_FollowJointTrajectoryGoal.py
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00001 """autogenerated by genpy from control_msgs/FollowJointTrajectoryGoal.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 trajectory_msgs.msg
00008 import control_msgs.msg
00009 import genpy
00010 import std_msgs.msg
00011 
00012 class FollowJointTrajectoryGoal(genpy.Message):
00013   _md5sum = "01f6d702507b59bae3fc1e7149e6210c"
00014   _type = "control_msgs/FollowJointTrajectoryGoal"
00015   _has_header = False #flag to mark the presence of a Header object
00016   _full_text = """# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00017 # The joint trajectory to follow
00018 trajectory_msgs/JointTrajectory trajectory
00019 
00020 # Tolerances for the trajectory.  If the measured joint values fall
00021 # outside the tolerances the trajectory goal is aborted.  Any
00022 # tolerances that are not specified (by being omitted or set to 0) are
00023 # set to the defaults for the action server (often taken from the
00024 # parameter server).
00025 
00026 # Tolerances applied to the joints as the trajectory is executed.  If
00027 # violated, the goal aborts with error_code set to
00028 # PATH_TOLERANCE_VIOLATED.
00029 JointTolerance[] path_tolerance
00030 
00031 # To report success, the joints must be within goal_tolerance of the
00032 # final trajectory value.  The goal must be achieved by time the
00033 # trajectory ends plus goal_time_tolerance.  (goal_time_tolerance
00034 # allows some leeway in time, so that the trajectory goal can still
00035 # succeed even if the joints reach the goal some time after the
00036 # precise end time of the trajectory).
00037 #
00038 # If the joints are not within goal_tolerance after "trajectory finish
00039 # time" + goal_time_tolerance, the goal aborts with error_code set to
00040 # GOAL_TOLERANCE_VIOLATED
00041 JointTolerance[] goal_tolerance
00042 duration goal_time_tolerance
00043 
00044 
00045 ================================================================================
00046 MSG: trajectory_msgs/JointTrajectory
00047 Header header
00048 string[] joint_names
00049 JointTrajectoryPoint[] points
00050 ================================================================================
00051 MSG: std_msgs/Header
00052 # Standard metadata for higher-level stamped data types.
00053 # This is generally used to communicate timestamped data 
00054 # in a particular coordinate frame.
00055 # 
00056 # sequence ID: consecutively increasing ID 
00057 uint32 seq
00058 #Two-integer timestamp that is expressed as:
00059 # * stamp.secs: seconds (stamp_secs) since epoch
00060 # * stamp.nsecs: nanoseconds since stamp_secs
00061 # time-handling sugar is provided by the client library
00062 time stamp
00063 #Frame this data is associated with
00064 # 0: no frame
00065 # 1: global frame
00066 string frame_id
00067 
00068 ================================================================================
00069 MSG: trajectory_msgs/JointTrajectoryPoint
00070 float64[] positions
00071 float64[] velocities
00072 float64[] accelerations
00073 duration time_from_start
00074 ================================================================================
00075 MSG: control_msgs/JointTolerance
00076 # The tolerances specify the amount the position, velocity, and
00077 # accelerations can vary from the setpoints.  For example, in the case
00078 # of trajectory control, when the actual position varies beyond
00079 # (desired position + position tolerance), the trajectory goal may
00080 # abort.
00081 # 
00082 # There are two special values for tolerances:
00083 #  * 0 - The tolerance is unspecified and will remain at whatever the default is
00084 #  * -1 - The tolerance is "erased".  If there was a default, the joint will be
00085 #         allowed to move without restriction.
00086 
00087 string name
00088 float64 position  # in radians or meters (for a revolute or prismatic joint, respectively)
00089 float64 velocity  # in rad/sec or m/sec
00090 float64 acceleration  # in rad/sec^2 or m/sec^2
00091 
00092 """
00093   __slots__ = ['trajectory','path_tolerance','goal_tolerance','goal_time_tolerance']
00094   _slot_types = ['trajectory_msgs/JointTrajectory','control_msgs/JointTolerance[]','control_msgs/JointTolerance[]','duration']
00095 
00096   def __init__(self, *args, **kwds):
00097     """
00098     Constructor. Any message fields that are implicitly/explicitly
00099     set to None will be assigned a default value. The recommend
00100     use is keyword arguments as this is more robust to future message
00101     changes.  You cannot mix in-order arguments and keyword arguments.
