00001 """autogenerated by genmsg_py from ReactivePlaceAction.msg. Do not edit."""
00002 import roslib.message
00003 import struct
00004
00005 import trajectory_msgs.msg
00006 import object_manipulation_msgs.msg
00007 import roslib.rostime
00008 import actionlib_msgs.msg
00009 import geometry_msgs.msg
00010 import std_msgs.msg
00011
00012 class ReactivePlaceAction(roslib.message.Message):
00013 _md5sum = "ae0ee2c7f49f2e6b00a5b3a1cc9bde61"
00014 _type = "object_manipulation_msgs/ReactivePlaceAction"
00015 _has_header = False
00016 _full_text = """# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00017
00018 ReactivePlaceActionGoal action_goal
00019 ReactivePlaceActionResult action_result
00020 ReactivePlaceActionFeedback action_feedback
00021
00022 ================================================================================
00023 MSG: object_manipulation_msgs/ReactivePlaceActionGoal
00024 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00025
00026 Header header
00027 actionlib_msgs/GoalID goal_id
00028 ReactivePlaceGoal goal
00029
00030 ================================================================================
00031 MSG: std_msgs/Header
00032 # Standard metadata for higher-level stamped data types.
00033 # This is generally used to communicate timestamped data
00034 # in a particular coordinate frame.
00035 #
00036 # sequence ID: consecutively increasing ID
00037 uint32 seq
00038 #Two-integer timestamp that is expressed as:
00039 # * stamp.secs: seconds (stamp_secs) since epoch
00040 # * stamp.nsecs: nanoseconds since stamp_secs
00041 # time-handling sugar is provided by the client library
00042 time stamp
00043 #Frame this data is associated with
00044 # 0: no frame
00045 # 1: global frame
00046 string frame_id
00047
00048 ================================================================================
00049 MSG: actionlib_msgs/GoalID
00050 # The stamp should store the time at which this goal was requested.
00051 # It is used by an action server when it tries to preempt all
00052 # goals that were requested before a certain time
00053 time stamp
00054
00055 # The id provides a way to associate feedback and
00056 # result message with specific goal requests. The id
00057 # specified must be unique.
00058 string id
00059
00060
00061 ================================================================================
00062 MSG: object_manipulation_msgs/ReactivePlaceGoal
00063 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00064 # an action for placing the object using tactile sensor feedback.
00065 # a reactive place starts from the current pose of the gripper and ends
00066 # at a desired place pose, presumably using the touch sensors along the way
00067
00068 # the name of the arm being used
00069 string arm_name
00070
00071 # the desired final place pose for the hand
00072 geometry_msgs/PoseStamped final_place_pose
00073
00074 # the joint trajectory to use for the place (if available)
00075 # this trajectory is expected to start at the current pose of the gripper
00076 # and end at the desired place pose
00077 trajectory_msgs/JointTrajectory trajectory
00078
00079 # the name of the support surface in the collision environment, if any
00080 string collision_support_surface_name
00081
00082 # the name in the collision environment of the object being placed, if any
00083 string collision_object_name
00084
00085 ================================================================================
00086 MSG: geometry_msgs/PoseStamped
00087 # A Pose with reference coordinate frame and timestamp
00088 Header header
00089 Pose pose
00090
00091 ================================================================================
00092 MSG: geometry_msgs/Pose
00093 # A representation of pose in free space, composed of postion and orientation.
00094 Point position
00095 Quaternion orientation
00096
00097 ================================================================================
00098 MSG: geometry_msgs/Point
00099 # This contains the position of a point in free space
00100 float64 x
00101 float64 y
00102 float64 z
00103
00104 ================================================================================
00105 MSG: geometry_msgs/Quaternion
00106 # This represents an orientation in free space in quaternion form.
