00001 """autogenerated by genmsg_py from GPSFix.msg. Do not edit."""
00002 import roslib.message
00003 import struct
00004
00005 import gps_common.msg
00006 import std_msgs.msg
00007
00008 class GPSFix(roslib.message.Message):
00009 _md5sum = "3db3d0a7bc53054c67c528af84710b70"
00010 _type = "gps_common/GPSFix"
00011 _has_header = True
00012 _full_text = """# A more complete GPS fix to supplement sensor_msgs/NavSatFix.
00013 Header header
00014
00015 GPSStatus status
00016
00017 # Latitude (degrees). Positive is north of equator; negative is south.
00018 float64 latitude
00019
00020 # Longitude (degrees). Positive is east of prime meridian, negative west.
00021 float64 longitude
00022
00023 # Altitude (meters). Positive is above reference (e.g., sea level).
00024 float64 altitude
00025
00026 # Direction (degrees from north)
00027 float64 track
00028
00029 # Ground speed (meters/second)
00030 float64 speed
00031
00032 # Vertical speed (meters/second)
00033 float64 climb
00034
00035 # Device orientation (units in degrees)
00036 float64 pitch
00037 float64 roll
00038 float64 dip
00039
00040 # GPS time
00041 float64 time
00042
00043 ## Dilution of precision; Xdop<=0 means the value is unknown
00044
00045 # Total (positional-temporal) dilution of precision
00046 float64 gdop
00047
00048 # Positional (3D) dilution of precision
00049 float64 pdop
00050
00051 # Horizontal dilution of precision
00052 float64 hdop
00053
00054 # Vertical dilution of precision
00055 float64 vdop
00056
00057 # Temporal dilution of precision
00058 float64 tdop
00059
00060 ## Uncertainty of measurement, 95% confidence
00061
00062 # Spherical position uncertainty (meters) [epe]
00063 float64 err
00064
00065 # Horizontal position uncertainty (meters) [eph]
00066 float64 err_horz
00067
00068 # Vertical position uncertainty (meters) [epv]
00069 float64 err_vert
00070
00071 # Track uncertainty (degrees) [epd]
00072 float64 err_track
00073
00074 # Ground speed uncertainty (meters/second) [eps]
00075 float64 err_speed
00076
00077 # Vertical speed uncertainty (meters/second) [epc]
00078 float64 err_climb
00079
00080 # Temporal uncertainty [ept]
00081 float64 err_time
00082
00083 # Orientation uncertainty (degrees)
00084 float64 err_pitch
00085 float64 err_roll
00086 float64 err_dip
00087
00088 # Position covariance [m^2] defined relative to a tangential plane
00089 # through the reported position. The components are East, North, and
00090 # Up (ENU), in row-major order.
00091
00092 float64[9] position_covariance
00093
00094 uint8 COVARIANCE_TYPE_UNKNOWN = 0
00095 uint8 COVARIANCE_TYPE_APPROXIMATED = 1
00096 uint8 COVARIANCE_TYPE_DIAGONAL_KNOWN = 2
00097 uint8 COVARIANCE_TYPE_KNOWN = 3
00098
00099 uint8 position_covariance_type
00100
00101
00102 ================================================================================
00103 MSG: std_msgs/Header
00104 # Standard metadata for higher-level stamped data types.
00105 # This is generally used to communicate timestamped data
00106 # in a particular coordinate frame.
