00001 """autogenerated by genpy from head_monitor_msgs/HeadMonitorFeedback.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 arm_navigation_msgs.msg
00008 import geometry_msgs.msg
00009 import std_msgs.msg
00010 import genpy
00011 import sensor_msgs.msg
00012
00013 class HeadMonitorFeedback(genpy.Message):
00014 _md5sum = "28369e3e74e07eaa07a53a310edb3d35"
00015 _type = "head_monitor_msgs/HeadMonitorFeedback"
00016 _has_header = False
00017 _full_text = """# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00018 arm_navigation_msgs/RobotState current_state
00019 arm_navigation_msgs/RobotState paused_trajectory_state
00020 arm_navigation_msgs/CollisionObject paused_collision_map
00021
00022
00023
00024 ================================================================================
00025 MSG: arm_navigation_msgs/RobotState
00026 # This message contains information about the robot state, i.e. the positions of its joints and links
00027 sensor_msgs/JointState joint_state
00028 arm_navigation_msgs/MultiDOFJointState multi_dof_joint_state
00029
00030 ================================================================================
00031 MSG: sensor_msgs/JointState
00032 # This is a message that holds data to describe the state of a set of torque controlled joints.
00033 #
00034 # The state of each joint (revolute or prismatic) is defined by:
00035 # * the position of the joint (rad or m),
00036 # * the velocity of the joint (rad/s or m/s) and
00037 # * the effort that is applied in the joint (Nm or N).
00038 #
00039 # Each joint is uniquely identified by its name
00040 # The header specifies the time at which the joint states were recorded. All the joint states
00041 # in one message have to be recorded at the same time.
00042 #
00043 # This message consists of a multiple arrays, one for each part of the joint state.
00044 # The goal is to make each of the fields optional. When e.g. your joints have no
00045 # effort associated with them, you can leave the effort array empty.
00046 #
00047 # All arrays in this message should have the same size, or be empty.
00048 # This is the only way to uniquely associate the joint name with the correct
00049 # states.
00050
00051
00052 Header header
00053
00054 string[] name
00055 float64[] position
00056 float64[] velocity
00057 float64[] effort
00058
00059 ================================================================================
00060 MSG: std_msgs/Header
00061 # Standard metadata for higher-level stamped data types.
00062 # This is generally used to communicate timestamped data
00063 # in a particular coordinate frame.
00064 #
00065 # sequence ID: consecutively increasing ID
00066 uint32 seq
00067 #Two-integer timestamp that is expressed as:
00068 # * stamp.secs: seconds (stamp_secs) since epoch
00069 # * stamp.nsecs: nanoseconds since stamp_secs
00070 # time-handling sugar is provided by the client library
00071 time stamp
00072 #Frame this data is associated with
00073 # 0: no frame
00074 # 1: global frame
00075 string frame_id
00076
00077 ================================================================================
00078 MSG: arm_navigation_msgs/MultiDOFJointState
00079 #A representation of a multi-dof joint state
00080 time stamp
00081 string[] joint_names
00082 string[] frame_ids
00083 string[] child_frame_ids
00084 geometry_msgs/Pose[] poses
00085
00086 ================================================================================
00087 MSG: geometry_msgs/Pose
00088 # A representation of pose in free space, composed of postion and orientation.
00089 Point position
00090 Quaternion orientation
00091
00092 ================================================================================
00093 MSG: geometry_msgs/Point
00094 # This contains the position of a point in free space
00095 float64 x
00096 float64 y
00097 float64 z
00098
00099 ================================================================================
00100 MSG: geometry_msgs/Quaternion
00101 # This represents an orientation in free space in quaternion form.
00102
00103 float64 x
00104 float64 y
00105 float64 z
00106 float64 w
00107
00108 ================================================================================
00109 MSG: arm_navigation_msgs/CollisionObject
00110 # a header, used for interpreting the poses
00111 Header header
00112
00113 # the id of the object
00114 string id
00115
00116 # The padding used for filtering points near the object.
00117 # This does not affect collision checking for the object.
00118 # Set to negative to get zero padding.
00119 float32 padding
00120
00121 #This contains what is to be done with the object
00122 CollisionObjectOperation operation
00123
00124 #the shapes associated with the object
00125 arm_navigation_msgs/Shape[] shapes
00126
00127 #the poses associated with the shapes - will be transformed using the header
00128 geometry_msgs/Pose[] poses
00129
00130 ================================================================================
00131 MSG: arm_navigation_msgs/CollisionObjectOperation
00132 #Puts the object into the environment
00133 #or updates the object if already added
00134 byte ADD=0
00135
00136 #Removes the object from the environment entirely
00137 byte REMOVE=1
00138
00139 #Only valid within the context of a CollisionAttachedObject message
00140 #Will be ignored if sent with an CollisionObject message
00141 #Takes an attached object, detaches from the attached link
00142 #But adds back in as regular object
00143 byte DETACH_AND_ADD_AS_OBJECT=2
00144
00145 #Only valid within the context of a CollisionAttachedObject message
00146 #Will be ignored if sent with an CollisionObject message
00147 #Takes current object in the environment and removes it as
00148 #a regular object
00149 byte ATTACH_AND_REMOVE_AS_OBJECT=3
00150
00151 # Byte code for operation
00152 byte operation
00153
00154 ================================================================================
00155 MSG: arm_navigation_msgs/Shape
00156 byte SPHERE=0
00157 byte BOX=1
00158 byte CYLINDER=2
00159 byte MESH=3
00160
00161 byte type
00162
00163
00164 #### define sphere, box, cylinder ####
00165 # the origin of each shape is considered at the shape's center
00166
00167 # for sphere
00168 # radius := dimensions[0]
00169
00170 # for cylinder
00171 # radius := dimensions[0]
00172 # length := dimensions[1]
00173 # the length is along the Z axis
00174
00175 # for box
00176 # size_x := dimensions[0]
00177 # size_y := dimensions[1]
00178 # size_z := dimensions[2]
00179 float64[] dimensions
00180
00181
00182 #### define mesh ####
00183
00184 # list of triangles; triangle k is defined by tre vertices located
00185 # at indices triangles[3k], triangles[3k+1], triangles[3k+2]
00186 int32[] triangles
00187 geometry_msgs/Point[] vertices
00188
00189 """
00190 __slots__ = ['current_state','paused_trajectory_state','paused_collision_map']
00191 _slot_types = ['arm_navigation_msgs/RobotState','arm_navigation_msgs/RobotState','arm_navigation_msgs/CollisionObject']
00192
00193 def __init__(self, *args, **kwds):
00194 """
00195 Constructor. Any message fields that are implicitly/explicitly
00196 set to None will be assigned a default value. The recommend
00197 use is keyword arguments as this is more robust to future message
00198 changes. You cannot mix in-order arguments and keyword arguments.
