_JointTrajectoryControllerState.py
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00001 """autogenerated by genpy from pr2_controllers_msgs/JointTrajectoryControllerState.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 genpy
00009 import std_msgs.msg
00010 
00011 class JointTrajectoryControllerState(genpy.Message):
00012   _md5sum = "b11d532a92ee589417fdd76559eb1d9e"
00013   _type = "pr2_controllers_msgs/JointTrajectoryControllerState"
00014   _has_header = True #flag to mark the presence of a Header object
00015   _full_text = """Header header
00016 string[] joint_names
00017 trajectory_msgs/JointTrajectoryPoint desired
00018 trajectory_msgs/JointTrajectoryPoint actual
00019 trajectory_msgs/JointTrajectoryPoint error  # Redundant, but useful
00020 
00021 ================================================================================
00022 MSG: std_msgs/Header
00023 # Standard metadata for higher-level stamped data types.
00024 # This is generally used to communicate timestamped data 
00025 # in a particular coordinate frame.
00026 # 
00027 # sequence ID: consecutively increasing ID 
00028 uint32 seq
00029 #Two-integer timestamp that is expressed as:
00030 # * stamp.secs: seconds (stamp_secs) since epoch
00031 # * stamp.nsecs: nanoseconds since stamp_secs
00032 # time-handling sugar is provided by the client library
00033 time stamp
00034 #Frame this data is associated with
00035 # 0: no frame
00036 # 1: global frame
00037 string frame_id
00038 
00039 ================================================================================
00040 MSG: trajectory_msgs/JointTrajectoryPoint
00041 float64[] positions
00042 float64[] velocities
00043 float64[] accelerations
00044 duration time_from_start
00045 """
00046   __slots__ = ['header','joint_names','desired','actual','error']
00047   _slot_types = ['std_msgs/Header','string[]','trajectory_msgs/JointTrajectoryPoint','trajectory_msgs/JointTrajectoryPoint','trajectory_msgs/JointTrajectoryPoint']
00048 
00049   def __init__(self, *args, **kwds):
00050     """
00051     Constructor. Any message fields that are implicitly/explicitly
00052     set to None will be assigned a default value. The recommend
00053     use is keyword arguments as this is more robust to future message
00054     changes.  You cannot mix in-order arguments and keyword arguments.
00055 
00056     The available fields are:
00057        header,joint_names,desired,actual,error
00058 
00059     :param args: complete set of field values, in .msg order
00060     :param kwds: use keyword arguments corresponding to message field names
00061     to set specific fields.
00062     """
00063     if args or kwds:
00064       super(JointTrajectoryControllerState, self).__init__(*args, **kwds)
00065       #message fields cannot be None, assign default values for those that are
00066       if self.header is None:
00067         self.header = std_msgs.msg.Header()
00068       if self.joint_names is None:
00069         self.joint_names = []
00070       if self.desired is None:
00071         self.desired = trajectory_msgs.msg.JointTrajectoryPoint()
00072       if self.actual is None:
00073         self.actual = trajectory_msgs.msg.JointTrajectoryPoint()
00074       if self.error is None:
00075         self.error = trajectory_msgs.msg.JointTrajectoryPoint()
00076     else:
00077       self.header = std_msgs.msg.Header()
00078       self.joint_names = []
00079       self.desired = trajectory_msgs.msg.JointTrajectoryPoint()
00080       self.actual = trajectory_msgs.msg.JointTrajectoryPoint()
00081       self.error = trajectory_msgs.msg.JointTrajectoryPoint()
00082 
00083   def _get_types(self):
00084     """
00085     internal API method
00086     """
00087     return self._slot_types
00088 
00089   def serialize(self, buff):
00090     """
00091     serialize message into buffer
00092     :param buff: buffer, ``StringIO``
00093     """
00094     try:
00095       _x = self
00096       buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
00097       _x = self.header.frame_id
00098       length = len(_x)
00099       if python3 or type(_x) == unicode:
00100         _x = _x.encode('utf-8')
00101         length = len(_x)
00102       buff.write(struct.pack('<I%ss'%length, length, _x))
00103       length = len(self.joint_names)
00104       buff.write(_struct_I.pack(length))
00105       for val1 in self.joint_names:
00106         length = len(val1)
00107         if python3 or type(val1) == unicode:
00108           val1 = val1.encode('utf-8')
00109           length = len(val1)
00110         buff.write(struct.pack('<I%ss'%length, length, val1))
00111       length = len(self.desired.positions)
00112       buff.write(_struct_I.pack(length))
00113       pattern = '<%sd'%length
00114       buff.write(struct.pack(pattern, *self.desired.positions))
00115       length = len(self.desired.velocities)
00116       buff.write(_struct_I.pack(length))
00117       pattern = '<%sd'%length
00118       buff.write(struct.pack(pattern, *self.desired.velocities))
