00001 """autogenerated by genmsg_py from PR2GripperReleaseActionGoal.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 PR2GripperReleaseActionGoal(roslib.message.Message):
00011 _md5sum = "e5f06f3717f8990527330a2e0eaa0c81"
00012 _type = "pr2_gripper_sensor_msgs/PR2GripperReleaseActionGoal"
00013 _has_header = True
00014 _full_text = """# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00015
00016 Header header
00017 actionlib_msgs/GoalID goal_id
00018 PR2GripperReleaseGoal goal
00019
00020 ================================================================================
00021 MSG: std_msgs/Header
00022 # Standard metadata for higher-level stamped data types.
00023 # This is generally used to communicate timestamped data
00024 # in a particular coordinate frame.
00025 #
00026 # sequence ID: consecutively increasing ID
00027 uint32 seq
00028 #Two-integer timestamp that is expressed as:
00029 # * stamp.secs: seconds (stamp_secs) since epoch
00030 # * stamp.nsecs: nanoseconds since stamp_secs
00031 # time-handling sugar is provided by the client library
00032 time stamp
00033 #Frame this data is associated with
00034 # 0: no frame
00035 # 1: global frame
00036 string frame_id
00037
00038 ================================================================================
00039 MSG: actionlib_msgs/GoalID
00040 # The stamp should store the time at which this goal was requested.
00041 # It is used by an action server when it tries to preempt all
00042 # goals that were requested before a certain time
00043 time stamp
00044
00045 # The id provides a way to associate feedback and
00046 # result message with specific goal requests. The id
00047 # specified must be unique.
00048 string id
00049
00050
00051 ================================================================================
00052 MSG: pr2_gripper_sensor_msgs/PR2GripperReleaseGoal
00053 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00054 #goal
00055 PR2GripperReleaseCommand command
00056
00057 ================================================================================
00058 MSG: pr2_gripper_sensor_msgs/PR2GripperReleaseCommand
00059 # the event conditions we would like to trigger the robot to release on
00060 PR2GripperEventDetectorCommand event
00061 ================================================================================
00062 MSG: pr2_gripper_sensor_msgs/PR2GripperEventDetectorCommand
00063 # state variable that defines what events we would like to trigger on
00064 # Leaving this field blank will result in the robot triggering when
00065 # anything touches the sides of the finger or an impact is detected
00066 # with the hand/arm.
00067 int8 trigger_conditions
00068 # definitions for our various trigger_conditions values
00069 # trigger on either acceleration contact or finger sensor side impact
00070 int8 FINGER_SIDE_IMPACT_OR_ACC = 0
00071 # tigger once both slip and acceleration signals occur
00072 int8 SLIP_AND_ACC = 1
00073 # trigger on either slip, acceleration, or finger sensor side impact
00074 int8 FINGER_SIDE_IMPACT_OR_SLIP_OR_ACC = 2
00075 # trigger only on slip information
00076 int8 SLIP = 3
00077 # trigger only on acceleration contact information
00078 int8 ACC = 4
00079
00080
00081 # the amount of acceleration to trigger on (acceleration vector magnitude)
00082 # Units = m/s^2
00083 # The user needs to be concerned here about not setting the trigger too
00084 # low so that is set off by the robot's own motions.
00085 #
00086 # For large rapid motions, say by a motion planner, 5 m/s^2 is a good level
00087 # For small delicate controlled motions this can be set MUCH lower (try 2.0)
00088 #
00089 # NOTE: When moving the gripper joint (opening/closing the grippr)
00090 # the high gearing of the PR2 gripper causes large acceleration vibrations
00091 # which will cause triggering to occur. This is a known drawback of the PR2.
00092 #
00093 # NOTE: Leaving this value blank will result in a 0 m/s^2 trigger. If you
00094 # are using a trigger_conditions value that returns on acceleration contact
00095 # events then it will immediately exceed your trigger and return
00096 float64 acceleration_trigger_magnitude
00097
00098
00099 # the slip detector gain to trigger on (either finger) : try 0.01
00100 # higher values decrease slip sensitivty (to a point)
00101 # lower values increase sensitivity (to a point)
00102 #
00103 # NOTE: Leaving this value blank will result in the most sensitive slip level.
00104 float64 slip_trigger_magnitude
00105 """
00106 __slots__ = ['header','goal_id','goal']
00107 _slot_types = ['Header','actionlib_msgs/GoalID','pr2_gripper_sensor_msgs/PR2GripperReleaseGoal']
00108
00109 def __init__(self, *args, **kwds):
00110 """
00111 Constructor. Any message fields that are implicitly/explicitly
00112 set to None will be assigned a default value. The recommend
00113 use is keyword arguments as this is more robust to future message
00114 changes. You cannot mix in-order arguments and keyword arguments.
00115
00116 The available fields are:
00117 header,goal_id,goal
00118
00119 @param args: complete set of field values, in .msg order
00120 @param kwds: use keyword arguments corresponding to message field names
00121 to set specific fields.
