00001 """autogenerated by genmsg_py from ModelObjectInHandAction.msg. Do not edit."""
00002 import roslib.message
00003 import struct
00004
00005 import roslib.rostime
00006 import actionlib_msgs.msg
00007 import pr2_create_object_model.msg
00008 import geometry_msgs.msg
00009 import sensor_msgs.msg
00010 import std_msgs.msg
00011
00012 class ModelObjectInHandAction(roslib.message.Message):
00013 _md5sum = "48f36e754cdbe5df61db81cd410cecf9"
00014 _type = "pr2_create_object_model/ModelObjectInHandAction"
00015 _has_header = False
00016 _full_text = """# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00017
00018 ModelObjectInHandActionGoal action_goal
00019 ModelObjectInHandActionResult action_result
00020 ModelObjectInHandActionFeedback action_feedback
00021
00022 ================================================================================
00023 MSG: pr2_create_object_model/ModelObjectInHandActionGoal
00024 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00025
00026 Header header
00027 actionlib_msgs/GoalID goal_id
00028 ModelObjectInHandGoal 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: pr2_create_object_model/ModelObjectInHandGoal
00063 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00064 # which arm to use
00065 string arm_name
00066
00067 # the relative motion in which to move the gripper to get it clear of objects
00068 #(if left unfilled, will not move)
00069 geometry_msgs/Vector3Stamped clear_move
00070
00071 # the pose to go to for rotating (if left unfilled, will not go)
00072 geometry_msgs/PoseStamped rotate_pose
00073
00074 # whether to rotate the object at rotate_pose to build up the model
00075 uint8 rotate_object
00076
00077 # whether to add the object to the collision map
00078 uint8 add_to_collision_map
00079
00080 # whether to keep the object level while rotating
00081 uint8 keep_level
00082
00083
00084 ================================================================================
00085 MSG: geometry_msgs/Vector3Stamped
00086 # This represents a Vector3 with reference coordinate frame and timestamp
00087 Header header
00088 Vector3 vector
00089
00090 ================================================================================
00091 MSG: geometry_msgs/Vector3
00092 # This represents a vector in free space.
00093
00094 float64 x
00095 float64 y
00096 float64 z
00097 ================================================================================
00098 MSG: geometry_msgs/PoseStamped
00099 # A Pose with reference coordinate frame and timestamp
00100 Header header
00101 Pose pose
00102
00103 ================================================================================
00104 MSG: geometry_msgs/Pose
00105 # A representation of pose in free space, composed of postion and orientation.
00106 Point position
00107 Quaternion orientation
00108
00109 ================================================================================
00110 MSG: geometry_msgs/Point
00111 # This contains the position of a point in free space
00112 float64 x
00113 float64 y
00114 float64 z
00115
00116 ================================================================================
00117 MSG: geometry_msgs/Quaternion
00118 # This represents an orientation in free space in quaternion form.
00119
00120 float64 x
00121 float64 y
00122 float64 z
00123 float64 w
00124
00125 ================================================================================
00126 MSG: pr2_create_object_model/ModelObjectInHandActionResult
00127 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00128
00129 Header header
00130 actionlib_msgs/GoalStatus status
00131 ModelObjectInHandResult result
00132
00133 ================================================================================
00134 MSG: actionlib_msgs/GoalStatus
00135 GoalID goal_id
00136 uint8 status
00137 uint8 PENDING = 0 # The goal has yet to be processed by the action server
00138 uint8 ACTIVE = 1 # The goal is currently being processed by the action server
00139 uint8 PREEMPTED = 2 # The goal received a cancel request after it started executing
00140 # and has since completed its execution (Terminal State)
00141 uint8 SUCCEEDED = 3 # The goal was achieved successfully by the action server (Terminal State)
00142 uint8 ABORTED = 4 # The goal was aborted during execution by the action server due
00143 # to some failure (Terminal State)
00144 uint8 REJECTED = 5 # The goal was rejected by the action server without being processed,
00145 # because the goal was unattainable or invalid (Terminal State)
00146 uint8 PREEMPTING = 6 # The goal received a cancel request after it started executing
00147 # and has not yet completed execution
00148 uint8 RECALLING = 7 # The goal received a cancel request before it started executing,
00149 # but the action server has not yet confirmed that the goal is canceled
00150 uint8 RECALLED = 8 # The goal received a cancel request before it started executing
00151 # and was successfully cancelled (Terminal State)
00152 uint8 LOST = 9 # An action client can determine that a goal is LOST. This should not be
00153 # sent over the wire by an action server
00154
00155 #Allow for the user to associate a string with GoalStatus for debugging
00156 string text
00157
00158
00159 ================================================================================
00160 MSG: pr2_create_object_model/ModelObjectInHandResult
00161 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00162
00163 # the resulting object point cloud
00164 sensor_msgs/PointCloud2 cluster
00165
00166 # the resulting collision name, if added to the collision map
00167 string collision_name
00168
00169
00170 ================================================================================
00171 MSG: sensor_msgs/PointCloud2
00172 # This message holds a collection of N-dimensional points, which may
00173 # contain additional information such as normals, intensity, etc. The
00174 # point data is stored as a binary blob, its layout described by the
00175 # contents of the "fields" array.
