_JointStatistics.py
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00001 """autogenerated by genpy from pr2_mechanism_msgs/JointStatistics.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 genpy
00008 
00009 class JointStatistics(genpy.Message):
00010   _md5sum = "90fdc8acbce5bc783d8b4aec49af6590"
00011   _type = "pr2_mechanism_msgs/JointStatistics"
00012   _has_header = False #flag to mark the presence of a Header object
00013   _full_text = """# This message contains the state of one joint of the pr2 robot.
00014 # This message is specificly designed for the pr2 robot. 
00015 # A generic joint state message can be found in sensor_msgs::JointState
00016 
00017 # the name of the joint
00018 string name
00019 
00020 # the time at which these joint statistics were measured
00021 time timestamp
00022 
00023 # the position of the joint in radians
00024 float64 position
00025 
00026 # the velocity of the joint in radians per second
00027 float64 velocity
00028 
00029 # the measured joint effort 
00030 float64 measured_effort
00031 
00032 # the effort that was commanded to the joint.
00033 # the actual applied effort might be different
00034 # because the safety code can limit the effort
00035 # a joint can apply
00036 float64 commanded_effort
00037 
00038 # a flag indicating if the joint is calibrated or not
00039 bool is_calibrated
00040 
00041 # a flag inidcating if the joint violated one of its position/velocity/effort limits
00042 # in the last publish cycle
00043 bool violated_limits
00044 
00045 # the total distance travelled by the joint, measured in radians.
00046 float64 odometer
00047 
00048 # the lowest position reached by the joint in the last publish cycle
00049 float64 min_position
00050 
00051 # the highest position reached by the joint in the last publish cycle
00052 float64 max_position
00053 
00054 # the maximum absolute velocity reached by the joint in the last publish cycle
00055 float64 max_abs_velocity
00056 
00057 # the maximum absolute effort applied by the joint in the last publish cycle
00058 float64 max_abs_effort
00059 
00060 """
00061   __slots__ = ['name','timestamp','position','velocity','measured_effort','commanded_effort','is_calibrated','violated_limits','odometer','min_position','max_position','max_abs_velocity','max_abs_effort']
00062   _slot_types = ['string','time','float64','float64','float64','float64','bool','bool','float64','float64','float64','float64','float64']
00063 
00064   def __init__(self, *args, **kwds):
00065     """
00066     Constructor. Any message fields that are implicitly/explicitly
00067     set to None will be assigned a default value. The recommend
00068     use is keyword arguments as this is more robust to future message
00069     changes.  You cannot mix in-order arguments and keyword arguments.
00070 
00071     The available fields are:
00072        name,timestamp,position,velocity,measured_effort,commanded_effort,is_calibrated,violated_limits,odometer,min_position,max_position,max_abs_velocity,max_abs_effort
00073 
00074     :param args: complete set of field values, in .msg order
00075     :param kwds: use keyword arguments corresponding to message field names
00076     to set specific fields.
00077     """
00078     if args or kwds:
00079       super(JointStatistics, self).__init__(*args, **kwds)
00080       #message fields cannot be None, assign default values for those that are
00081       if self.name is None:
00082         self.name = ''
00083       if self.timestamp is None:
00084         self.timestamp = genpy.Time()
00085       if self.position is None:
00086         self.position = 0.
00087       if self.velocity is None:
00088         self.velocity = 0.
00089       if self.measured_effort is None:
00090         self.measured_effort = 0.
00091       if self.commanded_effort is None:
00092         self.commanded_effort = 0.
00093       if self.is_calibrated is None:
00094         self.is_calibrated = False
00095       if self.violated_limits is None:
00096         self.violated_limits = False
00097       if self.odometer is None:
00098         self.odometer = 0.
00099       if self.min_position is None:
00100         self.min_position = 0.
00101       if self.max_position is None:
00102         self.max_position = 0.
00103       if self.max_abs_velocity is None:
00104         self.max_abs_velocity = 0.
00105       if self.max_abs_effort is None:
00106         self.max_abs_effort = 0.
00107     else:
00108       self.name = ''
00109       self.timestamp = genpy.Time()
00110       self.position = 0.
00111       self.velocity = 0.
00112       self.measured_effort = 0.
00113       self.commanded_effort = 0.
00114       self.is_calibrated = False
00115       self.violated_limits = False
00116       self.odometer = 0.
00117       self.min_position = 0.
00118       self.max_position = 0.
00119       self.max_abs_velocity = 0.
00120       self.max_abs_effort = 0.
