00001 """autogenerated by genmsg_py from ArmHandActionGoal.msg. Do not edit."""
00002 import roslib.message
00003 import struct
00004
00005 import cogman_msgs.msg
00006 import geometry_msgs.msg
00007 import roslib.rostime
00008 import actionlib_msgs.msg
00009 import std_msgs.msg
00010
00011 class ArmHandActionGoal(roslib.message.Message):
00012 _md5sum = "67892e60a5b18d39d45d5d9aff6688ae"
00013 _type = "cogman_msgs/ArmHandActionGoal"
00014 _has_header = True
00015 _full_text = """# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00016
00017 Header header
00018 actionlib_msgs/GoalID goal_id
00019 ArmHandGoal goal
00020
00021 ================================================================================
00022 MSG: std_msgs/Header
00023 # Standard metadata for higher-level stamped data types.
00024 # This is generally used to communicate timestamped data
00025 # in a particular coordinate frame.
00026 #
00027 # sequence ID: consecutively increasing ID
00028 uint32 seq
00029 #Two-integer timestamp that is expressed as:
00030 # * stamp.secs: seconds (stamp_secs) since epoch
00031 # * stamp.nsecs: nanoseconds since stamp_secs
00032 # time-handling sugar is provided by the client library
00033 time stamp
00034 #Frame this data is associated with
00035 # 0: no frame
00036 # 1: global frame
00037 string frame_id
00038
00039 ================================================================================
00040 MSG: actionlib_msgs/GoalID
00041 # The stamp should store the time at which this goal was requested.
00042 # It is used by an action server when it tries to preempt all
00043 # goals that were requested before a certain time
00044 time stamp
00045
00046 # The id provides a way to associate feedback and
00047 # result message with specific goal requests. The id
00048 # specified must be unique.
00049 string id
00050
00051
00052 ================================================================================
00053 MSG: cogman_msgs/ArmHandGoal
00054 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00055 string command # 'arm_cart_loid', 'arm_cart_pose', 'arm_cart_name', 'arm_joints', 'arm_joint_name', 'reach_primitive', 'hand_primitive', 'lift', 'put_down'
00056 string pose_name # When moving to pre-defined poses, cointains the name
00057 float32[] joint_angles # If command is 'arm_joints', the joint angles
00058 geometry_msgs/Pose end_effector_pose # command=arm_cart_pose: where the arm should go
00059 uint64 end_effector_loid # one lo_id where the arm should go
00060 string hand_primitive # Allowed strings: open open_thumb90 3pinch 2pinch cup_top peace handshake noop. Used when command is 'finger_primitive'
00061 string object_type # If command is 'reach_primitive', it will define how to grasp (orientation ...)
00062 uint64[] obstacle_ids # List of lo_id's corresponding to obstacles
00063 float32 distance # For reach_primitive: distance from grasp point to approach point (m). For 'lift', distance to lift up (m)
00064 float32 supporting_plane # Height of the table (m)
00065
00066 ================================================================================
00067 MSG: geometry_msgs/Pose
00068 # A representation of pose in free space, composed of postion and orientation.
00069 Point position
00070 Quaternion orientation
00071
00072 ================================================================================
00073 MSG: geometry_msgs/Point
00074 # This contains the position of a point in free space
00075 float64 x
00076 float64 y
00077 float64 z
00078
00079 ================================================================================
00080 MSG: geometry_msgs/Quaternion
00081 # This represents an orientation in free space in quaternion form.
00082
00083 float64 x
00084 float64 y
00085 float64 z
00086 float64 w
00087
00088 """
00089 __slots__ = ['header','goal_id','goal']
00090 _slot_types = ['Header','actionlib_msgs/GoalID','cogman_msgs/ArmHandGoal']
00091
00092 def __init__(self, *args, **kwds):
00093 """
00094 Constructor. Any message fields that are implicitly/explicitly
00095 set to None will be assigned a default value. The recommend
00096 use is keyword arguments as this is more robust to future message
00097 changes. You cannot mix in-order arguments and keyword arguments.
