_GetRobotTrajectoryValidity.py

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"""autogenerated by genmsg_py from GetRobotTrajectoryValidityRequest.msg. Do not edit."""
import roslib.message
import struct

import trajectory_msgs.msg
import roslib.rostime
import geometric_shapes_msgs.msg
import geometry_msgs.msg
import sensor_msgs.msg
import motion_planning_msgs.msg
import std_msgs.msg

class GetRobotTrajectoryValidityRequest(roslib.message.Message):
  _md5sum = "2cc927be2dfdeca7c58eb702418bca0b"
  _type = "planning_environment_msgs/GetRobotTrajectoryValidityRequest"
  _has_header = False #flag to mark the presence of a Header object
  _full_text = """
motion_planning_msgs/RobotTrajectory trajectory







motion_planning_msgs/RobotState robot_state


bool check_collisions


bool check_path_constraints


bool check_goal_constraints


bool check_joint_limits




bool check_full_trajectory




motion_planning_msgs/OrderedCollisionOperations ordered_collision_operations



motion_planning_msgs/AllowedContactSpecification[] allowed_contacts




motion_planning_msgs/Constraints path_constraints




motion_planning_msgs/Constraints goal_constraints



motion_planning_msgs/LinkPadding[] link_padding


================================================================================
MSG: motion_planning_msgs/RobotTrajectory
trajectory_msgs/JointTrajectory joint_trajectory
motion_planning_msgs/MultiDOFJointTrajectory multi_dof_joint_trajectory
================================================================================
MSG: trajectory_msgs/JointTrajectory
Header header
string[] joint_names
JointTrajectoryPoint[] points
================================================================================
MSG: std_msgs/Header
# Standard metadata for higher-level stamped data types.
# This is generally used to communicate timestamped data 
# in a particular coordinate frame.
# 
# sequence ID: consecutively increasing ID 
uint32 seq
#Two-integer timestamp that is expressed as:
# * stamp.secs: seconds (stamp_secs) since epoch
# * stamp.nsecs: nanoseconds since stamp_secs
# time-handling sugar is provided by the client library
time stamp
#Frame this data is associated with
# 0: no frame
# 1: global frame
string frame_id

================================================================================
MSG: trajectory_msgs/JointTrajectoryPoint
float64[] positions
float64[] velocities
float64[] accelerations
duration time_from_start
================================================================================
MSG: motion_planning_msgs/MultiDOFJointTrajectory
#A representation of a multi-dof joint trajectory
duration stamp
string[] joint_names
string[] frame_ids
string[] child_frame_ids
MultiDOFJointTrajectoryPoint[] points

================================================================================
MSG: motion_planning_msgs/MultiDOFJointTrajectoryPoint
geometry_msgs/Pose[] poses
duration time_from_start
================================================================================
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

================================================================================
MSG: motion_planning_msgs/RobotState
# This message contains information about the robot state, i.e. the positions of its joints and links
sensor_msgs/JointState joint_state
motion_planning_msgs/MultiDOFJointState multi_dof_joint_state
================================================================================
MSG: sensor_msgs/JointState
# This is a message that holds data to describe the state of a set of torque controlled joints. 
#
# The state of each joint (revolute or prismatic) is defined by:
#  * the position of the joint (rad or m),
#  * the velocity of the joint (rad/s or m/s) and 
#  * the effort that is applied in the joint (Nm or N).
#
# Each joint is uniquely identified by its name
# The header specifies the time at which the joint states were recorded. All the joint states
# in one message have to be recorded at the same time.
#
# This message consists of a multiple arrays, one for each part of the joint state. 
# The goal is to make each of the fields optional. When e.g. your joints have no
# effort associated with them, you can leave the effort array empty. 
#
# All arrays in this message should have the same size, or be empty.
# This is the only way to uniquely associate the joint name with the correct
# states.


Header header

string[] name
float64[] position
float64[] velocity
float64[] effort

================================================================================
MSG: motion_planning_msgs/MultiDOFJointState
#A representation of a multi-dof joint state
time stamp
string[] joint_names
string[] frame_ids
string[] child_frame_ids
geometry_msgs/Pose[] poses

================================================================================
MSG: motion_planning_msgs/OrderedCollisionOperations
# A set of collision operations that will be performed in the order they are specified
CollisionOperation[] collision_operations
================================================================================
MSG: motion_planning_msgs/CollisionOperation
# A definition of a collision operation
# E.g. ("gripper",COLLISION_SET_ALL,ENABLE) will enable collisions 
# between the gripper and all objects in the collision space

string object1
string object2
string COLLISION_SET_ALL="all"
string COLLISION_SET_OBJECTS="objects"
string COLLISION_SET_ATTACHED_OBJECTS="attached"

# The penetration distance to which collisions are allowed. This is 0.0 by default.
float64 penetration_distance

# Flag that determines whether collisions will be enabled or disabled for the pair of objects specified above
int32 operation
int32 DISABLE=0
int32 ENABLE=1

================================================================================
MSG: motion_planning_msgs/AllowedContactSpecification
# The names of the regions
string name

# The shape of the region in the environment
geometric_shapes_msgs/Shape shape

# The pose of the space defining the region
geometry_msgs/PoseStamped pose_stamped

# The set of links that will be allowed to have penetration contact within this region
string[] link_names

# The maximum penetration depth allowed for every link
float64 penetration_depth
================================================================================
MSG: geometric_shapes_msgs/Shape
byte SPHERE=0
byte BOX=1
byte CYLINDER=2
byte MESH=3

byte type


#### define sphere, box, cylinder ####
# the origin of each shape is considered at the shape's center

# for sphere
# radius := dimensions[0]

# for cylinder
# radius := dimensions[0]
# length := dimensions[1]
# the length is along the Z axis

# for box
# size_x := dimensions[0]
# size_y := dimensions[1]
# size_z := dimensions[2]
float64[] dimensions


#### define mesh ####

# list of triangles; triangle k is defined by tre vertices located
# at indices triangles[3k], triangles[3k+1], triangles[3k+2]
int32[] triangles
geometry_msgs/Point[] vertices

================================================================================
MSG: geometry_msgs/PoseStamped
# A Pose with reference coordinate frame and timestamp
Header header
Pose pose

================================================================================
MSG: motion_planning_msgs/Constraints
# This message contains a list of motion planning constraints.

motion_planning_msgs/JointConstraint[] joint_constraints
motion_planning_msgs/PositionConstraint[] position_constraints
motion_planning_msgs/OrientationConstraint[] orientation_constraints
motion_planning_msgs/VisibilityConstraint[] visibility_constraints

================================================================================
MSG: motion_planning_msgs/JointConstraint
# Constrain the position of a joint to be within a certain bound
string joint_name

# the bound to be achieved is [position - tolerance_below, position + tolerance_above]
float64 position
float64 tolerance_above
float64 tolerance_below

# A weighting factor for this constraint
float64 weight
================================================================================
MSG: motion_planning_msgs/PositionConstraint
# This message contains the definition of a position constraint.
Header header

# The robot link this constraint refers to
string link_name

# The offset (in the link frame) for the target point on the link we are planning for
geometry_msgs/Point target_point_offset

# The nominal/target position for the point we are planning for
geometry_msgs/Point position

# The shape of the bounded region that constrains the position of the end-effector
# This region is always centered at the position defined above
geometric_shapes_msgs/Shape constraint_region_shape

# The orientation of the bounded region that constrains the position of the end-effector. 
# This allows the specification of non-axis aligned constraints
geometry_msgs/Quaternion constraint_region_orientation

# Constraint weighting factor - a weight for this constraint
float64 weight
================================================================================
MSG: motion_planning_msgs/OrientationConstraint
# This message contains the definition of an orientation constraint.
Header header

# The robot link this constraint refers to
string link_name

# The type of the constraint
int32 type
int32 LINK_FRAME=0
int32 HEADER_FRAME=1

# The desired orientation of the robot link specified as a quaternion
geometry_msgs/Quaternion orientation

# optional RPY error tolerances specified if 
float64 absolute_roll_tolerance
float64 absolute_pitch_tolerance
float64 absolute_yaw_tolerance

# Constraint weighting factor - a weight for this constraint
float64 weight

================================================================================
MSG: motion_planning_msgs/VisibilityConstraint
# This message contains the definition of a visibility constraint.
Header header

# The point stamped target that needs to be kept within view of the sensor
geometry_msgs/PointStamped target

# The local pose of the frame in which visibility is to be maintained
# The frame id should represent the robot link to which the sensor is attached
# The visual axis of the sensor is assumed to be along the X axis of this frame
geometry_msgs/PoseStamped sensor_pose

# The deviation (in radians) that will be tolerated
# Constraint error will be measured as the solid angle between the 
# X axis of the frame defined above and the vector between the origin 
# of the frame defined above and the target location
float64 absolute_tolerance


================================================================================
MSG: geometry_msgs/PointStamped
# This represents a Point with reference coordinate frame and timestamp
Header header
Point point

