_JTTaskControllerState.py
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00001 """autogenerated by genpy from pr2_manipulation_controllers/JTTaskControllerState.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 geometry_msgs.msg
00008 import std_msgs.msg
00009 
00010 class JTTaskControllerState(genpy.Message):
00011   _md5sum = "d654d2c71a8ecc5db9c015c4141c21d0"
00012   _type = "pr2_manipulation_controllers/JTTaskControllerState"
00013   _has_header = True #flag to mark the presence of a Header object
00014   _full_text = """Header header
00015 geometry_msgs/PoseStamped x
00016 geometry_msgs/PoseStamped x_desi
00017 geometry_msgs/PoseStamped x_desi_filtered
00018 geometry_msgs/Twist x_err
00019 geometry_msgs/Twist xd
00020 geometry_msgs/Twist xd_desi
00021 geometry_msgs/Wrench F
00022 float64[] tau_pose
00023 float64[] tau_posture
00024 float64[] tau
00025 std_msgs/Float64MultiArray J
00026 std_msgs/Float64MultiArray N
00027 
00028 # Environmental stiffness
00029 float64 df
00030 float64 dx
00031 float64 Df
00032 float64 Dx
00033 float64 stiffness
00034 float64 compliance
00035 ================================================================================
00036 MSG: std_msgs/Header
00037 # Standard metadata for higher-level stamped data types.
00038 # This is generally used to communicate timestamped data 
00039 # in a particular coordinate frame.
00040 # 
00041 # sequence ID: consecutively increasing ID 
00042 uint32 seq
00043 #Two-integer timestamp that is expressed as:
00044 # * stamp.secs: seconds (stamp_secs) since epoch
00045 # * stamp.nsecs: nanoseconds since stamp_secs
00046 # time-handling sugar is provided by the client library
00047 time stamp
00048 #Frame this data is associated with
00049 # 0: no frame
00050 # 1: global frame
00051 string frame_id
00052 
00053 ================================================================================
00054 MSG: geometry_msgs/PoseStamped
00055 # A Pose with reference coordinate frame and timestamp
00056 Header header
00057 Pose pose
00058 
00059 ================================================================================
00060 MSG: geometry_msgs/Pose
00061 # A representation of pose in free space, composed of postion and orientation. 
00062 Point position
00063 Quaternion orientation
00064 
00065 ================================================================================
00066 MSG: geometry_msgs/Point
00067 # This contains the position of a point in free space
00068 float64 x
00069 float64 y
00070 float64 z
00071 
00072 ================================================================================
00073 MSG: geometry_msgs/Quaternion
00074 # This represents an orientation in free space in quaternion form.
00075 
00076 float64 x
00077 float64 y
00078 float64 z
00079 float64 w
00080 
00081 ================================================================================
00082 MSG: geometry_msgs/Twist
00083 # This expresses velocity in free space broken into its linear and angular parts.
00084 Vector3  linear
00085 Vector3  angular
00086 
00087 ================================================================================
00088 MSG: geometry_msgs/Vector3
00089 # This represents a vector in free space. 
00090 
00091 float64 x
00092 float64 y
00093 float64 z
00094 ================================================================================
00095 MSG: geometry_msgs/Wrench
00096 # This represents force in free space, separated into
00097 # its linear and angular parts.
00098 Vector3  force
00099 Vector3  torque
00100 
00101 ================================================================================
00102 MSG: std_msgs/Float64MultiArray
00103 # Please look at the MultiArrayLayout message definition for
00104 # documentation on all multiarrays.
00105 
00106 MultiArrayLayout  layout        # specification of data layout
00107 float64[]         data          # array of data
00108 
00109 
00110 ================================================================================
00111 MSG: std_msgs/MultiArrayLayout
00112 # The multiarray declares a generic multi-dimensional array of a
00113 # particular data type.  Dimensions are ordered from outer most
00114 # to inner most.
00115 
00116 MultiArrayDimension[] dim # Array of dimension properties
00117 uint32 data_offset        # padding bytes at front of data
00118 
00119 # Accessors should ALWAYS be written in terms of dimension stride
00120 # and specified outer-most dimension first.
00121 # 
00122 # multiarray(i,j,k) = data[data_offset + dim_stride[1]*i + dim_stride[2]*j + k]
00123 #
00124 # A standard, 3-channel 640x480 image with interleaved color channels
00125 # would be specified as:
00126 #
00127 # dim[0].label  = "height"
00128 # dim[0].size   = 480
00129 # dim[0].stride = 3*640*480 = 921600  (note dim[0] stride is just size of image)
00130 # dim[1].label  = "width"
00131 # dim[1].size   = 640
00132 # dim[1].stride = 3*640 = 1920
00133 # dim[2].label  = "channel"
00134 # dim[2].size   = 3
00135 # dim[2].stride = 3
00136 #
00137 # multiarray(i,j,k) refers to the ith row, jth column, and kth channel.
