00001 """autogenerated by genpy from nao_msgs/JointAnglesWithSpeedAction.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 genpy
00008 import sensor_msgs.msg
00009 import nao_msgs.msg
00010 import actionlib_msgs.msg
00011 import std_msgs.msg
00012
00013 class JointAnglesWithSpeedAction(genpy.Message):
00014 _md5sum = "efd2f7ac88847414fd26aacf32f993a5"
00015 _type = "nao_msgs/JointAnglesWithSpeedAction"
00016 _has_header = False
00017 _full_text = """# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00018
00019 JointAnglesWithSpeedActionGoal action_goal
00020 JointAnglesWithSpeedActionResult action_result
00021 JointAnglesWithSpeedActionFeedback action_feedback
00022
00023 ================================================================================
00024 MSG: nao_msgs/JointAnglesWithSpeedActionGoal
00025 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00026
00027 Header header
00028 actionlib_msgs/GoalID goal_id
00029 JointAnglesWithSpeedGoal goal
00030
00031 ================================================================================
00032 MSG: std_msgs/Header
00033 # Standard metadata for higher-level stamped data types.
00034 # This is generally used to communicate timestamped data
00035 # in a particular coordinate frame.
00036 #
00037 # sequence ID: consecutively increasing ID
00038 uint32 seq
00039 #Two-integer timestamp that is expressed as:
00040 # * stamp.secs: seconds (stamp_secs) since epoch
00041 # * stamp.nsecs: nanoseconds since stamp_secs
00042 # time-handling sugar is provided by the client library
00043 time stamp
00044 #Frame this data is associated with
00045 # 0: no frame
00046 # 1: global frame
00047 string frame_id
00048
00049 ================================================================================
00050 MSG: actionlib_msgs/GoalID
00051 # The stamp should store the time at which this goal was requested.
00052 # It is used by an action server when it tries to preempt all
00053 # goals that were requested before a certain time
00054 time stamp
00055
00056 # The id provides a way to associate feedback and
00057 # result message with specific goal requests. The id
00058 # specified must be unique.
00059 string id
00060
00061
00062 ================================================================================
00063 MSG: nao_msgs/JointAnglesWithSpeedGoal
00064 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00065 # goal: a registered body pose name
00066 nao_msgs/JointAnglesWithSpeed joint_angles
00067
00068 ================================================================================
00069 MSG: nao_msgs/JointAnglesWithSpeed
00070 Header header
00071
00072 # A list of joint names, corresponding to their names in the Nao docs.
00073 # This must be either the same lenght of joint_angles or 1 if it's a
00074 # keyword such as 'Body' (for all angles)
00075 string[] joint_names
00076 float32[] joint_angles
00077
00078 #fraction of max joint velocity [0:1]
00079 float32 speed
00080
00081 # Absolute angle(=0, default) or relative change
00082 uint8 relative
00083
00084 ================================================================================
00085 MSG: nao_msgs/JointAnglesWithSpeedActionResult
00086 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00087
00088 Header header
00089 actionlib_msgs/GoalStatus status
00090 JointAnglesWithSpeedResult result
00091
00092 ================================================================================
00093 MSG: actionlib_msgs/GoalStatus
00094 GoalID goal_id
00095 uint8 status
00096 uint8 PENDING = 0 # The goal has yet to be processed by the action server
00097 uint8 ACTIVE = 1 # The goal is currently being processed by the action server
00098 uint8 PREEMPTED = 2 # The goal received a cancel request after it started executing
00099 # and has since completed its execution (Terminal State)
00100 uint8 SUCCEEDED = 3 # The goal was achieved successfully by the action server (Terminal State)
00101 uint8 ABORTED = 4 # The goal was aborted during execution by the action server due
00102 # to some failure (Terminal State)
00103 uint8 REJECTED = 5 # The goal was rejected by the action server without being processed,
00104 # because the goal was unattainable or invalid (Terminal State)
00105 uint8 PREEMPTING = 6 # The goal received a cancel request after it started executing
00106 # and has not yet completed execution
00107 uint8 RECALLING = 7 # The goal received a cancel request before it started executing,
00108 # but the action server has not yet confirmed that the goal is canceled
00109 uint8 RECALLED = 8 # The goal received a cancel request before it started executing
00110 # and was successfully cancelled (Terminal State)
00111 uint8 LOST = 9 # An action client can determine that a goal is LOST. This should not be
00112 # sent over the wire by an action server
00113
00114 #Allow for the user to associate a string with GoalStatus for debugging
00115 string text
00116
00117
00118 ================================================================================
00119 MSG: nao_msgs/JointAnglesWithSpeedResult
00120 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00121 # result is the actually reached position
00122 sensor_msgs/JointState goal_position
00123
00124 ================================================================================
00125 MSG: sensor_msgs/JointState
00126 # This is a message that holds data to describe the state of a set of torque controlled joints.
