kuavo-humanoid-sdk 1.2.1b3284__20250912191154-py3-none-any.whl

kuavo_humanoid_sdk/msg/ocs2_msgs/msg/_mpc_solver_data.py

@@ -0,0 +1,886 @@
+# This Python file uses the following encoding: utf-8
+"""autogenerated by genpy from ocs2_msgs/mpc_solver_data.msg. Do not edit."""
+import codecs
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+import ocs2_msgs.msg
+
+class mpc_solver_data(genpy.Message):
+  _md5sum = "5d8e9cf6f256a05764e6ff2f6f246a7f"
+  _type = "ocs2_msgs/mpc_solver_data"
+  _has_header = False  # flag to mark the presence of a Header object
+  _full_text = """float64 initTime           # 对应 scalar_t initTime_
+float64[] initState        # 对应 vector_t initState_
+float64 finalTime          # 对应 scalar_t finalTime_
+
+# ModeSchedule 和 TargetTrajectories 
+mode_schedule modeSchedule
+mpc_target_trajectories targetTrajectories
+
+# 包含 PrimalSolution 
+mpc_flattened_controller mpc_flattened_controller
+
+# swingplanner存储的swingPlannerMultipliers
+float64[] swingPlannerMultipliers
+
+================================================================================
+MSG: ocs2_msgs/mode_schedule
+# MPC mode sequence
+
+float64[] eventTimes           # event times: its size is equal to the size of phaseSequence minus one
+int8[]    modeSequence         # mode sequence: e.g., for a quadrupedal robot, it is in the set {0, 1,..., 15}
+================================================================================
+MSG: ocs2_msgs/mpc_target_trajectories
+# MPC target trajectories
+
+float64[]    timeTrajectory        # MPC target time trajectory
+mpc_state[]  stateTrajectory       # MPC target state trajectory
+mpc_input[]  inputTrajectory       # MPC target input trajectory
+
+
+================================================================================
+MSG: ocs2_msgs/mpc_state
+# MPC internal model state vector
+float32[] value
+
+================================================================================
+MSG: ocs2_msgs/mpc_input
+# MPC internal model input vector 
+
+float32[] value
+================================================================================
+MSG: ocs2_msgs/mpc_flattened_controller
+# Flattened controller: A serialized controller
+
+# define controllerType Enum values
+uint8 CONTROLLER_UNKNOWN=0 # safety mechanism: message initalization to zero
+uint8 CONTROLLER_FEEDFORWARD=1
+uint8 CONTROLLER_LINEAR=2
+
+uint8                   controllerType         # what type of controller is this
+
+mpc_observation         initObservation        # plan initial observation
+
+mpc_target_trajectories planTargetTrajectories # target trajectory in cost function
+mpc_state[]             stateTrajectory        # optimized state trajectory from planner
+mpc_input[]             inputTrajectory        # optimized input trajectory from planner
+float64[]               timeTrajectory         # time trajectory for stateTrajectory and inputTrajectory
+uint16[]                postEventIndices       # array of indices indicating the index of post-event time in the trajectories
+mode_schedule           modeSchedule           # optimal/predefined MPC mode sequence and event times
+
+controller_data[]       data                   # the actual payload from flatten method: one vector of data per time step
+
+mpc_performance_indices performanceIndices     # solver performance indices
+
+================================================================================
+MSG: ocs2_msgs/mpc_observation
+# MPC observation
+float64        time        # Current time
+mpc_state      state       # Current state
+mpc_input      input       # Current input
+int8           mode        # Current mode
+
+================================================================================
+MSG: ocs2_msgs/controller_data
+float32[] data
+
+================================================================================
+MSG: ocs2_msgs/mpc_performance_indices
+# MPC performance indices
+float32     initTime
+float32     merit
+float32     cost
+float32     dynamicsViolationSSE
+float32     equalityConstraintsSSE
+float32     equalityLagrangian
+float32     inequalityLagrangian
+"""
+  __slots__ = ['initTime','initState','finalTime','modeSchedule','targetTrajectories','mpc_flattened_controller','swingPlannerMultipliers']
+  _slot_types = ['float64','float64[]','float64','ocs2_msgs/mode_schedule','ocs2_msgs/mpc_target_trajectories','ocs2_msgs/mpc_flattened_controller','float64[]']
+
+  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:
+       initTime,initState,finalTime,modeSchedule,targetTrajectories,mpc_flattened_controller,swingPlannerMultipliers
+
+    :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(mpc_solver_data, self).__init__(*args, **kwds)
+      # message fields cannot be None, assign default values for those that are
+      if self.initTime is None:
+        self.initTime = 0.