00138 ================================================================================
00139 MSG: std_msgs/MultiArrayDimension
00140 string label   # label of given dimension
00141 uint32 size    # size of given dimension (in type units)
00142 uint32 stride  # stride of given dimension
00143 """
00144   __slots__ = ['header','x','x_desi','x_desi_filtered','x_err','xd','xd_desi','F','tau_pose','tau_posture','tau','J','N','df','dx','Df','Dx','stiffness','compliance']
00145   _slot_types = ['std_msgs/Header','geometry_msgs/PoseStamped','geometry_msgs/PoseStamped','geometry_msgs/PoseStamped','geometry_msgs/Twist','geometry_msgs/Twist','geometry_msgs/Twist','geometry_msgs/Wrench','float64[]','float64[]','float64[]','std_msgs/Float64MultiArray','std_msgs/Float64MultiArray','float64','float64','float64','float64','float64','float64']
00146 
00147   def __init__(self, *args, **kwds):
00148     """
00149     Constructor. Any message fields that are implicitly/explicitly
00150     set to None will be assigned a default value. The recommend
00151     use is keyword arguments as this is more robust to future message
00152     changes.  You cannot mix in-order arguments and keyword arguments.
00153 
00154     The available fields are:
00155        header,x,x_desi,x_desi_filtered,x_err,xd,xd_desi,F,tau_pose,tau_posture,tau,J,N,df,dx,Df,Dx,stiffness,compliance
00156 
00157     :param args: complete set of field values, in .msg order
00158     :param kwds: use keyword arguments corresponding to message field names
00159     to set specific fields.
00160     """
00161     if args or kwds:
00162       super(JTTaskControllerState, self).__init__(*args, **kwds)
00163       #message fields cannot be None, assign default values for those that are
00164       if self.header is None:
00165         self.header = std_msgs.msg.Header()
00166       if self.x is None:
00167         self.x = geometry_msgs.msg.PoseStamped()
00168       if self.x_desi is None:
00169         self.x_desi = geometry_msgs.msg.PoseStamped()
00170       if self.x_desi_filtered is None:
00171         self.x_desi_filtered = geometry_msgs.msg.PoseStamped()
00172       if self.x_err is None:
00173         self.x_err = geometry_msgs.msg.Twist()
00174       if self.xd is None:
00175         self.xd = geometry_msgs.msg.Twist()
00176       if self.xd_desi is None:
00177         self.xd_desi = geometry_msgs.msg.Twist()
00178       if self.F is None:
00179         self.F = geometry_msgs.msg.Wrench()
00180       if self.tau_pose is None:
00181         self.tau_pose = []
00182       if self.tau_posture is None:
00183         self.tau_posture = []
00184       if self.tau is None:
00185         self.tau = []
00186       if self.J is None:
00187         self.J = std_msgs.msg.Float64MultiArray()
00188       if self.N is None:
00189         self.N = std_msgs.msg.Float64MultiArray()
00190       if self.df is None:
00191         self.df = 0.
00192       if self.dx is None:
00193         self.dx = 0.
00194       if self.Df is None:
00195         self.Df = 0.
00196       if self.Dx is None:
00197         self.Dx = 0.
00198       if self.stiffness is None:
00199         self.stiffness = 0.
00200       if self.compliance is None:
00201         self.compliance = 0.
00202     else:
00203       self.header = std_msgs.msg.Header()
00204       self.x = geometry_msgs.msg.PoseStamped()
00205       self.x_desi = geometry_msgs.msg.PoseStamped()
00206       self.x_desi_filtered = geometry_msgs.msg.PoseStamped()
00207       self.x_err = geometry_msgs.msg.Twist()
00208       self.xd = geometry_msgs.msg.Twist()
00209       self.xd_desi = geometry_msgs.msg.Twist()
00210       self.F = geometry_msgs.msg.Wrench()
00211       self.tau_pose = []
00212       self.tau_posture = []
00213       self.tau = []
00214       self.J = std_msgs.msg.Float64MultiArray()
00215       self.N = std_msgs.msg.Float64MultiArray()
00216       self.df = 0.
00217       self.dx = 0.
00218       self.Df = 0.
00219       self.Dx = 0.
00220       self.stiffness = 0.
00221       self.compliance = 0.
