00001 """autogenerated by genpy from cogman_msgs/ArmHandGoal.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 geometry_msgs.msg
00008
00009 class ArmHandGoal(genpy.Message):
00010 _md5sum = "3a564cf8a4d7611dab9e91da15079bfc"
00011 _type = "cogman_msgs/ArmHandGoal"
00012 _has_header = False
00013 _full_text = """# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00014 string command # 'arm_cart_loid', 'arm_cart_pose', 'arm_cart_name', 'arm_joints', 'arm_joint_name', 'reach_primitive', 'hand_primitive', 'lift', 'put_down'
00015 string pose_name # When moving to pre-defined poses, cointains the name
00016 float32[] joint_angles # If command is 'arm_joints', the joint angles
00017 geometry_msgs/Pose end_effector_pose # command=arm_cart_pose: where the arm should go
00018 uint64 end_effector_loid # one lo_id where the arm should go
00019 string hand_primitive # Allowed strings: open open_thumb90 3pinch 2pinch cup_top peace handshake noop. Used when command is 'finger_primitive'
00020 string object_type # If command is 'reach_primitive', it will define how to grasp (orientation ...)
00021 uint64[] obstacle_ids # List of lo_id's corresponding to obstacles
00022 float32 distance # For reach_primitive: distance from grasp point to approach point (m). For 'lift', distance to lift up (m)
00023 float32 supporting_plane # Height of the table (m)
00024
00025 ================================================================================
00026 MSG: geometry_msgs/Pose
00027 # A representation of pose in free space, composed of postion and orientation.
00028 Point position
00029 Quaternion orientation
00030
00031 ================================================================================
00032 MSG: geometry_msgs/Point
00033 # This contains the position of a point in free space
00034 float64 x
00035 float64 y
00036 float64 z
00037
00038 ================================================================================
00039 MSG: geometry_msgs/Quaternion
00040 # This represents an orientation in free space in quaternion form.
00041
00042 float64 x
00043 float64 y
00044 float64 z
00045 float64 w
00046
00047 """
00048 __slots__ = ['command','pose_name','joint_angles','end_effector_pose','end_effector_loid','hand_primitive','object_type','obstacle_ids','distance','supporting_plane']
00049 _slot_types = ['string','string','float32[]','geometry_msgs/Pose','uint64','string','string','uint64[]','float32','float32']
00050
00051 def __init__(self, *args, **kwds):
00052 """
00053 Constructor. Any message fields that are implicitly/explicitly
00054 set to None will be assigned a default value. The recommend
00055 use is keyword arguments as this is more robust to future message
00056 changes. You cannot mix in-order arguments and keyword arguments.
00057
00058 The available fields are:
00059 command,pose_name,joint_angles,end_effector_pose,end_effector_loid,hand_primitive,object_type,obstacle_ids,distance,supporting_plane
00060
00061 :param args: complete set of field values, in .msg order
00062 :param kwds: use keyword arguments corresponding to message field names
00063 to set specific fields.
00064 """
00065 if args or kwds:
00066 super(ArmHandGoal, self).__init__(*args, **kwds)
00067
00068 if self.command is None:
00069 self.command = ''
00070 if self.pose_name is None:
00071 self.pose_name = ''
00072 if self.joint_angles is None:
00073 self.joint_angles = []
00074 if self.end_effector_pose is None:
00075 self.end_effector_pose = geometry_msgs.msg.Pose()
00076 if self.end_effector_loid is None:
00077 self.end_effector_loid = 0
00078 if self.hand_primitive is None:
00079 self.hand_primitive = ''
00080 if self.object_type is None:
00081 self.object_type = ''
00082 if self.obstacle_ids is None:
00083 self.obstacle_ids = []
00084 if self.distance is None:
00085 self.distance = 0.
00086 if self.supporting_plane is None:
00087 self.supporting_plane = 0.
00088 else:
00089 self.command = ''
00090 self.pose_name = ''
00091 self.joint_angles = []
00092 self.end_effector_pose = geometry_msgs.msg.Pose()
00093 self.end_effector_loid = 0
00094 self.hand_primitive = ''
00095 self.object_type = ''
00096 self.obstacle_ids = []
00097 self.distance = 0.
00098 self.supporting_plane = 0.
