00001 """autogenerated by genmsg_py from GenerateGraspRequest.msg. Do not edit."""
00002 import roslib.message
00003 import struct
00004
00005
00006 class GenerateGraspRequest(roslib.message.Message):
00007 _md5sum = "7ffa75655a6721d5c28cbaab0c7b2d37"
00008 _type = "graspit_interface_msgs/GenerateGraspRequest"
00009 _has_header = False
00010 _full_text = """
00011
00012
00013
00014
00015
00016
00017
00018
00019
00020 int32 model_id
00021
00022
00023 float32 energy_low_threshold
00024
00025
00026 float32 energy_high_threshold
00027
00028
00029 bool reject_fingertip_collision
00030
00031
00032 bool request_tabletop
00033
00034
00035 string tabletop_file_name
00036
00037 """
00038 __slots__ = ['model_id','energy_low_threshold','energy_high_threshold','reject_fingertip_collision','request_tabletop','tabletop_file_name']
00039 _slot_types = ['int32','float32','float32','bool','bool','string']
00040
00041 def __init__(self, *args, **kwds):
00042 """
00043 Constructor. Any message fields that are implicitly/explicitly
00044 set to None will be assigned a default value. The recommend
00045 use is keyword arguments as this is more robust to future message
00046 changes. You cannot mix in-order arguments and keyword arguments.
00047
00048 The available fields are:
00049 model_id,energy_low_threshold,energy_high_threshold,reject_fingertip_collision,request_tabletop,tabletop_file_name
00050
00051 @param args: complete set of field values, in .msg order
00052 @param kwds: use keyword arguments corresponding to message field names
00053 to set specific fields.
00054 """
00055 if args or kwds:
00056 super(GenerateGraspRequest, self).__init__(*args, **kwds)
00057
00058 if self.model_id is None:
00059 self.model_id = 0
00060 if self.energy_low_threshold is None:
00061 self.energy_low_threshold = 0.
00062 if self.energy_high_threshold is None:
00063 self.energy_high_threshold = 0.
00064 if self.reject_fingertip_collision is None:
00065 self.reject_fingertip_collision = False
00066 if self.request_tabletop is None:
00067 self.request_tabletop = False
00068 if self.tabletop_file_name is None:
00069 self.tabletop_file_name = ''
00070 else:
00071 self.model_id = 0
00072 self.energy_low_threshold = 0.
00073 self.energy_high_threshold = 0.
00074 self.reject_fingertip_collision = False
00075 self.request_tabletop = False
00076 self.tabletop_file_name = ''
00077
00078 def _get_types(self):
00079 """
00080 internal API method
00081 """
00082 return self._slot_types
00083
00084 def serialize(self, buff):
00085 """
00086 serialize message into buffer
00087 @param buff: buffer
00088 @type buff: StringIO
00089 """
00090 try:
00091 _x = self
00092 buff.write(_struct_i2f2B.pack(_x.model_id, _x.energy_low_threshold, _x.energy_high_threshold, _x.reject_fingertip_collision, _x.request_tabletop))
00093 _x = self.tabletop_file_name
00094 length = len(_x)
00095 buff.write(struct.pack('<I%ss'%length, length, _x))
00096 except struct.error, se: self._check_types(se)
00097 except TypeError, te: self._check_types(te)
00098
00099 def deserialize(self, str):
00100 """
00101 unpack serialized message in str into this message instance
00102 @param str: byte array of serialized message
00103 @type str: str
00104 """
00105 try:
00106 end = 0
00107 _x = self
00108 start = end
00109 end += 14
00110 (_x.model_id, _x.energy_low_threshold, _x.energy_high_threshold, _x.reject_fingertip_collision, _x.request_tabletop,) = _struct_i2f2B.unpack(str[start:end])
00111 self.reject_fingertip_collision = bool(self.reject_fingertip_collision)
00112 self.request_tabletop = bool(self.request_tabletop)
00113 start = end
00114 end += 4
00115 (length,) = _struct_I.unpack(str[start:end])
00116 start = end
00117 end += length
00118 self.tabletop_file_name = str[start:end]
00119 return self
00120 except struct.error, e:
00121 raise roslib.message.DeserializationError(e)
00122
00123
00124 def serialize_numpy(self, buff, numpy):
00125 """
00126 serialize message with numpy array types into buffer
00127 @param buff: buffer
00128 @type buff: StringIO
00129 @param numpy: numpy python module
00130 @type numpy module
00131 """
00132 try:
00133 _x = self
00134 buff.write(_struct_i2f2B.pack(_x.model_id, _x.energy_low_threshold, _x.energy_high_threshold, _x.reject_fingertip_collision, _x.request_tabletop))
00135 _x = self.tabletop_file_name
00136 length = len(_x)
00137 buff.write(struct.pack('<I%ss'%length, length, _x))
00138 except struct.error, se: self._check_types(se)
00139 except TypeError, te: self._check_types(te)
00140
00141 def deserialize_numpy(self, str, numpy):
00142 """
00143 unpack serialized message in str into this message instance using numpy for array types
00144 @param str: byte array of serialized message
00145 @type str: str
00146 @param numpy: numpy python module
00147 @type numpy: module
00148 """
00149 try:
00150 end = 0
00151 _x = self
00152 start = end
00153 end += 14
00154 (_x.model_id, _x.energy_low_threshold, _x.energy_high_threshold, _x.reject_fingertip_collision, _x.request_tabletop,) = _struct_i2f2B.unpack(str[start:end])
00155 self.reject_fingertip_collision = bool(self.reject_fingertip_collision)
00156 self.request_tabletop = bool(self.request_tabletop)
00157 start = end
00158 end += 4
00159 (length,) = _struct_I.unpack(str[start:end])
00160 start = end
00161 end += length
00162 self.tabletop_file_name = str[start:end]
00163 return self
00164 except struct.error, e:
00165 raise roslib.message.DeserializationError(e)
00166
00167 _struct_I = roslib.message.struct_I
00168 _struct_i2f2B = struct.Struct("<i2f2B")
00169 """autogenerated by genmsg_py from GenerateGraspResponse.msg. Do not edit."""
