00001 """autogenerated by genmsg_py from PR2GripperForceServoAction.msg. Do not edit."""
00002 import roslib.message
00003 import struct
00004
00005 import roslib.rostime
00006 import actionlib_msgs.msg
00007 import pr2_gripper_sensor_msgs.msg
00008 import std_msgs.msg
00009
00010 class PR2GripperForceServoAction(roslib.message.Message):
00011 _md5sum = "0540bb7603e65b3df5c9dc87b150e790"
00012 _type = "pr2_gripper_sensor_msgs/PR2GripperForceServoAction"
00013 _has_header = False
00014 _full_text = """# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00015
00016 PR2GripperForceServoActionGoal action_goal
00017 PR2GripperForceServoActionResult action_result
00018 PR2GripperForceServoActionFeedback action_feedback
00019
00020 ================================================================================
00021 MSG: pr2_gripper_sensor_msgs/PR2GripperForceServoActionGoal
00022 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00023
00024 Header header
00025 actionlib_msgs/GoalID goal_id
00026 PR2GripperForceServoGoal goal
00027
00028 ================================================================================
00029 MSG: std_msgs/Header
00030 # Standard metadata for higher-level stamped data types.
00031 # This is generally used to communicate timestamped data
00032 # in a particular coordinate frame.
00033 #
00034 # sequence ID: consecutively increasing ID
00035 uint32 seq
00036 #Two-integer timestamp that is expressed as:
00037 # * stamp.secs: seconds (stamp_secs) since epoch
00038 # * stamp.nsecs: nanoseconds since stamp_secs
00039 # time-handling sugar is provided by the client library
00040 time stamp
00041 #Frame this data is associated with
00042 # 0: no frame
00043 # 1: global frame
00044 string frame_id
00045
00046 ================================================================================
00047 MSG: actionlib_msgs/GoalID
00048 # The stamp should store the time at which this goal was requested.
00049 # It is used by an action server when it tries to preempt all
00050 # goals that were requested before a certain time
00051 time stamp
00052
00053 # The id provides a way to associate feedback and
00054 # result message with specific goal requests. The id
00055 # specified must be unique.
00056 string id
00057
00058
00059 ================================================================================
00060 MSG: pr2_gripper_sensor_msgs/PR2GripperForceServoGoal
00061 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00062 # Action to launch the gripper into force servoing mode
00063
00064 #goals
00065 PR2GripperForceServoCommand command
00066
00067 ================================================================================
00068 MSG: pr2_gripper_sensor_msgs/PR2GripperForceServoCommand
00069 # the amount of fingertip force (in Newtons) to apply.
00070 # NOTE: the joint will squeeze until each finger reaches this level
00071 # values < 0 (opening force) are ignored
00072 #
00073 # 10 N can crack an egg or crush a soda can.
00074 # 15 N can firmly pick up a can of soup.
00075 # Experiment on your own.
00076 #
00077 float64 fingertip_force
00078 ================================================================================
00079 MSG: pr2_gripper_sensor_msgs/PR2GripperForceServoActionResult
00080 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00081
00082 Header header
00083 actionlib_msgs/GoalStatus status
00084 PR2GripperForceServoResult result
00085
00086 ================================================================================
00087 MSG: actionlib_msgs/GoalStatus
00088 GoalID goal_id
00089 uint8 status
00090 uint8 PENDING = 0 # The goal has yet to be processed by the action server
00091 uint8 ACTIVE = 1 # The goal is currently being processed by the action server
00092 uint8 PREEMPTED = 2 # The goal received a cancel request after it started executing
00093 # and has since completed its execution (Terminal State)
00094 uint8 SUCCEEDED = 3 # The goal was achieved successfully by the action server (Terminal State)
00095 uint8 ABORTED = 4 # The goal was aborted during execution by the action server due
