00001 """autogenerated by genmsg_py from Object.msg. Do not edit."""
00002 import roslib.message
00003 import struct
00004
00005 import geometry_msgs.msg
00006 import worldmodel_msgs.msg
00007 import std_msgs.msg
00008
00009 class Object(roslib.message.Message):
00010 _md5sum = "bc2b29ddef39c215dc87ef727bf53447"
00011 _type = "worldmodel_msgs/Object"
00012 _has_header = True
00013 _full_text = """# This message represents an estimate of an object's pose and identity.
00014
00015 # The header.
00016 # stamp: Timestamp of last update.
00017 # frame_id: Coordinate frame, in which the pose is given
00018 Header header
00019
00020 # The pose
00021 geometry_msgs/PoseWithCovariance pose
00022
00023 # Further information about the object
00024 ObjectInfo info
00025
00026 # The tracked state of the object
00027 ObjectState state
00028
00029 ================================================================================
00030 MSG: std_msgs/Header
00031 # Standard metadata for higher-level stamped data types.
00032 # This is generally used to communicate timestamped data
00033 # in a particular coordinate frame.
00034 #
00035 # sequence ID: consecutively increasing ID
00036 uint32 seq
00037 #Two-integer timestamp that is expressed as:
00038 # * stamp.secs: seconds (stamp_secs) since epoch
00039 # * stamp.nsecs: nanoseconds since stamp_secs
00040 # time-handling sugar is provided by the client library
00041 time stamp
00042 #Frame this data is associated with
00043 # 0: no frame
00044 # 1: global frame
00045 string frame_id
00046
00047 ================================================================================
00048 MSG: geometry_msgs/PoseWithCovariance
00049 # This represents a pose in free space with uncertainty.
00050
00051 Pose pose
00052
00053 # Row-major representation of the 6x6 covariance matrix
00054 # The orientation parameters use a fixed-axis representation.
00055 # In order, the parameters are:
00056 # (x, y, z, rotation about X axis, rotation about Y axis, rotation about Z axis)
00057 float64[36] covariance
00058
00059 ================================================================================
00060 MSG: geometry_msgs/Pose
00061 # A representation of pose in free space, composed of postion and orientation.
00062 Point position
00063 Quaternion orientation
00064
00065 ================================================================================
00066 MSG: geometry_msgs/Point
00067 # This contains the position of a point in free space
00068 float64 x
00069 float64 y
00070 float64 z
00071
00072 ================================================================================
00073 MSG: geometry_msgs/Quaternion
00074 # This represents an orientation in free space in quaternion form.
00075
00076 float64 x
00077 float64 y
00078 float64 z
00079 float64 w
00080
00081 ================================================================================
00082 MSG: worldmodel_msgs/ObjectInfo
00083 # This message contains information about the estimated class affiliation, object id and corresponding support
00084
00085 # A string identifying the object's class (all objects of a class look the same)
00086 string class_id
00087
00088 # A string identifying the specific object
00089 string object_id
00090
00091 # A string that contains the name or a description of the specific object
00092 string name
00093
00094 # The support (degree of belief) of the object's presence given as log odd ratio
00095 float32 support
00096
00097
00098 ================================================================================
00099 MSG: worldmodel_msgs/ObjectState
00100 # The state of an object estimate used to track
00101 # states smaller than 0 disable all updates
00102
00103 int8 UNKNOWN = 0
00104 int8 PENDING = 1
00105 int8 ACTIVE = 2
00106 int8 CONFIRMED = -1
00107 int8 DISCARDED = -2
00108 int8 APPROACHING = -3
00109
00110 int8 state
00111
00112 """
00113 __slots__ = ['header','pose','info','state']
00114 _slot_types = ['Header','geometry_msgs/PoseWithCovariance','worldmodel_msgs/ObjectInfo','worldmodel_msgs/ObjectState']
00115
00116 def __init__(self, *args, **kwds):
00117 """
00118 Constructor. Any message fields that are implicitly/explicitly
00119 set to None will be assigned a default value. The recommend
00120 use is keyword arguments as this is more robust to future message
00121 changes. You cannot mix in-order arguments and keyword arguments.
