_SetConstraints.py

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

import geometry_msgs.msg
import motion_planning_msgs.msg
import geometric_shapes_msgs.msg
import std_msgs.msg

class SetConstraintsRequest(roslib.message.Message):
  _md5sum = "6d13bc5e83c4c2ef090eae3053dfae3a"
  _type = "planning_environment_msgs/SetConstraintsRequest"
  _has_header = False #flag to mark the presence of a Header object
  _full_text = """





motion_planning_msgs/Constraints path_constraints
motion_planning_msgs/Constraints goal_constraints


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

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

float64 x
float64 y
float64 z
float64 w

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

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

"""
  __slots__ = ['path_constraints','goal_constraints']
  _slot_types = ['motion_planning_msgs/Constraints','motion_planning_msgs/Constraints']

  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:
       path_constraints,goal_constraints
    
    @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(SetConstraintsRequest, self).__init__(*args, **kwds)
      #message fields cannot be None, assign default values for those that are
      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()
    else:
      self.path_constraints = motion_planning_msgs.msg.Constraints()
      self.goal_constraints = motion_planning_msgs.msg.Constraints()

  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:
      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:
        _v1 = val1.header
        buff.write(_struct_I.pack(_v1.seq))
        _v2 = _v1.stamp
        _x = _v2
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v1.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))
        _v3 = val1.target_point_offset
        _x = _v3
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v4 = val1.position
        _x = _v4
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v5 = val1.constraint_region_shape
        buff.write(_struct_b.pack(_v5.type))
        length = len(_v5.dimensions)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(struct.pack(pattern, *_v5.dimensions))
        length = len(_v5.triangles)
        buff.write(_struct_I.pack(length))
        pattern = '<%si'%length
        buff.write(struct.pack(pattern, *_v5.triangles))
        length = len(_v5.vertices)
        buff.write(_struct_I.pack(length))
        for val3 in _v5.vertices:
          _x = val3
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v6 = val1.constraint_region_orientation
        _x = _v6
        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:
        _v7 = val1.header
        buff.write(_struct_I.pack(_v7.seq))
        _v8 = _v7.stamp
        _x = _v8
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v7.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))
        _v9 = val1.orientation
        _x = _v9
        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:
        _v10 = val1.header
        buff.write(_struct_I.pack(_v10.seq))
        _v11 = _v10.stamp
        _x = _v11
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v10.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _v12 = val1.target
        _v13 = _v12.header
        buff.write(_struct_I.pack(_v13.seq))
        _v14 = _v13.stamp
        _x = _v14
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v13.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _v15 = _v12.point
        _x = _v15
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v16 = val1.sensor_pose
        _v17 = _v16.header
        buff.write(_struct_I.pack(_v17.seq))
        _v18 = _v17.stamp
        _x = _v18
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v17.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _v19 = _v16.pose
        _v20 = _v19.position
        _x = _v20
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v21 = _v19.orientation
        _x = _v21
        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:
        _v22 = val1.header
        buff.write(_struct_I.pack(_v22.seq))
        _v23 = _v22.stamp
        _x = _v23
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v22.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))
        _v24 = val1.target_point_offset
        _x = _v24
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v25 = val1.position
        _x = _v25
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v26 = val1.constraint_region_shape
        buff.write(_struct_b.pack(_v26.type))
        length = len(_v26.dimensions)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(struct.pack(pattern, *_v26.dimensions))
        length = len(_v26.triangles)
        buff.write(_struct_I.pack(length))
        pattern = '<%si'%length
        buff.write(struct.pack(pattern, *_v26.triangles))
        length = len(_v26.vertices)
        buff.write(_struct_I.pack(length))
        for val3 in _v26.vertices:
          _x = val3
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v27 = val1.constraint_region_orientation
        _x = _v27
        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:
        _v28 = val1.header
        buff.write(_struct_I.pack(_v28.seq))
        _v29 = _v28.stamp
        _x = _v29
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v28.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))
        _v30 = val1.orientation
        _x = _v30
        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:
        _v31 = val1.header
        buff.write(_struct_I.pack(_v31.seq))
        _v32 = _v31.stamp
        _x = _v32
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v31.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _v33 = val1.target
