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00001 """autogenerated by genmsg_py from VerifyObjectRequest.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 VerifyObjectRequest(roslib.message.Message): 00010 _md5sum = "e65ba63f3546a39c3273849a44bd4c52" 00011 _type = "worldmodel_msgs/VerifyObjectRequest" 00012 _has_header = False #flag to mark the presence of a Header object 00013 _full_text = """ 00014 00015 00016 Object object 00017 00018 ================================================================================ 00019 MSG: worldmodel_msgs/Object 00020 # This message represents an estimate of an object's pose and identity. 00021 00022 # The header. 00023 # stamp: Timestamp of last update. 00024 # frame_id: Coordinate frame, in which the pose is given 00025 Header header 00026 00027 # The pose 00028 geometry_msgs/PoseWithCovariance pose 00029 00030 # Further information about the object 00031 ObjectInfo info 00032 00033 # The tracked state of the object 00034 ObjectState state 00035 00036 ================================================================================ 00037 MSG: std_msgs/Header 00038 # Standard metadata for higher-level stamped data types. 00039 # This is generally used to communicate timestamped data 00040 # in a particular coordinate frame. 00041 # 00042 # sequence ID: consecutively increasing ID 00043 uint32 seq 00044 #Two-integer timestamp that is expressed as: 00045 # * stamp.secs: seconds (stamp_secs) since epoch 00046 # * stamp.nsecs: nanoseconds since stamp_secs 00047 # time-handling sugar is provided by the client library 00048 time stamp 00049 #Frame this data is associated with 00050 # 0: no frame 00051 # 1: global frame 00052 string frame_id 00053 00054 ================================================================================ 00055 MSG: geometry_msgs/PoseWithCovariance 00056 # This represents a pose in free space with uncertainty. 00057 00058 Pose pose 00059 00060 # Row-major representation of the 6x6 covariance matrix 00061 # The orientation parameters use a fixed-axis representation. 00062 # In order, the parameters are: 00063 # (x, y, z, rotation about X axis, rotation about Y axis, rotation about Z axis) 00064 float64[36] covariance 00065 00066 ================================================================================ 00067 MSG: geometry_msgs/Pose 00068 # A representation of pose in free space, composed of postion and orientation. 00069 Point position 00070 Quaternion orientation 00071 00072 ================================================================================ 00073 MSG: geometry_msgs/Point 00074 # This contains the position of a point in free space 00075 float64 x 00076 float64 y 00077 float64 z 00078 00079 ================================================================================ 00080 MSG: geometry_msgs/Quaternion 00081 # This represents an orientation in free space in quaternion form. 00082 00083 float64 x 00084 float64 y 00085 float64 z 00086 float64 w 00087 00088 ================================================================================ 00089 MSG: worldmodel_msgs/ObjectInfo 00090 # This message contains information about the estimated class affiliation, object id and corresponding support 00091 00092 # A string identifying the object's class (all objects of a class look the same) 00093 string class_id 00094 00095 # A string identifying the specific object 00096 string object_id 00097 00098 # A string that contains the name or a description of the specific object 00099 string name 00100 00101 # The support (degree of belief) of the object's presence given as log odd ratio 00102 float32 support 00103 00104 00105 ================================================================================ 00106 MSG: worldmodel_msgs/ObjectState 00107 # The state of an object estimate used to track 00108 # states smaller than 0 disable all updates 00109 00110 int8 