00222 
00223   def _get_types(self):
00224     """
00225     internal API method
00226     """
00227     return self._slot_types
00228 
00229   def serialize(self, buff):
00230     """
00231     serialize message into buffer
00232     :param buff: buffer, ``StringIO``
00233     """
00234     try:
00235       _x = self
00236       buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
00237       _x = self.header.frame_id
00238       length = len(_x)
00239       if python3 or type(_x) == unicode:
00240         _x = _x.encode('utf-8')
00241         length = len(_x)
00242       buff.write(struct.pack('<I%ss'%length, length, _x))
00243       _x = self
00244       buff.write(_struct_3I.pack(_x.x.header.seq, _x.x.header.stamp.secs, _x.x.header.stamp.nsecs))
00245       _x = self.x.header.frame_id
00246       length = len(_x)
00247       if python3 or type(_x) == unicode:
00248         _x = _x.encode('utf-8')
00249         length = len(_x)
00250       buff.write(struct.pack('<I%ss'%length, length, _x))
00251       _x = self
00252       buff.write(_struct_7d3I.pack(_x.x.pose.position.x, _x.x.pose.position.y, _x.x.pose.position.z, _x.x.pose.orientation.x, _x.x.pose.orientation.y, _x.x.pose.orientation.z, _x.x.pose.orientation.w, _x.x_desi.header.seq, _x.x_desi.header.stamp.secs, _x.x_desi.header.stamp.nsecs))
00253       _x = self.x_desi.header.frame_id
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
00260       buff.write(_struct_7d3I.pack(_x.x_desi.pose.position.x, _x.x_desi.pose.position.y, _x.x_desi.pose.position.z, _x.x_desi.pose.orientation.x, _x.x_desi.pose.orientation.y, _x.x_desi.pose.orientation.z, _x.x_desi.pose.orientation.w, _x.x_desi_filtered.header.seq, _x.x_desi_filtered.header.stamp.secs, _x.x_desi_filtered.header.stamp.nsecs))
00261       _x = self.x_desi_filtered.header.frame_id
00262       length = len(_x)
00263       if python3 or type(_x) == unicode:
00264         _x = _x.encode('utf-8')
00265         length = len(_x)
00266       buff.write(struct.pack('<I%ss'%length, length, _x))
00267       _x = self
00268       buff.write(_struct_31d.pack(_x.x_desi_filtered.pose.position.x, _x.x_desi_filtered.pose.position.y, _x.x_desi_filtered.pose.position.z, _x.x_desi_filtered.pose.orientation.x, _x.x_desi_filtered.pose.orientation.y, _x.x_desi_filtered.pose.orientation.z, _x.x_desi_filtered.pose.orientation.w, _x.x_err.linear.x, _x.x_err.linear.y, _x.x_err.linear.z, _x.x_err.angular.x, _x.x_err.angular.y, _x.x_err.angular.z, _x.xd.linear.x, _x.xd.linear.y, _x.xd.linear.z, _x.xd.angular.x, _x.xd.angular.y, _x.xd.angular.z, _x.xd_desi.linear.x, _x.xd_desi.linear.y, _x.xd_desi.linear.z, _x.xd_desi.angular.x, _x.xd_desi.angular.y, _x.xd_desi.angular.z, _x.F.force.x, _x.F.force.y, _x.F.force.z, _x.F.torque.x, _x.F.torque.y, _x.F.torque.z))
00269       length = len(self.tau_pose)
00270       buff.write(_struct_I.pack(length))
00271       pattern = '<%sd'%length
00272       buff.write(struct.pack(pattern, *self.tau_pose))
00273       length = len(self.tau_posture)
00274       buff.write(_struct_I.pack(length))
00275       pattern = '<%sd'%length
00276       buff.write(struct.pack(pattern, *self.tau_posture))
00277       length = len(self.tau)
00278       buff.write(_struct_I.pack(length))
00279       pattern = '<%sd'%length
00280       buff.write(struct.pack(pattern, *self.tau))
00281       length = len(self.J.layout.dim)
00282       buff.write(_struct_I.pack(length))
00283       for val1 in self.J.layout.dim:
00284         _x = val1.label
00285         length = len(_x)
00286         if python3 or type(_x) == unicode:
00287           _x = _x.encode('utf-8')
00288           length = len(_x)
00289         buff.write(struct.pack('<I%ss'%length, length, _x))
00290         _x = val1
00291         buff.write(_struct_2I.pack(_x.size, _x.stride))
00292       buff.write(_struct_I.pack(self.J.layout.data_offset))
00293       length = len(self.J.data)
00294       buff.write(_struct_I.pack(length))
00295       pattern = '<%sd'%length
00296       buff.write(struct.pack(pattern, *self.J.data))
00297       length = len(self.N.layout.dim)
00298       buff.write(_struct_I.pack(length))
00299       for val1 in self.N.layout.dim:
00300         _x = val1.label
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 = val1
00307         buff.write(_struct_2I.pack(_x.size, _x.stride))
