/usr/lib/python2.7/dist-packages/sensor_msgs/msg/

# This Python file uses the following encoding: utf-8
"""autogenerated by genpy from sensor_msgs/MultiDOFJointState.msg. Do not edit."""
import sys
python3 = True if sys.hexversion > 0x03000000 else False
import genpy
import struct

import geometry_msgs.msg
import std_msgs.msg

class MultiDOFJointState(genpy.Message):
  _md5sum = "690f272f0640d2631c305eeb8301e59d"
  _type = "sensor_msgs/MultiDOFJointState"
  _has_header = True #flag to mark the presence of a Header object
  _full_text = """# Representation of state for joints with multiple degrees of freedom, 
# following the structure of JointState.
#
# It is assumed that a joint in a system corresponds to a transform that gets applied 
# along the kinematic chain. For example, a planar joint (as in URDF) is 3DOF (x, y, yaw)
# and those 3DOF can be expressed as a transformation matrix, and that transformation
# matrix can be converted back to (x, y, yaw)
#
# Each joint is uniquely identified by its name
# The header specifies the time at which the joint states were recorded. All the joint states
# in one message have to be recorded at the same time.
#
# This message consists of a multiple arrays, one for each part of the joint state. 
# The goal is to make each of the fields optional. When e.g. your joints have no
# wrench associated with them, you can leave the wrench array empty. 
#
# All arrays in this message should have the same size, or be empty.
# This is the only way to uniquely associate the joint name with the correct
# states.

Header header

string[] joint_names
geometry_msgs/Transform[] transforms
geometry_msgs/Twist[] twist
geometry_msgs/Wrench[] wrench

================================================================================
MSG: std_msgs/Header
# Standard metadata for higher-level stamped data types.
# This is generally used to communicate timestamped data 
# in a particular coordinate frame.
# 
# sequence ID: consecutively increasing ID 
uint32 seq
#Two-integer timestamp that is expressed as:
# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')
# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')
# time-handling sugar is provided by the client library
time stamp
#Frame this data is associated with
# 0: no frame
# 1: global frame
string frame_id

================================================================================
MSG: geometry_msgs/Transform
# This represents the transform between two coordinate frames in free space.

Vector3 translation
Quaternion rotation

================================================================================
MSG: geometry_msgs/Vector3
# This represents a vector in free space. 
# It is only meant to represent a direction. Therefore, it does not
# make sense to apply a translation to it (e.g., when applying a 
# generic rigid transformation to a Vector3, tf2 will only apply the
# rotation). If you want your data to be translatable too, use the
# geometry_msgs/Point message instead.

float64 x
float64 y
float64 z
================================================================================
MSG: geometry_msgs/Quaternion
# This represents an orientation in free space in quaternion form.

float64 x
float64 y
float64 z
float64 w

================================================================================
MSG: geometry_msgs/Twist
# This expresses velocity in free space broken into its linear and angular parts.
Vector3  linear
Vector3  angular

================================================================================
MSG: geometry_msgs/Wrench
# This represents force in free space, separated into
# its linear and angular parts.
Vector3  force
Vector3  torque
"""
  __slots__ = ['header','joint_names','transforms','twist','wrench']
  _slot_types = ['std_msgs/Header','string[]','geometry_msgs/Transform[]','geometry_msgs/Twist[]','geometry_msgs/Wrench[]']

  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:
       header,joint_names,transforms,twist,wrench

    :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(MultiDOFJointState, self).__init__(*args, **kwds)
      #message fields cannot be None, assign default values for those that are
      if self.header is None:
        self.header = std_msgs.msg.Header()
      if self.joint_names is None:
        self.joint_names = []
      if self.transforms is None:
        self.transforms = []
      if self.twist is None:
        self.twist = []
      if self.wrench is None:
        self.wrench = []
    else:
      self.header = std_msgs.msg.Header()
      self.joint_names = []
      self.transforms = []
      self.twist = []
      self.wrench = []

