00001 """autogenerated by genmsg_py from PlaceActionResult.msg. Do not edit."""
00002 import roslib.message
00003 import struct
00004
00005 import geometry_msgs.msg
00006 import object_manipulation_msgs.msg
00007 import roslib.rostime
00008 import actionlib_msgs.msg
00009 import std_msgs.msg
00010
00011 class PlaceActionResult(roslib.message.Message):
00012 _md5sum = "df8a4d17f57aaf41c7039f0808224d11"
00013 _type = "object_manipulation_msgs/PlaceActionResult"
00014 _has_header = True
00015 _full_text = """# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00016
00017 Header header
00018 actionlib_msgs/GoalStatus status
00019 PlaceResult result
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: actionlib_msgs/GoalStatus
00041 GoalID goal_id
00042 uint8 status
00043 uint8 PENDING = 0 # The goal has yet to be processed by the action server
00044 uint8 ACTIVE = 1 # The goal is currently being processed by the action server
00045 uint8 PREEMPTED = 2 # The goal received a cancel request after it started executing
00046 # and has since completed its execution (Terminal State)
00047 uint8 SUCCEEDED = 3 # The goal was achieved successfully by the action server (Terminal State)
00048 uint8 ABORTED = 4 # The goal was aborted during execution by the action server due
00049 # to some failure (Terminal State)
00050 uint8 REJECTED = 5 # The goal was rejected by the action server without being processed,
00051 # because the goal was unattainable or invalid (Terminal State)
00052 uint8 PREEMPTING = 6 # The goal received a cancel request after it started executing
00053 # and has not yet completed execution
00054 uint8 RECALLING = 7 # The goal received a cancel request before it started executing,
00055 # but the action server has not yet confirmed that the goal is canceled
00056 uint8 RECALLED = 8 # The goal received a cancel request before it started executing
00057 # and was successfully cancelled (Terminal State)
00058 uint8 LOST = 9 # An action client can determine that a goal is LOST. This should not be
00059 # sent over the wire by an action server
00060
00061 #Allow for the user to associate a string with GoalStatus for debugging
00062 string text
00063
00064
00065 ================================================================================
00066 MSG: actionlib_msgs/GoalID
00067 # The stamp should store the time at which this goal was requested.
00068 # It is used by an action server when it tries to preempt all
00069 # goals that were requested before a certain time
00070 time stamp
00071
00072 # The id provides a way to associate feedback and
00073 # result message with specific goal requests. The id
00074 # specified must be unique.
00075 string id
00076
00077
00078 ================================================================================
00079 MSG: object_manipulation_msgs/PlaceResult
00080 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00081
00082 # The result of the pickup attempt
00083 ManipulationResult manipulation_result
00084
00085 # The successful place location, if any
00086 geometry_msgs/PoseStamped place_location
00087
00088 # the list of attempted locations, in the order in which they were attempted
00089 # the successful one should be the last one in this list
00090 geometry_msgs/PoseStamped[] attempted_locations
00091
00092 # the outcomes of the attempted locations, in the same order as attempted_locations
00093 PlaceLocationResult[] attempted_location_results
00094
00095
00096 ================================================================================
00097 MSG: object_manipulation_msgs/ManipulationResult
00098 # Result codes for manipulation tasks
00099
00100 # task completed as expected
00101 # generally means you can proceed as planned
00102 int32 SUCCESS = 1
00103
00104 # task not possible (e.g. out of reach or obstacles in the way)
00105 # generally means that the world was not disturbed, so you can try another task
00106 int32 UNFEASIBLE = -1
00107
00108 # task was thought possible, but failed due to unexpected events during execution
00109 # it is likely that the world was disturbed, so you are encouraged to refresh
00110 # your sensed world model before proceeding to another task
00111 int32 FAILED = -2
00112
00113 # a lower level error prevented task completion (e.g. joint controller not responding)
00114 # generally requires human attention
00115 int32 ERROR = -3
00116
00117 # means that at some point during execution we ended up in a state that the collision-aware
00118 # arm navigation module will not move out of. The world was likely not disturbed, but you
00119 # probably need a new collision map to move the arm out of the stuck position
00120 int32 ARM_MOVEMENT_PREVENTED = -4
00121
00122 # specific to grasp actions
00123 # the object was grasped successfully, but the lift attempt could not achieve the minimum lift distance requested
00124 # it is likely that the collision environment will see collisions between the hand/object and the support surface
00125 int32 LIFT_FAILED = -5
00126
00127 # specific to place actions
00128 # the object was placed successfully, but the retreat attempt could not achieve the minimum retreat distance requested
00129 # it is likely that the collision environment will see collisions between the hand and the object
00130 int32 RETREAT_FAILED = -6
00131
00132 # indicates that somewhere along the line a human said "wait, stop, this is bad, go back and do something else"
00133 int32 CANCELLED = -7
00134
00135 # the actual value of this error code
00136 int32 value
00137
00138 ================================================================================
00139 MSG: geometry_msgs/PoseStamped
00140 # A Pose with reference coordinate frame and timestamp
00141 Header header
00142 Pose pose
00143
00144 ================================================================================
00145 MSG: geometry_msgs/Pose
00146 # A representation of pose in free space, composed of postion and orientation.
