00001 """autogenerated by genpy from ee_cart_imped_msgs/EECartImpedActionGoal.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 ee_cart_imped_msgs.msg
00008 import geometry_msgs.msg
00009 import genpy
00010 import actionlib_msgs.msg
00011 import std_msgs.msg
00012
00013 class EECartImpedActionGoal(genpy.Message):
00014 _md5sum = "09251e687b897c24590030b27467eb9f"
00015 _type = "ee_cart_imped_msgs/EECartImpedActionGoal"
00016 _has_header = True
00017 _full_text = """# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00018
00019 Header header
00020 actionlib_msgs/GoalID goal_id
00021 EECartImpedGoal goal
00022
00023 ================================================================================
00024 MSG: std_msgs/Header
00025 # Standard metadata for higher-level stamped data types.
00026 # This is generally used to communicate timestamped data
00027 # in a particular coordinate frame.
00028 #
00029 # sequence ID: consecutively increasing ID
00030 uint32 seq
00031 #Two-integer timestamp that is expressed as:
00032 # * stamp.secs: seconds (stamp_secs) since epoch
00033 # * stamp.nsecs: nanoseconds since stamp_secs
00034 # time-handling sugar is provided by the client library
00035 time stamp
00036 #Frame this data is associated with
00037 # 0: no frame
00038 # 1: global frame
00039 string frame_id
00040
00041 ================================================================================
00042 MSG: actionlib_msgs/GoalID
00043 # The stamp should store the time at which this goal was requested.
00044 # It is used by an action server when it tries to preempt all
00045 # goals that were requested before a certain time
00046 time stamp
00047
00048 # The id provides a way to associate feedback and
00049 # result message with specific goal requests. The id
00050 # specified must be unique.
00051 string id
00052
00053
00054 ================================================================================
00055 MSG: ee_cart_imped_msgs/EECartImpedGoal
00056 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00057 #goal definition
00058 Header header
00059 ee_cart_imped_msgs/StiffPoint[] trajectory
00060
00061 ================================================================================
00062 MSG: ee_cart_imped_msgs/StiffPoint
00063 Header header
00064 #The pose to achieve in the stiffness directions
00065 geometry_msgs/Pose pose
00066 #Wrench or stiffness for each dimension
00067 geometry_msgs/Wrench wrench_or_stiffness
00068 #The following are True if a force/torque should
00069 #be exerted and False if a stiffness should be used.
00070 bool isForceX
00071 bool isForceY
00072 bool isForceZ
00073 bool isTorqueX
00074 bool isTorqueY
00075 bool isTorqueZ
00076 #The time from the start of the trajectory that this
00077 #point should be achieved.
00078 duration time_from_start
00079 ================================================================================
00080 MSG: geometry_msgs/Pose
00081 # A representation of pose in free space, composed of postion and orientation.
00082 Point position
00083 Quaternion orientation
00084
00085 ================================================================================
00086 MSG: geometry_msgs/Point
00087 # This contains the position of a point in free space
00088 float64 x
00089 float64 y
00090 float64 z
00091
00092 ================================================================================
00093 MSG: geometry_msgs/Quaternion
00094 # This represents an orientation in free space in quaternion form.
00095
00096 float64 x
00097 float64 y
00098 float64 z
00099 float64 w
00100
00101 ================================================================================
00102 MSG: geometry_msgs/Wrench
00103 # This represents force in free space, seperated into
00104 # it's linear and angular parts.
00105 Vector3 force
00106 Vector3 torque
00107
00108 ================================================================================
00109 MSG: geometry_msgs/Vector3
00110 # This represents a vector in free space.
00111
00112 float64 x
00113 float64 y
00114 float64 z
00115 """
00116 __slots__ = ['header','goal_id','goal']
00117 _slot_types = ['std_msgs/Header','actionlib_msgs/GoalID','ee_cart_imped_msgs/EECartImpedGoal']
00118
00119 def __init__(self, *args, **kwds):
00120 """
00121 Constructor. Any message fields that are implicitly/explicitly
00122 set to None will be assigned a default value. The recommend
00123 use is keyword arguments as this is more robust to future message
00124 changes. You cannot mix in-order arguments and keyword arguments.
00125
00126 The available fields are:
00127 header,goal_id,goal
00128
00129 :param args: complete set of field values, in .msg order
00130 :param kwds: use keyword arguments corresponding to message field names
00131 to set specific fields.
