00001 """autogenerated by genmsg_py from MoveArmActionGoal.msg. Do not edit."""
00002 import roslib.message
00003 import struct
00004
00005 import geometry_msgs.msg
00006 import simple_arm_server.msg
00007 import roslib.rostime
00008 import actionlib_msgs.msg
00009 import std_msgs.msg
00010
00011 class MoveArmActionGoal(roslib.message.Message):
00012 _md5sum = "c804e71aefd750c0aebce182acc02bec"
00013 _type = "simple_arm_server/MoveArmActionGoal"
00014 _has_header = True
00015 _full_text = """# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00016
00017 Header header
00018 actionlib_msgs/GoalID goal_id
00019 MoveArmGoal goal
00020
00021 ================================================================================
00022 MSG: std_msgs/Header
00023 # Standard metadata for higher-level stamped data types.
00024 # This is generally used to communicate timestamped data
00025 # in a particular coordinate frame.
00026 #
00027 # sequence ID: consecutively increasing ID
00028 uint32 seq
00029 #Two-integer timestamp that is expressed as:
00030 # * stamp.secs: seconds (stamp_secs) since epoch
00031 # * stamp.nsecs: nanoseconds since stamp_secs
00032 # time-handling sugar is provided by the client library
00033 time stamp
00034 #Frame this data is associated with
00035 # 0: no frame
00036 # 1: global frame
00037 string frame_id
00038
00039 ================================================================================
00040 MSG: actionlib_msgs/GoalID
00041 # The stamp should store the time at which this goal was requested.
00042 # It is used by an action server when it tries to preempt all
00043 # goals that were requested before a certain time
00044 time stamp
00045
00046 # The id provides a way to associate feedback and
00047 # result message with specific goal requests. The id
00048 # specified must be unique.
00049 string id
00050
00051
00052 ================================================================================
00053 MSG: simple_arm_server/MoveArmGoal
00054 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00055 std_msgs/Header header
00056 ArmAction[] motions
00057
00058 ================================================================================
00059 MSG: simple_arm_server/ArmAction
00060 #
00061 # Move arm or adjust gripper
00062 #
00063
00064 byte MOVE_ARM=0
00065 byte MOVE_GRIPPER=1
00066
00067 byte type # move the arm or the gripper?
00068
00069 geometry_msgs/Pose goal # goal for arm
00070 float64 command # width to open gripper
00071
00072 duration move_time
00073
00074 ================================================================================
00075 MSG: geometry_msgs/Pose
00076 # A representation of pose in free space, composed of postion and orientation.
00077 Point position
00078 Quaternion orientation
00079
00080 ================================================================================
00081 MSG: geometry_msgs/Point
00082 # This contains the position of a point in free space
00083 float64 x
00084 float64 y
00085 float64 z
00086
00087 ================================================================================
00088 MSG: geometry_msgs/Quaternion
00089 # This represents an orientation in free space in quaternion form.
00090
00091 float64 x
00092 float64 y
00093 float64 z
00094 float64 w
00095
00096 """
00097 __slots__ = ['header','goal_id','goal']
00098 _slot_types = ['Header','actionlib_msgs/GoalID','simple_arm_server/MoveArmGoal']
00099
00100 def __init__(self, *args, **kwds):
00101 """
00102 Constructor. Any message fields that are implicitly/explicitly
00103 set to None will be assigned a default value. The recommend
00104 use is keyword arguments as this is more robust to future message
00105 changes. You cannot mix in-order arguments and keyword arguments.
00106
00107 The available fields are:
00108 header,goal_id,goal
00109
00110 @param args: complete set of field values, in .msg order
00111 @param kwds: use keyword arguments corresponding to message field names
00112 to set specific fields.
