00001 """autogenerated by genpy from articulation_msgs/SetModelPriorSrvRequest.msg. Do not edit."""
00002 import sys
00003 python3 = True if sys.hexversion > 0x03000000 else False
00004 import genpy
00005 import struct
00006
00007 import sensor_msgs.msg
00008 import geometry_msgs.msg
00009 import articulation_msgs.msg
00010 import std_msgs.msg
00011
00012 class SetModelPriorSrvRequest(genpy.Message):
00013 _md5sum = "492b025b4d335f83e3fab65eb3211a27"
00014 _type = "articulation_msgs/SetModelPriorSrvRequest"
00015 _has_header = False
00016 _full_text = """
00017
00018
00019
00020
00021
00022 articulation_msgs/ModelMsg[] model
00023
00024 ================================================================================
00025 MSG: articulation_msgs/ModelMsg
00026 # Single kinematic model
00027 #
00028 # A kinematic model is defined by its model class name, and a set of parameters.
00029 # The client may additionally specify a model id, that can be used to colorize the
00030 # model when visualized using the RVIZ model display.
00031 #
00032 # For a list of currently implemented models, see the documetation at
00033 # http://www.ros.org/wiki/articulation_models
00034 #
00035 #
00036
00037 std_msgs/Header header # frame and timestamp
00038
00039 int32 id # user specified model id
00040 string name # name of the model family (e.g. "rotational",
00041 # "prismatic", "pca-gp", "rigid")
00042 articulation_msgs/ParamMsg[] params # model parameters
00043 articulation_msgs/TrackMsg track # trajectory from which the model is estimated, or
00044 # that is evaluated using the model
00045
00046 ================================================================================
00047 MSG: std_msgs/Header
00048 # Standard metadata for higher-level stamped data types.
00049 # This is generally used to communicate timestamped data
00050 # in a particular coordinate frame.
00051 #
00052 # sequence ID: consecutively increasing ID
00053 uint32 seq
00054 #Two-integer timestamp that is expressed as:
00055 # * stamp.secs: seconds (stamp_secs) since epoch
00056 # * stamp.nsecs: nanoseconds since stamp_secs
00057 # time-handling sugar is provided by the client library
00058 time stamp
00059 #Frame this data is associated with
00060 # 0: no frame
00061 # 1: global frame
00062 string frame_id
00063
00064 ================================================================================
00065 MSG: articulation_msgs/ParamMsg
00066 # Single parameter passed to or from model fitting
00067 #
00068 # This mechanism allows to flexibly pass parameters to
00069 # model fitting (and vice versa). Note that these parameters
00070 # are model-specific: A client may supply additional
00071 # parameters to the model estimator, and, similarly, a estimator
00072 # may add the estimated model parameters to the model message.
00073 # When the model is then evaluated, for example to make predictions
00074 # or to compute the likelihood, the model class can then use
00075 # these parameters.
00076 #
00077 # A parameter has a name, a value, and a type. The type globally
00078 # indicates whether it is a prior parameter (prior to model fitting),
00079 # or a model parameter (found during model fitting, using a maximum-
00080 # likelihood estimator), or a cached evaluation (e.g., the likelihood
00081 # or the BIC are a typical "side"-product of model estimation, and
00082 # can therefore already be cached).
00083 #
00084 # For a list of currently used parameters, see the documentation at
00085 # http://www.ros.org/wiki/articulation_models
00086 #
00087
00088 uint8 PRIOR=0 # indicates a prior model parameter
00089 # (e.g., "sigma_position")
00090 uint8 PARAM=1 # indicates a estimated model parameter
00091 # (e.g., "rot_radius", the estimated radius)
00092 uint8 EVAL=2 # indicates a cached evaluation of the model, given
00093 # the current trajectory
00094 # (e.g., "loglikelihood", the log likelihood of the
00095 # data, given the model and its parameters)
00096
00097 string name # name of the parameter
00098 float64 value # value of the parameter
00099 uint8 type # type of the parameter (PRIOR, PARAM, EVAL)
00100
00101
00102 ================================================================================
00103 MSG: articulation_msgs/TrackMsg
00104 # Single kinematic trajectory
00105 #
00106 # This message contains a kinematic trajectory. The trajectory is specified
00107 # as a vector of 6D poses. An additional flag, track_type, indicates whether
00108 # the track is valid, and whether it includes orientation. The track id
00109 # can be used for automatic coloring in the RVIZ track plugin, and can be
00110 # freely chosen by the client.
