00001 """autogenerated by genpy from ee_cart_imped_msgs/EECartImpedFeedback.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 import genpy
00009 import ee_cart_imped_msgs.msg
00010 import std_msgs.msg
00011
00012 class EECartImpedFeedback(genpy.Message):
00013 _md5sum = "4106b02683301dac2003809bdf610591"
00014 _type = "ee_cart_imped_msgs/EECartImpedFeedback"
00015 _has_header = True
00016 _full_text = """# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00017 #feedback
00018 #current pose and squared error in force
00019 #and the running time of this goal so far
00020 Header header
00021 ee_cart_imped_msgs/StiffPoint[] goal
00022 ee_cart_imped_msgs/StiffPoint initial_point
00023 ee_cart_imped_msgs/StiffPoint desired
00024 ee_cart_imped_msgs/StiffPoint actual_pose
00025 float64 effort_sq_error
00026 float64[] requested_joint_efforts
00027 float64[] actual_joint_efforts
00028 duration running_time
00029
00030
00031
00032 ================================================================================
00033 MSG: std_msgs/Header
00034 # Standard metadata for higher-level stamped data types.
00035 # This is generally used to communicate timestamped data
00036 # in a particular coordinate frame.
00037 #
00038 # sequence ID: consecutively increasing ID
00039 uint32 seq
00040 #Two-integer timestamp that is expressed as:
00041 # * stamp.secs: seconds (stamp_secs) since epoch
00042 # * stamp.nsecs: nanoseconds since stamp_secs
00043 # time-handling sugar is provided by the client library
00044 time stamp
00045 #Frame this data is associated with
00046 # 0: no frame
00047 # 1: global frame
00048 string frame_id
00049
00050 ================================================================================
00051 MSG: ee_cart_imped_msgs/StiffPoint
00052 Header header
00053 #The pose to achieve in the stiffness directions
00054 geometry_msgs/Pose pose
00055 #Wrench or stiffness for each dimension
00056 geometry_msgs/Wrench wrench_or_stiffness
00057 #The following are True if a force/torque should
00058 #be exerted and False if a stiffness should be used.
00059 bool isForceX
00060 bool isForceY
00061 bool isForceZ
00062 bool isTorqueX
00063 bool isTorqueY
00064 bool isTorqueZ
00065 #The time from the start of the trajectory that this
00066 #point should be achieved.
00067 duration time_from_start
00068 ================================================================================
00069 MSG: geometry_msgs/Pose
00070 # A representation of pose in free space, composed of postion and orientation.
00071 Point position
00072 Quaternion orientation
00073
00074 ================================================================================
00075 MSG: geometry_msgs/Point
00076 # This contains the position of a point in free space
00077 float64 x
00078 float64 y
00079 float64 z
00080
00081 ================================================================================
00082 MSG: geometry_msgs/Quaternion
00083 # This represents an orientation in free space in quaternion form.
00084
00085 float64 x
00086 float64 y
00087 float64 z
00088 float64 w
00089
00090 ================================================================================
00091 MSG: geometry_msgs/Wrench
00092 # This represents force in free space, seperated into
00093 # it's linear and angular parts.
00094 Vector3 force
00095 Vector3 torque
00096
00097 ================================================================================
00098 MSG: geometry_msgs/Vector3
00099 # This represents a vector in free space.
00100
00101 float64 x
00102 float64 y
00103 float64 z
00104 """
00105 __slots__ = ['header','goal','initial_point','desired','actual_pose','effort_sq_error','requested_joint_efforts','actual_joint_efforts','running_time']
00106 _slot_types = ['std_msgs/Header','ee_cart_imped_msgs/StiffPoint[]','ee_cart_imped_msgs/StiffPoint','ee_cart_imped_msgs/StiffPoint','ee_cart_imped_msgs/StiffPoint','float64','float64[]','float64[]','duration']
00107
00108 def __init__(self, *args, **kwds):
00109 """
00110 Constructor. Any message fields that are implicitly/explicitly
00111 set to None will be assigned a default value. The recommend
00112 use is keyword arguments as this is more robust to future message
00113 changes. You cannot mix in-order arguments and keyword arguments.
00114
00115 The available fields are:
00116 header,goal,initial_point,desired,actual_pose,effort_sq_error,requested_joint_efforts,actual_joint_efforts,running_time
00117
00118 :param args: complete set of field values, in .msg order
00119 :param kwds: use keyword arguments corresponding to message field names
00120 to set specific fields.
00121 """
00122 if args or kwds:
00123 super(EECartImpedFeedback, self).__init__(*args, **kwds)
00124
00125 if self.header is None:
00126 self.header = std_msgs.msg.Header()
00127 if self.goal is None:
00128 self.goal = []
00129 if self.initial_point is None:
00130 self.initial_point = ee_cart_imped_msgs.msg.StiffPoint()
00131 if self.desired is None:
00132 self.desired = ee_cart_imped_msgs.msg.StiffPoint()
00133 if self.actual_pose is None:
00134 self.actual_pose = ee_cart_imped_msgs.msg.StiffPoint()
00135 if self.effort_sq_error is None:
00136 self.effort_sq_error = 0.
