_env_getbodies.py

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


class env_getbodiesRequest(genpy.Message):
  _md5sum = "9996321108452a956d6ad7dd8fe30cad"
  _type = "openraveros/env_getbodiesRequest"
  _has_header = False #flag to mark the presence of a Header object
  _full_text = """


int32 bodyid


uint16 options

"""
  __slots__ = ['bodyid','options']
  _slot_types = ['int32','uint16']

  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,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_getbodiesRequest, 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.options is None:
        self.options = 0
    else:
      self.bodyid = 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_iH.pack(_x.bodyid, _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 += 6
      (_x.bodyid, _x.options,) = _struct_iH.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_iH.pack(_x.bodyid, _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 += 6
      (_x.bodyid, _x.options,) = _struct_iH.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_iH = struct.Struct("<iH")
"""autogenerated by genpy from openraveros/env_getbodiesResponse.msg. Do not edit."""
import sys
python3 = True if sys.hexversion > 0x03000000 else False
import genpy
import struct

import openraveros.msg

class env_getbodiesResponse(genpy.Message):
  _md5sum = "f70d26169f977465766c815382f0ddc3"
  _type = "openraveros/env_getbodiesResponse"
  _has_header = False #flag to mark the presence of a Header object
  _full_text = """BodyInfo[] bodies


================================================================================
MSG: openraveros/BodyInfo
# 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

"""
  __slots__ = ['bodies']
  _slot_types = ['openraveros/BodyInfo[]']

  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:
       bodies

    :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_getbodiesResponse, self).__init__(*args, **kwds)
      #message fields cannot be None, assign default values for those that are
      if self.bodies is None:
        self.bodies = []
    else:
      self.bodies = []

