_TKTrajectory.py

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

import geometry_msgs.msg
import std_msgs.msg

class TKTrajectory(genpy.Message):
  _md5sum = "a280cd51c8c8e68c09773125129803bb"
  _type = "telekyb_msgs/TKTrajectory"
  _has_header = True #flag to mark the presence of a Header object
  _full_text = """#
# Copyright 2011  Antonio Franchi and Martin Riedel    
#
# This file is part of TeleKyb.
#
# TeleKyb is free software: you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation, either version 3 of the License, or
# (at your option) any later version.
#
# TeleKyb is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with TeleKyb. If not, see <http://www.gnu.org/licenses/>.

Header header

# Input Pos
geometry_msgs/Vector3 position
geometry_msgs/Vector3 velocity
geometry_msgs/Vector3 acceleration
geometry_msgs/Vector3 jerk
geometry_msgs/Vector3 snap

#TELEKYB_ENUM_VALUES(PosControlType, const char*,
#               (Position)("Position Control Mode")
#               (Velocity)("Velocity Control Mode")
#               (Acceleration)("Acceleration Control Mode")
#)

uint8 POS_MODE=0
uint8 VEL_MODE=1
uint8 ACC_MODE=2

uint8 xAxisCtrlType
uint8 yAxisCtrlType
uint8 zAxisCtrlType

float64 yawAngle
float64 yawRate
float64 yawAcceleration

#TELEKYB_ENUM_VALUES(YawControlType, const char*,
#               (AngleMode)("Angle Mode")
#               (RateMode)("Rate Mode")
#               (AccelerationMode)("Acceleration Mode")
#)

uint8 YAWANGLE_MODE=0
uint8 YAWRATE_MODE=1
uint8 YAWACC_MODE=2

uint8 yawCtrlType


================================================================================
MSG: std_msgs/Header
# Standard metadata for higher-level stamped data types.
# This is generally used to communicate timestamped data 
# in a particular coordinate frame.
# 
# sequence ID: consecutively increasing ID 
uint32 seq
#Two-integer timestamp that is expressed as:
# * stamp.secs: seconds (stamp_secs) since epoch
# * stamp.nsecs: nanoseconds since stamp_secs
# time-handling sugar is provided by the client library
time stamp
#Frame this data is associated with
# 0: no frame
# 1: global frame
string frame_id

================================================================================
MSG: geometry_msgs/Vector3
# This represents a vector in free space. 

float64 x
float64 y
float64 z
"""
  # Pseudo-constants
  POS_MODE = 0
  VEL_MODE = 1
  ACC_MODE = 2
  YAWANGLE_MODE = 0
  YAWRATE_MODE = 1
  YAWACC_MODE = 2

  __slots__ = ['header','position','velocity','acceleration','jerk','snap','xAxisCtrlType','yAxisCtrlType','zAxisCtrlType','yawAngle','yawRate','yawAcceleration','yawCtrlType']
  _slot_types = ['std_msgs/Header','geometry_msgs/Vector3','geometry_msgs/Vector3','geometry_msgs/Vector3','geometry_msgs/Vector3','geometry_msgs/Vector3','uint8','uint8','uint8','float64','float64','float64','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:
       header,position,velocity,acceleration,jerk,snap,xAxisCtrlType,yAxisCtrlType,zAxisCtrlType,yawAngle,yawRate,yawAcceleration,yawCtrlType