00137 if self.requested_joint_efforts is None:
00138 self.requested_joint_efforts = []
00139 if self.actual_joint_efforts is None:
00140 self.actual_joint_efforts = []
00141 if self.running_time is None:
00142 self.running_time = genpy.Duration()
00143 else:
00144 self.header = std_msgs.msg.Header()
00145 self.goal = []
00146 self.initial_point = ee_cart_imped_msgs.msg.StiffPoint()
00147 self.desired = ee_cart_imped_msgs.msg.StiffPoint()
00148 self.actual_pose = ee_cart_imped_msgs.msg.StiffPoint()
00149 self.effort_sq_error = 0.
00150 self.requested_joint_efforts = []
00151 self.actual_joint_efforts = []
00152 self.running_time = genpy.Duration()
00153
00154 def _get_types(self):
00155 """
00156 internal API method
00157 """
00158 return self._slot_types
00159
00160 def serialize(self, buff):
00161 """
00162 serialize message into buffer
00163 :param buff: buffer, ``StringIO``
00164 """
00165 try:
00166 _x = self
00167 buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
00168 _x = self.header.frame_id
00169 length = len(_x)
00170 if python3 or type(_x) == unicode:
00171 _x = _x.encode('utf-8')
00172 length = len(_x)
00173 buff.write(struct.pack('<I%ss'%length, length, _x))
00174 length = len(self.goal)
00175 buff.write(_struct_I.pack(length))
00176 for val1 in self.goal:
00177 _v1 = val1.header
00178 buff.write(_struct_I.pack(_v1.seq))
00179 _v2 = _v1.stamp
00180 _x = _v2
00181 buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00182 _x = _v1.frame_id
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 _v3 = val1.pose
00189 _v4 = _v3.position
00190 _x = _v4
00191 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00192 _v5 = _v3.orientation
00193 _x = _v5
00194 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00195 _v6 = val1.wrench_or_stiffness
00196 _v7 = _v6.force
00197 _x = _v7
00198 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00199 _v8 = _v6.torque
00200 _x = _v8
00201 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00202 _x = val1
00203 buff.write(_struct_6B.pack(_x.isForceX, _x.isForceY, _x.isForceZ, _x.isTorqueX, _x.isTorqueY, _x.isTorqueZ))
00204 _v9 = val1.time_from_start
00205 _x = _v9
00206 buff.write(_struct_2i.pack(_x.secs, _x.nsecs))
00207 _x = self
00208 buff.write(_struct_3I.pack(_x.initial_point.header.seq, _x.initial_point.header.stamp.secs, _x.initial_point.header.stamp.nsecs))
00209 _x = self.initial_point.header.frame_id
00210 length = len(_x)
00211 if python3 or type(_x) == unicode:
00212 _x = _x.encode('utf-8')
00213 length = len(_x)
00214 buff.write(struct.pack('<I%ss'%length, length, _x))
00215 _x = self
00216 buff.write(_struct_13d6B2i3I.pack(_x.initial_point.pose.position.x, _x.initial_point.pose.position.y, _x.initial_point.pose.position.z, _x.initial_point.pose.orientation.x, _x.initial_point.pose.orientation.y, _x.initial_point.pose.orientation.z, _x.initial_point.pose.orientation.w, _x.initial_point.wrench_or_stiffness.force.x, _x.initial_point.wrench_or_stiffness.force.y, _x.initial_point.wrench_or_stiffness.force.z, _x.initial_point.wrench_or_stiffness.torque.x, _x.initial_point.wrench_or_stiffness.torque.y, _x.initial_point.wrench_or_stiffness.torque.z, _x.initial_point.isForceX, _x.initial_point.isForceY, _x.initial_point.isForceZ, _x.initial_point.isTorqueX, _x.initial_point.isTorqueY, _x.initial_point.isTorqueZ, _x.initial_point.time_from_start.secs, _x.initial_point.time_from_start.nsecs, _x.desired.header.seq, _x.desired.header.stamp.secs, _x.desired.header.stamp.nsecs))
00217 _x = self.desired.header.frame_id
00218 length = len(_x)
00219 if python3 or type(_x) == unicode:
00220 _x = _x.encode('utf-8')
00221 length = len(_x)
00222 buff.write(struct.pack('<I%ss'%length, length, _x))
00223 _x = self
00224 buff.write(_struct_13d6B2i3I.pack(_x.desired.pose.position.x, _x.desired.pose.position.y, _x.desired.pose.position.z, _x.desired.pose.orientation.x, _x.desired.pose.orientation.y, _x.desired.pose.orientation.z, _x.desired.pose.orientation.w, _x.desired.wrench_or_stiffness.force.x, _x.desired.wrench_or_stiffness.force.y, _x.desired.wrench_or_stiffness.force.z, _x.desired.wrench_or_stiffness.torque.x, _x.desired.wrench_or_stiffness.torque.y, _x.desired.wrench_or_stiffness.torque.z, _x.desired.isForceX, _x.desired.isForceY, _x.desired.isForceZ, _x.desired.isTorqueX, _x.desired.isTorqueY, _x.desired.isTorqueZ, _x.desired.time_from_start.secs, _x.desired.time_from_start.nsecs, _x.actual_pose.header.seq, _x.actual_pose.header.stamp.secs, _x.actual_pose.header.stamp.nsecs))
