"""LCM type definitions This file automatically generated by lcm. DO NOT MODIFY BY HAND!!!! """ """ surface_pose_t.lcm Copyright 2019 MBARI """ from io import BytesIO import struct class surface_pose_t(object): __slots__ = ["CrossTrackDistance", "RangeDistance", "pseudoRangeTarget", "NormalRange", "SurveyHeading", "SurveyCS_SeqNum", "VehicleHeading", "PathPitchRelGravity", "TargetFramePitchRelGravity", "TargetFramePitchRelVehicle", "pVi", "pAi", "pVb", "pAb", "wLwi", "wLwb", "wLws", "sLsi", "sLsb", "bLbf", "wRp", "wRi", "wRb", "wRs", "bRf"] __typenames__ = ["double", "double", "double", "double", "double", "int32_t", "double", "double", "double", "double", "double", "double", "double", "double", "double", "double", "double", "double", "double", "double", "double", "double", "double", "double", "double"] __dimensions__ = [None, None, None, None, None, None, None, None, None, None, [3], [3], [3], [3], [3], [3], [3], [3], [3], [3], [3, 3], [3, 3], [3, 3], [3, 3], [3, 3]] def __init__(self): self.CrossTrackDistance = 0.0 """ LCM Type: double """ self.RangeDistance = 0.0 """ Crosstrack distance of instrument from survey plane. (in direction of wRp[][1]) LCM Type: double """ self.pseudoRangeTarget = 0.0 """ Measured range. Distance from instrument to tangent plane, in direction of wRp[][2]) LCM Type: double """ self.NormalRange = 0.0 """ pseudo range target. Range target, per unit of desired normal distance. i.e For 3m stand-off, multiply pRangeTarget by 3m and compare to RangeDistance LCM Type: double """ self.SurveyHeading = 0.0 """ Normal Range, Distance from instrument to closest point of the tangent plane. LCM Type: double """ self.SurveyCS_SeqNum = 0 """ Survey line direction in degrees, specified by user LCM Type: int32_t """ self.VehicleHeading = 0.0 """ Survey coordinate sequence number, changes when heading or lat/lon is updated. LCM Type: double """ self.PathPitchRelGravity = 0.0 """ Vehicle heading relative to north in degrees. (0-360 degrees) LCM Type: double """ self.TargetFramePitchRelGravity = 0.0 """ Pitch of Path along track relative to gravity (-180->180 degrees) LCM Type: double """ self.TargetFramePitchRelVehicle = 0.0 """ Target Frame Pitch Relative to gravity (-180-180) LCM Type: double """ self.pVi = [ 0.0 for dim0 in range(3) ] """ Target Frame Pitch Relative to vehicle (-180-180) LCM Type: double[3] """ self.pAi = [ 0.0 for dim0 in range(3) ] """ Velocity of instrument in path coordinate system. pVi[0] is the measured along-track speed in direction of wRp[][0] LCM Type: double[3] """ self.pVb = [ 0.0 for dim0 in range(3) ] """ Accel of instrument in path coordinate system. pAi[0] is the measured along-track accel in direction of wRp[][0] LCM Type: double[3] """ self.pAb = [ 0.0 for dim0 in range(3) ] """ Velocity of vehicle in path coordinate system. pVb[0] is the measured along-track speed in direction of wRp[][0] LCM Type: double[3] """ self.wLwi = [ 0.0 for dim0 in range(3) ] """ Accel of vehicle in path coordinate system. pAb[0] is the measured along-track accel in direction of wRp[][0] LCM Type: double[3] """ self.wLwb = [ 0.0 for dim0 in range(3) ] """ Position of instrument in world coordinates LCM Type: double[3] """ self.wLws = [ 0.0 for dim0 in range(3) ] """ Location of vehicle body origin in world coordinates. LCM Type: double[3] """ self.sLsi = [ 0.0 for dim0 in range(3) ] """ Location of survey CS origin in world coordinates. LCM Type: double[3] """ self.sLsb = [ 0.0 for dim0 in range(3) ] """ Position of instrument in survey coordinates LCM Type: double[3] """ self.bLbf = [ 0.0 for dim0 in range(3) ] """ Position of ROV in survey coordinates LCM Type: double[3] """ self.wRp = [ [ 0.0 for dim1 in range(3) ] for dim0 in range(3) ] """ Position of Frame in body coordinates LCM Type: double[3][3] """ self.wRi = [ [ 0.0 for dim1 in range(3) ] for dim0 in range(3) ] """ Rotation from Path to