00001 """autogenerated by genmsg_py from GetPreGraspRequest.msg. Do not edit."""
00002 import roslib.message
00003 import struct
00004
00005 import geometry_msgs.msg
00006
00007 class GetPreGraspRequest(roslib.message.Message):
00008 _md5sum = "75ce1ecb5a310c421ca60df09c23681a"
00009 _type = "srs_grasping/GetPreGraspRequest"
00010 _has_header = False
00011 _full_text = """int32 object_id
00012 geometry_msgs/Pose object_pose
00013 float32[] pregrasp_offsets
00014 int32 num_configurations
00015
00016 ================================================================================
00017 MSG: geometry_msgs/Pose
00018 # A representation of pose in free space, composed of postion and orientation.
00019 Point position
00020 Quaternion orientation
00021
00022 ================================================================================
00023 MSG: geometry_msgs/Point
00024 # This contains the position of a point in free space
00025 float64 x
00026 float64 y
00027 float64 z
00028
00029 ================================================================================
00030 MSG: geometry_msgs/Quaternion
00031 # This represents an orientation in free space in quaternion form.
00032
00033 float64 x
00034 float64 y
00035 float64 z
00036 float64 w
00037
00038 """
00039 __slots__ = ['object_id','object_pose','pregrasp_offsets','num_configurations']
00040 _slot_types = ['int32','geometry_msgs/Pose','float32[]','int32']
00041
00042 def __init__(self, *args, **kwds):
00043 """
00044 Constructor. Any message fields that are implicitly/explicitly
00045 set to None will be assigned a default value. The recommend
00046 use is keyword arguments as this is more robust to future message
00047 changes. You cannot mix in-order arguments and keyword arguments.
00048
00049 The available fields are:
00050 object_id,object_pose,pregrasp_offsets,num_configurations
00051
00052 @param args: complete set of field values, in .msg order
00053 @param kwds: use keyword arguments corresponding to message field names
00054 to set specific fields.
00055 """
00056 if args or kwds:
00057 super(GetPreGraspRequest, self).__init__(*args, **kwds)
00058
00059 if self.object_id is None:
00060 self.object_id = 0
00061 if self.object_pose is None:
00062 self.object_pose = geometry_msgs.msg.Pose()
00063 if self.pregrasp_offsets is None:
00064 self.pregrasp_offsets = []
00065 if self.num_configurations is None:
00066 self.num_configurations = 0
00067 else:
00068 self.object_id = 0
00069 self.object_pose = geometry_msgs.msg.Pose()
00070 self.pregrasp_offsets = []
00071 self.num_configurations = 0
00072
00073 def _get_types(self):
00074 """
00075 internal API method
00076 """
00077 return self._slot_types
00078
00079 def serialize(self, buff):
00080 """
00081 serialize message into buffer
00082 @param buff: buffer
00083 @type buff: StringIO
00084 """
00085 try:
00086 _x = self
00087 buff.write(_struct_i7d.pack(_x.object_id, _x.object_pose.position.x, _x.object_pose.position.y, _x.object_pose.position.z, _x.object_pose.orientation.x, _x.object_pose.orientation.y, _x.object_pose.orientation.z, _x.object_pose.orientation.w))
00088 length = len(self.pregrasp_offsets)
00089 buff.write(_struct_I.pack(length))
00090 pattern = '<%sf'%length
00091 buff.write(struct.pack(pattern, *self.pregrasp_offsets))
00092 buff.write(_struct_i.pack(self.num_configurations))
00093 except struct.error as se: self._check_types(se)
00094 except TypeError as te: self._check_types(te)
00095
00096 def deserialize(self, str):
00097 """
00098 unpack serialized message in str into this message instance
00099 @param str: byte array of serialized message
00100 @type str: str
00101 """
00102 try:
00103 if self.object_pose is None:
00104 self.object_pose = geometry_msgs.msg.Pose()
00105 end = 0
00106 _x = self
00107 start = end
00108 end += 60
00109 (_x.object_id, _x.object_pose.position.x, _x.object_pose.position.y, _x.object_pose.position.z, _x.object_pose.orientation.x, _x.object_pose.orientation.y, _x.object_pose.orientation.z, _x.object_pose.orientation.w,) = _struct_i7d.unpack(str[start:end])
00110 start = end
00111 end += 4
00112 (length,) = _struct_I.unpack(str[start:end])
00113 pattern = '<%sf'%length
00114 start = end
00115 end += struct.calcsize(pattern)
00116 self.pregrasp_offsets = struct.unpack(pattern, str[start:end])
00117 start = end
00118 end += 4
00119 (self.num_configurations,) = _struct_i.unpack(str[start:end])
00120 return self
00121 except struct.error as e:
00122 raise roslib.message.DeserializationError(e)
00123
00124
00125 def serialize_numpy(self, buff, numpy):
00126 """
00127 serialize message with numpy array types into buffer
00128 @param buff: buffer
00129 @type buff: StringIO
00130 @param numpy: numpy python module
00131 @type numpy module
00132 """
00133 try:
00134 _x = self
00135 buff.write(_struct_i7d.pack(_x.object_id, _x.object_pose.position.x, _x.object_pose.position.y, _x.object_pose.position.z, _x.object_pose.orientation.x, _x.object_pose.orientation.y, _x.object_pose.orientation.z, _x.object_pose.orientation.w))
00136 length = len(self.pregrasp_offsets)
00137 buff.write(_struct_I.pack(length))
00138 pattern = '<%sf'%length
00139 buff.write(self.pregrasp_offsets.tostring())
00140 buff.write(_struct_i.pack(self.num_configurations))
00141 except struct.error as se: self._check_types(se)
00142 except TypeError as te: self._check_types(te)
00143
00144 def deserialize_numpy(self, str, numpy):
00145 """
00146 unpack serialized message in str into this message instance using numpy for array types
00147 @param str: byte array of serialized message
00148 @type str: str
00149 @param numpy: numpy python module
00150 @type numpy: module
00151 """
00152 try:
00153 if self.object_pose is None:
00154 self.object_pose = geometry_msgs.msg.Pose()
00155 end = 0
00156 _x = self
00157 start = end
00158 end += 60
00159 (_x.object_id, _x.object_pose.position.x, _x.object_pose.position.y, _x.object_pose.position.z, _x.object_pose.orientation.x, _x.object_pose.orientation.y, _x.object_pose.orientation.z, _x.object_pose.orientation.w,) = _struct_i7d.unpack(str[start:end])
00160 start = end
00161 end += 4
00162 (length,) = _struct_I.unpack(str[start:end])
00163 pattern = '<%sf'%length
00164 start = end
00165 end += struct.calcsize(pattern)
00166 self.pregrasp_offsets = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=length)
00167 start = end
00168 end += 4
00169 (self.num_configurations,) = _struct_i.unpack(str[start:end])
00170 return self
00171 except struct.error as e:
00172 raise roslib.message.DeserializationError(e)
00173
00174 _struct_I = roslib.message.struct_I
00175 _struct_i = struct.Struct("<i")
00176 _struct_i7d = struct.Struct("<i7d")
00177 """autogenerated by genmsg_py from GetPreGraspResponse.msg. Do not edit."""
