_cop_add_collision.py
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00001 """autogenerated by genpy from vision_srvs/cop_add_collisionRequest.msg. Do not edit."""
00002 import sys
00003 python3 = True if sys.hexversion > 0x03000000 else False
00004 import genpy
00005 import struct
00006 
00007 
00008 class cop_add_collisionRequest(genpy.Message):
00009   _md5sum = "039cdc2e4e021929b349f87d86d0ea70"
00010   _type = "vision_srvs/cop_add_collisionRequest"
00011   _has_header = False #flag to mark the presence of a Header object
00012   _full_text = """
00013 
00014 uint64 object_id
00015 
00016 """
00017   __slots__ = ['object_id']
00018   _slot_types = ['uint64']
00019 
00020   def __init__(self, *args, **kwds):
00021     """
00022     Constructor. Any message fields that are implicitly/explicitly
00023     set to None will be assigned a default value. The recommend
00024     use is keyword arguments as this is more robust to future message
00025     changes.  You cannot mix in-order arguments and keyword arguments.
00026 
00027     The available fields are:
00028        object_id
00029 
00030     :param args: complete set of field values, in .msg order
00031     :param kwds: use keyword arguments corresponding to message field names
00032     to set specific fields.
00033     """
00034     if args or kwds:
00035       super(cop_add_collisionRequest, self).__init__(*args, **kwds)
00036       #message fields cannot be None, assign default values for those that are
00037       if self.object_id is None:
00038         self.object_id = 0
00039     else:
00040       self.object_id = 0
00041 
00042   def _get_types(self):
00043     """
00044     internal API method
00045     """
00046     return self._slot_types
00047 
00048   def serialize(self, buff):
00049     """
00050     serialize message into buffer
00051     :param buff: buffer, ``StringIO``
00052     """
00053     try:
00054       buff.write(_struct_Q.pack(self.object_id))
00055     except struct.error as se: self._check_types(se)
00056     except TypeError as te: self._check_types(te)
00057 
00058   def deserialize(self, str):
00059     """
00060     unpack serialized message in str into this message instance
00061     :param str: byte array of serialized message, ``str``
00062     """
00063     try:
00064       end = 0
00065       start = end
00066       end += 8
00067       (self.object_id,) = _struct_Q.unpack(str[start:end])
00068       return self
00069     except struct.error as e:
00070       raise genpy.DeserializationError(e) #most likely buffer underfill
00071 
00072 
00073   def serialize_numpy(self, buff, numpy):
00074     """
00075     serialize message with numpy array types into buffer
00076     :param buff: buffer, ``StringIO``
00077     :param numpy: numpy python module
00078     """
00079     try:
00080       buff.write(_struct_Q.pack(self.object_id))
00081     except struct.error as se: self._check_types(se)
00082     except TypeError as te: self._check_types(te)
00083 
00084   def deserialize_numpy(self, str, numpy):
00085     """
00086     unpack serialized message in str into this message instance using numpy for array types
00087     :param str: byte array of serialized message, ``str``
00088     :param numpy: numpy python module
00089     """
00090     try:
00091       end = 0
00092       start = end
00093       end += 8
00094       (self.object_id,) = _struct_Q.unpack(str[start:end])
00095       return self
00096     except struct.error as e:
00097       raise genpy.DeserializationError(e) #most likely buffer underfill
00098 
00099 _struct_I = genpy.struct_I
00100 _struct_Q = struct.Struct("<Q")
00101 """autogenerated by genpy from vision_srvs/cop_add_collisionResponse.msg. Do not edit."""
00102 import sys
00103 python3 = True if sys.hexversion > 0x03000000 else False
00104 import genpy
00105 import struct
00106 
00107 import arm_navigation_msgs.msg
00108 import geometry_msgs.msg
00109 import std_msgs.msg
00110 
00111 class cop_add_collisionResponse(genpy.Message):
00112   _md5sum = "66d3c9bb4e74eca84445fb8e469ca2cb"
00113   _type = "vision_srvs/cop_add_collisionResponse"
00114   _has_header = False #flag to mark the presence of a Header object
00115   _full_text = """string   collisionname
00116 arm_navigation_msgs/CollisionObject added_object
00117 
00118 
00119 ================================================================================
00120 MSG: arm_navigation_msgs/CollisionObject
00121 # a header, used for interpreting the poses
00122 Header header
00123 
00124 # the id of the object
00125 string id
00126 
00127 # The padding used for filtering points near the object.