World. i.e. Path basis vectors written in world frame. LCM Type: double[3][3] """ self.wRb = [ [ 0.0 for dim1 in range(3) ] for dim0 in range(3) ] """ Orientation of instrument in world coordinates, Reported as RPY by kearfott LCM Type: double[3][3] """ self.wRs = [ [ 0.0 for dim1 in range(3) ] for dim0 in range(3) ] """ Orientation of body (ROV) in world coordinates LCM Type: double[3][3] """ self.bRf = [ [ 0.0 for dim1 in range(3) ] for dim0 in range(3) ] """ Rotation from Survey to World coordinate sysetem. LCM Type: double[3][3] """ def encode(self): buf = BytesIO() buf.write(surface_pose_t._get_packed_fingerprint()) self._encode_one(buf) return buf.getvalue() def _encode_one(self, buf): buf.write(struct.pack(">dddddidddd", self.CrossTrackDistance, self.RangeDistance, self.pseudoRangeTarget, self.NormalRange, self.SurveyHeading, self.SurveyCS_SeqNum, self.VehicleHeading, self.PathPitchRelGravity, self.TargetFramePitchRelGravity, self.TargetFramePitchRelVehicle)) buf.write(struct.pack('>3d', *self.pVi[:3])) buf.write(struct.pack('>3d', *self.pAi[:3])) buf.write(struct.pack('>3d', *self.pVb[:3])) buf.write(struct.pack('>3d', *self.pAb[:3])) buf.write(struct.pack('>3d', *self.wLwi[:3])) buf.write(struct.pack('>3d', *self.wLwb[:3])) buf.write(struct.pack('>3d', *self.wLws[:3])) buf.write(struct.pack('>3d', *self.sLsi[:3])) buf.write(struct.pack('>3d', *self.sLsb[:3])) buf.write(struct.pack('>3d', *self.bLbf[:3])) for i0 in range(3): buf.write(struct.pack('>3d', *self.wRp[i0][:3])) for i0 in range(3): buf.write(struct.pack('>3d', *self.wRi[i0][:3])) for i0 in range(3): buf.write(struct.pack('>3d', *self.wRb[i0][:3])) for i0 in range(3): buf.write(struct.pack('>3d', *self.wRs[i0][:3])) for i0 in range(3): buf.write(struct.pack('>3d', *self.bRf[i0][:3])) @staticmethod def decode(data: bytes): if hasattr(data, 'read'): buf = data else: buf = BytesIO(data) if buf.read(8) != surface_pose_t._get_packed_fingerprint(): raise ValueError("Decode error") return surface_pose_t._decode_one(buf) @staticmethod def _decode_one(buf): self = surface_pose_t() self.CrossTrackDistance, self.RangeDistance, self.pseudoRangeTarget, self.NormalRange, self.SurveyHeading, self.SurveyCS_SeqNum, self.VehicleHeading, self.PathPitchRelGravity, self.TargetFramePitchRelGravity, self.TargetFramePitchRelVehicle = struct.unpack(">dddddidddd", buf.read(76)) self.pVi = struct.unpack('>3d', buf.read(24)) self.pAi = struct.unpack('>3d', buf.read(24)) self.pVb = struct.unpack('>3d', buf.read(24)) self.pAb = struct.unpack('>3d', buf.read(24)) self.wLwi = struct.unpack('>3d', buf.read(24)) self.wLwb = struct.unpack('>3d', buf.read(24)) self.wLws = struct.unpack('>3d', buf.read(24)) self.sLsi = struct.unpack('>3d', buf.read(24)) self.sLsb = struct.unpack('>3d', buf.read(24)) self.bLbf = struct.unpack('>3d', buf.read(24)) self.wRp = [] for i0 in range(3): self.wRp.append(struct.unpack('>3d', buf.read(24))) self.wRi = [] for i0 in range(3): self.wRi.append(struct.unpack('>3d', buf.read(24))) self.wRb = [] for i0 in range(3): self.wRb.append(struct.unpack('>3d', buf.read(24))) self.wRs = [] for i0 in range(3): self.wRs.append(struct.unpack('>3d', buf.read(24))) self.bRf = [] for i0 in range(3): self.bRf.append(struct.unpack('>3d', buf.read(24))) return self @staticmethod def _get_hash_recursive(parents): if surface_pose_t in parents: return 0 tmphash = (0x14a71bc4e96a3f9f) & 0xffffffffffffffff tmphash = (((tmphash<<1)&0xffffffffffffffff) + (tmphash>>63)) & 0xffffffffffffffff return tmphash _packed_fingerprint = None @staticmethod def _get_packed_fingerprint(): if surface_pose_t._packed_fingerprint is None: surface_pose_t._packed_fingerprint = struct.pack(">Q", surface_pose_t._get_hash_recursive([])) return surface_pose_t._packed_fingerprint def get_hash(self): """Get the LCM hash of the struct""" return struct.unpack(">Q", surface_pose_t._get_packed_fingerprint())[0]