_ArmHandAction.py
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00001 """autogenerated by genpy from cogman_msgs/ArmHandAction.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 actionlib_msgs.msg
00008 import cogman_msgs.msg
00009 import geometry_msgs.msg
00010 import vision_msgs.msg
00011 import genpy
00012 import std_msgs.msg
00013 
00014 class ArmHandAction(genpy.Message):
00015   _md5sum = "47caad1eeab6545c2c3e92dff9f336b8"
00016   _type = "cogman_msgs/ArmHandAction"
00017   _has_header = False #flag to mark the presence of a Header object
00018   _full_text = """# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00019 
00020 ArmHandActionGoal action_goal
00021 ArmHandActionResult action_result
00022 ArmHandActionFeedback action_feedback
00023 
00024 ================================================================================
00025 MSG: cogman_msgs/ArmHandActionGoal
00026 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00027 
00028 Header header
00029 actionlib_msgs/GoalID goal_id
00030 ArmHandGoal goal
00031 
00032 ================================================================================
00033 MSG: std_msgs/Header
00034 # Standard metadata for higher-level stamped data types.
00035 # This is generally used to communicate timestamped data 
00036 # in a particular coordinate frame.
00037 # 
00038 # sequence ID: consecutively increasing ID 
00039 uint32 seq
00040 #Two-integer timestamp that is expressed as:
00041 # * stamp.secs: seconds (stamp_secs) since epoch
00042 # * stamp.nsecs: nanoseconds since stamp_secs
00043 # time-handling sugar is provided by the client library
00044 time stamp
00045 #Frame this data is associated with
00046 # 0: no frame
00047 # 1: global frame
00048 string frame_id
00049 
00050 ================================================================================
00051 MSG: actionlib_msgs/GoalID
00052 # The stamp should store the time at which this goal was requested.
00053 # It is used by an action server when it tries to preempt all
00054 # goals that were requested before a certain time
00055 time stamp
00056 
00057 # The id provides a way to associate feedback and
00058 # result message with specific goal requests. The id
00059 # specified must be unique.
00060 string id
00061 
00062 
00063 ================================================================================
00064 MSG: cogman_msgs/ArmHandGoal
00065 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00066 string command              # 'arm_cart_loid', 'arm_cart_pose', 'arm_cart_name', 'arm_joints', 'arm_joint_name', 'reach_primitive', 'hand_primitive', 'lift', 'put_down'
00067 string pose_name            # When moving to pre-defined poses, cointains the name
00068 float32[] joint_angles      # If command is 'arm_joints', the joint angles
00069 geometry_msgs/Pose end_effector_pose  # command=arm_cart_pose: where the arm should go
00070 uint64 end_effector_loid    # one lo_id where the arm should go
00071 string hand_primitive       # Allowed strings: open open_thumb90 3pinch 2pinch cup_top peace handshake noop. Used when command is 'finger_primitive'
00072 string object_type          # If command is 'reach_primitive', it will define how to grasp (orientation ...)
00073 uint64[] obstacle_ids       # List of lo_id's corresponding to obstacles
00074 float32 distance            # For reach_primitive: distance from grasp point to approach point (m). For 'lift', distance to lift up (m)
00075 float32 supporting_plane    # Height of the table (m)
00076 
00077 ================================================================================
00078 MSG: geometry_msgs/Pose
00079 # A representation of pose in free space, composed of postion and orientation. 
00080 Point position
00081 Quaternion orientation
00082 
00083 ================================================================================
00084 MSG: geometry_msgs/Point
00085 # This contains the position of a point in free space
00086 float64 x
00087 float64 y
00088 float64 z
00089 
00090 ================================================================================
00091 MSG: geometry_msgs/Quaternion
00092 # This represents an orientation in free space in quaternion form.