        _v34 = _v33.header
        buff.write(_struct_I.pack(_v34.seq))
        _v35 = _v34.stamp
        _x = _v35
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v34.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _v36 = _v33.point
        _x = _v36
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v37 = val1.sensor_pose
        _v38 = _v37.header
        buff.write(_struct_I.pack(_v38.seq))
        _v39 = _v38.stamp
        _x = _v39
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v38.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _v40 = _v37.pose
        _v41 = _v40.position
        _x = _v41
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v42 = _v40.orientation
        _x = _v42
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
        buff.write(_struct_d.pack(val1.absolute_tolerance))
    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.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
      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()
        _v43 = val1.header
        start = end
        end += 4
        (_v43.seq,) = _struct_I.unpack(str[start:end])
        _v44 = _v43.stamp
        _x = _v44
        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
        _v43.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]
        _v45 = val1.target_point_offset
        _x = _v45
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v46 = val1.position
        _x = _v46
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v47 = val1.constraint_region_shape
        start = end
        end += 1
        (_v47.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)
        _v47.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)
        _v47.triangles = struct.unpack(pattern, str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v47.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])
          _v47.vertices.append(val3)
        _v48 = val1.constraint_region_orientation
        _x = _v48
        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()
        _v49 = val1.header
        start = end
        end += 4
        (_v49.seq,) = _struct_I.unpack(str[start:end])
        _v50 = _v49.stamp
        _x = _v50
        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
        _v49.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])
        _v51 = val1.orientation
        _x = _v51
        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()
        _v52 = val1.header
        start = end
        end += 4
        (_v52.seq,) = _struct_I.unpack(str[start:end])
        _v53 = _v52.stamp
        _x = _v53
        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
        _v52.frame_id = str[start:end]
        _v54 = val1.target
        _v55 = _v54.header
        start = end
        end += 4
        (_v55.seq,) = _struct_I.unpack(str[start:end])
        _v56 = _v55.stamp
        _x = _v56
        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
        _v55.frame_id = str[start:end]
        _v57 = _v54.point
        _x = _v57
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v58 = val1.sensor_pose
        _v59 = _v58.header
        start = end
        end += 4
        (_v59.seq,) = _struct_I.unpack(str[start:end])
        _v60 = _v59.stamp
        _x = _v60
        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
        _v59.frame_id = str[start:end]
        _v61 = _v58.pose
        _v62 = _v61.position
        _x = _v62
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v63 = _v61.orientation
        _x = _v63
        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()
        _v64 = val1.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]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1.link_name = str[start:end]
        _v66 = val1.target_point_offset
        _x = _v66
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v67 = val1.position
        _x = _v67
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v68 = val1.constraint_region_shape
        start = end
        end += 1
        (_v68.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)
        _v68.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)
        _v68.triangles = struct.unpack(pattern, str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v68.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])
          _v68.vertices.append(val3)
        _v69 = val1.constraint_region_orientation
        _x = _v69
        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()
        _v70 = val1.header
        start = end
        end += 4
        (_v70.seq,) = _struct_I.unpack(str[start:end])
        _v71 = _v70.stamp
        _x = _v71
        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
        _v70.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])
        _v72 = val1.orientation
        _x = _v72
        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()
        _v73 = val1.header
        start = end
        end += 4
        (_v73.seq,) = _struct_I.unpack(str[start:end])
        _v74 = _v73.stamp
        _x = _v74
        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
        _v73.frame_id = str[start:end]
        _v75 = val1.target
        _v76 = _v75.header
        start = end
        end += 4
        (_v76.seq,) = _struct_I.unpack(str[start:end])
        _v77 = _v76.stamp
        _x = _v77
        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
        _v76.frame_id = str[start:end]
        _v78 = _v75.point
        _x = _v78
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v79 = val1.sensor_pose
        _v80 = _v79.header
        start = end
        end += 4
        (_v80.seq,) = _struct_I.unpack(str[start:end])