00225 _x = self.actual_pose.header.frame_id
00226 length = len(_x)
00227 if python3 or type(_x) == unicode:
00228 _x = _x.encode('utf-8')
00229 length = len(_x)
00230 buff.write(struct.pack('<I%ss'%length, length, _x))
00231 _x = self
00232 buff.write(_struct_13d6B2id.pack(_x.actual_pose.pose.position.x, _x.actual_pose.pose.position.y, _x.actual_pose.pose.position.z, _x.actual_pose.pose.orientation.x, _x.actual_pose.pose.orientation.y, _x.actual_pose.pose.orientation.z, _x.actual_pose.pose.orientation.w, _x.actual_pose.wrench_or_stiffness.force.x, _x.actual_pose.wrench_or_stiffness.force.y, _x.actual_pose.wrench_or_stiffness.force.z, _x.actual_pose.wrench_or_stiffness.torque.x, _x.actual_pose.wrench_or_stiffness.torque.y, _x.actual_pose.wrench_or_stiffness.torque.z, _x.actual_pose.isForceX, _x.actual_pose.isForceY, _x.actual_pose.isForceZ, _x.actual_pose.isTorqueX, _x.actual_pose.isTorqueY, _x.actual_pose.isTorqueZ, _x.actual_pose.time_from_start.secs, _x.actual_pose.time_from_start.nsecs, _x.effort_sq_error))
00233 length = len(self.requested_joint_efforts)
00234 buff.write(_struct_I.pack(length))
00235 pattern = '<%sd'%length
00236 buff.write(struct.pack(pattern, *self.requested_joint_efforts))
00237 length = len(self.actual_joint_efforts)
00238 buff.write(_struct_I.pack(length))
00239 pattern = '<%sd'%length
00240 buff.write(struct.pack(pattern, *self.actual_joint_efforts))
00241 _x = self
00242 buff.write(_struct_2i.pack(_x.running_time.secs, _x.running_time.nsecs))
00243 except struct.error as se: self._check_types(se)
00244 except TypeError as te: self._check_types(te)
00245
00246 def deserialize(self, str):
00247 """
00248 unpack serialized message in str into this message instance
00249 :param str: byte array of serialized message, ``str``
00250 """
00251 try:
00252 if self.header is None:
00253 self.header = std_msgs.msg.Header()
00254 if self.goal is None:
00255 self.goal = None
00256 if self.initial_point is None:
00257 self.initial_point = ee_cart_imped_msgs.msg.StiffPoint()
00258 if self.desired is None:
00259 self.desired = ee_cart_imped_msgs.msg.StiffPoint()
00260 if self.actual_pose is None:
00261 self.actual_pose = ee_cart_imped_msgs.msg.StiffPoint()
00262 if self.running_time is None:
00263 self.running_time = genpy.Duration()
00264 end = 0
00265 _x = self
00266 start = end
00267 end += 12
00268 (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00269 start = end
00270 end += 4
00271 (length,) = _struct_I.unpack(str[start:end])
00272 start = end
00273 end += length
00274 if python3:
00275 self.header.frame_id = str[start:end].decode('utf-8')
00276 else:
00277 self.header.frame_id = str[start:end]
00278 start = end
00279 end += 4
00280 (length,) = _struct_I.unpack(str[start:end])
00281 self.goal = []
00282 for i in range(0, length):
00283 val1 = ee_cart_imped_msgs.msg.StiffPoint()
00284 _v10 = val1.header
00285 start = end
00286 end += 4
00287 (_v10.seq,) = _struct_I.unpack(str[start:end])
00288 _v11 = _v10.stamp
00289 _x = _v11
00290 start = end
00291 end += 8
00292 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
00293 start = end
00294 end += 4
00295 (length,) = _struct_I.unpack(str[start:end])
00296 start = end
00297 end += length
00298 if python3:
00299 _v10.frame_id = str[start:end].decode('utf-8')
00300 else:
00301 _v10.frame_id = str[start:end]
00302 _v12 = val1.pose
00303 _v13 = _v12.position
00304 _x = _v13
00305 start = end
00306 end += 24
00307 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00308 _v14 = _v12.orientation
00309 _x = _v14
00310 start = end
00311 end += 32
00312 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
00313 _v15 = val1.wrench_or_stiffness
00314 _v16 = _v15.force
00315 _x = _v16
00316 start = end
00317 end += 24
00318 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00319 _v17 = _v15.torque
00320 _x = _v17