00199
00200 The available fields are:
00201 current_state,paused_trajectory_state,paused_collision_map
00202
00203 :param args: complete set of field values, in .msg order
00204 :param kwds: use keyword arguments corresponding to message field names
00205 to set specific fields.
00206 """
00207 if args or kwds:
00208 super(HeadMonitorFeedback, self).__init__(*args, **kwds)
00209
00210 if self.current_state is None:
00211 self.current_state = arm_navigation_msgs.msg.RobotState()
00212 if self.paused_trajectory_state is None:
00213 self.paused_trajectory_state = arm_navigation_msgs.msg.RobotState()
00214 if self.paused_collision_map is None:
00215 self.paused_collision_map = arm_navigation_msgs.msg.CollisionObject()
00216 else:
00217 self.current_state = arm_navigation_msgs.msg.RobotState()
00218 self.paused_trajectory_state = arm_navigation_msgs.msg.RobotState()
00219 self.paused_collision_map = arm_navigation_msgs.msg.CollisionObject()
00220
00221 def _get_types(self):
00222 """
00223 internal API method
00224 """
00225 return self._slot_types
00226
00227 def serialize(self, buff):
00228 """
00229 serialize message into buffer
00230 :param buff: buffer, ``StringIO``
00231 """
00232 try:
00233 _x = self
00234 buff.write(_struct_3I.pack(_x.current_state.joint_state.header.seq, _x.current_state.joint_state.header.stamp.secs, _x.current_state.joint_state.header.stamp.nsecs))
00235 _x = self.current_state.joint_state.header.frame_id
00236 length = len(_x)
00237 if python3 or type(_x) == unicode:
00238 _x = _x.encode('utf-8')
00239 length = len(_x)
00240 buff.write(struct.pack('<I%ss'%length, length, _x))
00241 length = len(self.current_state.joint_state.name)
00242 buff.write(_struct_I.pack(length))
00243 for val1 in self.current_state.joint_state.name:
00244 length = len(val1)
00245 if python3 or type(val1) == unicode:
00246 val1 = val1.encode('utf-8')
00247 length = len(val1)
00248 buff.write(struct.pack('<I%ss'%length, length, val1))
00249 length = len(self.current_state.joint_state.position)
00250 buff.write(_struct_I.pack(length))
00251 pattern = '<%sd'%length
00252 buff.write(struct.pack(pattern, *self.current_state.joint_state.position))
00253 length = len(self.current_state.joint_state.velocity)
00254 buff.write(_struct_I.pack(length))
00255 pattern = '<%sd'%length
00256 buff.write(struct.pack(pattern, *self.current_state.joint_state.velocity))
00257 length = len(self.current_state.joint_state.effort)
00258 buff.write(_struct_I.pack(length))
00259 pattern = '<%sd'%length
00260 buff.write(struct.pack(pattern, *self.current_state.joint_state.effort))
00261 _x = self
00262 buff.write(_struct_2I.pack(_x.current_state.multi_dof_joint_state.stamp.secs, _x.current_state.multi_dof_joint_state.stamp.nsecs))
00263 length = len(self.current_state.multi_dof_joint_state.joint_names)
00264 buff.write(_struct_I.pack(length))
00265 for val1 in self.current_state.multi_dof_joint_state.joint_names:
00266 length = len(val1)
00267 if python3 or type(val1) == unicode:
00268 val1 = val1.encode('utf-8')
00269 length = len(val1)
00270 buff.write(struct.pack('<I%ss'%length, length, val1))
00271 length = len(self.current_state.multi_dof_joint_state.frame_ids)
00272 buff.write(_struct_I.pack(length))
00273 for val1 in self.current_state.multi_dof_joint_state.frame_ids:
00274 length = len(val1)
00275 if python3 or type(val1) == unicode:
00276 val1 = val1.encode('utf-8')
00277 length = len(val1)
00278 buff.write(struct.pack('<I%ss'%length, length, val1))
00279 length = len(self.current_state.multi_dof_joint_state.child_frame_ids)
00280 buff.write(_struct_I.pack(length))
00281 for val1 in self.current_state.multi_dof_joint_state.child_frame_ids:
00282 length = len(val1)
00283 if python3 or type(val1) == unicode:
00284 val1 = val1.encode('utf-8')
00285 length = len(val1)
00286 buff.write(struct.pack('<I%ss'%length, length, val1))
00287 length = len(self.current_state.multi_dof_joint_state.poses)
00288 buff.write(_struct_I.pack(length))
00289 for val1 in self.current_state.multi_dof_joint_state.poses:
00290 _v1 = val1.position
00291 _x = _v1
00292 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00293 _v2 = val1.orientation
00294 _x = _v2
00295 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00296 _x = self
00297 buff.write(_struct_3I.pack(_x.paused_trajectory_state.joint_state.header.seq, _x.paused_trajectory_state.joint_state.header.stamp.secs, _x.paused_trajectory_state.joint_state.header.stamp.nsecs))
00298 _x = self.paused_trajectory_state.joint_state.header.frame_id
00299 length = len(_x)
00300 if python3 or type(_x) == unicode:
00301 _x = _x.encode('utf-8')
00302 length = len(_x)
00303 buff.write(struct.pack('<I%ss'%length, length, _x))
00304 length = len(self.paused_trajectory_state.joint_state.name)
00305 buff.write(_struct_I.pack(length))
00306 for val1 in self.paused_trajectory_state.joint_state.name:
00307 length = len(val1)
00308 if python3 or type(val1) == unicode:
00309 val1 = val1.encode('utf-8')
00310 length = len(val1)
00311 buff.write(struct.pack('<I%ss'%length, length, val1))
00312 length = len(self.paused_trajectory_state.joint_state.position)
00313 buff.write(_struct_I.pack(length))
00314 pattern = '<%sd'%length
00315 buff.write(struct.pack(pattern, *self.paused_trajectory_state.joint_state.position))
00316 length = len(self.paused_trajectory_state.joint_state.velocity)
00317 buff.write(_struct_I.pack(length))
00318 pattern = '<%sd'%length
00319 buff.write(struct.pack(pattern, *self.paused_trajectory_state.joint_state.velocity))
00320 length = len(self.paused_trajectory_state.joint_state.effort)
00321 buff.write(_struct_I.pack(length))
00322 pattern = '<%sd'%length
00323 buff.write(struct.pack(pattern, *self.paused_trajectory_state.joint_state.effort))
00324 _x = self