00128 # This does not affect collision checking for the object.  
00129 # Set to negative to get zero padding.
00130 float32 padding
00131 
00132 #This contains what is to be done with the object
00133 CollisionObjectOperation operation
00134 
00135 #the shapes associated with the object
00136 arm_navigation_msgs/Shape[] shapes
00137 
00138 #the poses associated with the shapes - will be transformed using the header
00139 geometry_msgs/Pose[] poses
00140 
00141 ================================================================================
00142 MSG: std_msgs/Header
00143 # Standard metadata for higher-level stamped data types.
00144 # This is generally used to communicate timestamped data 
00145 # in a particular coordinate frame.
00146 # 
00147 # sequence ID: consecutively increasing ID 
00148 uint32 seq
00149 #Two-integer timestamp that is expressed as:
00150 # * stamp.secs: seconds (stamp_secs) since epoch
00151 # * stamp.nsecs: nanoseconds since stamp_secs
00152 # time-handling sugar is provided by the client library
00153 time stamp
00154 #Frame this data is associated with
00155 # 0: no frame
00156 # 1: global frame
00157 string frame_id
00158 
00159 ================================================================================
00160 MSG: arm_navigation_msgs/CollisionObjectOperation
00161 #Puts the object into the environment
00162 #or updates the object if already added
00163 byte ADD=0
00164 
00165 #Removes the object from the environment entirely
00166 byte REMOVE=1
00167 
00168 #Only valid within the context of a CollisionAttachedObject message
00169 #Will be ignored if sent with an CollisionObject message
00170 #Takes an attached object, detaches from the attached link
00171 #But adds back in as regular object
00172 byte DETACH_AND_ADD_AS_OBJECT=2
00173 
00174 #Only valid within the context of a CollisionAttachedObject message
00175 #Will be ignored if sent with an CollisionObject message
00176 #Takes current object in the environment and removes it as
00177 #a regular object
00178 byte ATTACH_AND_REMOVE_AS_OBJECT=3
00179 
00180 # Byte code for operation
00181 byte operation
00182 
00183 ================================================================================
00184 MSG: arm_navigation_msgs/Shape
00185 byte SPHERE=0
00186 byte BOX=1
00187 byte CYLINDER=2
00188 byte MESH=3
00189 
00190 byte type
00191 
00192 
00193 #### define sphere, box, cylinder ####
00194 # the origin of each shape is considered at the shape's center
00195 
00196 # for sphere
00197 # radius := dimensions[0]
00198 
00199 # for cylinder
00200 # radius := dimensions[0]
00201 # length := dimensions[1]
00202 # the length is along the Z axis
00203 
00204 # for box
00205 # size_x := dimensions[0]
00206 # size_y := dimensions[1]
00207 # size_z := dimensions[2]
00208 float64[] dimensions
00209 
00210 
00211 #### define mesh ####
00212 
00213 # list of triangles; triangle k is defined by tre vertices located
00214 # at indices triangles[3k], triangles[3k+1], triangles[3k+2]
00215 int32[] triangles
00216 geometry_msgs/Point[] vertices
00217 
00218 ================================================================================
00219 MSG: geometry_msgs/Point
00220 # This contains the position of a point in free space
00221 float64 x
00222 float64 y
00223 float64 z
00224 
00225 ================================================================================
00226 MSG: geometry_msgs/Pose
00227 # A representation of pose in free space, composed of postion and orientation. 
00228 Point position
00229 Quaternion orientation
00230 
00231 ================================================================================
00232 MSG: geometry_msgs/Quaternion
00233 # This represents an orientation in free space in quaternion form.
00234 
00235 float64 x
00236 float64 y
00237 float64 z
00238 float64 w
00239 
00240 """
00241   __slots__ = ['collisionname','added_object']
00242   _slot_types = ['string','arm_navigation_msgs/CollisionObject']
00243 
00244   def __init__(self, *args, **kwds):
00245     """
00246     Constructor. Any message fields that are implicitly/explicitly
00247     set to None will be assigned a default value. The recommend
00248     use is keyword arguments as this is more robust to future message
00249     changes.  You cannot mix in-order arguments and keyword arguments.
00250 
00251     The available fields are:
00252        collisionname,added_object
00253 
00254     :param args: complete set of field values, in .msg order
00255     :param kwds: use keyword arguments corresponding to message field names
00256     to set specific fields.
