00001 """autogenerated by genpy from hrl_haptic_manipulation_in_clutter_msgs/MpcDynFormattedData.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 std_msgs.msg
00008
00009 class MpcDynFormattedData(genpy.Message):
00010 _md5sum = "409d8cadc45ef90a32fdf8e0c0ed4e2d"
00011 _type = "hrl_haptic_manipulation_in_clutter_msgs/MpcDynFormattedData"
00012 _has_header = True
00013 _full_text = """
00014 Header header
00015
00016 float64 alpha
00017 float64[] delta_x_d
00018 float64[] A_tl
00019 float64[] A_tr
00020 float64[] A_bl
00021 float64[] A_br
00022 float64[] B_tl
00023 float64[] B_tr
00024 float64[] B_bl
00025 float64[] B_br
00026 float64[] qd_max
00027 float64[] u_max
00028 float64[] q_min
00029 float64[] q_max
00030 float64[] delta_f_max
00031 float64[] n_K_J_all
00032 float64[] all_J_T_K_J
00033 float64[] J
00034 float64[] f_max_delta_t
00035 float64[] mass_n_J_com
00036 float64[] Kp
00037 float64[] Kd
00038 float64[] q_des_cur_0
00039 float64[] qd_0
00040 float64[] q_0
00041 float64[] tau_cont_sum_0
00042
00043 ================================================================================
00044 MSG: std_msgs/Header
00045 # Standard metadata for higher-level stamped data types.
00046 # This is generally used to communicate timestamped data
00047 # in a particular coordinate frame.
00048 #
00049 # sequence ID: consecutively increasing ID
00050 uint32 seq
00051 #Two-integer timestamp that is expressed as:
00052 # * stamp.secs: seconds (stamp_secs) since epoch
00053 # * stamp.nsecs: nanoseconds since stamp_secs
00054 # time-handling sugar is provided by the client library
00055 time stamp
00056 #Frame this data is associated with
00057 # 0: no frame
00058 # 1: global frame
00059 string frame_id
00060
00061 """
00062 __slots__ = ['header','alpha','delta_x_d','A_tl','A_tr','A_bl','A_br','B_tl','B_tr','B_bl','B_br','qd_max','u_max','q_min','q_max','delta_f_max','n_K_J_all','all_J_T_K_J','J','f_max_delta_t','mass_n_J_com','Kp','Kd','q_des_cur_0','qd_0','q_0','tau_cont_sum_0']
00063 _slot_types = ['std_msgs/Header','float64','float64[]','float64[]','float64[]','float64[]','float64[]','float64[]','float64[]','float64[]','float64[]','float64[]','float64[]','float64[]','float64[]','float64[]','float64[]','float64[]','float64[]','float64[]','float64[]','float64[]','float64[]','float64[]','float64[]','float64[]','float64[]']
00064
00065 def __init__(self, *args, **kwds):
00066 """
00067 Constructor. Any message fields that are implicitly/explicitly
00068 set to None will be assigned a default value. The recommend
00069 use is keyword arguments as this is more robust to future message
00070 changes. You cannot mix in-order arguments and keyword arguments.
00071
00072 The available fields are:
00073 header,alpha,delta_x_d,A_tl,A_tr,A_bl,A_br,B_tl,B_tr,B_bl,B_br,qd_max,u_max,q_min,q_max,delta_f_max,n_K_J_all,all_J_T_K_J,J,f_max_delta_t,mass_n_J_com,Kp,Kd,q_des_cur_0,qd_0,q_0,tau_cont_sum_0
00074
00075 :param args: complete set of field values, in .msg order
00076 :param kwds: use keyword arguments corresponding to message field names
00077 to set specific fields.
00078 """
00079 if args or kwds:
00080 super(MpcDynFormattedData, self).__init__(*args, **kwds)
00081
00082 if self.header is None:
00083 self.header = std_msgs.msg.Header()
00084 if self.alpha is None:
00085 self.alpha = 0.