00178 import roslib.message
00179 import struct
00180
00181 import geometry_msgs.msg
00182 import srs_msgs.msg
00183 import std_msgs.msg
00184
00185 class GetPreGraspResponse(roslib.message.Message):
00186 _md5sum = "538836881add1e5a4677110d671fd2fd"
00187 _type = "srs_grasping/GetPreGraspResponse"
00188 _has_header = False
00189 _full_text = """srs_msgs/DBGrasp[] side
00190 srs_msgs/DBGrasp[] mside
00191 srs_msgs/DBGrasp[] front
00192 srs_msgs/DBGrasp[] top
00193
00194
00195 ================================================================================
00196 MSG: srs_msgs/DBGrasp
00197 int32 object_id
00198 string hand_type
00199 float64[] sdh_joint_values
00200 geometry_msgs/PoseStamped pre_grasp
00201 geometry_msgs/PoseStamped grasp
00202 string category
00203
00204 ================================================================================
00205 MSG: geometry_msgs/PoseStamped
00206 # A Pose with reference coordinate frame and timestamp
00207 Header header
00208 Pose pose
00209
00210 ================================================================================
00211 MSG: std_msgs/Header
00212 # Standard metadata for higher-level stamped data types.
00213 # This is generally used to communicate timestamped data
00214 # in a particular coordinate frame.
00215 #
00216 # sequence ID: consecutively increasing ID
00217 uint32 seq
00218 #Two-integer timestamp that is expressed as:
00219 # * stamp.secs: seconds (stamp_secs) since epoch
00220 # * stamp.nsecs: nanoseconds since stamp_secs
00221 # time-handling sugar is provided by the client library
00222 time stamp
00223 #Frame this data is associated with
00224 # 0: no frame
00225 # 1: global frame
00226 string frame_id
00227
00228 ================================================================================
00229 MSG: geometry_msgs/Pose
00230 # A representation of pose in free space, composed of postion and orientation.
00231 Point position
00232 Quaternion orientation
00233
00234 ================================================================================
00235 MSG: geometry_msgs/Point
00236 # This contains the position of a point in free space
00237 float64 x
00238 float64 y
00239 float64 z
00240
00241 ================================================================================
00242 MSG: geometry_msgs/Quaternion
00243 # This represents an orientation in free space in quaternion form.
00244
00245 float64 x
00246 float64 y
00247 float64 z
00248 float64 w
00249
00250 """
00251 __slots__ = ['side','mside','front','top']
00252 _slot_types = ['srs_msgs/DBGrasp[]','srs_msgs/DBGrasp[]','srs_msgs/DBGrasp[]','srs_msgs/DBGrasp[]']
00253
00254 def __init__(self, *args, **kwds):
00255 """
00256 Constructor. Any message fields that are implicitly/explicitly
00257 set to None will be assigned a default value. The recommend
00258 use is keyword arguments as this is more robust to future message
00259 changes. You cannot mix in-order arguments and keyword arguments.
00260
00261 The available fields are:
00262 side,mside,front,top
00263
00264 @param args: complete set of field values, in .msg order
00265 @param kwds: use keyword arguments corresponding to message field names
00266 to set specific fields.