00308       buff.write(_struct_I.pack(self.N.layout.data_offset))
00309       length = len(self.N.data)
00310       buff.write(_struct_I.pack(length))
00311       pattern = '<%sd'%length
00312       buff.write(struct.pack(pattern, *self.N.data))
00313       _x = self
00314       buff.write(_struct_6d.pack(_x.df, _x.dx, _x.Df, _x.Dx, _x.stiffness, _x.compliance))
00315     except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
00316     except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))
00317 
00318   def deserialize(self, str):
00319     """
00320     unpack serialized message in str into this message instance
00321     :param str: byte array of serialized message, ``str``
00322     """
00323     try:
00324       if self.header is None:
00325         self.header = std_msgs.msg.Header()
00326       if self.x is None:
00327         self.x = geometry_msgs.msg.PoseStamped()
00328       if self.x_desi is None:
00329         self.x_desi = geometry_msgs.msg.PoseStamped()
00330       if self.x_desi_filtered is None:
00331         self.x_desi_filtered = geometry_msgs.msg.PoseStamped()
00332       if self.x_err is None:
00333         self.x_err = geometry_msgs.msg.Twist()
00334       if self.xd is None:
00335         self.xd = geometry_msgs.msg.Twist()
00336       if self.xd_desi is None:
00337         self.xd_desi = geometry_msgs.msg.Twist()
00338       if self.F is None:
00339         self.F = geometry_msgs.msg.Wrench()
00340       if self.J is None:
00341         self.J = std_msgs.msg.Float64MultiArray()
00342       if self.N is None:
00343         self.N = std_msgs.msg.Float64MultiArray()
00344       end = 0
00345       _x = self
00346       start = end
00347       end += 12
00348       (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00349       start = end
00350       end += 4
00351       (length,) = _struct_I.unpack(str[start:end])
00352       start = end
00353       end += length
00354       if python3:
00355         self.header.frame_id = str[start:end].decode('utf-8')
00356       else:
00357         self.header.frame_id = str[start:end]
00358       _x = self
00359       start = end
00360       end += 12
00361       (_x.x.header.seq, _x.x.header.stamp.secs, _x.x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00362       start = end
00363       end += 4
00364       (length,) = _struct_I.unpack(str[start:end])
00365       start = end
00366       end += length
00367       if python3:
00368         self.x.header.frame_id = str[start:end].decode('utf-8')
00369       else:
00370         self.x.header.frame_id = str[start:end]
00371       _x = self
00372       start = end
00373       end += 68
00374       (_x.x.pose.position.x, _x.x.pose.position.y, _x.x.pose.position.z, _x.x.pose.orientation.x, _x.x.pose.orientation.y, _x.x.pose.orientation.z, _x.x.pose.orientation.w, _x.x_desi.header.seq, _x.x_desi.header.stamp.secs, _x.x_desi.header.stamp.nsecs,) = _struct_7d3I.unpack(str[start:end])
00375       start = end
00376       end += 4
00377       (length,) = _struct_I.unpack(str[start:end])
00378       start = end
00379       end += length
00380       if python3:
00381         self.x_desi.header.frame_id = str[start:end].decode('utf-8')
00382       else:
00383         self.x_desi.header.frame_id = str[start:end]
00384       _x = self
00385       start = end
00386       end += 68
00387       (_x.x_desi.pose.position.x, _x.x_desi.pose.position.y, _x.x_desi.pose.position.z, _x.x_desi.pose.orientation.x, _x.x_desi.pose.orientation.y, _x.x_desi.pose.orientation.z, _x.x_desi.pose.orientation.w, _x.x_desi_filtered.header.seq, _x.x_desi_filtered.header.stamp.secs, _x.x_desi_filtered.header.stamp.nsecs,) = _struct_7d3I.unpack(str[start:end])
00388       start = end
00389       end += 4
00390       (length,) = _struct_I.unpack(str[start:end])
00391       start = end
00392       end += length
00393       if python3:
00394         self.x_desi_filtered.header.frame_id = str[start:end].decode('utf-8')
00395       else:
00396         self.x_desi_filtered.header.frame_id = str[start:end]
00397       _x = self
00398       start = end
00399       end += 248