================================================================================
MSG: motion_planning_msgs/LinkPadding
#name for the link
string link_name

# padding to apply to the link
float64 padding

"""
  __slots__ = ['trajectory','robot_state','check_collisions','check_path_constraints','check_goal_constraints','check_joint_limits','check_full_trajectory','ordered_collision_operations','allowed_contacts','path_constraints','goal_constraints','link_padding']
  _slot_types = ['motion_planning_msgs/RobotTrajectory','motion_planning_msgs/RobotState','bool','bool','bool','bool','bool','motion_planning_msgs/OrderedCollisionOperations','motion_planning_msgs/AllowedContactSpecification[]','motion_planning_msgs/Constraints','motion_planning_msgs/Constraints','motion_planning_msgs/LinkPadding[]']

  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:
       trajectory,robot_state,check_collisions,check_path_constraints,check_goal_constraints,check_joint_limits,check_full_trajectory,ordered_collision_operations,allowed_contacts,path_constraints,goal_constraints,link_padding
    
    @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(GetRobotTrajectoryValidityRequest, self).__init__(*args, **kwds)
      #message fields cannot be None, assign default values for those that are
      if self.trajectory is None:
        self.trajectory = motion_planning_msgs.msg.RobotTrajectory()
      if self.robot_state is None:
        self.robot_state = motion_planning_msgs.msg.RobotState()
      if self.check_collisions is None:
        self.check_collisions = False
      if self.check_path_constraints is None:
        self.check_path_constraints = False
      if self.check_goal_constraints is None:
        self.check_goal_constraints = False
      if self.check_joint_limits is None:
        self.check_joint_limits = False
      if self.check_full_trajectory is None:
        self.check_full_trajectory = False
      if self.ordered_collision_operations is None:
        self.ordered_collision_operations = motion_planning_msgs.msg.OrderedCollisionOperations()
      if self.allowed_contacts is None:
        self.allowed_contacts = []
      if self.path_constraints is None:
        self.path_constraints = motion_planning_msgs.msg.Constraints()
      if self.goal_constraints is None:
        self.goal_constraints = motion_planning_msgs.msg.Constraints()
      if self.link_padding is None:
        self.link_padding = []
    else:
      self.trajectory = motion_planning_msgs.msg.RobotTrajectory()
      self.robot_state = motion_planning_msgs.msg.RobotState()
      self.check_collisions = False
      self.check_path_constraints = False
      self.check_goal_constraints = False
      self.check_joint_limits = False
      self.check_full_trajectory = False
      self.ordered_collision_operations = motion_planning_msgs.msg.OrderedCollisionOperations()
      self.allowed_contacts = []
      self.path_constraints = motion_planning_msgs.msg.Constraints()
      self.goal_constraints = motion_planning_msgs.msg.Constraints()
      self.link_padding = []