00107 #
00108 # sequence ID: consecutively increasing ID
00109 uint32 seq
00110 #Two-integer timestamp that is expressed as:
00111 # * stamp.secs: seconds (stamp_secs) since epoch
00112 # * stamp.nsecs: nanoseconds since stamp_secs
00113 # time-handling sugar is provided by the client library
00114 time stamp
00115 #Frame this data is associated with
00116 # 0: no frame
00117 # 1: global frame
00118 string frame_id
00119
00120 ================================================================================
00121 MSG: gps_common/GPSStatus
00122 Header header
00123
00124 # Satellites used in solution
00125 uint16 satellites_used # Number of satellites
00126 int32[] satellite_used_prn # PRN identifiers
00127
00128 # Satellites visible
00129 uint16 satellites_visible
00130 int32[] satellite_visible_prn # PRN identifiers
00131 int32[] satellite_visible_z # Elevation of satellites
00132 int32[] satellite_visible_azimuth # Azimuth of satellites
00133 int32[] satellite_visible_snr # Signal-to-noise ratios (dB)
00134
00135 # Measurement status
00136 int16 STATUS_NO_FIX=-1 # Unable to fix position
00137 int16 STATUS_FIX=0 # Normal fix
00138 int16 STATUS_SBAS_FIX=1 # Fixed using a satellite-based augmentation system
00139 int16 STATUS_GBAS_FIX=2 # or a ground-based augmentation system
00140 int16 STATUS_DGPS_FIX=18 # Fixed with DGPS
00141 int16 STATUS_WAAS_FIX=33 # Fixed with WAAS
00142 int16 status
00143
00144 uint16 SOURCE_NONE=0 # No information is available
00145 uint16 SOURCE_GPS=1 # Using standard GPS location [only valid for position_source]
00146 uint16 SOURCE_POINTS=2 # Motion/orientation fix is derived from successive points
00147 uint16 SOURCE_DOPPLER=4 # Motion is derived using the Doppler effect
00148 uint16 SOURCE_ALTIMETER=8 # Using an altimeter
00149 uint16 SOURCE_MAGNETIC=16 # Using magnetic sensors
00150 uint16 SOURCE_GYRO=32 # Using gyroscopes
00151 uint16 SOURCE_ACCEL=64 # Using accelerometers
00152
00153 uint16 motion_source # Source for speed, climb and track
00154 uint16 orientation_source # Source for device orientation
00155 uint16 position_source # Source for position
00156
00157
00158 """
00159
00160 COVARIANCE_TYPE_UNKNOWN = 0
00161 COVARIANCE_TYPE_APPROXIMATED = 1
00162 COVARIANCE_TYPE_DIAGONAL_KNOWN = 2
00163 COVARIANCE_TYPE_KNOWN = 3
00164
00165 __slots__ = ['header','status','latitude','longitude','altitude','track','speed','climb','pitch','roll','dip','time','gdop','pdop','hdop','vdop','tdop','err','err_horz','err_vert','err_track','err_speed','err_climb','err_time','err_pitch','err_roll','err_dip','position_covariance','position_covariance_type']
00166 _slot_types = ['Header','gps_common/GPSStatus','float64','float64','float64','float64','float64','float64','float64','float64','float64','float64','float64','float64','float64','float64','float64','float64','float64','float64','float64','float64','float64','float64','float64','float64','float64','float64[9]','uint8']
00167
00168 def __init__(self, *args, **kwds):
00169 """
00170 Constructor. Any message fields that are implicitly/explicitly
00171 set to None will be assigned a default value. The recommend
00172 use is keyword arguments as this is more robust to future message
00173 changes. You cannot mix in-order arguments and keyword arguments.
00174
00175 The available fields are:
00176 header,status,latitude,longitude,altitude,track,speed,climb,pitch,roll,dip,time,gdop,pdop,hdop,vdop,tdop,err,err_horz,err_vert,err_track,err_speed,err_climb,err_time,err_pitch,err_roll,err_dip,position_covariance,position_covariance_type
00177
00178 @param args: complete set of field values, in .msg order
00179 @param kwds: use keyword arguments corresponding to message field names
00180 to set specific fields.
00181 """
00182 if args or kwds:
00183 super(GPSFix, self).__init__(*args, **kwds)
00184
00185 if self.header is None:
00186 self.header = std_msgs.msg._Header.Header()
00187 if self.status is None:
00188 self.status = gps_common.msg.GPSStatus()
00189 if self.latitude is None:
00190 self.latitude = 0.
00191 if self.longitude is None:
00192 self.longitude = 0.
00193 if self.altitude is None:
00194 self.altitude = 0.
00195 if self.track is None:
00196 self.track = 0.
00197 if self.speed is None:
00198 self.speed = 0.