00107
00108 float64 x
00109 float64 y
00110 float64 z
00111 float64 w
00112
00113 ================================================================================
00114 MSG: trajectory_msgs/JointTrajectory
00115 Header header
00116 string[] joint_names
00117 JointTrajectoryPoint[] points
00118 ================================================================================
00119 MSG: trajectory_msgs/JointTrajectoryPoint
00120 float64[] positions
00121 float64[] velocities
00122 float64[] accelerations
00123 duration time_from_start
00124 ================================================================================
00125 MSG: object_manipulation_msgs/ReactivePlaceActionResult
00126 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00127
00128 Header header
00129 actionlib_msgs/GoalStatus status
00130 ReactivePlaceResult result
00131
00132 ================================================================================
00133 MSG: actionlib_msgs/GoalStatus
00134 GoalID goal_id
00135 uint8 status
00136 uint8 PENDING = 0 # The goal has yet to be processed by the action server
00137 uint8 ACTIVE = 1 # The goal is currently being processed by the action server
00138 uint8 PREEMPTED = 2 # The goal received a cancel request after it started executing
00139 # and has since completed its execution (Terminal State)
00140 uint8 SUCCEEDED = 3 # The goal was achieved successfully by the action server (Terminal State)
00141 uint8 ABORTED = 4 # The goal was aborted during execution by the action server due
00142 # to some failure (Terminal State)
00143 uint8 REJECTED = 5 # The goal was rejected by the action server without being processed,
00144 # because the goal was unattainable or invalid (Terminal State)
00145 uint8 PREEMPTING = 6 # The goal received a cancel request after it started executing
00146 # and has not yet completed execution
00147 uint8 RECALLING = 7 # The goal received a cancel request before it started executing,
00148 # but the action server has not yet confirmed that the goal is canceled
00149 uint8 RECALLED = 8 # The goal received a cancel request before it started executing
00150 # and was successfully cancelled (Terminal State)
00151 uint8 LOST = 9 # An action client can determine that a goal is LOST. This should not be
00152 # sent over the wire by an action server
00153
00154 #Allow for the user to associate a string with GoalStatus for debugging
00155 string text
00156
00157
00158 ================================================================================
00159 MSG: object_manipulation_msgs/ReactivePlaceResult
00160 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00161
00162 # the result of the reactive place attempt
00163
00164 ManipulationResult manipulation_result
00165
00166
00167 ================================================================================
00168 MSG: object_manipulation_msgs/ManipulationResult
00169 # Result codes for manipulation tasks
00170
00171 # task completed as expected
00172 # generally means you can proceed as planned
00173 int32 SUCCESS = 1
00174
00175 # task not possible (e.g. out of reach or obstacles in the way)
00176 # generally means that the world was not disturbed, so you can try another task
00177 int32 UNFEASIBLE = -1
00178
00179 # task was thought possible, but failed due to unexpected events during execution
00180 # it is likely that the world was disturbed, so you are encouraged to refresh
00181 # your sensed world model before proceeding to another task
00182 int32 FAILED = -2
00183
00184 # a lower level error prevented task completion (e.g. joint controller not responding)
00185 # generally requires human attention
00186 int32 ERROR = -3
00187
00188 # means that at some point during execution we ended up in a state that the collision-aware
00189 # arm navigation module will not move out of. The world was likely not disturbed, but you
00190 # probably need a new collision map to move the arm out of the stuck position
00191 int32 ARM_MOVEMENT_PREVENTED = -4
00192
00193 # specific to grasp actions
00194 # the object was grasped successfully, but the lift attempt could not achieve the minimum lift distance requested
00195 # it is likely that the collision environment will see collisions between the hand/object and the support surface
00196 int32 LIFT_FAILED = -5
00197
00198 # specific to place actions
00199 # the object was placed successfully, but the retreat attempt could not achieve the minimum retreat distance requested
00200 # it is likely that the collision environment will see collisions between the hand and the object
00201 int32 RETREAT_FAILED = -6
00202
00203 # indicates that somewhere along the line a human said "wait, stop, this is bad, go back and do something else"
00204 int32 CANCELLED = -7
00205
00206 # the actual value of this error code
00207 int32 value
00208
00209 ================================================================================
00210 MSG: object_manipulation_msgs/ReactivePlaceActionFeedback
00211 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00212
00213 Header header
00214 actionlib_msgs/GoalStatus status
00215 ReactivePlaceFeedback feedback
00216
00217 ================================================================================
00218 MSG: object_manipulation_msgs/ReactivePlaceFeedback
00219 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00220
00221 # which phase the place is in
00222
00223 ManipulationPhase manipulation_phase
00224
00225
00226 ================================================================================
00227 MSG: object_manipulation_msgs/ManipulationPhase
00228 int32 CHECKING_FEASIBILITY = 0
00229 int32 MOVING_TO_PREGRASP = 1
00230 int32 MOVING_TO_GRASP = 2
00231 int32 CLOSING = 3
00232 int32 ADJUSTING_GRASP = 4
00233 int32 LIFTING = 5
00234 int32 MOVING_WITH_OBJECT = 6
00235 int32 MOVING_TO_PLACE = 7
00236 int32 PLACING = 8
00237 int32 OPENING = 9
00238 int32 RETREATING = 10
00239 int32 MOVING_WITHOUT_OBJECT = 11
00240 int32 SHAKING = 12
00241 int32 SUCCEEDED = 13
00242 int32 FAILED = 14
00243 int32 ABORTED = 15
00244 int32 HOLDING_OBJECT = 16
00245
00246 int32 phase
00247 """
00248 __slots__ = ['action_goal','action_result','action_feedback']
00249 _slot_types = ['object_manipulation_msgs/ReactivePlaceActionGoal','object_manipulation_msgs/ReactivePlaceActionResult','object_manipulation_msgs/ReactivePlaceActionFeedback']
00250
00251 def __init__(self, *args, **kwds):
00252 """
00253 Constructor. Any message fields that are implicitly/explicitly
00254 set to None will be assigned a default value. The recommend
00255 use is keyword arguments as this is more robust to future message
00256 changes. You cannot mix in-order arguments and keyword arguments.
