00001 """autogenerated by genmsg_py from ODEPhysics.msg. Do not edit."""
00002 import roslib.message
00003 import struct
00004
00005
00006 class ODEPhysics(roslib.message.Message):
00007 _md5sum = "667d56ddbd547918c32d1934503dc335"
00008 _type = "gazebo_msgs/ODEPhysics"
00009 _has_header = False
00010 _full_text = """bool auto_disable_bodies # enable auto disabling of bodies, default false
00011 uint32 sor_pgs_precon_iters # preconditioning inner iterations when uisng projected Gauss Seidel
00012 uint32 sor_pgs_iters # inner iterations when uisng projected Gauss Seidel
00013 float64 sor_pgs_w # relaxation parameter when using projected Gauss Seidel, 1 = no relaxation
00014 float64 sor_pgs_rms_error_tol # rms error tolerance before stopping inner iterations
00015 float64 contact_surface_layer # contact "dead-band" width
00016 float64 contact_max_correcting_vel # contact maximum correction velocity
00017 float64 cfm # global constraint force mixing
00018 float64 erp # global error reduction parameter
00019 uint32 max_contacts # maximum contact joints between two geoms
00020
00021 """
00022 __slots__ = ['auto_disable_bodies','sor_pgs_precon_iters','sor_pgs_iters','sor_pgs_w','sor_pgs_rms_error_tol','contact_surface_layer','contact_max_correcting_vel','cfm','erp','max_contacts']
00023 _slot_types = ['bool','uint32','uint32','float64','float64','float64','float64','float64','float64','uint32']
00024
00025 def __init__(self, *args, **kwds):
00026 """
00027 Constructor. Any message fields that are implicitly/explicitly
00028 set to None will be assigned a default value. The recommend
00029 use is keyword arguments as this is more robust to future message
00030 changes. You cannot mix in-order arguments and keyword arguments.
00031
00032 The available fields are:
00033 auto_disable_bodies,sor_pgs_precon_iters,sor_pgs_iters,sor_pgs_w,sor_pgs_rms_error_tol,contact_surface_layer,contact_max_correcting_vel,cfm,erp,max_contacts
00034
00035 @param args: complete set of field values, in .msg order
00036 @param kwds: use keyword arguments corresponding to message field names
00037 to set specific fields.
00038 """
00039 if args or kwds:
00040 super(ODEPhysics, self).__init__(*args, **kwds)
00041
00042 if self.auto_disable_bodies is None:
00043 self.auto_disable_bodies = False
00044 if self.sor_pgs_precon_iters is None:
00045 self.sor_pgs_precon_iters = 0
00046 if self.sor_pgs_iters is None:
00047 self.sor_pgs_iters = 0
00048 if self.sor_pgs_w is None:
00049 self.sor_pgs_w = 0.
00050 if self.sor_pgs_rms_error_tol is None:
00051 self.sor_pgs_rms_error_tol = 0.
00052 if self.contact_surface_layer is None:
00053 self.contact_surface_layer = 0.
00054 if self.contact_max_correcting_vel is None:
00055 self.contact_max_correcting_vel = 0.
00056 if self.cfm is None:
00057 self.cfm = 0.
00058 if self.erp is None:
00059 self.erp = 0.
00060 if self.max_contacts is None:
00061 self.max_contacts = 0
00062 else:
00063 self.auto_disable_bodies = False
00064 self.sor_pgs_precon_iters = 0
00065 self.sor_pgs_iters = 0
00066 self.sor_pgs_w = 0.
00067 self.sor_pgs_rms_error_tol = 0.
00068 self.contact_surface_layer = 0.
00069 self.contact_max_correcting_vel = 0.
00070 self.cfm = 0.
00071 self.erp = 0.
00072 self.max_contacts = 0
00073
00074 def _get_types(self):
00075 """
00076 internal API method
00077 """
00078 return self._slot_types
00079
00080 def serialize(self, buff):
00081 """
00082 serialize message into buffer
00083 @param buff: buffer
00084 @type buff: StringIO
00085 """
00086 try:
00087 _x = self
00088 buff.write(_struct_B2I6dI.pack(_x.auto_disable_bodies, _x.sor_pgs_precon_iters, _x.sor_pgs_iters, _x.sor_pgs_w, _x.sor_pgs_rms_error_tol, _x.contact_surface_layer, _x.contact_max_correcting_vel, _x.cfm, _x.erp, _x.max_contacts))
00089 except struct.error as se: self._check_types(se)
00090 except TypeError as te: self._check_types(te)
00091
00092 def deserialize(self, str):
00093 """
00094 unpack serialized message in str into this message instance
00095 @param str: byte array of serialized message
00096 @type str: str
00097 """
00098 try:
00099 end = 0
00100 _x = self
00101 start = end
00102 end += 61
00103 (_x.auto_disable_bodies, _x.sor_pgs_precon_iters, _x.sor_pgs_iters, _x.sor_pgs_w, _x.sor_pgs_rms_error_tol, _x.contact_surface_layer, _x.contact_max_correcting_vel, _x.cfm, _x.erp, _x.max_contacts,) = _struct_B2I6dI.unpack(str[start:end])
00104 self.auto_disable_bodies = bool(self.auto_disable_bodies)
00105 return self
00106 except struct.error as e:
00107 raise roslib.message.DeserializationError(e)
00108
00109
00110 def serialize_numpy(self, buff, numpy):
00111 """
00112 serialize message with numpy array types into buffer
00113 @param buff: buffer
00114 @type buff: StringIO
00115 @param numpy: numpy python module
00116 @type numpy module
00117 """
00118 try:
00119 _x = self
00120 buff.write(_struct_B2I6dI.pack(_x.auto_disable_bodies, _x.sor_pgs_precon_iters, _x.sor_pgs_iters, _x.sor_pgs_w, _x.sor_pgs_rms_error_tol, _x.contact_surface_layer, _x.contact_max_correcting_vel, _x.cfm, _x.erp, _x.max_contacts))
00121 except struct.error as se: self._check_types(se)
00122 except TypeError as te: self._check_types(te)
00123
00124 def deserialize_numpy(self, str, numpy):
00125 """
00126 unpack serialized message in str into this message instance using numpy for array types
00127 @param str: byte array of serialized message
00128 @type str: str
00129 @param numpy: numpy python module
00130 @type numpy: module
00131 """
00132 try:
00133 end = 0
00134 _x = self
00135 start = end
00136 end += 61
00137 (_x.auto_disable_bodies, _x.sor_pgs_precon_iters, _x.sor_pgs_iters, _x.sor_pgs_w, _x.sor_pgs_rms_error_tol, _x.contact_surface_layer, _x.contact_max_correcting_vel, _x.cfm, _x.erp, _x.max_contacts,) = _struct_B2I6dI.unpack(str[start:end])
00138 self.auto_disable_bodies = bool(self.auto_disable_bodies)
00139 return self
00140 except struct.error as e:
00141 raise roslib.message.DeserializationError(e)
00142
00143 _struct_I = roslib.message.struct_I
00144 _struct_B2I6dI = struct.Struct("<B2I6dI")