00321 start = end
00322 end += 24
00323 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00324 _x = val1
00325 start = end
00326 end += 6
00327 (_x.isForceX, _x.isForceY, _x.isForceZ, _x.isTorqueX, _x.isTorqueY, _x.isTorqueZ,) = _struct_6B.unpack(str[start:end])
00328 val1.isForceX = bool(val1.isForceX)
00329 val1.isForceY = bool(val1.isForceY)
00330 val1.isForceZ = bool(val1.isForceZ)
00331 val1.isTorqueX = bool(val1.isTorqueX)
00332 val1.isTorqueY = bool(val1.isTorqueY)
00333 val1.isTorqueZ = bool(val1.isTorqueZ)
00334 _v18 = val1.time_from_start
00335 _x = _v18
00336 start = end
00337 end += 8
00338 (_x.secs, _x.nsecs,) = _struct_2i.unpack(str[start:end])
00339 self.goal.append(val1)
00340 _x = self
00341 start = end
00342 end += 12
00343 (_x.initial_point.header.seq, _x.initial_point.header.stamp.secs, _x.initial_point.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00344 start = end
00345 end += 4
00346 (length,) = _struct_I.unpack(str[start:end])
00347 start = end
00348 end += length
00349 if python3:
00350 self.initial_point.header.frame_id = str[start:end].decode('utf-8')
00351 else:
00352 self.initial_point.header.frame_id = str[start:end]
00353 _x = self
00354 start = end
00355 end += 130
00356 (_x.initial_point.pose.position.x, _x.initial_point.pose.position.y, _x.initial_point.pose.position.z, _x.initial_point.pose.orientation.x, _x.initial_point.pose.orientation.y, _x.initial_point.pose.orientation.z, _x.initial_point.pose.orientation.w, _x.initial_point.wrench_or_stiffness.force.x, _x.initial_point.wrench_or_stiffness.force.y, _x.initial_point.wrench_or_stiffness.force.z, _x.initial_point.wrench_or_stiffness.torque.x, _x.initial_point.wrench_or_stiffness.torque.y, _x.initial_point.wrench_or_stiffness.torque.z, _x.initial_point.isForceX, _x.initial_point.isForceY, _x.initial_point.isForceZ, _x.initial_point.isTorqueX, _x.initial_point.isTorqueY, _x.initial_point.isTorqueZ, _x.initial_point.time_from_start.secs, _x.initial_point.time_from_start.nsecs, _x.desired.header.seq, _x.desired.header.stamp.secs, _x.desired.header.stamp.nsecs,) = _struct_13d6B2i3I.unpack(str[start:end])
00357 self.initial_point.isForceX = bool(self.initial_point.isForceX)
00358 self.initial_point.isForceY = bool(self.initial_point.isForceY)
00359 self.initial_point.isForceZ = bool(self.initial_point.isForceZ)
00360 self.initial_point.isTorqueX = bool(self.initial_point.isTorqueX)
00361 self.initial_point.isTorqueY = bool(self.initial_point.isTorqueY)
00362 self.initial_point.isTorqueZ = bool(self.initial_point.isTorqueZ)
00363 start = end
00364 end += 4
00365 (length,) = _struct_I.unpack(str[start:end])
00366 start = end
00367 end += length
00368 if python3:
00369 self.desired.header.frame_id = str[start:end].decode('utf-8')
00370 else:
00371 self.desired.header.frame_id = str[start:end]
00372 _x = self
00373 start = end
00374 end += 130
00375 (_x.desired.pose.position.x, _x.desired.pose.position.y, _x.desired.pose.position.z, _x.desired.pose.orientation.x, _x.desired.pose.orientation.y, _x.desired.pose.orientation.z, _x.desired.pose.orientation.w, _x.desired.wrench_or_stiffness.force.x, _x.desired.wrench_or_stiffness.force.y, _x.desired.wrench_or_stiffness.force.z, _x.desired.wrench_or_stiffness.torque.x, _x.desired.wrench_or_stiffness.torque.y, _x.desired.wrench_or_stiffness.torque.z, _x.desired.isForceX, _x.desired.isForceY, _x.desired.isForceZ, _x.desired.isTorqueX, _x.desired.isTorqueY, _x.desired.isTorqueZ, _x.desired.time_from_start.secs, _x.desired.time_from_start.nsecs, _x.actual_pose.header.seq, _x.actual_pose.header.stamp.secs, _x.actual_pose.header.stamp.nsecs,) = _struct_13d6B2i3I.unpack(str[start:end])
00376 self.desired.isForceX = bool(self.desired.isForceX)
00377 self.desired.isForceY = bool(self.desired.isForceY)
00378 self.desired.isForceZ = bool(self.desired.isForceZ)
00379 self.desired.isTorqueX = bool(self.desired.isTorqueX)
00380 self.desired.isTorqueY = bool(self.desired.isTorqueY)
00381 self.desired.isTorqueZ = bool(self.desired.isTorqueZ)
00382 start = end
00383 end += 4
00384 (length,) = _struct_I.unpack(str[start:end])
00385 start = end
00386 end += length
00387 if python3:
00388 self.actual_pose.header.frame_id = str[start:end].decode('utf-8')
00389 else:
00390 self.actual_pose.header.frame_id = str[start:end]
00391 _x = self
00392 start = end
00393 end += 126
00394 (_x.actual_pose.pose.position.x, _x.actual_pose.pose.position.y, _x.actual_pose.pose.position.z, _x.actual_pose.pose.orientation.x, _x.actual_pose.pose.orientation.y, _x.actual_pose.pose.orientation.z, _x.actual_pose.pose.orientation.w, _x.actual_pose.wrench_or_stiffness.force.x, _x.actual_pose.wrench_or_stiffness.force.y, _x.actual_pose.wrench_or_stiffness.force.z, _x.actual_pose.wrench_or_stiffness.torque.x, _x.actual_pose.wrench_or_stiffness.torque.y, _x.actual_pose.wrench_or_stiffness.torque.z, _x.actual_pose.isForceX, _x.actual_pose.isForceY, _x.actual_pose.isForceZ, _x.actual_pose.isTorqueX, _x.actual_pose.isTorqueY, _x.actual_pose.isTorqueZ, _x.actual_pose.time_from_start.secs, _x.actual_pose.time_from_start.nsecs, _x.effort_sq_error,) = _struct_13d6B2id.unpack(str[start:end])
00395 self.actual_pose.isForceX = bool(self.actual_pose.isForceX)
00396 self.actual_pose.isForceY = bool(self.actual_pose.isForceY)
00397 self.actual_pose.isForceZ = bool(self.actual_pose.isForceZ)
00398 self.actual_pose.isTorqueX = bool(self.actual_pose.isTorqueX)
00399 self.actual_pose.isTorqueY = bool(self.actual_pose.isTorqueY)
00400 self.actual_pose.isTorqueZ = bool(self.actual_pose.isTorqueZ)
00401 start = end
00402 end += 4
00403 (length,) = _struct_I.unpack(str[start:end])
00404 pattern = '<%sd'%length
00405 start = end
00406 end += struct.calcsize(pattern)
00407 self.requested_joint_efforts = struct.unpack(pattern, str[start:end])
00408 start = end
00409 end += 4
00410 (length,) = _struct_I.unpack(str[start:end])
00411 pattern = '<%sd'%length
00412 start = end
00413 end += struct.calcsize(pattern)
00414 self.actual_joint_efforts = struct.unpack(pattern, str[start:end])
00415 _x = self
00416 start = end
00417 end += 8
00418 (_x.running_time.secs, _x.running_time.nsecs,) = _struct_2i.unpack(str[start:end])
00419 self.running_time.canon()
00420 return self
00421 except struct.error as e:
00422 raise genpy.DeserializationError(e)
00423
00424
00425 def serialize_numpy(self, buff, numpy):
00426 """
00427 serialize message with numpy array types into buffer
00428 :param buff: buffer, ``StringIO``
00429 :param numpy: numpy python module
00430 """
00431 try:
00432 _x = self
00433 buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
00434 _x = self.header.frame_id
00435 length = len(_x)
00436 if python3 or type(_x) == unicode:
00437 _x = _x.encode('utf-8')
00438 length = len(_x)
00439 buff.write(struct.pack('<I%ss'%length, length, _x))
00440 length = len(self.goal)
00441 buff.write(_struct_I.pack(length))
00442 for val1 in self.goal:
00443 _v19 = val1.header
00444 buff.write(_struct_I.pack(_v19.seq))
00445 _v20 = _v19.stamp
00446 _x = _v20
00447 buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00448 _x = _v19.frame_id
00449 length = len(_x)
00450 if python3 or type(_x) == unicode:
00451 _x = _x.encode('utf-8')
00452 length = len(_x)
00453 buff.write(struct.pack('<I%ss'%length, length, _x))
00454 _v21 = val1.pose
00455 _v22 = _v21.position
00456 _x = _v22
00457 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00458 _v23 = _v21.orientation
00459 _x = _v23
00460 buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
00461 _v24 = val1.wrench_or_stiffness
00462 _v25 = _v24.force
00463 _x = _v25
00464 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00465 _v26 = _v24.torque
00466 _x = _v26
00467 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00468 _x = val1
00469 buff.write(_struct_6B.pack(_x.isForceX, _x.isForceY, _x.isForceZ, _x.isTorqueX, _x.isTorqueY, _x.isTorqueZ))
00470 _v27 = val1.time_from_start
00471 _x = _v27
00472 buff.write(_struct_2i.pack(_x.secs, _x.nsecs))
00473 _x = self
00474 buff.write(_struct_3I.pack(_x.initial_point.header.seq, _x.initial_point.header.stamp.secs, _x.initial_point.header.stamp.nsecs))
00475 _x = self.initial_point.header.frame_id
00476 length = len(_x)
00477 if python3 or type(_x) == unicode:
00478 _x = _x.encode('utf-8')
00479 length = len(_x)
00480 buff.write(struct.pack('<I%ss'%length, length, _x))
