00001 """autogenerated by genmsg_py from ContactInformation.msg. Do not edit."""
00002 import roslib.message
00003 import struct
00004
00005 import geometry_msgs.msg
00006 import std_msgs.msg
00007
00008 class ContactInformation(roslib.message.Message):
00009 _md5sum = "85f341c0166ad4e68b4421391bbd2e15"
00010 _type = "arm_navigation_msgs/ContactInformation"
00011 _has_header = True
00012 _full_text = """# Standard ROS header contains information
00013 # about the frame in which this
00014 # contact is specified
00015 Header header
00016
00017 # Position of the contact point
00018 geometry_msgs/Point position
00019
00020 # Normal corresponding to the contact point
00021 geometry_msgs/Vector3 normal
00022
00023 # Depth of contact point
00024 float64 depth
00025
00026 # Name of the first body that is in contact
00027 # This could be a link or a namespace that represents a body
00028 string contact_body_1
00029 string attached_body_1
00030 uint32 body_type_1
00031
00032 # Name of the second body that is in contact
00033 # This could be a link or a namespace that represents a body
00034 string contact_body_2
00035 string attached_body_2
00036 uint32 body_type_2
00037
00038 uint32 ROBOT_LINK=0
00039 uint32 OBJECT=1
00040 uint32 ATTACHED_BODY=2
00041 ================================================================================
00042 MSG: std_msgs/Header
00043 # Standard metadata for higher-level stamped data types.
00044 # This is generally used to communicate timestamped data
00045 # in a particular coordinate frame.
00046 #
00047 # sequence ID: consecutively increasing ID
00048 uint32 seq
00049 #Two-integer timestamp that is expressed as:
00050 # * stamp.secs: seconds (stamp_secs) since epoch
00051 # * stamp.nsecs: nanoseconds since stamp_secs
00052 # time-handling sugar is provided by the client library
00053 time stamp
00054 #Frame this data is associated with
00055 # 0: no frame
00056 # 1: global frame
00057 string frame_id
00058
00059 ================================================================================
00060 MSG: geometry_msgs/Point
00061 # This contains the position of a point in free space
00062 float64 x
00063 float64 y
00064 float64 z
00065
00066 ================================================================================
00067 MSG: geometry_msgs/Vector3
00068 # This represents a vector in free space.
00069
00070 float64 x
00071 float64 y
00072 float64 z
00073 """
00074
00075 ROBOT_LINK = 0
00076 OBJECT = 1
00077 ATTACHED_BODY = 2
00078
00079 __slots__ = ['header','position','normal','depth','contact_body_1','attached_body_1','body_type_1','contact_body_2','attached_body_2','body_type_2']
00080 _slot_types = ['Header','geometry_msgs/Point','geometry_msgs/Vector3','float64','string','string','uint32','string','string','uint32']
00081
00082 def __init__(self, *args, **kwds):
00083 """
00084 Constructor. Any message fields that are implicitly/explicitly
00085 set to None will be assigned a default value. The recommend
00086 use is keyword arguments as this is more robust to future message
00087 changes. You cannot mix in-order arguments and keyword arguments.
00088
00089 The available fields are:
00090 header,position,normal,depth,contact_body_1,attached_body_1,body_type_1,contact_body_2,attached_body_2,body_type_2
00091
00092 @param args: complete set of field values, in .msg order
00093 @param kwds: use keyword arguments corresponding to message field names
00094 to set specific fields.
00095 """
00096 if args or kwds:
00097 super(ContactInformation, self).__init__(*args, **kwds)
00098
00099 if self.header is None:
00100 self.header = std_msgs.msg._Header.Header()
00101 if self.position is None:
00102 self.position = geometry_msgs.msg.Point()
00103 if self.normal is None:
00104 self.normal = geometry_msgs.msg.Vector3()
00105 if self.depth is None:
00106 self.depth = 0.