00147 Point position
00148 Quaternion orientation
00149
00150 ================================================================================
00151 MSG: geometry_msgs/Point
00152 # This contains the position of a point in free space
00153 float64 x
00154 float64 y
00155 float64 z
00156
00157 ================================================================================
00158 MSG: geometry_msgs/Quaternion
00159 # This represents an orientation in free space in quaternion form.
00160
00161 float64 x
00162 float64 y
00163 float64 z
00164 float64 w
00165
00166 ================================================================================
00167 MSG: object_manipulation_msgs/PlaceLocationResult
00168 int32 SUCCESS = 1
00169 int32 PLACE_OUT_OF_REACH = 2
00170 int32 PLACE_IN_COLLISION = 3
00171 int32 PLACE_UNFEASIBLE = 4
00172 int32 PREPLACE_OUT_OF_REACH = 5
00173 int32 PREPLACE_IN_COLLISION = 6
00174 int32 PREPLACE_UNFEASIBLE = 7
00175 int32 RETREAT_OUT_OF_REACH = 8
00176 int32 RETREAT_IN_COLLISION = 9
00177 int32 RETREAT_UNFEASIBLE = 10
00178 int32 MOVE_ARM_FAILED = 11
00179 int32 PLACE_FAILED = 12
00180 int32 RETREAT_FAILED = 13
00181 int32 result_code
00182
00183 # whether the state of the world was disturbed by this attempt. generally, this flag
00184 # shows if another task can be attempted, or a new sensed world model is recommeded
00185 # before proceeding
00186 bool continuation_possible
00187
00188 """
00189 __slots__ = ['header','status','result']
00190 _slot_types = ['Header','actionlib_msgs/GoalStatus','object_manipulation_msgs/PlaceResult']
00191
00192 def __init__(self, *args, **kwds):
00193 """
00194 Constructor. Any message fields that are implicitly/explicitly
00195 set to None will be assigned a default value. The recommend
00196 use is keyword arguments as this is more robust to future message
00197 changes. You cannot mix in-order arguments and keyword arguments.
00198
00199 The available fields are:
00200 header,status,result
00201
00202 @param args: complete set of field values, in .msg order
00203 @param kwds: use keyword arguments corresponding to message field names
00204 to set specific fields.