00127 #
00128 # The state of each joint (revolute or prismatic) is defined by:
00129 # * the position of the joint (rad or m),
00130 # * the velocity of the joint (rad/s or m/s) and
00131 # * the effort that is applied in the joint (Nm or N).
00132 #
00133 # Each joint is uniquely identified by its name
00134 # The header specifies the time at which the joint states were recorded. All the joint states
00135 # in one message have to be recorded at the same time.
00136 #
00137 # This message consists of a multiple arrays, one for each part of the joint state.
00138 # The goal is to make each of the fields optional. When e.g. your joints have no
00139 # effort associated with them, you can leave the effort array empty.
00140 #
00141 # All arrays in this message should have the same size, or be empty.
00142 # This is the only way to uniquely associate the joint name with the correct
00143 # states.
00144
00145
00146 Header header
00147
00148 string[] name
00149 float64[] position
00150 float64[] velocity
00151 float64[] effort
00152
00153 ================================================================================
00154 MSG: nao_msgs/JointAnglesWithSpeedActionFeedback
00155 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00156
00157 Header header
00158 actionlib_msgs/GoalStatus status
00159 JointAnglesWithSpeedFeedback feedback
00160
00161 ================================================================================
00162 MSG: nao_msgs/JointAnglesWithSpeedFeedback
00163 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00164 # no feedback currently
00165
00166 """
00167 __slots__ = ['action_goal','action_result','action_feedback']
00168 _slot_types = ['nao_msgs/JointAnglesWithSpeedActionGoal','nao_msgs/JointAnglesWithSpeedActionResult','nao_msgs/JointAnglesWithSpeedActionFeedback']
00169
00170 def __init__(self, *args, **kwds):
00171 """
00172 Constructor. Any message fields that are implicitly/explicitly
00173 set to None will be assigned a default value. The recommend
00174 use is keyword arguments as this is more robust to future message
00175 changes. You cannot mix in-order arguments and keyword arguments.
00176
00177 The available fields are:
00178 action_goal,action_result,action_feedback
00179
00180 :param args: complete set of field values, in .msg order
00181 :param kwds: use keyword arguments corresponding to message field names
00182 to set specific fields.
00183 """
00184 if args or kwds:
00185 super(JointAnglesWithSpeedAction, self).__init__(*args, **kwds)
00186
00187 if self.action_goal is None:
00188 self.action_goal = nao_msgs.msg.JointAnglesWithSpeedActionGoal()
00189 if self.action_result is None:
00190 self.action_result = nao_msgs.msg.JointAnglesWithSpeedActionResult()
00191 if self.action_feedback is None:
00192 self.action_feedback = nao_msgs.msg.JointAnglesWithSpeedActionFeedback()
00193 else:
00194 self.action_goal = nao_msgs.msg.JointAnglesWithSpeedActionGoal()
00195 self.action_result = nao_msgs.msg.JointAnglesWithSpeedActionResult()
00196 self.action_feedback = nao_msgs.msg.JointAnglesWithSpeedActionFeedback()
00197
00198 def _get_types(self):
00199 """
00200 internal API method
00201 """
00202 return self._slot_types
00203
00204 def serialize(self, buff):
00205 """
00206 serialize message into buffer
00207 :param buff: buffer, ``StringIO``
00208 """
00209 try:
00210 _x = self
00211 buff.write(_struct_3I.pack(_x.action_goal.header.seq, _x.action_goal.header.stamp.secs, _x.action_goal.header.stamp.nsecs))
00212 _x = self.action_goal.header.frame_id
00213 length = len(_x)
00214 if python3 or type(_x) == unicode:
00215 _x = _x.encode('utf-8')
00216 length = len(_x)
00217 buff.write(struct.pack('<I%ss'%length, length, _x))
00218 _x = self
00219 buff.write(_struct_2I.pack(_x.action_goal.goal_id.stamp.secs, _x.action_goal.goal_id.stamp.nsecs))
00220 _x = self.action_goal.goal_id.id
00221 length = len(_x)
00222 if python3 or type(_x) == unicode:
00223 _x = _x.encode('utf-8')
00224 length = len(_x)
00225 buff.write(struct.pack('<I%ss'%length, length, _x))
00226 _x = self
00227 buff.write(_struct_3I.pack(_x.action_goal.goal.joint_angles.header.seq, _x.action_goal.goal.joint_angles.header.stamp.secs, _x.action_goal.goal.joint_angles.header.stamp.nsecs))