00121 
00122   def _get_types(self):
00123     """
00124     internal API method
00125     """
00126     return self._slot_types
00127 
00128   def serialize(self, buff):
00129     """
00130     serialize message into buffer
00131     :param buff: buffer, ``StringIO``
00132     """
00133     try:
00134       _x = self.name
00135       length = len(_x)
00136       if python3 or type(_x) == unicode:
00137         _x = _x.encode('utf-8')
00138         length = len(_x)
00139       buff.write(struct.pack('<I%ss'%length, length, _x))
00140       _x = self
00141       buff.write(_struct_2I4d2B5d.pack(_x.timestamp.secs, _x.timestamp.nsecs, _x.position, _x.velocity, _x.measured_effort, _x.commanded_effort, _x.is_calibrated, _x.violated_limits, _x.odometer, _x.min_position, _x.max_position, _x.max_abs_velocity, _x.max_abs_effort))
00142     except struct.error as se: self._check_types(se)
00143     except TypeError as te: self._check_types(te)
00144 
00145   def deserialize(self, str):
00146     """
00147     unpack serialized message in str into this message instance
00148     :param str: byte array of serialized message, ``str``
00149     """
00150     try:
00151       if self.timestamp is None:
00152         self.timestamp = genpy.Time()
00153       end = 0
00154       start = end
00155       end += 4
00156       (length,) = _struct_I.unpack(str[start:end])
00157       start = end
00158       end += length
00159       if python3:
00160         self.name = str[start:end].decode('utf-8')
00161       else:
00162         self.name = str[start:end]
00163       _x = self
00164       start = end
00165       end += 82
00166       (_x.timestamp.secs, _x.timestamp.nsecs, _x.position, _x.velocity, _x.measured_effort, _x.commanded_effort, _x.is_calibrated, _x.violated_limits, _x.odometer, _x.min_position, _x.max_position, _x.max_abs_velocity, _x.max_abs_effort,) = _struct_2I4d2B5d.unpack(str[start:end])
00167       self.is_calibrated = bool(self.is_calibrated)
00168       self.violated_limits = bool(self.violated_limits)
00169       self.timestamp.canon()
00170       return self
00171     except struct.error as e:
00172       raise genpy.DeserializationError(e) #most likely buffer underfill
00173 
00174 
00175   def serialize_numpy(self, buff, numpy):
00176     """
00177     serialize message with numpy array types into buffer
00178     :param buff: buffer, ``StringIO``
00179     :param numpy: numpy python module
00180     """
00181     try:
00182       _x = self.name
00183       length = len(_x)
00184       if python3 or type(_x) == unicode:
00185         _x = _x.encode('utf-8')
00186         length = len(_x)
00187       buff.write(struct.pack('<I%ss'%length, length, _x))
00188       _x = self
00189       buff.write(_struct_2I4d2B5d.pack(_x.timestamp.secs, _x.timestamp.nsecs, _x.position, _x.velocity, _x.measured_effort, _x.commanded_effort, _x.is_calibrated, _x.violated_limits, _x.odometer, _x.min_position, _x.max_position, _x.max_abs_velocity, _x.max_abs_effort))
00190     except struct.error as se: self._check_types(se)
00191     except TypeError as te: self._check_types(te)
00192 
00193   def deserialize_numpy(self, str, numpy):
00194     """
00195     unpack serialized message in str into this message instance using numpy for array types
00196     :param str: byte array of serialized message, ``str``
00197     :param numpy: numpy python module
00198     """
00199     try:
00200       if self.timestamp is None:
00201         self.timestamp = genpy.Time()
00202       end = 0
00203       start = end
00204       end += 4
00205       (length,) = _struct_I.unpack(str[start:end])
00206       start = end
00207       end += length
00208       if python3:
00209         self.name = str[start:end].decode('utf-8')
00210       else:
00211         self.name = str[start:end]
00212       _x = self
00213       start = end
00214       end += 82
00215       (_x.timestamp.secs, _x.timestamp.nsecs, _x.position, _x.velocity, _x.measured_effort, _x.commanded_effort, _x.is_calibrated, _x.violated_limits, _x.odometer, _x.min_position, _x.max_position, _x.max_abs_velocity, _x.max_abs_effort,) = _struct_2I4d2B5d.unpack(str[start:end])
00216       self.is_calibrated = bool(self.is_calibrated)
00217       self.violated_limits = bool(self.violated_limits)
00218       self.timestamp.canon()
00219       return self
00220     except struct.error as e:
00221       raise genpy.DeserializationError(e) #most likely buffer underfill
00222 
00223 _struct_I = genpy.struct_I
00224 _struct_2I4d2B5d = struct.Struct("<2I4d2B5d")
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pr2_mechanism_msgs
Author(s): Stuart Glaser sglaser@willowgarage.com, Wim Meeussen
autogenerated on Mon Nov 19 2012 16:39:56