_DenseLaserSnapshot.py

Go to the documentation of this file.

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

import genpy
import std_msgs.msg

class DenseLaserSnapshot(genpy.Message):
  _md5sum = "deb2810d3530db3484f886a81243195d"
  _type = "calibration_msgs/DenseLaserSnapshot"
  _has_header = True #flag to mark the presence of a Header object
  _full_text = """# Provides all the state & sensor information for
# a single sweep of laser attached to some mechanism.
# Most likely, this will be used with PR2's tilting laser mechanism
Header header

# Store the laser intrinsics. This is very similar to the
# intrinsics commonly stored in 
float32 angle_min        # start angle of the scan [rad]
float32 angle_max        # end angle of the scan [rad]
float32 angle_increment  # angular distance between measurements [rad]
float32 time_increment   # time between measurements [seconds]
float32 range_min        # minimum range value [m]
float32 range_max        # maximum range value [m]

# Define the size of the binary data
uint32 readings_per_scan    # (Width)
uint32 num_scans            # (Height)

# 2D Arrays storing laser data.
# We can think of each type data as being a single channel image.
# Each row of the image has data from a single scan, and scans are
# concatenated to form the entire 'image'.
float32[] ranges            # (Image data)
float32[] intensities       # (Image data)

# Store the start time of each scan
time[] scan_start

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

"""
  __slots__ = ['header','angle_min','angle_max','angle_increment','time_increment','range_min','range_max','readings_per_scan','num_scans','ranges','intensities','scan_start']
  _slot_types = ['std_msgs/Header','float32','float32','float32','float32','float32','float32','uint32','uint32','float32[]','float32[]','time[]']

  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,angle_min,angle_max,angle_increment,time_increment,range_min,range_max,readings_per_scan,num_scans,ranges,intensities,scan_start

    :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(DenseLaserSnapshot, 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.angle_min is None:
        self.angle_min = 0.
      if self.angle_max is None:
        self.angle_max = 0.
      if self.angle_increment is None:
        self.angle_increment = 0.
      if self.time_increment is None:
        self.time_increment = 0.
      if self.range_min is None:
        self.range_min = 0.
      if self.range_max is None:
        self.range_max = 0.
      if self.readings_per_scan is None:
        self.readings_per_scan = 0
      if self.num_scans is None:
        self.num_scans = 0
      if self.ranges is None:
        self.ranges = []
      if self.intensities is None:
        self.intensities = []
      if self.scan_start is None:
        self.scan_start = []
    else:
      self.header = std_msgs.msg.Header()
      self.angle_min = 0.
      self.angle_max = 0.
      self.angle_increment = 0.
      self.time_increment = 0.
      self.range_min = 0.
      self.range_max = 0.
      self.readings_per_scan = 0
      self.num_scans = 0
      self.ranges = []
      self.intensities = []
      self.scan_start = []

  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_6f2I.pack(_x.angle_min, _x.angle_max, _x.angle_increment, _x.time_increment, _x.range_min, _x.range_max, _x.readings_per_scan, _x.num_scans))
      length = len(self.ranges)
      buff.write(_struct_I.pack(length))
      pattern = '<%sf'%length
      buff.write(struct.pack(pattern, *self.ranges))
      length = len(self.intensities)
      buff.write(_struct_I.pack(length))
      pattern = '<%sf'%length
      buff.write(struct.pack(pattern, *self.intensities))
      length = len(self.scan_start)
      buff.write(_struct_I.pack(length))
      for val1 in self.scan_start:
        _x = val1
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
    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()
      if self.scan_start is None:
        self.scan_start = None
      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 += 32
      (_x.angle_min, _x.angle_max, _x.angle_increment, _x.time_increment, _x.range_min, _x.range_max, _x.readings_per_scan, _x.num_scans,) = _struct_6f2I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sf'%length
      start = end
      end += struct.calcsize(pattern)
      self.ranges = struct.unpack(pattern, str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sf'%length
      start = end
      end += struct.calcsize(pattern)
      self.intensities = struct.unpack(pattern, str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.scan_start = []
      for i in range(0, length):
        val1 = genpy.Time()
        _x = val1
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
        self.scan_start.append(val1)
      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_6f2I.pack(_x.angle_min, _x.angle_max, _x.angle_increment, _x.time_increment, _x.range_min, _x.range_max, _x.readings_per_scan, _x.num_scans))
      length = len(self.ranges)
      buff.write(_struct_I.pack(length))
      pattern = '<%sf'%length
      buff.write(self.ranges.tostring())
      length = len(self.intensities)
      buff.write(_struct_I.pack(length))
      pattern = '<%sf'%length
      buff.write(self.intensities.tostring())
      length = len(self.scan_start)
      buff.write(_struct_I.pack(length))
      for val1 in self.scan_start:
        _x = val1
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
    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()
      if self.scan_start is None:
        self.scan_start = None
      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 += 32
      (_x.angle_min, _x.angle_max, _x.angle_increment, _x.time_increment, _x.range_min, _x.range_max, _x.readings_per_scan, _x.num_scans,) = _struct_6f2I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sf'%length
      start = end
      end += struct.calcsize(pattern)
      self.ranges = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=length)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sf'%length
      start = end
      end += struct.calcsize(pattern)
      self.intensities = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=length)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.scan_start = []
      for i in range(0, length):
        val1 = genpy.Time()
        _x = val1
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
        self.scan_start.append(val1)
      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_2I = struct.Struct("<2I")
_struct_6f2I = struct.Struct("<6f2I")