# This Python file uses the following encoding: utf-8
"""autogenerated by genpy from tf/tfMessage.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
[docs]class tfMessage(genpy.Message):
_md5sum = "94810edda583a504dfda3829e70d7eec"
_type = "tf/tfMessage"
_has_header = False #flag to mark the presence of a Header object
_full_text = """geometry_msgs/TransformStamped[] transforms
================================================================================
MSG: geometry_msgs/TransformStamped
# This expresses a transform from coordinate frame header.frame_id
# to the coordinate frame child_frame_id
#
# This message is mostly used by the
# <a href="http://wiki.ros.org/tf">tf</a> package.
# See its documentation for more information.
Header header
string child_frame_id # the frame id of the child frame
Transform transform
================================================================================
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.
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
"""
__slots__ = ['transforms']
_slot_types = ['geometry_msgs/TransformStamped[]']
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:
transforms
: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(tfMessage, self).__init__(*args, **kwds)
#message fields cannot be None, assign default values for those that are
if self.transforms is None:
self.transforms = []
else:
self.transforms = []
def _get_types(self):
"""
internal API method
"""
return self._slot_types
[docs] def serialize(self, buff):
"""
serialize message into buffer
:param buff: buffer, ``StringIO``
"""
try:
length = len(self.transforms)
buff.write(_struct_I.pack(length))
for val1 in self.transforms:
_v1 = val1.header
buff.write(_struct_I.pack(_v1.seq))
_v2 = _v1.stamp
_x = _v2
buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
_x = _v1.frame_id
length = len(_x)
if python3 or type(_x) == unicode:
_x = _x.encode('utf-8')
length = len(_x)
if python3:
buff.write(struct.pack('<I%sB'%length, length, *_x))
else:
buff.write(struct.pack('<I%ss'%length, length, _x))
_x = val1.child_frame_id
length = len(_x)
if python3 or type(_x) == unicode:
_x = _x.encode('utf-8')
length = len(_x)
if python3:
buff.write(struct.pack('<I%sB'%length, length, *_x))
else:
buff.write(struct.pack('<I%ss'%length, length, _x))
_v3 = val1.transform
_v4 = _v3.translation
_x = _v4
buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
_v5 = _v3.rotation
_x = _v5
buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))
[docs] def deserialize(self, str):
"""
unpack serialized message in str into this message instance
:param str: byte array of serialized message, ``str``
"""
try:
if self.transforms is None:
self.transforms = None
end = 0
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
self.transforms = []
for i in range(0, length):
val1 = geometry_msgs.msg.TransformStamped()
_v6 = val1.header
start = end
end += 4
(_v6.seq,) = _struct_I.unpack(str[start:end])
_v7 = _v6.stamp
_x = _v7
start = end
end += 8
(_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
start = end
end += length
if python3:
_v6.frame_id = str[start:end].decode('utf-8')
else:
_v6.frame_id = str[start:end]
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
start = end
end += length
if python3:
val1.child_frame_id = str[start:end].decode('utf-8')
else:
val1.child_frame_id = str[start:end]
_v8 = val1.transform
_v9 = _v8.translation
_x = _v9
start = end
end += 24
(_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
_v10 = _v8.rotation
_x = _v10
start = end
end += 32
(_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
self.transforms.append(val1)
return self
except struct.error as e:
raise genpy.DeserializationError(e) #most likely buffer underfill
[docs] def serialize_numpy(self, buff, numpy):
"""
serialize message with numpy array types into buffer
:param buff: buffer, ``StringIO``
:param numpy: numpy python module
"""
try:
length = len(self.transforms)
buff.write(_struct_I.pack(length))
for val1 in self.transforms:
_v11 = val1.header
buff.write(_struct_I.pack(_v11.seq))
_v12 = _v11.stamp
_x = _v12
buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
_x = _v11.frame_id
length = len(_x)
if python3 or type(_x) == unicode:
_x = _x.encode('utf-8')
length = len(_x)
if python3:
buff.write(struct.pack('<I%sB'%length, length, *_x))
else:
buff.write(struct.pack('<I%ss'%length, length, _x))
_x = val1.child_frame_id
length = len(_x)
if python3 or type(_x) == unicode:
_x = _x.encode('utf-8')
length = len(_x)
if python3:
buff.write(struct.pack('<I%sB'%length, length, *_x))
else:
buff.write(struct.pack('<I%ss'%length, length, _x))
_v13 = val1.transform
_v14 = _v13.translation
_x = _v14
buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
_v15 = _v13.rotation
_x = _v15
buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))
[docs] 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.transforms is None:
self.transforms = None
end = 0
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
self.transforms = []
for i in range(0, length):
val1 = geometry_msgs.msg.TransformStamped()
_v16 = val1.header
start = end
end += 4
(_v16.seq,) = _struct_I.unpack(str[start:end])
_v17 = _v16.stamp
_x = _v17
start = end
end += 8
(_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
start = end
end += length
if python3:
_v16.frame_id = str[start:end].decode('utf-8')
else:
_v16.frame_id = str[start:end]
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
start = end
end += length
if python3:
val1.child_frame_id = str[start:end].decode('utf-8')
else:
val1.child_frame_id = str[start:end]
_v18 = val1.transform
_v19 = _v18.translation
_x = _v19
start = end
end += 24
(_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
_v20 = _v18.rotation
_x = _v20
start = end
end += 32
(_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
self.transforms.append(val1)
return self
except struct.error as e:
raise genpy.DeserializationError(e) #most likely buffer underfill
_struct_I = genpy.struct_I
_struct_4d = struct.Struct("<4d")
_struct_2I = struct.Struct("<2I")
_struct_3d = struct.Struct("<3d")