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

  def serialize(self, buff):
    """
    serialize message into buffer
    @param buff: buffer
    @type  buff: StringIO
    """
    try:
      _x = self
      buff.write(_struct_3I.pack(_x.trajectory.joint_trajectory.header.seq, _x.trajectory.joint_trajectory.header.stamp.secs, _x.trajectory.joint_trajectory.header.stamp.nsecs))
      _x = self.trajectory.joint_trajectory.header.frame_id
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.trajectory.joint_trajectory.joint_names)
      buff.write(_struct_I.pack(length))
      for val1 in self.trajectory.joint_trajectory.joint_names:
        length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.trajectory.joint_trajectory.points)
      buff.write(_struct_I.pack(length))
      for val1 in self.trajectory.joint_trajectory.points:
        length = len(val1.positions)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(struct.pack(pattern, *val1.positions))
        length = len(val1.velocities)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(struct.pack(pattern, *val1.velocities))
        length = len(val1.accelerations)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(struct.pack(pattern, *val1.accelerations))
        _v1 = val1.time_from_start
        _x = _v1
        buff.write(_struct_2i.pack(_x.secs, _x.nsecs))
      _x = self
      buff.write(_struct_2i.pack(_x.trajectory.multi_dof_joint_trajectory.stamp.secs, _x.trajectory.multi_dof_joint_trajectory.stamp.nsecs))
      length = len(self.trajectory.multi_dof_joint_trajectory.joint_names)
      buff.write(_struct_I.pack(length))
      for val1 in self.trajectory.multi_dof_joint_trajectory.joint_names:
        length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.trajectory.multi_dof_joint_trajectory.frame_ids)
      buff.write(_struct_I.pack(length))
      for val1 in self.trajectory.multi_dof_joint_trajectory.frame_ids:
        length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.trajectory.multi_dof_joint_trajectory.child_frame_ids)
      buff.write(_struct_I.pack(length))
      for val1 in self.trajectory.multi_dof_joint_trajectory.child_frame_ids:
        length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.trajectory.multi_dof_joint_trajectory.points)
      buff.write(_struct_I.pack(length))
      for val1 in self.trajectory.multi_dof_joint_trajectory.points:
        length = len(val1.poses)
        buff.write(_struct_I.pack(length))
        for val2 in val1.poses:
          _v2 = val2.position
          _x = _v2
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
          _v3 = val2.orientation
          _x = _v3
          buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
        _v4 = val1.time_from_start
        _x = _v4
        buff.write(_struct_2i.pack(_x.secs, _x.nsecs))
      _x = self
      buff.write(_struct_3I.pack(_x.robot_state.joint_state.header.seq, _x.robot_state.joint_state.header.stamp.secs, _x.robot_state.joint_state.header.stamp.nsecs))
      _x = self.robot_state.joint_state.header.frame_id
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.robot_state.joint_state.name)
      buff.write(_struct_I.pack(length))
      for val1 in self.robot_state.joint_state.name:
        length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.robot_state.joint_state.position)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.robot_state.joint_state.position))
      length = len(self.robot_state.joint_state.velocity)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.robot_state.joint_state.velocity))
      length = len(self.robot_state.joint_state.effort)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.robot_state.joint_state.effort))
      _x = self
      buff.write(_struct_2I.pack(_x.robot_state.multi_dof_joint_state.stamp.secs, _x.robot_state.multi_dof_joint_state.stamp.nsecs))
      length = len(self.robot_state.multi_dof_joint_state.joint_names)
      buff.write(_struct_I.pack(length))
      for val1 in self.robot_state.multi_dof_joint_state.joint_names:
        length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.robot_state.multi_dof_joint_state.frame_ids)
      buff.write(_struct_I.pack(length))
      for val1 in self.robot_state.multi_dof_joint_state.frame_ids:
        length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.robot_state.multi_dof_joint_state.child_frame_ids)
      buff.write(_struct_I.pack(length))
      for val1 in self.robot_state.multi_dof_joint_state.child_frame_ids:
        length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.robot_state.multi_dof_joint_state.poses)
      buff.write(_struct_I.pack(length))
      for val1 in self.robot_state.multi_dof_joint_state.poses:
        _v5 = val1.position
        _x = _v5
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v6 = val1.orientation
        _x = _v6
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
      _x = self
      buff.write(_struct_5B.pack(_x.check_collisions, _x.check_path_constraints, _x.check_goal_constraints, _x.check_joint_limits, _x.check_full_trajectory))
      length = len(self.ordered_collision_operations.collision_operations)
      buff.write(_struct_I.pack(length))
      for val1 in self.ordered_collision_operations.collision_operations:
        _x = val1.object1
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = val1.object2
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = val1
        buff.write(_struct_di.pack(_x.penetration_distance, _x.operation))
      length = len(self.allowed_contacts)
      buff.write(_struct_I.pack(length))
      for val1 in self.allowed_contacts:
        _x = val1.name
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _v7 = val1.shape
        buff.write(_struct_b.pack(_v7.type))
        length = len(_v7.dimensions)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(struct.pack(pattern, *_v7.dimensions))
        length = len(_v7.triangles)
        buff.write(_struct_I.pack(length))
        pattern = '<%si'%length
        buff.write(struct.pack(pattern, *_v7.triangles))
        length = len(_v7.vertices)
        buff.write(_struct_I.pack(length))
        for val3 in _v7.vertices:
          _x = val3
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v8 = val1.pose_stamped
        _v9 = _v8.header
        buff.write(_struct_I.pack(_v9.seq))
        _v10 = _v9.stamp
        _x = _v10
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v9.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _v11 = _v8.pose
        _v12 = _v11.position
        _x = _v12
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v13 = _v11.orientation
        _x = _v13
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
        length = len(val1.link_names)
        buff.write(_struct_I.pack(length))
        for val2 in val1.link_names:
          length = len(val2)
          buff.write(struct.pack('<I%ss'%length, length, val2))
        buff.write(_struct_d.pack(val1.penetration_depth))
      length = len(self.path_constraints.joint_constraints)
      buff.write(_struct_I.pack(length))
      for val1 in self.path_constraints.joint_constraints:
        _x = val1.joint_name
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = val1
        buff.write(_struct_4d.pack(_x.position, _x.tolerance_above, _x.tolerance_below, _x.weight))
      length = len(self.path_constraints.position_constraints)
      buff.write(_struct_I.pack(length))
      for val1 in self.path_constraints.position_constraints:
        _v14 = val1.header
        buff.write(_struct_I.pack(_v14.seq))
        _v15 = _v14.stamp
        _x = _v15
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v14.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = val1.link_name
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _v16 = val1.target_point_offset
        _x = _v16
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v17 = val1.position
        _x = _v17
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v18 = val1.constraint_region_shape
        buff.write(_struct_b.pack(_v18.type))
        length = len(_v18.dimensions)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(struct.pack(pattern, *_v18.dimensions))
        length = len(_v18.triangles)
        buff.write(_struct_I.pack(length))
        pattern = '<%si'%length
        buff.write(struct.pack(pattern, *_v18.triangles))
        length = len(_v18.vertices)
        buff.write(_struct_I.pack(length))
        for val3 in _v18.vertices:
          _x = val3
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v19 = val1.constraint_region_orientation
        _x = _v19
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
        buff.write(_struct_d.pack(val1.weight))
      length = len(self.path_constraints.orientation_constraints)
      buff.write(_struct_I.pack(length))
      for val1 in self.path_constraints.orientation_constraints:
        _v20 = val1.header
        buff.write(_struct_I.pack(_v20.seq))
        _v21 = _v20.stamp
        _x = _v21
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v20.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = val1.link_name
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        buff.write(_struct_i.pack(val1.type))
        _v22 = val1.orientation
        _x = _v22
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
        _x = val1
        buff.write(_struct_4d.pack(_x.absolute_roll_tolerance, _x.absolute_pitch_tolerance, _x.absolute_yaw_tolerance, _x.weight))
      length = len(self.path_constraints.visibility_constraints)
      buff.write(_struct_I.pack(length))
      for val1 in self.path_constraints.visibility_constraints:
        _v23 = val1.header
        buff.write(_struct_I.pack(_v23.seq))
        _v24 = _v23.stamp
        _x = _v24
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v23.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _v25 = val1.target
        _v26 = _v25.header
        buff.write(_struct_I.pack(_v26.seq))
        _v27 = _v26.stamp
        _x = _v27
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v26.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _v28 = _v25.point
        _x = _v28
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v29 = val1.sensor_pose
        _v30 = _v29.header
        buff.write(_struct_I.pack(_v30.seq))
        _v31 = _v30.stamp
        _x = _v31
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v30.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _v32 = _v29.pose
        _v33 = _v32.position
        _x = _v33
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v34 = _v32.orientation
        _x = _v34
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
        buff.write(_struct_d.pack(val1.absolute_tolerance))
      length = len(self.goal_constraints.joint_constraints)
      buff.write(_struct_I.pack(length))
      for val1 in self.goal_constraints.joint_constraints:
        _x = val1.joint_name
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = val1
        buff.write(_struct_4d.pack(_x.position, _x.tolerance_above, _x.tolerance_below, _x.weight))