00267 """
00268 if args or kwds:
00269 super(GetPreGraspResponse, self).__init__(*args, **kwds)
00270
00271 if self.side is None:
00272 self.side = []
00273 if self.mside is None:
00274 self.mside = []
00275 if self.front is None:
00276 self.front = []
00277 if self.top is None:
00278 self.top = []
00279 else:
00280 self.side = []
00281 self.mside = []
00282 self.front = []
00283 self.top = []
00284
00285 def _get_types(self):
00286 """
00287 internal API method
00288 """
00289 return self._slot_types
00290
00291 def serialize(self, buff):
00292 """
00293 serialize message into buffer
00294 @param buff: buffer
00295 @type buff: StringIO
00296 """
00297 try:
00298 length = len(self.side)
00299 buff.write(_struct_I.pack(length))
00300 for val1 in self.side:
00301 buff.write(_struct_i.pack(val1.object_id))
00302 _x = val1.hand_type
00303 length = len(_x)
00304 buff.write(struct.pack('<I%ss'%length, length, _x))
00305 length = len(val1.sdh_joint_values)
00306 buff.write(_struct_I.pack(length))
00307 pattern = '<%sd'%length
00308 buff.write(struct.pack(pattern, *val1.sdh_joint_values))
00309 _v1 = val1.pre_grasp
00310 _v2 = _v1.header
00311 buff.write(_struct_I.pack(_v2.seq))
00312 _v3 = _v2.stamp
00313 _x = _v3
00314 buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00315 _x = _v2.frame_id
00316 length = len(_x)
00317 buff.write(struct.pack('<I%ss'%length, length, _x))
00318 _v4 = _v1.pose
00319 _v5 = _v4.position
00320 _x = _v5
00321 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00322 _v6 = _v4.orientation
00323 _x = _v6
00324 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00325 _v7 = val1.grasp
00326 _v8 = _v7.header
00327 buff.write(_struct_I.pack(_v8.seq))
00328 _v9 = _v8.stamp
00329 _x = _v9
00330 buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00331 _x = _v8.frame_id
00332 length = len(_x)
00333 buff.write(struct.pack('<I%ss'%length, length, _x))
00334 _v10 = _v7.pose
00335 _v11 = _v10.position
00336 _x = _v11
00337 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00338 _v12 = _v10.orientation
00339 _x = _v12
00340 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00341 _x = val1.category
00342 length = len(_x)
00343 buff.write(struct.pack('<I%ss'%length, length, _x))
00344 length = len(self.mside)
00345 buff.write(_struct_I.pack(length))
00346 for val1 in self.mside:
00347 buff.write(_struct_i.pack(val1.object_id))
00348 _x = val1.hand_type
00349 length = len(_x)
00350 buff.write(struct.pack('<I%ss'%length, length, _x))
00351 length = len(val1.sdh_joint_values)
00352 buff.write(_struct_I.pack(length))
00353 pattern = '<%sd'%length
00354 buff.write(struct.pack(pattern, *val1.sdh_joint_values))
00355 _v13 = val1.pre_grasp
00356 _v14 = _v13.header
00357 buff.write(_struct_I.pack(_v14.seq))
00358 _v15 = _v14.stamp
00359 _x = _v15
00360 buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00361 _x = _v14.frame_id
00362 length = len(_x)
00363 buff.write(struct.pack('<I%ss'%length, length, _x))
00364 _v16 = _v13.pose
00365 _v17 = _v16.position
00366 _x = _v17
00367 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00368 _v18 = _v16.orientation
00369 _x = _v18
00370 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00371 _v19 = val1.grasp
00372 _v20 = _v19.header
00373 buff.write(_struct_I.pack(_v20.seq))
00374 _v21 = _v20.stamp
00375 _x = _v21
00376 buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00377 _x = _v20.frame_id
00378 length = len(_x)
00379 buff.write(struct.pack('<I%ss'%length, length, _x))
00380 _v22 = _v19.pose
00381 _v23 = _v22.position
00382 _x = _v23
00383 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00384 _v24 = _v22.orientation
00385 _x = _v24
00386 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00387 _x = val1.category
00388 length = len(_x)
00389 buff.write(struct.pack('<I%ss'%length, length, _x))
00390 length = len(self.front)
00391 buff.write(_struct_I.pack(length))
00392 for val1 in self.front:
00393 buff.write(_struct_i.pack(val1.object_id))
00394 _x = val1.hand_type
00395 length = len(_x)
00396 buff.write(struct.pack('<I%ss'%length, length, _x))
00397 length = len(val1.sdh_joint_values)
00398 buff.write(_struct_I.pack(length))
00399 pattern = '<%sd'%length
00400 buff.write(struct.pack(pattern, *val1.sdh_joint_values))
00401 _v25 = val1.pre_grasp
00402 _v26 = _v25.header
00403 buff.write(_struct_I.pack(_v26.seq))
00404 _v27 = _v26.stamp
00405 _x = _v27
00406 buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00407 _x = _v26.frame_id
00408 length = len(_x)
00409 buff.write(struct.pack('<I%ss'%length, length, _x))
00410 _v28 = _v25.pose
00411 _v29 = _v28.position
00412 _x = _v29
00413 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00414 _v30 = _v28.orientation
00415 _x = _v30
00416 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00417 _v31 = val1.grasp
00418 _v32 = _v31.header
00419 buff.write(_struct_I.pack(_v32.seq))
00420 _v33 = _v32.stamp
00421 _x = _v33
00422 buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00423 _x = _v32.frame_id
00424 length = len(_x)
00425 buff.write(struct.pack('<I%ss'%length, length, _x))
00426 _v34 = _v31.pose
00427 _v35 = _v34.position
00428 _x = _v35
00429 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00430 _v36 = _v34.orientation
00431 _x = _v36
00432 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00433 _x = val1.category
00434 length = len(_x)
00435 buff.write(struct.pack('<I%ss'%length, length, _x))
00436 length = len(self.top)
00437 buff.write(_struct_I.pack(length))
00438 for val1 in self.top:
00439 buff.write(_struct_i.pack(val1.object_id))
00440 _x = val1.hand_type
00441 length = len(_x)