00228 _x = self.action_goal.goal.joint_angles.header.frame_id
00229 length = len(_x)
00230 if python3 or type(_x) == unicode:
00231 _x = _x.encode('utf-8')
00232 length = len(_x)
00233 buff.write(struct.pack('<I%ss'%length, length, _x))
00234 length = len(self.action_goal.goal.joint_angles.joint_names)
00235 buff.write(_struct_I.pack(length))
00236 for val1 in self.action_goal.goal.joint_angles.joint_names:
00237 length = len(val1)
00238 if python3 or type(val1) == unicode:
00239 val1 = val1.encode('utf-8')
00240 length = len(val1)
00241 buff.write(struct.pack('<I%ss'%length, length, val1))
00242 length = len(self.action_goal.goal.joint_angles.joint_angles)
00243 buff.write(_struct_I.pack(length))
00244 pattern = '<%sf'%length
00245 buff.write(struct.pack(pattern, *self.action_goal.goal.joint_angles.joint_angles))
00246 _x = self
00247 buff.write(_struct_fB3I.pack(_x.action_goal.goal.joint_angles.speed, _x.action_goal.goal.joint_angles.relative, _x.action_result.header.seq, _x.action_result.header.stamp.secs, _x.action_result.header.stamp.nsecs))
00248 _x = self.action_result.header.frame_id
00249 length = len(_x)
00250 if python3 or type(_x) == unicode:
00251 _x = _x.encode('utf-8')
00252 length = len(_x)
00253 buff.write(struct.pack('<I%ss'%length, length, _x))
00254 _x = self
00255 buff.write(_struct_2I.pack(_x.action_result.status.goal_id.stamp.secs, _x.action_result.status.goal_id.stamp.nsecs))
00256 _x = self.action_result.status.goal_id.id
00257 length = len(_x)
00258 if python3 or type(_x) == unicode:
00259 _x = _x.encode('utf-8')
00260 length = len(_x)
00261 buff.write(struct.pack('<I%ss'%length, length, _x))
00262 buff.write(_struct_B.pack(self.action_result.status.status))
00263 _x = self.action_result.status.text
00264 length = len(_x)
00265 if python3 or type(_x) == unicode:
00266 _x = _x.encode('utf-8')
00267 length = len(_x)
00268 buff.write(struct.pack('<I%ss'%length, length, _x))
00269 _x = self
00270 buff.write(_struct_3I.pack(_x.action_result.result.goal_position.header.seq, _x.action_result.result.goal_position.header.stamp.secs, _x.action_result.result.goal_position.header.stamp.nsecs))
00271 _x = self.action_result.result.goal_position.header.frame_id
00272 length = len(_x)
00273 if python3 or type(_x) == unicode:
00274 _x = _x.encode('utf-8')
00275 length = len(_x)
00276 buff.write(struct.pack('<I%ss'%length, length, _x))
00277 length = len(self.action_result.result.goal_position.name)
00278 buff.write(_struct_I.pack(length))
00279 for val1 in self.action_result.result.goal_position.name:
00280 length = len(val1)
00281 if python3 or type(val1) == unicode:
00282 val1 = val1.encode('utf-8')
00283 length = len(val1)
00284 buff.write(struct.pack('<I%ss'%length, length, val1))
00285 length = len(self.action_result.result.goal_position.position)
00286 buff.write(_struct_I.pack(length))
00287 pattern = '<%sd'%length
00288 buff.write(struct.pack(pattern, *self.action_result.result.goal_position.position))
00289 length = len(self.action_result.result.goal_position.velocity)
00290 buff.write(_struct_I.pack(length))
00291 pattern = '<%sd'%length
00292 buff.write(struct.pack(pattern, *self.action_result.result.goal_position.velocity))
00293 length = len(self.action_result.result.goal_position.effort)
00294 buff.write(_struct_I.pack(length))
00295 pattern = '<%sd'%length
00296 buff.write(struct.pack(pattern, *self.action_result.result.goal_position.effort))
00297 _x = self
00298 buff.write(_struct_3I.pack(_x.action_feedback.header.seq, _x.action_feedback.header.stamp.secs, _x.action_feedback.header.stamp.nsecs))
00299 _x = self.action_feedback.header.frame_id
00300 length = len(_x)
00301 if python3 or type(_x) == unicode:
00302 _x = _x.encode('utf-8')
00303 length = len(_x)
00304 buff.write(struct.pack('<I%ss'%length, length, _x))
00305 _x = self
00306 buff.write(_struct_2I.pack(_x.action_feedback.status.goal_id.stamp.secs, _x.action_feedback.status.goal_id.stamp.nsecs))
00307 _x = self.action_feedback.status.goal_id.id
00308 length = len(_x)
00309 if python3 or type(_x) == unicode:
00310 _x = _x.encode('utf-8')
00311 length = len(_x)
00312 buff.write(struct.pack('<I%ss'%length, length, _x))
00313 buff.write(_struct_B.pack(self.action_feedback.status.status))