        _v81 = _v80.stamp
        _x = _v81
        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
        _v80.frame_id = str[start:end]
        _v82 = _v79.pose
        _v83 = _v82.position
        _x = _v83
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v84 = _v82.orientation
        _x = _v84
        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)
      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:
      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:
        _v85 = val1.header
        buff.write(_struct_I.pack(_v85.seq))
        _v86 = _v85.stamp
        _x = _v86
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v85.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))
        _v87 = val1.target_point_offset
        _x = _v87
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v88 = val1.position
        _x = _v88
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v89 = val1.constraint_region_shape
        buff.write(_struct_b.pack(_v89.type))
        length = len(_v89.dimensions)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(_v89.dimensions.tostring())
        length = len(_v89.triangles)
        buff.write(_struct_I.pack(length))
        pattern = '<%si'%length
        buff.write(_v89.triangles.tostring())
        length = len(_v89.vertices)
        buff.write(_struct_I.pack(length))
        for val3 in _v89.vertices:
          _x = val3
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v90 = val1.constraint_region_orientation
        _x = _v90
        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:
        _v91 = val1.header
        buff.write(_struct_I.pack(_v91.seq))
        _v92 = _v91.stamp
        _x = _v92
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v91.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))
        _v93 = val1.orientation
        _x = _v93
        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:
        _v94 = val1.header
        buff.write(_struct_I.pack(_v94.seq))
        _v95 = _v94.stamp
        _x = _v95
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v94.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _v96 = val1.target
        _v97 = _v96.header
        buff.write(_struct_I.pack(_v97.seq))
        _v98 = _v97.stamp
        _x = _v98
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v97.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _v99 = _v96.point
        _x = _v99
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v100 = val1.sensor_pose
        _v101 = _v100.header
        buff.write(_struct_I.pack(_v101.seq))
        _v102 = _v101.stamp
        _x = _v102
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v101.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _v103 = _v100.pose
        _v104 = _v103.position
        _x = _v104
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v105 = _v103.orientation
        _x = _v105
        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:
        _v106 = val1.header
        buff.write(_struct_I.pack(_v106.seq))
        _v107 = _v106.stamp
        _x = _v107
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v106.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))
        _v108 = val1.target_point_offset
        _x = _v108
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v109 = val1.position
        _x = _v109
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v110 = val1.constraint_region_shape
        buff.write(_struct_b.pack(_v110.type))
        length = len(_v110.dimensions)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(_v110.dimensions.tostring())
        length = len(_v110.triangles)
        buff.write(_struct_I.pack(length))
        pattern = '<%si'%length
        buff.write(_v110.triangles.tostring())
        length = len(_v110.vertices)
        buff.write(_struct_I.pack(length))
        for val3 in _v110.vertices:
          _x = val3
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v111 = val1.constraint_region_orientation
        _x = _v111
        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:
        _v112 = val1.header
        buff.write(_struct_I.pack(_v112.seq))
        _v113 = _v112.stamp
        _x = _v113
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v112.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))
        _v114 = val1.orientation
        _x = _v114
        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:
        _v115 = val1.header
        buff.write(_struct_I.pack(_v115.seq))
        _v116 = _v115.stamp
        _x = _v116
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v115.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _v117 = val1.target
        _v118 = _v117.header
        buff.write(_struct_I.pack(_v118.seq))
        _v119 = _v118.stamp
        _x = _v119
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v118.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _v120 = _v117.point
        _x = _v120
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v121 = val1.sensor_pose
        _v122 = _v121.header
        buff.write(_struct_I.pack(_v122.seq))
        _v123 = _v122.stamp
        _x = _v123
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v122.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _v124 = _v121.pose
        _v125 = _v124.position
        _x = _v125
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v126 = _v124.orientation
        _x = _v126
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
        buff.write(_struct_d.pack(val1.absolute_tolerance))
    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.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
      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()
