313 lines
11 KiB
Python
313 lines
11 KiB
Python
# This Python file uses the following encoding: utf-8
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"""autogenerated by genpy from quadrotor_msgs/PositionCommand.msg. Do not edit."""
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import codecs
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import sys
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python3 = True if sys.hexversion > 0x03000000 else False
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import genpy
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import struct
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import geometry_msgs.msg
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import std_msgs.msg
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class PositionCommand(genpy.Message):
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_md5sum = "4712f0609ca29a79af79a35ca3e3967a"
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_type = "quadrotor_msgs/PositionCommand"
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_has_header = True # flag to mark the presence of a Header object
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_full_text = """Header header
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geometry_msgs/Point position
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geometry_msgs/Vector3 velocity
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geometry_msgs/Vector3 acceleration
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float64 yaw
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float64 yaw_dot
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float64[3] kx
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float64[3] kv
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uint32 trajectory_id
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uint8 TRAJECTORY_STATUS_EMPTY = 0
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uint8 TRAJECTORY_STATUS_READY = 1
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uint8 TRAJECTORY_STATUS_COMPLETED = 3
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uint8 TRAJECTROY_STATUS_ABORT = 4
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uint8 TRAJECTORY_STATUS_ILLEGAL_START = 5
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uint8 TRAJECTORY_STATUS_ILLEGAL_FINAL = 6
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uint8 TRAJECTORY_STATUS_IMPOSSIBLE = 7
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# Its ID number will start from 1, allowing you comparing it with 0.
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uint8 trajectory_flag
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================================================================================
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MSG: std_msgs/Header
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# Standard metadata for higher-level stamped data types.
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# This is generally used to communicate timestamped data
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# in a particular coordinate frame.
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#
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# sequence ID: consecutively increasing ID
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uint32 seq
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#Two-integer timestamp that is expressed as:
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# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')
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# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')
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# time-handling sugar is provided by the client library
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time stamp
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#Frame this data is associated with
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string frame_id
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================================================================================
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MSG: geometry_msgs/Point
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# This contains the position of a point in free space
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float64 x
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float64 y
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float64 z
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================================================================================
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MSG: geometry_msgs/Vector3
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# This represents a vector in free space.
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# It is only meant to represent a direction. Therefore, it does not
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# make sense to apply a translation to it (e.g., when applying a
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# generic rigid transformation to a Vector3, tf2 will only apply the
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# rotation). If you want your data to be translatable too, use the
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# geometry_msgs/Point message instead.
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float64 x
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float64 y
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float64 z"""
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# Pseudo-constants
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TRAJECTORY_STATUS_EMPTY = 0
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TRAJECTORY_STATUS_READY = 1
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TRAJECTORY_STATUS_COMPLETED = 3
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TRAJECTROY_STATUS_ABORT = 4
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TRAJECTORY_STATUS_ILLEGAL_START = 5
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TRAJECTORY_STATUS_ILLEGAL_FINAL = 6
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TRAJECTORY_STATUS_IMPOSSIBLE = 7
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__slots__ = ['header','position','velocity','acceleration','yaw','yaw_dot','kx','kv','trajectory_id','trajectory_flag']
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_slot_types = ['std_msgs/Header','geometry_msgs/Point','geometry_msgs/Vector3','geometry_msgs/Vector3','float64','float64','float64[3]','float64[3]','uint32','uint8']
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def __init__(self, *args, **kwds):
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"""
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Constructor. Any message fields that are implicitly/explicitly
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set to None will be assigned a default value. The recommend
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use is keyword arguments as this is more robust to future message
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changes. You cannot mix in-order arguments and keyword arguments.
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The available fields are:
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header,position,velocity,acceleration,yaw,yaw_dot,kx,kv,trajectory_id,trajectory_flag
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:param args: complete set of field values, in .msg order
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:param kwds: use keyword arguments corresponding to message field names
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to set specific fields.
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"""
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if args or kwds:
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super(PositionCommand, self).__init__(*args, **kwds)
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# message fields cannot be None, assign default values for those that are
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if self.header is None:
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self.header = std_msgs.msg.Header()
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if self.position is None:
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self.position = geometry_msgs.msg.Point()
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if self.velocity is None:
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self.velocity = geometry_msgs.msg.Vector3()
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if self.acceleration is None:
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self.acceleration = geometry_msgs.msg.Vector3()
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if self.yaw is None:
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self.yaw = 0.
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if self.yaw_dot is None:
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self.yaw_dot = 0.
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if self.kx is None:
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self.kx = [0.] * 3
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if self.kv is None:
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self.kv = [0.] * 3
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if self.trajectory_id is None:
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self.trajectory_id = 0
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if self.trajectory_flag is None:
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self.trajectory_flag = 0
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else:
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self.header = std_msgs.msg.Header()
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self.position = geometry_msgs.msg.Point()
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self.velocity = geometry_msgs.msg.Vector3()
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self.acceleration = geometry_msgs.msg.Vector3()
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self.yaw = 0.
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self.yaw_dot = 0.
