00001 """autogenerated by genpy from pr2_mechanism_controllers/BaseControllerState2.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
00009 class BaseControllerState2(genpy.Message):
00010 _md5sum = "d4b64baf09d8cb133f3f2bc279de1137"
00011 _type = "pr2_mechanism_controllers/BaseControllerState2"
00012 _has_header = False
00013 _full_text = """geometry_msgs/Twist command
00014 float64[] joint_command
00015 float64[] joint_error
00016 float64[] joint_velocity_commanded
00017 float64[] joint_velocity_measured
00018 float64[] joint_effort_measured
00019 float64[] joint_effort_commanded
00020 float64[] joint_effort_error
00021 string[] joint_names
00022
00023
00024 ================================================================================
00025 MSG: geometry_msgs/Twist
00026 # This expresses velocity in free space broken into its linear and angular parts.
00027 Vector3 linear
00028 Vector3 angular
00029
00030 ================================================================================
00031 MSG: geometry_msgs/Vector3
00032 # This represents a vector in free space.
00033
00034 float64 x
00035 float64 y
00036 float64 z
00037 """
00038 __slots__ = ['command','joint_command','joint_error','joint_velocity_commanded','joint_velocity_measured','joint_effort_measured','joint_effort_commanded','joint_effort_error','joint_names']
00039 _slot_types = ['geometry_msgs/Twist','float64[]','float64[]','float64[]','float64[]','float64[]','float64[]','float64[]','string[]']
00040
00041 def __init__(self, *args, **kwds):
00042 """
00043 Constructor. Any message fields that are implicitly/explicitly
00044 set to None will be assigned a default value. The recommend
00045 use is keyword arguments as this is more robust to future message
00046 changes. You cannot mix in-order arguments and keyword arguments.
00047
00048 The available fields are:
00049 command,joint_command,joint_error,joint_velocity_commanded,joint_velocity_measured,joint_effort_measured,joint_effort_commanded,joint_effort_error,joint_names
00050
00051 :param args: complete set of field values, in .msg order
00052 :param kwds: use keyword arguments corresponding to message field names
00053 to set specific fields.
00054 """
00055 if args or kwds:
00056 super(BaseControllerState2, self).__init__(*args, **kwds)
00057
00058 if self.command is None:
00059 self.command = geometry_msgs.msg.Twist()
00060 if self.joint_command is None:
00061 self.joint_command = []
00062 if self.joint_error is None:
00063 self.joint_error = []
00064 if self.joint_velocity_commanded is None:
00065 self.joint_velocity_commanded = []
00066 if self.joint_velocity_measured is None:
00067 self.joint_velocity_measured = []
00068 if self.joint_effort_measured is None:
00069 self.joint_effort_measured = []
00070 if self.joint_effort_commanded is None:
00071 self.joint_effort_commanded = []
00072 if self.joint_effort_error is None:
00073 self.joint_effort_error = []
00074 if self.joint_names is None:
00075 self.joint_names = []
00076 else:
00077 self.command = geometry_msgs.msg.Twist()
00078 self.joint_command = []
00079 self.joint_error = []
00080 self.joint_velocity_commanded = []
00081 self.joint_velocity_measured = []
00082 self.joint_effort_measured = []
00083 self.joint_effort_commanded = []
00084 self.joint_effort_error = []
00085 self.joint_names = []
00086
00087 def _get_types(self):
00088 """
00089 internal API method
00090 """
00091 return self._slot_types
00092
00093 def serialize(self, buff):
00094 """
00095 serialize message into buffer
00096 :param buff: buffer, ``StringIO``
00097 """
00098 try:
00099 _x = self
00100 buff.write(_struct_6d.pack(_x.command.linear.x, _x.command.linear.y, _x.command.linear.z, _x.command.angular.x, _x.command.angular.y, _x.command.angular.z))
00101 length = len(self.joint_command)
00102 buff.write(_struct_I.pack(length))
00103 pattern = '<%sd'%length
00104 buff.write(struct.pack(pattern, *self.joint_command))
00105 length = len(self.joint_error)
00106 buff.write(_struct_I.pack(length))
00107 pattern = '<%sd'%length
00108 buff.write(struct.pack(pattern, *self.joint_error))
00109 length = len(self.joint_velocity_commanded)
00110 buff.write(_struct_I.pack(length))
00111 pattern = '<%sd'%length
00112 buff.write(struct.pack(pattern, *self.joint_velocity_commanded))
00113 length = len(self.joint_velocity_measured)
00114 buff.write(_struct_I.pack(length))
