_SetModelsJointsStates.py

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"""autogenerated by genpy from pr2_gazebo_plugins/SetModelsJointsStatesRequest.msg. Do not edit."""
import sys
python3 = True if sys.hexversion > 0x03000000 else False
import genpy
import struct

import pr2_gazebo_plugins.msg
import geometry_msgs.msg

class SetModelsJointsStatesRequest(genpy.Message):
  _md5sum = "ecf71b483df7b70447575a8231727200"
  _type = "pr2_gazebo_plugins/SetModelsJointsStatesRequest"
  _has_header = False #flag to mark the presence of a Header object
  _full_text = """string[] model_names
pr2_gazebo_plugins/ModelJointsState[] model_joints_states

================================================================================
MSG: pr2_gazebo_plugins/ModelJointsState
geometry_msgs/Pose[] model_pose                          # set as single element array if user wishes to specify model pose, otherwise, leave empty
string[] joint_names                                     # list of joint names
float64[] joint_positions                                 # list of desired joint positions, should match joint_names

================================================================================
MSG: geometry_msgs/Pose
# A representation of pose in free space, composed of postion and orientation. 
Point position
Quaternion orientation

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

================================================================================
MSG: geometry_msgs/Quaternion
# This represents an orientation in free space in quaternion form.

float64 x
float64 y
float64 z
float64 w

"""
  __slots__ = ['model_names','model_joints_states']
  _slot_types = ['string[]','pr2_gazebo_plugins/ModelJointsState[]']

  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:
       model_names,model_joints_states

    :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(SetModelsJointsStatesRequest, self).__init__(*args, **kwds)
      #message fields cannot be None, assign default values for those that are
      if self.model_names is None:
        self.model_names = []
      if self.model_joints_states is None:
        self.model_joints_states = []
    else:
      self.model_names = []
      self.model_joints_states = []

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

  def serialize(self, buff):
    """
    serialize message into buffer
    :param buff: buffer, ``StringIO``
    """
    try:
      length = len(self.model_names)
      buff.write(_struct_I.pack(length))
      for val1 in self.model_names:
        length = len(val1)
        if python3 or type(val1) == unicode:
          val1 = val1.encode('utf-8')
          length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.model_joints_states)
      buff.write(_struct_I.pack(length))
      for val1 in self.model_joints_states:
        length = len(val1.model_pose)
        buff.write(_struct_I.pack(length))
        for val2 in val1.model_pose:
          _v1 = val2.position
          _x = _v1
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
          _v2 = val2.orientation
          _x = _v2
          buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
        length = len(val1.joint_names)
        buff.write(_struct_I.pack(length))
        for val2 in val1.joint_names:
          length = len(val2)
          if python3 or type(val2) == unicode:
            val2 = val2.encode('utf-8')
            length = len(val2)
          buff.write(struct.pack('<I%ss'%length, length, val2))
        length = len(val1.joint_positions)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(struct.pack(pattern, *val1.joint_positions))
    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))

  def deserialize(self, str):
    """
    unpack serialized message in str into this message instance
    :param str: byte array of serialized message, ``str``
    """
    try:
      if self.model_joints_states is None:
        self.model_joints_states = None
      end = 0
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.model_names = []
      for i in range(0, length):
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1 = str[start:end].decode('utf-8')
        else:
          val1 = str[start:end]
        self.model_names.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.model_joints_states = []
      for i in range(0, length):
        val1 = pr2_gazebo_plugins.msg.ModelJointsState()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.model_pose = []
        for i in range(0, length):
          val2 = geometry_msgs.msg.Pose()
          _v3 = val2.position
          _x = _v3
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
          _v4 = val2.orientation
          _x = _v4
          start = end
          end += 32
          (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
          val1.model_pose.append(val2)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.joint_names = []
        for i in range(0, length):
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            val2 = str[start:end].decode('utf-8')
          else:
            val2 = str[start:end]
          val1.joint_names.append(val2)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        val1.joint_positions = struct.unpack(pattern, str[start:end])
        self.model_joints_states.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:
      length = len(self.model_names)
      buff.write(_struct_I.pack(length))
      for val1 in self.model_names:
        length = len(val1)
        if python3 or type(val1) == unicode:
          val1 = val1.encode('utf-8')
          length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.model_joints_states)
      buff.write(_struct_I.pack(length))
      for val1 in self.model_joints_states:
        length = len(val1.model_pose)
        buff.write(_struct_I.pack(length))
        for val2 in val1.model_pose:
          _v5 = val2.position
          _x = _v5
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
          _v6 = val2.orientation
          _x = _v6
          buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
        length = len(val1.joint_names)
        buff.write(_struct_I.pack(length))
        for val2 in val1.joint_names:
          length = len(val2)
          if python3 or type(val2) == unicode:
            val2 = val2.encode('utf-8')
            length = len(val2)
          buff.write(struct.pack('<I%ss'%length, length, val2))
        length = len(val1.joint_positions)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(val1.joint_positions.tostring())
    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))