00132 """
00133 if args or kwds:
00134 super(EECartImpedActionGoal, self).__init__(*args, **kwds)
00135
00136 if self.header is None:
00137 self.header = std_msgs.msg.Header()
00138 if self.goal_id is None:
00139 self.goal_id = actionlib_msgs.msg.GoalID()
00140 if self.goal is None:
00141 self.goal = ee_cart_imped_msgs.msg.EECartImpedGoal()
00142 else:
00143 self.header = std_msgs.msg.Header()
00144 self.goal_id = actionlib_msgs.msg.GoalID()
00145 self.goal = ee_cart_imped_msgs.msg.EECartImpedGoal()
00146
00147 def _get_types(self):
00148 """
00149 internal API method
00150 """
00151 return self._slot_types
00152
00153 def serialize(self, buff):
00154 """
00155 serialize message into buffer
00156 :param buff: buffer, ``StringIO``
00157 """
00158 try:
00159 _x = self
00160 buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
00161 _x = self.header.frame_id
00162 length = len(_x)
00163 if python3 or type(_x) == unicode:
00164 _x = _x.encode('utf-8')
00165 length = len(_x)
00166 buff.write(struct.pack('<I%ss'%length, length, _x))
00167 _x = self
00168 buff.write(_struct_2I.pack(_x.goal_id.stamp.secs, _x.goal_id.stamp.nsecs))
00169 _x = self.goal_id.id
00170 length = len(_x)
00171 if python3 or type(_x) == unicode:
00172 _x = _x.encode('utf-8')
00173 length = len(_x)
00174 buff.write(struct.pack('<I%ss'%length, length, _x))
00175 _x = self
00176 buff.write(_struct_3I.pack(_x.goal.header.seq, _x.goal.header.stamp.secs, _x.goal.header.stamp.nsecs))
00177 _x = self.goal.header.frame_id
00178 length = len(_x)
00179 if python3 or type(_x) == unicode:
00180 _x = _x.encode('utf-8')
00181 length = len(_x)
00182 buff.write(struct.pack('<I%ss'%length, length, _x))
00183 length = len(self.goal.trajectory)
00184 buff.write(_struct_I.pack(length))
00185 for val1 in self.goal.trajectory:
00186 _v1 = val1.header
00187 buff.write(_struct_I.pack(_v1.seq))
00188 _v2 = _v1.stamp
00189 _x = _v2
00190 buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00191 _x = _v1.frame_id
00192 length = len(_x)
00193 if python3 or type(_x) == unicode:
00194 _x = _x.encode('utf-8')
00195 length = len(_x)
00196 buff.write(struct.pack('<I%ss'%length, length, _x))
00197 _v3 = val1.pose
00198 _v4 = _v3.position
00199 _x = _v4
00200 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00201 _v5 = _v3.orientation
00202 _x = _v5
00203 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00204 _v6 = val1.wrench_or_stiffness
00205 _v7 = _v6.force
00206 _x = _v7
00207 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00208 _v8 = _v6.torque
00209 _x = _v8
00210 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00211 _x = val1
00212 buff.write(_struct_6B.pack(_x.isForceX, _x.isForceY, _x.isForceZ, _x.isTorqueX, _x.isTorqueY, _x.isTorqueZ))
00213 _v9 = val1.time_from_start
00214 _x = _v9
00215 buff.write(_struct_2i.pack(_x.secs, _x.nsecs))
00216 except struct.error as se: self._check_types(se)
00217 except TypeError as te: self._check_types(te)
00218
00219 def deserialize(self, str):
00220 """
00221 unpack serialized message in str into this message instance
00222 :param str: byte array of serialized message, ``str``
00223 """
00224 try:
00225 if self.header is None:
00226 self.header = std_msgs.msg.Header()
00227 if self.goal_id is None:
00228 self.goal_id = actionlib_msgs.msg.GoalID()
00229 if self.goal is None:
00230 self.goal = ee_cart_imped_msgs.msg.EECartImpedGoal()
00231 end = 0
00232 _x = self
00233 start = end
00234 end += 12
00235 (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00236 start = end
00237 end += 4
00238 (length,) = _struct_I.unpack(str[start:end])
00239 start = end
00240 end += length
00241 if python3:
00242 self.header.frame_id = str[start:end].decode('utf-8')
00243 else:
00244 self.header.frame_id = str[start:end]
00245 _x = self
00246 start = end
00247 end += 8
00248 (_x.goal_id.stamp.secs, _x.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00249 start = end
00250 end += 4
00251 (length,) = _struct_I.unpack(str[start:end])
00252 start = end
00253 end += length
00254 if python3:
00255 self.goal_id.id = str[start:end].decode('utf-8')
00256 else:
00257 self.goal_id.id = str[start:end]
00258 _x = self
00259 start = end
00260 end += 12
00261 (_x.goal.header.seq, _x.goal.header.stamp.secs, _x.goal.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00262 start = end
