00001 """autogenerated by genpy from ee_cart_imped_msgs/EECartImpedAction.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 actionlib_msgs.msg
00008 import geometry_msgs.msg
00009 import genpy
00010 import ee_cart_imped_msgs.msg
00011 import std_msgs.msg
00012
00013 class EECartImpedAction(genpy.Message):
00014 _md5sum = "363b9ba3af4663dbf9394e1ef0b84435"
00015 _type = "ee_cart_imped_msgs/EECartImpedAction"
00016 _has_header = False
00017 _full_text = """# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00018
00019 EECartImpedActionGoal action_goal
00020 EECartImpedActionResult action_result
00021 EECartImpedActionFeedback action_feedback
00022
00023 ================================================================================
00024 MSG: ee_cart_imped_msgs/EECartImpedActionGoal
00025 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00026
00027 Header header
00028 actionlib_msgs/GoalID goal_id
00029 EECartImpedGoal goal
00030
00031 ================================================================================
00032 MSG: std_msgs/Header
00033 # Standard metadata for higher-level stamped data types.
00034 # This is generally used to communicate timestamped data
00035 # in a particular coordinate frame.
00036 #
00037 # sequence ID: consecutively increasing ID
00038 uint32 seq
00039 #Two-integer timestamp that is expressed as:
00040 # * stamp.secs: seconds (stamp_secs) since epoch
00041 # * stamp.nsecs: nanoseconds since stamp_secs
00042 # time-handling sugar is provided by the client library
00043 time stamp
00044 #Frame this data is associated with
00045 # 0: no frame
00046 # 1: global frame
00047 string frame_id
00048
00049 ================================================================================
00050 MSG: actionlib_msgs/GoalID
00051 # The stamp should store the time at which this goal was requested.
00052 # It is used by an action server when it tries to preempt all
00053 # goals that were requested before a certain time
00054 time stamp
00055
00056 # The id provides a way to associate feedback and
00057 # result message with specific goal requests. The id
00058 # specified must be unique.
00059 string id
00060
00061
00062 ================================================================================
00063 MSG: ee_cart_imped_msgs/EECartImpedGoal
00064 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00065 #goal definition
00066 Header header
00067 ee_cart_imped_msgs/StiffPoint[] trajectory
00068
00069 ================================================================================
00070 MSG: ee_cart_imped_msgs/StiffPoint
00071 Header header
00072 #The pose to achieve in the stiffness directions
00073 geometry_msgs/Pose pose
00074 #Wrench or stiffness for each dimension
00075 geometry_msgs/Wrench wrench_or_stiffness
00076 #The following are True if a force/torque should
00077 #be exerted and False if a stiffness should be used.
00078 bool isForceX
00079 bool isForceY
00080 bool isForceZ
00081 bool isTorqueX
00082 bool isTorqueY
00083 bool isTorqueZ
00084 #The time from the start of the trajectory that this
00085 #point should be achieved.
00086 duration time_from_start
00087 ================================================================================
00088 MSG: geometry_msgs/Pose
00089 # A representation of pose in free space, composed of postion and orientation.
00090 Point position
00091 Quaternion orientation
00092
00093 ================================================================================
00094 MSG: geometry_msgs/Point
00095 # This contains the position of a point in free space
00096 float64 x
00097 float64 y
00098 float64 z
00099
00100 ================================================================================
00101 MSG: geometry_msgs/Quaternion
00102 # This represents an orientation in free space in quaternion form.
00103
00104 float64 x
00105 float64 y
00106 float64 z
00107 float64 w
00108
00109 ================================================================================
00110 MSG: geometry_msgs/Wrench
00111 # This represents force in free space, seperated into
00112 # it's linear and angular parts.
00113 Vector3 force
00114 Vector3 torque
00115
00116 ================================================================================
00117 MSG: geometry_msgs/Vector3
00118 # This represents a vector in free space.
00119
00120 float64 x
00121 float64 y
00122 float64 z
00123 ================================================================================
00124 MSG: ee_cart_imped_msgs/EECartImpedActionResult
00125 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00126
00127 Header header
00128 actionlib_msgs/GoalStatus status
00129 EECartImpedResult result
00130
00131 ================================================================================
00132 MSG: actionlib_msgs/GoalStatus
00133 GoalID goal_id
00134 uint8 status
00135 uint8 PENDING = 0 # The goal has yet to be processed by the action server
00136 uint8 ACTIVE = 1 # The goal is currently being processed by the action server
00137 uint8 PREEMPTED = 2 # The goal received a cancel request after it started executing
00138 # and has since completed its execution (Terminal State)
00139 uint8 SUCCEEDED = 3 # The goal was achieved successfully by the action server (Terminal State)
00140 uint8 ABORTED = 4 # The goal was aborted during execution by the action server due
00141 # to some failure (Terminal State)
00142 uint8 REJECTED = 5 # The goal was rejected by the action server without being processed,
00143 # because the goal was unattainable or invalid (Terminal State)
00144 uint8 PREEMPTING = 6 # The goal received a cancel request after it started executing
00145 # and has not yet completed execution
00146 uint8 RECALLING = 7 # The goal received a cancel request before it started executing,
00147 # but the action server has not yet confirmed that the goal is canceled
00148 uint8 RECALLED = 8 # The goal received a cancel request before it started executing
00149 # and was successfully cancelled (Terminal State)
00150 uint8 LOST = 9 # An action client can determine that a goal is LOST. This should not be
00151 # sent over the wire by an action server
00152
00153 #Allow for the user to associate a string with GoalStatus for debugging
00154 string text
00155
00156
00157 ================================================================================
00158 MSG: ee_cart_imped_msgs/EECartImpedResult
00159 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00160 #result definition
00161 #whether it was successful
00162 #the pose and force we ended with
00163 Header header
00164 bool success
00165 ee_cart_imped_msgs/StiffPoint desired
00166 geometry_msgs/Pose actual_pose
00167 float64 effort_sq_error
00168
00169 ================================================================================
00170 MSG: ee_cart_imped_msgs/EECartImpedActionFeedback
00171 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00172
00173 Header header
00174 actionlib_msgs/GoalStatus status
00175 EECartImpedFeedback feedback
00176
00177 ================================================================================
00178 MSG: ee_cart_imped_msgs/EECartImpedFeedback
00179 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00180 #feedback
00181 #current pose and squared error in force
00182 #and the running time of this goal so far
00183 Header header
00184 ee_cart_imped_msgs/StiffPoint[] goal
00185 ee_cart_imped_msgs/StiffPoint initial_point
00186 ee_cart_imped_msgs/StiffPoint desired
00187 ee_cart_imped_msgs/StiffPoint actual_pose
00188 float64 effort_sq_error
00189 float64[] requested_joint_efforts
00190 float64[] actual_joint_efforts
00191 duration running_time
00192
00193
00194
00195 """
00196 __slots__ = ['action_goal','action_result','action_feedback']
00197 _slot_types = ['ee_cart_imped_msgs/EECartImpedActionGoal','ee_cart_imped_msgs/EECartImpedActionResult','ee_cart_imped_msgs/EECartImpedActionFeedback']
00198
00199 def __init__(self, *args, **kwds):
00200 """
00201 Constructor. Any message fields that are implicitly/explicitly
00202 set to None will be assigned a default value. The recommend
00203 use is keyword arguments as this is more robust to future message
00204 changes. You cannot mix in-order arguments and keyword arguments.
00205
00206 The available fields are:
00207 action_goal,action_result,action_feedback
00208
00209 :param args: complete set of field values, in .msg order
00210 :param kwds: use keyword arguments corresponding to message field names
00211 to set specific fields.
00212 """
00213 if args or kwds:
00214 super(EECartImpedAction, self).__init__(*args, **kwds)
00215
00216 if self.action_goal is None:
00217 self.action_goal = ee_cart_imped_msgs.msg.EECartImpedActionGoal()
00218 if self.action_result is None:
00219 self.action_result = ee_cart_imped_msgs.msg.EECartImpedActionResult()
00220 if self.action_feedback is None:
00221 self.action_feedback = ee_cart_imped_msgs.msg.EECartImpedActionFeedback()
00222 else:
00223 self.action_goal = ee_cart_imped_msgs.msg.EECartImpedActionGoal()
00224 self.action_result = ee_cart_imped_msgs.msg.EECartImpedActionResult()
00225 self.action_feedback = ee_cart_imped_msgs.msg.EECartImpedActionFeedback()
00226
00227 def _get_types(self):
00228 """
00229 internal API method
00230 """
00231 return self._slot_types
00232
00233 def serialize(self, buff):
00234 """
00235 serialize message into buffer
00236 :param buff: buffer, ``StringIO``
00237 """
00238 try:
00239 _x = self
00240 buff.write(_struct_3I.pack(_x.action_goal.header.seq, _x.action_goal.header.stamp.secs, _x.action_goal.header.stamp.nsecs))
00241 _x = self.action_goal.header.frame_id
00242 length = len(_x)
00243 if python3 or type(_x) == unicode:
00244 _x = _x.encode('utf-8')
00245 length = len(_x)
00246 buff.write(struct.pack('<I%ss'%length, length, _x))
00247 _x = self
00248 buff.write(_struct_2I.pack(_x.action_goal.goal_id.stamp.secs, _x.action_goal.goal_id.stamp.nsecs))
00249 _x = self.action_goal.goal_id.id
00250 length = len(_x)
00251 if python3 or type(_x) == unicode:
