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
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
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)
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)
00125
00126 _struct_I = genpy.struct_I
00127 _struct_12d = struct.Struct("<12d")