00001 """autogenerated by genpy from nao_msgs/FollowPathAction.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 nav_msgs.msg
00008 import nao_msgs.msg
00009 import actionlib_msgs.msg
00010 import geometry_msgs.msg
00011 import genpy
00012 import std_msgs.msg
00013
00014 class FollowPathAction(genpy.Message):
00015 _md5sum = "98958d560f45913f6e3143ad99e2fcf0"
00016 _type = "nao_msgs/FollowPathAction"
00017 _has_header = False
00018 _full_text = """# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00019
00020 FollowPathActionGoal action_goal
00021 FollowPathActionResult action_result
00022 FollowPathActionFeedback action_feedback
00023
00024 ================================================================================
00025 MSG: nao_msgs/FollowPathActionGoal
00026 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00027
00028 Header header
00029 actionlib_msgs/GoalID goal_id
00030 FollowPathGoal goal
00031
00032 ================================================================================
00033 MSG: std_msgs/Header
00034 # Standard metadata for higher-level stamped data types.
00035 # This is generally used to communicate timestamped data
00036 # in a particular coordinate frame.
00037 #
00038 # sequence ID: consecutively increasing ID
00039 uint32 seq
00040 #Two-integer timestamp that is expressed as:
00041 # * stamp.secs: seconds (stamp_secs) since epoch
00042 # * stamp.nsecs: nanoseconds since stamp_secs
00043 # time-handling sugar is provided by the client library
00044 time stamp
00045 #Frame this data is associated with
00046 # 0: no frame
00047 # 1: global frame
00048 string frame_id
00049
00050 ================================================================================
00051 MSG: actionlib_msgs/GoalID
00052 # The stamp should store the time at which this goal was requested.
00053 # It is used by an action server when it tries to preempt all
00054 # goals that were requested before a certain time
00055 time stamp
00056
00057 # The id provides a way to associate feedback and
00058 # result message with specific goal requests. The id
00059 # specified must be unique.
00060 string id
00061
00062
00063 ================================================================================
00064 MSG: nao_msgs/FollowPathGoal
00065 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00066 # goal: a path to follow
00067 nav_msgs/Path path
00068
00069 ================================================================================
00070 MSG: nav_msgs/Path
00071 #An array of poses that represents a Path for a robot to follow
00072 Header header
00073 geometry_msgs/PoseStamped[] poses
00074
00075 ================================================================================
00076 MSG: geometry_msgs/PoseStamped
00077 # A Pose with reference coordinate frame and timestamp
00078 Header header
00079 Pose pose
00080
00081 ================================================================================
00082 MSG: geometry_msgs/Pose
00083 # A representation of pose in free space, composed of postion and orientation.
00084 Point position
00085 Quaternion orientation
00086
00087 ================================================================================
00088 MSG: geometry_msgs/Point
00089 # This contains the position of a point in free space
00090 float64 x
00091 float64 y
00092 float64 z
00093
00094 ================================================================================
00095 MSG: geometry_msgs/Quaternion
00096 # This represents an orientation in free space in quaternion form.