00481 _x = self
00482 buff.write(_struct_13d6B2i3I.pack(_x.initial_point.pose.position.x, _x.initial_point.pose.position.y, _x.initial_point.pose.position.z, _x.initial_point.pose.orientation.x, _x.initial_point.pose.orientation.y, _x.initial_point.pose.orientation.z, _x.initial_point.pose.orientation.w, _x.initial_point.wrench_or_stiffness.force.x, _x.initial_point.wrench_or_stiffness.force.y, _x.initial_point.wrench_or_stiffness.force.z, _x.initial_point.wrench_or_stiffness.torque.x, _x.initial_point.wrench_or_stiffness.torque.y, _x.initial_point.wrench_or_stiffness.torque.z, _x.initial_point.isForceX, _x.initial_point.isForceY, _x.initial_point.isForceZ, _x.initial_point.isTorqueX, _x.initial_point.isTorqueY, _x.initial_point.isTorqueZ, _x.initial_point.time_from_start.secs, _x.initial_point.time_from_start.nsecs, _x.desired.header.seq, _x.desired.header.stamp.secs, _x.desired.header.stamp.nsecs))
00483 _x = self.desired.header.frame_id
00484 length = len(_x)
00485 if python3 or type(_x) == unicode:
00486 _x = _x.encode('utf-8')
00487 length = len(_x)
00488 buff.write(struct.pack('<I%ss'%length, length, _x))
00489 _x = self
00490 buff.write(_struct_13d6B2i3I.pack(_x.desired.pose.position.x, _x.desired.pose.position.y, _x.desired.pose.position.z, _x.desired.pose.orientation.x, _x.desired.pose.orientation.y, _x.desired.pose.orientation.z, _x.desired.pose.orientation.w, _x.desired.wrench_or_stiffness.force.x, _x.desired.wrench_or_stiffness.force.y, _x.desired.wrench_or_stiffness.force.z, _x.desired.wrench_or_stiffness.torque.x, _x.desired.wrench_or_stiffness.torque.y, _x.desired.wrench_or_stiffness.torque.z, _x.desired.isForceX, _x.desired.isForceY, _x.desired.isForceZ, _x.desired.isTorqueX, _x.desired.isTorqueY, _x.desired.isTorqueZ, _x.desired.time_from_start.secs, _x.desired.time_from_start.nsecs, _x.actual_pose.header.seq, _x.actual_pose.header.stamp.secs, _x.actual_pose.header.stamp.nsecs))
00491 _x = self.actual_pose.header.frame_id
00492 length = len(_x)
00493 if python3 or type(_x) == unicode:
00494 _x = _x.encode('utf-8')
00495 length = len(_x)
00496 buff.write(struct.pack('<I%ss'%length, length, _x))
00497 _x = self
00498 buff.write(_struct_13d6B2id.pack(_x.actual_pose.pose.position.x, _x.actual_pose.pose.position.y, _x.actual_pose.pose.position.z, _x.actual_pose.pose.orientation.x, _x.actual_pose.pose.orientation.y, _x.actual_pose.pose.orientation.z, _x.actual_pose.pose.orientation.w, _x.actual_pose.wrench_or_stiffness.force.x, _x.actual_pose.wrench_or_stiffness.force.y, _x.actual_pose.wrench_or_stiffness.force.z, _x.actual_pose.wrench_or_stiffness.torque.x, _x.actual_pose.wrench_or_stiffness.torque.y, _x.actual_pose.wrench_or_stiffness.torque.z, _x.actual_pose.isForceX, _x.actual_pose.isForceY, _x.actual_pose.isForceZ, _x.actual_pose.isTorqueX, _x.actual_pose.isTorqueY, _x.actual_pose.isTorqueZ, _x.actual_pose.time_from_start.secs, _x.actual_pose.time_from_start.nsecs, _x.effort_sq_error))
00499 length = len(self.requested_joint_efforts)
00500 buff.write(_struct_I.pack(length))
00501 pattern = '<%sd'%length
00502 buff.write(self.requested_joint_efforts.tostring())
00503 length = len(self.actual_joint_efforts)
00504 buff.write(_struct_I.pack(length))
00505 pattern = '<%sd'%length
00506 buff.write(self.actual_joint_efforts.tostring())
00507 _x = self
00508 buff.write(_struct_2i.pack(_x.running_time.secs, _x.running_time.nsecs))
00509 except struct.error as se: self._check_types(se)
00510 except TypeError as te: self._check_types(te)
00511
00512 def deserialize_numpy(self, str, numpy):
00513 """
00514 unpack serialized message in str into this message instance using numpy for array types
00515 :param str: byte array of serialized message, ``str``
00516 :param numpy: numpy python module
00517 """
00518 try:
00519 if self.header is None:
00520 self.header = std_msgs.msg.Header()
00521 if self.goal is None:
00522 self.goal = None
00523 if self.initial_point is None:
00524 self.initial_point = ee_cart_imped_msgs.msg.StiffPoint()
00525 if self.desired is None:
00526 self.desired = ee_cart_imped_msgs.msg.StiffPoint()
00527 if self.actual_pose is None:
00528 self.actual_pose = ee_cart_imped_msgs.msg.StiffPoint()