00257
00258 The available fields are:
00259 action_goal,action_result,action_feedback
00260
00261 @param args: complete set of field values, in .msg order
00262 @param kwds: use keyword arguments corresponding to message field names
00263 to set specific fields.
00264 """
00265 if args or kwds:
00266 super(ReactivePlaceAction, self).__init__(*args, **kwds)
00267
00268 if self.action_goal is None:
00269 self.action_goal = object_manipulation_msgs.msg.ReactivePlaceActionGoal()
00270 if self.action_result is None:
00271 self.action_result = object_manipulation_msgs.msg.ReactivePlaceActionResult()
00272 if self.action_feedback is None:
00273 self.action_feedback = object_manipulation_msgs.msg.ReactivePlaceActionFeedback()
00274 else:
00275 self.action_goal = object_manipulation_msgs.msg.ReactivePlaceActionGoal()
00276 self.action_result = object_manipulation_msgs.msg.ReactivePlaceActionResult()
00277 self.action_feedback = object_manipulation_msgs.msg.ReactivePlaceActionFeedback()
00278
00279 def _get_types(self):
00280 """
00281 internal API method
00282 """
00283 return self._slot_types
00284
00285 def serialize(self, buff):
00286 """
00287 serialize message into buffer
00288 @param buff: buffer
00289 @type buff: StringIO
00290 """
00291 try:
00292 _x = self
00293 buff.write(_struct_3I.pack(_x.action_goal.header.seq, _x.action_goal.header.stamp.secs, _x.action_goal.header.stamp.nsecs))
00294 _x = self.action_goal.header.frame_id
00295 length = len(_x)
00296 buff.write(struct.pack('<I%ss'%length, length, _x))
00297 _x = self
00298 buff.write(_struct_2I.pack(_x.action_goal.goal_id.stamp.secs, _x.action_goal.goal_id.stamp.nsecs))
00299 _x = self.action_goal.goal_id.id
00300 length = len(_x)
00301 buff.write(struct.pack('<I%ss'%length, length, _x))
00302 _x = self.action_goal.goal.arm_name
00303 length = len(_x)
00304 buff.write(struct.pack('<I%ss'%length, length, _x))
00305 _x = self
00306 buff.write(_struct_3I.pack(_x.action_goal.goal.final_place_pose.header.seq, _x.action_goal.goal.final_place_pose.header.stamp.secs, _x.action_goal.goal.final_place_pose.header.stamp.nsecs))
00307 _x = self.action_goal.goal.final_place_pose.header.frame_id
00308 length = len(_x)
00309 buff.write(struct.pack('<I%ss'%length, length, _x))
00310 _x = self
00311 buff.write(_struct_7d3I.pack(_x.action_goal.goal.final_place_pose.pose.position.x, _x.action_goal.goal.final_place_pose.pose.position.y, _x.action_goal.goal.final_place_pose.pose.position.z, _x.action_goal.goal.final_place_pose.pose.orientation.x, _x.action_goal.goal.final_place_pose.pose.orientation.y, _x.action_goal.goal.final_place_pose.pose.orientation.z, _x.action_goal.goal.final_place_pose.pose.orientation.w, _x.action_goal.goal.trajectory.header.seq, _x.action_goal.goal.trajectory.header.stamp.secs, _x.action_goal.goal.trajectory.header.stamp.nsecs))
00312 _x = self.action_goal.goal.trajectory.header.frame_id
00313 length = len(_x)
00314 buff.write(struct.pack('<I%ss'%length, length, _x))
00315 length = len(self.action_goal.goal.trajectory.joint_names)
00316 buff.write(_struct_I.pack(length))
00317 for val1 in self.action_goal.goal.trajectory.joint_names:
00318 length = len(val1)
00319 buff.write(struct.pack('<I%ss'%length, length, val1))
00320 length = len(self.action_goal.goal.trajectory.points)
00321 buff.write(_struct_I.pack(length))
00322 for val1 in self.action_goal.goal.trajectory.points:
00323 length = len(val1.positions)
00324 buff.write(_struct_I.pack(length))
00325 pattern = '<%sd'%length
00326 buff.write(struct.pack(pattern, *val1.positions))
00327 length = len(val1.velocities)
00328 buff.write(_struct_I.pack(length))
00329 pattern = '<%sd'%length
00330 buff.write(struct.pack(pattern, *val1.velocities))
00331 length = len(val1.accelerations)
00332 buff.write(_struct_I.pack(length))
00333 pattern = '<%sd'%length
00334 buff.write(struct.pack(pattern, *val1.accelerations))
00335 _v1 = val1.time_from_start
00336 _x = _v1
00337 buff.write(_struct_2i.pack(_x.secs, _x.nsecs))
00338 _x = self.action_goal.goal.collision_support_surface_name
00339 length = len(_x)
00340 buff.write(struct.pack('<I%ss'%length, length, _x))
00341 _x = self.action_goal.goal.collision_object_name
00342 length = len(_x)