        _v127 = val1.header
        start = end
        end += 4
        (_v127.seq,) = _struct_I.unpack(str[start:end])
        _v128 = _v127.stamp
        _x = _v128
        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
        _v127.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]
        _v129 = val1.target_point_offset
        _x = _v129
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v130 = val1.position
        _x = _v130
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v131 = val1.constraint_region_shape
        start = end
        end += 1
        (_v131.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)
        _v131.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)
        _v131.triangles = numpy.frombuffer(str[start:end], dtype=numpy.int32, count=length)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v131.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])
          _v131.vertices.append(val3)
        _v132 = val1.constraint_region_orientation
        _x = _v132
        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()
        _v133 = val1.header
        start = end
        end += 4
        (_v133.seq,) = _struct_I.unpack(str[start:end])
        _v134 = _v133.stamp
        _x = _v134
        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
        _v133.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])
        _v135 = val1.orientation
        _x = _v135
        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()
        _v136 = val1.header
        start = end
        end += 4
        (_v136.seq,) = _struct_I.unpack(str[start:end])
        _v137 = _v136.stamp
        _x = _v137
        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
        _v136.frame_id = str[start:end]
        _v138 = val1.target
        _v139 = _v138.header
        start = end
        end += 4
        (_v139.seq,) = _struct_I.unpack(str[start:end])
        _v140 = _v139.stamp
        _x = _v140
        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
        _v139.frame_id = str[start:end]
        _v141 = _v138.point
        _x = _v141
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v142 = val1.sensor_pose
        _v143 = _v142.header
        start = end
        end += 4
        (_v143.seq,) = _struct_I.unpack(str[start:end])
        _v144 = _v143.stamp
        _x = _v144
        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
        _v143.frame_id = str[start:end]
        _v145 = _v142.pose
        _v146 = _v145.position
        _x = _v146
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v147 = _v145.orientation
        _x = _v147
        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()
        _v148 = val1.header
        start = end
        end += 4
        (_v148.seq,) = _struct_I.unpack(str[start:end])
        _v149 = _v148.stamp
        _x = _v149
        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
        _v148.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]
        _v150 = val1.target_point_offset
        _x = _v150
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v151 = val1.position
        _x = _v151
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v152 = val1.constraint_region_shape
        start = end
        end += 1
        (_v152.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)
        _v152.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)
        _v152.triangles = numpy.frombuffer(str[start:end], dtype=numpy.int32, count=length)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v152.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])
          _v152.vertices.append(val3)
        _v153 = val1.constraint_region_orientation
        _x = _v153
        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()
        _v154 = val1.header
        start = end
        end += 4
        (_v154.seq,) = _struct_I.unpack(str[start:end])
        _v155 = _v154.stamp
        _x = _v155
        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
        _v154.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])
        _v156 = val1.orientation
        _x = _v156
        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()
        _v157 = val1.header
        start = end
        end += 4
        (_v157.seq,) = _struct_I.unpack(str[start:end])
        _v158 = _v157.stamp
        _x = _v158
        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
        _v157.frame_id = str[start:end]
        _v159 = val1.target
        _v160 = _v159.header
        start = end
        end += 4
        (_v160.seq,) = _struct_I.unpack(str[start:end])
        _v161 = _v160.stamp
        _x = _v161
        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
        _v160.frame_id = str[start:end]
        _v162 = _v159.point
        _x = _v162
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v163 = val1.sensor_pose
        _v164 = _v163.header
        start = end
        end += 4
        (_v164.seq,) = _struct_I.unpack(str[start:end])
        _v165 = _v164.stamp
        _x = _v165
        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
        _v164.frame_id = str[start:end]
        _v166 = _v163.pose
        _v167 = _v166.position
        _x = _v167
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v168 = _v166.orientation
        _x = _v168
        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)
      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_i = struct.Struct("<i")
_struct_4d = struct.Struct("<4d")
_struct_2I = struct.Struct("<2I")
_struct_3d = struct.Struct("<3d")
"""autogenerated by genmsg_py from SetConstraintsResponse.msg. Do not edit."""
import roslib.message
import struct

