00001 """autogenerated by genpy from ee_cart_imped_msgs/EECartImpedActionFeedback.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 ee_cart_imped_msgs.msg
00008 import geometry_msgs.msg
00009 import genpy
00010 import actionlib_msgs.msg
00011 import std_msgs.msg
00012
00013 class EECartImpedActionFeedback(genpy.Message):
00014 _md5sum = "cf14a7f10d332262a83da91f99884b31"
00015 _type = "ee_cart_imped_msgs/EECartImpedActionFeedback"
00016 _has_header = True
00017 _full_text = """# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00018
00019 Header header
00020 actionlib_msgs/GoalStatus status
00021 EECartImpedFeedback feedback
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/GoalStatus
00043 GoalID goal_id
00044 uint8 status
00045 uint8 PENDING = 0 # The goal has yet to be processed by the action server
00046 uint8 ACTIVE = 1 # The goal is currently being processed by the action server
00047 uint8 PREEMPTED = 2 # The goal received a cancel request after it started executing
00048 # and has since completed its execution (Terminal State)
00049 uint8 SUCCEEDED = 3 # The goal was achieved successfully by the action server (Terminal State)
00050 uint8 ABORTED = 4 # The goal was aborted during execution by the action server due
00051 # to some failure (Terminal State)
00052 uint8 REJECTED = 5 # The goal was rejected by the action server without being processed,
00053 # because the goal was unattainable or invalid (Terminal State)
00054 uint8 PREEMPTING = 6 # The goal received a cancel request after it started executing
00055 # and has not yet completed execution
00056 uint8 RECALLING = 7 # The goal received a cancel request before it started executing,
00057 # but the action server has not yet confirmed that the goal is canceled
00058 uint8 RECALLED = 8 # The goal received a cancel request before it started executing
00059 # and was successfully cancelled (Terminal State)
00060 uint8 LOST = 9 # An action client can determine that a goal is LOST. This should not be
00061 # sent over the wire by an action server
00062
00063 #Allow for the user to associate a string with GoalStatus for debugging
00064 string text
00065
00066
00067 ================================================================================
00068 MSG: actionlib_msgs/GoalID
00069 # The stamp should store the time at which this goal was requested.
00070 # It is used by an action server when it tries to preempt all
00071 # goals that were requested before a certain time
00072 time stamp
00073
00074 # The id provides a way to associate feedback and
00075 # result message with specific goal requests. The id
00076 # specified must be unique.
00077 string id
00078
00079
00080 ================================================================================
00081 MSG: ee_cart_imped_msgs/EECartImpedFeedback
00082 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00083 #feedback
00084 #current pose and squared error in force
00085 #and the running time of this goal so far
00086 Header header
00087 ee_cart_imped_msgs/StiffPoint[] goal
00088 ee_cart_imped_msgs/StiffPoint initial_point
00089 ee_cart_imped_msgs/StiffPoint desired
00090 ee_cart_imped_msgs/StiffPoint actual_pose
00091 float64 effort_sq_error
00092 float64[] requested_joint_efforts
00093 float64[] actual_joint_efforts
00094 duration running_time
00095
00096
00097
00098 ================================================================================
00099 MSG: ee_cart_imped_msgs/StiffPoint
00100 Header header
00101 #The pose to achieve in the stiffness directions
00102 geometry_msgs/Pose pose
00103 #Wrench or stiffness for each dimension
00104 geometry_msgs/Wrench wrench_or_stiffness
00105 #The following are True if a force/torque should
00106 #be exerted and False if a stiffness should be used.
00107 bool isForceX
00108 bool isForceY
00109 bool isForceZ
00110 bool isTorqueX
00111 bool isTorqueY
00112 bool isTorqueZ
00113 #The time from the start of the trajectory that this
00114 #point should be achieved.
00115 duration time_from_start
00116 ================================================================================
00117 MSG: geometry_msgs/Pose
00118 # A representation of pose in free space, composed of postion and orientation.
00119 Point position
00120 Quaternion orientation
00121
00122 ================================================================================
00123 MSG: geometry_msgs/Point
00124 # This contains the position of a point in free space
00125 float64 x
00126 float64 y
00127 float64 z
00128
00129 ================================================================================
00130 MSG: geometry_msgs/Quaternion
00131 # This represents an orientation in free space in quaternion form.
00132
00133 float64 x
00134 float64 y
00135 float64 z
00136 float64 w
00137
00138 ================================================================================
00139 MSG: geometry_msgs/Wrench
00140 # This represents force in free space, seperated into
00141 # it's linear and angular parts.
00142 Vector3 force
00143 Vector3 torque
00144
00145 ================================================================================
00146 MSG: geometry_msgs/Vector3
00147 # This represents a vector in free space.
00148
00149 float64 x
00150 float64 y
00151 float64 z
00152 """
00153 __slots__ = ['header','status','feedback']
00154 _slot_types = ['std_msgs/Header','actionlib_msgs/GoalStatus','ee_cart_imped_msgs/EECartImpedFeedback']
00155
00156 def __init__(self, *args, **kwds):
00157 """
00158 Constructor. Any message fields that are implicitly/explicitly
00159 set to None will be assigned a default value. The recommend
00160 use is keyword arguments as this is more robust to future message
00161 changes. You cannot mix in-order arguments and keyword arguments.
00162
00163 The available fields are:
00164 header,status,feedback
00165
00166 :param args: complete set of field values, in .msg order
00167 :param kwds: use keyword arguments corresponding to message field names
00168 to set specific fields.