00115 pattern = '<%sd'%length
00116 buff.write(struct.pack(pattern, *self.joint_velocity_measured))
00117 length = len(self.joint_effort_measured)
00118 buff.write(_struct_I.pack(length))
00119 pattern = '<%sd'%length
00120 buff.write(struct.pack(pattern, *self.joint_effort_measured))
00121 length = len(self.joint_effort_commanded)
00122 buff.write(_struct_I.pack(length))
00123 pattern = '<%sd'%length
00124 buff.write(struct.pack(pattern, *self.joint_effort_commanded))
00125 length = len(self.joint_effort_error)
00126 buff.write(_struct_I.pack(length))
00127 pattern = '<%sd'%length
00128 buff.write(struct.pack(pattern, *self.joint_effort_error))
00129 length = len(self.joint_names)
00130 buff.write(_struct_I.pack(length))
00131 for val1 in self.joint_names:
00132 length = len(val1)
00133 if python3 or type(val1) == unicode:
00134 val1 = val1.encode('utf-8')
00135 length = len(val1)
00136 buff.write(struct.pack('<I%ss'%length, length, val1))
00137 except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
00138 except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))
00139
00140 def deserialize(self, str):
00141 """
00142 unpack serialized message in str into this message instance
00143 :param str: byte array of serialized message, ``str``
00144 """
00145 try:
00146 if self.command is None:
00147 self.command = geometry_msgs.msg.Twist()
00148 end = 0
00149 _x = self
00150 start = end
00151 end += 48
00152 (_x.command.linear.x, _x.command.linear.y, _x.command.linear.z, _x.command.angular.x, _x.command.angular.y, _x.command.angular.z,) = _struct_6d.unpack(str[start:end])
00153 start = end
00154 end += 4
00155 (length,) = _struct_I.unpack(str[start:end])
00156 pattern = '<%sd'%length
00157 start = end
00158 end += struct.calcsize(pattern)
00159 self.joint_command = struct.unpack(pattern, str[start:end])
00160 start = end
00161 end += 4
00162 (length,) = _struct_I.unpack(str[start:end])
00163 pattern = '<%sd'%length
00164 start = end
00165 end += struct.calcsize(pattern)
00166 self.joint_error = struct.unpack(pattern, str[start:end])
00167 start = end
00168 end += 4
00169 (length,) = _struct_I.unpack(str[start:end])
00170 pattern = '<%sd'%length
00171 start = end
00172 end += struct.calcsize(pattern)
00173 self.joint_velocity_commanded = struct.unpack(pattern, str[start:end])
00174 start = end
00175 end += 4
00176 (length,) = _struct_I.unpack(str[start:end])
00177 pattern = '<%sd'%length
00178 start = end
00179 end += struct.calcsize(pattern)
00180 self.joint_velocity_measured = struct.unpack(pattern, str[start:end])
00181 start = end
00182 end += 4
00183 (length,) = _struct_I.unpack(str[start:end])
00184 pattern = '<%sd'%length
00185 start = end
00186 end += struct.calcsize(pattern)
00187 self.joint_effort_measured = struct.unpack(pattern, str[start:end])
00188 start = end
00189 end += 4
00190 (length,) = _struct_I.unpack(str[start:end])
00191 pattern = '<%sd'%length
00192 start = end
00193 end += struct.calcsize(pattern)
00194 self.joint_effort_commanded = struct.unpack(pattern, str[start:end])
00195 start = end
00196 end += 4
00197 (length,) = _struct_I.unpack(str[start:end])
00198 pattern = '<%sd'%length
00199 start = end
00200 end += struct.calcsize(pattern)
00201 self.joint_effort_error = struct.unpack(pattern, str[start:end])
00202 start = end
00203 end += 4
00204 (length,) = _struct_I.unpack(str[start:end])
00205 self.joint_names = []
00206 for i in range(0, length):
00207 start = end
00208 end += 4
00209 (length,) = _struct_I.unpack(str[start:end])
00210 start = end
00211 end += length
00212 if python3:
00213 val1 = str[start:end].decode('utf-8')
00214 else:
00215 val1 = str[start:end]
00216 self.joint_names.append(val1)
00217 return self
00218 except struct.error as e:
00219 raise genpy.DeserializationError(e)
00220
00221
00222 def serialize_numpy(self, buff, numpy):
00223 """
00224 serialize message with numpy array types into buffer
00225 :param buff: buffer, ``StringIO``
00226 :param numpy: numpy python module
00227 """
00228 try:
00229 _x = self
00230 buff.write(_struct_6d.pack(_x.command.linear.x, _x.command.linear.y, _x.command.linear.z, _x.command.angular.x, _x.command.angular.y, _x.command.angular.z))
00231 length = len(self.joint_command)
00232 buff.write(_struct_I.pack(length))
00233 pattern = '<%sd'%length
00234 buff.write(self.joint_command.tostring())
00235 length = len(self.joint_error)
