_GetPositionIK.py
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00001 """autogenerated by genpy from kinematics_msgs/GetPositionIKRequest.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 kinematics_msgs.msg
00009 import geometry_msgs.msg
00010 import sensor_msgs.msg
00011 import genpy
00012 import std_msgs.msg
00013 
00014 class GetPositionIKRequest(genpy.Message):
00015   _md5sum = "bf9ee33930d9eaff390b8af4a213ba62"
00016   _type = "kinematics_msgs/GetPositionIKRequest"
00017   _has_header = False #flag to mark the presence of a Header object
00018   _full_text = """
00019 
00020 kinematics_msgs/PositionIKRequest ik_request
00021 
00022 duration timeout
00023 
00024 ================================================================================
00025 MSG: kinematics_msgs/PositionIKRequest
00026 # A Position IK request message
00027 # The name of the link for which we are computing IK
00028 string ik_link_name
00029 
00030 # The (stamped) pose of the link
00031 geometry_msgs/PoseStamped pose_stamped
00032 
00033 # A RobotState consisting of hint/seed positions for the IK computation. 
00034 # These may be used to seed the IK search. 
00035 # The seed state MUST contain state for all joints to be used by the IK solver
00036 # to compute IK. The list of joints that the IK solver deals with can be found using
00037 # the kinematics_msgs/GetKinematicSolverInfo
00038 arm_navigation_msgs/RobotState ik_seed_state
00039 
00040 # Additional state information can be provided here to specify the starting positions 
00041 # of other joints/links on the robot.
00042 arm_navigation_msgs/RobotState robot_state
00043 
00044 ================================================================================
00045 MSG: geometry_msgs/PoseStamped
00046 # A Pose with reference coordinate frame and timestamp
00047 Header header
00048 Pose pose
00049 
00050 ================================================================================
00051 MSG: std_msgs/Header
00052 # Standard metadata for higher-level stamped data types.
00053 # This is generally used to communicate timestamped data 
00054 # in a particular coordinate frame.
00055 # 
00056 # sequence ID: consecutively increasing ID 
00057 uint32 seq
00058 #Two-integer timestamp that is expressed as:
00059 # * stamp.secs: seconds (stamp_secs) since epoch
00060 # * stamp.nsecs: nanoseconds since stamp_secs
00061 # time-handling sugar is provided by the client library
00062 time stamp
00063 #Frame this data is associated with
00064 # 0: no frame
00065 # 1: global frame
00066 string frame_id
00067 
00068 ================================================================================
00069 MSG: geometry_msgs/Pose
00070 # A representation of pose in free space, composed of postion and orientation. 
00071 Point position
00072 Quaternion orientation
00073 
00074 ================================================================================
00075 MSG: geometry_msgs/Point
00076 # This contains the position of a point in free space
00077 float64 x
00078 float64 y
00079 float64 z
00080 
00081 ================================================================================
00082 MSG: geometry_msgs/Quaternion
00083 # This represents an orientation in free space in quaternion form.
00084 
00085 float64 x
00086 float64 y
00087 float64 z
00088 float64 w
00089 
00090 ================================================================================
00091 MSG: arm_navigation_msgs/RobotState
00092 # This message contains information about the robot state, i.e. the positions of its joints and links
00093 sensor_msgs/JointState joint_state
00094 arm_navigation_msgs/MultiDOFJointState multi_dof_joint_state
00095 
00096 ================================================================================
00097 MSG: sensor_msgs/JointState
00098 # This is a message that holds data to describe the state of a set of torque controlled joints. 
00099 #
00100 # The state of each joint (revolute or prismatic) is defined by:
00101 #  * the position of the joint (rad or m),
00102 #  * the velocity of the joint (rad/s or m/s) and 
00103 #  * the effort that is applied in the joint (Nm or N).
00104 #
00105 # Each joint is uniquely identified by its name
00106 # The header specifies the time at which the joint states were recorded. All the joint states
00107 # in one message have to be recorded at the same time.
00108 #
00109 # This message consists of a multiple arrays, one for each part of the joint state. 
00110 # The goal is to make each of the fields optional. When e.g. your joints have no
00111 # effort associated with them, you can leave the effort array empty. 
00112 #
00113 # All arrays in this message should have the same size, or be empty.
00114 # This is the only way to uniquely associate the joint name with the correct
00115 # states.
00116 
00117 
00118 Header header
00119 
00120 string[] name
00121 float64[] position
00122 float64[] velocity
00123 float64[] effort
00124 
00125 ================================================================================
00126 MSG: arm_navigation_msgs/MultiDOFJointState
00127 #A representation of a multi-dof joint state
00128 time stamp
00129 string[] joint_names
00130 string[] frame_ids
00131 string[] child_frame_ids
00132 geometry_msgs/Pose[] poses
00133 
00134 """
00135   __slots__ = ['ik_request','timeout']
00136   _slot_types = ['kinematics_msgs/PositionIKRequest','duration']
00137 
00138   def __init__(self, *args, **kwds):
00139     """
00140     Constructor. Any message fields that are implicitly/explicitly
00141     set to None will be assigned a default value. The recommend
00142     use is keyword arguments as this is more robust to future message
00143     changes.  You cannot mix in-order arguments and keyword arguments.
00144 
00145     The available fields are:
00146        ik_request,timeout
00147 
00148     :param args: complete set of field values, in .msg order
00149     :param kwds: use keyword arguments corresponding to message field names
00150     to set specific fields.
00151     """
00152     if args or kwds:
00153       super(GetPositionIKRequest, self).__init__(*args, **kwds)
00154       #message fields cannot be None, assign default values for those that are
00155       if self.ik_request is None:
00156         self.ik_request = kinematics_msgs.msg.PositionIKRequest()
00157       if self.timeout is None:
00158         self.timeout = genpy.Duration()
00159     else:
00160       self.ik_request = kinematics_msgs.msg.PositionIKRequest()
00161       self.timeout = genpy.Duration()
00162 
00163   def _get_types(self):
00164     """
00165     internal API method
00166     """
00167     return self._slot_types
00168 
00169   def serialize(self, buff):
00170     """
00171     serialize message into buffer
00172     :param buff: buffer, ``StringIO``
00173     """
00174     try:
00175       _x = self.ik_request.ik_link_name
00176       length = len(_x)
00177       if python3 or type(_x) == unicode:
00178         _x = _x.encode('utf-8')
00179         length = len(_x)
00180       buff.write(struct.pack('<I%ss'%length, length, _x))
00181       _x = self
00182       buff.write(_struct_3I.pack(_x.ik_request.pose_stamped.header.seq, _x.ik_request.pose_stamped.header.stamp.secs, _x.ik_request.pose_stamped.header.stamp.nsecs))
00183       _x = self.ik_request.pose_stamped.header.frame_id
00184       length = len(_x)
00185       if python3 or type(_x) == unicode:
00186         _x = _x.encode('utf-8')
00187         length = len(_x)
00188       buff.write(struct.pack('<I%ss'%length, length, _x))
00189       _x = self
00190       buff.write(_struct_7d3I.pack(_x.ik_request.pose_stamped.pose.position.x, _x.ik_request.pose_stamped.pose.position.y, _x.ik_request.pose_stamped.pose.position.z, _x.ik_request.pose_stamped.pose.orientation.x, _x.ik_request.pose_stamped.pose.orientation.y, _x.ik_request.pose_stamped.pose.orientation.z, _x.ik_request.pose_stamped.pose.orientation.w, _x.ik_request.ik_seed_state.joint_state.header.seq, _x.ik_request.ik_seed_state.joint_state.header.stamp.secs, _x.ik_request.ik_seed_state.joint_state.header.stamp.nsecs))
00191       _x = self.ik_request.ik_seed_state.joint_state.header.frame_id
00192       length = len(_x)
00193       if python3 or type(_x) == unicode:
00194         _x = _x.encode('utf-8')
00195         length = len(_x)
00196       buff.write(struct.pack('<I%ss'%length, length, _x))
00197       length = len(self.ik_request.ik_seed_state.joint_state.name)
00198       buff.write(_struct_I.pack(length))
00199       for val1 in self.ik_request.ik_seed_state.joint_state.name:
00200         length = len(val1)
00201         if python3 or type(val1) == unicode:
00202           val1 = val1.encode('utf-8')
00203           length = len(val1)
00204         buff.write(struct.pack('<I%ss'%length, length, val1))
00205       length = len(self.ik_request.ik_seed_state.joint_state.position)
00206       buff.write(_struct_I.pack(length))
00207       pattern = '<%sd'%length
00208       buff.write(struct.pack(pattern, *self.ik_request.ik_seed_state.joint_state.position))
00209       length = len(self.ik_request.ik_seed_state.joint_state.velocity)
00210       buff.write(_struct_I.pack(length))
00211       pattern = '<%sd'%length
00212       buff.write(struct.pack(pattern, *self.ik_request.ik_seed_state.joint_state.velocity))
00213       length = len(self.ik_request.ik_seed_state.joint_state.effort)
00214       buff.write(_struct_I.pack(length))
00215       pattern = '<%sd'%length
00216       buff.write(struct.pack(pattern, *self.ik_request.ik_seed_state.joint_state.effort))
00217       _x = self
