kuavo-humanoid-sdk 1.2.1b3321__20250917182547-py3-none-any.whl

kuavo_humanoid_sdk/msg/kuavo_msgs/srv/_planArmTrajectoryBezierCurve.py

@@ -0,0 +1,422 @@
+# This Python file uses the following encoding: utf-8
+"""autogenerated by genpy from kuavo_msgs/planArmTrajectoryBezierCurveRequest.msg. Do not edit."""
+import codecs
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+import kuavo_msgs.msg
+
+class planArmTrajectoryBezierCurveRequest(genpy.Message):
+  _md5sum = "fd4c2b9f2a4883680ef63a437da922a8"
+  _type = "kuavo_msgs/planArmTrajectoryBezierCurveRequest"
+  _has_header = False  # flag to mark the presence of a Header object
+  _full_text = """kuavo_msgs/jointBezierTrajectory[] multi_joint_bezier_trajectory
+float64 start_frame_time
+float64 end_frame_time
+string[] joint_names
+
+================================================================================
+MSG: kuavo_msgs/jointBezierTrajectory
+kuavo_msgs/bezierCurveCubicPoint[] bezier_curve_points
+
+================================================================================
+MSG: kuavo_msgs/bezierCurveCubicPoint
+# [x, y] x is time, y is value
+
+float64[] end_point
+float64[] left_control_point
+float64[] right_control_point"""
+  __slots__ = ['multi_joint_bezier_trajectory','start_frame_time','end_frame_time','joint_names']
+  _slot_types = ['kuavo_msgs/jointBezierTrajectory[]','float64','float64','string[]']
+
+  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:
+       multi_joint_bezier_trajectory,start_frame_time,end_frame_time,joint_names
+
+    :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(planArmTrajectoryBezierCurveRequest, self).__init__(*args, **kwds)
+      # message fields cannot be None, assign default values for those that are
+      if self.multi_joint_bezier_trajectory is None:
+        self.multi_joint_bezier_trajectory = []
+      if self.start_frame_time is None:
+        self.start_frame_time = 0.
+      if self.end_frame_time is None:
+        self.end_frame_time = 0.
+      if self.joint_names is None:
+        self.joint_names = []
+    else:
+      self.multi_joint_bezier_trajectory = []
+      self.start_frame_time = 0.
+      self.end_frame_time = 0.
+      self.joint_names = []
+
+  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.multi_joint_bezier_trajectory)
+      buff.write(_struct_I.pack(length))
+      for val1 in self.multi_joint_bezier_trajectory:
+        length = len(val1.bezier_curve_points)
+        buff.write(_struct_I.pack(length))
+        for val2 in val1.bezier_curve_points:
+          length = len(val2.end_point)
+          buff.write(_struct_I.pack(length))
+          pattern = '<%sd'%length
+          buff.write(struct.Struct(pattern).pack(*val2.end_point))
+          length = len(val2.left_control_point)
+          buff.write(_struct_I.pack(length))
+          pattern = '<%sd'%length
+          buff.write(struct.Struct(pattern).pack(*val2.left_control_point))
+          length = len(val2.right_control_point)
+          buff.write(_struct_I.pack(length))
+          pattern = '<%sd'%length
+          buff.write(struct.Struct(pattern).pack(*val2.right_control_point))
+      _x = self
+      buff.write(_get_struct_2d().pack(_x.start_frame_time, _x.end_frame_time))
+      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.Struct('<I%ss'%length).pack(length, val1))
+    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.multi_joint_bezier_trajectory is None:
+        self.multi_joint_bezier_trajectory = None
+      end = 0
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      self.multi_joint_bezier_trajectory = []
+      for i in range(0, length):
+        val1 = kuavo_msgs.msg.jointBezierTrajectory()
+        start = end
+        end += 4
+        (length,) = _struct_I.unpack(str[start:end])
+        val1.bezier_curve_points = []
+        for i in range(0, length):
+          val2 = kuavo_msgs.msg.bezierCurveCubicPoint()
+          start = end
+          end += 4
+          (length,) = _struct_I.unpack(str[start:end])
+          pattern = '<%sd'%length
+          start = end
+          s = struct.Struct(pattern)
+          end += s.size
+          val2.end_point = 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
+          val2.left_control_point = 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
+          val2.right_control_point = s.unpack(str[start:end])
+          val1.bezier_curve_points.append(val2)
+        self.multi_joint_bezier_trajectory.append(val1)
+      _x = self
+      start = end
+      end += 16
+      (_x.start_frame_time, _x.end_frame_time,) = _get_struct_2d().unpack(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', 'rosmsg')
+        else:
+          val1 = str[start:end]