00205 """
00206 if args or kwds:
00207 super(PlaceActionResult, self).__init__(*args, **kwds)
00208
00209 if self.header is None:
00210 self.header = std_msgs.msg._Header.Header()
00211 if self.status is None:
00212 self.status = actionlib_msgs.msg.GoalStatus()
00213 if self.result is None:
00214 self.result = object_manipulation_msgs.msg.PlaceResult()
00215 else:
00216 self.header = std_msgs.msg._Header.Header()
00217 self.status = actionlib_msgs.msg.GoalStatus()
00218 self.result = object_manipulation_msgs.msg.PlaceResult()
00219
00220 def _get_types(self):
00221 """
00222 internal API method
00223 """
00224 return self._slot_types
00225
00226 def serialize(self, buff):
00227 """
00228 serialize message into buffer
00229 @param buff: buffer
00230 @type buff: StringIO
00231 """
00232 try:
00233 _x = self
00234 buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
00235 _x = self.header.frame_id
00236 length = len(_x)
00237 buff.write(struct.pack('<I%ss'%length, length, _x))
00238 _x = self
00239 buff.write(_struct_2I.pack(_x.status.goal_id.stamp.secs, _x.status.goal_id.stamp.nsecs))
00240 _x = self.status.goal_id.id
00241 length = len(_x)
00242 buff.write(struct.pack('<I%ss'%length, length, _x))
00243 buff.write(_struct_B.pack(self.status.status))
00244 _x = self.status.text
00245 length = len(_x)
00246 buff.write(struct.pack('<I%ss'%length, length, _x))
00247 _x = self
00248 buff.write(_struct_i3I.pack(_x.result.manipulation_result.value, _x.result.place_location.header.seq, _x.result.place_location.header.stamp.secs, _x.result.place_location.header.stamp.nsecs))
00249 _x = self.result.place_location.header.frame_id
00250 length = len(_x)
00251 buff.write(struct.pack('<I%ss'%length, length, _x))
00252 _x = self
00253 buff.write(_struct_7d.pack(_x.result.place_location.pose.position.x, _x.result.place_location.pose.position.y, _x.result.place_location.pose.position.z, _x.result.place_location.pose.orientation.x, _x.result.place_location.pose.orientation.y, _x.result.place_location.pose.orientation.z, _x.result.place_location.pose.orientation.w))
00254 length = len(self.result.attempted_locations)
00255 buff.write(_struct_I.pack(length))
00256 for val1 in self.result.attempted_locations:
00257 _v1 = val1.header
00258 buff.write(_struct_I.pack(_v1.seq))
00259 _v2 = _v1.stamp
00260 _x = _v2
00261 buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00262 _x = _v1.frame_id
00263 length = len(_x)
00264 buff.write(struct.pack('<I%ss'%length, length, _x))
00265 _v3 = val1.pose
00266 _v4 = _v3.position
00267 _x = _v4
00268 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00269 _v5 = _v3.orientation
00270 _x = _v5
00271 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00272 length = len(self.result.attempted_location_results)
00273 buff.write(_struct_I.pack(length))
00274 for val1 in self.result.attempted_location_results:
00275 _x = val1
00276 buff.write(_struct_iB.pack(_x.result_code, _x.continuation_possible))
00277 except struct.error as se: self._check_types(se)
00278 except TypeError as te: self._check_types(te)
00279
00280 def deserialize(self, str):
00281 """
00282 unpack serialized message in str into this message instance
00283 @param str: byte array of serialized message
00284 @type str: str
00285 """
00286 try:
00287 if self.header is None:
00288 self.header = std_msgs.msg._Header.Header()
00289 if self.status is None:
00290 self.status = actionlib_msgs.msg.GoalStatus()
00291 if self.result is None:
00292 self.result = object_manipulation_msgs.msg.PlaceResult()
00293 end = 0
00294 _x = self
00295 start = end
00296 end += 12
00297 (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00298 start = end
00299 end += 4
00300 (length,) = _struct_I.unpack(str[start:end])
00301 start = end
00302 end += length
00303 self.header.frame_id = str[start:end]
00304 _x = self
00305 start = end
00306 end += 8
00307 (_x.status.goal_id.stamp.secs, _x.status.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00308 start = end
00309 end += 4
00310 (length,) = _struct_I.unpack(str[start:end])
00311 start = end
00312 end += length
00313 self.status.goal_id.id = str[start:end]
00314 start = end
00315 end += 1
00316 (self.status.status,) = _struct_B.unpack(str[start:end])
00317 start = end
00318 end += 4
00319 (length,) = _struct_I.unpack(str[start:end])
00320 start = end
00321 end += length
00322 self.status.text = str[start:end]
00323 _x = self
00324 start = end
00325 end += 16
