_LinkState.py
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00001 """autogenerated by genpy from gazebo_msgs/LinkState.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 geometry_msgs.msg
00008 
00009 class LinkState(genpy.Message):
00010   _md5sum = "0818ebbf28ce3a08d48ab1eaa7309ebe"
00011   _type = "gazebo_msgs/LinkState"
00012   _has_header = False #flag to mark the presence of a Header object
00013   _full_text = """# @todo: FIXME: sets pose and twist of a link.  All children link poses/twists of the URDF tree are not updated accordingly, but should be.
00014 string link_name            # link name, link_names are in gazebo scoped name notation, [model_name::body_name]
00015 geometry_msgs/Pose pose     # desired pose in reference frame
00016 geometry_msgs/Twist twist   # desired twist in reference frame
00017 string reference_frame      # set pose/twist relative to the frame of this link/body
00018                             # leave empty or "world" or "map" defaults to world-frame
00019 
00020 ================================================================================
00021 MSG: geometry_msgs/Pose
00022 # A representation of pose in free space, composed of postion and orientation. 
00023 Point position
00024 Quaternion orientation
00025 
00026 ================================================================================
00027 MSG: geometry_msgs/Point
00028 # This contains the position of a point in free space
00029 float64 x
00030 float64 y
00031 float64 z
00032 
00033 ================================================================================
00034 MSG: geometry_msgs/Quaternion
00035 # This represents an orientation in free space in quaternion form.
00036 
00037 float64 x
00038 float64 y
00039 float64 z
00040 float64 w
00041 
00042 ================================================================================
00043 MSG: geometry_msgs/Twist
00044 # This expresses velocity in free space broken into it's linear and angular parts. 
00045 Vector3  linear
00046 Vector3  angular
00047 
00048 ================================================================================
00049 MSG: geometry_msgs/Vector3
00050 # This represents a vector in free space. 
00051 
00052 float64 x
00053 float64 y
00054 float64 z
00055 """
00056   __slots__ = ['link_name','pose','twist','reference_frame']
00057   _slot_types = ['string','geometry_msgs/Pose','geometry_msgs/Twist','string']
00058 
00059   def __init__(self, *args, **kwds):
00060     """
00061     Constructor. Any message fields that are implicitly/explicitly
00062     set to None will be assigned a default value. The recommend
00063     use is keyword arguments as this is more robust to future message
00064     changes.  You cannot mix in-order arguments and keyword arguments.
00065 
00066     The available fields are:
00067        link_name,pose,twist,reference_frame
00068 
00069     :param args: complete set of field values, in .msg order
00070     :param kwds: use keyword arguments corresponding to message field names
00071     to set specific fields.
00072     """
00073     if args or kwds:
00074       super(LinkState, self).__init__(*args, **kwds)
00075       #message fields cannot be None, assign default values for those that are
00076       if self.link_name is None:
00077         self.link_name = ''
00078       if self.pose is None:
00079         self.pose = geometry_msgs.msg.Pose()
00080       if self.twist is None:
00081         self.twist = geometry_msgs.msg.Twist()
00082       if self.reference_frame is None:
00083         self.reference_frame = ''
00084     else:
00085       self.link_name = ''
00086       self.pose = geometry_msgs.msg.Pose()
00087       self.twist = geometry_msgs.msg.Twist()
00088       self.reference_frame = ''
00089 
00090   def _get_types(self):
00091     """
00092     internal API method
00093     """
00094     return self._slot_types
00095 
00096   def serialize(self, buff):
00097     """
00098     serialize message into buffer
00099     :param buff: buffer, ``StringIO``
00100     """
00101     try:
00102       _x = self.link_name
00103       length = len(_x)
00104       if python3 or type(_x) == unicode:
00105         _x = _x.encode('utf-8')
00106         length = len(_x)
00107       buff.write(struct.pack('<I%ss'%length, length, _x))
00108       _x = self
00109       buff.write(_struct_13d.pack(_x.pose.position.x, _x.pose.position.y, _x.pose.position.z, _x.pose.orientation.x, _x.pose.orientation.y, _x.pose.orientation.z, _x.pose.orientation.w, _x.twist.linear.x, _x.twist.linear.y, _x.twist.linear.z, _x.twist.angular.x, _x.twist.angular.y, _x.twist.angular.z))
00110       _x = self.reference_frame
00111       length = len(_x)
00112       if python3 or type(_x) == unicode:
00113         _x = _x.encode('utf-8')
00114         length = len(_x)
00115       buff.write(struct.pack('<I%ss'%length, length, _x))
00116     except struct.error as se: self._check_types(se)
00117     except TypeError as te: self._check_types(te)
00118 
00119   def deserialize(self, str):
00120     """
00121     unpack serialized message in str into this message instance
00122     :param str: byte array of serialized message, ``str``
00123     """
00124     try:
00125       if self.pose is None:
00126         self.pose = geometry_msgs.msg.Pose()
00127       if self.twist is None:
00128         self.twist = geometry_msgs.msg.Twist()
00129       end = 0
00130       start = end
00131       end += 4
00132       (length,) = _struct_I.unpack(str[start:end])
00133       start = end
00134       end += length
00135       if python3:
00136         self.link_name = str[start:end].decode('utf-8')
00137       else:
00138         self.link_name = str[start:end]
00139       _x = self
00140       start = end
00141       end += 104
00142       (_x.pose.position.x, _x.pose.position.y, _x.pose.position.z, _x.pose.orientation.x, _x.pose.orientation.y, _x.pose.orientation.z, _x.pose.orientation.w, _x.twist.linear.x, _x.twist.linear.y, _x.twist.linear.z, _x.twist.angular.x, _x.twist.angular.y, _x.twist.angular.z,) = _struct_13d.unpack(str[start:end])
00143       start = end
00144       end += 4
00145       (length,) = _struct_I.unpack(str[start:end])
00146       start = end
00147       end += length
00148       if python3:
00149         self.reference_frame = str[start:end].decode('utf-8')
00150       else:
00151         self.reference_frame = str[start:end]
00152       return self
00153     except struct.error as e:
00154       raise genpy.DeserializationError(e) #most likely buffer underfill
00155 
00156 
00157   def serialize_numpy(self, buff, numpy):
00158     """
00159     serialize message with numpy array types into buffer
00160     :param buff: buffer, ``StringIO``
00161     :param numpy: numpy python module
00162     """
00163     try:
00164       _x = self.link_name
00165       length = len(_x)
00166       if python3 or type(_x) == unicode:
00167         _x = _x.encode('utf-8')
00168         length = len(_x)
00169       buff.write(struct.pack('<I%ss'%length, length, _x))
00170       _x = self
00171       buff.write(_struct_13d.pack(_x.pose.position.x, _x.pose.position.y, _x.pose.position.z, _x.pose.orientation.x, _x.pose.orientation.y, _x.pose.orientation.z, _x.pose.orientation.w, _x.twist.linear.x, _x.twist.linear.y, _x.twist.linear.z, _x.twist.angular.x, _x.twist.angular.y, _x.twist.angular.z))
00172       _x = self.reference_frame
00173       length = len(_x)
00174       if python3 or type(_x) == unicode:
00175         _x = _x.encode('utf-8')
00176         length = len(_x)
00177       buff.write(struct.pack('<I%ss'%length, length, _x))
00178     except struct.error as se: self._check_types(se)
00179     except TypeError as te: self._check_types(te)
00180 
00181   def deserialize_numpy(self, str, numpy):
00182     """
00183     unpack serialized message in str into this message instance using numpy for array types
00184     :param str: byte array of serialized message, ``str``
00185     :param numpy: numpy python module
00186     """
00187     try:
00188       if self.pose is None:
00189         self.pose = geometry_msgs.msg.Pose()
00190       if self.twist is None:
00191         self.twist = geometry_msgs.msg.Twist()
00192       end = 0
00193       start = end
00194       end += 4
00195       (length,) = _struct_I.unpack(str[start:end])
00196       start = end
00197       end += length
00198       if python3:
00199         self.link_name = str[start:end].decode('utf-8')
00200       else:
00201         self.link_name = str[start:end]
00202       _x = self
00203       start = end
00204       end += 104
00205       (_x.pose.position.x, _x.pose.position.y, _x.pose.position.z, _x.pose.orientation.x, _x.pose.orientation.y, _x.pose.orientation.z, _x.pose.orientation.w, _x.twist.linear.x, _x.twist.linear.y, _x.twist.linear.z, _x.twist.angular.x, _x.twist.angular.y, _x.twist.angular.z,) = _struct_13d.unpack(str[start:end])
00206       start = end
00207       end += 4
00208       (length,) = _struct_I.unpack(str[start:end])
00209       start = end
00210       end += length
00211       if python3:
00212         self.reference_frame = str[start:end].decode('utf-8')
00213       else:
00214         self.reference_frame = str[start:end]
00215       return self
00216     except struct.error as e:
00217       raise genpy.DeserializationError(e) #most likely buffer underfill
00218 
00219 _struct_I = genpy.struct_I
00220 _struct_13d = struct.Struct("<13d")


gazebo_msgs
Author(s): John Hsu
autogenerated on Sun Jan 5 2014 11:34:32