_GraspHandPostureExecutionActionGoal.py

Go to the documentation of this file.

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

import object_manipulation_msgs.msg
import roslib.rostime
import actionlib_msgs.msg
import geometry_msgs.msg
import sensor_msgs.msg
import std_msgs.msg

class GraspHandPostureExecutionActionGoal(roslib.message.Message):
  _md5sum = "1ba739716c146e27d08403de62e960f1"
  _type = "object_manipulation_msgs/GraspHandPostureExecutionActionGoal"
  _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
GraspHandPostureExecutionGoal 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: object_manipulation_msgs/GraspHandPostureExecutionGoal
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
# an action for requesting the finger posture part of grasp be physically carried out by a hand
# the name of the arm being used is not in here, as this will be sent to a specific action server
# for each arm

# the grasp to be executed
Grasp grasp

# the goal of this action
# requests that the hand be set in the pre-grasp posture
int32 PRE_GRASP=1
# requests that the hand execute the actual grasp
int32 GRASP=2
# requests that the hand open to release the object
int32 RELEASE=3
int32 goal


================================================================================
MSG: object_manipulation_msgs/Grasp

# The internal posture of the hand for the pre-grasp
# only positions are used
sensor_msgs/JointState pre_grasp_posture

# The internal posture of the hand for the grasp
# positions and efforts are used
sensor_msgs/JointState grasp_posture

# The position of the end-effector for the grasp relative to the object
geometry_msgs/Pose grasp_pose

# The estimated probability of success for this grasp
float64 success_probability

# Debug flag to indicate that this grasp would be the best in its cluster
bool cluster_rep
================================================================================
MSG: sensor_msgs/JointState
# This is a message that holds data to describe the state of a set of torque controlled joints. 
#
# The state of each joint (revolute or prismatic) is defined by:
#  * the position of the joint (rad or m),
#  * the velocity of the joint (rad/s or m/s) and 
#  * the effort that is applied in the joint (Nm or N).
#
# Each joint is uniquely identified by its name
# The header specifies the time at which the joint states were recorded. All the joint states
# in one message have to be recorded at the same time.
#
# This message consists of a multiple arrays, one for each part of the joint state. 
# The goal is to make each of the fields optional. When e.g. your joints have no
# effort associated with them, you can leave the effort array empty. 
#
# All arrays in this message should have the same size, or be empty.
# This is the only way to uniquely associate the joint name with the correct
# states.


Header header

string[] name
float64[] position
float64[] velocity
float64[] effort

================================================================================
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','object_manipulation_msgs/GraspHandPostureExecutionGoal']

  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(GraspHandPostureExecutionActionGoal, 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 = object_manipulation_msgs.msg.GraspHandPostureExecutionGoal()
    else:
      self.header = std_msgs.msg._Header.Header()
      self.goal_id = actionlib_msgs.msg.GoalID()
      self.goal = object_manipulation_msgs.msg.GraspHandPostureExecutionGoal()