+      if self.initState is None:
+        self.initState = []
+      if self.finalTime is None:
+        self.finalTime = 0.
+      if self.modeSchedule is None:
+        self.modeSchedule = ocs2_msgs.msg.mode_schedule()
+      if self.targetTrajectories is None:
+        self.targetTrajectories = ocs2_msgs.msg.mpc_target_trajectories()
+      if self.mpc_flattened_controller is None:
+        self.mpc_flattened_controller = ocs2_msgs.msg.mpc_flattened_controller()
+      if self.swingPlannerMultipliers is None:
+        self.swingPlannerMultipliers = []
+    else:
+      self.initTime = 0.
+      self.initState = []
+      self.finalTime = 0.
+      self.modeSchedule = ocs2_msgs.msg.mode_schedule()
+      self.targetTrajectories = ocs2_msgs.msg.mpc_target_trajectories()
+      self.mpc_flattened_controller = ocs2_msgs.msg.mpc_flattened_controller()
+      self.swingPlannerMultipliers = []
+
+  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.initTime
+      buff.write(_get_struct_d().pack(_x))
+      length = len(self.initState)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%sd'%length
+      buff.write(struct.Struct(pattern).pack(*self.initState))
+      _x = self.finalTime
+      buff.write(_get_struct_d().pack(_x))
+      length = len(self.modeSchedule.eventTimes)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%sd'%length
+      buff.write(struct.Struct(pattern).pack(*self.modeSchedule.eventTimes))
+      length = len(self.modeSchedule.modeSequence)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%sb'%length
+      buff.write(struct.Struct(pattern).pack(*self.modeSchedule.modeSequence))
+      length = len(self.targetTrajectories.timeTrajectory)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%sd'%length
+      buff.write(struct.Struct(pattern).pack(*self.targetTrajectories.timeTrajectory))
+      length = len(self.targetTrajectories.stateTrajectory)
+      buff.write(_struct_I.pack(length))
+      for val1 in self.targetTrajectories.stateTrajectory:
+        length = len(val1.value)
+        buff.write(_struct_I.pack(length))
+        pattern = '<%sf'%length
+        buff.write(struct.Struct(pattern).pack(*val1.value))
+      length = len(self.targetTrajectories.inputTrajectory)
+      buff.write(_struct_I.pack(length))
+      for val1 in self.targetTrajectories.inputTrajectory:
+        length = len(val1.value)
+        buff.write(_struct_I.pack(length))
+        pattern = '<%sf'%length
+        buff.write(struct.Struct(pattern).pack(*val1.value))
+      _x = self
+      buff.write(_get_struct_Bd().pack(_x.mpc_flattened_controller.controllerType, _x.mpc_flattened_controller.initObservation.time))
+      length = len(self.mpc_flattened_controller.initObservation.state.value)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%sf'%length
+      buff.write(struct.Struct(pattern).pack(*self.mpc_flattened_controller.initObservation.state.value))
+      length = len(self.mpc_flattened_controller.initObservation.input.value)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%sf'%length
+      buff.write(struct.Struct(pattern).pack(*self.mpc_flattened_controller.initObservation.input.value))
+      _x = self.mpc_flattened_controller.initObservation.mode
+      buff.write(_get_struct_b().pack(_x))
+      length = len(self.mpc_flattened_controller.planTargetTrajectories.timeTrajectory)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%sd'%length
+      buff.write(struct.Struct(pattern).pack(*self.mpc_flattened_controller.planTargetTrajectories.timeTrajectory))
+      length = len(self.mpc_flattened_controller.planTargetTrajectories.stateTrajectory)
+      buff.write(_struct_I.pack(length))
+      for val1 in self.mpc_flattened_controller.planTargetTrajectories.stateTrajectory:
+        length = len(val1.value)
+        buff.write(_struct_I.pack(length))
+        pattern = '<%sf'%length
+        buff.write(struct.Struct(pattern).pack(*val1.value))
+      length = len(self.mpc_flattened_controller.planTargetTrajectories.inputTrajectory)
+      buff.write(_struct_I.pack(length))
+      for val1 in self.mpc_flattened_controller.planTargetTrajectories.inputTrajectory:
+        length = len(val1.value)
+        buff.write(_struct_I.pack(length))
+        pattern = '<%sf'%length
+        buff.write(struct.Struct(pattern).pack(*val1.value))
+      length = len(self.mpc_flattened_controller.stateTrajectory)
+      buff.write(_struct_I.pack(length))
+      for val1 in self.mpc_flattened_controller.stateTrajectory:
+        length = len(val1.value)
+        buff.write(_struct_I.pack(length))
+        pattern = '<%sf'%length