00343 buff.write(struct.pack('<I%ss'%length, length, _x))
00344 _x = self
00345 buff.write(_struct_3I.pack(_x.action_result.header.seq, _x.action_result.header.stamp.secs, _x.action_result.header.stamp.nsecs))
00346 _x = self.action_result.header.frame_id
00347 length = len(_x)
00348 buff.write(struct.pack('<I%ss'%length, length, _x))
00349 _x = self
00350 buff.write(_struct_2I.pack(_x.action_result.status.goal_id.stamp.secs, _x.action_result.status.goal_id.stamp.nsecs))
00351 _x = self.action_result.status.goal_id.id
00352 length = len(_x)
00353 buff.write(struct.pack('<I%ss'%length, length, _x))
00354 buff.write(_struct_B.pack(self.action_result.status.status))
00355 _x = self.action_result.status.text
00356 length = len(_x)
00357 buff.write(struct.pack('<I%ss'%length, length, _x))
00358 _x = self
00359 buff.write(_struct_i3I.pack(_x.action_result.result.manipulation_result.value, _x.action_feedback.header.seq, _x.action_feedback.header.stamp.secs, _x.action_feedback.header.stamp.nsecs))
00360 _x = self.action_feedback.header.frame_id
00361 length = len(_x)
00362 buff.write(struct.pack('<I%ss'%length, length, _x))
00363 _x = self
00364 buff.write(_struct_2I.pack(_x.action_feedback.status.goal_id.stamp.secs, _x.action_feedback.status.goal_id.stamp.nsecs))
00365 _x = self.action_feedback.status.goal_id.id
00366 length = len(_x)
00367 buff.write(struct.pack('<I%ss'%length, length, _x))
00368 buff.write(_struct_B.pack(self.action_feedback.status.status))
00369 _x = self.action_feedback.status.text
00370 length = len(_x)
00371 buff.write(struct.pack('<I%ss'%length, length, _x))
00372 buff.write(_struct_i.pack(self.action_feedback.feedback.manipulation_phase.phase))
00373 except struct.error as se: self._check_types(se)
00374 except TypeError as te: self._check_types(te)
00375
00376 def deserialize(self, str):
00377 """
00378 unpack serialized message in str into this message instance
00379 @param str: byte array of serialized message
00380 @type str: str
00381 """
00382 try:
00383 if self.action_goal is None:
00384 self.action_goal = object_manipulation_msgs.msg.ReactivePlaceActionGoal()
00385 if self.action_result is None:
00386 self.action_result = object_manipulation_msgs.msg.ReactivePlaceActionResult()
00387 if self.action_feedback is None:
00388 self.action_feedback = object_manipulation_msgs.msg.ReactivePlaceActionFeedback()
00389 end = 0
00390 _x = self
00391 start = end
00392 end += 12
00393 (_x.action_goal.header.seq, _x.action_goal.header.stamp.secs, _x.action_goal.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00394 start = end
00395 end += 4
00396 (length,) = _struct_I.unpack(str[start:end])
00397 start = end
00398 end += length
00399 self.action_goal.header.frame_id = str[start:end]
00400 _x = self
00401 start = end
00402 end += 8
00403 (_x.action_goal.goal_id.stamp.secs, _x.action_goal.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00404 start = end
00405 end += 4
00406 (length,) = _struct_I.unpack(str[start:end])
00407 start = end
00408 end += length
00409 self.action_goal.goal_id.id = str[start:end]
00410 start = end
00411 end += 4
00412 (length,) = _struct_I.unpack(str[start:end])
00413 start = end
00414 end += length
00415 self.action_goal.goal.arm_name = str[start:end]
00416 _x = self
00417 start = end
00418 end += 12
00419 (_x.action_goal.goal.final_place_pose.header.seq, _x.action_goal.goal.final_place_pose.header.stamp.secs, _x.action_goal.goal.final_place_pose.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00420 start = end
00421 end += 4
00422 (length,) = _struct_I.unpack(str[start:end])
00423 start = end
00424 end += length
00425 self.action_goal.goal.final_place_pose.header.frame_id = str[start:end]
00426 _x = self
00427 start = end
00428 end += 68
00429 (_x.action_goal.goal.final_place_pose.pose.position.x, _x.action_goal.goal.final_place_pose.pose.position.y, _x.action_goal.goal.final_place_pose.pose.position.z, _x.action_goal.goal.final_place_pose.pose.orientation.x, _x.action_goal.goal.final_place_pose.pose.orientation.y, _x.action_goal.goal.final_place_pose.pose.orientation.z, _x.action_goal.goal.final_place_pose.pose.orientation.w, _x.action_goal.goal.trajectory.header.seq, _x.action_goal.goal.trajectory.header.stamp.secs, _x.action_goal.goal.trajectory.header.stamp.nsecs,) = _struct_7d3I.unpack(str[start:end])
