# This Python file uses the following encoding: utf-8
"""autogenerated by genpy from uavpos_ros/or_pose_estimator_state.msg. Do not edit."""
import codecs
import sys
python3 = True if sys.hexversion > 0x03000000 else False
import genpy
import struct

import uavpos_ros.msg

class or_pose_estimator_state(genpy.Message):
  _md5sum = "aeb1fb61729c34c3f1a7169833cbcac6"
  _type = "uavpos_ros/or_pose_estimator_state"
  _has_header = False  # flag to mark the presence of a Header object
  _full_text = """# IDL struct ::or_pose_estimator::state
or_time_ts ts
bool intrinsic
or_t3d_pos[] pos
or_t3d_att[] att
or_t3d_vel[] vel
or_t3d_avel[] avel
or_t3d_acc[] acc
or_t3d_aacc[] aacc
or_t3d_pos_cov[] pos_cov
or_t3d_att_cov[] att_cov
or_t3d_att_pos_cov[] att_pos_cov
or_t3d_vel_cov[] vel_cov
or_t3d_avel_cov[] avel_cov
or_t3d_acc_cov[] acc_cov
or_t3d_aacc_cov[] aacc_cov

================================================================================
MSG: uavpos_ros/or_time_ts
# IDL struct ::or::time::ts
int32 sec
int32 nsec

================================================================================
MSG: uavpos_ros/or_t3d_pos
# IDL struct ::or::t3d::pos
float64 x
float64 y
float64 z

================================================================================
MSG: uavpos_ros/or_t3d_att
# IDL struct ::or::t3d::att
float64 qw
float64 qx
float64 qy
float64 qz

================================================================================
MSG: uavpos_ros/or_t3d_vel
# IDL struct ::or::t3d::vel
float64 vx
float64 vy
float64 vz

================================================================================
MSG: uavpos_ros/or_t3d_avel
# IDL struct ::or::t3d::avel
float64 wx
float64 wy
float64 wz

================================================================================
MSG: uavpos_ros/or_t3d_acc
# IDL struct ::or::t3d::acc
float64 ax
float64 ay
float64 az

================================================================================
MSG: uavpos_ros/or_t3d_aacc
# IDL struct ::or::t3d::aacc
float64 awx
float64 awy
float64 awz

================================================================================
MSG: uavpos_ros/or_t3d_pos_cov
# IDL struct ::or::t3d::pos_cov
float64[6] cov

================================================================================
MSG: uavpos_ros/or_t3d_att_cov
# IDL struct ::or::t3d::att_cov
float64[10] cov

================================================================================
MSG: uavpos_ros/or_t3d_att_pos_cov
# IDL struct ::or::t3d::att_pos_cov
float64[12] cov

================================================================================
MSG: uavpos_ros/or_t3d_vel_cov
# IDL struct ::or::t3d::vel_cov
float64[6] cov

================================================================================
MSG: uavpos_ros/or_t3d_avel_cov
# IDL struct ::or::t3d::avel_cov
float64[6] cov

================================================================================
MSG: uavpos_ros/or_t3d_acc_cov
# IDL struct ::or::t3d::acc_cov
float64[6] cov

================================================================================
MSG: uavpos_ros/or_t3d_aacc_cov
# IDL struct ::or::t3d::aacc_cov
float64[6] cov
"""
  __slots__ = ['ts','intrinsic','pos','att','vel','avel','acc','aacc','pos_cov','att_cov','att_pos_cov','vel_cov','avel_cov','acc_cov','aacc_cov']
  _slot_types = ['uavpos_ros/or_time_ts','bool','uavpos_ros/or_t3d_pos[]','uavpos_ros/or_t3d_att[]','uavpos_ros/or_t3d_vel[]','uavpos_ros/or_t3d_avel[]','uavpos_ros/or_t3d_acc[]','uavpos_ros/or_t3d_aacc[]','uavpos_ros/or_t3d_pos_cov[]','uavpos_ros/or_t3d_att_cov[]','uavpos_ros/or_t3d_att_pos_cov[]','uavpos_ros/or_t3d_vel_cov[]','uavpos_ros/or_t3d_avel_cov[]','uavpos_ros/or_t3d_acc_cov[]','uavpos_ros/or_t3d_aacc_cov[]']

