00001 """autogenerated by genpy from brics_actuator/CartesianWrench.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 brics_actuator.msg
00008 import genpy
00009
00010 class CartesianWrench(genpy.Message):
00011 _md5sum = "9db8d24ea10e69de8feff86a9b0fa93d"
00012 _type = "brics_actuator/CartesianWrench"
00013 _has_header = False
00014 _full_text = """time timeStamp
00015 Poison poisonStamp
00016 string base_frame_uri
00017 string target_frame_uri
00018 # need some more frames?
00019 CartesianVector force
00020 CartesianVector torque
00021
00022 ================================================================================
00023 MSG: brics_actuator/Poison
00024 string originator # node id
00025 string description # encoding still an issue
00026 float32 qos # reliability of the channel
00027 # 0..1 where 1 means healthy
00028
00029 ================================================================================
00030 MSG: brics_actuator/CartesianVector
00031 string unit
00032 float64 x
00033 float64 y
00034 float64 z
00035
00036 """
00037 __slots__ = ['timeStamp','poisonStamp','base_frame_uri','target_frame_uri','force','torque']
00038 _slot_types = ['time','brics_actuator/Poison','string','string','brics_actuator/CartesianVector','brics_actuator/CartesianVector']
00039
00040 def __init__(self, *args, **kwds):
00041 """
00042 Constructor. Any message fields that are implicitly/explicitly
00043 set to None will be assigned a default value. The recommend
00044 use is keyword arguments as this is more robust to future message
00045 changes. You cannot mix in-order arguments and keyword arguments.
00046
00047 The available fields are:
00048 timeStamp,poisonStamp,base_frame_uri,target_frame_uri,force,torque
00049
00050 :param args: complete set of field values, in .msg order
00051 :param kwds: use keyword arguments corresponding to message field names
00052 to set specific fields.
00053 """
00054 if args or kwds:
00055 super(CartesianWrench, self).__init__(*args, **kwds)
00056
00057 if self.timeStamp is None:
00058 self.timeStamp = genpy.Time()
00059 if self.poisonStamp is None:
00060 self.poisonStamp = brics_actuator.msg.Poison()
00061 if self.base_frame_uri is None:
00062 self.base_frame_uri = ''
00063 if self.target_frame_uri is None:
00064 self.target_frame_uri = ''
00065 if self.force is None:
00066 self.force = brics_actuator.msg.CartesianVector()
00067 if self.torque is None:
00068 self.torque = brics_actuator.msg.CartesianVector()
00069 else:
00070 self.timeStamp = genpy.Time()
00071 self.poisonStamp = brics_actuator.msg.Poison()
00072 self.base_frame_uri = ''
00073 self.target_frame_uri = ''
00074 self.force = brics_actuator.msg.CartesianVector()
00075 self.torque = brics_actuator.msg.CartesianVector()
00076
00077 def _get_types(self):
00078 """
00079 internal API method
00080 """
00081 return self._slot_types
00082
00083 def serialize(self, buff):
00084 """
00085 serialize message into buffer
00086 :param buff: buffer, ``StringIO``
00087 """
00088 try:
00089 _x = self
00090 buff.write(_struct_2I.pack(_x.timeStamp.secs, _x.timeStamp.nsecs))
00091 _x = self.poisonStamp.originator
00092 length = len(_x)
00093 if python3 or type(_x) == unicode:
00094 _x = _x.encode('utf-8')
00095 length = len(_x)
00096 buff.write(struct.pack('<I%ss'%length, length, _x))
00097 _x = self.poisonStamp.description
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 buff.write(_struct_f.pack(self.poisonStamp.qos))
00104 _x = self.base_frame_uri
00105 length = len(_x)
00106 if python3 or type(_x) == unicode:
00107 _x = _x.encode('utf-8')
00108 length = len(_x)
00109 buff.write(struct.pack('<I%ss'%length, length, _x))
00110 _x = self.target_frame_uri
00111 length = len(_x)
00112 if python3 or type(_x) == unicode:
00113 _x = _x.encode('utf-8')
00114 length = len(_x)
00115 buff.write(struct.pack('<I%ss'%length, length, _x))
00116 _x = self.force.unit
00117 length = len(_x)
00118 if python3 or type(_x) == unicode:
00119 _x = _x.encode('utf-8')
00120 length = len(_x)
