_PlanFootsteps.py

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

import geometry_msgs.msg

class PlanFootstepsRequest(genpy.Message):
  _md5sum = "5e8ecd9fb61e382b8974a904baeee367"
  _type = "humanoid_nav_msgs/PlanFootstepsRequest"
  _has_header = False #flag to mark the presence of a Header object
  _full_text = """geometry_msgs/Pose2D start
geometry_msgs/Pose2D goal

================================================================================
MSG: geometry_msgs/Pose2D
# This expresses a position and orientation on a 2D manifold.

float64 x
float64 y
float64 theta
"""
  __slots__ = ['start','goal']
  _slot_types = ['geometry_msgs/Pose2D','geometry_msgs/Pose2D']

  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:
       start,goal

    :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(PlanFootstepsRequest, self).__init__(*args, **kwds)
      #message fields cannot be None, assign default values for those that are
      if self.start is None:
        self.start = geometry_msgs.msg.Pose2D()
      if self.goal is None:
        self.goal = geometry_msgs.msg.Pose2D()
    else:
      self.start = geometry_msgs.msg.Pose2D()
      self.goal = geometry_msgs.msg.Pose2D()

  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_6d.pack(_x.start.x, _x.start.y, _x.start.theta, _x.goal.x, _x.goal.y, _x.goal.theta))
    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.start is None:
        self.start = geometry_msgs.msg.Pose2D()
      if self.goal is None:
        self.goal = geometry_msgs.msg.Pose2D()
      end = 0
      _x = self
      start = end
      end += 48
      (_x.start.x, _x.start.y, _x.start.theta, _x.goal.x, _x.goal.y, _x.goal.theta,) = _struct_6d.unpack(str[start:end])
      return self
    except struct.error as e:
      raise genpy.DeserializationError(e) #most likely buffer underfill


  def serialize_numpy(self, buff, numpy):
    """
    serialize message with numpy array types into buffer
    :param buff: buffer, ``StringIO``
    :param numpy: numpy python module
    """
    try:
      _x = self
      buff.write(_struct_6d.pack(_x.start.x, _x.start.y, _x.start.theta, _x.goal.x, _x.goal.y, _x.goal.theta))
    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.start is None:
        self.start = geometry_msgs.msg.Pose2D()
      if self.goal is None:
        self.goal = geometry_msgs.msg.Pose2D()
      end = 0
      _x = self
      start = end
      end += 48
      (_x.start.x, _x.start.y, _x.start.theta, _x.goal.x, _x.goal.y, _x.goal.theta,) = _struct_6d.unpack(str[start:end])
      return self
    except struct.error as e:
      raise genpy.DeserializationError(e) #most likely buffer underfill

_struct_I = genpy.struct_I
_struct_6d = struct.Struct("<6d")
"""autogenerated by genpy from humanoid_nav_msgs/PlanFootstepsResponse.msg. Do not edit."""
import sys
python3 = True if sys.hexversion > 0x03000000 else False
import genpy
import struct

import geometry_msgs.msg
import humanoid_nav_msgs.msg

class PlanFootstepsResponse(genpy.Message):
  _md5sum = "1af07cd1d4ffe34a9a731e87aa13835c"
  _type = "humanoid_nav_msgs/PlanFootstepsResponse"
  _has_header = False #flag to mark the presence of a Header object
  _full_text = """bool result
humanoid_nav_msgs/StepTarget[] footsteps
float64 costs
float64 final_eps
float64 planning_time
int64 expanded_states


================================================================================
MSG: humanoid_nav_msgs/StepTarget
# Target for a single stepping motion of a humanoid's leg

geometry_msgs/Pose2D pose   # step pose as relative offset to last leg
uint8 leg                   # which leg to use (left/right, see below)

uint8 right=0               # right leg constant
uint8 left=1                # left leg constant

================================================================================
MSG: geometry_msgs/Pose2D
# This expresses a position and orientation on a 2D manifold.

float64 x
float64 y
float64 theta
"""
  __slots__ = ['result','footsteps','costs','final_eps','planning_time','expanded_states']
  _slot_types = ['bool','humanoid_nav_msgs/StepTarget[]','float64','float64','float64','int64']