00169 """
00170 if args or kwds:
00171 super(EECartImpedActionFeedback, self).__init__(*args, **kwds)
00172
00173 if self.header is None:
00174 self.header = std_msgs.msg.Header()
00175 if self.status is None:
00176 self.status = actionlib_msgs.msg.GoalStatus()
00177 if self.feedback is None:
00178 self.feedback = ee_cart_imped_msgs.msg.EECartImpedFeedback()
00179 else:
00180 self.header = std_msgs.msg.Header()
00181 self.status = actionlib_msgs.msg.GoalStatus()
00182 self.feedback = ee_cart_imped_msgs.msg.EECartImpedFeedback()
00183
00184 def _get_types(self):
00185 """
00186 internal API method
00187 """
00188 return self._slot_types
00189
00190 def serialize(self, buff):
00191 """
00192 serialize message into buffer
00193 :param buff: buffer, ``StringIO``
00194 """
00195 try:
00196 _x = self
00197 buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
00198 _x = self.header.frame_id
00199 length = len(_x)
00200 if python3 or type(_x) == unicode:
00201 _x = _x.encode('utf-8')
00202 length = len(_x)
00203 buff.write(struct.pack('<I%ss'%length, length, _x))
00204 _x = self
00205 buff.write(_struct_2I.pack(_x.status.goal_id.stamp.secs, _x.status.goal_id.stamp.nsecs))
00206 _x = self.status.goal_id.id
00207 length = len(_x)
00208 if python3 or type(_x) == unicode:
00209 _x = _x.encode('utf-8')
00210 length = len(_x)
00211 buff.write(struct.pack('<I%ss'%length, length, _x))
00212 buff.write(_struct_B.pack(self.status.status))
00213 _x = self.status.text
00214 length = len(_x)
00215 if python3 or type(_x) == unicode:
00216 _x = _x.encode('utf-8')
00217 length = len(_x)
00218 buff.write(struct.pack('<I%ss'%length, length, _x))
00219 _x = self
00220 buff.write(_struct_3I.pack(_x.feedback.header.seq, _x.feedback.header.stamp.secs, _x.feedback.header.stamp.nsecs))
00221 _x = self.feedback.header.frame_id
00222 length = len(_x)
00223 if python3 or type(_x) == unicode:
00224 _x = _x.encode('utf-8')
00225 length = len(_x)
00226 buff.write(struct.pack('<I%ss'%length, length, _x))
00227 length = len(self.feedback.goal)
00228 buff.write(_struct_I.pack(length))
00229 for val1 in self.feedback.goal:
00230 _v1 = val1.header
00231 buff.write(_struct_I.pack(_v1.seq))
00232 _v2 = _v1.stamp
00233 _x = _v2
00234 buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00235 _x = _v1.frame_id
00236 length = len(_x)
00237 if python3 or type(_x) == unicode:
00238 _x = _x.encode('utf-8')
00239 length = len(_x)
00240 buff.write(struct.pack('<I%ss'%length, length, _x))
00241 _v3 = val1.pose
00242 _v4 = _v3.position
00243 _x = _v4
00244 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00245 _v5 = _v3.orientation
00246 _x = _v5
00247 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00248 _v6 = val1.wrench_or_stiffness
00249 _v7 = _v6.force
00250 _x = _v7
00251 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00252 _v8 = _v6.torque
00253 _x = _v8
00254 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00255 _x = val1
00256 buff.write(_struct_6B.pack(_x.isForceX, _x.isForceY, _x.isForceZ, _x.isTorqueX, _x.isTorqueY, _x.isTorqueZ))
00257 _v9 = val1.time_from_start
00258 _x = _v9
00259 buff.write(_struct_2i.pack(_x.secs, _x.nsecs))
00260 _x = self
00261 buff.write(_struct_3I.pack(_x.feedback.initial_point.header.seq, _x.feedback.initial_point.header.stamp.secs, _x.feedback.initial_point.header.stamp.nsecs))
00262 _x = self.feedback.initial_point.header.frame_id
00263 length = len(_x)
00264 if python3 or type(_x) == unicode:
00265 _x = _x.encode('utf-8')
00266 length = len(_x)
00267 buff.write(struct.pack('<I%ss'%length, length, _x))
00268 _x = self
00269 buff.write(_struct_13d6B2i3I.pack(_x.feedback.initial_point.pose.position.x, _x.feedback.initial_point.pose.position.y, _x.feedback.initial_point.pose.position.z, _x.feedback.initial_point.pose.orientation.x, _x.feedback.initial_point.pose.orientation.y, _x.feedback.initial_point.pose.orientation.z, _x.feedback.initial_point.pose.orientation.w, _x.feedback.initial_point.wrench_or_stiffness.force.x, _x.feedback.initial_point.wrench_or_stiffness.force.y, _x.feedback.initial_point.wrench_or_stiffness.force.z, _x.feedback.initial_point.wrench_or_stiffness.torque.x, _x.feedback.initial_point.wrench_or_stiffness.torque.y, _x.feedback.initial_point.wrench_or_stiffness.torque.z, _x.feedback.initial_point.isForceX, _x.feedback.initial_point.isForceY, _x.feedback.initial_point.isForceZ, _x.feedback.initial_point.isTorqueX, _x.feedback.initial_point.isTorqueY, _x.feedback.initial_point.isTorqueZ, _x.feedback.initial_point.time_from_start.secs, _x.feedback.initial_point.time_from_start.nsecs, _x.feedback.desired.header.seq, _x.feedback.desired.header.stamp.secs, _x.feedback.desired.header.stamp.nsecs))
00270 _x = self.feedback.desired.header.frame_id
00271 length = len(_x)
00272 if python3 or type(_x) == unicode:
00273 _x = _x.encode('utf-8')
00274 length = len(_x)
00275 buff.write(struct.pack('<I%ss'%length, length, _x))
00276 _x = self