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

  def serialize(self, buff):
    """
    serialize message into buffer
    :param buff: buffer, ``StringIO``
    """
    try:
      length = len(self.bodies)
      buff.write(_struct_I.pack(length))
      for val1 in self.bodies:
        buff.write(_struct_i.pack(val1.bodyid))
        _v1 = val1.transform
        buff.write(_struct_12f.pack(*_v1.m))
        _x = val1
        buff.write(_struct_2B.pack(_x.dof, _x.enabled))
        _x = val1.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 = val1.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 = val1.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(val1.jointvalues)
        buff.write(_struct_I.pack(length))
        pattern = '<%sf'%length
        buff.write(struct.pack(pattern, *val1.jointvalues))
        length = len(val1.links)
        buff.write(_struct_I.pack(length))
        for val2 in val1.links:
          buff.write(_struct_12f.pack(*val2.m))
        length = len(val1.linknames)
        buff.write(_struct_I.pack(length))
        for val2 in val1.linknames:
          length = len(val2)
          if python3 or type(val2) == unicode:
            val2 = val2.encode('utf-8')
            length = len(val2)
          buff.write(struct.pack('<I%ss'%length, length, val2))
        length = len(val1.jointnames)
        buff.write(_struct_I.pack(length))
        for val2 in val1.jointnames:
          length = len(val2)
          if python3 or type(val2) == unicode:
            val2 = val2.encode('utf-8')
            length = len(val2)
          buff.write(struct.pack('<I%ss'%length, length, val2))
        length = len(val1.lowerlimit)
        buff.write(_struct_I.pack(length))
        pattern = '<%sf'%length
        buff.write(struct.pack(pattern, *val1.lowerlimit))
        length = len(val1.upperlimit)
        buff.write(_struct_I.pack(length))
        pattern = '<%sf'%length
        buff.write(struct.pack(pattern, *val1.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.bodies is None:
        self.bodies = None
      end = 0
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.bodies = []
      for i in range(0, length):
        val1 = openraveros.msg.BodyInfo()
        start = end
        end += 4
        (val1.bodyid,) = _struct_i.unpack(str[start:end])
        _v2 = val1.transform
        start = end
        end += 48
        _v2.m = _struct_12f.unpack(str[start:end])
        _x = val1
        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:
          val1.filename = str[start:end].decode('utf-8')
        else:
          val1.filename = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.name = str[start:end].decode('utf-8')
        else:
          val1.name = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.type = str[start:end].decode('utf-8')
        else:
          val1.type = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sf'%length
        start = end
        end += struct.calcsize(pattern)
        val1.jointvalues = struct.unpack(pattern, str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.links = []
        for i in range(0, length):
          val2 = openraveros.msg.AffineTransformMatrix()
          start = end
          end += 48
          val2.m = _struct_12f.unpack(str[start:end])
          val1.links.append(val2)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.linknames = []
        for i in range(0, length):
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            val2 = str[start:end].decode('utf-8')
          else:
            val2 = str[start:end]
          val1.linknames.append(val2)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.jointnames = []
        for i in range(0, length):
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            val2 = str[start:end].decode('utf-8')
          else:
            val2 = str[start:end]
          val1.jointnames.append(val2)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sf'%length
        start = end
        end += struct.calcsize(pattern)
        val1.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)
        val1.upperlimit = struct.unpack(pattern, str[start:end])
        self.bodies.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:
      length = len(self.bodies)
      buff.write(_struct_I.pack(length))
      for val1 in self.bodies:
        buff.write(_struct_i.pack(val1.bodyid))
        _v3 = val1.transform
        buff.write(_v3.m.tostring())
        _x = val1
        buff.write(_struct_2B.pack(_x.dof, _x.enabled))
        _x = val1.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 = val1.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 = val1.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(val1.jointvalues)
        buff.write(_struct_I.pack(length))
        pattern = '<%sf'%length
        buff.write(val1.jointvalues.tostring())
        length = len(val1.links)
        buff.write(_struct_I.pack(length))
        for val2 in val1.links:
          buff.write(val2.m.tostring())
        length = len(val1.linknames)
        buff.write(_struct_I.pack(length))
        for val2 in val1.linknames:
          length = len(val2)
          if python3 or type(val2) == unicode:
            val2 = val2.encode('utf-8')
            length = len(val2)
          buff.write(struct.pack('<I%ss'%length, length, val2))
        length = len(val1.jointnames)
        buff.write(_struct_I.pack(length))
        for val2 in val1.jointnames:
          length = len(val2)
          if python3 or type(val2) == unicode:
            val2 = val2.encode('utf-8')
            length = len(val2)
          buff.write(struct.pack('<I%ss'%length, length, val2))
        length = len(val1.lowerlimit)
        buff.write(_struct_I.pack(length))
        pattern = '<%sf'%length
        buff.write(val1.lowerlimit.tostring())
        length = len(val1.upperlimit)
        buff.write(_struct_I.pack(length))
        pattern = '<%sf'%length
        buff.write(val1.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.bodies is None:
        self.bodies = None
      end = 0
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.bodies = []
      for i in range(0, length):
        val1 = openraveros.msg.BodyInfo()
        start = end
        end += 4
        (val1.bodyid,) = _struct_i.unpack(str[start:end])
        _v4 = val1.transform
        start = end
        end += 48
        _v4.m = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=12)
        _x = val1
        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:
          val1.filename = str[start:end].decode('utf-8')
        else:
          val1.filename = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.name = str[start:end].decode('utf-8')
        else:
          val1.name = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.type = str[start:end].decode('utf-8')
        else:
          val1.type = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sf'%length
        start = end
        end += struct.calcsize(pattern)
        val1.jointvalues = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=length)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.links = []
        for i in range(0, length):
          val2 = openraveros.msg.AffineTransformMatrix()
          start = end
          end += 48
          val2.m = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=12)
          val1.links.append(val2)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.linknames = []
        for i in range(0, length):
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            val2 = str[start:end].decode('utf-8')
          else:
            val2 = str[start:end]
          val1.linknames.append(val2)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.jointnames = []
        for i in range(0, length):
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            val2 = str[start:end].decode('utf-8')
          else:
            val2 = str[start:end]
          val1.jointnames.append(val2)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sf'%length
        start = end
        end += struct.calcsize(pattern)
        val1.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)
        val1.upperlimit = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=length)
        self.bodies.append(val1)
      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")
class env_getbodies(object):
  _type          = 'openraveros/env_getbodies'
  _md5sum = 'caddd98e3a44d0d059c9941276339e55'
  _request_class  = env_getbodiesRequest
  _response_class = env_getbodiesResponse