00400       (_x.x_desi_filtered.pose.position.x, _x.x_desi_filtered.pose.position.y, _x.x_desi_filtered.pose.position.z, _x.x_desi_filtered.pose.orientation.x, _x.x_desi_filtered.pose.orientation.y, _x.x_desi_filtered.pose.orientation.z, _x.x_desi_filtered.pose.orientation.w, _x.x_err.linear.x, _x.x_err.linear.y, _x.x_err.linear.z, _x.x_err.angular.x, _x.x_err.angular.y, _x.x_err.angular.z, _x.xd.linear.x, _x.xd.linear.y, _x.xd.linear.z, _x.xd.angular.x, _x.xd.angular.y, _x.xd.angular.z, _x.xd_desi.linear.x, _x.xd_desi.linear.y, _x.xd_desi.linear.z, _x.xd_desi.angular.x, _x.xd_desi.angular.y, _x.xd_desi.angular.z, _x.F.force.x, _x.F.force.y, _x.F.force.z, _x.F.torque.x, _x.F.torque.y, _x.F.torque.z,) = _struct_31d.unpack(str[start:end])
00401       start = end
00402       end += 4
00403       (length,) = _struct_I.unpack(str[start:end])
00404       pattern = '<%sd'%length
00405       start = end
00406       end += struct.calcsize(pattern)
00407       self.tau_pose = struct.unpack(pattern, str[start:end])
00408       start = end
00409       end += 4
00410       (length,) = _struct_I.unpack(str[start:end])
00411       pattern = '<%sd'%length
00412       start = end
00413       end += struct.calcsize(pattern)
00414       self.tau_posture = struct.unpack(pattern, str[start:end])
00415       start = end
00416       end += 4
00417       (length,) = _struct_I.unpack(str[start:end])
00418       pattern = '<%sd'%length
00419       start = end
00420       end += struct.calcsize(pattern)
00421       self.tau = struct.unpack(pattern, str[start:end])
00422       start = end
00423       end += 4
00424       (length,) = _struct_I.unpack(str[start:end])
00425       self.J.layout.dim = []
00426       for i in range(0, length):
00427         val1 = std_msgs.msg.MultiArrayDimension()
00428         start = end
00429         end += 4
00430         (length,) = _struct_I.unpack(str[start:end])
00431         start = end
00432         end += length
00433         if python3:
00434           val1.label = str[start:end].decode('utf-8')
00435         else:
00436           val1.label = str[start:end]
00437         _x = val1
00438         start = end
00439         end += 8
00440         (_x.size, _x.stride,) = _struct_2I.unpack(str[start:end])
00441         self.J.layout.dim.append(val1)
00442       start = end
00443       end += 4
00444       (self.J.layout.data_offset,) = _struct_I.unpack(str[start:end])
00445       start = end
00446       end += 4
00447       (length,) = _struct_I.unpack(str[start:end])
00448       pattern = '<%sd'%length
00449       start = end
00450       end += struct.calcsize(pattern)
00451       self.J.data = struct.unpack(pattern, str[start:end])
00452       start = end
00453       end += 4
00454       (length,) = _struct_I.unpack(str[start:end])
00455       self.N.layout.dim = []
00456       for i in range(0, length):
00457         val1 = std_msgs.msg.MultiArrayDimension()
00458         start = end
00459         end += 4
00460         (length,) = _struct_I.unpack(str[start:end])
00461         start = end
00462         end += length
00463         if python3:
00464           val1.label = str[start:end].decode('utf-8')
00465         else:
00466           val1.label = str[start:end]
00467         _x = val1
00468         start = end
00469         end += 8
00470         (_x.size, _x.stride,) = _struct_2I.unpack(str[start:end])
00471         self.N.layout.dim.append(val1)
00472       start = end
00473       end += 4
00474       (self.N.layout.data_offset,) = _struct_I.unpack(str[start:end])
00475       start = end
00476       end += 4
00477       (length,) = _struct_I.unpack(str[start:end])
00478       pattern = '<%sd'%length
00479       start = end
00480       end += struct.calcsize(pattern)
00481       self.N.data = struct.unpack(pattern, str[start:end])
00482       _x = self
00483       start = end
00484       end += 48
00485       (_x.df, _x.dx, _x.Df, _x.Dx, _x.stiffness, _x.compliance,) = _struct_6d.unpack(str[start:end])
00486       return self
00487     except struct.error as e:
00488       raise genpy.DeserializationError(e) #most likely buffer underfill
00489 
00490 
00491   def serialize_numpy(self, buff, numpy):
00492     """
00493     serialize message with numpy array types into buffer
00494     :param buff: buffer, ``StringIO``
00495     :param numpy: numpy python module
00496     """
00497     try:
00498       _x = self
00499       buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
00500       _x = self.header.frame_id