00252 _x = _x.encode('utf-8')
00253 length = len(_x)
00254 buff.write(struct.pack('<I%ss'%length, length, _x))
00255 _x = self
00256 buff.write(_struct_3I.pack(_x.action_goal.goal.header.seq, _x.action_goal.goal.header.stamp.secs, _x.action_goal.goal.header.stamp.nsecs))
00257 _x = self.action_goal.goal.header.frame_id
00258 length = len(_x)
00259 if python3 or type(_x) == unicode:
00260 _x = _x.encode('utf-8')
00261 length = len(_x)
00262 buff.write(struct.pack('<I%ss'%length, length, _x))
00263 length = len(self.action_goal.goal.trajectory)
00264 buff.write(_struct_I.pack(length))
00265 for val1 in self.action_goal.goal.trajectory:
00266 _v1 = val1.header
00267 buff.write(_struct_I.pack(_v1.seq))
00268 _v2 = _v1.stamp
00269 _x = _v2
00270 buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00271 _x = _v1.frame_id
00272 length = len(_x)
00273 if python3 or type(_x) == unicode:
00274 _x = _x.encode('utf-8')
00275 length = len(_x)
00276 buff.write(struct.pack('<I%ss'%length, length, _x))
00277 _v3 = val1.pose
00278 _v4 = _v3.position
00279 _x = _v4
00280 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00281 _v5 = _v3.orientation
00282 _x = _v5
00283 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00284 _v6 = val1.wrench_or_stiffness
00285 _v7 = _v6.force
00286 _x = _v7
00287 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00288 _v8 = _v6.torque
00289 _x = _v8
00290 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00291 _x = val1
00292 buff.write(_struct_6B.pack(_x.isForceX, _x.isForceY, _x.isForceZ, _x.isTorqueX, _x.isTorqueY, _x.isTorqueZ))
00293 _v9 = val1.time_from_start
00294 _x = _v9
00295 buff.write(_struct_2i.pack(_x.secs, _x.nsecs))
00296 _x = self
00297 buff.write(_struct_3I.pack(_x.action_result.header.seq, _x.action_result.header.stamp.secs, _x.action_result.header.stamp.nsecs))
00298 _x = self.action_result.header.frame_id
00299 length = len(_x)
00300 if python3 or type(_x) == unicode:
00301 _x = _x.encode('utf-8')
00302 length = len(_x)
00303 buff.write(struct.pack('<I%ss'%length, length, _x))
00304 _x = self
00305 buff.write(_struct_2I.pack(_x.action_result.status.goal_id.stamp.secs, _x.action_result.status.goal_id.stamp.nsecs))
00306 _x = self.action_result.status.goal_id.id
00307 length = len(_x)
00308 if python3 or type(_x) == unicode:
00309 _x = _x.encode('utf-8')
00310 length = len(_x)
00311 buff.write(struct.pack('<I%ss'%length, length, _x))
00312 buff.write(_struct_B.pack(self.action_result.status.status))
00313 _x = self.action_result.status.text
00314 length = len(_x)
00315 if python3 or type(_x) == unicode:
00316 _x = _x.encode('utf-8')
00317 length = len(_x)
00318 buff.write(struct.pack('<I%ss'%length, length, _x))
00319 _x = self
00320 buff.write(_struct_3I.pack(_x.action_result.result.header.seq, _x.action_result.result.header.stamp.secs, _x.action_result.result.header.stamp.nsecs))
00321 _x = self.action_result.result.header.frame_id
00322 length = len(_x)
00323 if python3 or type(_x) == unicode:
00324 _x = _x.encode('utf-8')
00325 length = len(_x)
00326 buff.write(struct.pack('<I%ss'%length, length, _x))
00327 _x = self
00328 buff.write(_struct_B3I.pack(_x.action_result.result.success, _x.action_result.result.desired.header.seq, _x.action_result.result.desired.header.stamp.secs, _x.action_result.result.desired.header.stamp.nsecs))
00329 _x = self.action_result.result.desired.header.frame_id
00330 length = len(_x)
00331 if python3 or type(_x) == unicode:
00332 _x = _x.encode('utf-8')
00333 length = len(_x)
00334 buff.write(struct.pack('<I%ss'%length, length, _x))
00335 _x = self
00336 buff.write(_struct_13d6B2i8d3I.pack(_x.action_result.result.desired.pose.position.x, _x.action_result.result.desired.pose.position.y, _x.action_result.result.desired.pose.position.z, _x.action_result.result.desired.pose.orientation.x, _x.action_result.result.desired.pose.orientation.y, _x.action_result.result.desired.pose.orientation.z, _x.action_result.result.desired.pose.orientation.w, _x.action_result.result.desired.wrench_or_stiffness.force.x, _x.action_result.result.desired.wrench_or_stiffness.force.y, _x.action_result.result.desired.wrench_or_stiffness.force.z, _x.action_result.result.desired.wrench_or_stiffness.torque.x, _x.action_result.result.desired.wrench_or_stiffness.torque.y, _x.action_result.result.desired.wrench_or_stiffness.torque.z, _x.action_result.result.desired.isForceX, _x.action_result.result.desired.isForceY, _x.action_result.result.desired.isForceZ, _x.action_result.result.desired.isTorqueX, _x.action_result.result.desired.isTorqueY, _x.action_result.result.desired.isTorqueZ, _x.action_result.result.desired.time_from_start.secs, _x.action_result.result.desired.time_from_start.nsecs, _x.action_result.result.actual_pose.position.x, _x.action_result.result.actual_pose.position.y, _x.action_result.result.actual_pose.position.z, _x.action_result.result.actual_pose.orientation.x, _x.action_result.result.actual_pose.orientation.y, _x.action_result.result.actual_pose.orientation.z, _x.action_result.result.actual_pose.orientation.w, _x.action_result.result.effort_sq_error, _x.action_feedback.header.seq, _x.action_feedback.header.stamp.secs, _x.action_feedback.header.stamp.nsecs))
00337 _x = self.action_feedback.header.frame_id
00338 length = len(_x)
00339 if python3 or type(_x) == unicode:
00340 _x = _x.encode('utf-8')
00341 length = len(_x)
00342 buff.write(struct.pack('<I%ss'%length, length, _x))
00343 _x = self
00344 buff.write(_struct_2I.pack(_x.action_feedback.status.goal_id.stamp.secs, _x.action_feedback.status.goal_id.stamp.nsecs))
00345 _x = self.action_feedback.status.goal_id.id
00346 length = len(_x)
00347 if python3 or type(_x) == unicode:
00348 _x = _x.encode('utf-8')
00349 length = len(_x)
00350 buff.write(struct.pack('<I%ss'%length, length, _x))
00351 buff.write(_struct_B.pack(self.action_feedback.status.status))
00352 _x = self.action_feedback.status.text
00353 length = len(_x)
00354 if python3 or type(_x) == unicode:
00355 _x = _x.encode('utf-8')
00356 length = len(_x)
00357 buff.write(struct.pack('<I%ss'%length, length, _x))
00358 _x = self
00359 buff.write(_struct_3I.pack(_x.action_feedback.feedback.header.seq, _x.action_feedback.feedback.header.stamp.secs, _x.action_feedback.feedback.header.stamp.nsecs))
00360 _x = self.action_feedback.feedback.header.frame_id
00361 length = len(_x)
00362 if python3 or type(_x) == unicode:
00363 _x = _x.encode('utf-8')
00364 length = len(_x)
00365 buff.write(struct.pack('<I%ss'%length, length, _x))
00366 length = len(self.action_feedback.feedback.goal)
00367 buff.write(_struct_I.pack(length))
00368 for val1 in self.action_feedback.feedback.goal:
00369 _v10 = val1.header
00370 buff.write(_struct_I.pack(_v10.seq))
00371 _v11 = _v10.stamp
00372 _x = _v11
00373 buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00374 _x = _v10.frame_id
00375 length = len(_x)
00376 if python3 or type(_x) == unicode:
00377 _x = _x.encode('utf-8')
00378 length = len(_x)
00379 buff.write(struct.pack('<I%ss'%length, length, _x))
00380 _v12 = val1.pose
00381 _v13 = _v12.position
00382 _x = _v13
00383 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00384 _v14 = _v12.orientation
00385 _x = _v14
00386 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00387 _v15 = val1.wrench_or_stiffness
00388 _v16 = _v15.force
00389 _x = _v16
00390 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00391 _v17 = _v15.torque
00392 _x = _v17
00393 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00394 _x = val1
00395 buff.write(_struct_6B.pack(_x.isForceX, _x.isForceY, _x.isForceZ, _x.isTorqueX, _x.isTorqueY, _x.isTorqueZ))
00396 _v18 = val1.time_from_start
00397 _x = _v18
00398 buff.write(_struct_2i.pack(_x.secs, _x.nsecs))
00399 _x = self
00400 buff.write(_struct_3I.pack(_x.action_feedback.feedback.initial_point.header.seq, _x.action_feedback.feedback.initial_point.header.stamp.secs, _x.action_feedback.feedback.initial_point.header.stamp.nsecs))
00401 _x = self.action_feedback.feedback.initial_point.header.frame_id
00402 length = len(_x)
00403 if python3 or type(_x) == unicode:
00404 _x = _x.encode('utf-8')
00405 length = len(_x)
00406 buff.write(struct.pack('<I%ss'%length, length, _x))
00407 _x = self
00408 buff.write(_struct_13d6B2i3I.pack(_x.action_feedback.feedback.initial_point.pose.position.x, _x.action_feedback.feedback.initial_point.pose.position.y, _x.action_feedback.feedback.initial_point.pose.position.z, _x.action_feedback.feedback.initial_point.pose.orientation.x, _x.action_feedback.feedback.initial_point.pose.orientation.y, _x.action_feedback.feedback.initial_point.pose.orientation.z, _x.action_feedback.feedback.initial_point.pose.orientation.w, _x.action_feedback.feedback.initial_point.wrench_or_stiffness.force.x, _x.action_feedback.feedback.initial_point.wrench_or_stiffness.force.y, _x.action_feedback.feedback.initial_point.wrench_or_stiffness.force.z, _x.action_feedback.feedback.initial_point.wrench_or_stiffness.torque.x, _x.action_feedback.feedback.initial_point.wrench_or_stiffness.torque.y, _x.action_feedback.feedback.initial_point.wrench_or_stiffness.torque.z, _x.action_feedback.feedback.initial_point.isForceX, _x.action_feedback.feedback.initial_point.isForceY, _x.action_feedback.feedback.initial_point.isForceZ, _x.action_feedback.feedback.initial_point.isTorqueX, _x.action_feedback.feedback.initial_point.isTorqueY, _x.action_feedback.feedback.initial_point.isTorqueZ, _x.action_feedback.feedback.initial_point.time_from_start.secs, _x.action_feedback.feedback.initial_point.time_from_start.nsecs, _x.action_feedback.feedback.desired.header.seq, _x.action_feedback.feedback.desired.header.stamp.secs, _x.action_feedback.feedback.desired.header.stamp.nsecs))
00409 _x = self.action_feedback.feedback.desired.header.frame_id
00410 length = len(_x)
00411 if python3 or type(_x) == unicode:
00412 _x = _x.encode('utf-8')
00413 length = len(_x)
00414 buff.write(struct.pack('<I%ss'%length, length, _x))
00415 _x = self
