_GraspAdjust.py

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"""autogenerated by genpy from pr2_grasp_adjust/GraspAdjustRequest.msg. Do not edit."""
import sys
python3 = True if sys.hexversion > 0x03000000 else False
import genpy
import struct

import geometry_msgs.msg
import std_msgs.msg

class GraspAdjustRequest(genpy.Message):
  _md5sum = "e7ccb113bffaf7f7554b005b509b114a"
  _type = "pr2_grasp_adjust/GraspAdjustRequest"
  _has_header = False #flag to mark the presence of a Header object
  _full_text = """geometry_msgs/PoseStamped   grasp_pose
geometry_msgs/Vector3       roi_dims
uint8                       search_mode

int32 GLOBAL_SEARCH = 0
int32 LOCAL_SEARCH = 1
int32 SINGLE_POSE = 2


================================================================================
MSG: geometry_msgs/PoseStamped
# A Pose with reference coordinate frame and timestamp
Header header
Pose pose

================================================================================
MSG: std_msgs/Header
# Standard metadata for higher-level stamped data types.
# This is generally used to communicate timestamped data 
# in a particular coordinate frame.
# 
# sequence ID: consecutively increasing ID 
uint32 seq
#Two-integer timestamp that is expressed as:
# * stamp.secs: seconds (stamp_secs) since epoch
# * stamp.nsecs: nanoseconds since stamp_secs
# time-handling sugar is provided by the client library
time stamp
#Frame this data is associated with
# 0: no frame
# 1: global frame
string frame_id

================================================================================
MSG: geometry_msgs/Pose
# A representation of pose in free space, composed of postion and orientation. 
Point position
Quaternion orientation

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

================================================================================
MSG: geometry_msgs/Quaternion
# This represents an orientation in free space in quaternion form.

float64 x
float64 y
float64 z
float64 w

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

float64 x
float64 y
float64 z
"""
  # Pseudo-constants
  GLOBAL_SEARCH = 0
  LOCAL_SEARCH = 1
  SINGLE_POSE = 2

  __slots__ = ['grasp_pose','roi_dims','search_mode']
  _slot_types = ['geometry_msgs/PoseStamped','geometry_msgs/Vector3','uint8']

  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:
       grasp_pose,roi_dims,search_mode

    :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(GraspAdjustRequest, self).__init__(*args, **kwds)
      #message fields cannot be None, assign default values for those that are
      if self.grasp_pose is None:
        self.grasp_pose = geometry_msgs.msg.PoseStamped()
      if self.roi_dims is None:
        self.roi_dims = geometry_msgs.msg.Vector3()
      if self.search_mode is None:
        self.search_mode = 0
    else:
      self.grasp_pose = geometry_msgs.msg.PoseStamped()
      self.roi_dims = geometry_msgs.msg.Vector3()
      self.search_mode = 0

  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
      buff.write(_struct_3I.pack(_x.grasp_pose.header.seq, _x.grasp_pose.header.stamp.secs, _x.grasp_pose.header.stamp.nsecs))
      _x = self.grasp_pose.header.frame_id
      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_10dB.pack(_x.grasp_pose.pose.position.x, _x.grasp_pose.pose.position.y, _x.grasp_pose.pose.position.z, _x.grasp_pose.pose.orientation.x, _x.grasp_pose.pose.orientation.y, _x.grasp_pose.pose.orientation.z, _x.grasp_pose.pose.orientation.w, _x.roi_dims.x, _x.roi_dims.y, _x.roi_dims.z, _x.search_mode))
    except struct.error as se: self._check_types(se)
    except TypeError as te: self._check_types(te)

  def deserialize(self, str):
    """
    unpack serialized message in str into this message instance
    :param str: byte array of serialized message, ``str``
    """
    try:
      if self.grasp_pose is None:
        self.grasp_pose = geometry_msgs.msg.PoseStamped()
      if self.roi_dims is None:
        self.roi_dims = geometry_msgs.msg.Vector3()
      end = 0
      _x = self
      start = end
      end += 12
      (_x.grasp_pose.header.seq, _x.grasp_pose.header.stamp.secs, _x.grasp_pose.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.grasp_pose.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.grasp_pose.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 81
      (_x.grasp_pose.pose.position.x, _x.grasp_pose.pose.position.y, _x.grasp_pose.pose.position.z, _x.grasp_pose.pose.orientation.x, _x.grasp_pose.pose.orientation.y, _x.grasp_pose.pose.orientation.z, _x.grasp_pose.pose.orientation.w, _x.roi_dims.x, _x.roi_dims.y, _x.roi_dims.z, _x.search_mode,) = _struct_10dB.unpack(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:
      _x = self
      buff.write(_struct_3I.pack(_x.grasp_pose.header.seq, _x.grasp_pose.header.stamp.secs, _x.grasp_pose.header.stamp.nsecs))
      _x = self.grasp_pose.header.frame_id
      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_10dB.pack(_x.grasp_pose.pose.position.x, _x.grasp_pose.pose.position.y, _x.grasp_pose.pose.position.z, _x.grasp_pose.pose.orientation.x, _x.grasp_pose.pose.orientation.y, _x.grasp_pose.pose.orientation.z, _x.grasp_pose.pose.orientation.w, _x.roi_dims.x, _x.roi_dims.y, _x.roi_dims.z, _x.search_mode))
    except struct.error as se: self._check_types(se)
    except TypeError as te: self._check_types(te)