00102 
00103     The available fields are:
00104        trajectory,path_tolerance,goal_tolerance,goal_time_tolerance
00105 
00106     :param args: complete set of field values, in .msg order
00107     :param kwds: use keyword arguments corresponding to message field names
00108     to set specific fields.
00109     """
00110     if args or kwds:
00111       super(FollowJointTrajectoryGoal, self).__init__(*args, **kwds)
00112       #message fields cannot be None, assign default values for those that are
00113       if self.trajectory is None:
00114         self.trajectory = trajectory_msgs.msg.JointTrajectory()
00115       if self.path_tolerance is None:
00116         self.path_tolerance = []
00117       if self.goal_tolerance is None:
00118         self.goal_tolerance = []
00119       if self.goal_time_tolerance is None:
00120         self.goal_time_tolerance = genpy.Duration()
00121     else:
00122       self.trajectory = trajectory_msgs.msg.JointTrajectory()
00123       self.path_tolerance = []
00124       self.goal_tolerance = []
00125       self.goal_time_tolerance = genpy.Duration()
00126 
00127   def _get_types(self):
00128     """
00129     internal API method
00130     """
00131     return self._slot_types
00132 
00133   def serialize(self, buff):
00134     """
00135     serialize message into buffer
00136     :param buff: buffer, ``StringIO``
00137     """
00138     try:
00139       _x = self
00140       buff.write(_struct_3I.pack(_x.trajectory.header.seq, _x.trajectory.header.stamp.secs, _x.trajectory.header.stamp.nsecs))
00141       _x = self.trajectory.header.frame_id
00142       length = len(_x)
00143       if python3 or type(_x) == unicode:
00144         _x = _x.encode('utf-8')
00145         length = len(_x)
00146       buff.write(struct.pack('<I%ss'%length, length, _x))
00147       length = len(self.trajectory.joint_names)
00148       buff.write(_struct_I.pack(length))
00149       for val1 in self.trajectory.joint_names:
00150         length = len(val1)
00151         if python3 or type(val1) == unicode:
00152           val1 = val1.encode('utf-8')
00153           length = len(val1)
00154         buff.write(struct.pack('<I%ss'%length, length, val1))
00155       length = len(self.trajectory.points)
00156       buff.write(_struct_I.pack(length))
00157       for val1 in self.trajectory.points:
00158         length = len(val1.positions)
00159         buff.write(_struct_I.pack(length))
00160         pattern = '<%sd'%length
00161         buff.write(struct.pack(pattern, *val1.positions))
00162         length = len(val1.velocities)
00163         buff.write(_struct_I.pack(length))
00164         pattern = '<%sd'%length
00165         buff.write(struct.pack(pattern, *val1.velocities))
00166         length = len(val1.accelerations)
00167         buff.write(_struct_I.pack(length))
00168         pattern = '<%sd'%length
00169         buff.write(struct.pack(pattern, *val1.accelerations))
00170         _v1 = val1.time_from_start
00171         _x = _v1
00172         buff.write(_struct_2i.pack(_x.secs, _x.nsecs))
00173       length = len(self.path_tolerance)
00174       buff.write(_struct_I.pack(length))
00175       for val1 in self.path_tolerance:
00176         _x = val1.name
00177         length = len(_x)
00178         if python3 or type(_x) == unicode:
00179           _x = _x.encode('utf-8')
00180           length = len(_x)
00181         buff.write(struct.pack('<I%ss'%length, length, _x))
00182         _x = val1
00183         buff.write(_struct_3d.pack(_x.position, _x.velocity, _x.acceleration))
00184       length = len(self.goal_tolerance)
00185       buff.write(_struct_I.pack(length))
00186       for val1 in self.goal_tolerance:
00187         _x = val1.name
00188         length = len(_x)
00189         if python3 or type(_x) == unicode:
00190           _x = _x.encode('utf-8')
00191           length = len(_x)
00192         buff.write(struct.pack('<I%ss'%length, length, _x))
00193         _x = val1
00194         buff.write(_struct_3d.pack(_x.position, _x.velocity, _x.acceleration))
00195       _x = self
00196       buff.write(_struct_2i.pack(_x.goal_time_tolerance.secs, _x.goal_time_tolerance.nsecs))
00197     except struct.error as se: self._check_types(se)
00198     except TypeError as te: self._check_types(te)
00199 
00200   def deserialize(self, str):
00201     """
