00001 """autogenerated by genpy from ee_cart_imped_msgs/StiffPoint.msg. Do not edit."""
00002 import sys
00003 python3 = True if sys.hexversion > 0x03000000 else False
00004 import genpy
00005 import struct
00006
00007 import geometry_msgs.msg
00008 import genpy
00009 import std_msgs.msg
00010
00011 class StiffPoint(genpy.Message):
00012 _md5sum = "2b6b597656e805a0ca2e1de07dc31a66"
00013 _type = "ee_cart_imped_msgs/StiffPoint"
00014 _has_header = True
00015 _full_text = """Header header
00016 #The pose to achieve in the stiffness directions
00017 geometry_msgs/Pose pose
00018 #Wrench or stiffness for each dimension
00019 geometry_msgs/Wrench wrench_or_stiffness
00020 #The following are True if a force/torque should
00021 #be exerted and False if a stiffness should be used.
00022 bool isForceX
00023 bool isForceY
00024 bool isForceZ
00025 bool isTorqueX
00026 bool isTorqueY
00027 bool isTorqueZ
00028 #The time from the start of the trajectory that this
00029 #point should be achieved.
00030 duration time_from_start
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: geometry_msgs/Pose
00051 # A representation of pose in free space, composed of postion and orientation.
00052 Point position
00053 Quaternion orientation
00054
00055 ================================================================================
00056 MSG: geometry_msgs/Point
00057 # This contains the position of a point in free space
00058 float64 x
00059 float64 y
00060 float64 z
00061
00062 ================================================================================
00063 MSG: geometry_msgs/Quaternion
00064 # This represents an orientation in free space in quaternion form.
00065
00066 float64 x
00067 float64 y
00068 float64 z
00069 float64 w
00070
00071 ================================================================================
00072 MSG: geometry_msgs/Wrench
00073 # This represents force in free space, seperated into
00074 # it's linear and angular parts.
00075 Vector3 force
00076 Vector3 torque
00077
00078 ================================================================================
00079 MSG: geometry_msgs/Vector3
00080 # This represents a vector in free space.
00081
00082 float64 x
00083 float64 y
00084 float64 z
00085 """
00086 __slots__ = ['header','pose','wrench_or_stiffness','isForceX','isForceY','isForceZ','isTorqueX','isTorqueY','isTorqueZ','time_from_start']
00087 _slot_types = ['std_msgs/Header','geometry_msgs/Pose','geometry_msgs/Wrench','bool','bool','bool','bool','bool','bool','duration']
00088
00089 def __init__(self, *args, **kwds):
00090 """
00091 Constructor. Any message fields that are implicitly/explicitly
00092 set to None will be assigned a default value. The recommend
00093 use is keyword arguments as this is more robust to future message
00094 changes. You cannot mix in-order arguments and keyword arguments.
00095
00096 The available fields are:
00097 header,pose,wrench_or_stiffness,isForceX,isForceY,isForceZ,isTorqueX,isTorqueY,isTorqueZ,time_from_start
00098
00099 :param args: complete set of field values, in .msg order
00100 :param kwds: use keyword arguments corresponding to message field names
00101 to set specific fields.