00086 if self.delta_x_d is None:
00087 self.delta_x_d = []
00088 if self.A_tl is None:
00089 self.A_tl = []
00090 if self.A_tr is None:
00091 self.A_tr = []
00092 if self.A_bl is None:
00093 self.A_bl = []
00094 if self.A_br is None:
00095 self.A_br = []
00096 if self.B_tl is None:
00097 self.B_tl = []
00098 if self.B_tr is None:
00099 self.B_tr = []
00100 if self.B_bl is None:
00101 self.B_bl = []
00102 if self.B_br is None:
00103 self.B_br = []
00104 if self.qd_max is None:
00105 self.qd_max = []
00106 if self.u_max is None:
00107 self.u_max = []
00108 if self.q_min is None:
00109 self.q_min = []
00110 if self.q_max is None:
00111 self.q_max = []
00112 if self.delta_f_max is None:
00113 self.delta_f_max = []
00114 if self.n_K_J_all is None:
00115 self.n_K_J_all = []
00116 if self.all_J_T_K_J is None:
00117 self.all_J_T_K_J = []
00118 if self.J is None:
00119 self.J = []
00120 if self.f_max_delta_t is None:
00121 self.f_max_delta_t = []
00122 if self.mass_n_J_com is None:
00123 self.mass_n_J_com = []
00124 if self.Kp is None:
00125 self.Kp = []
00126 if self.Kd is None:
00127 self.Kd = []
00128 if self.q_des_cur_0 is None:
00129 self.q_des_cur_0 = []
00130 if self.qd_0 is None:
00131 self.qd_0 = []
00132 if self.q_0 is None:
00133 self.q_0 = []
00134 if self.tau_cont_sum_0 is None:
00135 self.tau_cont_sum_0 = []
00136 else:
00137 self.header = std_msgs.msg.Header()
00138 self.alpha = 0.
00139 self.delta_x_d = []
00140 self.A_tl = []
00141 self.A_tr = []
00142 self.A_bl = []
00143 self.A_br = []
00144 self.B_tl = []
00145 self.B_tr = []
00146 self.B_bl = []
00147 self.B_br = []
00148 self.qd_max = []
00149 self.u_max = []
00150 self.q_min = []
00151 self.q_max = []
00152 self.delta_f_max = []
00153 self.n_K_J_all = []
00154 self.all_J_T_K_J = []
00155 self.J = []
00156 self.f_max_delta_t = []
00157 self.mass_n_J_com = []
00158 self.Kp = []
00159 self.Kd = []
00160 self.q_des_cur_0 = []
00161 self.qd_0 = []
00162 self.q_0 = []
00163 self.tau_cont_sum_0 = []
00164
00165 def _get_types(self):
00166 """
00167 internal API method
00168 """
00169 return self._slot_types
00170
00171 def serialize(self, buff):
00172 """
00173 serialize message into buffer
00174 :param buff: buffer, ``StringIO``
00175 """
00176 try:
00177 _x = self
00178 buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
00179 _x = self.header.frame_id
00180 length = len(_x)
00181 if python3 or type(_x) == unicode:
00182 _x = _x.encode('utf-8')
00183 length = len(_x)
00184 buff.write(struct.pack('<I%ss'%length, length, _x))
00185 buff.write(_struct_d.pack(self.alpha))
00186 length = len(self.delta_x_d)
00187 buff.write(_struct_I.pack(length))
00188 pattern = '<%sd'%length
00189 buff.write(struct.pack(pattern, *self.delta_x_d))
00190 length = len(self.A_tl)
00191 buff.write(_struct_I.pack(length))
00192 pattern = '<%sd'%length
00193 buff.write(struct.pack(pattern, *self.A_tl))
00194 length = len(self.A_tr)
00195 buff.write(_struct_I.pack(length))
00196 pattern = '<%sd'%length
00197 buff.write(struct.pack(pattern, *self.A_tr))
00198 length = len(self.A_bl)
00199 buff.write(_struct_I.pack(length))
00200 pattern = '<%sd'%length
00201 buff.write(struct.pack(pattern, *self.A_bl))
00202 length = len(self.A_br)
00203 buff.write(_struct_I.pack(length))
00204 pattern = '<%sd'%length
00205 buff.write(struct.pack(pattern, *self.A_br))
00206 length = len(self.B_tl)
00207 buff.write(_struct_I.pack(length))
00208 pattern = '<%sd'%length
00209 buff.write(struct.pack(pattern, *self.B_tl))
