_ApplyBodyWrench.py

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"""autogenerated by genpy from gazebo_msgs/ApplyBodyWrenchRequest.msg. Do not edit."""
import sys
python3 = True if sys.hexversion > 0x03000000 else False
import genpy
import struct

import geometry_msgs.msg
import genpy

class ApplyBodyWrenchRequest(genpy.Message):
  _md5sum = "e37e6adf97eba5095baa77dffb71e5bd"
  _type = "gazebo_msgs/ApplyBodyWrenchRequest"
  _has_header = False #flag to mark the presence of a Header object
  _full_text = """


string body_name


string reference_frame


geometry_msgs/Point  reference_point
geometry_msgs/Wrench wrench
time start_time


duration duration





================================================================================
MSG: geometry_msgs/Point
# This contains the position of a point in free space
float64 x
float64 y
float64 z

================================================================================
MSG: geometry_msgs/Wrench
# This represents force in free space, separated into
# its linear and angular parts.
Vector3  force
Vector3  torque

================================================================================
MSG: geometry_msgs/Vector3
# This represents a vector in free space. 

float64 x
float64 y
float64 z
"""
  __slots__ = ['body_name','reference_frame','reference_point','wrench','start_time','duration']
  _slot_types = ['string','string','geometry_msgs/Point','geometry_msgs/Wrench','time','duration']

  def __init__(self, *args, **kwds):
    """
    Constructor. Any message fields that are implicitly/explicitly
    set to None will be assigned a default value. The recommend
    use is keyword arguments as this is more robust to future message
    changes.  You cannot mix in-order arguments and keyword arguments.

    The available fields are:
       body_name,reference_frame,reference_point,wrench,start_time,duration

    :param args: complete set of field values, in .msg order
    :param kwds: use keyword arguments corresponding to message field names
    to set specific fields.
    """
    if args or kwds:
      super(ApplyBodyWrenchRequest, self).__init__(*args, **kwds)
      #message fields cannot be None, assign default values for those that are
      if self.body_name is None:
        self.body_name = ''
      if self.reference_frame is None:
        self.reference_frame = ''
      if self.reference_point is None:
        self.reference_point = geometry_msgs.msg.Point()
      if self.wrench is None:
        self.wrench = geometry_msgs.msg.Wrench()
      if self.start_time is None:
        self.start_time = genpy.Time()
      if self.duration is None:
        self.duration = genpy.Duration()
    else:
      self.body_name = ''
      self.reference_frame = ''
      self.reference_point = geometry_msgs.msg.Point()
      self.wrench = geometry_msgs.msg.Wrench()
      self.start_time = genpy.Time()
      self.duration = genpy.Duration()

  def _get_types(self):
    """
    internal API method
    """
    return self._slot_types

  def serialize(self, buff):
    """
    serialize message into buffer
    :param buff: buffer, ``StringIO``
    """
    try:
      _x = self.body_name
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self.reference_frame
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_9d2I2i.pack(_x.reference_point.x, _x.reference_point.y, _x.reference_point.z, _x.wrench.force.x, _x.wrench.force.y, _x.wrench.force.z, _x.wrench.torque.x, _x.wrench.torque.y, _x.wrench.torque.z, _x.start_time.secs, _x.start_time.nsecs, _x.duration.secs, _x.duration.nsecs))
    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))

  def deserialize(self, str):
    """
    unpack serialized message in str into this message instance
    :param str: byte array of serialized message, ``str``
    """
    try:
      if self.reference_point is None:
        self.reference_point = geometry_msgs.msg.Point()
      if self.wrench is None:
        self.wrench = geometry_msgs.msg.Wrench()
      if self.start_time is None:
        self.start_time = genpy.Time()
      if self.duration is None:
        self.duration = genpy.Duration()
      end = 0
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.body_name = str[start:end].decode('utf-8')
      else:
        self.body_name = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.reference_frame = str[start:end].decode('utf-8')
      else:
        self.reference_frame = str[start:end]
      _x = self
      start = end
      end += 88
      (_x.reference_point.x, _x.reference_point.y, _x.reference_point.z, _x.wrench.force.x, _x.wrench.force.y, _x.wrench.force.z, _x.wrench.torque.x, _x.wrench.torque.y, _x.wrench.torque.z, _x.start_time.secs, _x.start_time.nsecs, _x.duration.secs, _x.duration.nsecs,) = _struct_9d2I2i.unpack(str[start:end])
      self.start_time.canon()
      self.duration.canon()
      return self
    except struct.error as e:
      raise genpy.DeserializationError(e) #most likely buffer underfill


  def serialize_numpy(self, buff, numpy):
    """
    serialize message with numpy array types into buffer
    :param buff: buffer, ``StringIO``
    :param numpy: numpy python module
    """
    try:
      _x = self.body_name
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self.reference_frame
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_9d2I2i.pack(_x.reference_point.x, _x.reference_point.y, _x.reference_point.z, _x.wrench.force.x, _x.wrench.force.y, _x.wrench.force.z, _x.wrench.torque.x, _x.wrench.torque.y, _x.wrench.torque.z, _x.start_time.secs, _x.start_time.nsecs, _x.duration.secs, _x.duration.nsecs))
    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))