00176
00177 # The point cloud data may be organized 2d (image-like) or 1d
00178 # (unordered). Point clouds organized as 2d images may be produced by
00179 # camera depth sensors such as stereo or time-of-flight.
00180
00181 # Time of sensor data acquisition, and the coordinate frame ID (for 3d
00182 # points).
00183 Header header
00184
00185 # 2D structure of the point cloud. If the cloud is unordered, height is
00186 # 1 and width is the length of the point cloud.
00187 uint32 height
00188 uint32 width
00189
00190 # Describes the channels and their layout in the binary data blob.
00191 PointField[] fields
00192
00193 bool is_bigendian # Is this data bigendian?
00194 uint32 point_step # Length of a point in bytes
00195 uint32 row_step # Length of a row in bytes
00196 uint8[] data # Actual point data, size is (row_step*height)
00197
00198 bool is_dense # True if there are no invalid points
00199
00200 ================================================================================
00201 MSG: sensor_msgs/PointField
00202 # This message holds the description of one point entry in the
00203 # PointCloud2 message format.
00204 uint8 INT8 = 1
00205 uint8 UINT8 = 2
00206 uint8 INT16 = 3
00207 uint8 UINT16 = 4
00208 uint8 INT32 = 5
00209 uint8 UINT32 = 6
00210 uint8 FLOAT32 = 7
00211 uint8 FLOAT64 = 8
00212
00213 string name # Name of field
00214 uint32 offset # Offset from start of point struct
00215 uint8 datatype # Datatype enumeration, see above
00216 uint32 count # How many elements in the field
00217
00218 ================================================================================
00219 MSG: pr2_create_object_model/ModelObjectInHandActionFeedback
00220 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00221
00222 Header header
00223 actionlib_msgs/GoalStatus status
00224 ModelObjectInHandFeedback feedback
00225
00226 ================================================================================
00227 MSG: pr2_create_object_model/ModelObjectInHandFeedback
00228 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00229
00230 # which phase the process is in
00231 int32 phase
00232 int32 BEFORE_MOVE=0
00233 int32 CLEAR_MOVE=1
00234 int32 MOVE_TO_ROTATE_POSE=2
00235 int32 ROTATING=3
00236 int32 DONE=4
00237
00238 # how many rotate-poses have we gone to/are we in now
00239 int32 rotate_ind
00240
00241
00242 """
00243 __slots__ = ['action_goal','action_result','action_feedback']
00244 _slot_types = ['pr2_create_object_model/ModelObjectInHandActionGoal','pr2_create_object_model/ModelObjectInHandActionResult','pr2_create_object_model/ModelObjectInHandActionFeedback']
00245
00246 def __init__(self, *args, **kwds):
00247 """
00248 Constructor. Any message fields that are implicitly/explicitly
00249 set to None will be assigned a default value. The recommend
00250 use is keyword arguments as this is more robust to future message
00251 changes. You cannot mix in-order arguments and keyword arguments.
00252
00253 The available fields are:
00254 action_goal,action_result,action_feedback
00255
00256 @param args: complete set of field values, in .msg order
00257 @param kwds: use keyword arguments corresponding to message field names
00258 to set specific fields.