00102 """
00103 if args or kwds:
00104 super(StiffPoint, self).__init__(*args, **kwds)
00105
00106 if self.header is None:
00107 self.header = std_msgs.msg.Header()
00108 if self.pose is None:
00109 self.pose = geometry_msgs.msg.Pose()
00110 if self.wrench_or_stiffness is None:
00111 self.wrench_or_stiffness = geometry_msgs.msg.Wrench()
00112 if self.isForceX is None:
00113 self.isForceX = False
00114 if self.isForceY is None:
00115 self.isForceY = False
00116 if self.isForceZ is None:
00117 self.isForceZ = False
00118 if self.isTorqueX is None:
00119 self.isTorqueX = False
00120 if self.isTorqueY is None:
00121 self.isTorqueY = False
00122 if self.isTorqueZ is None:
00123 self.isTorqueZ = False
00124 if self.time_from_start is None:
00125 self.time_from_start = genpy.Duration()
00126 else:
00127 self.header = std_msgs.msg.Header()
00128 self.pose = geometry_msgs.msg.Pose()
00129 self.wrench_or_stiffness = geometry_msgs.msg.Wrench()
00130 self.isForceX = False
00131 self.isForceY = False
00132 self.isForceZ = False
00133 self.isTorqueX = False
00134 self.isTorqueY = False
00135 self.isTorqueZ = False
00136 self.time_from_start = genpy.Duration()
00137
00138 def _get_types(self):
00139 """
00140 internal API method
00141 """
00142 return self._slot_types
00143
00144 def serialize(self, buff):
00145 """
00146 serialize message into buffer
00147 :param buff: buffer, ``StringIO``
00148 """
00149 try:
00150 _x = self
00151 buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
00152 _x = self.header.frame_id
00153 length = len(_x)
00154 if python3 or type(_x) == unicode:
00155 _x = _x.encode('utf-8')
00156 length = len(_x)
00157 buff.write(struct.pack('<I%ss'%length, length, _x))
00158 _x = self
00159 buff.write(_struct_13d6B2i.pack(_x.pose.position.x, _x.pose.position.y, _x.pose.position.z, _x.pose.orientation.x, _x.pose.orientation.y, _x.pose.orientation.z, _x.pose.orientation.w, _x.wrench_or_stiffness.force.x, _x.wrench_or_stiffness.force.y, _x.wrench_or_stiffness.force.z, _x.wrench_or_stiffness.torque.x, _x.wrench_or_stiffness.torque.y, _x.wrench_or_stiffness.torque.z, _x.isForceX, _x.isForceY, _x.isForceZ, _x.isTorqueX, _x.isTorqueY, _x.isTorqueZ, _x.time_from_start.secs, _x.time_from_start.nsecs))
00160 except struct.error as se: self._check_types(se)
00161 except TypeError as te: self._check_types(te)
00162
00163 def deserialize(self, str):
00164 """
00165 unpack serialized message in str into this message instance
00166 :param str: byte array of serialized message, ``str``
00167 """
00168 try:
00169 if self.header is None:
00170 self.header = std_msgs.msg.Header()
00171 if self.pose is None:
00172 self.pose = geometry_msgs.msg.Pose()
00173 if self.wrench_or_stiffness is None:
00174 self.wrench_or_stiffness = geometry_msgs.msg.Wrench()
00175 if self.time_from_start is None:
00176 self.time_from_start = genpy.Duration()
00177 end = 0
00178 _x = self
00179 start = end
00180 end += 12
00181 (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00182 start = end
00183 end += 4
00184 (length,) = _struct_I.unpack(str[start:end])
00185 start = end
00186 end += length
00187 if python3:
00188 self.header.frame_id = str[start:end].decode('utf-8')
00189 else:
00190 self.header.frame_id = str[start:end]
00191 _x = self
00192 start = end
00193 end += 118
00194 (_x.pose.position.x, _x.pose.position.y, _x.pose.position.z, _x.pose.orientation.x, _x.pose.orientation.y, _x.pose.orientation.z, _x.pose.orientation.w, _x.wrench_or_stiffness.force.x, _x.wrench_or_stiffness.force.y, _x.wrench_or_stiffness.force.z, _x.wrench_or_stiffness.torque.x, _x.wrench_or_stiffness.torque.y, _x.wrench_or_stiffness.torque.z, _x.isForceX, _x.isForceY, _x.isForceZ, _x.isTorqueX, _x.isTorqueY, _x.isTorqueZ, _x.time_from_start.secs, _x.time_from_start.nsecs,) = _struct_13d6B2i.unpack(str[start:end])