00257     """
00258     if args or kwds:
00259       super(cop_add_collisionResponse, self).__init__(*args, **kwds)
00260       #message fields cannot be None, assign default values for those that are
00261       if self.collisionname is None:
00262         self.collisionname = ''
00263       if self.added_object is None:
00264         self.added_object = arm_navigation_msgs.msg.CollisionObject()
00265     else:
00266       self.collisionname = ''
00267       self.added_object = arm_navigation_msgs.msg.CollisionObject()
00268 
00269   def _get_types(self):
00270     """
00271     internal API method
00272     """
00273     return self._slot_types
00274 
00275   def serialize(self, buff):
00276     """
00277     serialize message into buffer
00278     :param buff: buffer, ``StringIO``
00279     """
00280     try:
00281       _x = self.collisionname
00282       length = len(_x)
00283       if python3 or type(_x) == unicode:
00284         _x = _x.encode('utf-8')
00285         length = len(_x)
00286       buff.write(struct.pack('<I%ss'%length, length, _x))
00287       _x = self
00288       buff.write(_struct_3I.pack(_x.added_object.header.seq, _x.added_object.header.stamp.secs, _x.added_object.header.stamp.nsecs))
00289       _x = self.added_object.header.frame_id
00290       length = len(_x)
00291       if python3 or type(_x) == unicode:
00292         _x = _x.encode('utf-8')
00293         length = len(_x)
00294       buff.write(struct.pack('<I%ss'%length, length, _x))
00295       _x = self.added_object.id
00296       length = len(_x)
00297       if python3 or type(_x) == unicode:
00298         _x = _x.encode('utf-8')
00299         length = len(_x)
00300       buff.write(struct.pack('<I%ss'%length, length, _x))
00301       _x = self
00302       buff.write(_struct_fb.pack(_x.added_object.padding, _x.added_object.operation.operation))
00303       length = len(self.added_object.shapes)
00304       buff.write(_struct_I.pack(length))
00305       for val1 in self.added_object.shapes:
00306         buff.write(_struct_b.pack(val1.type))
00307         length = len(val1.dimensions)
00308         buff.write(_struct_I.pack(length))
00309         pattern = '<%sd'%length
00310         buff.write(struct.pack(pattern, *val1.dimensions))
00311         length = len(val1.triangles)
00312         buff.write(_struct_I.pack(length))
00313         pattern = '<%si'%length
00314         buff.write(struct.pack(pattern, *val1.triangles))
00315         length = len(val1.vertices)
00316         buff.write(_struct_I.pack(length))
00317         for val2 in val1.vertices:
00318           _x = val2
00319           buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00320       length = len(self.added_object.poses)
00321       buff.write(_struct_I.pack(length))
00322       for val1 in self.added_object.poses:
00323         _v1 = val1.position
00324         _x = _v1
00325         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00326         _v2 = val1.orientation
00327         _x = _v2
00328         buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00329     except struct.error as se: self._check_types(se)
00330     except TypeError as te: self._check_types(te)
00331 
00332   def deserialize(self, str):
00333     """
00334     unpack serialized message in str into this message instance
00335     :param str: byte array of serialized message, ``str``
00336     """
00337     try:
00338       if self.added_object is None:
00339         self.added_object = arm_navigation_msgs.msg.CollisionObject()
00340       end = 0
00341       start = end
00342       end += 4
00343       (length,) = _struct_I.unpack(str[start:end])
00344       start = end
00345       end += length
00346       if python3:
00347         self.collisionname = str[start:end].decode('utf-8')
00348       else:
00349         self.collisionname = str[start:end]
00350       _x = self
00351       start = end
00352       end += 12
00353       (_x.added_object.header.seq, _x.added_object.header.stamp.secs, _x.added_object.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00354       start = end
00355       end += 4
00356       (length,) = _struct_I.unpack(str[start:end])
00357       start = end
00358       end += length
00359       if python3:
00360         self.added_object.header.frame_id = str[start:end].decode('utf-8')
00361       else:
00362         self.added_object.header.frame_id = str[start:end]
00363       start = end
00364       end += 4
00365       (length,) = _struct_I.unpack(str[start:end])
00366       start = end
00367       end += length
00368       if python3:
00369         self.added_object.id = str[start:end].decode('utf-8')
00370       else:
00371         self.added_object.id = str[start:end]
00372       _x = self
