kuavo-humanoid-sdk 1.2.1b3279__20250911210455-py3-none-any.whl

kuavo_humanoid_sdk/msg/kuavo_msgs/msg/_AprilTagDetection.py

@@ -0,0 +1,306 @@
+# This Python file uses the following encoding: utf-8
+"""autogenerated by genpy from kuavo_msgs/AprilTagDetection.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
+
+class AprilTagDetection(genpy.Message):
+  _md5sum = "090173a6e2b6c8fd96ce000fe9378b4e"
+  _type = "kuavo_msgs/AprilTagDetection"
+  _has_header = False  # flag to mark the presence of a Header object
+  _full_text = """# Tag ID(s). If a standalone tag, this is a vector of size 1. If a tag bundle,
+# this is a vector containing the IDs of each tag in the bundle.
+int32[] id
+
+# Tag size(s). If a standalone tag, this is a vector of size 1. If a tag bundle,
+# this is a vector containing the sizes of each tag in the bundle, in the same
+# order as the IDs above.
+float64[] size
+
+# Pose in the camera frame, obtained from homography transform. If a standalone
+# tag, the homography is from the four tag corners. If a tag bundle, the
+# homography is from at least the four corners of one member tag and at most the
+# four corners of all member tags.
+geometry_msgs/PoseWithCovarianceStamped pose
+================================================================================
+MSG: geometry_msgs/PoseWithCovarianceStamped
+# This expresses an estimated pose with a reference coordinate frame and timestamp
+
+Header header
+PoseWithCovariance pose
+
+================================================================================
+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
+"""
+  __slots__ = ['id','size','pose']
+  _slot_types = ['int32[]','float64[]','geometry_msgs/PoseWithCovarianceStamped']
+
+  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:
+       id,size,pose
+
+    :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(AprilTagDetection, self).__init__(*args, **kwds)
+      # message fields cannot be None, assign default values for those that are
+      if self.id is None:
+        self.id = []
+      if self.size is None:
+        self.size = []
+      if self.pose is None:
+        self.pose = geometry_msgs.msg.PoseWithCovarianceStamped()
+    else:
+      self.id = []
+      self.size = []
+      self.pose = geometry_msgs.msg.PoseWithCovarianceStamped()
+
+  def _get_types(self):
+    """
+    internal API method
+    """
+    return self._slot_types
+
+  def serialize(self, buff):
+    """
+    serialize message into buffer
+    :param buff: buffer, ``StringIO``
+    """
+    try:
+      length = len(self.id)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%si'%length
+      buff.write(struct.Struct(pattern).pack(*self.id))
+      length = len(self.size)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%sd'%length
+      buff.write(struct.Struct(pattern).pack(*self.size))
+      _x = self
+      buff.write(_get_struct_3I().pack(_x.pose.header.seq, _x.pose.header.stamp.secs, _x.pose.header.stamp.nsecs))
+      _x = self.pose.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_7d().pack(_x.pose.pose.pose.position.x, _x.pose.pose.pose.position.y, _x.pose.pose.pose.position.z, _x.pose.pose.pose.orientation.x, _x.pose.pose.pose.orientation.y, _x.pose.pose.pose.orientation.z, _x.pose.pose.pose.orientation.w))
+      buff.write(_get_struct_36d().pack(*self.pose.pose.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)))))
+
+  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.pose is None:
+        self.pose = geometry_msgs.msg.PoseWithCovarianceStamped()
+      end = 0
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      pattern = '<%si'%length
+      start = end
+      s = struct.Struct(pattern)
+      end += s.size
+      self.id = s.unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      pattern = '<%sd'%length
+      start = end
+      s = struct.Struct(pattern)
+      end += s.size
+      self.size = s.unpack(str[start:end])
+      _x = self
+      start = end
+      end += 12
+      (_x.pose.header.seq, _x.pose.header.stamp.secs, _x.pose.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.pose.header.frame_id = str[start:end].decode('utf-8', 'rosmsg')
+      else:
+        self.pose.header.frame_id = str[start:end]
+      _x = self
+      start = end
+      end += 56
+      (_x.pose.pose.pose.position.x, _x.pose.pose.pose.position.y, _x.pose.pose.pose.position.z, _x.pose.pose.pose.orientation.x, _x.pose.pose.pose.orientation.y, _x.pose.pose.pose.orientation.z, _x.pose.pose.pose.orientation.w,) = _get_struct_7d().unpack(str[start:end])
+      start = end
+      end += 288
+      self.pose.pose.covariance = _get_struct_36d().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:
+      length = len(self.id)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%si'%length
+      buff.write(self.id.tostring())
+      length = len(self.size)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%sd'%length
+      buff.write(self.size.tostring())
+      _x = self
+      buff.write(_get_struct_3I().pack(_x.pose.header.seq, _x.pose.header.stamp.secs, _x.pose.header.stamp.nsecs))
+      _x = self.pose.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_7d().pack(_x.pose.pose.pose.position.x, _x.pose.pose.pose.position.y, _x.pose.pose.pose.position.z, _x.pose.pose.pose.orientation.x, _x.pose.pose.pose.orientation.y, _x.pose.pose.pose.orientation.z, _x.pose.pose.pose.orientation.w))
+      buff.write(self.pose.pose.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)))))
+
+  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.pose is None:
+        self.pose = geometry_msgs.msg.PoseWithCovarianceStamped()
+      end = 0
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      pattern = '<%si'%length
+      start = end
+      s = struct.Struct(pattern)
+      end += s.size
+      self.id = numpy.frombuffer(str[start:end], dtype=numpy.int32, count=length)
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      pattern = '<%sd'%length
+      start = end
+      s = struct.Struct(pattern)
+      end += s.size
+      self.size = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
+      _x = self
+      start = end
+      end += 12
+      (_x.pose.header.seq, _x.pose.header.stamp.secs, _x.pose.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.pose.header.frame_id = str[start:end].decode('utf-8', 'rosmsg')
+      else:
+        self.pose.header.frame_id = str[start:end]
+      _x = self
+      start = end
+      end += 56
+      (_x.pose.pose.pose.position.x, _x.pose.pose.pose.position.y, _x.pose.pose.pose.position.z, _x.pose.pose.pose.orientation.x, _x.pose.pose.pose.orientation.y, _x.pose.pose.pose.orientation.z, _x.pose.pose.pose.orientation.w,) = _get_struct_7d().unpack(str[start:end])
+      start = end
+      end += 288
+      self.pose.pose.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_7d = None
+def _get_struct_7d():
+    global _struct_7d
+    if _struct_7d is None:
+        _struct_7d = struct.Struct("<7d")
+    return _struct_7d