00001 """autogenerated by genmsg_py from FollowJointTrajectoryFeedback.msg. Do not edit."""
00002 import roslib.message
00003 import struct
00004
00005 import trajectory_msgs.msg
00006 import roslib.rostime
00007 import std_msgs.msg
00008
00009 class FollowJointTrajectoryFeedback(roslib.message.Message):
00010 _md5sum = "b11d532a92ee589417fdd76559eb1d9e"
00011 _type = "control_msgs/FollowJointTrajectoryFeedback"
00012 _has_header = True
00013 _full_text = """# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00014 Header header
00015 string[] joint_names
00016 trajectory_msgs/JointTrajectoryPoint desired
00017 trajectory_msgs/JointTrajectoryPoint actual
00018 trajectory_msgs/JointTrajectoryPoint error
00019
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: trajectory_msgs/JointTrajectoryPoint
00041 float64[] positions
00042 float64[] velocities
00043 float64[] accelerations
00044 duration time_from_start
00045 """
00046 __slots__ = ['header','joint_names','desired','actual','error']
00047 _slot_types = ['Header','string[]','trajectory_msgs/JointTrajectoryPoint','trajectory_msgs/JointTrajectoryPoint','trajectory_msgs/JointTrajectoryPoint']
00048
00049 def __init__(self, *args, **kwds):
00050 """
00051 Constructor. Any message fields that are implicitly/explicitly
00052 set to None will be assigned a default value. The recommend
00053 use is keyword arguments as this is more robust to future message
00054 changes. You cannot mix in-order arguments and keyword arguments.
00055
00056 The available fields are:
00057 header,joint_names,desired,actual,error
00058
00059 @param args: complete set of field values, in .msg order
00060 @param kwds: use keyword arguments corresponding to message field names
00061 to set specific fields.
00062 """
00063 if args or kwds:
00064 super(FollowJointTrajectoryFeedback, self).__init__(*args, **kwds)
00065
00066 if self.header is None:
00067 self.header = std_msgs.msg._Header.Header()
00068 if self.joint_names is None:
00069 self.joint_names = []
00070 if self.desired is None:
00071 self.desired = trajectory_msgs.msg.JointTrajectoryPoint()
00072 if self.actual is None:
00073 self.actual = trajectory_msgs.msg.JointTrajectoryPoint()
00074 if self.error is None:
00075 self.error = trajectory_msgs.msg.JointTrajectoryPoint()
00076 else:
00077 self.header = std_msgs.msg._Header.Header()
00078 self.joint_names = []
00079 self.desired = trajectory_msgs.msg.JointTrajectoryPoint()
00080 self.actual = trajectory_msgs.msg.JointTrajectoryPoint()
00081 self.error = trajectory_msgs.msg.JointTrajectoryPoint()
00082
00083 def _get_types(self):
00084 """
00085 internal API method
00086 """
00087 return self._slot_types
00088
00089 def serialize(self, buff):
00090 """
00091 serialize message into buffer
00092 @param buff: buffer
00093 @type buff: StringIO
00094 """
00095 try:
00096 _x = self
00097 buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
00098 _x = self.header.frame_id
00099 length = len(_x)
00100 buff.write(struct.pack('<I%ss'%length, length, _x))
00101 length = len(self.joint_names)
00102 buff.write(_struct_I.pack(length))
00103 for val1 in self.joint_names:
00104 length = len(val1)
00105 buff.write(struct.pack('<I%ss'%length, length, val1))
00106 length = len(self.desired.positions)
00107 buff.write(_struct_I.pack(length))
00108 pattern = '<%sd'%length
00109 buff.write(struct.pack(pattern, *self.desired.positions))
00110 length = len(self.desired.velocities)
00111 buff.write(_struct_I.pack(length))
00112 pattern = '<%sd'%length
00113 buff.write(struct.pack(pattern, *self.desired.velocities))
00114 length = len(self.desired.accelerations)
00115 buff.write(_struct_I.pack(length))
00116 pattern = '<%sd'%length
00117 buff.write(struct.pack(pattern, *self.desired.accelerations))
00118 _x = self
00119 buff.write(_struct_2i.pack(_x.desired.time_from_start.secs, _x.desired.time_from_start.nsecs))
00120 length = len(self.actual.positions)
00121 buff.write(_struct_I.pack(length))
00122 pattern = '<%sd'%length