00121 buff.write(struct.pack('<I%ss'%length, length, _x))
00122 _x = self
00123 buff.write(_struct_3d.pack(_x.force.x, _x.force.y, _x.force.z))
00124 _x = self.torque.unit
00125 length = len(_x)
00126 if python3 or type(_x) == unicode:
00127 _x = _x.encode('utf-8')
00128 length = len(_x)
00129 buff.write(struct.pack('<I%ss'%length, length, _x))
00130 _x = self
00131 buff.write(_struct_3d.pack(_x.torque.x, _x.torque.y, _x.torque.z))
00132 except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
00133 except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))
00134
00135 def deserialize(self, str):
00136 """
00137 unpack serialized message in str into this message instance
00138 :param str: byte array of serialized message, ``str``
00139 """
00140 try:
00141 if self.timeStamp is None:
00142 self.timeStamp = genpy.Time()
00143 if self.poisonStamp is None:
00144 self.poisonStamp = brics_actuator.msg.Poison()
00145 if self.force is None:
00146 self.force = brics_actuator.msg.CartesianVector()
00147 if self.torque is None:
00148 self.torque = brics_actuator.msg.CartesianVector()
00149 end = 0
00150 _x = self
00151 start = end
00152 end += 8
00153 (_x.timeStamp.secs, _x.timeStamp.nsecs,) = _struct_2I.unpack(str[start:end])
00154 start = end
00155 end += 4
00156 (length,) = _struct_I.unpack(str[start:end])
00157 start = end
00158 end += length
00159 if python3:
00160 self.poisonStamp.originator = str[start:end].decode('utf-8')
00161 else:
00162 self.poisonStamp.originator = str[start:end]
00163 start = end
00164 end += 4
00165 (length,) = _struct_I.unpack(str[start:end])
00166 start = end
00167 end += length
00168 if python3:
00169 self.poisonStamp.description = str[start:end].decode('utf-8')
00170 else:
00171 self.poisonStamp.description = str[start:end]
00172 start = end
00173 end += 4
00174 (self.poisonStamp.qos,) = _struct_f.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.base_frame_uri = str[start:end].decode('utf-8')
00182 else:
00183 self.base_frame_uri = str[start:end]
00184 start = end
00185 end += 4
00186 (length,) = _struct_I.unpack(str[start:end])
00187 start = end
00188 end += length
00189 if python3:
00190 self.target_frame_uri = str[start:end].decode('utf-8')
00191 else:
00192 self.target_frame_uri = str[start:end]
00193 start = end
00194 end += 4
00195 (length,) = _struct_I.unpack(str[start:end])
00196 start = end
00197 end += length
00198 if python3:
00199 self.force.unit = str[start:end].decode('utf-8')
00200 else:
00201 self.force.unit = str[start:end]
00202 _x = self
00203 start = end
00204 end += 24
00205 (_x.force.x, _x.force.y, _x.force.z,) = _struct_3d.unpack(str[start:end])
00206 start = end
00207 end += 4
00208 (length,) = _struct_I.unpack(str[start:end])
00209 start = end
00210 end += length
00211 if python3:
00212 self.torque.unit = str[start:end].decode('utf-8')
00213 else:
00214 self.torque.unit = str[start:end]
00215 _x = self
00216 start = end
00217 end += 24
00218 (_x.torque.x, _x.torque.y, _x.torque.z,) = _struct_3d.unpack(str[start:end])
00219 self.timeStamp.canon()
00220 return self
00221 except struct.error as e:
00222 raise genpy.DeserializationError(e)
00223
00224
00225 def serialize_numpy(self, buff, numpy):
00226 """
00227 serialize message with numpy array types into buffer
00228 :param buff: buffer, ``StringIO``
00229 :param numpy: numpy python module
00230 """
00231 try:
00232 _x = self
00233 buff.write(_struct_2I.pack(_x.timeStamp.secs, _x.timeStamp.nsecs))
00234 _x = self.poisonStamp.originator
00235 length = len(_x)
00236 if python3 or type(_x) == unicode:
00237 _x = _x.encode('utf-8')
00238 length = len(_x)
00239 buff.write(struct.pack('<I%ss'%length, length, _x))
00240 _x = self.poisonStamp.description
00241 length = len(_x)
00242 if python3 or type(_x) == unicode:
00243 _x = _x.encode('utf-8')
00244 length = len(_x)
00245 buff.write(struct.pack('<I%ss'%length, length, _x))
00246 buff.write(_struct_f.pack(self.poisonStamp.qos))
00247 _x = self.base_frame_uri
00248 length = len(_x)