00259 """
00260 if args or kwds:
00261 super(ModelObjectInHandAction, self).__init__(*args, **kwds)
00262
00263 if self.action_goal is None:
00264 self.action_goal = pr2_create_object_model.msg.ModelObjectInHandActionGoal()
00265 if self.action_result is None:
00266 self.action_result = pr2_create_object_model.msg.ModelObjectInHandActionResult()
00267 if self.action_feedback is None:
00268 self.action_feedback = pr2_create_object_model.msg.ModelObjectInHandActionFeedback()
00269 else:
00270 self.action_goal = pr2_create_object_model.msg.ModelObjectInHandActionGoal()
00271 self.action_result = pr2_create_object_model.msg.ModelObjectInHandActionResult()
00272 self.action_feedback = pr2_create_object_model.msg.ModelObjectInHandActionFeedback()
00273
00274 def _get_types(self):
00275 """
00276 internal API method
00277 """
00278 return self._slot_types
00279
00280 def serialize(self, buff):
00281 """
00282 serialize message into buffer
00283 @param buff: buffer
00284 @type buff: StringIO
00285 """
00286 try:
00287 _x = self
00288 buff.write(_struct_3I.pack(_x.action_goal.header.seq, _x.action_goal.header.stamp.secs, _x.action_goal.header.stamp.nsecs))
00289 _x = self.action_goal.header.frame_id
00290 length = len(_x)
00291 buff.write(struct.pack('<I%ss'%length, length, _x))
00292 _x = self
00293 buff.write(_struct_2I.pack(_x.action_goal.goal_id.stamp.secs, _x.action_goal.goal_id.stamp.nsecs))
00294 _x = self.action_goal.goal_id.id
00295 length = len(_x)
00296 buff.write(struct.pack('<I%ss'%length, length, _x))
00297 _x = self.action_goal.goal.arm_name
00298 length = len(_x)
00299 buff.write(struct.pack('<I%ss'%length, length, _x))
00300 _x = self
00301 buff.write(_struct_3I.pack(_x.action_goal.goal.clear_move.header.seq, _x.action_goal.goal.clear_move.header.stamp.secs, _x.action_goal.goal.clear_move.header.stamp.nsecs))
00302 _x = self.action_goal.goal.clear_move.header.frame_id
00303 length = len(_x)
00304 buff.write(struct.pack('<I%ss'%length, length, _x))
00305 _x = self
00306 buff.write(_struct_3d3I.pack(_x.action_goal.goal.clear_move.vector.x, _x.action_goal.goal.clear_move.vector.y, _x.action_goal.goal.clear_move.vector.z, _x.action_goal.goal.rotate_pose.header.seq, _x.action_goal.goal.rotate_pose.header.stamp.secs, _x.action_goal.goal.rotate_pose.header.stamp.nsecs))
00307 _x = self.action_goal.goal.rotate_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_7d3B3I.pack(_x.action_goal.goal.rotate_pose.pose.position.x, _x.action_goal.goal.rotate_pose.pose.position.y, _x.action_goal.goal.rotate_pose.pose.position.z, _x.action_goal.goal.rotate_pose.pose.orientation.x, _x.action_goal.goal.rotate_pose.pose.orientation.y, _x.action_goal.goal.rotate_pose.pose.orientation.z, _x.action_goal.goal.rotate_pose.pose.orientation.w, _x.action_goal.goal.rotate_object, _x.action_goal.goal.add_to_collision_map, _x.action_goal.goal.keep_level, _x.action_result.header.seq, _x.action_result.header.stamp.secs, _x.action_result.header.stamp.nsecs))
00312 _x = self.action_result.header.frame_id
00313 length = len(_x)
00314 buff.write(struct.pack('<I%ss'%length, length, _x))
00315 _x = self
00316 buff.write(_struct_2I.pack(_x.action_result.status.goal_id.stamp.secs, _x.action_result.status.goal_id.stamp.nsecs))
00317 _x = self.action_result.status.goal_id.id
00318 length = len(_x)
00319 buff.write(struct.pack('<I%ss'%length, length, _x))
00320 buff.write(_struct_B.pack(self.action_result.status.status))
00321 _x = self.action_result.status.text
00322 length = len(_x)
00323 buff.write(struct.pack('<I%ss'%length, length, _x))
00324 _x = self
00325 buff.write(_struct_3I.pack(_x.action_result.result.cluster.header.seq, _x.action_result.result.cluster.header.stamp.secs, _x.action_result.result.cluster.header.stamp.nsecs))
00326 _x = self.action_result.result.cluster.header.frame_id
00327 length = len(_x)
00328 buff.write(struct.pack('<I%ss'%length, length, _x))
00329 _x = self
00330 buff.write(_struct_2I.pack(_x.action_result.result.cluster.height, _x.action_result.result.cluster.width))
00331 length = len(self.action_result.result.cluster.fields)
00332 buff.write(_struct_I.pack(length))
00333 for val1 in self.action_result.result.cluster.fields:
00334 _x = val1.name
00335 length = len(_x)
00336 buff.write(struct.pack('<I%ss'%length, length, _x))
00337 _x = val1
00338 buff.write(_struct_IBI.pack(_x.offset, _x.datatype, _x.count))