00210 length = len(self.B_tr)
00211 buff.write(_struct_I.pack(length))
00212 pattern = '<%sd'%length
00213 buff.write(struct.pack(pattern, *self.B_tr))
00214 length = len(self.B_bl)
00215 buff.write(_struct_I.pack(length))
00216 pattern = '<%sd'%length
00217 buff.write(struct.pack(pattern, *self.B_bl))
00218 length = len(self.B_br)
00219 buff.write(_struct_I.pack(length))
00220 pattern = '<%sd'%length
00221 buff.write(struct.pack(pattern, *self.B_br))
00222 length = len(self.qd_max)
00223 buff.write(_struct_I.pack(length))
00224 pattern = '<%sd'%length
00225 buff.write(struct.pack(pattern, *self.qd_max))
00226 length = len(self.u_max)
00227 buff.write(_struct_I.pack(length))
00228 pattern = '<%sd'%length
00229 buff.write(struct.pack(pattern, *self.u_max))
00230 length = len(self.q_min)
00231 buff.write(_struct_I.pack(length))
00232 pattern = '<%sd'%length
00233 buff.write(struct.pack(pattern, *self.q_min))
00234 length = len(self.q_max)
00235 buff.write(_struct_I.pack(length))
00236 pattern = '<%sd'%length
00237 buff.write(struct.pack(pattern, *self.q_max))
00238 length = len(self.delta_f_max)
00239 buff.write(_struct_I.pack(length))
00240 pattern = '<%sd'%length
00241 buff.write(struct.pack(pattern, *self.delta_f_max))
00242 length = len(self.n_K_J_all)
00243 buff.write(_struct_I.pack(length))
00244 pattern = '<%sd'%length
00245 buff.write(struct.pack(pattern, *self.n_K_J_all))
00246 length = len(self.all_J_T_K_J)
00247 buff.write(_struct_I.pack(length))
00248 pattern = '<%sd'%length
00249 buff.write(struct.pack(pattern, *self.all_J_T_K_J))
00250 length = len(self.J)
00251 buff.write(_struct_I.pack(length))
00252 pattern = '<%sd'%length
00253 buff.write(struct.pack(pattern, *self.J))
00254 length = len(self.f_max_delta_t)
00255 buff.write(_struct_I.pack(length))
00256 pattern = '<%sd'%length
00257 buff.write(struct.pack(pattern, *self.f_max_delta_t))
00258 length = len(self.mass_n_J_com)
00259 buff.write(_struct_I.pack(length))
00260 pattern = '<%sd'%length
00261 buff.write(struct.pack(pattern, *self.mass_n_J_com))
00262 length = len(self.Kp)
00263 buff.write(_struct_I.pack(length))
00264 pattern = '<%sd'%length
00265 buff.write(struct.pack(pattern, *self.Kp))
00266 length = len(self.Kd)
00267 buff.write(_struct_I.pack(length))
00268 pattern = '<%sd'%length
00269 buff.write(struct.pack(pattern, *self.Kd))
00270 length = len(self.q_des_cur_0)
00271 buff.write(_struct_I.pack(length))
00272 pattern = '<%sd'%length
00273 buff.write(struct.pack(pattern, *self.q_des_cur_0))
00274 length = len(self.qd_0)
00275 buff.write(_struct_I.pack(length))
00276 pattern = '<%sd'%length
00277 buff.write(struct.pack(pattern, *self.qd_0))
00278 length = len(self.q_0)
00279 buff.write(_struct_I.pack(length))
00280 pattern = '<%sd'%length
00281 buff.write(struct.pack(pattern, *self.q_0))
00282 length = len(self.tau_cont_sum_0)
00283 buff.write(_struct_I.pack(length))
00284 pattern = '<%sd'%length
00285 buff.write(struct.pack(pattern, *self.tau_cont_sum_0))
00286 except struct.error as se: self._check_types(se)
00287 except TypeError as te: self._check_types(te)
00288
00289 def deserialize(self, str):
00290 """
00291 unpack serialized message in str into this message instance
00292 :param str: byte array of serialized message, ``str``
00293 """
00294 try:
00295 if self.header is None:
00296 self.header = std_msgs.msg.Header()
00297 end = 0
00298 _x = self
00299 start = end
00300 end += 12
00301 (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00302 start = end