00113 """
00114 if args or kwds:
00115 super(MoveArmActionGoal, self).__init__(*args, **kwds)
00116
00117 if self.header is None:
00118 self.header = std_msgs.msg._Header.Header()
00119 if self.goal_id is None:
00120 self.goal_id = actionlib_msgs.msg.GoalID()
00121 if self.goal is None:
00122 self.goal = simple_arm_server.msg.MoveArmGoal()
00123 else:
00124 self.header = std_msgs.msg._Header.Header()
00125 self.goal_id = actionlib_msgs.msg.GoalID()
00126 self.goal = simple_arm_server.msg.MoveArmGoal()
00127
00128 def _get_types(self):
00129 """
00130 internal API method
00131 """
00132 return self._slot_types
00133
00134 def serialize(self, buff):
00135 """
00136 serialize message into buffer
00137 @param buff: buffer
00138 @type buff: StringIO
00139 """
00140 try:
00141 _x = self
00142 buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
00143 _x = self.header.frame_id
00144 length = len(_x)
00145 buff.write(struct.pack('<I%ss'%length, length, _x))
00146 _x = self
00147 buff.write(_struct_2I.pack(_x.goal_id.stamp.secs, _x.goal_id.stamp.nsecs))
00148 _x = self.goal_id.id
00149 length = len(_x)
00150 buff.write(struct.pack('<I%ss'%length, length, _x))
00151 _x = self
00152 buff.write(_struct_3I.pack(_x.goal.header.seq, _x.goal.header.stamp.secs, _x.goal.header.stamp.nsecs))
00153 _x = self.goal.header.frame_id
00154 length = len(_x)
00155 buff.write(struct.pack('<I%ss'%length, length, _x))
00156 length = len(self.goal.motions)
00157 buff.write(_struct_I.pack(length))
00158 for val1 in self.goal.motions:
00159 buff.write(_struct_b.pack(val1.type))
00160 _v1 = val1.goal
00161 _v2 = _v1.position
00162 _x = _v2
00163 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00164 _v3 = _v1.orientation
00165 _x = _v3
00166 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00167 buff.write(_struct_d.pack(val1.command))
00168 _v4 = val1.move_time
00169 _x = _v4
00170 buff.write(_struct_2i.pack(_x.secs, _x.nsecs))
00171 except struct.error as se: self._check_types(se)
00172 except TypeError as te: self._check_types(te)
00173
00174 def deserialize(self, str):
00175 """
00176 unpack serialized message in str into this message instance
00177 @param str: byte array of serialized message
00178 @type str: str
00179 """
00180 try:
00181 if self.header is None:
00182 self.header = std_msgs.msg._Header.Header()
00183 if self.goal_id is None:
00184 self.goal_id = actionlib_msgs.msg.GoalID()
00185 if self.goal is None:
00186 self.goal = simple_arm_server.msg.MoveArmGoal()
00187 end = 0
00188 _x = self
00189 start = end
00190 end += 12
00191 (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00192 start = end
00193 end += 4
00194 (length,) = _struct_I.unpack(str[start:end])
00195 start = end
00196 end += length
00197 self.header.frame_id = str[start:end]
00198 _x = self
00199 start = end
00200 end += 8
00201 (_x.goal_id.stamp.secs, _x.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00202 start = end
00203 end += 4
00204 (length,) = _struct_I.unpack(str[start:end])
00205 start = end
00206 end += length
00207 self.goal_id.id = str[start:end]
00208 _x = self
00209 start = end
00210 end += 12
00211 (_x.goal.header.seq, _x.goal.header.stamp.secs, _x.goal.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00212 start = end
00213 end += 4
00214 (length,) = _struct_I.unpack(str[start:end])
00215 start = end
00216 end += length
00217 self.goal.header.frame_id = str[start:end]
00218 start = end
00219 end += 4
00220 (length,) = _struct_I.unpack(str[start:end])
00221 self.goal.motions = []
00222 for i in range(0, length):
00223 val1 = simple_arm_server.msg.ArmAction()
00224 start = end
00225 end += 1
00226 (val1.type,) = _struct_b.unpack(str[start:end])
00227 _v5 = val1.goal
00228 _v6 = _v5.position
00229 _x = _v6
00230 start = end
00231 end += 24
00232 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00233 _v7 = _v5.orientation
00234 _x = _v7
00235 start = end
00236 end += 32
00237 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
00238 start = end
00239 end += 8
00240 (val1.command,) = _struct_d.unpack(str[start:end])
00241 _v8 = val1.move_time
00242 _x = _v8
00243 start = end
00244 end += 8
00245 (_x.secs, _x.nsecs,) = _struct_2i.unpack(str[start:end])
00246 self.goal.motions.append(val1)
00247 return self
00248 except struct.error as e:
00249 raise roslib.message.DeserializationError(e)
00250
00251
00252 def serialize_numpy(self, buff, numpy):
00253 """
00254 serialize message with numpy array types into buffer
00255 @param buff: buffer
00256 @type buff: StringIO
00257 @param numpy: numpy python module
00258 @type numpy module
00259 """
00260 try:
00261 _x = self
00262 buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
00263 _x = self.header.frame_id
00264 length = len(_x)
00265 buff.write(struct.pack('<I%ss'%length, length, _x))
00266 _x = self
00267 buff.write(_struct_2I.pack(_x.goal_id.stamp.secs, _x.goal_id.stamp.nsecs))
00268 _x = self.goal_id.id
00269 length = len(_x)
00270 buff.write(struct.pack('<I%ss'%length, length, _x))
00271 _x = self
00272 buff.write(_struct_3I.pack(_x.goal.header.seq, _x.goal.header.stamp.secs, _x.goal.header.stamp.nsecs))
00273 _x = self.goal.header.frame_id
00274 length = len(_x)
00275 buff.write(struct.pack('<I%ss'%length, length, _x))
00276 length = len(self.goal.motions)
00277 buff.write(_struct_I.pack(length))
00278 for val1 in self.goal.motions:
00279 buff.write(_struct_b.pack(val1.type))
00280 _v9 = val1.goal
00281 _v10 = _v9.position
00282 _x = _v10
00283 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00284 _v11 = _v9.orientation
00285 _x = _v11
00286 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00287 buff.write(_struct_d.pack(val1.command))
00288 _v12 = val1.move_time
00289 _x = _v12
00290 buff.write(_struct_2i.pack(_x.secs, _x.nsecs))
00291 except struct.error as se: self._check_types(se)
00292 except TypeError as te: self._check_types(te)
00293
00294 def deserialize_numpy(self, str, numpy):
00295 """
00296 unpack serialized message in str into this message instance using numpy for array types
00297 @param str: byte array of serialized message
00298 @type str: str
00299 @param numpy: numpy python module
00300 @type numpy: module
00301 """
00302 try:
00303 if self.header is None:
00304 self.header = std_msgs.msg._Header.Header()
00305 if self.goal_id is None:
00306 self.goal_id = actionlib_msgs.msg.GoalID()
00307 if self.goal is None:
00308 self.goal = simple_arm_server.msg.MoveArmGoal()
00309 end = 0
00310 _x = self
00311 start = end
00312 end += 12
00313 (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00314 start = end
00315 end += 4
00316 (length,) = _struct_I.unpack(str[start:end])
00317 start = end
00318 end += length
00319 self.header.frame_id = str[start:end]
00320 _x = self
00321 start = end
00322 end += 8
00323 (_x.goal_id.stamp.secs, _x.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00324 start = end
00325 end += 4
00326 (length,) = _struct_I.unpack(str[start:end])
00327 start = end
00328 end += length
00329 self.goal_id.id = str[start:end]
00330 _x = self
00331 start = end
00332 end += 12
00333 (_x.goal.header.seq, _x.goal.header.stamp.secs, _x.goal.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00334 start = end
00335 end += 4
00336 (length,) = _struct_I.unpack(str[start:end])
00337 start = end
00338 end += length
00339 self.goal.header.frame_id = str[start:end]
00340 start = end
00341 end += 4
00342 (length,) = _struct_I.unpack(str[start:end])
00343 self.goal.motions = []
00344 for i in range(0, length):
00345 val1 = simple_arm_server.msg.ArmAction()
00346 start = end
00347 end += 1
00348 (val1.type,) = _struct_b.unpack(str[start:end])
00349 _v13 = val1.goal
00350 _v14 = _v13.position
00351 _x = _v14
00352 start = end
00353 end += 24
00354 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00355 _v15 = _v13.orientation
00356 _x = _v15
00357 start = end
00358 end += 32
00359 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
00360 start = end
00361 end += 8
00362 (val1.command,) = _struct_d.unpack(str[start:end])
00363 _v16 = val1.move_time
00364 _x = _v16
00365 start = end
00366 end += 8
00367 (_x.secs, _x.nsecs,) = _struct_2i.unpack(str[start:end])
00368 self.goal.motions.append(val1)
00369 return self
00370 except struct.error as e:
00371 raise roslib.message.DeserializationError(e)
00372
00373 _struct_I = roslib.message.struct_I
00374 _struct_b = struct.Struct("<b")
00375 _struct_d = struct.Struct("<d")
00376 _struct_2i = struct.Struct("<2i")
00377 _struct_3I = struct.Struct("<3I")
00378 _struct_4d = struct.Struct("<4d")
00379 _struct_2I = struct.Struct("<2I")
00380 _struct_3d = struct.Struct("<3d")
