_MoveArmResult.py

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

import planning_environment_msgs.msg
import geometry_msgs.msg
import motion_planning_msgs.msg
import std_msgs.msg

class MoveArmResult(roslib.message.Message):
  _md5sum = "3229301226a0605e3ffc9dfdaeac662f"
  _type = "move_arm_msgs/MoveArmResult"
  _has_header = False #flag to mark the presence of a Header object
  _full_text = """# An error code reflecting what went wrong
motion_planning_msgs/ArmNavigationErrorCodes error_code

planning_environment_msgs/ContactInformation[] contacts
================================================================================
MSG: motion_planning_msgs/ArmNavigationErrorCodes
int32 val

# overall behavior
int32 PLANNING_FAILED=-1
int32 SUCCESS=1
int32 TIMED_OUT=-2

# start state errors
int32 START_STATE_IN_COLLISION=-3
int32 START_STATE_VIOLATES_PATH_CONSTRAINTS=-4

# goal errors
int32 GOAL_IN_COLLISION=-5
int32 GOAL_VIOLATES_PATH_CONSTRAINTS=-6

# robot state
int32 INVALID_ROBOT_STATE=-7
int32 INCOMPLETE_ROBOT_STATE=-8

# planning request errors
int32 INVALID_PLANNER_ID=-9
int32 INVALID_NUM_PLANNING_ATTEMPTS=-10
int32 INVALID_ALLOWED_PLANNING_TIME=-11
int32 INVALID_GROUP_NAME=-12
int32 INVALID_GOAL_JOINT_CONSTRAINTS=-13
int32 INVALID_GOAL_POSITION_CONSTRAINTS=-14
int32 INVALID_GOAL_ORIENTATION_CONSTRAINTS=-15
int32 INVALID_PATH_JOINT_CONSTRAINTS=-16
int32 INVALID_PATH_POSITION_CONSTRAINTS=-17
int32 INVALID_PATH_ORIENTATION_CONSTRAINTS=-18

# state/trajectory monitor errors
int32 INVALID_TRAJECTORY=-19
int32 INVALID_INDEX=-20
int32 JOINT_LIMITS_VIOLATED=-21
int32 PATH_CONSTRAINTS_VIOLATED=-22
int32 COLLISION_CONSTRAINTS_VIOLATED=-23
int32 GOAL_CONSTRAINTS_VIOLATED=-24
int32 JOINTS_NOT_MOVING=-25
int32 TRAJECTORY_CONTROLLER_FAILED=-26

# system errors
int32 FRAME_TRANSFORM_FAILURE=-27
int32 COLLISION_CHECKING_UNAVAILABLE=-28
int32 ROBOT_STATE_STALE=-29
int32 SENSOR_INFO_STALE=-30

# kinematics errors
int32 NO_IK_SOLUTION=-31
int32 INVALID_LINK_NAME=-32
int32 IK_LINK_IN_COLLISION=-33
int32 NO_FK_SOLUTION=-34
int32 KINEMATICS_STATE_IN_COLLISION=-35

# general errors
int32 INVALID_TIMEOUT=-36


================================================================================
MSG: planning_environment_msgs/ContactInformation
# Standard ROS header contains information 
# about the frame in which this 
# contact is specified
Header header

# Position of the contact point
geometry_msgs/Point position

# Normal corresponding to the contact point
geometry_msgs/Vector3 normal 

# Depth of contact point
float64 depth

# Name of the first body that is in contact
# This could be a link or a namespace that represents a body
string contact_body_1
string attached_body_1
uint32 body_type_1

# Name of the second body that is in contact
# This could be a link or a namespace that represents a body
string contact_body_2
string attached_body_2
uint32 body_type_2

uint32 ROBOT_LINK=0
uint32 OBJECT=1
uint32 ATTACHED_BODY=2
================================================================================
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: geometry_msgs/Point
# This contains the position of a point in free space
float64 x
float64 y
float64 z

================================================================================
MSG: geometry_msgs/Vector3
# This represents a vector in free space. 

float64 x
float64 y
float64 z
"""
  __slots__ = ['error_code','contacts']
  _slot_types = ['motion_planning_msgs/ArmNavigationErrorCodes','planning_environment_msgs/ContactInformation[]']

  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:
       error_code,contacts
    
