_FriRobotJntData.py
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00001 """autogenerated by genpy from lwr_fri/FriRobotJntData.msg. Do not edit."""
00002 import sys
00003 python3 = True if sys.hexversion > 0x03000000 else False
00004 import genpy
00005 import struct
00006 
00007 
00008 class FriRobotJntData(genpy.Message):
00009   _md5sum = "0aaff558814188d51a3ef7a1023d53a7"
00010   _type = "lwr_fri/FriRobotJntData"
00011   _has_header = False #flag to mark the presence of a Header object
00012   _full_text = """float32[7] msrJntPos
00013 float32[7] cmdJntPos
00014 float32[7] cmdJntPosFriOffset
00015 float32[7] msrJntTrq
00016 float32[7] estExtJntTrq
00017 float32[7] gravity
00018 """
00019   __slots__ = ['msrJntPos','cmdJntPos','cmdJntPosFriOffset','msrJntTrq','estExtJntTrq','gravity']
00020   _slot_types = ['float32[7]','float32[7]','float32[7]','float32[7]','float32[7]','float32[7]']
00021 
00022   def __init__(self, *args, **kwds):
00023     """
00024     Constructor. Any message fields that are implicitly/explicitly
00025     set to None will be assigned a default value. The recommend
00026     use is keyword arguments as this is more robust to future message
00027     changes.  You cannot mix in-order arguments and keyword arguments.
00028 
00029     The available fields are:
00030        msrJntPos,cmdJntPos,cmdJntPosFriOffset,msrJntTrq,estExtJntTrq,gravity
00031 
00032     :param args: complete set of field values, in .msg order
00033     :param kwds: use keyword arguments corresponding to message field names
00034     to set specific fields.
00035     """
00036     if args or kwds:
00037       super(FriRobotJntData, self).__init__(*args, **kwds)
00038       #message fields cannot be None, assign default values for those that are
00039       if self.msrJntPos is None:
00040         self.msrJntPos = [0.,0.,0.,0.,0.,0.,0.]
00041       if self.cmdJntPos is None:
00042         self.cmdJntPos = [0.,0.,0.,0.,0.,0.,0.]
00043       if self.cmdJntPosFriOffset is None:
00044         self.cmdJntPosFriOffset = [0.,0.,0.,0.,0.,0.,0.]
00045       if self.msrJntTrq is None:
00046         self.msrJntTrq = [0.,0.,0.,0.,0.,0.,0.]
00047       if self.estExtJntTrq is None:
00048         self.estExtJntTrq = [0.,0.,0.,0.,0.,0.,0.]
00049       if self.gravity is None:
00050         self.gravity = [0.,0.,0.,0.,0.,0.,0.]
00051     else:
00052       self.msrJntPos = [0.,0.,0.,0.,0.,0.,0.]
00053       self.cmdJntPos = [0.,0.,0.,0.,0.,0.,0.]
00054       self.cmdJntPosFriOffset = [0.,0.,0.,0.,0.,0.,0.]
00055       self.msrJntTrq = [0.,0.,0.,0.,0.,0.,0.]
00056       self.estExtJntTrq = [0.,0.,0.,0.,0.,0.,0.]
00057       self.gravity = [0.,0.,0.,0.,0.,0.,0.]
00058 
00059   def _get_types(self):
00060     """
00061     internal API method
00062     """
00063     return self._slot_types
00064 
00065   def serialize(self, buff):
00066     """
00067     serialize message into buffer
00068     :param buff: buffer, ``StringIO``
00069     """
00070     try:
00071       buff.write(_struct_7f.pack(*self.msrJntPos))
00072       buff.write(_struct_7f.pack(*self.cmdJntPos))
00073       buff.write(_struct_7f.pack(*self.cmdJntPosFriOffset))
00074       buff.write(_struct_7f.pack(*self.msrJntTrq))
00075       buff.write(_struct_7f.pack(*self.estExtJntTrq))
00076       buff.write(_struct_7f.pack(*self.gravity))
00077     except struct.error as se: self._check_types(se)
00078     except TypeError as te: self._check_types(te)
00079 
00080   def deserialize(self, str):
00081     """
00082     unpack serialized message in str into this message instance
00083     :param str: byte array of serialized message, ``str``
00084     """
00085     try:
00086       end = 0
00087       start = end
00088       end += 28
00089       self.msrJntPos = _struct_7f.unpack(str[start:end])
00090       start = end
00091       end += 28
00092       self.cmdJntPos = _struct_7f.unpack(str[start:end])
00093       start = end
00094       end += 28
00095       self.cmdJntPosFriOffset = _struct_7f.unpack(str[start:end])
00096       start = end
00097       end += 28
00098       self.msrJntTrq = _struct_7f.unpack(str[start:end])
00099       start = end
00100       end += 28
00101       self.estExtJntTrq = _struct_7f.unpack(str[start:end])
00102       start = end
00103       end += 28
00104       self.gravity = _struct_7f.unpack(str[start:end])
00105       return self
00106     except struct.error as e:
00107       raise genpy.DeserializationError(e) #most likely buffer underfill
00108 
00109 
00110   def serialize_numpy(self, buff, numpy):
00111     """
00112     serialize message with numpy array types into buffer
00113     :param buff: buffer, ``StringIO``
00114     :param numpy: numpy python module
00115     """
00116     try:
00117       buff.write(self.msrJntPos.tostring())
00118       buff.write(self.cmdJntPos.tostring())
00119       buff.write(self.cmdJntPosFriOffset.tostring())
00120       buff.write(self.msrJntTrq.tostring())
00121       buff.write(self.estExtJntTrq.tostring())
00122       buff.write(self.gravity.tostring())
00123     except struct.error as se: self._check_types(se)
00124     except TypeError as te: self._check_types(te)
00125 
00126   def deserialize_numpy(self, str, numpy):
00127     """
00128     unpack serialized message in str into this message instance using numpy for array types
00129     :param str: byte array of serialized message, ``str``
00130     :param numpy: numpy python module
00131     """
00132     try:
00133       end = 0
00134       start = end
00135       end += 28
00136       self.msrJntPos = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=7)
00137       start = end
00138       end += 28
00139       self.cmdJntPos = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=7)
00140       start = end
00141       end += 28
00142       self.cmdJntPosFriOffset = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=7)
00143       start = end
00144       end += 28
00145       self.msrJntTrq = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=7)
00146       start = end
00147       end += 28
00148       self.estExtJntTrq = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=7)
00149       start = end
00150       end += 28
00151       self.gravity = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=7)
00152       return self
00153     except struct.error as e:
00154       raise genpy.DeserializationError(e) #most likely buffer underfill
00155 
00156 _struct_I = genpy.struct_I
00157 _struct_7f = struct.Struct("<7f")
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lwr_fri
Author(s): Ruben Smits
autogenerated on Thu Nov 14 2013 11:55:34