00001 """autogenerated by genpy from head_monitor_msgs/PreplanHeadScanAction.msg. Do not edit."""
00002 import sys
00003 python3 = True if sys.hexversion > 0x03000000 else False
00004 import genpy
00005 import struct
00006
00007 import arm_navigation_msgs.msg
00008 import actionlib_msgs.msg
00009 import geometry_msgs.msg
00010 import head_monitor_msgs.msg
00011 import sensor_msgs.msg
00012 import genpy
00013 import std_msgs.msg
00014
00015 class PreplanHeadScanAction(genpy.Message):
00016 _md5sum = "febbaf17638d0245755e50701e422888"
00017 _type = "head_monitor_msgs/PreplanHeadScanAction"
00018 _has_header = False
00019 _full_text = """# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00020
00021 PreplanHeadScanActionGoal action_goal
00022 PreplanHeadScanActionResult action_result
00023 PreplanHeadScanActionFeedback action_feedback
00024
00025 ================================================================================
00026 MSG: head_monitor_msgs/PreplanHeadScanActionGoal
00027 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00028
00029 Header header
00030 actionlib_msgs/GoalID goal_id
00031 PreplanHeadScanGoal goal
00032
00033 ================================================================================
00034 MSG: std_msgs/Header
00035 # Standard metadata for higher-level stamped data types.
00036 # This is generally used to communicate timestamped data
00037 # in a particular coordinate frame.
00038 #
00039 # sequence ID: consecutively increasing ID
00040 uint32 seq
00041 #Two-integer timestamp that is expressed as:
00042 # * stamp.secs: seconds (stamp_secs) since epoch
00043 # * stamp.nsecs: nanoseconds since stamp_secs
00044 # time-handling sugar is provided by the client library
00045 time stamp
00046 #Frame this data is associated with
00047 # 0: no frame
00048 # 1: global frame
00049 string frame_id
00050
00051 ================================================================================
00052 MSG: actionlib_msgs/GoalID
00053 # The stamp should store the time at which this goal was requested.
00054 # It is used by an action server when it tries to preempt all
00055 # goals that were requested before a certain time
00056 time stamp
00057
00058 # The id provides a way to associate feedback and
00059 # result message with specific goal requests. The id
00060 # specified must be unique.
00061 string id
00062
00063
00064 ================================================================================
00065 MSG: head_monitor_msgs/PreplanHeadScanGoal
00066 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00067 # The motion plan request
00068 string group_name
00069 string head_monitor_link
00070 arm_navigation_msgs/MotionPlanRequest motion_plan_request
00071
00072 ================================================================================
00073 MSG: arm_navigation_msgs/MotionPlanRequest
00074 # This service contains the definition for a request to the motion
00075 # planner and the output it provides
00076
00077 # Parameters for the workspace that the planner should work inside
00078 arm_navigation_msgs/WorkspaceParameters workspace_parameters
00079
00080 # Starting state updates. If certain joints should be considered
00081 # at positions other than the current ones, these positions should
00082 # be set here
00083 arm_navigation_msgs/RobotState start_state
00084
00085 # The goal state for the model to plan for. The goal is achieved
00086 # if all constraints are satisfied
00087 arm_navigation_msgs/Constraints goal_constraints
00088
00089 # No state at any point along the path in the produced motion plan will violate these constraints
00090 arm_navigation_msgs/Constraints path_constraints
00091
00092 # The name of the motion planner to use. If no name is specified,
00093 # a default motion planner will be used
00094 string planner_id
00095
00096 # The name of the group of joints on which this planner is operating
00097 string group_name
00098
00099 # The number of times this plan is to be computed. Shortest solution
00100 # will be reported.
00101 int32 num_planning_attempts
00102
00103 # The maximum amount of time the motion planner is allowed to plan for
00104 duration allowed_planning_time
00105
00106 # An expected path duration (in seconds) along with an expected discretization of the path allows the planner to determine the discretization of the trajectory that it returns
00107 duration expected_path_duration
00108 duration expected_path_dt
00109
00110 ================================================================================
00111 MSG: arm_navigation_msgs/WorkspaceParameters
00112 # This message contains a set of parameters useful in
00113 # setting up the workspace for planning
00114 arm_navigation_msgs/Shape workspace_region_shape
00115 geometry_msgs/PoseStamped workspace_region_pose
00116
00117
00118 ================================================================================
00119 MSG: arm_navigation_msgs/Shape
00120 byte SPHERE=0
00121 byte BOX=1
00122 byte CYLINDER=2
00123 byte MESH=3
00124
00125 byte type
00126
00127
00128 #### define sphere, box, cylinder ####
00129 # the origin of each shape is considered at the shape's center
00130
00131 # for sphere
00132 # radius := dimensions[0]
00133
00134 # for cylinder
00135 # radius := dimensions[0]
00136 # length := dimensions[1]
00137 # the length is along the Z axis
00138
00139 # for box
00140 # size_x := dimensions[0]
00141 # size_y := dimensions[1]
00142 # size_z := dimensions[2]
00143 float64[] dimensions
00144
00145
00146 #### define mesh ####
00147
00148 # list of triangles; triangle k is defined by tre vertices located
00149 # at indices triangles[3k], triangles[3k+1], triangles[3k+2]
00150 int32[] triangles
00151 geometry_msgs/Point[] vertices
00152
00153 ================================================================================
00154 MSG: geometry_msgs/Point
00155 # This contains the position of a point in free space
00156 float64 x
00157 float64 y
00158 float64 z
00159
00160 ================================================================================
00161 MSG: geometry_msgs/PoseStamped
00162 # A Pose with reference coordinate frame and timestamp
00163 Header header
00164 Pose pose
00165
00166 ================================================================================
00167 MSG: geometry_msgs/Pose
00168 # A representation of pose in free space, composed of postion and orientation.
00169 Point position
00170 Quaternion orientation
00171
00172 ================================================================================
00173 MSG: geometry_msgs/Quaternion
00174 # This represents an orientation in free space in quaternion form.
00175
00176 float64 x
00177 float64 y
00178 float64 z
00179 float64 w
00180
00181 ================================================================================
00182 MSG: arm_navigation_msgs/RobotState
00183 # This message contains information about the robot state, i.e. the positions of its joints and links
00184 sensor_msgs/JointState joint_state
00185 arm_navigation_msgs/MultiDOFJointState multi_dof_joint_state
00186
00187 ================================================================================
00188 MSG: sensor_msgs/JointState
00189 # This is a message that holds data to describe the state of a set of torque controlled joints.
00190 #
00191 # The state of each joint (revolute or prismatic) is defined by:
00192 # * the position of the joint (rad or m),
00193 # * the velocity of the joint (rad/s or m/s) and
00194 # * the effort that is applied in the joint (Nm or N).
00195 #
00196 # Each joint is uniquely identified by its name
00197 # The header specifies the time at which the joint states were recorded. All the joint states
00198 # in one message have to be recorded at the same time.
00199 #
00200 # This message consists of a multiple arrays, one for each part of the joint state.
00201 # The goal is to make each of the fields optional. When e.g. your joints have no
00202 # effort associated with them, you can leave the effort array empty.
00203 #
00204 # All arrays in this message should have the same size, or be empty.
00205 # This is the only way to uniquely associate the joint name with the correct
00206 # states.
00207
00208
00209 Header header
00210
00211 string[] name
00212 float64[] position
00213 float64[] velocity
00214 float64[] effort
00215
00216 ================================================================================
00217 MSG: arm_navigation_msgs/MultiDOFJointState
00218 #A representation of a multi-dof joint state
00219 time stamp
00220 string[] joint_names
00221 string[] frame_ids
00222 string[] child_frame_ids
00223 geometry_msgs/Pose[] poses
00224
00225 ================================================================================
00226 MSG: arm_navigation_msgs/Constraints
00227 # This message contains a list of motion planning constraints.
00228
00229 arm_navigation_msgs/JointConstraint[] joint_constraints
00230 arm_navigation_msgs/PositionConstraint[] position_constraints
00231 arm_navigation_msgs/OrientationConstraint[] orientation_constraints
00232 arm_navigation_msgs/VisibilityConstraint[] visibility_constraints
00233
00234 ================================================================================
00235 MSG: arm_navigation_msgs/JointConstraint
00236 # Constrain the position of a joint to be within a certain bound
00237 string joint_name
00238
00239 # the bound to be achieved is [position - tolerance_below, position + tolerance_above]
00240 float64 position
00241 float64 tolerance_above
00242 float64 tolerance_below
00243
00244 # A weighting factor for this constraint
00245 float64 weight
00246 ================================================================================
00247 MSG: arm_navigation_msgs/PositionConstraint
00248 # This message contains the definition of a position constraint.
00249 Header header
00250
00251 # The robot link this constraint refers to
00252 string link_name
00253
00254 # The offset (in the link frame) for the target point on the link we are planning for
00255 geometry_msgs/Point target_point_offset
00256
00257 # The nominal/target position for the point we are planning for
00258 geometry_msgs/Point position
00259
00260 # The shape of the bounded region that constrains the position of the end-effector
00261 # This region is always centered at the position defined above
00262 arm_navigation_msgs/Shape constraint_region_shape
00263
00264 # The orientation of the bounded region that constrains the position of the end-effector.
00265 # This allows the specification of non-axis aligned constraints
00266 geometry_msgs/Quaternion constraint_region_orientation
00267
00268 # Constraint weighting factor - a weight for this constraint
00269 float64 weight
00270
00271 ================================================================================
00272 MSG: arm_navigation_msgs/OrientationConstraint
00273 # This message contains the definition of an orientation constraint.
00274 Header header
00275
00276 # The robot link this constraint refers to
00277 string link_name
00278
00279 # The type of the constraint
00280 int32 type
00281 int32 LINK_FRAME=0
00282 int32 HEADER_FRAME=1
00283
00284 # The desired orientation of the robot link specified as a quaternion
00285 geometry_msgs/Quaternion orientation
00286
00287 # optional RPY error tolerances specified if
00288 float64 absolute_roll_tolerance
00289 float64 absolute_pitch_tolerance
00290 float64 absolute_yaw_tolerance
00291
00292 # Constraint weighting factor - a weight for this constraint
00293 float64 weight
00294
00295 ================================================================================
00296 MSG: arm_navigation_msgs/VisibilityConstraint
00297 # This message contains the definition of a visibility constraint.
00298 Header header
00299
00300 # The point stamped target that needs to be kept within view of the sensor
00301 geometry_msgs/PointStamped target
00302
00303 # The local pose of the frame in which visibility is to be maintained
00304 # The frame id should represent the robot link to which the sensor is attached
00305 # The visual axis of the sensor is assumed to be along the X axis of this frame
00306 geometry_msgs/PoseStamped sensor_pose
00307
00308 # The deviation (in radians) that will be tolerated
00309 # Constraint error will be measured as the solid angle between the
00310 # X axis of the frame defined above and the vector between the origin
00311 # of the frame defined above and the target location
00312 float64 absolute_tolerance
00313
00314
00315 ================================================================================
00316 MSG: geometry_msgs/PointStamped
00317 # This represents a Point with reference coordinate frame and timestamp
00318 Header header
00319 Point point
00320
00321 ================================================================================
00322 MSG: head_monitor_msgs/PreplanHeadScanActionResult
00323 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00324
00325 Header header
00326 actionlib_msgs/GoalStatus status
00327 PreplanHeadScanResult result
00328
00329 ================================================================================
00330 MSG: actionlib_msgs/GoalStatus
00331 GoalID goal_id
00332 uint8 status
00333 uint8 PENDING = 0 # The goal has yet to be processed by the action server
00334 uint8 ACTIVE = 1 # The goal is currently being processed by the action server
00335 uint8 PREEMPTED = 2 # The goal received a cancel request after it started executing
00336 # and has since completed its execution (Terminal State)
00337 uint8 SUCCEEDED = 3 # The goal was achieved successfully by the action server (Terminal State)
00338 uint8 ABORTED = 4 # The goal was aborted during execution by the action server due
00339 # to some failure (Terminal State)
00340 uint8 REJECTED = 5 # The goal was rejected by the action server without being processed,
00341 # because the goal was unattainable or invalid (Terminal State)
00342 uint8 PREEMPTING = 6 # The goal received a cancel request after it started executing
00343 # and has not yet completed execution
00344 uint8 RECALLING = 7 # The goal received a cancel request before it started executing,
00345 # but the action server has not yet confirmed that the goal is canceled
00346 uint8 RECALLED = 8 # The goal received a cancel request before it started executing
00347 # and was successfully cancelled (Terminal State)
00348 uint8 LOST = 9 # An action client can determine that a goal is LOST. This should not be
00349 # sent over the wire by an action server
00350
00351 #Allow for the user to associate a string with GoalStatus for debugging
00352 string text
00353
00354
00355 ================================================================================
00356 MSG: head_monitor_msgs/PreplanHeadScanResult
00357 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00358
00359 ================================================================================
00360 MSG: head_monitor_msgs/PreplanHeadScanActionFeedback
00361 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00362
00363 Header header
00364 actionlib_msgs/GoalStatus status
00365 PreplanHeadScanFeedback feedback
00366
00367 ================================================================================
00368 MSG: head_monitor_msgs/PreplanHeadScanFeedback
00369 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00370
00371
00372 """
00373 __slots__ = ['action_goal','action_result','action_feedback']
00374 _slot_types = ['head_monitor_msgs/PreplanHeadScanActionGoal','head_monitor_msgs/PreplanHeadScanActionResult','head_monitor_msgs/PreplanHeadScanActionFeedback']
00375
00376 def __init__(self, *args, **kwds):
00377 """
00378 Constructor. Any message fields that are implicitly/explicitly
00379 set to None will be assigned a default value. The recommend
00380 use is keyword arguments as this is more robust to future message
00381 changes. You cannot mix in-order arguments and keyword arguments.
00382
00383 The available fields are:
00384 action_goal,action_result,action_feedback
00385
00386 :param args: complete set of field values, in .msg order
00387 :param kwds: use keyword arguments corresponding to message field names
00388 to set specific fields.