00339 _x = self
00340 buff.write(_struct_B2I.pack(_x.action_result.result.cluster.is_bigendian, _x.action_result.result.cluster.point_step, _x.action_result.result.cluster.row_step))
00341 _x = self.action_result.result.cluster.data
00342 length = len(_x)
00343
00344 if type(_x) in [list, tuple]:
00345 buff.write(struct.pack('<I%sB'%length, length, *_x))
00346 else:
00347 buff.write(struct.pack('<I%ss'%length, length, _x))
00348 buff.write(_struct_B.pack(self.action_result.result.cluster.is_dense))
00349 _x = self.action_result.result.collision_name
00350 length = len(_x)
00351 buff.write(struct.pack('<I%ss'%length, length, _x))
00352 _x = self
00353 buff.write(_struct_3I.pack(_x.action_feedback.header.seq, _x.action_feedback.header.stamp.secs, _x.action_feedback.header.stamp.nsecs))
00354 _x = self.action_feedback.header.frame_id
00355 length = len(_x)
00356 buff.write(struct.pack('<I%ss'%length, length, _x))
00357 _x = self
00358 buff.write(_struct_2I.pack(_x.action_feedback.status.goal_id.stamp.secs, _x.action_feedback.status.goal_id.stamp.nsecs))
00359 _x = self.action_feedback.status.goal_id.id
00360 length = len(_x)
00361 buff.write(struct.pack('<I%ss'%length, length, _x))
00362 buff.write(_struct_B.pack(self.action_feedback.status.status))
00363 _x = self.action_feedback.status.text
00364 length = len(_x)
00365 buff.write(struct.pack('<I%ss'%length, length, _x))
00366 _x = self
00367 buff.write(_struct_2i.pack(_x.action_feedback.feedback.phase, _x.action_feedback.feedback.rotate_ind))
00368 except struct.error as se: self._check_types(se)
00369 except TypeError as te: self._check_types(te)
00370
00371 def deserialize(self, str):
00372 """
00373 unpack serialized message in str into this message instance
00374 @param str: byte array of serialized message
00375 @type str: str
00376 """
00377 try:
00378 if self.action_goal is None:
00379 self.action_goal = pr2_create_object_model.msg.ModelObjectInHandActionGoal()
00380 if self.action_result is None:
00381 self.action_result = pr2_create_object_model.msg.ModelObjectInHandActionResult()
00382 if self.action_feedback is None:
00383 self.action_feedback = pr2_create_object_model.msg.ModelObjectInHandActionFeedback()
00384 end = 0
00385 _x = self
00386 start = end
00387 end += 12
00388 (_x.action_goal.header.seq, _x.action_goal.header.stamp.secs, _x.action_goal.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00389 start = end
00390 end += 4
00391 (length,) = _struct_I.unpack(str[start:end])
00392 start = end
00393 end += length
00394 self.action_goal.header.frame_id = str[start:end]
00395 _x = self
00396 start = end
00397 end += 8
00398 (_x.action_goal.goal_id.stamp.secs, _x.action_goal.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00399 start = end
00400 end += 4
00401 (length,) = _struct_I.unpack(str[start:end])
00402 start = end
00403 end += length
00404 self.action_goal.goal_id.id = str[start:end]
00405 start = end
00406 end += 4
00407 (length,) = _struct_I.unpack(str[start:end])
00408 start = end
00409 end += length
00410 self.action_goal.goal.arm_name = str[start:end]
00411 _x = self
00412 start = end
00413 end += 12
00414 (_x.action_goal.goal.clear_move.header.seq, _x.action_goal.goal.clear_move.header.stamp.secs, _x.action_goal.goal.clear_move.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00415 start = end
00416 end += 4
00417 (length,) = _struct_I.unpack(str[start:end])
00418 start = end
00419 end += length
00420 self.action_goal.goal.clear_move.header.frame_id = str[start:end]
00421 _x = self
00422 start = end
00423 end += 36
00424 (_x.action_goal.goal.clear_move.vector.x, _x.action_goal.goal.clear_move.vector.y, _x.action_goal.goal.clear_move.vector.z, _x.action_goal.goal.rotate_pose.header.seq, _x.action_goal.goal.rotate_pose.header.stamp.secs, _x.action_goal.goal.rotate_pose.header.stamp.nsecs,) = _struct_3d3I.unpack(str[start:end])
00425 start = end
00426 end += 4
00427 (length,) = _struct_I.unpack(str[start:end])
00428 start = end
00429 end += length
00430 self.action_goal.goal.rotate_pose.header.frame_id = str[start:end]
00431 _x = self
00432 start = end
00433 end += 71
