_ReactivePlaceActionGoal.py

Go to the documentation of this file.

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

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

class ReactivePlaceActionGoal(roslib.message.Message):
  _md5sum = "f70629d4244203e19c14919dbd7fb5d4"
  _type = "object_manipulation_msgs/ReactivePlaceActionGoal"
  _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
ReactivePlaceGoal 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/ReactivePlaceGoal
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
# an action for placing the object using tactile sensor feedback.
# a reactive place starts from the current pose of the gripper and ends
# at a desired place pose, presumably using the touch sensors along the way

# the name of the arm being used
string arm_name

# the desired final place pose for the hand
geometry_msgs/PoseStamped final_place_pose

# the joint trajectory to use for the place (if available)
# this trajectory is expected to start at the current pose of the gripper
# and end at the desired place pose
trajectory_msgs/JointTrajectory trajectory

# the name of the support surface in the collision environment, if any
string collision_support_surface_name

# the name in the collision environment of the object being placed, if any
string collision_object_name

================================================================================
MSG: geometry_msgs/PoseStamped
# A Pose with reference coordinate frame and timestamp
Header header
Pose pose

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

================================================================================
MSG: trajectory_msgs/JointTrajectory
Header header
string[] joint_names
JointTrajectoryPoint[] points
================================================================================
MSG: trajectory_msgs/JointTrajectoryPoint
float64[] positions
float64[] velocities
float64[] accelerations
duration time_from_start
"""
  __slots__ = ['header','goal_id','goal']
  _slot_types = ['Header','actionlib_msgs/GoalID','object_manipulation_msgs/ReactivePlaceGoal']