00389 """
00390 if args or kwds:
00391 super(PreplanHeadScanAction, self).__init__(*args, **kwds)
00392
00393 if self.action_goal is None:
00394 self.action_goal = head_monitor_msgs.msg.PreplanHeadScanActionGoal()
00395 if self.action_result is None:
00396 self.action_result = head_monitor_msgs.msg.PreplanHeadScanActionResult()
00397 if self.action_feedback is None:
00398 self.action_feedback = head_monitor_msgs.msg.PreplanHeadScanActionFeedback()
00399 else:
00400 self.action_goal = head_monitor_msgs.msg.PreplanHeadScanActionGoal()
00401 self.action_result = head_monitor_msgs.msg.PreplanHeadScanActionResult()
00402 self.action_feedback = head_monitor_msgs.msg.PreplanHeadScanActionFeedback()
00403
00404 def _get_types(self):
00405 """
00406 internal API method
00407 """
00408 return self._slot_types
00409
00410 def serialize(self, buff):
00411 """
00412 serialize message into buffer
00413 :param buff: buffer, ``StringIO``
00414 """
00415 try:
00416 _x = self
00417 buff.write(_struct_3I.pack(_x.action_goal.header.seq, _x.action_goal.header.stamp.secs, _x.action_goal.header.stamp.nsecs))
00418 _x = self.action_goal.header.frame_id
00419 length = len(_x)
00420 if python3 or type(_x) == unicode:
00421 _x = _x.encode('utf-8')
00422 length = len(_x)
00423 buff.write(struct.pack('<I%ss'%length, length, _x))
00424 _x = self
00425 buff.write(_struct_2I.pack(_x.action_goal.goal_id.stamp.secs, _x.action_goal.goal_id.stamp.nsecs))
00426 _x = self.action_goal.goal_id.id
00427 length = len(_x)
00428 if python3 or type(_x) == unicode:
00429 _x = _x.encode('utf-8')
00430 length = len(_x)
00431 buff.write(struct.pack('<I%ss'%length, length, _x))
00432 _x = self.action_goal.goal.group_name
00433 length = len(_x)
00434 if python3 or type(_x) == unicode:
00435 _x = _x.encode('utf-8')
00436 length = len(_x)
00437 buff.write(struct.pack('<I%ss'%length, length, _x))
00438 _x = self.action_goal.goal.head_monitor_link
00439 length = len(_x)
00440 if python3 or type(_x) == unicode:
00441 _x = _x.encode('utf-8')
00442 length = len(_x)
00443 buff.write(struct.pack('<I%ss'%length, length, _x))
00444 buff.write(_struct_b.pack(self.action_goal.goal.motion_plan_request.workspace_parameters.workspace_region_shape.type))
00445 length = len(self.action_goal.goal.motion_plan_request.workspace_parameters.workspace_region_shape.dimensions)
00446 buff.write(_struct_I.pack(length))
00447 pattern = '<%sd'%length
00448 buff.write(struct.pack(pattern, *self.action_goal.goal.motion_plan_request.workspace_parameters.workspace_region_shape.dimensions))
00449 length = len(self.action_goal.goal.motion_plan_request.workspace_parameters.workspace_region_shape.triangles)
00450 buff.write(_struct_I.pack(length))
00451 pattern = '<%si'%length
00452 buff.write(struct.pack(pattern, *self.action_goal.goal.motion_plan_request.workspace_parameters.workspace_region_shape.triangles))
00453 length = len(self.action_goal.goal.motion_plan_request.workspace_parameters.workspace_region_shape.vertices)
00454 buff.write(_struct_I.pack(length))
00455 for val1 in self.action_goal.goal.motion_plan_request.workspace_parameters.workspace_region_shape.vertices:
00456 _x = val1
00457 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00458 _x = self
00459 buff.write(_struct_3I.pack(_x.action_goal.goal.motion_plan_request.workspace_parameters.workspace_region_pose.header.seq, _x.action_goal.goal.motion_plan_request.workspace_parameters.workspace_region_pose.header.stamp.secs, _x.action_goal.goal.motion_plan_request.workspace_parameters.workspace_region_pose.header.stamp.nsecs))
00460 _x = self.action_goal.goal.motion_plan_request.workspace_parameters.workspace_region_pose.header.frame_id
00461 length = len(_x)
00462 if python3 or type(_x) == unicode:
00463 _x = _x.encode('utf-8')
00464 length = len(_x)
00465 buff.write(struct.pack('<I%ss'%length, length, _x))
00466 _x = self
00467 buff.write(_struct_7d3I.pack(_x.action_goal.goal.motion_plan_request.workspace_parameters.workspace_region_pose.pose.position.x, _x.action_goal.goal.motion_plan_request.workspace_parameters.workspace_region_pose.pose.position.y, _x.action_goal.goal.motion_plan_request.workspace_parameters.workspace_region_pose.pose.position.z, _x.action_goal.goal.motion_plan_request.workspace_parameters.workspace_region_pose.pose.orientation.x, _x.action_goal.goal.motion_plan_request.workspace_parameters.workspace_region_pose.pose.orientation.y, _x.action_goal.goal.motion_plan_request.workspace_parameters.workspace_region_pose.pose.orientation.z, _x.action_goal.goal.motion_plan_request.workspace_parameters.workspace_region_pose.pose.orientation.w, _x.action_goal.goal.motion_plan_request.start_state.joint_state.header.seq, _x.action_goal.goal.motion_plan_request.start_state.joint_state.header.stamp.secs, _x.action_goal.goal.motion_plan_request.start_state.joint_state.header.stamp.nsecs))
00468 _x = self.action_goal.goal.motion_plan_request.start_state.joint_state.header.frame_id
00469 length = len(_x)
00470 if python3 or type(_x) == unicode:
00471 _x = _x.encode('utf-8')
00472 length = len(_x)
00473 buff.write(struct.pack('<I%ss'%length, length, _x))
00474 length = len(self.action_goal.goal.motion_plan_request.start_state.joint_state.name)
00475 buff.write(_struct_I.pack(length))
00476 for val1 in self.action_goal.goal.motion_plan_request.start_state.joint_state.name:
00477 length = len(val1)
00478 if python3 or type(val1) == unicode:
00479 val1 = val1.encode('utf-8')
00480 length = len(val1)
00481 buff.write(struct.pack('<I%ss'%length, length, val1))
00482 length = len(self.action_goal.goal.motion_plan_request.start_state.joint_state.position)
00483 buff.write(_struct_I.pack(length))
00484 pattern = '<%sd'%length
00485 buff.write(struct.pack(pattern, *self.action_goal.goal.motion_plan_request.start_state.joint_state.position))
00486 length = len(self.action_goal.goal.motion_plan_request.start_state.joint_state.velocity)
00487 buff.write(_struct_I.pack(length))
00488 pattern = '<%sd'%length
00489 buff.write(struct.pack(pattern, *self.action_goal.goal.motion_plan_request.start_state.joint_state.velocity))
00490 length = len(self.action_goal.goal.motion_plan_request.start_state.joint_state.effort)
00491 buff.write(_struct_I.pack(length))
00492 pattern = '<%sd'%length
00493 buff.write(struct.pack(pattern, *self.action_goal.goal.motion_plan_request.start_state.joint_state.effort))
00494 _x = self
00495 buff.write(_struct_2I.pack(_x.action_goal.goal.motion_plan_request.start_state.multi_dof_joint_state.stamp.secs, _x.action_goal.goal.motion_plan_request.start_state.multi_dof_joint_state.stamp.nsecs))
00496 length = len(self.action_goal.goal.motion_plan_request.start_state.multi_dof_joint_state.joint_names)
00497 buff.write(_struct_I.pack(length))
00498 for val1 in self.action_goal.goal.motion_plan_request.start_state.multi_dof_joint_state.joint_names:
00499 length = len(val1)
00500 if python3 or type(val1) == unicode:
00501 val1 = val1.encode('utf-8')
00502 length = len(val1)
00503 buff.write(struct.pack('<I%ss'%length, length, val1))
00504 length = len(self.action_goal.goal.motion_plan_request.start_state.multi_dof_joint_state.frame_ids)
00505 buff.write(_struct_I.pack(length))
00506 for val1 in self.action_goal.goal.motion_plan_request.start_state.multi_dof_joint_state.frame_ids:
00507 length = len(val1)
00508 if python3 or type(val1) == unicode:
00509 val1 = val1.encode('utf-8')
00510 length = len(val1)
00511 buff.write(struct.pack('<I%ss'%length, length, val1))
00512 length = len(self.action_goal.goal.motion_plan_request.start_state.multi_dof_joint_state.child_frame_ids)
00513 buff.write(_struct_I.pack(length))
00514 for val1 in self.action_goal.goal.motion_plan_request.start_state.multi_dof_joint_state.child_frame_ids:
00515 length = len(val1)
00516 if python3 or type(val1) == unicode:
00517 val1 = val1.encode('utf-8')
00518 length = len(val1)
00519 buff.write(struct.pack('<I%ss'%length, length, val1))
00520 length = len(self.action_goal.goal.motion_plan_request.start_state.multi_dof_joint_state.poses)
00521 buff.write(_struct_I.pack(length))
00522 for val1 in self.action_goal.goal.motion_plan_request.start_state.multi_dof_joint_state.poses:
00523 _v1 = val1.position
00524 _x = _v1
00525 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00526 _v2 = val1.orientation
00527 _x = _v2
00528 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00529 length = len(self.action_goal.goal.motion_plan_request.goal_constraints.joint_constraints)
00530 buff.write(_struct_I.pack(length))
00531 for val1 in self.action_goal.goal.motion_plan_request.goal_constraints.joint_constraints:
00532 _x = val1.joint_name
00533 length = len(_x)
00534 if python3 or type(_x) == unicode:
00535 _x = _x.encode('utf-8')
00536 length = len(_x)
00537 buff.write(struct.pack('<I%ss'%length, length, _x))
00538 _x = val1
00539 buff.write(_struct_4d.pack(_x.position, _x.tolerance_above, _x.tolerance_below, _x.weight))
00540 length = len(self.action_goal.goal.motion_plan_request.goal_constraints.position_constraints)
00541 buff.write(_struct_I.pack(length))
00542 for val1 in self.action_goal.goal.motion_plan_request.goal_constraints.position_constraints:
00543 _v3 = val1.header
00544 buff.write(_struct_I.pack(_v3.seq))
00545 _v4 = _v3.stamp
00546 _x = _v4
00547 buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00548 _x = _v3.frame_id
00549 length = len(_x)
00550 if python3 or type(_x) == unicode:
00551 _x = _x.encode('utf-8')
00552 length = len(_x)
00553 buff.write(struct.pack('<I%ss'%length, length, _x))
00554 _x = val1.link_name
00555 length = len(_x)
00556 if python3 or type(_x) == unicode:
00557 _x = _x.encode('utf-8')
00558 length = len(_x)
00559 buff.write(struct.pack('<I%ss'%length, length, _x))
00560 _v5 = val1.target_point_offset
00561 _x = _v5
00562 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00563 _v6 = val1.position
00564 _x = _v6
00565 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00566 _v7 = val1.constraint_region_shape
00567 buff.write(_struct_b.pack(_v7.type))
00568 length = len(_v7.dimensions)
00569 buff.write(_struct_I.pack(length))
00570 pattern = '<%sd'%length
00571 buff.write(struct.pack(pattern, *_v7.dimensions))
00572 length = len(_v7.triangles)
00573 buff.write(_struct_I.pack(length))
00574 pattern = '<%si'%length
00575 buff.write(struct.pack(pattern, *_v7.triangles))
00576 length = len(_v7.vertices)
00577 buff.write(_struct_I.pack(length))
00578 for val3 in _v7.vertices:
00579 _x = val3
00580 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00581 _v8 = val1.constraint_region_orientation
00582 _x = _v8
00583 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00584 buff.write(_struct_d.pack(val1.weight))
00585 length = len(self.action_goal.goal.motion_plan_request.goal_constraints.orientation_constraints)
00586 buff.write(_struct_I.pack(length))
00587 for val1 in self.action_goal.goal.motion_plan_request.goal_constraints.orientation_constraints:
00588 _v9 = val1.header
00589 buff.write(_struct_I.pack(_v9.seq))
00590 _v10 = _v9.stamp
00591 _x = _v10
00592 buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00593 _x = _v9.frame_id
00594 length = len(_x)
00595 if python3 or type(_x) == unicode:
00596 _x = _x.encode('utf-8')
00597 length = len(_x)
00598 buff.write(struct.pack('<I%ss'%length, length, _x))
00599 _x = val1.link_name
00600 length = len(_x)
00601 if python3 or type(_x) == unicode:
00602 _x = _x.encode('utf-8')
00603 length = len(_x)
00604 buff.write(struct.pack('<I%ss'%length, length, _x))
00605 buff.write(_struct_i.pack(val1.type))
00606 _v11 = val1.orientation
00607 _x = _v11
00608 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00609 _x = val1
00610 buff.write(_struct_4d.pack(_x.absolute_roll_tolerance, _x.absolute_pitch_tolerance, _x.absolute_yaw_tolerance, _x.weight))
00611 length = len(self.action_goal.goal.motion_plan_request.goal_constraints.visibility_constraints)
00612 buff.write(_struct_I.pack(length))
00613 for val1 in self.action_goal.goal.motion_plan_request.goal_constraints.visibility_constraints:
00614 _v12 = val1.header
00615 buff.write(_struct_I.pack(_v12.seq))
00616 _v13 = _v12.stamp
00617 _x = _v13
00618 buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00619 _x = _v12.frame_id
00620 length = len(_x)
00621 if python3 or type(_x) == unicode:
00622 _x = _x.encode('utf-8')
00623 length = len(_x)
00624 buff.write(struct.pack('<I%ss'%length, length, _x))
00625 _v14 = val1.target
00626 _v15 = _v14.header
00627 buff.write(_struct_I.pack(_v15.seq))
00628 _v16 = _v15.stamp
00629 _x = _v16
00630 buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00631 _x = _v15.frame_id
00632 length = len(_x)
00633 if python3 or type(_x) == unicode:
00634 _x = _x.encode('utf-8')
00635 length = len(_x)
00636 buff.write(struct.pack('<I%ss'%length, length, _x))
00637 _v17 = _v14.point
00638 _x = _v17
00639 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00640 _v18 = val1.sensor_pose
00641 _v19 = _v18.header
00642 buff.write(_struct_I.pack(_v19.seq))
00643 _v20 = _v19.stamp
00644 _x = _v20
00645 buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00646 _x = _v19.frame_id
00647 length = len(_x)
00648 if python3 or type(_x) == unicode:
00649 _x = _x.encode('utf-8')
00650 length = len(_x)
00651 buff.write(struct.pack('<I%ss'%length, length, _x))
00652 _v21 = _v18.pose
00653 _v22 = _v21.position
00654 _x = _v22
00655 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00656 _v23 = _v21.orientation
00657 _x = _v23
00658 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00659 buff.write(_struct_d.pack(val1.absolute_tolerance))
00660 length = len(self.action_goal.goal.motion_plan_request.path_constraints.joint_constraints)
00661 buff.write(_struct_I.pack(length))
00662 for val1 in self.action_goal.goal.motion_plan_request.path_constraints.joint_constraints:
00663 _x = val1.joint_name
00664 length = len(_x)
00665 if python3 or type(_x) == unicode:
00666 _x = _x.encode('utf-8')
00667 length = len(_x)
00668 buff.write(struct.pack('<I%ss'%length, length, _x))
00669 _x = val1
00670 buff.write(_struct_4d.pack(_x.position, _x.tolerance_above, _x.tolerance_below, _x.weight))
00671 length = len(self.action_goal.goal.motion_plan_request.path_constraints.position_constraints)