  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:
       result,footsteps,costs,final_eps,planning_time,expanded_states

    :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(PlanFootstepsResponse, self).__init__(*args, **kwds)
      #message fields cannot be None, assign default values for those that are
      if self.result is None:
        self.result = False
      if self.footsteps is None:
        self.footsteps = []
      if self.costs is None:
        self.costs = 0.
      if self.final_eps is None:
        self.final_eps = 0.
      if self.planning_time is None:
        self.planning_time = 0.
      if self.expanded_states is None:
        self.expanded_states = 0
    else:
      self.result = False
      self.footsteps = []
      self.costs = 0.
      self.final_eps = 0.
      self.planning_time = 0.
      self.expanded_states = 0

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

  def serialize(self, buff):
    """
    serialize message into buffer
    :param buff: buffer, ``StringIO``
    """
    try:
      buff.write(_struct_B.pack(self.result))
      length = len(self.footsteps)
      buff.write(_struct_I.pack(length))
      for val1 in self.footsteps:
        _v1 = val1.pose
        _x = _v1
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.theta))
        buff.write(_struct_B.pack(val1.leg))
      _x = self
      buff.write(_struct_3dq.pack(_x.costs, _x.final_eps, _x.planning_time, _x.expanded_states))
    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.footsteps is None:
        self.footsteps = None
      end = 0
      start = end
      end += 1
      (self.result,) = _struct_B.unpack(str[start:end])
      self.result = bool(self.result)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.footsteps = []
      for i in range(0, length):
        val1 = humanoid_nav_msgs.msg.StepTarget()
        _v2 = val1.pose
        _x = _v2
        start = end
        end += 24
        (_x.x, _x.y, _x.theta,) = _struct_3d.unpack(str[start:end])
        start = end
        end += 1
        (val1.leg,) = _struct_B.unpack(str[start:end])
        self.footsteps.append(val1)
      _x = self
      start = end
      end += 32
      (_x.costs, _x.final_eps, _x.planning_time, _x.expanded_states,) = _struct_3dq.unpack(str[start:end])
      return self
    except struct.error as e:
      raise genpy.DeserializationError(e) #most likely buffer underfill


  def serialize_numpy(self, buff, numpy):
    """
    serialize message with numpy array types into buffer
    :param buff: buffer, ``StringIO``
    :param numpy: numpy python module
    """
    try:
      buff.write(_struct_B.pack(self.result))
      length = len(self.footsteps)
      buff.write(_struct_I.pack(length))
      for val1 in self.footsteps:
        _v3 = val1.pose
        _x = _v3
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.theta))
        buff.write(_struct_B.pack(val1.leg))
      _x = self
      buff.write(_struct_3dq.pack(_x.costs, _x.final_eps, _x.planning_time, _x.expanded_states))
    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.footsteps is None:
        self.footsteps = None
      end = 0
      start = end
      end += 1
      (self.result,) = _struct_B.unpack(str[start:end])
      self.result = bool(self.result)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.footsteps = []
      for i in range(0, length):
        val1 = humanoid_nav_msgs.msg.StepTarget()
        _v4 = val1.pose
        _x = _v4
        start = end
        end += 24
        (_x.x, _x.y, _x.theta,) = _struct_3d.unpack(str[start:end])
        start = end
        end += 1
        (val1.leg,) = _struct_B.unpack(str[start:end])
        self.footsteps.append(val1)
      _x = self
      start = end
      end += 32
      (_x.costs, _x.final_eps, _x.planning_time, _x.expanded_states,) = _struct_3dq.unpack(str[start:end])
      return self
    except struct.error as e:
      raise genpy.DeserializationError(e) #most likely buffer underfill

_struct_I = genpy.struct_I
_struct_B = struct.Struct("<B")
_struct_3dq = struct.Struct("<3dq")
_struct_3d = struct.Struct("<3d")
class PlanFootsteps(object):
  _type          = 'humanoid_nav_msgs/PlanFootsteps'
  _md5sum = '6776471c1b6635688929b81b014b1c1c'
  _request_class  = PlanFootstepsRequest
  _response_class = PlanFootstepsResponse