      length = len(self.goal_constraints.position_constraints)
      buff.write(_struct_I.pack(length))
      for val1 in self.goal_constraints.position_constraints:
        _v35 = val1.header
        buff.write(_struct_I.pack(_v35.seq))
        _v36 = _v35.stamp
        _x = _v36
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v35.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = val1.link_name
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _v37 = val1.target_point_offset
        _x = _v37
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v38 = val1.position
        _x = _v38
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v39 = val1.constraint_region_shape
        buff.write(_struct_b.pack(_v39.type))
        length = len(_v39.dimensions)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(struct.pack(pattern, *_v39.dimensions))
        length = len(_v39.triangles)
        buff.write(_struct_I.pack(length))
        pattern = '<%si'%length
        buff.write(struct.pack(pattern, *_v39.triangles))
        length = len(_v39.vertices)
        buff.write(_struct_I.pack(length))
        for val3 in _v39.vertices:
          _x = val3
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v40 = val1.constraint_region_orientation
        _x = _v40
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
        buff.write(_struct_d.pack(val1.weight))
      length = len(self.goal_constraints.orientation_constraints)
      buff.write(_struct_I.pack(length))
      for val1 in self.goal_constraints.orientation_constraints:
        _v41 = val1.header
        buff.write(_struct_I.pack(_v41.seq))
        _v42 = _v41.stamp
        _x = _v42
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v41.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = val1.link_name
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        buff.write(_struct_i.pack(val1.type))
        _v43 = val1.orientation
        _x = _v43
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
        _x = val1
        buff.write(_struct_4d.pack(_x.absolute_roll_tolerance, _x.absolute_pitch_tolerance, _x.absolute_yaw_tolerance, _x.weight))
      length = len(self.goal_constraints.visibility_constraints)
      buff.write(_struct_I.pack(length))
      for val1 in self.goal_constraints.visibility_constraints:
        _v44 = val1.header
        buff.write(_struct_I.pack(_v44.seq))
        _v45 = _v44.stamp
        _x = _v45
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v44.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _v46 = val1.target
        _v47 = _v46.header
        buff.write(_struct_I.pack(_v47.seq))
        _v48 = _v47.stamp
        _x = _v48
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v47.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _v49 = _v46.point
        _x = _v49
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v50 = val1.sensor_pose
        _v51 = _v50.header
        buff.write(_struct_I.pack(_v51.seq))
        _v52 = _v51.stamp
        _x = _v52
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v51.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _v53 = _v50.pose
        _v54 = _v53.position
        _x = _v54
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v55 = _v53.orientation
        _x = _v55
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
        buff.write(_struct_d.pack(val1.absolute_tolerance))
      length = len(self.link_padding)
      buff.write(_struct_I.pack(length))
      for val1 in self.link_padding:
        _x = val1.link_name
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        buff.write(_struct_d.pack(val1.padding))
    except struct.error, se: self._check_types(se)
    except TypeError, 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
    @type  str: str
    """
    try:
      if self.trajectory is None:
        self.trajectory = motion_planning_msgs.msg.RobotTrajectory()
      if self.robot_state is None:
        self.robot_state = motion_planning_msgs.msg.RobotState()
      if self.ordered_collision_operations is None:
        self.ordered_collision_operations = motion_planning_msgs.msg.OrderedCollisionOperations()
      if self.path_constraints is None:
        self.path_constraints = motion_planning_msgs.msg.Constraints()
      if self.goal_constraints is None:
        self.goal_constraints = motion_planning_msgs.msg.Constraints()
      end = 0
      _x = self
      start = end
      end += 12
      (_x.trajectory.joint_trajectory.header.seq, _x.trajectory.joint_trajectory.header.stamp.secs, _x.trajectory.joint_trajectory.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.trajectory.joint_trajectory.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.trajectory.joint_trajectory.joint_names = []
      for i in xrange(0, length):
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1 = str[start:end]
        self.trajectory.joint_trajectory.joint_names.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.trajectory.joint_trajectory.points = []
      for i in xrange(0, length):
        val1 = trajectory_msgs.msg.JointTrajectoryPoint()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        val1.positions = struct.unpack(pattern, str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        val1.velocities = struct.unpack(pattern, str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        val1.accelerations = struct.unpack(pattern, str[start:end])
        _v56 = val1.time_from_start
        _x = _v56
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2i.unpack(str[start:end])
        self.trajectory.joint_trajectory.points.append(val1)
      _x = self
      start = end
      end += 8
      (_x.trajectory.multi_dof_joint_trajectory.stamp.secs, _x.trajectory.multi_dof_joint_trajectory.stamp.nsecs,) = _struct_2i.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.trajectory.multi_dof_joint_trajectory.joint_names = []
      for i in xrange(0, length):
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1 = str[start:end]
        self.trajectory.multi_dof_joint_trajectory.joint_names.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.trajectory.multi_dof_joint_trajectory.frame_ids = []
      for i in xrange(0, length):
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1 = str[start:end]
        self.trajectory.multi_dof_joint_trajectory.frame_ids.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.trajectory.multi_dof_joint_trajectory.child_frame_ids = []
      for i in xrange(0, length):
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1 = str[start:end]
        self.trajectory.multi_dof_joint_trajectory.child_frame_ids.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.trajectory.multi_dof_joint_trajectory.points = []
      for i in xrange(0, length):
        val1 = motion_planning_msgs.msg.MultiDOFJointTrajectoryPoint()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.poses = []
        for i in xrange(0, length):
          val2 = geometry_msgs.msg.Pose()
          _v57 = val2.position
          _x = _v57
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
          _v58 = val2.orientation
          _x = _v58
          start = end
          end += 32
          (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
          val1.poses.append(val2)
        _v59 = val1.time_from_start
        _x = _v59
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2i.unpack(str[start:end])
        self.trajectory.multi_dof_joint_trajectory.points.append(val1)
      _x = self
      start = end
      end += 12
      (_x.robot_state.joint_state.header.seq, _x.robot_state.joint_state.header.stamp.secs, _x.robot_state.joint_state.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.robot_state.joint_state.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.robot_state.joint_state.name = []
      for i in xrange(0, length):
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1 = str[start:end]
        self.robot_state.joint_state.name.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.robot_state.joint_state.position = struct.unpack(pattern, str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.robot_state.joint_state.velocity = struct.unpack(pattern, str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.robot_state.joint_state.effort = struct.unpack(pattern, str[start:end])
      _x = self
      start = end
      end += 8
      (_x.robot_state.multi_dof_joint_state.stamp.secs, _x.robot_state.multi_dof_joint_state.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.robot_state.multi_dof_joint_state.joint_names = []
      for i in xrange(0, length):
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1 = str[start:end]
        self.robot_state.multi_dof_joint_state.joint_names.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.robot_state.multi_dof_joint_state.frame_ids = []
      for i in xrange(0, length):
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1 = str[start:end]
        self.robot_state.multi_dof_joint_state.frame_ids.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.robot_state.multi_dof_joint_state.child_frame_ids = []
      for i in xrange(0, length):
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1 = str[start:end]
        self.robot_state.multi_dof_joint_state.child_frame_ids.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.robot_state.multi_dof_joint_state.poses = []
      for i in xrange(0, length):
        val1 = geometry_msgs.msg.Pose()
        _v60 = val1.position
        _x = _v60
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v61 = val1.orientation
        _x = _v61
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        self.robot_state.multi_dof_joint_state.poses.append(val1)
      _x = self
      start = end
      end += 5
      (_x.check_collisions, _x.check_path_constraints, _x.check_goal_constraints, _x.check_joint_limits, _x.check_full_trajectory,) = _struct_5B.unpack(str[start:end])
      self.check_collisions = bool(self.check_collisions)
      self.check_path_constraints = bool(self.check_path_constraints)
      self.check_goal_constraints = bool(self.check_goal_constraints)
      self.check_joint_limits = bool(self.check_joint_limits)
      self.check_full_trajectory = bool(self.check_full_trajectory)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.ordered_collision_operations.collision_operations = []
      for i in xrange(0, length):
        val1 = motion_planning_msgs.msg.CollisionOperation()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1.object1 = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1.object2 = str[start:end]
        _x = val1
        start = end
        end += 12
        (_x.penetration_distance, _x.operation,) = _struct_di.unpack(str[start:end])
        self.ordered_collision_operations.collision_operations.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.allowed_contacts = []
      for i in xrange(0, length):
        val1 = motion_planning_msgs.msg.AllowedContactSpecification()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1.name = str[start:end]
