def from_msg(cls, msg):
joint_state = JointState.from_msg(msg['joint_state'])
multi_dof_joint_state = MultiDOFJointState.from_msg(
msg['multi_dof_joint_state'])
attached_collision_objects = [AttachedCollisionObject.from_msg(
item) for item in msg['attached_collision_objects']]
return cls(joint_state, multi_dof_joint_state, attached_collision_objects, msg['is_diff'])
def __init__(self,
joint_state=None,
multi_dof_joint_state=None,
attached_collision_objects=None,
is_diff=False):
self.joint_state = joint_state if joint_state else JointState()
self.multi_dof_joint_state = multi_dof_joint_state if multi_dof_joint_state else MultiDOFJointState(
)
self.attached_collision_objects = attached_collision_objects if attached_collision_objects else []
self.is_diff = is_diff