00529 if self.running_time is None:
00530 self.running_time = genpy.Duration()
00531 end = 0
00532 _x = self
00533 start = end
00534 end += 12
00535 (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00536 start = end
00537 end += 4
00538 (length,) = _struct_I.unpack(str[start:end])
00539 start = end
00540 end += length
00541 if python3:
00542 self.header.frame_id = str[start:end].decode('utf-8')
00543 else:
00544 self.header.frame_id = str[start:end]
00545 start = end
00546 end += 4
00547 (length,) = _struct_I.unpack(str[start:end])
00548 self.goal = []
00549 for i in range(0, length):
00550 val1 = ee_cart_imped_msgs.msg.StiffPoint()
00551 _v28 = val1.header
00552 start = end
00553 end += 4
00554 (_v28.seq,) = _struct_I.unpack(str[start:end])
00555 _v29 = _v28.stamp
00556 _x = _v29
00557 start = end
00558 end += 8
00559 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
00560 start = end
00561 end += 4
00562 (length,) = _struct_I.unpack(str[start:end])
00563 start = end
00564 end += length
00565 if python3:
00566 _v28.frame_id = str[start:end].decode('utf-8')
00567 else:
00568 _v28.frame_id = str[start:end]
00569 _v30 = val1.pose
00570 _v31 = _v30.position
00571 _x = _v31
00572 start = end
00573 end += 24
00574 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00575 _v32 = _v30.orientation
00576 _x = _v32
00577 start = end
00578 end += 32
00579 (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
00580 _v33 = val1.wrench_or_stiffness
00581 _v34 = _v33.force
00582 _x = _v34
00583 start = end
00584 end += 24
00585 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00586 _v35 = _v33.torque
00587 _x = _v35
00588 start = end
00589 end += 24
00590 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00591 _x = val1
00592 start = end
00593 end += 6
00594 (_x.isForceX, _x.isForceY, _x.isForceZ, _x.isTorqueX, _x.isTorqueY, _x.isTorqueZ,) = _struct_6B.unpack(str[start:end])
00595 val1.isForceX = bool(val1.isForceX)
00596 val1.isForceY = bool(val1.isForceY)
00597 val1.isForceZ = bool(val1.isForceZ)
00598 val1.isTorqueX = bool(val1.isTorqueX)
00599 val1.isTorqueY = bool(val1.isTorqueY)
00600 val1.isTorqueZ = bool(val1.isTorqueZ)
00601 _v36 = val1.time_from_start
00602 _x = _v36
00603 start = end
00604 end += 8
00605 (_x.secs, _x.nsecs,) = _struct_2i.unpack(str[start:end])
00606 self.goal.append(val1)
00607 _x = self
00608 start = end
00609 end += 12
00610 (_x.initial_point.header.seq, _x.initial_point.header.stamp.secs, _x.initial_point.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00611 start = end
00612 end += 4
00613 (length,) = _struct_I.unpack(str[start:end])
00614 start = end
00615 end += length
00616 if python3:
00617 self.initial_point.header.frame_id = str[start:end].decode('utf-8')
00618 else:
00619 self.initial_point.header.frame_id = str[start:end]
00620 _x = self
00621 start = end
00622 end += 130
00623 (_x.initial_point.pose.position.x, _x.initial_point.pose.position.y, _x.initial_point.pose.position.z, _x.initial_point.pose.orientation.x, _x.initial_point.pose.orientation.y, _x.initial_point.pose.orientation.z, _x.initial_point.pose.orientation.w, _x.initial_point.wrench_or_stiffness.force.x, _x.initial_point.wrench_or_stiffness.force.y, _x.initial_point.wrench_or_stiffness.force.z, _x.initial_point.wrench_or_stiffness.torque.x, _x.initial_point.wrench_or_stiffness.torque.y, _x.initial_point.wrench_or_stiffness.torque.z, _x.initial_point.isForceX, _x.initial_point.isForceY, _x.initial_point.isForceZ, _x.initial_point.isTorqueX, _x.initial_point.isTorqueY, _x.initial_point.isTorqueZ, _x.initial_point.time_from_start.secs, _x.initial_point.time_from_start.nsecs, _x.desired.header.seq, _x.desired.header.stamp.secs, _x.desired.header.stamp.nsecs,) = _struct_13d6B2i3I.unpack(str[start:end])
00624 self.initial_point.isForceX = bool(self.initial_point.isForceX)
00625 self.initial_point.isForceY = bool(self.initial_point.isForceY)
00626 self.initial_point.isForceZ = bool(self.initial_point.isForceZ)
00627 self.initial_point.isTorqueX = bool(self.initial_point.isTorqueX)
00628 self.initial_point.isTorqueY = bool(self.initial_point.isTorqueY)
00629 self.initial_point.isTorqueZ = bool(self.initial_point.isTorqueZ)