00434 (_x.action_goal.goal.rotate_pose.pose.position.x, _x.action_goal.goal.rotate_pose.pose.position.y, _x.action_goal.goal.rotate_pose.pose.position.z, _x.action_goal.goal.rotate_pose.pose.orientation.x, _x.action_goal.goal.rotate_pose.pose.orientation.y, _x.action_goal.goal.rotate_pose.pose.orientation.z, _x.action_goal.goal.rotate_pose.pose.orientation.w, _x.action_goal.goal.rotate_object, _x.action_goal.goal.add_to_collision_map, _x.action_goal.goal.keep_level, _x.action_result.header.seq, _x.action_result.header.stamp.secs, _x.action_result.header.stamp.nsecs,) = _struct_7d3B3I.unpack(str[start:end])
00435 start = end
00436 end += 4
00437 (length,) = _struct_I.unpack(str[start:end])
00438 start = end
00439 end += length
00440 self.action_result.header.frame_id = str[start:end]
00441 _x = self
00442 start = end
00443 end += 8
00444 (_x.action_result.status.goal_id.stamp.secs, _x.action_result.status.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00445 start = end
00446 end += 4
00447 (length,) = _struct_I.unpack(str[start:end])
00448 start = end
00449 end += length
00450 self.action_result.status.goal_id.id = str[start:end]
00451 start = end
00452 end += 1
00453 (self.action_result.status.status,) = _struct_B.unpack(str[start:end])
00454 start = end
00455 end += 4
00456 (length,) = _struct_I.unpack(str[start:end])
00457 start = end
00458 end += length
00459 self.action_result.status.text = str[start:end]
00460 _x = self
00461 start = end
00462 end += 12
00463 (_x.action_result.result.cluster.header.seq, _x.action_result.result.cluster.header.stamp.secs, _x.action_result.result.cluster.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00464 start = end
00465 end += 4
00466 (length,) = _struct_I.unpack(str[start:end])
00467 start = end
00468 end += length
00469 self.action_result.result.cluster.header.frame_id = str[start:end]
00470 _x = self
00471 start = end
00472 end += 8
00473 (_x.action_result.result.cluster.height, _x.action_result.result.cluster.width,) = _struct_2I.unpack(str[start:end])
00474 start = end
00475 end += 4
00476 (length,) = _struct_I.unpack(str[start:end])
00477 self.action_result.result.cluster.fields = []
00478 for i in range(0, length):
00479 val1 = sensor_msgs.msg.PointField()
00480 start = end
00481 end += 4
00482 (length,) = _struct_I.unpack(str[start:end])
00483 start = end
00484 end += length
00485 val1.name = str[start:end]
00486 _x = val1
00487 start = end
00488 end += 9
00489 (_x.offset, _x.datatype, _x.count,) = _struct_IBI.unpack(str[start:end])
00490 self.action_result.result.cluster.fields.append(val1)
00491 _x = self
00492 start = end
00493 end += 9
00494 (_x.action_result.result.cluster.is_bigendian, _x.action_result.result.cluster.point_step, _x.action_result.result.cluster.row_step,) = _struct_B2I.unpack(str[start:end])
00495 self.action_result.result.cluster.is_bigendian = bool(self.action_result.result.cluster.is_bigendian)
00496 start = end
00497 end += 4
00498 (length,) = _struct_I.unpack(str[start:end])
00499 start = end
00500 end += length
00501 self.action_result.result.cluster.data = str[start:end]
00502 start = end
00503 end += 1
00504 (self.action_result.result.cluster.is_dense,) = _struct_B.unpack(str[start:end])
00505 self.action_result.result.cluster.is_dense = bool(self.action_result.result.cluster.is_dense)
00506 start = end
00507 end += 4
00508 (length,) = _struct_I.unpack(str[start:end])
00509 start = end
00510 end += length
00511 self.action_result.result.collision_name = str[start:end]
00512 _x = self
00513 start = end
00514 end += 12
00515 (_x.action_feedback.header.seq, _x.action_feedback.header.stamp.secs, _x.action_feedback.header.stamp.nsecs,) = _struct_3I.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_feedback.header.frame_id = str[start:end]
00522 _x = self
00523 start = end
00524 end += 8
00525 (_x.action_feedback.status.goal_id.stamp.secs, _x.action_feedback.status.goal_id.stamp.nsecs,) = _struct_2I.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.status.goal_id.id = str[start:end]
00532 start = end
00533 end += 1
00534 (self.action_feedback.status.status,) = _struct_B.unpack(str[start:end])
00535 start = end
00536 end += 4
00537 (length,) = _struct_I.unpack(str[start:end])
00538 start = end
00539 end += length
00540 self.action_feedback.status.text = str[start:end]
00541 _x = self
00542 start = end
00543 end += 8
00544 (_x.action_feedback.feedback.phase, _x.action_feedback.feedback.rotate_ind,) = _struct_2i.unpack(str[start:end])
00545 return self
00546 except struct.error as e:
00547 raise roslib.message.DeserializationError(e)
00548
00549