00111 #
00112 # A model is fitting only from the trajectory stored in the pose[]-vector.
00113 # Additional information may be associated to each pose using the channels
00114 # vector, with arbitrary # fields (e.g., to include applied/measured forces).
00115 #
00116 # After model evaluation,
00117 # also the associated configurations of the object are stored in the channels,
00118 # named "q[0]".."q[DOF-1]", where DOF is the number of degrees of freedom.
00119 # Model evaluation also projects the poses in the pose vector onto the model,
00120 # and stores these ideal poses in the vector pose_projected. Further, during model
00121 # evaluation, a new set of (uniform) configurations over the valid configuration
00122 # range is sampled, and the result is stored in pose_resampled.
00123 # The vector pose_flags contains additional display flags for the poses in the
00124 # pose vector, for example, whether a pose is visible and/or
00125 # the end of a trajectory segment. At the moment, this is only used by the
00126 # prior_model_learner.
00127 #
00128
00129 std_msgs/Header header # frame and timestamp
00130 int32 id # used-specified track id
00131
00132 geometry_msgs/Pose[] pose # sequence of poses, defining the observed trajectory
00133 std_msgs/Header[] pose_headers # Timestamp and frame for each pose (and pose_projected)
00134 geometry_msgs/Pose[] pose_projected # sequence of poses, projected to the model
00135 # (after model evaluation)
00136 geometry_msgs/Pose[] pose_resampled # sequence of poses, re-sampled from the model in
00137 # the valid configuration range
00138 uint32[] pose_flags # bit-wise combination of POSE_VISIBLE and POSE_END_OF_SEGMENT
00139
00140 uint32 POSE_VISIBLE=1
00141 uint32 POSE_END_OF_SEGMENT=2
00142
00143 # Each channel should have the same number of elements as pose array,
00144 # and the data in each channel should correspond 1:1 with each pose
00145 # possible channels: "width", "height", "rgb", ...
00146 sensor_msgs/ChannelFloat32[] channels
00147
00148
00149
00150 ================================================================================
00151 MSG: geometry_msgs/Pose
00152 # A representation of pose in free space, composed of postion and orientation.
00153 Point position
00154 Quaternion orientation
00155
00156 ================================================================================
00157 MSG: geometry_msgs/Point
00158 # This contains the position of a point in free space
00159 float64 x
00160 float64 y
00161 float64 z
00162
00163 ================================================================================
00164 MSG: geometry_msgs/Quaternion
00165 # This represents an orientation in free space in quaternion form.
00166
00167 float64 x
00168 float64 y
00169 float64 z
00170 float64 w
00171
00172 ================================================================================
00173 MSG: sensor_msgs/ChannelFloat32
00174 # This message is used by the PointCloud message to hold optional data
00175 # associated with each point in the cloud. The length of the values
00176 # array should be the same as the length of the points array in the
00177 # PointCloud, and each value should be associated with the corresponding
00178 # point.
00179
00180 # Channel names in existing practice include:
00181 # "u", "v" - row and column (respectively) in the left stereo image.
00182 # This is opposite to usual conventions but remains for
00183 # historical reasons. The newer PointCloud2 message has no
00184 # such problem.
00185 # "rgb" - For point clouds produced by color stereo cameras. uint8
00186 # (R,G,B) values packed into the least significant 24 bits,
00187 # in order.
00188 # "intensity" - laser or pixel intensity.
00189 # "distance"
00190
00191 # The channel name should give semantics of the channel (e.g.
00192 # "intensity" instead of "value").
00193 string name
00194
00195 # The values array should be 1-1 with the elements of the associated
00196 # PointCloud.
00197 float32[] values
00198
00199 """
00200 __slots__ = ['model']
00201 _slot_types = ['articulation_msgs/ModelMsg[]']
00202
00203 def __init__(self, *args, **kwds):
00204 """
00205 Constructor. Any message fields that are implicitly/explicitly
00206 set to None will be assigned a default value. The recommend
00207 use is keyword arguments as this is more robust to future message
00208 changes. You cannot mix in-order arguments and keyword arguments.