00277 buff.write(_struct_13d6B2i3I.pack(_x.feedback.desired.pose.position.x, _x.feedback.desired.pose.position.y, _x.feedback.desired.pose.position.z, _x.feedback.desired.pose.orientation.x, _x.feedback.desired.pose.orientation.y, _x.feedback.desired.pose.orientation.z, _x.feedback.desired.pose.orientation.w, _x.feedback.desired.wrench_or_stiffness.force.x, _x.feedback.desired.wrench_or_stiffness.force.y, _x.feedback.desired.wrench_or_stiffness.force.z, _x.feedback.desired.wrench_or_stiffness.torque.x, _x.feedback.desired.wrench_or_stiffness.torque.y, _x.feedback.desired.wrench_or_stiffness.torque.z, _x.feedback.desired.isForceX, _x.feedback.desired.isForceY, _x.feedback.desired.isForceZ, _x.feedback.desired.isTorqueX, _x.feedback.desired.isTorqueY, _x.feedback.desired.isTorqueZ, _x.feedback.desired.time_from_start.secs, _x.feedback.desired.time_from_start.nsecs, _x.feedback.actual_pose.header.seq, _x.feedback.actual_pose.header.stamp.secs, _x.feedback.actual_pose.header.stamp.nsecs))
00278 _x = self.feedback.actual_pose.header.frame_id
00279 length = len(_x)
00280 if python3 or type(_x) == unicode:
00281 _x = _x.encode('utf-8')
00282 length = len(_x)
00283 buff.write(struct.pack('<I%ss'%length, length, _x))
00284 _x = self
00285 buff.write(_struct_13d6B2id.pack(_x.feedback.actual_pose.pose.position.x, _x.feedback.actual_pose.pose.position.y, _x.feedback.actual_pose.pose.position.z, _x.feedback.actual_pose.pose.orientation.x, _x.feedback.actual_pose.pose.orientation.y, _x.feedback.actual_pose.pose.orientation.z, _x.feedback.actual_pose.pose.orientation.w, _x.feedback.actual_pose.wrench_or_stiffness.force.x, _x.feedback.actual_pose.wrench_or_stiffness.force.y, _x.feedback.actual_pose.wrench_or_stiffness.force.z, _x.feedback.actual_pose.wrench_or_stiffness.torque.x, _x.feedback.actual_pose.wrench_or_stiffness.torque.y, _x.feedback.actual_pose.wrench_or_stiffness.torque.z, _x.feedback.actual_pose.isForceX, _x.feedback.actual_pose.isForceY, _x.feedback.actual_pose.isForceZ, _x.feedback.actual_pose.isTorqueX, _x.feedback.actual_pose.isTorqueY, _x.feedback.actual_pose.isTorqueZ, _x.feedback.actual_pose.time_from_start.secs, _x.feedback.actual_pose.time_from_start.nsecs, _x.feedback.effort_sq_error))
00286 length = len(self.feedback.requested_joint_efforts)
00287 buff.write(_struct_I.pack(length))
00288 pattern = '<%sd'%length
00289 buff.write(struct.pack(pattern, *self.feedback.requested_joint_efforts))
00290 length = len(self.feedback.actual_joint_efforts)
00291 buff.write(_struct_I.pack(length))
00292 pattern = '<%sd'%length
00293 buff.write(struct.pack(pattern, *self.feedback.actual_joint_efforts))
00294 _x = self
00295 buff.write(_struct_2i.pack(_x.feedback.running_time.secs, _x.feedback.running_time.nsecs))
00296 except struct.error as se: self._check_types(se)
00297 except TypeError as te: self._check_types(te)
00298
00299 def deserialize(self, str):
00300 """
00301 unpack serialized message in str into this message instance
00302 :param str: byte array of serialized message, ``str``
00303 """
00304 try:
00305 if self.header is None:
00306 self.header = std_msgs.msg.Header()
00307 if self.status is None:
00308 self.status = actionlib_msgs.msg.GoalStatus()
00309 if self.feedback is None:
00310 self.feedback = ee_cart_imped_msgs.msg.EECartImpedFeedback()
00311 end = 0
00312 _x = self
00313 start = end
00314 end += 12
00315 (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00316 start = end
00317 end += 4
00318 (length,) = _struct_I.unpack(str[start:end])
00319 start = end
00320 end += length
00321 if python3:
00322 self.header.frame_id = str[start:end].decode('utf-8')
00323 else:
00324 self.header.frame_id = str[start:end]
00325 _x = self
00326 start = end
00327 end += 8
00328 (_x.status.goal_id.stamp.secs, _x.status.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00329 start = end
00330 end += 4
00331 (length,) = _struct_I.unpack(str[start:end])
00332 start = end
00333 end += length
00334 if python3:
00335 self.status.goal_id.id = str[start:end].decode('utf-8')
00336 else:
00337 self.status.goal_id.id = str[start:end]
00338 start = end
00339 end += 1
00340 (self.status.status,) = _struct_B.unpack(str[start:end])
00341 start = end
00342 end += 4
00343 (length,) = _struct_I.unpack(str[start:end])
00344 start = end
00345 end += length
00346 if python3:
00347 self.status.text = str[start:end].decode('utf-8')
00348 else:
00349 self.status.text = str[start:end]
00350 _x = self
00351 start = end
00352 end += 12
00353 (_x.feedback.header.seq, _x.feedback.header.stamp.secs, _x.feedback.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00354 start = end
00355 end += 4
00356 (length,) = _struct_I.unpack(str[start:end])
00357 start = end
00358 end += length
00359 if python3:
00360 self.feedback.header.frame_id = str[start:end].decode('utf-8')
00361 else:
00362 self.feedback.header.frame_id = str[start:end]
00363 start = end
00364 end += 4
00365 (length,) = _struct_I.unpack(str[start:end])
00366 self.feedback.goal = []
00367 for i in range(0, length):
00368 val1 = ee_cart_imped_msgs.msg.StiffPoint()
00369 _v10 = val1.header
00370 start = end
00371 end += 4
00372 (_v10.seq,) = _struct_I.unpack(str[start:end])
00373 _v11 = _v10.stamp
00374 _x = _v11
00375 start = end
00376 end += 8
00377 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
00378 start = end
00379 end += 4
00380 (length,) = _struct_I.unpack(str[start:end])
00381 start = end
00382 end += length
00383 if python3:
00384 _v10.frame_id = str[start:end].decode('utf-8')
00385 else:
00386 _v10.frame_id = str[start:end]
00387 _v12 = val1.pose
00388 _v13 = _v12.position
00389 _x = _v13
00390 start = end
00391 end += 24
00392 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00393 _v14 = _v12.orientation
00394 _x = _v14
00395 start = end
00396 end += 32
00397 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
00398 _v15 = val1.wrench_or_stiffness
00399 _v16 = _v15.force
00400 _x = _v16
00401 start = end
00402 end += 24
00403 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00404 _v17 = _v15.torque
00405 _x = _v17
00406 start = end
00407 end += 24
00408 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00409 _x = val1
00410 start = end
00411 end += 6
00412 (_x.isForceX, _x.isForceY, _x.isForceZ, _x.isTorqueX, _x.isTorqueY, _x.isTorqueZ,) = _struct_6B.unpack(str[start:end])
00413 val1.isForceX = bool(val1.isForceX)
00414 val1.isForceY = bool(val1.isForceY)
00415 val1.isForceZ = bool(val1.isForceZ)
00416 val1.isTorqueX = bool(val1.isTorqueX)
00417 val1.isTorqueY = bool(val1.isTorqueY)
00418 val1.isTorqueZ = bool(val1.isTorqueZ)
00419 _v18 = val1.time_from_start
00420 _x = _v18
00421 start = end
00422 end += 8
00423 (_x.secs, _x.nsecs,) = _struct_2i.unpack(str[start:end])
00424 self.feedback.goal.append(val1)
00425 _x = self
00426 start = end
00427 end += 12
00428 (_x.feedback.initial_point.header.seq, _x.feedback.initial_point.header.stamp.secs, _x.feedback.initial_point.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00429 start = end
00430 end += 4
00431 (length,) = _struct_I.unpack(str[start:end])
00432 start = end
00433 end += length
00434 if python3:
00435 self.feedback.initial_point.header.frame_id = str[start:end].decode('utf-8')
00436 else:
00437 self.feedback.initial_point.header.frame_id = str[start:end]
00438 _x = self
00439 start = end
00440 end += 130
00441 (_x.feedback.initial_point.pose.position.x, _x.feedback.initial_point.pose.position.y, _x.feedback.initial_point.pose.position.z, _x.feedback.initial_point.pose.orientation.x, _x.feedback.initial_point.pose.orientation.y, _x.feedback.initial_point.pose.orientation.z, _x.feedback.initial_point.pose.orientation.w, _x.feedback.initial_point.wrench_or_stiffness.force.x, _x.feedback.initial_point.wrench_or_stiffness.force.y, _x.feedback.initial_point.wrench_or_stiffness.force.z, _x.feedback.initial_point.wrench_or_stiffness.torque.x, _x.feedback.initial_point.wrench_or_stiffness.torque.y, _x.feedback.initial_point.wrench_or_stiffness.torque.z, _x.feedback.initial_point.isForceX, _x.feedback.initial_point.isForceY, _x.feedback.initial_point.isForceZ, _x.feedback.initial_point.isTorqueX, _x.feedback.initial_point.isTorqueY, _x.feedback.initial_point.isTorqueZ, _x.feedback.initial_point.time_from_start.secs, _x.feedback.initial_point.time_from_start.nsecs, _x.feedback.desired.header.seq, _x.feedback.desired.header.stamp.secs, _x.feedback.desired.header.stamp.nsecs,) = _struct_13d6B2i3I.unpack(str[start:end])
00442 self.feedback.initial_point.isForceX = bool(self.feedback.initial_point.isForceX)
00443 self.feedback.initial_point.isForceY = bool(self.feedback.initial_point.isForceY)
00444 self.feedback.initial_point.isForceZ = bool(self.feedback.initial_point.isForceZ)
00445 self.feedback.initial_point.isTorqueX = bool(self.feedback.initial_point.isTorqueX)
00446 self.feedback.initial_point.isTorqueY = bool(self.feedback.initial_point.isTorqueY)
00447 self.feedback.initial_point.isTorqueZ = bool(self.feedback.initial_point.isTorqueZ)
00448 start = end
00449 end += 4
00450 (length,) = _struct_I.unpack(str[start:end])
00451 start = end
00452 end += length
00453 if python3:
00454 self.feedback.desired.header.frame_id = str[start:end].decode('utf-8')
00455 else:
00456 self.feedback.desired.header.frame_id = str[start:end]
00457 _x = self
00458 start = end
00459 end += 130
00460 (_x.feedback.desired.pose.position.x, _x.feedback.desired.pose.position.y, _x.feedback.desired.pose.position.z, _x.feedback.desired.pose.orientation.x, _x.feedback.desired.pose.orientation.y, _x.feedback.desired.pose.orientation.z, _x.feedback.desired.pose.orientation.w, _x.feedback.desired.wrench_or_stiffness.force.x, _x.feedback.desired.wrench_or_stiffness.force.y, _x.feedback.desired.wrench_or_stiffness.force.z, _x.feedback.desired.wrench_or_stiffness.torque.x, _x.feedback.desired.wrench_or_stiffness.torque.y, _x.feedback.desired.wrench_or_stiffness.torque.z, _x.feedback.desired.isForceX, _x.feedback.desired.isForceY, _x.feedback.desired.isForceZ, _x.feedback.desired.isTorqueX, _x.feedback.desired.isTorqueY, _x.feedback.desired.isTorqueZ, _x.feedback.desired.time_from_start.secs, _x.feedback.desired.time_from_start.nsecs, _x.feedback.actual_pose.header.seq, _x.feedback.actual_pose.header.stamp.secs, _x.feedback.actual_pose.header.stamp.nsecs,) = _struct_13d6B2i3I.unpack(str[start:end])
00461 self.feedback.desired.isForceX = bool(self.feedback.desired.isForceX)
00462 self.feedback.desired.isForceY = bool(self.feedback.desired.isForceY)
00463 self.feedback.desired.isForceZ = bool(self.feedback.desired.isForceZ)
00464 self.feedback.desired.isTorqueX = bool(self.feedback.desired.isTorqueX)
00465 self.feedback.desired.isTorqueY = bool(self.feedback.desired.isTorqueY)
00466 self.feedback.desired.isTorqueZ = bool(self.feedback.desired.isTorqueZ)
