_BodyInfo.py

Go to the documentation of this file.

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

import openraveros.msg

class BodyInfo(genpy.Message):
  _md5sum = "b652d9c93c7dc0f74ae76568b2ba8a27"
  _type = "openraveros/BodyInfo"
  _has_header = False #flag to mark the presence of a Header object
  _full_text = """# information about a body
int32 bodyid

# current transformation
AffineTransformMatrix transform

# degrees of freedom (number of joints)
uint8 dof

# enabled status
uint8 enabled


# filename used to create body geometry
string filename

# name of the body
string name

# type of body
string type

float32[] jointvalues
AffineTransformMatrix[] links
string[] linknames
string[] jointnames

# joint limits
float32[] lowerlimit
float32[] upperlimit

# request information bitmasks, also holds robot specific request information (lower 8 bits)
uint16 Req_JointValues=1
uint16 Req_Links=2
uint16 Req_LinkNames=4 # fills the linknames
uint16 Req_JointLimits=8
uint16 Req_Names=16 # if set, fills filename, name, and type
uint16 Req_JointNames=32 # fills the jointnames
================================================================================
MSG: openraveros/AffineTransformMatrix
# column ordered 3x4 affine transformation, ie: the arrangement in memory is:
# where the upper 3x3 matrix is orthonormal
# [0] [3] [6] [9]
# [1] [4] [7] [10]
# [2] [5] [8] [11]
float32[12] m

"""
  # Pseudo-constants
  Req_JointValues = 1
  Req_Links = 2
  Req_LinkNames = 4
  Req_JointLimits = 8
  Req_Names = 16
  Req_JointNames = 32

  __slots__ = ['bodyid','transform','dof','enabled','filename','name','type','jointvalues','links','linknames','jointnames','lowerlimit','upperlimit']
  _slot_types = ['int32','openraveros/AffineTransformMatrix','uint8','uint8','string','string','string','float32[]','openraveros/AffineTransformMatrix[]','string[]','string[]','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:
       bodyid,transform,dof,enabled,filename,name,type,jointvalues,links,linknames,jointnames,lowerlimit,upperlimit

    :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(BodyInfo, self).__init__(*args, **kwds)
      #message fields cannot be None, assign default values for those that are
      if self.bodyid is None:
        self.bodyid = 0
      if self.transform is None:
        self.transform = openraveros.msg.AffineTransformMatrix()
      if self.dof is None:
        self.dof = 0
      if self.enabled is None:
        self.enabled = 0
      if self.filename is None:
        self.filename = ''
      if self.name is None:
        self.name = ''
      if self.type is None:
        self.type = ''
      if self.jointvalues is None:
        self.jointvalues = []
      if self.links is None:
        self.links = []
      if self.linknames is None:
        self.linknames = []
      if self.jointnames is None:
        self.jointnames = []
      if self.lowerlimit is None:
        self.lowerlimit = []
      if self.upperlimit is None:
        self.upperlimit = []
    else:
      self.bodyid = 0
      self.transform = openraveros.msg.AffineTransformMatrix()
      self.dof = 0
      self.enabled = 0
      self.filename = ''
      self.name = ''
      self.type = ''
      self.jointvalues = []
      self.links = []
      self.linknames = []
      self.jointnames = []
      self.lowerlimit = []
      self.upperlimit = []