  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:
       ts,intrinsic,pos,att,vel,avel,acc,aacc,pos_cov,att_cov,att_pos_cov,vel_cov,avel_cov,acc_cov,aacc_cov

    :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(or_pose_estimator_state, self).__init__(*args, **kwds)
      # message fields cannot be None, assign default values for those that are
      if self.ts is None:
        self.ts = uavpos_ros.msg.or_time_ts()
      if self.intrinsic is None:
        self.intrinsic = False
      if self.pos is None:
        self.pos = []
      if self.att is None:
        self.att = []
      if self.vel is None:
        self.vel = []
      if self.avel is None:
        self.avel = []
      if self.acc is None:
        self.acc = []
      if self.aacc is None:
        self.aacc = []
      if self.pos_cov is None:
        self.pos_cov = []
      if self.att_cov is None:
        self.att_cov = []
      if self.att_pos_cov is None:
        self.att_pos_cov = []
      if self.vel_cov is None:
        self.vel_cov = []
      if self.avel_cov is None:
        self.avel_cov = []
      if self.acc_cov is None:
        self.acc_cov = []
      if self.aacc_cov is None:
        self.aacc_cov = []
    else:
      self.ts = uavpos_ros.msg.or_time_ts()
      self.intrinsic = False
      self.pos = []
      self.att = []
      self.vel = []
      self.avel = []
      self.acc = []
      self.aacc = []
      self.pos_cov = []
      self.att_cov = []
      self.att_pos_cov = []
      self.vel_cov = []
      self.avel_cov = []
      self.acc_cov = []
      self.aacc_cov = []