00093 
00094 float64 x
00095 float64 y
00096 float64 z
00097 float64 w
00098 
00099 ================================================================================
00100 MSG: cogman_msgs/ArmHandActionResult
00101 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00102 
00103 Header header
00104 actionlib_msgs/GoalStatus status
00105 ArmHandResult result
00106 
00107 ================================================================================
00108 MSG: actionlib_msgs/GoalStatus
00109 GoalID goal_id
00110 uint8 status
00111 uint8 PENDING         = 0   # The goal has yet to be processed by the action server
00112 uint8 ACTIVE          = 1   # The goal is currently being processed by the action server
00113 uint8 PREEMPTED       = 2   # The goal received a cancel request after it started executing
00114                             #   and has since completed its execution (Terminal State)
00115 uint8 SUCCEEDED       = 3   # The goal was achieved successfully by the action server (Terminal State)
00116 uint8 ABORTED         = 4   # The goal was aborted during execution by the action server due
00117                             #    to some failure (Terminal State)
00118 uint8 REJECTED        = 5   # The goal was rejected by the action server without being processed,
00119                             #    because the goal was unattainable or invalid (Terminal State)
00120 uint8 PREEMPTING      = 6   # The goal received a cancel request after it started executing
00121                             #    and has not yet completed execution
00122 uint8 RECALLING       = 7   # The goal received a cancel request before it started executing,
00123                             #    but the action server has not yet confirmed that the goal is canceled
00124 uint8 RECALLED        = 8   # The goal received a cancel request before it started executing
00125                             #    and was successfully cancelled (Terminal State)
00126 uint8 LOST            = 9   # An action client can determine that a goal is LOST. This should not be
00127                             #    sent over the wire by an action server
00128 
00129 #Allow for the user to associate a string with GoalStatus for debugging
00130 string text
00131 
00132 
00133 ================================================================================
00134 MSG: cogman_msgs/ArmHandResult
00135 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00136 
00137 #result
00138 float32 distance_to_goal
00139 string situation            #Allowed: grasped slipped released unreachable ik_deadlock need_to_move_base
00140 vision_msgs/system_error error   #Description of error
00141 uint64[] better_base_ids    #List of lo_id's where we could grasp better
00142 
00143 ================================================================================
00144 MSG: vision_msgs/system_error
00145 uint64 MANIPULATION_POSE_UNREACHABLE = 64
00146 uint64 GRASP_FAILED = 128  # Grasp into the void
00147 uint64 OBJECT_NOT_FOUND = 256
00148 uint64 VISION_PRIMITIVE_FAILED = 512
00149 uint64 CONTRADICTING_TACTILE_FEEDBACK = 1024  # Collide without expecting it
00150 uint64 CONTRADICTING_VISION_RESULTS = 2048
00151 uint64 GRASP_FAILED_AND_CRASHED = 4096  # Throwing something out of the way
00152 uint64 JLO_ERROR = 8192  # Could not get position
00153 uint64 VECTOR_FIELD_CANT_REACH = 16384  # The arm got stuck along the way, did not reach the final grasping pose
00154 
00155 uint64  error_id                # One of the error constants defined above
00156 string  node_name               # The node causing this error
00157 string  error_description       # Further information about the error
00158 
00159 ================================================================================
00160 MSG: cogman_msgs/ArmHandActionFeedback
00161 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00162 
00163 Header header
00164 actionlib_msgs/GoalStatus status
00165 ArmHandFeedback feedback
00166 
00167 ================================================================================
00168 MSG: cogman_msgs/ArmHandFeedback
00169 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00170 #feedback
00171 float32 distance_to_goal
00172 
00173 
00174 
00175 """
00176   __slots__ = ['action_goal','action_result','action_feedback']
00177   _slot_types = ['cogman_msgs/ArmHandActionGoal','cogman_msgs/ArmHandActionResult','cogman_msgs/ArmHandActionFeedback']
00178 
00179   def __init__(self, *args, **kwds):
00180     """
00181     Constructor. Any message fields that are implicitly/explicitly
00182     set to None will be assigned a default value. The recommend
00183     use is keyword arguments as this is more robust to future message
00184     changes.  You cannot mix in-order arguments and keyword arguments.
00185 
00186     The available fields are:
00187        action_goal,action_result,action_feedback
00188 
00189     :param args: complete set of field values, in .msg order
00190     :param kwds: use keyword arguments corresponding to message field names
00191     to set specific fields.
00192     """
00193     if args or kwds:
00194       super(ArmHandAction, self).__init__(*args, **kwds)
00195       #message fields cannot be None, assign default values for those that are
00196       if self.action_goal is None:
00197         self.action_goal = cogman_msgs.msg.ArmHandActionGoal()