00501       length = len(_x)
00502       if python3 or type(_x) == unicode:
00503         _x = _x.encode('utf-8')
00504         length = len(_x)
00505       buff.write(struct.pack('<I%ss'%length, length, _x))
00506       _x = self
00507       buff.write(_struct_3I.pack(_x.x.header.seq, _x.x.header.stamp.secs, _x.x.header.stamp.nsecs))
00508       _x = self.x.header.frame_id
00509       length = len(_x)
00510       if python3 or type(_x) == unicode:
00511         _x = _x.encode('utf-8')
00512         length = len(_x)
00513       buff.write(struct.pack('<I%ss'%length, length, _x))
00514       _x = self
00515       buff.write(_struct_7d3I.pack(_x.x.pose.position.x, _x.x.pose.position.y, _x.x.pose.position.z, _x.x.pose.orientation.x, _x.x.pose.orientation.y, _x.x.pose.orientation.z, _x.x.pose.orientation.w, _x.x_desi.header.seq, _x.x_desi.header.stamp.secs, _x.x_desi.header.stamp.nsecs))
00516       _x = self.x_desi.header.frame_id
00517       length = len(_x)
00518       if python3 or type(_x) == unicode:
00519         _x = _x.encode('utf-8')
00520         length = len(_x)
00521       buff.write(struct.pack('<I%ss'%length, length, _x))
00522       _x = self
00523       buff.write(_struct_7d3I.pack(_x.x_desi.pose.position.x, _x.x_desi.pose.position.y, _x.x_desi.pose.position.z, _x.x_desi.pose.orientation.x, _x.x_desi.pose.orientation.y, _x.x_desi.pose.orientation.z, _x.x_desi.pose.orientation.w, _x.x_desi_filtered.header.seq, _x.x_desi_filtered.header.stamp.secs, _x.x_desi_filtered.header.stamp.nsecs))
00524       _x = self.x_desi_filtered.header.frame_id
00525       length = len(_x)
00526       if python3 or type(_x) == unicode:
00527         _x = _x.encode('utf-8')
00528         length = len(_x)
00529       buff.write(struct.pack('<I%ss'%length, length, _x))
00530       _x = self
00531       buff.write(_struct_31d.pack(_x.x_desi_filtered.pose.position.x, _x.x_desi_filtered.pose.position.y, _x.x_desi_filtered.pose.position.z, _x.x_desi_filtered.pose.orientation.x, _x.x_desi_filtered.pose.orientation.y, _x.x_desi_filtered.pose.orientation.z, _x.x_desi_filtered.pose.orientation.w, _x.x_err.linear.x, _x.x_err.linear.y, _x.x_err.linear.z, _x.x_err.angular.x, _x.x_err.angular.y, _x.x_err.angular.z, _x.xd.linear.x, _x.xd.linear.y, _x.xd.linear.z, _x.xd.angular.x, _x.xd.angular.y, _x.xd.angular.z, _x.xd_desi.linear.x, _x.xd_desi.linear.y, _x.xd_desi.linear.z, _x.xd_desi.angular.x, _x.xd_desi.angular.y, _x.xd_desi.angular.z, _x.F.force.x, _x.F.force.y, _x.F.force.z, _x.F.torque.x, _x.F.torque.y, _x.F.torque.z))
00532       length = len(self.tau_pose)
00533       buff.write(_struct_I.pack(length))
00534       pattern = '<%sd'%length
00535       buff.write(self.tau_pose.tostring())
00536       length = len(self.tau_posture)
00537       buff.write(_struct_I.pack(length))
00538       pattern = '<%sd'%length
00539       buff.write(self.tau_posture.tostring())
00540       length = len(self.tau)
00541       buff.write(_struct_I.pack(length))
00542       pattern = '<%sd'%length
00543       buff.write(self.tau.tostring())
00544       length = len(self.J.layout.dim)
00545       buff.write(_struct_I.pack(length))
00546       for val1 in self.J.layout.dim:
00547         _x = val1.label
00548         length = len(_x)
00549         if python3 or type(_x) == unicode:
00550           _x = _x.encode('utf-8')
00551           length = len(_x)
00552         buff.write(struct.pack('<I%ss'%length, length, _x))
00553         _x = val1
00554         buff.write(_struct_2I.pack(_x.size, _x.stride))
00555       buff.write(_struct_I.pack(self.J.layout.data_offset))
00556       length = len(self.J.data)
00557       buff.write(_struct_I.pack(length))
00558       pattern = '<%sd'%length
00559       buff.write(self.J.data.tostring())
00560       length = len(self.N.layout.dim)
00561       buff.write(_struct_I.pack(length))
00562       for val1 in self.N.layout.dim:
00563         _x = val1.label
00564         length = len(_x)
00565         if python3 or type(_x) == unicode:
00566           _x = _x.encode('utf-8')
00567           length = len(_x)
00568         buff.write(struct.pack('<I%ss'%length, length, _x))
00569         _x = val1
00570         buff.write(_struct_2I.pack(_x.size, _x.stride))
00571       buff.write(_struct_I.pack(self.N.layout.data_offset))
00572       length = len(self.N.data)