00416 buff.write(_struct_13d6B2i3I.pack(_x.action_feedback.feedback.desired.pose.position.x, _x.action_feedback.feedback.desired.pose.position.y, _x.action_feedback.feedback.desired.pose.position.z, _x.action_feedback.feedback.desired.pose.orientation.x, _x.action_feedback.feedback.desired.pose.orientation.y, _x.action_feedback.feedback.desired.pose.orientation.z, _x.action_feedback.feedback.desired.pose.orientation.w, _x.action_feedback.feedback.desired.wrench_or_stiffness.force.x, _x.action_feedback.feedback.desired.wrench_or_stiffness.force.y, _x.action_feedback.feedback.desired.wrench_or_stiffness.force.z, _x.action_feedback.feedback.desired.wrench_or_stiffness.torque.x, _x.action_feedback.feedback.desired.wrench_or_stiffness.torque.y, _x.action_feedback.feedback.desired.wrench_or_stiffness.torque.z, _x.action_feedback.feedback.desired.isForceX, _x.action_feedback.feedback.desired.isForceY, _x.action_feedback.feedback.desired.isForceZ, _x.action_feedback.feedback.desired.isTorqueX, _x.action_feedback.feedback.desired.isTorqueY, _x.action_feedback.feedback.desired.isTorqueZ, _x.action_feedback.feedback.desired.time_from_start.secs, _x.action_feedback.feedback.desired.time_from_start.nsecs, _x.action_feedback.feedback.actual_pose.header.seq, _x.action_feedback.feedback.actual_pose.header.stamp.secs, _x.action_feedback.feedback.actual_pose.header.stamp.nsecs))
00417 _x = self.action_feedback.feedback.actual_pose.header.frame_id
00418 length = len(_x)
00419 if python3 or type(_x) == unicode:
00420 _x = _x.encode('utf-8')
00421 length = len(_x)
00422 buff.write(struct.pack('<I%ss'%length, length, _x))
00423 _x = self
00424 buff.write(_struct_13d6B2id.pack(_x.action_feedback.feedback.actual_pose.pose.position.x, _x.action_feedback.feedback.actual_pose.pose.position.y, _x.action_feedback.feedback.actual_pose.pose.position.z, _x.action_feedback.feedback.actual_pose.pose.orientation.x, _x.action_feedback.feedback.actual_pose.pose.orientation.y, _x.action_feedback.feedback.actual_pose.pose.orientation.z, _x.action_feedback.feedback.actual_pose.pose.orientation.w, _x.action_feedback.feedback.actual_pose.wrench_or_stiffness.force.x, _x.action_feedback.feedback.actual_pose.wrench_or_stiffness.force.y, _x.action_feedback.feedback.actual_pose.wrench_or_stiffness.force.z, _x.action_feedback.feedback.actual_pose.wrench_or_stiffness.torque.x, _x.action_feedback.feedback.actual_pose.wrench_or_stiffness.torque.y, _x.action_feedback.feedback.actual_pose.wrench_or_stiffness.torque.z, _x.action_feedback.feedback.actual_pose.isForceX, _x.action_feedback.feedback.actual_pose.isForceY, _x.action_feedback.feedback.actual_pose.isForceZ, _x.action_feedback.feedback.actual_pose.isTorqueX, _x.action_feedback.feedback.actual_pose.isTorqueY, _x.action_feedback.feedback.actual_pose.isTorqueZ, _x.action_feedback.feedback.actual_pose.time_from_start.secs, _x.action_feedback.feedback.actual_pose.time_from_start.nsecs, _x.action_feedback.feedback.effort_sq_error))
00425 length = len(self.action_feedback.feedback.requested_joint_efforts)
00426 buff.write(_struct_I.pack(length))
00427 pattern = '<%sd'%length
00428 buff.write(struct.pack(pattern, *self.action_feedback.feedback.requested_joint_efforts))
00429 length = len(self.action_feedback.feedback.actual_joint_efforts)
00430 buff.write(_struct_I.pack(length))
00431 pattern = '<%sd'%length
00432 buff.write(struct.pack(pattern, *self.action_feedback.feedback.actual_joint_efforts))
00433 _x = self
00434 buff.write(_struct_2i.pack(_x.action_feedback.feedback.running_time.secs, _x.action_feedback.feedback.running_time.nsecs))
00435 except struct.error as se: self._check_types(se)
00436 except TypeError as te: self._check_types(te)
00437
00438 def deserialize(self, str):
00439 """
00440 unpack serialized message in str into this message instance
00441 :param str: byte array of serialized message, ``str``
00442 """
00443 try:
00444 if self.action_goal is None:
00445 self.action_goal = ee_cart_imped_msgs.msg.EECartImpedActionGoal()
00446 if self.action_result is None:
00447 self.action_result = ee_cart_imped_msgs.msg.EECartImpedActionResult()
00448 if self.action_feedback is None:
00449 self.action_feedback = ee_cart_imped_msgs.msg.EECartImpedActionFeedback()
00450 end = 0
00451 _x = self
00452 start = end
00453 end += 12
00454 (_x.action_goal.header.seq, _x.action_goal.header.stamp.secs, _x.action_goal.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00455 start = end
00456 end += 4
00457 (length,) = _struct_I.unpack(str[start:end])
00458 start = end
00459 end += length
00460 if python3:
00461 self.action_goal.header.frame_id = str[start:end].decode('utf-8')
00462 else:
00463 self.action_goal.header.frame_id = str[start:end]
00464 _x = self
00465 start = end
00466 end += 8
00467 (_x.action_goal.goal_id.stamp.secs, _x.action_goal.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00468 start = end
00469 end += 4
00470 (length,) = _struct_I.unpack(str[start:end])
00471 start = end
00472 end += length
00473 if python3:
00474 self.action_goal.goal_id.id = str[start:end].decode('utf-8')
00475 else:
00476 self.action_goal.goal_id.id = str[start:end]
00477 _x = self
00478 start = end
00479 end += 12
00480 (_x.action_goal.goal.header.seq, _x.action_goal.goal.header.stamp.secs, _x.action_goal.goal.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00481 start = end
00482 end += 4
00483 (length,) = _struct_I.unpack(str[start:end])
00484 start = end
00485 end += length
00486 if python3:
00487 self.action_goal.goal.header.frame_id = str[start:end].decode('utf-8')
00488 else:
00489 self.action_goal.goal.header.frame_id = str[start:end]
00490 start = end
00491 end += 4
00492 (length,) = _struct_I.unpack(str[start:end])
00493 self.action_goal.goal.trajectory = []
00494 for i in range(0, length):
00495 val1 = ee_cart_imped_msgs.msg.StiffPoint()
00496 _v19 = val1.header
00497 start = end
00498 end += 4
00499 (_v19.seq,) = _struct_I.unpack(str[start:end])
00500 _v20 = _v19.stamp
00501 _x = _v20
00502 start = end
00503 end += 8
00504 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
00505 start = end
00506 end += 4
00507 (length,) = _struct_I.unpack(str[start:end])
00508 start = end
00509 end += length
00510 if python3:
00511 _v19.frame_id = str[start:end].decode('utf-8')
00512 else:
00513 _v19.frame_id = str[start:end]
00514 _v21 = val1.pose
00515 _v22 = _v21.position
00516 _x = _v22
00517 start = end
00518 end += 24
00519 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00520 _v23 = _v21.orientation
00521 _x = _v23
00522 start = end
00523 end += 32
00524 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
00525 _v24 = val1.wrench_or_stiffness
00526 _v25 = _v24.force
00527 _x = _v25
00528 start = end
00529 end += 24
00530 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00531 _v26 = _v24.torque
00532 _x = _v26
00533 start = end
00534 end += 24
00535 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00536 _x = val1
00537 start = end
00538 end += 6
00539 (_x.isForceX, _x.isForceY, _x.isForceZ, _x.isTorqueX, _x.isTorqueY, _x.isTorqueZ,) = _struct_6B.unpack(str[start:end])
00540 val1.isForceX = bool(val1.isForceX)
00541 val1.isForceY = bool(val1.isForceY)
00542 val1.isForceZ = bool(val1.isForceZ)
00543 val1.isTorqueX = bool(val1.isTorqueX)
00544 val1.isTorqueY = bool(val1.isTorqueY)
00545 val1.isTorqueZ = bool(val1.isTorqueZ)
00546 _v27 = val1.time_from_start
00547 _x = _v27
00548 start = end
00549 end += 8
00550 (_x.secs, _x.nsecs,) = _struct_2i.unpack(str[start:end])
00551 self.action_goal.goal.trajectory.append(val1)
00552 _x = self
00553 start = end
00554 end += 12
00555 (_x.action_result.header.seq, _x.action_result.header.stamp.secs, _x.action_result.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00556 start = end
00557 end += 4
00558 (length,) = _struct_I.unpack(str[start:end])
00559 start = end
00560 end += length
00561 if python3:
00562 self.action_result.header.frame_id = str[start:end].decode('utf-8')
00563 else:
00564 self.action_result.header.frame_id = str[start:end]
00565 _x = self
00566 start = end
00567 end += 8
00568 (_x.action_result.status.goal_id.stamp.secs, _x.action_result.status.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00569 start = end
00570 end += 4
00571 (length,) = _struct_I.unpack(str[start:end])
00572 start = end
00573 end += length
00574 if python3:
00575 self.action_result.status.goal_id.id = str[start:end].decode('utf-8')
00576 else:
00577 self.action_result.status.goal_id.id = str[start:end]
00578 start = end
00579 end += 1
00580 (self.action_result.status.status,) = _struct_B.unpack(str[start:end])
00581 start = end
00582 end += 4
00583 (length,) = _struct_I.unpack(str[start:end])
00584 start = end
00585 end += length
00586 if python3:
00587 self.action_result.status.text = str[start:end].decode('utf-8')
00588 else:
00589 self.action_result.status.text = str[start:end]
00590 _x = self
00591 start = end
00592 end += 12
00593 (_x.action_result.result.header.seq, _x.action_result.result.header.stamp.secs, _x.action_result.result.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00594 start = end
00595 end += 4
00596 (length,) = _struct_I.unpack(str[start:end])
00597 start = end
00598 end += length
00599 if python3:
00600 self.action_result.result.header.frame_id = str[start:end].decode('utf-8')
00601 else:
00602 self.action_result.result.header.frame_id = str[start:end]
00603 _x = self
00604 start = end
00605 end += 13
00606 (_x.action_result.result.success, _x.action_result.result.desired.header.seq, _x.action_result.result.desired.header.stamp.secs, _x.action_result.result.desired.header.stamp.nsecs,) = _struct_B3I.unpack(str[start:end])
00607 self.action_result.result.success = bool(self.action_result.result.success)
00608 start = end
00609 end += 4
00610 (length,) = _struct_I.unpack(str[start:end])
00611 start = end
00612 end += length
00613 if python3:
00614 self.action_result.result.desired.header.frame_id = str[start:end].decode('utf-8')
00615 else:
00616 self.action_result.result.desired.header.frame_id = str[start:end]
00617 _x = self
00618 start = end
00619 end += 194