00303 end += 4
00304 (length,) = _struct_I.unpack(str[start:end])
00305 start = end
00306 end += length
00307 if python3:
00308 self.header.frame_id = str[start:end].decode('utf-8')
00309 else:
00310 self.header.frame_id = str[start:end]
00311 start = end
00312 end += 8
00313 (self.alpha,) = _struct_d.unpack(str[start:end])
00314 start = end
00315 end += 4
00316 (length,) = _struct_I.unpack(str[start:end])
00317 pattern = '<%sd'%length
00318 start = end
00319 end += struct.calcsize(pattern)
00320 self.delta_x_d = struct.unpack(pattern, str[start:end])
00321 start = end
00322 end += 4
00323 (length,) = _struct_I.unpack(str[start:end])
00324 pattern = '<%sd'%length
00325 start = end
00326 end += struct.calcsize(pattern)
00327 self.A_tl = struct.unpack(pattern, str[start:end])
00328 start = end
00329 end += 4
00330 (length,) = _struct_I.unpack(str[start:end])
00331 pattern = '<%sd'%length
00332 start = end
00333 end += struct.calcsize(pattern)
00334 self.A_tr = struct.unpack(pattern, str[start:end])
00335 start = end
00336 end += 4
00337 (length,) = _struct_I.unpack(str[start:end])
00338 pattern = '<%sd'%length
00339 start = end
00340 end += struct.calcsize(pattern)
00341 self.A_bl = struct.unpack(pattern, str[start:end])
00342 start = end
00343 end += 4
00344 (length,) = _struct_I.unpack(str[start:end])
00345 pattern = '<%sd'%length
00346 start = end
00347 end += struct.calcsize(pattern)
00348 self.A_br = struct.unpack(pattern, str[start:end])
00349 start = end
00350 end += 4
00351 (length,) = _struct_I.unpack(str[start:end])
00352 pattern = '<%sd'%length
00353 start = end
00354 end += struct.calcsize(pattern)
00355 self.B_tl = struct.unpack(pattern, str[start:end])
00356 start = end
00357 end += 4
00358 (length,) = _struct_I.unpack(str[start:end])
00359 pattern = '<%sd'%length
00360 start = end
00361 end += struct.calcsize(pattern)
00362 self.B_tr = struct.unpack(pattern, str[start:end])
00363 start = end
00364 end += 4
00365 (length,) = _struct_I.unpack(str[start:end])
00366 pattern = '<%sd'%length
00367 start = end
00368 end += struct.calcsize(pattern)
00369 self.B_bl = struct.unpack(pattern, str[start:end])
00370 start = end
00371 end += 4
00372 (length,) = _struct_I.unpack(str[start:end])
00373 pattern = '<%sd'%length
00374 start = end
00375 end += struct.calcsize(pattern)
00376 self.B_br = struct.unpack(pattern, str[start:end])
00377 start = end
00378 end += 4
00379 (length,) = _struct_I.unpack(str[start:end])
00380 pattern = '<%sd'%length
00381 start = end
00382 end += struct.calcsize(pattern)
00383 self.qd_max = struct.unpack(pattern, str[start:end])
00384 start = end
00385 end += 4
00386 (length,) = _struct_I.unpack(str[start:end])
00387 pattern = '<%sd'%length
00388 start = end
00389 end += struct.calcsize(pattern)
00390 self.u_max = struct.unpack(pattern, str[start:end])
00391 start = end
00392 end += 4
00393 (length,) = _struct_I.unpack(str[start:end])
00394 pattern = '<%sd'%length
00395 start = end
00396 end += struct.calcsize(pattern)
00397 self.q_min = struct.unpack(pattern, str[start:end])
00398 start = end
00399 end += 4
00400 (length,) = _struct_I.unpack(str[start:end])
00401 pattern = '<%sd'%length
00402 start = end
00403 end += struct.calcsize(pattern)
00404 self.q_max = struct.unpack(pattern, str[start:end])
00405 start = end
00406 end += 4
00407 (length,) = _struct_I.unpack(str[start:end])
00408 pattern = '<%sd'%length
00409 start = end
00410 end += struct.calcsize(pattern)