00098
00099 The available fields are:
00100 header,goal_id,goal
00101
00102 @param args: complete set of field values, in .msg order
00103 @param kwds: use keyword arguments corresponding to message field names
00104 to set specific fields.
00105 """
00106 if args or kwds:
00107 super(ArmHandActionGoal, self).__init__(*args, **kwds)
00108
00109 if self.header is None:
00110 self.header = std_msgs.msg._Header.Header()
00111 if self.goal_id is None:
00112 self.goal_id = actionlib_msgs.msg.GoalID()
00113 if self.goal is None:
00114 self.goal = cogman_msgs.msg.ArmHandGoal()
00115 else:
00116 self.header = std_msgs.msg._Header.Header()
00117 self.goal_id = actionlib_msgs.msg.GoalID()
00118 self.goal = cogman_msgs.msg.ArmHandGoal()
00119
00120 def _get_types(self):
00121 """
00122 internal API method
00123 """
00124 return self._slot_types
00125
00126 def serialize(self, buff):
00127 """
00128 serialize message into buffer
00129 @param buff: buffer
00130 @type buff: StringIO
00131 """
00132 try:
00133 _x = self
00134 buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
00135 _x = self.header.frame_id
00136 length = len(_x)
00137 buff.write(struct.pack('<I%ss'%length, length, _x))
00138 _x = self
00139 buff.write(_struct_2I.pack(_x.goal_id.stamp.secs, _x.goal_id.stamp.nsecs))
00140 _x = self.goal_id.id
00141 length = len(_x)
00142 buff.write(struct.pack('<I%ss'%length, length, _x))
00143 _x = self.goal.command
00144 length = len(_x)
00145 buff.write(struct.pack('<I%ss'%length, length, _x))
00146 _x = self.goal.pose_name
00147 length = len(_x)
00148 buff.write(struct.pack('<I%ss'%length, length, _x))
00149 length = len(self.goal.joint_angles)
00150 buff.write(_struct_I.pack(length))
00151 pattern = '<%sf'%length
00152 buff.write(struct.pack(pattern, *self.goal.joint_angles))
00153 _x = self
00154 buff.write(_struct_7dQ.pack(_x.goal.end_effector_pose.position.x, _x.goal.end_effector_pose.position.y, _x.goal.end_effector_pose.position.z, _x.goal.end_effector_pose.orientation.x, _x.goal.end_effector_pose.orientation.y, _x.goal.end_effector_pose.orientation.z, _x.goal.end_effector_pose.orientation.w, _x.goal.end_effector_loid))
00155 _x = self.goal.hand_primitive
00156 length = len(_x)
00157 buff.write(struct.pack('<I%ss'%length, length, _x))
00158 _x = self.goal.object_type
00159 length = len(_x)
00160 buff.write(struct.pack('<I%ss'%length, length, _x))
00161 length = len(self.goal.obstacle_ids)
00162 buff.write(_struct_I.pack(length))
00163 pattern = '<%sQ'%length
00164 buff.write(struct.pack(pattern, *self.goal.obstacle_ids))
00165 _x = self
00166 buff.write(_struct_2f.pack(_x.goal.distance, _x.goal.supporting_plane))
00167 except struct.error as se: self._check_types(se)
00168 except TypeError as te: self._check_types(te)
00169
00170 def deserialize(self, str):
00171 """
00172 unpack serialized message in str into this message instance
00173 @param str: byte array of serialized message
00174 @type str: str
00175 """
00176 try:
00177 if self.header is None:
00178 self.header = std_msgs.msg._Header.Header()
00179 if self.goal_id is None:
00180 self.goal_id = actionlib_msgs.msg.GoalID()
00181 if self.goal is None:
00182 self.goal = cogman_msgs.msg.ArmHandGoal()
00183 end = 0
00184 _x = self
00185 start = end
00186 end += 12
00187 (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00188 start = end
00189 end += 4
00190 (length,) = _struct_I.unpack(str[start:end])
00191 start = end
00192 end += length
00193 self.header.frame_id = str[start:end]
00194 _x = self
00195 start = end
00196 end += 8