00442 buff.write(struct.pack('<I%ss'%length, length, _x))
00443 length = len(val1.sdh_joint_values)
00444 buff.write(_struct_I.pack(length))
00445 pattern = '<%sd'%length
00446 buff.write(struct.pack(pattern, *val1.sdh_joint_values))
00447 _v37 = val1.pre_grasp
00448 _v38 = _v37.header
00449 buff.write(_struct_I.pack(_v38.seq))
00450 _v39 = _v38.stamp
00451 _x = _v39
00452 buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00453 _x = _v38.frame_id
00454 length = len(_x)
00455 buff.write(struct.pack('<I%ss'%length, length, _x))
00456 _v40 = _v37.pose
00457 _v41 = _v40.position
00458 _x = _v41
00459 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00460 _v42 = _v40.orientation
00461 _x = _v42
00462 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00463 _v43 = val1.grasp
00464 _v44 = _v43.header
00465 buff.write(_struct_I.pack(_v44.seq))
00466 _v45 = _v44.stamp
00467 _x = _v45
00468 buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00469 _x = _v44.frame_id
00470 length = len(_x)
00471 buff.write(struct.pack('<I%ss'%length, length, _x))
00472 _v46 = _v43.pose
00473 _v47 = _v46.position
00474 _x = _v47
00475 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00476 _v48 = _v46.orientation
00477 _x = _v48
00478 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00479 _x = val1.category
00480 length = len(_x)
00481 buff.write(struct.pack('<I%ss'%length, length, _x))
00482 except struct.error as se: self._check_types(se)
00483 except TypeError as te: self._check_types(te)
00484
00485 def deserialize(self, str):
00486 """
00487 unpack serialized message in str into this message instance
00488 @param str: byte array of serialized message
00489 @type str: str
00490 """
00491 try:
00492 end = 0
00493 start = end
00494 end += 4
00495 (length,) = _struct_I.unpack(str[start:end])
00496 self.side = []
00497 for i in range(0, length):
00498 val1 = srs_msgs.msg.DBGrasp()
00499 start = end
00500 end += 4
00501 (val1.object_id,) = _struct_i.unpack(str[start:end])
00502 start = end
00503 end += 4
00504 (length,) = _struct_I.unpack(str[start:end])
00505 start = end
00506 end += length
00507 val1.hand_type = str[start:end]
00508 start = end
00509 end += 4
00510 (length,) = _struct_I.unpack(str[start:end])
00511 pattern = '<%sd'%length
00512 start = end
00513 end += struct.calcsize(pattern)
00514 val1.sdh_joint_values = struct.unpack(pattern, str[start:end])
00515 _v49 = val1.pre_grasp
00516 _v50 = _v49.header
00517 start = end
00518 end += 4
00519 (_v50.seq,) = _struct_I.unpack(str[start:end])
00520 _v51 = _v50.stamp
00521 _x = _v51
00522 start = end
00523 end += 8
00524 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
00525 start = end
00526 end += 4
00527 (length,) = _struct_I.unpack(str[start:end])
00528 start = end
00529 end += length
00530 _v50.frame_id = str[start:end]
00531 _v52 = _v49.pose
00532 _v53 = _v52.position
00533 _x = _v53
00534 start = end
00535 end += 24
00536 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00537 _v54 = _v52.orientation
00538 _x = _v54
00539 start = end
00540 end += 32
00541 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
00542 _v55 = val1.grasp
00543 _v56 = _v55.header
00544 start = end
00545 end += 4
00546 (_v56.seq,) = _struct_I.unpack(str[start:end])
00547 _v57 = _v56.stamp
00548 _x = _v57
00549 start = end
00550 end += 8
00551 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
00552 start = end
00553 end += 4
00554 (length,) = _struct_I.unpack(str[start:end])
00555 start = end
00556 end += length
00557 _v56.frame_id = str[start:end]
00558 _v58 = _v55.pose
00559 _v59 = _v58.position
00560 _x = _v59
00561 start = end
00562 end += 24
00563 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00564 _v60 = _v58.orientation
00565 _x = _v60
00566 start = end
00567 end += 32
00568 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
00569 start = end
00570 end += 4
00571 (length,) = _struct_I.unpack(str[start:end])
00572 start = end
00573 end += length
00574 val1.category = str[start:end]
00575 self.side.append(val1)
00576 start = end
00577 end += 4
00578 (length,) = _struct_I.unpack(str[start:end])
00579 self.mside = []
00580 for i in range(0, length):
00581 val1 = srs_msgs.msg.DBGrasp()
00582 start = end
00583 end += 4
00584 (val1.object_id,) = _struct_i.unpack(str[start:end])
00585 start = end
00586 end += 4
00587 (length,) = _struct_I.unpack(str[start:end])
00588 start = end
00589 end += length
00590 val1.hand_type = str[start:end]
00591 start = end
00592 end += 4
00593 (length,) = _struct_I.unpack(str[start:end])
00594 pattern = '<%sd'%length
00595 start = end
00596 end += struct.calcsize(pattern)
00597 val1.sdh_joint_values = struct.unpack(pattern, str[start:end])
00598 _v61 = val1.pre_grasp
00599 _v62 = _v61.header
00600 start = end
00601 end += 4
00602 (_v62.seq,) = _struct_I.unpack(str[start:end])
00603 _v63 = _v62.stamp
00604 _x = _v63
00605 start = end
00606 end += 8
00607 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
00608 start = end
00609 end += 4
00610 (length,) = _struct_I.unpack(str[start:end])
00611 start = end
00612 end += length
00613 _v62.frame_id = str[start:end]
00614 _v64 = _v61.pose
00615 _v65 = _v64.position
00616 _x = _v65
00617 start = end
00618 end += 24
00619 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00620 _v66 = _v64.orientation
00621 _x = _v66
00622 start = end
00623 end += 32
00624 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
00625 _v67 = val1.grasp
00626 _v68 = _v67.header
00627 start = end
00628 end += 4
00629 (_v68.seq,) = _struct_I.unpack(str[start:end])
00630 _v69 = _v68.stamp
00631 _x = _v69
00632 start = end
00633 end += 8