+        buff.write(struct.Struct(pattern).pack(*val1.value))
+      length = len(self.mpc_flattened_controller.inputTrajectory)
+      buff.write(_struct_I.pack(length))
+      for val1 in self.mpc_flattened_controller.inputTrajectory:
+        length = len(val1.value)
+        buff.write(_struct_I.pack(length))
+        pattern = '<%sf'%length
+        buff.write(struct.Struct(pattern).pack(*val1.value))
+      length = len(self.mpc_flattened_controller.timeTrajectory)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%sd'%length
+      buff.write(struct.Struct(pattern).pack(*self.mpc_flattened_controller.timeTrajectory))
+      length = len(self.mpc_flattened_controller.postEventIndices)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%sH'%length
+      buff.write(struct.Struct(pattern).pack(*self.mpc_flattened_controller.postEventIndices))
+      length = len(self.mpc_flattened_controller.modeSchedule.eventTimes)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%sd'%length
+      buff.write(struct.Struct(pattern).pack(*self.mpc_flattened_controller.modeSchedule.eventTimes))
+      length = len(self.mpc_flattened_controller.modeSchedule.modeSequence)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%sb'%length
+      buff.write(struct.Struct(pattern).pack(*self.mpc_flattened_controller.modeSchedule.modeSequence))
+      length = len(self.mpc_flattened_controller.data)
+      buff.write(_struct_I.pack(length))
+      for val1 in self.mpc_flattened_controller.data:
+        length = len(val1.data)
+        buff.write(_struct_I.pack(length))
+        pattern = '<%sf'%length
+        buff.write(struct.Struct(pattern).pack(*val1.data))
+      _x = self
+      buff.write(_get_struct_7f().pack(_x.mpc_flattened_controller.performanceIndices.initTime, _x.mpc_flattened_controller.performanceIndices.merit, _x.mpc_flattened_controller.performanceIndices.cost, _x.mpc_flattened_controller.performanceIndices.dynamicsViolationSSE, _x.mpc_flattened_controller.performanceIndices.equalityConstraintsSSE, _x.mpc_flattened_controller.performanceIndices.equalityLagrangian, _x.mpc_flattened_controller.performanceIndices.inequalityLagrangian))
+      length = len(self.swingPlannerMultipliers)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%sd'%length
+      buff.write(struct.Struct(pattern).pack(*self.swingPlannerMultipliers))
+    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.modeSchedule is None:
+        self.modeSchedule = ocs2_msgs.msg.mode_schedule()
+      if self.targetTrajectories is None:
+        self.targetTrajectories = ocs2_msgs.msg.mpc_target_trajectories()
+      if self.mpc_flattened_controller is None:
+        self.mpc_flattened_controller = ocs2_msgs.msg.mpc_flattened_controller()
+      end = 0
+      start = end
+      end += 8
+      (self.initTime,) = _get_struct_d().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.initState = s.unpack(str[start:end])
+      start = end
+      end += 8
+      (self.finalTime,) = _get_struct_d().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.modeSchedule.eventTimes = s.unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      pattern = '<%sb'%length
+      start = end
+      s = struct.Struct(pattern)
+      end += s.size
+      self.modeSchedule.modeSequence = 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.targetTrajectories.timeTrajectory = s.unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      self.targetTrajectories.stateTrajectory = []
+      for i in range(0, length):
+        val1 = ocs2_msgs.msg.mpc_state()
+        start = end
+        end += 4
+        (length,) = _struct_I.unpack(str[start:end])
+        pattern = '<%sf'%length
+        start = end
+        s = struct.Struct(pattern)
+        end += s.size
+        val1.value = s.unpack(str[start:end])
+        self.targetTrajectories.stateTrajectory.append(val1)
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      self.targetTrajectories.inputTrajectory = []
+      for i in range(0, length):
+        val1 = ocs2_msgs.msg.mpc_input()
+        start = end
+        end += 4
+        (length,) = _struct_I.unpack(str[start:end])
+        pattern = '<%sf'%length
+        start = end
+        s = struct.Struct(pattern)
+        end += s.size
+        val1.value = s.unpack(str[start:end])
+        self.targetTrajectories.inputTrajectory.append(val1)
+      _x = self
+      start = end
+      end += 9
+      (_x.mpc_flattened_controller.controllerType, _x.mpc_flattened_controller.initObservation.time,) = _get_struct_Bd().unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      pattern = '<%sf'%length
