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_JointTrajectoryControllerState.py

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

import trajectory_msgs.msg
import roslib.rostime
import std_msgs.msg

class JointTrajectoryControllerState(roslib.message.Message):
  _md5sum = "b11d532a92ee589417fdd76559eb1d9e"
  _type = "pr2_controllers_msgs/JointTrajectoryControllerState"
  _has_header = True #flag to mark the presence of a Header object
  _full_text = """Header header
string[] joint_names
trajectory_msgs/JointTrajectoryPoint desired
trajectory_msgs/JointTrajectoryPoint actual
trajectory_msgs/JointTrajectoryPoint error  # Redundant, but useful

================================================================================
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: trajectory_msgs/JointTrajectoryPoint
float64[] positions
float64[] velocities
float64[] accelerations
duration time_from_start
"""
  __slots__ = ['header','joint_names','desired','actual','error']
  _slot_types = ['Header','string[]','trajectory_msgs/JointTrajectoryPoint','trajectory_msgs/JointTrajectoryPoint','trajectory_msgs/JointTrajectoryPoint']

  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,joint_names,desired,actual,error
    
    @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(JointTrajectoryControllerState, 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.joint_names is None:
        self.joint_names = []
      if self.desired is None:
        self.desired = trajectory_msgs.msg.JointTrajectoryPoint()
      if self.actual is None:
        self.actual = trajectory_msgs.msg.JointTrajectoryPoint()
      if self.error is None:
        self.error = trajectory_msgs.msg.JointTrajectoryPoint()
    else:
      self.header = std_msgs.msg._Header.Header()
      self.joint_names = []
      self.desired = trajectory_msgs.msg.JointTrajectoryPoint()
      self.actual = trajectory_msgs.msg.JointTrajectoryPoint()
      self.error = trajectory_msgs.msg.JointTrajectoryPoint()

  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.joint_names)
      buff.write(_struct_I.pack(length))
      for val1 in self.joint_names:
        length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.desired.positions)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.desired.positions))
      length = len(self.desired.velocities)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.desired.velocities))
      length = len(self.desired.accelerations)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.desired.accelerations))
      _x = self
      buff.write(_struct_2i.pack(_x.desired.time_from_start.secs, _x.desired.time_from_start.nsecs))
      length = len(self.actual.positions)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.actual.positions))
      length = len(self.actual.velocities)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.actual.velocities))
      length = len(self.actual.accelerations)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.actual.accelerations))
      _x = self
      buff.write(_struct_2i.pack(_x.actual.time_from_start.secs, _x.actual.time_from_start.nsecs))
      length = len(self.error.positions)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.error.positions))
      length = len(self.error.velocities)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.error.velocities))
      length = len(self.error.accelerations)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.error.accelerations))
      _x = self
      buff.write(_struct_2i.pack(_x.error.time_from_start.secs, _x.error.time_from_start.nsecs))
    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()
      if self.desired is None:
        self.desired = trajectory_msgs.msg.JointTrajectoryPoint()
      if self.actual is None:
        self.actual = trajectory_msgs.msg.JointTrajectoryPoint()
      if self.error is None:
        self.error = trajectory_msgs.msg.JointTrajectoryPoint()
      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.joint_names = []
      for i in range(0, length):
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1 = str[start:end]
        self.joint_names.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.desired.positions = struct.unpack(pattern, str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.desired.velocities = struct.unpack(pattern, str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.desired.accelerations = struct.unpack(pattern, str[start:end])
      _x = self
      start = end
      end += 8
      (_x.desired.time_from_start.secs, _x.desired.time_from_start.nsecs,) = _struct_2i.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.actual.positions = struct.unpack(pattern, str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.actual.velocities = struct.unpack(pattern, str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.actual.accelerations = struct.unpack(pattern, str[start:end])
      _x = self
      start = end
      end += 8
      (_x.actual.time_from_start.secs, _x.actual.time_from_start.nsecs,) = _struct_2i.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.error.positions = struct.unpack(pattern, str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.error.velocities = struct.unpack(pattern, str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.error.accelerations = struct.unpack(pattern, str[start:end])
      _x = self
      start = end
      end += 8
      (_x.error.time_from_start.secs, _x.error.time_from_start.nsecs,) = _struct_2i.unpack(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_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.joint_names)
      buff.write(_struct_I.pack(length))
      for val1 in self.joint_names:
        length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.desired.positions)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.desired.positions.tostring())
      length = len(self.desired.velocities)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.desired.velocities.tostring())
      length = len(self.desired.accelerations)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.desired.accelerations.tostring())
      _x = self
      buff.write(_struct_2i.pack(_x.desired.time_from_start.secs, _x.desired.time_from_start.nsecs))
      length = len(self.actual.positions)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.actual.positions.tostring())
      length = len(self.actual.velocities)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.actual.velocities.tostring())
      length = len(self.actual.accelerations)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.actual.accelerations.tostring())
      _x = self
      buff.write(_struct_2i.pack(_x.actual.time_from_start.secs, _x.actual.time_from_start.nsecs))
      length = len(self.error.positions)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.error.positions.tostring())
      length = len(self.error.velocities)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.error.velocities.tostring())
      length = len(self.error.accelerations)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.error.accelerations.tostring())
      _x = self
      buff.write(_struct_2i.pack(_x.error.time_from_start.secs, _x.error.time_from_start.nsecs))
    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()
      if self.desired is None:
        self.desired = trajectory_msgs.msg.JointTrajectoryPoint()
      if self.actual is None:
        self.actual = trajectory_msgs.msg.JointTrajectoryPoint()
      if self.error is None:
        self.error = trajectory_msgs.msg.JointTrajectoryPoint()
      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.joint_names = []
      for i in range(0, length):
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1 = str[start:end]
        self.joint_names.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.desired.positions = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.desired.velocities = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.desired.accelerations = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
      _x = self
      start = end
      end += 8
      (_x.desired.time_from_start.secs, _x.desired.time_from_start.nsecs,) = _struct_2i.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.actual.positions = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.actual.velocities = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.actual.accelerations = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
      _x = self
      start = end
      end += 8
      (_x.actual.time_from_start.secs, _x.actual.time_from_start.nsecs,) = _struct_2i.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.error.positions = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.error.velocities = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.error.accelerations = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
      _x = self
      start = end
      end += 8
      (_x.error.time_from_start.secs, _x.error.time_from_start.nsecs,) = _struct_2i.unpack(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_3I = struct.Struct("<3I")
_struct_2i = struct.Struct("<2i")

---

pr2_controllers_msgs
Author(s): Stuart Glaser
autogenerated on Fri Mar 1 16:51:29 2013