_CartesianImpedance.py
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00001 """autogenerated by genpy from lwr_fri/CartesianImpedance.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 geometry_msgs.msg
00008 
00009 class CartesianImpedance(genpy.Message):
00010   _md5sum = "bd4dbca8475cfa8e858db7599bb64f48"
00011   _type = "lwr_fri/CartesianImpedance"
00012   _has_header = False #flag to mark the presence of a Header object
00013   _full_text = """geometry_msgs/Twist stiffness
00014 geometry_msgs/Twist damping
00015 ================================================================================
00016 MSG: geometry_msgs/Twist
00017 # This expresses velocity in free space broken into it's linear and angular parts. 
00018 Vector3  linear
00019 Vector3  angular
00020 
00021 ================================================================================
00022 MSG: geometry_msgs/Vector3
00023 # This represents a vector in free space. 
00024 
00025 float64 x
00026 float64 y
00027 float64 z
00028 """
00029   __slots__ = ['stiffness','damping']
00030   _slot_types = ['geometry_msgs/Twist','geometry_msgs/Twist']
00031 
00032   def __init__(self, *args, **kwds):
00033     """
00034     Constructor. Any message fields that are implicitly/explicitly
00035     set to None will be assigned a default value. The recommend
00036     use is keyword arguments as this is more robust to future message
00037     changes.  You cannot mix in-order arguments and keyword arguments.
00038 
00039     The available fields are:
00040        stiffness,damping
00041 
00042     :param args: complete set of field values, in .msg order
00043     :param kwds: use keyword arguments corresponding to message field names
00044     to set specific fields.
00045     """
00046     if args or kwds:
00047       super(CartesianImpedance, self).__init__(*args, **kwds)
00048       #message fields cannot be None, assign default values for those that are
00049       if self.stiffness is None:
00050         self.stiffness = geometry_msgs.msg.Twist()
00051       if self.damping is None:
00052         self.damping = geometry_msgs.msg.Twist()
00053     else:
00054       self.stiffness = geometry_msgs.msg.Twist()
00055       self.damping = geometry_msgs.msg.Twist()
00056 
00057   def _get_types(self):
00058     """
00059     internal API method
00060     """
00061     return self._slot_types
00062 
00063   def serialize(self, buff):
00064     """
00065     serialize message into buffer
00066     :param buff: buffer, ``StringIO``
00067     """
00068     try:
00069       _x = self
00070       buff.write(_struct_12d.pack(_x.stiffness.linear.x, _x.stiffness.linear.y, _x.stiffness.linear.z, _x.stiffness.angular.x, _x.stiffness.angular.y, _x.stiffness.angular.z, _x.damping.linear.x, _x.damping.linear.y, _x.damping.linear.z, _x.damping.angular.x, _x.damping.angular.y, _x.damping.angular.z))
00071     except struct.error as se: self._check_types(se)
00072     except TypeError as te: self._check_types(te)
00073 
00074   def deserialize(self, str):
00075     """
00076     unpack serialized message in str into this message instance
00077     :param str: byte array of serialized message, ``str``
00078     """
00079     try:
00080       if self.stiffness is None:
00081         self.stiffness = geometry_msgs.msg.Twist()
00082       if self.damping is None:
00083         self.damping = geometry_msgs.msg.Twist()
00084       end = 0
00085       _x = self
00086       start = end
00087       end += 96
00088       (_x.stiffness.linear.x, _x.stiffness.linear.y, _x.stiffness.linear.z, _x.stiffness.angular.x, _x.stiffness.angular.y, _x.stiffness.angular.z, _x.damping.linear.x, _x.damping.linear.y, _x.damping.linear.z, _x.damping.angular.x, _x.damping.angular.y, _x.damping.angular.z,) = _struct_12d.unpack(str[start:end])
00089       return self
00090     except struct.error as e:
00091       raise genpy.DeserializationError(e) #most likely buffer underfill
00092 
00093 
00094   def serialize_numpy(self, buff, numpy):
00095     """
00096     serialize message with numpy array types into buffer
00097     :param buff: buffer, ``StringIO``
00098     :param numpy: numpy python module
00099     """
00100     try:
00101       _x = self
00102       buff.write(_struct_12d.pack(_x.stiffness.linear.x, _x.stiffness.linear.y, _x.stiffness.linear.z, _x.stiffness.angular.x, _x.stiffness.angular.y, _x.stiffness.angular.z, _x.damping.linear.x, _x.damping.linear.y, _x.damping.linear.z, _x.damping.angular.x, _x.damping.angular.y, _x.damping.angular.z))
00103     except struct.error as se: self._check_types(se)
00104     except TypeError as te: self._check_types(te)
00105 
00106   def deserialize_numpy(self, str, numpy):
00107     """
00108     unpack serialized message in str into this message instance using numpy for array types
00109     :param str: byte array of serialized message, ``str``
00110     :param numpy: numpy python module
00111     """
00112     try:
00113       if self.stiffness is None:
00114         self.stiffness = geometry_msgs.msg.Twist()
00115       if self.damping is None:
00116         self.damping = geometry_msgs.msg.Twist()
00117       end = 0
00118       _x = self
00119       start = end
00120       end += 96
00121       (_x.stiffness.linear.x, _x.stiffness.linear.y, _x.stiffness.linear.z, _x.stiffness.angular.x, _x.stiffness.angular.y, _x.stiffness.angular.z, _x.damping.linear.x, _x.damping.linear.y, _x.damping.linear.z, _x.damping.angular.x, _x.damping.angular.y, _x.damping.angular.z,) = _struct_12d.unpack(str[start:end])
00122       return self
00123     except struct.error as e:
00124       raise genpy.DeserializationError(e) #most likely buffer underfill
00125 
00126 _struct_I = genpy.struct_I
00127 _struct_12d = struct.Struct("<12d")
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lwr_fri
Author(s): Ruben Smits
autogenerated on Thu Nov 14 2013 11:55:34