00209
00210 The available fields are:
00211 model
00212
00213 :param args: complete set of field values, in .msg order
00214 :param kwds: use keyword arguments corresponding to message field names
00215 to set specific fields.
00216 """
00217 if args or kwds:
00218 super(SetModelPriorSrvRequest, self).__init__(*args, **kwds)
00219 #message fields cannot be None, assign default values for those that are
00220 if self.model is None:
00221 self.model = []
00222 else:
00223 self.model = []
00224
00225 def _get_types(self):
00226 """
00227 internal API method
00228 """
00229 return self._slot_types
00230
00231 def serialize(self, buff):
00232 """
00233 serialize message into buffer
00234 :param buff: buffer, ``StringIO``
00235 """
00236 try:
00237 length = len(self.model)
00238 buff.write(_struct_I.pack(length))
00239 for val1 in self.model:
00240 _v1 = val1.header
00241 buff.write(_struct_I.pack(_v1.seq))
00242 _v2 = _v1.stamp
00243 _x = _v2
00244 buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00245 _x = _v1.frame_id
00246 length = len(_x)
00247 if python3 or type(_x) == unicode:
00248 _x = _x.encode('utf-8')
00249 length = len(_x)
00250 buff.write(struct.pack('<I%ss'%length, length, _x))
00251 buff.write(_struct_i.pack(val1.id))
00252 _x = val1.name
00253 length = len(_x)
00254 if python3 or type(_x) == unicode:
00255 _x = _x.encode('utf-8')
00256 length = len(_x)
00257 buff.write(struct.pack('<I%ss'%length, length, _x))
00258 length = len(val1.params)
00259 buff.write(_struct_I.pack(length))
00260 for val2 in val1.params:
00261 _x = val2.name
00262 length = len(_x)
00263 if python3 or type(_x) == unicode:
00264 _x = _x.encode('utf-8')
00265 length = len(_x)
00266 buff.write(struct.pack('<I%ss'%length, length, _x))
00267 _x = val2
00268 buff.write(_struct_dB.pack(_x.value, _x.type))
00269 _v3 = val1.track
00270 _v4 = _v3.header
00271 buff.write(_struct_I.pack(_v4.seq))
00272 _v5 = _v4.stamp
00273 _x = _v5
00274 buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00275 _x = _v4.frame_id
00276 length = len(_x)
00277 if python3 or type(_x) == unicode:
00278 _x = _x.encode('utf-8')
00279 length = len(_x)
00280 buff.write(struct.pack('<I%ss'%length, length, _x))
00281 buff.write(_struct_i.pack(_v3.id))
00282 length = len(_v3.pose)
00283 buff.write(_struct_I.pack(length))
00284 for val3 in _v3.pose:
00285 _v6 = val3.position
00286 _x = _v6
00287 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00288 _v7 = val3.orientation
00289 _x = _v7
00290 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00291 length = len(_v3.pose_headers)
00292 buff.write(_struct_I.pack(length))
00293 for val3 in _v3.pose_headers:
00294 buff.write(_struct_I.pack(val3.seq))
00295 _v8 = val3.stamp
00296 _x = _v8
00297 buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00298 _x = val3.frame_id
00299 length = len(_x)
00300 if python3 or type(_x) == unicode:
00301 _x = _x.encode('utf-8')
00302 length = len(_x)
00303 buff.write(struct.pack('<I%ss'%length, length, _x))
00304 length = len(_v3.pose_projected)
00305 buff.write(_struct_I.pack(length))
00306 for val3 in _v3.pose_projected:
00307 _v9 = val3.position
00308 _x = _v9
00309 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00310 _v10 = val3.orientation
00311 _x = _v10
00312 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00313 length = len(_v3.pose_resampled)
00314 buff.write(_struct_I.pack(length))
00315 for val3 in _v3.pose_resampled:
00316 _v11 = val3.position
00317 _x = _v11
00318 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00319 _v12 = val3.orientation
00320 _x = _v12
00321 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00322 length = len(_v3.pose_flags)
00323 buff.write(_struct_I.pack(length))
00324 pattern = '<%sI'%length
00325 buff.write(struct.pack(pattern, *_v3.pose_flags))
00326 length = len(_v3.channels)
00327 buff.write(_struct_I.pack(length))
00328 for val3 in _v3.channels:
00329 _x = val3.name
00330 length = len(_x)
00331 if python3 or type(_x) == unicode:
00332 _x = _x.encode('utf-8')
00333 length = len(_x)
00334 buff.write(struct.pack('<I%ss'%length, length, _x))
00335 length = len(val3.values)
00336 buff.write(_struct_I.pack(length))
00337 pattern = '<%sf'%length
00338 buff.write(struct.pack(pattern, *val3.values))
00339 except struct.error as se: self._check_types(se)
00340 except TypeError as te: self._check_types(te)
00341
00342 def deserialize(self, str):
00343 """
00344 unpack serialized message in str into this message instance
00345 :param str: byte array of serialized message, ``str``
00346 """
00347 try:
00348 if self.model is None:
00349 self.model = None
00350 end = 0
00351 start = end
00352 end += 4
00353 (length,) = _struct_I.unpack(str[start:end])
00354 self.model = []
00355 for i in range(0, length):
00356 val1 = articulation_msgs.msg.ModelMsg()
00357 _v13 = val1.header
00358 start = end
00359 end += 4
00360 (_v13.seq,) = _struct_I.unpack(str[start:end])
00361 _v14 = _v13.stamp
00362 _x = _v14
00363 start = end
00364 end += 8
00365 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
00366 start = end
00367 end += 4
00368 (length,) = _struct_I.unpack(str[start:end])
00369 start = end
00370 end += length
00371 if python3:
00372 _v13.frame_id = str[start:end].decode('utf-8')
00373 else:
00374 _v13.frame_id = str[start:end]
00375 start = end
00376 end += 4
00377 (val1.id,) = _struct_i.unpack(str[start:end])
00378 start = end
00379 end += 4
00380 (length,) = _struct_I.unpack(str[start:end])
00381 start = end
00382 end += length
00383 if python3:
00384 val1.name = str[start:end].decode('utf-8')
00385 else:
00386 val1.name = str[start:end]
00387 start = end
00388 end += 4
00389 (length,) = _struct_I.unpack(str[start:end])
00390 val1.params = []
00391 for i in range(0, length):
00392 val2 = articulation_msgs.msg.ParamMsg()
00393 start = end
00394 end += 4
00395 (length,) = _struct_I.unpack(str[start:end])
00396 start = end
00397 end += length
00398 if python3:
00399 val2.name = str[start:end].decode('utf-8')
00400 else:
00401 val2.name = str[start:end]
00402 _x = val2
00403 start = end
00404 end += 9
00405 (_x.value, _x.type,) = _struct_dB.unpack(str[start:end])
00406 val1.params.append(val2)
00407 _v15 = val1.track
00408 _v16 = _v15.header
00409 start = end
00410 end += 4
00411 (_v16.seq,) = _struct_I.unpack(str[start:end])
00412 _v17 = _v16.stamp
00413 _x = _v17
00414 start = end
00415 end += 8
00416 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
00417 start = end
00418 end += 4
00419 (length,) = _struct_I.unpack(str[start:end])
00420 start = end
00421 end += length
00422 if python3:
00423 _v16.frame_id = str[start:end].decode('utf-8')
00424 else:
00425 _v16.frame_id = str[start:end]
00426 start = end
00427 end += 4
00428 (_v15.id,) = _struct_i.unpack(str[start:end])
00429 start = end
00430 end += 4
00431 (length,) = _struct_I.unpack(str[start:end])
00432 _v15.pose = []
00433 for i in range(0, length):
00434 val3 = geometry_msgs.msg.Pose()
00435 _v18 = val3.position
00436 _x = _v18
00437 start = end
00438 end += 24
00439 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00440 _v19 = val3.orientation
00441 _x = _v19
00442 start = end
00443 end += 32
00444 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
00445 _v15.pose.append(val3)
00446 start = end
00447 end += 4
00448 (length,) = _struct_I.unpack(str[start:end])
00449 _v15.pose_headers = []
00450 for i in range(0, length):
00451 val3 = std_msgs.msg.Header()
00452 start = end
00453 end += 4
00454 (val3.seq,) = _struct_I.unpack(str[start:end])
00455 _v20 = val3.stamp
00456 _x = _v20
00457 start = end
00458 end += 8
00459 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
00460 start = end
00461 end += 4
00462 (length,) = _struct_I.unpack(str[start:end])
00463 start = end
00464 end += length
00465 if python3:
00466 val3.frame_id = str[start:end].decode('utf-8')
00467 else:
00468 val3.frame_id = str[start:end]
00469 _v15.pose_headers.append(val3)
00470 start = end
00471 end += 4