00218       buff.write(_struct_2I.pack(_x.ik_request.ik_seed_state.multi_dof_joint_state.stamp.secs, _x.ik_request.ik_seed_state.multi_dof_joint_state.stamp.nsecs))
00219       length = len(self.ik_request.ik_seed_state.multi_dof_joint_state.joint_names)
00220       buff.write(_struct_I.pack(length))
00221       for val1 in self.ik_request.ik_seed_state.multi_dof_joint_state.joint_names:
00222         length = len(val1)
00223         if python3 or type(val1) == unicode:
00224           val1 = val1.encode('utf-8')
00225           length = len(val1)
00226         buff.write(struct.pack('<I%ss'%length, length, val1))
00227       length = len(self.ik_request.ik_seed_state.multi_dof_joint_state.frame_ids)
00228       buff.write(_struct_I.pack(length))
00229       for val1 in self.ik_request.ik_seed_state.multi_dof_joint_state.frame_ids:
00230         length = len(val1)
00231         if python3 or type(val1) == unicode:
00232           val1 = val1.encode('utf-8')
00233           length = len(val1)
00234         buff.write(struct.pack('<I%ss'%length, length, val1))
00235       length = len(self.ik_request.ik_seed_state.multi_dof_joint_state.child_frame_ids)
00236       buff.write(_struct_I.pack(length))
00237       for val1 in self.ik_request.ik_seed_state.multi_dof_joint_state.child_frame_ids:
00238         length = len(val1)
00239         if python3 or type(val1) == unicode:
00240           val1 = val1.encode('utf-8')
00241           length = len(val1)
00242         buff.write(struct.pack('<I%ss'%length, length, val1))
00243       length = len(self.ik_request.ik_seed_state.multi_dof_joint_state.poses)
00244       buff.write(_struct_I.pack(length))
00245       for val1 in self.ik_request.ik_seed_state.multi_dof_joint_state.poses:
00246         _v1 = val1.position
00247         _x = _v1
00248         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00249         _v2 = val1.orientation
00250         _x = _v2
00251         buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00252       _x = self
00253       buff.write(_struct_3I.pack(_x.ik_request.robot_state.joint_state.header.seq, _x.ik_request.robot_state.joint_state.header.stamp.secs, _x.ik_request.robot_state.joint_state.header.stamp.nsecs))
00254       _x = self.ik_request.robot_state.joint_state.header.frame_id
00255       length = len(_x)
00256       if python3 or type(_x) == unicode:
00257         _x = _x.encode('utf-8')
00258         length = len(_x)
00259       buff.write(struct.pack('<I%ss'%length, length, _x))
00260       length = len(self.ik_request.robot_state.joint_state.name)
00261       buff.write(_struct_I.pack(length))
00262       for val1 in self.ik_request.robot_state.joint_state.name:
00263         length = len(val1)
00264         if python3 or type(val1) == unicode:
00265           val1 = val1.encode('utf-8')
00266           length = len(val1)
00267         buff.write(struct.pack('<I%ss'%length, length, val1))
00268       length = len(self.ik_request.robot_state.joint_state.position)
00269       buff.write(_struct_I.pack(length))
00270       pattern = '<%sd'%length
00271       buff.write(struct.pack(pattern, *self.ik_request.robot_state.joint_state.position))
00272       length = len(self.ik_request.robot_state.joint_state.velocity)
00273       buff.write(_struct_I.pack(length))
00274       pattern = '<%sd'%length
00275       buff.write(struct.pack(pattern, *self.ik_request.robot_state.joint_state.velocity))
00276       length = len(self.ik_request.robot_state.joint_state.effort)
00277       buff.write(_struct_I.pack(length))
00278       pattern = '<%sd'%length
00279       buff.write(struct.pack(pattern, *self.ik_request.robot_state.joint_state.effort))
00280       _x = self
00281       buff.write(_struct_2I.pack(_x.ik_request.robot_state.multi_dof_joint_state.stamp.secs, _x.ik_request.robot_state.multi_dof_joint_state.stamp.nsecs))
00282       length = len(self.ik_request.robot_state.multi_dof_joint_state.joint_names)
00283       buff.write(_struct_I.pack(length))
00284       for val1 in self.ik_request.robot_state.multi_dof_joint_state.joint_names:
00285         length = len(val1)
00286         if python3 or type(val1) == unicode:
00287           val1 = val1.encode('utf-8')
00288           length = len(val1)
00289         buff.write(struct.pack('<I%ss'%length, length, val1))
00290       length = len(self.ik_request.robot_state.multi_dof_joint_state.frame_ids)
00291       buff.write(_struct_I.pack(length))
00292       for val1 in self.ik_request.robot_state.multi_dof_joint_state.frame_ids:
00293         length = len(val1)
00294         if python3 or type(val1) == unicode:
00295           val1 = val1.encode('utf-8')
00296           length = len(val1)
00297         buff.write(struct.pack('<I%ss'%length, length, val1))
00298       length = len(self.ik_request.robot_state.multi_dof_joint_state.child_frame_ids)
00299       buff.write(_struct_I.pack(length))
00300       for val1 in self.ik_request.robot_state.multi_dof_joint_state.child_frame_ids:
00301         length = len(val1)
00302         if python3 or type(val1) == unicode:
00303           val1 = val1.encode('utf-8')
00304           length = len(val1)
00305         buff.write(struct.pack('<I%ss'%length, length, val1))
00306       length = len(self.ik_request.robot_state.multi_dof_joint_state.poses)
00307       buff.write(_struct_I.pack(length))
00308       for val1 in self.ik_request.robot_state.multi_dof_joint_state.poses:
00309         _v3 = val1.position
00310         _x = _v3
00311         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00312         _v4 = val1.orientation
00313         _x = _v4
00314         buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00315       _x = self
00316       buff.write(_struct_2i.pack(_x.timeout.secs, _x.timeout.nsecs))
00317     except struct.error as se: self._check_types(se)
00318     except TypeError as te: self._check_types(te)
00319 
00320   def deserialize(self, str):
00321     """
00322     unpack serialized message in str into this message instance
00323     :param str: byte array of serialized message, ``str``
00324     """
00325     try:
00326       if self.ik_request is None:
00327         self.ik_request = kinematics_msgs.msg.PositionIKRequest()
00328       if self.timeout is None:
00329         self.timeout = genpy.Duration()
00330       end = 0
00331       start = end
00332       end += 4
00333       (length,) = _struct_I.unpack(str[start:end])
00334       start = end
00335       end += length
00336       if python3:
00337         self.ik_request.ik_link_name = str[start:end].decode('utf-8')
00338       else:
00339         self.ik_request.ik_link_name = str[start:end]
00340       _x = self
00341       start = end
00342       end += 12
00343       (_x.ik_request.pose_stamped.header.seq, _x.ik_request.pose_stamped.header.stamp.secs, _x.ik_request.pose_stamped.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00344       start = end
00345       end += 4
00346       (length,) = _struct_I.unpack(str[start:end])
00347       start = end
00348       end += length
00349       if python3:
00350         self.ik_request.pose_stamped.header.frame_id = str[start:end].decode('utf-8')
00351       else:
00352         self.ik_request.pose_stamped.header.frame_id = str[start:end]
00353       _x = self
00354       start = end
00355       end += 68
00356       (_x.ik_request.pose_stamped.pose.position.x, _x.ik_request.pose_stamped.pose.position.y, _x.ik_request.pose_stamped.pose.position.z, _x.ik_request.pose_stamped.pose.orientation.x, _x.ik_request.pose_stamped.pose.orientation.y, _x.ik_request.pose_stamped.pose.orientation.z, _x.ik_request.pose_stamped.pose.orientation.w, _x.ik_request.ik_seed_state.joint_state.header.seq, _x.ik_request.ik_seed_state.joint_state.header.stamp.secs, _x.ik_request.ik_seed_state.joint_state.header.stamp.nsecs,) = _struct_7d3I.unpack(str[start:end])
00357       start = end
00358       end += 4
00359       (length,) = _struct_I.unpack(str[start:end])
00360       start = end
00361       end += length
00362       if python3:
00363         self.ik_request.ik_seed_state.joint_state.header.frame_id = str[start:end].decode('utf-8')
00364       else:
00365         self.ik_request.ik_seed_state.joint_state.header.frame_id = str[start:end]
00366       start = end
00367       end += 4
00368       (length,) = _struct_I.unpack(str[start:end])
00369       self.ik_request.ik_seed_state.joint_state.name = []
00370       for i in range(0, length):
00371         start = end
00372         end += 4
00373         (length,) = _struct_I.unpack(str[start:end])
00374         start = end
00375         end += length
00376         if python3:
00377           val1 = str[start:end].decode('utf-8')
00378         else:
00379           val1 = str[start:end]
00380         self.ik_request.ik_seed_state.joint_state.name.append(val1)
00381       start = end
00382       end += 4
00383       (length,) = _struct_I.unpack(str[start:end])
00384       pattern = '<%sd'%length
00385       start = end
00386       end += struct.calcsize(pattern)
00387       self.ik_request.ik_seed_state.joint_state.position = struct.unpack(pattern, str[start:end])
00388       start = end
00389       end += 4
00390       (length,) = _struct_I.unpack(str[start:end])
00391       pattern = '<%sd'%length
00392       start = end
00393       end += struct.calcsize(pattern)
00394       self.ik_request.ik_seed_state.joint_state.velocity = struct.unpack(pattern, str[start:end])
00395       start = end
00396       end += 4
00397       (length,) = _struct_I.unpack(str[start:end])
00398       pattern = '<%sd'%length
00399       start = end
00400       end += struct.calcsize(pattern)
00401       self.ik_request.ik_seed_state.joint_state.effort = struct.unpack(pattern, str[start:end])
00402       _x = self