00097
00098 float64 x
00099 float64 y
00100 float64 z
00101 float64 w
00102
00103 ================================================================================
00104 MSG: nao_msgs/FollowPathActionResult
00105 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00106
00107 Header header
00108 actionlib_msgs/GoalStatus status
00109 FollowPathResult result
00110
00111 ================================================================================
00112 MSG: actionlib_msgs/GoalStatus
00113 GoalID goal_id
00114 uint8 status
00115 uint8 PENDING = 0 # The goal has yet to be processed by the action server
00116 uint8 ACTIVE = 1 # The goal is currently being processed by the action server
00117 uint8 PREEMPTED = 2 # The goal received a cancel request after it started executing
00118 # and has since completed its execution (Terminal State)
00119 uint8 SUCCEEDED = 3 # The goal was achieved successfully by the action server (Terminal State)
00120 uint8 ABORTED = 4 # The goal was aborted during execution by the action server due
00121 # to some failure (Terminal State)
00122 uint8 REJECTED = 5 # The goal was rejected by the action server without being processed,
00123 # because the goal was unattainable or invalid (Terminal State)
00124 uint8 PREEMPTING = 6 # The goal received a cancel request after it started executing
00125 # and has not yet completed execution
00126 uint8 RECALLING = 7 # The goal received a cancel request before it started executing,
00127 # but the action server has not yet confirmed that the goal is canceled
00128 uint8 RECALLED = 8 # The goal received a cancel request before it started executing
00129 # and was successfully cancelled (Terminal State)
00130 uint8 LOST = 9 # An action client can determine that a goal is LOST. This should not be
00131 # sent over the wire by an action server
00132
00133 #Allow for the user to associate a string with GoalStatus for debugging
00134 string text
00135
00136
00137 ================================================================================
00138 MSG: nao_msgs/FollowPathResult
00139 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00140 # no result currently
00141
00142 ================================================================================
00143 MSG: nao_msgs/FollowPathActionFeedback
00144 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00145
00146 Header header
00147 actionlib_msgs/GoalStatus status
00148 FollowPathFeedback feedback
00149
00150 ================================================================================
00151 MSG: nao_msgs/FollowPathFeedback
00152 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00153 # feedback: index of current subgoal in path
00154 uint32 index
00155
00156
00157 """
00158 __slots__ = ['action_goal','action_result','action_feedback']
00159 _slot_types = ['nao_msgs/FollowPathActionGoal','nao_msgs/FollowPathActionResult','nao_msgs/FollowPathActionFeedback']
00160
00161 def __init__(self, *args, **kwds):
00162 """
00163 Constructor. Any message fields that are implicitly/explicitly
00164 set to None will be assigned a default value. The recommend
00165 use is keyword arguments as this is more robust to future message
00166 changes. You cannot mix in-order arguments and keyword arguments.
00167
00168 The available fields are:
00169 action_goal,action_result,action_feedback
00170
00171 :param args: complete set of field values, in .msg order
00172 :param kwds: use keyword arguments corresponding to message field names
00173 to set specific fields.
00174 """
00175 if args or kwds:
00176 super(FollowPathAction, self).__init__(*args, **kwds)
00177
00178 if self.action_goal is None:
00179 self.action_goal = nao_msgs.msg.FollowPathActionGoal()
00180 if self.action_result is None:
00181 self.action_result = nao_msgs.msg.FollowPathActionResult()
00182 if self.action_feedback is None:
00183 self.action_feedback = nao_msgs.msg.FollowPathActionFeedback()
00184 else:
00185 self.action_goal = nao_msgs.msg.FollowPathActionGoal()
00186 self.action_result = nao_msgs.msg.FollowPathActionResult()