00620 (_x.action_result.result.desired.pose.position.x, _x.action_result.result.desired.pose.position.y, _x.action_result.result.desired.pose.position.z, _x.action_result.result.desired.pose.orientation.x, _x.action_result.result.desired.pose.orientation.y, _x.action_result.result.desired.pose.orientation.z, _x.action_result.result.desired.pose.orientation.w, _x.action_result.result.desired.wrench_or_stiffness.force.x, _x.action_result.result.desired.wrench_or_stiffness.force.y, _x.action_result.result.desired.wrench_or_stiffness.force.z, _x.action_result.result.desired.wrench_or_stiffness.torque.x, _x.action_result.result.desired.wrench_or_stiffness.torque.y, _x.action_result.result.desired.wrench_or_stiffness.torque.z, _x.action_result.result.desired.isForceX, _x.action_result.result.desired.isForceY, _x.action_result.result.desired.isForceZ, _x.action_result.result.desired.isTorqueX, _x.action_result.result.desired.isTorqueY, _x.action_result.result.desired.isTorqueZ, _x.action_result.result.desired.time_from_start.secs, _x.action_result.result.desired.time_from_start.nsecs, _x.action_result.result.actual_pose.position.x, _x.action_result.result.actual_pose.position.y, _x.action_result.result.actual_pose.position.z, _x.action_result.result.actual_pose.orientation.x, _x.action_result.result.actual_pose.orientation.y, _x.action_result.result.actual_pose.orientation.z, _x.action_result.result.actual_pose.orientation.w, _x.action_result.result.effort_sq_error, _x.action_feedback.header.seq, _x.action_feedback.header.stamp.secs, _x.action_feedback.header.stamp.nsecs,) = _struct_13d6B2i8d3I.unpack(str[start:end])
00621 self.action_result.result.desired.isForceX = bool(self.action_result.result.desired.isForceX)
00622 self.action_result.result.desired.isForceY = bool(self.action_result.result.desired.isForceY)
00623 self.action_result.result.desired.isForceZ = bool(self.action_result.result.desired.isForceZ)
00624 self.action_result.result.desired.isTorqueX = bool(self.action_result.result.desired.isTorqueX)
00625 self.action_result.result.desired.isTorqueY = bool(self.action_result.result.desired.isTorqueY)
00626 self.action_result.result.desired.isTorqueZ = bool(self.action_result.result.desired.isTorqueZ)
00627 start = end
00628 end += 4
00629 (length,) = _struct_I.unpack(str[start:end])
00630 start = end
00631 end += length
00632 if python3:
00633 self.action_feedback.header.frame_id = str[start:end].decode('utf-8')
00634 else:
00635 self.action_feedback.header.frame_id = str[start:end]
00636 _x = self
00637 start = end
00638 end += 8
00639 (_x.action_feedback.status.goal_id.stamp.secs, _x.action_feedback.status.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00640 start = end
00641 end += 4
00642 (length,) = _struct_I.unpack(str[start:end])
00643 start = end
00644 end += length
00645 if python3:
00646 self.action_feedback.status.goal_id.id = str[start:end].decode('utf-8')
00647 else:
00648 self.action_feedback.status.goal_id.id = str[start:end]
00649 start = end
00650 end += 1
00651 (self.action_feedback.status.status,) = _struct_B.unpack(str[start:end])
00652 start = end
00653 end += 4
00654 (length,) = _struct_I.unpack(str[start:end])
00655 start = end
00656 end += length
00657 if python3:
00658 self.action_feedback.status.text = str[start:end].decode('utf-8')
00659 else:
00660 self.action_feedback.status.text = str[start:end]
00661 _x = self
00662 start = end
00663 end += 12
00664 (_x.action_feedback.feedback.header.seq, _x.action_feedback.feedback.header.stamp.secs, _x.action_feedback.feedback.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00665 start = end
00666 end += 4
00667 (length,) = _struct_I.unpack(str[start:end])
00668 start = end
00669 end += length
00670 if python3:
00671 self.action_feedback.feedback.header.frame_id = str[start:end].decode('utf-8')
00672 else:
00673 self.action_feedback.feedback.header.frame_id = str[start:end]
00674 start = end
00675 end += 4
00676 (length,) = _struct_I.unpack(str[start:end])
00677 self.action_feedback.feedback.goal = []
00678 for i in range(0, length):
00679 val1 = ee_cart_imped_msgs.msg.StiffPoint()
00680 _v28 = val1.header
00681 start = end
00682 end += 4
00683 (_v28.seq,) = _struct_I.unpack(str[start:end])
00684 _v29 = _v28.stamp
00685 _x = _v29
00686 start = end
00687 end += 8
00688 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
00689 start = end
00690 end += 4
00691 (length,) = _struct_I.unpack(str[start:end])
00692 start = end
00693 end += length
00694 if python3:
00695 _v28.frame_id = str[start:end].decode('utf-8')
00696 else:
00697 _v28.frame_id = str[start:end]
00698 _v30 = val1.pose
00699 _v31 = _v30.position
00700 _x = _v31
00701 start = end
00702 end += 24
00703 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00704 _v32 = _v30.orientation
00705 _x = _v32
00706 start = end
00707 end += 32
00708 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
00709 _v33 = val1.wrench_or_stiffness
00710 _v34 = _v33.force
00711 _x = _v34
00712 start = end
00713 end += 24
00714 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00715 _v35 = _v33.torque
00716 _x = _v35
00717 start = end
00718 end += 24
00719 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00720 _x = val1
00721 start = end
00722 end += 6
00723 (_x.isForceX, _x.isForceY, _x.isForceZ, _x.isTorqueX, _x.isTorqueY, _x.isTorqueZ,) = _struct_6B.unpack(str[start:end])
00724 val1.isForceX = bool(val1.isForceX)
00725 val1.isForceY = bool(val1.isForceY)
00726 val1.isForceZ = bool(val1.isForceZ)
00727 val1.isTorqueX = bool(val1.isTorqueX)
00728 val1.isTorqueY = bool(val1.isTorqueY)
00729 val1.isTorqueZ = bool(val1.isTorqueZ)
00730 _v36 = val1.time_from_start
00731 _x = _v36
00732 start = end
00733 end += 8
00734 (_x.secs, _x.nsecs,) = _struct_2i.unpack(str[start:end])
00735 self.action_feedback.feedback.goal.append(val1)
00736 _x = self
00737 start = end
00738 end += 12
00739 (_x.action_feedback.feedback.initial_point.header.seq, _x.action_feedback.feedback.initial_point.header.stamp.secs, _x.action_feedback.feedback.initial_point.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00740 start = end
00741 end += 4
00742 (length,) = _struct_I.unpack(str[start:end])
00743 start = end
00744 end += length
00745 if python3:
00746 self.action_feedback.feedback.initial_point.header.frame_id = str[start:end].decode('utf-8')
00747 else:
00748 self.action_feedback.feedback.initial_point.header.frame_id = str[start:end]
00749 _x = self
00750 start = end
00751 end += 130
00752 (_x.action_feedback.feedback.initial_point.pose.position.x, _x.action_feedback.feedback.initial_point.pose.position.y, _x.action_feedback.feedback.initial_point.pose.position.z, _x.action_feedback.feedback.initial_point.pose.orientation.x, _x.action_feedback.feedback.initial_point.pose.orientation.y, _x.action_feedback.feedback.initial_point.pose.orientation.z, _x.action_feedback.feedback.initial_point.pose.orientation.w, _x.action_feedback.feedback.initial_point.wrench_or_stiffness.force.x, _x.action_feedback.feedback.initial_point.wrench_or_stiffness.force.y, _x.action_feedback.feedback.initial_point.wrench_or_stiffness.force.z, _x.action_feedback.feedback.initial_point.wrench_or_stiffness.torque.x, _x.action_feedback.feedback.initial_point.wrench_or_stiffness.torque.y, _x.action_feedback.feedback.initial_point.wrench_or_stiffness.torque.z, _x.action_feedback.feedback.initial_point.isForceX, _x.action_feedback.feedback.initial_point.isForceY, _x.action_feedback.feedback.initial_point.isForceZ, _x.action_feedback.feedback.initial_point.isTorqueX, _x.action_feedback.feedback.initial_point.isTorqueY, _x.action_feedback.feedback.initial_point.isTorqueZ, _x.action_feedback.feedback.initial_point.time_from_start.secs, _x.action_feedback.feedback.initial_point.time_from_start.nsecs, _x.action_feedback.feedback.desired.header.seq, _x.action_feedback.feedback.desired.header.stamp.secs, _x.action_feedback.feedback.desired.header.stamp.nsecs,) = _struct_13d6B2i3I.unpack(str[start:end])
00753 self.action_feedback.feedback.initial_point.isForceX = bool(self.action_feedback.feedback.initial_point.isForceX)
00754 self.action_feedback.feedback.initial_point.isForceY = bool(self.action_feedback.feedback.initial_point.isForceY)
00755 self.action_feedback.feedback.initial_point.isForceZ = bool(self.action_feedback.feedback.initial_point.isForceZ)
00756 self.action_feedback.feedback.initial_point.isTorqueX = bool(self.action_feedback.feedback.initial_point.isTorqueX)
00757 self.action_feedback.feedback.initial_point.isTorqueY = bool(self.action_feedback.feedback.initial_point.isTorqueY)
00758 self.action_feedback.feedback.initial_point.isTorqueZ = bool(self.action_feedback.feedback.initial_point.isTorqueZ)
00759 start = end
00760 end += 4
00761 (length,) = _struct_I.unpack(str[start:end])
00762 start = end
00763 end += length
00764 if python3:
00765 self.action_feedback.feedback.desired.header.frame_id = str[start:end].decode('utf-8')
00766 else:
00767 self.action_feedback.feedback.desired.header.frame_id = str[start:end]
00768 _x = self
00769 start = end
00770 end += 130
00771 (_x.action_feedback.feedback.desired.pose.position.x, _x.action_feedback.feedback.desired.pose.position.y, _x.action_feedback.feedback.desired.pose.position.z, _x.action_feedback.feedback.desired.pose.orientation.x, _x.action_feedback.feedback.desired.pose.orientation.y, _x.action_feedback.feedback.desired.pose.orientation.z, _x.action_feedback.feedback.desired.pose.orientation.w, _x.action_feedback.feedback.desired.wrench_or_stiffness.force.x, _x.action_feedback.feedback.desired.wrench_or_stiffness.force.y, _x.action_feedback.feedback.desired.wrench_or_stiffness.force.z, _x.action_feedback.feedback.desired.wrench_or_stiffness.torque.x, _x.action_feedback.feedback.desired.wrench_or_stiffness.torque.y, _x.action_feedback.feedback.desired.wrench_or_stiffness.torque.z, _x.action_feedback.feedback.desired.isForceX, _x.action_feedback.feedback.desired.isForceY, _x.action_feedback.feedback.desired.isForceZ, _x.action_feedback.feedback.desired.isTorqueX, _x.action_feedback.feedback.desired.isTorqueY, _x.action_feedback.feedback.desired.isTorqueZ, _x.action_feedback.feedback.desired.time_from_start.secs, _x.action_feedback.feedback.desired.time_from_start.nsecs, _x.action_feedback.feedback.actual_pose.header.seq, _x.action_feedback.feedback.actual_pose.header.stamp.secs, _x.action_feedback.feedback.actual_pose.header.stamp.nsecs,) = _struct_13d6B2i3I.unpack(str[start:end])