00403       start = end
00404       end += 8
00405       (_x.ik_request.ik_seed_state.multi_dof_joint_state.stamp.secs, _x.ik_request.ik_seed_state.multi_dof_joint_state.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00406       start = end
00407       end += 4
00408       (length,) = _struct_I.unpack(str[start:end])
00409       self.ik_request.ik_seed_state.multi_dof_joint_state.joint_names = []
00410       for i in range(0, length):
00411         start = end
00412         end += 4
00413         (length,) = _struct_I.unpack(str[start:end])
00414         start = end
00415         end += length
00416         if python3:
00417           val1 = str[start:end].decode('utf-8')
00418         else:
00419           val1 = str[start:end]
00420         self.ik_request.ik_seed_state.multi_dof_joint_state.joint_names.append(val1)
00421       start = end
00422       end += 4
00423       (length,) = _struct_I.unpack(str[start:end])
00424       self.ik_request.ik_seed_state.multi_dof_joint_state.frame_ids = []
00425       for i in range(0, length):
00426         start = end
00427         end += 4
00428         (length,) = _struct_I.unpack(str[start:end])
00429         start = end
00430         end += length
00431         if python3:
00432           val1 = str[start:end].decode('utf-8')
00433         else:
00434           val1 = str[start:end]
00435         self.ik_request.ik_seed_state.multi_dof_joint_state.frame_ids.append(val1)
00436       start = end
00437       end += 4
00438       (length,) = _struct_I.unpack(str[start:end])
00439       self.ik_request.ik_seed_state.multi_dof_joint_state.child_frame_ids = []
00440       for i in range(0, length):
00441         start = end
00442         end += 4
00443         (length,) = _struct_I.unpack(str[start:end])
00444         start = end
00445         end += length
00446         if python3:
00447           val1 = str[start:end].decode('utf-8')
00448         else:
00449           val1 = str[start:end]
00450         self.ik_request.ik_seed_state.multi_dof_joint_state.child_frame_ids.append(val1)
00451       start = end
00452       end += 4
00453       (length,) = _struct_I.unpack(str[start:end])
00454       self.ik_request.ik_seed_state.multi_dof_joint_state.poses = []
00455       for i in range(0, length):
00456         val1 = geometry_msgs.msg.Pose()
00457         _v5 = val1.position
00458         _x = _v5
00459         start = end
00460         end += 24
00461         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00462         _v6 = val1.orientation
00463         _x = _v6
00464         start = end
00465         end += 32
00466         (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
00467         self.ik_request.ik_seed_state.multi_dof_joint_state.poses.append(val1)
00468       _x = self
00469       start = end
00470       end += 12
00471       (_x.ik_request.robot_state.joint_state.header.seq, _x.ik_request.robot_state.joint_state.header.stamp.secs, _x.ik_request.robot_state.joint_state.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00472       start = end
00473       end += 4
00474       (length,) = _struct_I.unpack(str[start:end])
00475       start = end
00476       end += length
00477       if python3:
00478         self.ik_request.robot_state.joint_state.header.frame_id = str[start:end].decode('utf-8')
00479       else:
00480         self.ik_request.robot_state.joint_state.header.frame_id = str[start:end]
00481       start = end
00482       end += 4
00483       (length,) = _struct_I.unpack(str[start:end])
00484       self.ik_request.robot_state.joint_state.name = []
00485       for i in range(0, length):
00486         start = end
00487         end += 4
00488         (length,) = _struct_I.unpack(str[start:end])
00489         start = end
00490         end += length
00491         if python3:
00492           val1 = str[start:end].decode('utf-8')
00493         else:
00494           val1 = str[start:end]
00495         self.ik_request.robot_state.joint_state.name.append(val1)
00496       start = end
00497       end += 4
00498       (length,) = _struct_I.unpack(str[start:end])
00499       pattern = '<%sd'%length
00500       start = end
00501       end += struct.calcsize(pattern)
00502       self.ik_request.robot_state.joint_state.position = struct.unpack(pattern, str[start:end])
00503       start = end
00504       end += 4
00505       (length,) = _struct_I.unpack(str[start:end])
00506       pattern = '<%sd'%length
00507       start = end
00508       end += struct.calcsize(pattern)
00509       self.ik_request.robot_state.joint_state.velocity = struct.unpack(pattern, str[start:end])
00510       start = end
00511       end += 4
00512       (length,) = _struct_I.unpack(str[start:end])
00513       pattern = '<%sd'%length
00514       start = end
00515       end += struct.calcsize(pattern)
00516       self.ik_request.robot_state.joint_state.effort = struct.unpack(pattern, str[start:end])
00517       _x = self
00518       start = end
00519       end += 8
00520       (_x.ik_request.robot_state.multi_dof_joint_state.stamp.secs, _x.ik_request.robot_state.multi_dof_joint_state.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00521       start = end
00522       end += 4
00523       (length,) = _struct_I.unpack(str[start:end])
00524       self.ik_request.robot_state.multi_dof_joint_state.joint_names = []
00525       for i in range(0, length):
00526         start = end
00527         end += 4
00528         (length,) = _struct_I.unpack(str[start:end])
00529         start = end
00530         end += length
00531         if python3:
00532           val1 = str[start:end].decode('utf-8')
00533         else:
00534           val1 = str[start:end]
00535         self.ik_request.robot_state.multi_dof_joint_state.joint_names.append(val1)
00536       start = end
00537       end += 4
00538       (length,) = _struct_I.unpack(str[start:end])
00539       self.ik_request.robot_state.multi_dof_joint_state.frame_ids = []
00540       for i in range(0, length):
00541         start = end
00542         end += 4
00543         (length,) = _struct_I.unpack(str[start:end])
00544         start = end
00545         end += length
00546         if python3:
00547           val1 = str[start:end].decode('utf-8')
00548         else:
00549           val1 = str[start:end]
00550         self.ik_request.robot_state.multi_dof_joint_state.frame_ids.append(val1)
00551       start = end
00552       end += 4
00553       (length,) = _struct_I.unpack(str[start:end])
00554       self.ik_request.robot_state.multi_dof_joint_state.child_frame_ids = []
00555       for i in range(0, length):
00556         start = end
00557         end += 4
00558         (length,) = _struct_I.unpack(str[start:end])
00559         start = end
00560         end += length
00561         if python3:
00562           val1 = str[start:end].decode('utf-8')
00563         else:
00564           val1 = str[start:end]
00565         self.ik_request.robot_state.multi_dof_joint_state.child_frame_ids.append(val1)
00566       start = end
00567       end += 4
00568       (length,) = _struct_I.unpack(str[start:end])
00569       self.ik_request.robot_state.multi_dof_joint_state.poses = []
00570       for i in range(0, length):
00571         val1 = geometry_msgs.msg.Pose()
00572         _v7 = val1.position
00573         _x = _v7
00574         start = end
00575         end += 24
00576         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00577         _v8 = val1.orientation
00578         _x = _v8
00579         start = end
00580         end += 32
00581         (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
00582         self.ik_request.robot_state.multi_dof_joint_state.poses.append(val1)
00583       _x = self
00584       start = end
00585       end += 8
00586       (_x.timeout.secs, _x.timeout.nsecs,) = _struct_2i.unpack(str[start:end])
00587       self.timeout.canon()
00588       return self
00589     except struct.error as e:
00590       raise genpy.DeserializationError(e) #most likely buffer underfill
00591 
00592 
00593   def serialize_numpy(self, buff, numpy):
00594     """
00595     serialize message with numpy array types into buffer
00596     :param buff: buffer, ``StringIO``
00597     :param numpy: numpy python module
00598     """
00599     try:
00600       _x = self.ik_request.ik_link_name
00601       length = len(_x)
00602       if python3 or type(_x) == unicode:
00603         _x = _x.encode('utf-8')
00604         length = len(_x)
00605       buff.write(struct.pack('<I%ss'%length, length, _x))
00606       _x = self
00607       buff.write(_struct_3I.pack(_x.ik_request.pose_stamped.header.seq, _x.ik_request.pose_stamped.header.stamp.secs, _x.ik_request.pose_stamped.header.stamp.nsecs))
00608       _x = self.ik_request.pose_stamped.header.frame_id
00609       length = len(_x)
00610       if python3 or type(_x) == unicode:
00611         _x = _x.encode('utf-8')
00612         length = len(_x)
00613       buff.write(struct.pack('<I%ss'%length, length, _x))
00614       _x = self
00615       buff.write(_struct_7d3I.pack(_x.ik_request.pose_stamped.pose.position.x, _x.ik_request.pose_stamped.pose.position.y, _x.ik_request.pose_stamped.pose.position.z, _x.ik_request.pose_stamped.pose.orientation.x, _x.ik_request.pose_stamped.pose.orientation.y, _x.ik_request.pose_stamped.pose.orientation.z, _x.ik_request.pose_stamped.pose.orientation.w, _x.ik_request.ik_seed_state.joint_state.header.seq, _x.ik_request.ik_seed_state.joint_state.header.stamp.secs, _x.ik_request.ik_seed_state.joint_state.header.stamp.nsecs))
00616       _x = self.ik_request.ik_seed_state.joint_state.header.frame_id
00617       length = len(_x)
00618       if python3 or type(_x) == unicode:
00619         _x = _x.encode('utf-8')
