_env_checkcollision.py

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


class env_checkcollisionRequest(genpy.Message):
  _md5sum = "0522d5e0914fec17872837ada6628b4e"
  _type = "openraveros/env_checkcollisionRequest"
  _has_header = False #flag to mark the presence of a Header object
  _full_text = """
int32 bodyid


int8 linkid

int32[] excludedbodyids


float32 tolerance


uint8 checkselfcollision


uint8 options

uint8 CO_Distance=1
uint8 CO_UseTolerance=2
uint8 CO_Contacts=4
uint8 CO_RayAnyHit=8


"""
  # Pseudo-constants
  CO_Distance = 1
  CO_UseTolerance = 2
  CO_Contacts = 4
  CO_RayAnyHit = 8

  __slots__ = ['bodyid','linkid','excludedbodyids','tolerance','checkselfcollision','options']
  _slot_types = ['int32','int8','int32[]','float32','uint8','uint8']

  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,linkid,excludedbodyids,tolerance,checkselfcollision,options

    :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(env_checkcollisionRequest, 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.linkid is None:
        self.linkid = 0
      if self.excludedbodyids is None:
        self.excludedbodyids = []
      if self.tolerance is None:
        self.tolerance = 0.
      if self.checkselfcollision is None:
        self.checkselfcollision = 0
      if self.options is None:
        self.options = 0
    else:
      self.bodyid = 0
      self.linkid = 0
      self.excludedbodyids = []
      self.tolerance = 0.
      self.checkselfcollision = 0
      self.options = 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_ib.pack(_x.bodyid, _x.linkid))
      length = len(self.excludedbodyids)
      buff.write(_struct_I.pack(length))
      pattern = '<%si'%length
      buff.write(struct.pack(pattern, *self.excludedbodyids))
      _x = self
      buff.write(_struct_f2B.pack(_x.tolerance, _x.checkselfcollision, _x.options))
    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:
      end = 0
      _x = self
      start = end
      end += 5
      (_x.bodyid, _x.linkid,) = _struct_ib.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%si'%length
      start = end
      end += struct.calcsize(pattern)
      self.excludedbodyids = struct.unpack(pattern, str[start:end])
      _x = self
      start = end
      end += 6
      (_x.tolerance, _x.checkselfcollision, _x.options,) = _struct_f2B.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_ib.pack(_x.bodyid, _x.linkid))
      length = len(self.excludedbodyids)
      buff.write(_struct_I.pack(length))
      pattern = '<%si'%length
      buff.write(self.excludedbodyids.tostring())
      _x = self
      buff.write(_struct_f2B.pack(_x.tolerance, _x.checkselfcollision, _x.options))
    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:
      end = 0
      _x = self
      start = end
      end += 5
      (_x.bodyid, _x.linkid,) = _struct_ib.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%si'%length
      start = end
      end += struct.calcsize(pattern)
      self.excludedbodyids = numpy.frombuffer(str[start:end], dtype=numpy.int32, count=length)
      _x = self
      start = end
      end += 6
      (_x.tolerance, _x.checkselfcollision, _x.options,) = _struct_f2B.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_f2B = struct.Struct("<f2B")
_struct_ib = struct.Struct("<ib")
"""autogenerated by genpy from openraveros/env_checkcollisionResponse.msg. Do not edit."""
import sys
python3 = True if sys.hexversion > 0x03000000 else False
import genpy
import struct

import openraveros.msg

class env_checkcollisionResponse(genpy.Message):
  _md5sum = "b7594e25483e9adcacf4c2ea17ad87f4"
  _type = "openraveros/env_checkcollisionResponse"
  _has_header = False #flag to mark the presence of a Header object
  _full_text = """uint8 collision
int32 collidingbodyid


uint8 collidinglink


Contact[] contacts


float32 mindist


================================================================================
MSG: openraveros/Contact
float32[3] position
float32[3] normal

"""
  __slots__ = ['collision','collidingbodyid','collidinglink','contacts','mindist']
  _slot_types = ['uint8','int32','uint8','openraveros/Contact[]','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:
       collision,collidingbodyid,collidinglink,contacts,mindist

    :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(env_checkcollisionResponse, self).__init__(*args, **kwds)
      #message fields cannot be None, assign default values for those that are
      if self.collision is None:
        self.collision = 0
      if self.collidingbodyid is None:
        self.collidingbodyid = 0
      if self.collidinglink is None:
        self.collidinglink = 0
      if self.contacts is None:
        self.contacts = []
      if self.mindist is None:
        self.mindist = 0.
    else:
      self.collision = 0
      self.collidingbodyid = 0
      self.collidinglink = 0
      self.contacts = []
      self.mindist = 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_BiB.pack(_x.collision, _x.collidingbodyid, _x.collidinglink))
      length = len(self.contacts)
      buff.write(_struct_I.pack(length))
      for val1 in self.contacts:
        buff.write(_struct_3f.pack(*val1.position))
        buff.write(_struct_3f.pack(*val1.normal))
      buff.write(_struct_f.pack(self.mindist))
    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.contacts is None:
        self.contacts = None
      end = 0
      _x = self
      start = end
      end += 6
      (_x.collision, _x.collidingbodyid, _x.collidinglink,) = _struct_BiB.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.contacts = []
      for i in range(0, length):
        val1 = openraveros.msg.Contact()
        start = end
        end += 12
        val1.position = _struct_3f.unpack(str[start:end])
        start = end
        end += 12
        val1.normal = _struct_3f.unpack(str[start:end])
        self.contacts.append(val1)
      start = end
      end += 4
      (self.mindist,) = _struct_f.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_BiB.pack(_x.collision, _x.collidingbodyid, _x.collidinglink))
      length = len(self.contacts)
      buff.write(_struct_I.pack(length))
      for val1 in self.contacts:
        buff.write(val1.position.tostring())
        buff.write(val1.normal.tostring())
      buff.write(_struct_f.pack(self.mindist))
    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.contacts is None:
        self.contacts = None
      end = 0
      _x = self
      start = end
      end += 6
      (_x.collision, _x.collidingbodyid, _x.collidinglink,) = _struct_BiB.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.contacts = []
      for i in range(0, length):
        val1 = openraveros.msg.Contact()
        start = end
        end += 12
        val1.position = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=3)
        start = end
        end += 12
        val1.normal = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=3)
        self.contacts.append(val1)
      start = end
      end += 4
      (self.mindist,) = _struct_f.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_BiB = struct.Struct("<BiB")
_struct_3f = struct.Struct("<3f")
_struct_f = struct.Struct("<f")
class env_checkcollision(object):
  _type          = 'openraveros/env_checkcollision'
  _md5sum = 'c31338a70538724710a041530ce615b4'
  _request_class  = env_checkcollisionRequest
  _response_class = env_checkcollisionResponse