00634 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
00635 start = end
00636 end += 4
00637 (length,) = _struct_I.unpack(str[start:end])
00638 start = end
00639 end += length
00640 _v68.frame_id = str[start:end]
00641 _v70 = _v67.pose
00642 _v71 = _v70.position
00643 _x = _v71
00644 start = end
00645 end += 24
00646 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00647 _v72 = _v70.orientation
00648 _x = _v72
00649 start = end
00650 end += 32
00651 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
00652 start = end
00653 end += 4
00654 (length,) = _struct_I.unpack(str[start:end])
00655 start = end
00656 end += length
00657 val1.category = str[start:end]
00658 self.mside.append(val1)
00659 start = end
00660 end += 4
00661 (length,) = _struct_I.unpack(str[start:end])
00662 self.front = []
00663 for i in range(0, length):
00664 val1 = srs_msgs.msg.DBGrasp()
00665 start = end
00666 end += 4
00667 (val1.object_id,) = _struct_i.unpack(str[start:end])
00668 start = end
00669 end += 4
00670 (length,) = _struct_I.unpack(str[start:end])
00671 start = end
00672 end += length
00673 val1.hand_type = str[start:end]
00674 start = end
00675 end += 4
00676 (length,) = _struct_I.unpack(str[start:end])
00677 pattern = '<%sd'%length
00678 start = end
00679 end += struct.calcsize(pattern)
00680 val1.sdh_joint_values = struct.unpack(pattern, str[start:end])
00681 _v73 = val1.pre_grasp
00682 _v74 = _v73.header
00683 start = end
00684 end += 4
00685 (_v74.seq,) = _struct_I.unpack(str[start:end])
00686 _v75 = _v74.stamp
00687 _x = _v75
00688 start = end
00689 end += 8
00690 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
00691 start = end
00692 end += 4
00693 (length,) = _struct_I.unpack(str[start:end])
00694 start = end
00695 end += length
00696 _v74.frame_id = str[start:end]
00697 _v76 = _v73.pose
00698 _v77 = _v76.position
00699 _x = _v77
00700 start = end
00701 end += 24
00702 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00703 _v78 = _v76.orientation
00704 _x = _v78
00705 start = end
00706 end += 32
00707 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
00708 _v79 = val1.grasp
00709 _v80 = _v79.header
00710 start = end
00711 end += 4
00712 (_v80.seq,) = _struct_I.unpack(str[start:end])
00713 _v81 = _v80.stamp
00714 _x = _v81
00715 start = end
00716 end += 8
00717 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
00718 start = end
00719 end += 4
00720 (length,) = _struct_I.unpack(str[start:end])
00721 start = end
00722 end += length
00723 _v80.frame_id = str[start:end]
00724 _v82 = _v79.pose
00725 _v83 = _v82.position
00726 _x = _v83
00727 start = end
00728 end += 24
00729 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00730 _v84 = _v82.orientation
00731 _x = _v84
00732 start = end
00733 end += 32
00734 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
00735 start = end
00736 end += 4
00737 (length,) = _struct_I.unpack(str[start:end])
00738 start = end
00739 end += length
00740 val1.category = str[start:end]
00741 self.front.append(val1)
00742 start = end
00743 end += 4
00744 (length,) = _struct_I.unpack(str[start:end])
00745 self.top = []
00746 for i in range(0, length):
00747 val1 = srs_msgs.msg.DBGrasp()
00748 start = end
00749 end += 4
00750 (val1.object_id,) = _struct_i.unpack(str[start:end])
00751 start = end
00752 end += 4
00753 (length,) = _struct_I.unpack(str[start:end])
00754 start = end
00755 end += length
00756 val1.hand_type = str[start:end]
00757 start = end
00758 end += 4
00759 (length,) = _struct_I.unpack(str[start:end])
00760 pattern = '<%sd'%length
00761 start = end
00762 end += struct.calcsize(pattern)
00763 val1.sdh_joint_values = struct.unpack(pattern, str[start:end])
00764 _v85 = val1.pre_grasp
00765 _v86 = _v85.header
00766 start = end
00767 end += 4
00768 (_v86.seq,) = _struct_I.unpack(str[start:end])
00769 _v87 = _v86.stamp
00770 _x = _v87
00771 start = end
00772 end += 8
00773 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
00774 start = end
00775 end += 4
00776 (length,) = _struct_I.unpack(str[start:end])
00777 start = end
00778 end += length
00779 _v86.frame_id = str[start:end]
00780 _v88 = _v85.pose
00781 _v89 = _v88.position
00782 _x = _v89
00783 start = end
00784 end += 24
00785 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00786 _v90 = _v88.orientation
00787 _x = _v90
00788 start = end
00789 end += 32
00790 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
00791 _v91 = val1.grasp
00792 _v92 = _v91.header
00793 start = end
00794 end += 4
00795 (_v92.seq,) = _struct_I.unpack(str[start:end])
00796 _v93 = _v92.stamp
00797 _x = _v93
00798 start = end
00799 end += 8
00800 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
00801 start = end
00802 end += 4
00803 (length,) = _struct_I.unpack(str[start:end])
00804 start = end
00805 end += length
00806 _v92.frame_id = str[start:end]
00807 _v94 = _v91.pose
00808 _v95 = _v94.position
00809 _x = _v95
00810 start = end
00811 end += 24
00812 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00813 _v96 = _v94.orientation
00814 _x = _v96
00815 start = end
00816 end += 32
00817 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
00818 start = end
00819 end += 4
00820 (length,) = _struct_I.unpack(str[start:end])
00821 start = end
00822 end += length
00823 val1.category = str[start:end]
00824 self.top.append(val1)
00825 return self
00826 except struct.error as e:
00827 raise roslib.message.DeserializationError(e)
00828
00829
00830 def serialize_numpy(self, buff, numpy):
00831 """
00832 serialize message with numpy array types into buffer
00833 @param buff: buffer
00834 @type buff: StringIO
00835 @param numpy: numpy python module
