# This Python file uses the following encoding: utf-8
"""autogenerated by genpy from nav_msgs/Odometry.msg. Do not edit."""
import codecs
import sys
python3 = True if sys.hexversion > 0x03000000 else False
import genpy
import struct
import geometry_msgs.msg
import std_msgs.msg
[docs]
class Odometry(genpy.Message):
_md5sum = "cd5e73d190d741a2f92e81eda573aca7"
_type = "nav_msgs/Odometry"
_has_header = True # flag to mark the presence of a Header object
_full_text = """# This represents an estimate of a position and velocity in free space.
# The pose in this message should be specified in the coordinate frame given by header.frame_id.
# The twist in this message should be specified in the coordinate frame given by the child_frame_id
Header header
string child_frame_id
geometry_msgs/PoseWithCovariance pose
geometry_msgs/TwistWithCovariance twist
================================================================================
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
================================================================================
MSG: geometry_msgs/PoseWithCovariance
# This represents a pose in free space with uncertainty.
Pose pose
# Row-major representation of the 6x6 covariance matrix
# The orientation parameters use a fixed-axis representation.
# In order, the parameters are:
# (x, y, z, rotation about X axis, rotation about Y axis, rotation about Z axis)
float64[36] covariance
================================================================================
MSG: geometry_msgs/Pose
# A representation of pose in free space, composed of position and orientation.
Point position
Quaternion orientation
================================================================================
MSG: geometry_msgs/Point
# This contains the position of a point 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
================================================================================
MSG: geometry_msgs/TwistWithCovariance
# This expresses velocity in free space with uncertainty.
Twist twist
# Row-major representation of the 6x6 covariance matrix
# The orientation parameters use a fixed-axis representation.
# In order, the parameters are:
# (x, y, z, rotation about X axis, rotation about Y axis, rotation about Z axis)
float64[36] covariance
================================================================================
MSG: geometry_msgs/Twist
# 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__ = ['header','child_frame_id','pose','twist']
_slot_types = ['std_msgs/Header','string','geometry_msgs/PoseWithCovariance','geometry_msgs/TwistWithCovariance']
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,child_frame_id,pose,twist
: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(Odometry, 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.child_frame_id is None:
self.child_frame_id = ''
if self.pose is None:
self.pose = geometry_msgs.msg.PoseWithCovariance()
if self.twist is None:
self.twist = geometry_msgs.msg.TwistWithCovariance()
else:
self.header = std_msgs.msg.Header()
self.child_frame_id = ''
self.pose = geometry_msgs.msg.PoseWithCovariance()
self.twist = geometry_msgs.msg.TwistWithCovariance()
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_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.child_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_7d().pack(_x.pose.pose.position.x, _x.pose.pose.position.y, _x.pose.pose.position.z, _x.pose.pose.orientation.x, _x.pose.pose.orientation.y, _x.pose.pose.orientation.z, _x.pose.pose.orientation.w))
buff.write(_get_struct_36d().pack(*self.pose.covariance))
_x = self
buff.write(_get_struct_6d().pack(_x.twist.twist.linear.x, _x.twist.twist.linear.y, _x.twist.twist.linear.z, _x.twist.twist.angular.x, _x.twist.twist.angular.y, _x.twist.twist.angular.z))
buff.write(_get_struct_36d().pack(*self.twist.covariance))
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.header is None:
self.header = std_msgs.msg.Header()
if self.pose is None:
self.pose = geometry_msgs.msg.PoseWithCovariance()
if self.twist is None:
self.twist = geometry_msgs.msg.TwistWithCovariance()
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]
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
start = end
end += length
if python3:
self.child_frame_id = str[start:end].decode('utf-8', 'rosmsg')
else:
self.child_frame_id = str[start:end]
_x = self
start = end
end += 56
(_x.pose.pose.position.x, _x.pose.pose.position.y, _x.pose.pose.position.z, _x.pose.pose.orientation.x, _x.pose.pose.orientation.y, _x.pose.pose.orientation.z, _x.pose.pose.orientation.w,) = _get_struct_7d().unpack(str[start:end])
start = end
end += 288
self.pose.covariance = _get_struct_36d().unpack(str[start:end])
_x = self
start = end
end += 48
(_x.twist.twist.linear.x, _x.twist.twist.linear.y, _x.twist.twist.linear.z, _x.twist.twist.angular.x, _x.twist.twist.angular.y, _x.twist.twist.angular.z,) = _get_struct_6d().unpack(str[start:end])
start = end
end += 288
self.twist.covariance = _get_struct_36d().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_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.child_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_7d().pack(_x.pose.pose.position.x, _x.pose.pose.position.y, _x.pose.pose.position.z, _x.pose.pose.orientation.x, _x.pose.pose.orientation.y, _x.pose.pose.orientation.z, _x.pose.pose.orientation.w))
buff.write(self.pose.covariance.tostring())
_x = self
buff.write(_get_struct_6d().pack(_x.twist.twist.linear.x, _x.twist.twist.linear.y, _x.twist.twist.linear.z, _x.twist.twist.angular.x, _x.twist.twist.angular.y, _x.twist.twist.angular.z))
buff.write(self.twist.covariance.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)))))
[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.header is None:
self.header = std_msgs.msg.Header()
if self.pose is None:
self.pose = geometry_msgs.msg.PoseWithCovariance()
if self.twist is None:
self.twist = geometry_msgs.msg.TwistWithCovariance()
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]
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
start = end
end += length
if python3:
self.child_frame_id = str[start:end].decode('utf-8', 'rosmsg')
else:
self.child_frame_id = str[start:end]
_x = self
start = end
end += 56
(_x.pose.pose.position.x, _x.pose.pose.position.y, _x.pose.pose.position.z, _x.pose.pose.orientation.x, _x.pose.pose.orientation.y, _x.pose.pose.orientation.z, _x.pose.pose.orientation.w,) = _get_struct_7d().unpack(str[start:end])
start = end
end += 288
self.pose.covariance = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=36)
_x = self
start = end
end += 48
(_x.twist.twist.linear.x, _x.twist.twist.linear.y, _x.twist.twist.linear.z, _x.twist.twist.angular.x, _x.twist.twist.angular.y, _x.twist.twist.angular.z,) = _get_struct_6d().unpack(str[start:end])
start = end
end += 288
self.twist.covariance = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=36)
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_36d = None
def _get_struct_36d():
global _struct_36d
if _struct_36d is None:
_struct_36d = struct.Struct("<36d")
return _struct_36d
_struct_3I = None
def _get_struct_3I():
global _struct_3I
if _struct_3I is None:
_struct_3I = struct.Struct("<3I")
return _struct_3I
_struct_6d = None
def _get_struct_6d():
global _struct_6d
if _struct_6d is None:
_struct_6d = struct.Struct("<6d")
return _struct_6d
_struct_7d = None
def _get_struct_7d():
global _struct_7d
if _struct_7d is None:
_struct_7d = struct.Struct("<7d")
return _struct_7d