00772 self.action_feedback.feedback.desired.isForceX = bool(self.action_feedback.feedback.desired.isForceX)
00773 self.action_feedback.feedback.desired.isForceY = bool(self.action_feedback.feedback.desired.isForceY)
00774 self.action_feedback.feedback.desired.isForceZ = bool(self.action_feedback.feedback.desired.isForceZ)
00775 self.action_feedback.feedback.desired.isTorqueX = bool(self.action_feedback.feedback.desired.isTorqueX)
00776 self.action_feedback.feedback.desired.isTorqueY = bool(self.action_feedback.feedback.desired.isTorqueY)
00777 self.action_feedback.feedback.desired.isTorqueZ = bool(self.action_feedback.feedback.desired.isTorqueZ)
00778 start = end
00779 end += 4
00780 (length,) = _struct_I.unpack(str[start:end])
00781 start = end
00782 end += length
00783 if python3:
00784 self.action_feedback.feedback.actual_pose.header.frame_id = str[start:end].decode('utf-8')
00785 else:
00786 self.action_feedback.feedback.actual_pose.header.frame_id = str[start:end]
00787 _x = self
00788 start = end
00789 end += 126
00790 (_x.action_feedback.feedback.actual_pose.pose.position.x, _x.action_feedback.feedback.actual_pose.pose.position.y, _x.action_feedback.feedback.actual_pose.pose.position.z, _x.action_feedback.feedback.actual_pose.pose.orientation.x, _x.action_feedback.feedback.actual_pose.pose.orientation.y, _x.action_feedback.feedback.actual_pose.pose.orientation.z, _x.action_feedback.feedback.actual_pose.pose.orientation.w, _x.action_feedback.feedback.actual_pose.wrench_or_stiffness.force.x, _x.action_feedback.feedback.actual_pose.wrench_or_stiffness.force.y, _x.action_feedback.feedback.actual_pose.wrench_or_stiffness.force.z, _x.action_feedback.feedback.actual_pose.wrench_or_stiffness.torque.x, _x.action_feedback.feedback.actual_pose.wrench_or_stiffness.torque.y, _x.action_feedback.feedback.actual_pose.wrench_or_stiffness.torque.z, _x.action_feedback.feedback.actual_pose.isForceX, _x.action_feedback.feedback.actual_pose.isForceY, _x.action_feedback.feedback.actual_pose.isForceZ, _x.action_feedback.feedback.actual_pose.isTorqueX, _x.action_feedback.feedback.actual_pose.isTorqueY, _x.action_feedback.feedback.actual_pose.isTorqueZ, _x.action_feedback.feedback.actual_pose.time_from_start.secs, _x.action_feedback.feedback.actual_pose.time_from_start.nsecs, _x.action_feedback.feedback.effort_sq_error,) = _struct_13d6B2id.unpack(str[start:end])
00791 self.action_feedback.feedback.actual_pose.isForceX = bool(self.action_feedback.feedback.actual_pose.isForceX)
00792 self.action_feedback.feedback.actual_pose.isForceY = bool(self.action_feedback.feedback.actual_pose.isForceY)
00793 self.action_feedback.feedback.actual_pose.isForceZ = bool(self.action_feedback.feedback.actual_pose.isForceZ)
00794 self.action_feedback.feedback.actual_pose.isTorqueX = bool(self.action_feedback.feedback.actual_pose.isTorqueX)
00795 self.action_feedback.feedback.actual_pose.isTorqueY = bool(self.action_feedback.feedback.actual_pose.isTorqueY)
00796 self.action_feedback.feedback.actual_pose.isTorqueZ = bool(self.action_feedback.feedback.actual_pose.isTorqueZ)
00797 start = end
00798 end += 4
00799 (length,) = _struct_I.unpack(str[start:end])
00800 pattern = '<%sd'%length
00801 start = end
00802 end += struct.calcsize(pattern)
00803 self.action_feedback.feedback.requested_joint_efforts = struct.unpack(pattern, str[start:end])
00804 start = end
00805 end += 4
00806 (length,) = _struct_I.unpack(str[start:end])
00807 pattern = '<%sd'%length
00808 start = end
00809 end += struct.calcsize(pattern)
00810 self.action_feedback.feedback.actual_joint_efforts = struct.unpack(pattern, str[start:end])
00811 _x = self
00812 start = end
00813 end += 8
00814 (_x.action_feedback.feedback.running_time.secs, _x.action_feedback.feedback.running_time.nsecs,) = _struct_2i.unpack(str[start:end])
00815 return self
00816 except struct.error as e:
00817 raise genpy.DeserializationError(e)
00818
00819
00820 def serialize_numpy(self, buff, numpy):
00821 """
00822 serialize message with numpy array types into buffer
00823 :param buff: buffer, ``StringIO``
00824 :param numpy: numpy python module
00825 """
00826 try:
00827 _x = self
00828 buff.write(_struct_3I.pack(_x.action_goal.header.seq, _x.action_goal.header.stamp.secs, _x.action_goal.header.stamp.nsecs))
00829 _x = self.action_goal.header.frame_id
00830 length = len(_x)
00831 if python3 or type(_x) == unicode:
00832 _x = _x.encode('utf-8')
00833 length = len(_x)
00834 buff.write(struct.pack('<I%ss'%length, length, _x))
00835 _x = self
00836 buff.write(_struct_2I.pack(_x.action_goal.goal_id.stamp.secs, _x.action_goal.goal_id.stamp.nsecs))
00837 _x = self.action_goal.goal_id.id
00838 length = len(_x)
00839 if python3 or type(_x) == unicode:
00840 _x = _x.encode('utf-8')
00841 length = len(_x)
00842 buff.write(struct.pack('<I%ss'%length, length, _x))
00843 _x = self
00844 buff.write(_struct_3I.pack(_x.action_goal.goal.header.seq, _x.action_goal.goal.header.stamp.secs, _x.action_goal.goal.header.stamp.nsecs))
00845 _x = self.action_goal.goal.header.frame_id
00846 length = len(_x)
00847 if python3 or type(_x) == unicode:
00848 _x = _x.encode('utf-8')
00849 length = len(_x)
00850 buff.write(struct.pack('<I%ss'%length, length, _x))
00851 length = len(self.action_goal.goal.trajectory)
00852 buff.write(_struct_I.pack(length))
00853 for val1 in self.action_goal.goal.trajectory:
00854 _v37 = val1.header
00855 buff.write(_struct_I.pack(_v37.seq))
00856 _v38 = _v37.stamp
00857 _x = _v38
00858 buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00859 _x = _v37.frame_id
00860 length = len(_x)
00861 if python3 or type(_x) == unicode:
00862 _x = _x.encode('utf-8')
00863 length = len(_x)
00864 buff.write(struct.pack('<I%ss'%length, length, _x))
00865 _v39 = val1.pose
00866 _v40 = _v39.position
00867 _x = _v40
00868 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00869 _v41 = _v39.orientation
00870 _x = _v41
00871 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00872 _v42 = val1.wrench_or_stiffness
00873 _v43 = _v42.force
00874 _x = _v43
00875 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00876 _v44 = _v42.torque
00877 _x = _v44
00878 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00879 _x = val1
00880 buff.write(_struct_6B.pack(_x.isForceX, _x.isForceY, _x.isForceZ, _x.isTorqueX, _x.isTorqueY, _x.isTorqueZ))
00881 _v45 = val1.time_from_start
00882 _x = _v45
00883 buff.write(_struct_2i.pack(_x.secs, _x.nsecs))
00884 _x = self
00885 buff.write(_struct_3I.pack(_x.action_result.header.seq, _x.action_result.header.stamp.secs, _x.action_result.header.stamp.nsecs))
00886 _x = self.action_result.header.frame_id
00887 length = len(_x)
00888 if python3 or type(_x) == unicode:
00889 _x = _x.encode('utf-8')
00890 length = len(_x)
00891 buff.write(struct.pack('<I%ss'%length, length, _x))
00892 _x = self
00893 buff.write(_struct_2I.pack(_x.action_result.status.goal_id.stamp.secs, _x.action_result.status.goal_id.stamp.nsecs))
00894 _x = self.action_result.status.goal_id.id
00895 length = len(_x)
00896 if python3 or type(_x) == unicode:
00897 _x = _x.encode('utf-8')
00898 length = len(_x)
00899 buff.write(struct.pack('<I%ss'%length, length, _x))
00900 buff.write(_struct_B.pack(self.action_result.status.status))
00901 _x = self.action_result.status.text
00902 length = len(_x)
00903 if python3 or type(_x) == unicode:
00904 _x = _x.encode('utf-8')
00905 length = len(_x)
00906 buff.write(struct.pack('<I%ss'%length, length, _x))
00907 _x = self
00908 buff.write(_struct_3I.pack(_x.action_result.result.header.seq, _x.action_result.result.header.stamp.secs, _x.action_result.result.header.stamp.nsecs))
00909 _x = self.action_result.result.header.frame_id
00910 length = len(_x)
00911 if python3 or type(_x) == unicode:
00912 _x = _x.encode('utf-8')
00913 length = len(_x)
00914 buff.write(struct.pack('<I%ss'%length, length, _x))
00915 _x = self
00916 buff.write(_struct_B3I.pack(_x.action_result.result.success, _x.action_result.result.desired.header.seq, _x.action_result.result.desired.header.stamp.secs, _x.action_result.result.desired.header.stamp.nsecs))
00917 _x = self.action_result.result.desired.header.frame_id
00918 length = len(_x)
00919 if python3 or type(_x) == unicode:
00920 _x = _x.encode('utf-8')
00921 length = len(_x)
00922 buff.write(struct.pack('<I%ss'%length, length, _x))
00923 _x = self
00924 buff.write(_struct_13d6B2i8d3I.pack(_x.action_result.result.desired.pose.position.x, _x.action_result.result.desired.pose.position.y, _x.action_result.result.desired.pose.position.z, _x.action_result.result.desired.pose.orientation.x, _x.action_result.result.desired.pose.orientation.y, _x.action_result.result.desired.pose.orientation.z, _x.action_result.result.desired.pose.orientation.w, _x.action_result.result.desired.wrench_or_stiffness.force.x, _x.action_result.result.desired.wrench_or_stiffness.force.y, _x.action_result.result.desired.wrench_or_stiffness.force.z, _x.action_result.result.desired.wrench_or_stiffness.torque.x, _x.action_result.result.desired.wrench_or_stiffness.torque.y, _x.action_result.result.desired.wrench_or_stiffness.torque.z, _x.action_result.result.desired.isForceX, _x.action_result.result.desired.isForceY, _x.action_result.result.desired.isForceZ, _x.action_result.result.desired.isTorqueX, _x.action_result.result.desired.isTorqueY, _x.action_result.result.desired.isTorqueZ, _x.action_result.result.desired.time_from_start.secs, _x.action_result.result.desired.time_from_start.nsecs, _x.action_result.result.actual_pose.position.x, _x.action_result.result.actual_pose.position.y, _x.action_result.result.actual_pose.position.z, _x.action_result.result.actual_pose.orientation.x, _x.action_result.result.actual_pose.orientation.y, _x.action_result.result.actual_pose.orientation.z, _x.action_result.result.actual_pose.orientation.w, _x.action_result.result.effort_sq_error, _x.action_feedback.header.seq, _x.action_feedback.header.stamp.secs, _x.action_feedback.header.stamp.nsecs))