  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.grasp_pose is None:
        self.grasp_pose = geometry_msgs.msg.PoseStamped()
      if self.roi_dims is None:
        self.roi_dims = geometry_msgs.msg.Vector3()
      end = 0
      _x = self
      start = end
      end += 12
      (_x.grasp_pose.header.seq, _x.grasp_pose.header.stamp.secs, _x.grasp_pose.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.grasp_pose.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.grasp_pose.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 81
      (_x.grasp_pose.pose.position.x, _x.grasp_pose.pose.position.y, _x.grasp_pose.pose.position.z, _x.grasp_pose.pose.orientation.x, _x.grasp_pose.pose.orientation.y, _x.grasp_pose.pose.orientation.z, _x.grasp_pose.pose.orientation.w, _x.roi_dims.x, _x.roi_dims.y, _x.roi_dims.z, _x.search_mode,) = _struct_10dB.unpack(str[start:end])
      return self
    except struct.error as e:
      raise genpy.DeserializationError(e) #most likely buffer underfill

_struct_I = genpy.struct_I
_struct_10dB = struct.Struct("<10dB")
_struct_3I = struct.Struct("<3I")
"""autogenerated by genpy from pr2_grasp_adjust/GraspAdjustResponse.msg. Do not edit."""
import sys
python3 = True if sys.hexversion > 0x03000000 else False
import genpy
import struct

import geometry_msgs.msg
import object_manipulation_msgs.msg
import std_msgs.msg

class GraspAdjustResponse(genpy.Message):
  _md5sum = "8204d8a3e105f84787abc62e550e0312"
  _type = "pr2_grasp_adjust/GraspAdjustResponse"
  _has_header = False #flag to mark the presence of a Header object
  _full_text = """geometry_msgs/PoseStamped[]  grasp_poses
float64[]  pose_scores
float32[]  gripper_openings

object_manipulation_msgs/ManipulationResult result



================================================================================
MSG: geometry_msgs/PoseStamped
# A Pose with reference coordinate frame and timestamp
Header header
Pose pose

================================================================================
MSG: std_msgs/Header
# Standard metadata for higher-level stamped data types.
# This is generally used to communicate timestamped data 
# in a particular coordinate frame.
# 
# sequence ID: consecutively increasing ID 
uint32 seq
#Two-integer timestamp that is expressed as:
# * stamp.secs: seconds (stamp_secs) since epoch
# * stamp.nsecs: nanoseconds since stamp_secs
# time-handling sugar is provided by the client library
time stamp
#Frame this data is associated with
# 0: no frame
# 1: global frame
string frame_id

================================================================================
MSG: geometry_msgs/Pose
# A representation of pose in free space, composed of postion and orientation. 
Point position
Quaternion orientation

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

================================================================================
MSG: geometry_msgs/Quaternion
# This represents an orientation in free space in quaternion form.

float64 x
float64 y
float64 z
float64 w

================================================================================
MSG: object_manipulation_msgs/ManipulationResult
# Result codes for manipulation tasks

# task completed as expected
# generally means you can proceed as planned
int32 SUCCESS = 1

# task not possible (e.g. out of reach or obstacles in the way)
# generally means that the world was not disturbed, so you can try another task
int32 UNFEASIBLE = -1

# task was thought possible, but failed due to unexpected events during execution
# it is likely that the world was disturbed, so you are encouraged to refresh
# your sensed world model before proceeding to another task
int32 FAILED = -2

# a lower level error prevented task completion (e.g. joint controller not responding)
# generally requires human attention
int32 ERROR = -3

# means that at some point during execution we ended up in a state that the collision-aware
# arm navigation module will not move out of. The world was likely not disturbed, but you 
# probably need a new collision map to move the arm out of the stuck position
int32 ARM_MOVEMENT_PREVENTED = -4

# specific to grasp actions
# the object was grasped successfully, but the lift attempt could not achieve the minimum lift distance requested
# it is likely that the collision environment will see collisions between the hand/object and the support surface
int32 LIFT_FAILED = -5

# specific to place actions
# the object was placed successfully, but the retreat attempt could not achieve the minimum retreat distance requested
# it is likely that the collision environment will see collisions between the hand and the object
int32 RETREAT_FAILED = -6

# indicates that somewhere along the line a human said "wait, stop, this is bad, go back and do something else"
int32 CANCELLED = -7

# the actual value of this error code
int32 value

"""
  __slots__ = ['grasp_poses','pose_scores','gripper_openings','result']
  _slot_types = ['geometry_msgs/PoseStamped[]','float64[]','float32[]','object_manipulation_msgs/ManipulationResult']

  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:
       grasp_poses,pose_scores,gripper_openings,result