00430 start = end
00431 end += 4
00432 (length,) = _struct_I.unpack(str[start:end])
00433 start = end
00434 end += length
00435 self.action_goal.goal.trajectory.header.frame_id = str[start:end]
00436 start = end
00437 end += 4
00438 (length,) = _struct_I.unpack(str[start:end])
00439 self.action_goal.goal.trajectory.joint_names = []
00440 for i in range(0, length):
00441 start = end
00442 end += 4
00443 (length,) = _struct_I.unpack(str[start:end])
00444 start = end
00445 end += length
00446 val1 = str[start:end]
00447 self.action_goal.goal.trajectory.joint_names.append(val1)
00448 start = end
00449 end += 4
00450 (length,) = _struct_I.unpack(str[start:end])
00451 self.action_goal.goal.trajectory.points = []
00452 for i in range(0, length):
00453 val1 = trajectory_msgs.msg.JointTrajectoryPoint()
00454 start = end
00455 end += 4
00456 (length,) = _struct_I.unpack(str[start:end])
00457 pattern = '<%sd'%length
00458 start = end
00459 end += struct.calcsize(pattern)
00460 val1.positions = struct.unpack(pattern, str[start:end])
00461 start = end
00462 end += 4
00463 (length,) = _struct_I.unpack(str[start:end])
00464 pattern = '<%sd'%length
00465 start = end
00466 end += struct.calcsize(pattern)
00467 val1.velocities = struct.unpack(pattern, str[start:end])
00468 start = end
00469 end += 4
00470 (length,) = _struct_I.unpack(str[start:end])
00471 pattern = '<%sd'%length
00472 start = end
00473 end += struct.calcsize(pattern)
00474 val1.accelerations = struct.unpack(pattern, str[start:end])
00475 _v2 = val1.time_from_start
00476 _x = _v2
00477 start = end
00478 end += 8
00479 (_x.secs, _x.nsecs,) = _struct_2i.unpack(str[start:end])
00480 self.action_goal.goal.trajectory.points.append(val1)
00481 start = end
00482 end += 4
00483 (length,) = _struct_I.unpack(str[start:end])
00484 start = end
00485 end += length
00486 self.action_goal.goal.collision_support_surface_name = str[start:end]
00487 start = end
00488 end += 4
00489 (length,) = _struct_I.unpack(str[start:end])
00490 start = end
00491 end += length
00492 self.action_goal.goal.collision_object_name = str[start:end]
00493 _x = self
00494 start = end
00495 end += 12
00496 (_x.action_result.header.seq, _x.action_result.header.stamp.secs, _x.action_result.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00497 start = end
00498 end += 4
00499 (length,) = _struct_I.unpack(str[start:end])
00500 start = end
00501 end += length
00502 self.action_result.header.frame_id = str[start:end]
00503 _x = self
00504 start = end
00505 end += 8
00506 (_x.action_result.status.goal_id.stamp.secs, _x.action_result.status.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00507 start = end
00508 end += 4
00509 (length,) = _struct_I.unpack(str[start:end])
00510 start = end
00511 end += length
00512 self.action_result.status.goal_id.id = str[start:end]
00513 start = end
00514 end += 1
00515 (self.action_result.status.status,) = _struct_B.unpack(str[start:end])
00516 start = end
00517 end += 4
00518 (length,) = _struct_I.unpack(str[start:end])
00519 start = end
00520 end += length
00521 self.action_result.status.text = str[start:end]
00522 _x = self
00523 start = end
00524 end += 16
00525 (_x.action_result.result.manipulation_result.value, _x.action_feedback.header.seq, _x.action_feedback.header.stamp.secs, _x.action_feedback.header.stamp.nsecs,) = _struct_i3I.unpack(str[start:end])
00526 start = end
00527 end += 4
00528 (length,) = _struct_I.unpack(str[start:end])
00529 start = end
00530 end += length
00531 self.action_feedback.header.frame_id = str[start:end]
00532 _x = self
00533 start = end
00534 end += 8
00535 (_x.action_feedback.status.goal_id.stamp.secs, _x.action_feedback.status.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00536 start = end
00537 end += 4
00538 (length,) = _struct_I.unpack(str[start:end])
00539 start = end
00540 end += length
00541 self.action_feedback.status.goal_id.id = str[start:end]
00542 start = end
00543 end += 1
00544 (self.action_feedback.status.status,) = _struct_B.unpack(str[start:end])
00545 start = end
00546 end += 4
00547 (length,) = _struct_I.unpack(str[start:end])
00548 start = end
00549 end += length
