_SetPointClusterGraspParams.py

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"""autogenerated by genpy from pr2_gripper_grasp_planner_cluster/SetPointClusterGraspParamsRequest.msg. Do not edit."""
import sys
python3 = True if sys.hexversion > 0x03000000 else False
import genpy
import struct


class SetPointClusterGraspParamsRequest(genpy.Message):
  _md5sum = "176c495282fca5febd8468900b9ef915"
  _type = "pr2_gripper_grasp_planner_cluster/SetPointClusterGraspParamsRequest"
  _has_header = False #flag to mark the presence of a Header object
  _full_text = """
float64 height_good_for_side_grasps


float64 gripper_opening


float64 side_step


float64 palm_step


bool overhead_grasps_only


bool side_grasps_only


bool include_high_point_grasps


bool pregrasp_just_outside_box


int32 backoff_depth_steps


bool disable_grasp_neighbor_check


bool randomize_grasps


"""
  __slots__ = ['height_good_for_side_grasps','gripper_opening','side_step','palm_step','overhead_grasps_only','side_grasps_only','include_high_point_grasps','pregrasp_just_outside_box','backoff_depth_steps','disable_grasp_neighbor_check','randomize_grasps']
  _slot_types = ['float64','float64','float64','float64','bool','bool','bool','bool','int32','bool','bool']

  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:
       height_good_for_side_grasps,gripper_opening,side_step,palm_step,overhead_grasps_only,side_grasps_only,include_high_point_grasps,pregrasp_just_outside_box,backoff_depth_steps,disable_grasp_neighbor_check,randomize_grasps

    :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(SetPointClusterGraspParamsRequest, self).__init__(*args, **kwds)
      #message fields cannot be None, assign default values for those that are
      if self.height_good_for_side_grasps is None:
        self.height_good_for_side_grasps = 0.
      if self.gripper_opening is None:
        self.gripper_opening = 0.
      if self.side_step is None:
        self.side_step = 0.
      if self.palm_step is None:
        self.palm_step = 0.
      if self.overhead_grasps_only is None:
        self.overhead_grasps_only = False
      if self.side_grasps_only is None:
        self.side_grasps_only = False
      if self.include_high_point_grasps is None:
        self.include_high_point_grasps = False
      if self.pregrasp_just_outside_box is None:
        self.pregrasp_just_outside_box = False
      if self.backoff_depth_steps is None:
        self.backoff_depth_steps = 0
      if self.disable_grasp_neighbor_check is None:
        self.disable_grasp_neighbor_check = False
      if self.randomize_grasps is None:
        self.randomize_grasps = False
    else:
      self.height_good_for_side_grasps = 0.
      self.gripper_opening = 0.
      self.side_step = 0.
      self.palm_step = 0.
      self.overhead_grasps_only = False
      self.side_grasps_only = False
      self.include_high_point_grasps = False
      self.pregrasp_just_outside_box = False
      self.backoff_depth_steps = 0
      self.disable_grasp_neighbor_check = False
      self.randomize_grasps = False

  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_4d4Bi2B.pack(_x.height_good_for_side_grasps, _x.gripper_opening, _x.side_step, _x.palm_step, _x.overhead_grasps_only, _x.side_grasps_only, _x.include_high_point_grasps, _x.pregrasp_just_outside_box, _x.backoff_depth_steps, _x.disable_grasp_neighbor_check, _x.randomize_grasps))
    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
      _x = self
      start = end
      end += 42
      (_x.height_good_for_side_grasps, _x.gripper_opening, _x.side_step, _x.palm_step, _x.overhead_grasps_only, _x.side_grasps_only, _x.include_high_point_grasps, _x.pregrasp_just_outside_box, _x.backoff_depth_steps, _x.disable_grasp_neighbor_check, _x.randomize_grasps,) = _struct_4d4Bi2B.unpack(str[start:end])
      self.overhead_grasps_only = bool(self.overhead_grasps_only)
      self.side_grasps_only = bool(self.side_grasps_only)
      self.include_high_point_grasps = bool(self.include_high_point_grasps)
      self.pregrasp_just_outside_box = bool(self.pregrasp_just_outside_box)
      self.disable_grasp_neighbor_check = bool(self.disable_grasp_neighbor_check)
      self.randomize_grasps = bool(self.randomize_grasps)
      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_4d4Bi2B.pack(_x.height_good_for_side_grasps, _x.gripper_opening, _x.side_step, _x.palm_step, _x.overhead_grasps_only, _x.side_grasps_only, _x.include_high_point_grasps, _x.pregrasp_just_outside_box, _x.backoff_depth_steps, _x.disable_grasp_neighbor_check, _x.randomize_grasps))
    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
      _x = self
      start = end
      end += 42
      (_x.height_good_for_side_grasps, _x.gripper_opening, _x.side_step, _x.palm_step, _x.overhead_grasps_only, _x.side_grasps_only, _x.include_high_point_grasps, _x.pregrasp_just_outside_box, _x.backoff_depth_steps, _x.disable_grasp_neighbor_check, _x.randomize_grasps,) = _struct_4d4Bi2B.unpack(str[start:end])
      self.overhead_grasps_only = bool(self.overhead_grasps_only)
      self.side_grasps_only = bool(self.side_grasps_only)
      self.include_high_point_grasps = bool(self.include_high_point_grasps)
      self.pregrasp_just_outside_box = bool(self.pregrasp_just_outside_box)
      self.disable_grasp_neighbor_check = bool(self.disable_grasp_neighbor_check)
      self.randomize_grasps = bool(self.randomize_grasps)
      return self
    except struct.error as e:
      raise genpy.DeserializationError(e) #most likely buffer underfill

_struct_I = genpy.struct_I
_struct_4d4Bi2B = struct.Struct("<4d4Bi2B")
"""autogenerated by genpy from pr2_gripper_grasp_planner_cluster/SetPointClusterGraspParamsResponse.msg. Do not edit."""
import sys
python3 = True if sys.hexversion > 0x03000000 else False
import genpy
import struct


class SetPointClusterGraspParamsResponse(genpy.Message):
  _md5sum = "d41d8cd98f00b204e9800998ecf8427e"
  _type = "pr2_gripper_grasp_planner_cluster/SetPointClusterGraspParamsResponse"
  _has_header = False #flag to mark the presence of a Header object
  _full_text = """
"""
  __slots__ = []
  _slot_types = []

  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:
       

    :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(SetPointClusterGraspParamsResponse, self).__init__(*args, **kwds)

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

  def serialize(self, buff):
    """
    serialize message into buffer
    :param buff: buffer, ``StringIO``
    """
    try:
      pass
    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
      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:
      pass
    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
      return self
    except struct.error as e:
      raise genpy.DeserializationError(e) #most likely buffer underfill

_struct_I = genpy.struct_I
class SetPointClusterGraspParams(object):
  _type          = 'pr2_gripper_grasp_planner_cluster/SetPointClusterGraspParams'
  _md5sum = '176c495282fca5febd8468900b9ef915'
  _request_class  = SetPointClusterGraspParamsRequest
  _response_class = SetPointClusterGraspParamsResponse