00373       start = end
00374       end += 5
00375       (_x.added_object.padding, _x.added_object.operation.operation,) = _struct_fb.unpack(str[start:end])
00376       start = end
00377       end += 4
00378       (length,) = _struct_I.unpack(str[start:end])
00379       self.added_object.shapes = []
00380       for i in range(0, length):
00381         val1 = arm_navigation_msgs.msg.Shape()
00382         start = end
00383         end += 1
00384         (val1.type,) = _struct_b.unpack(str[start:end])
00385         start = end
00386         end += 4
00387         (length,) = _struct_I.unpack(str[start:end])
00388         pattern = '<%sd'%length
00389         start = end
00390         end += struct.calcsize(pattern)
00391         val1.dimensions = struct.unpack(pattern, str[start:end])
00392         start = end
00393         end += 4
00394         (length,) = _struct_I.unpack(str[start:end])
00395         pattern = '<%si'%length
00396         start = end
00397         end += struct.calcsize(pattern)
00398         val1.triangles = struct.unpack(pattern, str[start:end])
00399         start = end
00400         end += 4
00401         (length,) = _struct_I.unpack(str[start:end])
00402         val1.vertices = []
00403         for i in range(0, length):
00404           val2 = geometry_msgs.msg.Point()
00405           _x = val2
00406           start = end
00407           end += 24
00408           (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00409           val1.vertices.append(val2)
00410         self.added_object.shapes.append(val1)
00411       start = end
00412       end += 4
00413       (length,) = _struct_I.unpack(str[start:end])
00414       self.added_object.poses = []
00415       for i in range(0, length):
00416         val1 = geometry_msgs.msg.Pose()
00417         _v3 = val1.position
00418         _x = _v3
00419         start = end
00420         end += 24
00421         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00422         _v4 = val1.orientation
00423         _x = _v4
00424         start = end
00425         end += 32
00426         (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
00427         self.added_object.poses.append(val1)
00428       return self
00429     except struct.error as e:
00430       raise genpy.DeserializationError(e) #most likely buffer underfill
00431 
00432 
00433   def serialize_numpy(self, buff, numpy):
00434     """
00435     serialize message with numpy array types into buffer
00436     :param buff: buffer, ``StringIO``
00437     :param numpy: numpy python module
00438     """
00439     try:
00440       _x = self.collisionname
00441       length = len(_x)
00442       if python3 or type(_x) == unicode:
00443         _x = _x.encode('utf-8')
00444         length = len(_x)
00445       buff.write(struct.pack('<I%ss'%length, length, _x))
00446       _x = self
00447       buff.write(_struct_3I.pack(_x.added_object.header.seq, _x.added_object.header.stamp.secs, _x.added_object.header.stamp.nsecs))
00448       _x = self.added_object.header.frame_id
00449       length = len(_x)
00450       if python3 or type(_x) == unicode:
00451         _x = _x.encode('utf-8')
00452         length = len(_x)
00453       buff.write(struct.pack('<I%ss'%length, length, _x))
00454       _x = self.added_object.id
00455       length = len(_x)
00456       if python3 or type(_x) == unicode:
00457         _x = _x.encode('utf-8')
00458         length = len(_x)
00459       buff.write(struct.pack('<I%ss'%length, length, _x))
00460       _x = self
00461       buff.write(_struct_fb.pack(_x.added_object.padding, _x.added_object.operation.operation))
00462       length = len(self.added_object.shapes)
00463       buff.write(_struct_I.pack(length))
00464       for val1 in self.added_object.shapes:
00465         buff.write(_struct_b.pack(val1.type))
00466         length = len(val1.dimensions)
00467         buff.write(_struct_I.pack(length))
00468         pattern = '<%sd'%length
00469         buff.write(val1.dimensions.tostring())
00470         length = len(val1.triangles)
00471         buff.write(_struct_I.pack(length))
00472         pattern = '<%si'%length
00473         buff.write(val1.triangles.tostring())
00474         length = len(val1.vertices)
00475         buff.write(_struct_I.pack(length))
00476         for val2 in val1.vertices:
00477           _x = val2
00478           buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00479       length = len(self.added_object.poses)
00480       buff.write(_struct_I.pack(length))
00481       for val1 in self.added_object.poses:
00482         _v5 = val1.position
00483         _x = _v5
00484         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00485         _v6 = val1.orientation
00486         _x = _v6