00314 _x = self.action_feedback.status.text
00315 length = len(_x)
00316 if python3 or type(_x) == unicode:
00317 _x = _x.encode('utf-8')
00318 length = len(_x)
00319 buff.write(struct.pack('<I%ss'%length, length, _x))
00320 except struct.error as se: self._check_types(se)
00321 except TypeError as te: self._check_types(te)
00322
00323 def deserialize(self, str):
00324 """
00325 unpack serialized message in str into this message instance
00326 :param str: byte array of serialized message, ``str``
00327 """
00328 try:
00329 if self.action_goal is None:
00330 self.action_goal = nao_msgs.msg.JointAnglesWithSpeedActionGoal()
00331 if self.action_result is None:
00332 self.action_result = nao_msgs.msg.JointAnglesWithSpeedActionResult()
00333 if self.action_feedback is None:
00334 self.action_feedback = nao_msgs.msg.JointAnglesWithSpeedActionFeedback()
00335 end = 0
00336 _x = self
00337 start = end
00338 end += 12
00339 (_x.action_goal.header.seq, _x.action_goal.header.stamp.secs, _x.action_goal.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00340 start = end
00341 end += 4
00342 (length,) = _struct_I.unpack(str[start:end])
00343 start = end
00344 end += length
00345 if python3:
00346 self.action_goal.header.frame_id = str[start:end].decode('utf-8')
00347 else:
00348 self.action_goal.header.frame_id = str[start:end]
00349 _x = self
00350 start = end
00351 end += 8
00352 (_x.action_goal.goal_id.stamp.secs, _x.action_goal.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00353 start = end
00354 end += 4
00355 (length,) = _struct_I.unpack(str[start:end])
00356 start = end
00357 end += length
00358 if python3:
00359 self.action_goal.goal_id.id = str[start:end].decode('utf-8')
00360 else:
00361 self.action_goal.goal_id.id = str[start:end]
00362 _x = self
00363 start = end
00364 end += 12
00365 (_x.action_goal.goal.joint_angles.header.seq, _x.action_goal.goal.joint_angles.header.stamp.secs, _x.action_goal.goal.joint_angles.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00366 start = end
00367 end += 4
00368 (length,) = _struct_I.unpack(str[start:end])
00369 start = end
00370 end += length
00371 if python3:
00372 self.action_goal.goal.joint_angles.header.frame_id = str[start:end].decode('utf-8')
00373 else:
00374 self.action_goal.goal.joint_angles.header.frame_id = str[start:end]
00375 start = end
00376 end += 4
00377 (length,) = _struct_I.unpack(str[start:end])
00378 self.action_goal.goal.joint_angles.joint_names = []
00379 for i in range(0, length):
00380 start = end
00381 end += 4
00382 (length,) = _struct_I.unpack(str[start:end])
00383 start = end
00384 end += length
00385 if python3:
00386 val1 = str[start:end].decode('utf-8')
00387 else:
00388 val1 = str[start:end]
00389 self.action_goal.goal.joint_angles.joint_names.append(val1)
00390 start = end
00391 end += 4
00392 (length,) = _struct_I.unpack(str[start:end])
00393 pattern = '<%sf'%length
00394 start = end
00395 end += struct.calcsize(pattern)
00396 self.action_goal.goal.joint_angles.joint_angles = struct.unpack(pattern, str[start:end])
00397 _x = self
00398 start = end
00399 end += 17
00400 (_x.action_goal.goal.joint_angles.speed, _x.action_goal.goal.joint_angles.relative, _x.action_result.header.seq, _x.action_result.header.stamp.secs, _x.action_result.header.stamp.nsecs,) = _struct_fB3I.unpack(str[start:end])
00401 start = end
00402 end += 4
00403 (length,) = _struct_I.unpack(str[start:end])
00404 start = end
00405 end += length
00406 if python3:
00407 self.action_result.header.frame_id = str[start:end].decode('utf-8')
00408 else:
00409 self.action_result.header.frame_id = str[start:end]
00410 _x = self
00411 start = end
00412 end += 8
00413 (_x.action_result.status.goal_id.stamp.secs, _x.action_result.status.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00414 start = end
00415 end += 4
00416 (length,) = _struct_I.unpack(str[start:end])
00417 start = end
00418 end += length
00419 if python3:
00420 self.action_result.status.goal_id.id = str[start:end].decode('utf-8')
00421 else:
00422 self.action_result.status.goal_id.id = str[start:end]
00423 start = end
00424 end += 1
00425 (self.action_result.status.status,) = _struct_B.unpack(str[start:end])
00426 start = end