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

  def serialize(self, buff):
    """
    serialize message into buffer
    :param buff: buffer, ``StringIO``
    """
    try:
      buff.write(_struct_i.pack(self.bodyid))
      buff.write(_struct_12f.pack(*self.transform.m))
      _x = self
      buff.write(_struct_2B.pack(_x.dof, _x.enabled))
      _x = self.filename
      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.name
      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.type
      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))
      length = len(self.jointvalues)
      buff.write(_struct_I.pack(length))
      pattern = '<%sf'%length
      buff.write(struct.pack(pattern, *self.jointvalues))
      length = len(self.links)
      buff.write(_struct_I.pack(length))
      for val1 in self.links:
        buff.write(_struct_12f.pack(*val1.m))
      length = len(self.linknames)
      buff.write(_struct_I.pack(length))
      for val1 in self.linknames:
        length = len(val1)
        if python3 or type(val1) == unicode:
          val1 = val1.encode('utf-8')
          length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.jointnames)
      buff.write(_struct_I.pack(length))
      for val1 in self.jointnames:
        length = len(val1)
        if python3 or type(val1) == unicode:
          val1 = val1.encode('utf-8')
          length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.lowerlimit)
      buff.write(_struct_I.pack(length))
      pattern = '<%sf'%length
      buff.write(struct.pack(pattern, *self.lowerlimit))
      length = len(self.upperlimit)
      buff.write(_struct_I.pack(length))
      pattern = '<%sf'%length
      buff.write(struct.pack(pattern, *self.upperlimit))
    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.transform is None:
        self.transform = openraveros.msg.AffineTransformMatrix()
      if self.links is None:
        self.links = None
      end = 0
      start = end
      end += 4
      (self.bodyid,) = _struct_i.unpack(str[start:end])
      start = end
      end += 48
      self.transform.m = _struct_12f.unpack(str[start:end])
      _x = self
      start = end
      end += 2
      (_x.dof, _x.enabled,) = _struct_2B.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.filename = str[start:end].decode('utf-8')
      else:
        self.filename = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.name = str[start:end].decode('utf-8')
      else:
        self.name = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.type = str[start:end].decode('utf-8')
      else:
        self.type = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sf'%length
      start = end
      end += struct.calcsize(pattern)
      self.jointvalues = struct.unpack(pattern, str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.links = []
      for i in range(0, length):
        val1 = openraveros.msg.AffineTransformMatrix()
        start = end
        end += 48
        val1.m = _struct_12f.unpack(str[start:end])
        self.links.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.linknames = []
      for i in range(0, length):
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1 = str[start:end].decode('utf-8')
        else:
          val1 = str[start:end]
        self.linknames.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.jointnames = []
      for i in range(0, length):
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1 = str[start:end].decode('utf-8')
        else:
          val1 = str[start:end]
        self.jointnames.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sf'%length
      start = end
      end += struct.calcsize(pattern)
      self.lowerlimit = 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.upperlimit = struct.unpack(pattern, 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:
      buff.write(_struct_i.pack(self.bodyid))
      buff.write(self.transform.m.tostring())
      _x = self
      buff.write(_struct_2B.pack(_x.dof, _x.enabled))
      _x = self.filename
      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.name
      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.type
      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))
      length = len(self.jointvalues)
      buff.write(_struct_I.pack(length))
      pattern = '<%sf'%length
      buff.write(self.jointvalues.tostring())
      length = len(self.links)
      buff.write(_struct_I.pack(length))
      for val1 in self.links:
        buff.write(val1.m.tostring())
      length = len(self.linknames)
      buff.write(_struct_I.pack(length))
      for val1 in self.linknames:
        length = len(val1)
        if python3 or type(val1) == unicode:
          val1 = val1.encode('utf-8')
          length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.jointnames)
      buff.write(_struct_I.pack(length))
      for val1 in self.jointnames:
        length = len(val1)
        if python3 or type(val1) == unicode:
          val1 = val1.encode('utf-8')
          length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.lowerlimit)
      buff.write(_struct_I.pack(length))
      pattern = '<%sf'%length
      buff.write(self.lowerlimit.tostring())
      length = len(self.upperlimit)
      buff.write(_struct_I.pack(length))
      pattern = '<%sf'%length
      buff.write(self.upperlimit.tostring())
    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.transform is None:
        self.transform = openraveros.msg.AffineTransformMatrix()
      if self.links is None:
        self.links = None
      end = 0
      start = end
      end += 4
      (self.bodyid,) = _struct_i.unpack(str[start:end])
      start = end
      end += 48
      self.transform.m = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=12)
      _x = self
      start = end
      end += 2
      (_x.dof, _x.enabled,) = _struct_2B.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.filename = str[start:end].decode('utf-8')
      else:
        self.filename = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.name = str[start:end].decode('utf-8')
      else:
        self.name = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.type = str[start:end].decode('utf-8')
      else:
        self.type = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sf'%length
      start = end
      end += struct.calcsize(pattern)
      self.jointvalues = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=length)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.links = []
      for i in range(0, length):
        val1 = openraveros.msg.AffineTransformMatrix()
        start = end
        end += 48
        val1.m = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=12)
        self.links.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.linknames = []
      for i in range(0, length):
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1 = str[start:end].decode('utf-8')
        else:
          val1 = str[start:end]
        self.linknames.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.jointnames = []
      for i in range(0, length):
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1 = str[start:end].decode('utf-8')
        else:
          val1 = str[start:end]
        self.jointnames.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sf'%length
      start = end
      end += struct.calcsize(pattern)
      self.lowerlimit = 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.upperlimit = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=length)
      return self
    except struct.error as e:
      raise genpy.DeserializationError(e) #most likely buffer underfill

_struct_I = genpy.struct_I
_struct_i = struct.Struct("<i")
_struct_2B = struct.Struct("<2B")
_struct_12f = struct.Struct("<12f")