_ReactivePlaceGoal.py
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00001 """autogenerated by genpy from object_manipulation_msgs/ReactivePlaceGoal.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 trajectory_msgs.msg
00008 import geometry_msgs.msg
00009 import genpy
00010 import std_msgs.msg
00011 
00012 class ReactivePlaceGoal(genpy.Message):
00013   _md5sum = "c40d270ade3a224752149b298986a70c"
00014   _type = "object_manipulation_msgs/ReactivePlaceGoal"
00015   _has_header = False #flag to mark the presence of a Header object
00016   _full_text = """# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00017 # an action for placing the object using tactile sensor feedback.
00018 # a reactive place starts from the current pose of the gripper and ends
00019 # at a desired place pose, presumably using the touch sensors along the way
00020 
00021 # the name of the arm being used
00022 string arm_name
00023 
00024 # the desired final place pose for the hand
00025 geometry_msgs/PoseStamped final_place_pose
00026 
00027 # the joint trajectory to use for the place (if available)
00028 # this trajectory is expected to start at the current pose of the gripper
00029 # and end at the desired place pose
00030 trajectory_msgs/JointTrajectory trajectory
00031 
00032 # the name of the support surface in the collision environment, if any
00033 string collision_support_surface_name
00034 
00035 # the name in the collision environment of the object being placed, if any
00036 string collision_object_name
00037 
00038 ================================================================================
00039 MSG: geometry_msgs/PoseStamped
00040 # A Pose with reference coordinate frame and timestamp
00041 Header header
00042 Pose pose
00043 
00044 ================================================================================
00045 MSG: std_msgs/Header
00046 # Standard metadata for higher-level stamped data types.
00047 # This is generally used to communicate timestamped data 
00048 # in a particular coordinate frame.
00049 # 
00050 # sequence ID: consecutively increasing ID 
00051 uint32 seq
00052 #Two-integer timestamp that is expressed as:
00053 # * stamp.secs: seconds (stamp_secs) since epoch
00054 # * stamp.nsecs: nanoseconds since stamp_secs
00055 # time-handling sugar is provided by the client library
00056 time stamp
00057 #Frame this data is associated with
00058 # 0: no frame
00059 # 1: global frame
00060 string frame_id
00061 
00062 ================================================================================
00063 MSG: geometry_msgs/Pose
00064 # A representation of pose in free space, composed of postion and orientation. 
00065 Point position
00066 Quaternion orientation
00067 
00068 ================================================================================
00069 MSG: geometry_msgs/Point
00070 # This contains the position of a point in free space
00071 float64 x
00072 float64 y
00073 float64 z
00074 
00075 ================================================================================
00076 MSG: geometry_msgs/Quaternion
00077 # This represents an orientation in free space in quaternion form.
00078 
00079 float64 x
00080 float64 y
00081 float64 z
00082 float64 w
00083 
00084 ================================================================================
00085 MSG: trajectory_msgs/JointTrajectory
00086 Header header
00087 string[] joint_names
00088 JointTrajectoryPoint[] points
00089 ================================================================================
00090 MSG: trajectory_msgs/JointTrajectoryPoint
00091 float64[] positions
00092 float64[] velocities
00093 float64[] accelerations
00094 duration time_from_start
00095 """
00096   __slots__ = ['arm_name','final_place_pose','trajectory','collision_support_surface_name','collision_object_name']
00097   _slot_types = ['string','geometry_msgs/PoseStamped','trajectory_msgs/JointTrajectory','string','string']
00098 
00099   def __init__(self, *args, **kwds):
00100     """
00101     Constructor. Any message fields that are implicitly/explicitly
00102     set to None will be assigned a default value. The recommend
00103     use is keyword arguments as this is more robust to future message
00104     changes.  You cannot mix in-order arguments and keyword arguments.
00105 
00106     The available fields are:
00107        arm_name,final_place_pose,trajectory,collision_support_surface_name,collision_object_name
00108 
00109     :param args: complete set of field values, in .msg order
00110     :param kwds: use keyword arguments corresponding to message field names
00111     to set specific fields.