00672 buff.write(_struct_I.pack(length))
00673 for val1 in self.action_goal.goal.motion_plan_request.path_constraints.position_constraints:
00674 _v24 = val1.header
00675 buff.write(_struct_I.pack(_v24.seq))
00676 _v25 = _v24.stamp
00677 _x = _v25
00678 buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00679 _x = _v24.frame_id
00680 length = len(_x)
00681 if python3 or type(_x) == unicode:
00682 _x = _x.encode('utf-8')
00683 length = len(_x)
00684 buff.write(struct.pack('<I%ss'%length, length, _x))
00685 _x = val1.link_name
00686 length = len(_x)
00687 if python3 or type(_x) == unicode:
00688 _x = _x.encode('utf-8')
00689 length = len(_x)
00690 buff.write(struct.pack('<I%ss'%length, length, _x))
00691 _v26 = val1.target_point_offset
00692 _x = _v26
00693 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00694 _v27 = val1.position
00695 _x = _v27
00696 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00697 _v28 = val1.constraint_region_shape
00698 buff.write(_struct_b.pack(_v28.type))
00699 length = len(_v28.dimensions)
00700 buff.write(_struct_I.pack(length))
00701 pattern = '<%sd'%length
00702 buff.write(struct.pack(pattern, *_v28.dimensions))
00703 length = len(_v28.triangles)
00704 buff.write(_struct_I.pack(length))
00705 pattern = '<%si'%length
00706 buff.write(struct.pack(pattern, *_v28.triangles))
00707 length = len(_v28.vertices)
00708 buff.write(_struct_I.pack(length))
00709 for val3 in _v28.vertices:
00710 _x = val3
00711 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00712 _v29 = val1.constraint_region_orientation
00713 _x = _v29
00714 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00715 buff.write(_struct_d.pack(val1.weight))
00716 length = len(self.action_goal.goal.motion_plan_request.path_constraints.orientation_constraints)
00717 buff.write(_struct_I.pack(length))
00718 for val1 in self.action_goal.goal.motion_plan_request.path_constraints.orientation_constraints:
00719 _v30 = val1.header
00720 buff.write(_struct_I.pack(_v30.seq))
00721 _v31 = _v30.stamp
00722 _x = _v31
00723 buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00724 _x = _v30.frame_id
00725 length = len(_x)
00726 if python3 or type(_x) == unicode:
00727 _x = _x.encode('utf-8')
00728 length = len(_x)
00729 buff.write(struct.pack('<I%ss'%length, length, _x))
00730 _x = val1.link_name
00731 length = len(_x)
00732 if python3 or type(_x) == unicode:
00733 _x = _x.encode('utf-8')
00734 length = len(_x)
00735 buff.write(struct.pack('<I%ss'%length, length, _x))
00736 buff.write(_struct_i.pack(val1.type))
00737 _v32 = val1.orientation
00738 _x = _v32
00739 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00740 _x = val1
00741 buff.write(_struct_4d.pack(_x.absolute_roll_tolerance, _x.absolute_pitch_tolerance, _x.absolute_yaw_tolerance, _x.weight))
00742 length = len(self.action_goal.goal.motion_plan_request.path_constraints.visibility_constraints)
00743 buff.write(_struct_I.pack(length))
00744 for val1 in self.action_goal.goal.motion_plan_request.path_constraints.visibility_constraints:
00745 _v33 = val1.header
00746 buff.write(_struct_I.pack(_v33.seq))
00747 _v34 = _v33.stamp
00748 _x = _v34
00749 buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00750 _x = _v33.frame_id
00751 length = len(_x)
00752 if python3 or type(_x) == unicode:
00753 _x = _x.encode('utf-8')
00754 length = len(_x)
00755 buff.write(struct.pack('<I%ss'%length, length, _x))
00756 _v35 = val1.target
00757 _v36 = _v35.header
00758 buff.write(_struct_I.pack(_v36.seq))
00759 _v37 = _v36.stamp
00760 _x = _v37
00761 buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00762 _x = _v36.frame_id
00763 length = len(_x)
00764 if python3 or type(_x) == unicode:
00765 _x = _x.encode('utf-8')
00766 length = len(_x)
00767 buff.write(struct.pack('<I%ss'%length, length, _x))
00768 _v38 = _v35.point
00769 _x = _v38
00770 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00771 _v39 = val1.sensor_pose
00772 _v40 = _v39.header
00773 buff.write(_struct_I.pack(_v40.seq))
00774 _v41 = _v40.stamp
00775 _x = _v41
00776 buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00777 _x = _v40.frame_id
00778 length = len(_x)
00779 if python3 or type(_x) == unicode:
00780 _x = _x.encode('utf-8')
00781 length = len(_x)
00782 buff.write(struct.pack('<I%ss'%length, length, _x))
00783 _v42 = _v39.pose
00784 _v43 = _v42.position
00785 _x = _v43
00786 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00787 _v44 = _v42.orientation
00788 _x = _v44
00789 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00790 buff.write(_struct_d.pack(val1.absolute_tolerance))
00791 _x = self.action_goal.goal.motion_plan_request.planner_id
00792 length = len(_x)
00793 if python3 or type(_x) == unicode:
00794 _x = _x.encode('utf-8')
00795 length = len(_x)
00796 buff.write(struct.pack('<I%ss'%length, length, _x))
00797 _x = self.action_goal.goal.motion_plan_request.group_name
00798 length = len(_x)
00799 if python3 or type(_x) == unicode:
00800 _x = _x.encode('utf-8')
00801 length = len(_x)
00802 buff.write(struct.pack('<I%ss'%length, length, _x))
00803 _x = self
00804 buff.write(_struct_7i3I.pack(_x.action_goal.goal.motion_plan_request.num_planning_attempts, _x.action_goal.goal.motion_plan_request.allowed_planning_time.secs, _x.action_goal.goal.motion_plan_request.allowed_planning_time.nsecs, _x.action_goal.goal.motion_plan_request.expected_path_duration.secs, _x.action_goal.goal.motion_plan_request.expected_path_duration.nsecs, _x.action_goal.goal.motion_plan_request.expected_path_dt.secs, _x.action_goal.goal.motion_plan_request.expected_path_dt.nsecs, _x.action_result.header.seq, _x.action_result.header.stamp.secs, _x.action_result.header.stamp.nsecs))
00805 _x = self.action_result.header.frame_id
00806 length = len(_x)
00807 if python3 or type(_x) == unicode:
00808 _x = _x.encode('utf-8')
00809 length = len(_x)
00810 buff.write(struct.pack('<I%ss'%length, length, _x))
00811 _x = self
00812 buff.write(_struct_2I.pack(_x.action_result.status.goal_id.stamp.secs, _x.action_result.status.goal_id.stamp.nsecs))
00813 _x = self.action_result.status.goal_id.id
00814 length = len(_x)
00815 if python3 or type(_x) == unicode:
00816 _x = _x.encode('utf-8')
00817 length = len(_x)
00818 buff.write(struct.pack('<I%ss'%length, length, _x))
00819 buff.write(_struct_B.pack(self.action_result.status.status))
00820 _x = self.action_result.status.text
00821 length = len(_x)
00822 if python3 or type(_x) == unicode:
00823 _x = _x.encode('utf-8')
00824 length = len(_x)
00825 buff.write(struct.pack('<I%ss'%length, length, _x))
00826 _x = self
00827 buff.write(_struct_3I.pack(_x.action_feedback.header.seq, _x.action_feedback.header.stamp.secs, _x.action_feedback.header.stamp.nsecs))
00828 _x = self.action_feedback.header.frame_id
00829 length = len(_x)
00830 if python3 or type(_x) == unicode:
00831 _x = _x.encode('utf-8')
00832 length = len(_x)
00833 buff.write(struct.pack('<I%ss'%length, length, _x))
00834 _x = self
00835 buff.write(_struct_2I.pack(_x.action_feedback.status.goal_id.stamp.secs, _x.action_feedback.status.goal_id.stamp.nsecs))
00836 _x = self.action_feedback.status.goal_id.id
00837 length = len(_x)
00838 if python3 or type(_x) == unicode:
00839 _x = _x.encode('utf-8')
00840 length = len(_x)
00841 buff.write(struct.pack('<I%ss'%length, length, _x))
00842 buff.write(_struct_B.pack(self.action_feedback.status.status))
00843 _x = self.action_feedback.status.text
00844 length = len(_x)
00845 if python3 or type(_x) == unicode:
00846 _x = _x.encode('utf-8')
00847 length = len(_x)
00848 buff.write(struct.pack('<I%ss'%length, length, _x))
00849 except struct.error as se: self._check_types(se)
00850 except TypeError as te: self._check_types(te)
00851
00852 def deserialize(self, str):
00853 """
00854 unpack serialized message in str into this message instance
00855 :param str: byte array of serialized message, ``str``
00856 """
00857 try:
00858 if self.action_goal is None:
00859 self.action_goal = head_monitor_msgs.msg.PreplanHeadScanActionGoal()
00860 if self.action_result is None:
00861 self.action_result = head_monitor_msgs.msg.PreplanHeadScanActionResult()
00862 if self.action_feedback is None:
00863 self.action_feedback = head_monitor_msgs.msg.PreplanHeadScanActionFeedback()
00864 end = 0
00865 _x = self
00866 start = end
00867 end += 12
00868 (_x.action_goal.header.seq, _x.action_goal.header.stamp.secs, _x.action_goal.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00869 start = end
00870 end += 4
00871 (length,) = _struct_I.unpack(str[start:end])
00872 start = end
00873 end += length
00874 if python3:
00875 self.action_goal.header.frame_id = str[start:end].decode('utf-8')
00876 else:
00877 self.action_goal.header.frame_id = str[start:end]
00878 _x = self
00879 start = end
00880 end += 8
00881 (_x.action_goal.goal_id.stamp.secs, _x.action_goal.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00882 start = end
00883 end += 4
00884 (length,) = _struct_I.unpack(str[start:end])
00885 start = end
00886 end += length
00887 if python3:
00888 self.action_goal.goal_id.id = str[start:end].decode('utf-8')
00889 else:
00890 self.action_goal.goal_id.id = str[start:end]
00891 start = end
00892 end += 4
00893 (length,) = _struct_I.unpack(str[start:end])
00894 start = end
00895 end += length
00896 if python3:
00897 self.action_goal.goal.group_name = str[start:end].decode('utf-8')
00898 else:
00899 self.action_goal.goal.group_name = str[start:end]
00900 start = end
00901 end += 4
00902 (length,) = _struct_I.unpack(str[start:end])
00903 start = end
00904 end += length
00905 if python3:
00906 self.action_goal.goal.head_monitor_link = str[start:end].decode('utf-8')
00907 else:
00908 self.action_goal.goal.head_monitor_link = str[start:end]
00909 start = end
00910 end += 1
00911 (self.action_goal.goal.motion_plan_request.workspace_parameters.workspace_region_shape.type,) = _struct_b.unpack(str[start:end])
00912 start = end
00913 end += 4
00914 (length,) = _struct_I.unpack(str[start:end])
00915 pattern = '<%sd'%length
00916 start = end
00917 end += struct.calcsize(pattern)
00918 self.action_goal.goal.motion_plan_request.workspace_parameters.workspace_region_shape.dimensions = struct.unpack(pattern, str[start:end])
00919 start = end
00920 end += 4
00921 (length,) = _struct_I.unpack(str[start:end])
00922 pattern = '<%si'%length
00923 start = end
00924 end += struct.calcsize(pattern)
00925 self.action_goal.goal.motion_plan_request.workspace_parameters.workspace_region_shape.triangles = struct.unpack(pattern, str[start:end])
00926 start = end
00927 end += 4
00928 (length,) = _struct_I.unpack(str[start:end])
00929 self.action_goal.goal.motion_plan_request.workspace_parameters.workspace_region_shape.vertices = []
00930 for i in range(0, length):
00931 val1 = geometry_msgs.msg.Point()
00932 _x = val1
00933 start = end
00934 end += 24
00935 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00936 self.action_goal.goal.motion_plan_request.workspace_parameters.workspace_region_shape.vertices.append(val1)
00937 _x = self
00938 start = end
00939 end += 12
00940 (_x.action_goal.goal.motion_plan_request.workspace_parameters.workspace_region_pose.header.seq, _x.action_goal.goal.motion_plan_request.workspace_parameters.workspace_region_pose.header.stamp.secs, _x.action_goal.goal.motion_plan_request.workspace_parameters.workspace_region_pose.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00941 start = end
00942 end += 4
00943 (length,) = _struct_I.unpack(str[start:end])
00944 start = end
00945 end += length
00946 if python3:
00947 self.action_goal.goal.motion_plan_request.workspace_parameters.workspace_region_pose.header.frame_id = str[start:end].decode('utf-8')
00948 else:
00949 self.action_goal.goal.motion_plan_request.workspace_parameters.workspace_region_pose.header.frame_id = str[start:end]
00950 _x = self
00951 start = end
00952 end += 68
00953 (_x.action_goal.goal.motion_plan_request.workspace_parameters.workspace_region_pose.pose.position.x, _x.action_goal.goal.motion_plan_request.workspace_parameters.workspace_region_pose.pose.position.y, _x.action_goal.goal.motion_plan_request.workspace_parameters.workspace_region_pose.pose.position.z, _x.action_goal.goal.motion_plan_request.workspace_parameters.workspace_region_pose.pose.orientation.x, _x.action_goal.goal.motion_plan_request.workspace_parameters.workspace_region_pose.pose.orientation.y, _x.action_goal.goal.motion_plan_request.workspace_parameters.workspace_region_pose.pose.orientation.z, _x.action_goal.goal.motion_plan_request.workspace_parameters.workspace_region_pose.pose.orientation.w, _x.action_goal.goal.motion_plan_request.start_state.joint_state.header.seq, _x.action_goal.goal.motion_plan_request.start_state.joint_state.header.stamp.secs, _x.action_goal.goal.motion_plan_request.start_state.joint_state.header.stamp.nsecs,) = _struct_7d3I.unpack(str[start:end])
00954 start = end
00955 end += 4
00956 (length,) = _struct_I.unpack(str[start:end])
00957 start = end
00958 end += length
00959 if python3:
00960 self.action_goal.goal.motion_plan_request.start_state.joint_state.header.frame_id = str[start:end].decode('utf-8')
00961 else:
00962 self.action_goal.goal.motion_plan_request.start_state.joint_state.header.frame_id = str[start:end]
00963 start = end
00964 end += 4
00965 (length,) = _struct_I.unpack(str[start:end])
00966 self.action_goal.goal.motion_plan_request.start_state.joint_state.name = []
00967 for i in range(0, length):
00968 start = end
00969 end += 4
00970 (length,) = _struct_I.unpack(str[start:end])
00971 start = end
00972 end += length
00973 if python3:
00974 val1 = str[start:end].decode('utf-8')
00975 else:
00976 val1 = str[start:end]
00977 self.action_goal.goal.motion_plan_request.start_state.joint_state.name.append(val1)
00978 start = end
00979 end += 4
00980 (length,) = _struct_I.unpack(str[start:end])
00981 pattern = '<%sd'%length
00982 start = end
00983 end += struct.calcsize(pattern)
00984 self.action_goal.goal.motion_plan_request.start_state.joint_state.position = struct.unpack(pattern, str[start:end])
00985 start = end
00986 end += 4
00987 (length,) = _struct_I.unpack(str[start:end])
00988 pattern = '<%sd'%length
00989 start = end
00990 end += struct.calcsize(pattern)