00198       if self.action_result is None:
00199         self.action_result = cogman_msgs.msg.ArmHandActionResult()
00200       if self.action_feedback is None:
00201         self.action_feedback = cogman_msgs.msg.ArmHandActionFeedback()
00202     else:
00203       self.action_goal = cogman_msgs.msg.ArmHandActionGoal()
00204       self.action_result = cogman_msgs.msg.ArmHandActionResult()
00205       self.action_feedback = cogman_msgs.msg.ArmHandActionFeedback()
00206 
00207   def _get_types(self):
00208     """
00209     internal API method
00210     """
00211     return self._slot_types
00212 
00213   def serialize(self, buff):
00214     """
00215     serialize message into buffer
00216     :param buff: buffer, ``StringIO``
00217     """
00218     try:
00219       _x = self
00220       buff.write(_struct_3I.pack(_x.action_goal.header.seq, _x.action_goal.header.stamp.secs, _x.action_goal.header.stamp.nsecs))
00221       _x = self.action_goal.header.frame_id
00222       length = len(_x)
00223       if python3 or type(_x) == unicode:
00224         _x = _x.encode('utf-8')
00225         length = len(_x)
00226       buff.write(struct.pack('<I%ss'%length, length, _x))
00227       _x = self
00228       buff.write(_struct_2I.pack(_x.action_goal.goal_id.stamp.secs, _x.action_goal.goal_id.stamp.nsecs))
00229       _x = self.action_goal.goal_id.id
00230       length = len(_x)
00231       if python3 or type(_x) == unicode:
00232         _x = _x.encode('utf-8')
00233         length = len(_x)
00234       buff.write(struct.pack('<I%ss'%length, length, _x))
00235       _x = self.action_goal.goal.command
00236       length = len(_x)
00237       if python3 or type(_x) == unicode:
00238         _x = _x.encode('utf-8')
00239         length = len(_x)
00240       buff.write(struct.pack('<I%ss'%length, length, _x))
00241       _x = self.action_goal.goal.pose_name
00242       length = len(_x)
00243       if python3 or type(_x) == unicode:
00244         _x = _x.encode('utf-8')
00245         length = len(_x)
00246       buff.write(struct.pack('<I%ss'%length, length, _x))
00247       length = len(self.action_goal.goal.joint_angles)
00248       buff.write(_struct_I.pack(length))
00249       pattern = '<%sf'%length
00250       buff.write(struct.pack(pattern, *self.action_goal.goal.joint_angles))
00251       _x = self
00252       buff.write(_struct_7dQ.pack(_x.action_goal.goal.end_effector_pose.position.x, _x.action_goal.goal.end_effector_pose.position.y, _x.action_goal.goal.end_effector_pose.position.z, _x.action_goal.goal.end_effector_pose.orientation.x, _x.action_goal.goal.end_effector_pose.orientation.y, _x.action_goal.goal.end_effector_pose.orientation.z, _x.action_goal.goal.end_effector_pose.orientation.w, _x.action_goal.goal.end_effector_loid))
00253       _x = self.action_goal.goal.hand_primitive
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.action_goal.goal.object_type
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       length = len(self.action_goal.goal.obstacle_ids)
00266       buff.write(_struct_I.pack(length))
00267       pattern = '<%sQ'%length
00268       buff.write(struct.pack(pattern, *self.action_goal.goal.obstacle_ids))
00269       _x = self
00270       buff.write(_struct_2f3I.pack(_x.action_goal.goal.distance, _x.action_goal.goal.supporting_plane, _x.action_result.header.seq, _x.action_result.header.stamp.secs, _x.action_result.header.stamp.nsecs))
00271       _x = self.action_result.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       _x = self
00278       buff.write(_struct_2I.pack(_x.action_result.status.goal_id.stamp.secs, _x.action_result.status.goal_id.stamp.nsecs))
00279       _x = self.action_result.status.goal_id.id
00280       length = len(_x)
00281       if python3 or type(_x) == unicode:
00282         _x = _x.encode('utf-8')
00283         length = len(_x)
00284       buff.write(struct.pack('<I%ss'%length, length, _x))
00285       buff.write(_struct_B.pack(self.action_result.status.status))
00286       _x = self.action_result.status.text
00287       length = len(_x)
00288       if python3 or type(_x) == unicode:
00289         _x = _x.encode('utf-8')
00290         length = len(_x)
00291       buff.write(struct.pack('<I%ss'%length, length, _x))
00292       buff.write(_struct_f.pack(self.action_result.result.distance_to_goal))
00293       _x = self.action_result.result.situation
00294       length = len(_x)
00295       if python3 or type(_x) == unicode:
00296         _x = _x.encode('utf-8')
00297         length = len(_x)
00298       buff.write(struct.pack('<I%ss'%length, length, _x))
00299       buff.write(_struct_Q.pack(self.action_result.result.error.error_id))
00300       _x = self.action_result.result.error.node_name
00301       length = len(_x)
00302       if python3 or type(_x) == unicode:
00303         _x = _x.encode('utf-8')
00304         length = len(_x)
00305       buff.write(struct.pack('<I%ss'%length, length, _x))
00306       _x = self.action_result.result.error.error_description
00307       length = len(_x)
00308       if python3 or type(_x) == unicode:
00309         _x = _x.encode('utf-8')
00310         length = len(_x)
00311       buff.write(struct.pack('<I%ss'%length, length, _x))
00312       length = len(self.action_result.result.better_base_ids)
00313       buff.write(_struct_I.pack(length))
00314       pattern = '<%sQ'%length