00263 end += 4
00264 (length,) = _struct_I.unpack(str[start:end])
00265 start = end
00266 end += length
00267 if python3:
00268 self.goal.header.frame_id = str[start:end].decode('utf-8')
00269 else:
00270 self.goal.header.frame_id = str[start:end]
00271 start = end
00272 end += 4
00273 (length,) = _struct_I.unpack(str[start:end])
00274 self.goal.trajectory = []
00275 for i in range(0, length):
00276 val1 = ee_cart_imped_msgs.msg.StiffPoint()
00277 _v10 = val1.header
00278 start = end
00279 end += 4
00280 (_v10.seq,) = _struct_I.unpack(str[start:end])
00281 _v11 = _v10.stamp
00282 _x = _v11
00283 start = end
00284 end += 8
00285 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
00286 start = end
00287 end += 4
00288 (length,) = _struct_I.unpack(str[start:end])
00289 start = end
00290 end += length
00291 if python3:
00292 _v10.frame_id = str[start:end].decode('utf-8')
00293 else:
00294 _v10.frame_id = str[start:end]
00295 _v12 = val1.pose
00296 _v13 = _v12.position
00297 _x = _v13
00298 start = end
00299 end += 24
00300 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00301 _v14 = _v12.orientation
00302 _x = _v14
00303 start = end
00304 end += 32
00305 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
00306 _v15 = val1.wrench_or_stiffness
00307 _v16 = _v15.force
00308 _x = _v16
00309 start = end
00310 end += 24
00311 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00312 _v17 = _v15.torque
00313 _x = _v17
00314 start = end
00315 end += 24
00316 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00317 _x = val1
00318 start = end
00319 end += 6
00320 (_x.isForceX, _x.isForceY, _x.isForceZ, _x.isTorqueX, _x.isTorqueY, _x.isTorqueZ,) = _struct_6B.unpack(str[start:end])
00321 val1.isForceX = bool(val1.isForceX)
00322 val1.isForceY = bool(val1.isForceY)
00323 val1.isForceZ = bool(val1.isForceZ)
00324 val1.isTorqueX = bool(val1.isTorqueX)
00325 val1.isTorqueY = bool(val1.isTorqueY)
00326 val1.isTorqueZ = bool(val1.isTorqueZ)
00327 _v18 = val1.time_from_start
00328 _x = _v18
00329 start = end
00330 end += 8
00331 (_x.secs, _x.nsecs,) = _struct_2i.unpack(str[start:end])
00332 self.goal.trajectory.append(val1)
00333 return self
00334 except struct.error as e:
00335 raise genpy.DeserializationError(e)
00336
00337
00338 def serialize_numpy(self, buff, numpy):
00339 """
00340 serialize message with numpy array types into buffer
00341 :param buff: buffer, ``StringIO``
00342 :param numpy: numpy python module
00343 """
00344 try:
00345 _x = self
00346 buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
00347 _x = self.header.frame_id
00348 length = len(_x)
00349 if python3 or type(_x) == unicode:
00350 _x = _x.encode('utf-8')
00351 length = len(_x)
00352 buff.write(struct.pack('<I%ss'%length, length, _x))
00353 _x = self
00354 buff.write(_struct_2I.pack(_x.goal_id.stamp.secs, _x.goal_id.stamp.nsecs))
00355 _x = self.goal_id.id
00356 length = len(_x)
00357 if python3 or type(_x) == unicode:
00358 _x = _x.encode('utf-8')
00359 length = len(_x)
00360 buff.write(struct.pack('<I%ss'%length, length, _x))
00361 _x = self
00362 buff.write(_struct_3I.pack(_x.goal.header.seq, _x.goal.header.stamp.secs, _x.goal.header.stamp.nsecs))
00363 _x = self.goal.header.frame_id
00364 length = len(_x)
00365 if python3 or type(_x) == unicode:
00366 _x = _x.encode('utf-8')
00367 length = len(_x)
00368 buff.write(struct.pack('<I%ss'%length, length, _x))
00369 length = len(self.goal.trajectory)
00370 buff.write(_struct_I.pack(length))
00371 for val1 in self.goal.trajectory:
00372 _v19 = val1.header
00373 buff.write(_struct_I.pack(_v19.seq))
00374 _v20 = _v19.stamp
00375 _x = _v20
00376 buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00377 _x = _v19.frame_id
00378 length = len(_x)
00379 if python3 or type(_x) == unicode:
00380 _x = _x.encode('utf-8')
00381 length = len(_x)
00382 buff.write(struct.pack('<I%ss'%length, length, _x))
00383 _v21 = val1.pose
00384 _v22 = _v21.position
00385 _x = _v22
00386 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00387 _v23 = _v21.orientation
00388 _x = _v23
00389 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00390 _v24 = val1.wrench_or_stiffness
00391 _v25 = _v24.force
00392 _x = _v25
00393 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00394 _v26 = _v24.torque
00395 _x = _v26
00396 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00397 _x = val1