  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.model_joints_states is None:
        self.model_joints_states = None
      end = 0
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.model_names = []
      for i in range(0, length):
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1 = str[start:end].decode('utf-8')
        else:
          val1 = str[start:end]
        self.model_names.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.model_joints_states = []
      for i in range(0, length):
        val1 = pr2_gazebo_plugins.msg.ModelJointsState()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.model_pose = []
        for i in range(0, length):
          val2 = geometry_msgs.msg.Pose()
          _v7 = val2.position
          _x = _v7
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
          _v8 = val2.orientation
          _x = _v8
          start = end
          end += 32
          (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
          val1.model_pose.append(val2)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.joint_names = []
        for i in range(0, length):
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            val2 = str[start:end].decode('utf-8')
          else:
            val2 = str[start:end]
          val1.joint_names.append(val2)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        val1.joint_positions = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
        self.model_joints_states.append(val1)
      return self
    except struct.error as e:
      raise genpy.DeserializationError(e) #most likely buffer underfill

_struct_I = genpy.struct_I
_struct_4d = struct.Struct("<4d")
_struct_3d = struct.Struct("<3d")
"""autogenerated by genpy from pr2_gazebo_plugins/SetModelsJointsStatesResponse.msg. Do not edit."""
import sys
python3 = True if sys.hexversion > 0x03000000 else False
import genpy
import struct


class SetModelsJointsStatesResponse(genpy.Message):
  _md5sum = "2ec6f3eff0161f4257b808b12bc830c2"
  _type = "pr2_gazebo_plugins/SetModelsJointsStatesResponse"
  _has_header = False #flag to mark the presence of a Header object
  _full_text = """bool success
string status_message


"""
  __slots__ = ['success','status_message']
  _slot_types = ['bool','string']

  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:
       success,status_message

    :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(SetModelsJointsStatesResponse, self).__init__(*args, **kwds)
      #message fields cannot be None, assign default values for those that are
      if self.success is None:
        self.success = False
      if self.status_message is None:
        self.status_message = ''
    else:
      self.success = False
      self.status_message = ''

  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_B.pack(self.success))
      _x = self.status_message
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))

  def deserialize(self, str):
    """
    unpack serialized message in str into this message instance
    :param str: byte array of serialized message, ``str``
    """
    try:
      end = 0
      start = end
      end += 1
      (self.success,) = _struct_B.unpack(str[start:end])
      self.success = bool(self.success)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.status_message = str[start:end].decode('utf-8')
      else:
        self.status_message = str[start:end]
      return self
    except struct.error as e:
      raise genpy.DeserializationError(e) #most likely buffer underfill


  def serialize_numpy(self, buff, numpy):
    """
    serialize message with numpy array types into buffer
    :param buff: buffer, ``StringIO``
    :param numpy: numpy python module
    """
    try:
      buff.write(_struct_B.pack(self.success))
      _x = self.status_message
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))

  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:
      end = 0
      start = end
      end += 1
      (self.success,) = _struct_B.unpack(str[start:end])
      self.success = bool(self.success)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.status_message = str[start:end].decode('utf-8')
      else:
        self.status_message = str[start:end]
      return self
    except struct.error as e:
      raise genpy.DeserializationError(e) #most likely buffer underfill

_struct_I = genpy.struct_I
_struct_B = struct.Struct("<B")
class SetModelsJointsStates(object):
  _type          = 'pr2_gazebo_plugins/SetModelsJointsStates'
  _md5sum = 'b3f4760ee77e28f605915bcee447b72d'
  _request_class  = SetModelsJointsStatesRequest
  _response_class = SetModelsJointsStatesResponse