import geometry_msgs.msg
import motion_planning_msgs.msg
import geometric_shapes_msgs.msg
import std_msgs.msg

class SetConstraintsResponse(roslib.message.Message):
  _md5sum = "02fb232aac2c27a28d6a5482c3fbefef"
  _type = "planning_environment_msgs/SetConstraintsResponse"
  _has_header = False #flag to mark the presence of a Header object
  _full_text = """


motion_planning_msgs/Constraints path_constraints
motion_planning_msgs/Constraints goal_constraints

motion_planning_msgs/ArmNavigationErrorCodes error_code

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

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

float64 x
float64 y
float64 z
float64 w

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

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

================================================================================
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__ = ['path_constraints','goal_constraints','error_code']
  _slot_types = ['motion_planning_msgs/Constraints','motion_planning_msgs/Constraints','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:
       path_constraints,goal_constraints,error_code
    
    @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(SetConstraintsResponse, self).__init__(*args, **kwds)
      #message fields cannot be None, assign default values for those that are
      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.error_code is None:
        self.error_code = motion_planning_msgs.msg.ArmNavigationErrorCodes()
    else:
      self.path_constraints = motion_planning_msgs.msg.Constraints()
      self.goal_constraints = motion_planning_msgs.msg.Constraints()
      self.error_code = motion_planning_msgs.msg.ArmNavigationErrorCodes()