00315       buff.write(struct.pack(pattern, *self.action_result.result.better_base_ids))
00316       _x = self
00317       buff.write(_struct_3I.pack(_x.action_feedback.header.seq, _x.action_feedback.header.stamp.secs, _x.action_feedback.header.stamp.nsecs))
00318       _x = self.action_feedback.header.frame_id
00319       length = len(_x)
00320       if python3 or type(_x) == unicode:
00321         _x = _x.encode('utf-8')
00322         length = len(_x)
00323       buff.write(struct.pack('<I%ss'%length, length, _x))
00324       _x = self
00325       buff.write(_struct_2I.pack(_x.action_feedback.status.goal_id.stamp.secs, _x.action_feedback.status.goal_id.stamp.nsecs))
00326       _x = self.action_feedback.status.goal_id.id
00327       length = len(_x)
00328       if python3 or type(_x) == unicode:
00329         _x = _x.encode('utf-8')
00330         length = len(_x)
00331       buff.write(struct.pack('<I%ss'%length, length, _x))
00332       buff.write(_struct_B.pack(self.action_feedback.status.status))
00333       _x = self.action_feedback.status.text
00334       length = len(_x)
00335       if python3 or type(_x) == unicode:
00336         _x = _x.encode('utf-8')
00337         length = len(_x)
00338       buff.write(struct.pack('<I%ss'%length, length, _x))
00339       buff.write(_struct_f.pack(self.action_feedback.feedback.distance_to_goal))
00340     except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
00341     except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))
00342 
00343   def deserialize(self, str):
00344     """
00345     unpack serialized message in str into this message instance
00346     :param str: byte array of serialized message, ``str``
00347     """
00348     try:
00349       if self.action_goal is None:
00350         self.action_goal = cogman_msgs.msg.ArmHandActionGoal()
00351       if self.action_result is None:
00352         self.action_result = cogman_msgs.msg.ArmHandActionResult()
00353       if self.action_feedback is None:
00354         self.action_feedback = cogman_msgs.msg.ArmHandActionFeedback()
00355       end = 0
00356       _x = self
00357       start = end
00358       end += 12
00359       (_x.action_goal.header.seq, _x.action_goal.header.stamp.secs, _x.action_goal.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00360       start = end
00361       end += 4
00362       (length,) = _struct_I.unpack(str[start:end])
00363       start = end
00364       end += length
00365       if python3:
00366         self.action_goal.header.frame_id = str[start:end].decode('utf-8')
00367       else:
00368         self.action_goal.header.frame_id = str[start:end]
00369       _x = self
00370       start = end
00371       end += 8
00372       (_x.action_goal.goal_id.stamp.secs, _x.action_goal.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00373       start = end
00374       end += 4
00375       (length,) = _struct_I.unpack(str[start:end])
00376       start = end
00377       end += length
00378       if python3:
00379         self.action_goal.goal_id.id = str[start:end].decode('utf-8')
00380       else:
00381         self.action_goal.goal_id.id = str[start:end]
00382       start = end
00383       end += 4
00384       (length,) = _struct_I.unpack(str[start:end])
00385       start = end
00386       end += length
00387       if python3:
00388         self.action_goal.goal.command = str[start:end].decode('utf-8')
00389       else:
00390         self.action_goal.goal.command = str[start:end]
00391       start = end
00392       end += 4
00393       (length,) = _struct_I.unpack(str[start:end])
00394       start = end
00395       end += length
00396       if python3:
00397         self.action_goal.goal.pose_name = str[start:end].decode('utf-8')
00398       else:
00399         self.action_goal.goal.pose_name = str[start:end]
00400       start = end
00401       end += 4
00402       (length,) = _struct_I.unpack(str[start:end])
00403       pattern = '<%sf'%length
00404       start = end
00405       end += struct.calcsize(pattern)
00406       self.action_goal.goal.joint_angles = struct.unpack(pattern, str[start:end])
00407       _x = self
00408       start = end
00409       end += 64
00410       (_x.action_goal.goal.end_effector_pose.position.x, _x.action_goal.goal.end_effector_pose.position.y, _x.action_goal.goal.end_effector_pose.position.z, _x.action_goal.goal.end_effector_pose.orientation.x, _x.action_goal.goal.end_effector_pose.orientation.y, _x.action_goal.goal.end_effector_pose.orientation.z, _x.action_goal.goal.end_effector_pose.orientation.w, _x.action_goal.goal.end_effector_loid,) = _struct_7dQ.unpack(str[start:end])
00411       start = end
00412       end += 4
00413       (length,) = _struct_I.unpack(str[start:end])
00414       start = end
00415       end += length
00416       if python3:
00417         self.action_goal.goal.hand_primitive = str[start:end].decode('utf-8')
00418       else:
00419         self.action_goal.goal.hand_primitive = 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.action_goal.goal.object_type = str[start:end].decode('utf-8')
00427       else:
00428         self.action_goal.goal.object_type = str[start:end]
00429       start = end
00430       end += 4
00431       (length,) = _struct_I.unpack(str[start:end])
00432       pattern = '<%sQ'%length
00433       start = end
00434       end += struct.calcsize(pattern)