00550 self.action_feedback.status.text = str[start:end]
00551 start = end
00552 end += 4
00553 (self.action_feedback.feedback.manipulation_phase.phase,) = _struct_i.unpack(str[start:end])
00554 return self
00555 except struct.error as e:
00556 raise roslib.message.DeserializationError(e)
00557
00558
00559 def serialize_numpy(self, buff, numpy):
00560 """
00561 serialize message with numpy array types into buffer
00562 @param buff: buffer
00563 @type buff: StringIO
00564 @param numpy: numpy python module
00565 @type numpy module
00566 """
00567 try:
00568 _x = self
00569 buff.write(_struct_3I.pack(_x.action_goal.header.seq, _x.action_goal.header.stamp.secs, _x.action_goal.header.stamp.nsecs))
00570 _x = self.action_goal.header.frame_id
00571 length = len(_x)
00572 buff.write(struct.pack('<I%ss'%length, length, _x))
00573 _x = self
00574 buff.write(_struct_2I.pack(_x.action_goal.goal_id.stamp.secs, _x.action_goal.goal_id.stamp.nsecs))
00575 _x = self.action_goal.goal_id.id
00576 length = len(_x)
00577 buff.write(struct.pack('<I%ss'%length, length, _x))
00578 _x = self.action_goal.goal.arm_name
00579 length = len(_x)
00580 buff.write(struct.pack('<I%ss'%length, length, _x))
00581 _x = self
00582 buff.write(_struct_3I.pack(_x.action_goal.goal.final_place_pose.header.seq, _x.action_goal.goal.final_place_pose.header.stamp.secs, _x.action_goal.goal.final_place_pose.header.stamp.nsecs))
00583 _x = self.action_goal.goal.final_place_pose.header.frame_id
00584 length = len(_x)
00585 buff.write(struct.pack('<I%ss'%length, length, _x))
00586 _x = self
00587 buff.write(_struct_7d3I.pack(_x.action_goal.goal.final_place_pose.pose.position.x, _x.action_goal.goal.final_place_pose.pose.position.y, _x.action_goal.goal.final_place_pose.pose.position.z, _x.action_goal.goal.final_place_pose.pose.orientation.x, _x.action_goal.goal.final_place_pose.pose.orientation.y, _x.action_goal.goal.final_place_pose.pose.orientation.z, _x.action_goal.goal.final_place_pose.pose.orientation.w, _x.action_goal.goal.trajectory.header.seq, _x.action_goal.goal.trajectory.header.stamp.secs, _x.action_goal.goal.trajectory.header.stamp.nsecs))
00588 _x = self.action_goal.goal.trajectory.header.frame_id
00589 length = len(_x)
00590 buff.write(struct.pack('<I%ss'%length, length, _x))
00591 length = len(self.action_goal.goal.trajectory.joint_names)
00592 buff.write(_struct_I.pack(length))
00593 for val1 in self.action_goal.goal.trajectory.joint_names:
00594 length = len(val1)
00595 buff.write(struct.pack('<I%ss'%length, length, val1))
00596 length = len(self.action_goal.goal.trajectory.points)
00597 buff.write(_struct_I.pack(length))
00598 for val1 in self.action_goal.goal.trajectory.points:
00599 length = len(val1.positions)
00600 buff.write(_struct_I.pack(length))
00601 pattern = '<%sd'%length
00602 buff.write(val1.positions.tostring())
00603 length = len(val1.velocities)
00604 buff.write(_struct_I.pack(length))
00605 pattern = '<%sd'%length
00606 buff.write(val1.velocities.tostring())
00607 length = len(val1.accelerations)
00608 buff.write(_struct_I.pack(length))
00609 pattern = '<%sd'%length
00610 buff.write(val1.accelerations.tostring())
00611 _v3 = val1.time_from_start
00612 _x = _v3
00613 buff.write(_struct_2i.pack(_x.secs, _x.nsecs))
00614 _x = self.action_goal.goal.collision_support_surface_name
00615 length = len(_x)
00616 buff.write(struct.pack('<I%ss'%length, length, _x))
00617 _x = self.action_goal.goal.collision_object_name
00618 length = len(_x)
00619 buff.write(struct.pack('<I%ss'%length, length, _x))
00620 _x = self
00621 buff.write(_struct_3I.pack(_x.action_result.header.seq, _x.action_result.header.stamp.secs, _x.action_result.header.stamp.nsecs))
00622 _x = self.action_result.header.frame_id
00623 length = len(_x)
00624 buff.write(struct.pack('<I%ss'%length, length, _x))
00625 _x = self
00626 buff.write(_struct_2I.pack(_x.action_result.status.goal_id.stamp.secs, _x.action_result.status.goal_id.stamp.nsecs))
00627 _x = self.action_result.status.goal_id.id
00628 length = len(_x)
00629 buff.write(struct.pack('<I%ss'%length, length, _x))
00630 buff.write(_struct_B.pack(self.action_result.status.status))
00631 _x = self.action_result.status.text
00632 length = len(_x)
00633 buff.write(struct.pack('<I%ss'%length, length, _x))