00099
00100 def _get_types(self):
00101 """
00102 internal API method
00103 """
00104 return self._slot_types
00105
00106 def serialize(self, buff):
00107 """
00108 serialize message into buffer
00109 :param buff: buffer, ``StringIO``
00110 """
00111 try:
00112 _x = self.command
00113 length = len(_x)
00114 if python3 or type(_x) == unicode:
00115 _x = _x.encode('utf-8')
00116 length = len(_x)
00117 buff.write(struct.pack('<I%ss'%length, length, _x))
00118 _x = self.pose_name
00119 length = len(_x)
00120 if python3 or type(_x) == unicode:
00121 _x = _x.encode('utf-8')
00122 length = len(_x)
00123 buff.write(struct.pack('<I%ss'%length, length, _x))
00124 length = len(self.joint_angles)
00125 buff.write(_struct_I.pack(length))
00126 pattern = '<%sf'%length
00127 buff.write(struct.pack(pattern, *self.joint_angles))
00128 _x = self
00129 buff.write(_struct_7dQ.pack(_x.end_effector_pose.position.x, _x.end_effector_pose.position.y, _x.end_effector_pose.position.z, _x.end_effector_pose.orientation.x, _x.end_effector_pose.orientation.y, _x.end_effector_pose.orientation.z, _x.end_effector_pose.orientation.w, _x.end_effector_loid))
00130 _x = self.hand_primitive
00131 length = len(_x)
00132 if python3 or type(_x) == unicode:
00133 _x = _x.encode('utf-8')
00134 length = len(_x)
00135 buff.write(struct.pack('<I%ss'%length, length, _x))
00136 _x = self.object_type
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 length = len(self.obstacle_ids)
00143 buff.write(_struct_I.pack(length))
00144 pattern = '<%sQ'%length
00145 buff.write(struct.pack(pattern, *self.obstacle_ids))
00146 _x = self
00147 buff.write(_struct_2f.pack(_x.distance, _x.supporting_plane))
00148 except struct.error as se: self._check_types(se)
00149 except TypeError as te: self._check_types(te)
00150
00151 def deserialize(self, str):
00152 """
00153 unpack serialized message in str into this message instance
00154 :param str: byte array of serialized message, ``str``
00155 """
00156 try:
00157 if self.end_effector_pose is None:
00158 self.end_effector_pose = geometry_msgs.msg.Pose()
00159 end = 0
00160 start = end
00161 end += 4
00162 (length,) = _struct_I.unpack(str[start:end])
00163 start = end
00164 end += length
00165 if python3:
00166 self.command = str[start:end].decode('utf-8')
00167 else:
00168 self.command = str[start:end]
00169 start = end
00170 end += 4
00171 (length,) = _struct_I.unpack(str[start:end])
00172 start = end
00173 end += length
00174 if python3:
00175 self.pose_name = str[start:end].decode('utf-8')
00176 else:
00177 self.pose_name = str[start:end]
00178 start = end
00179 end += 4
00180 (length,) = _struct_I.unpack(str[start:end])
00181 pattern = '<%sf'%length
00182 start = end
00183 end += struct.calcsize(pattern)
00184 self.joint_angles = struct.unpack(pattern, str[start:end])
00185 _x = self
00186 start = end
00187 end += 64
00188 (_x.end_effector_pose.position.x, _x.end_effector_pose.position.y, _x.end_effector_pose.position.z, _x.end_effector_pose.orientation.x, _x.end_effector_pose.orientation.y, _x.end_effector_pose.orientation.z, _x.end_effector_pose.orientation.w, _x.end_effector_loid,) = _struct_7dQ.unpack(str[start:end])
00189 start = end
00190 end += 4
00191 (length,) = _struct_I.unpack(str[start:end])
00192 start = end
00193 end += length
00194 if python3:
00195 self.hand_primitive = str[start:end].decode('utf-8')
00196 else:
00197 self.hand_primitive = str[start:end]
00198 start = end
00199 end += 4
00200 (length,) = _struct_I.unpack(str[start:end])
00201 start = end
00202 end += length
00203 if python3:
00204 self.object_type = str[start:end].decode('utf-8')
00205 else:
00206 self.object_type = str[start:end]
00207 start = end
00208 end += 4
00209 (length,) = _struct_I.unpack(str[start:end])
00210 pattern = '<%sQ'%length
00211 start = end
00212 end += struct.calcsize(pattern)
00213 self.obstacle_ids = struct.unpack(pattern, str[start:end])
00214 _x = self
00215 start = end
00216 end += 8
00217 (_x.distance, _x.supporting_plane,) = _struct_2f.unpack(str[start:end])
00218 return self
00219 except struct.error as e:
00220 raise genpy.DeserializationError(e)
00221
00222
00223 def serialize_numpy(self, buff, numpy):
00224 """
00225 serialize message with numpy array types into buffer
00226 :param buff: buffer, ``StringIO``
