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00001 """autogenerated by genmsg_py from Wrench.msg. Do not edit.""" 00002 import roslib.message 00003 import struct 00004 00005 import geometry_msgs.msg 00006 00007 class Wrench(roslib.message.Message): 00008 _md5sum = "4f539cf138b23283b520fd271b567936" 00009 _type = "geometry_msgs/Wrench" 00010 _has_header = False #flag to mark the presence of a Header object 00011 _full_text = """# This represents force in free space, seperated into 00012 # it's linear and angular parts. 00013 Vector3 force 00014 Vector3 torque 00015 00016 ================================================================================ 00017 MSG: geometry_msgs/Vector3 00018 # This represents a vector in free space. 00019 00020 float64 x 00021 float64 y 00022 float64 z 00023 """ 00024 __slots__ = ['force','torque'] 00025 _slot_types = ['geometry_msgs/Vector3','geometry_msgs/Vector3'] 00026 00027 def __init__(self, *args, **kwds): 00028 """ 00029 Constructor. Any message fields that are implicitly/explicitly 00030 set to None will be assigned a default value. The recommend 00031 use is keyword arguments as this is more robust to future message 00032 changes. You cannot mix in-order arguments and keyword arguments. 00033 00034 The available fields are: 00035 force,torque 00036 00037 @param args: complete set of field values, in .msg order 00038 @param kwds: use keyword arguments corresponding to message field names 00039 to set specific fields. 00040 """ 00041 if args or kwds: 00042 super(Wrench, self).__init__(*args, **kwds) 00043 #message fields cannot be None, assign default values for those that are 00044 if self.force is None: 00045 self.force = geometry_msgs.msg.Vector3() 00046 if self.torque is None: 00047 self.torque = geometry_msgs.msg.Vector3() 00048 else: 00049 self.force = geometry_msgs.msg.Vector3() 00050 self.torque = geometry_msgs.msg.Vector3() 00051 00052 def _get_types(self): 00053 """ 00054 internal API method 00055 """ 00056 return self._slot_types 00057 00058 def serialize(self, buff): 00059 """ 00060 serialize message into buffer 00061 @param buff: buffer 00062 @type buff: StringIO 00063 """ 00064 try: 00065 _x = self 00066 buff.write(_struct_6d.pack(_x.force.x, _x.force.y, _x.force.z, _x.torque.x, _x.torque.y, _x.torque.z)) 00067 except struct.error as se: self._check_types(se) 00068 except TypeError as te: self._check_types(te) 00069 00070 def deserialize(self, str): 00071 """ 00072 unpack serialized message in str into this message instance 00073 @param str: byte array of serialized message 00074 @type str: str 00075 """ 00076 try: 00077 if self.force is None: 00078 self.force = geometry_msgs.msg.Vector3() 00079 if self.torque is None: 00080 self.torque = geometry_msgs.msg.Vector3() 00081 end = 0 00082 _x = self 00083 start = end 00084 end += 48 00085 (_x.force.x, _x.force.y, _x.force.z, _x.torque.x, _x.torque.y, _x.torque.z,) = _struct_6d.unpack(str[start:end]) 00086 return self 00087 except struct.error as e: 00088 raise roslib.message.DeserializationError(e) #most likely buffer underfill 00089 00090 00091 def serialize_numpy(self, buff, numpy): 00092 """ 00093 serialize message with numpy array types into buffer 00094 @param buff: buffer 00095 @type buff: StringIO 00096 @param numpy: numpy python module 00097 @type numpy module 00098 """ 00099 try: 00100 _x = self 00101 buff.write(_struct_6d.pack(_x.force.x, _x.force.y, _x.force.z, _x.torque.x, _x.torque.y, _x.torque.z)) 00102 except struct.error as se: self._check_types(se) 00103 except TypeError as te: self._check_types(te) 00104 00105 def deserialize_numpy(self, str, numpy): 00106 """ 00107 unpack serialized message in str into this message instance using numpy for array types 00108 @param str: byte array of serialized message 00109 @type str: str 00110 @param numpy: numpy python module 00111 @type numpy: module 00112 """ 00113 try: 00114 if self.force is None: 00115 self.force = geometry_msgs.msg.Vector3() 00116 if self.torque is None: 00117 self.torque = geometry_msgs.msg.Vector3() 00118 end = 0 00119 _x = self 00120 start = end 00121 end += 48 00122 (_x.force.x, _x.force.y, _x.force.z, _x.torque.x, _x.torque.y, _x.torque.z,) = _struct_6d.unpack(str[start:end]) 00123 return self 00124 except struct.error as e: 00125 raise roslib.message.DeserializationError(e) #most likely buffer underfill 00126 00127 _struct_I = roslib.message.struct_I 00128 _struct_6d = struct.Struct("<6d")