00199 if self.climb is None:
00200 self.climb = 0.
00201 if self.pitch is None:
00202 self.pitch = 0.
00203 if self.roll is None:
00204 self.roll = 0.
00205 if self.dip is None:
00206 self.dip = 0.
00207 if self.time is None:
00208 self.time = 0.
00209 if self.gdop is None:
00210 self.gdop = 0.
00211 if self.pdop is None:
00212 self.pdop = 0.
00213 if self.hdop is None:
00214 self.hdop = 0.
00215 if self.vdop is None:
00216 self.vdop = 0.
00217 if self.tdop is None:
00218 self.tdop = 0.
00219 if self.err is None:
00220 self.err = 0.
00221 if self.err_horz is None:
00222 self.err_horz = 0.
00223 if self.err_vert is None:
00224 self.err_vert = 0.
00225 if self.err_track is None:
00226 self.err_track = 0.
00227 if self.err_speed is None:
00228 self.err_speed = 0.
00229 if self.err_climb is None:
00230 self.err_climb = 0.
00231 if self.err_time is None:
00232 self.err_time = 0.
00233 if self.err_pitch is None:
00234 self.err_pitch = 0.
00235 if self.err_roll is None:
00236 self.err_roll = 0.
00237 if self.err_dip is None:
00238 self.err_dip = 0.
00239 if self.position_covariance is None:
00240 self.position_covariance = [0.,0.,0.,0.,0.,0.,0.,0.,0.]
00241 if self.position_covariance_type is None:
00242 self.position_covariance_type = 0
00243 else:
00244 self.header = std_msgs.msg._Header.Header()
00245 self.status = gps_common.msg.GPSStatus()
00246 self.latitude = 0.
00247 self.longitude = 0.
00248 self.altitude = 0.
00249 self.track = 0.
00250 self.speed = 0.
00251 self.climb = 0.
00252 self.pitch = 0.
00253 self.roll = 0.
00254 self.dip = 0.
00255 self.time = 0.
00256 self.gdop = 0.
00257 self.pdop = 0.
00258 self.hdop = 0.
00259 self.vdop = 0.
00260 self.tdop = 0.
00261 self.err = 0.
00262 self.err_horz = 0.
00263 self.err_vert = 0.
00264 self.err_track = 0.
00265 self.err_speed = 0.
00266 self.err_climb = 0.
00267 self.err_time = 0.
00268 self.err_pitch = 0.
00269 self.err_roll = 0.
00270 self.err_dip = 0.
00271 self.position_covariance = [0.,0.,0.,0.,0.,0.,0.,0.,0.]
00272 self.position_covariance_type = 0
00273
00274 def _get_types(self):
00275 """
00276 internal API method
00277 """
00278 return self._slot_types
00279
00280 def serialize(self, buff):
00281 """
00282 serialize message into buffer
00283 @param buff: buffer
00284 @type buff: StringIO
00285 """
00286 try:
00287 _x = self
00288 buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
00289 _x = self.header.frame_id
00290 length = len(_x)
00291 buff.write(struct.pack('<I%ss'%length, length, _x))
00292 _x = self
00293 buff.write(_struct_3I.pack(_x.status.header.seq, _x.status.header.stamp.secs, _x.status.header.stamp.nsecs))
00294 _x = self.status.header.frame_id
00295 length = len(_x)
00296 buff.write(struct.pack('<I%ss'%length, length, _x))
00297 buff.write(_struct_H.pack(self.status.satellites_used))
00298 length = len(self.status.satellite_used_prn)
00299 buff.write(_struct_I.pack(length))
00300 pattern = '<%si'%length
00301 buff.write(struct.pack(pattern, *self.status.satellite_used_prn))
00302 buff.write(_struct_H.pack(self.status.satellites_visible))
00303 length = len(self.status.satellite_visible_prn)
00304 buff.write(_struct_I.pack(length))
00305 pattern = '<%si'%length
00306 buff.write(struct.pack(pattern, *self.status.satellite_visible_prn))
00307 length = len(self.status.satellite_visible_z)
00308 buff.write(_struct_I.pack(length))
00309 pattern = '<%si'%length
00310 buff.write(struct.pack(pattern, *self.status.satellite_visible_z))
