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_VerifyGrasp.py

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

import geometry_msgs.msg

class VerifyGraspRequest(roslib.message.Message):
  _md5sum = "3ea5e3d1b2abb601b42af9afe28d351f"
  _type = "graspit_ros_planning_msgs/VerifyGraspRequest"
  _has_header = False #flag to mark the presence of a Header object
  _full_text = """


int32 scaled_model_id

geometry_msgs/Pose grasp_pose

float64 grasp_joint_angle

string table_file_name


================================================================================
MSG: geometry_msgs/Pose
# A representation of pose in free space, composed of postion and orientation. 
Point position
Quaternion orientation

================================================================================
MSG: geometry_msgs/Point
# This contains the position of a point in free space
float64 x
float64 y
float64 z

================================================================================
MSG: geometry_msgs/Quaternion
# This represents an orientation in free space in quaternion form.

float64 x
float64 y
float64 z
float64 w

"""
  __slots__ = ['scaled_model_id','grasp_pose','grasp_joint_angle','table_file_name']
  _slot_types = ['int32','geometry_msgs/Pose','float64','string']

  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:
       scaled_model_id,grasp_pose,grasp_joint_angle,table_file_name
    
    @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(VerifyGraspRequest, self).__init__(*args, **kwds)
      #message fields cannot be None, assign default values for those that are
      if self.scaled_model_id is None:
        self.scaled_model_id = 0
      if self.grasp_pose is None:
        self.grasp_pose = geometry_msgs.msg.Pose()
      if self.grasp_joint_angle is None:
        self.grasp_joint_angle = 0.
      if self.table_file_name is None:
        self.table_file_name = ''
    else:
      self.scaled_model_id = 0
      self.grasp_pose = geometry_msgs.msg.Pose()
      self.grasp_joint_angle = 0.
      self.table_file_name = ''

  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
      buff.write(_struct_i8d.pack(_x.scaled_model_id, _x.grasp_pose.position.x, _x.grasp_pose.position.y, _x.grasp_pose.position.z, _x.grasp_pose.orientation.x, _x.grasp_pose.orientation.y, _x.grasp_pose.orientation.z, _x.grasp_pose.orientation.w, _x.grasp_joint_angle))
      _x = self.table_file_name
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
    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.grasp_pose is None:
        self.grasp_pose = geometry_msgs.msg.Pose()
      end = 0
      _x = self
      start = end
      end += 68
      (_x.scaled_model_id, _x.grasp_pose.position.x, _x.grasp_pose.position.y, _x.grasp_pose.position.z, _x.grasp_pose.orientation.x, _x.grasp_pose.orientation.y, _x.grasp_pose.orientation.z, _x.grasp_pose.orientation.w, _x.grasp_joint_angle,) = _struct_i8d.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.table_file_name = 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
      buff.write(_struct_i8d.pack(_x.scaled_model_id, _x.grasp_pose.position.x, _x.grasp_pose.position.y, _x.grasp_pose.position.z, _x.grasp_pose.orientation.x, _x.grasp_pose.orientation.y, _x.grasp_pose.orientation.z, _x.grasp_pose.orientation.w, _x.grasp_joint_angle))
      _x = self.table_file_name
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
    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.grasp_pose is None:
        self.grasp_pose = geometry_msgs.msg.Pose()
      end = 0
      _x = self
      start = end
      end += 68
      (_x.scaled_model_id, _x.grasp_pose.position.x, _x.grasp_pose.position.y, _x.grasp_pose.position.z, _x.grasp_pose.orientation.x, _x.grasp_pose.orientation.y, _x.grasp_pose.orientation.z, _x.grasp_pose.orientation.w, _x.grasp_joint_angle,) = _struct_i8d.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.table_file_name = str[start:end]
      return self
    except struct.error as e:
      raise roslib.message.DeserializationError(e) #most likely buffer underfill