+        self.joint_names.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:
+      length = len(self.multi_joint_bezier_trajectory)
+      buff.write(_struct_I.pack(length))
+      for val1 in self.multi_joint_bezier_trajectory:
+        length = len(val1.bezier_curve_points)
+        buff.write(_struct_I.pack(length))
+        for val2 in val1.bezier_curve_points:
+          length = len(val2.end_point)
+          buff.write(_struct_I.pack(length))
+          pattern = '<%sd'%length
+          buff.write(val2.end_point.tostring())
+          length = len(val2.left_control_point)
+          buff.write(_struct_I.pack(length))
+          pattern = '<%sd'%length
+          buff.write(val2.left_control_point.tostring())
+          length = len(val2.right_control_point)
+          buff.write(_struct_I.pack(length))
+          pattern = '<%sd'%length
+          buff.write(val2.right_control_point.tostring())
+      _x = self
+      buff.write(_get_struct_2d().pack(_x.start_frame_time, _x.end_frame_time))
+      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.Struct('<I%ss'%length).pack(length, val1))
+    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.multi_joint_bezier_trajectory is None:
+        self.multi_joint_bezier_trajectory = None
+      end = 0
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      self.multi_joint_bezier_trajectory = []
+      for i in range(0, length):
+        val1 = kuavo_msgs.msg.jointBezierTrajectory()
+        start = end
+        end += 4
+        (length,) = _struct_I.unpack(str[start:end])
+        val1.bezier_curve_points = []
+        for i in range(0, length):
+          val2 = kuavo_msgs.msg.bezierCurveCubicPoint()
+          start = end
+          end += 4
+          (length,) = _struct_I.unpack(str[start:end])
+          pattern = '<%sd'%length
+          start = end
+          s = struct.Struct(pattern)
+          end += s.size
+          val2.end_point = numpy.frombuffer(str[start:end], dtype=numpy.float64, 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
+          val2.left_control_point = numpy.frombuffer(str[start:end], dtype=numpy.float64, 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
+          val2.right_control_point = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
+          val1.bezier_curve_points.append(val2)
+        self.multi_joint_bezier_trajectory.append(val1)
+      _x = self
+      start = end
+      end += 16
+      (_x.start_frame_time, _x.end_frame_time,) = _get_struct_2d().unpack(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', 'rosmsg')
+        else:
+          val1 = str[start:end]
+        self.joint_names.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_2d = None
+def _get_struct_2d():
+    global _struct_2d
+    if _struct_2d is None:
+        _struct_2d = struct.Struct("<2d")
+    return _struct_2d
+# This Python file uses the following encoding: utf-8
+"""autogenerated by genpy from kuavo_msgs/planArmTrajectoryBezierCurveResponse.msg. Do not edit."""
+import codecs
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+
+class planArmTrajectoryBezierCurveResponse(genpy.Message):
+  _md5sum = "358e233cde0c8a8bcfea4ce193f8fc15"
+  _type = "kuavo_msgs/planArmTrajectoryBezierCurveResponse"
+  _has_header = False  # flag to mark the presence of a Header object
+  _full_text = """bool success
+
+"""
+  __slots__ = ['success']
+  _slot_types = ['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:
+       success
+
+    :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(planArmTrajectoryBezierCurveResponse, self).__init__(*args, **kwds)
+      # message fields cannot be None, assign default values for those that are
+      if self.success is None:
+        self.success = False
+    else:
+      self.success = 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.success
+      buff.write(_get_struct_B().pack(_x))
+    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 += 1
+      (self.success,) = _get_struct_B().unpack(str[start:end])
+      self.success = bool(self.success)
+      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))
+    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 += 1
+      (self.success,) = _get_struct_B().unpack(str[start:end])
+      self.success = bool(self.success)
+      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_B = None
+def _get_struct_B():
+    global _struct_B
+    if _struct_B is None:
+        _struct_B = struct.Struct("<B")
+    return _struct_B
+class planArmTrajectoryBezierCurve(object):
+  _type          = 'kuavo_msgs/planArmTrajectoryBezierCurve'
+  _md5sum = '4dbc940608d7275f775b6fdef47eb369'
+  _request_class  = planArmTrajectoryBezierCurveRequest
+  _response_class = planArmTrajectoryBezierCurveResponse