00311 length = len(self.status.satellite_visible_azimuth)
00312 buff.write(_struct_I.pack(length))
00313 pattern = '<%si'%length
00314 buff.write(struct.pack(pattern, *self.status.satellite_visible_azimuth))
00315 length = len(self.status.satellite_visible_snr)
00316 buff.write(_struct_I.pack(length))
00317 pattern = '<%si'%length
00318 buff.write(struct.pack(pattern, *self.status.satellite_visible_snr))
00319 _x = self
00320 buff.write(_struct_h3H25d.pack(_x.status.status, _x.status.motion_source, _x.status.orientation_source, _x.status.position_source, _x.latitude, _x.longitude, _x.altitude, _x.track, _x.speed, _x.climb, _x.pitch, _x.roll, _x.dip, _x.time, _x.gdop, _x.pdop, _x.hdop, _x.vdop, _x.tdop, _x.err, _x.err_horz, _x.err_vert, _x.err_track, _x.err_speed, _x.err_climb, _x.err_time, _x.err_pitch, _x.err_roll, _x.err_dip))
00321 buff.write(_struct_9d.pack(*self.position_covariance))
00322 buff.write(_struct_B.pack(self.position_covariance_type))
00323 except struct.error, se: self._check_types(se)
00324 except TypeError, te: self._check_types(te)
00325
00326 def deserialize(self, str):
00327 """
00328 unpack serialized message in str into this message instance
00329 @param str: byte array of serialized message
00330 @type str: str
00331 """
00332 try:
00333 if self.header is None:
00334 self.header = std_msgs.msg._Header.Header()
00335 if self.status is None:
00336 self.status = gps_common.msg.GPSStatus()
00337 end = 0
00338 _x = self
00339 start = end
00340 end += 12
00341 (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00342 start = end
00343 end += 4
00344 (length,) = _struct_I.unpack(str[start:end])
00345 start = end
00346 end += length
00347 self.header.frame_id = str[start:end]
00348 _x = self
00349 start = end
00350 end += 12
00351 (_x.status.header.seq, _x.status.header.stamp.secs, _x.status.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00352 start = end
00353 end += 4
00354 (length,) = _struct_I.unpack(str[start:end])
00355 start = end
00356 end += length
00357 self.status.header.frame_id = str[start:end]
00358 start = end
00359 end += 2
00360 (self.status.satellites_used,) = _struct_H.unpack(str[start:end])
00361 start = end
00362 end += 4
00363 (length,) = _struct_I.unpack(str[start:end])
00364 pattern = '<%si'%length
00365 start = end
00366 end += struct.calcsize(pattern)
00367 self.status.satellite_used_prn = struct.unpack(pattern, str[start:end])
00368 start = end
00369 end += 2
00370 (self.status.satellites_visible,) = _struct_H.unpack(str[start:end])
00371 start = end
00372 end += 4
00373 (length,) = _struct_I.unpack(str[start:end])
00374 pattern = '<%si'%length
00375 start = end
00376 end += struct.calcsize(pattern)
00377 self.status.satellite_visible_prn = struct.unpack(pattern, str[start:end])
00378 start = end
00379 end += 4
00380 (length,) = _struct_I.unpack(str[start:end])
00381 pattern = '<%si'%length
00382 start = end
00383 end += struct.calcsize(pattern)
00384 self.status.satellite_visible_z = struct.unpack(pattern, str[start:end])
00385 start = end
00386 end += 4
00387 (length,) = _struct_I.unpack(str[start:end])
00388 pattern = '<%si'%length
00389 start = end
00390 end += struct.calcsize(pattern)
00391 self.status.satellite_visible_azimuth = struct.unpack(pattern, str[start:end])
00392 start = end
00393 end += 4
00394 (length,) = _struct_I.unpack(str[start:end])
00395 pattern = '<%si'%length
00396 start = end
00397 end += struct.calcsize(pattern)
00398 self.status.satellite_visible_snr = struct.unpack(pattern, str[start:end])
