_env_raycollision.py

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

import openraveros.msg

class env_raycollisionRequest(genpy.Message):
  _md5sum = "5186c8b2846045a7cb6bd96a87ccb435"
  _type = "openraveros/env_raycollisionRequest"
  _has_header = False #flag to mark the presence of a Header object
  _full_text = """

Ray[] rays


int32 bodyid


uint8 request_contacts


uint8 request_bodies


================================================================================
MSG: openraveros/Ray
# defines a ray starting at position and going along direction
float32[3] position
float32[3] direction

"""
  __slots__ = ['rays','bodyid','request_contacts','request_bodies']
  _slot_types = ['openraveros/Ray[]','int32','uint8','uint8']

  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:
       rays,bodyid,request_contacts,request_bodies

    :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(env_raycollisionRequest, self).__init__(*args, **kwds)
      #message fields cannot be None, assign default values for those that are
      if self.rays is None:
        self.rays = []
      if self.bodyid is None:
        self.bodyid = 0
      if self.request_contacts is None:
        self.request_contacts = 0
      if self.request_bodies is None:
        self.request_bodies = 0
    else:
      self.rays = []
      self.bodyid = 0
      self.request_contacts = 0
      self.request_bodies = 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:
      length = len(self.rays)
      buff.write(_struct_I.pack(length))
      for val1 in self.rays:
        buff.write(_struct_3f.pack(*val1.position))
        buff.write(_struct_3f.pack(*val1.direction))
      _x = self
      buff.write(_struct_i2B.pack(_x.bodyid, _x.request_contacts, _x.request_bodies))
    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.rays is None:
        self.rays = None
      end = 0
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.rays = []
      for i in range(0, length):
        val1 = openraveros.msg.Ray()
        start = end
        end += 12
        val1.position = _struct_3f.unpack(str[start:end])
        start = end
        end += 12
        val1.direction = _struct_3f.unpack(str[start:end])
        self.rays.append(val1)
      _x = self
      start = end
      end += 6
      (_x.bodyid, _x.request_contacts, _x.request_bodies,) = _struct_i2B.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:
      length = len(self.rays)
      buff.write(_struct_I.pack(length))
      for val1 in self.rays:
        buff.write(val1.position.tostring())
        buff.write(val1.direction.tostring())
      _x = self
      buff.write(_struct_i2B.pack(_x.bodyid, _x.request_contacts, _x.request_bodies))
    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.rays is None:
        self.rays = None
      end = 0
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.rays = []
      for i in range(0, length):
        val1 = openraveros.msg.Ray()
        start = end
        end += 12
        val1.position = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=3)
        start = end
        end += 12
        val1.direction = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=3)
        self.rays.append(val1)
      _x = self
      start = end
      end += 6
      (_x.bodyid, _x.request_contacts, _x.request_bodies,) = _struct_i2B.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_i2B = struct.Struct("<i2B")
_struct_3f = struct.Struct("<3f")
"""autogenerated by genpy from openraveros/env_raycollisionResponse.msg. Do not edit."""
import sys
python3 = True if sys.hexversion > 0x03000000 else False
import genpy
import struct

import openraveros.msg

class env_raycollisionResponse(genpy.Message):
  _md5sum = "fa24012519fc56ca2e98ba82ef8c795b"
  _type = "openraveros/env_raycollisionResponse"
  _has_header = False #flag to mark the presence of a Header object
  _full_text = """
uint8[] collision
Contact[] contacts
int32[] hitbodies


================================================================================
MSG: openraveros/Contact
float32[3] position
float32[3] normal

"""
  __slots__ = ['collision','contacts','hitbodies']
  _slot_types = ['uint8[]','openraveros/Contact[]','int32[]']

  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:
       collision,contacts,hitbodies

    :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(env_raycollisionResponse, self).__init__(*args, **kwds)
      #message fields cannot be None, assign default values for those that are
      if self.collision is None:
        self.collision = ''
      if self.contacts is None:
        self.contacts = []
      if self.hitbodies is None:
        self.hitbodies = []
    else:
      self.collision = ''
      self.contacts = []
      self.hitbodies = []

  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.collision
      length = len(_x)
      # - if encoded as a list instead, serialize as bytes instead of string
      if type(_x) in [list, tuple]:
        buff.write(struct.pack('<I%sB'%length, length, *_x))
      else:
        buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.contacts)
      buff.write(_struct_I.pack(length))
      for val1 in self.contacts:
        buff.write(_struct_3f.pack(*val1.position))
        buff.write(_struct_3f.pack(*val1.normal))
      length = len(self.hitbodies)
      buff.write(_struct_I.pack(length))
      pattern = '<%si'%length
      buff.write(struct.pack(pattern, *self.hitbodies))
    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.contacts is None:
        self.contacts = None
      end = 0
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.collision = str[start:end].decode('utf-8')
      else:
        self.collision = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.contacts = []
      for i in range(0, length):
        val1 = openraveros.msg.Contact()
        start = end
        end += 12
        val1.position = _struct_3f.unpack(str[start:end])
        start = end
        end += 12
        val1.normal = _struct_3f.unpack(str[start:end])
        self.contacts.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%si'%length
      start = end
      end += struct.calcsize(pattern)
      self.hitbodies = struct.unpack(pattern, 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.collision
      length = len(_x)
      # - if encoded as a list instead, serialize as bytes instead of string
      if type(_x) in [list, tuple]:
        buff.write(struct.pack('<I%sB'%length, length, *_x))
      else:
        buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.contacts)
      buff.write(_struct_I.pack(length))
      for val1 in self.contacts:
        buff.write(val1.position.tostring())
        buff.write(val1.normal.tostring())
      length = len(self.hitbodies)
      buff.write(_struct_I.pack(length))
      pattern = '<%si'%length
      buff.write(self.hitbodies.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:
      if self.contacts is None:
        self.contacts = None
      end = 0
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.collision = str[start:end].decode('utf-8')
      else:
        self.collision = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.contacts = []
      for i in range(0, length):
        val1 = openraveros.msg.Contact()
        start = end
        end += 12
        val1.position = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=3)
        start = end
        end += 12
        val1.normal = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=3)
        self.contacts.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%si'%length
      start = end
      end += struct.calcsize(pattern)
      self.hitbodies = numpy.frombuffer(str[start:end], dtype=numpy.int32, count=length)
      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")
class env_raycollision(object):
  _type          = 'openraveros/env_raycollision'
  _md5sum = 'a7be61e01b06aa574f96aa2460b67c47'
  _request_class  = env_raycollisionRequest
  _response_class = env_raycollisionResponse