00202     unpack serialized message in str into this message instance
00203     :param str: byte array of serialized message, ``str``
00204     """
00205     try:
00206       if self.trajectory is None:
00207         self.trajectory = trajectory_msgs.msg.JointTrajectory()
00208       if self.path_tolerance is None:
00209         self.path_tolerance = None
00210       if self.goal_tolerance is None:
00211         self.goal_tolerance = None
00212       if self.goal_time_tolerance is None:
00213         self.goal_time_tolerance = genpy.Duration()
00214       end = 0
00215       _x = self
00216       start = end
00217       end += 12
00218       (_x.trajectory.header.seq, _x.trajectory.header.stamp.secs, _x.trajectory.header.stamp.nsecs,) = _struct_3I.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.trajectory.header.frame_id = str[start:end].decode('utf-8')
00226       else:
00227         self.trajectory.header.frame_id = str[start:end]
00228       start = end
00229       end += 4
00230       (length,) = _struct_I.unpack(str[start:end])
00231       self.trajectory.joint_names = []
00232       for i in range(0, length):
00233         start = end
00234         end += 4
00235         (length,) = _struct_I.unpack(str[start:end])
00236         start = end
00237         end += length
00238         if python3:
00239           val1 = str[start:end].decode('utf-8')
00240         else:
00241           val1 = str[start:end]
00242         self.trajectory.joint_names.append(val1)
00243       start = end
00244       end += 4
00245       (length,) = _struct_I.unpack(str[start:end])
00246       self.trajectory.points = []
00247       for i in range(0, length):
00248         val1 = trajectory_msgs.msg.JointTrajectoryPoint()
00249         start = end
00250         end += 4
00251         (length,) = _struct_I.unpack(str[start:end])
00252         pattern = '<%sd'%length
00253         start = end
00254         end += struct.calcsize(pattern)
00255         val1.positions = struct.unpack(pattern, str[start:end])
00256         start = end
00257         end += 4
00258         (length,) = _struct_I.unpack(str[start:end])
00259         pattern = '<%sd'%length
00260         start = end
00261         end += struct.calcsize(pattern)
00262         val1.velocities = struct.unpack(pattern, str[start:end])
00263         start = end
00264         end += 4
00265         (length,) = _struct_I.unpack(str[start:end])
00266         pattern = '<%sd'%length
00267         start = end
00268         end += struct.calcsize(pattern)
00269         val1.accelerations = struct.unpack(pattern, str[start:end])
00270         _v2 = val1.time_from_start
00271         _x = _v2
00272         start = end
00273         end += 8
00274         (_x.secs, _x.nsecs,) = _struct_2i.unpack(str[start:end])
00275         self.trajectory.points.append(val1)
00276       start = end
00277       end += 4
00278       (length,) = _struct_I.unpack(str[start:end])
00279       self.path_tolerance = []
00280       for i in range(0, length):
00281         val1 = control_msgs.msg.JointTolerance()
00282         start = end
00283         end += 4
00284         (length,) = _struct_I.unpack(str[start:end])
00285         start = end
00286         end += length
00287         if python3:
00288           val1.name = str[start:end].decode('utf-8')
00289         else:
00290           val1.name = str[start:end]
00291         _x = val1
00292         start = end
00293         end += 24
00294         (_x.position, _x.velocity, _x.acceleration,) = _struct_3d.unpack(str[start:end])
00295         self.path_tolerance.append(val1)
00296       start = end
00297       end += 4
00298       (length,) = _struct_I.unpack(str[start:end])
00299       self.goal_tolerance = []
00300       for i in range(0, length):
00301         val1 = control_msgs.msg.JointTolerance()
00302         start = end
00303         end += 4
00304         (length,) = _struct_I.unpack(str[start:end])
00305         start = end
00306         end += length
00307         if python3:
00308           val1.name = str[start:end].decode('utf-8')
00309         else:
00310           val1.name = str[start:end]
00311         _x = val1
00312         start = end
00313         end += 24
00314         (_x.position, _x.velocity, _x.acceleration,) = _struct_3d.unpack(str[start:end])
00315         self.goal_tolerance.append(val1)
00316       _x = self