00398 buff.write(_struct_6B.pack(_x.isForceX, _x.isForceY, _x.isForceZ, _x.isTorqueX, _x.isTorqueY, _x.isTorqueZ))
00399 _v27 = val1.time_from_start
00400 _x = _v27
00401 buff.write(_struct_2i.pack(_x.secs, _x.nsecs))
00402 except struct.error as se: self._check_types(se)
00403 except TypeError as te: self._check_types(te)
00404
00405 def deserialize_numpy(self, str, numpy):
00406 """
00407 unpack serialized message in str into this message instance using numpy for array types
00408 :param str: byte array of serialized message, ``str``
00409 :param numpy: numpy python module
00410 """
00411 try:
00412 if self.header is None:
00413 self.header = std_msgs.msg.Header()
00414 if self.goal_id is None:
00415 self.goal_id = actionlib_msgs.msg.GoalID()
00416 if self.goal is None:
00417 self.goal = ee_cart_imped_msgs.msg.EECartImpedGoal()
00418 end = 0
00419 _x = self
00420 start = end
00421 end += 12
00422 (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00423 start = end
00424 end += 4
00425 (length,) = _struct_I.unpack(str[start:end])
00426 start = end
00427 end += length
00428 if python3:
00429 self.header.frame_id = str[start:end].decode('utf-8')
00430 else:
00431 self.header.frame_id = str[start:end]
00432 _x = self
00433 start = end
00434 end += 8
00435 (_x.goal_id.stamp.secs, _x.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00436 start = end
00437 end += 4
00438 (length,) = _struct_I.unpack(str[start:end])
00439 start = end
00440 end += length
00441 if python3:
00442 self.goal_id.id = str[start:end].decode('utf-8')
00443 else:
00444 self.goal_id.id = str[start:end]
00445 _x = self
00446 start = end
00447 end += 12
00448 (_x.goal.header.seq, _x.goal.header.stamp.secs, _x.goal.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00449 start = end
00450 end += 4
00451 (length,) = _struct_I.unpack(str[start:end])
00452 start = end
00453 end += length
00454 if python3:
00455 self.goal.header.frame_id = str[start:end].decode('utf-8')
00456 else:
00457 self.goal.header.frame_id = str[start:end]
00458 start = end
00459 end += 4
00460 (length,) = _struct_I.unpack(str[start:end])
00461 self.goal.trajectory = []
00462 for i in range(0, length):
00463 val1 = ee_cart_imped_msgs.msg.StiffPoint()
00464 _v28 = val1.header
00465 start = end
00466 end += 4
00467 (_v28.seq,) = _struct_I.unpack(str[start:end])
00468 _v29 = _v28.stamp
00469 _x = _v29
00470 start = end
00471 end += 8
00472 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
00473 start = end
00474 end += 4
00475 (length,) = _struct_I.unpack(str[start:end])
00476 start = end
00477 end += length
00478 if python3:
00479 _v28.frame_id = str[start:end].decode('utf-8')
00480 else:
00481 _v28.frame_id = str[start:end]
00482 _v30 = val1.pose
00483 _v31 = _v30.position
00484 _x = _v31
00485 start = end
00486 end += 24
00487 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00488 _v32 = _v30.orientation
00489 _x = _v32
00490 start = end
00491 end += 32
00492 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
00493 _v33 = val1.wrench_or_stiffness
00494 _v34 = _v33.force
00495 _x = _v34
00496 start = end
00497 end += 24
00498 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00499 _v35 = _v33.torque
00500 _x = _v35
00501 start = end
00502 end += 24
00503 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00504 _x = val1
00505 start = end
00506 end += 6
00507 (_x.isForceX, _x.isForceY, _x.isForceZ, _x.isTorqueX, _x.isTorqueY, _x.isTorqueZ,) = _struct_6B.unpack(str[start:end])
00508 val1.isForceX = bool(val1.isForceX)
00509 val1.isForceY = bool(val1.isForceY)
00510 val1.isForceZ = bool(val1.isForceZ)
00511 val1.isTorqueX = bool(val1.isTorqueX)
00512 val1.isTorqueY = bool(val1.isTorqueY)
00513 val1.isTorqueZ = bool(val1.isTorqueZ)
00514 _v36 = val1.time_from_start
00515 _x = _v36
00516 start = end
00517 end += 8
00518 (_x.secs, _x.nsecs,) = _struct_2i.unpack(str[start:end])
00519 self.goal.trajectory.append(val1)
00520 return self
00521 except struct.error as e:
00522 raise genpy.DeserializationError(e)
00523
00524 _struct_I = genpy.struct_I
00525 _struct_6B = struct.Struct("<6B")
00526 _struct_2i = struct.Struct("<2i")
00527 _struct_3I = struct.Struct("<3I")
00528 _struct_4d = struct.Struct("<4d")
00529 _struct_2I = struct.Struct("<2I")
00530 _struct_3d = struct.Struct("<3d")