  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:
      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:
        _v169 = val1.header
        buff.write(_struct_I.pack(_v169.seq))
        _v170 = _v169.stamp
        _x = _v170
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v169.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))
        _v171 = val1.target_point_offset
        _x = _v171
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v172 = val1.position
        _x = _v172
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v173 = val1.constraint_region_shape
        buff.write(_struct_b.pack(_v173.type))
        length = len(_v173.dimensions)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(struct.pack(pattern, *_v173.dimensions))
        length = len(_v173.triangles)
        buff.write(_struct_I.pack(length))
        pattern = '<%si'%length
        buff.write(struct.pack(pattern, *_v173.triangles))
        length = len(_v173.vertices)
        buff.write(_struct_I.pack(length))
        for val3 in _v173.vertices:
          _x = val3
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v174 = val1.constraint_region_orientation
        _x = _v174
        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:
        _v175 = val1.header
        buff.write(_struct_I.pack(_v175.seq))
        _v176 = _v175.stamp
        _x = _v176
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v175.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))
        _v177 = val1.orientation
        _x = _v177
        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:
        _v178 = val1.header
        buff.write(_struct_I.pack(_v178.seq))
        _v179 = _v178.stamp
        _x = _v179
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v178.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _v180 = val1.target
        _v181 = _v180.header
        buff.write(_struct_I.pack(_v181.seq))
        _v182 = _v181.stamp
        _x = _v182
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v181.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _v183 = _v180.point
        _x = _v183
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v184 = val1.sensor_pose
        _v185 = _v184.header
        buff.write(_struct_I.pack(_v185.seq))
        _v186 = _v185.stamp
        _x = _v186
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v185.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _v187 = _v184.pose
        _v188 = _v187.position
        _x = _v188
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v189 = _v187.orientation
        _x = _v189
        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:
        _v190 = val1.header
        buff.write(_struct_I.pack(_v190.seq))
        _v191 = _v190.stamp
        _x = _v191
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v190.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))
        _v192 = val1.target_point_offset
        _x = _v192
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v193 = val1.position
        _x = _v193
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v194 = val1.constraint_region_shape
        buff.write(_struct_b.pack(_v194.type))
        length = len(_v194.dimensions)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(struct.pack(pattern, *_v194.dimensions))
        length = len(_v194.triangles)
        buff.write(_struct_I.pack(length))
        pattern = '<%si'%length
        buff.write(struct.pack(pattern, *_v194.triangles))
        length = len(_v194.vertices)
        buff.write(_struct_I.pack(length))
        for val3 in _v194.vertices:
          _x = val3
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v195 = val1.constraint_region_orientation
        _x = _v195
        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:
        _v196 = val1.header
        buff.write(_struct_I.pack(_v196.seq))
        _v197 = _v196.stamp
        _x = _v197
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v196.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))
        _v198 = val1.orientation
        _x = _v198
        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:
        _v199 = val1.header
        buff.write(_struct_I.pack(_v199.seq))
        _v200 = _v199.stamp
        _x = _v200
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v199.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _v201 = val1.target
        _v202 = _v201.header
        buff.write(_struct_I.pack(_v202.seq))
        _v203 = _v202.stamp
        _x = _v203
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v202.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _v204 = _v201.point
        _x = _v204
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v205 = val1.sensor_pose
        _v206 = _v205.header
        buff.write(_struct_I.pack(_v206.seq))
        _v207 = _v206.stamp
        _x = _v207
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v206.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _v208 = _v205.pose
        _v209 = _v208.position
        _x = _v209
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v210 = _v208.orientation
        _x = _v210
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
        buff.write(_struct_d.pack(val1.absolute_tolerance))
      buff.write(_struct_i.pack(self.error_code.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.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.error_code is None:
        self.error_code = motion_planning_msgs.msg.ArmNavigationErrorCodes()
      end = 0
      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()
        _v211 = val1.header
        start = end
        end += 4
        (_v211.seq,) = _struct_I.unpack(str[start:end])
        _v212 = _v211.stamp
        _x = _v212
        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
        _v211.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]
        _v213 = val1.target_point_offset
        _x = _v213
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v214 = val1.position
        _x = _v214
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v215 = val1.constraint_region_shape
        start = end
        end += 1
        (_v215.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)
        _v215.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)
        _v215.triangles = struct.unpack(pattern, str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v215.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])
          _v215.vertices.append(val3)
        _v216 = val1.constraint_region_orientation
        _x = _v216
        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()
        _v217 = val1.header
        start = end
        end += 4
        (_v217.seq,) = _struct_I.unpack(str[start:end])
        _v218 = _v217.stamp
        _x = _v218
        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
        _v217.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])
        _v219 = val1.orientation
        _x = _v219
        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()
        _v220 = val1.header
        start = end
        end += 4
        (_v220.seq,) = _struct_I.unpack(str[start:end])
        _v221 = _v220.stamp
        _x = _v221
        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
        _v220.frame_id = str[start:end]
        _v222 = val1.target
        _v223 = _v222.header
        start = end
        end += 4
        (_v223.seq,) = _struct_I.unpack(str[start:end])
        _v224 = _v223.stamp