00187 self.action_feedback = nao_msgs.msg.FollowPathActionFeedback()
00188
00189 def _get_types(self):
00190 """
00191 internal API method
00192 """
00193 return self._slot_types
00194
00195 def serialize(self, buff):
00196 """
00197 serialize message into buffer
00198 :param buff: buffer, ``StringIO``
00199 """
00200 try:
00201 _x = self
00202 buff.write(_struct_3I.pack(_x.action_goal.header.seq, _x.action_goal.header.stamp.secs, _x.action_goal.header.stamp.nsecs))
00203 _x = self.action_goal.header.frame_id
00204 length = len(_x)
00205 if python3 or type(_x) == unicode:
00206 _x = _x.encode('utf-8')
00207 length = len(_x)
00208 buff.write(struct.pack('<I%ss'%length, length, _x))
00209 _x = self
00210 buff.write(_struct_2I.pack(_x.action_goal.goal_id.stamp.secs, _x.action_goal.goal_id.stamp.nsecs))
00211 _x = self.action_goal.goal_id.id
00212 length = len(_x)
00213 if python3 or type(_x) == unicode:
00214 _x = _x.encode('utf-8')
00215 length = len(_x)
00216 buff.write(struct.pack('<I%ss'%length, length, _x))
00217 _x = self
00218 buff.write(_struct_3I.pack(_x.action_goal.goal.path.header.seq, _x.action_goal.goal.path.header.stamp.secs, _x.action_goal.goal.path.header.stamp.nsecs))
00219 _x = self.action_goal.goal.path.header.frame_id
00220 length = len(_x)
00221 if python3 or type(_x) == unicode:
00222 _x = _x.encode('utf-8')
00223 length = len(_x)
00224 buff.write(struct.pack('<I%ss'%length, length, _x))
00225 length = len(self.action_goal.goal.path.poses)
00226 buff.write(_struct_I.pack(length))
00227 for val1 in self.action_goal.goal.path.poses:
00228 _v1 = val1.header
00229 buff.write(_struct_I.pack(_v1.seq))
00230 _v2 = _v1.stamp
00231 _x = _v2
00232 buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00233 _x = _v1.frame_id
00234 length = len(_x)
00235 if python3 or type(_x) == unicode:
00236 _x = _x.encode('utf-8')
00237 length = len(_x)
00238 buff.write(struct.pack('<I%ss'%length, length, _x))
00239 _v3 = val1.pose
00240 _v4 = _v3.position
00241 _x = _v4
00242 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00243 _v5 = _v3.orientation
00244 _x = _v5
00245 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00246 _x = self
00247 buff.write(_struct_3I.pack(_x.action_result.header.seq, _x.action_result.header.stamp.secs, _x.action_result.header.stamp.nsecs))
00248 _x = self.action_result.header.frame_id
00249 length = len(_x)
00250 if python3 or type(_x) == unicode:
00251 _x = _x.encode('utf-8')
00252 length = len(_x)
00253 buff.write(struct.pack('<I%ss'%length, length, _x))
00254 _x = self
00255 buff.write(_struct_2I.pack(_x.action_result.status.goal_id.stamp.secs, _x.action_result.status.goal_id.stamp.nsecs))
00256 _x = self.action_result.status.goal_id.id
00257 length = len(_x)
00258 if python3 or type(_x) == unicode:
00259 _x = _x.encode('utf-8')
00260 length = len(_x)
00261 buff.write(struct.pack('<I%ss'%length, length, _x))
00262 buff.write(_struct_B.pack(self.action_result.status.status))
00263 _x = self.action_result.status.text
00264 length = len(_x)
00265 if python3 or type(_x) == unicode:
00266 _x = _x.encode('utf-8')
00267 length = len(_x)
00268 buff.write(struct.pack('<I%ss'%length, length, _x))
00269 _x = self
00270 buff.write(_struct_3I.pack(_x.action_feedback.header.seq, _x.action_feedback.header.stamp.secs, _x.action_feedback.header.stamp.nsecs))
00271 _x = self.action_feedback.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 _x = self
00278 buff.write(_struct_2I.pack(_x.action_feedback.status.goal_id.stamp.secs, _x.action_feedback.status.goal_id.stamp.nsecs))
00279 _x = self.action_feedback.status.goal_id.id
00280 length = len(_x)
00281 if python3 or type(_x) == unicode:
00282 _x = _x.encode('utf-8')
00283 length = len(_x)
00284 buff.write(struct.pack('<I%ss'%length, length, _x))
00285 buff.write(_struct_B.pack(self.action_feedback.status.status))
00286 _x = self.action_feedback.status.text
00287 length = len(_x)
00288 if python3 or type(_x) == unicode:
00289 _x = _x.encode('utf-8')
00290 length = len(_x)