00550 def serialize_numpy(self, buff, numpy):
00551 """
00552 serialize message with numpy array types into buffer
00553 @param buff: buffer
00554 @type buff: StringIO
00555 @param numpy: numpy python module
00556 @type numpy module
00557 """
00558 try:
00559 _x = self
00560 buff.write(_struct_3I.pack(_x.action_goal.header.seq, _x.action_goal.header.stamp.secs, _x.action_goal.header.stamp.nsecs))
00561 _x = self.action_goal.header.frame_id
00562 length = len(_x)
00563 buff.write(struct.pack('<I%ss'%length, length, _x))
00564 _x = self
00565 buff.write(_struct_2I.pack(_x.action_goal.goal_id.stamp.secs, _x.action_goal.goal_id.stamp.nsecs))
00566 _x = self.action_goal.goal_id.id
00567 length = len(_x)
00568 buff.write(struct.pack('<I%ss'%length, length, _x))
00569 _x = self.action_goal.goal.arm_name
00570 length = len(_x)
00571 buff.write(struct.pack('<I%ss'%length, length, _x))
00572 _x = self
00573 buff.write(_struct_3I.pack(_x.action_goal.goal.clear_move.header.seq, _x.action_goal.goal.clear_move.header.stamp.secs, _x.action_goal.goal.clear_move.header.stamp.nsecs))
00574 _x = self.action_goal.goal.clear_move.header.frame_id
00575 length = len(_x)
00576 buff.write(struct.pack('<I%ss'%length, length, _x))
00577 _x = self
00578 buff.write(_struct_3d3I.pack(_x.action_goal.goal.clear_move.vector.x, _x.action_goal.goal.clear_move.vector.y, _x.action_goal.goal.clear_move.vector.z, _x.action_goal.goal.rotate_pose.header.seq, _x.action_goal.goal.rotate_pose.header.stamp.secs, _x.action_goal.goal.rotate_pose.header.stamp.nsecs))
00579 _x = self.action_goal.goal.rotate_pose.header.frame_id
00580 length = len(_x)
00581 buff.write(struct.pack('<I%ss'%length, length, _x))
00582 _x = self
00583 buff.write(_struct_7d3B3I.pack(_x.action_goal.goal.rotate_pose.pose.position.x, _x.action_goal.goal.rotate_pose.pose.position.y, _x.action_goal.goal.rotate_pose.pose.position.z, _x.action_goal.goal.rotate_pose.pose.orientation.x, _x.action_goal.goal.rotate_pose.pose.orientation.y, _x.action_goal.goal.rotate_pose.pose.orientation.z, _x.action_goal.goal.rotate_pose.pose.orientation.w, _x.action_goal.goal.rotate_object, _x.action_goal.goal.add_to_collision_map, _x.action_goal.goal.keep_level, _x.action_result.header.seq, _x.action_result.header.stamp.secs, _x.action_result.header.stamp.nsecs))
00584 _x = self.action_result.header.frame_id
00585 length = len(_x)
00586 buff.write(struct.pack('<I%ss'%length, length, _x))
00587 _x = self
00588 buff.write(_struct_2I.pack(_x.action_result.status.goal_id.stamp.secs, _x.action_result.status.goal_id.stamp.nsecs))
00589 _x = self.action_result.status.goal_id.id
00590 length = len(_x)
00591 buff.write(struct.pack('<I%ss'%length, length, _x))
00592 buff.write(_struct_B.pack(self.action_result.status.status))
00593 _x = self.action_result.status.text
00594 length = len(_x)
00595 buff.write(struct.pack('<I%ss'%length, length, _x))
00596 _x = self
00597 buff.write(_struct_3I.pack(_x.action_result.result.cluster.header.seq, _x.action_result.result.cluster.header.stamp.secs, _x.action_result.result.cluster.header.stamp.nsecs))
00598 _x = self.action_result.result.cluster.header.frame_id
00599 length = len(_x)
00600 buff.write(struct.pack('<I%ss'%length, length, _x))
00601 _x = self
00602 buff.write(_struct_2I.pack(_x.action_result.result.cluster.height, _x.action_result.result.cluster.width))
00603 length = len(self.action_result.result.cluster.fields)
00604 buff.write(_struct_I.pack(length))
00605 for val1 in self.action_result.result.cluster.fields:
00606 _x = val1.name
00607 length = len(_x)
00608 buff.write(struct.pack('<I%ss'%length, length, _x))
00609 _x = val1
00610 buff.write(_struct_IBI.pack(_x.offset, _x.datatype, _x.count))
00611 _x = self
00612 buff.write(_struct_B2I.pack(_x.action_result.result.cluster.is_bigendian, _x.action_result.result.cluster.point_step, _x.action_result.result.cluster.row_step))
00613 _x = self.action_result.result.cluster.data
00614 length = len(_x)
00615
00616 if type(_x) in [list, tuple]:
00617 buff.write(struct.pack('<I%sB'%length, length, *_x))
00618 else:
00619 buff.write(struct.pack('<I%ss'%length, length, _x))
00620 buff.write(_struct_B.pack(self.action_result.result.cluster.is_dense))
00621 _x = self.action_result.result.collision_name
00622 length = len(_x)
00623 buff.write(struct.pack('<I%ss'%length, length, _x))
00624 _x = self