00411 self.delta_f_max = struct.unpack(pattern, str[start:end])
00412 start = end
00413 end += 4
00414 (length,) = _struct_I.unpack(str[start:end])
00415 pattern = '<%sd'%length
00416 start = end
00417 end += struct.calcsize(pattern)
00418 self.n_K_J_all = struct.unpack(pattern, str[start:end])
00419 start = end
00420 end += 4
00421 (length,) = _struct_I.unpack(str[start:end])
00422 pattern = '<%sd'%length
00423 start = end
00424 end += struct.calcsize(pattern)
00425 self.all_J_T_K_J = struct.unpack(pattern, str[start:end])
00426 start = end
00427 end += 4
00428 (length,) = _struct_I.unpack(str[start:end])
00429 pattern = '<%sd'%length
00430 start = end
00431 end += struct.calcsize(pattern)
00432 self.J = struct.unpack(pattern, str[start:end])
00433 start = end
00434 end += 4
00435 (length,) = _struct_I.unpack(str[start:end])
00436 pattern = '<%sd'%length
00437 start = end
00438 end += struct.calcsize(pattern)
00439 self.f_max_delta_t = struct.unpack(pattern, str[start:end])
00440 start = end
00441 end += 4
00442 (length,) = _struct_I.unpack(str[start:end])
00443 pattern = '<%sd'%length
00444 start = end
00445 end += struct.calcsize(pattern)
00446 self.mass_n_J_com = struct.unpack(pattern, str[start:end])
00447 start = end
00448 end += 4
00449 (length,) = _struct_I.unpack(str[start:end])
00450 pattern = '<%sd'%length
00451 start = end
00452 end += struct.calcsize(pattern)
00453 self.Kp = struct.unpack(pattern, str[start:end])
00454 start = end
00455 end += 4
00456 (length,) = _struct_I.unpack(str[start:end])
00457 pattern = '<%sd'%length
00458 start = end
00459 end += struct.calcsize(pattern)
00460 self.Kd = struct.unpack(pattern, str[start:end])
00461 start = end
00462 end += 4
00463 (length,) = _struct_I.unpack(str[start:end])
00464 pattern = '<%sd'%length
00465 start = end
00466 end += struct.calcsize(pattern)
00467 self.q_des_cur_0 = struct.unpack(pattern, str[start:end])
00468 start = end
00469 end += 4
00470 (length,) = _struct_I.unpack(str[start:end])
00471 pattern = '<%sd'%length
00472 start = end
00473 end += struct.calcsize(pattern)
00474 self.qd_0 = struct.unpack(pattern, str[start:end])
00475 start = end
00476 end += 4
00477 (length,) = _struct_I.unpack(str[start:end])
00478 pattern = '<%sd'%length
00479 start = end
00480 end += struct.calcsize(pattern)
00481 self.q_0 = struct.unpack(pattern, str[start:end])
00482 start = end
00483 end += 4
00484 (length,) = _struct_I.unpack(str[start:end])
00485 pattern = '<%sd'%length
00486 start = end
00487 end += struct.calcsize(pattern)
00488 self.tau_cont_sum_0 = struct.unpack(pattern, str[start:end])
00489 return self
00490 except struct.error as e:
00491 raise genpy.DeserializationError(e)
00492
00493
00494 def serialize_numpy(self, buff, numpy):
00495 """
00496 serialize message with numpy array types into buffer
00497 :param buff: buffer, ``StringIO``
00498 :param numpy: numpy python module
00499 """
00500 try:
00501 _x = self
00502 buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
00503 _x = self.header.frame_id
00504 length = len(_x)
00505 if python3 or type(_x) == unicode:
00506 _x = _x.encode('utf-8')
00507 length = len(_x)
00508 buff.write(struct.pack('<I%ss'%length, length, _x))
00509 buff.write(_struct_d.pack(self.alpha))
00510 length = len(self.delta_x_d)
00511 buff.write(_struct_I.pack(length))
00512 pattern = '<%sd'%length
00513 buff.write(self.delta_x_d.tostring())
00514 length = len(self.A_tl)
00515 buff.write(_struct_I.pack(length))
00516 pattern = '<%sd'%length