  def deserialize_numpy(self, str, numpy):
    """
    unpack serialized message in str into this message instance using numpy for array types
    :param str: byte array of serialized message, ``str``
    :param numpy: numpy python module
    """
    try:
      if self.reference_point is None:
        self.reference_point = geometry_msgs.msg.Point()
      if self.wrench is None:
        self.wrench = geometry_msgs.msg.Wrench()
      if self.start_time is None:
        self.start_time = genpy.Time()
      if self.duration is None:
        self.duration = genpy.Duration()
      end = 0
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.body_name = str[start:end].decode('utf-8')
      else:
        self.body_name = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.reference_frame = str[start:end].decode('utf-8')
      else:
        self.reference_frame = str[start:end]
      _x = self
      start = end
      end += 88
      (_x.reference_point.x, _x.reference_point.y, _x.reference_point.z, _x.wrench.force.x, _x.wrench.force.y, _x.wrench.force.z, _x.wrench.torque.x, _x.wrench.torque.y, _x.wrench.torque.z, _x.start_time.secs, _x.start_time.nsecs, _x.duration.secs, _x.duration.nsecs,) = _struct_9d2I2i.unpack(str[start:end])
      self.start_time.canon()
      self.duration.canon()
      return self
    except struct.error as e:
      raise genpy.DeserializationError(e) #most likely buffer underfill

_struct_I = genpy.struct_I
_struct_9d2I2i = struct.Struct("<9d2I2i")
"""autogenerated by genpy from gazebo_msgs/ApplyBodyWrenchResponse.msg. Do not edit."""
import sys
python3 = True if sys.hexversion > 0x03000000 else False
import genpy
import struct


class ApplyBodyWrenchResponse(genpy.Message):
  _md5sum = "2ec6f3eff0161f4257b808b12bc830c2"
  _type = "gazebo_msgs/ApplyBodyWrenchResponse"
  _has_header = False #flag to mark the presence of a Header object
  _full_text = """bool success
string status_message


"""
  __slots__ = ['success','status_message']
  _slot_types = ['bool','string']

  def __init__(self, *args, **kwds):
    """
    Constructor. Any message fields that are implicitly/explicitly
    set to None will be assigned a default value. The recommend
    use is keyword arguments as this is more robust to future message
    changes.  You cannot mix in-order arguments and keyword arguments.

    The available fields are:
       success,status_message

    :param args: complete set of field values, in .msg order
    :param kwds: use keyword arguments corresponding to message field names
    to set specific fields.
    """
    if args or kwds:
      super(ApplyBodyWrenchResponse, self).__init__(*args, **kwds)
      #message fields cannot be None, assign default values for those that are
      if self.success is None:
        self.success = False
      if self.status_message is None:
        self.status_message = ''
    else:
      self.success = False
      self.status_message = ''

  def _get_types(self):
    """
    internal API method
    """
    return self._slot_types

  def serialize(self, buff):
    """
    serialize message into buffer
    :param buff: buffer, ``StringIO``
    """
    try:
      buff.write(_struct_B.pack(self.success))
      _x = self.status_message
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))

  def deserialize(self, str):
    """
    unpack serialized message in str into this message instance
    :param str: byte array of serialized message, ``str``
    """
    try:
      end = 0
      start = end
      end += 1
      (self.success,) = _struct_B.unpack(str[start:end])
      self.success = bool(self.success)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.status_message = str[start:end].decode('utf-8')
      else:
        self.status_message = str[start:end]
      return self
    except struct.error as e:
      raise genpy.DeserializationError(e) #most likely buffer underfill


  def serialize_numpy(self, buff, numpy):
    """
    serialize message with numpy array types into buffer
    :param buff: buffer, ``StringIO``
    :param numpy: numpy python module
    """
    try:
      buff.write(_struct_B.pack(self.success))
      _x = self.status_message
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))

  def deserialize_numpy(self, str, numpy):
    """
    unpack serialized message in str into this message instance using numpy for array types
    :param str: byte array of serialized message, ``str``
    :param numpy: numpy python module
    """
    try:
      end = 0
      start = end
      end += 1
      (self.success,) = _struct_B.unpack(str[start:end])
      self.success = bool(self.success)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.status_message = str[start:end].decode('utf-8')
      else:
        self.status_message = str[start:end]
      return self
    except struct.error as e:
      raise genpy.DeserializationError(e) #most likely buffer underfill

_struct_I = genpy.struct_I
_struct_B = struct.Struct("<B")
class ApplyBodyWrench(object):
  _type          = 'gazebo_msgs/ApplyBodyWrench'
  _md5sum = '585b9f9618aa0581b207e2f2d90866bc'
  _request_class  = ApplyBodyWrenchRequest
  _response_class = ApplyBodyWrenchResponse