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_ContactsState.py

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"""autogenerated by genmsg_py from ContactsState.msg. Do not edit."""
import roslib.message
import struct

import geometry_msgs.msg
import gazebo_msgs.msg
import std_msgs.msg

class ContactsState(roslib.message.Message):
  _md5sum = "9d29ce6da289d3d303cc64b4cfdd0e84"
  _type = "gazebo_plugins/ContactsState"
  _has_header = True #flag to mark the presence of a Header object
  _full_text = """#This message is deprecated.  Please use the version in gazebo_msgs instead.

Header header                                   # stamp
gazebo_msgs/ContactState[] states            # array of geom pairs in contact

================================================================================
MSG: std_msgs/Header
# Standard metadata for higher-level stamped data types.
# This is generally used to communicate timestamped data 
# in a particular coordinate frame.
# 
# sequence ID: consecutively increasing ID 
uint32 seq
#Two-integer timestamp that is expressed as:
# * stamp.secs: seconds (stamp_secs) since epoch
# * stamp.nsecs: nanoseconds since stamp_secs
# time-handling sugar is provided by the client library
time stamp
#Frame this data is associated with
# 0: no frame
# 1: global frame
string frame_id

================================================================================
MSG: gazebo_msgs/ContactState
string info                                   # text info on this contact
string geom1_name                             # name of contact geom1
string geom2_name                             # name of contact geom2
geometry_msgs/Wrench[] wrenches               # list of forces/torques
geometry_msgs/Wrench total_wrench             # sum of forces/torques in every DOF
geometry_msgs/Vector3[] contact_positions     # list of contact position
geometry_msgs/Vector3[] contact_normals       # list of contact normals
float64[] depths                              # list of penetration depths

================================================================================
MSG: geometry_msgs/Wrench
# This represents force in free space, seperated into 
# it's linear and angular parts.  
Vector3  force
Vector3  torque

================================================================================
MSG: geometry_msgs/Vector3
# This represents a vector in free space. 

float64 x
float64 y
float64 z
"""
  __slots__ = ['header','states']
  _slot_types = ['Header','gazebo_msgs/ContactState[]']

  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:
       header,states
    
    @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(ContactsState, self).__init__(*args, **kwds)
      #message fields cannot be None, assign default values for those that are
      if self.header is None:
        self.header = std_msgs.msg._Header.Header()
      if self.states is None:
        self.states = []
    else:
      self.header = std_msgs.msg._Header.Header()
      self.states = []

  def _get_types(self):
    """
    internal API method
    """
    return self._slot_types

  def serialize(self, buff):
    """
    serialize message into buffer
    @param buff: buffer
    @type  buff: StringIO
    """
    try:
      _x = self
      buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
      _x = self.header.frame_id
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.states)
      buff.write(_struct_I.pack(length))
      for val1 in self.states:
        _x = val1.info
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = val1.geom1_name
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = val1.geom2_name
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        length = len(val1.wrenches)
        buff.write(_struct_I.pack(length))
        for val2 in val1.wrenches:
          _v1 = val2.force
          _x = _v1
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
          _v2 = val2.torque
          _x = _v2
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v3 = val1.total_wrench
        _v4 = _v3.force
        _x = _v4
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v5 = _v3.torque
        _x = _v5
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        length = len(val1.contact_positions)
        buff.write(_struct_I.pack(length))
        for val2 in val1.contact_positions:
          _x = val2
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        length = len(val1.contact_normals)
        buff.write(_struct_I.pack(length))
        for val2 in val1.contact_normals:
          _x = val2
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        length = len(val1.depths)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(struct.pack(pattern, *val1.depths))
    except struct.error as se: self._check_types(se)
    except TypeError as te: self._check_types(te)