00119       length = len(self.desired.accelerations)
00120       buff.write(_struct_I.pack(length))
00121       pattern = '<%sd'%length
00122       buff.write(struct.pack(pattern, *self.desired.accelerations))
00123       _x = self
00124       buff.write(_struct_2i.pack(_x.desired.time_from_start.secs, _x.desired.time_from_start.nsecs))
00125       length = len(self.actual.positions)
00126       buff.write(_struct_I.pack(length))
00127       pattern = '<%sd'%length
00128       buff.write(struct.pack(pattern, *self.actual.positions))
00129       length = len(self.actual.velocities)
00130       buff.write(_struct_I.pack(length))
00131       pattern = '<%sd'%length
00132       buff.write(struct.pack(pattern, *self.actual.velocities))
00133       length = len(self.actual.accelerations)
00134       buff.write(_struct_I.pack(length))
00135       pattern = '<%sd'%length
00136       buff.write(struct.pack(pattern, *self.actual.accelerations))
00137       _x = self
00138       buff.write(_struct_2i.pack(_x.actual.time_from_start.secs, _x.actual.time_from_start.nsecs))
00139       length = len(self.error.positions)
00140       buff.write(_struct_I.pack(length))
00141       pattern = '<%sd'%length
00142       buff.write(struct.pack(pattern, *self.error.positions))
00143       length = len(self.error.velocities)
00144       buff.write(_struct_I.pack(length))
00145       pattern = '<%sd'%length
00146       buff.write(struct.pack(pattern, *self.error.velocities))
00147       length = len(self.error.accelerations)
00148       buff.write(_struct_I.pack(length))
00149       pattern = '<%sd'%length
00150       buff.write(struct.pack(pattern, *self.error.accelerations))
00151       _x = self
00152       buff.write(_struct_2i.pack(_x.error.time_from_start.secs, _x.error.time_from_start.nsecs))
00153     except struct.error as se: self._check_types(se)
00154     except TypeError as te: self._check_types(te)
00155 
00156   def deserialize(self, str):
00157     """
00158     unpack serialized message in str into this message instance
00159     :param str: byte array of serialized message, ``str``
00160     """
00161     try:
00162       if self.header is None:
00163         self.header = std_msgs.msg.Header()
00164       if self.desired is None:
00165         self.desired = trajectory_msgs.msg.JointTrajectoryPoint()
00166       if self.actual is None:
00167         self.actual = trajectory_msgs.msg.JointTrajectoryPoint()
00168       if self.error is None:
00169         self.error = trajectory_msgs.msg.JointTrajectoryPoint()
00170       end = 0
00171       _x = self
00172       start = end
00173       end += 12
00174       (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00175       start = end
00176       end += 4
00177       (length,) = _struct_I.unpack(str[start:end])
00178       start = end
00179       end += length
00180       if python3:
00181         self.header.frame_id = str[start:end].decode('utf-8')
00182       else:
00183         self.header.frame_id = str[start:end]
00184       start = end
00185       end += 4
00186       (length,) = _struct_I.unpack(str[start:end])
00187       self.joint_names = []
00188       for i in range(0, length):
00189         start = end
00190         end += 4
00191         (length,) = _struct_I.unpack(str[start:end])
00192         start = end
00193         end += length
00194         if python3:
00195           val1 = str[start:end].decode('utf-8')
00196         else:
00197           val1 = str[start:end]
00198         self.joint_names.append(val1)
00199       start = end
00200       end += 4
00201       (length,) = _struct_I.unpack(str[start:end])
00202       pattern = '<%sd'%length
00203       start = end
00204       end += struct.calcsize(pattern)
00205       self.desired.positions = struct.unpack(pattern, str[start:end])
00206       start = end
00207       end += 4
00208       (length,) = _struct_I.unpack(str[start:end])
00209       pattern = '<%sd'%length
00210       start = end
00211       end += struct.calcsize(pattern)
00212       self.desired.velocities = struct.unpack(pattern, str[start:end])
00213       start = end
00214       end += 4
00215       (length,) = _struct_I.unpack(str[start:end])
00216       pattern = '<%sd'%length
00217       start = end
00218       end += struct.calcsize(pattern)
00219       self.desired.accelerations = struct.unpack(pattern, str[start:end])
00220       _x = self
00221       start = end
00222       end += 8
00223       (_x.desired.time_from_start.secs, _x.desired.time_from_start.nsecs,) = _struct_2i.unpack(str[start:end])
00224       start = end
00225       end += 4
00226       (length,) = _struct_I.unpack(str[start:end])
00227       pattern = '<%sd'%length
00228       start = end
00229       end += struct.calcsize(pattern)
00230       self.actual.positions = struct.unpack(pattern, str[start:end])
00231       start = end
00232       end += 4
00233       (length,) = _struct_I.unpack(str[start:end])
00234       pattern = '<%sd'%length
00235       start = end
00236       end += struct.calcsize(pattern)