00249 if python3 or type(_x) == unicode:
00250 _x = _x.encode('utf-8')
00251 length = len(_x)
00252 buff.write(struct.pack('<I%ss'%length, length, _x))
00253 _x = self.target_frame_uri
00254 length = len(_x)
00255 if python3 or type(_x) == unicode:
00256 _x = _x.encode('utf-8')
00257 length = len(_x)
00258 buff.write(struct.pack('<I%ss'%length, length, _x))
00259 _x = self.force.unit
00260 length = len(_x)
00261 if python3 or type(_x) == unicode:
00262 _x = _x.encode('utf-8')
00263 length = len(_x)
00264 buff.write(struct.pack('<I%ss'%length, length, _x))
00265 _x = self
00266 buff.write(_struct_3d.pack(_x.force.x, _x.force.y, _x.force.z))
00267 _x = self.torque.unit
00268 length = len(_x)
00269 if python3 or type(_x) == unicode:
00270 _x = _x.encode('utf-8')
00271 length = len(_x)
00272 buff.write(struct.pack('<I%ss'%length, length, _x))
00273 _x = self
00274 buff.write(_struct_3d.pack(_x.torque.x, _x.torque.y, _x.torque.z))
00275 except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
00276 except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))
00277
00278 def deserialize_numpy(self, str, numpy):
00279 """
00280 unpack serialized message in str into this message instance using numpy for array types
00281 :param str: byte array of serialized message, ``str``
00282 :param numpy: numpy python module
00283 """
00284 try:
00285 if self.timeStamp is None:
00286 self.timeStamp = genpy.Time()
00287 if self.poisonStamp is None:
00288 self.poisonStamp = brics_actuator.msg.Poison()
00289 if self.force is None:
00290 self.force = brics_actuator.msg.CartesianVector()
00291 if self.torque is None:
00292 self.torque = brics_actuator.msg.CartesianVector()
00293 end = 0
00294 _x = self
00295 start = end
00296 end += 8
00297 (_x.timeStamp.secs, _x.timeStamp.nsecs,) = _struct_2I.unpack(str[start:end])
00298 start = end
00299 end += 4
00300 (length,) = _struct_I.unpack(str[start:end])
00301 start = end
00302 end += length
00303 if python3:
00304 self.poisonStamp.originator = str[start:end].decode('utf-8')
00305 else:
00306 self.poisonStamp.originator = str[start:end]
00307 start = end
00308 end += 4
00309 (length,) = _struct_I.unpack(str[start:end])
00310 start = end
00311 end += length
00312 if python3:
00313 self.poisonStamp.description = str[start:end].decode('utf-8')
00314 else:
00315 self.poisonStamp.description = str[start:end]
00316 start = end
00317 end += 4
00318 (self.poisonStamp.qos,) = _struct_f.unpack(str[start:end])
00319 start = end
00320 end += 4
00321 (length,) = _struct_I.unpack(str[start:end])
00322 start = end
00323 end += length
00324 if python3:
00325 self.base_frame_uri = str[start:end].decode('utf-8')
00326 else:
00327 self.base_frame_uri = str[start:end]
00328 start = end
00329 end += 4
00330 (length,) = _struct_I.unpack(str[start:end])
00331 start = end
00332 end += length
00333 if python3:
00334 self.target_frame_uri = str[start:end].decode('utf-8')
00335 else:
00336 self.target_frame_uri = str[start:end]
00337 start = end
00338 end += 4
00339 (length,) = _struct_I.unpack(str[start:end])
00340 start = end
00341 end += length
00342 if python3:
00343 self.force.unit = str[start:end].decode('utf-8')
00344 else:
00345 self.force.unit = str[start:end]
00346 _x = self
00347 start = end
00348 end += 24
00349 (_x.force.x, _x.force.y, _x.force.z,) = _struct_3d.unpack(str[start:end])
00350 start = end
00351 end += 4
00352 (length,) = _struct_I.unpack(str[start:end])
00353 start = end
00354 end += length
00355 if python3:
00356 self.torque.unit = str[start:end].decode('utf-8')
00357 else:
00358 self.torque.unit = str[start:end]
00359 _x = self
00360 start = end
00361 end += 24
00362 (_x.torque.x, _x.torque.y, _x.torque.z,) = _struct_3d.unpack(str[start:end])
00363 self.timeStamp.canon()
00364 return self
00365 except struct.error as e:
00366 raise genpy.DeserializationError(e)
00367
00368 _struct_I = genpy.struct_I
00369 _struct_3d = struct.Struct("<3d")
00370 _struct_2I = struct.Struct("<2I")
00371 _struct_f = struct.Struct("<f")