# This Python file uses the following encoding: utf-8
"""autogenerated by genpy from sensor_msgs/LaserScan.msg. Do not edit."""
import codecs
import sys
python3 = True if sys.hexversion > 0x03000000 else False
import genpy
import struct
import std_msgs.msg
class LaserScan(genpy.Message):
_md5sum = "90c7ef2dc6895d81024acba2ac42f369"
_type = "sensor_msgs/LaserScan"
_has_header = True # flag to mark the presence of a Header object
_full_text = """# Single scan from a planar laser range-finder
#
# If you have another ranging device with different behavior (e.g. a sonar
# array), please find or create a different message, since applications
# will make fairly laser-specific assumptions about this data
Header header # timestamp in the header is the acquisition time of
# the first ray in the scan.
#
# in frame frame_id, angles are measured around
# the positive Z axis (counterclockwise, if Z is up)
# with zero angle being forward along the x axis
float32 angle_min # start angle of the scan [rad]
float32 angle_max # end angle of the scan [rad]
float32 angle_increment # angular distance between measurements [rad]
float32 time_increment # time between measurements [seconds] - if your scanner
# is moving, this will be used in interpolating position
# of 3d points
float32 scan_time # time between scans [seconds]
float32 range_min # minimum range value [m]
float32 range_max # maximum range value [m]
float32[] ranges # range data [m] (Note: values < range_min or > range_max should be discarded)
float32[] intensities # intensity data [device-specific units]. If your
# device does not provide intensities, please leave
# the array empty.
================================================================================
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
string frame_id
"""
__slots__ = ['header','angle_min','angle_max','angle_increment','time_increment','scan_time','range_min','range_max','ranges','intensities']
_slot_types = ['std_msgs/Header','float32','float32','float32','float32','float32','float32','float32','float32[]','float32[]']
def __init__(self, *args, **kwds):
"""
Constructor. Any message fields that are implicitly/explicitly
set to None will be assigned a default value. The recommend
use is keyword arguments as this is more robust to future message
changes. You cannot mix in-order arguments and keyword arguments.
The available fields are:
header,angle_min,angle_max,angle_increment,time_increment,scan_time,range_min,range_max,ranges,intensities
: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(LaserScan, 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.angle_min is None:
self.angle_min = 0.
if self.angle_max is None:
self.angle_max = 0.
if self.angle_increment is None:
self.angle_increment = 0.
if self.time_increment is None:
self.time_increment = 0.
if self.scan_time is None:
self.scan_time = 0.
if self.range_min is None:
self.range_min = 0.
if self.range_max is None:
self.range_max = 0.
if self.ranges is None:
self.ranges = []
if self.intensities is None:
self.intensities = []
else:
self.header = std_msgs.msg.Header()
self.angle_min = 0.
self.angle_max = 0.
self.angle_increment = 0.
self.time_increment = 0.
self.scan_time = 0.
self.range_min = 0.
self.range_max = 0.
self.ranges = []
self.intensities = []
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.Struct('<I%ss'%length).pack(length, _x))
_x = self
buff.write(_get_struct_7f().pack(_x.angle_min, _x.angle_max, _x.angle_increment, _x.time_increment, _x.scan_time, _x.range_min, _x.range_max))
length = len(self.ranges)
buff.write(_struct_I.pack(length))
pattern = '<%sf'%length
buff.write(struct.Struct(pattern).pack(*self.ranges))
length = len(self.intensities)
buff.write(_struct_I.pack(length))
pattern = '<%sf'%length
buff.write(struct.Struct(pattern).pack(*self.intensities))
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``
"""
if python3:
codecs.lookup_error("rosmsg").msg_type = self._type
try:
if self.header is None:
self.header = std_msgs.msg.Header()
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', 'rosmsg')
else:
self.header.frame_id = str[start:end]
_x = self
start = end
end += 28
(_x.angle_min, _x.angle_max, _x.angle_increment, _x.time_increment, _x.scan_time, _x.range_min, _x.range_max,) = _get_struct_7f().unpack(str[start:end])
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
pattern = '<%sf'%length
start = end
s = struct.Struct(pattern)
end += s.size
self.ranges = s.unpack(str[start:end])
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
pattern = '<%sf'%length
start = end
s = struct.Struct(pattern)
end += s.size
self.intensities = s.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(_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.Struct('<I%ss'%length).pack(length, _x))
_x = self
buff.write(_get_struct_7f().pack(_x.angle_min, _x.angle_max, _x.angle_increment, _x.time_increment, _x.scan_time, _x.range_min, _x.range_max))
length = len(self.ranges)
buff.write(_struct_I.pack(length))
pattern = '<%sf'%length
buff.write(self.ranges.tostring())
length = len(self.intensities)
buff.write(_struct_I.pack(length))
pattern = '<%sf'%length
buff.write(self.intensities.tostring())
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
"""
if python3:
codecs.lookup_error("rosmsg").msg_type = self._type
try:
if self.header is None:
self.header = std_msgs.msg.Header()
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', 'rosmsg')
else:
self.header.frame_id = str[start:end]
_x = self
start = end
end += 28
(_x.angle_min, _x.angle_max, _x.angle_increment, _x.time_increment, _x.scan_time, _x.range_min, _x.range_max,) = _get_struct_7f().unpack(str[start:end])
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
pattern = '<%sf'%length
start = end
s = struct.Struct(pattern)
end += s.size
self.ranges = 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
s = struct.Struct(pattern)
end += s.size
self.intensities = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=length)
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_7f = None
def _get_struct_7f():
global _struct_7f
if _struct_7f is None:
_struct_7f = struct.Struct("<7f")
return _struct_7f