_MechanicalImpedanceParams.py
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00001 """autogenerated by genpy from hrl_haptic_manipulation_in_clutter_msgs/MechanicalImpedanceParams.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 hrl_msgs.msg
00008 import std_msgs.msg
00009 
00010 class MechanicalImpedanceParams(genpy.Message):
00011   _md5sum = "66084daa9e1fe5e7191a352d9c615fe6"
00012   _type = "hrl_haptic_manipulation_in_clutter_msgs/MechanicalImpedanceParams"
00013   _has_header = True #flag to mark the presence of a Header object
00014   _full_text = """Header header
00015 
00016 hrl_msgs/FloatArrayBare k_p
00017 hrl_msgs/FloatArrayBare k_d
00018 
00019 ================================================================================
00020 MSG: std_msgs/Header
00021 # Standard metadata for higher-level stamped data types.
00022 # This is generally used to communicate timestamped data 
00023 # in a particular coordinate frame.
00024 # 
00025 # sequence ID: consecutively increasing ID 
00026 uint32 seq
00027 #Two-integer timestamp that is expressed as:
00028 # * stamp.secs: seconds (stamp_secs) since epoch
00029 # * stamp.nsecs: nanoseconds since stamp_secs
00030 # time-handling sugar is provided by the client library
00031 time stamp
00032 #Frame this data is associated with
00033 # 0: no frame
00034 # 1: global frame
00035 string frame_id
00036 
00037 ================================================================================
00038 MSG: hrl_msgs/FloatArrayBare
00039 float64[] data
00040 
00041 
00042 """
00043   __slots__ = ['header','k_p','k_d']
00044   _slot_types = ['std_msgs/Header','hrl_msgs/FloatArrayBare','hrl_msgs/FloatArrayBare']
00045 
00046   def __init__(self, *args, **kwds):
00047     """
00048     Constructor. Any message fields that are implicitly/explicitly
00049     set to None will be assigned a default value. The recommend
00050     use is keyword arguments as this is more robust to future message
00051     changes.  You cannot mix in-order arguments and keyword arguments.
00052 
00053     The available fields are:
00054        header,k_p,k_d
00055 
00056     :param args: complete set of field values, in .msg order
00057     :param kwds: use keyword arguments corresponding to message field names
00058     to set specific fields.
00059     """
00060     if args or kwds:
00061       super(MechanicalImpedanceParams, self).__init__(*args, **kwds)
00062       #message fields cannot be None, assign default values for those that are
00063       if self.header is None:
00064         self.header = std_msgs.msg.Header()
00065       if self.k_p is None:
00066         self.k_p = hrl_msgs.msg.FloatArrayBare()
00067       if self.k_d is None:
00068         self.k_d = hrl_msgs.msg.FloatArrayBare()
00069     else:
00070       self.header = std_msgs.msg.Header()
00071       self.k_p = hrl_msgs.msg.FloatArrayBare()
00072       self.k_d = hrl_msgs.msg.FloatArrayBare()
00073 
00074   def _get_types(self):
00075     """
00076     internal API method
00077     """
00078     return self._slot_types
00079 
00080   def serialize(self, buff):
00081     """
00082     serialize message into buffer
00083     :param buff: buffer, ``StringIO``
00084     """
00085     try:
00086       _x = self
00087       buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
00088       _x = self.header.frame_id
00089       length = len(_x)
00090       if python3 or type(_x) == unicode:
00091         _x = _x.encode('utf-8')
00092         length = len(_x)
00093       buff.write(struct.pack('<I%ss'%length, length, _x))
00094       length = len(self.k_p.data)
00095       buff.write(_struct_I.pack(length))
00096       pattern = '<%sd'%length
00097       buff.write(struct.pack(pattern, *self.k_p.data))
00098       length = len(self.k_d.data)
00099       buff.write(_struct_I.pack(length))
00100       pattern = '<%sd'%length
00101       buff.write(struct.pack(pattern, *self.k_d.data))
00102     except struct.error as se: self._check_types(se)
00103     except TypeError as te: self._check_types(te)
00104 
00105   def deserialize(self, str):
00106     """
00107     unpack serialized message in str into this message instance
00108     :param str: byte array of serialized message, ``str``
00109     """
00110     try:
00111       if self.header is None:
00112         self.header = std_msgs.msg.Header()
00113       if self.k_p is None:
00114         self.k_p = hrl_msgs.msg.FloatArrayBare()
00115       if self.k_d is None:
00116         self.k_d = hrl_msgs.msg.FloatArrayBare()
00117       end = 0
00118       _x = self
00119       start = end
00120       end += 12
00121       (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00122       start = end
00123       end += 4
00124       (length,) = _struct_I.unpack(str[start:end])
00125       start = end
00126       end += length
00127       if python3:
00128         self.header.frame_id = str[start:end].decode('utf-8')
00129       else:
00130         self.header.frame_id = str[start:end]
00131       start = end
00132       end += 4
00133       (length,) = _struct_I.unpack(str[start:end])
00134       pattern = '<%sd'%length
00135       start = end
00136       end += struct.calcsize(pattern)
00137       self.k_p.data = struct.unpack(pattern, str[start:end])
00138       start = end
00139       end += 4
00140       (length,) = _struct_I.unpack(str[start:end])
00141       pattern = '<%sd'%length
00142       start = end
00143       end += struct.calcsize(pattern)
00144       self.k_d.data = struct.unpack(pattern, str[start:end])
00145       return self
00146     except struct.error as e:
00147       raise genpy.DeserializationError(e) #most likely buffer underfill
00148 
00149 
00150   def serialize_numpy(self, buff, numpy):
00151     """
00152     serialize message with numpy array types into buffer
00153     :param buff: buffer, ``StringIO``
00154     :param numpy: numpy python module
00155     """
00156     try:
00157       _x = self
00158       buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
00159       _x = self.header.frame_id
00160       length = len(_x)
00161       if python3 or type(_x) == unicode:
00162         _x = _x.encode('utf-8')
00163         length = len(_x)
00164       buff.write(struct.pack('<I%ss'%length, length, _x))
00165       length = len(self.k_p.data)
00166       buff.write(_struct_I.pack(length))
00167       pattern = '<%sd'%length
00168       buff.write(self.k_p.data.tostring())
00169       length = len(self.k_d.data)
00170       buff.write(_struct_I.pack(length))
00171       pattern = '<%sd'%length
00172       buff.write(self.k_d.data.tostring())
00173     except struct.error as se: self._check_types(se)
00174     except TypeError as te: self._check_types(te)
00175 
00176   def deserialize_numpy(self, str, numpy):
00177     """
00178     unpack serialized message in str into this message instance using numpy for array types
00179     :param str: byte array of serialized message, ``str``
00180     :param numpy: numpy python module
00181     """
00182     try:
00183       if self.header is None:
00184         self.header = std_msgs.msg.Header()
00185       if self.k_p is None:
00186         self.k_p = hrl_msgs.msg.FloatArrayBare()
00187       if self.k_d is None:
00188         self.k_d = hrl_msgs.msg.FloatArrayBare()
00189       end = 0
00190       _x = self
00191       start = end
00192       end += 12
00193       (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00194       start = end
00195       end += 4
00196       (length,) = _struct_I.unpack(str[start:end])
00197       start = end
00198       end += length
00199       if python3:
00200         self.header.frame_id = str[start:end].decode('utf-8')
00201       else:
00202         self.header.frame_id = str[start:end]
00203       start = end
00204       end += 4
00205       (length,) = _struct_I.unpack(str[start:end])
00206       pattern = '<%sd'%length
00207       start = end
00208       end += struct.calcsize(pattern)
00209       self.k_p.data = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00210       start = end
00211       end += 4
00212       (length,) = _struct_I.unpack(str[start:end])
00213       pattern = '<%sd'%length
00214       start = end
00215       end += struct.calcsize(pattern)
00216       self.k_d.data = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00217       return self
00218     except struct.error as e:
00219       raise genpy.DeserializationError(e) #most likely buffer underfill
00220 
00221 _struct_I = genpy.struct_I
00222 _struct_3I = struct.Struct("<3I")


hrl_haptic_manipulation_in_clutter_msgs
Author(s): Advait Jain, Marc Killpack, Jeff Hawke. Advisor: Prof. Charlie Kemp. Healthcare Robotics Lab, Georgia Tech.
autogenerated on Wed Nov 27 2013 11:33:37