00122
00123 The available fields are:
00124 header,pose,info,state
00125
00126 @param args: complete set of field values, in .msg order
00127 @param kwds: use keyword arguments corresponding to message field names
00128 to set specific fields.
00129 """
00130 if args or kwds:
00131 super(Object, self).__init__(*args, **kwds)
00132
00133 if self.header is None:
00134 self.header = std_msgs.msg._Header.Header()
00135 if self.pose is None:
00136 self.pose = geometry_msgs.msg.PoseWithCovariance()
00137 if self.info is None:
00138 self.info = worldmodel_msgs.msg.ObjectInfo()
00139 if self.state is None:
00140 self.state = worldmodel_msgs.msg.ObjectState()
00141 else:
00142 self.header = std_msgs.msg._Header.Header()
00143 self.pose = geometry_msgs.msg.PoseWithCovariance()
00144 self.info = worldmodel_msgs.msg.ObjectInfo()
00145 self.state = worldmodel_msgs.msg.ObjectState()
00146
00147 def _get_types(self):
00148 """
00149 internal API method
00150 """
00151 return self._slot_types
00152
00153 def serialize(self, buff):
00154 """
00155 serialize message into buffer
00156 @param buff: buffer
00157 @type buff: StringIO
00158 """
00159 try:
00160 _x = self
00161 buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
00162 _x = self.header.frame_id
00163 length = len(_x)
00164 buff.write(struct.pack('<I%ss'%length, length, _x))
00165 _x = self
00166 buff.write(_struct_7d.pack(_x.pose.pose.position.x, _x.pose.pose.position.y, _x.pose.pose.position.z, _x.pose.pose.orientation.x, _x.pose.pose.orientation.y, _x.pose.pose.orientation.z, _x.pose.pose.orientation.w))
00167 buff.write(_struct_36d.pack(*self.pose.covariance))
00168 _x = self.info.class_id
00169 length = len(_x)
00170 buff.write(struct.pack('<I%ss'%length, length, _x))
00171 _x = self.info.object_id
00172 length = len(_x)
00173 buff.write(struct.pack('<I%ss'%length, length, _x))
00174 _x = self.info.name
00175 length = len(_x)
00176 buff.write(struct.pack('<I%ss'%length, length, _x))
00177 _x = self
00178 buff.write(_struct_fb.pack(_x.info.support, _x.state.state))
00179 except struct.error as se: self._check_types(se)
00180 except TypeError as te: self._check_types(te)
00181
00182 def deserialize(self, str):
00183 """
00184 unpack serialized message in str into this message instance
00185 @param str: byte array of serialized message
00186 @type str: str
00187 """
00188 try:
00189 if self.header is None:
00190 self.header = std_msgs.msg._Header.Header()
00191 if self.pose is None:
00192 self.pose = geometry_msgs.msg.PoseWithCovariance()
00193 if self.info is None:
00194 self.info = worldmodel_msgs.msg.ObjectInfo()
00195 if self.state is None:
00196 self.state = worldmodel_msgs.msg.ObjectState()
00197 end = 0
00198 _x = self
00199 start = end
00200 end += 12
00201 (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00202 start = end
00203 end += 4
00204 (length,) = _struct_I.unpack(str[start:end])
00205 start = end
00206 end += length
00207 self.header.frame_id = str[start:end]
00208 _x = self
00209 start = end
00210 end += 56
00211 (_x.pose.pose.position.x, _x.pose.pose.position.y, _x.pose.pose.position.z, _x.pose.pose.orientation.x, _x.pose.pose.orientation.y, _x.pose.pose.orientation.z, _x.pose.pose.orientation.w,) = _struct_7d.unpack(str[start:end])
00212 start = end
00213 end += 288
00214 self.pose.covariance = _struct_36d.unpack(str[start:end])
00215 start = end
00216 end += 4
00217 (length,) = _struct_I.unpack(str[start:end])
00218 start = end
00219 end += length
00220 self.info.class_id = str[start:end]
00221 start = end
00222 end += 4
00223 (length,) = _struct_I.unpack(str[start:end])
00224 start = end
00225 end += length
00226 self.info.object_id = str[start:end]
00227 start = end
00228 end += 4
00229 (length,) = _struct_I.unpack(str[start:end])
00230 start = end
