00001 """autogenerated by genpy from cogman_msgs/ArmHandActionGoal.msg. Do not edit."""
00002 import sys
00003 python3 = True if sys.hexversion > 0x03000000 else False
00004 import genpy
00005 import struct
00006
00007 import cogman_msgs.msg
00008 import geometry_msgs.msg
00009 import genpy
00010 import actionlib_msgs.msg
00011 import std_msgs.msg
00012
00013 class ArmHandActionGoal(genpy.Message):
00014 _md5sum = "67892e60a5b18d39d45d5d9aff6688ae"
00015 _type = "cogman_msgs/ArmHandActionGoal"
00016 _has_header = True
00017 _full_text = """# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00018
00019 Header header
00020 actionlib_msgs/GoalID goal_id
00021 ArmHandGoal goal
00022
00023 ================================================================================
00024 MSG: std_msgs/Header
00025 # Standard metadata for higher-level stamped data types.
00026 # This is generally used to communicate timestamped data
00027 # in a particular coordinate frame.
00028 #
00029 # sequence ID: consecutively increasing ID
00030 uint32 seq
00031 #Two-integer timestamp that is expressed as:
00032 # * stamp.secs: seconds (stamp_secs) since epoch
00033 # * stamp.nsecs: nanoseconds since stamp_secs
00034 # time-handling sugar is provided by the client library
00035 time stamp
00036 #Frame this data is associated with
00037 # 0: no frame
00038 # 1: global frame
00039 string frame_id
00040
00041 ================================================================================
00042 MSG: actionlib_msgs/GoalID
00043 # The stamp should store the time at which this goal was requested.
00044 # It is used by an action server when it tries to preempt all
00045 # goals that were requested before a certain time
00046 time stamp
00047
00048 # The id provides a way to associate feedback and
00049 # result message with specific goal requests. The id
00050 # specified must be unique.
00051 string id
00052
00053
00054 ================================================================================
00055 MSG: cogman_msgs/ArmHandGoal
00056 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00057 string command # 'arm_cart_loid', 'arm_cart_pose', 'arm_cart_name', 'arm_joints', 'arm_joint_name', 'reach_primitive', 'hand_primitive', 'lift', 'put_down'
00058 string pose_name # When moving to pre-defined poses, cointains the name
00059 float32[] joint_angles # If command is 'arm_joints', the joint angles
00060 geometry_msgs/Pose end_effector_pose # command=arm_cart_pose: where the arm should go
00061 uint64 end_effector_loid # one lo_id where the arm should go
00062 string hand_primitive # Allowed strings: open open_thumb90 3pinch 2pinch cup_top peace handshake noop. Used when command is 'finger_primitive'
00063 string object_type # If command is 'reach_primitive', it will define how to grasp (orientation ...)
00064 uint64[] obstacle_ids # List of lo_id's corresponding to obstacles
00065 float32 distance # For reach_primitive: distance from grasp point to approach point (m). For 'lift', distance to lift up (m)
00066 float32 supporting_plane # Height of the table (m)
00067
00068 ================================================================================
00069 MSG: geometry_msgs/Pose
00070 # A representation of pose in free space, composed of postion and orientation.
00071 Point position
00072 Quaternion orientation
00073
00074 ================================================================================
00075 MSG: geometry_msgs/Point
00076 # This contains the position of a point in free space
00077 float64 x
00078 float64 y
00079 float64 z
00080
00081 ================================================================================
00082 MSG: geometry_msgs/Quaternion
00083 # This represents an orientation in free space in quaternion form.
00084
00085 float64 x
00086 float64 y
00087 float64 z
00088 float64 w
00089
00090 """
00091 __slots__ = ['header','goal_id','goal']
00092 _slot_types = ['std_msgs/Header','actionlib_msgs/GoalID','cogman_msgs/ArmHandGoal']
00093
00094 def __init__(self, *args, **kwds):
00095 """
00096 Constructor. Any message fields that are implicitly/explicitly
00097 set to None will be assigned a default value. The recommend
00098 use is keyword arguments as this is more robust to future message
00099 changes. You cannot mix in-order arguments and keyword arguments.
00100
00101 The available fields are:
00102 header,goal_id,goal
00103
00104 :param args: complete set of field values, in .msg order
00105 :param kwds: use keyword arguments corresponding to message field names
00106 to set specific fields.