  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
      buff.write(_struct_3I.pack(_x.goal.grasp.pre_grasp_posture.header.seq, _x.goal.grasp.pre_grasp_posture.header.stamp.secs, _x.goal.grasp.pre_grasp_posture.header.stamp.nsecs))
      _x = self.goal.grasp.pre_grasp_posture.header.frame_id
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.goal.grasp.pre_grasp_posture.name)
      buff.write(_struct_I.pack(length))
      for val1 in self.goal.grasp.pre_grasp_posture.name:
        length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.goal.grasp.pre_grasp_posture.position)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.goal.grasp.pre_grasp_posture.position))
      length = len(self.goal.grasp.pre_grasp_posture.velocity)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.goal.grasp.pre_grasp_posture.velocity))
      length = len(self.goal.grasp.pre_grasp_posture.effort)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.goal.grasp.pre_grasp_posture.effort))
      _x = self
      buff.write(_struct_3I.pack(_x.goal.grasp.grasp_posture.header.seq, _x.goal.grasp.grasp_posture.header.stamp.secs, _x.goal.grasp.grasp_posture.header.stamp.nsecs))
      _x = self.goal.grasp.grasp_posture.header.frame_id
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.goal.grasp.grasp_posture.name)
      buff.write(_struct_I.pack(length))
      for val1 in self.goal.grasp.grasp_posture.name:
        length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.goal.grasp.grasp_posture.position)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.goal.grasp.grasp_posture.position))
      length = len(self.goal.grasp.grasp_posture.velocity)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.goal.grasp.grasp_posture.velocity))
      length = len(self.goal.grasp.grasp_posture.effort)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.goal.grasp.grasp_posture.effort))
      _x = self
      buff.write(_struct_8dBi.pack(_x.goal.grasp.grasp_pose.position.x, _x.goal.grasp.grasp_pose.position.y, _x.goal.grasp.grasp_pose.position.z, _x.goal.grasp.grasp_pose.orientation.x, _x.goal.grasp.grasp_pose.orientation.y, _x.goal.grasp.grasp_pose.orientation.z, _x.goal.grasp.grasp_pose.orientation.w, _x.goal.grasp.success_probability, _x.goal.grasp.cluster_rep, _x.goal.goal))
    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 = object_manipulation_msgs.msg.GraspHandPostureExecutionGoal()
      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]
      _x = self
      start = end
      end += 12
      (_x.goal.grasp.pre_grasp_posture.header.seq, _x.goal.grasp.pre_grasp_posture.header.stamp.secs, _x.goal.grasp.pre_grasp_posture.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.goal.grasp.pre_grasp_posture.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.goal.grasp.pre_grasp_posture.name = []
      for i in xrange(0, length):
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1 = str[start:end]
        self.goal.grasp.pre_grasp_posture.name.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.goal.grasp.pre_grasp_posture.position = struct.unpack(pattern, str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.goal.grasp.pre_grasp_posture.velocity = struct.unpack(pattern, str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.goal.grasp.pre_grasp_posture.effort = struct.unpack(pattern, str[start:end])
      _x = self
      start = end
      end += 12
      (_x.goal.grasp.grasp_posture.header.seq, _x.goal.grasp.grasp_posture.header.stamp.secs, _x.goal.grasp.grasp_posture.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.goal.grasp.grasp_posture.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.goal.grasp.grasp_posture.name = []
      for i in xrange(0, length):
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1 = str[start:end]
        self.goal.grasp.grasp_posture.name.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.goal.grasp.grasp_posture.position = struct.unpack(pattern, str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.goal.grasp.grasp_posture.velocity = struct.unpack(pattern, str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.goal.grasp.grasp_posture.effort = struct.unpack(pattern, str[start:end])
      _x = self
      start = end
      end += 69
      (_x.goal.grasp.grasp_pose.position.x, _x.goal.grasp.grasp_pose.position.y, _x.goal.grasp.grasp_pose.position.z, _x.goal.grasp.grasp_pose.orientation.x, _x.goal.grasp.grasp_pose.orientation.y, _x.goal.grasp.grasp_pose.orientation.z, _x.goal.grasp.grasp_pose.orientation.w, _x.goal.grasp.success_probability, _x.goal.grasp.cluster_rep, _x.goal.goal,) = _struct_8dBi.unpack(str[start:end])
      self.goal.grasp.cluster_rep = bool(self.goal.grasp.cluster_rep)
      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
      buff.write(_struct_3I.pack(_x.goal.grasp.pre_grasp_posture.header.seq, _x.goal.grasp.pre_grasp_posture.header.stamp.secs, _x.goal.grasp.pre_grasp_posture.header.stamp.nsecs))