00427 end += 4
00428 (length,) = _struct_I.unpack(str[start:end])
00429 start = end
00430 end += length
00431 if python3:
00432 self.action_result.status.text = str[start:end].decode('utf-8')
00433 else:
00434 self.action_result.status.text = str[start:end]
00435 _x = self
00436 start = end
00437 end += 12
00438 (_x.action_result.result.goal_position.header.seq, _x.action_result.result.goal_position.header.stamp.secs, _x.action_result.result.goal_position.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00439 start = end
00440 end += 4
00441 (length,) = _struct_I.unpack(str[start:end])
00442 start = end
00443 end += length
00444 if python3:
00445 self.action_result.result.goal_position.header.frame_id = str[start:end].decode('utf-8')
00446 else:
00447 self.action_result.result.goal_position.header.frame_id = str[start:end]
00448 start = end
00449 end += 4
00450 (length,) = _struct_I.unpack(str[start:end])
00451 self.action_result.result.goal_position.name = []
00452 for i in range(0, length):
00453 start = end
00454 end += 4
00455 (length,) = _struct_I.unpack(str[start:end])
00456 start = end
00457 end += length
00458 if python3:
00459 val1 = str[start:end].decode('utf-8')
00460 else:
00461 val1 = str[start:end]
00462 self.action_result.result.goal_position.name.append(val1)
00463 start = end
00464 end += 4
00465 (length,) = _struct_I.unpack(str[start:end])
00466 pattern = '<%sd'%length
00467 start = end
00468 end += struct.calcsize(pattern)
00469 self.action_result.result.goal_position.position = struct.unpack(pattern, str[start:end])
00470 start = end
00471 end += 4
00472 (length,) = _struct_I.unpack(str[start:end])
00473 pattern = '<%sd'%length
00474 start = end
00475 end += struct.calcsize(pattern)
00476 self.action_result.result.goal_position.velocity = struct.unpack(pattern, str[start:end])
00477 start = end
00478 end += 4
00479 (length,) = _struct_I.unpack(str[start:end])
00480 pattern = '<%sd'%length
00481 start = end
00482 end += struct.calcsize(pattern)
00483 self.action_result.result.goal_position.effort = struct.unpack(pattern, str[start:end])
00484 _x = self
00485 start = end
00486 end += 12
00487 (_x.action_feedback.header.seq, _x.action_feedback.header.stamp.secs, _x.action_feedback.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00488 start = end
00489 end += 4
00490 (length,) = _struct_I.unpack(str[start:end])
00491 start = end
00492 end += length
00493 if python3:
00494 self.action_feedback.header.frame_id = str[start:end].decode('utf-8')
00495 else:
00496 self.action_feedback.header.frame_id = str[start:end]
00497 _x = self
00498 start = end
00499 end += 8
00500 (_x.action_feedback.status.goal_id.stamp.secs, _x.action_feedback.status.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00501 start = end
00502 end += 4
00503 (length,) = _struct_I.unpack(str[start:end])
00504 start = end
00505 end += length
00506 if python3:
00507 self.action_feedback.status.goal_id.id = str[start:end].decode('utf-8')
00508 else:
00509 self.action_feedback.status.goal_id.id = str[start:end]
00510 start = end
00511 end += 1
00512 (self.action_feedback.status.status,) = _struct_B.unpack(str[start:end])
00513 start = end
00514 end += 4
00515 (length,) = _struct_I.unpack(str[start:end])
00516 start = end
00517 end += length
00518 if python3:
00519 self.action_feedback.status.text = str[start:end].decode('utf-8')
00520 else:
00521 self.action_feedback.status.text = str[start:end]
00522 return self
00523 except struct.error as e:
00524 raise genpy.DeserializationError(e)
00525
00526
00527 def serialize_numpy(self, buff, numpy):
00528 """
00529 serialize message with numpy array types into buffer
00530 :param buff: buffer, ``StringIO``
00531 :param numpy: numpy python module
00532 """
00533 try:
00534 _x = self
00535 buff.write(_struct_3I.pack(_x.action_goal.header.seq, _x.action_goal.header.stamp.secs, _x.action_goal.header.stamp.nsecs))
00536 _x = self.action_goal.header.frame_id
00537 length = len(_x)
00538 if python3 or type(_x) == unicode:
00539 _x = _x.encode('utf-8')
00540 length = len(_x)
00541 buff.write(struct.pack('<I%ss'%length, length, _x))
00542 _x = self
00543 buff.write(_struct_2I.pack(_x.action_goal.goal_id.stamp.secs, _x.action_goal.goal_id.stamp.nsecs))