00925 _x = self.action_feedback.header.frame_id
00926 length = len(_x)
00927 if python3 or type(_x) == unicode:
00928 _x = _x.encode('utf-8')
00929 length = len(_x)
00930 buff.write(struct.pack('<I%ss'%length, length, _x))
00931 _x = self
00932 buff.write(_struct_2I.pack(_x.action_feedback.status.goal_id.stamp.secs, _x.action_feedback.status.goal_id.stamp.nsecs))
00933 _x = self.action_feedback.status.goal_id.id
00934 length = len(_x)
00935 if python3 or type(_x) == unicode:
00936 _x = _x.encode('utf-8')
00937 length = len(_x)
00938 buff.write(struct.pack('<I%ss'%length, length, _x))
00939 buff.write(_struct_B.pack(self.action_feedback.status.status))
00940 _x = self.action_feedback.status.text
00941 length = len(_x)
00942 if python3 or type(_x) == unicode:
00943 _x = _x.encode('utf-8')
00944 length = len(_x)
00945 buff.write(struct.pack('<I%ss'%length, length, _x))
00946 _x = self
00947 buff.write(_struct_3I.pack(_x.action_feedback.feedback.header.seq, _x.action_feedback.feedback.header.stamp.secs, _x.action_feedback.feedback.header.stamp.nsecs))
00948 _x = self.action_feedback.feedback.header.frame_id
00949 length = len(_x)
00950 if python3 or type(_x) == unicode:
00951 _x = _x.encode('utf-8')
00952 length = len(_x)
00953 buff.write(struct.pack('<I%ss'%length, length, _x))
00954 length = len(self.action_feedback.feedback.goal)
00955 buff.write(_struct_I.pack(length))
00956 for val1 in self.action_feedback.feedback.goal:
00957 _v46 = val1.header
00958 buff.write(_struct_I.pack(_v46.seq))
00959 _v47 = _v46.stamp
00960 _x = _v47
00961 buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00962 _x = _v46.frame_id
00963 length = len(_x)
00964 if python3 or type(_x) == unicode:
00965 _x = _x.encode('utf-8')
00966 length = len(_x)
00967 buff.write(struct.pack('<I%ss'%length, length, _x))
00968 _v48 = val1.pose
00969 _v49 = _v48.position
00970 _x = _v49
00971 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00972 _v50 = _v48.orientation
00973 _x = _v50
00974 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00975 _v51 = val1.wrench_or_stiffness
00976 _v52 = _v51.force
00977 _x = _v52
00978 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00979 _v53 = _v51.torque
00980 _x = _v53
00981 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00982 _x = val1
00983 buff.write(_struct_6B.pack(_x.isForceX, _x.isForceY, _x.isForceZ, _x.isTorqueX, _x.isTorqueY, _x.isTorqueZ))
00984 _v54 = val1.time_from_start
00985 _x = _v54
00986 buff.write(_struct_2i.pack(_x.secs, _x.nsecs))
00987 _x = self
00988 buff.write(_struct_3I.pack(_x.action_feedback.feedback.initial_point.header.seq, _x.action_feedback.feedback.initial_point.header.stamp.secs, _x.action_feedback.feedback.initial_point.header.stamp.nsecs))
00989 _x = self.action_feedback.feedback.initial_point.header.frame_id
00990 length = len(_x)
00991 if python3 or type(_x) == unicode:
00992 _x = _x.encode('utf-8')
00993 length = len(_x)
00994 buff.write(struct.pack('<I%ss'%length, length, _x))
00995 _x = self
00996 buff.write(_struct_13d6B2i3I.pack(_x.action_feedback.feedback.initial_point.pose.position.x, _x.action_feedback.feedback.initial_point.pose.position.y, _x.action_feedback.feedback.initial_point.pose.position.z, _x.action_feedback.feedback.initial_point.pose.orientation.x, _x.action_feedback.feedback.initial_point.pose.orientation.y, _x.action_feedback.feedback.initial_point.pose.orientation.z, _x.action_feedback.feedback.initial_point.pose.orientation.w, _x.action_feedback.feedback.initial_point.wrench_or_stiffness.force.x, _x.action_feedback.feedback.initial_point.wrench_or_stiffness.force.y, _x.action_feedback.feedback.initial_point.wrench_or_stiffness.force.z, _x.action_feedback.feedback.initial_point.wrench_or_stiffness.torque.x, _x.action_feedback.feedback.initial_point.wrench_or_stiffness.torque.y, _x.action_feedback.feedback.initial_point.wrench_or_stiffness.torque.z, _x.action_feedback.feedback.initial_point.isForceX, _x.action_feedback.feedback.initial_point.isForceY, _x.action_feedback.feedback.initial_point.isForceZ, _x.action_feedback.feedback.initial_point.isTorqueX, _x.action_feedback.feedback.initial_point.isTorqueY, _x.action_feedback.feedback.initial_point.isTorqueZ, _x.action_feedback.feedback.initial_point.time_from_start.secs, _x.action_feedback.feedback.initial_point.time_from_start.nsecs, _x.action_feedback.feedback.desired.header.seq, _x.action_feedback.feedback.desired.header.stamp.secs, _x.action_feedback.feedback.desired.header.stamp.nsecs))
00997 _x = self.action_feedback.feedback.desired.header.frame_id
00998 length = len(_x)
00999 if python3 or type(_x) == unicode:
01000 _x = _x.encode('utf-8')
01001 length = len(_x)
01002 buff.write(struct.pack('<I%ss'%length, length, _x))
01003 _x = self
01004 buff.write(_struct_13d6B2i3I.pack(_x.action_feedback.feedback.desired.pose.position.x, _x.action_feedback.feedback.desired.pose.position.y, _x.action_feedback.feedback.desired.pose.position.z, _x.action_feedback.feedback.desired.pose.orientation.x, _x.action_feedback.feedback.desired.pose.orientation.y, _x.action_feedback.feedback.desired.pose.orientation.z, _x.action_feedback.feedback.desired.pose.orientation.w, _x.action_feedback.feedback.desired.wrench_or_stiffness.force.x, _x.action_feedback.feedback.desired.wrench_or_stiffness.force.y, _x.action_feedback.feedback.desired.wrench_or_stiffness.force.z, _x.action_feedback.feedback.desired.wrench_or_stiffness.torque.x, _x.action_feedback.feedback.desired.wrench_or_stiffness.torque.y, _x.action_feedback.feedback.desired.wrench_or_stiffness.torque.z, _x.action_feedback.feedback.desired.isForceX, _x.action_feedback.feedback.desired.isForceY, _x.action_feedback.feedback.desired.isForceZ, _x.action_feedback.feedback.desired.isTorqueX, _x.action_feedback.feedback.desired.isTorqueY, _x.action_feedback.feedback.desired.isTorqueZ, _x.action_feedback.feedback.desired.time_from_start.secs, _x.action_feedback.feedback.desired.time_from_start.nsecs, _x.action_feedback.feedback.actual_pose.header.seq, _x.action_feedback.feedback.actual_pose.header.stamp.secs, _x.action_feedback.feedback.actual_pose.header.stamp.nsecs))
01005 _x = self.action_feedback.feedback.actual_pose.header.frame_id
01006 length = len(_x)
01007 if python3 or type(_x) == unicode:
01008 _x = _x.encode('utf-8')
01009 length = len(_x)
01010 buff.write(struct.pack('<I%ss'%length, length, _x))
01011 _x = self
01012 buff.write(_struct_13d6B2id.pack(_x.action_feedback.feedback.actual_pose.pose.position.x, _x.action_feedback.feedback.actual_pose.pose.position.y, _x.action_feedback.feedback.actual_pose.pose.position.z, _x.action_feedback.feedback.actual_pose.pose.orientation.x, _x.action_feedback.feedback.actual_pose.pose.orientation.y, _x.action_feedback.feedback.actual_pose.pose.orientation.z, _x.action_feedback.feedback.actual_pose.pose.orientation.w, _x.action_feedback.feedback.actual_pose.wrench_or_stiffness.force.x, _x.action_feedback.feedback.actual_pose.wrench_or_stiffness.force.y, _x.action_feedback.feedback.actual_pose.wrench_or_stiffness.force.z, _x.action_feedback.feedback.actual_pose.wrench_or_stiffness.torque.x, _x.action_feedback.feedback.actual_pose.wrench_or_stiffness.torque.y, _x.action_feedback.feedback.actual_pose.wrench_or_stiffness.torque.z, _x.action_feedback.feedback.actual_pose.isForceX, _x.action_feedback.feedback.actual_pose.isForceY, _x.action_feedback.feedback.actual_pose.isForceZ, _x.action_feedback.feedback.actual_pose.isTorqueX, _x.action_feedback.feedback.actual_pose.isTorqueY, _x.action_feedback.feedback.actual_pose.isTorqueZ, _x.action_feedback.feedback.actual_pose.time_from_start.secs, _x.action_feedback.feedback.actual_pose.time_from_start.nsecs, _x.action_feedback.feedback.effort_sq_error))
01013 length = len(self.action_feedback.feedback.requested_joint_efforts)
01014 buff.write(_struct_I.pack(length))
01015 pattern = '<%sd'%length
01016 buff.write(self.action_feedback.feedback.requested_joint_efforts.tostring())
01017 length = len(self.action_feedback.feedback.actual_joint_efforts)
01018 buff.write(_struct_I.pack(length))
01019 pattern = '<%sd'%length
01020 buff.write(self.action_feedback.feedback.actual_joint_efforts.tostring())
01021 _x = self
01022 buff.write(_struct_2i.pack(_x.action_feedback.feedback.running_time.secs, _x.action_feedback.feedback.running_time.nsecs))
01023 except struct.error as se: self._check_types(se)
01024 except TypeError as te: self._check_types(te)
01025
01026 def deserialize_numpy(self, str, numpy):
01027 """
01028 unpack serialized message in str into this message instance using numpy for array types
01029 :param str: byte array of serialized message, ``str``
01030 :param numpy: numpy python module
01031 """
01032 try:
01033 if self.action_goal is None:
01034 self.action_goal = ee_cart_imped_msgs.msg.EECartImpedActionGoal()
01035 if self.action_result is None:
01036 self.action_result = ee_cart_imped_msgs.msg.EECartImpedActionResult()
01037 if self.action_feedback is None:
01038 self.action_feedback = ee_cart_imped_msgs.msg.EECartImpedActionFeedback()
01039 end = 0
01040 _x = self
01041 start = end
01042 end += 12
01043 (_x.action_goal.header.seq, _x.action_goal.header.stamp.secs, _x.action_goal.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
01044 start = end
01045 end += 4
01046 (length,) = _struct_I.unpack(str[start:end])
01047 start = end
01048 end += length
01049 if python3:
01050 self.action_goal.header.frame_id = str[start:end].decode('utf-8')
01051 else:
01052 self.action_goal.header.frame_id = str[start:end]
01053 _x = self
01054 start = end
01055 end += 8
01056 (_x.action_goal.goal_id.stamp.secs, _x.action_goal.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
01057 start = end
01058 end += 4
01059 (length,) = _struct_I.unpack(str[start:end])