00991 self.action_goal.goal.motion_plan_request.start_state.joint_state.velocity = struct.unpack(pattern, str[start:end])
00992 start = end
00993 end += 4
00994 (length,) = _struct_I.unpack(str[start:end])
00995 pattern = '<%sd'%length
00996 start = end
00997 end += struct.calcsize(pattern)
00998 self.action_goal.goal.motion_plan_request.start_state.joint_state.effort = struct.unpack(pattern, str[start:end])
00999 _x = self
01000 start = end
01001 end += 8
01002 (_x.action_goal.goal.motion_plan_request.start_state.multi_dof_joint_state.stamp.secs, _x.action_goal.goal.motion_plan_request.start_state.multi_dof_joint_state.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
01003 start = end
01004 end += 4
01005 (length,) = _struct_I.unpack(str[start:end])
01006 self.action_goal.goal.motion_plan_request.start_state.multi_dof_joint_state.joint_names = []
01007 for i in range(0, length):
01008 start = end
01009 end += 4
01010 (length,) = _struct_I.unpack(str[start:end])
01011 start = end
01012 end += length
01013 if python3:
01014 val1 = str[start:end].decode('utf-8')
01015 else:
01016 val1 = str[start:end]
01017 self.action_goal.goal.motion_plan_request.start_state.multi_dof_joint_state.joint_names.append(val1)
01018 start = end
01019 end += 4
01020 (length,) = _struct_I.unpack(str[start:end])
01021 self.action_goal.goal.motion_plan_request.start_state.multi_dof_joint_state.frame_ids = []
01022 for i in range(0, length):
01023 start = end
01024 end += 4
01025 (length,) = _struct_I.unpack(str[start:end])
01026 start = end
01027 end += length
01028 if python3:
01029 val1 = str[start:end].decode('utf-8')
01030 else:
01031 val1 = str[start:end]
01032 self.action_goal.goal.motion_plan_request.start_state.multi_dof_joint_state.frame_ids.append(val1)
01033 start = end
01034 end += 4
01035 (length,) = _struct_I.unpack(str[start:end])
01036 self.action_goal.goal.motion_plan_request.start_state.multi_dof_joint_state.child_frame_ids = []
01037 for i in range(0, length):
01038 start = end
01039 end += 4
01040 (length,) = _struct_I.unpack(str[start:end])
01041 start = end
01042 end += length
01043 if python3:
01044 val1 = str[start:end].decode('utf-8')
01045 else:
01046 val1 = str[start:end]
01047 self.action_goal.goal.motion_plan_request.start_state.multi_dof_joint_state.child_frame_ids.append(val1)
01048 start = end
01049 end += 4
01050 (length,) = _struct_I.unpack(str[start:end])
01051 self.action_goal.goal.motion_plan_request.start_state.multi_dof_joint_state.poses = []
01052 for i in range(0, length):
01053 val1 = geometry_msgs.msg.Pose()
01054 _v45 = val1.position
01055 _x = _v45
01056 start = end
01057 end += 24
01058 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
01059 _v46 = val1.orientation
01060 _x = _v46
01061 start = end
01062 end += 32
01063 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
01064 self.action_goal.goal.motion_plan_request.start_state.multi_dof_joint_state.poses.append(val1)
01065 start = end
01066 end += 4
01067 (length,) = _struct_I.unpack(str[start:end])
01068 self.action_goal.goal.motion_plan_request.goal_constraints.joint_constraints = []
01069 for i in range(0, length):
01070 val1 = arm_navigation_msgs.msg.JointConstraint()
01071 start = end
01072 end += 4
01073 (length,) = _struct_I.unpack(str[start:end])
01074 start = end
01075 end += length
01076 if python3:
01077 val1.joint_name = str[start:end].decode('utf-8')
01078 else:
01079 val1.joint_name = str[start:end]
01080 _x = val1
01081 start = end
01082 end += 32
01083 (_x.position, _x.tolerance_above, _x.tolerance_below, _x.weight,) = _struct_4d.unpack(str[start:end])
01084 self.action_goal.goal.motion_plan_request.goal_constraints.joint_constraints.append(val1)
01085 start = end
01086 end += 4
01087 (length,) = _struct_I.unpack(str[start:end])
01088 self.action_goal.goal.motion_plan_request.goal_constraints.position_constraints = []
01089 for i in range(0, length):
01090 val1 = arm_navigation_msgs.msg.PositionConstraint()
01091 _v47 = val1.header
01092 start = end
01093 end += 4
01094 (_v47.seq,) = _struct_I.unpack(str[start:end])
01095 _v48 = _v47.stamp
01096 _x = _v48
01097 start = end
01098 end += 8
01099 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
01100 start = end
01101 end += 4
01102 (length,) = _struct_I.unpack(str[start:end])
01103 start = end
01104 end += length
01105 if python3:
01106 _v47.frame_id = str[start:end].decode('utf-8')
01107 else:
01108 _v47.frame_id = str[start:end]
01109 start = end
01110 end += 4
01111 (length,) = _struct_I.unpack(str[start:end])
01112 start = end
01113 end += length
01114 if python3:
01115 val1.link_name = str[start:end].decode('utf-8')
01116 else:
01117 val1.link_name = str[start:end]
01118 _v49 = val1.target_point_offset
01119 _x = _v49
01120 start = end
01121 end += 24
01122 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
01123 _v50 = val1.position
01124 _x = _v50
01125 start = end
01126 end += 24
01127 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
01128 _v51 = val1.constraint_region_shape
01129 start = end
01130 end += 1
01131 (_v51.type,) = _struct_b.unpack(str[start:end])
01132 start = end
01133 end += 4
01134 (length,) = _struct_I.unpack(str[start:end])
01135 pattern = '<%sd'%length
01136 start = end
01137 end += struct.calcsize(pattern)
01138 _v51.dimensions = struct.unpack(pattern, str[start:end])
01139 start = end
01140 end += 4
01141 (length,) = _struct_I.unpack(str[start:end])
01142 pattern = '<%si'%length
01143 start = end
01144 end += struct.calcsize(pattern)
01145 _v51.triangles = struct.unpack(pattern, str[start:end])
01146 start = end
01147 end += 4
01148 (length,) = _struct_I.unpack(str[start:end])
01149 _v51.vertices = []
01150 for i in range(0, length):
01151 val3 = geometry_msgs.msg.Point()
01152 _x = val3
01153 start = end
01154 end += 24
01155 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
01156 _v51.vertices.append(val3)
01157 _v52 = val1.constraint_region_orientation
01158 _x = _v52
01159 start = end
01160 end += 32
01161 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
01162 start = end
01163 end += 8
01164 (val1.weight,) = _struct_d.unpack(str[start:end])
01165 self.action_goal.goal.motion_plan_request.goal_constraints.position_constraints.append(val1)
01166 start = end
01167 end += 4
01168 (length,) = _struct_I.unpack(str[start:end])
01169 self.action_goal.goal.motion_plan_request.goal_constraints.orientation_constraints = []
01170 for i in range(0, length):
01171 val1 = arm_navigation_msgs.msg.OrientationConstraint()
01172 _v53 = val1.header
01173 start = end
01174 end += 4
01175 (_v53.seq,) = _struct_I.unpack(str[start:end])
01176 _v54 = _v53.stamp
01177 _x = _v54
01178 start = end
01179 end += 8
01180 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
01181 start = end
01182 end += 4
01183 (length,) = _struct_I.unpack(str[start:end])
01184 start = end
01185 end += length
01186 if python3:
01187 _v53.frame_id = str[start:end].decode('utf-8')
01188 else:
01189 _v53.frame_id = str[start:end]
01190 start = end
01191 end += 4
01192 (length,) = _struct_I.unpack(str[start:end])
01193 start = end
01194 end += length
01195 if python3:
01196 val1.link_name = str[start:end].decode('utf-8')
01197 else:
01198 val1.link_name = str[start:end]
01199 start = end
01200 end += 4
01201 (val1.type,) = _struct_i.unpack(str[start:end])
01202 _v55 = val1.orientation
01203 _x = _v55
01204 start = end
01205 end += 32
01206 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
01207 _x = val1
01208 start = end
01209 end += 32
01210 (_x.absolute_roll_tolerance, _x.absolute_pitch_tolerance, _x.absolute_yaw_tolerance, _x.weight,) = _struct_4d.unpack(str[start:end])
01211 self.action_goal.goal.motion_plan_request.goal_constraints.orientation_constraints.append(val1)
01212 start = end
01213 end += 4
01214 (length,) = _struct_I.unpack(str[start:end])
01215 self.action_goal.goal.motion_plan_request.goal_constraints.visibility_constraints = []
01216 for i in range(0, length):
01217 val1 = arm_navigation_msgs.msg.VisibilityConstraint()
01218 _v56 = val1.header
01219 start = end
01220 end += 4
01221 (_v56.seq,) = _struct_I.unpack(str[start:end])
01222 _v57 = _v56.stamp
01223 _x = _v57
01224 start = end
01225 end += 8
01226 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
01227 start = end
01228 end += 4
01229 (length,) = _struct_I.unpack(str[start:end])
01230 start = end
01231 end += length
01232 if python3:
01233 _v56.frame_id = str[start:end].decode('utf-8')
01234 else:
01235 _v56.frame_id = str[start:end]
01236 _v58 = val1.target
01237 _v59 = _v58.header
01238 start = end
01239 end += 4
01240 (_v59.seq,) = _struct_I.unpack(str[start:end])
01241 _v60 = _v59.stamp
01242 _x = _v60
01243 start = end
01244 end += 8
01245 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
01246 start = end
01247 end += 4
01248 (length,) = _struct_I.unpack(str[start:end])
01249 start = end
01250 end += length
01251 if python3:
01252 _v59.frame_id = str[start:end].decode('utf-8')
01253 else:
01254 _v59.frame_id = str[start:end]
01255 _v61 = _v58.point
01256 _x = _v61
01257 start = end
01258 end += 24
01259 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
01260 _v62 = val1.sensor_pose
01261 _v63 = _v62.header
01262 start = end
01263 end += 4
01264 (_v63.seq,) = _struct_I.unpack(str[start:end])
01265 _v64 = _v63.stamp
01266 _x = _v64
01267 start = end
01268 end += 8
01269 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
01270 start = end
01271 end += 4
01272 (length,) = _struct_I.unpack(str[start:end])
01273 start = end
01274 end += length
01275 if python3:
01276 _v63.frame_id = str[start:end].decode('utf-8')
01277 else:
01278 _v63.frame_id = str[start:end]
01279 _v65 = _v62.pose
01280 _v66 = _v65.position
01281 _x = _v66
01282 start = end
01283 end += 24
01284 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
01285 _v67 = _v65.orientation
01286 _x = _v67
01287 start = end
01288 end += 32
01289 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
01290 start = end
01291 end += 8
01292 (val1.absolute_tolerance,) = _struct_d.unpack(str[start:end])
01293 self.action_goal.goal.motion_plan_request.goal_constraints.visibility_constraints.append(val1)
01294 start = end
01295 end += 4
01296 (length,) = _struct_I.unpack(str[start:end])
01297 self.action_goal.goal.motion_plan_request.path_constraints.joint_constraints = []
01298 for i in range(0, length):
01299 val1 = arm_navigation_msgs.msg.JointConstraint()
01300 start = end
01301 end += 4
01302 (length,) = _struct_I.unpack(str[start:end])
01303 start = end
01304 end += length
01305 if python3:
01306 val1.joint_name = str[start:end].decode('utf-8')
01307 else:
01308 val1.joint_name = str[start:end]
01309 _x = val1
01310 start = end
01311 end += 32
01312 (_x.position, _x.tolerance_above, _x.tolerance_below, _x.weight,) = _struct_4d.unpack(str[start:end])
01313 self.action_goal.goal.motion_plan_request.path_constraints.joint_constraints.append(val1)
01314 start = end
01315 end += 4
01316 (length,) = _struct_I.unpack(str[start:end])
01317 self.action_goal.goal.motion_plan_request.path_constraints.position_constraints = []
01318 for i in range(0, length):
01319 val1 = arm_navigation_msgs.msg.PositionConstraint()
01320 _v68 = val1.header
01321 start = end
01322 end += 4
01323 (_v68.seq,) = _struct_I.unpack(str[start:end])
01324 _v69 = _v68.stamp
01325 _x = _v69
01326 start = end
01327 end += 8
01328 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
01329 start = end
01330 end += 4
01331 (length,) = _struct_I.unpack(str[start:end])
01332 start = end
01333 end += length
01334 if python3:
01335 _v68.frame_id = str[start:end].decode('utf-8')
01336 else:
01337 _v68.frame_id = str[start:end]
01338 start = end
01339 end += 4
01340 (length,) = _struct_I.unpack(str[start:end])
01341 start = end
01342 end += length
01343 if python3:
01344 val1.link_name = str[start:end].decode('utf-8')
01345 else:
01346 val1.link_name = str[start:end]
01347 _v70 = val1.target_point_offset
01348 _x = _v70
01349 start = end
01350 end += 24
01351 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
01352 _v71 = val1.position
01353 _x = _v71
01354 start = end
01355 end += 24
01356 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
01357 _v72 = val1.constraint_region_shape
01358 start = end
01359 end += 1
01360 (_v72.type,) = _struct_b.unpack(str[start:end])
01361 start = end
01362 end += 4
01363 (length,) = _struct_I.unpack(str[start:end])
01364 pattern = '<%sd'%length
01365 start = end
01366 end += struct.calcsize(pattern)
01367 _v72.dimensions = struct.unpack(pattern, str[start:end])
01368 start = end
01369 end += 4
01370 (length,) = _struct_I.unpack(str[start:end])
01371 pattern = '<%si'%length
01372 start = end
01373 end += struct.calcsize(pattern)
01374 _v72.triangles = struct.unpack(pattern, str[start:end])
01375 start = end
01376 end += 4
01377 (length,) = _struct_I.unpack(str[start:end])
01378 _v72.vertices = []
01379 for i in range(0, length):
01380 val3 = geometry_msgs.msg.Point()
01381 _x = val3
01382 start = end
01383 end += 24
01384 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
01385 _v72.vertices.append(val3)
01386 _v73 = val1.constraint_region_orientation
01387 _x = _v73
01388 start = end
01389 end += 32
01390 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
01391 start = end
01392 end += 8
01393 (val1.weight,) = _struct_d.unpack(str[start:end])
01394 self.action_goal.goal.motion_plan_request.path_constraints.position_constraints.append(val1)
01395 start = end
01396 end += 4
01397 (length,) = _struct_I.unpack(str[start:end])
01398 self.action_goal.goal.motion_plan_request.path_constraints.orientation_constraints = []
01399 for i in range(0, length):
01400 val1 = arm_navigation_msgs.msg.OrientationConstraint()
01401 _v74 = val1.header
01402 start = end
01403 end += 4
01404 (_v74.seq,) = _struct_I.unpack(str[start:end])
01405 _v75 = _v74.stamp
01406 _x = _v75
01407 start = end
01408 end += 8
01409 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
01410 start = end
01411 end += 4
01412 (length,) = _struct_I.unpack(str[start:end])
01413 start = end
01414 end += length
01415 if python3:
01416 _v74.frame_id = str[start:end].decode('utf-8')
01417 else:
01418 _v74.frame_id = str[start:end]