+      start = end
+      s = struct.Struct(pattern)
+      end += s.size
+      self.mpc_flattened_controller.initObservation.state.value = s.unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      pattern = '<%sf'%length
+      start = end
+      s = struct.Struct(pattern)
+      end += s.size
+      self.mpc_flattened_controller.initObservation.input.value = s.unpack(str[start:end])
+      start = end
+      end += 1
+      (self.mpc_flattened_controller.initObservation.mode,) = _get_struct_b().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.mpc_flattened_controller.planTargetTrajectories.timeTrajectory = s.unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      self.mpc_flattened_controller.planTargetTrajectories.stateTrajectory = []
+      for i in range(0, length):
+        val1 = ocs2_msgs.msg.mpc_state()
+        start = end
+        end += 4
+        (length,) = _struct_I.unpack(str[start:end])
+        pattern = '<%sf'%length
+        start = end
+        s = struct.Struct(pattern)
+        end += s.size
+        val1.value = s.unpack(str[start:end])
+        self.mpc_flattened_controller.planTargetTrajectories.stateTrajectory.append(val1)
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      self.mpc_flattened_controller.planTargetTrajectories.inputTrajectory = []
+      for i in range(0, length):
+        val1 = ocs2_msgs.msg.mpc_input()
+        start = end
+        end += 4
+        (length,) = _struct_I.unpack(str[start:end])
+        pattern = '<%sf'%length
+        start = end
+        s = struct.Struct(pattern)
+        end += s.size
+        val1.value = s.unpack(str[start:end])
+        self.mpc_flattened_controller.planTargetTrajectories.inputTrajectory.append(val1)
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      self.mpc_flattened_controller.stateTrajectory = []
+      for i in range(0, length):
+        val1 = ocs2_msgs.msg.mpc_state()
+        start = end
+        end += 4
+        (length,) = _struct_I.unpack(str[start:end])
+        pattern = '<%sf'%length
+        start = end
+        s = struct.Struct(pattern)
+        end += s.size
+        val1.value = s.unpack(str[start:end])
+        self.mpc_flattened_controller.stateTrajectory.append(val1)
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      self.mpc_flattened_controller.inputTrajectory = []
+      for i in range(0, length):
+        val1 = ocs2_msgs.msg.mpc_input()
+        start = end
+        end += 4
+        (length,) = _struct_I.unpack(str[start:end])
+        pattern = '<%sf'%length
+        start = end
+        s = struct.Struct(pattern)
+        end += s.size
+        val1.value = s.unpack(str[start:end])
+        self.mpc_flattened_controller.inputTrajectory.append(val1)
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      pattern = '<%sd'%length
+      start = end
+      s = struct.Struct(pattern)
+      end += s.size
+      self.mpc_flattened_controller.timeTrajectory = s.unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      pattern = '<%sH'%length
+      start = end
+      s = struct.Struct(pattern)
+      end += s.size
+      self.mpc_flattened_controller.postEventIndices = 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.mpc_flattened_controller.modeSchedule.eventTimes = s.unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      pattern = '<%sb'%length
+      start = end
+      s = struct.Struct(pattern)
+      end += s.size
+      self.mpc_flattened_controller.modeSchedule.modeSequence = s.unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      self.mpc_flattened_controller.data = []
+      for i in range(0, length):
+        val1 = ocs2_msgs.msg.controller_data()
+        start = end
+        end += 4
+        (length,) = _struct_I.unpack(str[start:end])
+        pattern = '<%sf'%length
+        start = end
+        s = struct.Struct(pattern)
+        end += s.size
+        val1.data = s.unpack(str[start:end])
+        self.mpc_flattened_controller.data.append(val1)
+      _x = self
+      start = end
+      end += 28
+      (_x.mpc_flattened_controller.performanceIndices.initTime, _x.mpc_flattened_controller.performanceIndices.merit, _x.mpc_flattened_controller.performanceIndices.cost, _x.mpc_flattened_controller.performanceIndices.dynamicsViolationSSE, _x.mpc_flattened_controller.performanceIndices.equalityConstraintsSSE, _x.mpc_flattened_controller.performanceIndices.equalityLagrangian, _x.mpc_flattened_controller.performanceIndices.inequalityLagrangian,) = _get_struct_7f().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.swingPlannerMultipliers = s.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:
+      _x = self.initTime
+      buff.write(_get_struct_d().pack(_x))
+      length = len(self.initState)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%sd'%length
+      buff.write(self.initState.tostring())
+      _x = self.finalTime
+      buff.write(_get_struct_d().pack(_x))
+      length = len(self.modeSchedule.eventTimes)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%sd'%length
+      buff.write(self.modeSchedule.eventTimes.tostring())
+      length = len(self.modeSchedule.modeSequence)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%sb'%length
+      buff.write(self.modeSchedule.modeSequence.tostring())
+      length = len(self.targetTrajectories.timeTrajectory)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%sd'%length
+      buff.write(self.targetTrajectories.timeTrajectory.tostring())
+      length = len(self.targetTrajectories.stateTrajectory)
+      buff.write(_struct_I.pack(length))
+      for val1 in self.targetTrajectories.stateTrajectory:
+        length = len(val1.value)
+        buff.write(_struct_I.pack(length))
+        pattern = '<%sf'%length
+        buff.write(val1.value.tostring())
+      length = len(self.targetTrajectories.inputTrajectory)
+      buff.write(_struct_I.pack(length))
+      for val1 in self.targetTrajectories.inputTrajectory:
+        length = len(val1.value)
+        buff.write(_struct_I.pack(length))
+        pattern = '<%sf'%length
+        buff.write(val1.value.tostring())
+      _x = self
+      buff.write(_get_struct_Bd().pack(_x.mpc_flattened_controller.controllerType, _x.mpc_flattened_controller.initObservation.time))
+      length = len(self.mpc_flattened_controller.initObservation.state.value)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%sf'%length
+      buff.write(self.mpc_flattened_controller.initObservation.state.value.tostring())
+      length = len(self.mpc_flattened_controller.initObservation.input.value)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%sf'%length
+      buff.write(self.mpc_flattened_controller.initObservation.input.value.tostring())
+      _x = self.mpc_flattened_controller.initObservation.mode
+      buff.write(_get_struct_b().pack(_x))
+      length = len(self.mpc_flattened_controller.planTargetTrajectories.timeTrajectory)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%sd'%length
+      buff.write(self.mpc_flattened_controller.planTargetTrajectories.timeTrajectory.tostring())
+      length = len(self.mpc_flattened_controller.planTargetTrajectories.stateTrajectory)
+      buff.write(_struct_I.pack(length))
+      for val1 in self.mpc_flattened_controller.planTargetTrajectories.stateTrajectory:
+        length = len(val1.value)
+        buff.write(_struct_I.pack(length))
+        pattern = '<%sf'%length
+        buff.write(val1.value.tostring())
+      length = len(self.mpc_flattened_controller.planTargetTrajectories.inputTrajectory)
+      buff.write(_struct_I.pack(length))
+      for val1 in self.mpc_flattened_controller.planTargetTrajectories.inputTrajectory:
+        length = len(val1.value)
+        buff.write(_struct_I.pack(length))
+        pattern = '<%sf'%length
+        buff.write(val1.value.tostring())
+      length = len(self.mpc_flattened_controller.stateTrajectory)
+      buff.write(_struct_I.pack(length))
+      for val1 in self.mpc_flattened_controller.stateTrajectory:
+        length = len(val1.value)
+        buff.write(_struct_I.pack(length))
+        pattern = '<%sf'%length
+        buff.write(val1.value.tostring())
+      length = len(self.mpc_flattened_controller.inputTrajectory)
+      buff.write(_struct_I.pack(length))
+      for val1 in self.mpc_flattened_controller.inputTrajectory:
+        length = len(val1.value)
+        buff.write(_struct_I.pack(length))
+        pattern = '<%sf'%length
+        buff.write(val1.value.tostring())
+      length = len(self.mpc_flattened_controller.timeTrajectory)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%sd'%length
+      buff.write(self.mpc_flattened_controller.timeTrajectory.tostring())
+      length = len(self.mpc_flattened_controller.postEventIndices)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%sH'%length
+      buff.write(self.mpc_flattened_controller.postEventIndices.tostring())
+      length = len(self.mpc_flattened_controller.modeSchedule.eventTimes)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%sd'%length
+      buff.write(self.mpc_flattened_controller.modeSchedule.eventTimes.tostring())