00517 buff.write(self.A_tl.tostring())
00518 length = len(self.A_tr)
00519 buff.write(_struct_I.pack(length))
00520 pattern = '<%sd'%length
00521 buff.write(self.A_tr.tostring())
00522 length = len(self.A_bl)
00523 buff.write(_struct_I.pack(length))
00524 pattern = '<%sd'%length
00525 buff.write(self.A_bl.tostring())
00526 length = len(self.A_br)
00527 buff.write(_struct_I.pack(length))
00528 pattern = '<%sd'%length
00529 buff.write(self.A_br.tostring())
00530 length = len(self.B_tl)
00531 buff.write(_struct_I.pack(length))
00532 pattern = '<%sd'%length
00533 buff.write(self.B_tl.tostring())
00534 length = len(self.B_tr)
00535 buff.write(_struct_I.pack(length))
00536 pattern = '<%sd'%length
00537 buff.write(self.B_tr.tostring())
00538 length = len(self.B_bl)
00539 buff.write(_struct_I.pack(length))
00540 pattern = '<%sd'%length
00541 buff.write(self.B_bl.tostring())
00542 length = len(self.B_br)
00543 buff.write(_struct_I.pack(length))
00544 pattern = '<%sd'%length
00545 buff.write(self.B_br.tostring())
00546 length = len(self.qd_max)
00547 buff.write(_struct_I.pack(length))
00548 pattern = '<%sd'%length
00549 buff.write(self.qd_max.tostring())
00550 length = len(self.u_max)
00551 buff.write(_struct_I.pack(length))
00552 pattern = '<%sd'%length
00553 buff.write(self.u_max.tostring())
00554 length = len(self.q_min)
00555 buff.write(_struct_I.pack(length))
00556 pattern = '<%sd'%length
00557 buff.write(self.q_min.tostring())
00558 length = len(self.q_max)
00559 buff.write(_struct_I.pack(length))
00560 pattern = '<%sd'%length
00561 buff.write(self.q_max.tostring())
00562 length = len(self.delta_f_max)
00563 buff.write(_struct_I.pack(length))
00564 pattern = '<%sd'%length
00565 buff.write(self.delta_f_max.tostring())
00566 length = len(self.n_K_J_all)
00567 buff.write(_struct_I.pack(length))
00568 pattern = '<%sd'%length
00569 buff.write(self.n_K_J_all.tostring())
00570 length = len(self.all_J_T_K_J)
00571 buff.write(_struct_I.pack(length))
00572 pattern = '<%sd'%length
00573 buff.write(self.all_J_T_K_J.tostring())
00574 length = len(self.J)
00575 buff.write(_struct_I.pack(length))
00576 pattern = '<%sd'%length
00577 buff.write(self.J.tostring())
00578 length = len(self.f_max_delta_t)
00579 buff.write(_struct_I.pack(length))
00580 pattern = '<%sd'%length
00581 buff.write(self.f_max_delta_t.tostring())
00582 length = len(self.mass_n_J_com)
00583 buff.write(_struct_I.pack(length))
00584 pattern = '<%sd'%length
00585 buff.write(self.mass_n_J_com.tostring())
00586 length = len(self.Kp)
00587 buff.write(_struct_I.pack(length))
00588 pattern = '<%sd'%length
00589 buff.write(self.Kp.tostring())
00590 length = len(self.Kd)
00591 buff.write(_struct_I.pack(length))
00592 pattern = '<%sd'%length
00593 buff.write(self.Kd.tostring())
00594 length = len(self.q_des_cur_0)
00595 buff.write(_struct_I.pack(length))
00596 pattern = '<%sd'%length
00597 buff.write(self.q_des_cur_0.tostring())
00598 length = len(self.qd_0)
00599 buff.write(_struct_I.pack(length))
00600 pattern = '<%sd'%length
00601 buff.write(self.qd_0.tostring())
00602 length = len(self.q_0)
00603 buff.write(_struct_I.pack(length))
00604 pattern = '<%sd'%length
00605 buff.write(self.q_0.tostring())
00606 length = len(self.tau_cont_sum_0)
00607 buff.write(_struct_I.pack(length))
00608 pattern = '<%sd'%length
00609 buff.write(self.tau_cont_sum_0.tostring())
00610 except struct.error as se: self._check_types(se)
00611 except TypeError as te: self._check_types(te)
00612