00227 :param numpy: numpy python module
00228 """
00229 try:
00230 _x = self.command
00231 length = len(_x)
00232 if python3 or type(_x) == unicode:
00233 _x = _x.encode('utf-8')
00234 length = len(_x)
00235 buff.write(struct.pack('<I%ss'%length, length, _x))
00236 _x = self.pose_name
00237 length = len(_x)
00238 if python3 or type(_x) == unicode:
00239 _x = _x.encode('utf-8')
00240 length = len(_x)
00241 buff.write(struct.pack('<I%ss'%length, length, _x))
00242 length = len(self.joint_angles)
00243 buff.write(_struct_I.pack(length))
00244 pattern = '<%sf'%length
00245 buff.write(self.joint_angles.tostring())
00246 _x = self
00247 buff.write(_struct_7dQ.pack(_x.end_effector_pose.position.x, _x.end_effector_pose.position.y, _x.end_effector_pose.position.z, _x.end_effector_pose.orientation.x, _x.end_effector_pose.orientation.y, _x.end_effector_pose.orientation.z, _x.end_effector_pose.orientation.w, _x.end_effector_loid))
00248 _x = self.hand_primitive
00249 length = len(_x)
00250 if python3 or type(_x) == unicode:
00251 _x = _x.encode('utf-8')
00252 length = len(_x)
00253 buff.write(struct.pack('<I%ss'%length, length, _x))
00254 _x = self.object_type
00255 length = len(_x)
00256 if python3 or type(_x) == unicode:
00257 _x = _x.encode('utf-8')
00258 length = len(_x)
00259 buff.write(struct.pack('<I%ss'%length, length, _x))
00260 length = len(self.obstacle_ids)
00261 buff.write(_struct_I.pack(length))
00262 pattern = '<%sQ'%length
00263 buff.write(self.obstacle_ids.tostring())
00264 _x = self
00265 buff.write(_struct_2f.pack(_x.distance, _x.supporting_plane))
00266 except struct.error as se: self._check_types(se)
00267 except TypeError as te: self._check_types(te)
00268
00269 def deserialize_numpy(self, str, numpy):
00270 """
00271 unpack serialized message in str into this message instance using numpy for array types
00272 :param str: byte array of serialized message, ``str``
00273 :param numpy: numpy python module
00274 """
00275 try:
00276 if self.end_effector_pose is None:
00277 self.end_effector_pose = geometry_msgs.msg.Pose()
00278 end = 0
00279 start = end
00280 end += 4
00281 (length,) = _struct_I.unpack(str[start:end])
00282 start = end
00283 end += length
00284 if python3:
00285 self.command = str[start:end].decode('utf-8')
00286 else:
00287 self.command = str[start:end]
00288 start = end
00289 end += 4
00290 (length,) = _struct_I.unpack(str[start:end])
00291 start = end
00292 end += length
00293 if python3:
00294 self.pose_name = str[start:end].decode('utf-8')
00295 else:
00296 self.pose_name = str[start:end]
00297 start = end
00298 end += 4
00299 (length,) = _struct_I.unpack(str[start:end])
00300 pattern = '<%sf'%length
00301 start = end
00302 end += struct.calcsize(pattern)
00303 self.joint_angles = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=length)
00304 _x = self
00305 start = end
00306 end += 64
00307 (_x.end_effector_pose.position.x, _x.end_effector_pose.position.y, _x.end_effector_pose.position.z, _x.end_effector_pose.orientation.x, _x.end_effector_pose.orientation.y, _x.end_effector_pose.orientation.z, _x.end_effector_pose.orientation.w, _x.end_effector_loid,) = _struct_7dQ.unpack(str[start:end])
00308 start = end
00309 end += 4
00310 (length,) = _struct_I.unpack(str[start:end])
00311 start = end
00312 end += length
00313 if python3:
00314 self.hand_primitive = str[start:end].decode('utf-8')
00315 else:
00316 self.hand_primitive = str[start:end]
00317 start = end
00318 end += 4
00319 (length,) = _struct_I.unpack(str[start:end])
00320 start = end
00321 end += length
00322 if python3:
00323 self.object_type = str[start:end].decode('utf-8')
00324 else:
00325 self.object_type = str[start:end]
00326 start = end
00327 end += 4
00328 (length,) = _struct_I.unpack(str[start:end])
00329 pattern = '<%sQ'%length
00330 start = end
00331 end += struct.calcsize(pattern)
00332 self.obstacle_ids = numpy.frombuffer(str[start:end], dtype=numpy.uint64, count=length)
00333 _x = self
00334 start = end
00335 end += 8
00336 (_x.distance, _x.supporting_plane,) = _struct_2f.unpack(str[start:end])
00337 return self
00338 except struct.error as e:
00339 raise genpy.DeserializationError(e)
00340
00341 _struct_I = genpy.struct_I
00342 _struct_7dQ = struct.Struct("<7dQ")
00343 _struct_2f = struct.Struct("<2f")