00325 buff.write(_struct_2I.pack(_x.paused_trajectory_state.multi_dof_joint_state.stamp.secs, _x.paused_trajectory_state.multi_dof_joint_state.stamp.nsecs))
00326 length = len(self.paused_trajectory_state.multi_dof_joint_state.joint_names)
00327 buff.write(_struct_I.pack(length))
00328 for val1 in self.paused_trajectory_state.multi_dof_joint_state.joint_names:
00329 length = len(val1)
00330 if python3 or type(val1) == unicode:
00331 val1 = val1.encode('utf-8')
00332 length = len(val1)
00333 buff.write(struct.pack('<I%ss'%length, length, val1))
00334 length = len(self.paused_trajectory_state.multi_dof_joint_state.frame_ids)
00335 buff.write(_struct_I.pack(length))
00336 for val1 in self.paused_trajectory_state.multi_dof_joint_state.frame_ids:
00337 length = len(val1)
00338 if python3 or type(val1) == unicode:
00339 val1 = val1.encode('utf-8')
00340 length = len(val1)
00341 buff.write(struct.pack('<I%ss'%length, length, val1))
00342 length = len(self.paused_trajectory_state.multi_dof_joint_state.child_frame_ids)
00343 buff.write(_struct_I.pack(length))
00344 for val1 in self.paused_trajectory_state.multi_dof_joint_state.child_frame_ids:
00345 length = len(val1)
00346 if python3 or type(val1) == unicode:
00347 val1 = val1.encode('utf-8')
00348 length = len(val1)
00349 buff.write(struct.pack('<I%ss'%length, length, val1))
00350 length = len(self.paused_trajectory_state.multi_dof_joint_state.poses)
00351 buff.write(_struct_I.pack(length))
00352 for val1 in self.paused_trajectory_state.multi_dof_joint_state.poses:
00353 _v3 = val1.position
00354 _x = _v3
00355 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00356 _v4 = val1.orientation
00357 _x = _v4
00358 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00359 _x = self
00360 buff.write(_struct_3I.pack(_x.paused_collision_map.header.seq, _x.paused_collision_map.header.stamp.secs, _x.paused_collision_map.header.stamp.nsecs))
00361 _x = self.paused_collision_map.header.frame_id
00362 length = len(_x)
00363 if python3 or type(_x) == unicode:
00364 _x = _x.encode('utf-8')
00365 length = len(_x)
00366 buff.write(struct.pack('<I%ss'%length, length, _x))
00367 _x = self.paused_collision_map.id
00368 length = len(_x)
00369 if python3 or type(_x) == unicode:
00370 _x = _x.encode('utf-8')
00371 length = len(_x)
00372 buff.write(struct.pack('<I%ss'%length, length, _x))
00373 _x = self
00374 buff.write(_struct_fb.pack(_x.paused_collision_map.padding, _x.paused_collision_map.operation.operation))
00375 length = len(self.paused_collision_map.shapes)
00376 buff.write(_struct_I.pack(length))
00377 for val1 in self.paused_collision_map.shapes:
00378 buff.write(_struct_b.pack(val1.type))
00379 length = len(val1.dimensions)
00380 buff.write(_struct_I.pack(length))
00381 pattern = '<%sd'%length
00382 buff.write(struct.pack(pattern, *val1.dimensions))
00383 length = len(val1.triangles)
00384 buff.write(_struct_I.pack(length))
00385 pattern = '<%si'%length
00386 buff.write(struct.pack(pattern, *val1.triangles))
00387 length = len(val1.vertices)
00388 buff.write(_struct_I.pack(length))
00389 for val2 in val1.vertices:
00390 _x = val2
00391 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00392 length = len(self.paused_collision_map.poses)
00393 buff.write(_struct_I.pack(length))
00394 for val1 in self.paused_collision_map.poses:
00395 _v5 = val1.position
00396 _x = _v5
00397 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00398 _v6 = val1.orientation
00399 _x = _v6
00400 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00401 except struct.error as se: self._check_types(se)
00402 except TypeError as te: self._check_types(te)
00403
00404 def deserialize(self, str):
00405 """
00406 unpack serialized message in str into this message instance
00407 :param str: byte array of serialized message, ``str``
00408 """
00409 try:
00410 if self.current_state is None:
00411 self.current_state = arm_navigation_msgs.msg.RobotState()
00412 if self.paused_trajectory_state is None:
00413 self.paused_trajectory_state = arm_navigation_msgs.msg.RobotState()
00414 if self.paused_collision_map is None:
00415 self.paused_collision_map = arm_navigation_msgs.msg.CollisionObject()
00416 end = 0
00417 _x = self
00418 start = end
00419 end += 12
00420 (_x.current_state.joint_state.header.seq, _x.current_state.joint_state.header.stamp.secs, _x.current_state.joint_state.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00421 start = end
00422 end += 4
00423 (length,) = _struct_I.unpack(str[start:end])
00424 start = end
00425 end += length
00426 if python3:
00427 self.current_state.joint_state.header.frame_id = str[start:end].decode('utf-8')
00428 else:
00429 self.current_state.joint_state.header.frame_id = str[start:end]
00430 start = end
00431 end += 4
00432 (length,) = _struct_I.unpack(str[start:end])
00433 self.current_state.joint_state.name = []
00434 for i in range(0, length):
00435 start = end
00436 end += 4
00437 (length,) = _struct_I.unpack(str[start:end])
00438 start = end
00439 end += length
00440 if python3:
00441 val1 = str[start:end].decode('utf-8')
00442 else:
00443 val1 = str[start:end]
00444 self.current_state.joint_state.name.append(val1)
00445 start = end
00446 end += 4
00447 (length,) = _struct_I.unpack(str[start:end])
00448 pattern = '<%sd'%length
00449 start = end
00450 end += struct.calcsize(pattern)
00451 self.current_state.joint_state.position = struct.unpack(pattern, str[start:end])
00452 start = end
00453 end += 4
00454 (length,) = _struct_I.unpack(str[start:end])
00455 pattern = '<%sd'%length
00456 start = end
00457 end += struct.calcsize(pattern)
00458 self.current_state.joint_state.velocity = struct.unpack(pattern, str[start:end])
00459 start = end
00460 end += 4
00461 (length,) = _struct_I.unpack(str[start:end])
00462 pattern = '<%sd'%length
00463 start = end
00464 end += struct.calcsize(pattern)
00465 self.current_state.joint_state.effort = struct.unpack(pattern, str[start:end])