00399 _x = self
00400 start = end
00401 end += 208
00402 (_x.status.status, _x.status.motion_source, _x.status.orientation_source, _x.status.position_source, _x.latitude, _x.longitude, _x.altitude, _x.track, _x.speed, _x.climb, _x.pitch, _x.roll, _x.dip, _x.time, _x.gdop, _x.pdop, _x.hdop, _x.vdop, _x.tdop, _x.err, _x.err_horz, _x.err_vert, _x.err_track, _x.err_speed, _x.err_climb, _x.err_time, _x.err_pitch, _x.err_roll, _x.err_dip,) = _struct_h3H25d.unpack(str[start:end])
00403 start = end
00404 end += 72
00405 self.position_covariance = _struct_9d.unpack(str[start:end])
00406 start = end
00407 end += 1
00408 (self.position_covariance_type,) = _struct_B.unpack(str[start:end])
00409 return self
00410 except struct.error, e:
00411 raise roslib.message.DeserializationError(e)
00412
00413
00414 def serialize_numpy(self, buff, numpy):
00415 """
00416 serialize message with numpy array types into buffer
00417 @param buff: buffer
00418 @type buff: StringIO
00419 @param numpy: numpy python module
00420 @type numpy module
00421 """
00422 try:
00423 _x = self
00424 buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
00425 _x = self.header.frame_id
00426 length = len(_x)
00427 buff.write(struct.pack('<I%ss'%length, length, _x))
00428 _x = self
00429 buff.write(_struct_3I.pack(_x.status.header.seq, _x.status.header.stamp.secs, _x.status.header.stamp.nsecs))
00430 _x = self.status.header.frame_id
00431 length = len(_x)
00432 buff.write(struct.pack('<I%ss'%length, length, _x))
00433 buff.write(_struct_H.pack(self.status.satellites_used))
00434 length = len(self.status.satellite_used_prn)
00435 buff.write(_struct_I.pack(length))
00436 pattern = '<%si'%length
00437 buff.write(self.status.satellite_used_prn.tostring())
00438 buff.write(_struct_H.pack(self.status.satellites_visible))
00439 length = len(self.status.satellite_visible_prn)
00440 buff.write(_struct_I.pack(length))
00441 pattern = '<%si'%length
00442 buff.write(self.status.satellite_visible_prn.tostring())
00443 length = len(self.status.satellite_visible_z)
00444 buff.write(_struct_I.pack(length))
00445 pattern = '<%si'%length
00446 buff.write(self.status.satellite_visible_z.tostring())
00447 length = len(self.status.satellite_visible_azimuth)
00448 buff.write(_struct_I.pack(length))
00449 pattern = '<%si'%length
00450 buff.write(self.status.satellite_visible_azimuth.tostring())
00451 length = len(self.status.satellite_visible_snr)
00452 buff.write(_struct_I.pack(length))
00453 pattern = '<%si'%length
00454 buff.write(self.status.satellite_visible_snr.tostring())
00455 _x = self
00456 buff.write(_struct_h3H25d.pack(_x.status.status, _x.status.motion_source, _x.status.orientation_source, _x.status.position_source, _x.latitude, _x.longitude, _x.altitude, _x.track, _x.speed, _x.climb, _x.pitch, _x.roll, _x.dip, _x.time, _x.gdop, _x.pdop, _x.hdop, _x.vdop, _x.tdop, _x.err, _x.err_horz, _x.err_vert, _x.err_track, _x.err_speed, _x.err_climb, _x.err_time, _x.err_pitch, _x.err_roll, _x.err_dip))
00457 buff.write(self.position_covariance.tostring())
00458 buff.write(_struct_B.pack(self.position_covariance_type))
00459 except struct.error, se: self._check_types(se)
00460 except TypeError, te: self._check_types(te)
00461
00462 def deserialize_numpy(self, str, numpy):
00463 """
00464 unpack serialized message in str into this message instance using numpy for array types
00465 @param str: byte array of serialized message
00466 @type str: str
00467 @param numpy: numpy python module
