00001 """autogenerated by genpy from gazebo_msgs/ODEJointProperties.msg. Do not edit."""
00002 import sys
00003 python3 = True if sys.hexversion > 0x03000000 else False
00004 import genpy
00005 import struct
00006
00007
00008 class ODEJointProperties(genpy.Message):
00009 _md5sum = "1b744c32a920af979f53afe2f9c3511f"
00010 _type = "gazebo_msgs/ODEJointProperties"
00011 _has_header = False
00012 _full_text = """# access to low level joint properties, change these at your own risk
00013 float64[] damping # joint damping
00014 float64[] hiStop # joint limit
00015 float64[] loStop # joint limit
00016 float64[] erp # set joint erp
00017 float64[] cfm # set joint cfm
00018 float64[] stop_erp # set joint erp for joint limit "contact" joint
00019 float64[] stop_cfm # set joint cfm for joint limit "contact" joint
00020 float64[] fudge_factor # joint fudge_factor applied at limits, see ODE manual for info.
00021 float64[] fmax # ode joint param fmax
00022 float64[] vel # ode joint param vel
00023
00024 """
00025 __slots__ = ['damping','hiStop','loStop','erp','cfm','stop_erp','stop_cfm','fudge_factor','fmax','vel']
00026 _slot_types = ['float64[]','float64[]','float64[]','float64[]','float64[]','float64[]','float64[]','float64[]','float64[]','float64[]']
00027
00028 def __init__(self, *args, **kwds):
00029 """
00030 Constructor. Any message fields that are implicitly/explicitly
00031 set to None will be assigned a default value. The recommend
00032 use is keyword arguments as this is more robust to future message
00033 changes. You cannot mix in-order arguments and keyword arguments.
00034
00035 The available fields are:
00036 damping,hiStop,loStop,erp,cfm,stop_erp,stop_cfm,fudge_factor,fmax,vel
00037
00038 :param args: complete set of field values, in .msg order
00039 :param kwds: use keyword arguments corresponding to message field names
00040 to set specific fields.
00041 """
00042 if args or kwds:
00043 super(ODEJointProperties, self).__init__(*args, **kwds)
00044
00045 if self.damping is None:
00046 self.damping = []
00047 if self.hiStop is None:
00048 self.hiStop = []
00049 if self.loStop is None:
00050 self.loStop = []
00051 if self.erp is None:
00052 self.erp = []
00053 if self.cfm is None:
00054 self.cfm = []
00055 if self.stop_erp is None:
00056 self.stop_erp = []
00057 if self.stop_cfm is None:
00058 self.stop_cfm = []
00059 if self.fudge_factor is None:
00060 self.fudge_factor = []
00061 if self.fmax is None:
00062 self.fmax = []
00063 if self.vel is None:
00064 self.vel = []
00065 else:
00066 self.damping = []
00067 self.hiStop = []
00068 self.loStop = []
00069 self.erp = []
00070 self.cfm = []
00071 self.stop_erp = []
00072 self.stop_cfm = []
00073 self.fudge_factor = []
00074 self.fmax = []
00075 self.vel = []
00076
00077 def _get_types(self):
00078 """
00079 internal API method
00080 """
00081 return self._slot_types
00082
00083 def serialize(self, buff):
00084 """
00085 serialize message into buffer
00086 :param buff: buffer, ``StringIO``
00087 """
00088 try:
00089 length = len(self.damping)
00090 buff.write(_struct_I.pack(length))
00091 pattern = '<%sd'%length
00092 buff.write(struct.pack(pattern, *self.damping))
00093 length = len(self.hiStop)
00094 buff.write(_struct_I.pack(length))
00095 pattern = '<%sd'%length
00096 buff.write(struct.pack(pattern, *self.hiStop))
00097 length = len(self.loStop)
00098 buff.write(_struct_I.pack(length))
00099 pattern = '<%sd'%length
00100 buff.write(struct.pack(pattern, *self.loStop))
00101 length = len(self.erp)
00102 buff.write(_struct_I.pack(length))
00103 pattern = '<%sd'%length
00104 buff.write(struct.pack(pattern, *self.erp))
00105 length = len(self.cfm)
00106 buff.write(_struct_I.pack(length))
00107 pattern = '<%sd'%length
00108 buff.write(struct.pack(pattern, *self.cfm))
00109 length = len(self.stop_erp)
00110 buff.write(_struct_I.pack(length))
00111 pattern = '<%sd'%length
00112 buff.write(struct.pack(pattern, *self.stop_erp))