00197 (_x.goal_id.stamp.secs, _x.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00198 start = end
00199 end += 4
00200 (length,) = _struct_I.unpack(str[start:end])
00201 start = end
00202 end += length
00203 self.goal_id.id = str[start:end]
00204 start = end
00205 end += 4
00206 (length,) = _struct_I.unpack(str[start:end])
00207 start = end
00208 end += length
00209 self.goal.command = str[start:end]
00210 start = end
00211 end += 4
00212 (length,) = _struct_I.unpack(str[start:end])
00213 start = end
00214 end += length
00215 self.goal.pose_name = str[start:end]
00216 start = end
00217 end += 4
00218 (length,) = _struct_I.unpack(str[start:end])
00219 pattern = '<%sf'%length
00220 start = end
00221 end += struct.calcsize(pattern)
00222 self.goal.joint_angles = struct.unpack(pattern, str[start:end])
00223 _x = self
00224 start = end
00225 end += 64
00226 (_x.goal.end_effector_pose.position.x, _x.goal.end_effector_pose.position.y, _x.goal.end_effector_pose.position.z, _x.goal.end_effector_pose.orientation.x, _x.goal.end_effector_pose.orientation.y, _x.goal.end_effector_pose.orientation.z, _x.goal.end_effector_pose.orientation.w, _x.goal.end_effector_loid,) = _struct_7dQ.unpack(str[start:end])
00227 start = end
00228 end += 4
00229 (length,) = _struct_I.unpack(str[start:end])
00230 start = end
00231 end += length
00232 self.goal.hand_primitive = str[start:end]
00233 start = end
00234 end += 4
00235 (length,) = _struct_I.unpack(str[start:end])
00236 start = end
00237 end += length
00238 self.goal.object_type = str[start:end]
00239 start = end
00240 end += 4
00241 (length,) = _struct_I.unpack(str[start:end])
00242 pattern = '<%sQ'%length
00243 start = end
00244 end += struct.calcsize(pattern)
00245 self.goal.obstacle_ids = struct.unpack(pattern, str[start:end])
00246 _x = self
00247 start = end
00248 end += 8
00249 (_x.goal.distance, _x.goal.supporting_plane,) = _struct_2f.unpack(str[start:end])
00250 return self
00251 except struct.error as e:
00252 raise roslib.message.DeserializationError(e)
00253
00254
00255 def serialize_numpy(self, buff, numpy):
00256 """
00257 serialize message with numpy array types into buffer
00258 @param buff: buffer
00259 @type buff: StringIO
00260 @param numpy: numpy python module
00261 @type numpy module
00262 """
00263 try:
00264 _x = self
00265 buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
00266 _x = self.header.frame_id
00267 length = len(_x)
00268 buff.write(struct.pack('<I%ss'%length, length, _x))
00269 _x = self
00270 buff.write(_struct_2I.pack(_x.goal_id.stamp.secs, _x.goal_id.stamp.nsecs))
00271 _x = self.goal_id.id
00272 length = len(_x)
00273 buff.write(struct.pack('<I%ss'%length, length, _x))
00274 _x = self.goal.command
00275 length = len(_x)
00276 buff.write(struct.pack('<I%ss'%length, length, _x))
00277 _x = self.goal.pose_name
00278 length = len(_x)
00279 buff.write(struct.pack('<I%ss'%length, length, _x))
00280 length = len(self.goal.joint_angles)
00281 buff.write(_struct_I.pack(length))
00282 pattern = '<%sf'%length
00283 buff.write(self.goal.joint_angles.tostring())
00284 _x = self
00285 buff.write(_struct_7dQ.pack(_x.goal.end_effector_pose.position.x, _x.goal.end_effector_pose.position.y, _x.goal.end_effector_pose.position.z, _x.goal.end_effector_pose.orientation.x, _x.goal.end_effector_pose.orientation.y, _x.goal.end_effector_pose.orientation.z, _x.goal.end_effector_pose.orientation.w, _x.goal.end_effector_loid))
00286 _x = self.goal.hand_primitive
00287 length = len(_x)
00288 buff.write(struct.pack('<I%ss'%length, length, _x))
00289 _x = self.goal.object_type
00290 length = len(_x)