00472 (length,) = _struct_I.unpack(str[start:end])
00473 _v15.pose_projected = []
00474 for i in range(0, length):
00475 val3 = geometry_msgs.msg.Pose()
00476 _v21 = val3.position
00477 _x = _v21
00478 start = end
00479 end += 24
00480 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00481 _v22 = val3.orientation
00482 _x = _v22
00483 start = end
00484 end += 32
00485 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
00486 _v15.pose_projected.append(val3)
00487 start = end
00488 end += 4
00489 (length,) = _struct_I.unpack(str[start:end])
00490 _v15.pose_resampled = []
00491 for i in range(0, length):
00492 val3 = geometry_msgs.msg.Pose()
00493 _v23 = val3.position
00494 _x = _v23
00495 start = end
00496 end += 24
00497 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00498 _v24 = val3.orientation
00499 _x = _v24
00500 start = end
00501 end += 32
00502 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
00503 _v15.pose_resampled.append(val3)
00504 start = end
00505 end += 4
00506 (length,) = _struct_I.unpack(str[start:end])
00507 pattern = '<%sI'%length
00508 start = end
00509 end += struct.calcsize(pattern)
00510 _v15.pose_flags = struct.unpack(pattern, str[start:end])
00511 start = end
00512 end += 4
00513 (length,) = _struct_I.unpack(str[start:end])
00514 _v15.channels = []
00515 for i in range(0, length):
00516 val3 = sensor_msgs.msg.ChannelFloat32()
00517 start = end
00518 end += 4
00519 (length,) = _struct_I.unpack(str[start:end])
00520 start = end
00521 end += length
00522 if python3:
00523 val3.name = str[start:end].decode('utf-8')
00524 else:
00525 val3.name = str[start:end]
00526 start = end
00527 end += 4
00528 (length,) = _struct_I.unpack(str[start:end])
00529 pattern = '<%sf'%length
00530 start = end
00531 end += struct.calcsize(pattern)
00532 val3.values = struct.unpack(pattern, str[start:end])
00533 _v15.channels.append(val3)
00534 self.model.append(val1)
00535 return self
00536 except struct.error as e:
00537 raise genpy.DeserializationError(e) #most likely buffer underfill
00538
00539
00540 def serialize_numpy(self, buff, numpy):
00541 """
00542 serialize message with numpy array types into buffer
00543 :param buff: buffer, ``StringIO``
00544 :param numpy: numpy python module
00545 """
00546 try:
00547 length = len(self.model)
00548 buff.write(_struct_I.pack(length))
00549 for val1 in self.model:
00550 _v25 = val1.header
00551 buff.write(_struct_I.pack(_v25.seq))
00552 _v26 = _v25.stamp
00553 _x = _v26
00554 buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00555 _x = _v25.frame_id
00556 length = len(_x)
00557 if python3 or type(_x) == unicode:
00558 _x = _x.encode('utf-8')
00559 length = len(_x)
00560 buff.write(struct.pack('<I%ss'%length, length, _x))
00561 buff.write(_struct_i.pack(val1.id))
00562 _x = val1.name
00563 length = len(_x)
00564 if python3 or type(_x) == unicode:
00565 _x = _x.encode('utf-8')
00566 length = len(_x)
00567 buff.write(struct.pack('<I%ss'%length, length, _x))
00568 length = len(val1.params)
00569 buff.write(_struct_I.pack(length))
00570 for val2 in val1.params:
00571 _x = val2.name
00572 length = len(_x)
00573 if python3 or type(_x) == unicode:
00574 _x = _x.encode('utf-8')
00575 length = len(_x)
00576 buff.write(struct.pack('<I%ss'%length, length, _x))
00577 _x = val2
00578 buff.write(_struct_dB.pack(_x.value, _x.type))
00579 _v27 = val1.track
00580 _v28 = _v27.header
00581 buff.write(_struct_I.pack(_v28.seq))
00582 _v29 = _v28.stamp
00583 _x = _v29
00584 buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00585 _x = _v28.frame_id
00586 length = len(_x)
00587 if python3 or type(_x) == unicode:
00588 _x = _x.encode('utf-8')
00589 length = len(_x)
00590 buff.write(struct.pack('<I%ss'%length, length, _x))
00591 buff.write(_struct_i.pack(_v27.id))
00592 length = len(_v27.pose)
00593 buff.write(_struct_I.pack(length))
00594 for val3 in _v27.pose:
00595 _v30 = val3.position
00596 _x = _v30
00597 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00598 _v31 = val3.orientation
