_JointMovementGoal.py
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00001 """autogenerated by genpy from katana_msgs/JointMovementGoal.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 import sensor_msgs.msg
00009 
00010 class JointMovementGoal(genpy.Message):
00011   _md5sum = "03f8456b346613dcdf3d0e35b6b1a281"
00012   _type = "katana_msgs/JointMovementGoal"
00013   _has_header = False #flag to mark the presence of a Header object
00014   _full_text = """# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00015 #goal definition
00016 sensor_msgs/JointState jointGoal
00017 
00018 ================================================================================
00019 MSG: sensor_msgs/JointState
00020 # This is a message that holds data to describe the state of a set of torque controlled joints. 
00021 #
00022 # The state of each joint (revolute or prismatic) is defined by:
00023 #  * the position of the joint (rad or m),
00024 #  * the velocity of the joint (rad/s or m/s) and 
00025 #  * the effort that is applied in the joint (Nm or N).
00026 #
00027 # Each joint is uniquely identified by its name
00028 # The header specifies the time at which the joint states were recorded. All the joint states
00029 # in one message have to be recorded at the same time.
00030 #
00031 # This message consists of a multiple arrays, one for each part of the joint state. 
00032 # The goal is to make each of the fields optional. When e.g. your joints have no
00033 # effort associated with them, you can leave the effort array empty. 
00034 #
00035 # All arrays in this message should have the same size, or be empty.
00036 # This is the only way to uniquely associate the joint name with the correct
00037 # states.
00038 
00039 
00040 Header header
00041 
00042 string[] name
00043 float64[] position
00044 float64[] velocity
00045 float64[] effort
00046 
00047 ================================================================================
00048 MSG: std_msgs/Header
00049 # Standard metadata for higher-level stamped data types.
00050 # This is generally used to communicate timestamped data 
00051 # in a particular coordinate frame.
00052 # 
00053 # sequence ID: consecutively increasing ID 
00054 uint32 seq
00055 #Two-integer timestamp that is expressed as:
00056 # * stamp.secs: seconds (stamp_secs) since epoch
00057 # * stamp.nsecs: nanoseconds since stamp_secs
00058 # time-handling sugar is provided by the client library
00059 time stamp
00060 #Frame this data is associated with
00061 # 0: no frame
00062 # 1: global frame
00063 string frame_id
00064 
00065 """
00066   __slots__ = ['jointGoal']
00067   _slot_types = ['sensor_msgs/JointState']
00068 
00069   def __init__(self, *args, **kwds):
00070     """
00071     Constructor. Any message fields that are implicitly/explicitly
00072     set to None will be assigned a default value. The recommend
00073     use is keyword arguments as this is more robust to future message
00074     changes.  You cannot mix in-order arguments and keyword arguments.
00075 
00076     The available fields are:
00077        jointGoal
00078 
00079     :param args: complete set of field values, in .msg order
00080     :param kwds: use keyword arguments corresponding to message field names
00081     to set specific fields.