        _v62 = val1.shape
        start = end
        end += 1
        (_v62.type,) = _struct_b.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        _v62.dimensions = struct.unpack(pattern, str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%si'%length
        start = end
        end += struct.calcsize(pattern)
        _v62.triangles = struct.unpack(pattern, str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v62.vertices = []
        for i in xrange(0, length):
          val3 = geometry_msgs.msg.Point()
          _x = val3
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
          _v62.vertices.append(val3)
        _v63 = val1.pose_stamped
        _v64 = _v63.header
        start = end
        end += 4
        (_v64.seq,) = _struct_I.unpack(str[start:end])
        _v65 = _v64.stamp
        _x = _v65
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        _v64.frame_id = str[start:end]
        _v66 = _v63.pose
        _v67 = _v66.position
        _x = _v67
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v68 = _v66.orientation
        _x = _v68
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.link_names = []
        for i in xrange(0, length):
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          val2 = str[start:end]
          val1.link_names.append(val2)
        start = end
        end += 8
        (val1.penetration_depth,) = _struct_d.unpack(str[start:end])
        self.allowed_contacts.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.path_constraints.joint_constraints = []
      for i in xrange(0, length):
        val1 = motion_planning_msgs.msg.JointConstraint()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1.joint_name = str[start:end]
        _x = val1
        start = end
        end += 32
        (_x.position, _x.tolerance_above, _x.tolerance_below, _x.weight,) = _struct_4d.unpack(str[start:end])
        self.path_constraints.joint_constraints.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.path_constraints.position_constraints = []
      for i in xrange(0, length):
        val1 = motion_planning_msgs.msg.PositionConstraint()
        _v69 = val1.header
        start = end
        end += 4
        (_v69.seq,) = _struct_I.unpack(str[start:end])
        _v70 = _v69.stamp
        _x = _v70
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        _v69.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1.link_name = str[start:end]
        _v71 = val1.target_point_offset
        _x = _v71
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v72 = val1.position
        _x = _v72
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v73 = val1.constraint_region_shape
        start = end
        end += 1
        (_v73.type,) = _struct_b.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        _v73.dimensions = struct.unpack(pattern, str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%si'%length
        start = end
        end += struct.calcsize(pattern)
        _v73.triangles = struct.unpack(pattern, str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v73.vertices = []
        for i in xrange(0, length):
          val3 = geometry_msgs.msg.Point()
          _x = val3
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
          _v73.vertices.append(val3)
        _v74 = val1.constraint_region_orientation
        _x = _v74
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        start = end
        end += 8
        (val1.weight,) = _struct_d.unpack(str[start:end])
        self.path_constraints.position_constraints.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.path_constraints.orientation_constraints = []
      for i in xrange(0, length):
        val1 = motion_planning_msgs.msg.OrientationConstraint()
        _v75 = val1.header
        start = end
        end += 4
        (_v75.seq,) = _struct_I.unpack(str[start:end])
        _v76 = _v75.stamp
        _x = _v76
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        _v75.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1.link_name = str[start:end]
        start = end
        end += 4
        (val1.type,) = _struct_i.unpack(str[start:end])
        _v77 = val1.orientation
        _x = _v77
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        _x = val1
        start = end
        end += 32
        (_x.absolute_roll_tolerance, _x.absolute_pitch_tolerance, _x.absolute_yaw_tolerance, _x.weight,) = _struct_4d.unpack(str[start:end])
        self.path_constraints.orientation_constraints.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.path_constraints.visibility_constraints = []
      for i in xrange(0, length):
        val1 = motion_planning_msgs.msg.VisibilityConstraint()
        _v78 = val1.header
        start = end
        end += 4
        (_v78.seq,) = _struct_I.unpack(str[start:end])
        _v79 = _v78.stamp
        _x = _v79
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        _v78.frame_id = str[start:end]
        _v80 = val1.target
        _v81 = _v80.header
        start = end
        end += 4
        (_v81.seq,) = _struct_I.unpack(str[start:end])
        _v82 = _v81.stamp
        _x = _v82
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        _v81.frame_id = str[start:end]
        _v83 = _v80.point
        _x = _v83
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v84 = val1.sensor_pose
        _v85 = _v84.header
        start = end
        end += 4
        (_v85.seq,) = _struct_I.unpack(str[start:end])
        _v86 = _v85.stamp
        _x = _v86
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        _v85.frame_id = str[start:end]
        _v87 = _v84.pose
        _v88 = _v87.position
        _x = _v88
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v89 = _v87.orientation
        _x = _v89
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        start = end
        end += 8
        (val1.absolute_tolerance,) = _struct_d.unpack(str[start:end])
        self.path_constraints.visibility_constraints.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.goal_constraints.joint_constraints = []
      for i in xrange(0, length):
        val1 = motion_planning_msgs.msg.JointConstraint()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1.joint_name = str[start:end]
        _x = val1
        start = end
        end += 32
        (_x.position, _x.tolerance_above, _x.tolerance_below, _x.weight,) = _struct_4d.unpack(str[start:end])
        self.goal_constraints.joint_constraints.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.goal_constraints.position_constraints = []
      for i in xrange(0, length):
        val1 = motion_planning_msgs.msg.PositionConstraint()
        _v90 = val1.header
        start = end
        end += 4
        (_v90.seq,) = _struct_I.unpack(str[start:end])
        _v91 = _v90.stamp
        _x = _v91
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        _v90.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1.link_name = str[start:end]
        _v92 = val1.target_point_offset
        _x = _v92
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v93 = val1.position
        _x = _v93
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v94 = val1.constraint_region_shape
        start = end
        end += 1
        (_v94.type,) = _struct_b.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        _v94.dimensions = struct.unpack(pattern, str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%si'%length
        start = end
        end += struct.calcsize(pattern)
        _v94.triangles = struct.unpack(pattern, str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v94.vertices = []
        for i in xrange(0, length):
          val3 = geometry_msgs.msg.Point()
          _x = val3
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
          _v94.vertices.append(val3)
        _v95 = val1.constraint_region_orientation
        _x = _v95
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        start = end
        end += 8
        (val1.weight,) = _struct_d.unpack(str[start:end])
        self.goal_constraints.position_constraints.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.goal_constraints.orientation_constraints = []
      for i in xrange(0, length):
        val1 = motion_planning_msgs.msg.OrientationConstraint()
        _v96 = val1.header
        start = end
        end += 4
        (_v96.seq,) = _struct_I.unpack(str[start:end])
        _v97 = _v96.stamp
        _x = _v97
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        _v96.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1.link_name = str[start:end]
        start = end
        end += 4
        (val1.type,) = _struct_i.unpack(str[start:end])
        _v98 = val1.orientation
        _x = _v98
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        _x = val1
        start = end
        end += 32
        (_x.absolute_roll_tolerance, _x.absolute_pitch_tolerance, _x.absolute_yaw_tolerance, _x.weight,) = _struct_4d.unpack(str[start:end])
        self.goal_constraints.orientation_constraints.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.goal_constraints.visibility_constraints = []
      for i in xrange(0, length):
        val1 = motion_planning_msgs.msg.VisibilityConstraint()
        _v99 = val1.header
        start = end
        end += 4
        (_v99.seq,) = _struct_I.unpack(str[start:end])
        _v100 = _v99.stamp
        _x = _v100
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        _v99.frame_id = str[start:end]
        _v101 = val1.target
        _v102 = _v101.header
        start = end
        end += 4
        (_v102.seq,) = _struct_I.unpack(str[start:end])
        _v103 = _v102.stamp
        _x = _v103
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        _v102.frame_id = str[start:end]
        _v104 = _v101.point
        _x = _v104
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v105 = val1.sensor_pose
        _v106 = _v105.header
        start = end
        end += 4
        (_v106.seq,) = _struct_I.unpack(str[start:end])
        _v107 = _v106.stamp
        _x = _v107
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        _v106.frame_id = str[start:end]
        _v108 = _v105.pose
        _v109 = _v108.position
        _x = _v109
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v110 = _v108.orientation
        _x = _v110
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        start = end
        end += 8
        (val1.absolute_tolerance,) = _struct_d.unpack(str[start:end])
        self.goal_constraints.visibility_constraints.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.link_padding = []
      for i in xrange(0, length):
        val1 = motion_planning_msgs.msg.LinkPadding()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1.link_name = str[start:end]
        start = end
        end += 8
        (val1.padding,) = _struct_d.unpack(str[start:end])
        self.link_padding.append(val1)
      return self
    except struct.error, e:
      raise roslib.message.DeserializationError(e) #most likely buffer underfill