00326 (_x.result.manipulation_result.value, _x.result.place_location.header.seq, _x.result.place_location.header.stamp.secs, _x.result.place_location.header.stamp.nsecs,) = _struct_i3I.unpack(str[start:end])
00327 start = end
00328 end += 4
00329 (length,) = _struct_I.unpack(str[start:end])
00330 start = end
00331 end += length
00332 self.result.place_location.header.frame_id = str[start:end]
00333 _x = self
00334 start = end
00335 end += 56
00336 (_x.result.place_location.pose.position.x, _x.result.place_location.pose.position.y, _x.result.place_location.pose.position.z, _x.result.place_location.pose.orientation.x, _x.result.place_location.pose.orientation.y, _x.result.place_location.pose.orientation.z, _x.result.place_location.pose.orientation.w,) = _struct_7d.unpack(str[start:end])
00337 start = end
00338 end += 4
00339 (length,) = _struct_I.unpack(str[start:end])
00340 self.result.attempted_locations = []
00341 for i in range(0, length):
00342 val1 = geometry_msgs.msg.PoseStamped()
00343 _v6 = val1.header
00344 start = end
00345 end += 4
00346 (_v6.seq,) = _struct_I.unpack(str[start:end])
00347 _v7 = _v6.stamp
00348 _x = _v7
00349 start = end
00350 end += 8
00351 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
00352 start = end
00353 end += 4
00354 (length,) = _struct_I.unpack(str[start:end])
00355 start = end
00356 end += length
00357 _v6.frame_id = str[start:end]
00358 _v8 = val1.pose
00359 _v9 = _v8.position
00360 _x = _v9
00361 start = end
00362 end += 24
00363 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00364 _v10 = _v8.orientation
00365 _x = _v10
00366 start = end
00367 end += 32
00368 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
00369 self.result.attempted_locations.append(val1)
00370 start = end
00371 end += 4
00372 (length,) = _struct_I.unpack(str[start:end])
00373 self.result.attempted_location_results = []
00374 for i in range(0, length):
00375 val1 = object_manipulation_msgs.msg.PlaceLocationResult()
00376 _x = val1
00377 start = end
00378 end += 5
00379 (_x.result_code, _x.continuation_possible,) = _struct_iB.unpack(str[start:end])
00380 val1.continuation_possible = bool(val1.continuation_possible)
00381 self.result.attempted_location_results.append(val1)
00382 return self
00383 except struct.error as e:
00384 raise roslib.message.DeserializationError(e)
00385
00386
00387 def serialize_numpy(self, buff, numpy):
00388 """
00389 serialize message with numpy array types into buffer
00390 @param buff: buffer
00391 @type buff: StringIO
00392 @param numpy: numpy python module
00393 @type numpy module
00394 """
00395 try:
00396 _x = self
00397 buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
00398 _x = self.header.frame_id
00399 length = len(_x)
00400 buff.write(struct.pack('<I%ss'%length, length, _x))
00401 _x = self
00402 buff.write(_struct_2I.pack(_x.status.goal_id.stamp.secs, _x.status.goal_id.stamp.nsecs))
00403 _x = self.status.goal_id.id
00404 length = len(_x)
00405 buff.write(struct.pack('<I%ss'%length, length, _x))
00406 buff.write(_struct_B.pack(self.status.status))
00407 _x = self.status.text
00408 length = len(_x)
00409 buff.write(struct.pack('<I%ss'%length, length, _x))
00410 _x = self
00411 buff.write(_struct_i3I.pack(_x.result.manipulation_result.value, _x.result.place_location.header.seq, _x.result.place_location.header.stamp.secs, _x.result.place_location.header.stamp.nsecs))
00412 _x = self.result.place_location.header.frame_id
00413 length = len(_x)
00414 buff.write(struct.pack('<I%ss'%length, length, _x))
00415 _x = self
00416 buff.write(_struct_7d.pack(_x.result.place_location.pose.position.x, _x.result.place_location.pose.position.y, _x.result.place_location.pose.position.z, _x.result.place_location.pose.orientation.x, _x.result.place_location.pose.orientation.y, _x.result.place_location.pose.orientation.z, _x.result.place_location.pose.orientation.w))
00417 length = len(self.result.attempted_locations)
00418 buff.write(_struct_I.pack(length))
00419 for val1 in self.result.attempted_locations:
00420 _v11 = val1.header
00421 buff.write(_struct_I.pack(_v11.seq))
00422 _v12 = _v11.stamp
00423 _x = _v12
00424 buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00425 _x = _v11.frame_id
00426 length = len(_x)
00427 buff.write(struct.pack('<I%ss'%length, length, _x))
00428 _v13 = val1.pose
00429 _v14 = _v13.position
00430 _x = _v14
00431 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00432 _v15 = _v13.orientation
00433 _x = _v15
00434 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00435 length = len(self.result.attempted_location_results)