00544 _x = self.action_goal.goal_id.id
00545 length = len(_x)
00546 if python3 or type(_x) == unicode:
00547 _x = _x.encode('utf-8')
00548 length = len(_x)
00549 buff.write(struct.pack('<I%ss'%length, length, _x))
00550 _x = self
00551 buff.write(_struct_3I.pack(_x.action_goal.goal.joint_angles.header.seq, _x.action_goal.goal.joint_angles.header.stamp.secs, _x.action_goal.goal.joint_angles.header.stamp.nsecs))
00552 _x = self.action_goal.goal.joint_angles.header.frame_id
00553 length = len(_x)
00554 if python3 or type(_x) == unicode:
00555 _x = _x.encode('utf-8')
00556 length = len(_x)
00557 buff.write(struct.pack('<I%ss'%length, length, _x))
00558 length = len(self.action_goal.goal.joint_angles.joint_names)
00559 buff.write(_struct_I.pack(length))
00560 for val1 in self.action_goal.goal.joint_angles.joint_names:
00561 length = len(val1)
00562 if python3 or type(val1) == unicode:
00563 val1 = val1.encode('utf-8')
00564 length = len(val1)
00565 buff.write(struct.pack('<I%ss'%length, length, val1))
00566 length = len(self.action_goal.goal.joint_angles.joint_angles)
00567 buff.write(_struct_I.pack(length))
00568 pattern = '<%sf'%length
00569 buff.write(self.action_goal.goal.joint_angles.joint_angles.tostring())
00570 _x = self
00571 buff.write(_struct_fB3I.pack(_x.action_goal.goal.joint_angles.speed, _x.action_goal.goal.joint_angles.relative, _x.action_result.header.seq, _x.action_result.header.stamp.secs, _x.action_result.header.stamp.nsecs))
00572 _x = self.action_result.header.frame_id
00573 length = len(_x)
00574 if python3 or type(_x) == unicode:
00575 _x = _x.encode('utf-8')
00576 length = len(_x)
00577 buff.write(struct.pack('<I%ss'%length, length, _x))
00578 _x = self
00579 buff.write(_struct_2I.pack(_x.action_result.status.goal_id.stamp.secs, _x.action_result.status.goal_id.stamp.nsecs))
00580 _x = self.action_result.status.goal_id.id
00581 length = len(_x)
00582 if python3 or type(_x) == unicode:
00583 _x = _x.encode('utf-8')
00584 length = len(_x)
00585 buff.write(struct.pack('<I%ss'%length, length, _x))
00586 buff.write(_struct_B.pack(self.action_result.status.status))
00587 _x = self.action_result.status.text
00588 length = len(_x)
00589 if python3 or type(_x) == unicode:
00590 _x = _x.encode('utf-8')
00591 length = len(_x)
00592 buff.write(struct.pack('<I%ss'%length, length, _x))
00593 _x = self
00594 buff.write(_struct_3I.pack(_x.action_result.result.goal_position.header.seq, _x.action_result.result.goal_position.header.stamp.secs, _x.action_result.result.goal_position.header.stamp.nsecs))
00595 _x = self.action_result.result.goal_position.header.frame_id
00596 length = len(_x)
00597 if python3 or type(_x) == unicode:
00598 _x = _x.encode('utf-8')
00599 length = len(_x)
00600 buff.write(struct.pack('<I%ss'%length, length, _x))
00601 length = len(self.action_result.result.goal_position.name)
00602 buff.write(_struct_I.pack(length))
00603 for val1 in self.action_result.result.goal_position.name:
00604 length = len(val1)
00605 if python3 or type(val1) == unicode:
00606 val1 = val1.encode('utf-8')
00607 length = len(val1)
00608 buff.write(struct.pack('<I%ss'%length, length, val1))
00609 length = len(self.action_result.result.goal_position.position)
00610 buff.write(_struct_I.pack(length))
00611 pattern = '<%sd'%length
00612 buff.write(self.action_result.result.goal_position.position.tostring())
00613 length = len(self.action_result.result.goal_position.velocity)
00614 buff.write(_struct_I.pack(length))
00615 pattern = '<%sd'%length
00616 buff.write(self.action_result.result.goal_position.velocity.tostring())
00617 length = len(self.action_result.result.goal_position.effort)
00618 buff.write(_struct_I.pack(length))
00619 pattern = '<%sd'%length
00620 buff.write(self.action_result.result.goal_position.effort.tostring())
00621 _x = self
00622 buff.write(_struct_3I.pack(_x.action_feedback.header.seq, _x.action_feedback.header.stamp.secs, _x.action_feedback.header.stamp.nsecs))
00623 _x = self.action_feedback.header.frame_id
00624 length = len(_x)
00625 if python3 or type(_x) == unicode:
00626 _x = _x.encode('utf-8')
00627 length = len(_x)
00628 buff.write(struct.pack('<I%ss'%length, length, _x))
00629 _x = self