00317       start = end
00318       end += 8
00319       (_x.goal_time_tolerance.secs, _x.goal_time_tolerance.nsecs,) = _struct_2i.unpack(str[start:end])
00320       self.goal_time_tolerance.canon()
00321       return self
00322     except struct.error as e:
00323       raise genpy.DeserializationError(e) #most likely buffer underfill
00324 
00325 
00326   def serialize_numpy(self, buff, numpy):
00327     """
00328     serialize message with numpy array types into buffer
00329     :param buff: buffer, ``StringIO``
00330     :param numpy: numpy python module
00331     """
00332     try:
00333       _x = self
00334       buff.write(_struct_3I.pack(_x.trajectory.header.seq, _x.trajectory.header.stamp.secs, _x.trajectory.header.stamp.nsecs))
00335       _x = self.trajectory.header.frame_id
00336       length = len(_x)
00337       if python3 or type(_x) == unicode:
00338         _x = _x.encode('utf-8')
00339         length = len(_x)
00340       buff.write(struct.pack('<I%ss'%length, length, _x))
00341       length = len(self.trajectory.joint_names)
00342       buff.write(_struct_I.pack(length))
00343       for val1 in self.trajectory.joint_names:
00344         length = len(val1)
00345         if python3 or type(val1) == unicode:
00346           val1 = val1.encode('utf-8')
00347           length = len(val1)
00348         buff.write(struct.pack('<I%ss'%length, length, val1))
00349       length = len(self.trajectory.points)
00350       buff.write(_struct_I.pack(length))
00351       for val1 in self.trajectory.points:
00352         length = len(val1.positions)
00353         buff.write(_struct_I.pack(length))
00354         pattern = '<%sd'%length
00355         buff.write(val1.positions.tostring())
00356         length = len(val1.velocities)
00357         buff.write(_struct_I.pack(length))
00358         pattern = '<%sd'%length
00359         buff.write(val1.velocities.tostring())
00360         length = len(val1.accelerations)
00361         buff.write(_struct_I.pack(length))
00362         pattern = '<%sd'%length
00363         buff.write(val1.accelerations.tostring())
00364         _v3 = val1.time_from_start
00365         _x = _v3
00366         buff.write(_struct_2i.pack(_x.secs, _x.nsecs))
00367       length = len(self.path_tolerance)
00368       buff.write(_struct_I.pack(length))
00369       for val1 in self.path_tolerance:
00370         _x = val1.name
00371         length = len(_x)
00372         if python3 or type(_x) == unicode:
00373           _x = _x.encode('utf-8')
00374           length = len(_x)
00375         buff.write(struct.pack('<I%ss'%length, length, _x))
00376         _x = val1
00377         buff.write(_struct_3d.pack(_x.position, _x.velocity, _x.acceleration))
00378       length = len(self.goal_tolerance)
00379       buff.write(_struct_I.pack(length))
00380       for val1 in self.goal_tolerance:
00381         _x = val1.name
00382         length = len(_x)
00383         if python3 or type(_x) == unicode:
00384           _x = _x.encode('utf-8')
00385           length = len(_x)
00386         buff.write(struct.pack('<I%ss'%length, length, _x))
00387         _x = val1
00388         buff.write(_struct_3d.pack(_x.position, _x.velocity, _x.acceleration))
00389       _x = self
00390       buff.write(_struct_2i.pack(_x.goal_time_tolerance.secs, _x.goal_time_tolerance.nsecs))
00391     except struct.error as se: self._check_types(se)
00392     except TypeError as te: self._check_types(te)
00393 
00394   def deserialize_numpy(self, str, numpy):
00395     """
00396     unpack serialized message in str into this message instance using numpy for array types
00397     :param str: byte array of serialized message, ``str``
00398     :param numpy: numpy python module
00399     """
00400     try:
00401       if self.trajectory is None:
00402         self.trajectory = trajectory_msgs.msg.JointTrajectory()
00403       if self.path_tolerance is None:
00404         self.path_tolerance = None
00405       if self.goal_tolerance is None:
00406         self.goal_tolerance = None
00407       if self.goal_time_tolerance is None:
00408         self.goal_time_tolerance = genpy.Duration()
00409       end = 0
00410       _x = self
00411       start = end
00412       end += 12
00413       (_x.trajectory.header.seq, _x.trajectory.header.stamp.secs, _x.trajectory.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00414       start = end