00599 _x = _v31
00600 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00601 length = len(_v27.pose_headers)
00602 buff.write(_struct_I.pack(length))
00603 for val3 in _v27.pose_headers:
00604 buff.write(_struct_I.pack(val3.seq))
00605 _v32 = val3.stamp
00606 _x = _v32
00607 buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00608 _x = val3.frame_id
00609 length = len(_x)
00610 if python3 or type(_x) == unicode:
00611 _x = _x.encode('utf-8')
00612 length = len(_x)
00613 buff.write(struct.pack('<I%ss'%length, length, _x))
00614 length = len(_v27.pose_projected)
00615 buff.write(_struct_I.pack(length))
00616 for val3 in _v27.pose_projected:
00617 _v33 = val3.position
00618 _x = _v33
00619 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00620 _v34 = val3.orientation
00621 _x = _v34
00622 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00623 length = len(_v27.pose_resampled)
00624 buff.write(_struct_I.pack(length))
00625 for val3 in _v27.pose_resampled:
00626 _v35 = val3.position
00627 _x = _v35
00628 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00629 _v36 = val3.orientation
00630 _x = _v36
00631 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00632 length = len(_v27.pose_flags)
00633 buff.write(_struct_I.pack(length))
00634 pattern = '<%sI'%length
00635 buff.write(_v27.pose_flags.tostring())
00636 length = len(_v27.channels)
00637 buff.write(_struct_I.pack(length))
00638 for val3 in _v27.channels:
00639 _x = val3.name
00640 length = len(_x)
00641 if python3 or type(_x) == unicode:
00642 _x = _x.encode('utf-8')
00643 length = len(_x)
00644 buff.write(struct.pack('<I%ss'%length, length, _x))
00645 length = len(val3.values)
00646 buff.write(_struct_I.pack(length))
00647 pattern = '<%sf'%length
00648 buff.write(val3.values.tostring())
00649 except struct.error as se: self._check_types(se)
00650 except TypeError as te: self._check_types(te)
00651
00652 def deserialize_numpy(self, str, numpy):
00653 """
00654 unpack serialized message in str into this message instance using numpy for array types
00655 :param str: byte array of serialized message, ``str``
00656 :param numpy: numpy python module
00657 """
00658 try:
00659 if self.model is None:
00660 self.model = None
00661 end = 0
00662 start = end
00663 end += 4
00664 (length,) = _struct_I.unpack(str[start:end])
00665 self.model = []
00666 for i in range(0, length):
00667 val1 = articulation_msgs.msg.ModelMsg()
00668 _v37 = val1.header
00669 start = end
00670 end += 4
00671 (_v37.seq,) = _struct_I.unpack(str[start:end])
00672 _v38 = _v37.stamp
00673 _x = _v38
00674 start = end
00675 end += 8
00676 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
00677 start = end
00678 end += 4
00679 (length,) = _struct_I.unpack(str[start:end])
00680 start = end
00681 end += length
00682 if python3:
00683 _v37.frame_id = str[start:end].decode('utf-8')
00684 else:
00685 _v37.frame_id = str[start:end]
00686 start = end
00687 end += 4
00688 (val1.id,) = _struct_i.unpack(str[start:end])
00689 start = end
00690 end += 4
00691 (length,) = _struct_I.unpack(str[start:end])
00692 start = end
00693 end += length
00694 if python3:
00695 val1.name = str[start:end].decode('utf-8')
00696 else:
00697 val1.name = str[start:end]
00698 start = end
00699 end += 4
00700 (length,) = _struct_I.unpack(str[start:end])
00701 val1.params = []
00702 for i in range(0, length):
00703 val2 = articulation_msgs.msg.ParamMsg()
00704 start = end
00705 end += 4
00706 (length,) = _struct_I.unpack(str[start:end])
00707 start = end
00708 end += length
00709 if python3:
00710 val2.name = str[start:end].decode('utf-8')
00711 else:
00712 val2.name = str[start:end]
00713 _x = val2
00714 start = end
00715 end += 9
00716 (_x.value, _x.type,) = _struct_dB.unpack(str[start:end])
00717 val1.params.append(val2)
00718 _v39 = val1.track
00719 _v40 = _v39.header
00720 start = end
00721 end += 4
00722 (_v40.seq,) = _struct_I.unpack(str[start:end])
00723 _v41 = _v40.stamp
00724 _x = _v41
00725 start = end
00726 end += 8