00107 if self.contact_body_1 is None:
00108 self.contact_body_1 = ''
00109 if self.attached_body_1 is None:
00110 self.attached_body_1 = ''
00111 if self.body_type_1 is None:
00112 self.body_type_1 = 0
00113 if self.contact_body_2 is None:
00114 self.contact_body_2 = ''
00115 if self.attached_body_2 is None:
00116 self.attached_body_2 = ''
00117 if self.body_type_2 is None:
00118 self.body_type_2 = 0
00119 else:
00120 self.header = std_msgs.msg._Header.Header()
00121 self.position = geometry_msgs.msg.Point()
00122 self.normal = geometry_msgs.msg.Vector3()
00123 self.depth = 0.
00124 self.contact_body_1 = ''
00125 self.attached_body_1 = ''
00126 self.body_type_1 = 0
00127 self.contact_body_2 = ''
00128 self.attached_body_2 = ''
00129 self.body_type_2 = 0
00130
00131 def _get_types(self):
00132 """
00133 internal API method
00134 """
00135 return self._slot_types
00136
00137 def serialize(self, buff):
00138 """
00139 serialize message into buffer
00140 @param buff: buffer
00141 @type buff: StringIO
00142 """
00143 try:
00144 _x = self
00145 buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
00146 _x = self.header.frame_id
00147 length = len(_x)
00148 buff.write(struct.pack('<I%ss'%length, length, _x))
00149 _x = self
00150 buff.write(_struct_7d.pack(_x.position.x, _x.position.y, _x.position.z, _x.normal.x, _x.normal.y, _x.normal.z, _x.depth))
00151 _x = self.contact_body_1
00152 length = len(_x)
00153 buff.write(struct.pack('<I%ss'%length, length, _x))
00154 _x = self.attached_body_1
00155 length = len(_x)
00156 buff.write(struct.pack('<I%ss'%length, length, _x))
00157 buff.write(_struct_I.pack(self.body_type_1))
00158 _x = self.contact_body_2
00159 length = len(_x)
00160 buff.write(struct.pack('<I%ss'%length, length, _x))
00161 _x = self.attached_body_2
00162 length = len(_x)
00163 buff.write(struct.pack('<I%ss'%length, length, _x))
00164 buff.write(_struct_I.pack(self.body_type_2))
00165 except struct.error as se: self._check_types(se)
00166 except TypeError as te: self._check_types(te)
00167
00168 def deserialize(self, str):
00169 """
00170 unpack serialized message in str into this message instance
00171 @param str: byte array of serialized message
00172 @type str: str
00173 """
00174 try:
00175 if self.header is None:
00176 self.header = std_msgs.msg._Header.Header()
00177 if self.position is None:
00178 self.position = geometry_msgs.msg.Point()
00179 if self.normal is None:
00180 self.normal = geometry_msgs.msg.Vector3()
00181 end = 0
00182 _x = self
00183 start = end
00184 end += 12
00185 (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00186 start = end
00187 end += 4
00188 (length,) = _struct_I.unpack(str[start:end])
00189 start = end
00190 end += length
00191 self.header.frame_id = str[start:end]
00192 _x = self
00193 start = end
00194 end += 56
00195 (_x.position.x, _x.position.y, _x.position.z, _x.normal.x, _x.normal.y, _x.normal.z, _x.depth,) = _struct_7d.unpack(str[start:end])
00196 start = end
00197 end += 4
00198 (length,) = _struct_I.unpack(str[start:end])
00199 start = end
00200 end += length
00201 self.contact_body_1 = str[start:end]
00202 start = end
00203 end += 4
00204 (length,) = _struct_I.unpack(str[start:end])
00205 start = end
00206 end += length
00207 self.attached_body_1 = str[start:end]
00208 start = end
00209 end += 4
00210 (self.body_type_1,) = _struct_I.unpack(str[start:end])
00211 start = end
00212 end += 4
00213 (length,) = _struct_I.unpack(str[start:end])
00214 start = end
00215 end += length
00216 self.contact_body_2 = str[start:end]
00217 start = end
00218 end += 4
00219 (length,) = _struct_I.unpack(str[start:end])
00220 start = end