    :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(TKTrajectory, self).__init__(*args, **kwds)
      #message fields cannot be None, assign default values for those that are
      if self.header is None:
        self.header = std_msgs.msg.Header()
      if self.position is None:
        self.position = geometry_msgs.msg.Vector3()
      if self.velocity is None:
        self.velocity = geometry_msgs.msg.Vector3()
      if self.acceleration is None:
        self.acceleration = geometry_msgs.msg.Vector3()
      if self.jerk is None:
        self.jerk = geometry_msgs.msg.Vector3()
      if self.snap is None:
        self.snap = geometry_msgs.msg.Vector3()
      if self.xAxisCtrlType is None:
        self.xAxisCtrlType = 0
      if self.yAxisCtrlType is None:
        self.yAxisCtrlType = 0
      if self.zAxisCtrlType is None:
        self.zAxisCtrlType = 0
      if self.yawAngle is None:
        self.yawAngle = 0.
      if self.yawRate is None:
        self.yawRate = 0.
      if self.yawAcceleration is None:
        self.yawAcceleration = 0.
      if self.yawCtrlType is None:
        self.yawCtrlType = 0
    else:
      self.header = std_msgs.msg.Header()
      self.position = geometry_msgs.msg.Vector3()
      self.velocity = geometry_msgs.msg.Vector3()
      self.acceleration = geometry_msgs.msg.Vector3()
      self.jerk = geometry_msgs.msg.Vector3()
      self.snap = geometry_msgs.msg.Vector3()
      self.xAxisCtrlType = 0
      self.yAxisCtrlType = 0
      self.zAxisCtrlType = 0
      self.yawAngle = 0.
      self.yawRate = 0.
      self.yawAcceleration = 0.
      self.yawCtrlType = 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:
      _x = self
      buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
      _x = self.header.frame_id
      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 = self
      buff.write(_struct_15d3B3dB.pack(_x.position.x, _x.position.y, _x.position.z, _x.velocity.x, _x.velocity.y, _x.velocity.z, _x.acceleration.x, _x.acceleration.y, _x.acceleration.z, _x.jerk.x, _x.jerk.y, _x.jerk.z, _x.snap.x, _x.snap.y, _x.snap.z, _x.xAxisCtrlType, _x.yAxisCtrlType, _x.zAxisCtrlType, _x.yawAngle, _x.yawRate, _x.yawAcceleration, _x.yawCtrlType))
    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.header is None:
        self.header = std_msgs.msg.Header()
      if self.position is None:
        self.position = geometry_msgs.msg.Vector3()
      if self.velocity is None:
        self.velocity = geometry_msgs.msg.Vector3()
      if self.acceleration is None:
        self.acceleration = geometry_msgs.msg.Vector3()
      if self.jerk is None:
        self.jerk = geometry_msgs.msg.Vector3()
      if self.snap is None:
        self.snap = geometry_msgs.msg.Vector3()
      end = 0
      _x = self
      start = end
      end += 12
      (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 148
      (_x.position.x, _x.position.y, _x.position.z, _x.velocity.x, _x.velocity.y, _x.velocity.z, _x.acceleration.x, _x.acceleration.y, _x.acceleration.z, _x.jerk.x, _x.jerk.y, _x.jerk.z, _x.snap.x, _x.snap.y, _x.snap.z, _x.xAxisCtrlType, _x.yAxisCtrlType, _x.zAxisCtrlType, _x.yawAngle, _x.yawRate, _x.yawAcceleration, _x.yawCtrlType,) = _struct_15d3B3dB.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_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
      _x = self.header.frame_id
      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 = self
      buff.write(_struct_15d3B3dB.pack(_x.position.x, _x.position.y, _x.position.z, _x.velocity.x, _x.velocity.y, _x.velocity.z, _x.acceleration.x, _x.acceleration.y, _x.acceleration.z, _x.jerk.x, _x.jerk.y, _x.jerk.z, _x.snap.x, _x.snap.y, _x.snap.z, _x.xAxisCtrlType, _x.yAxisCtrlType, _x.zAxisCtrlType, _x.yawAngle, _x.yawRate, _x.yawAcceleration, _x.yawCtrlType))
    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.header is None:
        self.header = std_msgs.msg.Header()
      if self.position is None:
        self.position = geometry_msgs.msg.Vector3()
      if self.velocity is None:
        self.velocity = geometry_msgs.msg.Vector3()
      if self.acceleration is None:
        self.acceleration = geometry_msgs.msg.Vector3()
      if self.jerk is None:
        self.jerk = geometry_msgs.msg.Vector3()
      if self.snap is None:
        self.snap = geometry_msgs.msg.Vector3()
      end = 0
      _x = self
      start = end
      end += 12
      (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 148
      (_x.position.x, _x.position.y, _x.position.z, _x.velocity.x, _x.velocity.y, _x.velocity.z, _x.acceleration.x, _x.acceleration.y, _x.acceleration.z, _x.jerk.x, _x.jerk.y, _x.jerk.z, _x.snap.x, _x.snap.y, _x.snap.z, _x.xAxisCtrlType, _x.yAxisCtrlType, _x.zAxisCtrlType, _x.yawAngle, _x.yawRate, _x.yawAcceleration, _x.yawCtrlType,) = _struct_15d3B3dB.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_3I = struct.Struct("<3I")
_struct_15d3B3dB = struct.Struct("<15d3B3dB")