_ArmHandActionGoal.py

Go to the documentation of this file.

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

import cogman_msgs.msg
import geometry_msgs.msg
import roslib.rostime
import actionlib_msgs.msg
import std_msgs.msg

class ArmHandActionGoal(roslib.message.Message):
  _md5sum = "67892e60a5b18d39d45d5d9aff6688ae"
  _type = "cogman_msgs/ArmHandActionGoal"
  _has_header = True #flag to mark the presence of a Header object
  _full_text = """# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======

Header header
actionlib_msgs/GoalID goal_id
ArmHandGoal goal

================================================================================
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: actionlib_msgs/GoalID
# The stamp should store the time at which this goal was requested.
# It is used by an action server when it tries to preempt all
# goals that were requested before a certain time
time stamp

# The id provides a way to associate feedback and
# result message with specific goal requests. The id
# specified must be unique.
string id


================================================================================
MSG: cogman_msgs/ArmHandGoal
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
string command              # 'arm_cart_loid', 'arm_cart_pose', 'arm_cart_name', 'arm_joints', 'arm_joint_name', 'reach_primitive', 'hand_primitive', 'lift', 'put_down'
string pose_name            # When moving to pre-defined poses, cointains the name
float32[] joint_angles      # If command is 'arm_joints', the joint angles
geometry_msgs/Pose end_effector_pose  # command=arm_cart_pose: where the arm should go
uint64 end_effector_loid    # one lo_id where the arm should go
string hand_primitive       # Allowed strings: open open_thumb90 3pinch 2pinch cup_top peace handshake noop. Used when command is 'finger_primitive'
string object_type          # If command is 'reach_primitive', it will define how to grasp (orientation ...)
uint64[] obstacle_ids       # List of lo_id's corresponding to obstacles
float32 distance            # For reach_primitive: distance from grasp point to approach point (m). For 'lift', distance to lift up (m)
float32 supporting_plane    # Height of the table (m)

================================================================================
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

"""
  __slots__ = ['header','goal_id','goal']
  _slot_types = ['Header','actionlib_msgs/GoalID','cogman_msgs/ArmHandGoal']

  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,goal_id,goal
    
    @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(ArmHandActionGoal, 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.goal_id is None:
        self.goal_id = actionlib_msgs.msg.GoalID()
      if self.goal is None:
        self.goal = cogman_msgs.msg.ArmHandGoal()
    else:
      self.header = std_msgs.msg._Header.Header()
      self.goal_id = actionlib_msgs.msg.GoalID()
      self.goal = cogman_msgs.msg.ArmHandGoal()

