# This Python file uses the following encoding: utf-8
"""autogenerated by genpy from geometry_msgs/Twist.msg. Do not edit."""
import codecs
import sys
python3 = True if sys.hexversion > 0x03000000 else False
import genpy
import struct
import geometry_msgs.msg
[docs]
class Twist(genpy.Message):
_md5sum = "9f195f881246fdfa2798d1d3eebca84a"
_type = "geometry_msgs/Twist"
_has_header = False # flag to mark the presence of a Header object
_full_text = """# This expresses velocity in free space broken into its linear and angular parts.
Vector3 linear
Vector3 angular
================================================================================
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"""
__slots__ = ['linear','angular']
_slot_types = ['geometry_msgs/Vector3','geometry_msgs/Vector3']
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:
linear,angular
: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(Twist, self).__init__(*args, **kwds)
# message fields cannot be None, assign default values for those that are
if self.linear is None:
self.linear = geometry_msgs.msg.Vector3()
if self.angular is None:
self.angular = geometry_msgs.msg.Vector3()
else:
self.linear = geometry_msgs.msg.Vector3()
self.angular = geometry_msgs.msg.Vector3()
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:
_x = self
buff.write(_get_struct_6d().pack(_x.linear.x, _x.linear.y, _x.linear.z, _x.angular.x, _x.angular.y, _x.angular.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)))))
[docs]
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.linear is None:
self.linear = geometry_msgs.msg.Vector3()
if self.angular is None:
self.angular = geometry_msgs.msg.Vector3()
end = 0
_x = self
start = end
end += 48
(_x.linear.x, _x.linear.y, _x.linear.z, _x.angular.x, _x.angular.y, _x.angular.z,) = _get_struct_6d().unpack(str[start:end])
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:
_x = self
buff.write(_get_struct_6d().pack(_x.linear.x, _x.linear.y, _x.linear.z, _x.angular.x, _x.angular.y, _x.angular.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)))))
[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
"""
if python3:
codecs.lookup_error("rosmsg").msg_type = self._type
try:
if self.linear is None:
self.linear = geometry_msgs.msg.Vector3()
if self.angular is None:
self.angular = geometry_msgs.msg.Vector3()
end = 0
_x = self
start = end
end += 48
(_x.linear.x, _x.linear.y, _x.linear.z, _x.angular.x, _x.angular.y, _x.angular.z,) = _get_struct_6d().unpack(str[start:end])
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_6d = None
def _get_struct_6d():
global _struct_6d
if _struct_6d is None:
_struct_6d = struct.Struct("<6d")
return _struct_6d