00466 _x = self
00467 start = end
00468 end += 8
00469 (_x.current_state.multi_dof_joint_state.stamp.secs, _x.current_state.multi_dof_joint_state.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00470 start = end
00471 end += 4
00472 (length,) = _struct_I.unpack(str[start:end])
00473 self.current_state.multi_dof_joint_state.joint_names = []
00474 for i in range(0, length):
00475 start = end
00476 end += 4
00477 (length,) = _struct_I.unpack(str[start:end])
00478 start = end
00479 end += length
00480 if python3:
00481 val1 = str[start:end].decode('utf-8')
00482 else:
00483 val1 = str[start:end]
00484 self.current_state.multi_dof_joint_state.joint_names.append(val1)
00485 start = end
00486 end += 4
00487 (length,) = _struct_I.unpack(str[start:end])
00488 self.current_state.multi_dof_joint_state.frame_ids = []
00489 for i in range(0, length):
00490 start = end
00491 end += 4
00492 (length,) = _struct_I.unpack(str[start:end])
00493 start = end
00494 end += length
00495 if python3:
00496 val1 = str[start:end].decode('utf-8')
00497 else:
00498 val1 = str[start:end]
00499 self.current_state.multi_dof_joint_state.frame_ids.append(val1)
00500 start = end
00501 end += 4
00502 (length,) = _struct_I.unpack(str[start:end])
00503 self.current_state.multi_dof_joint_state.child_frame_ids = []
00504 for i in range(0, length):
00505 start = end
00506 end += 4
00507 (length,) = _struct_I.unpack(str[start:end])
00508 start = end
00509 end += length
00510 if python3:
00511 val1 = str[start:end].decode('utf-8')
00512 else:
00513 val1 = str[start:end]
00514 self.current_state.multi_dof_joint_state.child_frame_ids.append(val1)
00515 start = end
00516 end += 4
00517 (length,) = _struct_I.unpack(str[start:end])
00518 self.current_state.multi_dof_joint_state.poses = []
00519 for i in range(0, length):
00520 val1 = geometry_msgs.msg.Pose()
00521 _v7 = val1.position
00522 _x = _v7
00523 start = end
00524 end += 24
00525 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00526 _v8 = val1.orientation
00527 _x = _v8
00528 start = end
00529 end += 32
00530 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
00531 self.current_state.multi_dof_joint_state.poses.append(val1)
00532 _x = self
00533 start = end
00534 end += 12
00535 (_x.paused_trajectory_state.joint_state.header.seq, _x.paused_trajectory_state.joint_state.header.stamp.secs, _x.paused_trajectory_state.joint_state.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00536 start = end
00537 end += 4
00538 (length,) = _struct_I.unpack(str[start:end])
00539 start = end
00540 end += length
00541 if python3:
00542 self.paused_trajectory_state.joint_state.header.frame_id = str[start:end].decode('utf-8')
00543 else:
00544 self.paused_trajectory_state.joint_state.header.frame_id = str[start:end]
00545 start = end
00546 end += 4
00547 (length,) = _struct_I.unpack(str[start:end])
00548 self.paused_trajectory_state.joint_state.name = []
00549 for i in range(0, length):
00550 start = end
00551 end += 4
00552 (length,) = _struct_I.unpack(str[start:end])
00553 start = end
00554 end += length
00555 if python3:
00556 val1 = str[start:end].decode('utf-8')
00557 else:
00558 val1 = str[start:end]
00559 self.paused_trajectory_state.joint_state.name.append(val1)
00560 start = end
00561 end += 4
00562 (length,) = _struct_I.unpack(str[start:end])
00563 pattern = '<%sd'%length
00564 start = end
00565 end += struct.calcsize(pattern)
00566 self.paused_trajectory_state.joint_state.position = struct.unpack(pattern, str[start:end])
00567 start = end
00568 end += 4
00569 (length,) = _struct_I.unpack(str[start:end])
00570 pattern = '<%sd'%length
00571 start = end
00572 end += struct.calcsize(pattern)
00573 self.paused_trajectory_state.joint_state.velocity = struct.unpack(pattern, str[start:end])
00574 start = end
00575 end += 4
00576 (length,) = _struct_I.unpack(str[start:end])
00577 pattern = '<%sd'%length
00578 start = end
00579 end += struct.calcsize(pattern)
00580 self.paused_trajectory_state.joint_state.effort = struct.unpack(pattern, str[start:end])
00581 _x = self
00582 start = end
00583 end += 8
00584 (_x.paused_trajectory_state.multi_dof_joint_state.stamp.secs, _x.paused_trajectory_state.multi_dof_joint_state.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00585 start = end
00586 end += 4
00587 (length,) = _struct_I.unpack(str[start:end])
00588 self.paused_trajectory_state.multi_dof_joint_state.joint_names = []
00589 for i in range(0, length):
00590 start = end
00591 end += 4
00592 (length,) = _struct_I.unpack(str[start:end])
00593 start = end
00594 end += length
00595 if python3:
00596 val1 = str[start:end].decode('utf-8')
00597 else:
00598 val1 = str[start:end]
00599 self.paused_trajectory_state.multi_dof_joint_state.joint_names.append(val1)
00600 start = end
00601 end += 4
00602 (length,) = _struct_I.unpack(str[start:end])
00603 self.paused_trajectory_state.multi_dof_joint_state.frame_ids = []
00604 for i in range(0, length):
00605 start = end
00606 end += 4
00607 (length,) = _struct_I.unpack(str[start:end])
00608 start = end
00609 end += length
00610 if python3:
00611 val1 = str[start:end].decode('utf-8')
00612 else:
00613 val1 = str[start:end]
00614 self.paused_trajectory_state.multi_dof_joint_state.frame_ids.append(val1)
00615 start = end
00616 end += 4
00617 (length,) = _struct_I.unpack(str[start:end])
00618 self.paused_trajectory_state.multi_dof_joint_state.child_frame_ids = []
00619 for i in range(0, length):
00620 start = end
00621 end += 4
00622 (length,) = _struct_I.unpack(str[start:end])
00623 start = end
00624 end += length
00625 if python3:
00626 val1 = str[start:end].decode('utf-8')
00627 else:
00628 val1 = str[start:end]
00629 self.paused_trajectory_state.multi_dof_joint_state.child_frame_ids.append(val1)
00630 start = end
00631 end += 4
00632 (length,) = _struct_I.unpack(str[start:end])