00630 buff.write(_struct_2I.pack(_x.action_feedback.status.goal_id.stamp.secs, _x.action_feedback.status.goal_id.stamp.nsecs))
00631 _x = self.action_feedback.status.goal_id.id
00632 length = len(_x)
00633 if python3 or type(_x) == unicode:
00634 _x = _x.encode('utf-8')
00635 length = len(_x)
00636 buff.write(struct.pack('<I%ss'%length, length, _x))
00637 buff.write(_struct_B.pack(self.action_feedback.status.status))
00638 _x = self.action_feedback.status.text
00639 length = len(_x)
00640 if python3 or type(_x) == unicode:
00641 _x = _x.encode('utf-8')
00642 length = len(_x)
00643 buff.write(struct.pack('<I%ss'%length, length, _x))
00644 except struct.error as se: self._check_types(se)
00645 except TypeError as te: self._check_types(te)
00646
00647 def deserialize_numpy(self, str, numpy):
00648 """
00649 unpack serialized message in str into this message instance using numpy for array types
00650 :param str: byte array of serialized message, ``str``
00651 :param numpy: numpy python module
00652 """
00653 try:
00654 if self.action_goal is None:
00655 self.action_goal = nao_msgs.msg.JointAnglesWithSpeedActionGoal()
00656 if self.action_result is None:
00657 self.action_result = nao_msgs.msg.JointAnglesWithSpeedActionResult()
00658 if self.action_feedback is None:
00659 self.action_feedback = nao_msgs.msg.JointAnglesWithSpeedActionFeedback()
00660 end = 0
00661 _x = self
00662 start = end
00663 end += 12
00664 (_x.action_goal.header.seq, _x.action_goal.header.stamp.secs, _x.action_goal.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00665 start = end
00666 end += 4
00667 (length,) = _struct_I.unpack(str[start:end])
00668 start = end
00669 end += length
00670 if python3:
00671 self.action_goal.header.frame_id = str[start:end].decode('utf-8')
00672 else:
00673 self.action_goal.header.frame_id = str[start:end]
00674 _x = self
00675 start = end
00676 end += 8
00677 (_x.action_goal.goal_id.stamp.secs, _x.action_goal.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00678 start = end
00679 end += 4
00680 (length,) = _struct_I.unpack(str[start:end])
00681 start = end
00682 end += length
00683 if python3:
00684 self.action_goal.goal_id.id = str[start:end].decode('utf-8')
00685 else:
00686 self.action_goal.goal_id.id = str[start:end]
00687 _x = self
00688 start = end
00689 end += 12
00690 (_x.action_goal.goal.joint_angles.header.seq, _x.action_goal.goal.joint_angles.header.stamp.secs, _x.action_goal.goal.joint_angles.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00691 start = end
00692 end += 4
00693 (length,) = _struct_I.unpack(str[start:end])
00694 start = end
00695 end += length
00696 if python3:
00697 self.action_goal.goal.joint_angles.header.frame_id = str[start:end].decode('utf-8')
00698 else:
00699 self.action_goal.goal.joint_angles.header.frame_id = str[start:end]
00700 start = end
00701 end += 4
00702 (length,) = _struct_I.unpack(str[start:end])
00703 self.action_goal.goal.joint_angles.joint_names = []
00704 for i in range(0, length):
00705 start = end
00706 end += 4
00707 (length,) = _struct_I.unpack(str[start:end])
00708 start = end
00709 end += length
00710 if python3:
00711 val1 = str[start:end].decode('utf-8')
00712 else:
00713 val1 = str[start:end]
00714 self.action_goal.goal.joint_angles.joint_names.append(val1)
00715 start = end
00716 end += 4
00717 (length,) = _struct_I.unpack(str[start:end])
00718 pattern = '<%sf'%length
00719 start = end
00720 end += struct.calcsize(pattern)
00721 self.action_goal.goal.joint_angles.joint_angles = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=length)
00722 _x = self
00723 start = end
00724 end += 17
00725 (_x.action_goal.goal.joint_angles.speed, _x.action_goal.goal.joint_angles.relative, _x.action_result.header.seq, _x.action_result.header.stamp.secs, _x.action_result.header.stamp.nsecs,) = _struct_fB3I.unpack(str[start:end])
00726 start = end
00727 end += 4
00728 (length,) = _struct_I.unpack(str[start:end])
00729 start = end
00730 end += length
00731 if python3:
00732 self.action_result.header.frame_id = str[start:end].decode('utf-8')
00733 else:
00734 self.action_result.header.frame_id = str[start:end]
00735 _x = self
00736 start = end
00737 end += 8
00738 (_x.action_result.status.goal_id.stamp.secs, _x.action_result.status.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00739 start = end
