00001 """autogenerated by genmsg_py from PickAndPlaceActionGoal.msg. Do not edit."""
00002 import roslib.message
00003 import struct
00004
00005 import turtlebot_block_manipulation.msg
00006 import geometry_msgs.msg
00007 import roslib.rostime
00008 import actionlib_msgs.msg
00009 import std_msgs.msg
00010
00011 class PickAndPlaceActionGoal(roslib.message.Message):
00012 _md5sum = "414a1aaefb37f8efaa1fba6d43aa0061"
00013 _type = "turtlebot_block_manipulation/PickAndPlaceActionGoal"
00014 _has_header = True
00015 _full_text = """# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00016
00017 Header header
00018 actionlib_msgs/GoalID goal_id
00019 PickAndPlaceGoal goal
00020
00021 ================================================================================
00022 MSG: std_msgs/Header
00023 # Standard metadata for higher-level stamped data types.
00024 # This is generally used to communicate timestamped data
00025 # in a particular coordinate frame.
00026 #
00027 # sequence ID: consecutively increasing ID
00028 uint32 seq
00029 #Two-integer timestamp that is expressed as:
00030 # * stamp.secs: seconds (stamp_secs) since epoch
00031 # * stamp.nsecs: nanoseconds since stamp_secs
00032 # time-handling sugar is provided by the client library
00033 time stamp
00034 #Frame this data is associated with
00035 # 0: no frame
00036 # 1: global frame
00037 string frame_id
00038
00039 ================================================================================
00040 MSG: actionlib_msgs/GoalID
00041 # The stamp should store the time at which this goal was requested.
00042 # It is used by an action server when it tries to preempt all
00043 # goals that were requested before a certain time
00044 time stamp
00045
00046 # The id provides a way to associate feedback and
00047 # result message with specific goal requests. The id
00048 # specified must be unique.
00049 string id
00050
00051
00052 ================================================================================
00053 MSG: turtlebot_block_manipulation/PickAndPlaceGoal
00054 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00055 #goal definition
00056 string frame
00057 float32 z_up
00058 float32 gripper_open
00059 float32 gripper_closed
00060 geometry_msgs/Pose pickup_pose
00061 geometry_msgs/Pose place_pose
00062 string topic
00063
00064 ================================================================================
00065 MSG: geometry_msgs/Pose
00066 # A representation of pose in free space, composed of postion and orientation.
00067 Point position
00068 Quaternion orientation
00069
00070 ================================================================================
00071 MSG: geometry_msgs/Point
00072 # This contains the position of a point in free space
00073 float64 x
00074 float64 y
00075 float64 z
00076
00077 ================================================================================
00078 MSG: geometry_msgs/Quaternion
00079 # This represents an orientation in free space in quaternion form.
00080
00081 float64 x
00082 float64 y
00083 float64 z
00084 float64 w
00085
00086 """
00087 __slots__ = ['header','goal_id','goal']
00088 _slot_types = ['Header','actionlib_msgs/GoalID','turtlebot_block_manipulation/PickAndPlaceGoal']
00089
00090 def __init__(self, *args, **kwds):
00091 """
00092 Constructor. Any message fields that are implicitly/explicitly
00093 set to None will be assigned a default value. The recommend
00094 use is keyword arguments as this is more robust to future message
00095 changes. You cannot mix in-order arguments and keyword arguments.
00096
00097 The available fields are:
00098 header,goal_id,goal
00099
00100 @param args: complete set of field values, in .msg order
00101 @param kwds: use keyword arguments corresponding to message field names
00102 to set specific fields.