00836 @type numpy module
00837 """
00838 try:
00839 length = len(self.side)
00840 buff.write(_struct_I.pack(length))
00841 for val1 in self.side:
00842 buff.write(_struct_i.pack(val1.object_id))
00843 _x = val1.hand_type
00844 length = len(_x)
00845 buff.write(struct.pack('<I%ss'%length, length, _x))
00846 length = len(val1.sdh_joint_values)
00847 buff.write(_struct_I.pack(length))
00848 pattern = '<%sd'%length
00849 buff.write(val1.sdh_joint_values.tostring())
00850 _v97 = val1.pre_grasp
00851 _v98 = _v97.header
00852 buff.write(_struct_I.pack(_v98.seq))
00853 _v99 = _v98.stamp
00854 _x = _v99
00855 buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00856 _x = _v98.frame_id
00857 length = len(_x)
00858 buff.write(struct.pack('<I%ss'%length, length, _x))
00859 _v100 = _v97.pose
00860 _v101 = _v100.position
00861 _x = _v101
00862 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00863 _v102 = _v100.orientation
00864 _x = _v102
00865 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00866 _v103 = val1.grasp
00867 _v104 = _v103.header
00868 buff.write(_struct_I.pack(_v104.seq))
00869 _v105 = _v104.stamp
00870 _x = _v105
00871 buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00872 _x = _v104.frame_id
00873 length = len(_x)
00874 buff.write(struct.pack('<I%ss'%length, length, _x))
00875 _v106 = _v103.pose
00876 _v107 = _v106.position
00877 _x = _v107
00878 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00879 _v108 = _v106.orientation
00880 _x = _v108
00881 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00882 _x = val1.category
00883 length = len(_x)
00884 buff.write(struct.pack('<I%ss'%length, length, _x))
00885 length = len(self.mside)
00886 buff.write(_struct_I.pack(length))
00887 for val1 in self.mside:
00888 buff.write(_struct_i.pack(val1.object_id))
00889 _x = val1.hand_type
00890 length = len(_x)
00891 buff.write(struct.pack('<I%ss'%length, length, _x))
00892 length = len(val1.sdh_joint_values)
00893 buff.write(_struct_I.pack(length))
00894 pattern = '<%sd'%length
00895 buff.write(val1.sdh_joint_values.tostring())
00896 _v109 = val1.pre_grasp
00897 _v110 = _v109.header
00898 buff.write(_struct_I.pack(_v110.seq))
00899 _v111 = _v110.stamp
00900 _x = _v111
00901 buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00902 _x = _v110.frame_id
00903 length = len(_x)
00904 buff.write(struct.pack('<I%ss'%length, length, _x))
00905 _v112 = _v109.pose
00906 _v113 = _v112.position
00907 _x = _v113
00908 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00909 _v114 = _v112.orientation
00910 _x = _v114
00911 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00912 _v115 = val1.grasp
00913 _v116 = _v115.header
00914 buff.write(_struct_I.pack(_v116.seq))
00915 _v117 = _v116.stamp
00916 _x = _v117
00917 buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00918 _x = _v116.frame_id
00919 length = len(_x)
00920 buff.write(struct.pack('<I%ss'%length, length, _x))
00921 _v118 = _v115.pose
00922 _v119 = _v118.position
00923 _x = _v119
00924 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00925 _v120 = _v118.orientation
00926 _x = _v120
00927 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00928 _x = val1.category
00929 length = len(_x)
00930 buff.write(struct.pack('<I%ss'%length, length, _x))
00931 length = len(self.front)
00932 buff.write(_struct_I.pack(length))
00933 for val1 in self.front:
00934 buff.write(_struct_i.pack(val1.object_id))
00935 _x = val1.hand_type
00936 length = len(_x)
00937 buff.write(struct.pack('<I%ss'%length, length, _x))
00938 length = len(val1.sdh_joint_values)
00939 buff.write(_struct_I.pack(length))
00940 pattern = '<%sd'%length
00941 buff.write(val1.sdh_joint_values.tostring())
00942 _v121 = val1.pre_grasp
00943 _v122 = _v121.header
00944 buff.write(_struct_I.pack(_v122.seq))
00945 _v123 = _v122.stamp
00946 _x = _v123
00947 buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00948 _x = _v122.frame_id
00949 length = len(_x)
00950 buff.write(struct.pack('<I%ss'%length, length, _x))
00951 _v124 = _v121.pose
00952 _v125 = _v124.position
00953 _x = _v125
00954 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00955 _v126 = _v124.orientation
00956 _x = _v126
00957 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00958 _v127 = val1.grasp
00959 _v128 = _v127.header
00960 buff.write(_struct_I.pack(_v128.seq))
00961 _v129 = _v128.stamp
00962 _x = _v129
00963 buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00964 _x = _v128.frame_id
00965 length = len(_x)
00966 buff.write(struct.pack('<I%ss'%length, length, _x))
00967 _v130 = _v127.pose
00968 _v131 = _v130.position
00969 _x = _v131
00970 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00971 _v132 = _v130.orientation
00972 _x = _v132
00973 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00974 _x = val1.category
00975 length = len(_x)
00976 buff.write(struct.pack('<I%ss'%length, length, _x))
00977 length = len(self.top)
00978 buff.write(_struct_I.pack(length))
00979 for val1 in self.top:
00980 buff.write(_struct_i.pack(val1.object_id))
00981 _x = val1.hand_type
00982 length = len(_x)
00983 buff.write(struct.pack('<I%ss'%length, length, _x))
00984 length = len(val1.sdh_joint_values)
00985 buff.write(_struct_I.pack(length))
00986 pattern = '<%sd'%length
00987 buff.write(val1.sdh_joint_values.tostring())
00988 _v133 = val1.pre_grasp
00989 _v134 = _v133.header
00990 buff.write(_struct_I.pack(_v134.seq))
00991 _v135 = _v134.stamp
00992 _x = _v135
00993 buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00994 _x = _v134.frame_id
00995 length = len(_x)
00996 buff.write(struct.pack('<I%ss'%length, length, _x))
00997 _v136 = _v133.pose