00291 buff.write(struct.pack('<I%ss'%length, length, _x))
00292 buff.write(_struct_I.pack(self.action_feedback.feedback.index))
00293 except struct.error as se: self._check_types(se)
00294 except TypeError as te: self._check_types(te)
00295
00296 def deserialize(self, str):
00297 """
00298 unpack serialized message in str into this message instance
00299 :param str: byte array of serialized message, ``str``
00300 """
00301 try:
00302 if self.action_goal is None:
00303 self.action_goal = nao_msgs.msg.FollowPathActionGoal()
00304 if self.action_result is None:
00305 self.action_result = nao_msgs.msg.FollowPathActionResult()
00306 if self.action_feedback is None:
00307 self.action_feedback = nao_msgs.msg.FollowPathActionFeedback()
00308 end = 0
00309 _x = self
00310 start = end
00311 end += 12
00312 (_x.action_goal.header.seq, _x.action_goal.header.stamp.secs, _x.action_goal.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00313 start = end
00314 end += 4
00315 (length,) = _struct_I.unpack(str[start:end])
00316 start = end
00317 end += length
00318 if python3:
00319 self.action_goal.header.frame_id = str[start:end].decode('utf-8')
00320 else:
00321 self.action_goal.header.frame_id = str[start:end]
00322 _x = self
00323 start = end
00324 end += 8
00325 (_x.action_goal.goal_id.stamp.secs, _x.action_goal.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00326 start = end
00327 end += 4
00328 (length,) = _struct_I.unpack(str[start:end])
00329 start = end
00330 end += length
00331 if python3:
00332 self.action_goal.goal_id.id = str[start:end].decode('utf-8')
00333 else:
00334 self.action_goal.goal_id.id = str[start:end]
00335 _x = self
00336 start = end
00337 end += 12
00338 (_x.action_goal.goal.path.header.seq, _x.action_goal.goal.path.header.stamp.secs, _x.action_goal.goal.path.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00339 start = end
00340 end += 4
00341 (length,) = _struct_I.unpack(str[start:end])
00342 start = end
00343 end += length
00344 if python3:
00345 self.action_goal.goal.path.header.frame_id = str[start:end].decode('utf-8')
00346 else:
00347 self.action_goal.goal.path.header.frame_id = str[start:end]
00348 start = end
00349 end += 4
00350 (length,) = _struct_I.unpack(str[start:end])
00351 self.action_goal.goal.path.poses = []
00352 for i in range(0, length):
00353 val1 = geometry_msgs.msg.PoseStamped()
00354 _v6 = val1.header
00355 start = end
00356 end += 4
00357 (_v6.seq,) = _struct_I.unpack(str[start:end])
00358 _v7 = _v6.stamp
00359 _x = _v7
00360 start = end
00361 end += 8
00362 (_x.secs, _x.nsecs,) = _struct_2I.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 _v6.frame_id = str[start:end].decode('utf-8')
00370 else:
00371 _v6.frame_id = str[start:end]
00372 _v8 = val1.pose
00373 _v9 = _v8.position
00374 _x = _v9
00375 start = end
00376 end += 24
00377 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00378 _v10 = _v8.orientation
00379 _x = _v10
00380 start = end
00381 end += 32
00382 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
00383 self.action_goal.goal.path.poses.append(val1)
00384 _x = self
00385 start = end
00386 end += 12
00387 (_x.action_result.header.seq, _x.action_result.header.stamp.secs, _x.action_result.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00388 start = end
00389 end += 4
00390 (length,) = _struct_I.unpack(str[start:end])
00391 start = end
00392 end += length
00393 if python3:
00394 self.action_result.header.frame_id = str[start:end].decode('utf-8')
00395 else:
00396 self.action_result.header.frame_id = str[start:end]
00397 _x = self
00398 start = end
00399 end += 8
00400 (_x.action_result.status.goal_id.stamp.secs, _x.action_result.status.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00401 start = end
00402 end += 4
00403 (length,) = _struct_I.unpack(str[start:end])
00404 start = end
00405 end += length
00406 if python3:
00407 self.action_result.status.goal_id.id = str[start:end].decode('utf-8')
00408 else:
00409 self.action_result.status.goal_id.id = str[start:end]
00410 start = end