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self.kx = [0.] * 3
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self.kv = [0.] * 3
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self.trajectory_id = 0
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self.trajectory_flag = 0
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def _get_types(self):
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"""
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internal API method
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"""
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return self._slot_types
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def serialize(self, buff):
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"""
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serialize message into buffer
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:param buff: buffer, ``StringIO``
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"""
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try:
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_x = self
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buff.write(_get_struct_3I().pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
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_x = self.header.frame_id
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length = len(_x)
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if python3 or type(_x) == unicode:
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_x = _x.encode('utf-8')
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length = len(_x)
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buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
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_x = self
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buff.write(_get_struct_11d().pack(_x.position.x, _x.position.y, _x.position.z, _x.velocity.x, _x.velocity.y, _x.velocity.z, _x.acceleration.x, _x.acceleration.y, _x.acceleration.z, _x.yaw, _x.yaw_dot))
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buff.write(_get_struct_3d().pack(*self.kx))
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buff.write(_get_struct_3d().pack(*self.kv))
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_x = self
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buff.write(_get_struct_IB().pack(_x.trajectory_id, _x.trajectory_flag))
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except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(locals().get('_x', self)))))
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except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(locals().get('_x', self)))))
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def deserialize(self, str):
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"""
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unpack serialized message in str into this message instance
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:param str: byte array of serialized message, ``str``
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"""
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if python3:
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codecs.lookup_error("rosmsg").msg_type = self._type
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try:
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if self.header is None:
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self.header = std_msgs.msg.Header()
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if self.position is None:
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self.position = geometry_msgs.msg.Point()
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if self.velocity is None:
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self.velocity = geometry_msgs.msg.Vector3()
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if self.acceleration is None:
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self.acceleration = geometry_msgs.msg.Vector3()
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end = 0
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_x = self
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start = end
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end += 12
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(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _get_struct_3I().unpack(str[start:end])
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start = end
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end += 4
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(length,) = _struct_I.unpack(str[start:end])
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start = end
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end += length
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if python3:
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self.header.frame_id = str[start:end].decode('utf-8', 'rosmsg')
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else:
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self.header.frame_id = str[start:end]
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_x = self
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start = end
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end += 88
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(_x.position.x, _x.position.y, _x.position.z, _x.velocity.x, _x.velocity.y, _x.velocity.z, _x.acceleration.x, _x.acceleration.y, _x.acceleration.z, _x.yaw, _x.yaw_dot,) = _get_struct_11d().unpack(str[start:end])
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start = end
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end += 24
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self.kx = _get_struct_3d().unpack(str[start:end])
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start = end
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end += 24
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self.kv = _get_struct_3d().unpack(str[start:end])
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_x = self
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start = end
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end += 5
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(_x.trajectory_id, _x.trajectory_flag,) = _get_struct_IB().unpack(str[start:end])
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return self
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except struct.error as e:
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raise genpy.DeserializationError(e) # most likely buffer underfill
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def serialize_numpy(self, buff, numpy):
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"""
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serialize message with numpy array types into buffer
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:param buff: buffer, ``StringIO``
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:param numpy: numpy python module
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"""
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try:
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_x = self
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buff.write(_get_struct_3I().pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
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_x = self.header.frame_id
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length = len(_x)
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if python3 or type(_x) == unicode:
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_x = _x.encode('utf-8')
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length = len(_x)
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buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
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_x = self
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buff.write(_get_struct_11d().pack(_x.position.x, _x.position.y, _x.position.z, _x.velocity.x, _x.velocity.y, _x.velocity.z, _x.acceleration.x, _x.acceleration.y, _x.acceleration.z, _x.yaw, _x.yaw_dot))
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buff.write(self.kx.tostring())
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buff.write(self.kv.tostring())
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_x = self
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buff.write(_get_struct_IB().pack(_x.trajectory_id, _x.trajectory_flag))
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except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(locals().get('_x', self)))))
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except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(locals().get('_x', self)))))
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def deserialize_numpy(self, str, numpy):
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"""
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unpack serialized message in str into this message instance using numpy for array types
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:param str: byte array of serialized message, ``str``
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:param numpy: numpy python module
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"""
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if python3:
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codecs.lookup_error("rosmsg").msg_type = self._type
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try:
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if self.header is None:
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self.header = std_msgs.msg.Header()
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if self.position is None:
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self.position = geometry_msgs.msg.Point()
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if self.velocity is None:
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self.velocity = geometry_msgs.msg.Vector3()
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if self.acceleration is None:
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self.acceleration = geometry_msgs.msg.Vector3()
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end = 0
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_x = self
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start = end
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end += 12
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(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _get_struct_3I().unpack(str[start:end])
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start = end
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end += 4
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(length,) = _struct_I.unpack(str[start:end])
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start = end
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end += length
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if python3:
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self.header.frame_id = str[start:end].decode('utf-8', 'rosmsg')
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else:
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self.header.frame_id = str[start:end]
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_x = self
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start = end
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end += 88
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(_x.position.x, _x.position.y, _x.position.z, _x.velocity.x, _x.velocity.y, _x.velocity.z, _x.acceleration.x, _x.acceleration.y, _x.acceleration.z, _x.yaw, _x.yaw_dot,) = _get_struct_11d().unpack(str[start:end])
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start = end
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end += 24
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self.kx = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=3)
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start = end
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end += 24
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self.kv = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=3)
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_x = self
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start = end
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end += 5
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(_x.trajectory_id, _x.trajectory_flag,) = _get_struct_IB().unpack(str[start:end])
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return self
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except struct.error as e:
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raise genpy.DeserializationError(e) # most likely buffer underfill
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_struct_I = genpy.struct_I
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def _get_struct_I():
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global _struct_I
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return _struct_I
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_struct_11d = None
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def _get_struct_11d():
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global _struct_11d
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if _struct_11d is None:
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_struct_11d = struct.Struct("<11d")
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return _struct_11d
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_struct_3I = None
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def _get_struct_3I():
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global _struct_3I
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if _struct_3I is None:
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_struct_3I = struct.Struct("<3I")
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return _struct_3I
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_struct_3d = None
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def _get_struct_3d():
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global _struct_3d
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if _struct_3d is None:
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_struct_3d = struct.Struct("<3d")
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return _struct_3d
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_struct_IB = None
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def _get_struct_IB():
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global _struct_IB
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if _struct_IB is None:
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_struct_IB = struct.Struct("<IB")
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return _struct_IB
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