00613 def deserialize_numpy(self, str, numpy):
00614 """
00615 unpack serialized message in str into this message instance using numpy for array types
00616 :param str: byte array of serialized message, ``str``
00617 :param numpy: numpy python module
00618 """
00619 try:
00620 if self.header is None:
00621 self.header = std_msgs.msg.Header()
00622 end = 0
00623 _x = self
00624 start = end
00625 end += 12
00626 (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
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.header.frame_id = str[start:end].decode('utf-8')
00634 else:
00635 self.header.frame_id = str[start:end]
00636 start = end
00637 end += 8
00638 (self.alpha,) = _struct_d.unpack(str[start:end])
00639 start = end
00640 end += 4
00641 (length,) = _struct_I.unpack(str[start:end])
00642 pattern = '<%sd'%length
00643 start = end
00644 end += struct.calcsize(pattern)
00645 self.delta_x_d = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00646 start = end
00647 end += 4
00648 (length,) = _struct_I.unpack(str[start:end])
00649 pattern = '<%sd'%length
00650 start = end
00651 end += struct.calcsize(pattern)
00652 self.A_tl = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00653 start = end
00654 end += 4
00655 (length,) = _struct_I.unpack(str[start:end])
00656 pattern = '<%sd'%length
00657 start = end
00658 end += struct.calcsize(pattern)
00659 self.A_tr = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00660 start = end
00661 end += 4
00662 (length,) = _struct_I.unpack(str[start:end])
00663 pattern = '<%sd'%length
00664 start = end
00665 end += struct.calcsize(pattern)
00666 self.A_bl = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00667 start = end
00668 end += 4
00669 (length,) = _struct_I.unpack(str[start:end])
00670 pattern = '<%sd'%length
00671 start = end
00672 end += struct.calcsize(pattern)
00673 self.A_br = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00674 start = end
00675 end += 4
00676 (length,) = _struct_I.unpack(str[start:end])
00677 pattern = '<%sd'%length
00678 start = end
00679 end += struct.calcsize(pattern)
00680 self.B_tl = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00681 start = end
00682 end += 4
00683 (length,) = _struct_I.unpack(str[start:end])
00684 pattern = '<%sd'%length
00685 start = end
00686 end += struct.calcsize(pattern)
00687 self.B_tr = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00688 start = end
00689 end += 4
00690 (length,) = _struct_I.unpack(str[start:end])
00691 pattern = '<%sd'%length
00692 start = end
00693 end += struct.calcsize(pattern)
00694 self.B_bl = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00695 start = end
00696 end += 4
00697 (length,) = _struct_I.unpack(str[start:end])
00698 pattern = '<%sd'%length
00699 start = end
00700 end += struct.calcsize(pattern)
00701 self.B_br = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00702 start = end
00703 end += 4
00704 (length,) = _struct_I.unpack(str[start:end])
00705 pattern = '<%sd'%length
00706 start = end
00707 end += struct.calcsize(pattern)
00708 self.qd_max = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00709 start = end
00710 end += 4
00711 (length,) = _struct_I.unpack(str[start:end])
00712 pattern = '<%sd'%length
00713 start = end
00714 end += struct.calcsize(pattern)
00715 self.u_max = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00716 start = end
00717 end += 4
00718 (length,) = _struct_I.unpack(str[start:end])
00719 pattern = '<%sd'%length
00720 start = end