00082     """
00083     if args or kwds:
00084       super(JointMovementGoal, self).__init__(*args, **kwds)
00085       #message fields cannot be None, assign default values for those that are
00086       if self.jointGoal is None:
00087         self.jointGoal = sensor_msgs.msg.JointState()
00088     else:
00089       self.jointGoal = sensor_msgs.msg.JointState()
00090 
00091   def _get_types(self):
00092     """
00093     internal API method
00094     """
00095     return self._slot_types
00096 
00097   def serialize(self, buff):
00098     """
00099     serialize message into buffer
00100     :param buff: buffer, ``StringIO``
00101     """
00102     try:
00103       _x = self
00104       buff.write(_struct_3I.pack(_x.jointGoal.header.seq, _x.jointGoal.header.stamp.secs, _x.jointGoal.header.stamp.nsecs))
00105       _x = self.jointGoal.header.frame_id
00106       length = len(_x)
00107       if python3 or type(_x) == unicode:
00108         _x = _x.encode('utf-8')
00109         length = len(_x)
00110       buff.write(struct.pack('<I%ss'%length, length, _x))
00111       length = len(self.jointGoal.name)
00112       buff.write(_struct_I.pack(length))
00113       for val1 in self.jointGoal.name:
00114         length = len(val1)
00115         if python3 or type(val1) == unicode:
00116           val1 = val1.encode('utf-8')
00117           length = len(val1)
00118         buff.write(struct.pack('<I%ss'%length, length, val1))
00119       length = len(self.jointGoal.position)
00120       buff.write(_struct_I.pack(length))
00121       pattern = '<%sd'%length
00122       buff.write(struct.pack(pattern, *self.jointGoal.position))
00123       length = len(self.jointGoal.velocity)
00124       buff.write(_struct_I.pack(length))
00125       pattern = '<%sd'%length
00126       buff.write(struct.pack(pattern, *self.jointGoal.velocity))
00127       length = len(self.jointGoal.effort)
00128       buff.write(_struct_I.pack(length))
00129       pattern = '<%sd'%length
00130       buff.write(struct.pack(pattern, *self.jointGoal.effort))
00131     except struct.error as se: self._check_types(se)
00132     except TypeError as te: self._check_types(te)
00133 
00134   def deserialize(self, str):
00135     """
00136     unpack serialized message in str into this message instance
00137     :param str: byte array of serialized message, ``str``
00138     """
00139     try:
00140       if self.jointGoal is None:
00141         self.jointGoal = sensor_msgs.msg.JointState()
00142       end = 0
00143       _x = self
00144       start = end
00145       end += 12
00146       (_x.jointGoal.header.seq, _x.jointGoal.header.stamp.secs, _x.jointGoal.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00147       start = end
00148       end += 4
00149       (length,) = _struct_I.unpack(str[start:end])
00150       start = end
00151       end += length
00152       if python3:
00153         self.jointGoal.header.frame_id = str[start:end].decode('utf-8')
00154       else:
00155         self.jointGoal.header.frame_id = str[start:end]
00156       start = end
00157       end += 4
00158       (length,) = _struct_I.unpack(str[start:end])
00159       self.jointGoal.name = []
00160       for i in range(0, length):
00161         start = end
00162         end += 4
00163         (length,) = _struct_I.unpack(str[start:end])
00164         start = end
00165         end += length
00166         if python3:
00167           val1 = str[start:end].decode('utf-8')
00168         else:
00169           val1 = str[start:end]
00170         self.jointGoal.name.append(val1)
00171       start = end
00172       end += 4
00173       (length,) = _struct_I.unpack(str[start:end])
00174       pattern = '<%sd'%length
00175       start = end
00176       end += struct.calcsize(pattern)
00177       self.jointGoal.position = struct.unpack(pattern, str[start:end])
00178       start = end
00179       end += 4
00180       (length,) = _struct_I.unpack(str[start:end])
00181       pattern = '<%sd'%length
00182       start = end
00183       end += struct.calcsize(pattern)
00184       self.jointGoal.velocity = struct.unpack(pattern, str[start:end])
00185       start = end
00186       end += 4
00187       (length,) = _struct_I.unpack(str[start:end])
00188       pattern = '<%sd'%length
00189       start = end
00190       end += struct.calcsize(pattern)
00191       self.jointGoal.effort = struct.unpack(pattern, str[start:end])
00192       return self
00193     except struct.error as e:
00194       raise genpy.DeserializationError(e) #most likely buffer underfill
00195 
00196 
00197   def serialize_numpy(self, buff, numpy):
00198     """
00199     serialize message with numpy array types into buffer
00200     :param buff: buffer, ``StringIO``
00201     :param numpy: numpy python module
00202     """
00203     try:
00204       _x = self
00205       buff.write(_struct_3I.pack(_x.jointGoal.header.seq, _x.jointGoal.header.stamp.secs, _x.jointGoal.header.stamp.nsecs))
00206       _x = self.jointGoal.header.frame_id
00207       length = len(_x)
00208       if python3 or type(_x) == unicode:
00209         _x = _x.encode('utf-8')
00210         length = len(_x)
00211       buff.write(struct.pack('<I%ss'%length, length, _x))
00212       length = len(self.jointGoal.name)
00213       buff.write(_struct_I.pack(length))
00214       for val1 in self.jointGoal.name:
00215         length = len(val1)
00216         if python3 or type(val1) == unicode:
00217           val1 = val1.encode('utf-8')
00218           length = len(val1)
00219         buff.write(struct.pack('<I%ss'%length, length, val1))
00220       length = len(self.jointGoal.position)
00221       buff.write(_struct_I.pack(length))
00222       pattern = '<%sd'%length
00223       buff.write(self.jointGoal.position.tostring())
00224       length = len(self.jointGoal.velocity)
00225       buff.write(_struct_I.pack(length))
00226       pattern = '<%sd'%length
00227       buff.write(self.jointGoal.velocity.tostring())
00228       length = len(self.jointGoal.effort)
00229       buff.write(_struct_I.pack(length))
00230       pattern = '<%sd'%length
00231       buff.write(self.jointGoal.effort.tostring())
00232     except struct.error as se: self._check_types(se)
00233     except TypeError as te: self._check_types(te)
00234 
00235   def deserialize_numpy(self, str, numpy):
00236     """
00237     unpack serialized message in str into this message instance using numpy for array types
00238     :param str: byte array of serialized message, ``str``
00239     :param numpy: numpy python module
00240     """
00241     try:
00242       if self.jointGoal is None:
00243         self.jointGoal = sensor_msgs.msg.JointState()
00244       end = 0
00245       _x = self
00246       start = end
00247       end += 12
00248       (_x.jointGoal.header.seq, _x.jointGoal.header.stamp.secs, _x.jointGoal.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00249       start = end
00250       end += 4
00251       (length,) = _struct_I.unpack(str[start:end])
00252       start = end
00253       end += length
00254       if python3:
00255         self.jointGoal.header.frame_id = str[start:end].decode('utf-8')
00256       else:
00257         self.jointGoal.header.frame_id = str[start:end]
00258       start = end
00259       end += 4
00260       (length,) = _struct_I.unpack(str[start:end])
00261       self.jointGoal.name = []
00262       for i in range(0, length):
00263         start = end
00264         end += 4
00265         (length,) = _struct_I.unpack(str[start:end])
00266         start = end
00267         end += length
00268         if python3:
00269           val1 = str[start:end].decode('utf-8')
00270         else:
00271           val1 = str[start:end]
00272         self.jointGoal.name.append(val1)
00273       start = end
00274       end += 4
00275       (length,) = _struct_I.unpack(str[start:end])
00276       pattern = '<%sd'%length
00277       start = end
00278       end += struct.calcsize(pattern)
00279       self.jointGoal.position = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00280       start = end
00281       end += 4
00282       (length,) = _struct_I.unpack(str[start:end])
00283       pattern = '<%sd'%length
00284       start = end
00285       end += struct.calcsize(pattern)
00286       self.jointGoal.velocity = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00287       start = end
00288       end += 4
00289       (length,) = _struct_I.unpack(str[start:end])
00290       pattern = '<%sd'%length
00291       start = end
00292       end += struct.calcsize(pattern)
00293       self.jointGoal.effort = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00294       return self
00295     except struct.error as e:
00296       raise genpy.DeserializationError(e) #most likely buffer underfill
00297 
00298 _struct_I = genpy.struct_I
00299 _struct_3I = struct.Struct("<3I")
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katana_msgs
Author(s): Martin Günther
autogenerated on Tue May 28 2013 14:50:07