00195 self.isForceX = bool(self.isForceX)
00196 self.isForceY = bool(self.isForceY)
00197 self.isForceZ = bool(self.isForceZ)
00198 self.isTorqueX = bool(self.isTorqueX)
00199 self.isTorqueY = bool(self.isTorqueY)
00200 self.isTorqueZ = bool(self.isTorqueZ)
00201 self.time_from_start.canon()
00202 return self
00203 except struct.error as e:
00204 raise genpy.DeserializationError(e)
00205
00206
00207 def serialize_numpy(self, buff, numpy):
00208 """
00209 serialize message with numpy array types into buffer
00210 :param buff: buffer, ``StringIO``
00211 :param numpy: numpy python module
00212 """
00213 try:
00214 _x = self
00215 buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
00216 _x = self.header.frame_id
00217 length = len(_x)
00218 if python3 or type(_x) == unicode:
00219 _x = _x.encode('utf-8')
00220 length = len(_x)
00221 buff.write(struct.pack('<I%ss'%length, length, _x))
00222 _x = self
00223 buff.write(_struct_13d6B2i.pack(_x.pose.position.x, _x.pose.position.y, _x.pose.position.z, _x.pose.orientation.x, _x.pose.orientation.y, _x.pose.orientation.z, _x.pose.orientation.w, _x.wrench_or_stiffness.force.x, _x.wrench_or_stiffness.force.y, _x.wrench_or_stiffness.force.z, _x.wrench_or_stiffness.torque.x, _x.wrench_or_stiffness.torque.y, _x.wrench_or_stiffness.torque.z, _x.isForceX, _x.isForceY, _x.isForceZ, _x.isTorqueX, _x.isTorqueY, _x.isTorqueZ, _x.time_from_start.secs, _x.time_from_start.nsecs))
00224 except struct.error as se: self._check_types(se)
00225 except TypeError as te: self._check_types(te)
00226
00227 def deserialize_numpy(self, str, numpy):
00228 """
00229 unpack serialized message in str into this message instance using numpy for array types
00230 :param str: byte array of serialized message, ``str``
00231 :param numpy: numpy python module
00232 """
00233 try:
00234 if self.header is None:
00235 self.header = std_msgs.msg.Header()
00236 if self.pose is None:
00237 self.pose = geometry_msgs.msg.Pose()
00238 if self.wrench_or_stiffness is None:
00239 self.wrench_or_stiffness = geometry_msgs.msg.Wrench()
00240 if self.time_from_start is None:
00241 self.time_from_start = genpy.Duration()
00242 end = 0
00243 _x = self
00244 start = end
00245 end += 12
00246 (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00247 start = end
00248 end += 4
00249 (length,) = _struct_I.unpack(str[start:end])
00250 start = end
00251 end += length
00252 if python3:
00253 self.header.frame_id = str[start:end].decode('utf-8')
00254 else:
00255 self.header.frame_id = str[start:end]
00256 _x = self
00257 start = end
00258 end += 118
00259 (_x.pose.position.x, _x.pose.position.y, _x.pose.position.z, _x.pose.orientation.x, _x.pose.orientation.y, _x.pose.orientation.z, _x.pose.orientation.w, _x.wrench_or_stiffness.force.x, _x.wrench_or_stiffness.force.y, _x.wrench_or_stiffness.force.z, _x.wrench_or_stiffness.torque.x, _x.wrench_or_stiffness.torque.y, _x.wrench_or_stiffness.torque.z, _x.isForceX, _x.isForceY, _x.isForceZ, _x.isTorqueX, _x.isTorqueY, _x.isTorqueZ, _x.time_from_start.secs, _x.time_from_start.nsecs,) = _struct_13d6B2i.unpack(str[start:end])
00260 self.isForceX = bool(self.isForceX)
00261 self.isForceY = bool(self.isForceY)
00262 self.isForceZ = bool(self.isForceZ)
00263 self.isTorqueX = bool(self.isTorqueX)
00264 self.isTorqueY = bool(self.isTorqueY)
00265 self.isTorqueZ = bool(self.isTorqueZ)
00266 self.time_from_start.canon()
00267 return self
00268 except struct.error as e:
00269 raise genpy.DeserializationError(e)
00270
00271 _struct_I = genpy.struct_I
00272 _struct_3I = struct.Struct("<3I")
00273 _struct_13d6B2i = struct.Struct("<13d6B2i")