00633 self.paused_trajectory_state.multi_dof_joint_state.poses = []
00634 for i in range(0, length):
00635 val1 = geometry_msgs.msg.Pose()
00636 _v9 = val1.position
00637 _x = _v9
00638 start = end
00639 end += 24
00640 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00641 _v10 = val1.orientation
00642 _x = _v10
00643 start = end
00644 end += 32
00645 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
00646 self.paused_trajectory_state.multi_dof_joint_state.poses.append(val1)
00647 _x = self
00648 start = end
00649 end += 12
00650 (_x.paused_collision_map.header.seq, _x.paused_collision_map.header.stamp.secs, _x.paused_collision_map.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00651 start = end
00652 end += 4
00653 (length,) = _struct_I.unpack(str[start:end])
00654 start = end
00655 end += length
00656 if python3:
00657 self.paused_collision_map.header.frame_id = str[start:end].decode('utf-8')
00658 else:
00659 self.paused_collision_map.header.frame_id = str[start:end]
00660 start = end
00661 end += 4
00662 (length,) = _struct_I.unpack(str[start:end])
00663 start = end
00664 end += length
00665 if python3:
00666 self.paused_collision_map.id = str[start:end].decode('utf-8')
00667 else:
00668 self.paused_collision_map.id = str[start:end]
00669 _x = self
00670 start = end
00671 end += 5
00672 (_x.paused_collision_map.padding, _x.paused_collision_map.operation.operation,) = _struct_fb.unpack(str[start:end])
00673 start = end
00674 end += 4
00675 (length,) = _struct_I.unpack(str[start:end])
00676 self.paused_collision_map.shapes = []
00677 for i in range(0, length):
00678 val1 = arm_navigation_msgs.msg.Shape()
00679 start = end
00680 end += 1
00681 (val1.type,) = _struct_b.unpack(str[start:end])
00682 start = end
00683 end += 4
00684 (length,) = _struct_I.unpack(str[start:end])
00685 pattern = '<%sd'%length
00686 start = end
00687 end += struct.calcsize(pattern)
00688 val1.dimensions = struct.unpack(pattern, str[start:end])
00689 start = end
00690 end += 4
00691 (length,) = _struct_I.unpack(str[start:end])
00692 pattern = '<%si'%length
00693 start = end
00694 end += struct.calcsize(pattern)
00695 val1.triangles = struct.unpack(pattern, str[start:end])
00696 start = end
00697 end += 4
00698 (length,) = _struct_I.unpack(str[start:end])
00699 val1.vertices = []
00700 for i in range(0, length):
00701 val2 = geometry_msgs.msg.Point()
00702 _x = val2
00703 start = end
00704 end += 24
00705 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00706 val1.vertices.append(val2)
00707 self.paused_collision_map.shapes.append(val1)
00708 start = end
00709 end += 4
00710 (length,) = _struct_I.unpack(str[start:end])
00711 self.paused_collision_map.poses = []
00712 for i in range(0, length):
00713 val1 = geometry_msgs.msg.Pose()
00714 _v11 = val1.position
00715 _x = _v11
00716 start = end
00717 end += 24
00718 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00719 _v12 = val1.orientation
00720 _x = _v12
00721 start = end
00722 end += 32
00723 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
00724 self.paused_collision_map.poses.append(val1)
00725 return self
00726 except struct.error as e:
00727 raise genpy.DeserializationError(e)
00728
00729
00730 def serialize_numpy(self, buff, numpy):
00731 """
00732 serialize message with numpy array types into buffer
00733 :param buff: buffer, ``StringIO``
00734 :param numpy: numpy python module
00735 """
00736 try:
00737 _x = self
00738 buff.write(_struct_3I.pack(_x.current_state.joint_state.header.seq, _x.current_state.joint_state.header.stamp.secs, _x.current_state.joint_state.header.stamp.nsecs))
00739 _x = self.current_state.joint_state.header.frame_id
00740 length = len(_x)
00741 if python3 or type(_x) == unicode:
00742 _x = _x.encode('utf-8')
00743 length = len(_x)
00744 buff.write(struct.pack('<I%ss'%length, length, _x))
00745 length = len(self.current_state.joint_state.name)
00746 buff.write(_struct_I.pack(length))
00747 for val1 in self.current_state.joint_state.name:
00748 length = len(val1)
00749 if python3 or type(val1) == unicode:
00750 val1 = val1.encode('utf-8')
00751 length = len(val1)
00752 buff.write(struct.pack('<I%ss'%length, length, val1))
00753 length = len(self.current_state.joint_state.position)
00754 buff.write(_struct_I.pack(length))
00755 pattern = '<%sd'%length
00756 buff.write(self.current_state.joint_state.position.tostring())
00757 length = len(self.current_state.joint_state.velocity)
00758 buff.write(_struct_I.pack(length))
00759 pattern = '<%sd'%length
00760 buff.write(self.current_state.joint_state.velocity.tostring())
00761 length = len(self.current_state.joint_state.effort)
00762 buff.write(_struct_I.pack(length))
00763 pattern = '<%sd'%length
00764 buff.write(self.current_state.joint_state.effort.tostring())
00765 _x = self
00766 buff.write(_struct_2I.pack(_x.current_state.multi_dof_joint_state.stamp.secs, _x.current_state.multi_dof_joint_state.stamp.nsecs))
00767 length = len(self.current_state.multi_dof_joint_state.joint_names)
00768 buff.write(_struct_I.pack(length))
00769 for val1 in self.current_state.multi_dof_joint_state.joint_names:
00770 length = len(val1)
00771 if python3 or type(val1) == unicode:
00772 val1 = val1.encode('utf-8')
00773 length = len(val1)
00774 buff.write(struct.pack('<I%ss'%length, length, val1))
00775 length = len(self.current_state.multi_dof_joint_state.frame_ids)
00776 buff.write(_struct_I.pack(length))
00777 for val1 in self.current_state.multi_dof_joint_state.frame_ids:
00778 length = len(val1)
00779 if python3 or type(val1) == unicode:
00780 val1 = val1.encode('utf-8')
00781 length = len(val1)
00782 buff.write(struct.pack('<I%ss'%length, length, val1))
00783 length = len(self.current_state.multi_dof_joint_state.child_frame_ids)
00784 buff.write(_struct_I.pack(length))
00785 for val1 in self.current_state.multi_dof_joint_state.child_frame_ids:
00786 length = len(val1)
00787 if python3 or type(val1) == unicode:
00788 val1 = val1.encode('utf-8')
00789 length = len(val1)
00790 buff.write(struct.pack('<I%ss'%length, length, val1))
00791 length = len(self.current_state.multi_dof_joint_state.poses)
00792 buff.write(_struct_I.pack(length))
00793 for val1 in self.current_state.multi_dof_joint_state.poses:
00794 _v13 = val1.position
00795 _x = _v13
00796 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00797 _v14 = val1.orientation
00798 _x = _v14
00799 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00800 _x = self
00801 buff.write(_struct_3I.pack(_x.paused_trajectory_state.joint_state.header.seq, _x.paused_trajectory_state.joint_state.header.stamp.secs, _x.paused_trajectory_state.joint_state.header.stamp.nsecs))
00802 _x = self.paused_trajectory_state.joint_state.header.frame_id
00803 length = len(_x)
00804 if python3 or type(_x) == unicode:
00805 _x = _x.encode('utf-8')
00806 length = len(_x)
00807 buff.write(struct.pack('<I%ss'%length, length, _x))
00808 length = len(self.paused_trajectory_state.joint_state.name)
00809 buff.write(_struct_I.pack(length))
00810 for val1 in self.paused_trajectory_state.joint_state.name:
00811 length = len(val1)
00812 if python3 or type(val1) == unicode:
00813 val1 = val1.encode('utf-8')
00814 length = len(val1)
00815 buff.write(struct.pack('<I%ss'%length, length, val1))
00816 length = len(self.paused_trajectory_state.joint_state.position)
00817 buff.write(_struct_I.pack(length))
00818 pattern = '<%sd'%length
00819 buff.write(self.paused_trajectory_state.joint_state.position.tostring())
00820 length = len(self.paused_trajectory_state.joint_state.velocity)
00821 buff.write(_struct_I.pack(length))
00822 pattern = '<%sd'%length
00823 buff.write(self.paused_trajectory_state.joint_state.velocity.tostring())
00824 length = len(self.paused_trajectory_state.joint_state.effort)
00825 buff.write(_struct_I.pack(length))
00826 pattern = '<%sd'%length
00827 buff.write(self.paused_trajectory_state.joint_state.effort.tostring())
00828 _x = self
00829 buff.write(_struct_2I.pack(_x.paused_trajectory_state.multi_dof_joint_state.stamp.secs, _x.paused_trajectory_state.multi_dof_joint_state.stamp.nsecs))
00830 length = len(self.paused_trajectory_state.multi_dof_joint_state.joint_names)
00831 buff.write(_struct_I.pack(length))
00832 for val1 in self.paused_trajectory_state.multi_dof_joint_state.joint_names:
00833 length = len(val1)
00834 if python3 or type(val1) == unicode:
00835 val1 = val1.encode('utf-8')
00836 length = len(val1)
00837 buff.write(struct.pack('<I%ss'%length, length, val1))
00838 length = len(self.paused_trajectory_state.multi_dof_joint_state.frame_ids)
00839 buff.write(_struct_I.pack(length))
00840 for val1 in self.paused_trajectory_state.multi_dof_joint_state.frame_ids:
00841 length = len(val1)
00842 if python3 or type(val1) == unicode:
00843 val1 = val1.encode('utf-8')
00844 length = len(val1)
00845 buff.write(struct.pack('<I%ss'%length, length, val1))
00846 length = len(self.paused_trajectory_state.multi_dof_joint_state.child_frame_ids)
00847 buff.write(_struct_I.pack(length))
00848 for val1 in self.paused_trajectory_state.multi_dof_joint_state.child_frame_ids:
00849 length = len(val1)
00850 if python3 or type(val1) == unicode:
00851 val1 = val1.encode('utf-8')
00852 length = len(val1)
00853 buff.write(struct.pack('<I%ss'%length, length, val1))
00854 length = len(self.paused_trajectory_state.multi_dof_joint_state.poses)
00855 buff.write(_struct_I.pack(length))
00856 for val1 in self.paused_trajectory_state.multi_dof_joint_state.poses:
00857 _v15 = val1.position
00858 _x = _v15
00859 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00860 _v16 = val1.orientation
00861 _x = _v16
00862 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00863 _x = self
00864 buff.write(_struct_3I.pack(_x.paused_collision_map.header.seq, _x.paused_collision_map.header.stamp.secs, _x.paused_collision_map.header.stamp.nsecs))
00865 _x = self.paused_collision_map.header.frame_id
00866 length = len(_x)
00867 if python3 or type(_x) == unicode:
00868 _x = _x.encode('utf-8')
00869 length = len(_x)
00870 buff.write(struct.pack('<I%ss'%length, length, _x))
00871 _x = self.paused_collision_map.id
00872 length = len(_x)
00873 if python3 or type(_x) == unicode:
00874 _x = _x.encode('utf-8')
00875 length = len(_x)
00876 buff.write(struct.pack('<I%ss'%length, length, _x))
00877 _x = self
00878 buff.write(_struct_fb.pack(_x.paused_collision_map.padding, _x.paused_collision_map.operation.operation))
00879 length = len(self.paused_collision_map.shapes)
00880 buff.write(_struct_I.pack(length))
00881 for val1 in self.paused_collision_map.shapes:
00882 buff.write(_struct_b.pack(val1.type))
00883 length = len(val1.dimensions)
00884 buff.write(_struct_I.pack(length))
00885 pattern = '<%sd'%length
00886 buff.write(val1.dimensions.tostring())
00887 length = len(val1.triangles)
00888 buff.write(_struct_I.pack(length))
00889 pattern = '<%si'%length
00890 buff.write(val1.triangles.tostring())
00891 length = len(val1.vertices)
00892 buff.write(_struct_I.pack(length))
00893 for val2 in val1.vertices:
00894 _x = val2
00895 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00896 length = len(self.paused_collision_map.poses)
00897 buff.write(_struct_I.pack(length))
00898 for val1 in self.paused_collision_map.poses:
00899 _v17 = val1.position
00900 _x = _v17
00901 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00902 _v18 = val1.orientation
00903 _x = _v18
00904 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00905 except struct.error as se: self._check_types(se)
00906 except TypeError as te: self._check_types(te)
00907
00908 def deserialize_numpy(self, str, numpy):
00909 """
00910 unpack serialized message in str into this message instance using numpy for array types