00727 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
00728 start = end
00729 end += 4
00730 (length,) = _struct_I.unpack(str[start:end])
00731 start = end
00732 end += length
00733 if python3:
00734 _v40.frame_id = str[start:end].decode('utf-8')
00735 else:
00736 _v40.frame_id = str[start:end]
00737 start = end
00738 end += 4
00739 (_v39.id,) = _struct_i.unpack(str[start:end])
00740 start = end
00741 end += 4
00742 (length,) = _struct_I.unpack(str[start:end])
00743 _v39.pose = []
00744 for i in range(0, length):
00745 val3 = geometry_msgs.msg.Pose()
00746 _v42 = val3.position
00747 _x = _v42
00748 start = end
00749 end += 24
00750 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00751 _v43 = val3.orientation
00752 _x = _v43
00753 start = end
00754 end += 32
00755 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
00756 _v39.pose.append(val3)
00757 start = end
00758 end += 4
00759 (length,) = _struct_I.unpack(str[start:end])
00760 _v39.pose_headers = []
00761 for i in range(0, length):
00762 val3 = std_msgs.msg.Header()
00763 start = end
00764 end += 4
00765 (val3.seq,) = _struct_I.unpack(str[start:end])
00766 _v44 = val3.stamp
00767 _x = _v44
00768 start = end
00769 end += 8
00770 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
00771 start = end
00772 end += 4
00773 (length,) = _struct_I.unpack(str[start:end])
00774 start = end
00775 end += length
00776 if python3:
00777 val3.frame_id = str[start:end].decode('utf-8')
00778 else:
00779 val3.frame_id = str[start:end]
00780 _v39.pose_headers.append(val3)
00781 start = end
00782 end += 4
00783 (length,) = _struct_I.unpack(str[start:end])
00784 _v39.pose_projected = []
00785 for i in range(0, length):
00786 val3 = geometry_msgs.msg.Pose()
00787 _v45 = val3.position
00788 _x = _v45
00789 start = end
00790 end += 24
00791 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00792 _v46 = val3.orientation
00793 _x = _v46
00794 start = end
00795 end += 32
00796 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
00797 _v39.pose_projected.append(val3)
00798 start = end
00799 end += 4
00800 (length,) = _struct_I.unpack(str[start:end])
00801 _v39.pose_resampled = []
00802 for i in range(0, length):
00803 val3 = geometry_msgs.msg.Pose()
00804 _v47 = val3.position
00805 _x = _v47
00806 start = end
00807 end += 24
00808 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00809 _v48 = val3.orientation
00810 _x = _v48
00811 start = end
00812 end += 32
00813 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
00814 _v39.pose_resampled.append(val3)
00815 start = end
00816 end += 4
00817 (length,) = _struct_I.unpack(str[start:end])
00818 pattern = '<%sI'%length
00819 start = end
00820 end += struct.calcsize(pattern)
00821 _v39.pose_flags = numpy.frombuffer(str[start:end], dtype=numpy.uint32, count=length)
00822 start = end
00823 end += 4
00824 (length,) = _struct_I.unpack(str[start:end])
00825 _v39.channels = []
00826 for i in range(0, length):
00827 val3 = sensor_msgs.msg.ChannelFloat32()
00828 start = end
00829 end += 4
00830 (length,) = _struct_I.unpack(str[start:end])
00831 start = end
00832 end += length
00833 if python3:
00834 val3.name = str[start:end].decode('utf-8')
00835 else:
00836 val3.name = str[start:end]
00837 start = end
00838 end += 4
00839 (length,) = _struct_I.unpack(str[start:end])
00840 pattern = '<%sf'%length
00841 start = end
00842 end += struct.calcsize(pattern)
00843 val3.values = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=length)
00844 _v39.channels.append(val3)
00845 self.model.append(val1)
00846 return self
00847 except struct.error as e:
00848 raise genpy.DeserializationError(e) #most likely buffer underfill
00849
00850 _struct_I = genpy.struct_I
00851 _struct_dB = struct.Struct("<dB")
00852 _struct_i = struct.Struct("<i")
00853 _struct_4d = struct.Struct("<4d")
00854 _struct_2I = struct.Struct("<2I")
00855 _struct_3d = struct.Struct("<3d")
00856 """autogenerated by genpy from articulation_msgs/SetModelPriorSrvResponse.msg. Do not edit."""
