_SegmentObstacles.py

Go to the documentation of this file.

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

import tk_draft_msgs.msg
import geometry_msgs.msg
import std_msgs.msg

class SegmentObstacles(genpy.Message):
  _md5sum = "305fa80ec6215e24feb22bec9e3f8fde"
  _type = "tk_draft_msgs/SegmentObstacles"
  _has_header = True #flag to mark the presence of a Header object
  _full_text = """#
# Copyright 2012 Authors: Johannes Laechele and Thomas Nestmeyer
#
# 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

# all the distances of all segments to all obstacles in the whole environment
tk_draft_msgs/ClosestPointHit[] closestPointHits


================================================================================
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: tk_draft_msgs/ClosestPointHit
#
# Copyright 2012 Authors: Johannes Laechele and Thomas Nestmeyer
#
# 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/>.

#both form the ID of segment:
#(id1,id2) = (id2,id1)
uint8 id1
uint8 id2

# Point on segment
geometry_msgs/Point[] pointSeg

# Point on segment
geometry_msgs/Point[] pointObs

# Distances
float64[] distance


================================================================================
MSG: geometry_msgs/Point
# This contains the position of a point in free space
float64 x
float64 y
float64 z

"""
  __slots__ = ['header','closestPointHits']
  _slot_types = ['std_msgs/Header','tk_draft_msgs/ClosestPointHit[]']

  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,closestPointHits

    :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(SegmentObstacles, 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.closestPointHits is None:
        self.closestPointHits = []
    else:
      self.header = std_msgs.msg.Header()
      self.closestPointHits = []

  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))
      length = len(self.closestPointHits)
      buff.write(_struct_I.pack(length))
      for val1 in self.closestPointHits:
        _x = val1
        buff.write(_struct_2B.pack(_x.id1, _x.id2))
        length = len(val1.pointSeg)
        buff.write(_struct_I.pack(length))
        for val2 in val1.pointSeg:
          _x = val2
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        length = len(val1.pointObs)
        buff.write(_struct_I.pack(length))
        for val2 in val1.pointObs:
          _x = val2
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        length = len(val1.distance)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(struct.pack(pattern, *val1.distance))
    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.closestPointHits is None:
        self.closestPointHits = None
      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]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.closestPointHits = []
      for i in range(0, length):
        val1 = tk_draft_msgs.msg.ClosestPointHit()
        _x = val1
        start = end
        end += 2
        (_x.id1, _x.id2,) = _struct_2B.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.pointSeg = []
        for i in range(0, length):
          val2 = geometry_msgs.msg.Point()
          _x = val2
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
          val1.pointSeg.append(val2)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.pointObs = []
        for i in range(0, length):
          val2 = geometry_msgs.msg.Point()
          _x = val2
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
          val1.pointObs.append(val2)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        val1.distance = struct.unpack(pattern, str[start:end])
        self.closestPointHits.append(val1)
      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))
      length = len(self.closestPointHits)
      buff.write(_struct_I.pack(length))
      for val1 in self.closestPointHits:
        _x = val1
        buff.write(_struct_2B.pack(_x.id1, _x.id2))
        length = len(val1.pointSeg)
        buff.write(_struct_I.pack(length))
        for val2 in val1.pointSeg:
          _x = val2
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        length = len(val1.pointObs)
        buff.write(_struct_I.pack(length))
        for val2 in val1.pointObs:
          _x = val2
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        length = len(val1.distance)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(val1.distance.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.header is None:
        self.header = std_msgs.msg.Header()
      if self.closestPointHits is None:
        self.closestPointHits = None
      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]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.closestPointHits = []
      for i in range(0, length):
        val1 = tk_draft_msgs.msg.ClosestPointHit()
        _x = val1
        start = end
        end += 2
        (_x.id1, _x.id2,) = _struct_2B.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.pointSeg = []
        for i in range(0, length):
          val2 = geometry_msgs.msg.Point()
          _x = val2
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
          val1.pointSeg.append(val2)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.pointObs = []
        for i in range(0, length):
          val2 = geometry_msgs.msg.Point()
          _x = val2
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
          val1.pointObs.append(val2)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        val1.distance = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
        self.closestPointHits.append(val1)
      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_2B = struct.Struct("<2B")
_struct_3d = struct.Struct("<3d")