UNKNOWN = 0 00111 int8 PENDING = 1 00112 int8 ACTIVE = 2 00113 int8 CONFIRMED = -1 00114 int8 DISCARDED = -2 00115 int8 APPROACHING = -3 00116 00117 int8 state 00118 00119 """ 00120 __slots__ = ['object'] 00121 _slot_types = ['worldmodel_msgs/Object'] 00122 00123 def __init__(self, *args, **kwds): 00124 """ 00125 Constructor. Any message fields that are implicitly/explicitly 00126 set to None will be assigned a default value. The recommend 00127 use is keyword arguments as this is more robust to future message 00128 changes. You cannot mix in-order arguments and keyword arguments. 00129 00130 The available fields are: 00131 object 00132 00133 @param args: complete set of field values, in .msg order 00134 @param kwds: use keyword arguments corresponding to message field names 00135 to set specific fields. 00136 """ 00137 if args or kwds: 00138 super(VerifyObjectRequest, self).__init__(*args, **kwds) 00139 #message fields cannot be None, assign default values for those that are 00140 if self.object is None: 00141 self.object = worldmodel_msgs.msg.Object() 00142 else: 00143 self.object = worldmodel_msgs.msg.Object() 00144 00145 def _get_types(self): 00146 """ 00147 internal API method 00148 """ 00149 return self._slot_types 00150 00151 def serialize(self, buff): 00152 """ 00153 serialize message into buffer 00154 @param buff: buffer 00155 @type buff: StringIO 00156 """ 00157 try: 00158 _x = self 00159 buff.write(_struct_3I.pack(_x.object.header.seq, _x.object.header.stamp.secs, _x.object.header.stamp.nsecs)) 00160 _x = self.object.header.frame_id 00161 length = len(_x) 00162 buff.write(struct.pack('<I%ss'%length, length, _x)) 00163 _x = self 00164 buff.write(_struct_7d.pack(_x.object.pose.pose.position.x, _x.object.pose.pose.position.y, _x.object.pose.pose.position.z, _x.object.pose.pose.orientation.x, _x.object.pose.pose.orientation.y, _x.object.pose.pose.orientation.z, _x.object.pose.pose.orientation.w)) 00165 buff.write(_struct_36d.pack(*self.object.pose.covariance)) 00166 _x = self.object.info.class_id 00167 length = len(_x) 00168 buff.write(struct.pack('<I%ss'%length, length, _x)) 00169 _x = self.object.info.object_id 00170 length = len(_x) 00171 buff.write(struct.pack('<I%ss'%length, length, _x)) 00172 _x = self.object.info.name 00173 length = len(_x) 00174 buff.write(struct.pack('<I%ss'%length, length, _x)) 00175 _x = self 00176 buff.write(_struct_fb.pack(_x.object.info.support, _x.object.state.state)) 00177 except struct.error as se: self._check_types(se) 00178 except TypeError as te: self._check_types(te) 00179 00180 def deserialize(self, str): 00181 """ 00182 unpack serialized message in str into this message instance 00183 @param str: byte array of serialized message 00184 @type str: str 00185 """ 00186 try: 00187 if self.object is None: 00188 self.object = worldmodel_msgs.msg.Object() 00189 end = 0 00190 _x = self 00191 start = end 00192 end += 12 00193 (_x.object.header.seq, _x.object.header.stamp.secs, _x.object.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end]) 00194 start = end 00195 end += 4 00196 (length,) = _struct_I.unpack(str[start:end]) 00197 start = end 00198 end += length 00199 self.object.header.frame_id = str[start:end] 00200 _x = self 00201 start = end 00202 end += 56 00203 (_x.object.pose.pose.position.x, _x.object.pose.pose.position.y, _x.object.pose.pose.position.z, _x.object.pose.pose.orientation.x, _x.object.pose.pose.orientation.y, _x.object.pose.pose.orientation.z, _x.object.pose.pose.orientation.w,) = _struct_7d.unpack(str[start:end]) 00204 start = end 00205 end += 288 00206 self.object.pose.covariance = _struct_36d.unpack(str[start:end]) 00207 start = end 00208 end += 4 00209 (length,) = _struct_I.unpack(str[start:end]) 00210 start = end 00211 end += length 00212 self.object.info.class_id = str[start:end] 00213 start = end 00214 end += 4 00215 (length,) = _struct_I.unpack(str[start:end]) 00216 