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

  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.arm_name
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_3I.pack(_x.goal.final_place_pose.header.seq, _x.goal.final_place_pose.header.stamp.secs, _x.goal.final_place_pose.header.stamp.nsecs))
      _x = self.goal.final_place_pose.header.frame_id
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_7d3I.pack(_x.goal.final_place_pose.pose.position.x, _x.goal.final_place_pose.pose.position.y, _x.goal.final_place_pose.pose.position.z, _x.goal.final_place_pose.pose.orientation.x, _x.goal.final_place_pose.pose.orientation.y, _x.goal.final_place_pose.pose.orientation.z, _x.goal.final_place_pose.pose.orientation.w, _x.goal.trajectory.header.seq, _x.goal.trajectory.header.stamp.secs, _x.goal.trajectory.header.stamp.nsecs))
      _x = self.goal.trajectory.header.frame_id
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.goal.trajectory.joint_names)
      buff.write(_struct_I.pack(length))
      for val1 in self.goal.trajectory.joint_names:
        length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.goal.trajectory.points)
      buff.write(_struct_I.pack(length))
      for val1 in self.goal.trajectory.points:
        length = len(val1.positions)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(struct.pack(pattern, *val1.positions))
        length = len(val1.velocities)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(struct.pack(pattern, *val1.velocities))
        length = len(val1.accelerations)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(struct.pack(pattern, *val1.accelerations))
        _v1 = val1.time_from_start
        _x = _v1
        buff.write(_struct_2i.pack(_x.secs, _x.nsecs))
      _x = self.goal.collision_support_surface_name
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self.goal.collision_object_name
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
    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.ReactivePlaceGoal()
      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.arm_name = str[start:end]
      _x = self
      start = end
      end += 12
      (_x.goal.final_place_pose.header.seq, _x.goal.final_place_pose.header.stamp.secs, _x.goal.final_place_pose.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.final_place_pose.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 68
      (_x.goal.final_place_pose.pose.position.x, _x.goal.final_place_pose.pose.position.y, _x.goal.final_place_pose.pose.position.z, _x.goal.final_place_pose.pose.orientation.x, _x.goal.final_place_pose.pose.orientation.y, _x.goal.final_place_pose.pose.orientation.z, _x.goal.final_place_pose.pose.orientation.w, _x.goal.trajectory.header.seq, _x.goal.trajectory.header.stamp.secs, _x.goal.trajectory.header.stamp.nsecs,) = _struct_7d3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.goal.trajectory.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.goal.trajectory.joint_names = []
      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.trajectory.joint_names.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.goal.trajectory.points = []
      for i in xrange(0, length):
        val1 = trajectory_msgs.msg.JointTrajectoryPoint()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        val1.positions = 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)
        val1.velocities = 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)
        val1.accelerations = struct.unpack(pattern, str[start:end])
        _v2 = val1.time_from_start
        _x = _v2
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2i.unpack(str[start:end])
        self.goal.trajectory.points.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.goal.collision_support_surface_name = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.goal.collision_object_name = 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.arm_name
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_3I.pack(_x.goal.final_place_pose.header.seq, _x.goal.final_place_pose.header.stamp.secs, _x.goal.final_place_pose.header.stamp.nsecs))
      _x = self.goal.final_place_pose.header.frame_id
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_7d3I.pack(_x.goal.final_place_pose.pose.position.x, _x.goal.final_place_pose.pose.position.y, _x.goal.final_place_pose.pose.position.z, _x.goal.final_place_pose.pose.orientation.x, _x.goal.final_place_pose.pose.orientation.y, _x.goal.final_place_pose.pose.orientation.z, _x.goal.final_place_pose.pose.orientation.w, _x.goal.trajectory.header.seq, _x.goal.trajectory.header.stamp.secs, _x.goal.trajectory.header.stamp.nsecs))
      _x = self.goal.trajectory.header.frame_id
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.goal.trajectory.joint_names)
      buff.write(_struct_I.pack(length))
      for val1 in self.goal.trajectory.joint_names:
        length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.goal.trajectory.points)
      buff.write(_struct_I.pack(length))
      for val1 in self.goal.trajectory.points:
        length = len(val1.positions)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(val1.positions.tostring())
        length = len(val1.velocities)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(val1.velocities.tostring())
        length = len(val1.accelerations)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(val1.accelerations.tostring())
        _v3 = val1.time_from_start
        _x = _v3
        buff.write(_struct_2i.pack(_x.secs, _x.nsecs))
      _x = self.goal.collision_support_surface_name
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self.goal.collision_object_name
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
    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.ReactivePlaceGoal()
      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.arm_name = str[start:end]
      _x = self
      start = end
      end += 12
      (_x.goal.final_place_pose.header.seq, _x.goal.final_place_pose.header.stamp.secs, _x.goal.final_place_pose.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.final_place_pose.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 68
      (_x.goal.final_place_pose.pose.position.x, _x.goal.final_place_pose.pose.position.y, _x.goal.final_place_pose.pose.position.z, _x.goal.final_place_pose.pose.orientation.x, _x.goal.final_place_pose.pose.orientation.y, _x.goal.final_place_pose.pose.orientation.z, _x.goal.final_place_pose.pose.orientation.w, _x.goal.trajectory.header.seq, _x.goal.trajectory.header.stamp.secs, _x.goal.trajectory.header.stamp.nsecs,) = _struct_7d3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.goal.trajectory.header.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.goal.trajectory.joint_names = []
      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.trajectory.joint_names.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.goal.trajectory.points = []
      for i in xrange(0, length):
        val1 = trajectory_msgs.msg.JointTrajectoryPoint()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        val1.positions = 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)
        val1.velocities = 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)
        val1.accelerations = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
        _v4 = val1.time_from_start
        _x = _v4
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2i.unpack(str[start:end])
        self.goal.trajectory.points.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.goal.collision_support_surface_name = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.goal.collision_object_name = 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_2i = struct.Struct("<2i")
_struct_3I = struct.Struct("<3I")
_struct_2I = struct.Struct("<2I")
_struct_7d3I = struct.Struct("<7d3I")

---

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