00231 end += length
00232 self.info.name = str[start:end]
00233 _x = self
00234 start = end
00235 end += 5
00236 (_x.info.support, _x.state.state,) = _struct_fb.unpack(str[start:end])
00237 return self
00238 except struct.error as e:
00239 raise roslib.message.DeserializationError(e)
00240
00241
00242 def serialize_numpy(self, buff, numpy):
00243 """
00244 serialize message with numpy array types into buffer
00245 @param buff: buffer
00246 @type buff: StringIO
00247 @param numpy: numpy python module
00248 @type numpy module
00249 """
00250 try:
00251 _x = self
00252 buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
00253 _x = self.header.frame_id
00254 length = len(_x)
00255 buff.write(struct.pack('<I%ss'%length, length, _x))
00256 _x = self
00257 buff.write(_struct_7d.pack(_x.pose.pose.position.x, _x.pose.pose.position.y, _x.pose.pose.position.z, _x.pose.pose.orientation.x, _x.pose.pose.orientation.y, _x.pose.pose.orientation.z, _x.pose.pose.orientation.w))
00258 buff.write(self.pose.covariance.tostring())
00259 _x = self.info.class_id
00260 length = len(_x)
00261 buff.write(struct.pack('<I%ss'%length, length, _x))
00262 _x = self.info.object_id
00263 length = len(_x)
00264 buff.write(struct.pack('<I%ss'%length, length, _x))
00265 _x = self.info.name
00266 length = len(_x)
00267 buff.write(struct.pack('<I%ss'%length, length, _x))
00268 _x = self
00269 buff.write(_struct_fb.pack(_x.info.support, _x.state.state))
00270 except struct.error as se: self._check_types(se)
00271 except TypeError as te: self._check_types(te)
00272
00273 def deserialize_numpy(self, str, numpy):
00274 """
00275 unpack serialized message in str into this message instance using numpy for array types
00276 @param str: byte array of serialized message
00277 @type str: str
00278 @param numpy: numpy python module
00279 @type numpy: module
00280 """
00281 try:
00282 if self.header is None:
00283 self.header = std_msgs.msg._Header.Header()
00284 if self.pose is None:
00285 self.pose = geometry_msgs.msg.PoseWithCovariance()
00286 if self.info is None:
00287 self.info = worldmodel_msgs.msg.ObjectInfo()
00288 if self.state is None:
00289 self.state = worldmodel_msgs.msg.ObjectState()
00290 end = 0
00291 _x = self
00292 start = end
00293 end += 12
00294 (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00295 start = end
00296 end += 4
00297 (length,) = _struct_I.unpack(str[start:end])
00298 start = end
00299 end += length
00300 self.header.frame_id = str[start:end]
00301 _x = self
00302 start = end
00303 end += 56
00304 (_x.pose.pose.position.x, _x.pose.pose.position.y, _x.pose.pose.position.z, _x.pose.pose.orientation.x, _x.pose.pose.orientation.y, _x.pose.pose.orientation.z, _x.pose.pose.orientation.w,) = _struct_7d.unpack(str[start:end])
00305 start = end
00306 end += 288
00307 self.pose.covariance = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=36)
00308 start = end
00309 end += 4
00310 (length,) = _struct_I.unpack(str[start:end])
00311 start = end
00312 end += length
00313 self.info.class_id = str[start:end]
00314 start = end
00315 end += 4
00316 (length,) = _struct_I.unpack(str[start:end])
00317 start = end
00318 end += length
00319 self.info.object_id = str[start:end]
00320 start = end
00321 end += 4
00322 (length,) = _struct_I.unpack(str[start:end])
00323 start = end
00324 end += length
00325 self.info.name = str[start:end]
00326 _x = self
00327 start = end
00328 end += 5
00329 (_x.info.support, _x.state.state,) = _struct_fb.unpack(str[start:end])
00330 return self
00331 except struct.error as e:
00332 raise roslib.message.DeserializationError(e)
00333
00334 _struct_I = roslib.message.struct_I
00335 _struct_fb = struct.Struct("<fb")
00336 _struct_3I = struct.Struct("<3I")
00337 _struct_7d = struct.Struct("<7d")
00338 _struct_36d = struct.Struct("<36d")
