77 lines
2.8 KiB
Python
77 lines
2.8 KiB
Python
|
"""LCM type definitions
|
||
|
|
This file automatically generated by lcm.
|
||
|
|
DO NOT MODIFY BY HAND!!!!
|
||
|
|
"""
|
||
|
|
|
||
|
|
from io import BytesIO
|
||
|
|
import struct
|
||
|
|
|
||
|
|
class localization_lcmt(object):
|
||
|
|
__slots__ = ["xyz", "vxyz", "rpy", "omegaBody", "vBody", "timestamp"]
|
||
|
|
|
||
|
|
__typenames__ = ["float", "float", "float", "float", "float", "int64_t"]
|
||
|
|
|
||
|
|
__dimensions__ = [[3], [3], [3], [3], [3], None]
|
||
|
|
|
||
|
|
def __init__(self):
|
||
|
|
self.xyz = [ 0.0 for dim0 in range(3) ] # 三维世界坐标
|
||
|
|
self.vxyz = [ 0.0 for dim0 in range(3) ] # 线速度
|
||
|
|
self.rpy = [ 0.0 for dim0 in range(3) ] # 设备方向
|
||
|
|
self.omegaBody = [ 0.0 for dim0 in range(3) ]
|
||
|
|
self.vBody = [ 0.0 for dim0 in range(3) ]
|
||
|
|
self.timestamp = 0
|
||
|
|
|
||
|
|
def encode(self):
|
||
|
|
buf = BytesIO()
|
||
|
|
buf.write(localization_lcmt._get_packed_fingerprint())
|
||
|
|
self._encode_one(buf)
|
||
|
|
return buf.getvalue()
|
||
|
|
|
||
|
|
def _encode_one(self, buf):
|
||
|
|
buf.write(struct.pack('>3f', *self.xyz[:3]))
|
||
|
|
buf.write(struct.pack('>3f', *self.vxyz[:3]))
|
||
|
|
buf.write(struct.pack('>3f', *self.rpy[:3]))
|
||
|
|
buf.write(struct.pack('>3f', *self.omegaBody[:3]))
|
||
|
|
buf.write(struct.pack('>3f', *self.vBody[:3]))
|
||
|
|
buf.write(struct.pack(">q", self.timestamp))
|
||
|
|
|
||
|
|
def decode(data):
|
||
|
|
if hasattr(data, 'read'):
|
||
|
|
buf = data
|
||
|
|
else:
|
||
|
|
buf = BytesIO(data)
|
||
|
|
if buf.read(8) != localization_lcmt._get_packed_fingerprint():
|
||
|
|
raise ValueError("Decode error")
|
||
|
|
return localization_lcmt._decode_one(buf)
|
||
|
|
decode = staticmethod(decode)
|
||
|
|
|
||
|
|
def _decode_one(buf):
|
||
|
|
self = localization_lcmt()
|
||
|
|
self.xyz = struct.unpack('>3f', buf.read(12))
|
||
|
|
self.vxyz = struct.unpack('>3f', buf.read(12))
|
||
|
|
self.rpy = struct.unpack('>3f', buf.read(12))
|
||
|
|
self.omegaBody = struct.unpack('>3f', buf.read(12))
|
||
|
|
self.vBody = struct.unpack('>3f', buf.read(12))
|
||
|
|
self.timestamp = struct.unpack(">q", buf.read(8))[0]
|
||
|
|
return self
|
||
|
|
_decode_one = staticmethod(_decode_one)
|
||
|
|
|
||
|
|
def _get_hash_recursive(parents):
|
||
|
|
if localization_lcmt in parents: return 0
|
||
|
|
tmphash = (0x7e246f0371a27d89) & 0xffffffffffffffff
|
||
|
|
tmphash = (((tmphash<<1)&0xffffffffffffffff) + (tmphash>>63)) & 0xffffffffffffffff
|
||
|
|
return tmphash
|
||
|
|
_get_hash_recursive = staticmethod(_get_hash_recursive)
|
||
|
|
_packed_fingerprint = None
|
||
|
|
|
||
|
|
def _get_packed_fingerprint():
|
||
|
|
if localization_lcmt._packed_fingerprint is None:
|
||
|
|
localization_lcmt._packed_fingerprint = struct.pack(">Q", localization_lcmt._get_hash_recursive([]))
|
||
|
|
return localization_lcmt._packed_fingerprint
|
||
|
|
_get_packed_fingerprint = staticmethod(_get_packed_fingerprint)
|
||
|
|
|
||
|
|
def get_hash(self):
|
||
|
|
"""Get the LCM hash of the struct"""
|
||
|
|
return struct.unpack(">Q", localization_lcmt._get_packed_fingerprint())[0]
|
||
|
|
|