_LaserObjectIdWithPose.py

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

import geometry_msgs.msg

class LaserObjectIdWithPose(genpy.Message):
  _md5sum = "ef23f3dc03dc1c9d1c4df8cd45f7543c"
  _type = "mapping_ias_msgs/LaserObjectIdWithPose"
  _has_header = False #flag to mark the presence of a Header object
  _full_text = """uint64 obj_id      # id
float64[] pose   # position + pose of object (4x4 Matrix)
geometry_msgs/Point32[] AABB    # AABB in object frame

================================================================================
MSG: geometry_msgs/Point32
# This contains the position of a point in free space(with 32 bits of precision).
# It is recommeded to use Point wherever possible instead of Point32.  
# 
# This recommendation is to promote interoperability.  
#
# This message is designed to take up less space when sending
# lots of points at once, as in the case of a PointCloud.  

float32 x
float32 y
float32 z
"""
  __slots__ = ['obj_id','pose','AABB']
  _slot_types = ['uint64','float64[]','geometry_msgs/Point32[]']

  def __init__(self, *args, **kwds):
    """
    Constructor. Any message fields that are implicitly/explicitly
    set to None will be assigned a default value. The recommend
    use is keyword arguments as this is more robust to future message
    changes.  You cannot mix in-order arguments and keyword arguments.

    The available fields are:
       obj_id,pose,AABB

    :param args: complete set of field values, in .msg order
    :param kwds: use keyword arguments corresponding to message field names
    to set specific fields.
    """
    if args or kwds:
      super(LaserObjectIdWithPose, self).__init__(*args, **kwds)
      #message fields cannot be None, assign default values for those that are
      if self.obj_id is None:
        self.obj_id = 0
      if self.pose is None:
        self.pose = []
      if self.AABB is None:
        self.AABB = []
    else:
      self.obj_id = 0
      self.pose = []
      self.AABB = []

  def _get_types(self):
    """
    internal API method
    """
    return self._slot_types

  def serialize(self, buff):
    """
    serialize message into buffer
    :param buff: buffer, ``StringIO``
    """
    try:
      buff.write(_struct_Q.pack(self.obj_id))
      length = len(self.pose)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.pose))
      length = len(self.AABB)
      buff.write(_struct_I.pack(length))
      for val1 in self.AABB:
        _x = val1
        buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))
    except struct.error as se: self._check_types(se)
    except TypeError as te: self._check_types(te)

  def deserialize(self, str):
    """
    unpack serialized message in str into this message instance
    :param str: byte array of serialized message, ``str``
    """
    try:
      if self.AABB is None:
        self.AABB = None
      end = 0
      start = end
      end += 8
      (self.obj_id,) = _struct_Q.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.pose = struct.unpack(pattern, str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.AABB = []
      for i in range(0, length):
        val1 = geometry_msgs.msg.Point32()
        _x = val1
        start = end
        end += 12
        (_x.x, _x.y, _x.z,) = _struct_3f.unpack(str[start:end])
        self.AABB.append(val1)
      return self
    except struct.error as e:
      raise genpy.DeserializationError(e) #most likely buffer underfill


  def serialize_numpy(self, buff, numpy):
    """
    serialize message with numpy array types into buffer
    :param buff: buffer, ``StringIO``
    :param numpy: numpy python module
    """
    try:
      buff.write(_struct_Q.pack(self.obj_id))
      length = len(self.pose)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.pose.tostring())
      length = len(self.AABB)
      buff.write(_struct_I.pack(length))
      for val1 in self.AABB:
        _x = val1
        buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))
    except struct.error as se: self._check_types(se)
    except TypeError as te: self._check_types(te)

  def deserialize_numpy(self, str, numpy):
    """
    unpack serialized message in str into this message instance using numpy for array types
    :param str: byte array of serialized message, ``str``
    :param numpy: numpy python module
    """
    try:
      if self.AABB is None:
        self.AABB = None
      end = 0
      start = end
      end += 8
      (self.obj_id,) = _struct_Q.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.pose = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.AABB = []
      for i in range(0, length):
        val1 = geometry_msgs.msg.Point32()
        _x = val1
        start = end
        end += 12
        (_x.x, _x.y, _x.z,) = _struct_3f.unpack(str[start:end])
        self.AABB.append(val1)
      return self
    except struct.error as e:
      raise genpy.DeserializationError(e) #most likely buffer underfill

_struct_I = genpy.struct_I
_struct_Q = struct.Struct("<Q")
_struct_3f = struct.Struct("<3f")