+      length = len(self.mpc_flattened_controller.modeSchedule.modeSequence)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%sb'%length
+      buff.write(self.mpc_flattened_controller.modeSchedule.modeSequence.tostring())
+      length = len(self.mpc_flattened_controller.data)
+      buff.write(_struct_I.pack(length))
+      for val1 in self.mpc_flattened_controller.data:
+        length = len(val1.data)
+        buff.write(_struct_I.pack(length))
+        pattern = '<%sf'%length
+        buff.write(val1.data.tostring())
+      _x = self
+      buff.write(_get_struct_7f().pack(_x.mpc_flattened_controller.performanceIndices.initTime, _x.mpc_flattened_controller.performanceIndices.merit, _x.mpc_flattened_controller.performanceIndices.cost, _x.mpc_flattened_controller.performanceIndices.dynamicsViolationSSE, _x.mpc_flattened_controller.performanceIndices.equalityConstraintsSSE, _x.mpc_flattened_controller.performanceIndices.equalityLagrangian, _x.mpc_flattened_controller.performanceIndices.inequalityLagrangian))
+      length = len(self.swingPlannerMultipliers)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%sd'%length
+      buff.write(self.swingPlannerMultipliers.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.modeSchedule is None:
+        self.modeSchedule = ocs2_msgs.msg.mode_schedule()
+      if self.targetTrajectories is None:
+        self.targetTrajectories = ocs2_msgs.msg.mpc_target_trajectories()
+      if self.mpc_flattened_controller is None:
+        self.mpc_flattened_controller = ocs2_msgs.msg.mpc_flattened_controller()
+      end = 0
+      start = end
+      end += 8
+      (self.initTime,) = _get_struct_d().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.initState = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
+      start = end
+      end += 8
+      (self.finalTime,) = _get_struct_d().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.modeSchedule.eventTimes = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      pattern = '<%sb'%length
+      start = end
+      s = struct.Struct(pattern)
+      end += s.size
+      self.modeSchedule.modeSequence = numpy.frombuffer(str[start:end], dtype=numpy.int8, 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.targetTrajectories.timeTrajectory = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      self.targetTrajectories.stateTrajectory = []
+      for i in range(0, length):
+        val1 = ocs2_msgs.msg.mpc_state()
+        start = end
+        end += 4
+        (length,) = _struct_I.unpack(str[start:end])
+        pattern = '<%sf'%length
+        start = end
+        s = struct.Struct(pattern)
+        end += s.size
+        val1.value = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=length)
+        self.targetTrajectories.stateTrajectory.append(val1)
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      self.targetTrajectories.inputTrajectory = []
+      for i in range(0, length):
+        val1 = ocs2_msgs.msg.mpc_input()
+        start = end
+        end += 4
+        (length,) = _struct_I.unpack(str[start:end])
+        pattern = '<%sf'%length
+        start = end
+        s = struct.Struct(pattern)
+        end += s.size
+        val1.value = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=length)
+        self.targetTrajectories.inputTrajectory.append(val1)
+      _x = self
+      start = end
+      end += 9
+      (_x.mpc_flattened_controller.controllerType, _x.mpc_flattened_controller.initObservation.time,) = _get_struct_Bd().unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      pattern = '<%sf'%length
+      start = end
+      s = struct.Struct(pattern)
+      end += s.size
+      self.mpc_flattened_controller.initObservation.state.value = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=length)
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      pattern = '<%sf'%length
+      start = end
+      s = struct.Struct(pattern)
+      end += s.size
+      self.mpc_flattened_controller.initObservation.input.value = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=length)
+      start = end
+      end += 1
+      (self.mpc_flattened_controller.initObservation.mode,) = _get_struct_b().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.mpc_flattened_controller.planTargetTrajectories.timeTrajectory = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      self.mpc_flattened_controller.planTargetTrajectories.stateTrajectory = []
+      for i in range(0, length):
+        val1 = ocs2_msgs.msg.mpc_state()
+        start = end
+        end += 4
+        (length,) = _struct_I.unpack(str[start:end])
+        pattern = '<%sf'%length
+        start = end
