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

kuavo_humanoid_sdk/msg/kuavo_msgs/srv/_CreatePath.py

@@ -0,0 +1,581 @@
+# This Python file uses the following encoding: utf-8
+"""autogenerated by genpy from kuavo_msgs/CreatePathRequest.msg. Do not edit."""
+import codecs
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+
+class CreatePathRequest(genpy.Message):
+  _md5sum = "33ce960d4fb19427c7f599a056c77f60"
+  _type = "kuavo_msgs/CreatePathRequest"
+  _has_header = False  # flag to mark the presence of a Header object
+  _full_text = """# Request
+string path_type          # line, circle, square, triangle, scurve
+float64 v_max_linear      # 最大线速度 (m/s)
+
+# Path-specific parameters
+# For line, square, triangle: yaw_offset in radians
+float64 yaw_offset        # 相对于当前朝向的偏转角度 (rad)
+
+# For line: length in meters
+float64 length            # 直线长度 (m)
+
+# For circle: radius in meters  
+float64 radius            # 圆形半径 (m)
+
+# For scurve: length and amplitude in meters
+float64 amplitude         # S形曲线振幅 (m)
+
+# For half-scurve: length and amplitude in meters
+bool half_scurve       # 是否只生成半个S曲线
+"""
+  __slots__ = ['path_type','v_max_linear','yaw_offset','length','radius','amplitude','half_scurve']
+  _slot_types = ['string','float64','float64','float64','float64','float64','bool']
+
+  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:
+       path_type,v_max_linear,yaw_offset,length,radius,amplitude,half_scurve
+
+    :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(CreatePathRequest, self).__init__(*args, **kwds)
+      # message fields cannot be None, assign default values for those that are
+      if self.path_type is None:
+        self.path_type = ''
+      if self.v_max_linear is None:
+        self.v_max_linear = 0.
+      if self.yaw_offset is None:
+        self.yaw_offset = 0.
+      if self.length is None:
+        self.length = 0.
+      if self.radius is None:
+        self.radius = 0.
+      if self.amplitude is None:
+        self.amplitude = 0.
+      if self.half_scurve is None:
+        self.half_scurve = False
+    else:
+      self.path_type = ''
+      self.v_max_linear = 0.
+      self.yaw_offset = 0.
+      self.length = 0.
+      self.radius = 0.
+      self.amplitude = 0.
+      self.half_scurve = False
+
+  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.path_type
+      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_5dB().pack(_x.v_max_linear, _x.yaw_offset, _x.length, _x.radius, _x.amplitude, _x.half_scurve))
+    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:
+      end = 0
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.path_type = str[start:end].decode('utf-8', 'rosmsg')
+      else:
+        self.path_type = str[start:end]
+      _x = self
+      start = end
+      end += 41
+      (_x.v_max_linear, _x.yaw_offset, _x.length, _x.radius, _x.amplitude, _x.half_scurve,) = _get_struct_5dB().unpack(str[start:end])
+      self.half_scurve = bool(self.half_scurve)
+      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.path_type
+      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_5dB().pack(_x.v_max_linear, _x.yaw_offset, _x.length, _x.radius, _x.amplitude, _x.half_scurve))
+    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:
+      end = 0
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.path_type = str[start:end].decode('utf-8', 'rosmsg')
+      else:
+        self.path_type = str[start:end]
+      _x = self
+      start = end
+      end += 41
+      (_x.v_max_linear, _x.yaw_offset, _x.length, _x.radius, _x.amplitude, _x.half_scurve,) = _get_struct_5dB().unpack(str[start:end])
+      self.half_scurve = bool(self.half_scurve)
+      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_5dB = None
+def _get_struct_5dB():
+    global _struct_5dB
+    if _struct_5dB is None:
+        _struct_5dB = struct.Struct("<5dB")
+    return _struct_5dB
+# This Python file uses the following encoding: utf-8
+"""autogenerated by genpy from kuavo_msgs/CreatePathResponse.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 nav_msgs.msg
+import std_msgs.msg
+
+class CreatePathResponse(genpy.Message):
+  _md5sum = "b928b6711cb174d91f7c078c57816d72"
+  _type = "kuavo_msgs/CreatePathResponse"
+  _has_header = False  # flag to mark the presence of a Header object
+  _full_text = """# Response
+bool success
+string message
+nav_msgs/Path path       # 生成的路径 
+
+================================================================================
+MSG: nav_msgs/Path
+#An array of poses that represents a Path for a robot to follow
+Header header
+geometry_msgs/PoseStamped[] poses
+
+================================================================================
+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/PoseStamped
+# A Pose with reference coordinate frame and timestamp
+Header header
+Pose pose
+
+================================================================================
+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__ = ['success','message','path']
+  _slot_types = ['bool','string','nav_msgs/Path']
+
+  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:
+       success,message,path
+
+    :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(CreatePathResponse, self).__init__(*args, **kwds)
+      # message fields cannot be None, assign default values for those that are
+      if self.success is None:
+        self.success = False
+      if self.message is None:
+        self.message = ''
+      if self.path is None:
+        self.path = nav_msgs.msg.Path()
+    else:
+      self.success = False
+      self.message = ''
+      self.path = nav_msgs.msg.Path()
+
+  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.success
+      buff.write(_get_struct_B().pack(_x))
+      _x = self.message
+      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_3I().pack(_x.path.header.seq, _x.path.header.stamp.secs, _x.path.header.stamp.nsecs))
+      _x = self.path.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))