00103 """
00104 if args or kwds:
00105 super(PickAndPlaceActionGoal, self).__init__(*args, **kwds)
00106
00107 if self.header is None:
00108 self.header = std_msgs.msg._Header.Header()
00109 if self.goal_id is None:
00110 self.goal_id = actionlib_msgs.msg.GoalID()
00111 if self.goal is None:
00112 self.goal = turtlebot_block_manipulation.msg.PickAndPlaceGoal()
00113 else:
00114 self.header = std_msgs.msg._Header.Header()
00115 self.goal_id = actionlib_msgs.msg.GoalID()
00116 self.goal = turtlebot_block_manipulation.msg.PickAndPlaceGoal()
00117
00118 def _get_types(self):
00119 """
00120 internal API method
00121 """
00122 return self._slot_types
00123
00124 def serialize(self, buff):
00125 """
00126 serialize message into buffer
00127 @param buff: buffer
00128 @type buff: StringIO
00129 """
00130 try:
00131 _x = self
00132 buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
00133 _x = self.header.frame_id
00134 length = len(_x)
00135 buff.write(struct.pack('<I%ss'%length, length, _x))
00136 _x = self
00137 buff.write(_struct_2I.pack(_x.goal_id.stamp.secs, _x.goal_id.stamp.nsecs))
00138 _x = self.goal_id.id
00139 length = len(_x)
00140 buff.write(struct.pack('<I%ss'%length, length, _x))
00141 _x = self.goal.frame
00142 length = len(_x)
00143 buff.write(struct.pack('<I%ss'%length, length, _x))
00144 _x = self
00145 buff.write(_struct_3f14d.pack(_x.goal.z_up, _x.goal.gripper_open, _x.goal.gripper_closed, _x.goal.pickup_pose.position.x, _x.goal.pickup_pose.position.y, _x.goal.pickup_pose.position.z, _x.goal.pickup_pose.orientation.x, _x.goal.pickup_pose.orientation.y, _x.goal.pickup_pose.orientation.z, _x.goal.pickup_pose.orientation.w, _x.goal.place_pose.position.x, _x.goal.place_pose.position.y, _x.goal.place_pose.position.z, _x.goal.place_pose.orientation.x, _x.goal.place_pose.orientation.y, _x.goal.place_pose.orientation.z, _x.goal.place_pose.orientation.w))
00146 _x = self.goal.topic
00147 length = len(_x)
00148 buff.write(struct.pack('<I%ss'%length, length, _x))
00149 except struct.error as se: self._check_types(se)
00150 except TypeError as te: self._check_types(te)
00151
00152 def deserialize(self, str):
00153 """
00154 unpack serialized message in str into this message instance
00155 @param str: byte array of serialized message
00156 @type str: str
00157 """
00158 try:
00159 if self.header is None:
00160 self.header = std_msgs.msg._Header.Header()
00161 if self.goal_id is None:
00162 self.goal_id = actionlib_msgs.msg.GoalID()
00163 if self.goal is None:
00164 self.goal = turtlebot_block_manipulation.msg.PickAndPlaceGoal()
00165 end = 0
00166 _x = self
00167 start = end
00168 end += 12
00169 (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00170 start = end
00171 end += 4
00172 (length,) = _struct_I.unpack(str[start:end])
00173 start = end
00174 end += length
00175 self.header.frame_id = str[start:end]
00176 _x = self
00177 start = end
00178 end += 8
00179 (_x.goal_id.stamp.secs, _x.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00180 start = end
00181 end += 4
00182 (length,) = _struct_I.unpack(str[start:end])
00183 start = end
00184 end += length
00185 self.goal_id.id = str[start:end]
00186 start = end
00187 end += 4
00188 (length,) = _struct_I.unpack(str[start:end])
00189 start = end
00190 end += length
00191 self.goal.frame = str[start:end]
00192 _x = self
00193 start = end
00194 end += 124
00195 (_x.goal.z_up, _x.goal.gripper_open, _x.goal.gripper_closed, _x.goal.pickup_pose.position.x, _x.goal.pickup_pose.position.y, _x.goal.pickup_pose.position.z, _x.goal.pickup_pose.orientation.x, _x.goal.pickup_pose.orientation.y, _x.goal.pickup_pose.orientation.z, _x.goal.pickup_pose.orientation.w, _x.goal.place_pose.position.x, _x.goal.place_pose.position.y, _x.goal.place_pose.position.z, _x.goal.place_pose.orientation.x, _x.goal.place_pose.orientation.y, _x.goal.place_pose.orientation.z, _x.goal.place_pose.orientation.w,) = _struct_3f14d.unpack(str[start:end])
00196 start = end
00197 end += 4
00198 (length,) = _struct_I.unpack(str[start:end])
00199 start = end
00200 end += length