00721 end += struct.calcsize(pattern)
00722 self.q_min = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00723 start = end
00724 end += 4
00725 (length,) = _struct_I.unpack(str[start:end])
00726 pattern = '<%sd'%length
00727 start = end
00728 end += struct.calcsize(pattern)
00729 self.q_max = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00730 start = end
00731 end += 4
00732 (length,) = _struct_I.unpack(str[start:end])
00733 pattern = '<%sd'%length
00734 start = end
00735 end += struct.calcsize(pattern)
00736 self.delta_f_max = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00737 start = end
00738 end += 4
00739 (length,) = _struct_I.unpack(str[start:end])
00740 pattern = '<%sd'%length
00741 start = end
00742 end += struct.calcsize(pattern)
00743 self.n_K_J_all = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00744 start = end
00745 end += 4
00746 (length,) = _struct_I.unpack(str[start:end])
00747 pattern = '<%sd'%length
00748 start = end
00749 end += struct.calcsize(pattern)
00750 self.all_J_T_K_J = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00751 start = end
00752 end += 4
00753 (length,) = _struct_I.unpack(str[start:end])
00754 pattern = '<%sd'%length
00755 start = end
00756 end += struct.calcsize(pattern)
00757 self.J = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00758 start = end
00759 end += 4
00760 (length,) = _struct_I.unpack(str[start:end])
00761 pattern = '<%sd'%length
00762 start = end
00763 end += struct.calcsize(pattern)
00764 self.f_max_delta_t = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00765 start = end
00766 end += 4
00767 (length,) = _struct_I.unpack(str[start:end])
00768 pattern = '<%sd'%length
00769 start = end
00770 end += struct.calcsize(pattern)
00771 self.mass_n_J_com = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00772 start = end
00773 end += 4
00774 (length,) = _struct_I.unpack(str[start:end])
00775 pattern = '<%sd'%length
00776 start = end
00777 end += struct.calcsize(pattern)
00778 self.Kp = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00779 start = end
00780 end += 4
00781 (length,) = _struct_I.unpack(str[start:end])
00782 pattern = '<%sd'%length
00783 start = end
00784 end += struct.calcsize(pattern)
00785 self.Kd = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00786 start = end
00787 end += 4
00788 (length,) = _struct_I.unpack(str[start:end])
00789 pattern = '<%sd'%length
00790 start = end
00791 end += struct.calcsize(pattern)
00792 self.q_des_cur_0 = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00793 start = end
00794 end += 4
00795 (length,) = _struct_I.unpack(str[start:end])
00796 pattern = '<%sd'%length
00797 start = end
00798 end += struct.calcsize(pattern)
00799 self.qd_0 = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00800 start = end
00801 end += 4
00802 (length,) = _struct_I.unpack(str[start:end])
00803 pattern = '<%sd'%length
00804 start = end
00805 end += struct.calcsize(pattern)
00806 self.q_0 = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00807 start = end
00808 end += 4
00809 (length,) = _struct_I.unpack(str[start:end])
00810 pattern = '<%sd'%length
00811 start = end
00812 end += struct.calcsize(pattern)
00813 self.tau_cont_sum_0 = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00814 return self
00815 except struct.error as e:
00816 raise genpy.DeserializationError(e)
00817
00818 _struct_I = genpy.struct_I
00819 _struct_3I = struct.Struct("<3I")
00820 _struct_d = struct.Struct("<d")