00436 buff.write(_struct_I.pack(length))
00437 for val1 in self.result.attempted_location_results:
00438 _x = val1
00439 buff.write(_struct_iB.pack(_x.result_code, _x.continuation_possible))
00440 except struct.error as se: self._check_types(se)
00441 except TypeError as te: self._check_types(te)
00442
00443 def deserialize_numpy(self, str, numpy):
00444 """
00445 unpack serialized message in str into this message instance using numpy for array types
00446 @param str: byte array of serialized message
00447 @type str: str
00448 @param numpy: numpy python module
00449 @type numpy: module
00450 """
00451 try:
00452 if self.header is None:
00453 self.header = std_msgs.msg._Header.Header()
00454 if self.status is None:
00455 self.status = actionlib_msgs.msg.GoalStatus()
00456 if self.result is None:
00457 self.result = object_manipulation_msgs.msg.PlaceResult()
00458 end = 0
00459 _x = self
00460 start = end
00461 end += 12
00462 (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00463 start = end
00464 end += 4
00465 (length,) = _struct_I.unpack(str[start:end])
00466 start = end
00467 end += length
00468 self.header.frame_id = str[start:end]
00469 _x = self
00470 start = end
00471 end += 8
00472 (_x.status.goal_id.stamp.secs, _x.status.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00473 start = end
00474 end += 4
00475 (length,) = _struct_I.unpack(str[start:end])
00476 start = end
00477 end += length
00478 self.status.goal_id.id = str[start:end]
00479 start = end
00480 end += 1
00481 (self.status.status,) = _struct_B.unpack(str[start:end])
00482 start = end
00483 end += 4
00484 (length,) = _struct_I.unpack(str[start:end])
00485 start = end
00486 end += length
00487 self.status.text = str[start:end]
00488 _x = self
00489 start = end
00490 end += 16
00491 (_x.result.manipulation_result.value, _x.result.place_location.header.seq, _x.result.place_location.header.stamp.secs, _x.result.place_location.header.stamp.nsecs,) = _struct_i3I.unpack(str[start:end])
00492 start = end
00493 end += 4
00494 (length,) = _struct_I.unpack(str[start:end])
00495 start = end
00496 end += length
00497 self.result.place_location.header.frame_id = str[start:end]
00498 _x = self
00499 start = end
00500 end += 56
00501 (_x.result.place_location.pose.position.x, _x.result.place_location.pose.position.y, _x.result.place_location.pose.position.z, _x.result.place_location.pose.orientation.x, _x.result.place_location.pose.orientation.y, _x.result.place_location.pose.orientation.z, _x.result.place_location.pose.orientation.w,) = _struct_7d.unpack(str[start:end])
00502 start = end
00503 end += 4
00504 (length,) = _struct_I.unpack(str[start:end])
00505 self.result.attempted_locations = []
00506 for i in range(0, length):
00507 val1 = geometry_msgs.msg.PoseStamped()
00508 _v16 = val1.header
00509 start = end
00510 end += 4
00511 (_v16.seq,) = _struct_I.unpack(str[start:end])
00512 _v17 = _v16.stamp
00513 _x = _v17
00514 start = end
00515 end += 8
00516 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
00517 start = end
00518 end += 4
00519 (length,) = _struct_I.unpack(str[start:end])
00520 start = end
00521 end += length
00522 _v16.frame_id = str[start:end]
00523 _v18 = val1.pose
00524 _v19 = _v18.position
00525 _x = _v19
00526 start = end
00527 end += 24
00528 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00529 _v20 = _v18.orientation
00530 _x = _v20
00531 start = end
00532 end += 32
00533 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
00534 self.result.attempted_locations.append(val1)
00535 start = end
00536 end += 4
00537 (length,) = _struct_I.unpack(str[start:end])
00538 self.result.attempted_location_results = []
00539 for i in range(0, length):
00540 val1 = object_manipulation_msgs.msg.PlaceLocationResult()
00541 _x = val1
00542 start = end
00543 end += 5
00544 (_x.result_code, _x.continuation_possible,) = _struct_iB.unpack(str[start:end])
00545 val1.continuation_possible = bool(val1.continuation_possible)
00546 self.result.attempted_location_results.append(val1)
00547 return self
00548 except struct.error as e:
00549 raise roslib.message.DeserializationError(e)
00550
00551 _struct_I = roslib.message.struct_I
00552 _struct_B = struct.Struct("<B")
00553 _struct_i3I = struct.Struct("<i3I")
00554 _struct_3I = struct.Struct("<3I")
00555 _struct_7d = struct.Struct("<7d")
00556 _struct_4d = struct.Struct("<4d")
00557 _struct_iB = struct.Struct("<iB")
00558 _struct_2I = struct.Struct("<2I")
00559 _struct_3d = struct.Struct("<3d")