00096 # to some failure (Terminal State)
00097 uint8 REJECTED = 5 # The goal was rejected by the action server without being processed,
00098 # because the goal was unattainable or invalid (Terminal State)
00099 uint8 PREEMPTING = 6 # The goal received a cancel request after it started executing
00100 # and has not yet completed execution
00101 uint8 RECALLING = 7 # The goal received a cancel request before it started executing,
00102 # but the action server has not yet confirmed that the goal is canceled
00103 uint8 RECALLED = 8 # The goal received a cancel request before it started executing
00104 # and was successfully cancelled (Terminal State)
00105 uint8 LOST = 9 # An action client can determine that a goal is LOST. This should not be
00106 # sent over the wire by an action server
00107
00108 #Allow for the user to associate a string with GoalStatus for debugging
00109 string text
00110
00111
00112 ================================================================================
00113 MSG: pr2_gripper_sensor_msgs/PR2GripperForceServoResult
00114 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00115
00116 #result
00117 PR2GripperForceServoData data
00118
00119
00120 ================================================================================
00121 MSG: pr2_gripper_sensor_msgs/PR2GripperForceServoData
00122 # Time the data was recorded at
00123 time stamp
00124
00125 # the force experienced by the finger Pads (N)
00126 # NOTE:this ignores data from the edges of the finger pressure
00127 float64 left_fingertip_pad_force
00128 float64 right_fingertip_pad_force
00129
00130 # the current gripper virtual parallel joint effort (in N)
00131 float64 joint_effort
00132
00133 # true when the gripper is no longer moving
00134 # and we have reached the desired force level
00135 bool force_achieved
00136
00137
00138 # the control state of our realtime controller
00139 PR2GripperSensorRTState rtstate
00140
00141 ================================================================================
00142 MSG: pr2_gripper_sensor_msgs/PR2GripperSensorRTState
00143 # the control state of our realtime controller
00144 int8 realtime_controller_state
00145
00146 # predefined values to indicate our realtime_controller_state
00147 int8 DISABLED = 0
00148 int8 POSITION_SERVO = 3
00149 int8 FORCE_SERVO = 4
00150 int8 FIND_CONTACT = 5
00151 int8 SLIP_SERVO = 6
00152 ================================================================================
00153 MSG: pr2_gripper_sensor_msgs/PR2GripperForceServoActionFeedback
00154 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00155
00156 Header header
00157 actionlib_msgs/GoalStatus status
00158 PR2GripperForceServoFeedback feedback
00159
00160 ================================================================================
00161 MSG: pr2_gripper_sensor_msgs/PR2GripperForceServoFeedback
00162 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00163
00164 #feedback
00165 PR2GripperForceServoData data
00166
00167 """
00168 __slots__ = ['action_goal','action_result','action_feedback']
00169 _slot_types = ['pr2_gripper_sensor_msgs/PR2GripperForceServoActionGoal','pr2_gripper_sensor_msgs/PR2GripperForceServoActionResult','pr2_gripper_sensor_msgs/PR2GripperForceServoActionFeedback']
00170
00171 def __init__(self, *args, **kwds):
00172 """
00173 Constructor. Any message fields that are implicitly/explicitly
00174 set to None will be assigned a default value. The recommend
00175 use is keyword arguments as this is more robust to future message
00176 changes. You cannot mix in-order arguments and keyword arguments.
00177
00178 The available fields are:
00179 action_goal,action_result,action_feedback
00180
00181 @param args: complete set of field values, in .msg order
00182 @param kwds: use keyword arguments corresponding to message field names
00183 to set specific fields.
00184 """
00185 if args or kwds:
00186 super(PR2GripperForceServoAction, self).__init__(*args, **kwds)
00187
00188 if self.action_goal is None:
00189 self.action_goal = pr2_gripper_sensor_msgs.msg.PR2GripperForceServoActionGoal()
00190 if self.action_result is None:
00191 self.action_result = pr2_gripper_sensor_msgs.msg.PR2GripperForceServoActionResult()
00192 if self.action_feedback is None:
00193 self.action_feedback = pr2_gripper_sensor_msgs.msg.PR2GripperForceServoActionFeedback()
00194 else:
00195 self.action_goal = pr2_gripper_sensor_msgs.msg.PR2GripperForceServoActionGoal()
00196 self.action_result = pr2_gripper_sensor_msgs.msg.PR2GripperForceServoActionResult()
00197 self.action_feedback = pr2_gripper_sensor_msgs.msg.PR2GripperForceServoActionFeedback()
00198
00199 def _get_types(self):
00200 """
00201 internal API method
00202 """
00203 return self._slot_types
00204
00205 def serialize(self, buff):
00206 """
00207 serialize message into buffer
00208 @param buff: buffer
00209 @type buff: StringIO
00210 """
00211 try:
00212 _x = self
00213 buff.write(_struct_3I.pack(_x.action_goal.header.seq, _x.action_goal.header.stamp.secs, _x.action_goal.header.stamp.nsecs))
00214 _x = self.action_goal.header.frame_id
00215 length = len(_x)
00216 buff.write(struct.pack('<I%ss'%length, length, _x))
00217 _x = self
00218 buff.write(_struct_2I.pack(_x.action_goal.goal_id.stamp.secs, _x.action_goal.goal_id.stamp.nsecs))
00219 _x = self.action_goal.goal_id.id
00220 length = len(_x)
00221 buff.write(struct.pack('<I%ss'%length, length, _x))
00222 _x = self
00223 buff.write(_struct_d3I.pack(_x.action_goal.goal.command.fingertip_force, _x.action_result.header.seq, _x.action_result.header.stamp.secs, _x.action_result.header.stamp.nsecs))
00224 _x = self.action_result.header.frame_id
00225 length = len(_x)
00226 buff.write(struct.pack('<I%ss'%length, length, _x))
00227 _x = self
00228 buff.write(_struct_2I.pack(_x.action_result.status.goal_id.stamp.secs, _x.action_result.status.goal_id.stamp.nsecs))
00229 _x = self.action_result.status.goal_id.id
00230 length = len(_x)
00231 buff.write(struct.pack('<I%ss'%length, length, _x))
00232 buff.write(_struct_B.pack(self.action_result.status.status))
00233 _x = self.action_result.status.text
00234 length = len(_x)
00235 buff.write(struct.pack('<I%ss'%length, length, _x))
00236 _x = self
00237 buff.write(_struct_2I3dBb3I.pack(_x.action_result.result.data.stamp.secs, _x.action_result.result.data.stamp.nsecs, _x.action_result.result.data.left_fingertip_pad_force, _x.action_result.result.data.right_fingertip_pad_force, _x.action_result.result.data.joint_effort, _x.action_result.result.data.force_achieved, _x.action_result.result.data.rtstate.realtime_controller_state, _x.action_feedback.header.seq, _x.action_feedback.header.stamp.secs, _x.action_feedback.header.stamp.nsecs))
00238 _x = self.action_feedback.header.frame_id
00239 length = len(_x)
00240 buff.write(struct.pack('<I%ss'%length, length, _x))
00241 _x = self
00242 buff.write(_struct_2I.pack(_x.action_feedback.status.goal_id.stamp.secs, _x.action_feedback.status.goal_id.stamp.nsecs))
00243 _x = self.action_feedback.status.goal_id.id
00244 length = len(_x)
00245 buff.write(struct.pack('<I%ss'%length, length, _x))
00246 buff.write(_struct_B.pack(self.action_feedback.status.status))
00247 _x = self.action_feedback.status.text
00248 length = len(_x)
00249 buff.write(struct.pack('<I%ss'%length, length, _x))
00250 _x = self
00251 buff.write(_struct_2I3dBb.pack(_x.action_feedback.feedback.data.stamp.secs, _x.action_feedback.feedback.data.stamp.nsecs, _x.action_feedback.feedback.data.left_fingertip_pad_force, _x.action_feedback.feedback.data.right_fingertip_pad_force, _x.action_feedback.feedback.data.joint_effort, _x.action_feedback.feedback.data.force_achieved, _x.action_feedback.feedback.data.rtstate.realtime_controller_state))
00252 except struct.error as se: self._check_types(se)
00253 except TypeError as te: self._check_types(te)
00254
00255 def deserialize(self, str):
00256 """
00257 unpack serialized message in str into this message instance
00258 @param str: byte array of serialized message
00259 @type str: str
00260 """
00261 try:
00262 if self.action_goal is None:
00263 self.action_goal = pr2_gripper_sensor_msgs.msg.PR2GripperForceServoActionGoal()
00264 if self.action_result is None:
00265 self.action_result = pr2_gripper_sensor_msgs.msg.PR2GripperForceServoActionResult()
00266 if self.action_feedback is None:
00267 self.action_feedback = pr2_gripper_sensor_msgs.msg.PR2GripperForceServoActionFeedback()
00268 end = 0
00269 _x = self
00270 start = end
00271 end += 12
00272 (_x.action_goal.header.seq, _x.action_goal.header.stamp.secs, _x.action_goal.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00273 start = end
00274 end += 4
00275 (length,) = _struct_I.unpack(str[start:end])
00276 start = end
00277 end += length
00278 self.action_goal.header.frame_id = str[start:end]
00279 _x = self
00280 start = end
00281 end += 8
00282 (_x.action_goal.goal_id.stamp.secs, _x.action_goal.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00283 start = end
00284 end += 4
00285 (length,) = _struct_I.unpack(str[start:end])
00286 start = end
00287 end += length
00288 self.action_goal.goal_id.id = str[start:end]
00289 _x = self
00290 start = end
00291 end += 20
00292 (_x.action_goal.goal.command.fingertip_force, _x.action_result.header.seq, _x.action_result.header.stamp.secs, _x.action_result.header.stamp.nsecs,) = _struct_d3I.unpack(str[start:end])
00293 start = end
00294 end += 4
00295 (length,) = _struct_I.unpack(str[start:end])
00296 start = end
00297 end += length
00298 self.action_result.header.frame_id = str[start:end]
00299 _x = self
00300 start = end
00301 end += 8
00302 (_x.action_result.status.goal_id.stamp.secs, _x.action_result.status.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00303 start = end
00304 end += 4
00305 (length,) = _struct_I.unpack(str[start:end])
00306 start = end
00307 end += length
00308 self.action_result.status.goal_id.id = str[start:end]
00309 start = end
00310 end += 1
00311 (self.action_result.status.status,) = _struct_B.unpack(str[start:end])
00312 start = end
00313 end += 4
00314 (length,) = _struct_I.unpack(str[start:end])
00315 start = end
00316 end += length
00317 self.action_result.status.text = str[start:end]
00318 _x = self
00319 start = end
00320 end += 46
00321 (_x.action_result.result.data.stamp.secs, _x.action_result.result.data.stamp.nsecs, _x.action_result.result.data.left_fingertip_pad_force, _x.action_result.result.data.right_fingertip_pad_force, _x.action_result.result.data.joint_effort, _x.action_result.result.data.force_achieved, _x.action_result.result.data.rtstate.realtime_controller_state, _x.action_feedback.header.seq, _x.action_feedback.header.stamp.secs, _x.action_feedback.header.stamp.nsecs,) = _struct_2I3dBb3I.unpack(str[start:end])
00322 self.action_result.result.data.force_achieved = bool(self.action_result.result.data.force_achieved)
00323 start = end
00324 end += 4
00325 (length,) = _struct_I.unpack(str[start:end])
00326 start = end
00327 end += length
00328 self.action_feedback.header.frame_id = str[start:end]
00329 _x = self
00330 start = end
00331 end += 8
00332 (_x.action_feedback.status.goal_id.stamp.secs, _x.action_feedback.status.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00333 start = end
00334 end += 4
00335 (length,) = _struct_I.unpack(str[start:end])
00336 start = end
00337 end += length
00338 self.action_feedback.status.goal_id.id = str[start:end]
00339 start = end
00340 end += 1
00341 (self.action_feedback.status.status,) = _struct_B.unpack(str[start:end])
00342 start = end
00343 end += 4
00344 (length,) = _struct_I.unpack(str[start:end])
00345 start = end
00346 end += length
00347 self.action_feedback.status.text = str[start:end]
00348 _x = self
00349 start = end
00350 end += 34
00351 (_x.action_feedback.feedback.data.stamp.secs, _x.action_feedback.feedback.data.stamp.nsecs, _x.action_feedback.feedback.data.left_fingertip_pad_force, _x.action_feedback.feedback.data.right_fingertip_pad_force, _x.action_feedback.feedback.data.joint_effort, _x.action_feedback.feedback.data.force_achieved, _x.action_feedback.feedback.data.rtstate.realtime_controller_state,) = _struct_2I3dBb.unpack(str[start:end])
00352 self.action_feedback.feedback.data.force_achieved = bool(self.action_feedback.feedback.data.force_achieved)
00353 return self
00354 except struct.error as e:
00355 raise roslib.message.DeserializationError(e)
00356
00357
00358 def serialize_numpy(self, buff, numpy):
00359 """
00360 serialize message with numpy array types into buffer
00361 @param buff: buffer
00362 @type buff: StringIO
00363 @param numpy: numpy python module
00364 @type numpy module
00365 """
00366 try:
00367 _x = self
00368 buff.write(_struct_3I.pack(_x.action_goal.header.seq, _x.action_goal.header.stamp.secs, _x.action_goal.header.stamp.nsecs))
00369 _x = self.action_goal.header.frame_id
00370 length = len(_x)
00371 buff.write(struct.pack('<I%ss'%length, length, _x))
00372 _x = self
00373 buff.write(_struct_2I.pack(_x.action_goal.goal_id.stamp.secs, _x.action_goal.goal_id.stamp.nsecs))
00374 _x = self.action_goal.goal_id.id
00375 length = len(_x)
00376 buff.write(struct.pack('<I%ss'%length, length, _x))
00377 _x = self
00378 buff.write(_struct_d3I.pack(_x.action_goal.goal.command.fingertip_force, _x.action_result.header.seq, _x.action_result.header.stamp.secs, _x.action_result.header.stamp.nsecs))
00379 _x = self.action_result.header.frame_id
00380 length = len(_x)
00381 buff.write(struct.pack('<I%ss'%length, length, _x))
00382 _x = self
00383 buff.write(_struct_2I.pack(_x.action_result.status.goal_id.stamp.secs, _x.action_result.status.goal_id.stamp.nsecs))
00384 _x = self.action_result.status.goal_id.id
00385 length = len(_x)
00386 buff.write(struct.pack('<I%ss'%length, length, _x))
00387 buff.write(_struct_B.pack(self.action_result.status.status))
00388 _x = self.action_result.status.text
00389 length = len(_x)
00390 buff.write(struct.pack('<I%ss'%length, length, _x))
00391 _x = self
00392 buff.write(_struct_2I3dBb3I.pack(_x.action_result.result.data.stamp.secs, _x.action_result.result.data.stamp.nsecs, _x.action_result.result.data.left_fingertip_pad_force, _x.action_result.result.data.right_fingertip_pad_force, _x.action_result.result.data.joint_effort, _x.action_result.result.data.force_achieved, _x.action_result.result.data.rtstate.realtime_controller_state, _x.action_feedback.header.seq, _x.action_feedback.header.stamp.secs, _x.action_feedback.header.stamp.nsecs))
00393 _x = self.action_feedback.header.frame_id
00394 length = len(_x)
00395 buff.write(struct.pack('<I%ss'%length, length, _x))
00396 _x = self
00397 buff.write(_struct_2I.pack(_x.action_feedback.status.goal_id.stamp.secs, _x.action_feedback.status.goal_id.stamp.nsecs))
00398 _x = self.action_feedback.status.goal_id.id
00399 length = len(_x)
00400 buff.write(struct.pack('<I%ss'%length, length, _x))
00401 buff.write(_struct_B.pack(self.action_feedback.status.status))
00402 _x = self.action_feedback.status.text
00403 length = len(_x)
00404 buff.write(struct.pack('<I%ss'%length, length, _x))
00405 _x = self
00406 buff.write(_struct_2I3dBb.pack(_x.action_feedback.feedback.data.stamp.secs, _x.action_feedback.feedback.data.stamp.nsecs, _x.action_feedback.feedback.data.left_fingertip_pad_force, _x.action_feedback.feedback.data.right_fingertip_pad_force, _x.action_feedback.feedback.data.joint_effort, _x.action_feedback.feedback.data.force_achieved, _x.action_feedback.feedback.data.rtstate.realtime_controller_state))
00407 except struct.error as se: self._check_types(se)
00408 except TypeError as te: self._check_types(te)
00409
00410 def deserialize_numpy(self, str, numpy):
00411 """
00412 unpack serialized message in str into this message instance using numpy for array types
00413 @param str: byte array of serialized message
00414 @type str: str
00415 @param numpy: numpy python module
00416 @type numpy: module
00417 """
00418 try:
00419 if self.action_goal is None:
00420 self.action_goal = pr2_gripper_sensor_msgs.msg.PR2GripperForceServoActionGoal()
00421 if self.action_result is None:
00422 self.action_result = pr2_gripper_sensor_msgs.msg.PR2GripperForceServoActionResult()
00423 if self.action_feedback is None:
00424 self.action_feedback = pr2_gripper_sensor_msgs.msg.PR2GripperForceServoActionFeedback()
00425 end = 0
00426 _x = self
00427 start = end
00428 end += 12
00429 (_x.action_goal.header.seq, _x.action_goal.header.stamp.secs, _x.action_goal.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00430 start = end