  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(_get_struct_2iB().pack(_x.ts.sec, _x.ts.nsec, _x.intrinsic))
      length = len(self.pos)
      buff.write(_struct_I.pack(length))
      for val1 in self.pos:
        _x = val1
        buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
      length = len(self.att)
      buff.write(_struct_I.pack(length))
      for val1 in self.att:
        _x = val1
        buff.write(_get_struct_4d().pack(_x.qw, _x.qx, _x.qy, _x.qz))
      length = len(self.vel)
      buff.write(_struct_I.pack(length))
      for val1 in self.vel:
        _x = val1
        buff.write(_get_struct_3d().pack(_x.vx, _x.vy, _x.vz))
      length = len(self.avel)
      buff.write(_struct_I.pack(length))
      for val1 in self.avel:
        _x = val1
        buff.write(_get_struct_3d().pack(_x.wx, _x.wy, _x.wz))
      length = len(self.acc)
      buff.write(_struct_I.pack(length))
      for val1 in self.acc:
        _x = val1
        buff.write(_get_struct_3d().pack(_x.ax, _x.ay, _x.az))
      length = len(self.aacc)
      buff.write(_struct_I.pack(length))
      for val1 in self.aacc:
        _x = val1
        buff.write(_get_struct_3d().pack(_x.awx, _x.awy, _x.awz))
      length = len(self.pos_cov)
      buff.write(_struct_I.pack(length))
      for val1 in self.pos_cov:
        buff.write(_get_struct_6d().pack(*val1.cov))
      length = len(self.att_cov)
      buff.write(_struct_I.pack(length))
      for val1 in self.att_cov:
        buff.write(_get_struct_10d().pack(*val1.cov))
      length = len(self.att_pos_cov)
      buff.write(_struct_I.pack(length))
      for val1 in self.att_pos_cov:
        buff.write(_get_struct_12d().pack(*val1.cov))
      length = len(self.vel_cov)
      buff.write(_struct_I.pack(length))
      for val1 in self.vel_cov:
        buff.write(_get_struct_6d().pack(*val1.cov))
      length = len(self.avel_cov)
      buff.write(_struct_I.pack(length))
      for val1 in self.avel_cov:
        buff.write(_get_struct_6d().pack(*val1.cov))
      length = len(self.acc_cov)
      buff.write(_struct_I.pack(length))
      for val1 in self.acc_cov:
        buff.write(_get_struct_6d().pack(*val1.cov))
      length = len(self.aacc_cov)
      buff.write(_struct_I.pack(length))
      for val1 in self.aacc_cov:
        buff.write(_get_struct_6d().pack(*val1.cov))
    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.ts is None:
        self.ts = uavpos_ros.msg.or_time_ts()
      if self.pos is None:
        self.pos = None
      if self.att is None:
        self.att = None
      if self.vel is None:
        self.vel = None
      if self.avel is None:
        self.avel = None
      if self.acc is None:
        self.acc = None
      if self.aacc is None:
        self.aacc = None
      if self.pos_cov is None:
        self.pos_cov = None
      if self.att_cov is None:
        self.att_cov = None
      if self.att_pos_cov is None:
        self.att_pos_cov = None
      if self.vel_cov is None:
        self.vel_cov = None
      if self.avel_cov is None:
        self.avel_cov = None
      if self.acc_cov is None:
        self.acc_cov = None
      if self.aacc_cov is None:
        self.aacc_cov = None
      end = 0
      _x = self
      start = end
      end += 9
      (_x.ts.sec, _x.ts.nsec, _x.intrinsic,) = _get_struct_2iB().unpack(str[start:end])
      self.intrinsic = bool(self.intrinsic)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.pos = []
      for i in range(0, length):
        val1 = uavpos_ros.msg.or_t3d_pos()
        _x = val1
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
        self.pos.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.att = []
      for i in range(0, length):
        val1 = uavpos_ros.msg.or_t3d_att()
        _x = val1
        start = end
        end += 32
        (_x.qw, _x.qx, _x.qy, _x.qz,) = _get_struct_4d().unpack(str[start:end])
        self.att.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.vel = []
      for i in range(0, length):
        val1 = uavpos_ros.msg.or_t3d_vel()
        _x = val1
        start = end
        end += 24
        (_x.vx, _x.vy, _x.vz,) = _get_struct_3d().unpack(str[start:end])
        self.vel.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.avel = []
      for i in range(0, length):
        val1 = uavpos_ros.msg.or_t3d_avel()
        _x = val1
        start = end
        end += 24
        (_x.wx, _x.wy, _x.wz,) = _get_struct_3d().unpack(str[start:end])
        self.avel.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.acc = []
      for i in range(0, length):
        val1 = uavpos_ros.msg.or_t3d_acc()
        _x = val1
        start = end
        end += 24
        (_x.ax, _x.ay, _x.az,) = _get_struct_3d().unpack(str[start:end])
        self.acc.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.aacc = []
      for i in range(0, length):
        val1 = uavpos_ros.msg.or_t3d_aacc()
        _x = val1
        start = end
        end += 24