  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(_get_struct_3I().pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
      _x = self.header.frame_id
      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.joint_names)
      buff.write(_struct_I.pack(length))
      for val1 in self.joint_names:
        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.transforms)
      buff.write(_struct_I.pack(length))
      for val1 in self.transforms:
        _v1 = val1.translation
        _x = _v1
        buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
        _v2 = val1.rotation
        _x = _v2
        buff.write(_get_struct_4d().pack(_x.x, _x.y, _x.z, _x.w))
      length = len(self.twist)
      buff.write(_struct_I.pack(length))
      for val1 in self.twist:
        _v3 = val1.linear
        _x = _v3
        buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
        _v4 = val1.angular
        _x = _v4
        buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
      length = len(self.wrench)
      buff.write(_struct_I.pack(length))
      for val1 in self.wrench:
        _v5 = val1.force
        _x = _v5
        buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
        _v6 = val1.torque
        _x = _v6
        buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(locals().get('_x', self)))))
    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(locals().get('_x', self)))))

  def deserialize(self, str):
    """
    unpack serialized message in str into this message instance
    :param str: byte array of serialized message, ``str``
    """
    try:
      if self.header is None:
        self.header = std_msgs.msg.Header()
      if self.transforms is None:
        self.transforms = None
      if self.twist is None:
        self.twist = None
      if self.wrench is None:
        self.wrench = None
      end = 0
      _x = self
      start = end
      end += 12
      (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _get_struct_3I().unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.joint_names = []
      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.joint_names.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.transforms = []
      for i in range(0, length):
        val1 = geometry_msgs.msg.Transform()
        _v7 = val1.translation
        _x = _v7
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
        _v8 = val1.rotation
        _x = _v8
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _get_struct_4d().unpack(str[start:end])
        self.transforms.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.twist = []
      for i in range(0, length):
        val1 = geometry_msgs.msg.Twist()
        _v9 = val1.linear
        _x = _v9
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
        _v10 = val1.angular
        _x = _v10
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
        self.twist.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.wrench = []
      for i in range(0, length):
        val1 = geometry_msgs.msg.Wrench()
        _v11 = val1.force
        _x = _v11
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
        _v12 = val1.torque
        _x = _v12
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
        self.wrench.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:
      _x = self
      buff.write(_get_struct_3I().pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
      _x = self.header.frame_id
      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.joint_names)
      buff.write(_struct_I.pack(length))
      for val1 in self.joint_names:
        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.transforms)
      buff.write(_struct_I.pack(length))
      for val1 in self.transforms:
        _v13 = val1.translation
        _x = _v13
        buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
        _v14 = val1.rotation
        _x = _v14
        buff.write(_get_struct_4d().pack(_x.x, _x.y, _x.z, _x.w))
      length = len(self.twist)
      buff.write(_struct_I.pack(length))
      for val1 in self.twist:
        _v15 = val1.linear
        _x = _v15
        buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
        _v16 = val1.angular
        _x = _v16
        buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
      length = len(self.wrench)
      buff.write(_struct_I.pack(length))
      for val1 in self.wrench:
        _v17 = val1.force
        _x = _v17
        buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
        _v18 = val1.torque
        _x = _v18
        buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(locals().get('_x', self)))))
    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(locals().get('_x', self)))))

  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.header is None:
        self.header = std_msgs.msg.Header()
      if self.transforms is None:
        self.transforms = None
      if self.twist is None:
        self.twist = None
      if self.wrench is None:
        self.wrench = None
      end = 0
      _x = self
      start = end
      end += 12
      (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _get_struct_3I().unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.joint_names = []
      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.joint_names.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.transforms = []
      for i in range(0, length):
        val1 = geometry_msgs.msg.Transform()
        _v19 = val1.translation
        _x = _v19
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
        _v20 = val1.rotation
        _x = _v20
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _get_struct_4d().unpack(str[start:end])
        self.transforms.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.twist = []
      for i in range(0, length):
        val1 = geometry_msgs.msg.Twist()
        _v21 = val1.linear
        _x = _v21
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
        _v22 = val1.angular
        _x = _v22
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
        self.twist.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.wrench = []
      for i in range(0, length):
        val1 = geometry_msgs.msg.Wrench()
        _v23 = val1.force
        _x = _v23
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
        _v24 = val1.torque
        _x = _v24
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
        self.wrench.append(val1)
      return self
    except struct.error as e:
      raise genpy.DeserializationError(e) #most likely buffer underfill

_struct_I = genpy.struct_I
def _get_struct_I():
    global _struct_I
    return _struct_I
_struct_3I = None
def _get_struct_3I():
    global _struct_3I
    if _struct_3I is None:
        _struct_3I = struct.Struct("<3I")
    return _struct_3I
_struct_4d = None
def _get_struct_4d():
    global _struct_4d
    if _struct_4d is None:
        _struct_4d = struct.Struct("<4d")
    return _struct_4d
_struct_3d = None
def _get_struct_3d():
    global _struct_3d
    if _struct_3d is None:
        _struct_3d = struct.Struct("<3d")
    return _struct_3d
python-sensor-msgs 1.12.5-2 / usr / lib / python2.7 / dist-packages / sensor_msgs / msg / _MultiDOFJointState.py