00411 end += 1
00412 (self.action_result.status.status,) = _struct_B.unpack(str[start:end])
00413 start = end
00414 end += 4
00415 (length,) = _struct_I.unpack(str[start:end])
00416 start = end
00417 end += length
00418 if python3:
00419 self.action_result.status.text = str[start:end].decode('utf-8')
00420 else:
00421 self.action_result.status.text = str[start:end]
00422 _x = self
00423 start = end
00424 end += 12
00425 (_x.action_feedback.header.seq, _x.action_feedback.header.stamp.secs, _x.action_feedback.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00426 start = end
00427 end += 4
00428 (length,) = _struct_I.unpack(str[start:end])
00429 start = end
00430 end += length
00431 if python3:
00432 self.action_feedback.header.frame_id = str[start:end].decode('utf-8')
00433 else:
00434 self.action_feedback.header.frame_id = str[start:end]
00435 _x = self
00436 start = end
00437 end += 8
00438 (_x.action_feedback.status.goal_id.stamp.secs, _x.action_feedback.status.goal_id.stamp.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 self.action_feedback.status.goal_id.id = str[start:end].decode('utf-8')
00446 else:
00447 self.action_feedback.status.goal_id.id = str[start:end]
00448 start = end
00449 end += 1
00450 (self.action_feedback.status.status,) = _struct_B.unpack(str[start:end])
00451 start = end
00452 end += 4
00453 (length,) = _struct_I.unpack(str[start:end])
00454 start = end
00455 end += length
00456 if python3:
00457 self.action_feedback.status.text = str[start:end].decode('utf-8')
00458 else:
00459 self.action_feedback.status.text = str[start:end]
00460 start = end
00461 end += 4
00462 (self.action_feedback.feedback.index,) = _struct_I.unpack(str[start:end])
00463 return self
00464 except struct.error as e:
00465 raise genpy.DeserializationError(e)
00466
00467
00468 def serialize_numpy(self, buff, numpy):
00469 """
00470 serialize message with numpy array types into buffer
00471 :param buff: buffer, ``StringIO``
00472 :param numpy: numpy python module
00473 """
00474 try:
00475 _x = self
00476 buff.write(_struct_3I.pack(_x.action_goal.header.seq, _x.action_goal.header.stamp.secs, _x.action_goal.header.stamp.nsecs))
00477 _x = self.action_goal.header.frame_id
00478 length = len(_x)
00479 if python3 or type(_x) == unicode:
00480 _x = _x.encode('utf-8')
00481 length = len(_x)
00482 buff.write(struct.pack('<I%ss'%length, length, _x))
00483 _x = self
00484 buff.write(_struct_2I.pack(_x.action_goal.goal_id.stamp.secs, _x.action_goal.goal_id.stamp.nsecs))
00485 _x = self.action_goal.goal_id.id
00486 length = len(_x)
00487 if python3 or type(_x) == unicode:
00488 _x = _x.encode('utf-8')
00489 length = len(_x)
00490 buff.write(struct.pack('<I%ss'%length, length, _x))
00491 _x = self
00492 buff.write(_struct_3I.pack(_x.action_goal.goal.path.header.seq, _x.action_goal.goal.path.header.stamp.secs, _x.action_goal.goal.path.header.stamp.nsecs))
00493 _x = self.action_goal.goal.path.header.frame_id
00494 length = len(_x)
00495 if python3 or type(_x) == unicode:
00496 _x = _x.encode('utf-8')
00497 length = len(_x)
00498 buff.write(struct.pack('<I%ss'%length, length, _x))
00499 length = len(self.action_goal.goal.path.poses)
00500 buff.write(_struct_I.pack(length))
00501 for val1 in self.action_goal.goal.path.poses:
00502 _v11 = val1.header
00503 buff.write(_struct_I.pack(_v11.seq))
00504 _v12 = _v11.stamp
00505 _x = _v12
00506 buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00507 _x = _v11.frame_id
00508 length = len(_x)
00509 if python3 or type(_x) == unicode:
00510 _x = _x.encode('utf-8')
00511 length = len(_x)
00512 buff.write(struct.pack('<I%ss'%length, length, _x))
00513 _v13 = val1.pose
00514 _v14 = _v13.position
00515 _x = _v14
00516 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00517 _v15 = _v13.orientation
00518 _x = _v15
00519 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00520 _x = self
00521 buff.write(_struct_3I.pack(_x.action_result.header.seq, _x.action_result.header.stamp.secs, _x.action_result.header.stamp.nsecs))
