_ActiveDOFs.py

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


class ActiveDOFs(genpy.Message):
  _md5sum = "360c4d1931d07ad7864b05990ca89900"
  _type = "openraveros/ActiveDOFs"
  _has_header = False #flag to mark the presence of a Header object
  _full_text = """# specifies the active degrees of freedom of the robot

# mask of active base degrees of freedom
uint32 affine

# active joints
int32[] indices

float32[3] rotationaxis

# mask for affine dofs
uint8 DOF_X = 1
uint8 DOF_Y = 2
uint8 DOF_Z = 4
uint8 DOF_RotationAxis = 8
uint8 DOF_Rotation3D = 16
uint8 DOF_RotationQuat = 32

"""
  # Pseudo-constants
  DOF_X = 1
  DOF_Y = 2
  DOF_Z = 4
  DOF_RotationAxis = 8
  DOF_Rotation3D = 16
  DOF_RotationQuat = 32

  __slots__ = ['affine','indices','rotationaxis']
  _slot_types = ['uint32','int32[]','float32[3]']

  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:
       affine,indices,rotationaxis

    :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(ActiveDOFs, self).__init__(*args, **kwds)
      #message fields cannot be None, assign default values for those that are
      if self.affine is None:
        self.affine = 0
      if self.indices is None:
        self.indices = []
      if self.rotationaxis is None:
        self.rotationaxis = [0.,0.,0.]
    else:
      self.affine = 0
      self.indices = []
      self.rotationaxis = [0.,0.,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_I.pack(self.affine))
      length = len(self.indices)
      buff.write(_struct_I.pack(length))
      pattern = '<%si'%length
      buff.write(struct.pack(pattern, *self.indices))
      buff.write(_struct_3f.pack(*self.rotationaxis))
    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:
      end = 0
      start = end
      end += 4
      (self.affine,) = _struct_I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%si'%length
      start = end
      end += struct.calcsize(pattern)
      self.indices = struct.unpack(pattern, str[start:end])
      start = end
      end += 12
      self.rotationaxis = _struct_3f.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_I.pack(self.affine))
      length = len(self.indices)
      buff.write(_struct_I.pack(length))
      pattern = '<%si'%length
      buff.write(self.indices.tostring())
      buff.write(self.rotationaxis.tostring())
    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:
      end = 0
      start = end
      end += 4
      (self.affine,) = _struct_I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%si'%length
      start = end
      end += struct.calcsize(pattern)
      self.indices = numpy.frombuffer(str[start:end], dtype=numpy.int32, count=length)
      start = end
      end += 12
      self.rotationaxis = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=3)
      return self
    except struct.error as e:
      raise genpy.DeserializationError(e) #most likely buffer underfill

_struct_I = genpy.struct_I
_struct_3f = struct.Struct("<3f")