_Trajectory.py

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

import openraveros.msg

class Trajectory(genpy.Message):
  _md5sum = "56e2013b47eeba891e94a2ed372e1604"
  _type = "openraveros/Trajectory"
  _has_header = False #flag to mark the presence of a Header object
  _full_text = """ConfigurationSpecification spec
float64[] points
string xmlid

================================================================================
MSG: openraveros/ConfigurationSpecification
ConfigurationSpecificationGroup[] groups

================================================================================
MSG: openraveros/ConfigurationSpecificationGroup
int32 offset
int32 dof
string name
string interpolation

"""
  __slots__ = ['spec','points','xmlid']
  _slot_types = ['openraveros/ConfigurationSpecification','float64[]','string']

  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:
       spec,points,xmlid

    :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(Trajectory, self).__init__(*args, **kwds)
      #message fields cannot be None, assign default values for those that are
      if self.spec is None:
        self.spec = openraveros.msg.ConfigurationSpecification()
      if self.points is None:
        self.points = []
      if self.xmlid is None:
        self.xmlid = ''
    else:
      self.spec = openraveros.msg.ConfigurationSpecification()
      self.points = []
      self.xmlid = ''

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

  def serialize(self, buff):
    """
    serialize message into buffer
    :param buff: buffer, ``StringIO``
    """
    try:
      length = len(self.spec.groups)
      buff.write(_struct_I.pack(length))
      for val1 in self.spec.groups:
        _x = val1
        buff.write(_struct_2i.pack(_x.offset, _x.dof))
        _x = val1.name
        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.interpolation
        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.points)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.points))
      _x = self.xmlid
      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))
    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.spec is None:
        self.spec = openraveros.msg.ConfigurationSpecification()
      end = 0
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.spec.groups = []
      for i in range(0, length):
        val1 = openraveros.msg.ConfigurationSpecificationGroup()
        _x = val1
        start = end
        end += 8
        (_x.offset, _x.dof,) = _struct_2i.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.name = str[start:end].decode('utf-8')
        else:
          val1.name = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.interpolation = str[start:end].decode('utf-8')
        else:
          val1.interpolation = str[start:end]
        self.spec.groups.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.points = struct.unpack(pattern, str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.xmlid = str[start:end].decode('utf-8')
      else:
        self.xmlid = 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:
      length = len(self.spec.groups)
      buff.write(_struct_I.pack(length))
      for val1 in self.spec.groups:
        _x = val1
        buff.write(_struct_2i.pack(_x.offset, _x.dof))
        _x = val1.name
        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.interpolation
        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.points)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.points.tostring())
      _x = self.xmlid
      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))
    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.spec is None:
        self.spec = openraveros.msg.ConfigurationSpecification()
      end = 0
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.spec.groups = []
      for i in range(0, length):
        val1 = openraveros.msg.ConfigurationSpecificationGroup()
        _x = val1
        start = end
        end += 8
        (_x.offset, _x.dof,) = _struct_2i.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.name = str[start:end].decode('utf-8')
        else:
          val1.name = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.interpolation = str[start:end].decode('utf-8')
        else:
          val1.interpolation = str[start:end]
        self.spec.groups.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.points = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.xmlid = str[start:end].decode('utf-8')
      else:
        self.xmlid = str[start:end]
      return self
    except struct.error as e:
      raise genpy.DeserializationError(e) #most likely buffer underfill

_struct_I = genpy.struct_I
_struct_2i = struct.Struct("<2i")