00001 """autogenerated by genmsg_py from JointTrajectoryActionGoal.msg. Do not edit."""
00002 import roslib.message
00003 import struct
00004
00005 import trajectory_msgs.msg
00006 import pr2_controllers_msgs.msg
00007 import roslib.rostime
00008 import actionlib_msgs.msg
00009 import std_msgs.msg
00010
00011 class JointTrajectoryActionGoal(roslib.message.Message):
00012 _md5sum = "aee77e81e3afb8d91af4939d603609d8"
00013 _type = "pr2_controllers_msgs/JointTrajectoryActionGoal"
00014 _has_header = True
00015 _full_text = """# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00016
00017 Header header
00018 actionlib_msgs/GoalID goal_id
00019 JointTrajectoryGoal goal
00020
00021 ================================================================================
00022 MSG: std_msgs/Header
00023 # Standard metadata for higher-level stamped data types.
00024 # This is generally used to communicate timestamped data
00025 # in a particular coordinate frame.
00026 #
00027 # sequence ID: consecutively increasing ID
00028 uint32 seq
00029 #Two-integer timestamp that is expressed as:
00030 # * stamp.secs: seconds (stamp_secs) since epoch
00031 # * stamp.nsecs: nanoseconds since stamp_secs
00032 # time-handling sugar is provided by the client library
00033 time stamp
00034 #Frame this data is associated with
00035 # 0: no frame
00036 # 1: global frame
00037 string frame_id
00038
00039 ================================================================================
00040 MSG: actionlib_msgs/GoalID
00041 # The stamp should store the time at which this goal was requested.
00042 # It is used by an action server when it tries to preempt all
00043 # goals that were requested before a certain time
00044 time stamp
00045
00046 # The id provides a way to associate feedback and
00047 # result message with specific goal requests. The id
00048 # specified must be unique.
00049 string id
00050
00051
00052 ================================================================================
00053 MSG: pr2_controllers_msgs/JointTrajectoryGoal
00054 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00055 trajectory_msgs/JointTrajectory trajectory
00056
00057 ================================================================================
00058 MSG: trajectory_msgs/JointTrajectory
00059 Header header
00060 string[] joint_names
00061 JointTrajectoryPoint[] points
00062 ================================================================================
00063 MSG: trajectory_msgs/JointTrajectoryPoint
00064 float64[] positions
00065 float64[] velocities
00066 float64[] accelerations
00067 duration time_from_start
00068 """
00069 __slots__ = ['header','goal_id','goal']
00070 _slot_types = ['Header','actionlib_msgs/GoalID','pr2_controllers_msgs/JointTrajectoryGoal']
00071
00072 def __init__(self, *args, **kwds):
00073 """
00074 Constructor. Any message fields that are implicitly/explicitly
00075 set to None will be assigned a default value. The recommend
00076 use is keyword arguments as this is more robust to future message
00077 changes. You cannot mix in-order arguments and keyword arguments.
00078
00079 The available fields are:
00080 header,goal_id,goal
00081
00082 @param args: complete set of field values, in .msg order
00083 @param kwds: use keyword arguments corresponding to message field names
00084 to set specific fields.
00085 """
00086 if args or kwds:
00087 super(JointTrajectoryActionGoal, self).__init__(*args, **kwds)
00088
00089 if self.header is None:
00090 self.header = std_msgs.msg._Header.Header()
00091 if self.goal_id is None:
00092 self.goal_id = actionlib_msgs.msg.GoalID()
00093 if self.goal is None:
00094 self.goal = pr2_controllers_msgs.msg.JointTrajectoryGoal()
00095 else:
00096 self.header = std_msgs.msg._Header.Header()
00097 self.goal_id = actionlib_msgs.msg.GoalID()
00098 self.goal = pr2_controllers_msgs.msg.JointTrajectoryGoal()
00099
00100 def _get_types(self):
00101 """
00102 internal API method
00103 """
00104 return self._slot_types
00105
00106 def serialize(self, buff):
00107 """
00108 serialize message into buffer
00109 @param buff: buffer
00110 @type buff: StringIO
00111 """
00112 try:
00113 _x = self
00114 buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
00115 _x = self.header.frame_id
00116 length = len(_x)
00117 buff.write(struct.pack('<I%ss'%length, length, _x))
00118 _x = self
00119 buff.write(_struct_2I.pack(_x.goal_id.stamp.secs, _x.goal_id.stamp.nsecs))
00120 _x = self.goal_id.id
00121 length = len(_x)
00122 buff.write(struct.pack('<I%ss'%length, length, _x))
00123 _x = self
00124 buff.write(_struct_3I.pack(_x.goal.trajectory.header.seq, _x.goal.trajectory.header.stamp.secs, _x.goal.trajectory.header.stamp.nsecs))