00468 @type numpy: module
00469 """
00470 try:
00471 if self.header is None:
00472 self.header = std_msgs.msg._Header.Header()
00473 if self.status is None:
00474 self.status = gps_common.msg.GPSStatus()
00475 end = 0
00476 _x = self
00477 start = end
00478 end += 12
00479 (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00480 start = end
00481 end += 4
00482 (length,) = _struct_I.unpack(str[start:end])
00483 start = end
00484 end += length
00485 self.header.frame_id = str[start:end]
00486 _x = self
00487 start = end
00488 end += 12
00489 (_x.status.header.seq, _x.status.header.stamp.secs, _x.status.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00490 start = end
00491 end += 4
00492 (length,) = _struct_I.unpack(str[start:end])
00493 start = end
00494 end += length
00495 self.status.header.frame_id = str[start:end]
00496 start = end
00497 end += 2
00498 (self.status.satellites_used,) = _struct_H.unpack(str[start:end])
00499 start = end
00500 end += 4
00501 (length,) = _struct_I.unpack(str[start:end])
00502 pattern = '<%si'%length
00503 start = end
00504 end += struct.calcsize(pattern)
00505 self.status.satellite_used_prn = numpy.frombuffer(str[start:end], dtype=numpy.int32, count=length)
00506 start = end
00507 end += 2
00508 (self.status.satellites_visible,) = _struct_H.unpack(str[start:end])
00509 start = end
00510 end += 4
00511 (length,) = _struct_I.unpack(str[start:end])
00512 pattern = '<%si'%length
00513 start = end
00514 end += struct.calcsize(pattern)
00515 self.status.satellite_visible_prn = numpy.frombuffer(str[start:end], dtype=numpy.int32, count=length)
00516 start = end
00517 end += 4
00518 (length,) = _struct_I.unpack(str[start:end])
00519 pattern = '<%si'%length
00520 start = end
00521 end += struct.calcsize(pattern)
00522 self.status.satellite_visible_z = numpy.frombuffer(str[start:end], dtype=numpy.int32, count=length)
00523 start = end
00524 end += 4
00525 (length,) = _struct_I.unpack(str[start:end])
00526 pattern = '<%si'%length
00527 start = end
00528 end += struct.calcsize(pattern)
00529 self.status.satellite_visible_azimuth = numpy.frombuffer(str[start:end], dtype=numpy.int32, count=length)
00530 start = end
00531 end += 4
00532 (length,) = _struct_I.unpack(str[start:end])
00533 pattern = '<%si'%length
00534 start = end
00535 end += struct.calcsize(pattern)
00536 self.status.satellite_visible_snr = numpy.frombuffer(str[start:end], dtype=numpy.int32, count=length)
00537 _x = self
00538 start = end
00539 end += 208
00540 (_x.status.status, _x.status.motion_source, _x.status.orientation_source, _x.status.position_source, _x.latitude, _x.longitude, _x.altitude, _x.track, _x.speed, _x.climb, _x.pitch, _x.roll, _x.dip, _x.time, _x.gdop, _x.pdop, _x.hdop, _x.vdop, _x.tdop, _x.err, _x.err_horz, _x.err_vert, _x.err_track, _x.err_speed, _x.err_climb, _x.err_time, _x.err_pitch, _x.err_roll, _x.err_dip,) = _struct_h3H25d.unpack(str[start:end])
00541 start = end
00542 end += 72
00543 self.position_covariance = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=9)
00544 start = end
00545 end += 1
00546 (self.position_covariance_type,) = _struct_B.unpack(str[start:end])
00547 return self
00548 except struct.error, e:
00549 raise roslib.message.DeserializationError(e)
00550
00551 _struct_I = roslib.message.struct_I
00552 _struct_h3H25d = struct.Struct("<h3H25d")
00553 _struct_H = struct.Struct("<H")
00554 _struct_3I = struct.Struct("<3I")
00555 _struct_B = struct.Struct("<B")
00556 _struct_9d = struct.Struct("<9d")