01419 start = end
01420 end += 4
01421 (length,) = _struct_I.unpack(str[start:end])
01422 start = end
01423 end += length
01424 if python3:
01425 val1.link_name = str[start:end].decode('utf-8')
01426 else:
01427 val1.link_name = str[start:end]
01428 start = end
01429 end += 4
01430 (val1.type,) = _struct_i.unpack(str[start:end])
01431 _v76 = val1.orientation
01432 _x = _v76
01433 start = end
01434 end += 32
01435 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
01436 _x = val1
01437 start = end
01438 end += 32
01439 (_x.absolute_roll_tolerance, _x.absolute_pitch_tolerance, _x.absolute_yaw_tolerance, _x.weight,) = _struct_4d.unpack(str[start:end])
01440 self.action_goal.goal.motion_plan_request.path_constraints.orientation_constraints.append(val1)
01441 start = end
01442 end += 4
01443 (length,) = _struct_I.unpack(str[start:end])
01444 self.action_goal.goal.motion_plan_request.path_constraints.visibility_constraints = []
01445 for i in range(0, length):
01446 val1 = arm_navigation_msgs.msg.VisibilityConstraint()
01447 _v77 = val1.header
01448 start = end
01449 end += 4
01450 (_v77.seq,) = _struct_I.unpack(str[start:end])
01451 _v78 = _v77.stamp
01452 _x = _v78
01453 start = end
01454 end += 8
01455 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
01456 start = end
01457 end += 4
01458 (length,) = _struct_I.unpack(str[start:end])
01459 start = end
01460 end += length
01461 if python3:
01462 _v77.frame_id = str[start:end].decode('utf-8')
01463 else:
01464 _v77.frame_id = str[start:end]
01465 _v79 = val1.target
01466 _v80 = _v79.header
01467 start = end
01468 end += 4
01469 (_v80.seq,) = _struct_I.unpack(str[start:end])
01470 _v81 = _v80.stamp
01471 _x = _v81
01472 start = end
01473 end += 8
01474 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
01475 start = end
01476 end += 4
01477 (length,) = _struct_I.unpack(str[start:end])
01478 start = end
01479 end += length
01480 if python3:
01481 _v80.frame_id = str[start:end].decode('utf-8')
01482 else:
01483 _v80.frame_id = str[start:end]
01484 _v82 = _v79.point
01485 _x = _v82
01486 start = end
01487 end += 24
01488 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
01489 _v83 = val1.sensor_pose
01490 _v84 = _v83.header
01491 start = end
01492 end += 4
01493 (_v84.seq,) = _struct_I.unpack(str[start:end])
01494 _v85 = _v84.stamp
01495 _x = _v85
01496 start = end
01497 end += 8
01498 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
01499 start = end
01500 end += 4
01501 (length,) = _struct_I.unpack(str[start:end])
01502 start = end
01503 end += length
01504 if python3:
01505 _v84.frame_id = str[start:end].decode('utf-8')
01506 else:
01507 _v84.frame_id = str[start:end]
01508 _v86 = _v83.pose
01509 _v87 = _v86.position
01510 _x = _v87
01511 start = end
01512 end += 24
01513 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
01514 _v88 = _v86.orientation
01515 _x = _v88
01516 start = end
01517 end += 32
01518 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
01519 start = end
01520 end += 8
01521 (val1.absolute_tolerance,) = _struct_d.unpack(str[start:end])
01522 self.action_goal.goal.motion_plan_request.path_constraints.visibility_constraints.append(val1)
01523 start = end
01524 end += 4
01525 (length,) = _struct_I.unpack(str[start:end])
01526 start = end
01527 end += length
01528 if python3:
01529 self.action_goal.goal.motion_plan_request.planner_id = str[start:end].decode('utf-8')
01530 else:
01531 self.action_goal.goal.motion_plan_request.planner_id = str[start:end]
01532 start = end
01533 end += 4
01534 (length,) = _struct_I.unpack(str[start:end])
01535 start = end
01536 end += length
01537 if python3:
01538 self.action_goal.goal.motion_plan_request.group_name = str[start:end].decode('utf-8')
01539 else:
01540 self.action_goal.goal.motion_plan_request.group_name = str[start:end]
01541 _x = self
01542 start = end
01543 end += 40
01544 (_x.action_goal.goal.motion_plan_request.num_planning_attempts, _x.action_goal.goal.motion_plan_request.allowed_planning_time.secs, _x.action_goal.goal.motion_plan_request.allowed_planning_time.nsecs, _x.action_goal.goal.motion_plan_request.expected_path_duration.secs, _x.action_goal.goal.motion_plan_request.expected_path_duration.nsecs, _x.action_goal.goal.motion_plan_request.expected_path_dt.secs, _x.action_goal.goal.motion_plan_request.expected_path_dt.nsecs, _x.action_result.header.seq, _x.action_result.header.stamp.secs, _x.action_result.header.stamp.nsecs,) = _struct_7i3I.unpack(str[start:end])
01545 start = end
01546 end += 4
01547 (length,) = _struct_I.unpack(str[start:end])
01548 start = end
01549 end += length
01550 if python3:
01551 self.action_result.header.frame_id = str[start:end].decode('utf-8')
01552 else:
01553 self.action_result.header.frame_id = str[start:end]
01554 _x = self
01555 start = end
01556 end += 8
01557 (_x.action_result.status.goal_id.stamp.secs, _x.action_result.status.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
01558 start = end
01559 end += 4
01560 (length,) = _struct_I.unpack(str[start:end])
01561 start = end
01562 end += length
01563 if python3:
01564 self.action_result.status.goal_id.id = str[start:end].decode('utf-8')
01565 else:
01566 self.action_result.status.goal_id.id = str[start:end]
01567 start = end
01568 end += 1
01569 (self.action_result.status.status,) = _struct_B.unpack(str[start:end])
01570 start = end
01571 end += 4
01572 (length,) = _struct_I.unpack(str[start:end])
01573 start = end
01574 end += length
01575 if python3:
01576 self.action_result.status.text = str[start:end].decode('utf-8')
01577 else:
01578 self.action_result.status.text = str[start:end]
01579 _x = self
01580 start = end
01581 end += 12
01582 (_x.action_feedback.header.seq, _x.action_feedback.header.stamp.secs, _x.action_feedback.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
01583 start = end
01584 end += 4
01585 (length,) = _struct_I.unpack(str[start:end])
01586 start = end
01587 end += length
01588 if python3:
01589 self.action_feedback.header.frame_id = str[start:end].decode('utf-8')
01590 else:
01591 self.action_feedback.header.frame_id = str[start:end]
01592 _x = self
01593 start = end
01594 end += 8
01595 (_x.action_feedback.status.goal_id.stamp.secs, _x.action_feedback.status.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
01596 start = end
01597 end += 4
01598 (length,) = _struct_I.unpack(str[start:end])
01599 start = end
01600 end += length
01601 if python3:
01602 self.action_feedback.status.goal_id.id = str[start:end].decode('utf-8')
01603 else:
01604 self.action_feedback.status.goal_id.id = str[start:end]
01605 start = end
01606 end += 1
01607 (self.action_feedback.status.status,) = _struct_B.unpack(str[start:end])
01608 start = end
01609 end += 4
01610 (length,) = _struct_I.unpack(str[start:end])
01611 start = end
01612 end += length
01613 if python3:
01614 self.action_feedback.status.text = str[start:end].decode('utf-8')
01615 else:
01616 self.action_feedback.status.text = str[start:end]
01617 return self
01618 except struct.error as e:
01619 raise genpy.DeserializationError(e)
01620
01621
01622 def serialize_numpy(self, buff, numpy):
01623 """
01624 serialize message with numpy array types into buffer
01625 :param buff: buffer, ``StringIO``
01626 :param numpy: numpy python module
01627 """
01628 try:
01629 _x = self
01630 buff.write(_struct_3I.pack(_x.action_goal.header.seq, _x.action_goal.header.stamp.secs, _x.action_goal.header.stamp.nsecs))
01631 _x = self.action_goal.header.frame_id
01632 length = len(_x)
01633 if python3 or type(_x) == unicode:
01634 _x = _x.encode('utf-8')
01635 length = len(_x)
01636 buff.write(struct.pack('<I%ss'%length, length, _x))
01637 _x = self
01638 buff.write(_struct_2I.pack(_x.action_goal.goal_id.stamp.secs, _x.action_goal.goal_id.stamp.nsecs))
01639 _x = self.action_goal.goal_id.id
01640 length = len(_x)
01641 if python3 or type(_x) == unicode:
01642 _x = _x.encode('utf-8')
01643 length = len(_x)
01644 buff.write(struct.pack('<I%ss'%length, length, _x))
01645 _x = self.action_goal.goal.group_name
01646 length = len(_x)
01647 if python3 or type(_x) == unicode:
01648 _x = _x.encode('utf-8')
01649 length = len(_x)
01650 buff.write(struct.pack('<I%ss'%length, length, _x))
01651 _x = self.action_goal.goal.head_monitor_link
01652 length = len(_x)
01653 if python3 or type(_x) == unicode:
01654 _x = _x.encode('utf-8')
01655 length = len(_x)
01656 buff.write(struct.pack('<I%ss'%length, length, _x))
01657 buff.write(_struct_b.pack(self.action_goal.goal.motion_plan_request.workspace_parameters.workspace_region_shape.type))
01658 length = len(self.action_goal.goal.motion_plan_request.workspace_parameters.workspace_region_shape.dimensions)
01659 buff.write(_struct_I.pack(length))
01660 pattern = '<%sd'%length
01661 buff.write(self.action_goal.goal.motion_plan_request.workspace_parameters.workspace_region_shape.dimensions.tostring())
01662 length = len(self.action_goal.goal.motion_plan_request.workspace_parameters.workspace_region_shape.triangles)
01663 buff.write(_struct_I.pack(length))
01664 pattern = '<%si'%length
01665 buff.write(self.action_goal.goal.motion_plan_request.workspace_parameters.workspace_region_shape.triangles.tostring())
01666 length = len(self.action_goal.goal.motion_plan_request.workspace_parameters.workspace_region_shape.vertices)
01667 buff.write(_struct_I.pack(length))
01668 for val1 in self.action_goal.goal.motion_plan_request.workspace_parameters.workspace_region_shape.vertices:
01669 _x = val1
01670 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
01671 _x = self
01672 buff.write(_struct_3I.pack(_x.action_goal.goal.motion_plan_request.workspace_parameters.workspace_region_pose.header.seq, _x.action_goal.goal.motion_plan_request.workspace_parameters.workspace_region_pose.header.stamp.secs, _x.action_goal.goal.motion_plan_request.workspace_parameters.workspace_region_pose.header.stamp.nsecs))
01673 _x = self.action_goal.goal.motion_plan_request.workspace_parameters.workspace_region_pose.header.frame_id
01674 length = len(_x)
01675 if python3 or type(_x) == unicode:
01676 _x = _x.encode('utf-8')
01677 length = len(_x)
01678 buff.write(struct.pack('<I%ss'%length, length, _x))
01679 _x = self
01680 buff.write(_struct_7d3I.pack(_x.action_goal.goal.motion_plan_request.workspace_parameters.workspace_region_pose.pose.position.x, _x.action_goal.goal.motion_plan_request.workspace_parameters.workspace_region_pose.pose.position.y, _x.action_goal.goal.motion_plan_request.workspace_parameters.workspace_region_pose.pose.position.z, _x.action_goal.goal.motion_plan_request.workspace_parameters.workspace_region_pose.pose.orientation.x, _x.action_goal.goal.motion_plan_request.workspace_parameters.workspace_region_pose.pose.orientation.y, _x.action_goal.goal.motion_plan_request.workspace_parameters.workspace_region_pose.pose.orientation.z, _x.action_goal.goal.motion_plan_request.workspace_parameters.workspace_region_pose.pose.orientation.w, _x.action_goal.goal.motion_plan_request.start_state.joint_state.header.seq, _x.action_goal.goal.motion_plan_request.start_state.joint_state.header.stamp.secs, _x.action_goal.goal.motion_plan_request.start_state.joint_state.header.stamp.nsecs))
01681 _x = self.action_goal.goal.motion_plan_request.start_state.joint_state.header.frame_id
01682 length = len(_x)
01683 if python3 or type(_x) == unicode:
01684 _x = _x.encode('utf-8')
01685 length = len(_x)
01686 buff.write(struct.pack('<I%ss'%length, length, _x))
01687 length = len(self.action_goal.goal.motion_plan_request.start_state.joint_state.name)
01688 buff.write(_struct_I.pack(length))
01689 for val1 in self.action_goal.goal.motion_plan_request.start_state.joint_state.name:
01690 length = len(val1)
01691 if python3 or type(val1) == unicode:
01692 val1 = val1.encode('utf-8')
01693 length = len(val1)
01694 buff.write(struct.pack('<I%ss'%length, length, val1))
01695 length = len(self.action_goal.goal.motion_plan_request.start_state.joint_state.position)
01696 buff.write(_struct_I.pack(length))
01697 pattern = '<%sd'%length
01698 buff.write(self.action_goal.goal.motion_plan_request.start_state.joint_state.position.tostring())
01699 length = len(self.action_goal.goal.motion_plan_request.start_state.joint_state.velocity)
01700 buff.write(_struct_I.pack(length))
01701 pattern = '<%sd'%length
01702 buff.write(self.action_goal.goal.motion_plan_request.start_state.joint_state.velocity.tostring())
01703 length = len(self.action_goal.goal.motion_plan_request.start_state.joint_state.effort)
01704 buff.write(_struct_I.pack(length))
01705 pattern = '<%sd'%length
01706 buff.write(self.action_goal.goal.motion_plan_request.start_state.joint_state.effort.tostring())
01707 _x = self
01708 buff.write(_struct_2I.pack(_x.action_goal.goal.motion_plan_request.start_state.multi_dof_joint_state.stamp.secs, _x.action_goal.goal.motion_plan_request.start_state.multi_dof_joint_state.stamp.nsecs))
01709 length = len(self.action_goal.goal.motion_plan_request.start_state.multi_dof_joint_state.joint_names)
01710 buff.write(_struct_I.pack(length))
01711 for val1 in self.action_goal.goal.motion_plan_request.start_state.multi_dof_joint_state.joint_names:
01712 length = len(val1)
01713 if python3 or type(val1) == unicode:
01714 val1 = val1.encode('utf-8')
01715 length = len(val1)
01716 buff.write(struct.pack('<I%ss'%length, length, val1))
01717 length = len(self.action_goal.goal.motion_plan_request.start_state.multi_dof_joint_state.frame_ids)
01718 buff.write(_struct_I.pack(length))
01719 for val1 in self.action_goal.goal.motion_plan_request.start_state.multi_dof_joint_state.frame_ids:
01720 length = len(val1)
01721 if python3 or type(val1) == unicode:
01722 val1 = val1.encode('utf-8')
01723 length = len(val1)
01724 buff.write(struct.pack('<I%ss'%length, length, val1))
01725 length = len(self.action_goal.goal.motion_plan_request.start_state.multi_dof_joint_state.child_frame_ids)
01726 buff.write(_struct_I.pack(length))
01727 for val1 in self.action_goal.goal.motion_plan_request.start_state.multi_dof_joint_state.child_frame_ids:
01728 length = len(val1)
01729 if python3 or type(val1) == unicode:
01730 val1 = val1.encode('utf-8')
01731 length = len(val1)
01732 buff.write(struct.pack('<I%ss'%length, length, val1))