00911 :param str: byte array of serialized message, ``str``
00912 :param numpy: numpy python module
00913 """
00914 try:
00915 if self.current_state is None:
00916 self.current_state = arm_navigation_msgs.msg.RobotState()
00917 if self.paused_trajectory_state is None:
00918 self.paused_trajectory_state = arm_navigation_msgs.msg.RobotState()
00919 if self.paused_collision_map is None:
00920 self.paused_collision_map = arm_navigation_msgs.msg.CollisionObject()
00921 end = 0
00922 _x = self
00923 start = end
00924 end += 12
00925 (_x.current_state.joint_state.header.seq, _x.current_state.joint_state.header.stamp.secs, _x.current_state.joint_state.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00926 start = end
00927 end += 4
00928 (length,) = _struct_I.unpack(str[start:end])
00929 start = end
00930 end += length
00931 if python3:
00932 self.current_state.joint_state.header.frame_id = str[start:end].decode('utf-8')
00933 else:
00934 self.current_state.joint_state.header.frame_id = str[start:end]
00935 start = end
00936 end += 4
00937 (length,) = _struct_I.unpack(str[start:end])
00938 self.current_state.joint_state.name = []
00939 for i in range(0, length):
00940 start = end
00941 end += 4
00942 (length,) = _struct_I.unpack(str[start:end])
00943 start = end
00944 end += length
00945 if python3:
00946 val1 = str[start:end].decode('utf-8')
00947 else:
00948 val1 = str[start:end]
00949 self.current_state.joint_state.name.append(val1)
00950 start = end
00951 end += 4
00952 (length,) = _struct_I.unpack(str[start:end])
00953 pattern = '<%sd'%length
00954 start = end
00955 end += struct.calcsize(pattern)
00956 self.current_state.joint_state.position = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00957 start = end
00958 end += 4
00959 (length,) = _struct_I.unpack(str[start:end])
00960 pattern = '<%sd'%length
00961 start = end
00962 end += struct.calcsize(pattern)
00963 self.current_state.joint_state.velocity = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00964 start = end
00965 end += 4
00966 (length,) = _struct_I.unpack(str[start:end])
00967 pattern = '<%sd'%length
00968 start = end
00969 end += struct.calcsize(pattern)
00970 self.current_state.joint_state.effort = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00971 _x = self
00972 start = end
00973 end += 8
00974 (_x.current_state.multi_dof_joint_state.stamp.secs, _x.current_state.multi_dof_joint_state.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00975 start = end
00976 end += 4
00977 (length,) = _struct_I.unpack(str[start:end])
00978 self.current_state.multi_dof_joint_state.joint_names = []
00979 for i in range(0, length):
00980 start = end
00981 end += 4
00982 (length,) = _struct_I.unpack(str[start:end])
00983 start = end
00984 end += length
00985 if python3:
00986 val1 = str[start:end].decode('utf-8')
00987 else:
00988 val1 = str[start:end]
00989 self.current_state.multi_dof_joint_state.joint_names.append(val1)
00990 start = end
00991 end += 4
00992 (length,) = _struct_I.unpack(str[start:end])
00993 self.current_state.multi_dof_joint_state.frame_ids = []
00994 for i in range(0, length):
00995 start = end
00996 end += 4
00997 (length,) = _struct_I.unpack(str[start:end])
00998 start = end
00999 end += length
01000 if python3:
01001 val1 = str[start:end].decode('utf-8')
01002 else:
01003 val1 = str[start:end]
01004 self.current_state.multi_dof_joint_state.frame_ids.append(val1)
01005 start = end
01006 end += 4
01007 (length,) = _struct_I.unpack(str[start:end])
01008 self.current_state.multi_dof_joint_state.child_frame_ids = []
01009 for i in range(0, length):
01010 start = end
01011 end += 4
01012 (length,) = _struct_I.unpack(str[start:end])
01013 start = end
01014 end += length
01015 if python3:
01016 val1 = str[start:end].decode('utf-8')
01017 else:
01018 val1 = str[start:end]
01019 self.current_state.multi_dof_joint_state.child_frame_ids.append(val1)
01020 start = end
01021 end += 4
01022 (length,) = _struct_I.unpack(str[start:end])
01023 self.current_state.multi_dof_joint_state.poses = []
01024 for i in range(0, length):
01025 val1 = geometry_msgs.msg.Pose()
01026 _v19 = val1.position
01027 _x = _v19
01028 start = end
01029 end += 24
01030 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
01031 _v20 = val1.orientation
01032 _x = _v20
01033 start = end
01034 end += 32
01035 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
01036 self.current_state.multi_dof_joint_state.poses.append(val1)
01037 _x = self
01038 start = end
01039 end += 12
01040 (_x.paused_trajectory_state.joint_state.header.seq, _x.paused_trajectory_state.joint_state.header.stamp.secs, _x.paused_trajectory_state.joint_state.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
01041 start = end
01042 end += 4
01043 (length,) = _struct_I.unpack(str[start:end])
01044 start = end
01045 end += length
01046 if python3:
01047 self.paused_trajectory_state.joint_state.header.frame_id = str[start:end].decode('utf-8')
01048 else:
01049 self.paused_trajectory_state.joint_state.header.frame_id = str[start:end]
01050 start = end
01051 end += 4
01052 (length,) = _struct_I.unpack(str[start:end])
01053 self.paused_trajectory_state.joint_state.name = []
01054 for i in range(0, length):
01055 start = end
01056 end += 4
01057 (length,) = _struct_I.unpack(str[start:end])
01058 start = end
01059 end += length
01060 if python3:
01061 val1 = str[start:end].decode('utf-8')
01062 else:
01063 val1 = str[start:end]
01064 self.paused_trajectory_state.joint_state.name.append(val1)
01065 start = end
01066 end += 4
01067 (length,) = _struct_I.unpack(str[start:end])
01068 pattern = '<%sd'%length
01069 start = end
01070 end += struct.calcsize(pattern)
01071 self.paused_trajectory_state.joint_state.position = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
01072 start = end
01073 end += 4