00221 end += length
00222 self.attached_body_2 = str[start:end]
00223 start = end
00224 end += 4
00225 (self.body_type_2,) = _struct_I.unpack(str[start:end])
00226 return self
00227 except struct.error as e:
00228 raise roslib.message.DeserializationError(e)
00229
00230
00231 def serialize_numpy(self, buff, numpy):
00232 """
00233 serialize message with numpy array types into buffer
00234 @param buff: buffer
00235 @type buff: StringIO
00236 @param numpy: numpy python module
00237 @type numpy module
00238 """
00239 try:
00240 _x = self
00241 buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
00242 _x = self.header.frame_id
00243 length = len(_x)
00244 buff.write(struct.pack('<I%ss'%length, length, _x))
00245 _x = self
00246 buff.write(_struct_7d.pack(_x.position.x, _x.position.y, _x.position.z, _x.normal.x, _x.normal.y, _x.normal.z, _x.depth))
00247 _x = self.contact_body_1
00248 length = len(_x)
00249 buff.write(struct.pack('<I%ss'%length, length, _x))
00250 _x = self.attached_body_1
00251 length = len(_x)
00252 buff.write(struct.pack('<I%ss'%length, length, _x))
00253 buff.write(_struct_I.pack(self.body_type_1))
00254 _x = self.contact_body_2
00255 length = len(_x)
00256 buff.write(struct.pack('<I%ss'%length, length, _x))
00257 _x = self.attached_body_2
00258 length = len(_x)
00259 buff.write(struct.pack('<I%ss'%length, length, _x))
00260 buff.write(_struct_I.pack(self.body_type_2))
00261 except struct.error as se: self._check_types(se)
00262 except TypeError as te: self._check_types(te)
00263
00264 def deserialize_numpy(self, str, numpy):
00265 """
00266 unpack serialized message in str into this message instance using numpy for array types
00267 @param str: byte array of serialized message
00268 @type str: str
00269 @param numpy: numpy python module
00270 @type numpy: module
00271 """
00272 try:
00273 if self.header is None:
00274 self.header = std_msgs.msg._Header.Header()
00275 if self.position is None:
00276 self.position = geometry_msgs.msg.Point()
00277 if self.normal is None:
00278 self.normal = geometry_msgs.msg.Vector3()
00279 end = 0
00280 _x = self
00281 start = end
00282 end += 12
00283 (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00284 start = end
00285 end += 4
00286 (length,) = _struct_I.unpack(str[start:end])
00287 start = end
00288 end += length
00289 self.header.frame_id = str[start:end]
00290 _x = self
00291 start = end
00292 end += 56
00293 (_x.position.x, _x.position.y, _x.position.z, _x.normal.x, _x.normal.y, _x.normal.z, _x.depth,) = _struct_7d.unpack(str[start:end])
00294 start = end
00295 end += 4
00296 (length,) = _struct_I.unpack(str[start:end])
00297 start = end
00298 end += length
00299 self.contact_body_1 = str[start:end]
00300 start = end
00301 end += 4
00302 (length,) = _struct_I.unpack(str[start:end])
00303 start = end
00304 end += length
00305 self.attached_body_1 = str[start:end]
00306 start = end
00307 end += 4
00308 (self.body_type_1,) = _struct_I.unpack(str[start:end])
00309 start = end
00310 end += 4
00311 (length,) = _struct_I.unpack(str[start:end])
00312 start = end
00313 end += length
00314 self.contact_body_2 = str[start:end]
00315 start = end
00316 end += 4
00317 (length,) = _struct_I.unpack(str[start:end])
00318 start = end
00319 end += length
00320 self.attached_body_2 = str[start:end]
00321 start = end
00322 end += 4
00323 (self.body_type_2,) = _struct_I.unpack(str[start:end])
00324 return self
00325 except struct.error as e:
00326 raise roslib.message.DeserializationError(e)
00327
00328 _struct_I = roslib.message.struct_I
00329 _struct_3I = struct.Struct("<3I")
00330 _struct_7d = struct.Struct("<7d")