00435       self.action_goal.goal.obstacle_ids = struct.unpack(pattern, str[start:end])
00436       _x = self
00437       start = end
00438       end += 20
00439       (_x.action_goal.goal.distance, _x.action_goal.goal.supporting_plane, _x.action_result.header.seq, _x.action_result.header.stamp.secs, _x.action_result.header.stamp.nsecs,) = _struct_2f3I.unpack(str[start:end])
00440       start = end
00441       end += 4
00442       (length,) = _struct_I.unpack(str[start:end])
00443       start = end
00444       end += length
00445       if python3:
00446         self.action_result.header.frame_id = str[start:end].decode('utf-8')
00447       else:
00448         self.action_result.header.frame_id = str[start:end]
00449       _x = self
00450       start = end
00451       end += 8
00452       (_x.action_result.status.goal_id.stamp.secs, _x.action_result.status.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00453       start = end
00454       end += 4
00455       (length,) = _struct_I.unpack(str[start:end])
00456       start = end
00457       end += length
00458       if python3:
00459         self.action_result.status.goal_id.id = str[start:end].decode('utf-8')
00460       else:
00461         self.action_result.status.goal_id.id = str[start:end]
00462       start = end
00463       end += 1
00464       (self.action_result.status.status,) = _struct_B.unpack(str[start:end])
00465       start = end
00466       end += 4
00467       (length,) = _struct_I.unpack(str[start:end])
00468       start = end
00469       end += length
00470       if python3:
00471         self.action_result.status.text = str[start:end].decode('utf-8')
00472       else:
00473         self.action_result.status.text = str[start:end]
00474       start = end
00475       end += 4
00476       (self.action_result.result.distance_to_goal,) = _struct_f.unpack(str[start:end])
00477       start = end
00478       end += 4
00479       (length,) = _struct_I.unpack(str[start:end])
00480       start = end
00481       end += length
00482       if python3:
00483         self.action_result.result.situation = str[start:end].decode('utf-8')
00484       else:
00485         self.action_result.result.situation = str[start:end]
00486       start = end
00487       end += 8
00488       (self.action_result.result.error.error_id,) = _struct_Q.unpack(str[start:end])
00489       start = end
00490       end += 4
00491       (length,) = _struct_I.unpack(str[start:end])
00492       start = end
00493       end += length
00494       if python3:
00495         self.action_result.result.error.node_name = str[start:end].decode('utf-8')
00496       else:
00497         self.action_result.result.error.node_name = str[start:end]
00498       start = end
00499       end += 4
00500       (length,) = _struct_I.unpack(str[start:end])
00501       start = end
00502       end += length
00503       if python3:
00504         self.action_result.result.error.error_description = str[start:end].decode('utf-8')
00505       else:
00506         self.action_result.result.error.error_description = str[start:end]
00507       start = end
00508       end += 4
00509       (length,) = _struct_I.unpack(str[start:end])
00510       pattern = '<%sQ'%length
00511       start = end
00512       end += struct.calcsize(pattern)
00513       self.action_result.result.better_base_ids = struct.unpack(pattern, str[start:end])
00514       _x = self
00515       start = end
00516       end += 12
00517       (_x.action_feedback.header.seq, _x.action_feedback.header.stamp.secs, _x.action_feedback.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00518       start = end
00519       end += 4
00520       (length,) = _struct_I.unpack(str[start:end])
00521       start = end
00522       end += length
00523       if python3:
00524         self.action_feedback.header.frame_id = str[start:end].decode('utf-8')
00525       else:
00526         self.action_feedback.header.frame_id = str[start:end]
00527       _x = self
00528       start = end
00529       end += 8
00530       (_x.action_feedback.status.goal_id.stamp.secs, _x.action_feedback.status.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00531       start = end
00532       end += 4
00533       (length,) = _struct_I.unpack(str[start:end])
00534       start = end
00535       end += length
00536       if python3:
00537         self.action_feedback.status.goal_id.id = str[start:end].decode('utf-8')
00538       else:
00539         self.action_feedback.status.goal_id.id = str[start:end]
00540       start = end
00541       end += 1
00542       (self.action_feedback.status.status,) = _struct_B.unpack(str[start:end])
00543       start = end
00544       end += 4
00545       (length,) = _struct_I.unpack(str[start:end])
00546       start = end
00547       end += length
00548       if python3:
00549         self.action_feedback.status.text = str[start:end].decode('utf-8')
00550       else:
00551         self.action_feedback.status.text = str[start:end]
00552       start = end
00553       end += 4
00554       (self.action_feedback.feedback.distance_to_goal,) = _struct_f.unpack(str[start:end])
00555       return self
00556     except struct.error as e:
00557       raise genpy.DeserializationError(e) #most likely buffer underfill
00558 
00559 
00560   def serialize_numpy(self, buff, numpy):
00561     """
00562     serialize message with numpy array types into buffer
00563     :param buff: buffer, ``StringIO``