00620         length = len(_x)
00621       buff.write(struct.pack('<I%ss'%length, length, _x))
00622       length = len(self.ik_request.ik_seed_state.joint_state.name)
00623       buff.write(_struct_I.pack(length))
00624       for val1 in self.ik_request.ik_seed_state.joint_state.name:
00625         length = len(val1)
00626         if python3 or type(val1) == unicode:
00627           val1 = val1.encode('utf-8')
00628           length = len(val1)
00629         buff.write(struct.pack('<I%ss'%length, length, val1))
00630       length = len(self.ik_request.ik_seed_state.joint_state.position)
00631       buff.write(_struct_I.pack(length))
00632       pattern = '<%sd'%length
00633       buff.write(self.ik_request.ik_seed_state.joint_state.position.tostring())
00634       length = len(self.ik_request.ik_seed_state.joint_state.velocity)
00635       buff.write(_struct_I.pack(length))
00636       pattern = '<%sd'%length
00637       buff.write(self.ik_request.ik_seed_state.joint_state.velocity.tostring())
00638       length = len(self.ik_request.ik_seed_state.joint_state.effort)
00639       buff.write(_struct_I.pack(length))
00640       pattern = '<%sd'%length
00641       buff.write(self.ik_request.ik_seed_state.joint_state.effort.tostring())
00642       _x = self
00643       buff.write(_struct_2I.pack(_x.ik_request.ik_seed_state.multi_dof_joint_state.stamp.secs, _x.ik_request.ik_seed_state.multi_dof_joint_state.stamp.nsecs))
00644       length = len(self.ik_request.ik_seed_state.multi_dof_joint_state.joint_names)
00645       buff.write(_struct_I.pack(length))
00646       for val1 in self.ik_request.ik_seed_state.multi_dof_joint_state.joint_names:
00647         length = len(val1)
00648         if python3 or type(val1) == unicode:
00649           val1 = val1.encode('utf-8')
00650           length = len(val1)
00651         buff.write(struct.pack('<I%ss'%length, length, val1))
00652       length = len(self.ik_request.ik_seed_state.multi_dof_joint_state.frame_ids)
00653       buff.write(_struct_I.pack(length))
00654       for val1 in self.ik_request.ik_seed_state.multi_dof_joint_state.frame_ids:
00655         length = len(val1)
00656         if python3 or type(val1) == unicode:
00657           val1 = val1.encode('utf-8')
00658           length = len(val1)
00659         buff.write(struct.pack('<I%ss'%length, length, val1))
00660       length = len(self.ik_request.ik_seed_state.multi_dof_joint_state.child_frame_ids)
00661       buff.write(_struct_I.pack(length))
00662       for val1 in self.ik_request.ik_seed_state.multi_dof_joint_state.child_frame_ids:
00663         length = len(val1)
00664         if python3 or type(val1) == unicode:
00665           val1 = val1.encode('utf-8')
00666           length = len(val1)
00667         buff.write(struct.pack('<I%ss'%length, length, val1))
00668       length = len(self.ik_request.ik_seed_state.multi_dof_joint_state.poses)
00669       buff.write(_struct_I.pack(length))
00670       for val1 in self.ik_request.ik_seed_state.multi_dof_joint_state.poses:
00671         _v9 = val1.position
00672         _x = _v9
00673         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00674         _v10 = val1.orientation
00675         _x = _v10
00676         buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00677       _x = self
00678       buff.write(_struct_3I.pack(_x.ik_request.robot_state.joint_state.header.seq, _x.ik_request.robot_state.joint_state.header.stamp.secs, _x.ik_request.robot_state.joint_state.header.stamp.nsecs))
00679       _x = self.ik_request.robot_state.joint_state.header.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       length = len(self.ik_request.robot_state.joint_state.name)
00686       buff.write(_struct_I.pack(length))
00687       for val1 in self.ik_request.robot_state.joint_state.name:
00688         length = len(val1)
00689         if python3 or type(val1) == unicode:
00690           val1 = val1.encode('utf-8')
00691           length = len(val1)
00692         buff.write(struct.pack('<I%ss'%length, length, val1))
00693       length = len(self.ik_request.robot_state.joint_state.position)
00694       buff.write(_struct_I.pack(length))
00695       pattern = '<%sd'%length
00696       buff.write(self.ik_request.robot_state.joint_state.position.tostring())
00697       length = len(self.ik_request.robot_state.joint_state.velocity)
00698       buff.write(_struct_I.pack(length))
00699       pattern = '<%sd'%length
00700       buff.write(self.ik_request.robot_state.joint_state.velocity.tostring())
00701       length = len(self.ik_request.robot_state.joint_state.effort)
00702       buff.write(_struct_I.pack(length))
00703       pattern = '<%sd'%length
00704       buff.write(self.ik_request.robot_state.joint_state.effort.tostring())
00705       _x = self
00706       buff.write(_struct_2I.pack(_x.ik_request.robot_state.multi_dof_joint_state.stamp.secs, _x.ik_request.robot_state.multi_dof_joint_state.stamp.nsecs))
00707       length = len(self.ik_request.robot_state.multi_dof_joint_state.joint_names)
00708       buff.write(_struct_I.pack(length))
00709       for val1 in self.ik_request.robot_state.multi_dof_joint_state.joint_names:
00710         length = len(val1)
00711         if python3 or type(val1) == unicode:
00712           val1 = val1.encode('utf-8')
00713           length = len(val1)
00714         buff.write(struct.pack('<I%ss'%length, length, val1))
00715       length = len(self.ik_request.robot_state.multi_dof_joint_state.frame_ids)
00716       buff.write(_struct_I.pack(length))
00717       for val1 in self.ik_request.robot_state.multi_dof_joint_state.frame_ids:
00718         length = len(val1)
00719         if python3 or type(val1) == unicode:
00720           val1 = val1.encode('utf-8')
00721           length = len(val1)
00722         buff.write(struct.pack('<I%ss'%length, length, val1))
00723       length = len(self.ik_request.robot_state.multi_dof_joint_state.child_frame_ids)
00724       buff.write(_struct_I.pack(length))
00725       for val1 in self.ik_request.robot_state.multi_dof_joint_state.child_frame_ids:
00726         length = len(val1)
00727         if python3 or type(val1) == unicode:
00728           val1 = val1.encode('utf-8')
00729           length = len(val1)
00730         buff.write(struct.pack('<I%ss'%length, length, val1))
00731       length = len(self.ik_request.robot_state.multi_dof_joint_state.poses)
00732       buff.write(_struct_I.pack(length))
00733       for val1 in self.ik_request.robot_state.multi_dof_joint_state.poses:
00734         _v11 = val1.position
00735         _x = _v11
00736         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00737         _v12 = val1.orientation
00738         _x = _v12
00739         buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00740       _x = self
00741       buff.write(_struct_2i.pack(_x.timeout.secs, _x.timeout.nsecs))
00742     except struct.error as se: self._check_types(se)
00743     except TypeError as te: self._check_types(te)
00744 
00745   def deserialize_numpy(self, str, numpy):
00746     """
00747     unpack serialized message in str into this message instance using numpy for array types
00748     :param str: byte array of serialized message, ``str``
00749     :param numpy: numpy python module
00750     """
00751     try:
00752       if self.ik_request is None:
00753         self.ik_request = kinematics_msgs.msg.PositionIKRequest()
00754       if self.timeout is None:
00755         self.timeout = genpy.Duration()
00756       end = 0
00757       start = end
00758       end += 4
00759       (length,) = _struct_I.unpack(str[start:end])
00760       start = end
00761       end += length
00762       if python3:
00763         self.ik_request.ik_link_name = str[start:end].decode('utf-8')
00764       else:
00765         self.ik_request.ik_link_name = str[start:end]
00766       _x = self
00767       start = end
00768       end += 12
00769       (_x.ik_request.pose_stamped.header.seq, _x.ik_request.pose_stamped.header.stamp.secs, _x.ik_request.pose_stamped.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00770       start = end
00771       end += 4
00772       (length,) = _struct_I.unpack(str[start:end])
00773       start = end
00774       end += length
00775       if python3:
00776         self.ik_request.pose_stamped.header.frame_id = str[start:end].decode('utf-8')
00777       else:
00778         self.ik_request.pose_stamped.header.frame_id = str[start:end]
00779       _x = self
00780       start = end
00781       end += 68
00782       (_x.ik_request.pose_stamped.pose.position.x, _x.ik_request.pose_stamped.pose.position.y, _x.ik_request.pose_stamped.pose.position.z, _x.ik_request.pose_stamped.pose.orientation.x, _x.ik_request.pose_stamped.pose.orientation.y, _x.ik_request.pose_stamped.pose.orientation.z, _x.ik_request.pose_stamped.pose.orientation.w, _x.ik_request.ik_seed_state.joint_state.header.seq, _x.ik_request.ik_seed_state.joint_state.header.stamp.secs, _x.ik_request.ik_seed_state.joint_state.header.stamp.nsecs,) = _struct_7d3I.unpack(str[start:end])
00783       start = end
00784       end += 4
00785       (length,) = _struct_I.unpack(str[start:end])
00786       start = end
00787       end += length
00788       if python3:
00789         self.ik_request.ik_seed_state.joint_state.header.frame_id = str[start:end].decode('utf-8')
00790       else:
00791         self.ik_request.ik_seed_state.joint_state.header.frame_id = str[start:end]
00792       start = end
00793       end += 4
00794       (length,) = _struct_I.unpack(str[start:end])
00795       self.ik_request.ik_seed_state.joint_state.name = []
00796       for i in range(0, length):
00797         start = end
00798         end += 4
