text: """autogenerated by genpy from quadrotor_msgs/SO3Command.msg. Do not edit."""
  import sys
  python3 = True if sys.hexversion > 0x03000000 else False
  import genpy
  import struct
  
  import geometry_msgs.msg
  import quadrotor_msgs.msg
  import std_msgs.msg
  
  class SO3Command(genpy.Message):
    _md5sum = "a466650b2633e768513aa3bf62383c86"
    _type = "quadrotor_msgs/SO3Command"
    _has_header = True #flag to mark the presence of a Header object
    _full_text = """Header header
  geometry_msgs/Vector3 force
  geometry_msgs/Quaternion orientation
  float64[3] kR
  float64[3] kOm
  quadrotor_msgs/AuxCommand aux
  
  ================================================================================
  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
  # 0: no frame
  # 1: global frame
  string frame_id
  
  ================================================================================
  MSG: geometry_msgs/Vector3
  # This represents a vector 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
  
  ================================================================================
  MSG: quadrotor_msgs/AuxCommand
  float64 current_yaw
  float64 kf_correction
  float64[2] angle_corrections# Trims for roll, pitch
  bool enable_motors
  bool use_external_yaw
  
  """
    __slots__ = ['header','force','orientation','kR','kOm','aux']
    _slot_types = ['std_msgs/Header','geometry_msgs/Vector3','geometry_msgs/Quaternion','float64[3]','float64[3]','quadrotor_msgs/AuxCommand']
  
    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:
         header,force,orientation,kR,kOm,aux
  
      :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(SO3Command, self).__init__(*args, **kwds)
        #message fields cannot be None, assign default values for those that are
        if self.header is None:
          self.header = std_msgs.msg.Header()
        if self.force is None:
          self.force = geometry_msgs.msg.Vector3()
        if self.orientation is None:
          self.orientation = geometry_msgs.msg.Quaternion()
        if self.kR is None:
          self.kR = [0.,0.,0.]
        if self.kOm is None:
          self.kOm = [0.,0.,0.]
        if self.aux is None:
          self.aux = quadrotor_msgs.msg.AuxCommand()
      else:
        self.header = std_msgs.msg.Header()
        self.force = geometry_msgs.msg.Vector3()
        self.orientation = geometry_msgs.msg.Quaternion()
        self.kR = [0.,0.,0.]
        self.kOm = [0.,0.,0.]
        self.aux = quadrotor_msgs.msg.AuxCommand()
  
    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
        buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
        _x = self.header.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        if python3:
          buff.write(struct.pack('<I%sB'%length, length, *_x))
        else:
          buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = self
        buff.write(_struct_7d.pack(_x.force.x, _x.force.y, _x.force.z, _x.orientation.x, _x.orientation.y, _x.orientation.z, _x.orientation.w))
        buff.write(_struct_3d.pack(*self.kR))
        buff.write(_struct_3d.pack(*self.kOm))
        _x = self
        buff.write(_struct_2d.pack(_x.aux.current_yaw, _x.aux.kf_correction))
        buff.write(_struct_2d.pack(*self.aux.angle_corrections))
        _x = self
        buff.write(_struct_2B.pack(_x.aux.enable_motors, _x.aux.use_external_yaw))
      except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
      except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))
  
    def deserialize(self, str):
      """
      unpack serialized message in str into this message instance
      :param str: byte array of serialized message, ``str``
      """
      try:
        if self.header is None:
          self.header = std_msgs.msg.Header()
        if self.force is None:
          self.force = geometry_msgs.msg.Vector3()
        if self.orientation is None:
          self.orientation = geometry_msgs.msg.Quaternion()
        if self.aux is None:
          self.aux = quadrotor_msgs.msg.AuxCommand()
        end = 0
        _x = self
        start = end
        end += 12
        (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          self.header.frame_id = str[start:end].decode('utf-8')
        else:
          self.header.frame_id = str[start:end]
        _x = self
        start = end
        end += 56
        (_x.force.x, _x.force.y, _x.force.z, _x.orientation.x, _x.orientation.y, _x.orientation.z, _x.orientation.w,) = _struct_7d.unpack(str[start:end])
        start = end
        end += 24
        self.kR = _struct_3d.unpack(str[start:end])
        start = end
        end += 24
        self.kOm = _struct_3d.unpack(str[start:end])
        _x = self
        start = end
        end += 16
        (_x.aux.current_yaw, _x.aux.kf_correction,) = _struct_2d.unpack(str[start:end])
        start = end
        end += 16
        self.aux.angle_corrections = _struct_2d.unpack(str[start:end])
        _x = self
        start = end
        end += 2
        (_x.aux.enable_motors, _x.aux.use_external_yaw,) = _struct_2B.unpack(str[start:end])
        self.aux.enable_motors = bool(self.aux.enable_motors)
        self.aux.use_external_yaw = bool(self.aux.use_external_yaw)
        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
        buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
        _x = self.header.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        if python3:
          buff.write(struct.pack('<I%sB'%length, length, *_x))
        else:
          buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = self
        buff.write(_struct_7d.pack(_x.force.x, _x.force.y, _x.force.z, _x.orientation.x, _x.orientation.y, _x.orientation.z, _x.orientation.w))
        buff.write(self.kR.tostring())
        buff.write(self.kOm.tostring())
        _x = self
        buff.write(_struct_2d.pack(_x.aux.current_yaw, _x.aux.kf_correction))
        buff.write(self.aux.angle_corrections.tostring())
        _x = self
        buff.write(_struct_2B.pack(_x.aux.enable_motors, _x.aux.use_external_yaw))
      except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
      except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))
  
    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
      """
      try:
        if self.header is None:
          self.header = std_msgs.msg.Header()
        if self.force is None:
          self.force = geometry_msgs.msg.Vector3()
        if self.orientation is None:
          self.orientation = geometry_msgs.msg.Quaternion()
        if self.aux is None:
          self.aux = quadrotor_msgs.msg.AuxCommand()
        end = 0
        _x = self
        start = end
        end += 12
        (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          self.header.frame_id = str[start:end].decode('utf-8')
        else:
          self.header.frame_id = str[start:end]
        _x = self
        start = end
        end += 56
        (_x.force.x, _x.force.y, _x.force.z, _x.orientation.x, _x.orientation.y, _x.orientation.z, _x.orientation.w,) = _struct_7d.unpack(str[start:end])
        start = end
        end += 24
        self.kR = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=3)
        start = end
        end += 24
        self.kOm = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=3)
        _x = self
        start = end
        end += 16
        (_x.aux.current_yaw, _x.aux.kf_correction,) = _struct_2d.unpack(str[start:end])
        start = end
        end += 16
        self.aux.angle_corrections = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=2)
        _x = self
        start = end
        end += 2
        (_x.aux.enable_motors, _x.aux.use_external_yaw,) = _struct_2B.unpack(str[start:end])
        self.aux.enable_motors = bool(self.aux.enable_motors)
        self.aux.use_external_yaw = bool(self.aux.use_external_yaw)
        return self
      except struct.error as e:
        raise genpy.DeserializationError(e) #most likely buffer underfill
  
  _struct_I = genpy.struct_I
  _struct_2d = struct.Struct("<2d")
  _struct_3I = struct.Struct("<3I")
  _struct_7d = struct.Struct("<7d")
  _struct_2B = struct.Struct("<2B")
  _struct_3d = struct.Struct("<3d")
  