00123 buff.write(struct.pack(pattern, *self.actual.positions))
00124 length = len(self.actual.velocities)
00125 buff.write(_struct_I.pack(length))
00126 pattern = '<%sd'%length
00127 buff.write(struct.pack(pattern, *self.actual.velocities))
00128 length = len(self.actual.accelerations)
00129 buff.write(_struct_I.pack(length))
00130 pattern = '<%sd'%length
00131 buff.write(struct.pack(pattern, *self.actual.accelerations))
00132 _x = self
00133 buff.write(_struct_2i.pack(_x.actual.time_from_start.secs, _x.actual.time_from_start.nsecs))
00134 length = len(self.error.positions)
00135 buff.write(_struct_I.pack(length))
00136 pattern = '<%sd'%length
00137 buff.write(struct.pack(pattern, *self.error.positions))
00138 length = len(self.error.velocities)
00139 buff.write(_struct_I.pack(length))
00140 pattern = '<%sd'%length
00141 buff.write(struct.pack(pattern, *self.error.velocities))
00142 length = len(self.error.accelerations)
00143 buff.write(_struct_I.pack(length))
00144 pattern = '<%sd'%length
00145 buff.write(struct.pack(pattern, *self.error.accelerations))
00146 _x = self
00147 buff.write(_struct_2i.pack(_x.error.time_from_start.secs, _x.error.time_from_start.nsecs))
00148 except struct.error as se: self._check_types(se)
00149 except TypeError as te: self._check_types(te)
00150
00151 def deserialize(self, str):
00152 """
00153 unpack serialized message in str into this message instance
00154 @param str: byte array of serialized message
00155 @type str: str
00156 """
00157 try:
00158 if self.header is None:
00159 self.header = std_msgs.msg._Header.Header()
00160 if self.desired is None:
00161 self.desired = trajectory_msgs.msg.JointTrajectoryPoint()
00162 if self.actual is None:
00163 self.actual = trajectory_msgs.msg.JointTrajectoryPoint()
00164 if self.error is None:
00165 self.error = trajectory_msgs.msg.JointTrajectoryPoint()
00166 end = 0
00167 _x = self
00168 start = end
00169 end += 12
00170 (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00171 start = end
00172 end += 4
00173 (length,) = _struct_I.unpack(str[start:end])
00174 start = end
00175 end += length
00176 self.header.frame_id = str[start:end]
00177 start = end
00178 end += 4
00179 (length,) = _struct_I.unpack(str[start:end])
00180 self.joint_names = []
00181 for i in range(0, length):
00182 start = end
00183 end += 4
00184 (length,) = _struct_I.unpack(str[start:end])
00185 start = end
00186 end += length
00187 val1 = str[start:end]
00188 self.joint_names.append(val1)
00189 start = end
00190 end += 4
00191 (length,) = _struct_I.unpack(str[start:end])
00192 pattern = '<%sd'%length
00193 start = end
00194 end += struct.calcsize(pattern)
00195 self.desired.positions = struct.unpack(pattern, str[start:end])
00196 start = end
00197 end += 4
00198 (length,) = _struct_I.unpack(str[start:end])
00199 pattern = '<%sd'%length
00200 start = end
00201 end += struct.calcsize(pattern)
00202 self.desired.velocities = struct.unpack(pattern, str[start:end])
00203 start = end
00204 end += 4
00205 (length,) = _struct_I.unpack(str[start:end])
00206 pattern = '<%sd'%length
00207 start = end
00208 end += struct.calcsize(pattern)
00209 self.desired.accelerations = struct.unpack(pattern, str[start:end])
00210 _x = self
00211 start = end
00212 end += 8
00213 (_x.desired.time_from_start.secs, _x.desired.time_from_start.nsecs,) = _struct_2i.unpack(str[start:end])
00214 start = end
00215 end += 4
00216 (length,) = _struct_I.unpack(str[start:end])
00217 pattern = '<%sd'%length
00218 start = end
00219 end += struct.calcsize(pattern)
00220 self.actual.positions = struct.unpack(pattern, str[start:end])
00221 start = end
00222 end += 4
00223 (length,) = _struct_I.unpack(str[start:end])
00224 pattern = '<%sd'%length
00225 start = end
00226 end += struct.calcsize(pattern)
00227 self.actual.velocities = struct.unpack(pattern, str[start:end])
00228 start = end
00229 end += 4
00230 (length,) = _struct_I.unpack(str[start:end])
00231 pattern = '<%sd'%length
00232 start = end
00233 end += struct.calcsize(pattern)
00234 self.actual.accelerations = struct.unpack(pattern, str[start:end])