00799         (length,) = _struct_I.unpack(str[start:end])
00800         start = end
00801         end += length
00802         if python3:
00803           val1 = str[start:end].decode('utf-8')
00804         else:
00805           val1 = str[start:end]
00806         self.ik_request.ik_seed_state.joint_state.name.append(val1)
00807       start = end
00808       end += 4
00809       (length,) = _struct_I.unpack(str[start:end])
00810       pattern = '<%sd'%length
00811       start = end
00812       end += struct.calcsize(pattern)
00813       self.ik_request.ik_seed_state.joint_state.position = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00814       start = end
00815       end += 4
00816       (length,) = _struct_I.unpack(str[start:end])
00817       pattern = '<%sd'%length
00818       start = end
00819       end += struct.calcsize(pattern)
00820       self.ik_request.ik_seed_state.joint_state.velocity = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00821       start = end
00822       end += 4
00823       (length,) = _struct_I.unpack(str[start:end])
00824       pattern = '<%sd'%length
00825       start = end
00826       end += struct.calcsize(pattern)
00827       self.ik_request.ik_seed_state.joint_state.effort = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00828       _x = self
00829       start = end
00830       end += 8
00831       (_x.ik_request.ik_seed_state.multi_dof_joint_state.stamp.secs, _x.ik_request.ik_seed_state.multi_dof_joint_state.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00832       start = end
00833       end += 4
00834       (length,) = _struct_I.unpack(str[start:end])
00835       self.ik_request.ik_seed_state.multi_dof_joint_state.joint_names = []
00836       for i in range(0, length):
00837         start = end
00838         end += 4
00839         (length,) = _struct_I.unpack(str[start:end])
00840         start = end
00841         end += length
00842         if python3:
00843           val1 = str[start:end].decode('utf-8')
00844         else:
00845           val1 = str[start:end]
00846         self.ik_request.ik_seed_state.multi_dof_joint_state.joint_names.append(val1)
00847       start = end
00848       end += 4
00849       (length,) = _struct_I.unpack(str[start:end])
00850       self.ik_request.ik_seed_state.multi_dof_joint_state.frame_ids = []
00851       for i in range(0, length):
00852         start = end
00853         end += 4
00854         (length,) = _struct_I.unpack(str[start:end])
00855         start = end
00856         end += length
00857         if python3:
00858           val1 = str[start:end].decode('utf-8')
00859         else:
00860           val1 = str[start:end]
00861         self.ik_request.ik_seed_state.multi_dof_joint_state.frame_ids.append(val1)
00862       start = end
00863       end += 4
00864       (length,) = _struct_I.unpack(str[start:end])
00865       self.ik_request.ik_seed_state.multi_dof_joint_state.child_frame_ids = []
00866       for i in range(0, length):
00867         start = end
00868         end += 4
00869         (length,) = _struct_I.unpack(str[start:end])
00870         start = end
00871         end += length
00872         if python3:
00873           val1 = str[start:end].decode('utf-8')
00874         else:
00875           val1 = str[start:end]
00876         self.ik_request.ik_seed_state.multi_dof_joint_state.child_frame_ids.append(val1)
00877       start = end
00878       end += 4
00879       (length,) = _struct_I.unpack(str[start:end])
00880       self.ik_request.ik_seed_state.multi_dof_joint_state.poses = []
00881       for i in range(0, length):
00882         val1 = geometry_msgs.msg.Pose()
00883         _v13 = val1.position
00884         _x = _v13
00885         start = end
00886         end += 24
00887         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00888         _v14 = val1.orientation
00889         _x = _v14
00890         start = end
00891         end += 32
00892         (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
00893         self.ik_request.ik_seed_state.multi_dof_joint_state.poses.append(val1)
00894       _x = self
00895       start = end
00896       end += 12
00897       (_x.ik_request.robot_state.joint_state.header.seq, _x.ik_request.robot_state.joint_state.header.stamp.secs, _x.ik_request.robot_state.joint_state.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00898       start = end
00899       end += 4
00900       (length,) = _struct_I.unpack(str[start:end])
00901       start = end
00902       end += length
00903       if python3:
00904         self.ik_request.robot_state.joint_state.header.frame_id = str[start:end].decode('utf-8')
00905       else:
00906         self.ik_request.robot_state.joint_state.header.frame_id = str[start:end]
00907       start = end
00908       end += 4
00909       (length,) = _struct_I.unpack(str[start:end])
00910       self.ik_request.robot_state.joint_state.name = []
00911       for i in range(0, length):
00912         start = end
00913         end += 4
00914         (length,) = _struct_I.unpack(str[start:end])
00915         start = end
00916         end += length
00917         if python3:
00918           val1 = str[start:end].decode('utf-8')
00919         else:
00920           val1 = str[start:end]
00921         self.ik_request.robot_state.joint_state.name.append(val1)
00922       start = end
00923       end += 4
00924       (length,) = _struct_I.unpack(str[start:end])
00925       pattern = '<%sd'%length
00926       start = end
00927       end += struct.calcsize(pattern)
00928       self.ik_request.robot_state.joint_state.position = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00929       start = end
00930       end += 4
00931       (length,) = _struct_I.unpack(str[start:end])
00932       pattern = '<%sd'%length
00933       start = end
00934       end += struct.calcsize(pattern)
00935       self.ik_request.robot_state.joint_state.velocity = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00936       start = end
00937       end += 4
00938       (length,) = _struct_I.unpack(str[start:end])
00939       pattern = '<%sd'%length
00940       start = end
00941       end += struct.calcsize(pattern)
00942       self.ik_request.robot_state.joint_state.effort = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00943       _x = self
00944       start = end
00945       end += 8
00946       (_x.ik_request.robot_state.multi_dof_joint_state.stamp.secs, _x.ik_request.robot_state.multi_dof_joint_state.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00947       start = end
00948       end += 4
00949       (length,) = _struct_I.unpack(str[start:end])
00950       self.ik_request.robot_state.multi_dof_joint_state.joint_names = []
00951       for i in range(0, length):
00952         start = end
00953         end += 4
00954         (length,) = _struct_I.unpack(str[start:end])
00955         start = end
00956         end += length
00957         if python3:
00958           val1 = str[start:end].decode('utf-8')
00959         else:
00960           val1 = str[start:end]
00961         self.ik_request.robot_state.multi_dof_joint_state.joint_names.append(val1)
00962       start = end
00963       end += 4
00964       (length,) = _struct_I.unpack(str[start:end])
00965       self.ik_request.robot_state.multi_dof_joint_state.frame_ids = []
00966       for i in range(0, length):
00967         start = end
00968         end += 4
00969         (length,) = _struct_I.unpack(str[start:end])
00970         start = end
00971         end += length
00972         if python3:
00973           val1 = str[start:end].decode('utf-8')
00974         else:
00975           val1 = str[start:end]
00976         self.ik_request.robot_state.multi_dof_joint_state.frame_ids.append(val1)
00977       start = end
00978       end += 4
00979       (length,) = _struct_I.unpack(str[start:end])
00980       self.ik_request.robot_state.multi_dof_joint_state.child_frame_ids = []
00981       for i in range(0, length):
00982         start = end
00983         end += 4
00984         (length,) = _struct_I.unpack(str[start:end])
00985         start = end
00986         end += length
00987         if python3:
00988           val1 = str[start:end].decode('utf-8')
00989         else:
00990           val1 = str[start:end]
00991         self.ik_request.robot_state.multi_dof_joint_state.child_frame_ids.append(val1)
00992       start = end
00993       end += 4
00994       (length,) = _struct_I.unpack(str[start:end])
00995       self.ik_request.robot_state.multi_dof_joint_state.poses = []
00996       for i in range(0, length):
00997         val1 = geometry_msgs.msg.Pose()
00998         _v15 = val1.position
00999         _x = _v15
01000         start = end
01001         end += 24
01002         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
01003         _v16 = val1.orientation
01004         _x = _v16
01005         start = end
01006         end += 32
01007         (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
01008         self.ik_request.robot_state.multi_dof_joint_state.poses.append(val1)
01009       _x = self
01010       start = end
01011       end += 8
01012       (_x.timeout.secs, _x.timeout.nsecs,) = _struct_2i.unpack(str[start:end])
01013       self.timeout.canon()
01014       return self
01015     except struct.error as e:
01016       raise genpy.DeserializationError(e) #most likely buffer underfill
01017 
01018 _struct_I = genpy.struct_I
01019 _struct_7d3I = struct.Struct("<7d3I")
01020 _struct_3I = struct.Struct("<3I")
01021 _struct_4d = struct.Struct("<4d")
01022 _struct_2i = struct.Struct("<2i")
01023 _struct_2I = struct.Struct("<2I")
01024 _struct_3d = struct.Struct("<3d")
01025 """autogenerated by genpy from kinematics_msgs/GetPositionIKResponse.msg. Do not edit."""