00122 """
00123 if args or kwds:
00124 super(PR2GripperReleaseActionGoal, self).__init__(*args, **kwds)
00125
00126 if self.header is None:
00127 self.header = std_msgs.msg._Header.Header()
00128 if self.goal_id is None:
00129 self.goal_id = actionlib_msgs.msg.GoalID()
00130 if self.goal is None:
00131 self.goal = pr2_gripper_sensor_msgs.msg.PR2GripperReleaseGoal()
00132 else:
00133 self.header = std_msgs.msg._Header.Header()
00134 self.goal_id = actionlib_msgs.msg.GoalID()
00135 self.goal = pr2_gripper_sensor_msgs.msg.PR2GripperReleaseGoal()
00136
00137 def _get_types(self):
00138 """
00139 internal API method
00140 """
00141 return self._slot_types
00142
00143 def serialize(self, buff):
00144 """
00145 serialize message into buffer
00146 @param buff: buffer
00147 @type buff: StringIO
00148 """
00149 try:
00150 _x = self
00151 buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
00152 _x = self.header.frame_id
00153 length = len(_x)
00154 buff.write(struct.pack('<I%ss'%length, length, _x))
00155 _x = self
00156 buff.write(_struct_2I.pack(_x.goal_id.stamp.secs, _x.goal_id.stamp.nsecs))
00157 _x = self.goal_id.id
00158 length = len(_x)
00159 buff.write(struct.pack('<I%ss'%length, length, _x))
00160 _x = self
00161 buff.write(_struct_b2d.pack(_x.goal.command.event.trigger_conditions, _x.goal.command.event.acceleration_trigger_magnitude, _x.goal.command.event.slip_trigger_magnitude))
00162 except struct.error as se: self._check_types(se)
00163 except TypeError as te: self._check_types(te)
00164
00165 def deserialize(self, str):
00166 """
00167 unpack serialized message in str into this message instance
00168 @param str: byte array of serialized message
00169 @type str: str
00170 """
00171 try:
00172 if self.header is None:
00173 self.header = std_msgs.msg._Header.Header()
00174 if self.goal_id is None:
00175 self.goal_id = actionlib_msgs.msg.GoalID()
00176 if self.goal is None:
00177 self.goal = pr2_gripper_sensor_msgs.msg.PR2GripperReleaseGoal()
00178 end = 0
00179 _x = self
00180 start = end
00181 end += 12
00182 (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00183 start = end
00184 end += 4
00185 (length,) = _struct_I.unpack(str[start:end])
00186 start = end
00187 end += length
00188 self.header.frame_id = str[start:end]
00189 _x = self
00190 start = end
00191 end += 8
00192 (_x.goal_id.stamp.secs, _x.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00193 start = end
00194 end += 4
00195 (length,) = _struct_I.unpack(str[start:end])
00196 start = end
00197 end += length
00198 self.goal_id.id = str[start:end]
00199 _x = self
00200 start = end
00201 end += 17
00202 (_x.goal.command.event.trigger_conditions, _x.goal.command.event.acceleration_trigger_magnitude, _x.goal.command.event.slip_trigger_magnitude,) = _struct_b2d.unpack(str[start:end])
00203 return self
00204 except struct.error as e:
00205 raise roslib.message.DeserializationError(e)
00206
00207
00208 def serialize_numpy(self, buff, numpy):
00209 """
00210 serialize message with numpy array types into buffer
00211 @param buff: buffer
00212 @type buff: StringIO
00213 @param numpy: numpy python module
00214 @type numpy module
00215 """
00216 try:
00217 _x = self
00218 buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
00219 _x = self.header.frame_id
00220 length = len(_x)
00221 buff.write(struct.pack('<I%ss'%length, length, _x))
00222 _x = self
00223 buff.write(_struct_2I.pack(_x.goal_id.stamp.secs, _x.goal_id.stamp.nsecs))
00224 _x = self.goal_id.id
00225 length = len(_x)
00226 buff.write(struct.pack('<I%ss'%length, length, _x))
00227 _x = self
00228 buff.write(_struct_b2d.pack(_x.goal.command.event.trigger_conditions, _x.goal.command.event.acceleration_trigger_magnitude, _x.goal.command.event.slip_trigger_magnitude))
00229 except struct.error as se: self._check_types(se)
00230 except TypeError as te: self._check_types(te)
00231
00232 def deserialize_numpy(self, str, numpy):
00233 """
00234 unpack serialized message in str into this message instance using numpy for array types
00235 @param str: byte array of serialized message
00236 @type str: str
00237 @param numpy: numpy python module
00238 @type numpy: module
00239 """
00240 try:
00241 if self.header is None:
00242 self.header = std_msgs.msg._Header.Header()
00243 if self.goal_id is None:
00244 self.goal_id = actionlib_msgs.msg.GoalID()
00245 if self.goal is None:
00246 self.goal = pr2_gripper_sensor_msgs.msg.PR2GripperReleaseGoal()
00247 end = 0
00248 _x = self
00249 start = end
00250 end += 12
00251 (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00252 start = end
00253 end += 4
00254 (length,) = _struct_I.unpack(str[start:end])
00255 start = end
00256 end += length
00257 self.header.frame_id = str[start:end]
00258 _x = self
00259 start = end
00260 end += 8
00261 (_x.goal_id.stamp.secs, _x.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00262 start = end
00263 end += 4
00264 (length,) = _struct_I.unpack(str[start:end])
00265 start = end
00266 end += length
00267 self.goal_id.id = str[start:end]
00268 _x = self
00269 start = end
00270 end += 17
00271 (_x.goal.command.event.trigger_conditions, _x.goal.command.event.acceleration_trigger_magnitude, _x.goal.command.event.slip_trigger_magnitude,) = _struct_b2d.unpack(str[start:end])
00272 return self
00273 except struct.error as e:
00274 raise roslib.message.DeserializationError(e)
00275
00276 _struct_I = roslib.message.struct_I
00277 _struct_3I = struct.Struct("<3I")
00278 _struct_b2d = struct.Struct("<b2d")
00279 _struct_2I = struct.Struct("<2I")