00573       buff.write(_struct_I.pack(length))
00574       pattern = '<%sd'%length
00575       buff.write(self.N.data.tostring())
00576       _x = self
00577       buff.write(_struct_6d.pack(_x.df, _x.dx, _x.Df, _x.Dx, _x.stiffness, _x.compliance))
00578     except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
00579     except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))
00580 
00581   def deserialize_numpy(self, str, numpy):
00582     """
00583     unpack serialized message in str into this message instance using numpy for array types
00584     :param str: byte array of serialized message, ``str``
00585     :param numpy: numpy python module
00586     """
00587     try:
00588       if self.header is None:
00589         self.header = std_msgs.msg.Header()
00590       if self.x is None:
00591         self.x = geometry_msgs.msg.PoseStamped()
00592       if self.x_desi is None:
00593         self.x_desi = geometry_msgs.msg.PoseStamped()
00594       if self.x_desi_filtered is None:
00595         self.x_desi_filtered = geometry_msgs.msg.PoseStamped()
00596       if self.x_err is None:
00597         self.x_err = geometry_msgs.msg.Twist()
00598       if self.xd is None:
00599         self.xd = geometry_msgs.msg.Twist()
00600       if self.xd_desi is None:
00601         self.xd_desi = geometry_msgs.msg.Twist()
00602       if self.F is None:
00603         self.F = geometry_msgs.msg.Wrench()
00604       if self.J is None:
00605         self.J = std_msgs.msg.Float64MultiArray()
00606       if self.N is None:
00607         self.N = std_msgs.msg.Float64MultiArray()
00608       end = 0
00609       _x = self
00610       start = end
00611       end += 12
00612       (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00613       start = end
00614       end += 4
00615       (length,) = _struct_I.unpack(str[start:end])
00616       start = end
00617       end += length
00618       if python3:
00619         self.header.frame_id = str[start:end].decode('utf-8')
00620       else:
00621         self.header.frame_id = str[start:end]
00622       _x = self
00623       start = end
00624       end += 12
00625       (_x.x.header.seq, _x.x.header.stamp.secs, _x.x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00626       start = end
00627       end += 4
00628       (length,) = _struct_I.unpack(str[start:end])
00629       start = end
00630       end += length
00631       if python3:
00632         self.x.header.frame_id = str[start:end].decode('utf-8')
00633       else:
00634         self.x.header.frame_id = str[start:end]
00635       _x = self
00636       start = end
00637       end += 68
00638       (_x.x.pose.position.x, _x.x.pose.position.y, _x.x.pose.position.z, _x.x.pose.orientation.x, _x.x.pose.orientation.y, _x.x.pose.orientation.z, _x.x.pose.orientation.w, _x.x_desi.header.seq, _x.x_desi.header.stamp.secs, _x.x_desi.header.stamp.nsecs,) = _struct_7d3I.unpack(str[start:end])
00639       start = end
00640       end += 4
00641       (length,) = _struct_I.unpack(str[start:end])
00642       start = end
00643       end += length
00644       if python3:
00645         self.x_desi.header.frame_id = str[start:end].decode('utf-8')
00646       else:
00647         self.x_desi.header.frame_id = str[start:end]
00648       _x = self
00649       start = end
00650       end += 68
00651       (_x.x_desi.pose.position.x, _x.x_desi.pose.position.y, _x.x_desi.pose.position.z, _x.x_desi.pose.orientation.x, _x.x_desi.pose.orientation.y, _x.x_desi.pose.orientation.z, _x.x_desi.pose.orientation.w, _x.x_desi_filtered.header.seq, _x.x_desi_filtered.header.stamp.secs, _x.x_desi_filtered.header.stamp.nsecs,) = _struct_7d3I.unpack(str[start:end])
00652       start = end
00653       end += 4
00654       (length,) = _struct_I.unpack(str[start:end])
00655       start = end
00656       end += length
00657       if python3:
00658         self.x_desi_filtered.header.frame_id = str[start:end].decode('utf-8')
00659       else:
00660         self.x_desi_filtered.header.frame_id = str[start:end]
00661       _x = self
00662       start = end
00663       end += 248