        _x = _v224
        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
        _v223.frame_id = str[start:end]
        _v225 = _v222.point
        _x = _v225
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v226 = val1.sensor_pose
        _v227 = _v226.header
        start = end
        end += 4
        (_v227.seq,) = _struct_I.unpack(str[start:end])
        _v228 = _v227.stamp
        _x = _v228
        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
        _v227.frame_id = str[start:end]
        _v229 = _v226.pose
        _v230 = _v229.position
        _x = _v230
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v231 = _v229.orientation
        _x = _v231
        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()
        _v232 = val1.header
        start = end
        end += 4
        (_v232.seq,) = _struct_I.unpack(str[start:end])
        _v233 = _v232.stamp
        _x = _v233
        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
        _v232.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]
        _v234 = val1.target_point_offset
        _x = _v234
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v235 = val1.position
        _x = _v235
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v236 = val1.constraint_region_shape
        start = end
        end += 1
        (_v236.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)
        _v236.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)
        _v236.triangles = struct.unpack(pattern, str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v236.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])
          _v236.vertices.append(val3)
        _v237 = val1.constraint_region_orientation
        _x = _v237
        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()
        _v238 = val1.header
        start = end
        end += 4
        (_v238.seq,) = _struct_I.unpack(str[start:end])
        _v239 = _v238.stamp
        _x = _v239
        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
        _v238.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])
        _v240 = val1.orientation
        _x = _v240
        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()
        _v241 = val1.header
        start = end
        end += 4
        (_v241.seq,) = _struct_I.unpack(str[start:end])
        _v242 = _v241.stamp
        _x = _v242
        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
        _v241.frame_id = str[start:end]
        _v243 = val1.target
        _v244 = _v243.header
        start = end
        end += 4
        (_v244.seq,) = _struct_I.unpack(str[start:end])
        _v245 = _v244.stamp
        _x = _v245
        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
        _v244.frame_id = str[start:end]
        _v246 = _v243.point
        _x = _v246
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v247 = val1.sensor_pose
        _v248 = _v247.header
        start = end
        end += 4
        (_v248.seq,) = _struct_I.unpack(str[start:end])
        _v249 = _v248.stamp
        _x = _v249
        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
        _v248.frame_id = str[start:end]
        _v250 = _v247.pose
        _v251 = _v250.position
        _x = _v251
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v252 = _v250.orientation
        _x = _v252
        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
      (self.error_code.val,) = _struct_i.unpack(str[start:end])
      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:
      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:
        _v253 = val1.header
        buff.write(_struct_I.pack(_v253.seq))
        _v254 = _v253.stamp
        _x = _v254
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v253.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))
        _v255 = val1.target_point_offset
        _x = _v255
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v256 = val1.position
        _x = _v256
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v257 = val1.constraint_region_shape
        buff.write(_struct_b.pack(_v257.type))
        length = len(_v257.dimensions)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(_v257.dimensions.tostring())
        length = len(_v257.triangles)
        buff.write(_struct_I.pack(length))
        pattern = '<%si'%length
        buff.write(_v257.triangles.tostring())
        length = len(_v257.vertices)
        buff.write(_struct_I.pack(length))
        for val3 in _v257.vertices:
          _x = val3
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v258 = val1.constraint_region_orientation
        _x = _v258
        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:
        _v259 = val1.header
        buff.write(_struct_I.pack(_v259.seq))
        _v260 = _v259.stamp
        _x = _v260
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v259.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))
        _v261 = val1.orientation
        _x = _v261
        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:
        _v262 = val1.header
        buff.write(_struct_I.pack(_v262.seq))
        _v263 = _v262.stamp
        _x = _v263
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v262.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _v264 = val1.target
        _v265 = _v264.header
        buff.write(_struct_I.pack(_v265.seq))
        _v266 = _v265.stamp
        _x = _v266
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v265.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _v267 = _v264.point
        _x = _v267
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v268 = val1.sensor_pose
        _v269 = _v268.header
        buff.write(_struct_I.pack(_v269.seq))
        _v270 = _v269.stamp
        _x = _v270
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v269.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _v271 = _v268.pose
        _v272 = _v271.position
        _x = _v272
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v273 = _v271.orientation
        _x = _v273
        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:
        _v274 = val1.header
        buff.write(_struct_I.pack(_v274.seq))
        _v275 = _v274.stamp
        _x = _v275
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v274.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))
        _v276 = val1.target_point_offset
        _x = _v276
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v277 = val1.position
        _x = _v277
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v278 = val1.constraint_region_shape
        buff.write(_struct_b.pack(_v278.type))
        length = len(_v278.dimensions)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(_v278.dimensions.tostring())
        length = len(_v278.triangles)
        buff.write(_struct_I.pack(length))
        pattern = '<%si'%length
        buff.write(_v278.triangles.tostring())
        length = len(_v278.vertices)
        buff.write(_struct_I.pack(length))
        for val3 in _v278.vertices:
          _x = val3
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v279 = val1.constraint_region_orientation
        _x = _v279
        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:
        _v280 = val1.header
        buff.write(_struct_I.pack(_v280.seq))
        _v281 = _v280.stamp
        _x = _v281
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v280.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))
        _v282 = val1.orientation