00998 _v137 = _v136.position
00999 _x = _v137
01000 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
01001 _v138 = _v136.orientation
01002 _x = _v138
01003 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
01004 _v139 = val1.grasp
01005 _v140 = _v139.header
01006 buff.write(_struct_I.pack(_v140.seq))
01007 _v141 = _v140.stamp
01008 _x = _v141
01009 buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
01010 _x = _v140.frame_id
01011 length = len(_x)
01012 buff.write(struct.pack('<I%ss'%length, length, _x))
01013 _v142 = _v139.pose
01014 _v143 = _v142.position
01015 _x = _v143
01016 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
01017 _v144 = _v142.orientation
01018 _x = _v144
01019 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
01020 _x = val1.category
01021 length = len(_x)
01022 buff.write(struct.pack('<I%ss'%length, length, _x))
01023 except struct.error as se: self._check_types(se)
01024 except TypeError as te: self._check_types(te)
01025
01026 def deserialize_numpy(self, str, numpy):
01027 """
01028 unpack serialized message in str into this message instance using numpy for array types
01029 @param str: byte array of serialized message
01030 @type str: str
01031 @param numpy: numpy python module
01032 @type numpy: module
01033 """
01034 try:
01035 end = 0
01036 start = end
01037 end += 4
01038 (length,) = _struct_I.unpack(str[start:end])
01039 self.side = []
01040 for i in range(0, length):
01041 val1 = srs_msgs.msg.DBGrasp()
01042 start = end
01043 end += 4
01044 (val1.object_id,) = _struct_i.unpack(str[start:end])
01045 start = end
01046 end += 4
01047 (length,) = _struct_I.unpack(str[start:end])
01048 start = end
01049 end += length
01050 val1.hand_type = str[start:end]
01051 start = end
01052 end += 4
01053 (length,) = _struct_I.unpack(str[start:end])
01054 pattern = '<%sd'%length
01055 start = end
01056 end += struct.calcsize(pattern)
01057 val1.sdh_joint_values = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
01058 _v145 = val1.pre_grasp
01059 _v146 = _v145.header
01060 start = end
01061 end += 4
01062 (_v146.seq,) = _struct_I.unpack(str[start:end])
01063 _v147 = _v146.stamp
01064 _x = _v147
01065 start = end
01066 end += 8
01067 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
01068 start = end
01069 end += 4
01070 (length,) = _struct_I.unpack(str[start:end])
01071 start = end
01072 end += length
01073 _v146.frame_id = str[start:end]
01074 _v148 = _v145.pose
01075 _v149 = _v148.position
01076 _x = _v149
01077 start = end
01078 end += 24
01079 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
01080 _v150 = _v148.orientation
01081 _x = _v150
01082 start = end
01083 end += 32
01084 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
01085 _v151 = val1.grasp
01086 _v152 = _v151.header
01087 start = end
01088 end += 4
01089 (_v152.seq,) = _struct_I.unpack(str[start:end])
01090 _v153 = _v152.stamp
01091 _x = _v153
01092 start = end
01093 end += 8
01094 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
01095 start = end
01096 end += 4
01097 (length,) = _struct_I.unpack(str[start:end])
01098 start = end
01099 end += length
01100 _v152.frame_id = str[start:end]
01101 _v154 = _v151.pose
01102 _v155 = _v154.position
01103 _x = _v155
01104 start = end
01105 end += 24
01106 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
01107 _v156 = _v154.orientation
01108 _x = _v156
01109 start = end
01110 end += 32
01111 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
01112 start = end
01113 end += 4
01114 (length,) = _struct_I.unpack(str[start:end])
01115 start = end
01116 end += length
01117 val1.category = str[start:end]
01118 self.side.append(val1)
01119 start = end
01120 end += 4
01121 (length,) = _struct_I.unpack(str[start:end])
01122 self.mside = []
01123 for i in range(0, length):
01124 val1 = srs_msgs.msg.DBGrasp()
01125 start = end
01126 end += 4
01127 (val1.object_id,) = _struct_i.unpack(str[start:end])
01128 start = end
01129 end += 4
01130 (length,) = _struct_I.unpack(str[start:end])
01131 start = end
01132 end += length
01133 val1.hand_type = str[start:end]
01134 start = end
01135 end += 4
01136 (length,) = _struct_I.unpack(str[start:end])
01137 pattern = '<%sd'%length
01138 start = end
01139 end += struct.calcsize(pattern)
01140 val1.sdh_joint_values = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
01141 _v157 = val1.pre_grasp
01142 _v158 = _v157.header
01143 start = end
01144 end += 4
01145 (_v158.seq,) = _struct_I.unpack(str[start:end])
01146 _v159 = _v158.stamp
01147 _x = _v159
01148 start = end
01149 end += 8
01150 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
01151 start = end
01152 end += 4
01153 (length,) = _struct_I.unpack(str[start:end])
01154 start = end
01155 end += length
01156 _v158.frame_id = str[start:end]
01157 _v160 = _v157.pose
01158 _v161 = _v160.position
01159 _x = _v161
01160 start = end
01161 end += 24
01162 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
01163 _v162 = _v160.orientation
01164 _x = _v162
01165 start = end
01166 end += 32
01167 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
01168 _v163 = val1.grasp
01169 _v164 = _v163.header
01170 start = end
01171 end += 4
01172 (_v164.seq,) = _struct_I.unpack(str[start:end])
01173 _v165 = _v164.stamp
01174 _x = _v165
01175 start = end
01176 end += 8
01177 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
01178 start = end
01179 end += 4
01180 (length,) = _struct_I.unpack(str[start:end])
01181 start = end
01182 end += length
01183 _v164.frame_id = str[start:end]
01184 _v166 = _v163.pose
01185 _v167 = _v166.position
01186 _x = _v167
01187 start = end
01188 end += 24