  def serialize_numpy(self, buff, numpy):
    """
    serialize message with numpy array types into buffer
    @param buff: buffer
    @type  buff: StringIO
    @param numpy: numpy python module
    @type  numpy module
    """
    try:
      _x = self
      buff.write(_struct_3I.pack(_x.trajectory.joint_trajectory.header.seq, _x.trajectory.joint_trajectory.header.stamp.secs, _x.trajectory.joint_trajectory.header.stamp.nsecs))
      _x = self.trajectory.joint_trajectory.header.frame_id
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.trajectory.joint_trajectory.joint_names)
      buff.write(_struct_I.pack(length))
      for val1 in self.trajectory.joint_trajectory.joint_names:
        length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.trajectory.joint_trajectory.points)
      buff.write(_struct_I.pack(length))
      for val1 in self.trajectory.joint_trajectory.points:
        length = len(val1.positions)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(val1.positions.tostring())
        length = len(val1.velocities)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(val1.velocities.tostring())
        length = len(val1.accelerations)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(val1.accelerations.tostring())
        _v111 = val1.time_from_start
        _x = _v111
        buff.write(_struct_2i.pack(_x.secs, _x.nsecs))
      _x = self
      buff.write(_struct_2i.pack(_x.trajectory.multi_dof_joint_trajectory.stamp.secs, _x.trajectory.multi_dof_joint_trajectory.stamp.nsecs))
      length = len(self.trajectory.multi_dof_joint_trajectory.joint_names)
      buff.write(_struct_I.pack(length))
      for val1 in self.trajectory.multi_dof_joint_trajectory.joint_names:
        length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.trajectory.multi_dof_joint_trajectory.frame_ids)
      buff.write(_struct_I.pack(length))
      for val1 in self.trajectory.multi_dof_joint_trajectory.frame_ids:
        length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.trajectory.multi_dof_joint_trajectory.child_frame_ids)
      buff.write(_struct_I.pack(length))
      for val1 in self.trajectory.multi_dof_joint_trajectory.child_frame_ids:
        length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.trajectory.multi_dof_joint_trajectory.points)
      buff.write(_struct_I.pack(length))
      for val1 in self.trajectory.multi_dof_joint_trajectory.points:
        length = len(val1.poses)
        buff.write(_struct_I.pack(length))
        for val2 in val1.poses:
          _v112 = val2.position
          _x = _v112
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
          _v113 = val2.orientation
          _x = _v113
          buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
        _v114 = val1.time_from_start
        _x = _v114
        buff.write(_struct_2i.pack(_x.secs, _x.nsecs))
      _x = self
      buff.write(_struct_3I.pack(_x.robot_state.joint_state.header.seq, _x.robot_state.joint_state.header.stamp.secs, _x.robot_state.joint_state.header.stamp.nsecs))
      _x = self.robot_state.joint_state.header.frame_id
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.robot_state.joint_state.name)
      buff.write(_struct_I.pack(length))
      for val1 in self.robot_state.joint_state.name:
        length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.robot_state.joint_state.position)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.robot_state.joint_state.position.tostring())
      length = len(self.robot_state.joint_state.velocity)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.robot_state.joint_state.velocity.tostring())
      length = len(self.robot_state.joint_state.effort)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.robot_state.joint_state.effort.tostring())
      _x = self
      buff.write(_struct_2I.pack(_x.robot_state.multi_dof_joint_state.stamp.secs, _x.robot_state.multi_dof_joint_state.stamp.nsecs))
      length = len(self.robot_state.multi_dof_joint_state.joint_names)
      buff.write(_struct_I.pack(length))
      for val1 in self.robot_state.multi_dof_joint_state.joint_names:
        length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.robot_state.multi_dof_joint_state.frame_ids)
      buff.write(_struct_I.pack(length))
      for val1 in self.robot_state.multi_dof_joint_state.frame_ids:
        length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.robot_state.multi_dof_joint_state.child_frame_ids)
      buff.write(_struct_I.pack(length))
      for val1 in self.robot_state.multi_dof_joint_state.child_frame_ids:
        length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.robot_state.multi_dof_joint_state.poses)
      buff.write(_struct_I.pack(length))
      for val1 in self.robot_state.multi_dof_joint_state.poses:
        _v115 = val1.position
        _x = _v115
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v116 = val1.orientation
        _x = _v116
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
      _x = self
      buff.write(_struct_5B.pack(_x.check_collisions, _x.check_path_constraints, _x.check_goal_constraints, _x.check_joint_limits, _x.check_full_trajectory))
      length = len(self.ordered_collision_operations.collision_operations)
      buff.write(_struct_I.pack(length))
      for val1 in self.ordered_collision_operations.collision_operations:
        _x = val1.object1
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = val1.object2
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = val1
        buff.write(_struct_di.pack(_x.penetration_distance, _x.operation))
      length = len(self.allowed_contacts)
      buff.write(_struct_I.pack(length))
      for val1 in self.allowed_contacts:
        _x = val1.name
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _v117 = val1.shape
        buff.write(_struct_b.pack(_v117.type))
        length = len(_v117.dimensions)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(_v117.dimensions.tostring())
        length = len(_v117.triangles)
        buff.write(_struct_I.pack(length))
        pattern = '<%si'%length
        buff.write(_v117.triangles.tostring())
        length = len(_v117.vertices)
        buff.write(_struct_I.pack(length))
        for val3 in _v117.vertices:
          _x = val3
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v118 = val1.pose_stamped
        _v119 = _v118.header
        buff.write(_struct_I.pack(_v119.seq))
        _v120 = _v119.stamp
        _x = _v120
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v119.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _v121 = _v118.pose
        _v122 = _v121.position
        _x = _v122
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v123 = _v121.orientation
        _x = _v123
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
        length = len(val1.link_names)
        buff.write(_struct_I.pack(length))
        for val2 in val1.link_names:
          length = len(val2)
          buff.write(struct.pack('<I%ss'%length, length, val2))
        buff.write(_struct_d.pack(val1.penetration_depth))
      length = len(self.path_constraints.joint_constraints)
      buff.write(_struct_I.pack(length))
      for val1 in self.path_constraints.joint_constraints:
        _x = val1.joint_name
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = val1
        buff.write(_struct_4d.pack(_x.position, _x.tolerance_above, _x.tolerance_below, _x.weight))
      length = len(self.path_constraints.position_constraints)
      buff.write(_struct_I.pack(length))
      for val1 in self.path_constraints.position_constraints:
        _v124 = val1.header
        buff.write(_struct_I.pack(_v124.seq))
        _v125 = _v124.stamp
        _x = _v125
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v124.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = val1.link_name
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _v126 = val1.target_point_offset
        _x = _v126
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v127 = val1.position
        _x = _v127
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v128 = val1.constraint_region_shape
        buff.write(_struct_b.pack(_v128.type))
        length = len(_v128.dimensions)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(_v128.dimensions.tostring())
        length = len(_v128.triangles)
        buff.write(_struct_I.pack(length))
        pattern = '<%si'%length
        buff.write(_v128.triangles.tostring())
        length = len(_v128.vertices)
        buff.write(_struct_I.pack(length))
        for val3 in _v128.vertices:
          _x = val3
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v129 = val1.constraint_region_orientation
        _x = _v129
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
        buff.write(_struct_d.pack(val1.weight))
      length = len(self.path_constraints.orientation_constraints)
      buff.write(_struct_I.pack(length))
      for val1 in self.path_constraints.orientation_constraints:
        _v130 = val1.header
        buff.write(_struct_I.pack(_v130.seq))
        _v131 = _v130.stamp
        _x = _v131
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v130.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = val1.link_name
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        buff.write(_struct_i.pack(val1.type))
        _v132 = val1.orientation
        _x = _v132
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
        _x = val1
        buff.write(_struct_4d.pack(_x.absolute_roll_tolerance, _x.absolute_pitch_tolerance, _x.absolute_yaw_tolerance, _x.weight))
      length = len(self.path_constraints.visibility_constraints)
      buff.write(_struct_I.pack(length))
      for val1 in self.path_constraints.visibility_constraints:
        _v133 = val1.header
        buff.write(_struct_I.pack(_v133.seq))
        _v134 = _v133.stamp
        _x = _v134
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v133.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _v135 = val1.target
        _v136 = _v135.header
        buff.write(_struct_I.pack(_v136.seq))
        _v137 = _v136.stamp
        _x = _v137
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v136.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _v138 = _v135.point
        _x = _v138
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v139 = val1.sensor_pose
        _v140 = _v139.header
        buff.write(_struct_I.pack(_v140.seq))
        _v141 = _v140.stamp
        _x = _v141
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v140.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _v142 = _v139.pose
        _v143 = _v142.position
        _x = _v143
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v144 = _v142.orientation
        _x = _v144
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
        buff.write(_struct_d.pack(val1.absolute_tolerance))
      length = len(self.goal_constraints.joint_constraints)
      buff.write(_struct_I.pack(length))
      for val1 in self.goal_constraints.joint_constraints:
        _x = val1.joint_name
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = val1
        buff.write(_struct_4d.pack(_x.position, _x.tolerance_above, _x.tolerance_below, _x.weight))
      length = len(self.goal_constraints.position_constraints)
      buff.write(_struct_I.pack(length))
      for val1 in self.goal_constraints.position_constraints:
        _v145 = val1.header
        buff.write(_struct_I.pack(_v145.seq))
        _v146 = _v145.stamp
        _x = _v146
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v145.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = val1.link_name
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _v147 = val1.target_point_offset
        _x = _v147
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v148 = val1.position
        _x = _v148
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v149 = val1.constraint_region_shape
        buff.write(_struct_b.pack(_v149.type))
        length = len(_v149.dimensions)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(_v149.dimensions.tostring())
        length = len(_v149.triangles)
        buff.write(_struct_I.pack(length))
        pattern = '<%si'%length
        buff.write(_v149.triangles.tostring())
        length = len(_v149.vertices)
        buff.write(_struct_I.pack(length))
        for val3 in _v149.vertices:
          _x = val3
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v150 = val1.constraint_region_orientation
        _x = _v150
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
        buff.write(_struct_d.pack(val1.weight))
      length = len(self.goal_constraints.orientation_constraints)
      buff.write(_struct_I.pack(length))
      for val1 in self.goal_constraints.orientation_constraints:
        _v151 = val1.header
        buff.write(_struct_I.pack(_v151.seq))
        _v152 = _v151.stamp
        _x = _v152
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v151.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = val1.link_name
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        buff.write(_struct_i.pack(val1.type))
        _v153 = val1.orientation
        _x = _v153
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
        _x = val1
        buff.write(_struct_4d.pack(_x.absolute_roll_tolerance, _x.absolute_pitch_tolerance, _x.absolute_yaw_tolerance, _x.weight))
      length = len(self.goal_constraints.visibility_constraints)
      buff.write(_struct_I.pack(length))
      for val1 in self.goal_constraints.visibility_constraints:
        _v154 = val1.header
        buff.write(_struct_I.pack(_v154.seq))
        _v155 = _v154.stamp
        _x = _v155
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v154.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _v156 = val1.target
        _v157 = _v156.header
        buff.write(_struct_I.pack(_v157.seq))
        _v158 = _v157.stamp
        _x = _v158
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v157.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _v159 = _v156.point
        _x = _v159
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v160 = val1.sensor_pose
        _v161 = _v160.header
        buff.write(_struct_I.pack(_v161.seq))
        _v162 = _v161.stamp
        _x = _v162
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v161.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _v163 = _v160.pose
        _v164 = _v163.position
        _x = _v164
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v165 = _v163.orientation
        _x = _v165
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
        buff.write(_struct_d.pack(val1.absolute_tolerance))
      length = len(self.link_padding)
      buff.write(_struct_I.pack(length))
      for val1 in self.link_padding:
        _x = val1.link_name
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        buff.write(_struct_d.pack(val1.padding))
    except struct.error, se: self._check_types(se)
    except TypeError, 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
    @type  str: str
    @param numpy: numpy python module
    @type  numpy: module
    """
    try:
      if self.trajectory is None:
        self.trajectory = motion_planning_msgs.msg.RobotTrajectory()
      if self.robot_state is None:
        self.robot_state = motion_planning_msgs.msg.RobotState()
      if self.ordered_collision_operations is None:
        self.ordered_collision_operations = motion_planning_msgs.msg.OrderedCollisionOperations()
      if self.path_constraints is None:
        self.path_constraints = motion_planning_msgs.msg.Constraints()
      if self.goal_constraints is None:
        self.goal_constraints = motion_planning_msgs.msg.Constraints()
      end = 0
      _x = self
      start = end
      end += 12
      (_x.trajectory.joint_trajectory.header.seq, _x.trajectory.joint_trajectory.header.stamp.secs, _x.trajectory.joint_trajectory.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.trajectory.joint_trajectory.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.trajectory.joint_trajectory.joint_names = []
      for i in xrange(0, length):
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1 = str[start:end]
        self.trajectory.joint_trajectory.joint_names.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.trajectory.joint_trajectory.points = []
      for i in xrange(0, length):
        val1 = trajectory_msgs.msg.JointTrajectoryPoint()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        val1.positions = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        val1.velocities = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        val1.accelerations = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
        _v166 = val1.time_from_start
        _x = _v166