00467 start = end
00468 end += 4
00469 (length,) = _struct_I.unpack(str[start:end])
00470 start = end
00471 end += length
00472 if python3:
00473 self.feedback.actual_pose.header.frame_id = str[start:end].decode('utf-8')
00474 else:
00475 self.feedback.actual_pose.header.frame_id = str[start:end]
00476 _x = self
00477 start = end
00478 end += 126
00479 (_x.feedback.actual_pose.pose.position.x, _x.feedback.actual_pose.pose.position.y, _x.feedback.actual_pose.pose.position.z, _x.feedback.actual_pose.pose.orientation.x, _x.feedback.actual_pose.pose.orientation.y, _x.feedback.actual_pose.pose.orientation.z, _x.feedback.actual_pose.pose.orientation.w, _x.feedback.actual_pose.wrench_or_stiffness.force.x, _x.feedback.actual_pose.wrench_or_stiffness.force.y, _x.feedback.actual_pose.wrench_or_stiffness.force.z, _x.feedback.actual_pose.wrench_or_stiffness.torque.x, _x.feedback.actual_pose.wrench_or_stiffness.torque.y, _x.feedback.actual_pose.wrench_or_stiffness.torque.z, _x.feedback.actual_pose.isForceX, _x.feedback.actual_pose.isForceY, _x.feedback.actual_pose.isForceZ, _x.feedback.actual_pose.isTorqueX, _x.feedback.actual_pose.isTorqueY, _x.feedback.actual_pose.isTorqueZ, _x.feedback.actual_pose.time_from_start.secs, _x.feedback.actual_pose.time_from_start.nsecs, _x.feedback.effort_sq_error,) = _struct_13d6B2id.unpack(str[start:end])
00480 self.feedback.actual_pose.isForceX = bool(self.feedback.actual_pose.isForceX)
00481 self.feedback.actual_pose.isForceY = bool(self.feedback.actual_pose.isForceY)
00482 self.feedback.actual_pose.isForceZ = bool(self.feedback.actual_pose.isForceZ)
00483 self.feedback.actual_pose.isTorqueX = bool(self.feedback.actual_pose.isTorqueX)
00484 self.feedback.actual_pose.isTorqueY = bool(self.feedback.actual_pose.isTorqueY)
00485 self.feedback.actual_pose.isTorqueZ = bool(self.feedback.actual_pose.isTorqueZ)
00486 start = end
00487 end += 4
00488 (length,) = _struct_I.unpack(str[start:end])
00489 pattern = '<%sd'%length
00490 start = end
00491 end += struct.calcsize(pattern)
00492 self.feedback.requested_joint_efforts = struct.unpack(pattern, str[start:end])
00493 start = end
00494 end += 4
00495 (length,) = _struct_I.unpack(str[start:end])
00496 pattern = '<%sd'%length
00497 start = end
00498 end += struct.calcsize(pattern)
00499 self.feedback.actual_joint_efforts = struct.unpack(pattern, str[start:end])
00500 _x = self
00501 start = end
00502 end += 8
00503 (_x.feedback.running_time.secs, _x.feedback.running_time.nsecs,) = _struct_2i.unpack(str[start:end])
00504 return self
00505 except struct.error as e:
00506 raise genpy.DeserializationError(e)
00507
00508
00509 def serialize_numpy(self, buff, numpy):
00510 """
00511 serialize message with numpy array types into buffer
00512 :param buff: buffer, ``StringIO``
00513 :param numpy: numpy python module
00514 """
00515 try:
00516 _x = self
00517 buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
00518 _x = self.header.frame_id
00519 length = len(_x)
00520 if python3 or type(_x) == unicode:
00521 _x = _x.encode('utf-8')
00522 length = len(_x)
00523 buff.write(struct.pack('<I%ss'%length, length, _x))
00524 _x = self
00525 buff.write(_struct_2I.pack(_x.status.goal_id.stamp.secs, _x.status.goal_id.stamp.nsecs))
00526 _x = self.status.goal_id.id
00527 length = len(_x)
00528 if python3 or type(_x) == unicode:
00529 _x = _x.encode('utf-8')
00530 length = len(_x)
00531 buff.write(struct.pack('<I%ss'%length, length, _x))
00532 buff.write(_struct_B.pack(self.status.status))
00533 _x = self.status.text
00534 length = len(_x)
00535 if python3 or type(_x) == unicode:
00536 _x = _x.encode('utf-8')
00537 length = len(_x)
00538 buff.write(struct.pack('<I%ss'%length, length, _x))
00539 _x = self
00540 buff.write(_struct_3I.pack(_x.feedback.header.seq, _x.feedback.header.stamp.secs, _x.feedback.header.stamp.nsecs))
00541 _x = self.feedback.header.frame_id
00542 length = len(_x)
00543 if python3 or type(_x) == unicode:
00544 _x = _x.encode('utf-8')
00545 length = len(_x)
00546 buff.write(struct.pack('<I%ss'%length, length, _x))
00547 length = len(self.feedback.goal)
00548 buff.write(_struct_I.pack(length))
00549 for val1 in self.feedback.goal:
00550 _v19 = val1.header
00551 buff.write(_struct_I.pack(_v19.seq))
00552 _v20 = _v19.stamp
00553 _x = _v20
00554 buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00555 _x = _v19.frame_id
00556 length = len(_x)
00557 if python3 or type(_x) == unicode:
00558 _x = _x.encode('utf-8')
00559 length = len(_x)
00560 buff.write(struct.pack('<I%ss'%length, length, _x))
00561 _v21 = val1.pose
00562 _v22 = _v21.position
00563 _x = _v22
00564 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00565 _v23 = _v21.orientation
00566 _x = _v23
00567 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00568 _v24 = val1.wrench_or_stiffness
00569 _v25 = _v24.force
00570 _x = _v25
00571 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00572 _v26 = _v24.torque
00573 _x = _v26
00574 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00575 _x = val1
00576 buff.write(_struct_6B.pack(_x.isForceX, _x.isForceY, _x.isForceZ, _x.isTorqueX, _x.isTorqueY, _x.isTorqueZ))
00577 _v27 = val1.time_from_start
00578 _x = _v27
00579 buff.write(_struct_2i.pack(_x.secs, _x.nsecs))