00107 """
00108 if args or kwds:
00109 super(ArmHandActionGoal, self).__init__(*args, **kwds)
00110
00111 if self.header is None:
00112 self.header = std_msgs.msg.Header()
00113 if self.goal_id is None:
00114 self.goal_id = actionlib_msgs.msg.GoalID()
00115 if self.goal is None:
00116 self.goal = cogman_msgs.msg.ArmHandGoal()
00117 else:
00118 self.header = std_msgs.msg.Header()
00119 self.goal_id = actionlib_msgs.msg.GoalID()
00120 self.goal = cogman_msgs.msg.ArmHandGoal()
00121
00122 def _get_types(self):
00123 """
00124 internal API method
00125 """
00126 return self._slot_types
00127
00128 def serialize(self, buff):
00129 """
00130 serialize message into buffer
00131 :param buff: buffer, ``StringIO``
00132 """
00133 try:
00134 _x = self
00135 buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
00136 _x = self.header.frame_id
00137 length = len(_x)
00138 if python3 or type(_x) == unicode:
00139 _x = _x.encode('utf-8')
00140 length = len(_x)
00141 buff.write(struct.pack('<I%ss'%length, length, _x))
00142 _x = self
00143 buff.write(_struct_2I.pack(_x.goal_id.stamp.secs, _x.goal_id.stamp.nsecs))
00144 _x = self.goal_id.id
00145 length = len(_x)
00146 if python3 or type(_x) == unicode:
00147 _x = _x.encode('utf-8')
00148 length = len(_x)
00149 buff.write(struct.pack('<I%ss'%length, length, _x))
00150 _x = self.goal.command
00151 length = len(_x)
00152 if python3 or type(_x) == unicode:
00153 _x = _x.encode('utf-8')
00154 length = len(_x)
00155 buff.write(struct.pack('<I%ss'%length, length, _x))
00156 _x = self.goal.pose_name
00157 length = len(_x)
00158 if python3 or type(_x) == unicode:
00159 _x = _x.encode('utf-8')
00160 length = len(_x)
00161 buff.write(struct.pack('<I%ss'%length, length, _x))
00162 length = len(self.goal.joint_angles)
00163 buff.write(_struct_I.pack(length))
00164 pattern = '<%sf'%length
00165 buff.write(struct.pack(pattern, *self.goal.joint_angles))
00166 _x = self
00167 buff.write(_struct_7dQ.pack(_x.goal.end_effector_pose.position.x, _x.goal.end_effector_pose.position.y, _x.goal.end_effector_pose.position.z, _x.goal.end_effector_pose.orientation.x, _x.goal.end_effector_pose.orientation.y, _x.goal.end_effector_pose.orientation.z, _x.goal.end_effector_pose.orientation.w, _x.goal.end_effector_loid))
00168 _x = self.goal.hand_primitive
00169 length = len(_x)
00170 if python3 or type(_x) == unicode:
00171 _x = _x.encode('utf-8')
00172 length = len(_x)
00173 buff.write(struct.pack('<I%ss'%length, length, _x))
00174 _x = self.goal.object_type
00175 length = len(_x)
00176 if python3 or type(_x) == unicode:
00177 _x = _x.encode('utf-8')
00178 length = len(_x)
00179 buff.write(struct.pack('<I%ss'%length, length, _x))
00180 length = len(self.goal.obstacle_ids)
00181 buff.write(_struct_I.pack(length))
00182 pattern = '<%sQ'%length
00183 buff.write(struct.pack(pattern, *self.goal.obstacle_ids))
00184 _x = self
00185 buff.write(_struct_2f.pack(_x.goal.distance, _x.goal.supporting_plane))
00186 except struct.error as se: self._check_types(se)
00187 except TypeError as te: self._check_types(te)
00188
00189 def deserialize(self, str):
00190 """
00191 unpack serialized message in str into this message instance
00192 :param str: byte array of serialized message, ``str``
00193 """
00194 try:
00195 if self.header is None:
00196 self.header = std_msgs.msg.Header()
00197 if self.goal_id is None:
00198 self.goal_id = actionlib_msgs.msg.GoalID()
00199 if self.goal is None:
00200 self.goal = cogman_msgs.msg.ArmHandGoal()
00201 end = 0
00202 _x = self
00203 start = end
00204 end += 12
00205 (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00206 start = end
00207 end += 4
00208 (length,) = _struct_I.unpack(str[start:end])
00209 start = end
00210 end += length
00211 if python3:
00212 self.header.frame_id = str[start:end].decode('utf-8')
00213 else:
00214 self.header.frame_id = str[start:end]
00215 _x = self
00216 start = end
00217 end += 8
00218 (_x.goal_id.stamp.secs, _x.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00219 start = end
00220 end += 4
00221 (length,) = _struct_I.unpack(str[start:end])
00222 start = end
00223 end += length
00224 if python3:
00225 self.goal_id.id = str[start:end].decode('utf-8')
00226 else:
00227 self.goal_id.id = str[start:end]
00228 start = end
00229 end += 4
00230 (length,) = _struct_I.unpack(str[start:end])
00231 start = end
00232 end += length
00233 if python3:
00234 self.goal.command = str[start:end].decode('utf-8')
00235 else:
00236 self.goal.command = str[start:end]
00237 start = end
00238 end += 4
00239 (length,) = _struct_I.unpack(str[start:end])
00240 start = end
00241 end += length
00242 if python3:
00243 self.goal.pose_name = str[start:end].decode('utf-8')
00244 else:
00245 self.goal.pose_name = str[start:end]
00246 start = end
00247 end += 4
00248 (length,) = _struct_I.unpack(str[start:end])
00249 pattern = '<%sf'%length
00250 start = end
00251 end += struct.calcsize(pattern)
00252 self.goal.joint_angles = struct.unpack(pattern, str[start:end])
00253 _x = self
00254 start = end
00255 end += 64
00256 (_x.goal.end_effector_pose.position.x, _x.goal.end_effector_pose.position.y, _x.goal.end_effector_pose.position.z, _x.goal.end_effector_pose.orientation.x, _x.goal.end_effector_pose.orientation.y, _x.goal.end_effector_pose.orientation.z, _x.goal.end_effector_pose.orientation.w, _x.goal.end_effector_loid,) = _struct_7dQ.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 if python3:
00263 self.goal.hand_primitive = str[start:end].decode('utf-8')
00264 else:
00265 self.goal.hand_primitive = str[start:end]
00266 start = end
00267 end += 4
00268 (length,) = _struct_I.unpack(str[start:end])
00269 start = end
00270 end += length
00271 if python3:
00272 self.goal.object_type = str[start:end].decode('utf-8')
00273 else:
00274 self.goal.object_type = str[start:end]
00275 start = end
00276 end += 4
00277 (length,) = _struct_I.unpack(str[start:end])
00278 pattern = '<%sQ'%length
00279 start = end
00280 end += struct.calcsize(pattern)
00281 self.goal.obstacle_ids = struct.unpack(pattern, str[start:end])
00282 _x = self
00283 start = end
00284 end += 8
00285 (_x.goal.distance, _x.goal.supporting_plane,) = _struct_2f.unpack(str[start:end])
00286 return self
00287 except struct.error as e:
00288 raise genpy.DeserializationError(e)
00289
00290
00291 def serialize_numpy(self, buff, numpy):
00292 """
00293 serialize message with numpy array types into buffer
00294 :param buff: buffer, ``StringIO``
00295 :param numpy: numpy python module
00296 """
00297 try:
00298 _x = self
00299 buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
00300 _x = self.header.frame_id
00301 length = len(_x)
00302 if python3 or type(_x) == unicode:
00303 _x = _x.encode('utf-8')
00304 length = len(_x)
00305 buff.write(struct.pack('<I%ss'%length, length, _x))
00306 _x = self
00307 buff.write(_struct_2I.pack(_x.goal_id.stamp.secs, _x.goal_id.stamp.nsecs))
00308 _x = self.goal_id.id
00309 length = len(_x)
00310 if python3 or type(_x) == unicode:
00311 _x = _x.encode('utf-8')
00312 length = len(_x)
00313 buff.write(struct.pack('<I%ss'%length, length, _x))
00314 _x = self.goal.command
00315 length = len(_x)
00316 if python3 or type(_x) == unicode:
00317 _x = _x.encode('utf-8')
00318 length = len(_x)
00319 buff.write(struct.pack('<I%ss'%length, length, _x))
00320 _x = self.goal.pose_name
00321 length = len(_x)
00322 if python3 or type(_x) == unicode:
00323 _x = _x.encode('utf-8')
00324 length = len(_x)
00325 buff.write(struct.pack('<I%ss'%length, length, _x))
00326 length = len(self.goal.joint_angles)
00327 buff.write(_struct_I.pack(length))
00328 pattern = '<%sf'%length
00329 buff.write(self.goal.joint_angles.tostring())
00330 _x = self
00331 buff.write(_struct_7dQ.pack(_x.goal.end_effector_pose.position.x, _x.goal.end_effector_pose.position.y, _x.goal.end_effector_pose.position.z, _x.goal.end_effector_pose.orientation.x, _x.goal.end_effector_pose.orientation.y, _x.goal.end_effector_pose.orientation.z, _x.goal.end_effector_pose.orientation.w, _x.goal.end_effector_loid))
00332 _x = self.goal.hand_primitive
00333 length = len(_x)
00334 if python3 or type(_x) == unicode:
00335 _x = _x.encode('utf-8')
00336 length = len(_x)
00337 buff.write(struct.pack('<I%ss'%length, length, _x))
00338 _x = self.goal.object_type
00339 length = len(_x)