        (_x.awx, _x.awy, _x.awz,) = _get_struct_3d().unpack(str[start:end])
        self.aacc.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.pos_cov = []
      for i in range(0, length):
        val1 = uavpos_ros.msg.or_t3d_pos_cov()
        start = end
        end += 48
        val1.cov = _get_struct_6d().unpack(str[start:end])
        self.pos_cov.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.att_cov = []
      for i in range(0, length):
        val1 = uavpos_ros.msg.or_t3d_att_cov()
        start = end
        end += 80
        val1.cov = _get_struct_10d().unpack(str[start:end])
        self.att_cov.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.att_pos_cov = []
      for i in range(0, length):
        val1 = uavpos_ros.msg.or_t3d_att_pos_cov()
        start = end
        end += 96
        val1.cov = _get_struct_12d().unpack(str[start:end])
        self.att_pos_cov.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.vel_cov = []
      for i in range(0, length):
        val1 = uavpos_ros.msg.or_t3d_vel_cov()
        start = end
        end += 48
        val1.cov = _get_struct_6d().unpack(str[start:end])
        self.vel_cov.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.avel_cov = []
      for i in range(0, length):
        val1 = uavpos_ros.msg.or_t3d_avel_cov()
        start = end
        end += 48
        val1.cov = _get_struct_6d().unpack(str[start:end])
        self.avel_cov.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.acc_cov = []
      for i in range(0, length):
        val1 = uavpos_ros.msg.or_t3d_acc_cov()
        start = end
        end += 48
        val1.cov = _get_struct_6d().unpack(str[start:end])
        self.acc_cov.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.aacc_cov = []
      for i in range(0, length):
        val1 = uavpos_ros.msg.or_t3d_aacc_cov()
        start = end
        end += 48
        val1.cov = _get_struct_6d().unpack(str[start:end])
        self.aacc_cov.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:
      _x = self
      buff.write(_get_struct_2iB().pack(_x.ts.sec, _x.ts.nsec, _x.intrinsic))
      length = len(self.pos)
      buff.write(_struct_I.pack(length))
      for val1 in self.pos:
        _x = val1
        buff.write(_get_struct_3d().pack(_x.x, _x.y, _x.z))
      length = len(self.att)
      buff.write(_struct_I.pack(length))
      for val1 in self.att:
        _x = val1
        buff.write(_get_struct_4d().pack(_x.qw, _x.qx, _x.qy, _x.qz))
      length = len(self.vel)
      buff.write(_struct_I.pack(length))
      for val1 in self.vel:
        _x = val1
        buff.write(_get_struct_3d().pack(_x.vx, _x.vy, _x.vz))
      length = len(self.avel)
      buff.write(_struct_I.pack(length))
      for val1 in self.avel:
        _x = val1
        buff.write(_get_struct_3d().pack(_x.wx, _x.wy, _x.wz))
      length = len(self.acc)
      buff.write(_struct_I.pack(length))
      for val1 in self.acc:
        _x = val1
        buff.write(_get_struct_3d().pack(_x.ax, _x.ay, _x.az))
      length = len(self.aacc)
      buff.write(_struct_I.pack(length))
      for val1 in self.aacc:
        _x = val1
        buff.write(_get_struct_3d().pack(_x.awx, _x.awy, _x.awz))
      length = len(self.pos_cov)
      buff.write(_struct_I.pack(length))
      for val1 in self.pos_cov:
        buff.write(val1.cov.tostring())
      length = len(self.att_cov)
      buff.write(_struct_I.pack(length))
      for val1 in self.att_cov:
        buff.write(val1.cov.tostring())
      length = len(self.att_pos_cov)
      buff.write(_struct_I.pack(length))
      for val1 in self.att_pos_cov:
        buff.write(val1.cov.tostring())
      length = len(self.vel_cov)
      buff.write(_struct_I.pack(length))
      for val1 in self.vel_cov:
        buff.write(val1.cov.tostring())
      length = len(self.avel_cov)
      buff.write(_struct_I.pack(length))
      for val1 in self.avel_cov:
        buff.write(val1.cov.tostring())
      length = len(self.acc_cov)
      buff.write(_struct_I.pack(length))
      for val1 in self.acc_cov:
        buff.write(val1.cov.tostring())
      length = len(self.aacc_cov)
      buff.write(_struct_I.pack(length))
      for val1 in self.aacc_cov:
        buff.write(val1.cov.tostring())
    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.ts is None:
        self.ts = uavpos_ros.msg.or_time_ts()
      if self.pos is None:
        self.pos = None
      if self.att is None:
        self.att = None
      if self.vel is None:
        self.vel = None
      if self.avel is None:
        self.avel = None
      if self.acc is None:
        self.acc = None
      if self.aacc is None:
        self.aacc = None
      if self.pos_cov is None:
        self.pos_cov = None
      if self.att_cov is None:
        self.att_cov = None
      if self.att_pos_cov is None:
        self.att_pos_cov = None
      if self.vel_cov is None:
        self.vel_cov = None
      if self.avel_cov is None:
        self.avel_cov = None
      if self.acc_cov is None:
        self.acc_cov = None
      if self.aacc_cov is None:
        self.aacc_cov = None
      end = 0
      _x = self
      start = end
      end += 9
      (_x.ts.sec, _x.ts.nsec, _x.intrinsic,) = _get_struct_2iB().unpack(str[start:end])
      self.intrinsic = bool(self.intrinsic)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.pos = []
      for i in range(0, length):
        val1 = uavpos_ros.msg.or_t3d_pos()
        _x = val1
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _get_struct_3d().unpack(str[start:end])
        self.pos.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.att = []
      for i in range(0, length):
        val1 = uavpos_ros.msg.or_t3d_att()
        _x = val1
        start = end
        end += 32
        (_x.qw, _x.qx, _x.qy, _x.qz,) = _get_struct_4d().unpack(str[start:end])
        self.att.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.vel = []
      for i in range(0, length):
        val1 = uavpos_ros.msg.or_t3d_vel()
        _x = val1
        start = end
        end += 24
        (_x.vx, _x.vy, _x.vz,) = _get_struct_3d().unpack(str[start:end])
        self.vel.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.avel = []
      for i in range(0, length):
        val1 = uavpos_ros.msg.or_t3d_avel()
        _x = val1
        start = end
        end += 24
        (_x.wx, _x.wy, _x.wz,) = _get_struct_3d().unpack(str[start:end])
        self.avel.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.acc = []
      for i in range(0, length):
        val1 = uavpos_ros.msg.or_t3d_acc()
        _x = val1
        start = end
        end += 24
        (_x.ax, _x.ay, _x.az,) = _get_struct_3d().unpack(str[start:end])
        self.acc.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.aacc = []
      for i in range(0, length):
        val1 = uavpos_ros.msg.or_t3d_aacc()
        _x = val1
        start = end
        end += 24
        (_x.awx, _x.awy, _x.awz,) = _get_struct_3d().unpack(str[start:end])
        self.aacc.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.pos_cov = []
      for i in range(0, length):
        val1 = uavpos_ros.msg.or_t3d_pos_cov()
        start = end
        end += 48
        val1.cov = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=6)
        self.pos_cov.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.att_cov = []
      for i in range(0, length):
        val1 = uavpos_ros.msg.or_t3d_att_cov()
        start = end
        end += 80
        val1.cov = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=10)
        self.att_cov.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.att_pos_cov = []
      for i in range(0, length):
        val1 = uavpos_ros.msg.or_t3d_att_pos_cov()
        start = end
        end += 96
        val1.cov = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=12)
        self.att_pos_cov.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.vel_cov = []
      for i in range(0, length):
        val1 = uavpos_ros.msg.or_t3d_vel_cov()
        start = end
        end += 48
        val1.cov = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=6)
        self.vel_cov.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.avel_cov = []
      for i in range(0, length):
        val1 = uavpos_ros.msg.or_t3d_avel_cov()
        start = end
        end += 48
        val1.cov = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=6)
        self.avel_cov.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.acc_cov = []
      for i in range(0, length):
        val1 = uavpos_ros.msg.or_t3d_acc_cov()
        start = end
        end += 48
        val1.cov = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=6)
        self.acc_cov.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.aacc_cov = []
      for i in range(0, length):
        val1 = uavpos_ros.msg.or_t3d_aacc_cov()
        start = end
        end += 48
        val1.cov = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=6)
        self.aacc_cov.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_10d = None
def _get_struct_10d():
    global _struct_10d
    if _struct_10d is None:
        _struct_10d = struct.Struct("<10d")
    return _struct_10d
_struct_12d = None
def _get_struct_12d():
    global _struct_12d
    if _struct_12d is None:
        _struct_12d = struct.Struct("<12d")
    return _struct_12d
_struct_2iB = None
def _get_struct_2iB():
    global _struct_2iB
    if _struct_2iB is None:
        _struct_2iB = struct.Struct("<2iB")
    return _struct_2iB
_struct_3d = None
def _get_struct_3d():
    global _struct_3d
    if _struct_3d is None:
        _struct_3d = struct.Struct("<3d")
    return _struct_3d
_struct_4d = None
def _get_struct_4d():
    global _struct_4d
    if _struct_4d is None:
        _struct_4d = struct.Struct("<4d")
    return _struct_4d
_struct_6d = None
def _get_struct_6d():
    global _struct_6d
    if _struct_6d is None:
        _struct_6d = struct.Struct("<6d")
    return _struct_6d
