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_ContactState.py

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

import geometry_msgs.msg

class ContactState(roslib.message.Message):
  _md5sum = "7f688fc24d90d16872fdc9ea8c6e45ab"
  _type = "gazebo_msgs/ContactState"
  _has_header = False #flag to mark the presence of a Header object
  _full_text = """string info                                   # text info on this contact
string geom1_name                             # name of contact geom1
string geom2_name                             # name of contact geom2
geometry_msgs/Wrench[] wrenches               # list of forces/torques
geometry_msgs/Wrench total_wrench             # sum of forces/torques in every DOF
geometry_msgs/Vector3[] contact_positions     # list of contact position
geometry_msgs/Vector3[] contact_normals       # list of contact normals
float64[] depths                              # list of penetration depths

================================================================================
MSG: geometry_msgs/Wrench
# This represents force in free space, seperated into 
# it's linear and angular parts.  
Vector3  force
Vector3  torque

================================================================================
MSG: geometry_msgs/Vector3
# This represents a vector in free space. 

float64 x
float64 y
float64 z
"""
  __slots__ = ['info','geom1_name','geom2_name','wrenches','total_wrench','contact_positions','contact_normals','depths']
  _slot_types = ['string','string','string','geometry_msgs/Wrench[]','geometry_msgs/Wrench','geometry_msgs/Vector3[]','geometry_msgs/Vector3[]','float64[]']

  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:
       info,geom1_name,geom2_name,wrenches,total_wrench,contact_positions,contact_normals,depths
    
    @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(ContactState, self).__init__(*args, **kwds)
      #message fields cannot be None, assign default values for those that are
      if self.info is None:
        self.info = ''
      if self.geom1_name is None:
        self.geom1_name = ''
      if self.geom2_name is None:
        self.geom2_name = ''
      if self.wrenches is None:
        self.wrenches = []
      if self.total_wrench is None:
        self.total_wrench = geometry_msgs.msg.Wrench()
      if self.contact_positions is None:
        self.contact_positions = []
      if self.contact_normals is None:
        self.contact_normals = []
      if self.depths is None:
        self.depths = []
    else:
      self.info = ''
      self.geom1_name = ''
      self.geom2_name = ''
      self.wrenches = []
      self.total_wrench = geometry_msgs.msg.Wrench()
      self.contact_positions = []
      self.contact_normals = []
      self.depths = []

  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.info
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self.geom1_name
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self.geom2_name
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.wrenches)
      buff.write(_struct_I.pack(length))
      for val1 in self.wrenches:
        _v1 = val1.force
        _x = _v1
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v2 = val1.torque
        _x = _v2
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
      _x = self
      buff.write(_struct_6d.pack(_x.total_wrench.force.x, _x.total_wrench.force.y, _x.total_wrench.force.z, _x.total_wrench.torque.x, _x.total_wrench.torque.y, _x.total_wrench.torque.z))
      length = len(self.contact_positions)
      buff.write(_struct_I.pack(length))
      for val1 in self.contact_positions:
        _x = val1
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
      length = len(self.contact_normals)
      buff.write(_struct_I.pack(length))
      for val1 in self.contact_normals:
        _x = val1
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
      length = len(self.depths)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.depths))
    except struct.error as se: self._check_types(se)
    except TypeError as 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.total_wrench is None:
        self.total_wrench = geometry_msgs.msg.Wrench()
      end = 0
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.info = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.geom1_name = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.geom2_name = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.wrenches = []
      for i in range(0, length):
        val1 = geometry_msgs.msg.Wrench()
        _v3 = val1.force
        _x = _v3
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v4 = val1.torque
        _x = _v4
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        self.wrenches.append(val1)
      _x = self
      start = end
      end += 48
      (_x.total_wrench.force.x, _x.total_wrench.force.y, _x.total_wrench.force.z, _x.total_wrench.torque.x, _x.total_wrench.torque.y, _x.total_wrench.torque.z,) = _struct_6d.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.contact_positions = []
      for i in range(0, length):
        val1 = geometry_msgs.msg.Vector3()
        _x = val1
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        self.contact_positions.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.contact_normals = []
      for i in range(0, length):
        val1 = geometry_msgs.msg.Vector3()
        _x = val1
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        self.contact_normals.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.depths = struct.unpack(pattern, str[start:end])
      return self
    except struct.error as 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.info
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self.geom1_name
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self.geom2_name
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.wrenches)
      buff.write(_struct_I.pack(length))
      for val1 in self.wrenches:
        _v5 = val1.force
        _x = _v5
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v6 = val1.torque
        _x = _v6
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
      _x = self
      buff.write(_struct_6d.pack(_x.total_wrench.force.x, _x.total_wrench.force.y, _x.total_wrench.force.z, _x.total_wrench.torque.x, _x.total_wrench.torque.y, _x.total_wrench.torque.z))
      length = len(self.contact_positions)
      buff.write(_struct_I.pack(length))
      for val1 in self.contact_positions:
        _x = val1
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
      length = len(self.contact_normals)
      buff.write(_struct_I.pack(length))
      for val1 in self.contact_normals:
        _x = val1
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
      length = len(self.depths)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.depths.tostring())
    except struct.error as se: self._check_types(se)
    except TypeError as 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.total_wrench is None:
        self.total_wrench = geometry_msgs.msg.Wrench()
      end = 0
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.info = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.geom1_name = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.geom2_name = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.wrenches = []
      for i in range(0, length):
        val1 = geometry_msgs.msg.Wrench()
        _v7 = val1.force
        _x = _v7
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v8 = val1.torque
        _x = _v8
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        self.wrenches.append(val1)
      _x = self
      start = end
      end += 48
      (_x.total_wrench.force.x, _x.total_wrench.force.y, _x.total_wrench.force.z, _x.total_wrench.torque.x, _x.total_wrench.torque.y, _x.total_wrench.torque.z,) = _struct_6d.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.contact_positions = []
      for i in range(0, length):
        val1 = geometry_msgs.msg.Vector3()
        _x = val1
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        self.contact_positions.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.contact_normals = []
      for i in range(0, length):
        val1 = geometry_msgs.msg.Vector3()
        _x = val1
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        self.contact_normals.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.depths = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
      return self
    except struct.error as e:
      raise roslib.message.DeserializationError(e) #most likely buffer underfill

_struct_I = roslib.message.struct_I
_struct_6d = struct.Struct("<6d")
_struct_3d = struct.Struct("<3d")

---

gazebo_msgs
Author(s): John Hsu
autogenerated on Sat Mar 2 13:38:29 2013