    @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(MoveArmResult, self).__init__(*args, **kwds)
      #message fields cannot be None, assign default values for those that are
      if self.error_code is None:
        self.error_code = motion_planning_msgs.msg.ArmNavigationErrorCodes()
      if self.contacts is None:
        self.contacts = []
    else:
      self.error_code = motion_planning_msgs.msg.ArmNavigationErrorCodes()
      self.contacts = []

  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:
      buff.write(_struct_i.pack(self.error_code.val))
      length = len(self.contacts)
      buff.write(_struct_I.pack(length))
      for val1 in self.contacts:
        _v1 = val1.header
        buff.write(_struct_I.pack(_v1.seq))
        _v2 = _v1.stamp
        _x = _v2
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v1.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _v3 = val1.position
        _x = _v3
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v4 = val1.normal
        _x = _v4
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        buff.write(_struct_d.pack(val1.depth))
        _x = val1.contact_body_1
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = val1.attached_body_1
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        buff.write(_struct_I.pack(val1.body_type_1))
        _x = val1.contact_body_2
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = val1.attached_body_2
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        buff.write(_struct_I.pack(val1.body_type_2))
    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.error_code is None:
        self.error_code = motion_planning_msgs.msg.ArmNavigationErrorCodes()
      end = 0
      start = end
      end += 4
      (self.error_code.val,) = _struct_i.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.contacts = []
      for i in xrange(0, length):
        val1 = planning_environment_msgs.msg.ContactInformation()
        _v5 = val1.header
        start = end
        end += 4
        (_v5.seq,) = _struct_I.unpack(str[start:end])
        _v6 = _v5.stamp
        _x = _v6
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        _v5.frame_id = str[start:end]
        _v7 = val1.position
        _x = _v7
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v8 = val1.normal
        _x = _v8
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        start = end
        end += 8
        (val1.depth,) = _struct_d.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1.contact_body_1 = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1.attached_body_1 = str[start:end]
        start = end
        end += 4
        (val1.body_type_1,) = _struct_I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1.contact_body_2 = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1.attached_body_2 = str[start:end]
        start = end
        end += 4
        (val1.body_type_2,) = _struct_I.unpack(str[start:end])
        self.contacts.append(val1)
      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:
      buff.write(_struct_i.pack(self.error_code.val))
      length = len(self.contacts)
      buff.write(_struct_I.pack(length))
      for val1 in self.contacts:
        _v9 = val1.header
        buff.write(_struct_I.pack(_v9.seq))
        _v10 = _v9.stamp
        _x = _v10
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v9.frame_id
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _v11 = val1.position
        _x = _v11
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v12 = val1.normal
        _x = _v12
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        buff.write(_struct_d.pack(val1.depth))
        _x = val1.contact_body_1
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = val1.attached_body_1
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        buff.write(_struct_I.pack(val1.body_type_1))
        _x = val1.contact_body_2
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = val1.attached_body_2
        length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        buff.write(_struct_I.pack(val1.body_type_2))
    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.error_code is None:
        self.error_code = motion_planning_msgs.msg.ArmNavigationErrorCodes()
      end = 0
      start = end
      end += 4
      (self.error_code.val,) = _struct_i.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.contacts = []
      for i in xrange(0, length):
        val1 = planning_environment_msgs.msg.ContactInformation()
        _v13 = val1.header
        start = end
        end += 4
        (_v13.seq,) = _struct_I.unpack(str[start:end])
        _v14 = _v13.stamp
        _x = _v14
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        _v13.frame_id = str[start:end]
        _v15 = val1.position
        _x = _v15
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v16 = val1.normal
        _x = _v16
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        start = end
        end += 8
        (val1.depth,) = _struct_d.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1.contact_body_1 = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1.attached_body_1 = str[start:end]
        start = end
        end += 4
        (val1.body_type_1,) = _struct_I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1.contact_body_2 = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1.attached_body_2 = str[start:end]
        start = end
        end += 4
        (val1.body_type_2,) = _struct_I.unpack(str[start:end])
        self.contacts.append(val1)
      return self
    except struct.error, e:
      raise roslib.message.DeserializationError(e) #most likely buffer underfill

_struct_I = roslib.message.struct_I
_struct_i = struct.Struct("<i")
_struct_2I = struct.Struct("<2I")
_struct_d = struct.Struct("<d")
_struct_3d = struct.Struct("<3d")

---

move_arm_msgs
Author(s): Sachin Chitta
autogenerated on Fri Jan 11 09:39:22 2013