01074 (length,) = _struct_I.unpack(str[start:end])
01075 pattern = '<%sd'%length
01076 start = end
01077 end += struct.calcsize(pattern)
01078 self.paused_trajectory_state.joint_state.velocity = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
01079 start = end
01080 end += 4
01081 (length,) = _struct_I.unpack(str[start:end])
01082 pattern = '<%sd'%length
01083 start = end
01084 end += struct.calcsize(pattern)
01085 self.paused_trajectory_state.joint_state.effort = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
01086 _x = self
01087 start = end
01088 end += 8
01089 (_x.paused_trajectory_state.multi_dof_joint_state.stamp.secs, _x.paused_trajectory_state.multi_dof_joint_state.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
01090 start = end
01091 end += 4
01092 (length,) = _struct_I.unpack(str[start:end])
01093 self.paused_trajectory_state.multi_dof_joint_state.joint_names = []
01094 for i in range(0, length):
01095 start = end
01096 end += 4
01097 (length,) = _struct_I.unpack(str[start:end])
01098 start = end
01099 end += length
01100 if python3:
01101 val1 = str[start:end].decode('utf-8')
01102 else:
01103 val1 = str[start:end]
01104 self.paused_trajectory_state.multi_dof_joint_state.joint_names.append(val1)
01105 start = end
01106 end += 4
01107 (length,) = _struct_I.unpack(str[start:end])
01108 self.paused_trajectory_state.multi_dof_joint_state.frame_ids = []
01109 for i in range(0, length):
01110 start = end
01111 end += 4
01112 (length,) = _struct_I.unpack(str[start:end])
01113 start = end
01114 end += length
01115 if python3:
01116 val1 = str[start:end].decode('utf-8')
01117 else:
01118 val1 = str[start:end]
01119 self.paused_trajectory_state.multi_dof_joint_state.frame_ids.append(val1)
01120 start = end
01121 end += 4
01122 (length,) = _struct_I.unpack(str[start:end])
01123 self.paused_trajectory_state.multi_dof_joint_state.child_frame_ids = []
01124 for i in range(0, length):
01125 start = end
01126 end += 4
01127 (length,) = _struct_I.unpack(str[start:end])
01128 start = end
01129 end += length
01130 if python3:
01131 val1 = str[start:end].decode('utf-8')
01132 else:
01133 val1 = str[start:end]
01134 self.paused_trajectory_state.multi_dof_joint_state.child_frame_ids.append(val1)
01135 start = end
01136 end += 4
01137 (length,) = _struct_I.unpack(str[start:end])
01138 self.paused_trajectory_state.multi_dof_joint_state.poses = []
01139 for i in range(0, length):
01140 val1 = geometry_msgs.msg.Pose()
01141 _v21 = val1.position
01142 _x = _v21
01143 start = end
01144 end += 24
01145 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
01146 _v22 = val1.orientation
01147 _x = _v22
01148 start = end
01149 end += 32
01150 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
01151 self.paused_trajectory_state.multi_dof_joint_state.poses.append(val1)
01152 _x = self
01153 start = end
01154 end += 12
01155 (_x.paused_collision_map.header.seq, _x.paused_collision_map.header.stamp.secs, _x.paused_collision_map.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
01156 start = end
01157 end += 4
01158 (length,) = _struct_I.unpack(str[start:end])
01159 start = end
01160 end += length
01161 if python3:
01162 self.paused_collision_map.header.frame_id = str[start:end].decode('utf-8')
01163 else:
01164 self.paused_collision_map.header.frame_id = str[start:end]
01165 start = end
01166 end += 4
01167 (length,) = _struct_I.unpack(str[start:end])
01168 start = end
01169 end += length
01170 if python3:
01171 self.paused_collision_map.id = str[start:end].decode('utf-8')
01172 else:
01173 self.paused_collision_map.id = str[start:end]
01174 _x = self
01175 start = end
01176 end += 5
01177 (_x.paused_collision_map.padding, _x.paused_collision_map.operation.operation,) = _struct_fb.unpack(str[start:end])
01178 start = end
01179 end += 4
01180 (length,) = _struct_I.unpack(str[start:end])
01181 self.paused_collision_map.shapes = []
01182 for i in range(0, length):
01183 val1 = arm_navigation_msgs.msg.Shape()
01184 start = end
01185 end += 1
01186 (val1.type,) = _struct_b.unpack(str[start:end])
01187 start = end
01188 end += 4
01189 (length,) = _struct_I.unpack(str[start:end])
01190 pattern = '<%sd'%length
01191 start = end
01192 end += struct.calcsize(pattern)
01193 val1.dimensions = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
01194 start = end
01195 end += 4
01196 (length,) = _struct_I.unpack(str[start:end])
01197 pattern = '<%si'%length
01198 start = end
01199 end += struct.calcsize(pattern)
01200 val1.triangles = numpy.frombuffer(str[start:end], dtype=numpy.int32, count=length)
01201 start = end
01202 end += 4
01203 (length,) = _struct_I.unpack(str[start:end])
01204 val1.vertices = []
01205 for i in range(0, length):
01206 val2 = geometry_msgs.msg.Point()
01207 _x = val2
01208 start = end
01209 end += 24
01210 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
01211 val1.vertices.append(val2)
01212 self.paused_collision_map.shapes.append(val1)
01213 start = end
01214 end += 4
01215 (length,) = _struct_I.unpack(str[start:end])
01216 self.paused_collision_map.poses = []
01217 for i in range(0, length):
01218 val1 = geometry_msgs.msg.Pose()
01219 _v23 = val1.position
01220 _x = _v23
01221 start = end
01222 end += 24
01223 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
01224 _v24 = val1.orientation
01225 _x = _v24
01226 start = end
01227 end += 32
01228 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
01229 self.paused_collision_map.poses.append(val1)
01230 return self
01231 except struct.error as e:
01232 raise genpy.DeserializationError(e)
01233
01234 _struct_I = genpy.struct_I
01235 _struct_b = struct.Struct("<b")
01236 _struct_3I = struct.Struct("<3I")
01237 _struct_fb = struct.Struct("<fb")
01238 _struct_4d = struct.Struct("<4d")
01239 _struct_2I = struct.Struct("<2I")
01240 _struct_3d = struct.Struct("<3d")