01733 length = len(self.action_goal.goal.motion_plan_request.start_state.multi_dof_joint_state.poses)
01734 buff.write(_struct_I.pack(length))
01735 for val1 in self.action_goal.goal.motion_plan_request.start_state.multi_dof_joint_state.poses:
01736 _v89 = val1.position
01737 _x = _v89
01738 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
01739 _v90 = val1.orientation
01740 _x = _v90
01741 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
01742 length = len(self.action_goal.goal.motion_plan_request.goal_constraints.joint_constraints)
01743 buff.write(_struct_I.pack(length))
01744 for val1 in self.action_goal.goal.motion_plan_request.goal_constraints.joint_constraints:
01745 _x = val1.joint_name
01746 length = len(_x)
01747 if python3 or type(_x) == unicode:
01748 _x = _x.encode('utf-8')
01749 length = len(_x)
01750 buff.write(struct.pack('<I%ss'%length, length, _x))
01751 _x = val1
01752 buff.write(_struct_4d.pack(_x.position, _x.tolerance_above, _x.tolerance_below, _x.weight))
01753 length = len(self.action_goal.goal.motion_plan_request.goal_constraints.position_constraints)
01754 buff.write(_struct_I.pack(length))
01755 for val1 in self.action_goal.goal.motion_plan_request.goal_constraints.position_constraints:
01756 _v91 = val1.header
01757 buff.write(_struct_I.pack(_v91.seq))
01758 _v92 = _v91.stamp
01759 _x = _v92
01760 buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
01761 _x = _v91.frame_id
01762 length = len(_x)
01763 if python3 or type(_x) == unicode:
01764 _x = _x.encode('utf-8')
01765 length = len(_x)
01766 buff.write(struct.pack('<I%ss'%length, length, _x))
01767 _x = val1.link_name
01768 length = len(_x)
01769 if python3 or type(_x) == unicode:
01770 _x = _x.encode('utf-8')
01771 length = len(_x)
01772 buff.write(struct.pack('<I%ss'%length, length, _x))
01773 _v93 = val1.target_point_offset
01774 _x = _v93
01775 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
01776 _v94 = val1.position
01777 _x = _v94
01778 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
01779 _v95 = val1.constraint_region_shape
01780 buff.write(_struct_b.pack(_v95.type))
01781 length = len(_v95.dimensions)
01782 buff.write(_struct_I.pack(length))
01783 pattern = '<%sd'%length
01784 buff.write(_v95.dimensions.tostring())
01785 length = len(_v95.triangles)
01786 buff.write(_struct_I.pack(length))
01787 pattern = '<%si'%length
01788 buff.write(_v95.triangles.tostring())
01789 length = len(_v95.vertices)
01790 buff.write(_struct_I.pack(length))
01791 for val3 in _v95.vertices:
01792 _x = val3
01793 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
01794 _v96 = val1.constraint_region_orientation
01795 _x = _v96
01796 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
01797 buff.write(_struct_d.pack(val1.weight))
01798 length = len(self.action_goal.goal.motion_plan_request.goal_constraints.orientation_constraints)
01799 buff.write(_struct_I.pack(length))
01800 for val1 in self.action_goal.goal.motion_plan_request.goal_constraints.orientation_constraints:
01801 _v97 = val1.header
01802 buff.write(_struct_I.pack(_v97.seq))
01803 _v98 = _v97.stamp
01804 _x = _v98
01805 buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
01806 _x = _v97.frame_id
01807 length = len(_x)
01808 if python3 or type(_x) == unicode:
01809 _x = _x.encode('utf-8')
01810 length = len(_x)
01811 buff.write(struct.pack('<I%ss'%length, length, _x))
01812 _x = val1.link_name
01813 length = len(_x)
01814 if python3 or type(_x) == unicode:
01815 _x = _x.encode('utf-8')
01816 length = len(_x)
01817 buff.write(struct.pack('<I%ss'%length, length, _x))
01818 buff.write(_struct_i.pack(val1.type))
01819 _v99 = val1.orientation
01820 _x = _v99
01821 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
01822 _x = val1
01823 buff.write(_struct_4d.pack(_x.absolute_roll_tolerance, _x.absolute_pitch_tolerance, _x.absolute_yaw_tolerance, _x.weight))
01824 length = len(self.action_goal.goal.motion_plan_request.goal_constraints.visibility_constraints)
01825 buff.write(_struct_I.pack(length))
01826 for val1 in self.action_goal.goal.motion_plan_request.goal_constraints.visibility_constraints:
01827 _v100 = val1.header
01828 buff.write(_struct_I.pack(_v100.seq))
01829 _v101 = _v100.stamp
01830 _x = _v101
01831 buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
01832 _x = _v100.frame_id
01833 length = len(_x)
01834 if python3 or type(_x) == unicode:
01835 _x = _x.encode('utf-8')
01836 length = len(_x)
01837 buff.write(struct.pack('<I%ss'%length, length, _x))
01838 _v102 = val1.target
01839 _v103 = _v102.header
01840 buff.write(_struct_I.pack(_v103.seq))
01841 _v104 = _v103.stamp
01842 _x = _v104
01843 buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
01844 _x = _v103.frame_id
01845 length = len(_x)
01846 if python3 or type(_x) == unicode:
01847 _x = _x.encode('utf-8')
01848 length = len(_x)
01849 buff.write(struct.pack('<I%ss'%length, length, _x))
01850 _v105 = _v102.point
01851 _x = _v105
01852 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
01853 _v106 = val1.sensor_pose
01854 _v107 = _v106.header
01855 buff.write(_struct_I.pack(_v107.seq))
01856 _v108 = _v107.stamp
01857 _x = _v108
01858 buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
01859 _x = _v107.frame_id
01860 length = len(_x)
01861 if python3 or type(_x) == unicode:
01862 _x = _x.encode('utf-8')
01863 length = len(_x)
01864 buff.write(struct.pack('<I%ss'%length, length, _x))
01865 _v109 = _v106.pose
01866 _v110 = _v109.position
01867 _x = _v110
01868 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
01869 _v111 = _v109.orientation
01870 _x = _v111
01871 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
01872 buff.write(_struct_d.pack(val1.absolute_tolerance))
01873 length = len(self.action_goal.goal.motion_plan_request.path_constraints.joint_constraints)
01874 buff.write(_struct_I.pack(length))
01875 for val1 in self.action_goal.goal.motion_plan_request.path_constraints.joint_constraints:
01876 _x = val1.joint_name
01877 length = len(_x)
01878 if python3 or type(_x) == unicode:
01879 _x = _x.encode('utf-8')
01880 length = len(_x)
01881 buff.write(struct.pack('<I%ss'%length, length, _x))
01882 _x = val1
01883 buff.write(_struct_4d.pack(_x.position, _x.tolerance_above, _x.tolerance_below, _x.weight))
01884 length = len(self.action_goal.goal.motion_plan_request.path_constraints.position_constraints)
01885 buff.write(_struct_I.pack(length))
01886 for val1 in self.action_goal.goal.motion_plan_request.path_constraints.position_constraints:
01887 _v112 = val1.header
01888 buff.write(_struct_I.pack(_v112.seq))
01889 _v113 = _v112.stamp
01890 _x = _v113
01891 buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
01892 _x = _v112.frame_id
01893 length = len(_x)
01894 if python3 or type(_x) == unicode:
01895 _x = _x.encode('utf-8')
01896 length = len(_x)
01897 buff.write(struct.pack('<I%ss'%length, length, _x))
01898 _x = val1.link_name
01899 length = len(_x)
01900 if python3 or type(_x) == unicode:
01901 _x = _x.encode('utf-8')
01902 length = len(_x)
01903 buff.write(struct.pack('<I%ss'%length, length, _x))
01904 _v114 = val1.target_point_offset
01905 _x = _v114
01906 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
01907 _v115 = val1.position
01908 _x = _v115
01909 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
01910 _v116 = val1.constraint_region_shape
01911 buff.write(_struct_b.pack(_v116.type))
01912 length = len(_v116.dimensions)
01913 buff.write(_struct_I.pack(length))
01914 pattern = '<%sd'%length
01915 buff.write(_v116.dimensions.tostring())
01916 length = len(_v116.triangles)
01917 buff.write(_struct_I.pack(length))
01918 pattern = '<%si'%length
01919 buff.write(_v116.triangles.tostring())
01920 length = len(_v116.vertices)
01921 buff.write(_struct_I.pack(length))
01922 for val3 in _v116.vertices:
01923 _x = val3
01924 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
01925 _v117 = val1.constraint_region_orientation
01926 _x = _v117
01927 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
01928 buff.write(_struct_d.pack(val1.weight))
01929 length = len(self.action_goal.goal.motion_plan_request.path_constraints.orientation_constraints)
01930 buff.write(_struct_I.pack(length))
01931 for val1 in self.action_goal.goal.motion_plan_request.path_constraints.orientation_constraints:
01932 _v118 = val1.header
01933 buff.write(_struct_I.pack(_v118.seq))
01934 _v119 = _v118.stamp
01935 _x = _v119
01936 buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
01937 _x = _v118.frame_id
01938 length = len(_x)
01939 if python3 or type(_x) == unicode:
01940 _x = _x.encode('utf-8')
01941 length = len(_x)
01942 buff.write(struct.pack('<I%ss'%length, length, _x))
01943 _x = val1.link_name
01944 length = len(_x)
01945 if python3 or type(_x) == unicode:
01946 _x = _x.encode('utf-8')
01947 length = len(_x)
01948 buff.write(struct.pack('<I%ss'%length, length, _x))
01949 buff.write(_struct_i.pack(val1.type))
01950 _v120 = val1.orientation
01951 _x = _v120
01952 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
01953 _x = val1
01954 buff.write(_struct_4d.pack(_x.absolute_roll_tolerance, _x.absolute_pitch_tolerance, _x.absolute_yaw_tolerance, _x.weight))
01955 length = len(self.action_goal.goal.motion_plan_request.path_constraints.visibility_constraints)
01956 buff.write(_struct_I.pack(length))
01957 for val1 in self.action_goal.goal.motion_plan_request.path_constraints.visibility_constraints:
01958 _v121 = val1.header
01959 buff.write(_struct_I.pack(_v121.seq))
01960 _v122 = _v121.stamp
01961 _x = _v122
01962 buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
01963 _x = _v121.frame_id
01964 length = len(_x)
01965 if python3 or type(_x) == unicode:
01966 _x = _x.encode('utf-8')
01967 length = len(_x)
01968 buff.write(struct.pack('<I%ss'%length, length, _x))
01969 _v123 = val1.target
01970 _v124 = _v123.header
01971 buff.write(_struct_I.pack(_v124.seq))
01972 _v125 = _v124.stamp
01973 _x = _v125
01974 buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
01975 _x = _v124.frame_id
01976 length = len(_x)
01977 if python3 or type(_x) == unicode:
01978 _x = _x.encode('utf-8')
01979 length = len(_x)
01980 buff.write(struct.pack('<I%ss'%length, length, _x))
01981 _v126 = _v123.point
01982 _x = _v126
01983 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
01984 _v127 = val1.sensor_pose
01985 _v128 = _v127.header
01986 buff.write(_struct_I.pack(_v128.seq))
01987 _v129 = _v128.stamp
01988 _x = _v129
01989 buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
01990 _x = _v128.frame_id
01991 length = len(_x)
01992 if python3 or type(_x) == unicode:
01993 _x = _x.encode('utf-8')
01994 length = len(_x)
01995 buff.write(struct.pack('<I%ss'%length, length, _x))
01996 _v130 = _v127.pose
01997 _v131 = _v130.position
01998 _x = _v131
01999 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
02000 _v132 = _v130.orientation
02001 _x = _v132
02002 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
02003 buff.write(_struct_d.pack(val1.absolute_tolerance))
02004 _x = self.action_goal.goal.motion_plan_request.planner_id
02005 length = len(_x)
02006 if python3 or type(_x) == unicode:
02007 _x = _x.encode('utf-8')
02008 length = len(_x)
02009 buff.write(struct.pack('<I%ss'%length, length, _x))
02010 _x = self.action_goal.goal.motion_plan_request.group_name
02011 length = len(_x)
02012 if python3 or type(_x) == unicode:
02013 _x = _x.encode('utf-8')
02014 length = len(_x)
02015 buff.write(struct.pack('<I%ss'%length, length, _x))
02016 _x = self
02017 buff.write(_struct_7i3I.pack(_x.action_goal.goal.motion_plan_request.num_planning_attempts, _x.action_goal.goal.motion_plan_request.allowed_planning_time.secs, _x.action_goal.goal.motion_plan_request.allowed_planning_time.nsecs, _x.action_goal.goal.motion_plan_request.expected_path_duration.secs, _x.action_goal.goal.motion_plan_request.expected_path_duration.nsecs, _x.action_goal.goal.motion_plan_request.expected_path_dt.secs, _x.action_goal.goal.motion_plan_request.expected_path_dt.nsecs, _x.action_result.header.seq, _x.action_result.header.stamp.secs, _x.action_result.header.stamp.nsecs))
02018 _x = self.action_result.header.frame_id
02019 length = len(_x)
02020 if python3 or type(_x) == unicode:
02021 _x = _x.encode('utf-8')
02022 length = len(_x)
02023 buff.write(struct.pack('<I%ss'%length, length, _x))
02024 _x = self
02025 buff.write(_struct_2I.pack(_x.action_result.status.goal_id.stamp.secs, _x.action_result.status.goal_id.stamp.nsecs))
02026 _x = self.action_result.status.goal_id.id
02027 length = len(_x)
02028 if python3 or type(_x) == unicode:
02029 _x = _x.encode('utf-8')
02030 length = len(_x)
02031 buff.write(struct.pack('<I%ss'%length, length, _x))
02032 buff.write(_struct_B.pack(self.action_result.status.status))
02033 _x = self.action_result.status.text
02034 length = len(_x)
02035 if python3 or type(_x) == unicode:
02036 _x = _x.encode('utf-8')
02037 length = len(_x)
02038 buff.write(struct.pack('<I%ss'%length, length, _x))
02039 _x = self
02040 buff.write(_struct_3I.pack(_x.action_feedback.header.seq, _x.action_feedback.header.stamp.secs, _x.action_feedback.header.stamp.nsecs))
02041 _x = self.action_feedback.header.frame_id
02042 length = len(_x)
02043 if python3 or type(_x) == unicode:
02044 _x = _x.encode('utf-8')
02045 length = len(_x)
02046 buff.write(struct.pack('<I%ss'%length, length, _x))
02047 _x = self
02048 buff.write(_struct_2I.pack(_x.action_feedback.status.goal_id.stamp.secs, _x.action_feedback.status.goal_id.stamp.nsecs))
02049 _x = self.action_feedback.status.goal_id.id
02050 length = len(_x)
02051 if python3 or type(_x) == unicode:
02052 _x = _x.encode('utf-8')
02053 length = len(_x)
02054 buff.write(struct.pack('<I%ss'%length, length, _x))
02055 buff.write(_struct_B.pack(self.action_feedback.status.status))
02056 _x = self.action_feedback.status.text
02057 length = len(_x)
02058 if python3 or type(_x) == unicode:
02059 _x = _x.encode('utf-8')
02060 length = len(_x)
02061 buff.write(struct.pack('<I%ss'%length, length, _x))
02062 except struct.error as se: self._check_types(se)
02063 except TypeError as te: self._check_types(te)
02064
02065 def deserialize_numpy(self, str, numpy):
02066 """
02067 unpack serialized message in str into this message instance using numpy for array types