00634 _x = self
00635 buff.write(_struct_i3I.pack(_x.action_result.result.manipulation_result.value, _x.action_feedback.header.seq, _x.action_feedback.header.stamp.secs, _x.action_feedback.header.stamp.nsecs))
00636 _x = self.action_feedback.header.frame_id
00637 length = len(_x)
00638 buff.write(struct.pack('<I%ss'%length, length, _x))
00639 _x = self
00640 buff.write(_struct_2I.pack(_x.action_feedback.status.goal_id.stamp.secs, _x.action_feedback.status.goal_id.stamp.nsecs))
00641 _x = self.action_feedback.status.goal_id.id
00642 length = len(_x)
00643 buff.write(struct.pack('<I%ss'%length, length, _x))
00644 buff.write(_struct_B.pack(self.action_feedback.status.status))
00645 _x = self.action_feedback.status.text
00646 length = len(_x)
00647 buff.write(struct.pack('<I%ss'%length, length, _x))
00648 buff.write(_struct_i.pack(self.action_feedback.feedback.manipulation_phase.phase))
00649 except struct.error as se: self._check_types(se)
00650 except TypeError as te: self._check_types(te)
00651
00652 def deserialize_numpy(self, str, numpy):
00653 """
00654 unpack serialized message in str into this message instance using numpy for array types
00655 @param str: byte array of serialized message
00656 @type str: str
00657 @param numpy: numpy python module
00658 @type numpy: module
00659 """
00660 try:
00661 if self.action_goal is None:
00662 self.action_goal = object_manipulation_msgs.msg.ReactivePlaceActionGoal()
00663 if self.action_result is None:
00664 self.action_result = object_manipulation_msgs.msg.ReactivePlaceActionResult()
00665 if self.action_feedback is None:
00666 self.action_feedback = object_manipulation_msgs.msg.ReactivePlaceActionFeedback()
00667 end = 0
00668 _x = self
00669 start = end
00670 end += 12
00671 (_x.action_goal.header.seq, _x.action_goal.header.stamp.secs, _x.action_goal.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00672 start = end
00673 end += 4
00674 (length,) = _struct_I.unpack(str[start:end])
00675 start = end
00676 end += length
00677 self.action_goal.header.frame_id = str[start:end]
00678 _x = self
00679 start = end
00680 end += 8
00681 (_x.action_goal.goal_id.stamp.secs, _x.action_goal.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00682 start = end
00683 end += 4
00684 (length,) = _struct_I.unpack(str[start:end])
00685 start = end
00686 end += length
00687 self.action_goal.goal_id.id = str[start:end]
00688 start = end
00689 end += 4
00690 (length,) = _struct_I.unpack(str[start:end])
00691 start = end
00692 end += length
00693 self.action_goal.goal.arm_name = str[start:end]
00694 _x = self
00695 start = end
00696 end += 12
00697 (_x.action_goal.goal.final_place_pose.header.seq, _x.action_goal.goal.final_place_pose.header.stamp.secs, _x.action_goal.goal.final_place_pose.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00698 start = end
00699 end += 4
00700 (length,) = _struct_I.unpack(str[start:end])
00701 start = end
00702 end += length
00703 self.action_goal.goal.final_place_pose.header.frame_id = str[start:end]
00704 _x = self
00705 start = end
00706 end += 68
00707 (_x.action_goal.goal.final_place_pose.pose.position.x, _x.action_goal.goal.final_place_pose.pose.position.y, _x.action_goal.goal.final_place_pose.pose.position.z, _x.action_goal.goal.final_place_pose.pose.orientation.x, _x.action_goal.goal.final_place_pose.pose.orientation.y, _x.action_goal.goal.final_place_pose.pose.orientation.z, _x.action_goal.goal.final_place_pose.pose.orientation.w, _x.action_goal.goal.trajectory.header.seq, _x.action_goal.goal.trajectory.header.stamp.secs, _x.action_goal.goal.trajectory.header.stamp.nsecs,) = _struct_7d3I.unpack(str[start:end])
00708 start = end
00709 end += 4
00710 (length,) = _struct_I.unpack(str[start:end])
00711 start = end
00712 end += length
00713 self.action_goal.goal.trajectory.header.frame_id = str[start:end]
00714 start = end
00715 end += 4
00716 (length,) = _struct_I.unpack(str[start:end])
00717 self.action_goal.goal.trajectory.joint_names = []
00718 for i in range(0, length):
00719 start = end
00720 end += 4
00721 (length,) = _struct_I.unpack(str[start:end])
00722 start = end
00723 end += length
00724 val1 = str[start:end]
00725 self.action_goal.goal.trajectory.joint_names.append(val1)
