_IMGUIAdvancedOptions.py

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"""autogenerated by genpy from pr2_object_manipulation_msgs/IMGUIAdvancedOptions.msg. Do not edit."""
import sys
python3 = True if sys.hexversion > 0x03000000 else False
import genpy
import struct


class IMGUIAdvancedOptions(genpy.Message):
  _md5sum = "b50b9e4800a63df6bed859efc223000a"
  _type = "pr2_object_manipulation_msgs/IMGUIAdvancedOptions"
  _has_header = False #flag to mark the presence of a Header object
  _full_text = """      
bool reactive_grasping
bool reactive_force     
bool reactive_place
int32 lift_steps
int32 retreat_steps
int32 lift_direction_choice
int32 desired_approach
int32 min_approach
float32 max_contact_force
bool find_alternatives
bool always_plan_grasps
bool cycle_gripper_opening

"""
  __slots__ = ['reactive_grasping','reactive_force','reactive_place','lift_steps','retreat_steps','lift_direction_choice','desired_approach','min_approach','max_contact_force','find_alternatives','always_plan_grasps','cycle_gripper_opening']
  _slot_types = ['bool','bool','bool','int32','int32','int32','int32','int32','float32','bool','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:
       reactive_grasping,reactive_force,reactive_place,lift_steps,retreat_steps,lift_direction_choice,desired_approach,min_approach,max_contact_force,find_alternatives,always_plan_grasps,cycle_gripper_opening

    :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(IMGUIAdvancedOptions, self).__init__(*args, **kwds)
      #message fields cannot be None, assign default values for those that are
      if self.reactive_grasping is None:
        self.reactive_grasping = False
      if self.reactive_force is None:
        self.reactive_force = False
      if self.reactive_place is None:
        self.reactive_place = False
      if self.lift_steps is None:
        self.lift_steps = 0
      if self.retreat_steps is None:
        self.retreat_steps = 0
      if self.lift_direction_choice is None:
        self.lift_direction_choice = 0
      if self.desired_approach is None:
        self.desired_approach = 0
      if self.min_approach is None:
        self.min_approach = 0
      if self.max_contact_force is None:
        self.max_contact_force = 0.
      if self.find_alternatives is None:
        self.find_alternatives = False
      if self.always_plan_grasps is None:
        self.always_plan_grasps = False
      if self.cycle_gripper_opening is None:
        self.cycle_gripper_opening = False
    else:
      self.reactive_grasping = False
      self.reactive_force = False
      self.reactive_place = False
      self.lift_steps = 0
      self.retreat_steps = 0
      self.lift_direction_choice = 0
      self.desired_approach = 0
      self.min_approach = 0
      self.max_contact_force = 0.
      self.find_alternatives = False
      self.always_plan_grasps = False
      self.cycle_gripper_opening = 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_3B5if3B.pack(_x.reactive_grasping, _x.reactive_force, _x.reactive_place, _x.lift_steps, _x.retreat_steps, _x.lift_direction_choice, _x.desired_approach, _x.min_approach, _x.max_contact_force, _x.find_alternatives, _x.always_plan_grasps, _x.cycle_gripper_opening))
    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 += 30
      (_x.reactive_grasping, _x.reactive_force, _x.reactive_place, _x.lift_steps, _x.retreat_steps, _x.lift_direction_choice, _x.desired_approach, _x.min_approach, _x.max_contact_force, _x.find_alternatives, _x.always_plan_grasps, _x.cycle_gripper_opening,) = _struct_3B5if3B.unpack(str[start:end])
      self.reactive_grasping = bool(self.reactive_grasping)
      self.reactive_force = bool(self.reactive_force)
      self.reactive_place = bool(self.reactive_place)
      self.find_alternatives = bool(self.find_alternatives)
      self.always_plan_grasps = bool(self.always_plan_grasps)
      self.cycle_gripper_opening = bool(self.cycle_gripper_opening)
      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_3B5if3B.pack(_x.reactive_grasping, _x.reactive_force, _x.reactive_place, _x.lift_steps, _x.retreat_steps, _x.lift_direction_choice, _x.desired_approach, _x.min_approach, _x.max_contact_force, _x.find_alternatives, _x.always_plan_grasps, _x.cycle_gripper_opening))
    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 += 30
      (_x.reactive_grasping, _x.reactive_force, _x.reactive_place, _x.lift_steps, _x.retreat_steps, _x.lift_direction_choice, _x.desired_approach, _x.min_approach, _x.max_contact_force, _x.find_alternatives, _x.always_plan_grasps, _x.cycle_gripper_opening,) = _struct_3B5if3B.unpack(str[start:end])
      self.reactive_grasping = bool(self.reactive_grasping)
      self.reactive_force = bool(self.reactive_force)
      self.reactive_place = bool(self.reactive_place)
      self.find_alternatives = bool(self.find_alternatives)
      self.always_plan_grasps = bool(self.always_plan_grasps)
      self.cycle_gripper_opening = bool(self.cycle_gripper_opening)
      return self
    except struct.error as e:
      raise genpy.DeserializationError(e) #most likely buffer underfill

_struct_I = genpy.struct_I
_struct_3B5if3B = struct.Struct("<3B5if3B")