00237       self.actual.velocities = struct.unpack(pattern, str[start:end])
00238       start = end
00239       end += 4
00240       (length,) = _struct_I.unpack(str[start:end])
00241       pattern = '<%sd'%length
00242       start = end
00243       end += struct.calcsize(pattern)
00244       self.actual.accelerations = struct.unpack(pattern, str[start:end])
00245       _x = self
00246       start = end
00247       end += 8
00248       (_x.actual.time_from_start.secs, _x.actual.time_from_start.nsecs,) = _struct_2i.unpack(str[start:end])
00249       start = end
00250       end += 4
00251       (length,) = _struct_I.unpack(str[start:end])
00252       pattern = '<%sd'%length
00253       start = end
00254       end += struct.calcsize(pattern)
00255       self.error.positions = struct.unpack(pattern, str[start:end])
00256       start = end
00257       end += 4
00258       (length,) = _struct_I.unpack(str[start:end])
00259       pattern = '<%sd'%length
00260       start = end
00261       end += struct.calcsize(pattern)
00262       self.error.velocities = struct.unpack(pattern, str[start:end])
00263       start = end
00264       end += 4
00265       (length,) = _struct_I.unpack(str[start:end])
00266       pattern = '<%sd'%length
00267       start = end
00268       end += struct.calcsize(pattern)
00269       self.error.accelerations = struct.unpack(pattern, str[start:end])
00270       _x = self
00271       start = end
00272       end += 8
00273       (_x.error.time_from_start.secs, _x.error.time_from_start.nsecs,) = _struct_2i.unpack(str[start:end])
00274       return self
00275     except struct.error as e:
00276       raise genpy.DeserializationError(e) #most likely buffer underfill
00277 
00278 
00279   def serialize_numpy(self, buff, numpy):
00280     """
00281     serialize message with numpy array types into buffer
00282     :param buff: buffer, ``StringIO``
00283     :param numpy: numpy python module
00284     """
00285     try:
00286       _x = self
00287       buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
00288       _x = self.header.frame_id
00289       length = len(_x)
00290       if python3 or type(_x) == unicode:
00291         _x = _x.encode('utf-8')
00292         length = len(_x)
00293       buff.write(struct.pack('<I%ss'%length, length, _x))
00294       length = len(self.joint_names)
00295       buff.write(_struct_I.pack(length))
00296       for val1 in self.joint_names:
00297         length = len(val1)
00298         if python3 or type(val1) == unicode:
00299           val1 = val1.encode('utf-8')
00300           length = len(val1)
00301         buff.write(struct.pack('<I%ss'%length, length, val1))
00302       length = len(self.desired.positions)
00303       buff.write(_struct_I.pack(length))
00304       pattern = '<%sd'%length
00305       buff.write(self.desired.positions.tostring())
00306       length = len(self.desired.velocities)
00307       buff.write(_struct_I.pack(length))
00308       pattern = '<%sd'%length
00309       buff.write(self.desired.velocities.tostring())
00310       length = len(self.desired.accelerations)
00311       buff.write(_struct_I.pack(length))
00312       pattern = '<%sd'%length
00313       buff.write(self.desired.accelerations.tostring())
00314       _x = self
00315       buff.write(_struct_2i.pack(_x.desired.time_from_start.secs, _x.desired.time_from_start.nsecs))
00316       length = len(self.actual.positions)
00317       buff.write(_struct_I.pack(length))
00318       pattern = '<%sd'%length
00319       buff.write(self.actual.positions.tostring())
00320       length = len(self.actual.velocities)
00321       buff.write(_struct_I.pack(length))
00322       pattern = '<%sd'%length
00323       buff.write(self.actual.velocities.tostring())
00324       length = len(self.actual.accelerations)
00325       buff.write(_struct_I.pack(length))
00326       pattern = '<%sd'%length
00327       buff.write(self.actual.accelerations.tostring())
00328       _x = self
00329       buff.write(_struct_2i.pack(_x.actual.time_from_start.secs, _x.actual.time_from_start.nsecs))
00330       length = len(self.error.positions)
00331       buff.write(_struct_I.pack(length))
00332       pattern = '<%sd'%length
00333       buff.write(self.error.positions.tostring())
00334       length = len(self.error.velocities)
00335       buff.write(_struct_I.pack(length))
00336       pattern = '<%sd'%length
00337       buff.write(self.error.velocities.tostring())
00338       length = len(self.error.accelerations)
00339       buff.write(_struct_I.pack(length))
00340       pattern = '<%sd'%length
00341       buff.write(self.error.accelerations.tostring())
00342       _x = self
00343       buff.write(_struct_2i.pack(_x.error.time_from_start.secs, _x.error.time_from_start.nsecs))
00344     except struct.error as se: self._check_types(se)
00345     except TypeError as te: self._check_types(te)
00346 
00347   def deserialize_numpy(self, str, numpy):
00348     """
00349     unpack serialized message in str into this message instance using numpy for array types
