/usr/lib/python2.7/dist-packages/sensor_msgs/msg/_MultiDOFJointState.py is in python-sensor-msgs 1.12.5-3.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
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"""autogenerated by genpy from sensor_msgs/MultiDOFJointState.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
class MultiDOFJointState(genpy.Message):
_md5sum = "690f272f0640d2631c305eeb8301e59d"
_type = "sensor_msgs/MultiDOFJointState"
_has_header = True #flag to mark the presence of a Header object
_full_text = """# Representation of state for joints with multiple degrees of freedom,
# following the structure of JointState.
#
# It is assumed that a joint in a system corresponds to a transform that gets applied
# along the kinematic chain. For example, a planar joint (as in URDF) is 3DOF (x, y, yaw)
# and those 3DOF can be expressed as a transformation matrix, and that transformation
# matrix can be converted back to (x, y, yaw)
#
# Each joint is uniquely identified by its name
# The header specifies the time at which the joint states were recorded. All the joint states
# in one message have to be recorded at the same time.
#
# This message consists of a multiple arrays, one for each part of the joint state.
# The goal is to make each of the fields optional. When e.g. your joints have no
# wrench associated with them, you can leave the wrench array empty.
#
# All arrays in this message should have the same size, or be empty.
# This is the only way to uniquely associate the joint name with the correct
# states.
Header header
string[] joint_names
geometry_msgs/Transform[] transforms
geometry_msgs/Twist[] twist
geometry_msgs/Wrench[] wrench
================================================================================
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.
# 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
================================================================================
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/Twist
# This expresses velocity in free space broken into its linear and angular parts.
Vector3 linear
Vector3 angular
================================================================================
MSG: geometry_msgs/Wrench
# This represents force in free space, separated into
# its linear and angular parts.
Vector3 force
Vector3 torque
"""
__slots__ = ['header','joint_names','transforms','twist','wrench']
_slot_types = ['std_msgs/Header','string[]','geometry_msgs/Transform[]','geometry_msgs/Twist[]','geometry_msgs/Wrench[]']
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,joint_names,transforms,twist,wrench
: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(MultiDOFJointState, 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.joint_names is None:
self.joint_names = []
if self.transforms is None:
self.transforms = []
if self.twist is None:
self.twist = []
if self.wrench is None:
self.wrench = []
else:
self.header = std_msgs.msg.Header()
self.joint_names = []
self.transforms = []
self.twist = []
self.wrench = []
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.pack('<I%ss'%length, length, _x))
length = len(self.joint_names)
buff.write(_struct_I.pack(length))
for val1 in self.joint_names:
length = len(val1)
if python3 or type(val1) == unicode:
val1 = val1.encode('utf-8')
length = len(val1)
buff.write(struct.pack('<I%ss'%length, length, val1))
length = len(self.transforms)
buff.write(_struct_I.pack(length))
for val1 in self.transforms:
_v1 = val1.translation
_x = _v1
buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
_v2 = val1.rotation
_x = _v2
buff.write(_get_struct_4d().pack(_x.x, _x.y, _x.z, _x.w))
length = len(self.twist)
buff.write(_struct_I.pack(length))
for val1 in self.twist:
_v3 = val1.linear
_x = _v3
buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
_v4 = val1.angular
_x = _v4
buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
length = len(self.wrench)
buff.write(_struct_I.pack(length))
for val1 in self.wrench:
_v5 = val1.force
_x = _v5
buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
_v6 = val1.torque
_x = _v6
buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.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)))))
def deserialize(self, str):
"""
unpack serialized message in str into this message instance
:param str: byte array of serialized message, ``str``
"""
try:
if self.header is None:
self.header = std_msgs.msg.Header()
if self.transforms is None:
self.transforms = None
if self.twist is None:
self.twist = None
if self.wrench is None:
self.wrench = None
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')
else:
self.header.frame_id = str[start:end]
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