00726 start = end
00727 end += 4
00728 (length,) = _struct_I.unpack(str[start:end])
00729 self.action_goal.goal.trajectory.points = []
00730 for i in range(0, length):
00731 val1 = trajectory_msgs.msg.JointTrajectoryPoint()
00732 start = end
00733 end += 4
00734 (length,) = _struct_I.unpack(str[start:end])
00735 pattern = '<%sd'%length
00736 start = end
00737 end += struct.calcsize(pattern)
00738 val1.positions = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00739 start = end
00740 end += 4
00741 (length,) = _struct_I.unpack(str[start:end])
00742 pattern = '<%sd'%length
00743 start = end
00744 end += struct.calcsize(pattern)
00745 val1.velocities = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00746 start = end
00747 end += 4
00748 (length,) = _struct_I.unpack(str[start:end])
00749 pattern = '<%sd'%length
00750 start = end
00751 end += struct.calcsize(pattern)
00752 val1.accelerations = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00753 _v4 = val1.time_from_start
00754 _x = _v4
00755 start = end
00756 end += 8
00757 (_x.secs, _x.nsecs,) = _struct_2i.unpack(str[start:end])
00758 self.action_goal.goal.trajectory.points.append(val1)
00759 start = end
00760 end += 4
00761 (length,) = _struct_I.unpack(str[start:end])
00762 start = end
00763 end += length
00764 self.action_goal.goal.collision_support_surface_name = str[start:end]
00765 start = end
00766 end += 4
00767 (length,) = _struct_I.unpack(str[start:end])
00768 start = end
00769 end += length
00770 self.action_goal.goal.collision_object_name = str[start:end]
00771 _x = self
00772 start = end
00773 end += 12
00774 (_x.action_result.header.seq, _x.action_result.header.stamp.secs, _x.action_result.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00775 start = end
00776 end += 4
00777 (length,) = _struct_I.unpack(str[start:end])
00778 start = end
00779 end += length
00780 self.action_result.header.frame_id = str[start:end]
00781 _x = self
00782 start = end
00783 end += 8
00784 (_x.action_result.status.goal_id.stamp.secs, _x.action_result.status.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00785 start = end
00786 end += 4
00787 (length,) = _struct_I.unpack(str[start:end])
00788 start = end
00789 end += length
00790 self.action_result.status.goal_id.id = str[start:end]
00791 start = end
00792 end += 1
00793 (self.action_result.status.status,) = _struct_B.unpack(str[start:end])
00794 start = end
00795 end += 4
00796 (length,) = _struct_I.unpack(str[start:end])
00797 start = end
00798 end += length
00799 self.action_result.status.text = str[start:end]
00800 _x = self
00801 start = end
00802 end += 16
00803 (_x.action_result.result.manipulation_result.value, _x.action_feedback.header.seq, _x.action_feedback.header.stamp.secs, _x.action_feedback.header.stamp.nsecs,) = _struct_i3I.unpack(str[start:end])
00804 start = end
00805 end += 4
00806 (length,) = _struct_I.unpack(str[start:end])
00807 start = end
00808 end += length
00809 self.action_feedback.header.frame_id = str[start:end]
00810 _x = self
00811 start = end
00812 end += 8
00813 (_x.action_feedback.status.goal_id.stamp.secs, _x.action_feedback.status.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00814 start = end
00815 end += 4
00816 (length,) = _struct_I.unpack(str[start:end])
00817 start = end
00818 end += length
00819 self.action_feedback.status.goal_id.id = str[start:end]
00820 start = end
00821 end += 1
00822 (self.action_feedback.status.status,) = _struct_B.unpack(str[start:end])
00823 start = end
00824 end += 4
00825 (length,) = _struct_I.unpack(str[start:end])
00826 start = end
00827 end += length
00828 self.action_feedback.status.text = str[start:end]
00829 start = end
00830 end += 4
00831 (self.action_feedback.feedback.manipulation_phase.phase,) = _struct_i.unpack(str[start:end])
00832 return self
00833 except struct.error as e:
00834 raise roslib.message.DeserializationError(e)
00835
00836 _struct_I = roslib.message.struct_I
00837 _struct_7d3I = struct.Struct("<7d3I")
00838 _struct_B = struct.Struct("<B")
00839 _struct_i = struct.Struct("<i")
00840 _struct_i3I = struct.Struct("<i3I")
00841 _struct_2I = struct.Struct("<2I")
00842 _struct_3I = struct.Struct("<3I")
00843 _struct_2i = struct.Struct("<2i")