01189 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
01190 _v168 = _v166.orientation
01191 _x = _v168
01192 start = end
01193 end += 32
01194 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
01195 start = end
01196 end += 4
01197 (length,) = _struct_I.unpack(str[start:end])
01198 start = end
01199 end += length
01200 val1.category = str[start:end]
01201 self.mside.append(val1)
01202 start = end
01203 end += 4
01204 (length,) = _struct_I.unpack(str[start:end])
01205 self.front = []
01206 for i in range(0, length):
01207 val1 = srs_msgs.msg.DBGrasp()
01208 start = end
01209 end += 4
01210 (val1.object_id,) = _struct_i.unpack(str[start:end])
01211 start = end
01212 end += 4
01213 (length,) = _struct_I.unpack(str[start:end])
01214 start = end
01215 end += length
01216 val1.hand_type = str[start:end]
01217 start = end
01218 end += 4
01219 (length,) = _struct_I.unpack(str[start:end])
01220 pattern = '<%sd'%length
01221 start = end
01222 end += struct.calcsize(pattern)
01223 val1.sdh_joint_values = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
01224 _v169 = val1.pre_grasp
01225 _v170 = _v169.header
01226 start = end
01227 end += 4
01228 (_v170.seq,) = _struct_I.unpack(str[start:end])
01229 _v171 = _v170.stamp
01230 _x = _v171
01231 start = end
01232 end += 8
01233 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
01234 start = end
01235 end += 4
01236 (length,) = _struct_I.unpack(str[start:end])
01237 start = end
01238 end += length
01239 _v170.frame_id = str[start:end]
01240 _v172 = _v169.pose
01241 _v173 = _v172.position
01242 _x = _v173
01243 start = end
01244 end += 24
01245 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
01246 _v174 = _v172.orientation
01247 _x = _v174
01248 start = end
01249 end += 32
01250 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
01251 _v175 = val1.grasp
01252 _v176 = _v175.header
01253 start = end
01254 end += 4
01255 (_v176.seq,) = _struct_I.unpack(str[start:end])
01256 _v177 = _v176.stamp
01257 _x = _v177
01258 start = end
01259 end += 8
01260 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
01261 start = end
01262 end += 4
01263 (length,) = _struct_I.unpack(str[start:end])
01264 start = end
01265 end += length
01266 _v176.frame_id = str[start:end]
01267 _v178 = _v175.pose
01268 _v179 = _v178.position
01269 _x = _v179
01270 start = end
01271 end += 24
01272 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
01273 _v180 = _v178.orientation
01274 _x = _v180
01275 start = end
01276 end += 32
01277 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
01278 start = end
01279 end += 4
01280 (length,) = _struct_I.unpack(str[start:end])
01281 start = end
01282 end += length
01283 val1.category = str[start:end]
01284 self.front.append(val1)
01285 start = end
01286 end += 4
01287 (length,) = _struct_I.unpack(str[start:end])
01288 self.top = []
01289 for i in range(0, length):
01290 val1 = srs_msgs.msg.DBGrasp()
01291 start = end
01292 end += 4
01293 (val1.object_id,) = _struct_i.unpack(str[start:end])
01294 start = end
01295 end += 4
01296 (length,) = _struct_I.unpack(str[start:end])
01297 start = end
01298 end += length
01299 val1.hand_type = str[start:end]
01300 start = end
01301 end += 4
01302 (length,) = _struct_I.unpack(str[start:end])
01303 pattern = '<%sd'%length
01304 start = end
01305 end += struct.calcsize(pattern)
01306 val1.sdh_joint_values = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
01307 _v181 = val1.pre_grasp
01308 _v182 = _v181.header
01309 start = end
01310 end += 4
01311 (_v182.seq,) = _struct_I.unpack(str[start:end])
01312 _v183 = _v182.stamp
01313 _x = _v183
01314 start = end
01315 end += 8
01316 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
01317 start = end
01318 end += 4
01319 (length,) = _struct_I.unpack(str[start:end])
01320 start = end
01321 end += length
01322 _v182.frame_id = str[start:end]
01323 _v184 = _v181.pose
01324 _v185 = _v184.position
01325 _x = _v185
01326 start = end
01327 end += 24
01328 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
01329 _v186 = _v184.orientation
01330 _x = _v186
01331 start = end
01332 end += 32
01333 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
01334 _v187 = val1.grasp
01335 _v188 = _v187.header
01336 start = end
01337 end += 4
01338 (_v188.seq,) = _struct_I.unpack(str[start:end])
01339 _v189 = _v188.stamp
01340 _x = _v189
01341 start = end
01342 end += 8
01343 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
01344 start = end
01345 end += 4
01346 (length,) = _struct_I.unpack(str[start:end])
01347 start = end
01348 end += length
01349 _v188.frame_id = str[start:end]
01350 _v190 = _v187.pose
01351 _v191 = _v190.position
01352 _x = _v191
01353 start = end
01354 end += 24
01355 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
01356 _v192 = _v190.orientation
01357 _x = _v192
01358 start = end
01359 end += 32
01360 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
01361 start = end
01362 end += 4
01363 (length,) = _struct_I.unpack(str[start:end])
01364 start = end
01365 end += length
01366 val1.category = str[start:end]
01367 self.top.append(val1)
01368 return self
01369 except struct.error as e:
01370 raise roslib.message.DeserializationError(e)
01371
01372 _struct_I = roslib.message.struct_I
01373 _struct_i = struct.Struct("<i")
01374 _struct_4d = struct.Struct("<4d")
01375 _struct_2I = struct.Struct("<2I")
01376 _struct_3d = struct.Struct("<3d")
01377 class GetPreGrasp(roslib.message.ServiceDefinition):
01378 _type = 'srs_grasping/GetPreGrasp'
01379 _md5sum = 'e606f4d802b5d457bfadfd961329be5b'
01380 _request_class = GetPreGraspRequest
01381 _response_class = GetPreGraspResponse