01026 import sys
01027 python3 = True if sys.hexversion > 0x03000000 else False
01028 import genpy
01029 import struct
01030 
01031 import arm_navigation_msgs.msg
01032 import geometry_msgs.msg
01033 import std_msgs.msg
01034 import genpy
01035 import sensor_msgs.msg
01036 
01037 class GetPositionIKResponse(genpy.Message):
01038   _md5sum = "5a8bbc4eb2775fe00cbd09858fd3dc65"
01039   _type = "kinematics_msgs/GetPositionIKResponse"
01040   _has_header = False #flag to mark the presence of a Header object
01041   _full_text = """
01042 
01043 arm_navigation_msgs/RobotState solution
01044 
01045 arm_navigation_msgs/ArmNavigationErrorCodes error_code
01046 
01047 
01048 
01049 ================================================================================
01050 MSG: arm_navigation_msgs/RobotState
01051 # This message contains information about the robot state, i.e. the positions of its joints and links
01052 sensor_msgs/JointState joint_state
01053 arm_navigation_msgs/MultiDOFJointState multi_dof_joint_state
01054 
01055 ================================================================================
01056 MSG: sensor_msgs/JointState
01057 # This is a message that holds data to describe the state of a set of torque controlled joints. 
01058 #
01059 # The state of each joint (revolute or prismatic) is defined by:
01060 #  * the position of the joint (rad or m),
01061 #  * the velocity of the joint (rad/s or m/s) and 
01062 #  * the effort that is applied in the joint (Nm or N).
01063 #
01064 # Each joint is uniquely identified by its name
01065 # The header specifies the time at which the joint states were recorded. All the joint states
01066 # in one message have to be recorded at the same time.
01067 #
01068 # This message consists of a multiple arrays, one for each part of the joint state. 
01069 # The goal is to make each of the fields optional. When e.g. your joints have no
01070 # effort associated with them, you can leave the effort array empty. 
01071 #
01072 # All arrays in this message should have the same size, or be empty.
01073 # This is the only way to uniquely associate the joint name with the correct
01074 # states.
01075 
01076 
01077 Header header
01078 
01079 string[] name
01080 float64[] position
01081 float64[] velocity
01082 float64[] effort
01083 
01084 ================================================================================
01085 MSG: std_msgs/Header
01086 # Standard metadata for higher-level stamped data types.
01087 # This is generally used to communicate timestamped data 
01088 # in a particular coordinate frame.
01089 # 
01090 # sequence ID: consecutively increasing ID 
01091 uint32 seq
01092 #Two-integer timestamp that is expressed as:
01093 # * stamp.secs: seconds (stamp_secs) since epoch
01094 # * stamp.nsecs: nanoseconds since stamp_secs
01095 # time-handling sugar is provided by the client library
01096 time stamp
01097 #Frame this data is associated with
01098 # 0: no frame
01099 # 1: global frame
01100 string frame_id
01101 
01102 ================================================================================
01103 MSG: arm_navigation_msgs/MultiDOFJointState
01104 #A representation of a multi-dof joint state
01105 time stamp
01106 string[] joint_names
01107 string[] frame_ids
01108 string[] child_frame_ids
01109 geometry_msgs/Pose[] poses
01110 
01111 ================================================================================
01112 MSG: geometry_msgs/Pose
01113 # A representation of pose in free space, composed of postion and orientation. 
01114 Point position
01115 Quaternion orientation
01116 
01117 ================================================================================
01118 MSG: geometry_msgs/Point
01119 # This contains the position of a point in free space
01120 float64 x
01121 float64 y
01122 float64 z
01123 
01124 ================================================================================
01125 MSG: geometry_msgs/Quaternion
01126 # This represents an orientation in free space in quaternion form.
01127 
01128 float64 x
01129 float64 y
01130 float64 z
01131 float64 w
01132 
01133 ================================================================================
01134 MSG: arm_navigation_msgs/ArmNavigationErrorCodes
01135 int32 val
01136 
01137 # overall behavior
01138 int32 PLANNING_FAILED=-1
01139 int32 SUCCESS=1
01140 int32 TIMED_OUT=-2
01141 
01142 # start state errors
01143 int32 START_STATE_IN_COLLISION=-3
01144 int32 START_STATE_VIOLATES_PATH_CONSTRAINTS=-4
01145 
01146 # goal errors
01147 int32 GOAL_IN_COLLISION=-5
01148 int32 GOAL_VIOLATES_PATH_CONSTRAINTS=-6
01149 
01150 # robot state
01151 int32 INVALID_ROBOT_STATE=-7
01152 int32 INCOMPLETE_ROBOT_STATE=-8
01153 
01154 # planning request errors
01155 int32 INVALID_PLANNER_ID=-9
01156 int32 INVALID_NUM_PLANNING_ATTEMPTS=-10
01157 int32 INVALID_ALLOWED_PLANNING_TIME=-11
01158 int32 INVALID_GROUP_NAME=-12
01159 int32 INVALID_GOAL_JOINT_CONSTRAINTS=-13
01160 int32 INVALID_GOAL_POSITION_CONSTRAINTS=-14
01161 int32 INVALID_GOAL_ORIENTATION_CONSTRAINTS=-15
01162 int32 INVALID_PATH_JOINT_CONSTRAINTS=-16
01163 int32 INVALID_PATH_POSITION_CONSTRAINTS=-17
01164 int32 INVALID_PATH_ORIENTATION_CONSTRAINTS=-18
01165 
01166 # state/trajectory monitor errors
01167 int32 INVALID_TRAJECTORY=-19
01168 int32 INVALID_INDEX=-20
01169 int32 JOINT_LIMITS_VIOLATED=-21
01170 int32 PATH_CONSTRAINTS_VIOLATED=-22
01171 int32 COLLISION_CONSTRAINTS_VIOLATED=-23
01172 int32 GOAL_CONSTRAINTS_VIOLATED=-24
01173 int32 JOINTS_NOT_MOVING=-25
01174 int32 TRAJECTORY_CONTROLLER_FAILED=-26
01175 
01176 # system errors
01177 int32 FRAME_TRANSFORM_FAILURE=-27
01178 int32 COLLISION_CHECKING_UNAVAILABLE=-28
01179 int32 ROBOT_STATE_STALE=-29
01180 int32 SENSOR_INFO_STALE=-30
01181 
01182 # kinematics errors
01183 int32 NO_IK_SOLUTION=-31
01184 int32 INVALID_LINK_NAME=-32
01185 int32 IK_LINK_IN_COLLISION=-33
01186 int32 NO_FK_SOLUTION=-34
01187 int32 KINEMATICS_STATE_IN_COLLISION=-35
01188 
01189 # general errors
01190 int32 INVALID_TIMEOUT=-36
01191 
01192 
01193 """
01194   __slots__ = ['solution','error_code']
01195   _slot_types = ['arm_navigation_msgs/RobotState','arm_navigation_msgs/ArmNavigationErrorCodes']
01196 
01197   def __init__(self, *args, **kwds):
01198     """
01199     Constructor. Any message fields that are implicitly/explicitly
01200     set to None will be assigned a default value. The recommend
01201     use is keyword arguments as this is more robust to future message
01202     changes.  You cannot mix in-order arguments and keyword arguments.
01203 
01204     The available fields are:
01205        solution,error_code
01206 
01207     :param args: complete set of field values, in .msg order
01208     :param kwds: use keyword arguments corresponding to message field names
01209     to set specific fields.