      _x = self.goal.grasp.pre_grasp_posture.header.frame_id
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.goal.grasp.pre_grasp_posture.name)
      buff.write(_struct_I.pack(length))
      for val1 in self.goal.grasp.pre_grasp_posture.name:
        length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.goal.grasp.pre_grasp_posture.position)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.goal.grasp.pre_grasp_posture.position.tostring())
      length = len(self.goal.grasp.pre_grasp_posture.velocity)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.goal.grasp.pre_grasp_posture.velocity.tostring())
      length = len(self.goal.grasp.pre_grasp_posture.effort)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.goal.grasp.pre_grasp_posture.effort.tostring())
      _x = self
      buff.write(_struct_3I.pack(_x.goal.grasp.grasp_posture.header.seq, _x.goal.grasp.grasp_posture.header.stamp.secs, _x.goal.grasp.grasp_posture.header.stamp.nsecs))
      _x = self.goal.grasp.grasp_posture.header.frame_id
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.goal.grasp.grasp_posture.name)
      buff.write(_struct_I.pack(length))
      for val1 in self.goal.grasp.grasp_posture.name:
        length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.goal.grasp.grasp_posture.position)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.goal.grasp.grasp_posture.position.tostring())
      length = len(self.goal.grasp.grasp_posture.velocity)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.goal.grasp.grasp_posture.velocity.tostring())
      length = len(self.goal.grasp.grasp_posture.effort)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.goal.grasp.grasp_posture.effort.tostring())
      _x = self
      buff.write(_struct_8dBi.pack(_x.goal.grasp.grasp_pose.position.x, _x.goal.grasp.grasp_pose.position.y, _x.goal.grasp.grasp_pose.position.z, _x.goal.grasp.grasp_pose.orientation.x, _x.goal.grasp.grasp_pose.orientation.y, _x.goal.grasp.grasp_pose.orientation.z, _x.goal.grasp.grasp_pose.orientation.w, _x.goal.grasp.success_probability, _x.goal.grasp.cluster_rep, _x.goal.goal))
    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 = object_manipulation_msgs.msg.GraspHandPostureExecutionGoal()
      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]
      _x = self
      start = end
      end += 12
      (_x.goal.grasp.pre_grasp_posture.header.seq, _x.goal.grasp.pre_grasp_posture.header.stamp.secs, _x.goal.grasp.pre_grasp_posture.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.goal.grasp.pre_grasp_posture.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.goal.grasp.pre_grasp_posture.name = []
      for i in xrange(0, length):
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1 = str[start:end]
        self.goal.grasp.pre_grasp_posture.name.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.goal.grasp.pre_grasp_posture.position = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.goal.grasp.pre_grasp_posture.velocity = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.goal.grasp.pre_grasp_posture.effort = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
      _x = self
      start = end
      end += 12
      (_x.goal.grasp.grasp_posture.header.seq, _x.goal.grasp.grasp_posture.header.stamp.secs, _x.goal.grasp.grasp_posture.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.goal.grasp.grasp_posture.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.goal.grasp.grasp_posture.name = []
      for i in xrange(0, length):
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        val1 = str[start:end]
        self.goal.grasp.grasp_posture.name.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.goal.grasp.grasp_posture.position = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.goal.grasp.grasp_posture.velocity = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.goal.grasp.grasp_posture.effort = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
      _x = self
      start = end
      end += 69
      (_x.goal.grasp.grasp_pose.position.x, _x.goal.grasp.grasp_pose.position.y, _x.goal.grasp.grasp_pose.position.z, _x.goal.grasp.grasp_pose.orientation.x, _x.goal.grasp.grasp_pose.orientation.y, _x.goal.grasp.grasp_pose.orientation.z, _x.goal.grasp.grasp_pose.orientation.w, _x.goal.grasp.success_probability, _x.goal.grasp.cluster_rep, _x.goal.goal,) = _struct_8dBi.unpack(str[start:end])
      self.goal.grasp.cluster_rep = bool(self.goal.grasp.cluster_rep)
      return self
    except struct.error, e:
      raise roslib.message.DeserializationError(e) #most likely buffer underfill

_struct_I = roslib.message.struct_I
_struct_3I = struct.Struct("<3I")
_struct_2I = struct.Struct("<2I")
_struct_8dBi = struct.Struct("<8dBi")

---

object_manipulation_msgs
Author(s): Matei Ciocarlie
autogenerated on Fri Jan 11 09:35:09 2013