00564     :param numpy: numpy python module
00565     """
00566     try:
00567       _x = self
00568       buff.write(_struct_3I.pack(_x.action_goal.header.seq, _x.action_goal.header.stamp.secs, _x.action_goal.header.stamp.nsecs))
00569       _x = self.action_goal.header.frame_id
00570       length = len(_x)
00571       if python3 or type(_x) == unicode:
00572         _x = _x.encode('utf-8')
00573         length = len(_x)
00574       buff.write(struct.pack('<I%ss'%length, length, _x))
00575       _x = self
00576       buff.write(_struct_2I.pack(_x.action_goal.goal_id.stamp.secs, _x.action_goal.goal_id.stamp.nsecs))
00577       _x = self.action_goal.goal_id.id
00578       length = len(_x)
00579       if python3 or type(_x) == unicode:
00580         _x = _x.encode('utf-8')
00581         length = len(_x)
00582       buff.write(struct.pack('<I%ss'%length, length, _x))
00583       _x = self.action_goal.goal.command
00584       length = len(_x)
00585       if python3 or type(_x) == unicode:
00586         _x = _x.encode('utf-8')
00587         length = len(_x)
00588       buff.write(struct.pack('<I%ss'%length, length, _x))
00589       _x = self.action_goal.goal.pose_name
00590       length = len(_x)
00591       if python3 or type(_x) == unicode:
00592         _x = _x.encode('utf-8')
00593         length = len(_x)
00594       buff.write(struct.pack('<I%ss'%length, length, _x))
00595       length = len(self.action_goal.goal.joint_angles)
00596       buff.write(_struct_I.pack(length))
00597       pattern = '<%sf'%length
00598       buff.write(self.action_goal.goal.joint_angles.tostring())
00599       _x = self
00600       buff.write(_struct_7dQ.pack(_x.action_goal.goal.end_effector_pose.position.x, _x.action_goal.goal.end_effector_pose.position.y, _x.action_goal.goal.end_effector_pose.position.z, _x.action_goal.goal.end_effector_pose.orientation.x, _x.action_goal.goal.end_effector_pose.orientation.y, _x.action_goal.goal.end_effector_pose.orientation.z, _x.action_goal.goal.end_effector_pose.orientation.w, _x.action_goal.goal.end_effector_loid))
00601       _x = self.action_goal.goal.hand_primitive
00602       length = len(_x)
00603       if python3 or type(_x) == unicode:
00604         _x = _x.encode('utf-8')
00605         length = len(_x)
00606       buff.write(struct.pack('<I%ss'%length, length, _x))
00607       _x = self.action_goal.goal.object_type
00608       length = len(_x)
00609       if python3 or type(_x) == unicode:
00610         _x = _x.encode('utf-8')
00611         length = len(_x)
00612       buff.write(struct.pack('<I%ss'%length, length, _x))
00613       length = len(self.action_goal.goal.obstacle_ids)
00614       buff.write(_struct_I.pack(length))
00615       pattern = '<%sQ'%length
00616       buff.write(self.action_goal.goal.obstacle_ids.tostring())
00617       _x = self
00618       buff.write(_struct_2f3I.pack(_x.action_goal.goal.distance, _x.action_goal.goal.supporting_plane, _x.action_result.header.seq, _x.action_result.header.stamp.secs, _x.action_result.header.stamp.nsecs))
00619       _x = self.action_result.header.frame_id
00620       length = len(_x)
00621       if python3 or type(_x) == unicode:
00622         _x = _x.encode('utf-8')
00623         length = len(_x)
00624       buff.write(struct.pack('<I%ss'%length, length, _x))
00625       _x = self
00626       buff.write(_struct_2I.pack(_x.action_result.status.goal_id.stamp.secs, _x.action_result.status.goal_id.stamp.nsecs))
00627       _x = self.action_result.status.goal_id.id
00628       length = len(_x)
00629       if python3 or type(_x) == unicode:
00630         _x = _x.encode('utf-8')
00631         length = len(_x)
00632       buff.write(struct.pack('<I%ss'%length, length, _x))
00633       buff.write(_struct_B.pack(self.action_result.status.status))
00634       _x = self.action_result.status.text
00635       length = len(_x)
00636       if python3 or type(_x) == unicode:
00637         _x = _x.encode('utf-8')
00638         length = len(_x)
00639       buff.write(struct.pack('<I%ss'%length, length, _x))
00640       buff.write(_struct_f.pack(self.action_result.result.distance_to_goal))
00641       _x = self.action_result.result.situation
00642       length = len(_x)
00643       if python3 or type(_x) == unicode:
00644         _x = _x.encode('utf-8')
00645         length = len(_x)
00646       buff.write(struct.pack('<I%ss'%length, length, _x))
00647       buff.write(_struct_Q.pack(self.action_result.result.error.error_id))
00648       _x = self.action_result.result.error.node_name
00649       length = len(_x)
00650       if python3 or type(_x) == unicode:
00651         _x = _x.encode('utf-8')
00652         length = len(_x)
00653       buff.write(struct.pack('<I%ss'%length, length, _x))
00654       _x = self.action_result.result.error.error_description
00655       length = len(_x)
00656       if python3 or type(_x) == unicode:
00657         _x = _x.encode('utf-8')
00658         length = len(_x)
00659       buff.write(struct.pack('<I%ss'%length, length, _x))
00660       length = len(self.action_result.result.better_base_ids)
00661       buff.write(_struct_I.pack(length))
00662       pattern = '<%sQ'%length
00663       buff.write(self.action_result.result.better_base_ids.tostring())
00664       _x = self
00665       buff.write(_struct_3I.pack(_x.action_feedback.header.seq, _x.action_feedback.header.stamp.secs, _x.action_feedback.header.stamp.nsecs))