00340 if python3 or type(_x) == unicode:
00341 _x = _x.encode('utf-8')
00342 length = len(_x)
00343 buff.write(struct.pack('<I%ss'%length, length, _x))
00344 length = len(self.goal.obstacle_ids)
00345 buff.write(_struct_I.pack(length))
00346 pattern = '<%sQ'%length
00347 buff.write(self.goal.obstacle_ids.tostring())
00348 _x = self
00349 buff.write(_struct_2f.pack(_x.goal.distance, _x.goal.supporting_plane))
00350 except struct.error as se: self._check_types(se)
00351 except TypeError as te: self._check_types(te)
00352
00353 def deserialize_numpy(self, str, numpy):
00354 """
00355 unpack serialized message in str into this message instance using numpy for array types
00356 :param str: byte array of serialized message, ``str``
00357 :param numpy: numpy python module
00358 """
00359 try:
00360 if self.header is None:
00361 self.header = std_msgs.msg.Header()
00362 if self.goal_id is None:
00363 self.goal_id = actionlib_msgs.msg.GoalID()
00364 if self.goal is None:
00365 self.goal = cogman_msgs.msg.ArmHandGoal()
00366 end = 0
00367 _x = self
00368 start = end
00369 end += 12
00370 (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00371 start = end
00372 end += 4
00373 (length,) = _struct_I.unpack(str[start:end])
00374 start = end
00375 end += length
00376 if python3:
00377 self.header.frame_id = str[start:end].decode('utf-8')
00378 else:
00379 self.header.frame_id = str[start:end]
00380 _x = self
00381 start = end
00382 end += 8
00383 (_x.goal_id.stamp.secs, _x.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00384 start = end
00385 end += 4
00386 (length,) = _struct_I.unpack(str[start:end])
00387 start = end
00388 end += length
00389 if python3:
00390 self.goal_id.id = str[start:end].decode('utf-8')
00391 else:
00392 self.goal_id.id = str[start:end]
00393 start = end
00394 end += 4
00395 (length,) = _struct_I.unpack(str[start:end])
00396 start = end
00397 end += length
00398 if python3:
00399 self.goal.command = str[start:end].decode('utf-8')
00400 else:
00401 self.goal.command = str[start:end]
00402 start = end
00403 end += 4
00404 (length,) = _struct_I.unpack(str[start:end])
00405 start = end
00406 end += length
00407 if python3:
00408 self.goal.pose_name = str[start:end].decode('utf-8')
00409 else:
00410 self.goal.pose_name = str[start:end]
00411 start = end
00412 end += 4
00413 (length,) = _struct_I.unpack(str[start:end])
00414 pattern = '<%sf'%length
00415 start = end
00416 end += struct.calcsize(pattern)
00417 self.goal.joint_angles = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=length)
00418 _x = self
00419 start = end
00420 end += 64
00421 (_x.goal.end_effector_pose.position.x, _x.goal.end_effector_pose.position.y, _x.goal.end_effector_pose.position.z, _x.goal.end_effector_pose.orientation.x, _x.goal.end_effector_pose.orientation.y, _x.goal.end_effector_pose.orientation.z, _x.goal.end_effector_pose.orientation.w, _x.goal.end_effector_loid,) = _struct_7dQ.unpack(str[start:end])
00422 start = end
00423 end += 4
00424 (length,) = _struct_I.unpack(str[start:end])
00425 start = end
00426 end += length
00427 if python3:
00428 self.goal.hand_primitive = str[start:end].decode('utf-8')
00429 else:
00430 self.goal.hand_primitive = str[start:end]
00431 start = end
00432 end += 4
00433 (length,) = _struct_I.unpack(str[start:end])
00434 start = end
00435 end += length
00436 if python3:
00437 self.goal.object_type = str[start:end].decode('utf-8')
00438 else:
00439 self.goal.object_type = str[start:end]
00440 start = end
00441 end += 4
00442 (length,) = _struct_I.unpack(str[start:end])
00443 pattern = '<%sQ'%length
00444 start = end
00445 end += struct.calcsize(pattern)
00446 self.goal.obstacle_ids = numpy.frombuffer(str[start:end], dtype=numpy.uint64, count=length)
00447 _x = self
00448 start = end
00449 end += 8
00450 (_x.goal.distance, _x.goal.supporting_plane,) = _struct_2f.unpack(str[start:end])
00451 return self
00452 except struct.error as e:
00453 raise genpy.DeserializationError(e)
00454
00455 _struct_I = genpy.struct_I
00456 _struct_7dQ = struct.Struct("<7dQ")
00457 _struct_3I = struct.Struct("<3I")
00458 _struct_2I = struct.Struct("<2I")
00459 _struct_2f = struct.Struct("<2f")