02068 :param str: byte array of serialized message, ``str``
02069 :param numpy: numpy python module
02070 """
02071 try:
02072 if self.action_goal is None:
02073 self.action_goal = head_monitor_msgs.msg.PreplanHeadScanActionGoal()
02074 if self.action_result is None:
02075 self.action_result = head_monitor_msgs.msg.PreplanHeadScanActionResult()
02076 if self.action_feedback is None:
02077 self.action_feedback = head_monitor_msgs.msg.PreplanHeadScanActionFeedback()
02078 end = 0
02079 _x = self
02080 start = end
02081 end += 12
02082 (_x.action_goal.header.seq, _x.action_goal.header.stamp.secs, _x.action_goal.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
02083 start = end
02084 end += 4
02085 (length,) = _struct_I.unpack(str[start:end])
02086 start = end
02087 end += length
02088 if python3:
02089 self.action_goal.header.frame_id = str[start:end].decode('utf-8')
02090 else:
02091 self.action_goal.header.frame_id = str[start:end]
02092 _x = self
02093 start = end
02094 end += 8
02095 (_x.action_goal.goal_id.stamp.secs, _x.action_goal.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
02096 start = end
02097 end += 4
02098 (length,) = _struct_I.unpack(str[start:end])
02099 start = end
02100 end += length
02101 if python3:
02102 self.action_goal.goal_id.id = str[start:end].decode('utf-8')
02103 else:
02104 self.action_goal.goal_id.id = str[start:end]
02105 start = end
02106 end += 4
02107 (length,) = _struct_I.unpack(str[start:end])
02108 start = end
02109 end += length
02110 if python3:
02111 self.action_goal.goal.group_name = str[start:end].decode('utf-8')
02112 else:
02113 self.action_goal.goal.group_name = str[start:end]
02114 start = end
02115 end += 4
02116 (length,) = _struct_I.unpack(str[start:end])
02117 start = end
02118 end += length
02119 if python3:
02120 self.action_goal.goal.head_monitor_link = str[start:end].decode('utf-8')
02121 else:
02122 self.action_goal.goal.head_monitor_link = str[start:end]
02123 start = end
02124 end += 1
02125 (self.action_goal.goal.motion_plan_request.workspace_parameters.workspace_region_shape.type,) = _struct_b.unpack(str[start:end])
02126 start = end
02127 end += 4
02128 (length,) = _struct_I.unpack(str[start:end])
02129 pattern = '<%sd'%length
02130 start = end
02131 end += struct.calcsize(pattern)
02132 self.action_goal.goal.motion_plan_request.workspace_parameters.workspace_region_shape.dimensions = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
02133 start = end
02134 end += 4
02135 (length,) = _struct_I.unpack(str[start:end])
02136 pattern = '<%si'%length
02137 start = end
02138 end += struct.calcsize(pattern)
02139 self.action_goal.goal.motion_plan_request.workspace_parameters.workspace_region_shape.triangles = numpy.frombuffer(str[start:end], dtype=numpy.int32, count=length)
02140 start = end
02141 end += 4
02142 (length,) = _struct_I.unpack(str[start:end])
02143 self.action_goal.goal.motion_plan_request.workspace_parameters.workspace_region_shape.vertices = []
02144 for i in range(0, length):
02145 val1 = geometry_msgs.msg.Point()
02146 _x = val1
02147 start = end
02148 end += 24
02149 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
02150 self.action_goal.goal.motion_plan_request.workspace_parameters.workspace_region_shape.vertices.append(val1)
02151 _x = self
02152 start = end
02153 end += 12
02154 (_x.action_goal.goal.motion_plan_request.workspace_parameters.workspace_region_pose.header.seq, _x.action_goal.goal.motion_plan_request.workspace_parameters.workspace_region_pose.header.stamp.secs, _x.action_goal.goal.motion_plan_request.workspace_parameters.workspace_region_pose.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
02155 start = end
02156 end += 4
02157 (length,) = _struct_I.unpack(str[start:end])
02158 start = end
02159 end += length
02160 if python3:
02161 self.action_goal.goal.motion_plan_request.workspace_parameters.workspace_region_pose.header.frame_id = str[start:end].decode('utf-8')
02162 else:
02163 self.action_goal.goal.motion_plan_request.workspace_parameters.workspace_region_pose.header.frame_id = str[start:end]
02164 _x = self
02165 start = end
02166 end += 68
02167 (_x.action_goal.goal.motion_plan_request.workspace_parameters.workspace_region_pose.pose.position.x, _x.action_goal.goal.motion_plan_request.workspace_parameters.workspace_region_pose.pose.position.y, _x.action_goal.goal.motion_plan_request.workspace_parameters.workspace_region_pose.pose.position.z, _x.action_goal.goal.motion_plan_request.workspace_parameters.workspace_region_pose.pose.orientation.x, _x.action_goal.goal.motion_plan_request.workspace_parameters.workspace_region_pose.pose.orientation.y, _x.action_goal.goal.motion_plan_request.workspace_parameters.workspace_region_pose.pose.orientation.z, _x.action_goal.goal.motion_plan_request.workspace_parameters.workspace_region_pose.pose.orientation.w, _x.action_goal.goal.motion_plan_request.start_state.joint_state.header.seq, _x.action_goal.goal.motion_plan_request.start_state.joint_state.header.stamp.secs, _x.action_goal.goal.motion_plan_request.start_state.joint_state.header.stamp.nsecs,) = _struct_7d3I.unpack(str[start:end])
02168 start = end
02169 end += 4
02170 (length,) = _struct_I.unpack(str[start:end])
02171 start = end
02172 end += length
02173 if python3:
02174 self.action_goal.goal.motion_plan_request.start_state.joint_state.header.frame_id = str[start:end].decode('utf-8')
02175 else:
02176 self.action_goal.goal.motion_plan_request.start_state.joint_state.header.frame_id = str[start:end]
02177 start = end
02178 end += 4
02179 (length,) = _struct_I.unpack(str[start:end])
02180 self.action_goal.goal.motion_plan_request.start_state.joint_state.name = []
02181 for i in range(0, length):
02182 start = end
02183 end += 4
02184 (length,) = _struct_I.unpack(str[start:end])
02185 start = end
02186 end += length
02187 if python3:
02188 val1 = str[start:end].decode('utf-8')
02189 else:
02190 val1 = str[start:end]
02191 self.action_goal.goal.motion_plan_request.start_state.joint_state.name.append(val1)
02192 start = end
02193 end += 4
02194 (length,) = _struct_I.unpack(str[start:end])
02195 pattern = '<%sd'%length
02196 start = end
02197 end += struct.calcsize(pattern)
02198 self.action_goal.goal.motion_plan_request.start_state.joint_state.position = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
02199 start = end
02200 end += 4
02201 (length,) = _struct_I.unpack(str[start:end])
02202 pattern = '<%sd'%length
02203 start = end
02204 end += struct.calcsize(pattern)
02205 self.action_goal.goal.motion_plan_request.start_state.joint_state.velocity = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
02206 start = end
02207 end += 4
02208 (length,) = _struct_I.unpack(str[start:end])
02209 pattern = '<%sd'%length
02210 start = end
02211 end += struct.calcsize(pattern)
02212 self.action_goal.goal.motion_plan_request.start_state.joint_state.effort = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
02213 _x = self
02214 start = end
02215 end += 8
02216 (_x.action_goal.goal.motion_plan_request.start_state.multi_dof_joint_state.stamp.secs, _x.action_goal.goal.motion_plan_request.start_state.multi_dof_joint_state.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
02217 start = end
02218 end += 4
02219 (length,) = _struct_I.unpack(str[start:end])
02220 self.action_goal.goal.motion_plan_request.start_state.multi_dof_joint_state.joint_names = []
02221 for i in range(0, length):
02222 start = end
02223 end += 4
02224 (length,) = _struct_I.unpack(str[start:end])
02225 start = end
02226 end += length
02227 if python3:
02228 val1 = str[start:end].decode('utf-8')
02229 else:
02230 val1 = str[start:end]
02231 self.action_goal.goal.motion_plan_request.start_state.multi_dof_joint_state.joint_names.append(val1)
02232 start = end
02233 end += 4
02234 (length,) = _struct_I.unpack(str[start:end])
02235 self.action_goal.goal.motion_plan_request.start_state.multi_dof_joint_state.frame_ids = []
02236 for i in range(0, length):
02237 start = end
02238 end += 4
02239 (length,) = _struct_I.unpack(str[start:end])
02240 start = end
02241 end += length
02242 if python3:
02243 val1 = str[start:end].decode('utf-8')
02244 else:
02245 val1 = str[start:end]
02246 self.action_goal.goal.motion_plan_request.start_state.multi_dof_joint_state.frame_ids.append(val1)
02247 start = end
02248 end += 4
02249 (length,) = _struct_I.unpack(str[start:end])
02250 self.action_goal.goal.motion_plan_request.start_state.multi_dof_joint_state.child_frame_ids = []
02251 for i in range(0, length):
02252 start = end
02253 end += 4
02254 (length,) = _struct_I.unpack(str[start:end])
02255 start = end
02256 end += length
02257 if python3:
02258 val1 = str[start:end].decode('utf-8')
02259 else:
02260 val1 = str[start:end]
02261 self.action_goal.goal.motion_plan_request.start_state.multi_dof_joint_state.child_frame_ids.append(val1)
02262 start = end
02263 end += 4
02264 (length,) = _struct_I.unpack(str[start:end])
02265 self.action_goal.goal.motion_plan_request.start_state.multi_dof_joint_state.poses = []
02266 for i in range(0, length):
02267 val1 = geometry_msgs.msg.Pose()
02268 _v133 = val1.position
02269 _x = _v133
02270 start = end
02271 end += 24
02272 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
02273 _v134 = val1.orientation
02274 _x = _v134
02275 start = end
02276 end += 32
02277 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
02278 self.action_goal.goal.motion_plan_request.start_state.multi_dof_joint_state.poses.append(val1)
02279 start = end
02280 end += 4
02281 (length,) = _struct_I.unpack(str[start:end])
02282 self.action_goal.goal.motion_plan_request.goal_constraints.joint_constraints = []
02283 for i in range(0, length):
02284 val1 = arm_navigation_msgs.msg.JointConstraint()
02285 start = end
02286 end += 4
02287 (length,) = _struct_I.unpack(str[start:end])
02288 start = end
02289 end += length
02290 if python3:
02291 val1.joint_name = str[start:end].decode('utf-8')
02292 else:
02293 val1.joint_name = str[start:end]
02294 _x = val1
02295 start = end
02296 end += 32
02297 (_x.position, _x.tolerance_above, _x.tolerance_below, _x.weight,) = _struct_4d.unpack(str[start:end])
02298 self.action_goal.goal.motion_plan_request.goal_constraints.joint_constraints.append(val1)
02299 start = end
02300 end += 4
02301 (length,) = _struct_I.unpack(str[start:end])
02302 self.action_goal.goal.motion_plan_request.goal_constraints.position_constraints = []
02303 for i in range(0, length):
02304 val1 = arm_navigation_msgs.msg.PositionConstraint()
02305 _v135 = val1.header
02306 start = end
02307 end += 4
02308 (_v135.seq,) = _struct_I.unpack(str[start:end])
02309 _v136 = _v135.stamp
02310 _x = _v136
02311 start = end
02312 end += 8
02313 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
02314 start = end
02315 end += 4
02316 (length,) = _struct_I.unpack(str[start:end])
02317 start = end
02318 end += length
02319 if python3:
02320 _v135.frame_id = str[start:end].decode('utf-8')
02321 else:
02322 _v135.frame_id = str[start:end]
02323 start = end
02324 end += 4
02325 (length,) = _struct_I.unpack(str[start:end])
02326 start = end
02327 end += length
02328 if python3:
02329 val1.link_name = str[start:end].decode('utf-8')
02330 else:
02331 val1.link_name = str[start:end]
02332 _v137 = val1.target_point_offset
02333 _x = _v137
02334 start = end
02335 end += 24
02336 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
02337 _v138 = val1.position
02338 _x = _v138
02339 start = end
02340 end += 24
02341 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
02342 _v139 = val1.constraint_region_shape
02343 start = end
02344 end += 1
02345 (_v139.type,) = _struct_b.unpack(str[start:end])
02346 start = end
02347 end += 4
02348 (length,) = _struct_I.unpack(str[start:end])
02349 pattern = '<%sd'%length
02350 start = end
02351 end += struct.calcsize(pattern)
02352 _v139.dimensions = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
02353 start = end
02354 end += 4
02355 (length,) = _struct_I.unpack(str[start:end])
02356 pattern = '<%si'%length
02357 start = end
02358 end += struct.calcsize(pattern)
02359 _v139.triangles = numpy.frombuffer(str[start:end], dtype=numpy.int32, count=length)
02360 start = end
02361 end += 4
02362 (length,) = _struct_I.unpack(str[start:end])
02363 _v139.vertices = []
02364 for i in range(0, length):
02365 val3 = geometry_msgs.msg.Point()
02366 _x = val3
02367 start = end
02368 end += 24
02369 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
02370 _v139.vertices.append(val3)
02371 _v140 = val1.constraint_region_orientation
02372 _x = _v140
02373 start = end
02374 end += 32
02375 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
02376 start = end
02377 end += 8
02378 (val1.weight,) = _struct_d.unpack(str[start:end])
02379 self.action_goal.goal.motion_plan_request.goal_constraints.position_constraints.append(val1)
02380 start = end
02381 end += 4
02382 (length,) = _struct_I.unpack(str[start:end])
02383 self.action_goal.goal.motion_plan_request.goal_constraints.orientation_constraints = []
02384 for i in range(0, length):
02385 val1 = arm_navigation_msgs.msg.OrientationConstraint()
02386 _v141 = val1.header
02387 start = end
02388 end += 4
02389 (_v141.seq,) = _struct_I.unpack(str[start:end])
02390 _v142 = _v141.stamp
02391 _x = _v142
02392 start = end
02393 end += 8
02394 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
02395 start = end
02396 end += 4
02397 (length,) = _struct_I.unpack(str[start:end])
02398 start = end
02399 end += length
02400 if python3:
02401 _v141.frame_id = str[start:end].decode('utf-8')
02402 else:
02403 _v141.frame_id = str[start:end]
02404 start = end
02405 end += 4
02406 (length,) = _struct_I.unpack(str[start:end])
02407 start = end
02408 end += length
02409 if python3:
02410 val1.link_name = str[start:end].decode('utf-8')
02411 else:
02412 val1.link_name = str[start:end]
02413 start = end
02414 end += 4
02415 (val1.type,) = _struct_i.unpack(str[start:end])
02416 _v143 = val1.orientation
02417 _x = _v143
02418 start = end
02419 end += 32
02420 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
02421 _x = val1
02422 start = end
02423 end += 32
02424 (_x.absolute_roll_tolerance, _x.absolute_pitch_tolerance, _x.absolute_yaw_tolerance, _x.weight,) = _struct_4d.unpack(str[start:end])