01210     """
01211     if args or kwds:
01212       super(GetPositionIKResponse, self).__init__(*args, **kwds)
01213       #message fields cannot be None, assign default values for those that are
01214       if self.solution is None:
01215         self.solution = arm_navigation_msgs.msg.RobotState()
01216       if self.error_code is None:
01217         self.error_code = arm_navigation_msgs.msg.ArmNavigationErrorCodes()
01218     else:
01219       self.solution = arm_navigation_msgs.msg.RobotState()
01220       self.error_code = arm_navigation_msgs.msg.ArmNavigationErrorCodes()
01221 
01222   def _get_types(self):
01223     """
01224     internal API method
01225     """
01226     return self._slot_types
01227 
01228   def serialize(self, buff):
01229     """
01230     serialize message into buffer
01231     :param buff: buffer, ``StringIO``
01232     """
01233     try:
01234       _x = self
01235       buff.write(_struct_3I.pack(_x.solution.joint_state.header.seq, _x.solution.joint_state.header.stamp.secs, _x.solution.joint_state.header.stamp.nsecs))
01236       _x = self.solution.joint_state.header.frame_id
01237       length = len(_x)
01238       if python3 or type(_x) == unicode:
01239         _x = _x.encode('utf-8')
01240         length = len(_x)
01241       buff.write(struct.pack('<I%ss'%length, length, _x))
01242       length = len(self.solution.joint_state.name)
01243       buff.write(_struct_I.pack(length))
01244       for val1 in self.solution.joint_state.name:
01245         length = len(val1)
01246         if python3 or type(val1) == unicode:
01247           val1 = val1.encode('utf-8')
01248           length = len(val1)
01249         buff.write(struct.pack('<I%ss'%length, length, val1))
01250       length = len(self.solution.joint_state.position)
01251       buff.write(_struct_I.pack(length))
01252       pattern = '<%sd'%length
01253       buff.write(struct.pack(pattern, *self.solution.joint_state.position))
01254       length = len(self.solution.joint_state.velocity)
01255       buff.write(_struct_I.pack(length))
01256       pattern = '<%sd'%length
01257       buff.write(struct.pack(pattern, *self.solution.joint_state.velocity))
01258       length = len(self.solution.joint_state.effort)
01259       buff.write(_struct_I.pack(length))
01260       pattern = '<%sd'%length
01261       buff.write(struct.pack(pattern, *self.solution.joint_state.effort))
01262       _x = self
01263       buff.write(_struct_2I.pack(_x.solution.multi_dof_joint_state.stamp.secs, _x.solution.multi_dof_joint_state.stamp.nsecs))
01264       length = len(self.solution.multi_dof_joint_state.joint_names)
01265       buff.write(_struct_I.pack(length))
01266       for val1 in self.solution.multi_dof_joint_state.joint_names:
01267         length = len(val1)
01268         if python3 or type(val1) == unicode:
01269           val1 = val1.encode('utf-8')
01270           length = len(val1)
01271         buff.write(struct.pack('<I%ss'%length, length, val1))
01272       length = len(self.solution.multi_dof_joint_state.frame_ids)
01273       buff.write(_struct_I.pack(length))
01274       for val1 in self.solution.multi_dof_joint_state.frame_ids:
01275         length = len(val1)
01276         if python3 or type(val1) == unicode:
01277           val1 = val1.encode('utf-8')
01278           length = len(val1)
01279         buff.write(struct.pack('<I%ss'%length, length, val1))
01280       length = len(self.solution.multi_dof_joint_state.child_frame_ids)
01281       buff.write(_struct_I.pack(length))
01282       for val1 in self.solution.multi_dof_joint_state.child_frame_ids:
01283         length = len(val1)
01284         if python3 or type(val1) == unicode:
01285           val1 = val1.encode('utf-8')
01286           length = len(val1)
01287         buff.write(struct.pack('<I%ss'%length, length, val1))
01288       length = len(self.solution.multi_dof_joint_state.poses)
01289       buff.write(_struct_I.pack(length))
01290       for val1 in self.solution.multi_dof_joint_state.poses:
01291         _v17 = val1.position
01292         _x = _v17
01293         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
01294         _v18 = val1.orientation
01295         _x = _v18
01296         buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
01297       buff.write(_struct_i.pack(self.error_code.val))
01298     except struct.error as se: self._check_types(se)
01299     except TypeError as te: self._check_types(te)
01300 
01301   def deserialize(self, str):
01302     """
01303     unpack serialized message in str into this message instance
01304     :param str: byte array of serialized message, ``str``
01305     """
01306     try:
01307       if self.solution is None:
01308         self.solution = arm_navigation_msgs.msg.RobotState()
01309       if self.error_code is None:
01310         self.error_code = arm_navigation_msgs.msg.ArmNavigationErrorCodes()
01311       end = 0
01312       _x = self
01313       start = end
01314       end += 12
01315       (_x.solution.joint_state.header.seq, _x.solution.joint_state.header.stamp.secs, _x.solution.joint_state.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
01316       start = end
01317       end += 4
01318       (length,) = _struct_I.unpack(str[start:end])
01319       start = end
01320       end += length
01321       if python3:
01322         self.solution.joint_state.header.frame_id = str[start:end].decode('utf-8')
01323       else:
01324         self.solution.joint_state.header.frame_id = str[start:end]
01325       start = end
01326       end += 4
01327       (length,) = _struct_I.unpack(str[start:end])
01328       self.solution.joint_state.name = []
01329       for i in range(0, length):
01330         start = end
01331         end += 4
01332         (length,) = _struct_I.unpack(str[start:end])
01333         start = end
01334         end += length
01335         if python3:
01336           val1 = str[start:end].decode('utf-8')
01337         else:
01338           val1 = str[start:end]
01339         self.solution.joint_state.name.append(val1)
01340       start = end
01341       end += 4
01342       (length,) = _struct_I.unpack(str[start:end])
01343       pattern = '<%sd'%length
01344       start = end
01345       end += struct.calcsize(pattern)
01346       self.solution.joint_state.position = struct.unpack(pattern, str[start:end])
01347       start = end
01348       end += 4
01349       (length,) = _struct_I.unpack(str[start:end])
01350       pattern = '<%sd'%length
01351       start = end
01352       end += struct.calcsize(pattern)
01353       self.solution.joint_state.velocity = struct.unpack(pattern, str[start:end])
01354       start = end
01355       end += 4
01356       (length,) = _struct_I.unpack(str[start:end])
01357       pattern = '<%sd'%length
01358       start = end
01359       end += struct.calcsize(pattern)
01360       self.solution.joint_state.effort = struct.unpack(pattern, str[start:end])
01361       _x = self
01362       start = end
01363       end += 8
01364       (_x.solution.multi_dof_joint_state.stamp.secs, _x.solution.multi_dof_joint_state.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
01365       start = end
01366       end += 4
01367       (length,) = _struct_I.unpack(str[start:end])
01368       self.solution.multi_dof_joint_state.joint_names = []
01369       for i in range(0, length):
01370         start = end
01371         end += 4
01372         (length,) = _struct_I.unpack(str[start:end])
01373         start = end
01374         end += length
01375         if python3:
01376           val1 = str[start:end].decode('utf-8')
01377         else:
01378           val1 = str[start:end]
01379         self.solution.multi_dof_joint_state.joint_names.append(val1)
01380       start = end
01381       end += 4
01382       (length,) = _struct_I.unpack(str[start:end])
01383       self.solution.multi_dof_joint_state.frame_ids = []
01384       for i in range(0, length):
01385         start = end
01386         end += 4
01387         (length,) = _struct_I.unpack(str[start:end])
01388         start = end
01389         end += length
01390         if python3:
01391           val1 = str[start:end].decode('utf-8')
01392         else:
01393           val1 = str[start:end]
01394         self.solution.multi_dof_joint_state.frame_ids.append(val1)
01395       start = end
01396       end += 4
01397       (length,) = _struct_I.unpack(str[start:end])
01398       self.solution.multi_dof_joint_state.child_frame_ids = []
01399       for i in range(0, length):
01400         start = end
01401         end += 4
01402         (length,) = _struct_I.unpack(str[start:end])
01403         start = end
01404         end += length
01405         if python3:
01406           val1 = str[start:end].decode('utf-8')
01407         else:
01408           val1 = str[start:end]
01409         self.solution.multi_dof_joint_state.child_frame_ids.append(val1)
01410       start = end
01411       end += 4
01412       (length,) = _struct_I.unpack(str[start:end])
01413       self.solution.multi_dof_joint_state.poses = []
01414       for i in range(0, length):
01415         val1 = geometry_msgs.msg.Pose()
01416         _v19 = val1.position
01417         _x = _v19
01418         start = end
01419         end += 24
01420         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
01421         _v20 = val1.orientation
01422         _x = _v20
01423         start = end
01424         end += 32
01425         (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
01426         self.solution.multi_dof_joint_state.poses.append(val1)
01427       start = end
01428       end += 4
01429       (self.error_code.val,) = _struct_i.unpack(str[start:end])
01430       return self
01431     except struct.error as e:
01432       raise genpy.DeserializationError(e) #most likely buffer underfill
01433 
01434 