00580 _x = self
00581 buff.write(_struct_3I.pack(_x.feedback.initial_point.header.seq, _x.feedback.initial_point.header.stamp.secs, _x.feedback.initial_point.header.stamp.nsecs))
00582 _x = self.feedback.initial_point.header.frame_id
00583 length = len(_x)
00584 if python3 or type(_x) == unicode:
00585 _x = _x.encode('utf-8')
00586 length = len(_x)
00587 buff.write(struct.pack('<I%ss'%length, length, _x))
00588 _x = self
00589 buff.write(_struct_13d6B2i3I.pack(_x.feedback.initial_point.pose.position.x, _x.feedback.initial_point.pose.position.y, _x.feedback.initial_point.pose.position.z, _x.feedback.initial_point.pose.orientation.x, _x.feedback.initial_point.pose.orientation.y, _x.feedback.initial_point.pose.orientation.z, _x.feedback.initial_point.pose.orientation.w, _x.feedback.initial_point.wrench_or_stiffness.force.x, _x.feedback.initial_point.wrench_or_stiffness.force.y, _x.feedback.initial_point.wrench_or_stiffness.force.z, _x.feedback.initial_point.wrench_or_stiffness.torque.x, _x.feedback.initial_point.wrench_or_stiffness.torque.y, _x.feedback.initial_point.wrench_or_stiffness.torque.z, _x.feedback.initial_point.isForceX, _x.feedback.initial_point.isForceY, _x.feedback.initial_point.isForceZ, _x.feedback.initial_point.isTorqueX, _x.feedback.initial_point.isTorqueY, _x.feedback.initial_point.isTorqueZ, _x.feedback.initial_point.time_from_start.secs, _x.feedback.initial_point.time_from_start.nsecs, _x.feedback.desired.header.seq, _x.feedback.desired.header.stamp.secs, _x.feedback.desired.header.stamp.nsecs))
00590 _x = self.feedback.desired.header.frame_id
00591 length = len(_x)
00592 if python3 or type(_x) == unicode:
00593 _x = _x.encode('utf-8')
00594 length = len(_x)
00595 buff.write(struct.pack('<I%ss'%length, length, _x))
00596 _x = self
00597 buff.write(_struct_13d6B2i3I.pack(_x.feedback.desired.pose.position.x, _x.feedback.desired.pose.position.y, _x.feedback.desired.pose.position.z, _x.feedback.desired.pose.orientation.x, _x.feedback.desired.pose.orientation.y, _x.feedback.desired.pose.orientation.z, _x.feedback.desired.pose.orientation.w, _x.feedback.desired.wrench_or_stiffness.force.x, _x.feedback.desired.wrench_or_stiffness.force.y, _x.feedback.desired.wrench_or_stiffness.force.z, _x.feedback.desired.wrench_or_stiffness.torque.x, _x.feedback.desired.wrench_or_stiffness.torque.y, _x.feedback.desired.wrench_or_stiffness.torque.z, _x.feedback.desired.isForceX, _x.feedback.desired.isForceY, _x.feedback.desired.isForceZ, _x.feedback.desired.isTorqueX, _x.feedback.desired.isTorqueY, _x.feedback.desired.isTorqueZ, _x.feedback.desired.time_from_start.secs, _x.feedback.desired.time_from_start.nsecs, _x.feedback.actual_pose.header.seq, _x.feedback.actual_pose.header.stamp.secs, _x.feedback.actual_pose.header.stamp.nsecs))
00598 _x = self.feedback.actual_pose.header.frame_id
00599 length = len(_x)
00600 if python3 or type(_x) == unicode:
00601 _x = _x.encode('utf-8')
00602 length = len(_x)
00603 buff.write(struct.pack('<I%ss'%length, length, _x))
00604 _x = self
00605 buff.write(_struct_13d6B2id.pack(_x.feedback.actual_pose.pose.position.x, _x.feedback.actual_pose.pose.position.y, _x.feedback.actual_pose.pose.position.z, _x.feedback.actual_pose.pose.orientation.x, _x.feedback.actual_pose.pose.orientation.y, _x.feedback.actual_pose.pose.orientation.z, _x.feedback.actual_pose.pose.orientation.w, _x.feedback.actual_pose.wrench_or_stiffness.force.x, _x.feedback.actual_pose.wrench_or_stiffness.force.y, _x.feedback.actual_pose.wrench_or_stiffness.force.z, _x.feedback.actual_pose.wrench_or_stiffness.torque.x, _x.feedback.actual_pose.wrench_or_stiffness.torque.y, _x.feedback.actual_pose.wrench_or_stiffness.torque.z, _x.feedback.actual_pose.isForceX, _x.feedback.actual_pose.isForceY, _x.feedback.actual_pose.isForceZ, _x.feedback.actual_pose.isTorqueX, _x.feedback.actual_pose.isTorqueY, _x.feedback.actual_pose.isTorqueZ, _x.feedback.actual_pose.time_from_start.secs, _x.feedback.actual_pose.time_from_start.nsecs, _x.feedback.effort_sq_error))
00606 length = len(self.feedback.requested_joint_efforts)
00607 buff.write(_struct_I.pack(length))
00608 pattern = '<%sd'%length
00609 buff.write(self.feedback.requested_joint_efforts.tostring())
00610 length = len(self.feedback.actual_joint_efforts)
00611 buff.write(_struct_I.pack(length))
00612 pattern = '<%sd'%length
00613 buff.write(self.feedback.actual_joint_efforts.tostring())
00614 _x = self
00615 buff.write(_struct_2i.pack(_x.feedback.running_time.secs, _x.feedback.running_time.nsecs))
00616 except struct.error as se: self._check_types(se)
00617 except TypeError as te: self._check_types(te)
00618
00619 def deserialize_numpy(self, str, numpy):
00620 """
00621 unpack serialized message in str into this message instance using numpy for array types
00622 :param str: byte array of serialized message, ``str``
00623 :param numpy: numpy python module
00624 """
00625 try:
00626 if self.header is None:
00627 self.header = std_msgs.msg.Header()
00628 if self.status is None:
00629 self.status = actionlib_msgs.msg.GoalStatus()
00630 if self.feedback is None:
00631 self.feedback = ee_cart_imped_msgs.msg.EECartImpedFeedback()
00632 end = 0
00633 _x = self
00634 start = end
00635 end += 12