+      length = len(self.path.poses)
+      buff.write(_struct_I.pack(length))
+      for val1 in self.path.poses:
+        _v1 = val1.header
+        _x = _v1.seq
+        buff.write(_get_struct_I().pack(_x))
+        _v2 = _v1.stamp
+        _x = _v2
+        buff.write(_get_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)
+        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
+        _v3 = val1.pose
+        _v4 = _v3.position
+        _x = _v4
+        buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
+        _v5 = _v3.orientation
+        _x = _v5
+        buff.write(_get_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(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.path is None:
+        self.path = nav_msgs.msg.Path()
+      end = 0
+      start = end
+      end += 1
+      (self.success,) = _get_struct_B().unpack(str[start:end])
+      self.success = bool(self.success)
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.message = str[start:end].decode('utf-8', 'rosmsg')
+      else:
+        self.message = str[start:end]
+      _x = self
+      start = end
+      end += 12
+      (_x.path.header.seq, _x.path.header.stamp.secs, _x.path.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.path.header.frame_id = str[start:end].decode('utf-8', 'rosmsg')
+      else:
+        self.path.header.frame_id = str[start:end]
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      self.path.poses = []
+      for i in range(0, length):
+        val1 = geometry_msgs.msg.PoseStamped()
+        _v6 = val1.header
+        start = end
+        end += 4
+        (_v6.seq,) = _get_struct_I().unpack(str[start:end])
+        _v7 = _v6.stamp
+        _x = _v7
+        start = end
+        end += 8
+        (_x.secs, _x.nsecs,) = _get_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', 'rosmsg')
+        else:
+          _v6.frame_id = str[start:end]
+        _v8 = val1.pose
+        _v9 = _v8.position
+        _x = _v9
+        start = end
+        end += 24
+        (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
+        _v10 = _v8.orientation
+        _x = _v10
+        start = end
+        end += 32
+        (_x.x, _x.y, _x.z, _x.w,) = _get_struct_4d().unpack(str[start:end])
+        self.path.poses.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.success
+      buff.write(_get_struct_B().pack(_x))
+      _x = self.message
+      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_3I().pack(_x.path.header.seq, _x.path.header.stamp.secs, _x.path.header.stamp.nsecs))
+      _x = self.path.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))
+      length = len(self.path.poses)
+      buff.write(_struct_I.pack(length))
+      for val1 in self.path.poses:
+        _v11 = val1.header
+        _x = _v11.seq
+        buff.write(_get_struct_I().pack(_x))
+        _v12 = _v11.stamp
+        _x = _v12
+        buff.write(_get_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)
+        buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
+        _v13 = val1.pose
+        _v14 = _v13.position
+        _x = _v14
+        buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
+        _v15 = _v13.orientation
+        _x = _v15
+        buff.write(_get_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(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.path is None:
+        self.path = nav_msgs.msg.Path()
+      end = 0
+      start = end
+      end += 1
+      (self.success,) = _get_struct_B().unpack(str[start:end])
+      self.success = bool(self.success)
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.message = str[start:end].decode('utf-8', 'rosmsg')
+      else:
+        self.message = str[start:end]
+      _x = self
+      start = end
+      end += 12
+      (_x.path.header.seq, _x.path.header.stamp.secs, _x.path.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.path.header.frame_id = str[start:end].decode('utf-8', 'rosmsg')
+      else:
+        self.path.header.frame_id = str[start:end]
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      self.path.poses = []
+      for i in range(0, length):
+        val1 = geometry_msgs.msg.PoseStamped()
+        _v16 = val1.header
+        start = end
+        end += 4
+        (_v16.seq,) = _get_struct_I().unpack(str[start:end])
+        _v17 = _v16.stamp
+        _x = _v17
+        start = end
+        end += 8
+        (_x.secs, _x.nsecs,) = _get_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', 'rosmsg')
+        else:
+          _v16.frame_id = str[start:end]
+        _v18 = val1.pose
+        _v19 = _v18.position
+        _x = _v19
+        start = end
+        end += 24
+        (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
+        _v20 = _v18.orientation
+        _x = _v20
+        start = end
+        end += 32
+        (_x.x, _x.y, _x.z, _x.w,) = _get_struct_4d().unpack(str[start:end])
+        self.path.poses.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_2I = None
+def _get_struct_2I():
+    global _struct_2I
+    if _struct_2I is None:
+        _struct_2I = struct.Struct("<2I")
+    return _struct_2I
+_struct_3I = None
+def _get_struct_3I():
+    global _struct_3I
+    if _struct_3I is None:
+        _struct_3I = struct.Struct("<3I")
+    return _struct_3I
+_struct_3d = None
+def _get_struct_3d():
+    global _struct_3d
+    if _struct_3d is None:
+        _struct_3d = struct.Struct("<3d")
+    return _struct_3d
+_struct_4d = None
+def _get_struct_4d():
+    global _struct_4d
+    if _struct_4d is None:
+        _struct_4d = struct.Struct("<4d")
+    return _struct_4d
+_struct_B = None
+def _get_struct_B():
+    global _struct_B
+    if _struct_B is None:
+        _struct_B = struct.Struct("<B")
+    return _struct_B
+class CreatePath(object):
+  _type          = 'kuavo_msgs/CreatePath'
+  _md5sum = 'b97efdd5569ad73ecaf6f529d9d7019d'
+  _request_class  = CreatePathRequest
+  _response_class = CreatePathResponse