start = end 00217 end += length 00218 self.object.info.object_id = str[start:end] 00219 start = end 00220 end += 4 00221 (length,) = _struct_I.unpack(str[start:end]) 00222 start = end 00223 end += length 00224 self.object.info.name = str[start:end] 00225 _x = self 00226 start = end 00227 end += 5 00228 (_x.object.info.support, _x.object.state.state,) = _struct_fb.unpack(str[start:end]) 00229 return self 00230 except struct.error as e: 00231 raise roslib.message.DeserializationError(e) #most likely buffer underfill 00232 00233 00234 def serialize_numpy(self, buff, numpy): 00235 """ 00236 serialize message with numpy array types into buffer 00237 @param buff: buffer 00238 @type buff: StringIO 00239 @param numpy: numpy python module 00240 @type numpy module 00241 """ 00242 try: 00243 _x = self 00244 buff.write(_struct_3I.pack(_x.object.header.seq, _x.object.header.stamp.secs, _x.object.header.stamp.nsecs)) 00245 _x = self.object.header.frame_id 00246 length = len(_x) 00247 buff.write(struct.pack('<I%ss'%length, length, _x)) 00248 _x = self 00249 buff.write(_struct_7d.pack(_x.object.pose.pose.position.x, _x.object.pose.pose.position.y, _x.object.pose.pose.position.z, _x.object.pose.pose.orientation.x, _x.object.pose.pose.orientation.y, _x.object.pose.pose.orientation.z, _x.object.pose.pose.orientation.w)) 00250 buff.write(self.object.pose.covariance.tostring()) 00251 _x = self.object.info.class_id 00252 length = len(_x) 00253 buff.write(struct.pack('<I%ss'%length, length, _x)) 00254 _x = self.object.info.object_id 00255 length = len(_x) 00256 buff.write(struct.pack('<I%ss'%length, length, _x)) 00257 _x = self.object.info.name 00258 length = len(_x) 00259 buff.write(struct.pack('<I%ss'%length, length, _x)) 00260 _x = self 00261 buff.write(_struct_fb.pack(_x.object.info.support, _x.object.state.state)) 00262 except struct.error as se: self._check_types(se) 00263 except TypeError as te: self._check_types(te) 00264 00265 def deserialize_numpy(self, str, numpy): 00266 """ 00267 unpack serialized message in str into this message instance using numpy for array types 00268 @param str: byte array of serialized message 00269 @type str: str 00270 @param numpy: numpy python module 00271 @type numpy: module 00272 """ 00273 try: 00274 if self.object is None: 00275 self.object = worldmodel_msgs.msg.Object() 00276 end = 0 00277 _x = self 00278 start = end 00279 end += 12 00280 (_x.object.header.seq, _x.object.header.stamp.secs, _x.object.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end]) 00281 start = end 00282 end += 4 00283 (length,) = _struct_I.unpack(str[start:end]) 00284 start = end 00285 end += length 00286 self.object.header.frame_id = str[start:end] 00287 _x = self 00288 start = end 00289 end += 56 00290 (_x.object.pose.pose.position.x, _x.object.pose.pose.position.y, _x.object.pose.pose.position.z, _x.object.pose.pose.orientation.x, _x.object.pose.pose.orientation.y, _x.object.pose.pose.orientation.z, _x.object.pose.pose.orientation.w,) = _struct_7d.unpack(str[start:end]) 00291 start = end 00292 end += 288 00293 self.object.pose.covariance = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=36) 00294 start = end 00295 end += 4 00296 (length,) = _struct_I.unpack(str[start:end]) 00297 start = end 00298 end += length 00299 self.object.info.class_id = str[start:end] 00300 start = end 00301 end += 4 00302 (length,) = _struct_I.unpack(str[start:end]) 00303 start = end 00304 end += length 00305 self.object.info.object_id = str[start:end] 00306 start = end 00307 end += 4 00308 (length,) = _struct_I.unpack(str[start:end]) 00309 start = end 00310 end += length 00311 self.object.info.name = str[start:end] 00312 _x = self 00313 start = end 00314 end += 5 00315 (_x.object.info.support, _x.object.state.state,) = _struct_fb.unpack(str[start:end]) 00316 return self 00317 except struct.error as e: 00318 raise roslib.message.DeserializationError(e) #most