        _x = _v282
        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:
        _v283 = val1.header
        buff.write(_struct_I.pack(_v283.seq))
        _v284 = _v283.stamp
        _x = _v284
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v283.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _v285 = val1.target
        _v286 = _v285.header
        buff.write(_struct_I.pack(_v286.seq))
        _v287 = _v286.stamp
        _x = _v287
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v286.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _v288 = _v285.point
        _x = _v288
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v289 = val1.sensor_pose
        _v290 = _v289.header
        buff.write(_struct_I.pack(_v290.seq))
        _v291 = _v290.stamp
        _x = _v291
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v290.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _v292 = _v289.pose
        _v293 = _v292.position
        _x = _v293
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v294 = _v292.orientation
        _x = _v294
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
        buff.write(_struct_d.pack(val1.absolute_tolerance))
      buff.write(_struct_i.pack(self.error_code.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.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.error_code is None:
        self.error_code = motion_planning_msgs.msg.ArmNavigationErrorCodes()
      end = 0
      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()
        _v295 = val1.header
        start = end
        end += 4
        (_v295.seq,) = _struct_I.unpack(str[start:end])
        _v296 = _v295.stamp
        _x = _v296
        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
        _v295.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]
        _v297 = val1.target_point_offset
        _x = _v297
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v298 = val1.position
        _x = _v298
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v299 = val1.constraint_region_shape
        start = end
        end += 1
        (_v299.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)
        _v299.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)
        _v299.triangles = numpy.frombuffer(str[start:end], dtype=numpy.int32, count=length)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v299.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])
          _v299.vertices.append(val3)
        _v300 = val1.constraint_region_orientation
        _x = _v300
        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()
        _v301 = val1.header
        start = end
        end += 4
        (_v301.seq,) = _struct_I.unpack(str[start:end])
        _v302 = _v301.stamp
        _x = _v302
        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
        _v301.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])
        _v303 = val1.orientation
        _x = _v303
        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()
        _v304 = val1.header
        start = end
        end += 4
        (_v304.seq,) = _struct_I.unpack(str[start:end])
        _v305 = _v304.stamp
        _x = _v305
        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
        _v304.frame_id = str[start:end]
        _v306 = val1.target
        _v307 = _v306.header
        start = end
        end += 4
        (_v307.seq,) = _struct_I.unpack(str[start:end])
        _v308 = _v307.stamp
        _x = _v308
        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
        _v307.frame_id = str[start:end]
        _v309 = _v306.point
        _x = _v309
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v310 = val1.sensor_pose
        _v311 = _v310.header
        start = end
        end += 4
        (_v311.seq,) = _struct_I.unpack(str[start:end])
        _v312 = _v311.stamp
        _x = _v312
        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
        _v311.frame_id = str[start:end]
        _v313 = _v310.pose
        _v314 = _v313.position
        _x = _v314
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v315 = _v313.orientation
        _x = _v315
        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()
        _v316 = val1.header
        start = end
        end += 4
        (_v316.seq,) = _struct_I.unpack(str[start:end])
        _v317 = _v316.stamp
        _x = _v317
        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
        _v316.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]
        _v318 = val1.target_point_offset
        _x = _v318
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v319 = val1.position
        _x = _v319
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v320 = val1.constraint_region_shape
        start = end
        end += 1
        (_v320.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)
        _v320.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)
        _v320.triangles = numpy.frombuffer(str[start:end], dtype=numpy.int32, count=length)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v320.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])
          _v320.vertices.append(val3)
        _v321 = val1.constraint_region_orientation
        _x = _v321
        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()
        _v322 = val1.header
        start = end
        end += 4
        (_v322.seq,) = _struct_I.unpack(str[start:end])
        _v323 = _v322.stamp
        _x = _v323
        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
        _v322.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])
        _v324 = val1.orientation
        _x = _v324
        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()
        _v325 = val1.header
        start = end
        end += 4
        (_v325.seq,) = _struct_I.unpack(str[start:end])
        _v326 = _v325.stamp
        _x = _v326
        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
        _v325.frame_id = str[start:end]
        _v327 = val1.target
        _v328 = _v327.header
        start = end
        end += 4
        (_v328.seq,) = _struct_I.unpack(str[start:end])
        _v329 = _v328.stamp
        _x = _v329
        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
        _v328.frame_id = str[start:end]
        _v330 = _v327.point
        _x = _v330
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v331 = val1.sensor_pose
        _v332 = _v331.header
        start = end
        end += 4
        (_v332.seq,) = _struct_I.unpack(str[start:end])
        _v333 = _v332.stamp
        _x = _v333
        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
        _v332.frame_id = str[start:end]
        _v334 = _v331.pose
        _v335 = _v334.position
        _x = _v335
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v336 = _v334.orientation
        _x = _v336
        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
      (self.error_code.val,) = _struct_i.unpack(str[start:end])
      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_i = struct.Struct("<i")
_struct_4d = struct.Struct("<4d")
_struct_2I = struct.Struct("<2I")
_struct_3d = struct.Struct("<3d")
class SetConstraints(roslib.message.ServiceDefinition):
  _type          = 'planning_environment_msgs/SetConstraints'
  _md5sum = '60cfcfae4d588cf6b9a94199b57d97db'
  _request_class  = SetConstraintsRequest
  _response_class = SetConstraintsResponse

---

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