02425 self.action_goal.goal.motion_plan_request.goal_constraints.orientation_constraints.append(val1)
02426 start = end
02427 end += 4
02428 (length,) = _struct_I.unpack(str[start:end])
02429 self.action_goal.goal.motion_plan_request.goal_constraints.visibility_constraints = []
02430 for i in range(0, length):
02431 val1 = arm_navigation_msgs.msg.VisibilityConstraint()
02432 _v144 = val1.header
02433 start = end
02434 end += 4
02435 (_v144.seq,) = _struct_I.unpack(str[start:end])
02436 _v145 = _v144.stamp
02437 _x = _v145
02438 start = end
02439 end += 8
02440 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
02441 start = end
02442 end += 4
02443 (length,) = _struct_I.unpack(str[start:end])
02444 start = end
02445 end += length
02446 if python3:
02447 _v144.frame_id = str[start:end].decode('utf-8')
02448 else:
02449 _v144.frame_id = str[start:end]
02450 _v146 = val1.target
02451 _v147 = _v146.header
02452 start = end
02453 end += 4
02454 (_v147.seq,) = _struct_I.unpack(str[start:end])
02455 _v148 = _v147.stamp
02456 _x = _v148
02457 start = end
02458 end += 8
02459 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
02460 start = end
02461 end += 4
02462 (length,) = _struct_I.unpack(str[start:end])
02463 start = end
02464 end += length
02465 if python3:
02466 _v147.frame_id = str[start:end].decode('utf-8')
02467 else:
02468 _v147.frame_id = str[start:end]
02469 _v149 = _v146.point
02470 _x = _v149
02471 start = end
02472 end += 24
02473 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
02474 _v150 = val1.sensor_pose
02475 _v151 = _v150.header
02476 start = end
02477 end += 4
02478 (_v151.seq,) = _struct_I.unpack(str[start:end])
02479 _v152 = _v151.stamp
02480 _x = _v152
02481 start = end
02482 end += 8
02483 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
02484 start = end
02485 end += 4
02486 (length,) = _struct_I.unpack(str[start:end])
02487 start = end
02488 end += length
02489 if python3:
02490 _v151.frame_id = str[start:end].decode('utf-8')
02491 else:
02492 _v151.frame_id = str[start:end]
02493 _v153 = _v150.pose
02494 _v154 = _v153.position
02495 _x = _v154
02496 start = end
02497 end += 24
02498 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
02499 _v155 = _v153.orientation
02500 _x = _v155
02501 start = end
02502 end += 32
02503 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
02504 start = end
02505 end += 8
02506 (val1.absolute_tolerance,) = _struct_d.unpack(str[start:end])
02507 self.action_goal.goal.motion_plan_request.goal_constraints.visibility_constraints.append(val1)
02508 start = end
02509 end += 4
02510 (length,) = _struct_I.unpack(str[start:end])
02511 self.action_goal.goal.motion_plan_request.path_constraints.joint_constraints = []
02512 for i in range(0, length):
02513 val1 = arm_navigation_msgs.msg.JointConstraint()
02514 start = end
02515 end += 4
02516 (length,) = _struct_I.unpack(str[start:end])
02517 start = end
02518 end += length
02519 if python3:
02520 val1.joint_name = str[start:end].decode('utf-8')
02521 else:
02522 val1.joint_name = str[start:end]
02523 _x = val1
02524 start = end
02525 end += 32
02526 (_x.position, _x.tolerance_above, _x.tolerance_below, _x.weight,) = _struct_4d.unpack(str[start:end])
02527 self.action_goal.goal.motion_plan_request.path_constraints.joint_constraints.append(val1)
02528 start = end
02529 end += 4
02530 (length,) = _struct_I.unpack(str[start:end])
02531 self.action_goal.goal.motion_plan_request.path_constraints.position_constraints = []
02532 for i in range(0, length):
02533 val1 = arm_navigation_msgs.msg.PositionConstraint()
02534 _v156 = val1.header
02535 start = end
02536 end += 4
02537 (_v156.seq,) = _struct_I.unpack(str[start:end])
02538 _v157 = _v156.stamp
02539 _x = _v157
02540 start = end
02541 end += 8
02542 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
02543 start = end
02544 end += 4
02545 (length,) = _struct_I.unpack(str[start:end])
02546 start = end
02547 end += length
02548 if python3:
02549 _v156.frame_id = str[start:end].decode('utf-8')
02550 else:
02551 _v156.frame_id = str[start:end]
02552 start = end
02553 end += 4
02554 (length,) = _struct_I.unpack(str[start:end])
02555 start = end
02556 end += length
02557 if python3:
02558 val1.link_name = str[start:end].decode('utf-8')
02559 else:
02560 val1.link_name = str[start:end]
02561 _v158 = val1.target_point_offset
02562 _x = _v158
02563 start = end
02564 end += 24
02565 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
02566 _v159 = val1.position
02567 _x = _v159
02568 start = end
02569 end += 24
02570 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
02571 _v160 = val1.constraint_region_shape
02572 start = end
02573 end += 1
02574 (_v160.type,) = _struct_b.unpack(str[start:end])
02575 start = end
02576 end += 4
02577 (length,) = _struct_I.unpack(str[start:end])
02578 pattern = '<%sd'%length
02579 start = end
02580 end += struct.calcsize(pattern)
02581 _v160.dimensions = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
02582 start = end
02583 end += 4
02584 (length,) = _struct_I.unpack(str[start:end])
02585 pattern = '<%si'%length
02586 start = end
02587 end += struct.calcsize(pattern)
02588 _v160.triangles = numpy.frombuffer(str[start:end], dtype=numpy.int32, count=length)
02589 start = end
02590 end += 4
02591 (length,) = _struct_I.unpack(str[start:end])
02592 _v160.vertices = []
02593 for i in range(0, length):
02594 val3 = geometry_msgs.msg.Point()
02595 _x = val3
02596 start = end
02597 end += 24
02598 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
02599 _v160.vertices.append(val3)
02600 _v161 = val1.constraint_region_orientation
02601 _x = _v161
02602 start = end
02603 end += 32
02604 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
02605 start = end
02606 end += 8
02607 (val1.weight,) = _struct_d.unpack(str[start:end])
02608 self.action_goal.goal.motion_plan_request.path_constraints.position_constraints.append(val1)
02609 start = end
02610 end += 4
02611 (length,) = _struct_I.unpack(str[start:end])
02612 self.action_goal.goal.motion_plan_request.path_constraints.orientation_constraints = []
02613 for i in range(0, length):
02614 val1 = arm_navigation_msgs.msg.OrientationConstraint()
02615 _v162 = val1.header
02616 start = end
02617 end += 4
02618 (_v162.seq,) = _struct_I.unpack(str[start:end])
02619 _v163 = _v162.stamp
02620 _x = _v163
02621 start = end
02622 end += 8
02623 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
02624 start = end
02625 end += 4
02626 (length,) = _struct_I.unpack(str[start:end])
02627 start = end
02628 end += length
02629 if python3:
02630 _v162.frame_id = str[start:end].decode('utf-8')
02631 else:
02632 _v162.frame_id = str[start:end]
02633 start = end
02634 end += 4
02635 (length,) = _struct_I.unpack(str[start:end])
02636 start = end
02637 end += length
02638 if python3:
02639 val1.link_name = str[start:end].decode('utf-8')
02640 else:
02641 val1.link_name = str[start:end]
02642 start = end
02643 end += 4
02644 (val1.type,) = _struct_i.unpack(str[start:end])
02645 _v164 = val1.orientation
02646 _x = _v164
02647 start = end
02648 end += 32
02649 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
02650 _x = val1
02651 start = end
02652 end += 32
02653 (_x.absolute_roll_tolerance, _x.absolute_pitch_tolerance, _x.absolute_yaw_tolerance, _x.weight,) = _struct_4d.unpack(str[start:end])
02654 self.action_goal.goal.motion_plan_request.path_constraints.orientation_constraints.append(val1)
02655 start = end
02656 end += 4
02657 (length,) = _struct_I.unpack(str[start:end])
02658 self.action_goal.goal.motion_plan_request.path_constraints.visibility_constraints = []
02659 for i in range(0, length):
02660 val1 = arm_navigation_msgs.msg.VisibilityConstraint()
02661 _v165 = val1.header
02662 start = end
02663 end += 4
02664 (_v165.seq,) = _struct_I.unpack(str[start:end])
02665 _v166 = _v165.stamp
02666 _x = _v166
02667 start = end
02668 end += 8
02669 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
02670 start = end
02671 end += 4
02672 (length,) = _struct_I.unpack(str[start:end])
02673 start = end
02674 end += length
02675 if python3:
02676 _v165.frame_id = str[start:end].decode('utf-8')
02677 else:
02678 _v165.frame_id = str[start:end]
02679 _v167 = val1.target
02680 _v168 = _v167.header
02681 start = end
02682 end += 4
02683 (_v168.seq,) = _struct_I.unpack(str[start:end])
02684 _v169 = _v168.stamp
02685 _x = _v169
02686 start = end
02687 end += 8
02688 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
02689 start = end
02690 end += 4
02691 (length,) = _struct_I.unpack(str[start:end])
02692 start = end
02693 end += length
02694 if python3:
02695 _v168.frame_id = str[start:end].decode('utf-8')
02696 else:
02697 _v168.frame_id = str[start:end]
02698 _v170 = _v167.point
02699 _x = _v170
02700 start = end
02701 end += 24
02702 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
02703 _v171 = val1.sensor_pose
02704 _v172 = _v171.header
02705 start = end
02706 end += 4
02707 (_v172.seq,) = _struct_I.unpack(str[start:end])
02708 _v173 = _v172.stamp
02709 _x = _v173
02710 start = end
02711 end += 8
02712 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
02713 start = end
02714 end += 4
02715 (length,) = _struct_I.unpack(str[start:end])
02716 start = end
02717 end += length
02718 if python3:
02719 _v172.frame_id = str[start:end].decode('utf-8')
02720 else:
02721 _v172.frame_id = str[start:end]
02722 _v174 = _v171.pose
02723 _v175 = _v174.position
02724 _x = _v175
02725 start = end
02726 end += 24
02727 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
02728 _v176 = _v174.orientation
02729 _x = _v176
02730 start = end
02731 end += 32
02732 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
02733 start = end
02734 end += 8
02735 (val1.absolute_tolerance,) = _struct_d.unpack(str[start:end])
02736 self.action_goal.goal.motion_plan_request.path_constraints.visibility_constraints.append(val1)
02737 start = end
02738 end += 4
02739 (length,) = _struct_I.unpack(str[start:end])
02740 start = end
02741 end += length
02742 if python3:
02743 self.action_goal.goal.motion_plan_request.planner_id = str[start:end].decode('utf-8')
02744 else:
02745 self.action_goal.goal.motion_plan_request.planner_id = str[start:end]
02746 start = end
02747 end += 4
02748 (length,) = _struct_I.unpack(str[start:end])
02749 start = end
02750 end += length
02751 if python3:
02752 self.action_goal.goal.motion_plan_request.group_name = str[start:end].decode('utf-8')
02753 else:
02754 self.action_goal.goal.motion_plan_request.group_name = str[start:end]
02755 _x = self
02756 start = end
02757 end += 40
02758 (_x.action_goal.goal.motion_plan_request.num_planning_attempts, _x.action_goal.goal.motion_plan_request.allowed_planning_time.secs, _x.action_goal.goal.motion_plan_request.allowed_planning_time.nsecs, _x.action_goal.goal.motion_plan_request.expected_path_duration.secs, _x.action_goal.goal.motion_plan_request.expected_path_duration.nsecs, _x.action_goal.goal.motion_plan_request.expected_path_dt.secs, _x.action_goal.goal.motion_plan_request.expected_path_dt.nsecs, _x.action_result.header.seq, _x.action_result.header.stamp.secs, _x.action_result.header.stamp.nsecs,) = _struct_7i3I.unpack(str[start:end])
02759 start = end
02760 end += 4
02761 (length,) = _struct_I.unpack(str[start:end])
02762 start = end
02763 end += length
02764 if python3:
02765 self.action_result.header.frame_id = str[start:end].decode('utf-8')
02766 else:
02767 self.action_result.header.frame_id = str[start:end]
02768 _x = self
02769 start = end
02770 end += 8
02771 (_x.action_result.status.goal_id.stamp.secs, _x.action_result.status.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
02772 start = end
02773 end += 4
02774 (length,) = _struct_I.unpack(str[start:end])
02775 start = end
02776 end += length
02777 if python3:
02778 self.action_result.status.goal_id.id = str[start:end].decode('utf-8')
02779 else:
02780 self.action_result.status.goal_id.id = str[start:end]
02781 start = end
02782 end += 1
02783 (self.action_result.status.status,) = _struct_B.unpack(str[start:end])
02784 start = end
02785 end += 4
02786 (length,) = _struct_I.unpack(str[start:end])
02787 start = end
02788 end += length
02789 if python3:
02790 self.action_result.status.text = str[start:end].decode('utf-8')
02791 else:
02792 self.action_result.status.text = str[start:end]
02793 _x = self
02794 start = end
02795 end += 12
02796 (_x.action_feedback.header.seq, _x.action_feedback.header.stamp.secs, _x.action_feedback.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
02797 start = end
02798 end += 4
02799 (length,) = _struct_I.unpack(str[start:end])
02800 start = end
02801 end += length
02802 if python3:
02803 self.action_feedback.header.frame_id = str[start:end].decode('utf-8')
02804 else:
02805 self.action_feedback.header.frame_id = str[start:end]
02806 _x = self
02807 start = end
02808 end += 8
02809 (_x.action_feedback.status.goal_id.stamp.secs, _x.action_feedback.status.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
02810 start = end
02811 end += 4
02812 (length,) = _struct_I.unpack(str[start:end])
02813 start = end
02814 end += length
02815 if python3:
02816 self.action_feedback.status.goal_id.id = str[start:end].decode('utf-8')
02817 else:
02818 self.action_feedback.status.goal_id.id = str[start:end]
02819 start = end
02820 end += 1
02821 (self.action_feedback.status.status,) = _struct_B.unpack(str[start:end])
02822 start = end
02823 end += 4
02824 (length,) = _struct_I.unpack(str[start:end])
02825 start = end
02826 end += length
02827 if python3:
02828 self.action_feedback.status.text = str[start:end].decode('utf-8')
02829 else:
02830 self.action_feedback.status.text = str[start:end]
02831 return self
02832 except struct.error as e:
02833 raise genpy.DeserializationError(e)
02834
02835 _struct_I = genpy.struct_I
02836 _struct_b = struct.Struct("<b")
02837 _struct_d = struct.Struct("<d")
02838 _struct_2I = struct.Struct("<2I")
02839 _struct_i = struct.Struct("<i")
02840 _struct_3I = struct.Struct("<3I")
02841 _struct_B = struct.Struct("<B")
02842 _struct_4d = struct.Struct("<4d")
02843 _struct_7i3I = struct.Struct("<7i3I")
02844 _struct_7d3I = struct.Struct("<7d3I")
02845 _struct_3d = struct.Struct("<3d")