00857 import sys
00858 python3 = True if sys.hexversion > 0x03000000 else False
00859 import genpy
00860 import struct
00861
00862
00863 class SetModelPriorSrvResponse(genpy.Message):
00864 _md5sum = "d41d8cd98f00b204e9800998ecf8427e"
00865 _type = "articulation_msgs/SetModelPriorSrvResponse"
00866 _has_header = False #flag to mark the presence of a Header object
00867 _full_text = """
00868
00869
00870 """
00871 __slots__ = []
00872 _slot_types = []
00873
00874 def __init__(self, *args, **kwds):
00875 """
00876 Constructor. Any message fields that are implicitly/explicitly
00877 set to None will be assigned a default value. The recommend
00878 use is keyword arguments as this is more robust to future message
00879 changes. You cannot mix in-order arguments and keyword arguments.
00880
00881 The available fields are:
00882
00883
00884 :param args: complete set of field values, in .msg order
00885 :param kwds: use keyword arguments corresponding to message field names
00886 to set specific fields.
00887 """
00888 if args or kwds:
00889 super(SetModelPriorSrvResponse, self).__init__(*args, **kwds)
00890
00891 def _get_types(self):
00892 """
00893 internal API method
00894 """
00895 return self._slot_types
00896
00897 def serialize(self, buff):
00898 """
00899 serialize message into buffer
00900 :param buff: buffer, ``StringIO``
00901 """
00902 try:
00903 pass
00904 except struct.error as se: self._check_types(se)
00905 except TypeError as te: self._check_types(te)
00906
00907 def deserialize(self, str):
00908 """
00909 unpack serialized message in str into this message instance
00910 :param str: byte array of serialized message, ``str``
00911 """
00912 try:
00913 end = 0
00914 return self
00915 except struct.error as e:
00916 raise genpy.DeserializationError(e) #most likely buffer underfill
00917
00918
00919 def serialize_numpy(self, buff, numpy):
00920 """
00921 serialize message with numpy array types into buffer
00922 :param buff: buffer, ``StringIO``
00923 :param numpy: numpy python module
00924 """
00925 try:
00926 pass
00927 except struct.error as se: self._check_types(se)
00928 except TypeError as te: self._check_types(te)
00929
00930 def deserialize_numpy(self, str, numpy):
00931 """
00932 unpack serialized message in str into this message instance using numpy for array types
00933 :param str: byte array of serialized message, ``str``
00934 :param numpy: numpy python module
00935 """
00936 try:
00937 end = 0
00938 return self
00939 except struct.error as e:
00940 raise genpy.DeserializationError(e) #most likely buffer underfill
00941
00942 _struct_I = genpy.struct_I
00943 class SetModelPriorSrv(object):
00944 _type = 'articulation_msgs/SetModelPriorSrv'
00945 _md5sum = '492b025b4d335f83e3fab65eb3211a27'
00946 _request_class = SetModelPriorSrvRequest
00947 _response_class = SetModelPriorSrvResponse