00350     :param str: byte array of serialized message, ``str``
00351     :param numpy: numpy python module
00352     """
00353     try:
00354       if self.header is None:
00355         self.header = std_msgs.msg.Header()
00356       if self.desired is None:
00357         self.desired = trajectory_msgs.msg.JointTrajectoryPoint()
00358       if self.actual is None:
00359         self.actual = trajectory_msgs.msg.JointTrajectoryPoint()
00360       if self.error is None:
00361         self.error = trajectory_msgs.msg.JointTrajectoryPoint()
00362       end = 0
00363       _x = self
00364       start = end
00365       end += 12
00366       (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00367       start = end
00368       end += 4
00369       (length,) = _struct_I.unpack(str[start:end])
00370       start = end
00371       end += length
00372       if python3:
00373         self.header.frame_id = str[start:end].decode('utf-8')
00374       else:
00375         self.header.frame_id = str[start:end]
00376       start = end
00377       end += 4
00378       (length,) = _struct_I.unpack(str[start:end])
00379       self.joint_names = []
00380       for i in range(0, length):
00381         start = end
00382         end += 4
00383         (length,) = _struct_I.unpack(str[start:end])
00384         start = end
00385         end += length
00386         if python3:
00387           val1 = str[start:end].decode('utf-8')
00388         else:
00389           val1 = str[start:end]
00390         self.joint_names.append(val1)
00391       start = end
00392       end += 4
00393       (length,) = _struct_I.unpack(str[start:end])
00394       pattern = '<%sd'%length
00395       start = end
00396       end += struct.calcsize(pattern)
00397       self.desired.positions = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00398       start = end
00399       end += 4
00400       (length,) = _struct_I.unpack(str[start:end])
00401       pattern = '<%sd'%length
00402       start = end
00403       end += struct.calcsize(pattern)
00404       self.desired.velocities = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00405       start = end
00406       end += 4
00407       (length,) = _struct_I.unpack(str[start:end])
00408       pattern = '<%sd'%length
00409       start = end
00410       end += struct.calcsize(pattern)
00411       self.desired.accelerations = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00412       _x = self
00413       start = end
00414       end += 8
00415       (_x.desired.time_from_start.secs, _x.desired.time_from_start.nsecs,) = _struct_2i.unpack(str[start:end])
00416       start = end
00417       end += 4
00418       (length,) = _struct_I.unpack(str[start:end])
00419       pattern = '<%sd'%length
00420       start = end
00421       end += struct.calcsize(pattern)
00422       self.actual.positions = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00423       start = end
00424       end += 4
00425       (length,) = _struct_I.unpack(str[start:end])
00426       pattern = '<%sd'%length
00427       start = end
00428       end += struct.calcsize(pattern)
00429       self.actual.velocities = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00430       start = end
00431       end += 4
00432       (length,) = _struct_I.unpack(str[start:end])
00433       pattern = '<%sd'%length
00434       start = end
00435       end += struct.calcsize(pattern)
00436       self.actual.accelerations = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00437       _x = self
00438       start = end
00439       end += 8
00440       (_x.actual.time_from_start.secs, _x.actual.time_from_start.nsecs,) = _struct_2i.unpack(str[start:end])
00441       start = end
00442       end += 4
00443       (length,) = _struct_I.unpack(str[start:end])
00444       pattern = '<%sd'%length
00445       start = end
00446       end += struct.calcsize(pattern)
00447       self.error.positions = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00448       start = end
00449       end += 4
00450       (length,) = _struct_I.unpack(str[start:end])
00451       pattern = '<%sd'%length
00452       start = end
00453       end += struct.calcsize(pattern)
00454       self.error.velocities = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00455       start = end
00456       end += 4
00457       (length,) = _struct_I.unpack(str[start:end])
00458       pattern = '<%sd'%length
00459       start = end
00460       end += struct.calcsize(pattern)
00461       self.error.accelerations = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00462       _x = self
00463       start = end
00464       end += 8
00465       (_x.error.time_from_start.secs, _x.error.time_from_start.nsecs,) = _struct_2i.unpack(str[start:end])
00466       return self
00467     except struct.error as e:
00468       raise genpy.DeserializationError(e) #most likely buffer underfill
00469 
00470 _struct_I = genpy.struct_I
00471 _struct_3I = struct.Struct("<3I")
00472 _struct_2i = struct.Struct("<2i")


pr2_controllers_msgs
Author(s): Stuart Glaser
autogenerated on Fri Jan 3 2014 11:41:02