00125 _x = self.goal.trajectory.header.frame_id
00126 length = len(_x)
00127 buff.write(struct.pack('<I%ss'%length, length, _x))
00128 length = len(self.goal.trajectory.joint_names)
00129 buff.write(_struct_I.pack(length))
00130 for val1 in self.goal.trajectory.joint_names:
00131 length = len(val1)
00132 buff.write(struct.pack('<I%ss'%length, length, val1))
00133 length = len(self.goal.trajectory.points)
00134 buff.write(_struct_I.pack(length))
00135 for val1 in self.goal.trajectory.points:
00136 length = len(val1.positions)
00137 buff.write(_struct_I.pack(length))
00138 pattern = '<%sd'%length
00139 buff.write(struct.pack(pattern, *val1.positions))
00140 length = len(val1.velocities)
00141 buff.write(_struct_I.pack(length))
00142 pattern = '<%sd'%length
00143 buff.write(struct.pack(pattern, *val1.velocities))
00144 length = len(val1.accelerations)
00145 buff.write(_struct_I.pack(length))
00146 pattern = '<%sd'%length
00147 buff.write(struct.pack(pattern, *val1.accelerations))
00148 _v1 = val1.time_from_start
00149 _x = _v1
00150 buff.write(_struct_2i.pack(_x.secs, _x.nsecs))
00151 except struct.error, se: self._check_types(se)
00152 except TypeError, te: self._check_types(te)
00153
00154 def deserialize(self, str):
00155 """
00156 unpack serialized message in str into this message instance
00157 @param str: byte array of serialized message
00158 @type str: str
00159 """
00160 try:
00161 if self.header is None:
00162 self.header = std_msgs.msg._Header.Header()
00163 if self.goal_id is None:
00164 self.goal_id = actionlib_msgs.msg.GoalID()
00165 if self.goal is None:
00166 self.goal = pr2_controllers_msgs.msg.JointTrajectoryGoal()
00167 end = 0
00168 _x = self
00169 start = end
00170 end += 12
00171 (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00172 start = end
00173 end += 4
00174 (length,) = _struct_I.unpack(str[start:end])
00175 start = end
00176 end += length
00177 self.header.frame_id = str[start:end]
00178 _x = self
00179 start = end
00180 end += 8
00181 (_x.goal_id.stamp.secs, _x.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00182 start = end
00183 end += 4
00184 (length,) = _struct_I.unpack(str[start:end])
00185 start = end
00186 end += length
00187 self.goal_id.id = str[start:end]
00188 _x = self
00189 start = end
00190 end += 12
00191 (_x.goal.trajectory.header.seq, _x.goal.trajectory.header.stamp.secs, _x.goal.trajectory.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00192 start = end
00193 end += 4
00194 (length,) = _struct_I.unpack(str[start:end])
00195 start = end
00196 end += length
00197 self.goal.trajectory.header.frame_id = str[start:end]
00198 start = end
00199 end += 4
00200 (length,) = _struct_I.unpack(str[start:end])
00201 self.goal.trajectory.joint_names = []
00202 for i in xrange(0, length):
00203 start = end
00204 end += 4
00205 (length,) = _struct_I.unpack(str[start:end])
00206 start = end
00207 end += length
00208 val1 = str[start:end]
00209 self.goal.trajectory.joint_names.append(val1)
00210 start = end
00211 end += 4
00212 (length,) = _struct_I.unpack(str[start:end])
00213 self.goal.trajectory.points = []
00214 for i in xrange(0, length):
00215 val1 = trajectory_msgs.msg.JointTrajectoryPoint()
00216 start = end
00217 end += 4
00218 (length,) = _struct_I.unpack(str[start:end])
00219 pattern = '<%sd'%length
00220 start = end
00221 end += struct.calcsize(pattern)
00222 val1.positions = struct.unpack(pattern, str[start:end])
00223 start = end
00224 end += 4
00225 (length,) = _struct_I.unpack(str[start:end])
00226 pattern = '<%sd'%length
00227 start = end
00228 end += struct.calcsize(pattern)
00229 val1.velocities = struct.unpack(pattern, str[start:end])
00230 start = end
00231 end += 4
00232 (length,) = _struct_I.unpack(str[start:end])
00233 pattern = '<%sd'%length
00234 start = end
00235 end += struct.calcsize(pattern)
00236 val1.accelerations = struct.unpack(pattern, str[start:end])
00237 _v2 = val1.time_from_start
00238 _x = _v2
00239 start = end
00240 end += 8
00241 (_x.secs, _x.nsecs,) = _struct_2i.unpack(str[start:end])
00242 self.goal.trajectory.points.append(val1)
00243 return self
00244 except struct.error, e:
00245 raise roslib.message.DeserializationError(e)
00246
00247
00248 def serialize_numpy(self, buff, numpy):
00249 """
00250 serialize message with numpy array types into buffer
00251 @param buff: buffer
00252 @type buff: StringIO
00253 @param numpy: numpy python module
00254 @type numpy module
00255 """
00256 try:
00257 _x = self
00258 buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
00259 _x = self.header.frame_id
00260 length = len(_x)
00261 buff.write(struct.pack('<I%ss'%length, length, _x))
00262 _x = self
00263 buff.write(_struct_2I.pack(_x.goal_id.stamp.secs, _x.goal_id.stamp.nsecs))
