_mav_ctrl.py

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"""autogenerated by genpy from asctec_hl_comm/mav_ctrl.msg. Do not edit."""
import sys
python3 = True if sys.hexversion > 0x03000000 else False
import genpy
import struct

import std_msgs.msg

class mav_ctrl(genpy.Message):
  _md5sum = "845e0a830a06ad942cc0b1907c31bc38"
  _type = "asctec_hl_comm/mav_ctrl"
  _has_header = True #flag to mark the presence of a Header object
  _full_text = """Header header

int8        type        #message type

# control commands, all units in SI units !!!
# There are 3 operating modes of the helicopter:
# 1. Acceleration: x, y, z correspond to x_dotdot etc... with the exception that yaw is angular velocity
#    Inputs must be in body-coordinates
#    Currently x~pitch, y~roll, z~thrust, units in rad and rad/s for yaw
# 2. Velocity: x, y, z, yaw correspond to x_dot etc...
#    Vehicle must have it's own pose estimation e.g. vision/GPS
#    Inputs must be in body-coordinates
#    Units in m/s and rad/s respectively
# 3. Position
#    Vehicle must have it's own pose estimation e.g. vision/GPS
#    Inputs in fixed coordinate system
#    v_max_* is only valid for this mode and limits the velocity a vehicle approaches the waypoint

float32     x
float32     y
float32     z
float32     yaw
float32     v_max_xy
float32     v_max_z

int8 acceleration = 1
int8 velocity = 2
int8 position = 3
int8 velocity_body = 4
int8 position_body = 5

================================================================================
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

"""
  # Pseudo-constants
  acceleration = 1
  velocity = 2
  position = 3
  velocity_body = 4
  position_body = 5

  __slots__ = ['header','type','x','y','z','yaw','v_max_xy','v_max_z']
  _slot_types = ['std_msgs/Header','int8','float32','float32','float32','float32','float32','float32']

  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:
       header,type,x,y,z,yaw,v_max_xy,v_max_z

    :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(mav_ctrl, self).__init__(*args, **kwds)
      #message fields cannot be None, assign default values for those that are
      if self.header is None:
        self.header = std_msgs.msg.Header()
      if self.type is None:
        self.type = 0
      if self.x is None:
        self.x = 0.
      if self.y is None:
        self.y = 0.
      if self.z is None:
        self.z = 0.
      if self.yaw is None:
        self.yaw = 0.
      if self.v_max_xy is None:
        self.v_max_xy = 0.
      if self.v_max_z is None:
        self.v_max_z = 0.
    else:
      self.header = std_msgs.msg.Header()
      self.type = 0
      self.x = 0.
      self.y = 0.
      self.z = 0.
      self.yaw = 0.
      self.v_max_xy = 0.
      self.v_max_z = 0.

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

  def serialize(self, buff):
    """
    serialize message into buffer
    :param buff: buffer, ``StringIO``
    """
    try:
      _x = self
      buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
      _x = self.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_b6f.pack(_x.type, _x.x, _x.y, _x.z, _x.yaw, _x.v_max_xy, _x.v_max_z))
    except struct.error as se: self._check_types(se)
    except TypeError as 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, ``str``
    """
    try:
      if self.header is None:
        self.header = std_msgs.msg.Header()
      end = 0
      _x = self
      start = end
      end += 12
      (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 25
      (_x.type, _x.x, _x.y, _x.z, _x.yaw, _x.v_max_xy, _x.v_max_z,) = _struct_b6f.unpack(str[start:end])
      return self
    except struct.error as e:
      raise genpy.DeserializationError(e) #most likely buffer underfill


  def serialize_numpy(self, buff, numpy):
    """
    serialize message with numpy array types into buffer
    :param buff: buffer, ``StringIO``
    :param numpy: numpy python module
    """
    try:
      _x = self
      buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
      _x = self.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_b6f.pack(_x.type, _x.x, _x.y, _x.z, _x.yaw, _x.v_max_xy, _x.v_max_z))
    except struct.error as se: self._check_types(se)
    except TypeError as 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, ``str``
    :param numpy: numpy python module
    """
    try:
      if self.header is None:
        self.header = std_msgs.msg.Header()
      end = 0
      _x = self
      start = end
      end += 12
      (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 25
      (_x.type, _x.x, _x.y, _x.z, _x.yaw, _x.v_max_xy, _x.v_max_z,) = _struct_b6f.unpack(str[start:end])
      return self
    except struct.error as e:
      raise genpy.DeserializationError(e) #most likely buffer underfill

_struct_I = genpy.struct_I
_struct_3I = struct.Struct("<3I")
_struct_b6f = struct.Struct("<b6f")