00636 (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00637 start = end
00638 end += 4
00639 (length,) = _struct_I.unpack(str[start:end])
00640 start = end
00641 end += length
00642 if python3:
00643 self.header.frame_id = str[start:end].decode('utf-8')
00644 else:
00645 self.header.frame_id = str[start:end]
00646 _x = self
00647 start = end
00648 end += 8
00649 (_x.status.goal_id.stamp.secs, _x.status.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00650 start = end
00651 end += 4
00652 (length,) = _struct_I.unpack(str[start:end])
00653 start = end
00654 end += length
00655 if python3:
00656 self.status.goal_id.id = str[start:end].decode('utf-8')
00657 else:
00658 self.status.goal_id.id = str[start:end]
00659 start = end
00660 end += 1
00661 (self.status.status,) = _struct_B.unpack(str[start:end])
00662 start = end
00663 end += 4
00664 (length,) = _struct_I.unpack(str[start:end])
00665 start = end
00666 end += length
00667 if python3:
00668 self.status.text = str[start:end].decode('utf-8')
00669 else:
00670 self.status.text = str[start:end]
00671 _x = self
00672 start = end
00673 end += 12
00674 (_x.feedback.header.seq, _x.feedback.header.stamp.secs, _x.feedback.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00675 start = end
00676 end += 4
00677 (length,) = _struct_I.unpack(str[start:end])
00678 start = end
00679 end += length
00680 if python3:
00681 self.feedback.header.frame_id = str[start:end].decode('utf-8')
00682 else:
00683 self.feedback.header.frame_id = str[start:end]
00684 start = end
00685 end += 4
00686 (length,) = _struct_I.unpack(str[start:end])
00687 self.feedback.goal = []
00688 for i in range(0, length):
00689 val1 = ee_cart_imped_msgs.msg.StiffPoint()
00690 _v28 = val1.header
00691 start = end
00692 end += 4
00693 (_v28.seq,) = _struct_I.unpack(str[start:end])
00694 _v29 = _v28.stamp
00695 _x = _v29
00696 start = end
00697 end += 8
00698 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
00699 start = end
00700 end += 4
00701 (length,) = _struct_I.unpack(str[start:end])
00702 start = end
00703 end += length
00704 if python3:
00705 _v28.frame_id = str[start:end].decode('utf-8')
00706 else:
00707 _v28.frame_id = str[start:end]
00708 _v30 = val1.pose
00709 _v31 = _v30.position
00710 _x = _v31
00711 start = end
00712 end += 24
00713 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00714 _v32 = _v30.orientation
00715 _x = _v32
00716 start = end
00717 end += 32
00718 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
00719 _v33 = val1.wrench_or_stiffness
00720 _v34 = _v33.force
00721 _x = _v34
00722 start = end
00723 end += 24
00724 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00725 _v35 = _v33.torque
00726 _x = _v35
00727 start = end
00728 end += 24
00729 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00730 _x = val1
00731 start = end
00732 end += 6
00733 (_x.isForceX, _x.isForceY, _x.isForceZ, _x.isTorqueX, _x.isTorqueY, _x.isTorqueZ,) = _struct_6B.unpack(str[start:end])
00734 val1.isForceX = bool(val1.isForceX)
00735 val1.isForceY = bool(val1.isForceY)
00736 val1.isForceZ = bool(val1.isForceZ)
00737 val1.isTorqueX = bool(val1.isTorqueX)
00738 val1.isTorqueY = bool(val1.isTorqueY)
00739 val1.isTorqueZ = bool(val1.isTorqueZ)
00740 _v36 = val1.time_from_start
00741 _x = _v36
00742 start = end
00743 end += 8
00744 (_x.secs, _x.nsecs,) = _struct_2i.unpack(str[start:end])
00745 self.feedback.goal.append(val1)
00746 _x = self
00747 start = end
00748 end += 12
00749 (_x.feedback.initial_point.header.seq, _x.feedback.initial_point.header.stamp.secs, _x.feedback.initial_point.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00750 start = end
00751 end += 4
00752 (length,) = _struct_I.unpack(str[start:end])
00753 start = end
00754 end += length
00755 if python3:
00756 self.feedback.initial_point.header.frame_id = str[start:end].decode('utf-8')
00757 else:
00758 self.feedback.initial_point.header.frame_id = str[start:end]
00759 _x = self
00760 start = end
00761 end += 130
00762 (_x.feedback.initial_point.pose.position.x, _x.feedback.initial_point.pose.position.y, _x.feedback.initial_point.pose.position.z, _x.feedback.initial_point.pose.orientation.x, _x.feedback.initial_point.pose.orientation.y, _x.feedback.initial_point.pose.orientation.z, _x.feedback.initial_point.pose.orientation.w, _x.feedback.initial_point.wrench_or_stiffness.force.x, _x.feedback.initial_point.wrench_or_stiffness.force.y, _x.feedback.initial_point.wrench_or_stiffness.force.z, _x.feedback.initial_point.wrench_or_stiffness.torque.x, _x.feedback.initial_point.wrench_or_stiffness.torque.y, _x.feedback.initial_point.wrench_or_stiffness.torque.z, _x.feedback.initial_point.isForceX, _x.feedback.initial_point.isForceY, _x.feedback.initial_point.isForceZ, _x.feedback.initial_point.isTorqueX, _x.feedback.initial_point.isTorqueY, _x.feedback.initial_point.isTorqueZ, _x.feedback.initial_point.time_from_start.secs, _x.feedback.initial_point.time_from_start.nsecs, _x.feedback.desired.header.seq, _x.feedback.desired.header.stamp.secs, _x.feedback.desired.header.stamp.nsecs,) = _struct_13d6B2i3I.unpack(str[start:end])
00763 self.feedback.initial_point.isForceX = bool(self.feedback.initial_point.isForceX)
00764 self.feedback.initial_point.isForceY = bool(self.feedback.initial_point.isForceY)