00113 length = len(self.stop_cfm)
00114 buff.write(_struct_I.pack(length))
00115 pattern = '<%sd'%length
00116 buff.write(struct.pack(pattern, *self.stop_cfm))
00117 length = len(self.fudge_factor)
00118 buff.write(_struct_I.pack(length))
00119 pattern = '<%sd'%length
00120 buff.write(struct.pack(pattern, *self.fudge_factor))
00121 length = len(self.fmax)
00122 buff.write(_struct_I.pack(length))
00123 pattern = '<%sd'%length
00124 buff.write(struct.pack(pattern, *self.fmax))
00125 length = len(self.vel)
00126 buff.write(_struct_I.pack(length))
00127 pattern = '<%sd'%length
00128 buff.write(struct.pack(pattern, *self.vel))
00129 except struct.error as se: self._check_types(se)
00130 except TypeError as te: self._check_types(te)
00131
00132 def deserialize(self, str):
00133 """
00134 unpack serialized message in str into this message instance
00135 :param str: byte array of serialized message, ``str``
00136 """
00137 try:
00138 end = 0
00139 start = end
00140 end += 4
00141 (length,) = _struct_I.unpack(str[start:end])
00142 pattern = '<%sd'%length
00143 start = end
00144 end += struct.calcsize(pattern)
00145 self.damping = struct.unpack(pattern, str[start:end])
00146 start = end
00147 end += 4
00148 (length,) = _struct_I.unpack(str[start:end])
00149 pattern = '<%sd'%length
00150 start = end
00151 end += struct.calcsize(pattern)
00152 self.hiStop = struct.unpack(pattern, str[start:end])
00153 start = end
00154 end += 4
00155 (length,) = _struct_I.unpack(str[start:end])
00156 pattern = '<%sd'%length
00157 start = end
00158 end += struct.calcsize(pattern)
00159 self.loStop = struct.unpack(pattern, str[start:end])
00160 start = end
00161 end += 4
00162 (length,) = _struct_I.unpack(str[start:end])
00163 pattern = '<%sd'%length
00164 start = end
00165 end += struct.calcsize(pattern)
00166 self.erp = struct.unpack(pattern, str[start:end])
00167 start = end
00168 end += 4
00169 (length,) = _struct_I.unpack(str[start:end])
00170 pattern = '<%sd'%length
00171 start = end
00172 end += struct.calcsize(pattern)
00173 self.cfm = struct.unpack(pattern, str[start:end])
00174 start = end
00175 end += 4
00176 (length,) = _struct_I.unpack(str[start:end])
00177 pattern = '<%sd'%length
00178 start = end
00179 end += struct.calcsize(pattern)
00180 self.stop_erp = struct.unpack(pattern, str[start:end])
00181 start = end
00182 end += 4
00183 (length,) = _struct_I.unpack(str[start:end])
00184 pattern = '<%sd'%length
00185 start = end
00186 end += struct.calcsize(pattern)
00187 self.stop_cfm = struct.unpack(pattern, str[start:end])
00188 start = end
00189 end += 4
00190 (length,) = _struct_I.unpack(str[start:end])
00191 pattern = '<%sd'%length
00192 start = end
00193 end += struct.calcsize(pattern)
00194 self.fudge_factor = struct.unpack(pattern, str[start:end])
00195 start = end
00196 end += 4
00197 (length,) = _struct_I.unpack(str[start:end])
00198 pattern = '<%sd'%length
00199 start = end
00200 end += struct.calcsize(pattern)
00201 self.fmax = struct.unpack(pattern, str[start:end])
00202 start = end
00203 end += 4
00204 (length,) = _struct_I.unpack(str[start:end])
00205 pattern = '<%sd'%length
00206 start = end
00207 end += struct.calcsize(pattern)
00208 self.vel = struct.unpack(pattern, str[start:end])
00209 return self
00210 except struct.error as e:
00211 raise genpy.DeserializationError(e)
00212
00213
00214 def serialize_numpy(self, buff, numpy):
00215 """
00216 serialize message with numpy array types into buffer
00217 :param buff: buffer, ``StringIO``
00218 :param numpy: numpy python module
00219 """
00220 try:
00221 length = len(self.damping)
00222 buff.write(_struct_I.pack(length))
00223 pattern = '<%sd'%length
00224 buff.write(self.damping.tostring())
00225 length = len(self.hiStop)
00226 buff.write(_struct_I.pack(length))
00227 pattern = '<%sd'%length
00228 buff.write(self.hiStop.tostring())
00229 length = len(self.loStop)
00230 buff.write(_struct_I.pack(length))
00231 pattern = '<%sd'%length
00232 buff.write(self.loStop.tostring())