00291 buff.write(struct.pack('<I%ss'%length, length, _x))
00292 length = len(self.goal.obstacle_ids)
00293 buff.write(_struct_I.pack(length))
00294 pattern = '<%sQ'%length
00295 buff.write(self.goal.obstacle_ids.tostring())
00296 _x = self
00297 buff.write(_struct_2f.pack(_x.goal.distance, _x.goal.supporting_plane))
00298 except struct.error as se: self._check_types(se)
00299 except TypeError as te: self._check_types(te)
00300
00301 def deserialize_numpy(self, str, numpy):
00302 """
00303 unpack serialized message in str into this message instance using numpy for array types
00304 @param str: byte array of serialized message
00305 @type str: str
00306 @param numpy: numpy python module
00307 @type numpy: module
00308 """
00309 try:
00310 if self.header is None:
00311 self.header = std_msgs.msg._Header.Header()
00312 if self.goal_id is None:
00313 self.goal_id = actionlib_msgs.msg.GoalID()
00314 if self.goal is None:
00315 self.goal = cogman_msgs.msg.ArmHandGoal()
00316 end = 0
00317 _x = self
00318 start = end
00319 end += 12
00320 (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00321 start = end
00322 end += 4
00323 (length,) = _struct_I.unpack(str[start:end])
00324 start = end
00325 end += length
00326 self.header.frame_id = str[start:end]
00327 _x = self
00328 start = end
00329 end += 8
00330 (_x.goal_id.stamp.secs, _x.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00331 start = end
00332 end += 4
00333 (length,) = _struct_I.unpack(str[start:end])
00334 start = end
00335 end += length
00336 self.goal_id.id = str[start:end]
00337 start = end
00338 end += 4
00339 (length,) = _struct_I.unpack(str[start:end])
00340 start = end
00341 end += length
00342 self.goal.command = str[start:end]
00343 start = end
00344 end += 4
00345 (length,) = _struct_I.unpack(str[start:end])
00346 start = end
00347 end += length
00348 self.goal.pose_name = str[start:end]
00349 start = end
00350 end += 4
00351 (length,) = _struct_I.unpack(str[start:end])
00352 pattern = '<%sf'%length
00353 start = end
00354 end += struct.calcsize(pattern)
00355 self.goal.joint_angles = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=length)
00356 _x = self
00357 start = end
00358 end += 64
00359 (_x.goal.end_effector_pose.position.x, _x.goal.end_effector_pose.position.y, _x.goal.end_effector_pose.position.z, _x.goal.end_effector_pose.orientation.x, _x.goal.end_effector_pose.orientation.y, _x.goal.end_effector_pose.orientation.z, _x.goal.end_effector_pose.orientation.w, _x.goal.end_effector_loid,) = _struct_7dQ.unpack(str[start:end])
00360 start = end
00361 end += 4
00362 (length,) = _struct_I.unpack(str[start:end])
00363 start = end
00364 end += length
00365 self.goal.hand_primitive = str[start:end]
00366 start = end
00367 end += 4
00368 (length,) = _struct_I.unpack(str[start:end])
00369 start = end
00370 end += length
00371 self.goal.object_type = str[start:end]
00372 start = end
00373 end += 4
00374 (length,) = _struct_I.unpack(str[start:end])
00375 pattern = '<%sQ'%length
00376 start = end
00377 end += struct.calcsize(pattern)
00378 self.goal.obstacle_ids = numpy.frombuffer(str[start:end], dtype=numpy.uint64, count=length)
00379 _x = self
00380 start = end
00381 end += 8
00382 (_x.goal.distance, _x.goal.supporting_plane,) = _struct_2f.unpack(str[start:end])
00383 return self
00384 except struct.error as e:
00385 raise roslib.message.DeserializationError(e)
00386
00387 _struct_I = roslib.message.struct_I
00388 _struct_7dQ = struct.Struct("<7dQ")
00389 _struct_3I = struct.Struct("<3I")
00390 _struct_2I = struct.Struct("<2I")
00391 _struct_2f = struct.Struct("<2f")