00201 self.goal.topic = str[start:end]
00202 return self
00203 except struct.error as e:
00204 raise roslib.message.DeserializationError(e)
00205
00206
00207 def serialize_numpy(self, buff, numpy):
00208 """
00209 serialize message with numpy array types into buffer
00210 @param buff: buffer
00211 @type buff: StringIO
00212 @param numpy: numpy python module
00213 @type numpy module
00214 """
00215 try:
00216 _x = self
00217 buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
00218 _x = self.header.frame_id
00219 length = len(_x)
00220 buff.write(struct.pack('<I%ss'%length, length, _x))
00221 _x = self
00222 buff.write(_struct_2I.pack(_x.goal_id.stamp.secs, _x.goal_id.stamp.nsecs))
00223 _x = self.goal_id.id
00224 length = len(_x)
00225 buff.write(struct.pack('<I%ss'%length, length, _x))
00226 _x = self.goal.frame
00227 length = len(_x)
00228 buff.write(struct.pack('<I%ss'%length, length, _x))
00229 _x = self
00230 buff.write(_struct_3f14d.pack(_x.goal.z_up, _x.goal.gripper_open, _x.goal.gripper_closed, _x.goal.pickup_pose.position.x, _x.goal.pickup_pose.position.y, _x.goal.pickup_pose.position.z, _x.goal.pickup_pose.orientation.x, _x.goal.pickup_pose.orientation.y, _x.goal.pickup_pose.orientation.z, _x.goal.pickup_pose.orientation.w, _x.goal.place_pose.position.x, _x.goal.place_pose.position.y, _x.goal.place_pose.position.z, _x.goal.place_pose.orientation.x, _x.goal.place_pose.orientation.y, _x.goal.place_pose.orientation.z, _x.goal.place_pose.orientation.w))
00231 _x = self.goal.topic
00232 length = len(_x)
00233 buff.write(struct.pack('<I%ss'%length, length, _x))
00234 except struct.error as se: self._check_types(se)
00235 except TypeError as te: self._check_types(te)
00236
00237 def deserialize_numpy(self, str, numpy):
00238 """
00239 unpack serialized message in str into this message instance using numpy for array types
00240 @param str: byte array of serialized message
00241 @type str: str
00242 @param numpy: numpy python module
00243 @type numpy: module
00244 """
00245 try:
00246 if self.header is None:
00247 self.header = std_msgs.msg._Header.Header()
00248 if self.goal_id is None:
00249 self.goal_id = actionlib_msgs.msg.GoalID()
00250 if self.goal is None:
00251 self.goal = turtlebot_block_manipulation.msg.PickAndPlaceGoal()
00252 end = 0
00253 _x = self
00254 start = end
00255 end += 12
00256 (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00257 start = end
00258 end += 4
00259 (length,) = _struct_I.unpack(str[start:end])
00260 start = end
00261 end += length
00262 self.header.frame_id = str[start:end]
00263 _x = self
00264 start = end
00265 end += 8
00266 (_x.goal_id.stamp.secs, _x.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00267 start = end
00268 end += 4
00269 (length,) = _struct_I.unpack(str[start:end])
00270 start = end
00271 end += length
00272 self.goal_id.id = str[start:end]
00273 start = end
00274 end += 4
00275 (length,) = _struct_I.unpack(str[start:end])
00276 start = end
00277 end += length
00278 self.goal.frame = str[start:end]
00279 _x = self
00280 start = end
00281 end += 124
00282 (_x.goal.z_up, _x.goal.gripper_open, _x.goal.gripper_closed, _x.goal.pickup_pose.position.x, _x.goal.pickup_pose.position.y, _x.goal.pickup_pose.position.z, _x.goal.pickup_pose.orientation.x, _x.goal.pickup_pose.orientation.y, _x.goal.pickup_pose.orientation.z, _x.goal.pickup_pose.orientation.w, _x.goal.place_pose.position.x, _x.goal.place_pose.position.y, _x.goal.place_pose.position.z, _x.goal.place_pose.orientation.x, _x.goal.place_pose.orientation.y, _x.goal.place_pose.orientation.z, _x.goal.place_pose.orientation.w,) = _struct_3f14d.unpack(str[start:end])
00283 start = end
00284 end += 4
00285 (length,) = _struct_I.unpack(str[start:end])
00286 start = end
00287 end += length
00288 self.goal.topic = str[start:end]
00289 return self
00290 except struct.error as e:
00291 raise roslib.message.DeserializationError(e)
00292
00293 _struct_I = roslib.message.struct_I
00294 _struct_3f14d = struct.Struct("<3f14d")
00295 _struct_3I = struct.Struct("<3I")
00296 _struct_2I = struct.Struct("<2I")