00765 self.feedback.initial_point.isForceZ = bool(self.feedback.initial_point.isForceZ)
00766 self.feedback.initial_point.isTorqueX = bool(self.feedback.initial_point.isTorqueX)
00767 self.feedback.initial_point.isTorqueY = bool(self.feedback.initial_point.isTorqueY)
00768 self.feedback.initial_point.isTorqueZ = bool(self.feedback.initial_point.isTorqueZ)
00769 start = end
00770 end += 4
00771 (length,) = _struct_I.unpack(str[start:end])
00772 start = end
00773 end += length
00774 if python3:
00775 self.feedback.desired.header.frame_id = str[start:end].decode('utf-8')
00776 else:
00777 self.feedback.desired.header.frame_id = str[start:end]
00778 _x = self
00779 start = end
00780 end += 130
00781 (_x.feedback.desired.pose.position.x, _x.feedback.desired.pose.position.y, _x.feedback.desired.pose.position.z, _x.feedback.desired.pose.orientation.x, _x.feedback.desired.pose.orientation.y, _x.feedback.desired.pose.orientation.z, _x.feedback.desired.pose.orientation.w, _x.feedback.desired.wrench_or_stiffness.force.x, _x.feedback.desired.wrench_or_stiffness.force.y, _x.feedback.desired.wrench_or_stiffness.force.z, _x.feedback.desired.wrench_or_stiffness.torque.x, _x.feedback.desired.wrench_or_stiffness.torque.y, _x.feedback.desired.wrench_or_stiffness.torque.z, _x.feedback.desired.isForceX, _x.feedback.desired.isForceY, _x.feedback.desired.isForceZ, _x.feedback.desired.isTorqueX, _x.feedback.desired.isTorqueY, _x.feedback.desired.isTorqueZ, _x.feedback.desired.time_from_start.secs, _x.feedback.desired.time_from_start.nsecs, _x.feedback.actual_pose.header.seq, _x.feedback.actual_pose.header.stamp.secs, _x.feedback.actual_pose.header.stamp.nsecs,) = _struct_13d6B2i3I.unpack(str[start:end])
00782 self.feedback.desired.isForceX = bool(self.feedback.desired.isForceX)
00783 self.feedback.desired.isForceY = bool(self.feedback.desired.isForceY)
00784 self.feedback.desired.isForceZ = bool(self.feedback.desired.isForceZ)
00785 self.feedback.desired.isTorqueX = bool(self.feedback.desired.isTorqueX)
00786 self.feedback.desired.isTorqueY = bool(self.feedback.desired.isTorqueY)
00787 self.feedback.desired.isTorqueZ = bool(self.feedback.desired.isTorqueZ)
00788 start = end
00789 end += 4
00790 (length,) = _struct_I.unpack(str[start:end])
00791 start = end
00792 end += length
00793 if python3:
00794 self.feedback.actual_pose.header.frame_id = str[start:end].decode('utf-8')
00795 else:
00796 self.feedback.actual_pose.header.frame_id = str[start:end]
00797 _x = self
00798 start = end
00799 end += 126
00800 (_x.feedback.actual_pose.pose.position.x, _x.feedback.actual_pose.pose.position.y, _x.feedback.actual_pose.pose.position.z, _x.feedback.actual_pose.pose.orientation.x, _x.feedback.actual_pose.pose.orientation.y, _x.feedback.actual_pose.pose.orientation.z, _x.feedback.actual_pose.pose.orientation.w, _x.feedback.actual_pose.wrench_or_stiffness.force.x, _x.feedback.actual_pose.wrench_or_stiffness.force.y, _x.feedback.actual_pose.wrench_or_stiffness.force.z, _x.feedback.actual_pose.wrench_or_stiffness.torque.x, _x.feedback.actual_pose.wrench_or_stiffness.torque.y, _x.feedback.actual_pose.wrench_or_stiffness.torque.z, _x.feedback.actual_pose.isForceX, _x.feedback.actual_pose.isForceY, _x.feedback.actual_pose.isForceZ, _x.feedback.actual_pose.isTorqueX, _x.feedback.actual_pose.isTorqueY, _x.feedback.actual_pose.isTorqueZ, _x.feedback.actual_pose.time_from_start.secs, _x.feedback.actual_pose.time_from_start.nsecs, _x.feedback.effort_sq_error,) = _struct_13d6B2id.unpack(str[start:end])
00801 self.feedback.actual_pose.isForceX = bool(self.feedback.actual_pose.isForceX)
00802 self.feedback.actual_pose.isForceY = bool(self.feedback.actual_pose.isForceY)
00803 self.feedback.actual_pose.isForceZ = bool(self.feedback.actual_pose.isForceZ)
00804 self.feedback.actual_pose.isTorqueX = bool(self.feedback.actual_pose.isTorqueX)
00805 self.feedback.actual_pose.isTorqueY = bool(self.feedback.actual_pose.isTorqueY)
00806 self.feedback.actual_pose.isTorqueZ = bool(self.feedback.actual_pose.isTorqueZ)
00807 start = end
00808 end += 4
00809 (length,) = _struct_I.unpack(str[start:end])
00810 pattern = '<%sd'%length
00811 start = end
00812 end += struct.calcsize(pattern)
00813 self.feedback.requested_joint_efforts = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00814 start = end
00815 end += 4
00816 (length,) = _struct_I.unpack(str[start:end])
00817 pattern = '<%sd'%length
00818 start = end
00819 end += struct.calcsize(pattern)
00820 self.feedback.actual_joint_efforts = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00821 _x = self
00822 start = end
00823 end += 8
00824 (_x.feedback.running_time.secs, _x.feedback.running_time.nsecs,) = _struct_2i.unpack(str[start:end])
00825 return self
00826 except struct.error as e:
00827 raise genpy.DeserializationError(e)
00828
00829 _struct_I = genpy.struct_I
00830 _struct_6B = struct.Struct("<6B")
00831 _struct_B = struct.Struct("<B")
00832 _struct_13d6B2id = struct.Struct("<13d6B2id")
00833 _struct_2i = struct.Struct("<2i")
00834 _struct_3I = struct.Struct("<3I")
00835 _struct_13d6B2i3I = struct.Struct("<13d6B2i3I")
00836 _struct_4d = struct.Struct("<4d")
00837 _struct_2I = struct.Struct("<2I")
00838 _struct_3d = struct.Struct("<3d")