00233 length = len(self.erp)
00234 buff.write(_struct_I.pack(length))
00235 pattern = '<%sd'%length
00236 buff.write(self.erp.tostring())
00237 length = len(self.cfm)
00238 buff.write(_struct_I.pack(length))
00239 pattern = '<%sd'%length
00240 buff.write(self.cfm.tostring())
00241 length = len(self.stop_erp)
00242 buff.write(_struct_I.pack(length))
00243 pattern = '<%sd'%length
00244 buff.write(self.stop_erp.tostring())
00245 length = len(self.stop_cfm)
00246 buff.write(_struct_I.pack(length))
00247 pattern = '<%sd'%length
00248 buff.write(self.stop_cfm.tostring())
00249 length = len(self.fudge_factor)
00250 buff.write(_struct_I.pack(length))
00251 pattern = '<%sd'%length
00252 buff.write(self.fudge_factor.tostring())
00253 length = len(self.fmax)
00254 buff.write(_struct_I.pack(length))
00255 pattern = '<%sd'%length
00256 buff.write(self.fmax.tostring())
00257 length = len(self.vel)
00258 buff.write(_struct_I.pack(length))
00259 pattern = '<%sd'%length
00260 buff.write(self.vel.tostring())
00261 except struct.error as se: self._check_types(se)
00262 except TypeError as te: self._check_types(te)
00263
00264 def deserialize_numpy(self, str, numpy):
00265 """
00266 unpack serialized message in str into this message instance using numpy for array types
00267 :param str: byte array of serialized message, ``str``
00268 :param numpy: numpy python module
00269 """
00270 try:
00271 end = 0
00272 start = end
00273 end += 4
00274 (length,) = _struct_I.unpack(str[start:end])
00275 pattern = '<%sd'%length
00276 start = end
00277 end += struct.calcsize(pattern)
00278 self.damping = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00279 start = end
00280 end += 4
00281 (length,) = _struct_I.unpack(str[start:end])
00282 pattern = '<%sd'%length
00283 start = end
00284 end += struct.calcsize(pattern)
00285 self.hiStop = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00286 start = end
00287 end += 4
00288 (length,) = _struct_I.unpack(str[start:end])
00289 pattern = '<%sd'%length
00290 start = end
00291 end += struct.calcsize(pattern)
00292 self.loStop = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00293 start = end
00294 end += 4
00295 (length,) = _struct_I.unpack(str[start:end])
00296 pattern = '<%sd'%length
00297 start = end
00298 end += struct.calcsize(pattern)
00299 self.erp = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00300 start = end
00301 end += 4
00302 (length,) = _struct_I.unpack(str[start:end])
00303 pattern = '<%sd'%length
00304 start = end
00305 end += struct.calcsize(pattern)
00306 self.cfm = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00307 start = end
00308 end += 4
00309 (length,) = _struct_I.unpack(str[start:end])
00310 pattern = '<%sd'%length
00311 start = end
00312 end += struct.calcsize(pattern)
00313 self.stop_erp = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00314 start = end
00315 end += 4
00316 (length,) = _struct_I.unpack(str[start:end])
00317 pattern = '<%sd'%length
00318 start = end
00319 end += struct.calcsize(pattern)
00320 self.stop_cfm = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00321 start = end
00322 end += 4
00323 (length,) = _struct_I.unpack(str[start:end])
00324 pattern = '<%sd'%length
00325 start = end
00326 end += struct.calcsize(pattern)
00327 self.fudge_factor = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00328 start = end
00329 end += 4
00330 (length,) = _struct_I.unpack(str[start:end])
00331 pattern = '<%sd'%length
00332 start = end
00333 end += struct.calcsize(pattern)
00334 self.fmax = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00335 start = end
00336 end += 4
00337 (length,) = _struct_I.unpack(str[start:end])
00338 pattern = '<%sd'%length
00339 start = end
00340 end += struct.calcsize(pattern)
00341 self.vel = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00342 return self
00343 except struct.error as e:
00344 raise genpy.DeserializationError(e)
00345
00346 _struct_I = genpy.struct_I