00625 buff.write(_struct_3I.pack(_x.action_feedback.header.seq, _x.action_feedback.header.stamp.secs, _x.action_feedback.header.stamp.nsecs))
00626 _x = self.action_feedback.header.frame_id
00627 length = len(_x)
00628 buff.write(struct.pack('<I%ss'%length, length, _x))
00629 _x = self
00630 buff.write(_struct_2I.pack(_x.action_feedback.status.goal_id.stamp.secs, _x.action_feedback.status.goal_id.stamp.nsecs))
00631 _x = self.action_feedback.status.goal_id.id
00632 length = len(_x)
00633 buff.write(struct.pack('<I%ss'%length, length, _x))
00634 buff.write(_struct_B.pack(self.action_feedback.status.status))
00635 _x = self.action_feedback.status.text
00636 length = len(_x)
00637 buff.write(struct.pack('<I%ss'%length, length, _x))
00638 _x = self
00639 buff.write(_struct_2i.pack(_x.action_feedback.feedback.phase, _x.action_feedback.feedback.rotate_ind))
00640 except struct.error as se: self._check_types(se)
00641 except TypeError as te: self._check_types(te)
00642
00643 def deserialize_numpy(self, str, numpy):
00644 """
00645 unpack serialized message in str into this message instance using numpy for array types
00646 @param str: byte array of serialized message
00647 @type str: str
00648 @param numpy: numpy python module
00649 @type numpy: module
00650 """
00651 try:
00652 if self.action_goal is None:
00653 self.action_goal = pr2_create_object_model.msg.ModelObjectInHandActionGoal()
00654 if self.action_result is None:
00655 self.action_result = pr2_create_object_model.msg.ModelObjectInHandActionResult()
00656 if self.action_feedback is None:
00657 self.action_feedback = pr2_create_object_model.msg.ModelObjectInHandActionFeedback()
00658 end = 0
00659 _x = self
00660 start = end
00661 end += 12
00662 (_x.action_goal.header.seq, _x.action_goal.header.stamp.secs, _x.action_goal.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00663 start = end
00664 end += 4
00665 (length,) = _struct_I.unpack(str[start:end])
00666 start = end
00667 end += length
00668 self.action_goal.header.frame_id = str[start:end]
00669 _x = self
00670 start = end
00671 end += 8
00672 (_x.action_goal.goal_id.stamp.secs, _x.action_goal.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00673 start = end
00674 end += 4
00675 (length,) = _struct_I.unpack(str[start:end])
00676 start = end
00677 end += length
00678 self.action_goal.goal_id.id = str[start:end]
00679 start = end
00680 end += 4
00681 (length,) = _struct_I.unpack(str[start:end])
00682 start = end
00683 end += length
00684 self.action_goal.goal.arm_name = str[start:end]
00685 _x = self
00686 start = end
00687 end += 12
00688 (_x.action_goal.goal.clear_move.header.seq, _x.action_goal.goal.clear_move.header.stamp.secs, _x.action_goal.goal.clear_move.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00689 start = end
00690 end += 4
00691 (length,) = _struct_I.unpack(str[start:end])
00692 start = end
00693 end += length
00694 self.action_goal.goal.clear_move.header.frame_id = str[start:end]
00695 _x = self
00696 start = end
00697 end += 36
00698 (_x.action_goal.goal.clear_move.vector.x, _x.action_goal.goal.clear_move.vector.y, _x.action_goal.goal.clear_move.vector.z, _x.action_goal.goal.rotate_pose.header.seq, _x.action_goal.goal.rotate_pose.header.stamp.secs, _x.action_goal.goal.rotate_pose.header.stamp.nsecs,) = _struct_3d3I.unpack(str[start:end])
00699 start = end
00700 end += 4
00701 (length,) = _struct_I.unpack(str[start:end])
00702 start = end
00703 end += length
00704 self.action_goal.goal.rotate_pose.header.frame_id = str[start:end]
00705 _x = self
00706 start = end
00707 end += 71
00708 (_x.action_goal.goal.rotate_pose.pose.position.x, _x.action_goal.goal.rotate_pose.pose.position.y, _x.action_goal.goal.rotate_pose.pose.position.z, _x.action_goal.goal.rotate_pose.pose.orientation.x, _x.action_goal.goal.rotate_pose.pose.orientation.y, _x.action_goal.goal.rotate_pose.pose.orientation.z, _x.action_goal.goal.rotate_pose.pose.orientation.w, _x.action_goal.goal.rotate_object, _x.action_goal.goal.add_to_collision_map, _x.action_goal.goal.keep_level, _x.action_result.header.seq, _x.action_result.header.stamp.secs, _x.action_result.header.stamp.nsecs,) = _struct_7d3B3I.unpack(str[start:end])
00709 start = end
00710 end += 4
00711 (length,) = _struct_I.unpack(str[start:end])
00712 start = end
00713 end += length
00714 self.action_result.header.frame_id = str[start:end]
00715 _x = self
00716 start = end