00112     """
00113     if args or kwds:
00114       super(ReactivePlaceGoal, self).__init__(*args, **kwds)
00115       #message fields cannot be None, assign default values for those that are
00116       if self.arm_name is None:
00117         self.arm_name = ''
00118       if self.final_place_pose is None:
00119         self.final_place_pose = geometry_msgs.msg.PoseStamped()
00120       if self.trajectory is None:
00121         self.trajectory = trajectory_msgs.msg.JointTrajectory()
00122       if self.collision_support_surface_name is None:
00123         self.collision_support_surface_name = ''
00124       if self.collision_object_name is None:
00125         self.collision_object_name = ''
00126     else:
00127       self.arm_name = ''
00128       self.final_place_pose = geometry_msgs.msg.PoseStamped()
00129       self.trajectory = trajectory_msgs.msg.JointTrajectory()
00130       self.collision_support_surface_name = ''
00131       self.collision_object_name = ''
00132 
00133   def _get_types(self):
00134     """
00135     internal API method
00136     """
00137     return self._slot_types
00138 
00139   def serialize(self, buff):
00140     """
00141     serialize message into buffer
00142     :param buff: buffer, ``StringIO``
00143     """
00144     try:
00145       _x = self.arm_name
00146       length = len(_x)
00147       if python3 or type(_x) == unicode:
00148         _x = _x.encode('utf-8')
00149         length = len(_x)
00150       buff.write(struct.pack('<I%ss'%length, length, _x))
00151       _x = self
00152       buff.write(_struct_3I.pack(_x.final_place_pose.header.seq, _x.final_place_pose.header.stamp.secs, _x.final_place_pose.header.stamp.nsecs))
00153       _x = self.final_place_pose.header.frame_id
00154       length = len(_x)
00155       if python3 or type(_x) == unicode:
00156         _x = _x.encode('utf-8')
00157         length = len(_x)
00158       buff.write(struct.pack('<I%ss'%length, length, _x))
00159       _x = self
00160       buff.write(_struct_7d3I.pack(_x.final_place_pose.pose.position.x, _x.final_place_pose.pose.position.y, _x.final_place_pose.pose.position.z, _x.final_place_pose.pose.orientation.x, _x.final_place_pose.pose.orientation.y, _x.final_place_pose.pose.orientation.z, _x.final_place_pose.pose.orientation.w, _x.trajectory.header.seq, _x.trajectory.header.stamp.secs, _x.trajectory.header.stamp.nsecs))
00161       _x = self.trajectory.header.frame_id
00162       length = len(_x)
00163       if python3 or type(_x) == unicode:
00164         _x = _x.encode('utf-8')
00165         length = len(_x)
00166       buff.write(struct.pack('<I%ss'%length, length, _x))
00167       length = len(self.trajectory.joint_names)
00168       buff.write(_struct_I.pack(length))
00169       for val1 in self.trajectory.joint_names:
00170         length = len(val1)
00171         if python3 or type(val1) == unicode:
00172           val1 = val1.encode('utf-8')
00173           length = len(val1)
00174         buff.write(struct.pack('<I%ss'%length, length, val1))
00175       length = len(self.trajectory.points)
00176       buff.write(_struct_I.pack(length))
00177       for val1 in self.trajectory.points:
00178         length = len(val1.positions)
00179         buff.write(_struct_I.pack(length))
00180         pattern = '<%sd'%length
00181         buff.write(struct.pack(pattern, *val1.positions))
00182         length = len(val1.velocities)
00183         buff.write(_struct_I.pack(length))
00184         pattern = '<%sd'%length
00185         buff.write(struct.pack(pattern, *val1.velocities))
00186         length = len(val1.accelerations)
00187         buff.write(_struct_I.pack(length))
00188         pattern = '<%sd'%length
00189         buff.write(struct.pack(pattern, *val1.accelerations))
00190         _v1 = val1.time_from_start
00191         _x = _v1
00192         buff.write(_struct_2i.pack(_x.secs, _x.nsecs))
00193       _x = self.collision_support_surface_name
00194       length = len(_x)
00195       if python3 or type(_x) == unicode:
00196         _x = _x.encode('utf-8')
00197         length = len(_x)
00198       buff.write(struct.pack('<I%ss'%length, length, _x))
00199       _x = self.collision_object_name
00200       length = len(_x)
00201       if python3 or type(_x) == unicode:
00202         _x = _x.encode('utf-8')
00203         length = len(_x)
00204       buff.write(struct.pack('<I%ss'%length, length, _x))