00630 start = end
00631 end += 4
00632 (length,) = _struct_I.unpack(str[start:end])
00633 start = end
00634 end += length
00635 if python3:
00636 self.desired.header.frame_id = str[start:end].decode('utf-8')
00637 else:
00638 self.desired.header.frame_id = str[start:end]
00639 _x = self
00640 start = end
00641 end += 130
00642 (_x.desired.pose.position.x, _x.desired.pose.position.y, _x.desired.pose.position.z, _x.desired.pose.orientation.x, _x.desired.pose.orientation.y, _x.desired.pose.orientation.z, _x.desired.pose.orientation.w, _x.desired.wrench_or_stiffness.force.x, _x.desired.wrench_or_stiffness.force.y, _x.desired.wrench_or_stiffness.force.z, _x.desired.wrench_or_stiffness.torque.x, _x.desired.wrench_or_stiffness.torque.y, _x.desired.wrench_or_stiffness.torque.z, _x.desired.isForceX, _x.desired.isForceY, _x.desired.isForceZ, _x.desired.isTorqueX, _x.desired.isTorqueY, _x.desired.isTorqueZ, _x.desired.time_from_start.secs, _x.desired.time_from_start.nsecs, _x.actual_pose.header.seq, _x.actual_pose.header.stamp.secs, _x.actual_pose.header.stamp.nsecs,) = _struct_13d6B2i3I.unpack(str[start:end])
00643 self.desired.isForceX = bool(self.desired.isForceX)
00644 self.desired.isForceY = bool(self.desired.isForceY)
00645 self.desired.isForceZ = bool(self.desired.isForceZ)
00646 self.desired.isTorqueX = bool(self.desired.isTorqueX)
00647 self.desired.isTorqueY = bool(self.desired.isTorqueY)
00648 self.desired.isTorqueZ = bool(self.desired.isTorqueZ)
00649 start = end
00650 end += 4
00651 (length,) = _struct_I.unpack(str[start:end])
00652 start = end
00653 end += length
00654 if python3:
00655 self.actual_pose.header.frame_id = str[start:end].decode('utf-8')
00656 else:
00657 self.actual_pose.header.frame_id = str[start:end]
00658 _x = self
00659 start = end
00660 end += 126
00661 (_x.actual_pose.pose.position.x, _x.actual_pose.pose.position.y, _x.actual_pose.pose.position.z, _x.actual_pose.pose.orientation.x, _x.actual_pose.pose.orientation.y, _x.actual_pose.pose.orientation.z, _x.actual_pose.pose.orientation.w, _x.actual_pose.wrench_or_stiffness.force.x, _x.actual_pose.wrench_or_stiffness.force.y, _x.actual_pose.wrench_or_stiffness.force.z, _x.actual_pose.wrench_or_stiffness.torque.x, _x.actual_pose.wrench_or_stiffness.torque.y, _x.actual_pose.wrench_or_stiffness.torque.z, _x.actual_pose.isForceX, _x.actual_pose.isForceY, _x.actual_pose.isForceZ, _x.actual_pose.isTorqueX, _x.actual_pose.isTorqueY, _x.actual_pose.isTorqueZ, _x.actual_pose.time_from_start.secs, _x.actual_pose.time_from_start.nsecs, _x.effort_sq_error,) = _struct_13d6B2id.unpack(str[start:end])
00662 self.actual_pose.isForceX = bool(self.actual_pose.isForceX)
00663 self.actual_pose.isForceY = bool(self.actual_pose.isForceY)
00664 self.actual_pose.isForceZ = bool(self.actual_pose.isForceZ)
00665 self.actual_pose.isTorqueX = bool(self.actual_pose.isTorqueX)
00666 self.actual_pose.isTorqueY = bool(self.actual_pose.isTorqueY)
00667 self.actual_pose.isTorqueZ = bool(self.actual_pose.isTorqueZ)
00668 start = end
00669 end += 4
00670 (length,) = _struct_I.unpack(str[start:end])
00671 pattern = '<%sd'%length
00672 start = end
00673 end += struct.calcsize(pattern)
00674 self.requested_joint_efforts = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00675 start = end
00676 end += 4
00677 (length,) = _struct_I.unpack(str[start:end])
00678 pattern = '<%sd'%length
00679 start = end
00680 end += struct.calcsize(pattern)
00681 self.actual_joint_efforts = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00682 _x = self
00683 start = end
00684 end += 8
00685 (_x.running_time.secs, _x.running_time.nsecs,) = _struct_2i.unpack(str[start:end])
00686 self.running_time.canon()
00687 return self
00688 except struct.error as e:
00689 raise genpy.DeserializationError(e)
00690
00691 _struct_I = genpy.struct_I
00692 _struct_6B = struct.Struct("<6B")
00693 _struct_13d6B2id = struct.Struct("<13d6B2id")
00694 _struct_2i = struct.Struct("<2i")
00695 _struct_3I = struct.Struct("<3I")
00696 _struct_13d6B2i3I = struct.Struct("<13d6B2i3I")
00697 _struct_4d = struct.Struct("<4d")
00698 _struct_2I = struct.Struct("<2I")
00699 _struct_3d = struct.Struct("<3d")