_KDLWeights.py

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


class KDLWeights(genpy.Message):
  _md5sum = "986315cd29a99987092b708377dfd2ce"
  _type = "kdl_arm_kinematics/KDLWeights"
  _has_header = False #flag to mark the presence of a Header object
  _full_text = """byte INVALID_MODE = 0
byte SET_TS = 1
byte SET_JS = 2
byte SET_LAMBDA = 4
byte SET_TS_JS = 3

byte mode                  # or-combination of values to set
float64[36] weight_ts      # the 6x6 matrix of task space weights in row-major order
float64[] weight_js        # the joints x joints matrix of joint space weights in row-major order
float64 lambda             # Lambda value

"""
  # Pseudo-constants
  INVALID_MODE = 0
  SET_TS = 1
  SET_JS = 2
  SET_LAMBDA = 4
  SET_TS_JS = 3

  __slots__ = ['mode','weight_ts','weight_js','lambda_']
  _slot_types = ['byte','float64[36]','float64[]','float64']

  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:
       mode,weight_ts,weight_js,lambda_

    :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(KDLWeights, self).__init__(*args, **kwds)
      #message fields cannot be None, assign default values for those that are
      if self.mode is None:
        self.mode = 0
      if self.weight_ts is None:
        self.weight_ts = [0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.]
      if self.weight_js is None:
        self.weight_js = []
      if self.lambda_ is None:
        self.lambda_ = 0.
    else:
      self.mode = 0
      self.weight_ts = [0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.]
      self.weight_js = []
      self.lambda_ = 0.

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

  def serialize(self, buff):
    """
    serialize message into buffer
    :param buff: buffer, ``StringIO``
    """
    try:
      buff.write(_struct_b.pack(self.mode))
      buff.write(_struct_36d.pack(*self.weight_ts))
      length = len(self.weight_js)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.weight_js))
      buff.write(_struct_d.pack(self.lambda_))
    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:
      end = 0
      start = end
      end += 1
      (self.mode,) = _struct_b.unpack(str[start:end])
      start = end
      end += 288
      self.weight_ts = _struct_36d.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.weight_js = struct.unpack(pattern, str[start:end])
      start = end
      end += 8
      (self.lambda_,) = _struct_d.unpack(str[start:end])
      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:
      buff.write(_struct_b.pack(self.mode))
      buff.write(self.weight_ts.tostring())
      length = len(self.weight_js)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.weight_js.tostring())
      buff.write(_struct_d.pack(self.lambda_))
    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:
      end = 0
      start = end
      end += 1
      (self.mode,) = _struct_b.unpack(str[start:end])
      start = end
      end += 288
      self.weight_ts = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=36)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.weight_js = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
      start = end
      end += 8
      (self.lambda_,) = _struct_d.unpack(str[start:end])
      return self
    except struct.error as e:
      raise genpy.DeserializationError(e) #most likely buffer underfill

_struct_I = genpy.struct_I
_struct_36d = struct.Struct("<36d")
_struct_b = struct.Struct("<b")
_struct_d = struct.Struct("<d")