  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))
      _x = self
      buff.write(_struct_2I.pack(_x.goal_id.stamp.secs, _x.goal_id.stamp.nsecs))
      _x = self.goal_id.id
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self.goal.command
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self.goal.pose_name
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.goal.joint_angles)
      buff.write(_struct_I.pack(length))
      pattern = '<%sf'%length
      buff.write(struct.pack(pattern, *self.goal.joint_angles))
      _x = self
      buff.write(_struct_7dQ.pack(_x.goal.end_effector_pose.position.x, _x.goal.end_effector_pose.position.y, _x.goal.end_effector_pose.position.z, _x.goal.end_effector_pose.orientation.x, _x.goal.end_effector_pose.orientation.y, _x.goal.end_effector_pose.orientation.z, _x.goal.end_effector_pose.orientation.w, _x.goal.end_effector_loid))
      _x = self.goal.hand_primitive
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self.goal.object_type
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.goal.obstacle_ids)
      buff.write(_struct_I.pack(length))
      pattern = '<%sQ'%length
      buff.write(struct.pack(pattern, *self.goal.obstacle_ids))
      _x = self
      buff.write(_struct_2f.pack(_x.goal.distance, _x.goal.supporting_plane))
    except struct.error, se: self._check_types(se)
    except TypeError, 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.goal_id is None:
        self.goal_id = actionlib_msgs.msg.GoalID()
      if self.goal is None:
        self.goal = cogman_msgs.msg.ArmHandGoal()
      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]
      _x = self
      start = end
      end += 8
      (_x.goal_id.stamp.secs, _x.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.goal_id.id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.goal.command = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.goal.pose_name = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sf'%length
      start = end
      end += struct.calcsize(pattern)
      self.goal.joint_angles = struct.unpack(pattern, str[start:end])
      _x = self
      start = end
      end += 64
      (_x.goal.end_effector_pose.position.x, _x.goal.end_effector_pose.position.y, _x.goal.end_effector_pose.position.z, _x.goal.end_effector_pose.orientation.x, _x.goal.end_effector_pose.orientation.y, _x.goal.end_effector_pose.orientation.z, _x.goal.end_effector_pose.orientation.w, _x.goal.end_effector_loid,) = _struct_7dQ.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.goal.hand_primitive = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.goal.object_type = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sQ'%length
      start = end
      end += struct.calcsize(pattern)
      self.goal.obstacle_ids = struct.unpack(pattern, str[start:end])
      _x = self
      start = end
      end += 8
      (_x.goal.distance, _x.goal.supporting_plane,) = _struct_2f.unpack(str[start:end])
      return self
    except struct.error, 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))
      _x = self
      buff.write(_struct_2I.pack(_x.goal_id.stamp.secs, _x.goal_id.stamp.nsecs))
      _x = self.goal_id.id
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self.goal.command
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self.goal.pose_name
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.goal.joint_angles)
      buff.write(_struct_I.pack(length))
      pattern = '<%sf'%length
      buff.write(self.goal.joint_angles.tostring())
      _x = self
      buff.write(_struct_7dQ.pack(_x.goal.end_effector_pose.position.x, _x.goal.end_effector_pose.position.y, _x.goal.end_effector_pose.position.z, _x.goal.end_effector_pose.orientation.x, _x.goal.end_effector_pose.orientation.y, _x.goal.end_effector_pose.orientation.z, _x.goal.end_effector_pose.orientation.w, _x.goal.end_effector_loid))
      _x = self.goal.hand_primitive
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self.goal.object_type
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.goal.obstacle_ids)
      buff.write(_struct_I.pack(length))
      pattern = '<%sQ'%length
      buff.write(self.goal.obstacle_ids.tostring())
      _x = self
      buff.write(_struct_2f.pack(_x.goal.distance, _x.goal.supporting_plane))
    except struct.error, se: self._check_types(se)
    except TypeError, 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.goal_id is None:
        self.goal_id = actionlib_msgs.msg.GoalID()
      if self.goal is None:
        self.goal = cogman_msgs.msg.ArmHandGoal()
      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]
      _x = self
      start = end
      end += 8
      (_x.goal_id.stamp.secs, _x.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.goal_id.id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.goal.command = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.goal.pose_name = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sf'%length
      start = end
      end += struct.calcsize(pattern)
      self.goal.joint_angles = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=length)
      _x = self
      start = end
      end += 64
      (_x.goal.end_effector_pose.position.x, _x.goal.end_effector_pose.position.y, _x.goal.end_effector_pose.position.z, _x.goal.end_effector_pose.orientation.x, _x.goal.end_effector_pose.orientation.y, _x.goal.end_effector_pose.orientation.z, _x.goal.end_effector_pose.orientation.w, _x.goal.end_effector_loid,) = _struct_7dQ.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.goal.hand_primitive = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.goal.object_type = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sQ'%length
      start = end
      end += struct.calcsize(pattern)
      self.goal.obstacle_ids = numpy.frombuffer(str[start:end], dtype=numpy.uint64, count=length)
      _x = self
      start = end
      end += 8
      (_x.goal.distance, _x.goal.supporting_plane,) = _struct_2f.unpack(str[start:end])
      return self
    except struct.error, e:
      raise roslib.message.DeserializationError(e) #most likely buffer underfill

_struct_I = roslib.message.struct_I
_struct_7dQ = struct.Struct("<7dQ")
_struct_3I = struct.Struct("<3I")
_struct_2I = struct.Struct("<2I")
_struct_2f = struct.Struct("<2f")

---

cogman_msgs
Author(s): Alexis Maldonado
autogenerated on Fri Jan 11 09:39:16 2013