01435   def serialize_numpy(self, buff, numpy):
01436     """
01437     serialize message with numpy array types into buffer
01438     :param buff: buffer, ``StringIO``
01439     :param numpy: numpy python module
01440     """
01441     try:
01442       _x = self
01443       buff.write(_struct_3I.pack(_x.solution.joint_state.header.seq, _x.solution.joint_state.header.stamp.secs, _x.solution.joint_state.header.stamp.nsecs))
01444       _x = self.solution.joint_state.header.frame_id
01445       length = len(_x)
01446       if python3 or type(_x) == unicode:
01447         _x = _x.encode('utf-8')
01448         length = len(_x)
01449       buff.write(struct.pack('<I%ss'%length, length, _x))
01450       length = len(self.solution.joint_state.name)
01451       buff.write(_struct_I.pack(length))
01452       for val1 in self.solution.joint_state.name:
01453         length = len(val1)
01454         if python3 or type(val1) == unicode:
01455           val1 = val1.encode('utf-8')
01456           length = len(val1)
01457         buff.write(struct.pack('<I%ss'%length, length, val1))
01458       length = len(self.solution.joint_state.position)
01459       buff.write(_struct_I.pack(length))
01460       pattern = '<%sd'%length
01461       buff.write(self.solution.joint_state.position.tostring())
01462       length = len(self.solution.joint_state.velocity)
01463       buff.write(_struct_I.pack(length))
01464       pattern = '<%sd'%length
01465       buff.write(self.solution.joint_state.velocity.tostring())
01466       length = len(self.solution.joint_state.effort)
01467       buff.write(_struct_I.pack(length))
01468       pattern = '<%sd'%length
01469       buff.write(self.solution.joint_state.effort.tostring())
01470       _x = self
01471       buff.write(_struct_2I.pack(_x.solution.multi_dof_joint_state.stamp.secs, _x.solution.multi_dof_joint_state.stamp.nsecs))
01472       length = len(self.solution.multi_dof_joint_state.joint_names)
01473       buff.write(_struct_I.pack(length))
01474       for val1 in self.solution.multi_dof_joint_state.joint_names:
01475         length = len(val1)
01476         if python3 or type(val1) == unicode:
01477           val1 = val1.encode('utf-8')
01478           length = len(val1)
01479         buff.write(struct.pack('<I%ss'%length, length, val1))
01480       length = len(self.solution.multi_dof_joint_state.frame_ids)
01481       buff.write(_struct_I.pack(length))
01482       for val1 in self.solution.multi_dof_joint_state.frame_ids:
01483         length = len(val1)
01484         if python3 or type(val1) == unicode:
01485           val1 = val1.encode('utf-8')
01486           length = len(val1)
01487         buff.write(struct.pack('<I%ss'%length, length, val1))
01488       length = len(self.solution.multi_dof_joint_state.child_frame_ids)
01489       buff.write(_struct_I.pack(length))
01490       for val1 in self.solution.multi_dof_joint_state.child_frame_ids:
01491         length = len(val1)
01492         if python3 or type(val1) == unicode:
01493           val1 = val1.encode('utf-8')
01494           length = len(val1)
01495         buff.write(struct.pack('<I%ss'%length, length, val1))
01496       length = len(self.solution.multi_dof_joint_state.poses)
01497       buff.write(_struct_I.pack(length))
01498       for val1 in self.solution.multi_dof_joint_state.poses:
01499         _v21 = val1.position
01500         _x = _v21
01501         buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
01502         _v22 = val1.orientation
01503         _x = _v22
01504         buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
01505       buff.write(_struct_i.pack(self.error_code.val))
01506     except struct.error as se: self._check_types(se)
01507     except TypeError as te: self._check_types(te)
01508 
01509   def deserialize_numpy(self, str, numpy):
01510     """
01511     unpack serialized message in str into this message instance using numpy for array types
01512     :param str: byte array of serialized message, ``str``
01513     :param numpy: numpy python module
01514     """
01515     try:
01516       if self.solution is None:
01517         self.solution = arm_navigation_msgs.msg.RobotState()
01518       if self.error_code is None:
01519         self.error_code = arm_navigation_msgs.msg.ArmNavigationErrorCodes()
01520       end = 0
01521       _x = self
01522       start = end
01523       end += 12
01524       (_x.solution.joint_state.header.seq, _x.solution.joint_state.header.stamp.secs, _x.solution.joint_state.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
01525       start = end
01526       end += 4
01527       (length,) = _struct_I.unpack(str[start:end])
01528       start = end
01529       end += length
01530       if python3:
01531         self.solution.joint_state.header.frame_id = str[start:end].decode('utf-8')
01532       else:
01533         self.solution.joint_state.header.frame_id = str[start:end]
01534       start = end
01535       end += 4
01536       (length,) = _struct_I.unpack(str[start:end])
01537       self.solution.joint_state.name = []
01538       for i in range(0, length):
01539         start = end
01540         end += 4
01541         (length,) = _struct_I.unpack(str[start:end])
01542         start = end
01543         end += length
01544         if python3:
01545           val1 = str[start:end].decode('utf-8')
01546         else:
01547           val1 = str[start:end]
01548         self.solution.joint_state.name.append(val1)
01549       start = end
01550       end += 4
01551       (length,) = _struct_I.unpack(str[start:end])
01552       pattern = '<%sd'%length
01553       start = end
01554       end += struct.calcsize(pattern)
01555       self.solution.joint_state.position = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
01556       start = end
01557       end += 4
01558       (length,) = _struct_I.unpack(str[start:end])
01559       pattern = '<%sd'%length
01560       start = end
01561       end += struct.calcsize(pattern)
01562       self.solution.joint_state.velocity = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
01563       start = end
01564       end += 4
01565       (length,) = _struct_I.unpack(str[start:end])
01566       pattern = '<%sd'%length
01567       start = end
01568       end += struct.calcsize(pattern)
01569       self.solution.joint_state.effort = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
01570       _x = self
01571       start = end
01572       end += 8
01573       (_x.solution.multi_dof_joint_state.stamp.secs, _x.solution.multi_dof_joint_state.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
01574       start = end
01575       end += 4
01576       (length,) = _struct_I.unpack(str[start:end])
01577       self.solution.multi_dof_joint_state.joint_names = []
01578       for i in range(0, length):
01579         start = end
01580         end += 4
01581         (length,) = _struct_I.unpack(str[start:end])
01582         start = end
01583         end += length
01584         if python3:
01585           val1 = str[start:end].decode('utf-8')
01586         else:
01587           val1 = str[start:end]
01588         self.solution.multi_dof_joint_state.joint_names.append(val1)
01589       start = end
01590       end += 4
01591       (length,) = _struct_I.unpack(str[start:end])
01592       self.solution.multi_dof_joint_state.frame_ids = []
01593       for i in range(0, length):
01594         start = end
01595         end += 4
01596         (length,) = _struct_I.unpack(str[start:end])
01597         start = end
01598         end += length
01599         if python3:
01600           val1 = str[start:end].decode('utf-8')
01601         else:
01602           val1 = str[start:end]
01603         self.solution.multi_dof_joint_state.frame_ids.append(val1)
01604       start = end
01605       end += 4
01606       (length,) = _struct_I.unpack(str[start:end])
01607       self.solution.multi_dof_joint_state.child_frame_ids = []
01608       for i in range(0, length):
01609         start = end
01610         end += 4
01611         (length,) = _struct_I.unpack(str[start:end])
01612         start = end
01613         end += length
01614         if python3:
01615           val1 = str[start:end].decode('utf-8')
01616         else:
01617           val1 = str[start:end]
01618         self.solution.multi_dof_joint_state.child_frame_ids.append(val1)
01619       start = end
01620       end += 4
01621       (length,) = _struct_I.unpack(str[start:end])
01622       self.solution.multi_dof_joint_state.poses = []
01623       for i in range(0, length):
01624         val1 = geometry_msgs.msg.Pose()
01625         _v23 = val1.position
01626         _x = _v23
01627         start = end
01628         end += 24
01629         (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
01630         _v24 = val1.orientation
01631         _x = _v24
01632         start = end
01633         end += 32
01634         (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
01635         self.solution.multi_dof_joint_state.poses.append(val1)
01636       start = end
01637       end += 4
01638       (self.error_code.val,) = _struct_i.unpack(str[start:end])
01639       return self
01640     except struct.error as e:
01641       raise genpy.DeserializationError(e) #most likely buffer underfill
01642 
01643 _struct_I = genpy.struct_I
01644 _struct_i = struct.Struct("<i")
01645 _struct_4d = struct.Struct("<4d")
01646 _struct_3I = struct.Struct("<3I")
01647 _struct_2I = struct.Struct("<2I")
01648 _struct_3d = struct.Struct("<3d")
01649 class GetPositionIK(object):
01650   _type          = 'kinematics_msgs/GetPositionIK'
01651   _md5sum = '6d82fcb918d48c6d8a708bc55e34ace2'
01652   _request_class  = GetPositionIKRequest
01653   _response_class = GetPositionIKResponse


kinematics_msgs
Author(s): Sachin Chitta
autogenerated on Mon Dec 2 2013 12:32:53