self.joint_names = []
for i in range(0, length):
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
start = end
end += length
if python3:
val1 = str[start:end].decode('utf-8')
else:
val1 = str[start:end]
self.joint_names.append(val1)
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
self.transforms = []
for i in range(0, length):
val1 = geometry_msgs.msg.Transform()
_v7 = val1.translation
_x = _v7
start = end
end += 24
(_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
_v8 = val1.rotation
_x = _v8
start = end
end += 32
(_x.x, _x.y, _x.z, _x.w,) = _get_struct_4d().unpack(str[start:end])
self.transforms.append(val1)
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
self.twist = []
for i in range(0, length):
val1 = geometry_msgs.msg.Twist()
_v9 = val1.linear
_x = _v9
start = end
end += 24
(_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
_v10 = val1.angular
_x = _v10
start = end
end += 24
(_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
self.twist.append(val1)
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
self.wrench = []
for i in range(0, length):
val1 = geometry_msgs.msg.Wrench()
_v11 = val1.force
_x = _v11
start = end
end += 24
(_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
_v12 = val1.torque
_x = _v12
start = end
end += 24
(_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
self.wrench.append(val1)
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.pack('<I%ss'%length, length, _x))
length = len(self.joint_names)
buff.write(_struct_I.pack(length))
for val1 in self.joint_names:
length = len(val1)
if python3 or type(val1) == unicode:
val1 = val1.encode('utf-8')
length = len(val1)
buff.write(struct.pack('<I%ss'%length, length, val1))
length = len(self.transforms)
buff.write(_struct_I.pack(length))
for val1 in self.transforms:
_v13 = val1.translation
_x = _v13
buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
_v14 = val1.rotation
_x = _v14
buff.write(_get_struct_4d().pack(_x.x, _x.y, _x.z, _x.w))
length = len(self.twist)
buff.write(_struct_I.pack(length))
for val1 in self.twist:
_v15 = val1.linear
_x = _v15
buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
_v16 = val1.angular
_x = _v16
buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
length = len(self.wrench)
buff.write(_struct_I.pack(length))
for val1 in self.wrench:
_v17 = val1.force
_x = _v17
buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
_v18 = val1.torque
_x = _v18
buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.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)))))
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.header is None:
self.header = std_msgs.msg.Header()
if self.transforms is None:
self.transforms = None
if self.twist is None:
self.twist = None
if self.wrench is None:
self.wrench = None
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')
else:
self.header.frame_id = str[start:end]
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
self.joint_names = []
for i in range(0, length):
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
start = end
end += length
if python3:
val1 = str[start:end].decode('utf-8')
else:
val1 = str[start:end]
self.joint_names.append(val1)
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
self.transforms = []
for i in range(0, length):
val1 = geometry_msgs.msg.Transform()
_v19 = val1.translation
_x = _v19
start = end
end += 24
(_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
_v20 = val1.rotation
_x = _v20
start = end
end += 32
(_x.x, _x.y, _x.z, _x.w,) = _get_struct_4d().unpack(str[start:end])
self.transforms.append(val1)
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
self.twist = []
for i in range(0, length):
val1 = geometry_msgs.msg.Twist()
_v21 = val1.linear
_x = _v21
start = end
end += 24
(_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
_v22 = val1.angular
_x = _v22
start = end
end += 24
(_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
self.twist.append(val1)
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
self.wrench = []
for i in range(0, length):
val1 = geometry_msgs.msg.Wrench()
_v23 = val1.force
_x = _v23
start = end
end += 24
(_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
_v24 = val1.torque
_x = _v24
start = end
end += 24
(_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
self.wrench.append(val1)
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_4d = None
def _get_struct_4d():
global _struct_4d
if _struct_4d is None:
_struct_4d = struct.Struct("<4d")
return _struct_4d
_struct_3d = None
def _get_struct_3d():
global _struct_3d
if _struct_3d is None:
_struct_3d = struct.Struct("<3d")
return _struct_3d
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