00740 end += 4
00741 (length,) = _struct_I.unpack(str[start:end])
00742 start = end
00743 end += length
00744 if python3:
00745 self.action_result.status.goal_id.id = str[start:end].decode('utf-8')
00746 else:
00747 self.action_result.status.goal_id.id = str[start:end]
00748 start = end
00749 end += 1
00750 (self.action_result.status.status,) = _struct_B.unpack(str[start:end])
00751 start = end
00752 end += 4
00753 (length,) = _struct_I.unpack(str[start:end])
00754 start = end
00755 end += length
00756 if python3:
00757 self.action_result.status.text = str[start:end].decode('utf-8')
00758 else:
00759 self.action_result.status.text = str[start:end]
00760 _x = self
00761 start = end
00762 end += 12
00763 (_x.action_result.result.goal_position.header.seq, _x.action_result.result.goal_position.header.stamp.secs, _x.action_result.result.goal_position.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00764 start = end
00765 end += 4
00766 (length,) = _struct_I.unpack(str[start:end])
00767 start = end
00768 end += length
00769 if python3:
00770 self.action_result.result.goal_position.header.frame_id = str[start:end].decode('utf-8')
00771 else:
00772 self.action_result.result.goal_position.header.frame_id = str[start:end]
00773 start = end
00774 end += 4
00775 (length,) = _struct_I.unpack(str[start:end])
00776 self.action_result.result.goal_position.name = []
00777 for i in range(0, length):
00778 start = end
00779 end += 4
00780 (length,) = _struct_I.unpack(str[start:end])
00781 start = end
00782 end += length
00783 if python3:
00784 val1 = str[start:end].decode('utf-8')
00785 else:
00786 val1 = str[start:end]
00787 self.action_result.result.goal_position.name.append(val1)
00788 start = end
00789 end += 4
00790 (length,) = _struct_I.unpack(str[start:end])
00791 pattern = '<%sd'%length
00792 start = end
00793 end += struct.calcsize(pattern)
00794 self.action_result.result.goal_position.position = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00795 start = end
00796 end += 4
00797 (length,) = _struct_I.unpack(str[start:end])
00798 pattern = '<%sd'%length
00799 start = end
00800 end += struct.calcsize(pattern)
00801 self.action_result.result.goal_position.velocity = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00802 start = end
00803 end += 4
00804 (length,) = _struct_I.unpack(str[start:end])
00805 pattern = '<%sd'%length
00806 start = end
00807 end += struct.calcsize(pattern)
00808 self.action_result.result.goal_position.effort = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00809 _x = self
00810 start = end
00811 end += 12
00812 (_x.action_feedback.header.seq, _x.action_feedback.header.stamp.secs, _x.action_feedback.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00813 start = end
00814 end += 4
00815 (length,) = _struct_I.unpack(str[start:end])
00816 start = end
00817 end += length
00818 if python3:
00819 self.action_feedback.header.frame_id = str[start:end].decode('utf-8')
00820 else:
00821 self.action_feedback.header.frame_id = str[start:end]
00822 _x = self
00823 start = end
00824 end += 8
00825 (_x.action_feedback.status.goal_id.stamp.secs, _x.action_feedback.status.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00826 start = end
00827 end += 4
00828 (length,) = _struct_I.unpack(str[start:end])
00829 start = end
00830 end += length
00831 if python3:
00832 self.action_feedback.status.goal_id.id = str[start:end].decode('utf-8')
00833 else:
00834 self.action_feedback.status.goal_id.id = str[start:end]
00835 start = end
00836 end += 1
00837 (self.action_feedback.status.status,) = _struct_B.unpack(str[start:end])
00838 start = end
00839 end += 4
00840 (length,) = _struct_I.unpack(str[start:end])
00841 start = end
00842 end += length
00843 if python3:
00844 self.action_feedback.status.text = str[start:end].decode('utf-8')
00845 else:
00846 self.action_feedback.status.text = str[start:end]
00847 return self
00848 except struct.error as e:
00849 raise genpy.DeserializationError(e)
00850
00851 _struct_I = genpy.struct_I
00852 _struct_3I = struct.Struct("<3I")
00853 _struct_B = struct.Struct("<B")
00854 _struct_fB3I = struct.Struct("<fB3I")
00855 _struct_2I = struct.Struct("<2I")