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2i.unpack(str[start:end])
        self.trajectory.joint_trajectory.points.append(val1)
      _x = self
      start = end
      end += 8
      (_x.trajectory.multi_dof_joint_trajectory.stamp.secs, _x.trajectory.multi_dof_joint_trajectory.stamp.nsecs,) = _struct_2i.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.trajectory.multi_dof_joint_trajectory.joint_names = []
      for i in xrange(0, length):
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1 = str[start:end]
        self.trajectory.multi_dof_joint_trajectory.joint_names.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.trajectory.multi_dof_joint_trajectory.frame_ids = []
      for i in xrange(0, length):
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1 = str[start:end]
        self.trajectory.multi_dof_joint_trajectory.frame_ids.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.trajectory.multi_dof_joint_trajectory.child_frame_ids = []
      for i in xrange(0, length):
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1 = str[start:end]
        self.trajectory.multi_dof_joint_trajectory.child_frame_ids.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.trajectory.multi_dof_joint_trajectory.points = []
      for i in xrange(0, length):
        val1 = motion_planning_msgs.msg.MultiDOFJointTrajectoryPoint()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.poses = []
        for i in xrange(0, length):
          val2 = geometry_msgs.msg.Pose()
          _v167 = val2.position
          _x = _v167
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
          _v168 = val2.orientation
          _x = _v168
          start = end
          end += 32
          (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
          val1.poses.append(val2)
        _v169 = val1.time_from_start
        _x = _v169
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2i.unpack(str[start:end])
        self.trajectory.multi_dof_joint_trajectory.points.append(val1)
      _x = self
      start = end
      end += 12
      (_x.robot_state.joint_state.header.seq, _x.robot_state.joint_state.header.stamp.secs, _x.robot_state.joint_state.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.robot_state.joint_state.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.robot_state.joint_state.name = []
      for i in xrange(0, length):
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1 = str[start:end]
        self.robot_state.joint_state.name.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.robot_state.joint_state.position = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.robot_state.joint_state.velocity = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.robot_state.joint_state.effort = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
      _x = self
      start = end
      end += 8
      (_x.robot_state.multi_dof_joint_state.stamp.secs, _x.robot_state.multi_dof_joint_state.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.robot_state.multi_dof_joint_state.joint_names = []
      for i in xrange(0, length):
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1 = str[start:end]
        self.robot_state.multi_dof_joint_state.joint_names.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.robot_state.multi_dof_joint_state.frame_ids = []
      for i in xrange(0, length):
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1 = str[start:end]
        self.robot_state.multi_dof_joint_state.frame_ids.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.robot_state.multi_dof_joint_state.child_frame_ids = []
      for i in xrange(0, length):
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1 = str[start:end]
        self.robot_state.multi_dof_joint_state.child_frame_ids.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.robot_state.multi_dof_joint_state.poses = []
      for i in xrange(0, length):
        val1 = geometry_msgs.msg.Pose()
        _v170 = val1.position
        _x = _v170
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v171 = val1.orientation
        _x = _v171
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        self.robot_state.multi_dof_joint_state.poses.append(val1)
      _x = self
      start = end
      end += 5
      (_x.check_collisions, _x.check_path_constraints, _x.check_goal_constraints, _x.check_joint_limits, _x.check_full_trajectory,) = _struct_5B.unpack(str[start:end])
      self.check_collisions = bool(self.check_collisions)
      self.check_path_constraints = bool(self.check_path_constraints)
      self.check_goal_constraints = bool(self.check_goal_constraints)
      self.check_joint_limits = bool(self.check_joint_limits)
      self.check_full_trajectory = bool(self.check_full_trajectory)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.ordered_collision_operations.collision_operations = []
      for i in xrange(0, length):
        val1 = motion_planning_msgs.msg.CollisionOperation()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1.object1 = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1.object2 = str[start:end]
        _x = val1
        start = end
        end += 12
        (_x.penetration_distance, _x.operation,) = _struct_di.unpack(str[start:end])
        self.ordered_collision_operations.collision_operations.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.allowed_contacts = []
      for i in xrange(0, length):
        val1 = motion_planning_msgs.msg.AllowedContactSpecification()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1.name = str[start:end]
        _v172 = val1.shape
        start = end
        end += 1
        (_v172.type,) = _struct_b.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        _v172.dimensions = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%si'%length
        start = end
        end += struct.calcsize(pattern)
        _v172.triangles = numpy.frombuffer(str[start:end], dtype=numpy.int32, count=length)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v172.vertices = []
        for i in xrange(0, length):
          val3 = geometry_msgs.msg.Point()
          _x = val3
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
          _v172.vertices.append(val3)
        _v173 = val1.pose_stamped
        _v174 = _v173.header
        start = end
        end += 4
        (_v174.seq,) = _struct_I.unpack(str[start:end])
        _v175 = _v174.stamp
        _x = _v175
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        _v174.frame_id = str[start:end]
        _v176 = _v173.pose
        _v177 = _v176.position
        _x = _v177
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v178 = _v176.orientation
        _x = _v178
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.link_names = []
        for i in xrange(0, length):
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          val2 = str[start:end]
          val1.link_names.append(val2)
        start = end
        end += 8
        (val1.penetration_depth,) = _struct_d.unpack(str[start:end])
        self.allowed_contacts.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.path_constraints.joint_constraints = []
      for i in xrange(0, length):
        val1 = motion_planning_msgs.msg.JointConstraint()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1.joint_name = str[start:end]
        _x = val1
        start = end
        end += 32
        (_x.position, _x.tolerance_above, _x.tolerance_below, _x.weight,) = _struct_4d.unpack(str[start:end])
        self.path_constraints.joint_constraints.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.path_constraints.position_constraints = []
      for i in xrange(0, length):
        val1 = motion_planning_msgs.msg.PositionConstraint()
        _v179 = val1.header
        start = end
        end += 4
        (_v179.seq,) = _struct_I.unpack(str[start:end])
        _v180 = _v179.stamp
        _x = _v180
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        _v179.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1.link_name = str[start:end]
        _v181 = val1.target_point_offset
        _x = _v181
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v182 = val1.position
        _x = _v182
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v183 = val1.constraint_region_shape
        start = end
        end += 1
        (_v183.type,) = _struct_b.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        _v183.dimensions = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%si'%length
        start = end
        end += struct.calcsize(pattern)
        _v183.triangles = numpy.frombuffer(str[start:end], dtype=numpy.int32, count=length)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v183.vertices = []
        for i in xrange(0, length):
          val3 = geometry_msgs.msg.Point()
          _x = val3
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
          _v183.vertices.append(val3)
        _v184 = val1.constraint_region_orientation
        _x = _v184
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        start = end
        end += 8
        (val1.weight,) = _struct_d.unpack(str[start:end])
        self.path_constraints.position_constraints.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.path_constraints.orientation_constraints = []
      for i in xrange(0, length):
        val1 = motion_planning_msgs.msg.OrientationConstraint()
        _v185 = val1.header
        start = end
        end += 4
        (_v185.seq,) = _struct_I.unpack(str[start:end])
        _v186 = _v185.stamp
        _x = _v186
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        _v185.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1.link_name = str[start:end]
        start = end
        end += 4
        (val1.type,) = _struct_i.unpack(str[start:end])
        _v187 = val1.orientation
        _x = _v187
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        _x = val1
        start = end
        end += 32
        (_x.absolute_roll_tolerance, _x.absolute_pitch_tolerance, _x.absolute_yaw_tolerance, _x.weight,) = _struct_4d.unpack(str[start:end])
        self.path_constraints.orientation_constraints.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.path_constraints.visibility_constraints = []
      for i in xrange(0, length):
        val1 = motion_planning_msgs.msg.VisibilityConstraint()
        _v188 = val1.header
        start = end
        end += 4
        (_v188.seq,) = _struct_I.unpack(str[start:end])
        _v189 = _v188.stamp
        _x = _v189
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        _v188.frame_id = str[start:end]
        _v190 = val1.target
        _v191 = _v190.header
        start = end
        end += 4
        (_v191.seq,) = _struct_I.unpack(str[start:end])
        _v192 = _v191.stamp
        _x = _v192
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        _v191.frame_id = str[start:end]
        _v193 = _v190.point
        _x = _v193
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v194 = val1.sensor_pose
        _v195 = _v194.header
        start = end
        end += 4
        (_v195.seq,) = _struct_I.unpack(str[start:end])
        _v196 = _v195.stamp
        _x = _v196
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        _v195.frame_id = str[start:end]
        _v197 = _v194.pose
        _v198 = _v197.position
        _x = _v198
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v199 = _v197.orientation
        _x = _v199
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        start = end
        end += 8
        (val1.absolute_tolerance,) = _struct_d.unpack(str[start:end])
        self.path_constraints.visibility_constraints.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.goal_constraints.joint_constraints = []
      for i in xrange(0, length):
        val1 = motion_planning_msgs.msg.JointConstraint()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1.joint_name = str[start:end]
        _x = val1
        start = end
        end += 32
        (_x.position, _x.tolerance_above, _x.tolerance_below, _x.weight,) = _struct_4d.unpack(str[start:end])
        self.goal_constraints.joint_constraints.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.goal_constraints.position_constraints = []
      for i in xrange(0, length):
        val1 = motion_planning_msgs.msg.PositionConstraint()
        _v200 = val1.header
        start = end
        end += 4
        (_v200.seq,) = _struct_I.unpack(str[start:end])
        _v201 = _v200.stamp
        _x = _v201
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        _v200.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1.link_name = str[start:end]
        _v202 = val1.target_point_offset
        _x = _v202
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v203 = val1.position
        _x = _v203
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v204 = val1.constraint_region_shape
        start = end
        end += 1
        (_v204.type,) = _struct_b.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        _v204.dimensions = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%si'%length
        start = end
        end += struct.calcsize(pattern)
        _v204.triangles = numpy.frombuffer(str[start:end], dtype=numpy.int32, count=length)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v204.vertices = []
        for i in xrange(0, length):
          val3 = geometry_msgs.msg.Point()
          _x = val3
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
          _v204.vertices.append(val3)
        _v205 = val1.constraint_region_orientation
        _x = _v205
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        start = end
        end += 8
        (val1.weight,) = _struct_d.unpack(str[start:end])
        self.goal_constraints.position_constraints.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.goal_constraints.orientation_constraints = []
      for i in xrange(0, length):
        val1 = motion_planning_msgs.msg.OrientationConstraint()
        _v206 = val1.header
        start = end
        end += 4
        (_v206.seq,) = _struct_I.unpack(str[start:end])
        _v207 = _v206.stamp
        _x = _v207
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        _v206.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1.link_name = str[start:end]
        start = end
        end += 4
        (val1.type,) = _struct_i.unpack(str[start:end])
        _v208 = val1.orientation
        _x = _v208
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        _x = val1
        start = end
        end += 32
        (_x.absolute_roll_tolerance, _x.absolute_pitch_tolerance, _x.absolute_yaw_tolerance, _x.weight,) = _struct_4d.unpack(str[start:end])
        self.goal_constraints.orientation_constraints.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.goal_constraints.visibility_constraints = []
      for i in xrange(0, length):
        val1 = motion_planning_msgs.msg.VisibilityConstraint()
        _v209 = val1.header
        start = end
        end += 4
        (_v209.seq,) = _struct_I.unpack(str[start:end])
        _v210 = _v209.stamp
        _x = _v210
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        _v209.frame_id = str[start:end]
        _v211 = val1.target
        _v212 = _v211.header
        start = end
        end += 4
        (_v212.seq,) = _struct_I.unpack(str[start:end])
        _v213 = _v212.stamp
        _x = _v213
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        _v212.frame_id = str[start:end]
        _v214 = _v211.point
        _x = _v214
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v215 = val1.sensor_pose
        _v216 = _v215.header
        start = end
        end += 4
        (_v216.seq,) = _struct_I.unpack(str[start:end])
        _v217 = _v216.stamp
        _x = _v217
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        _v216.frame_id = str[start:end]
        _v218 = _v215.pose
        _v219 = _v218.position
        _x = _v219
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v220 = _v218.orientation
        _x = _v220
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        start = end
        end += 8
        (val1.absolute_tolerance,) = _struct_d.unpack(str[start:end])
        self.goal_constraints.visibility_constraints.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.link_padding = []
      for i in xrange(0, length):
        val1 = motion_planning_msgs.msg.LinkPadding()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1.link_name = str[start:end]
        start = end
        end += 8
        (val1.padding,) = _struct_d.unpack(str[start:end])
        self.link_padding.append(val1)
      return self
    except struct.error, e:
      raise roslib.message.DeserializationError(e) #most likely buffer underfill