00664       (_x.x_desi_filtered.pose.position.x, _x.x_desi_filtered.pose.position.y, _x.x_desi_filtered.pose.position.z, _x.x_desi_filtered.pose.orientation.x, _x.x_desi_filtered.pose.orientation.y, _x.x_desi_filtered.pose.orientation.z, _x.x_desi_filtered.pose.orientation.w, _x.x_err.linear.x, _x.x_err.linear.y, _x.x_err.linear.z, _x.x_err.angular.x, _x.x_err.angular.y, _x.x_err.angular.z, _x.xd.linear.x, _x.xd.linear.y, _x.xd.linear.z, _x.xd.angular.x, _x.xd.angular.y, _x.xd.angular.z, _x.xd_desi.linear.x, _x.xd_desi.linear.y, _x.xd_desi.linear.z, _x.xd_desi.angular.x, _x.xd_desi.angular.y, _x.xd_desi.angular.z, _x.F.force.x, _x.F.force.y, _x.F.force.z, _x.F.torque.x, _x.F.torque.y, _x.F.torque.z,) = _struct_31d.unpack(str[start:end])
00665       start = end
00666       end += 4
00667       (length,) = _struct_I.unpack(str[start:end])
00668       pattern = '<%sd'%length
00669       start = end
00670       end += struct.calcsize(pattern)
00671       self.tau_pose = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00672       start = end
00673       end += 4
00674       (length,) = _struct_I.unpack(str[start:end])
00675       pattern = '<%sd'%length
00676       start = end
00677       end += struct.calcsize(pattern)
00678       self.tau_posture = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00679       start = end
00680       end += 4
00681       (length,) = _struct_I.unpack(str[start:end])
00682       pattern = '<%sd'%length
00683       start = end
00684       end += struct.calcsize(pattern)
00685       self.tau = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00686       start = end
00687       end += 4
00688       (length,) = _struct_I.unpack(str[start:end])
00689       self.J.layout.dim = []
00690       for i in range(0, length):
00691         val1 = std_msgs.msg.MultiArrayDimension()
00692         start = end
00693         end += 4
00694         (length,) = _struct_I.unpack(str[start:end])
00695         start = end
00696         end += length
00697         if python3:
00698           val1.label = str[start:end].decode('utf-8')
00699         else:
00700           val1.label = str[start:end]
00701         _x = val1
00702         start = end
00703         end += 8
00704         (_x.size, _x.stride,) = _struct_2I.unpack(str[start:end])
00705         self.J.layout.dim.append(val1)
00706       start = end
00707       end += 4
00708       (self.J.layout.data_offset,) = _struct_I.unpack(str[start:end])
00709       start = end
00710       end += 4
00711       (length,) = _struct_I.unpack(str[start:end])
00712       pattern = '<%sd'%length
00713       start = end
00714       end += struct.calcsize(pattern)
00715       self.J.data = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00716       start = end
00717       end += 4
00718       (length,) = _struct_I.unpack(str[start:end])
00719       self.N.layout.dim = []
00720       for i in range(0, length):
00721         val1 = std_msgs.msg.MultiArrayDimension()
00722         start = end
00723         end += 4
00724         (length,) = _struct_I.unpack(str[start:end])
00725         start = end
00726         end += length
00727         if python3:
00728           val1.label = str[start:end].decode('utf-8')
00729         else:
00730           val1.label = str[start:end]
00731         _x = val1
00732         start = end
00733         end += 8
00734         (_x.size, _x.stride,) = _struct_2I.unpack(str[start:end])
00735         self.N.layout.dim.append(val1)
00736       start = end
00737       end += 4
00738       (self.N.layout.data_offset,) = _struct_I.unpack(str[start:end])
00739       start = end
00740       end += 4
00741       (length,) = _struct_I.unpack(str[start:end])
00742       pattern = '<%sd'%length
00743       start = end
00744       end += struct.calcsize(pattern)
00745       self.N.data = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00746       _x = self
00747       start = end
00748       end += 48
00749       (_x.df, _x.dx, _x.Df, _x.Dx, _x.stiffness, _x.compliance,) = _struct_6d.unpack(str[start:end])
00750       return self
00751     except struct.error as e:
00752       raise genpy.DeserializationError(e) #most likely buffer underfill
00753 
00754 _struct_I = genpy.struct_I
00755 _struct_6d = struct.Struct("<6d")
00756 _struct_2I = struct.Struct("<2I")
00757 _struct_3I = struct.Struct("<3I")
00758 _struct_7d3I = struct.Struct("<7d3I")
00759 _struct_31d = struct.Struct("<31d")


pr2_manipulation_controllers
Author(s): Kaijen Hsiao, Stu Glaser, Adam Leeper
autogenerated on Mon Oct 6 2014 12:10:46