00205     except struct.error as se: self._check_types(se)
00206     except TypeError as te: self._check_types(te)
00207 
00208   def deserialize(self, str):
00209     """
00210     unpack serialized message in str into this message instance
00211     :param str: byte array of serialized message, ``str``
00212     """
00213     try:
00214       if self.final_place_pose is None:
00215         self.final_place_pose = geometry_msgs.msg.PoseStamped()
00216       if self.trajectory is None:
00217         self.trajectory = trajectory_msgs.msg.JointTrajectory()
00218       end = 0
00219       start = end
00220       end += 4
00221       (length,) = _struct_I.unpack(str[start:end])
00222       start = end
00223       end += length
00224       if python3:
00225         self.arm_name = str[start:end].decode('utf-8')
00226       else:
00227         self.arm_name = str[start:end]
00228       _x = self
00229       start = end
00230       end += 12
00231       (_x.final_place_pose.header.seq, _x.final_place_pose.header.stamp.secs, _x.final_place_pose.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00232       start = end
00233       end += 4
00234       (length,) = _struct_I.unpack(str[start:end])
00235       start = end
00236       end += length
00237       if python3:
00238         self.final_place_pose.header.frame_id = str[start:end].decode('utf-8')
00239       else:
00240         self.final_place_pose.header.frame_id = str[start:end]
00241       _x = self
00242       start = end
00243       end += 68
00244       (_x.final_place_pose.pose.position.x, _x.final_place_pose.pose.position.y, _x.final_place_pose.pose.position.z, _x.final_place_pose.pose.orientation.x, _x.final_place_pose.pose.orientation.y, _x.final_place_pose.pose.orientation.z, _x.final_place_pose.pose.orientation.w, _x.trajectory.header.seq, _x.trajectory.header.stamp.secs, _x.trajectory.header.stamp.nsecs,) = _struct_7d3I.unpack(str[start:end])
00245       start = end
00246       end += 4
00247       (length,) = _struct_I.unpack(str[start:end])
00248       start = end
00249       end += length
00250       if python3:
00251         self.trajectory.header.frame_id = str[start:end].decode('utf-8')
00252       else:
00253         self.trajectory.header.frame_id = str[start:end]
00254       start = end
00255       end += 4
00256       (length,) = _struct_I.unpack(str[start:end])
00257       self.trajectory.joint_names = []
00258       for i in range(0, length):
00259         start = end
00260         end += 4
00261         (length,) = _struct_I.unpack(str[start:end])
00262         start = end
00263         end += length
00264         if python3:
00265           val1 = str[start:end].decode('utf-8')
00266         else:
00267           val1 = str[start:end]
00268         self.trajectory.joint_names.append(val1)
00269       start = end
00270       end += 4
00271       (length,) = _struct_I.unpack(str[start:end])
00272       self.trajectory.points = []
00273       for i in range(0, length):
00274         val1 = trajectory_msgs.msg.JointTrajectoryPoint()
00275         start = end
00276         end += 4
00277         (length,) = _struct_I.unpack(str[start:end])
00278         pattern = '<%sd'%length
00279         start = end
00280         end += struct.calcsize(pattern)
00281         val1.positions = struct.unpack(pattern, str[start:end])
00282         start = end
00283         end += 4
00284         (length,) = _struct_I.unpack(str[start:end])
00285         pattern = '<%sd'%length
00286         start = end
00287         end += struct.calcsize(pattern)
00288         val1.velocities = struct.unpack(pattern, str[start:end])
00289         start = end
00290         end += 4
00291         (length,) = _struct_I.unpack(str[start:end])
00292         pattern = '<%sd'%length
00293         start = end
00294         end += struct.calcsize(pattern)
00295         val1.accelerations = struct.unpack(pattern, str[start:end])
00296         _v2 = val1.time_from_start
00297         _x = _v2
00298         start = end
00299         end += 8
00300         (_x.secs, _x.nsecs,) = _struct_2i.unpack(str[start:end])
00301         self.trajectory.points.append(val1)
00302       start = end
00303       end += 4
00304       (length,) = _struct_I.unpack(str[start:end])
00305       start = end
00306       end += length
00307       if python3:
00308         self.collision_support_surface_name = str[start:end].decode('utf-8')
00309       else:
00310         self.collision_support_surface_name = str[start:end]
00311       start = end
00312       end += 4
00313       (length,) = _struct_I.unpack(str[start:end])
00314       start = end
00315       end += length
00316       if python3:
00317         self.collision_object_name = str[start:end].decode('utf-8')
00318       else:
00319         self.collision_object_name = str[start:end]
00320       return self
00321     except struct.error as e:
00322       raise genpy.DeserializationError(e) #most likely buffer underfill
00323 
00324 
00325   def serialize_numpy(self, buff, numpy):
00326     """
00327     serialize message with numpy array types into buffer
00328     :param buff: buffer, ``StringIO``
00329     :param numpy: numpy python module
00330     """
00331     try:
00332       _x = self.arm_name
00333       length = len(_x)
00334       if python3 or type(_x) == unicode:
00335         _x = _x.encode('utf-8')
00336         length = len(_x)
00337       buff.write(struct.pack('<I%ss'%length, length, _x))
00338       _x = self
00339       buff.write(_struct_3I.pack(_x.final_place_pose.header.seq, _x.final_place_pose.header.stamp.secs, _x.final_place_pose.header.stamp.nsecs))
00340       _x = self.final_place_pose.header.frame_id
00341       length = len(_x)
00342       if python3 or type(_x) == unicode:
00343         _x = _x.encode('utf-8')
00344         length = len(_x)
00345       buff.write(struct.pack('<I%ss'%length, length, _x))
00346       _x = self
00347       buff.write(_struct_7d3I.pack(_x.final_place_pose.pose.position.x, _x.final_place_pose.pose.position.y, _x.final_place_pose.pose.position.z, _x.final_place_pose.pose.orientation.x, _x.final_place_pose.pose.orientation.y, _x.final_place_pose.pose.orientation.z, _x.final_place_pose.pose.orientation.w, _x.trajectory.header.seq, _x.trajectory.header.stamp.secs, _x.trajectory.header.stamp.nsecs))
00348       _x = self.trajectory.header.frame_id
00349       length = len(_x)
00350       if python3 or type(_x) == unicode:
00351         _x = _x.encode('utf-8')
00352         length = len(_x)
00353       buff.write(struct.pack('<I%ss'%length, length, _x))
00354       length = len(self.trajectory.joint_names)
00355       buff.write(_struct_I.pack(length))
00356       for val1 in self.trajectory.joint_names:
00357         length = len(val1)
00358         if python3 or type(val1) == unicode:
00359           val1 = val1.encode('utf-8')
00360           length = len(val1)
00361         buff.write(struct.pack('<I%ss'%length, length, val1))
00362       length = len(self.trajectory.points)
00363       buff.write(_struct_I.pack(length))
00364       for val1 in self.trajectory.points:
00365         length = len(val1.positions)
00366         buff.write(_struct_I.pack(length))
00367         pattern = '<%sd'%length
00368         buff.write(val1.positions.tostring())
00369         length = len(val1.velocities)
00370         buff.write(_struct_I.pack(length))
00371         pattern = '<%sd'%length
00372         buff.write(val1.velocities.tostring())
00373         length = len(val1.accelerations)
00374         buff.write(_struct_I.pack(length))
00375         pattern = '<%sd'%length
00376         buff.write(val1.accelerations.tostring())
00377         _v3 = val1.time_from_start
00378         _x = _v3
00379         buff.write(_struct_2i.pack(_x.secs, _x.nsecs))
00380       _x = self.collision_support_surface_name
00381       length = len(_x)
00382       if python3 or type(_x) == unicode:
00383         _x = _x.encode('utf-8')
00384         length = len(_x)
00385       buff.write(struct.pack('<I%ss'%length, length, _x))
00386       _x = self.collision_object_name
00387       length = len(_x)
00388       if python3 or type(_x) == unicode:
00389         _x = _x.encode('utf-8')
00390         length = len(_x)
00391       buff.write(struct.pack('<I%ss'%length, length, _x))
00392     except struct.error as se: self._check_types(se)
00393     except TypeError as te: self._check_types(te)
00394 
00395   def deserialize_numpy(self, str, numpy):
00396     """
00397     unpack serialized message in str into this message instance using numpy for array types
00398     :param str: byte array of serialized message, ``str``
00399     :param numpy: numpy python module
00400     """
00401     try:
00402       if self.final_place_pose is None:
00403         self.final_place_pose = geometry_msgs.msg.PoseStamped()
00404       if self.trajectory is None:
00405         self.trajectory = trajectory_msgs.msg.JointTrajectory()
00406       end = 0
00407       start = end
00408       end += 4
00409       (length,) = _struct_I.unpack(str[start:end])
00410       start = end
00411       end += length
00412       if python3:
00413         self.arm_name = str[start:end].decode('utf-8')
00414       else:
00415         self.arm_name = str[start:end]
00416       _x = self
00417       start = end
00418       end += 12
00419       (_x.final_place_pose.header.seq, _x.final_place_pose.header.stamp.secs, _x.final_place_pose.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00420       start = end
00421       end += 4
00422       (length,) = _struct_I.unpack(str[start:end])
00423       start = end
00424       end += length
00425       if python3:
00426         self.final_place_pose.header.frame_id = str[start:end].decode('utf-8')
00427       else:
00428         self.final_place_pose.header.frame_id = str[start:end]
00429       _x = self
00430       start = end
00431       end += 68
00432       (_x.final_place_pose.pose.position.x, _x.final_place_pose.pose.position.y, _x.final_place_pose.pose.position.z, _x.final_place_pose.pose.orientation.x, _x.final_place_pose.pose.orientation.y, _x.final_place_pose.pose.orientation.z, _x.final_place_pose.pose.orientation.w, _x.trajectory.header.seq, _x.trajectory.header.stamp.secs, _x.trajectory.header.stamp.nsecs,) = _struct_7d3I.unpack(str[start:end])
00433       start = end
00434       end += 4
00435       (length,) = _struct_I.unpack(str[start:end])
00436       start = end
00437       end += length
00438       if python3:
00439         self.trajectory.header.frame_id = str[start:end].decode('utf-8')
00440       else:
00441         self.trajectory.header.frame_id = str[start:end]
00442       start = end
00443       end += 4
00444       (length,) = _struct_I.unpack(str[start:end])
00445       self.trajectory.joint_names = []
00446       for i in range(0, length):
00447         start = end
00448         end += 4
00449         (length,) = _struct_I.unpack(str[start:end])
00450         start = end
00451         end += length
00452         if python3:
00453           val1 = str[start:end].decode('utf-8')
00454         else:
00455           val1 = str[start:end]
00456         self.trajectory.joint_names.append(val1)
00457       start = end
00458       end += 4
00459       (length,) = _struct_I.unpack(str[start:end])
00460       self.trajectory.points = []
00461       for i in range(0, length):
00462         val1 = trajectory_msgs.msg.JointTrajectoryPoint()
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         val1.positions = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
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         val1.velocities = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
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         val1.accelerations = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00484         _v4 = val1.time_from_start
00485         _x = _v4
00486         start = end
00487         end += 8
00488         (_x.secs, _x.nsecs,) = _struct_2i.unpack(str[start:end])
00489         self.trajectory.points.append(val1)
00490       start = end
00491       end += 4
00492       (length,) = _struct_I.unpack(str[start:end])
00493       start = end
00494       end += length
00495       if python3:
00496         self.collision_support_surface_name = str[start:end].decode('utf-8')
00497       else:
00498         self.collision_support_surface_name = str[start:end]
00499       start = end
00500       end += 4
00501       (length,) = _struct_I.unpack(str[start:end])
00502       start = end
00503       end += length
00504       if python3:
00505         self.collision_object_name = str[start:end].decode('utf-8')
00506       else:
00507         self.collision_object_name = str[start:end]
00508       return self
00509     except struct.error as e:
00510       raise genpy.DeserializationError(e) #most likely buffer underfill
00511 
00512 _struct_I = genpy.struct_I
00513 _struct_3I = struct.Struct("<3I")
00514 _struct_7d3I = struct.Struct("<7d3I")
00515 _struct_2i = struct.Struct("<2i")


object_manipulation_msgs
Author(s): Matei Ciocarlie
autogenerated on Thu Jan 2 2014 11:38:12