00717 end += 8
00718 (_x.action_result.status.goal_id.stamp.secs, _x.action_result.status.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00719 start = end
00720 end += 4
00721 (length,) = _struct_I.unpack(str[start:end])
00722 start = end
00723 end += length
00724 self.action_result.status.goal_id.id = str[start:end]
00725 start = end
00726 end += 1
00727 (self.action_result.status.status,) = _struct_B.unpack(str[start:end])
00728 start = end
00729 end += 4
00730 (length,) = _struct_I.unpack(str[start:end])
00731 start = end
00732 end += length
00733 self.action_result.status.text = str[start:end]
00734 _x = self
00735 start = end
00736 end += 12
00737 (_x.action_result.result.cluster.header.seq, _x.action_result.result.cluster.header.stamp.secs, _x.action_result.result.cluster.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00738 start = end
00739 end += 4
00740 (length,) = _struct_I.unpack(str[start:end])
00741 start = end
00742 end += length
00743 self.action_result.result.cluster.header.frame_id = str[start:end]
00744 _x = self
00745 start = end
00746 end += 8
00747 (_x.action_result.result.cluster.height, _x.action_result.result.cluster.width,) = _struct_2I.unpack(str[start:end])
00748 start = end
00749 end += 4
00750 (length,) = _struct_I.unpack(str[start:end])
00751 self.action_result.result.cluster.fields = []
00752 for i in range(0, length):
00753 val1 = sensor_msgs.msg.PointField()
00754 start = end
00755 end += 4
00756 (length,) = _struct_I.unpack(str[start:end])
00757 start = end
00758 end += length
00759 val1.name = str[start:end]
00760 _x = val1
00761 start = end
00762 end += 9
00763 (_x.offset, _x.datatype, _x.count,) = _struct_IBI.unpack(str[start:end])
00764 self.action_result.result.cluster.fields.append(val1)
00765 _x = self
00766 start = end
00767 end += 9
00768 (_x.action_result.result.cluster.is_bigendian, _x.action_result.result.cluster.point_step, _x.action_result.result.cluster.row_step,) = _struct_B2I.unpack(str[start:end])
00769 self.action_result.result.cluster.is_bigendian = bool(self.action_result.result.cluster.is_bigendian)
00770 start = end
00771 end += 4
00772 (length,) = _struct_I.unpack(str[start:end])
00773 start = end
00774 end += length
00775 self.action_result.result.cluster.data = str[start:end]
00776 start = end
00777 end += 1
00778 (self.action_result.result.cluster.is_dense,) = _struct_B.unpack(str[start:end])
00779 self.action_result.result.cluster.is_dense = bool(self.action_result.result.cluster.is_dense)
00780 start = end
00781 end += 4
00782 (length,) = _struct_I.unpack(str[start:end])
00783 start = end
00784 end += length
00785 self.action_result.result.collision_name = str[start:end]
00786 _x = self
00787 start = end
00788 end += 12
00789 (_x.action_feedback.header.seq, _x.action_feedback.header.stamp.secs, _x.action_feedback.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00790 start = end
00791 end += 4
00792 (length,) = _struct_I.unpack(str[start:end])
00793 start = end
00794 end += length
00795 self.action_feedback.header.frame_id = str[start:end]
00796 _x = self
00797 start = end
00798 end += 8
00799 (_x.action_feedback.status.goal_id.stamp.secs, _x.action_feedback.status.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00800 start = end
00801 end += 4
00802 (length,) = _struct_I.unpack(str[start:end])
00803 start = end
00804 end += length
00805 self.action_feedback.status.goal_id.id = str[start:end]
00806 start = end
00807 end += 1
00808 (self.action_feedback.status.status,) = _struct_B.unpack(str[start:end])
00809 start = end
00810 end += 4
00811 (length,) = _struct_I.unpack(str[start:end])
00812 start = end
00813 end += length
00814 self.action_feedback.status.text = str[start:end]
00815 _x = self
00816 start = end
00817 end += 8
00818 (_x.action_feedback.feedback.phase, _x.action_feedback.feedback.rotate_ind,) = _struct_2i.unpack(str[start:end])
00819 return self
00820 except struct.error as e:
00821 raise roslib.message.DeserializationError(e)
00822
00823 _struct_I = roslib.message.struct_I
00824 _struct_7d3B3I = struct.Struct("<7d3B3I")
00825 _struct_3d3I = struct.Struct("<3d3I")
00826 _struct_B = struct.Struct("<B")
00827 _struct_IBI = struct.Struct("<IBI")
00828 _struct_2i = struct.Struct("<2i")
00829 _struct_3I = struct.Struct("<3I")
00830 _struct_B2I = struct.Struct("<B2I")
00831 _struct_2I = struct.Struct("<2I")