01060 start = end
01061 end += length
01062 if python3:
01063 self.action_goal.goal_id.id = str[start:end].decode('utf-8')
01064 else:
01065 self.action_goal.goal_id.id = str[start:end]
01066 _x = self
01067 start = end
01068 end += 12
01069 (_x.action_goal.goal.header.seq, _x.action_goal.goal.header.stamp.secs, _x.action_goal.goal.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
01070 start = end
01071 end += 4
01072 (length,) = _struct_I.unpack(str[start:end])
01073 start = end
01074 end += length
01075 if python3:
01076 self.action_goal.goal.header.frame_id = str[start:end].decode('utf-8')
01077 else:
01078 self.action_goal.goal.header.frame_id = str[start:end]
01079 start = end
01080 end += 4
01081 (length,) = _struct_I.unpack(str[start:end])
01082 self.action_goal.goal.trajectory = []
01083 for i in range(0, length):
01084 val1 = ee_cart_imped_msgs.msg.StiffPoint()
01085 _v55 = val1.header
01086 start = end
01087 end += 4
01088 (_v55.seq,) = _struct_I.unpack(str[start:end])
01089 _v56 = _v55.stamp
01090 _x = _v56
01091 start = end
01092 end += 8
01093 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
01094 start = end
01095 end += 4
01096 (length,) = _struct_I.unpack(str[start:end])
01097 start = end
01098 end += length
01099 if python3:
01100 _v55.frame_id = str[start:end].decode('utf-8')
01101 else:
01102 _v55.frame_id = str[start:end]
01103 _v57 = val1.pose
01104 _v58 = _v57.position
01105 _x = _v58
01106 start = end
01107 end += 24
01108 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
01109 _v59 = _v57.orientation
01110 _x = _v59
01111 start = end
01112 end += 32
01113 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
01114 _v60 = val1.wrench_or_stiffness
01115 _v61 = _v60.force
01116 _x = _v61
01117 start = end
01118 end += 24
01119 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
01120 _v62 = _v60.torque
01121 _x = _v62
01122 start = end
01123 end += 24
01124 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
01125 _x = val1
01126 start = end
01127 end += 6
01128 (_x.isForceX, _x.isForceY, _x.isForceZ, _x.isTorqueX, _x.isTorqueY, _x.isTorqueZ,) = _struct_6B.unpack(str[start:end])
01129 val1.isForceX = bool(val1.isForceX)
01130 val1.isForceY = bool(val1.isForceY)
01131 val1.isForceZ = bool(val1.isForceZ)
01132 val1.isTorqueX = bool(val1.isTorqueX)
01133 val1.isTorqueY = bool(val1.isTorqueY)
01134 val1.isTorqueZ = bool(val1.isTorqueZ)
01135 _v63 = val1.time_from_start
01136 _x = _v63
01137 start = end
01138 end += 8
01139 (_x.secs, _x.nsecs,) = _struct_2i.unpack(str[start:end])
01140 self.action_goal.goal.trajectory.append(val1)
01141 _x = self
01142 start = end
01143 end += 12
01144 (_x.action_result.header.seq, _x.action_result.header.stamp.secs, _x.action_result.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
01145 start = end
01146 end += 4
01147 (length,) = _struct_I.unpack(str[start:end])
01148 start = end
01149 end += length
01150 if python3:
01151 self.action_result.header.frame_id = str[start:end].decode('utf-8')
01152 else:
01153 self.action_result.header.frame_id = str[start:end]
01154 _x = self
01155 start = end
01156 end += 8
01157 (_x.action_result.status.goal_id.stamp.secs, _x.action_result.status.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
01158 start = end
01159 end += 4
01160 (length,) = _struct_I.unpack(str[start:end])
01161 start = end
01162 end += length
01163 if python3:
01164 self.action_result.status.goal_id.id = str[start:end].decode('utf-8')
01165 else:
01166 self.action_result.status.goal_id.id = str[start:end]
01167 start = end
01168 end += 1
01169 (self.action_result.status.status,) = _struct_B.unpack(str[start:end])
01170 start = end
01171 end += 4
01172 (length,) = _struct_I.unpack(str[start:end])
01173 start = end
01174 end += length
01175 if python3:
01176 self.action_result.status.text = str[start:end].decode('utf-8')
01177 else:
01178 self.action_result.status.text = str[start:end]
01179 _x = self
01180 start = end
01181 end += 12
01182 (_x.action_result.result.header.seq, _x.action_result.result.header.stamp.secs, _x.action_result.result.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
01183 start = end
01184 end += 4
01185 (length,) = _struct_I.unpack(str[start:end])
01186 start = end
01187 end += length
01188 if python3:
01189 self.action_result.result.header.frame_id = str[start:end].decode('utf-8')
01190 else:
01191 self.action_result.result.header.frame_id = str[start:end]
01192 _x = self
01193 start = end
01194 end += 13
01195 (_x.action_result.result.success, _x.action_result.result.desired.header.seq, _x.action_result.result.desired.header.stamp.secs, _x.action_result.result.desired.header.stamp.nsecs,) = _struct_B3I.unpack(str[start:end])
01196 self.action_result.result.success = bool(self.action_result.result.success)
01197 start = end
01198 end += 4
01199 (length,) = _struct_I.unpack(str[start:end])
01200 start = end
01201 end += length
01202 if python3:
01203 self.action_result.result.desired.header.frame_id = str[start:end].decode('utf-8')
01204 else:
01205 self.action_result.result.desired.header.frame_id = str[start:end]
01206 _x = self
01207 start = end
01208 end += 194
01209 (_x.action_result.result.desired.pose.position.x, _x.action_result.result.desired.pose.position.y, _x.action_result.result.desired.pose.position.z, _x.action_result.result.desired.pose.orientation.x, _x.action_result.result.desired.pose.orientation.y, _x.action_result.result.desired.pose.orientation.z, _x.action_result.result.desired.pose.orientation.w, _x.action_result.result.desired.wrench_or_stiffness.force.x, _x.action_result.result.desired.wrench_or_stiffness.force.y, _x.action_result.result.desired.wrench_or_stiffness.force.z, _x.action_result.result.desired.wrench_or_stiffness.torque.x, _x.action_result.result.desired.wrench_or_stiffness.torque.y, _x.action_result.result.desired.wrench_or_stiffness.torque.z, _x.action_result.result.desired.isForceX, _x.action_result.result.desired.isForceY, _x.action_result.result.desired.isForceZ, _x.action_result.result.desired.isTorqueX, _x.action_result.result.desired.isTorqueY, _x.action_result.result.desired.isTorqueZ, _x.action_result.result.desired.time_from_start.secs, _x.action_result.result.desired.time_from_start.nsecs, _x.action_result.result.actual_pose.position.x, _x.action_result.result.actual_pose.position.y, _x.action_result.result.actual_pose.position.z, _x.action_result.result.actual_pose.orientation.x, _x.action_result.result.actual_pose.orientation.y, _x.action_result.result.actual_pose.orientation.z, _x.action_result.result.actual_pose.orientation.w, _x.action_result.result.effort_sq_error, _x.action_feedback.header.seq, _x.action_feedback.header.stamp.secs, _x.action_feedback.header.stamp.nsecs,) = _struct_13d6B2i8d3I.unpack(str[start:end])
01210 self.action_result.result.desired.isForceX = bool(self.action_result.result.desired.isForceX)
01211 self.action_result.result.desired.isForceY = bool(self.action_result.result.desired.isForceY)
01212 self.action_result.result.desired.isForceZ = bool(self.action_result.result.desired.isForceZ)
01213 self.action_result.result.desired.isTorqueX = bool(self.action_result.result.desired.isTorqueX)
01214 self.action_result.result.desired.isTorqueY = bool(self.action_result.result.desired.isTorqueY)
01215 self.action_result.result.desired.isTorqueZ = bool(self.action_result.result.desired.isTorqueZ)
01216 start = end
01217 end += 4
01218 (length,) = _struct_I.unpack(str[start:end])
01219 start = end
01220 end += length
01221 if python3:
01222 self.action_feedback.header.frame_id = str[start:end].decode('utf-8')
01223 else:
01224 self.action_feedback.header.frame_id = str[start:end]
01225 _x = self
01226 start = end
01227 end += 8
01228 (_x.action_feedback.status.goal_id.stamp.secs, _x.action_feedback.status.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
01229 start = end
01230 end += 4
01231 (length,) = _struct_I.unpack(str[start:end])
01232 start = end
01233 end += length
01234 if python3:
01235 self.action_feedback.status.goal_id.id = str[start:end].decode('utf-8')
01236 else:
01237 self.action_feedback.status.goal_id.id = str[start:end]
01238 start = end
01239 end += 1
01240 (self.action_feedback.status.status,) = _struct_B.unpack(str[start:end])
01241 start = end
01242 end += 4
01243 (length,) = _struct_I.unpack(str[start:end])
01244 start = end
01245 end += length
01246 if python3:
01247 self.action_feedback.status.text = str[start:end].decode('utf-8')
01248 else:
01249 self.action_feedback.status.text = str[start:end]
01250 _x = self
01251 start = end
01252 end += 12
01253 (_x.action_feedback.feedback.header.seq, _x.action_feedback.feedback.header.stamp.secs, _x.action_feedback.feedback.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
01254 start = end
01255 end += 4
01256 (length,) = _struct_I.unpack(str[start:end])
01257 start = end
01258 end += length
01259 if python3:
01260 self.action_feedback.feedback.header.frame_id = str[start:end].decode('utf-8')
01261 else:
01262 self.action_feedback.feedback.header.frame_id = str[start:end]
01263 start = end
01264 end += 4
01265 (length,) = _struct_I.unpack(str[start:end])
01266 self.action_feedback.feedback.goal = []
01267 for i in range(0, length):
01268 val1 = ee_cart_imped_msgs.msg.StiffPoint()
01269 _v64 = val1.header
01270 start = end
01271 end += 4
01272 (_v64.seq,) = _struct_I.unpack(str[start:end])
01273 _v65 = _v64.stamp
01274 _x = _v65
01275 start = end
01276 end += 8
01277 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
01278 start = end
01279 end += 4
01280 (length,) = _struct_I.unpack(str[start:end])
01281 start = end
01282 end += length
01283 if python3:
01284 _v64.frame_id = str[start:end].decode('utf-8')
01285 else:
01286 _v64.frame_id = str[start:end]
01287 _v66 = val1.pose
01288 _v67 = _v66.position
01289 _x = _v67
01290 start = end
01291 end += 24
01292 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
01293 _v68 = _v66.orientation
01294 _x = _v68
01295 start = end
01296 end += 32
01297 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