likely buffer underfill 00319 00320 _struct_I = roslib.message.struct_I 00321 _struct_fb = struct.Struct("<fb") 00322 _struct_3I = struct.Struct("<3I") 00323 _struct_7d = struct.Struct("<7d") 00324 _struct_36d = struct.Struct("<36d") 00325 """autogenerated by genmsg_py from VerifyObjectResponse.msg. Do not edit.""" 00326 import roslib.message 00327 import struct 00328 00329 00330 class VerifyObjectResponse(roslib.message.Message): 00331 _md5sum = "a4e2509e523147799a63deb6a40a0721" 00332 _type = "worldmodel_msgs/VerifyObjectResponse" 00333 _has_header = False #flag to mark the presence of a Header object 00334 _full_text = """ 00335 uint8 response 00336 uint8 UNKNOWN = 0 00337 uint8 DISCARD = 1 00338 uint8 CONFIRM = 2 00339 00340 00341 """ 00342 # Pseudo-constants 00343 UNKNOWN = 0 00344 DISCARD = 1 00345 CONFIRM = 2 00346 00347 __slots__ = ['response'] 00348 _slot_types = ['uint8'] 00349 00350 def __init__(self, *args, **kwds): 00351 """ 00352 Constructor. Any message fields that are implicitly/explicitly 00353 set to None will be assigned a default value. The recommend 00354 use is keyword arguments as this is more robust to future message 00355 changes. You cannot mix in-order arguments and keyword arguments. 00356 00357 The available fields are: 00358 response 00359 00360 @param args: complete set of field values, in .msg order 00361 @param kwds: use keyword arguments corresponding to message field names 00362 to set specific fields. 00363 """ 00364 if args or kwds: 00365 super(VerifyObjectResponse, self).__init__(*args, **kwds) 00366 #message fields cannot be None, assign default values for those that are 00367 if self.response is None: 00368 self.response = 0 00369 else: 00370 self.response = 0 00371 00372 def _get_types(self): 00373 """ 00374 internal API method 00375 """ 00376 return self._slot_types 00377 00378 def serialize(self, buff): 00379 """ 00380 serialize message into buffer 00381 @param buff: buffer 00382 @type buff: StringIO 00383 """ 00384 try: 00385 buff.write(_struct_B.pack(self.response)) 00386 except struct.error as se: self._check_types(se) 00387 except TypeError as te: self._check_types(te) 00388 00389 def deserialize(self, str): 00390 """ 00391 unpack serialized message in str into this message instance 00392 @param str: byte array of serialized message 00393 @type str: str 00394 """ 00395 try: 00396 end = 0 00397 start = end 00398 end += 1 00399 (self.response,) = _struct_B.unpack(str[start:end]) 00400 return self 00401 except struct.error as e: 00402 raise roslib.message.DeserializationError(e) #most likely buffer underfill 00403 00404 00405 def serialize_numpy(self, buff, numpy): 00406 """ 00407 serialize message with numpy array types into buffer 00408 @param buff: buffer 00409 @type buff: StringIO 00410 @param numpy: numpy python module 00411 @type numpy module 00412 """ 00413 try: 00414 buff.write(_struct_B.pack(self.response)) 00415 except struct.error as se: self._check_types(se) 00416 except TypeError as te: self._check_types(te) 00417 00418 def deserialize_numpy(self, str, numpy): 00419 """ 00420 unpack serialized message in str into this message instance using numpy for array types 00421 @param str: byte array of serialized message 00422 @type str: str 00423 @param numpy: numpy python module 00424 @type numpy: module 00425 """ 00426 try: 00427 end = 0 00428 start = end 00429 end += 1 00430 (self.response,) = _struct_B.unpack(str[start:end]) 00431 return self 00432 except struct.error as e: 00433 raise roslib.message.DeserializationError(e) #most likely buffer underfill 00434 00435 _struct_I = roslib.message.struct_I 00436 _struct_B = struct.Struct("<B") 00437 class VerifyObject(roslib.message.ServiceDefinition): 00438 _type = 'worldmodel_msgs/VerifyObject' 00439 _md5sum = '2054e05566164a312a45205c69a2c7c8' 00440 _request_class = VerifyObjectRequest 00441 _response_class = VerifyObjectResponse