_struct_I = roslib.message.struct_I
_struct_b = struct.Struct("<b")
_struct_d = struct.Struct("<d")
_struct_di = struct.Struct("<di")
_struct_2I = struct.Struct("<2I")
_struct_i = struct.Struct("<i")
_struct_3I = struct.Struct("<3I")
_struct_4d = struct.Struct("<4d")
_struct_3d = struct.Struct("<3d")
_struct_2i = struct.Struct("<2i")
_struct_5B = struct.Struct("<5B")
"""autogenerated by genmsg_py from GetRobotTrajectoryValidityResponse.msg. Do not edit."""
import roslib.message
import struct

import motion_planning_msgs.msg

class GetRobotTrajectoryValidityResponse(roslib.message.Message):
  _md5sum = "6316c11e993d068a87f32bc2109e7658"
  _type = "planning_environment_msgs/GetRobotTrajectoryValidityResponse"
  _has_header = False #flag to mark the presence of a Header object
  _full_text = """



motion_planning_msgs/ArmNavigationErrorCodes error_code




motion_planning_msgs/ArmNavigationErrorCodes[] trajectory_error_codes


================================================================================
MSG: motion_planning_msgs/ArmNavigationErrorCodes
int32 val

# overall behavior
int32 PLANNING_FAILED=-1
int32 SUCCESS=1
int32 TIMED_OUT=-2

# start state errors
int32 START_STATE_IN_COLLISION=-3
int32 START_STATE_VIOLATES_PATH_CONSTRAINTS=-4

# goal errors
int32 GOAL_IN_COLLISION=-5
int32 GOAL_VIOLATES_PATH_CONSTRAINTS=-6

# robot state
int32 INVALID_ROBOT_STATE=-7
int32 INCOMPLETE_ROBOT_STATE=-8

# planning request errors
int32 INVALID_PLANNER_ID=-9
int32 INVALID_NUM_PLANNING_ATTEMPTS=-10
int32 INVALID_ALLOWED_PLANNING_TIME=-11
int32 INVALID_GROUP_NAME=-12
int32 INVALID_GOAL_JOINT_CONSTRAINTS=-13
int32 INVALID_GOAL_POSITION_CONSTRAINTS=-14
int32 INVALID_GOAL_ORIENTATION_CONSTRAINTS=-15
int32 INVALID_PATH_JOINT_CONSTRAINTS=-16
int32 INVALID_PATH_POSITION_CONSTRAINTS=-17
int32 INVALID_PATH_ORIENTATION_CONSTRAINTS=-18

# state/trajectory monitor errors
int32 INVALID_TRAJECTORY=-19
int32 INVALID_INDEX=-20
int32 JOINT_LIMITS_VIOLATED=-21
int32 PATH_CONSTRAINTS_VIOLATED=-22
int32 COLLISION_CONSTRAINTS_VIOLATED=-23
int32 GOAL_CONSTRAINTS_VIOLATED=-24
int32 JOINTS_NOT_MOVING=-25
int32 TRAJECTORY_CONTROLLER_FAILED=-26

# system errors
int32 FRAME_TRANSFORM_FAILURE=-27
int32 COLLISION_CHECKING_UNAVAILABLE=-28
int32 ROBOT_STATE_STALE=-29
int32 SENSOR_INFO_STALE=-30

# kinematics errors
int32 NO_IK_SOLUTION=-31
int32 INVALID_LINK_NAME=-32
int32 IK_LINK_IN_COLLISION=-33
int32 NO_FK_SOLUTION=-34
int32 KINEMATICS_STATE_IN_COLLISION=-35

# general errors
int32 INVALID_TIMEOUT=-36


"""
  __slots__ = ['error_code','trajectory_error_codes']
  _slot_types = ['motion_planning_msgs/ArmNavigationErrorCodes','motion_planning_msgs/ArmNavigationErrorCodes[]']

  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:
       error_code,trajectory_error_codes
    
    @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(GetRobotTrajectoryValidityResponse, self).__init__(*args, **kwds)
      #message fields cannot be None, assign default values for those that are
      if self.error_code is None:
        self.error_code = motion_planning_msgs.msg.ArmNavigationErrorCodes()
      if self.trajectory_error_codes is None:
        self.trajectory_error_codes = []
    else:
      self.error_code = motion_planning_msgs.msg.ArmNavigationErrorCodes()
      self.trajectory_error_codes = []

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

  def serialize(self, buff):
    """
    serialize message into buffer
    @param buff: buffer
    @type  buff: StringIO
    """
    try:
      buff.write(_struct_i.pack(self.error_code.val))
      length = len(self.trajectory_error_codes)
      buff.write(_struct_I.pack(length))
      for val1 in self.trajectory_error_codes:
        buff.write(_struct_i.pack(val1.val))
    except struct.error, se: self._check_types(se)
    except TypeError, 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
    @type  str: str
    """
    try:
      if self.error_code is None:
        self.error_code = motion_planning_msgs.msg.ArmNavigationErrorCodes()
      end = 0
      start = end
      end += 4
      (self.error_code.val,) = _struct_i.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.trajectory_error_codes = []
      for i in xrange(0, length):
        val1 = motion_planning_msgs.msg.ArmNavigationErrorCodes()
        start = end
        end += 4
        (val1.val,) = _struct_i.unpack(str[start:end])
        self.trajectory_error_codes.append(val1)
      return self
    except struct.error, e:
      raise roslib.message.DeserializationError(e) #most likely buffer underfill


  def serialize_numpy(self, buff, numpy):
    """
    serialize message with numpy array types into buffer
    @param buff: buffer
    @type  buff: StringIO
    @param numpy: numpy python module
    @type  numpy module
    """
    try:
      buff.write(_struct_i.pack(self.error_code.val))
      length = len(self.trajectory_error_codes)
      buff.write(_struct_I.pack(length))
      for val1 in self.trajectory_error_codes:
        buff.write(_struct_i.pack(val1.val))
    except struct.error, se: self._check_types(se)
    except TypeError, 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
    @type  str: str
    @param numpy: numpy python module
    @type  numpy: module
    """
    try:
      if self.error_code is None:
        self.error_code = motion_planning_msgs.msg.ArmNavigationErrorCodes()
      end = 0
      start = end
      end += 4
      (self.error_code.val,) = _struct_i.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.trajectory_error_codes = []
      for i in xrange(0, length):
        val1 = motion_planning_msgs.msg.ArmNavigationErrorCodes()
        start = end
        end += 4
        (val1.val,) = _struct_i.unpack(str[start:end])
        self.trajectory_error_codes.append(val1)
      return self
    except struct.error, e:
      raise roslib.message.DeserializationError(e) #most likely buffer underfill

_struct_I = roslib.message.struct_I
_struct_i = struct.Struct("<i")
class GetRobotTrajectoryValidity(roslib.message.ServiceDefinition):
  _type          = 'planning_environment_msgs/GetRobotTrajectoryValidity'
  _md5sum = '5082255c931398177ed293899fa77288'
  _request_class  = GetRobotTrajectoryValidityRequest
  _response_class = GetRobotTrajectoryValidityResponse

---

planning_environment_msgs
Author(s): Sachin Chitta
autogenerated on Fri Jan 11 09:38:42 2013