+        s = struct.Struct(pattern)
+        end += s.size
+        val1.value = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=length)
+        self.mpc_flattened_controller.planTargetTrajectories.stateTrajectory.append(val1)
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      self.mpc_flattened_controller.planTargetTrajectories.inputTrajectory = []
+      for i in range(0, length):
+        val1 = ocs2_msgs.msg.mpc_input()
+        start = end
+        end += 4
+        (length,) = _struct_I.unpack(str[start:end])
+        pattern = '<%sf'%length
+        start = end
+        s = struct.Struct(pattern)
+        end += s.size
+        val1.value = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=length)
+        self.mpc_flattened_controller.planTargetTrajectories.inputTrajectory.append(val1)
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      self.mpc_flattened_controller.stateTrajectory = []
+      for i in range(0, length):
+        val1 = ocs2_msgs.msg.mpc_state()
+        start = end
+        end += 4
+        (length,) = _struct_I.unpack(str[start:end])
+        pattern = '<%sf'%length
+        start = end
+        s = struct.Struct(pattern)
+        end += s.size
+        val1.value = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=length)
+        self.mpc_flattened_controller.stateTrajectory.append(val1)
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      self.mpc_flattened_controller.inputTrajectory = []
+      for i in range(0, length):
+        val1 = ocs2_msgs.msg.mpc_input()
+        start = end
+        end += 4
+        (length,) = _struct_I.unpack(str[start:end])
+        pattern = '<%sf'%length
+        start = end
+        s = struct.Struct(pattern)
+        end += s.size
+        val1.value = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=length)
+        self.mpc_flattened_controller.inputTrajectory.append(val1)
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      pattern = '<%sd'%length
+      start = end
+      s = struct.Struct(pattern)
+      end += s.size
+      self.mpc_flattened_controller.timeTrajectory = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      pattern = '<%sH'%length
+      start = end
+      s = struct.Struct(pattern)
+      end += s.size
+      self.mpc_flattened_controller.postEventIndices = numpy.frombuffer(str[start:end], dtype=numpy.uint16, 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.mpc_flattened_controller.modeSchedule.eventTimes = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      pattern = '<%sb'%length
+      start = end
+      s = struct.Struct(pattern)
+      end += s.size
+      self.mpc_flattened_controller.modeSchedule.modeSequence = numpy.frombuffer(str[start:end], dtype=numpy.int8, count=length)
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      self.mpc_flattened_controller.data = []
+      for i in range(0, length):
+        val1 = ocs2_msgs.msg.controller_data()
+        start = end
+        end += 4
+        (length,) = _struct_I.unpack(str[start:end])
+        pattern = '<%sf'%length
+        start = end
+        s = struct.Struct(pattern)
+        end += s.size
+        val1.data = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=length)
+        self.mpc_flattened_controller.data.append(val1)
+      _x = self
+      start = end
+      end += 28
+      (_x.mpc_flattened_controller.performanceIndices.initTime, _x.mpc_flattened_controller.performanceIndices.merit, _x.mpc_flattened_controller.performanceIndices.cost, _x.mpc_flattened_controller.performanceIndices.dynamicsViolationSSE, _x.mpc_flattened_controller.performanceIndices.equalityConstraintsSSE, _x.mpc_flattened_controller.performanceIndices.equalityLagrangian, _x.mpc_flattened_controller.performanceIndices.inequalityLagrangian,) = _get_struct_7f().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.swingPlannerMultipliers = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
+      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_7f = None
+def _get_struct_7f():
+    global _struct_7f
+    if _struct_7f is None:
+        _struct_7f = struct.Struct("<7f")
+    return _struct_7f
+_struct_Bd = None
+def _get_struct_Bd():
+    global _struct_Bd
+    if _struct_Bd is None:
+        _struct_Bd = struct.Struct("<Bd")
+    return _struct_Bd
+_struct_b = None
+def _get_struct_b():
+    global _struct_b
+    if _struct_b is None:
+        _struct_b = struct.Struct("<b")
+    return _struct_b
+_struct_d = None
+def _get_struct_d():
+    global _struct_d
+    if _struct_d is None:
+        _struct_d = struct.Struct("<d")
+    return _struct_d