00236 buff.write(_struct_I.pack(length))
00237 pattern = '<%sd'%length
00238 buff.write(self.joint_error.tostring())
00239 length = len(self.joint_velocity_commanded)
00240 buff.write(_struct_I.pack(length))
00241 pattern = '<%sd'%length
00242 buff.write(self.joint_velocity_commanded.tostring())
00243 length = len(self.joint_velocity_measured)
00244 buff.write(_struct_I.pack(length))
00245 pattern = '<%sd'%length
00246 buff.write(self.joint_velocity_measured.tostring())
00247 length = len(self.joint_effort_measured)
00248 buff.write(_struct_I.pack(length))
00249 pattern = '<%sd'%length
00250 buff.write(self.joint_effort_measured.tostring())
00251 length = len(self.joint_effort_commanded)
00252 buff.write(_struct_I.pack(length))
00253 pattern = '<%sd'%length
00254 buff.write(self.joint_effort_commanded.tostring())
00255 length = len(self.joint_effort_error)
00256 buff.write(_struct_I.pack(length))
00257 pattern = '<%sd'%length
00258 buff.write(self.joint_effort_error.tostring())
00259 length = len(self.joint_names)
00260 buff.write(_struct_I.pack(length))
00261 for val1 in self.joint_names:
00262 length = len(val1)
00263 if python3 or type(val1) == unicode:
00264 val1 = val1.encode('utf-8')
00265 length = len(val1)
00266 buff.write(struct.pack('<I%ss'%length, length, val1))
00267 except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
00268 except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))
00269
00270 def deserialize_numpy(self, str, numpy):
00271 """
00272 unpack serialized message in str into this message instance using numpy for array types
00273 :param str: byte array of serialized message, ``str``
00274 :param numpy: numpy python module
00275 """
00276 try:
00277 if self.command is None:
00278 self.command = geometry_msgs.msg.Twist()
00279 end = 0
00280 _x = self
00281 start = end
00282 end += 48
00283 (_x.command.linear.x, _x.command.linear.y, _x.command.linear.z, _x.command.angular.x, _x.command.angular.y, _x.command.angular.z,) = _struct_6d.unpack(str[start:end])
00284 start = end
00285 end += 4
00286 (length,) = _struct_I.unpack(str[start:end])
00287 pattern = '<%sd'%length
00288 start = end
00289 end += struct.calcsize(pattern)
00290 self.joint_command = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00291 start = end
00292 end += 4
00293 (length,) = _struct_I.unpack(str[start:end])
00294 pattern = '<%sd'%length
00295 start = end
00296 end += struct.calcsize(pattern)
00297 self.joint_error = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00298 start = end
00299 end += 4
00300 (length,) = _struct_I.unpack(str[start:end])
00301 pattern = '<%sd'%length
00302 start = end
00303 end += struct.calcsize(pattern)
00304 self.joint_velocity_commanded = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00305 start = end
00306 end += 4
00307 (length,) = _struct_I.unpack(str[start:end])
00308 pattern = '<%sd'%length
00309 start = end
00310 end += struct.calcsize(pattern)
00311 self.joint_velocity_measured = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00312 start = end
00313 end += 4
00314 (length,) = _struct_I.unpack(str[start:end])
00315 pattern = '<%sd'%length
00316 start = end
00317 end += struct.calcsize(pattern)
00318 self.joint_effort_measured = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00319 start = end
00320 end += 4
00321 (length,) = _struct_I.unpack(str[start:end])
00322 pattern = '<%sd'%length
00323 start = end
00324 end += struct.calcsize(pattern)
00325 self.joint_effort_commanded = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00326 start = end
00327 end += 4
00328 (length,) = _struct_I.unpack(str[start:end])
00329 pattern = '<%sd'%length
00330 start = end
00331 end += struct.calcsize(pattern)
00332 self.joint_effort_error = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00333 start = end
00334 end += 4
00335 (length,) = _struct_I.unpack(str[start:end])
00336 self.joint_names = []
00337 for i in range(0, length):
00338 start = end
00339 end += 4
00340 (length,) = _struct_I.unpack(str[start:end])
00341 start = end
00342 end += length
00343 if python3:
00344 val1 = str[start:end].decode('utf-8')
00345 else:
00346 val1 = str[start:end]
00347 self.joint_names.append(val1)
00348 return self
00349 except struct.error as e:
00350 raise genpy.DeserializationError(e)
00351
00352 _struct_I = genpy.struct_I
00353 _struct_6d = struct.Struct("<6d")