_TKSpline.py

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"""autogenerated by genpy from tk_draft_msgs/TKSpline.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 TKSpline(genpy.Message):
  _md5sum = "dcd11f4aea11a0b57993e79a0ab63167"
  _type = "tk_draft_msgs/TKSpline"
  _has_header = True #flag to mark the presence of a Header object
  _full_text = """#
# Copyright 2011  Carlo Masone    
#
# 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/>.

# Contains the set point for the low-lever controller of the gripper

Header header

# Points
geometry_msgs/Point[] controlPoints

# Knots
float64[] knots

# Indices of the portion of spline to draw
float64[] indices

# Order
uint8 order

# Color
geometry_msgs/Point[] color

# Number of lines to be drawn to approximate the spline
uint8 nLines

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

"""
  __slots__ = ['header','controlPoints','knots','indices','order','color','nLines']
  _slot_types = ['std_msgs/Header','geometry_msgs/Point[]','float64[]','float64[]','uint8','geometry_msgs/Point[]','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,controlPoints,knots,indices,order,color,nLines

    :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(TKSpline, 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.controlPoints is None:
        self.controlPoints = []
      if self.knots is None:
        self.knots = []
      if self.indices is None:
        self.indices = []
      if self.order is None:
        self.order = 0
      if self.color is None:
        self.color = []
      if self.nLines is None:
        self.nLines = 0
    else:
      self.header = std_msgs.msg.Header()
      self.controlPoints = []
      self.knots = []
      self.indices = []
      self.order = 0
      self.color = []
      self.nLines = 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))
      length = len(self.controlPoints)
      buff.write(_struct_I.pack(length))
      for val1 in self.controlPoints:
        _x = val1
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
      length = len(self.knots)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.knots))
      length = len(self.indices)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.indices))
      buff.write(_struct_B.pack(self.order))
      length = len(self.color)
      buff.write(_struct_I.pack(length))
      for val1 in self.color:
        _x = val1
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
      buff.write(_struct_B.pack(self.nLines))
    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.controlPoints is None:
        self.controlPoints = None
      if self.color is None:
        self.color = 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.controlPoints = []
      for i in range(0, length):
        val1 = geometry_msgs.msg.Point()
        _x = val1
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        self.controlPoints.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.knots = struct.unpack(pattern, str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.indices = struct.unpack(pattern, str[start:end])
      start = end
      end += 1
      (self.order,) = _struct_B.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.color = []
      for i in range(0, length):
        val1 = geometry_msgs.msg.Point()
        _x = val1
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        self.color.append(val1)
      start = end
      end += 1
      (self.nLines,) = _struct_B.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))
      length = len(self.controlPoints)
      buff.write(_struct_I.pack(length))
      for val1 in self.controlPoints:
        _x = val1
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
      length = len(self.knots)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.knots.tostring())
      length = len(self.indices)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.indices.tostring())
      buff.write(_struct_B.pack(self.order))
      length = len(self.color)
      buff.write(_struct_I.pack(length))
      for val1 in self.color:
        _x = val1
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
      buff.write(_struct_B.pack(self.nLines))
    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.controlPoints is None:
        self.controlPoints = None
      if self.color is None:
        self.color = 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.controlPoints = []
      for i in range(0, length):
        val1 = geometry_msgs.msg.Point()
        _x = val1
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        self.controlPoints.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.knots = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.indices = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
      start = end
      end += 1
      (self.order,) = _struct_B.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.color = []
      for i in range(0, length):
        val1 = geometry_msgs.msg.Point()
        _x = val1
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        self.color.append(val1)
      start = end
      end += 1
      (self.nLines,) = _struct_B.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_B = struct.Struct("<B")
_struct_3d = struct.Struct("<3d")