00666       _x = self.action_feedback.header.frame_id
00667       length = len(_x)
00668       if python3 or type(_x) == unicode:
00669         _x = _x.encode('utf-8')
00670         length = len(_x)
00671       buff.write(struct.pack('<I%ss'%length, length, _x))
00672       _x = self
00673       buff.write(_struct_2I.pack(_x.action_feedback.status.goal_id.stamp.secs, _x.action_feedback.status.goal_id.stamp.nsecs))
00674       _x = self.action_feedback.status.goal_id.id
00675       length = len(_x)
00676       if python3 or type(_x) == unicode:
00677         _x = _x.encode('utf-8')
00678         length = len(_x)
00679       buff.write(struct.pack('<I%ss'%length, length, _x))
00680       buff.write(_struct_B.pack(self.action_feedback.status.status))
00681       _x = self.action_feedback.status.text
00682       length = len(_x)
00683       if python3 or type(_x) == unicode:
00684         _x = _x.encode('utf-8')
00685         length = len(_x)
00686       buff.write(struct.pack('<I%ss'%length, length, _x))
00687       buff.write(_struct_f.pack(self.action_feedback.feedback.distance_to_goal))
00688     except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
00689     except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))
00690 
00691   def deserialize_numpy(self, str, numpy):
00692     """
00693     unpack serialized message in str into this message instance using numpy for array types
00694     :param str: byte array of serialized message, ``str``
00695     :param numpy: numpy python module
00696     """
00697     try:
00698       if self.action_goal is None:
00699         self.action_goal = cogman_msgs.msg.ArmHandActionGoal()
00700       if self.action_result is None:
00701         self.action_result = cogman_msgs.msg.ArmHandActionResult()
00702       if self.action_feedback is None:
00703         self.action_feedback = cogman_msgs.msg.ArmHandActionFeedback()
00704       end = 0
00705       _x = self
00706       start = end
00707       end += 12
00708       (_x.action_goal.header.seq, _x.action_goal.header.stamp.secs, _x.action_goal.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00709       start = end
00710       end += 4
00711       (length,) = _struct_I.unpack(str[start:end])
00712       start = end
00713       end += length
00714       if python3:
00715         self.action_goal.header.frame_id = str[start:end].decode('utf-8')
00716       else:
00717         self.action_goal.header.frame_id = str[start:end]
00718       _x = self
00719       start = end
00720       end += 8
00721       (_x.action_goal.goal_id.stamp.secs, _x.action_goal.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00722       start = end
00723       end += 4
00724       (length,) = _struct_I.unpack(str[start:end])
00725       start = end
00726       end += length
00727       if python3:
00728         self.action_goal.goal_id.id = str[start:end].decode('utf-8')
00729       else:
00730         self.action_goal.goal_id.id = str[start:end]
00731       start = end
00732       end += 4
00733       (length,) = _struct_I.unpack(str[start:end])
00734       start = end
00735       end += length
00736       if python3:
00737         self.action_goal.goal.command = str[start:end].decode('utf-8')
00738       else:
00739         self.action_goal.goal.command = str[start:end]
00740       start = end
00741       end += 4
00742       (length,) = _struct_I.unpack(str[start:end])
00743       start = end
00744       end += length
00745       if python3:
00746         self.action_goal.goal.pose_name = str[start:end].decode('utf-8')
00747       else:
00748         self.action_goal.goal.pose_name = str[start:end]
00749       start = end
00750       end += 4
00751       (length,) = _struct_I.unpack(str[start:end])
00752       pattern = '<%sf'%length
00753       start = end
00754       end += struct.calcsize(pattern)
00755       self.action_goal.goal.joint_angles = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=length)
00756       _x = self
00757       start = end
00758       end += 64
00759       (_x.action_goal.goal.end_effector_pose.position.x, _x.action_goal.goal.end_effector_pose.position.y, _x.action_goal.goal.end_effector_pose.position.z, _x.action_goal.goal.end_effector_pose.orientation.x, _x.action_goal.goal.end_effector_pose.orientation.y, _x.action_goal.goal.end_effector_pose.orientation.z, _x.action_goal.goal.end_effector_pose.orientation.w, _x.action_goal.goal.end_effector_loid,) = _struct_7dQ.unpack(str[start:end])
00760       start = end
00761       end += 4
00762       (length,) = _struct_I.unpack(str[start:end])
00763       start = end
00764       end += length
00765       if python3:
00766         self.action_goal.goal.hand_primitive = str[start:end].decode('utf-8')
00767       else:
00768         self.action_goal.goal.hand_primitive = str[start:end]
00769       start = end
00770       end += 4
00771       (length,) = _struct_I.unpack(str[start:end])
00772       start = end
00773       end += length
00774       if python3:
00775         self.action_goal.goal.object_type = str[start:end].decode('utf-8')
00776       else:
00777         self.action_goal.goal.object_type = str[start:end]
00778       start = end
00779       end += 4
00780       (length,) = _struct_I.unpack(str[start:end])
00781       pattern = '<%sQ'%length
00782       start = end