00522 _x = self.action_result.header.frame_id
00523 length = len(_x)
00524 if python3 or type(_x) == unicode:
00525 _x = _x.encode('utf-8')
00526 length = len(_x)
00527 buff.write(struct.pack('<I%ss'%length, length, _x))
00528 _x = self
00529 buff.write(_struct_2I.pack(_x.action_result.status.goal_id.stamp.secs, _x.action_result.status.goal_id.stamp.nsecs))
00530 _x = self.action_result.status.goal_id.id
00531 length = len(_x)
00532 if python3 or type(_x) == unicode:
00533 _x = _x.encode('utf-8')
00534 length = len(_x)
00535 buff.write(struct.pack('<I%ss'%length, length, _x))
00536 buff.write(_struct_B.pack(self.action_result.status.status))
00537 _x = self.action_result.status.text
00538 length = len(_x)
00539 if python3 or type(_x) == unicode:
00540 _x = _x.encode('utf-8')
00541 length = len(_x)
00542 buff.write(struct.pack('<I%ss'%length, length, _x))
00543 _x = self
00544 buff.write(_struct_3I.pack(_x.action_feedback.header.seq, _x.action_feedback.header.stamp.secs, _x.action_feedback.header.stamp.nsecs))
00545 _x = self.action_feedback.header.frame_id
00546 length = len(_x)
00547 if python3 or type(_x) == unicode:
00548 _x = _x.encode('utf-8')
00549 length = len(_x)
00550 buff.write(struct.pack('<I%ss'%length, length, _x))
00551 _x = self
00552 buff.write(_struct_2I.pack(_x.action_feedback.status.goal_id.stamp.secs, _x.action_feedback.status.goal_id.stamp.nsecs))
00553 _x = self.action_feedback.status.goal_id.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_B.pack(self.action_feedback.status.status))
00560 _x = self.action_feedback.status.text
00561 length = len(_x)
00562 if python3 or type(_x) == unicode:
00563 _x = _x.encode('utf-8')
00564 length = len(_x)
00565 buff.write(struct.pack('<I%ss'%length, length, _x))
00566 buff.write(_struct_I.pack(self.action_feedback.feedback.index))
00567 except struct.error as se: self._check_types(se)
00568 except TypeError as te: self._check_types(te)
00569
00570 def deserialize_numpy(self, str, numpy):
00571 """
00572 unpack serialized message in str into this message instance using numpy for array types
00573 :param str: byte array of serialized message, ``str``
00574 :param numpy: numpy python module
00575 """
00576 try:
00577 if self.action_goal is None:
00578 self.action_goal = nao_msgs.msg.FollowPathActionGoal()
00579 if self.action_result is None:
00580 self.action_result = nao_msgs.msg.FollowPathActionResult()
00581 if self.action_feedback is None:
00582 self.action_feedback = nao_msgs.msg.FollowPathActionFeedback()
00583 end = 0
00584 _x = self
00585 start = end
00586 end += 12
00587 (_x.action_goal.header.seq, _x.action_goal.header.stamp.secs, _x.action_goal.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00588 start = end
00589 end += 4
00590 (length,) = _struct_I.unpack(str[start:end])
00591 start = end
00592 end += length
00593 if python3:
00594 self.action_goal.header.frame_id = str[start:end].decode('utf-8')
00595 else:
00596 self.action_goal.header.frame_id = str[start:end]
00597 _x = self
00598 start = end
00599 end += 8
00600 (_x.action_goal.goal_id.stamp.secs, _x.action_goal.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00601 start = end
00602 end += 4
00603 (length,) = _struct_I.unpack(str[start:end])
00604 start = end
00605 end += length
00606 if python3:
00607 self.action_goal.goal_id.id = str[start:end].decode('utf-8')
00608 else:
00609 self.action_goal.goal_id.id = str[start:end]
00610 _x = self
00611 start = end
00612 end += 12
00613 (_x.action_goal.goal.path.header.seq, _x.action_goal.goal.path.header.stamp.secs, _x.action_goal.goal.path.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00614 start = end
00615 end += 4
00616 (length,) = _struct_I.unpack(str[start:end])
00617 start = end
00618 end += length
00619 if python3:
00620 self.action_goal.goal.path.header.frame_id = str[start:end].decode('utf-8')
00621 else:
00622 self.action_goal.goal.path.header.frame_id = str[start:end]
00623 start = end
00624 end += 4
00625 (length,) = _struct_I.unpack(str[start:end])
00626 self.action_goal.goal.path.poses = []