  def deserialize(self, str):
    """
    unpack serialized message in str into this message instance
    @param str: byte array of serialized message
    @type  str: str
    """
    try:
      if self.header is None:
        self.header = std_msgs.msg._Header.Header()
      end = 0
      _x = self
      start = end
      end += 12
      (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.states = []
      for i in range(0, length):
        val1 = gazebo_msgs.msg.ContactState()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1.info = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1.geom1_name = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1.geom2_name = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.wrenches = []
        for i in range(0, length):
          val2 = geometry_msgs.msg.Wrench()
          _v6 = val2.force
          _x = _v6
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
          _v7 = val2.torque
          _x = _v7
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
          val1.wrenches.append(val2)
        _v8 = val1.total_wrench
        _v9 = _v8.force
        _x = _v9
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v10 = _v8.torque
        _x = _v10
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.contact_positions = []
        for i in range(0, length):
          val2 = geometry_msgs.msg.Vector3()
          _x = val2
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
          val1.contact_positions.append(val2)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.contact_normals = []
        for i in range(0, length):
          val2 = geometry_msgs.msg.Vector3()
          _x = val2
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
          val1.contact_normals.append(val2)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        val1.depths = struct.unpack(pattern, str[start:end])
        self.states.append(val1)
      return self
    except struct.error as e:
      raise roslib.message.DeserializationError(e) #most likely buffer underfill


  def serialize_numpy(self, buff, numpy):
    """
    serialize message with numpy array types into buffer
    @param buff: buffer
    @type  buff: StringIO
    @param numpy: numpy python module
    @type  numpy module
    """
    try:
      _x = self
      buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
      _x = self.header.frame_id
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.states)
      buff.write(_struct_I.pack(length))
      for val1 in self.states:
        _x = val1.info
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = val1.geom1_name
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = val1.geom2_name
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        length = len(val1.wrenches)
        buff.write(_struct_I.pack(length))
        for val2 in val1.wrenches:
          _v11 = val2.force
          _x = _v11
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
          _v12 = val2.torque
          _x = _v12
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v13 = val1.total_wrench
        _v14 = _v13.force
        _x = _v14
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v15 = _v13.torque
        _x = _v15
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        length = len(val1.contact_positions)
        buff.write(_struct_I.pack(length))
        for val2 in val1.contact_positions:
          _x = val2
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        length = len(val1.contact_normals)
        buff.write(_struct_I.pack(length))
        for val2 in val1.contact_normals:
          _x = val2
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        length = len(val1.depths)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(val1.depths.tostring())
    except struct.error as se: self._check_types(se)
    except TypeError as te: self._check_types(te)

  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
    @type  str: str
    @param numpy: numpy python module
    @type  numpy: module
    """
    try:
      if self.header is None:
        self.header = std_msgs.msg._Header.Header()
      end = 0
      _x = self
      start = end
      end += 12
      (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.states = []
      for i in range(0, length):
        val1 = gazebo_msgs.msg.ContactState()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1.info = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1.geom1_name = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1.geom2_name = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.wrenches = []
        for i in range(0, length):
          val2 = geometry_msgs.msg.Wrench()
          _v16 = val2.force
          _x = _v16
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
          _v17 = val2.torque
          _x = _v17
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
          val1.wrenches.append(val2)
        _v18 = val1.total_wrench
        _v19 = _v18.force
        _x = _v19
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v20 = _v18.torque
        _x = _v20
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.contact_positions = []
        for i in range(0, length):
          val2 = geometry_msgs.msg.Vector3()
          _x = val2
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
          val1.contact_positions.append(val2)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.contact_normals = []
        for i in range(0, length):
          val2 = geometry_msgs.msg.Vector3()
          _x = val2
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
          val1.contact_normals.append(val2)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        val1.depths = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
        self.states.append(val1)
      return self
    except struct.error as e:
      raise roslib.message.DeserializationError(e) #most likely buffer underfill

_struct_I = roslib.message.struct_I
_struct_3I = struct.Struct("<3I")
_struct_3d = struct.Struct("<3d")

---

gazebo_plugins
Author(s): Sachin Chitta, Stu Glaser, John Hsu
autogenerated on Sat Mar 2 13:39:46 2013