_struct_I = roslib.message.struct_I
_struct_i8d = struct.Struct("<i8d")
"""autogenerated by genmsg_py from VerifyGraspResponse.msg. Do not edit."""
import roslib.message
import struct


class VerifyGraspResponse(roslib.message.Message):
  _md5sum = "264475d04654958284f6216319e478e9"
  _type = "graspit_ros_planning_msgs/VerifyGraspResponse"
  _has_header = False #flag to mark the presence of a Header object
  _full_text = """
bool hand_environment_collision

bool hand_object_collision

float64 gripper_tabletop_clearance

float64 gripper_object_distance


int32 LOAD_OBJECT_FAILURE = 0
int32 LOAD_OBSTACLE_FAILURE = 1
int32 LOAD_GRIPPER_FAILURE = 2
int32 CHECK_SUCCESS = 3
int32 result


"""
  # Pseudo-constants
  LOAD_OBJECT_FAILURE = 0
  LOAD_OBSTACLE_FAILURE = 1
  LOAD_GRIPPER_FAILURE = 2
  CHECK_SUCCESS = 3

  __slots__ = ['hand_environment_collision','hand_object_collision','gripper_tabletop_clearance','gripper_object_distance','result']
  _slot_types = ['bool','bool','float64','float64','int32']

  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:
       hand_environment_collision,hand_object_collision,gripper_tabletop_clearance,gripper_object_distance,result
    
    @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(VerifyGraspResponse, self).__init__(*args, **kwds)
      #message fields cannot be None, assign default values for those that are
      if self.hand_environment_collision is None:
        self.hand_environment_collision = False
      if self.hand_object_collision is None:
        self.hand_object_collision = False
      if self.gripper_tabletop_clearance is None:
        self.gripper_tabletop_clearance = 0.
      if self.gripper_object_distance is None:
        self.gripper_object_distance = 0.
      if self.result is None:
        self.result = 0
    else:
      self.hand_environment_collision = False
      self.hand_object_collision = False
      self.gripper_tabletop_clearance = 0.
      self.gripper_object_distance = 0.
      self.result = 0

  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
      buff.write(_struct_2B2di.pack(_x.hand_environment_collision, _x.hand_object_collision, _x.gripper_tabletop_clearance, _x.gripper_object_distance, _x.result))
    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:
      end = 0
      _x = self
      start = end
      end += 22
      (_x.hand_environment_collision, _x.hand_object_collision, _x.gripper_tabletop_clearance, _x.gripper_object_distance, _x.result,) = _struct_2B2di.unpack(str[start:end])
      self.hand_environment_collision = bool(self.hand_environment_collision)
      self.hand_object_collision = bool(self.hand_object_collision)
      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
      buff.write(_struct_2B2di.pack(_x.hand_environment_collision, _x.hand_object_collision, _x.gripper_tabletop_clearance, _x.gripper_object_distance, _x.result))
    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:
      end = 0
      _x = self
      start = end
      end += 22
      (_x.hand_environment_collision, _x.hand_object_collision, _x.gripper_tabletop_clearance, _x.gripper_object_distance, _x.result,) = _struct_2B2di.unpack(str[start:end])
      self.hand_environment_collision = bool(self.hand_environment_collision)
      self.hand_object_collision = bool(self.hand_object_collision)
      return self
    except struct.error as e:
      raise roslib.message.DeserializationError(e) #most likely buffer underfill

_struct_I = roslib.message.struct_I
_struct_2B2di = struct.Struct("<2B2di")
class VerifyGrasp(roslib.message.ServiceDefinition):
  _type          = 'graspit_ros_planning_msgs/VerifyGrasp'
  _md5sum = '14498cf3d29129af22a365ada2629e17'
  _request_class  = VerifyGraspRequest
  _response_class = VerifyGraspResponse

---

graspit_ros_planning_msgs
Author(s): Peter Brook
autogenerated on Fri Mar 1 16:19:11 2013