01298 _v69 = val1.wrench_or_stiffness
01299 _v70 = _v69.force
01300 _x = _v70
01301 start = end
01302 end += 24
01303 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
01304 _v71 = _v69.torque
01305 _x = _v71
01306 start = end
01307 end += 24
01308 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
01309 _x = val1
01310 start = end
01311 end += 6
01312 (_x.isForceX, _x.isForceY, _x.isForceZ, _x.isTorqueX, _x.isTorqueY, _x.isTorqueZ,) = _struct_6B.unpack(str[start:end])
01313 val1.isForceX = bool(val1.isForceX)
01314 val1.isForceY = bool(val1.isForceY)
01315 val1.isForceZ = bool(val1.isForceZ)
01316 val1.isTorqueX = bool(val1.isTorqueX)
01317 val1.isTorqueY = bool(val1.isTorqueY)
01318 val1.isTorqueZ = bool(val1.isTorqueZ)
01319 _v72 = val1.time_from_start
01320 _x = _v72
01321 start = end
01322 end += 8
01323 (_x.secs, _x.nsecs,) = _struct_2i.unpack(str[start:end])
01324 self.action_feedback.feedback.goal.append(val1)
01325 _x = self
01326 start = end
01327 end += 12
01328 (_x.action_feedback.feedback.initial_point.header.seq, _x.action_feedback.feedback.initial_point.header.stamp.secs, _x.action_feedback.feedback.initial_point.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
01329 start = end
01330 end += 4
01331 (length,) = _struct_I.unpack(str[start:end])
01332 start = end
01333 end += length
01334 if python3:
01335 self.action_feedback.feedback.initial_point.header.frame_id = str[start:end].decode('utf-8')
01336 else:
01337 self.action_feedback.feedback.initial_point.header.frame_id = str[start:end]
01338 _x = self
01339 start = end
01340 end += 130
01341 (_x.action_feedback.feedback.initial_point.pose.position.x, _x.action_feedback.feedback.initial_point.pose.position.y, _x.action_feedback.feedback.initial_point.pose.position.z, _x.action_feedback.feedback.initial_point.pose.orientation.x, _x.action_feedback.feedback.initial_point.pose.orientation.y, _x.action_feedback.feedback.initial_point.pose.orientation.z, _x.action_feedback.feedback.initial_point.pose.orientation.w, _x.action_feedback.feedback.initial_point.wrench_or_stiffness.force.x, _x.action_feedback.feedback.initial_point.wrench_or_stiffness.force.y, _x.action_feedback.feedback.initial_point.wrench_or_stiffness.force.z, _x.action_feedback.feedback.initial_point.wrench_or_stiffness.torque.x, _x.action_feedback.feedback.initial_point.wrench_or_stiffness.torque.y, _x.action_feedback.feedback.initial_point.wrench_or_stiffness.torque.z, _x.action_feedback.feedback.initial_point.isForceX, _x.action_feedback.feedback.initial_point.isForceY, _x.action_feedback.feedback.initial_point.isForceZ, _x.action_feedback.feedback.initial_point.isTorqueX, _x.action_feedback.feedback.initial_point.isTorqueY, _x.action_feedback.feedback.initial_point.isTorqueZ, _x.action_feedback.feedback.initial_point.time_from_start.secs, _x.action_feedback.feedback.initial_point.time_from_start.nsecs, _x.action_feedback.feedback.desired.header.seq, _x.action_feedback.feedback.desired.header.stamp.secs, _x.action_feedback.feedback.desired.header.stamp.nsecs,) = _struct_13d6B2i3I.unpack(str[start:end])
01342 self.action_feedback.feedback.initial_point.isForceX = bool(self.action_feedback.feedback.initial_point.isForceX)
01343 self.action_feedback.feedback.initial_point.isForceY = bool(self.action_feedback.feedback.initial_point.isForceY)
01344 self.action_feedback.feedback.initial_point.isForceZ = bool(self.action_feedback.feedback.initial_point.isForceZ)
01345 self.action_feedback.feedback.initial_point.isTorqueX = bool(self.action_feedback.feedback.initial_point.isTorqueX)
01346 self.action_feedback.feedback.initial_point.isTorqueY = bool(self.action_feedback.feedback.initial_point.isTorqueY)
01347 self.action_feedback.feedback.initial_point.isTorqueZ = bool(self.action_feedback.feedback.initial_point.isTorqueZ)
01348 start = end
01349 end += 4
01350 (length,) = _struct_I.unpack(str[start:end])
01351 start = end
01352 end += length
01353 if python3:
01354 self.action_feedback.feedback.desired.header.frame_id = str[start:end].decode('utf-8')
01355 else:
01356 self.action_feedback.feedback.desired.header.frame_id = str[start:end]
01357 _x = self
01358 start = end
01359 end += 130
01360 (_x.action_feedback.feedback.desired.pose.position.x, _x.action_feedback.feedback.desired.pose.position.y, _x.action_feedback.feedback.desired.pose.position.z, _x.action_feedback.feedback.desired.pose.orientation.x, _x.action_feedback.feedback.desired.pose.orientation.y, _x.action_feedback.feedback.desired.pose.orientation.z, _x.action_feedback.feedback.desired.pose.orientation.w, _x.action_feedback.feedback.desired.wrench_or_stiffness.force.x, _x.action_feedback.feedback.desired.wrench_or_stiffness.force.y, _x.action_feedback.feedback.desired.wrench_or_stiffness.force.z, _x.action_feedback.feedback.desired.wrench_or_stiffness.torque.x, _x.action_feedback.feedback.desired.wrench_or_stiffness.torque.y, _x.action_feedback.feedback.desired.wrench_or_stiffness.torque.z, _x.action_feedback.feedback.desired.isForceX, _x.action_feedback.feedback.desired.isForceY, _x.action_feedback.feedback.desired.isForceZ, _x.action_feedback.feedback.desired.isTorqueX, _x.action_feedback.feedback.desired.isTorqueY, _x.action_feedback.feedback.desired.isTorqueZ, _x.action_feedback.feedback.desired.time_from_start.secs, _x.action_feedback.feedback.desired.time_from_start.nsecs, _x.action_feedback.feedback.actual_pose.header.seq, _x.action_feedback.feedback.actual_pose.header.stamp.secs, _x.action_feedback.feedback.actual_pose.header.stamp.nsecs,) = _struct_13d6B2i3I.unpack(str[start:end])
01361 self.action_feedback.feedback.desired.isForceX = bool(self.action_feedback.feedback.desired.isForceX)
01362 self.action_feedback.feedback.desired.isForceY = bool(self.action_feedback.feedback.desired.isForceY)
01363 self.action_feedback.feedback.desired.isForceZ = bool(self.action_feedback.feedback.desired.isForceZ)
01364 self.action_feedback.feedback.desired.isTorqueX = bool(self.action_feedback.feedback.desired.isTorqueX)
01365 self.action_feedback.feedback.desired.isTorqueY = bool(self.action_feedback.feedback.desired.isTorqueY)
01366 self.action_feedback.feedback.desired.isTorqueZ = bool(self.action_feedback.feedback.desired.isTorqueZ)
01367 start = end
01368 end += 4
01369 (length,) = _struct_I.unpack(str[start:end])
01370 start = end
01371 end += length
01372 if python3:
01373 self.action_feedback.feedback.actual_pose.header.frame_id = str[start:end].decode('utf-8')
01374 else:
01375 self.action_feedback.feedback.actual_pose.header.frame_id = str[start:end]
01376 _x = self
01377 start = end
01378 end += 126
01379 (_x.action_feedback.feedback.actual_pose.pose.position.x, _x.action_feedback.feedback.actual_pose.pose.position.y, _x.action_feedback.feedback.actual_pose.pose.position.z, _x.action_feedback.feedback.actual_pose.pose.orientation.x, _x.action_feedback.feedback.actual_pose.pose.orientation.y, _x.action_feedback.feedback.actual_pose.pose.orientation.z, _x.action_feedback.feedback.actual_pose.pose.orientation.w, _x.action_feedback.feedback.actual_pose.wrench_or_stiffness.force.x, _x.action_feedback.feedback.actual_pose.wrench_or_stiffness.force.y, _x.action_feedback.feedback.actual_pose.wrench_or_stiffness.force.z, _x.action_feedback.feedback.actual_pose.wrench_or_stiffness.torque.x, _x.action_feedback.feedback.actual_pose.wrench_or_stiffness.torque.y, _x.action_feedback.feedback.actual_pose.wrench_or_stiffness.torque.z, _x.action_feedback.feedback.actual_pose.isForceX, _x.action_feedback.feedback.actual_pose.isForceY, _x.action_feedback.feedback.actual_pose.isForceZ, _x.action_feedback.feedback.actual_pose.isTorqueX, _x.action_feedback.feedback.actual_pose.isTorqueY, _x.action_feedback.feedback.actual_pose.isTorqueZ, _x.action_feedback.feedback.actual_pose.time_from_start.secs, _x.action_feedback.feedback.actual_pose.time_from_start.nsecs, _x.action_feedback.feedback.effort_sq_error,) = _struct_13d6B2id.unpack(str[start:end])
01380 self.action_feedback.feedback.actual_pose.isForceX = bool(self.action_feedback.feedback.actual_pose.isForceX)
01381 self.action_feedback.feedback.actual_pose.isForceY = bool(self.action_feedback.feedback.actual_pose.isForceY)
01382 self.action_feedback.feedback.actual_pose.isForceZ = bool(self.action_feedback.feedback.actual_pose.isForceZ)
01383 self.action_feedback.feedback.actual_pose.isTorqueX = bool(self.action_feedback.feedback.actual_pose.isTorqueX)
01384 self.action_feedback.feedback.actual_pose.isTorqueY = bool(self.action_feedback.feedback.actual_pose.isTorqueY)
01385 self.action_feedback.feedback.actual_pose.isTorqueZ = bool(self.action_feedback.feedback.actual_pose.isTorqueZ)
01386 start = end
01387 end += 4
01388 (length,) = _struct_I.unpack(str[start:end])
01389 pattern = '<%sd'%length
01390 start = end
01391 end += struct.calcsize(pattern)
01392 self.action_feedback.feedback.requested_joint_efforts = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
01393 start = end
01394 end += 4
01395 (length,) = _struct_I.unpack(str[start:end])
01396 pattern = '<%sd'%length
01397 start = end
01398 end += struct.calcsize(pattern)
01399 self.action_feedback.feedback.actual_joint_efforts = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
01400 _x = self
01401 start = end
01402 end += 8
01403 (_x.action_feedback.feedback.running_time.secs, _x.action_feedback.feedback.running_time.nsecs,) = _struct_2i.unpack(str[start:end])
01404 return self
01405 except struct.error as e:
01406 raise genpy.DeserializationError(e)
01407
01408 _struct_I = genpy.struct_I
01409 _struct_6B = struct.Struct("<6B")
01410 _struct_B = struct.Struct("<B")
01411 _struct_13d6B2id = struct.Struct("<13d6B2id")
01412 _struct_2i = struct.Struct("<2i")
01413 _struct_3I = struct.Struct("<3I")
01414 _struct_B3I = struct.Struct("<B3I")
01415 _struct_13d6B2i3I = struct.Struct("<13d6B2i3I")
01416 _struct_13d6B2i8d3I = struct.Struct("<13d6B2i8d3I")
01417 _struct_4d = struct.Struct("<4d")
01418 _struct_2I = struct.Struct("<2I")
01419 _struct_3d = struct.Struct("<3d")