00235 _x = self
00236 start = end
00237 end += 8
00238 (_x.actual.time_from_start.secs, _x.actual.time_from_start.nsecs,) = _struct_2i.unpack(str[start:end])
00239 start = end
00240 end += 4
00241 (length,) = _struct_I.unpack(str[start:end])
00242 pattern = '<%sd'%length
00243 start = end
00244 end += struct.calcsize(pattern)
00245 self.error.positions = struct.unpack(pattern, str[start:end])
00246 start = end
00247 end += 4
00248 (length,) = _struct_I.unpack(str[start:end])
00249 pattern = '<%sd'%length
00250 start = end
00251 end += struct.calcsize(pattern)
00252 self.error.velocities = struct.unpack(pattern, str[start:end])
00253 start = end
00254 end += 4
00255 (length,) = _struct_I.unpack(str[start:end])
00256 pattern = '<%sd'%length
00257 start = end
00258 end += struct.calcsize(pattern)
00259 self.error.accelerations = struct.unpack(pattern, str[start:end])
00260 _x = self
00261 start = end
00262 end += 8
00263 (_x.error.time_from_start.secs, _x.error.time_from_start.nsecs,) = _struct_2i.unpack(str[start:end])
00264 return self
00265 except struct.error as e:
00266 raise roslib.message.DeserializationError(e)
00267
00268
00269 def serialize_numpy(self, buff, numpy):
00270 """
00271 serialize message with numpy array types into buffer
00272 @param buff: buffer
00273 @type buff: StringIO
00274 @param numpy: numpy python module
00275 @type numpy module
00276 """
00277 try:
00278 _x = self
00279 buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
00280 _x = self.header.frame_id
00281 length = len(_x)
00282 buff.write(struct.pack('<I%ss'%length, length, _x))
00283 length = len(self.joint_names)
00284 buff.write(_struct_I.pack(length))
00285 for val1 in self.joint_names:
00286 length = len(val1)
00287 buff.write(struct.pack('<I%ss'%length, length, val1))
00288 length = len(self.desired.positions)
00289 buff.write(_struct_I.pack(length))
00290 pattern = '<%sd'%length
00291 buff.write(self.desired.positions.tostring())
00292 length = len(self.desired.velocities)
00293 buff.write(_struct_I.pack(length))
00294 pattern = '<%sd'%length
00295 buff.write(self.desired.velocities.tostring())
00296 length = len(self.desired.accelerations)
00297 buff.write(_struct_I.pack(length))
00298 pattern = '<%sd'%length
00299 buff.write(self.desired.accelerations.tostring())
00300 _x = self
00301 buff.write(_struct_2i.pack(_x.desired.time_from_start.secs, _x.desired.time_from_start.nsecs))
00302 length = len(self.actual.positions)
00303 buff.write(_struct_I.pack(length))
00304 pattern = '<%sd'%length
00305 buff.write(self.actual.positions.tostring())
00306 length = len(self.actual.velocities)
00307 buff.write(_struct_I.pack(length))
00308 pattern = '<%sd'%length
00309 buff.write(self.actual.velocities.tostring())
00310 length = len(self.actual.accelerations)
00311 buff.write(_struct_I.pack(length))
00312 pattern = '<%sd'%length
00313 buff.write(self.actual.accelerations.tostring())
00314 _x = self
00315 buff.write(_struct_2i.pack(_x.actual.time_from_start.secs, _x.actual.time_from_start.nsecs))
00316 length = len(self.error.positions)
00317 buff.write(_struct_I.pack(length))
00318 pattern = '<%sd'%length
00319 buff.write(self.error.positions.tostring())
00320 length = len(self.error.velocities)
00321 buff.write(_struct_I.pack(length))
00322 pattern = '<%sd'%length
00323 buff.write(self.error.velocities.tostring())
00324 length = len(self.error.accelerations)
00325 buff.write(_struct_I.pack(length))
00326 pattern = '<%sd'%length
00327 buff.write(self.error.accelerations.tostring())
00328 _x = self
00329 buff.write(_struct_2i.pack(_x.error.time_from_start.secs, _x.error.time_from_start.nsecs))
00330 except struct.error as se: self._check_types(se)
00331 except TypeError as te: self._check_types(te)
00332
00333 def deserialize_numpy(self, str, numpy):
00334 """
00335 unpack serialized message in str into this message instance using numpy for array types
00336 @param str: byte array of serialized message
00337 @type str: str
00338 @param numpy: numpy python module