    :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(GraspAdjustResponse, self).__init__(*args, **kwds)
      #message fields cannot be None, assign default values for those that are
      if self.grasp_poses is None:
        self.grasp_poses = []
      if self.pose_scores is None:
        self.pose_scores = []
      if self.gripper_openings is None:
        self.gripper_openings = []
      if self.result is None:
        self.result = object_manipulation_msgs.msg.ManipulationResult()
    else:
      self.grasp_poses = []
      self.pose_scores = []
      self.gripper_openings = []
      self.result = object_manipulation_msgs.msg.ManipulationResult()

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

  def serialize(self, buff):
    """
    serialize message into buffer
    :param buff: buffer, ``StringIO``
    """
    try:
      length = len(self.grasp_poses)
      buff.write(_struct_I.pack(length))
      for val1 in self.grasp_poses:
        _v1 = val1.header
        buff.write(_struct_I.pack(_v1.seq))
        _v2 = _v1.stamp
        _x = _v2
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v1.frame_id
        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))
        _v3 = val1.pose
        _v4 = _v3.position
        _x = _v4
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v5 = _v3.orientation
        _x = _v5
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
      length = len(self.pose_scores)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.pose_scores))
      length = len(self.gripper_openings)
      buff.write(_struct_I.pack(length))
      pattern = '<%sf'%length
      buff.write(struct.pack(pattern, *self.gripper_openings))
      buff.write(_struct_i.pack(self.result.value))
    except struct.error as se: self._check_types(se)
    except TypeError as te: self._check_types(te)

  def deserialize(self, str):
    """
    unpack serialized message in str into this message instance
    :param str: byte array of serialized message, ``str``
    """
    try:
      if self.grasp_poses is None:
        self.grasp_poses = None
      if self.result is None:
        self.result = object_manipulation_msgs.msg.ManipulationResult()
      end = 0
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.grasp_poses = []
      for i in range(0, length):
        val1 = geometry_msgs.msg.PoseStamped()
        _v6 = val1.header
        start = end
        end += 4
        (_v6.seq,) = _struct_I.unpack(str[start:end])
        _v7 = _v6.stamp
        _x = _v7
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v6.frame_id = str[start:end].decode('utf-8')
        else:
          _v6.frame_id = str[start:end]
        _v8 = val1.pose
        _v9 = _v8.position
        _x = _v9
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v10 = _v8.orientation
        _x = _v10
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        self.grasp_poses.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.pose_scores = struct.unpack(pattern, str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sf'%length
      start = end
      end += struct.calcsize(pattern)
      self.gripper_openings = struct.unpack(pattern, str[start:end])
      start = end
      end += 4
      (self.result.value,) = _struct_i.unpack(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:
      length = len(self.grasp_poses)
      buff.write(_struct_I.pack(length))
      for val1 in self.grasp_poses:
        _v11 = val1.header
        buff.write(_struct_I.pack(_v11.seq))
        _v12 = _v11.stamp
        _x = _v12
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v11.frame_id
        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))
        _v13 = val1.pose
        _v14 = _v13.position
        _x = _v14
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v15 = _v13.orientation
        _x = _v15
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
      length = len(self.pose_scores)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.pose_scores.tostring())
      length = len(self.gripper_openings)
      buff.write(_struct_I.pack(length))
      pattern = '<%sf'%length
      buff.write(self.gripper_openings.tostring())
      buff.write(_struct_i.pack(self.result.value))
    except struct.error as se: self._check_types(se)
    except TypeError as te: self._check_types(te)

  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.grasp_poses is None:
        self.grasp_poses = None
      if self.result is None:
        self.result = object_manipulation_msgs.msg.ManipulationResult()
      end = 0
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.grasp_poses = []
      for i in range(0, length):
        val1 = geometry_msgs.msg.PoseStamped()
        _v16 = val1.header
        start = end
        end += 4
        (_v16.seq,) = _struct_I.unpack(str[start:end])
        _v17 = _v16.stamp
        _x = _v17
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v16.frame_id = str[start:end].decode('utf-8')
        else:
          _v16.frame_id = str[start:end]
        _v18 = val1.pose
        _v19 = _v18.position
        _x = _v19
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v20 = _v18.orientation
        _x = _v20
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        self.grasp_poses.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.pose_scores = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sf'%length
      start = end
      end += struct.calcsize(pattern)
      self.gripper_openings = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=length)
      start = end
      end += 4
      (self.result.value,) = _struct_i.unpack(str[start:end])
      return self
    except struct.error as e:
      raise genpy.DeserializationError(e) #most likely buffer underfill

_struct_I = genpy.struct_I
_struct_i = struct.Struct("<i")
_struct_4d = struct.Struct("<4d")
_struct_2I = struct.Struct("<2I")
_struct_3d = struct.Struct("<3d")
class GraspAdjust(object):
  _type          = 'pr2_grasp_adjust/GraspAdjust'
  _md5sum = '155f94ed302ff095096df9b37ecc7886'
  _request_class  = GraspAdjustRequest
  _response_class = GraspAdjustResponse