00170 import roslib.message
00171 import struct
00172
00173 import geometry_msgs.msg
00174
00175 class GenerateGraspResponse(roslib.message.Message):
00176 _md5sum = "886c12418c3c95650818d6b3a5f6511b"
00177 _type = "graspit_interface_msgs/GenerateGraspResponse"
00178 _has_header = False
00179 _full_text = """
00180
00181 int32 GENERATE_SUCCESS = 0
00182 int32 GENERATE_FAILURE = 1
00183 int32 result
00184
00185
00186 bool hand_object_collision
00187
00188
00189 geometry_msgs/Pose grasp_pose
00190
00191
00192 float32 grasp_joint_angle
00193
00194
00195 float32 grasp_energy
00196
00197
00198 float64 gripper_tabletop_clearance
00199
00200
00201 float64 gripper_object_distance
00202
00203
00204
00205 ================================================================================
00206 MSG: geometry_msgs/Pose
00207 # A representation of pose in free space, composed of postion and orientation.
00208 Point position
00209 Quaternion orientation
00210
00211 ================================================================================
00212 MSG: geometry_msgs/Point
00213 # This contains the position of a point in free space
00214 float64 x
00215 float64 y
00216 float64 z
00217
00218 ================================================================================
00219 MSG: geometry_msgs/Quaternion
00220 # This represents an orientation in free space in quaternion form.
00221
00222 float64 x
00223 float64 y
00224 float64 z
00225 float64 w
00226
00227 """
00228
00229 GENERATE_SUCCESS = 0
00230 GENERATE_FAILURE = 1
00231
00232 __slots__ = ['result','hand_object_collision','grasp_pose','grasp_joint_angle','grasp_energy','gripper_tabletop_clearance','gripper_object_distance']
00233 _slot_types = ['int32','bool','geometry_msgs/Pose','float32','float32','float64','float64']
00234
00235 def __init__(self, *args, **kwds):
00236 """
00237 Constructor. Any message fields that are implicitly/explicitly
00238 set to None will be assigned a default value. The recommend
00239 use is keyword arguments as this is more robust to future message
00240 changes. You cannot mix in-order arguments and keyword arguments.
00241
00242 The available fields are:
00243 result,hand_object_collision,grasp_pose,grasp_joint_angle,grasp_energy,gripper_tabletop_clearance,gripper_object_distance
00244
00245 @param args: complete set of field values, in .msg order
00246 @param kwds: use keyword arguments corresponding to message field names
00247 to set specific fields.
00248 """
00249 if args or kwds:
00250 super(GenerateGraspResponse, self).__init__(*args, **kwds)
00251
00252 if self.result is None:
00253 self.result = 0
00254 if self.hand_object_collision is None:
00255 self.hand_object_collision = False
00256 if self.grasp_pose is None:
00257 self.grasp_pose = geometry_msgs.msg.Pose()
00258 if self.grasp_joint_angle is None:
00259 self.grasp_joint_angle = 0.
00260 if self.grasp_energy is None:
00261 self.grasp_energy = 0.
00262 if self.gripper_tabletop_clearance is None:
00263 self.gripper_tabletop_clearance = 0.
00264 if self.gripper_object_distance is None:
00265 self.gripper_object_distance = 0.