00339 @type numpy: module
00340 """
00341 try:
00342 if self.header is None:
00343 self.header = std_msgs.msg._Header.Header()
00344 if self.desired is None:
00345 self.desired = trajectory_msgs.msg.JointTrajectoryPoint()
00346 if self.actual is None:
00347 self.actual = trajectory_msgs.msg.JointTrajectoryPoint()
00348 if self.error is None:
00349 self.error = trajectory_msgs.msg.JointTrajectoryPoint()
00350 end = 0
00351 _x = self
00352 start = end
00353 end += 12
00354 (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00355 start = end
00356 end += 4
00357 (length,) = _struct_I.unpack(str[start:end])
00358 start = end
00359 end += length
00360 self.header.frame_id = str[start:end]
00361 start = end
00362 end += 4
00363 (length,) = _struct_I.unpack(str[start:end])
00364 self.joint_names = []
00365 for i in range(0, length):
00366 start = end
00367 end += 4
00368 (length,) = _struct_I.unpack(str[start:end])
00369 start = end
00370 end += length
00371 val1 = str[start:end]
00372 self.joint_names.append(val1)
00373 start = end
00374 end += 4
00375 (length,) = _struct_I.unpack(str[start:end])
00376 pattern = '<%sd'%length
00377 start = end
00378 end += struct.calcsize(pattern)
00379 self.desired.positions = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00380 start = end
00381 end += 4
00382 (length,) = _struct_I.unpack(str[start:end])
00383 pattern = '<%sd'%length
00384 start = end
00385 end += struct.calcsize(pattern)
00386 self.desired.velocities = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00387 start = end
00388 end += 4
00389 (length,) = _struct_I.unpack(str[start:end])
00390 pattern = '<%sd'%length
00391 start = end
00392 end += struct.calcsize(pattern)
00393 self.desired.accelerations = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00394 _x = self
00395 start = end
00396 end += 8
00397 (_x.desired.time_from_start.secs, _x.desired.time_from_start.nsecs,) = _struct_2i.unpack(str[start:end])
00398 start = end
00399 end += 4
00400 (length,) = _struct_I.unpack(str[start:end])
00401 pattern = '<%sd'%length
00402 start = end
00403 end += struct.calcsize(pattern)
00404 self.actual.positions = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00405 start = end
00406 end += 4
00407 (length,) = _struct_I.unpack(str[start:end])
00408 pattern = '<%sd'%length
00409 start = end
00410 end += struct.calcsize(pattern)
00411 self.actual.velocities = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00412 start = end
00413 end += 4
00414 (length,) = _struct_I.unpack(str[start:end])
00415 pattern = '<%sd'%length
00416 start = end
00417 end += struct.calcsize(pattern)
00418 self.actual.accelerations = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00419 _x = self
00420 start = end
00421 end += 8
00422 (_x.actual.time_from_start.secs, _x.actual.time_from_start.nsecs,) = _struct_2i.unpack(str[start:end])
00423 start = end
00424 end += 4
00425 (length,) = _struct_I.unpack(str[start:end])
00426 pattern = '<%sd'%length
00427 start = end
00428 end += struct.calcsize(pattern)
00429 self.error.positions = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00430 start = end
00431 end += 4
00432 (length,) = _struct_I.unpack(str[start:end])
00433 pattern = '<%sd'%length
00434 start = end
00435 end += struct.calcsize(pattern)
00436 self.error.velocities = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00437 start = end
00438 end += 4
00439 (length,) = _struct_I.unpack(str[start:end])
00440 pattern = '<%sd'%length
00441 start = end
00442 end += struct.calcsize(pattern)
00443 self.error.accelerations = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00444 _x = self
00445 start = end
00446 end += 8
00447 (_x.error.time_from_start.secs, _x.error.time_from_start.nsecs,) = _struct_2i.unpack(str[start:end])
00448 return self
00449 except struct.error as e:
00450 raise roslib.message.DeserializationError(e)
00451
00452 _struct_I = roslib.message.struct_I
00453 _struct_3I = struct.Struct("<3I")
00454 _struct_2i = struct.Struct("<2i")