00627 for i in range(0, length):
00628 val1 = geometry_msgs.msg.PoseStamped()
00629 _v16 = val1.header
00630 start = end
00631 end += 4
00632 (_v16.seq,) = _struct_I.unpack(str[start:end])
00633 _v17 = _v16.stamp
00634 _x = _v17
00635 start = end
00636 end += 8
00637 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
00638 start = end
00639 end += 4
00640 (length,) = _struct_I.unpack(str[start:end])
00641 start = end
00642 end += length
00643 if python3:
00644 _v16.frame_id = str[start:end].decode('utf-8')
00645 else:
00646 _v16.frame_id = str[start:end]
00647 _v18 = val1.pose
00648 _v19 = _v18.position
00649 _x = _v19
00650 start = end
00651 end += 24
00652 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00653 _v20 = _v18.orientation
00654 _x = _v20
00655 start = end
00656 end += 32
00657 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
00658 self.action_goal.goal.path.poses.append(val1)
00659 _x = self
00660 start = end
00661 end += 12
00662 (_x.action_result.header.seq, _x.action_result.header.stamp.secs, _x.action_result.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00663 start = end
00664 end += 4
00665 (length,) = _struct_I.unpack(str[start:end])
00666 start = end
00667 end += length
00668 if python3:
00669 self.action_result.header.frame_id = str[start:end].decode('utf-8')
00670 else:
00671 self.action_result.header.frame_id = str[start:end]
00672 _x = self
00673 start = end
00674 end += 8
00675 (_x.action_result.status.goal_id.stamp.secs, _x.action_result.status.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00676 start = end
00677 end += 4
00678 (length,) = _struct_I.unpack(str[start:end])
00679 start = end
00680 end += length
00681 if python3:
00682 self.action_result.status.goal_id.id = str[start:end].decode('utf-8')
00683 else:
00684 self.action_result.status.goal_id.id = str[start:end]
00685 start = end
00686 end += 1
00687 (self.action_result.status.status,) = _struct_B.unpack(str[start:end])
00688 start = end
00689 end += 4
00690 (length,) = _struct_I.unpack(str[start:end])
00691 start = end
00692 end += length
00693 if python3:
00694 self.action_result.status.text = str[start:end].decode('utf-8')
00695 else:
00696 self.action_result.status.text = str[start:end]
00697 _x = self
00698 start = end
00699 end += 12
00700 (_x.action_feedback.header.seq, _x.action_feedback.header.stamp.secs, _x.action_feedback.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00701 start = end
00702 end += 4
00703 (length,) = _struct_I.unpack(str[start:end])
00704 start = end
00705 end += length
00706 if python3:
00707 self.action_feedback.header.frame_id = str[start:end].decode('utf-8')
00708 else:
00709 self.action_feedback.header.frame_id = str[start:end]
00710 _x = self
00711 start = end
00712 end += 8
00713 (_x.action_feedback.status.goal_id.stamp.secs, _x.action_feedback.status.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00714 start = end
00715 end += 4
00716 (length,) = _struct_I.unpack(str[start:end])
00717 start = end
00718 end += length
00719 if python3:
00720 self.action_feedback.status.goal_id.id = str[start:end].decode('utf-8')
00721 else:
00722 self.action_feedback.status.goal_id.id = str[start:end]
00723 start = end
00724 end += 1
00725 (self.action_feedback.status.status,) = _struct_B.unpack(str[start:end])
00726 start = end
00727 end += 4
00728 (length,) = _struct_I.unpack(str[start:end])
00729 start = end
00730 end += length
00731 if python3:
00732 self.action_feedback.status.text = str[start:end].decode('utf-8')
00733 else:
00734 self.action_feedback.status.text = str[start:end]
00735 start = end
00736 end += 4
00737 (self.action_feedback.feedback.index,) = _struct_I.unpack(str[start:end])
00738 return self
00739 except struct.error as e:
00740 raise genpy.DeserializationError(e)
00741
00742 _struct_I = genpy.struct_I
00743 _struct_B = struct.Struct("<B")
00744 _struct_3I = struct.Struct("<3I")
00745 _struct_4d = struct.Struct("<4d")
00746 _struct_2I = struct.Struct("<2I")
00747 _struct_3d = struct.Struct("<3d")
