00001 """autogenerated by genpy from arm/cartesian_move.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 std_msgs.msg
00008
00009 class cartesian_move(genpy.Message):
00010 _md5sum = "77c36474a679935981d0084acfe955fd"
00011 _type = "arm/cartesian_move"
00012 _has_header = True
00013 _full_text = """# Cartesian movement message
00014 Header header
00015 float32[7] positions
00016 int8[7] speeds
00017 ================================================================================
00018 MSG: std_msgs/Header
00019 # Standard metadata for higher-level stamped data types.
00020 # This is generally used to communicate timestamped data
00021 # in a particular coordinate frame.
00022 #
00023 # sequence ID: consecutively increasing ID
00024 uint32 seq
00025 #Two-integer timestamp that is expressed as:
00026 # * stamp.secs: seconds (stamp_secs) since epoch
00027 # * stamp.nsecs: nanoseconds since stamp_secs
00028 # time-handling sugar is provided by the client library
00029 time stamp
00030 #Frame this data is associated with
00031 # 0: no frame
00032 # 1: global frame
00033 string frame_id
00034
00035 """
00036 __slots__ = ['header','positions','speeds']
00037 _slot_types = ['std_msgs/Header','float32[7]','int8[7]']
00038
00039 def __init__(self, *args, **kwds):
00040 """
00041 Constructor. Any message fields that are implicitly/explicitly
00042 set to None will be assigned a default value. The recommend
00043 use is keyword arguments as this is more robust to future message
00044 changes. You cannot mix in-order arguments and keyword arguments.
00045
00046 The available fields are:
00047 header,positions,speeds
00048
00049 :param args: complete set of field values, in .msg order
00050 :param kwds: use keyword arguments corresponding to message field names
00051 to set specific fields.
00052 """
00053 if args or kwds:
00054 super(cartesian_move, self).__init__(*args, **kwds)
00055
00056 if self.header is None:
00057 self.header = std_msgs.msg.Header()
00058 if self.positions is None:
00059 self.positions = [0.,0.,0.,0.,0.,0.,0.]
00060 if self.speeds is None:
00061 self.speeds = [0,0,0,0,0,0,0]
00062 else:
00063 self.header = std_msgs.msg.Header()
00064 self.positions = [0.,0.,0.,0.,0.,0.,0.]
00065 self.speeds = [0,0,0,0,0,0,0]
00066
00067 def _get_types(self):
00068 """
00069 internal API method
00070 """
00071 return self._slot_types
00072
00073 def serialize(self, buff):
00074 """
00075 serialize message into buffer
00076 :param buff: buffer, ``StringIO``
00077 """
00078 try:
00079 _x = self
00080 buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
00081 _x = self.header.frame_id
00082 length = len(_x)
00083 if python3 or type(_x) == unicode:
00084 _x = _x.encode('utf-8')
00085 length = len(_x)
00086 buff.write(struct.pack('<I%ss'%length, length, _x))
00087 buff.write(_struct_7f.pack(*self.positions))
00088 buff.write(_struct_7b.pack(*self.speeds))
00089 except struct.error as se: self._check_types(se)
00090 except TypeError as te: self._check_types(te)
00091
00092 def deserialize(self, str):
00093 """
00094 unpack serialized message in str into this message instance
00095 :param str: byte array of serialized message, ``str``
00096 """
00097 try:
00098 if self.header is None:
00099 self.header = std_msgs.msg.Header()
00100 end = 0
00101 _x = self
00102 start = end
00103 end += 12
00104 (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00105 start = end
00106 end += 4
00107 (length,) = _struct_I.unpack(str[start:end])
00108 start = end
00109 end += length
00110 if python3:
00111 self.header.frame_id = str[start:end].decode('utf-8')
00112 else:
00113 self.header.frame_id = str[start:end]
00114 start = end
00115 end += 28
00116 self.positions = _struct_7f.unpack(str[start:end])
00117 start = end
00118 end += 7
00119 self.speeds = _struct_7b.unpack(str[start:end])
00120 return self
00121 except struct.error as e:
00122 raise genpy.DeserializationError(e)
00123
00124
00125 def serialize_numpy(self, buff, numpy):
00126 """
00127 serialize message with numpy array types into buffer
00128 :param buff: buffer, ``StringIO``
00129 :param numpy: numpy python module
00130 """
00131 try:
00132 _x = self
00133 buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
00134 _x = self.header.frame_id
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 buff.write(self.positions.tostring())
00141 buff.write(self.speeds.tostring())
00142 except struct.error as se: self._check_types(se)
00143 except TypeError as te: self._check_types(te)
00144
00145 def deserialize_numpy(self, str, numpy):
00146 """
00147 unpack serialized message in str into this message instance using numpy for array types
00148 :param str: byte array of serialized message, ``str``
00149 :param numpy: numpy python module
00150 """
00151 try:
00152 if self.header is None:
00153 self.header = std_msgs.msg.Header()
00154 end = 0
00155 _x = self
00156 start = end
00157 end += 12
00158 (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00159 start = end
00160 end += 4
00161 (length,) = _struct_I.unpack(str[start:end])
00162 start = end
00163 end += length
00164 if python3:
00165 self.header.frame_id = str[start:end].decode('utf-8')
00166 else:
00167 self.header.frame_id = str[start:end]
00168 start = end
00169 end += 28
00170 self.positions = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=7)
00171 start = end
00172 end += 7
00173 self.speeds = numpy.frombuffer(str[start:end], dtype=numpy.int8, count=7)
00174 return self
00175 except struct.error as e:
00176 raise genpy.DeserializationError(e)
00177
00178 _struct_I = genpy.struct_I
00179 _struct_7f = struct.Struct("<7f")
00180 _struct_3I = struct.Struct("<3I")
00181 _struct_7b = struct.Struct("<7b")