00415       end += 4
00416       (length,) = _struct_I.unpack(str[start:end])
00417       start = end
00418       end += length
00419       if python3:
00420         self.trajectory.header.frame_id = str[start:end].decode('utf-8')
00421       else:
00422         self.trajectory.header.frame_id = str[start:end]
00423       start = end
00424       end += 4
00425       (length,) = _struct_I.unpack(str[start:end])
00426       self.trajectory.joint_names = []
00427       for i in range(0, length):
00428         start = end
00429         end += 4
00430         (length,) = _struct_I.unpack(str[start:end])
00431         start = end
00432         end += length
00433         if python3:
00434           val1 = str[start:end].decode('utf-8')
00435         else:
00436           val1 = str[start:end]
00437         self.trajectory.joint_names.append(val1)
00438       start = end
00439       end += 4
00440       (length,) = _struct_I.unpack(str[start:end])
00441       self.trajectory.points = []
00442       for i in range(0, length):
00443         val1 = trajectory_msgs.msg.JointTrajectoryPoint()
00444         start = end
00445         end += 4
00446         (length,) = _struct_I.unpack(str[start:end])
00447         pattern = '<%sd'%length
00448         start = end
00449         end += struct.calcsize(pattern)
00450         val1.positions = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00451         start = end
00452         end += 4
00453         (length,) = _struct_I.unpack(str[start:end])
00454         pattern = '<%sd'%length
00455         start = end
00456         end += struct.calcsize(pattern)
00457         val1.velocities = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00458         start = end
00459         end += 4
00460         (length,) = _struct_I.unpack(str[start:end])
00461         pattern = '<%sd'%length
00462         start = end
00463         end += struct.calcsize(pattern)
00464         val1.accelerations = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00465         _v4 = val1.time_from_start
00466         _x = _v4
00467         start = end
00468         end += 8
00469         (_x.secs, _x.nsecs,) = _struct_2i.unpack(str[start:end])
00470         self.trajectory.points.append(val1)
00471       start = end
00472       end += 4
00473       (length,) = _struct_I.unpack(str[start:end])
00474       self.path_tolerance = []
00475       for i in range(0, length):
00476         val1 = control_msgs.msg.JointTolerance()
00477         start = end
00478         end += 4
00479         (length,) = _struct_I.unpack(str[start:end])
00480         start = end
00481         end += length
00482         if python3:
00483           val1.name = str[start:end].decode('utf-8')
00484         else:
00485           val1.name = str[start:end]
00486         _x = val1
00487         start = end
00488         end += 24
00489         (_x.position, _x.velocity, _x.acceleration,) = _struct_3d.unpack(str[start:end])
00490         self.path_tolerance.append(val1)
00491       start = end
00492       end += 4
00493       (length,) = _struct_I.unpack(str[start:end])
00494       self.goal_tolerance = []
00495       for i in range(0, length):
00496         val1 = control_msgs.msg.JointTolerance()
00497         start = end
00498         end += 4
00499         (length,) = _struct_I.unpack(str[start:end])
00500         start = end
00501         end += length
00502         if python3:
00503           val1.name = str[start:end].decode('utf-8')
00504         else:
00505           val1.name = str[start:end]
00506         _x = val1
00507         start = end
00508         end += 24
00509         (_x.position, _x.velocity, _x.acceleration,) = _struct_3d.unpack(str[start:end])
00510         self.goal_tolerance.append(val1)
00511       _x = self
00512       start = end
00513       end += 8
00514       (_x.goal_time_tolerance.secs, _x.goal_time_tolerance.nsecs,) = _struct_2i.unpack(str[start:end])
00515       self.goal_time_tolerance.canon()
00516       return self
00517     except struct.error as e:
00518       raise genpy.DeserializationError(e) #most likely buffer underfill
00519 
00520 _struct_I = genpy.struct_I
00521 _struct_3I = struct.Struct("<3I")
00522 _struct_2i = struct.Struct("<2i")
00523 _struct_3d = struct.Struct("<3d")


control_msgs
Author(s): Stuart Glaser
autogenerated on Sat Dec 28 2013 16:52:54