00431 end += 4
00432 (length,) = _struct_I.unpack(str[start:end])
00433 start = end
00434 end += length
00435 self.action_goal.header.frame_id = str[start:end]
00436 _x = self
00437 start = end
00438 end += 8
00439 (_x.action_goal.goal_id.stamp.secs, _x.action_goal.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00440 start = end
00441 end += 4
00442 (length,) = _struct_I.unpack(str[start:end])
00443 start = end
00444 end += length
00445 self.action_goal.goal_id.id = str[start:end]
00446 _x = self
00447 start = end
00448 end += 20
00449 (_x.action_goal.goal.command.fingertip_force, _x.action_result.header.seq, _x.action_result.header.stamp.secs, _x.action_result.header.stamp.nsecs,) = _struct_d3I.unpack(str[start:end])
00450 start = end
00451 end += 4
00452 (length,) = _struct_I.unpack(str[start:end])
00453 start = end
00454 end += length
00455 self.action_result.header.frame_id = str[start:end]
00456 _x = self
00457 start = end
00458 end += 8
00459 (_x.action_result.status.goal_id.stamp.secs, _x.action_result.status.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00460 start = end
00461 end += 4
00462 (length,) = _struct_I.unpack(str[start:end])
00463 start = end
00464 end += length
00465 self.action_result.status.goal_id.id = str[start:end]
00466 start = end
00467 end += 1
00468 (self.action_result.status.status,) = _struct_B.unpack(str[start:end])
00469 start = end
00470 end += 4
00471 (length,) = _struct_I.unpack(str[start:end])
00472 start = end
00473 end += length
00474 self.action_result.status.text = str[start:end]
00475 _x = self
00476 start = end
00477 end += 46
00478 (_x.action_result.result.data.stamp.secs, _x.action_result.result.data.stamp.nsecs, _x.action_result.result.data.left_fingertip_pad_force, _x.action_result.result.data.right_fingertip_pad_force, _x.action_result.result.data.joint_effort, _x.action_result.result.data.force_achieved, _x.action_result.result.data.rtstate.realtime_controller_state, _x.action_feedback.header.seq, _x.action_feedback.header.stamp.secs, _x.action_feedback.header.stamp.nsecs,) = _struct_2I3dBb3I.unpack(str[start:end])
00479 self.action_result.result.data.force_achieved = bool(self.action_result.result.data.force_achieved)
00480 start = end
00481 end += 4
00482 (length,) = _struct_I.unpack(str[start:end])
00483 start = end
00484 end += length
00485 self.action_feedback.header.frame_id = str[start:end]
00486 _x = self
00487 start = end
00488 end += 8
00489 (_x.action_feedback.status.goal_id.stamp.secs, _x.action_feedback.status.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00490 start = end
00491 end += 4
00492 (length,) = _struct_I.unpack(str[start:end])
00493 start = end
00494 end += length
00495 self.action_feedback.status.goal_id.id = str[start:end]
00496 start = end
00497 end += 1
00498 (self.action_feedback.status.status,) = _struct_B.unpack(str[start:end])
00499 start = end
00500 end += 4
00501 (length,) = _struct_I.unpack(str[start:end])
00502 start = end
00503 end += length
00504 self.action_feedback.status.text = str[start:end]
00505 _x = self
00506 start = end
00507 end += 34
00508 (_x.action_feedback.feedback.data.stamp.secs, _x.action_feedback.feedback.data.stamp.nsecs, _x.action_feedback.feedback.data.left_fingertip_pad_force, _x.action_feedback.feedback.data.right_fingertip_pad_force, _x.action_feedback.feedback.data.joint_effort, _x.action_feedback.feedback.data.force_achieved, _x.action_feedback.feedback.data.rtstate.realtime_controller_state,) = _struct_2I3dBb.unpack(str[start:end])
00509 self.action_feedback.feedback.data.force_achieved = bool(self.action_feedback.feedback.data.force_achieved)
00510 return self
00511 except struct.error as e:
00512 raise roslib.message.DeserializationError(e)
00513
00514 _struct_I = roslib.message.struct_I
00515 _struct_B = struct.Struct("<B")
00516 _struct_3I = struct.Struct("<3I")
00517 _struct_2I3dBb3I = struct.Struct("<2I3dBb3I")
00518 _struct_d3I = struct.Struct("<d3I")
00519 _struct_2I3dBb = struct.Struct("<2I3dBb")
00520 _struct_2I = struct.Struct("<2I")