00264 _x = self.goal_id.id
00265 length = len(_x)
00266 buff.write(struct.pack('<I%ss'%length, length, _x))
00267 _x = self
00268 buff.write(_struct_3I.pack(_x.goal.trajectory.header.seq, _x.goal.trajectory.header.stamp.secs, _x.goal.trajectory.header.stamp.nsecs))
00269 _x = self.goal.trajectory.header.frame_id
00270 length = len(_x)
00271 buff.write(struct.pack('<I%ss'%length, length, _x))
00272 length = len(self.goal.trajectory.joint_names)
00273 buff.write(_struct_I.pack(length))
00274 for val1 in self.goal.trajectory.joint_names:
00275 length = len(val1)
00276 buff.write(struct.pack('<I%ss'%length, length, val1))
00277 length = len(self.goal.trajectory.points)
00278 buff.write(_struct_I.pack(length))
00279 for val1 in self.goal.trajectory.points:
00280 length = len(val1.positions)
00281 buff.write(_struct_I.pack(length))
00282 pattern = '<%sd'%length
00283 buff.write(val1.positions.tostring())
00284 length = len(val1.velocities)
00285 buff.write(_struct_I.pack(length))
00286 pattern = '<%sd'%length
00287 buff.write(val1.velocities.tostring())
00288 length = len(val1.accelerations)
00289 buff.write(_struct_I.pack(length))
00290 pattern = '<%sd'%length
00291 buff.write(val1.accelerations.tostring())
00292 _v3 = val1.time_from_start
00293 _x = _v3
00294 buff.write(_struct_2i.pack(_x.secs, _x.nsecs))
00295 except struct.error, se: self._check_types(se)
00296 except TypeError, te: self._check_types(te)
00297
00298 def deserialize_numpy(self, str, numpy):
00299 """
00300 unpack serialized message in str into this message instance using numpy for array types
00301 @param str: byte array of serialized message
00302 @type str: str
00303 @param numpy: numpy python module
00304 @type numpy: module
00305 """
00306 try:
00307 if self.header is None:
00308 self.header = std_msgs.msg._Header.Header()
00309 if self.goal_id is None:
00310 self.goal_id = actionlib_msgs.msg.GoalID()
00311 if self.goal is None:
00312 self.goal = pr2_controllers_msgs.msg.JointTrajectoryGoal()
00313 end = 0
00314 _x = self
00315 start = end
00316 end += 12
00317 (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00318 start = end
00319 end += 4
00320 (length,) = _struct_I.unpack(str[start:end])
00321 start = end
00322 end += length
00323 self.header.frame_id = str[start:end]
00324 _x = self
00325 start = end
00326 end += 8
00327 (_x.goal_id.stamp.secs, _x.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00328 start = end
00329 end += 4
00330 (length,) = _struct_I.unpack(str[start:end])
00331 start = end
00332 end += length
00333 self.goal_id.id = str[start:end]
00334 _x = self
00335 start = end
00336 end += 12
00337 (_x.goal.trajectory.header.seq, _x.goal.trajectory.header.stamp.secs, _x.goal.trajectory.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00338 start = end
00339 end += 4
00340 (length,) = _struct_I.unpack(str[start:end])
00341 start = end
00342 end += length
00343 self.goal.trajectory.header.frame_id = str[start:end]
00344 start = end
00345 end += 4
00346 (length,) = _struct_I.unpack(str[start:end])
00347 self.goal.trajectory.joint_names = []
00348 for i in xrange(0, length):
00349 start = end
00350 end += 4
00351 (length,) = _struct_I.unpack(str[start:end])
00352 start = end
00353 end += length
00354 val1 = str[start:end]
00355 self.goal.trajectory.joint_names.append(val1)
00356 start = end
00357 end += 4
00358 (length,) = _struct_I.unpack(str[start:end])
00359 self.goal.trajectory.points = []
00360 for i in xrange(0, length):
00361 val1 = trajectory_msgs.msg.JointTrajectoryPoint()
00362 start = end
00363 end += 4
00364 (length,) = _struct_I.unpack(str[start:end])
00365 pattern = '<%sd'%length
00366 start = end
00367 end += struct.calcsize(pattern)
00368 val1.positions = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00369 start = end
00370 end += 4
00371 (length,) = _struct_I.unpack(str[start:end])
00372 pattern = '<%sd'%length
00373 start = end
00374 end += struct.calcsize(pattern)
00375 val1.velocities = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00376 start = end
00377 end += 4
00378 (length,) = _struct_I.unpack(str[start:end])
00379 pattern = '<%sd'%length
00380 start = end
00381 end += struct.calcsize(pattern)
00382 val1.accelerations = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00383 _v4 = val1.time_from_start
00384 _x = _v4
00385 start = end
00386 end += 8
00387 (_x.secs, _x.nsecs,) = _struct_2i.unpack(str[start:end])
00388 self.goal.trajectory.points.append(val1)
00389 return self
00390 except struct.error, e:
00391 raise roslib.message.DeserializationError(e)
00392
00393 _struct_I = roslib.message.struct_I
00394 _struct_3I = struct.Struct("<3I")
00395 _struct_2I = struct.Struct("<2I")
00396 _struct_2i = struct.Struct("<2i")