00001 """autogenerated by genmsg_py from JointControllerState.msg. Do not edit."""
00002 import roslib.message
00003 import struct
00004
00005 import std_msgs.msg
00006
00007 class JointControllerState(roslib.message.Message):
00008 _md5sum = "c0d034a7bf20aeb1c37f3eccb7992b69"
00009 _type = "pr2_controllers_msgs/JointControllerState"
00010 _has_header = True
00011 _full_text = """Header header
00012 float64 set_point
00013 float64 process_value
00014 float64 process_value_dot
00015 float64 error
00016 float64 time_step
00017 float64 command
00018 float64 p
00019 float64 i
00020 float64 d
00021 float64 i_clamp
00022
00023
00024 ================================================================================
00025 MSG: std_msgs/Header
00026 # Standard metadata for higher-level stamped data types.
00027 # This is generally used to communicate timestamped data
00028 # in a particular coordinate frame.
00029 #
00030 # sequence ID: consecutively increasing ID
00031 uint32 seq
00032 #Two-integer timestamp that is expressed as:
00033 # * stamp.secs: seconds (stamp_secs) since epoch
00034 # * stamp.nsecs: nanoseconds since stamp_secs
00035 # time-handling sugar is provided by the client library
00036 time stamp
00037 #Frame this data is associated with
00038 # 0: no frame
00039 # 1: global frame
00040 string frame_id
00041
00042 """
00043 __slots__ = ['header','set_point','process_value','process_value_dot','error','time_step','command','p','i','d','i_clamp']
00044 _slot_types = ['Header','float64','float64','float64','float64','float64','float64','float64','float64','float64','float64']
00045
00046 def __init__(self, *args, **kwds):
00047 """
00048 Constructor. Any message fields that are implicitly/explicitly
00049 set to None will be assigned a default value. The recommend
00050 use is keyword arguments as this is more robust to future message
00051 changes. You cannot mix in-order arguments and keyword arguments.
00052
00053 The available fields are:
00054 header,set_point,process_value,process_value_dot,error,time_step,command,p,i,d,i_clamp
00055
00056 @param args: complete set of field values, in .msg order
00057 @param kwds: use keyword arguments corresponding to message field names
00058 to set specific fields.
00059 """
00060 if args or kwds:
00061 super(JointControllerState, self).__init__(*args, **kwds)
00062
00063 if self.header is None:
00064 self.header = std_msgs.msg._Header.Header()
00065 if self.set_point is None:
00066 self.set_point = 0.
00067 if self.process_value is None:
00068 self.process_value = 0.
00069 if self.process_value_dot is None:
00070 self.process_value_dot = 0.
00071 if self.error is None:
00072 self.error = 0.
00073 if self.time_step is None:
00074 self.time_step = 0.
00075 if self.command is None:
00076 self.command = 0.
00077 if self.p is None:
00078 self.p = 0.
00079 if self.i is None:
00080 self.i = 0.
00081 if self.d is None:
00082 self.d = 0.
00083 if self.i_clamp is None:
00084 self.i_clamp = 0.
00085 else:
00086 self.header = std_msgs.msg._Header.Header()
00087 self.set_point = 0.
00088 self.process_value = 0.
00089 self.process_value_dot = 0.
00090 self.error = 0.
00091 self.time_step = 0.
00092 self.command = 0.
00093 self.p = 0.
00094 self.i = 0.
00095 self.d = 0.
00096 self.i_clamp = 0.
00097
00098 def _get_types(self):
00099 """
00100 internal API method
00101 """
00102 return self._slot_types
00103
00104 def serialize(self, buff):
00105 """
00106 serialize message into buffer
00107 @param buff: buffer
00108 @type buff: StringIO
00109 """
00110 try:
00111 _x = self
00112 buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
00113 _x = self.header.frame_id
00114 length = len(_x)
00115 buff.write(struct.pack('<I%ss'%length, length, _x))
00116 _x = self
00117 buff.write(_struct_10d.pack(_x.set_point, _x.process_value, _x.process_value_dot, _x.error, _x.time_step, _x.command, _x.p, _x.i, _x.d, _x.i_clamp))
00118 except struct.error, se: self._check_types(se)
00119 except TypeError, te: self._check_types(te)
00120
00121 def deserialize(self, str):
00122 """
00123 unpack serialized message in str into this message instance
00124 @param str: byte array of serialized message
00125 @type str: str
00126 """
00127 try:
00128 if self.header is None:
00129 self.header = std_msgs.msg._Header.Header()
00130 end = 0
00131 _x = self
00132 start = end
00133 end += 12
00134 (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00135 start = end
00136 end += 4
00137 (length,) = _struct_I.unpack(str[start:end])
00138 start = end
00139 end += length
00140 self.header.frame_id = str[start:end]
00141 _x = self
00142 start = end
00143 end += 80
00144 (_x.set_point, _x.process_value, _x.process_value_dot, _x.error, _x.time_step, _x.command, _x.p, _x.i, _x.d, _x.i_clamp,) = _struct_10d.unpack(str[start:end])
00145 return self
00146 except struct.error, e:
00147 raise roslib.message.DeserializationError(e)
00148
00149
00150 def serialize_numpy(self, buff, numpy):
00151 """
00152 serialize message with numpy array types into buffer
00153 @param buff: buffer
00154 @type buff: StringIO
00155 @param numpy: numpy python module
00156 @type numpy module
00157 """
00158 try:
00159 _x = self
00160 buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
00161 _x = self.header.frame_id
00162 length = len(_x)
00163 buff.write(struct.pack('<I%ss'%length, length, _x))
00164 _x = self
00165 buff.write(_struct_10d.pack(_x.set_point, _x.process_value, _x.process_value_dot, _x.error, _x.time_step, _x.command, _x.p, _x.i, _x.d, _x.i_clamp))
00166 except struct.error, se: self._check_types(se)
00167 except TypeError, te: self._check_types(te)
00168
00169 def deserialize_numpy(self, str, numpy):
00170 """
00171 unpack serialized message in str into this message instance using numpy for array types
00172 @param str: byte array of serialized message
00173 @type str: str
00174 @param numpy: numpy python module
00175 @type numpy: module
00176 """
00177 try:
00178 if self.header is None:
00179 self.header = std_msgs.msg._Header.Header()
00180 end = 0
00181 _x = self
00182 start = end
00183 end += 12
00184 (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00185 start = end
00186 end += 4
00187 (length,) = _struct_I.unpack(str[start:end])
00188 start = end
00189 end += length
00190 self.header.frame_id = str[start:end]
00191 _x = self
00192 start = end
00193 end += 80
00194 (_x.set_point, _x.process_value, _x.process_value_dot, _x.error, _x.time_step, _x.command, _x.p, _x.i, _x.d, _x.i_clamp,) = _struct_10d.unpack(str[start:end])
00195 return self
00196 except struct.error, e:
00197 raise roslib.message.DeserializationError(e)
00198
00199 _struct_I = roslib.message.struct_I
00200 _struct_3I = struct.Struct("<3I")
00201 _struct_10d = struct.Struct("<10d")