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_GenerateGrasp.py

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


class GenerateGraspRequest(roslib.message.Message):
  _md5sum = "7ffa75655a6721d5c28cbaab0c7b2d37"
  _type = "graspit_ros_planning_msgs/GenerateGraspRequest"
  _has_header = False #flag to mark the presence of a Header object
  _full_text = """









int32 model_id


float32 energy_low_threshold


float32 energy_high_threshold


bool reject_fingertip_collision


bool request_tabletop


string tabletop_file_name

"""
  __slots__ = ['model_id','energy_low_threshold','energy_high_threshold','reject_fingertip_collision','request_tabletop','tabletop_file_name']
  _slot_types = ['int32','float32','float32','bool','bool','string']

  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:
       model_id,energy_low_threshold,energy_high_threshold,reject_fingertip_collision,request_tabletop,tabletop_file_name
    
    @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(GenerateGraspRequest, self).__init__(*args, **kwds)
      #message fields cannot be None, assign default values for those that are
      if self.model_id is None:
        self.model_id = 0
      if self.energy_low_threshold is None:
        self.energy_low_threshold = 0.
      if self.energy_high_threshold is None:
        self.energy_high_threshold = 0.
      if self.reject_fingertip_collision is None:
        self.reject_fingertip_collision = False
      if self.request_tabletop is None:
        self.request_tabletop = False
      if self.tabletop_file_name is None:
        self.tabletop_file_name = ''
    else:
      self.model_id = 0
      self.energy_low_threshold = 0.
      self.energy_high_threshold = 0.
      self.reject_fingertip_collision = False
      self.request_tabletop = False
      self.tabletop_file_name = ''

  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_i2f2B.pack(_x.model_id, _x.energy_low_threshold, _x.energy_high_threshold, _x.reject_fingertip_collision, _x.request_tabletop))
      _x = self.tabletop_file_name
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
    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:
      end = 0
      _x = self
      start = end
      end += 14
      (_x.model_id, _x.energy_low_threshold, _x.energy_high_threshold, _x.reject_fingertip_collision, _x.request_tabletop,) = _struct_i2f2B.unpack(str[start:end])
      self.reject_fingertip_collision = bool(self.reject_fingertip_collision)
      self.request_tabletop = bool(self.request_tabletop)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.tabletop_file_name = str[start:end]
      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_i2f2B.pack(_x.model_id, _x.energy_low_threshold, _x.energy_high_threshold, _x.reject_fingertip_collision, _x.request_tabletop))
      _x = self.tabletop_file_name
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
    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:
      end = 0
      _x = self
      start = end
      end += 14
      (_x.model_id, _x.energy_low_threshold, _x.energy_high_threshold, _x.reject_fingertip_collision, _x.request_tabletop,) = _struct_i2f2B.unpack(str[start:end])
      self.reject_fingertip_collision = bool(self.reject_fingertip_collision)
      self.request_tabletop = bool(self.request_tabletop)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.tabletop_file_name = str[start:end]
      return self
    except struct.error as e:
      raise roslib.message.DeserializationError(e) #most likely buffer underfill

_struct_I = roslib.message.struct_I
_struct_i2f2B = struct.Struct("<i2f2B")
"""autogenerated by genmsg_py from GenerateGraspResponse.msg. Do not edit."""
import roslib.message
import struct

import geometry_msgs.msg

class GenerateGraspResponse(roslib.message.Message):
  _md5sum = "886c12418c3c95650818d6b3a5f6511b"
  _type = "graspit_ros_planning_msgs/GenerateGraspResponse"
  _has_header = False #flag to mark the presence of a Header object
  _full_text = """

int32 GENERATE_SUCCESS = 0
int32 GENERATE_FAILURE = 1
int32 result


bool hand_object_collision


geometry_msgs/Pose grasp_pose


float32 grasp_joint_angle


float32 grasp_energy


float64 gripper_tabletop_clearance


float64 gripper_object_distance



================================================================================
MSG: geometry_msgs/Pose
# A representation of pose in free space, composed of postion and orientation. 
Point position
Quaternion orientation

================================================================================
MSG: geometry_msgs/Point
# This contains the position of a point in free space
float64 x
float64 y
float64 z

================================================================================
MSG: geometry_msgs/Quaternion
# This represents an orientation in free space in quaternion form.

float64 x
float64 y
float64 z
float64 w

"""
  # Pseudo-constants
  GENERATE_SUCCESS = 0
  GENERATE_FAILURE = 1

  __slots__ = ['result','hand_object_collision','grasp_pose','grasp_joint_angle','grasp_energy','gripper_tabletop_clearance','gripper_object_distance']
  _slot_types = ['int32','bool','geometry_msgs/Pose','float32','float32','float64','float64']

  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:
       result,hand_object_collision,grasp_pose,grasp_joint_angle,grasp_energy,gripper_tabletop_clearance,gripper_object_distance
    
    @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(GenerateGraspResponse, self).__init__(*args, **kwds)
      #message fields cannot be None, assign default values for those that are
      if self.result is None:
        self.result = 0
      if self.hand_object_collision is None:
        self.hand_object_collision = False
      if self.grasp_pose is None:
        self.grasp_pose = geometry_msgs.msg.Pose()
      if self.grasp_joint_angle is None:
        self.grasp_joint_angle = 0.
      if self.grasp_energy is None:
        self.grasp_energy = 0.
      if self.gripper_tabletop_clearance is None:
        self.gripper_tabletop_clearance = 0.
      if self.gripper_object_distance is None:
        self.gripper_object_distance = 0.
    else:
      self.result = 0
      self.hand_object_collision = False
      self.grasp_pose = geometry_msgs.msg.Pose()
      self.grasp_joint_angle = 0.
      self.grasp_energy = 0.
      self.gripper_tabletop_clearance = 0.
      self.gripper_object_distance = 0.

  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_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))
    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.grasp_pose is None:
        self.grasp_pose = geometry_msgs.msg.Pose()
      end = 0
      _x = self
      start = end
      end += 85
      (_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])
      self.hand_object_collision = bool(self.hand_object_collision)
      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_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))
    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.grasp_pose is None:
        self.grasp_pose = geometry_msgs.msg.Pose()
      end = 0
      _x = self
      start = end
      end += 85
      (_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])
      self.hand_object_collision = bool(self.hand_object_collision)
      return self
    except struct.error as e:
      raise roslib.message.DeserializationError(e) #most likely buffer underfill

_struct_I = roslib.message.struct_I
_struct_iB7d2f2d = struct.Struct("<iB7d2f2d")
class GenerateGrasp(roslib.message.ServiceDefinition):
  _type          = 'graspit_ros_planning_msgs/GenerateGrasp'
  _md5sum = 'f1c3a9961097a13105ff34e75a3ade6f'
  _request_class  = GenerateGraspRequest
  _response_class = GenerateGraspResponse

---

graspit_ros_planning_msgs
Author(s): Peter Brook
autogenerated on Fri Mar 1 16:19:11 2013