12
      (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.robot_id = str[start:end].decode('utf-8')
      else:
        self.robot_id = str[start:end]
      _x = self
      start = end
      end += 86
      (_x.radius, _x.holo_robot, _x.controlled, _x.holonomic_velocity.x, _x.holonomic_velocity.y, _x.holonomic_velocity.z, _x.pose.pose.position.x, _x.pose.pose.position.y, _x.pose.pose.position.z, _x.pose.pose.orientation.x, _x.pose.pose.orientation.y, _x.pose.pose.orientation.z, _x.pose.pose.orientation.w,) = _struct_f2B10d.unpack(str[start:end])
      self.holo_robot = bool(self.holo_robot)
      self.controlled = bool(self.controlled)
      start = end
      end += 288
      self.pose.covariance = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=36)
      _x = self
      start = end
      end += 48
      (_x.twist.twist.linear.x, _x.twist.twist.linear.y, _x.twist.twist.linear.z, _x.twist.twist.angular.x, _x.twist.twist.angular.y, _x.twist.twist.angular.z,) = _struct_6d.unpack(str[start:end])
      start = end
      end += 288
      self.twist.covariance = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=36)
      _x = self
      start = end
      end += 12
      (_x.footprint.header.seq, _x.footprint.header.stamp.secs, _x.footprint.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.footprint.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.footprint.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.footprint.polygon.points = []
      for i in range(0, length):
        val1 = geometry_msgs.msg.Point32()
        _x = val1
        start = end
        end += 12
        (_x.x, _x.y, _x.z,) = _struct_3f.unpack(str[start:end])
        self.footprint.polygon.points.append(val1)
      return self
    except struct.error as e:
      raise genpy.DeserializationError(e) #most likely buffer underfill

_struct_I = genpy.struct_I
_struct_36d = struct.Struct("<36d")
_struct_3I = struct.Struct("<3I")
_struct_6d = struct.Struct("<6d")
_struct_f2B10d = struct.Struct("<f2B10d")
_struct_3f = struct.Struct("<3f")