00266 else:
00267 self.result = 0
00268 self.hand_object_collision = False
00269 self.grasp_pose = geometry_msgs.msg.Pose()
00270 self.grasp_joint_angle = 0.
00271 self.grasp_energy = 0.
00272 self.gripper_tabletop_clearance = 0.
00273 self.gripper_object_distance = 0.
00274
00275 def _get_types(self):
00276 """
00277 internal API method
00278 """
00279 return self._slot_types
00280
00281 def serialize(self, buff):
00282 """
00283 serialize message into buffer
00284 @param buff: buffer
00285 @type buff: StringIO
00286 """
00287 try:
00288 _x = self
00289 buff.write(_struct_iB7d2f2d.pack(_x.result, _x.hand_object_collision, _x.grasp_pose.position.x, _x.grasp_pose.position.y, _x.grasp_pose.position.z, _x.grasp_pose.orientation.x, _x.grasp_pose.orientation.y, _x.grasp_pose.orientation.z, _x.grasp_pose.orientation.w, _x.grasp_joint_angle, _x.grasp_energy, _x.gripper_tabletop_clearance, _x.gripper_object_distance))
00290 except struct.error, se: self._check_types(se)
00291 except TypeError, te: self._check_types(te)
00292
00293 def deserialize(self, str):
00294 """
00295 unpack serialized message in str into this message instance
00296 @param str: byte array of serialized message
00297 @type str: str
00298 """
00299 try:
00300 if self.grasp_pose is None:
00301 self.grasp_pose = geometry_msgs.msg.Pose()
00302 end = 0
00303 _x = self
00304 start = end
00305 end += 85
00306 (_x.result, _x.hand_object_collision, _x.grasp_pose.position.x, _x.grasp_pose.position.y, _x.grasp_pose.position.z, _x.grasp_pose.orientation.x, _x.grasp_pose.orientation.y, _x.grasp_pose.orientation.z, _x.grasp_pose.orientation.w, _x.grasp_joint_angle, _x.grasp_energy, _x.gripper_tabletop_clearance, _x.gripper_object_distance,) = _struct_iB7d2f2d.unpack(str[start:end])
00307 self.hand_object_collision = bool(self.hand_object_collision)
00308 return self
00309 except struct.error, e:
00310 raise roslib.message.DeserializationError(e)
00311
00312
00313 def serialize_numpy(self, buff, numpy):
00314 """
00315 serialize message with numpy array types into buffer
00316 @param buff: buffer
00317 @type buff: StringIO
00318 @param numpy: numpy python module
00319 @type numpy module
00320 """
00321 try:
00322 _x = self
00323 buff.write(_struct_iB7d2f2d.pack(_x.result, _x.hand_object_collision, _x.grasp_pose.position.x, _x.grasp_pose.position.y, _x.grasp_pose.position.z, _x.grasp_pose.orientation.x, _x.grasp_pose.orientation.y, _x.grasp_pose.orientation.z, _x.grasp_pose.orientation.w, _x.grasp_joint_angle, _x.grasp_energy, _x.gripper_tabletop_clearance, _x.gripper_object_distance))
00324 except struct.error, se: self._check_types(se)
00325 except TypeError, te: self._check_types(te)
00326
00327 def deserialize_numpy(self, str, numpy):
00328 """
00329 unpack serialized message in str into this message instance using numpy for array types
00330 @param str: byte array of serialized message
00331 @type str: str
00332 @param numpy: numpy python module
00333 @type numpy: module
00334 """
00335 try:
00336 if self.grasp_pose is None:
00337 self.grasp_pose = geometry_msgs.msg.Pose()
00338 end = 0
00339 _x = self
00340 start = end
00341 end += 85
00342 (_x.result, _x.hand_object_collision, _x.grasp_pose.position.x, _x.grasp_pose.position.y, _x.grasp_pose.position.z, _x.grasp_pose.orientation.x, _x.grasp_pose.orientation.y, _x.grasp_pose.orientation.z, _x.grasp_pose.orientation.w, _x.grasp_joint_angle, _x.grasp_energy, _x.gripper_tabletop_clearance, _x.gripper_object_distance,) = _struct_iB7d2f2d.unpack(str[start:end])
00343 self.hand_object_collision = bool(self.hand_object_collision)
00344 return self
00345 except struct.error, e:
00346 raise roslib.message.DeserializationError(e)
00347
00348 _struct_I = roslib.message.struct_I
00349 _struct_iB7d2f2d = struct.Struct("<iB7d2f2d")
00350 class GenerateGrasp(roslib.message.ServiceDefinition):
00351 _type = 'graspit_interface_msgs/GenerateGrasp'
00352 _md5sum = 'f1c3a9961097a13105ff34e75a3ade6f'
00353 _request_class = GenerateGraspRequest
00354 _response_class = GenerateGraspResponse