00487         buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00488     except struct.error as se: self._check_types(se)
00489     except TypeError as te: self._check_types(te)
00490 
00491   def deserialize_numpy(self, str, numpy):
00492     """
00493     unpack serialized message in str into this message instance using numpy for array types
00494     :param str: byte array of serialized message, ``str``
00495     :param numpy: numpy python module
00496     """
00497     try:
00498       if self.added_object is None:
00499         self.added_object = arm_navigation_msgs.msg.CollisionObject()
00500       end = 0
00501       start = end
00502       end += 4
00503       (length,) = _struct_I.unpack(str[start:end])
00504       start = end
00505       end += length
00506       if python3:
00507         self.collisionname = str[start:end].decode('utf-8')
00508       else:
00509         self.collisionname = str[start:end]
00510       _x = self
00511       start = end
00512       end += 12
00513       (_x.added_object.header.seq, _x.added_object.header.stamp.secs, _x.added_object.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00514       start = end
00515       end += 4
00516       (length,) = _struct_I.unpack(str[start:end])
00517       start = end
00518       end += length
00519       if python3:
00520         self.added_object.header.frame_id = str[start:end].decode('utf-8')
00521       else:
00522         self.added_object.header.frame_id = str[start:end]
00523       start = end
00524       end += 4
00525       (length,) = _struct_I.unpack(str[start:end])
00526       start = end
00527       end += length
00528       if python3:
00529         self.added_object.id = str[start:end].decode('utf-8')
00530       else:
00531         self.added_object.id = str[start:end]
00532       _x = self
00533       start = end
00534       end += 5
00535       (_x.added_object.padding, _x.added_object.operation.operation,) = _struct_fb.unpack(str[start:end])
00536       start = end
00537       end += 4
00538       (length,) = _struct_I.unpack(str[start:end])
00539       self.added_object.shapes = []
00540       for i in range(0, length):
00541         val1 = arm_navigation_msgs.msg.Shape()
00542         start = end
00543         end += 1
00544         (val1.type,) = _struct_b.unpack(str[start:end])
00545         start = end
00546         end += 4
00547         (length,) = _struct_I.unpack(str[start:end])
00548         pattern = '<%sd'%length
00549         start = end
00550         end += struct.calcsize(pattern)
00551         val1.dimensions = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00552         start = end
00553         end += 4
00554         (length,) = _struct_I.unpack(str[start:end])
00555         pattern = '<%si'%length
00556         start = end
00557         end += struct.calcsize(pattern)
00558         val1.triangles = numpy.frombuffer(str[start:end], dtype=numpy.int32, count=length)
00559         start = end
00560         end += 4
00561         (length,) = _struct_I.unpack(str[start:end])
00562         val1.vertices = []
00563         for i in range(0, length):
00564           val2 = geometry_msgs.msg.Point()
00565           _x = val2
00566           start = end
00567           end += 24
00568           (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00569           val1.vertices.append(val2)
00570         self.added_object.shapes.append(val1)
00571       start = end
00572       end += 4
00573       (length,) = _struct_I.unpack(str[start:end])
00574       self.added_object.poses = []
00575       for i in range(0, length):
00576         val1 = geometry_msgs.msg.Pose()
00577         _v7 = val1.position
00578         _x = _v7
00579         start = end
00580         end += 24
00581         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00582         _v8 = val1.orientation
00583         _x = _v8
00584         start = end
00585         end += 32
00586         (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
00587         self.added_object.poses.append(val1)
00588       return self
00589     except struct.error as e:
00590       raise genpy.DeserializationError(e) #most likely buffer underfill
00591 
00592 _struct_I = genpy.struct_I
00593 _struct_4d = struct.Struct("<4d")
00594 _struct_3I = struct.Struct("<3I")
00595 _struct_b = struct.Struct("<b")
00596 _struct_fb = struct.Struct("<fb")
00597 _struct_3d = struct.Struct("<3d")
00598 class cop_add_collision(object):
00599   _type          = 'vision_srvs/cop_add_collision'
00600   _md5sum = '119055ba7d9102720f55afbcc4f26f14'
00601   _request_class  = cop_add_collisionRequest
00602   _response_class = cop_add_collisionResponse


vision_srvs
Author(s): Ulrich F Klank
autogenerated on Thu Jan 2 2014 11:22:38