_Grasp.py

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

import geometry_msgs.msg
import std_msgs.msg
import sensor_msgs.msg

class Grasp(roslib.message.Message):
  _md5sum = "a447abc9a49aaff833c07915ee5565b4"
  _type = "object_manipulation_msgs/Grasp"
  _has_header = False #flag to mark the presence of a Header object
  _full_text = """
# 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: 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/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__ = ['pre_grasp_posture','grasp_posture','grasp_pose','success_probability','cluster_rep']
  _slot_types = ['sensor_msgs/JointState','sensor_msgs/JointState','geometry_msgs/Pose','float64','bool']

  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:
       pre_grasp_posture,grasp_posture,grasp_pose,success_probability,cluster_rep
    
    @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(Grasp, self).__init__(*args, **kwds)
      #message fields cannot be None, assign default values for those that are
      if self.pre_grasp_posture is None:
        self.pre_grasp_posture = sensor_msgs.msg.JointState()
      if self.grasp_posture is None:
        self.grasp_posture = sensor_msgs.msg.JointState()
      if self.grasp_pose is None:
        self.grasp_pose = geometry_msgs.msg.Pose()
      if self.success_probability is None:
        self.success_probability = 0.
      if self.cluster_rep is None:
        self.cluster_rep = False
    else:
      self.pre_grasp_posture = sensor_msgs.msg.JointState()
      self.grasp_posture = sensor_msgs.msg.JointState()
      self.grasp_pose = geometry_msgs.msg.Pose()
      self.success_probability = 0.
      self.cluster_rep = False

  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.pre_grasp_posture.header.seq, _x.pre_grasp_posture.header.stamp.secs, _x.pre_grasp_posture.header.stamp.nsecs))
      _x = self.pre_grasp_posture.header.frame_id
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.pre_grasp_posture.name)
      buff.write(_struct_I.pack(length))
      for val1 in self.pre_grasp_posture.name:
        length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.pre_grasp_posture.position)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.pre_grasp_posture.position))
      length = len(self.pre_grasp_posture.velocity)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.pre_grasp_posture.velocity))
      length = len(self.pre_grasp_posture.effort)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.pre_grasp_posture.effort))
      _x = self
      buff.write(_struct_3I.pack(_x.grasp_posture.header.seq, _x.grasp_posture.header.stamp.secs, _x.grasp_posture.header.stamp.nsecs))
      _x = self.grasp_posture.header.frame_id
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.grasp_posture.name)
      buff.write(_struct_I.pack(length))
      for val1 in self.grasp_posture.name:
        length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.grasp_posture.position)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.grasp_posture.position))
      length = len(self.grasp_posture.velocity)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.grasp_posture.velocity))
      length = len(self.grasp_posture.effort)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.grasp_posture.effort))
      _x = self
      buff.write(_struct_8dB.pack(_x.grasp_pose.position.x, _x.grasp_pose.position.y, _x.grasp_pose.position.z, _x.grasp_pose.orientation.x, _x.grasp_pose.orientation.y, _x.grasp_pose.orientation.z, _x.grasp_pose.orientation.w, _x.success_probability, _x.cluster_rep))
    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.pre_grasp_posture is None:
        self.pre_grasp_posture = sensor_msgs.msg.JointState()
      if self.grasp_posture is None:
        self.grasp_posture = sensor_msgs.msg.JointState()
      if self.grasp_pose is None:
        self.grasp_pose = geometry_msgs.msg.Pose()
      end = 0
      _x = self
      start = end
      end += 12
      (_x.pre_grasp_posture.header.seq, _x.pre_grasp_posture.header.stamp.secs, _x.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.pre_grasp_posture.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.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.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.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.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.pre_grasp_posture.effort = struct.unpack(pattern, str[start:end])
      _x = self
      start = end
      end += 12
      (_x.grasp_posture.header.seq, _x.grasp_posture.header.stamp.secs, _x.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.grasp_posture.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.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.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.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.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.grasp_posture.effort = struct.unpack(pattern, str[start:end])
      _x = self
      start = end
      end += 65
      (_x.grasp_pose.position.x, _x.grasp_pose.position.y, _x.grasp_pose.position.z, _x.grasp_pose.orientation.x, _x.grasp_pose.orientation.y, _x.grasp_pose.orientation.z, _x.grasp_pose.orientation.w, _x.success_probability, _x.cluster_rep,) = _struct_8dB.unpack(str[start:end])
      self.cluster_rep = bool(self.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.pre_grasp_posture.header.seq, _x.pre_grasp_posture.header.stamp.secs, _x.pre_grasp_posture.header.stamp.nsecs))
      _x = self.pre_grasp_posture.header.frame_id
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.pre_grasp_posture.name)
      buff.write(_struct_I.pack(length))
      for val1 in self.pre_grasp_posture.name:
        length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.pre_grasp_posture.position)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.pre_grasp_posture.position.tostring())
      length = len(self.pre_grasp_posture.velocity)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.pre_grasp_posture.velocity.tostring())
      length = len(self.pre_grasp_posture.effort)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.pre_grasp_posture.effort.tostring())
      _x = self
      buff.write(_struct_3I.pack(_x.grasp_posture.header.seq, _x.grasp_posture.header.stamp.secs, _x.grasp_posture.header.stamp.nsecs))
      _x = self.grasp_posture.header.frame_id
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.grasp_posture.name)
      buff.write(_struct_I.pack(length))
      for val1 in self.grasp_posture.name:
        length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.grasp_posture.position)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.grasp_posture.position.tostring())
      length = len(self.grasp_posture.velocity)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.grasp_posture.velocity.tostring())
      length = len(self.grasp_posture.effort)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.grasp_posture.effort.tostring())
      _x = self
      buff.write(_struct_8dB.pack(_x.grasp_pose.position.x, _x.grasp_pose.position.y, _x.grasp_pose.position.z, _x.grasp_pose.orientation.x, _x.grasp_pose.orientation.y, _x.grasp_pose.orientation.z, _x.grasp_pose.orientation.w, _x.success_probability, _x.cluster_rep))
    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.pre_grasp_posture is None:
        self.pre_grasp_posture = sensor_msgs.msg.JointState()
      if self.grasp_posture is None:
        self.grasp_posture = sensor_msgs.msg.JointState()
      if self.grasp_pose is None:
        self.grasp_pose = geometry_msgs.msg.Pose()
      end = 0
      _x = self
      start = end
      end += 12
      (_x.pre_grasp_posture.header.seq, _x.pre_grasp_posture.header.stamp.secs, _x.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.pre_grasp_posture.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.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.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.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.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.pre_grasp_posture.effort = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
      _x = self
      start = end
      end += 12
      (_x.grasp_posture.header.seq, _x.grasp_posture.header.stamp.secs, _x.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.grasp_posture.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.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.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.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.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.grasp_posture.effort = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
      _x = self
      start = end
      end += 65
      (_x.grasp_pose.position.x, _x.grasp_pose.position.y, _x.grasp_pose.position.z, _x.grasp_pose.orientation.x, _x.grasp_pose.orientation.y, _x.grasp_pose.orientation.z, _x.grasp_pose.orientation.w, _x.success_probability, _x.cluster_rep,) = _struct_8dB.unpack(str[start:end])
      self.cluster_rep = bool(self.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_8dB = struct.Struct("<8dB")

---

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