_PressureInfo.py

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"""autogenerated by genpy from fingertip_pressure/PressureInfo.msg. Do not edit."""
import sys
python3 = True if sys.hexversion > 0x03000000 else False
import genpy
import struct

import geometry_msgs.msg
import fingertip_pressure.msg

class PressureInfo(genpy.Message):
  _md5sum = "a11fc5bae3534aa023741e378743af5b"
  _type = "fingertip_pressure/PressureInfo"
  _has_header = False #flag to mark the presence of a Header object
  _full_text = """PressureInfoElement[] sensor # List of pressure sensors for which information is being published

================================================================================
MSG: fingertip_pressure/PressureInfoElement
string frame_id # Frame ID
geometry_msgs/Vector3[] center # Corner of sensor (meters)
geometry_msgs/Vector3[] halfside1 # Half of one edge of sensor (meters)
geometry_msgs/Vector3[] halfside2 # Half of perpendicular edge of sensor (meters)
# Sensor corners are at center+-halfside1+-halfside2
# Cross product of halfside1 and halfside2 points out
float64[] force_per_unit # Multiply this by the raw sensor value to get a force

================================================================================
MSG: geometry_msgs/Vector3
# This represents a vector in free space. 

float64 x
float64 y
float64 z
"""
  __slots__ = ['sensor']
  _slot_types = ['fingertip_pressure/PressureInfoElement[]']

  def __init__(self, *args, **kwds):
    """
    Constructor. Any message fields that are implicitly/explicitly
    set to None will be assigned a default value. The recommend
    use is keyword arguments as this is more robust to future message
    changes.  You cannot mix in-order arguments and keyword arguments.

    The available fields are:
       sensor

    :param args: complete set of field values, in .msg order
    :param kwds: use keyword arguments corresponding to message field names
    to set specific fields.
    """
    if args or kwds:
      super(PressureInfo, self).__init__(*args, **kwds)
      #message fields cannot be None, assign default values for those that are
      if self.sensor is None:
        self.sensor = []
    else:
      self.sensor = []

  def _get_types(self):
    """
    internal API method
    """
    return self._slot_types

  def serialize(self, buff):
    """
    serialize message into buffer
    :param buff: buffer, ``StringIO``
    """
    try:
      length = len(self.sensor)
      buff.write(_struct_I.pack(length))
      for val1 in self.sensor:
        _x = val1.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        length = len(val1.center)
        buff.write(_struct_I.pack(length))
        for val2 in val1.center:
          _x = val2
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        length = len(val1.halfside1)
        buff.write(_struct_I.pack(length))
        for val2 in val1.halfside1:
          _x = val2
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        length = len(val1.halfside2)
        buff.write(_struct_I.pack(length))
        for val2 in val1.halfside2:
          _x = val2
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        length = len(val1.force_per_unit)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(struct.pack(pattern, *val1.force_per_unit))
    except struct.error as se: self._check_types(se)
    except TypeError as te: self._check_types(te)

  def deserialize(self, str):
    """
    unpack serialized message in str into this message instance
    :param str: byte array of serialized message, ``str``
    """
    try:
      if self.sensor is None:
        self.sensor = None
      end = 0
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.sensor = []
      for i in range(0, length):
        val1 = fingertip_pressure.msg.PressureInfoElement()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.frame_id = str[start:end].decode('utf-8')
        else:
          val1.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.center = []
        for i in range(0, length):
          val2 = geometry_msgs.msg.Vector3()
          _x = val2
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
          val1.center.append(val2)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.halfside1 = []
        for i in range(0, length):
          val2 = geometry_msgs.msg.Vector3()
          _x = val2
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
          val1.halfside1.append(val2)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.halfside2 = []
        for i in range(0, length):
          val2 = geometry_msgs.msg.Vector3()
          _x = val2
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
          val1.halfside2.append(val2)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        val1.force_per_unit = struct.unpack(pattern, str[start:end])
        self.sensor.append(val1)
      return self
    except struct.error as e:
      raise genpy.DeserializationError(e) #most likely buffer underfill


  def serialize_numpy(self, buff, numpy):
    """
    serialize message with numpy array types into buffer
    :param buff: buffer, ``StringIO``
    :param numpy: numpy python module
    """
    try:
      length = len(self.sensor)
      buff.write(_struct_I.pack(length))
      for val1 in self.sensor:
        _x = val1.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        length = len(val1.center)
        buff.write(_struct_I.pack(length))
        for val2 in val1.center:
          _x = val2
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        length = len(val1.halfside1)
        buff.write(_struct_I.pack(length))
        for val2 in val1.halfside1:
          _x = val2
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        length = len(val1.halfside2)
        buff.write(_struct_I.pack(length))
        for val2 in val1.halfside2:
          _x = val2
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        length = len(val1.force_per_unit)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(val1.force_per_unit.tostring())
    except struct.error as se: self._check_types(se)
    except TypeError as te: self._check_types(te)

  def deserialize_numpy(self, str, numpy):
    """
    unpack serialized message in str into this message instance using numpy for array types
    :param str: byte array of serialized message, ``str``
    :param numpy: numpy python module
    """
    try:
      if self.sensor is None:
        self.sensor = None
      end = 0
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.sensor = []
      for i in range(0, length):
        val1 = fingertip_pressure.msg.PressureInfoElement()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.frame_id = str[start:end].decode('utf-8')
        else:
          val1.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.center = []
        for i in range(0, length):
          val2 = geometry_msgs.msg.Vector3()
          _x = val2
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
          val1.center.append(val2)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.halfside1 = []
        for i in range(0, length):
          val2 = geometry_msgs.msg.Vector3()
          _x = val2
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
          val1.halfside1.append(val2)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.halfside2 = []
        for i in range(0, length):
          val2 = geometry_msgs.msg.Vector3()
          _x = val2
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
          val1.halfside2.append(val2)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        val1.force_per_unit = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
        self.sensor.append(val1)
      return self
    except struct.error as e:
      raise genpy.DeserializationError(e) #most likely buffer underfill

_struct_I = genpy.struct_I
_struct_3d = struct.Struct("<3d")