00783       end += struct.calcsize(pattern)
00784       self.action_goal.goal.obstacle_ids = numpy.frombuffer(str[start:end], dtype=numpy.uint64, count=length)
00785       _x = self
00786       start = end
00787       end += 20
00788       (_x.action_goal.goal.distance, _x.action_goal.goal.supporting_plane, _x.action_result.header.seq, _x.action_result.header.stamp.secs, _x.action_result.header.stamp.nsecs,) = _struct_2f3I.unpack(str[start:end])
00789       start = end
00790       end += 4
00791       (length,) = _struct_I.unpack(str[start:end])
00792       start = end
00793       end += length
00794       if python3:
00795         self.action_result.header.frame_id = str[start:end].decode('utf-8')
00796       else:
00797         self.action_result.header.frame_id = str[start:end]
00798       _x = self
00799       start = end
00800       end += 8
00801       (_x.action_result.status.goal_id.stamp.secs, _x.action_result.status.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00802       start = end
00803       end += 4
00804       (length,) = _struct_I.unpack(str[start:end])
00805       start = end
00806       end += length
00807       if python3:
00808         self.action_result.status.goal_id.id = str[start:end].decode('utf-8')
00809       else:
00810         self.action_result.status.goal_id.id = str[start:end]
00811       start = end
00812       end += 1
00813       (self.action_result.status.status,) = _struct_B.unpack(str[start:end])
00814       start = end
00815       end += 4
00816       (length,) = _struct_I.unpack(str[start:end])
00817       start = end
00818       end += length
00819       if python3:
00820         self.action_result.status.text = str[start:end].decode('utf-8')
00821       else:
00822         self.action_result.status.text = str[start:end]
00823       start = end
00824       end += 4
00825       (self.action_result.result.distance_to_goal,) = _struct_f.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_result.result.situation = str[start:end].decode('utf-8')
00833       else:
00834         self.action_result.result.situation = str[start:end]
00835       start = end
00836       end += 8
00837       (self.action_result.result.error.error_id,) = _struct_Q.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_result.result.error.node_name = str[start:end].decode('utf-8')
00845       else:
00846         self.action_result.result.error.node_name = str[start:end]
00847       start = end
00848       end += 4
00849       (length,) = _struct_I.unpack(str[start:end])
00850       start = end
00851       end += length
00852       if python3:
00853         self.action_result.result.error.error_description = str[start:end].decode('utf-8')
00854       else:
00855         self.action_result.result.error.error_description = str[start:end]
00856       start = end
00857       end += 4
00858       (length,) = _struct_I.unpack(str[start:end])
00859       pattern = '<%sQ'%length
00860       start = end
00861       end += struct.calcsize(pattern)
00862       self.action_result.result.better_base_ids = numpy.frombuffer(str[start:end], dtype=numpy.uint64, count=length)
00863       _x = self
00864       start = end
00865       end += 12
00866       (_x.action_feedback.header.seq, _x.action_feedback.header.stamp.secs, _x.action_feedback.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00867       start = end
00868       end += 4
00869       (length,) = _struct_I.unpack(str[start:end])
00870       start = end
00871       end += length
00872       if python3:
00873         self.action_feedback.header.frame_id = str[start:end].decode('utf-8')
00874       else:
00875         self.action_feedback.header.frame_id = str[start:end]
00876       _x = self
00877       start = end
00878       end += 8
00879       (_x.action_feedback.status.goal_id.stamp.secs, _x.action_feedback.status.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00880       start = end
00881       end += 4
00882       (length,) = _struct_I.unpack(str[start:end])
00883       start = end
00884       end += length
00885       if python3:
00886         self.action_feedback.status.goal_id.id = str[start:end].decode('utf-8')
00887       else:
00888         self.action_feedback.status.goal_id.id = str[start:end]
00889       start = end
00890       end += 1
00891       (self.action_feedback.status.status,) = _struct_B.unpack(str[start:end])
00892       start = end
00893       end += 4
00894       (length,) = _struct_I.unpack(str[start:end])
00895       start = end
00896       end += length
00897       if python3:
00898         self.action_feedback.status.text = str[start:end].decode('utf-8')
00899       else:
00900         self.action_feedback.status.text = str[start:end]
00901       start = end
00902       end += 4
00903       (self.action_feedback.feedback.distance_to_goal,) = _struct_f.unpack(str[start:end])
00904       return self
00905     except struct.error as e:
00906       raise genpy.DeserializationError(e) #most likely buffer underfill
00907 
00908 _struct_I = genpy.struct_I
00909 _struct_B = struct.Struct("<B")
00910 _struct_2f3I = struct.Struct("<2f3I")
00911 _struct_f = struct.Struct("<f")
00912 _struct_Q = struct.Struct("<Q")
00913 _struct_7dQ = struct.Struct("<7dQ")
00914 _struct_3I = struct.Struct("<3I")
00915 _struct_2I = struct.Struct("<2I")


cogman_msgs
Author(s): Alexis Maldonado
autogenerated on Mon Oct 6 2014 00:48:49