_SetJointProperties.py

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

import gazebo_msgs.msg

class SetJointPropertiesRequest(genpy.Message):
  _md5sum = "331fd8f35fd27e3c1421175590258e26"
  _type = "gazebo_msgs/SetJointPropertiesRequest"
  _has_header = False #flag to mark the presence of a Header object
  _full_text = """string joint_name
gazebo_msgs/ODEJointProperties ode_joint_config

================================================================================
MSG: gazebo_msgs/ODEJointProperties
# access to low level joint properties, change these at your own risk
float64[] damping             # joint damping
float64[] hiStop              # joint limit
float64[] loStop              # joint limit
float64[] erp                 # set joint erp
float64[] cfm                 # set joint cfm
float64[] stop_erp            # set joint erp for joint limit "contact" joint
float64[] stop_cfm            # set joint cfm for joint limit "contact" joint
float64[] fudge_factor        # joint fudge_factor applied at limits, see ODE manual for info.
float64[] fmax                # ode joint param fmax
float64[] vel                 # ode joint param vel

"""
  __slots__ = ['joint_name','ode_joint_config']
  _slot_types = ['string','gazebo_msgs/ODEJointProperties']

  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:
       joint_name,ode_joint_config

    :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(SetJointPropertiesRequest, self).__init__(*args, **kwds)
      #message fields cannot be None, assign default values for those that are
      if self.joint_name is None:
        self.joint_name = ''
      if self.ode_joint_config is None:
        self.ode_joint_config = gazebo_msgs.msg.ODEJointProperties()
    else:
      self.joint_name = ''
      self.ode_joint_config = gazebo_msgs.msg.ODEJointProperties()

  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.joint_name
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.ode_joint_config.damping)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.ode_joint_config.damping))
      length = len(self.ode_joint_config.hiStop)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.ode_joint_config.hiStop))
      length = len(self.ode_joint_config.loStop)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.ode_joint_config.loStop))
      length = len(self.ode_joint_config.erp)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.ode_joint_config.erp))
      length = len(self.ode_joint_config.cfm)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.ode_joint_config.cfm))
      length = len(self.ode_joint_config.stop_erp)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.ode_joint_config.stop_erp))
      length = len(self.ode_joint_config.stop_cfm)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.ode_joint_config.stop_cfm))
      length = len(self.ode_joint_config.fudge_factor)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.ode_joint_config.fudge_factor))
      length = len(self.ode_joint_config.fmax)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.ode_joint_config.fmax))
      length = len(self.ode_joint_config.vel)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.ode_joint_config.vel))
    except struct.error as se: self._check_types(se)
    except TypeError as te: self._check_types(te)

  def deserialize(self, str):
    """
    unpack serialized message in str into this message instance
    :param str: byte array of serialized message, ``str``
    """
    try:
      if self.ode_joint_config is None:
        self.ode_joint_config = gazebo_msgs.msg.ODEJointProperties()
      end = 0
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.joint_name = str[start:end].decode('utf-8')
      else:
        self.joint_name = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.ode_joint_config.damping = struct.unpack(pattern, str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.ode_joint_config.hiStop = struct.unpack(pattern, str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.ode_joint_config.loStop = struct.unpack(pattern, str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.ode_joint_config.erp = struct.unpack(pattern, str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.ode_joint_config.cfm = struct.unpack(pattern, str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.ode_joint_config.stop_erp = struct.unpack(pattern, str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.ode_joint_config.stop_cfm = struct.unpack(pattern, str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.ode_joint_config.fudge_factor = struct.unpack(pattern, str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.ode_joint_config.fmax = struct.unpack(pattern, str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.ode_joint_config.vel = struct.unpack(pattern, str[start:end])
      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.joint_name
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.ode_joint_config.damping)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.ode_joint_config.damping.tostring())
      length = len(self.ode_joint_config.hiStop)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.ode_joint_config.hiStop.tostring())
      length = len(self.ode_joint_config.loStop)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.ode_joint_config.loStop.tostring())
      length = len(self.ode_joint_config.erp)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.ode_joint_config.erp.tostring())
      length = len(self.ode_joint_config.cfm)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.ode_joint_config.cfm.tostring())
      length = len(self.ode_joint_config.stop_erp)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.ode_joint_config.stop_erp.tostring())
      length = len(self.ode_joint_config.stop_cfm)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.ode_joint_config.stop_cfm.tostring())
      length = len(self.ode_joint_config.fudge_factor)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.ode_joint_config.fudge_factor.tostring())
      length = len(self.ode_joint_config.fmax)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.ode_joint_config.fmax.tostring())
      length = len(self.ode_joint_config.vel)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.ode_joint_config.vel.tostring())
    except struct.error as se: self._check_types(se)
    except TypeError as te: self._check_types(te)

  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:
      if self.ode_joint_config is None:
        self.ode_joint_config = gazebo_msgs.msg.ODEJointProperties()
      end = 0
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.joint_name = str[start:end].decode('utf-8')
      else:
        self.joint_name = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.ode_joint_config.damping = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.ode_joint_config.hiStop = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.ode_joint_config.loStop = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.ode_joint_config.erp = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.ode_joint_config.cfm = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.ode_joint_config.stop_erp = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.ode_joint_config.stop_cfm = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.ode_joint_config.fudge_factor = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.ode_joint_config.fmax = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.ode_joint_config.vel = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
      return self
    except struct.error as e:
      raise genpy.DeserializationError(e) #most likely buffer underfill

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


class SetJointPropertiesResponse(genpy.Message):
  _md5sum = "2ec6f3eff0161f4257b808b12bc830c2"
  _type = "gazebo_msgs/SetJointPropertiesResponse"
  _has_header = False #flag to mark the presence of a Header object
  _full_text = """bool success
string status_message


"""
  __slots__ = ['success','status_message']
  _slot_types = ['bool','string']

  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:
       success,status_message

    :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(SetJointPropertiesResponse, self).__init__(*args, **kwds)
      #message fields cannot be None, assign default values for those that are
      if self.success is None:
        self.success = False
      if self.status_message is None:
        self.status_message = ''
    else:
      self.success = False
      self.status_message = ''

  def _get_types(self):
    """
    internal API method
    """
    return self._slot_types

  def serialize(self, buff):
    """
    serialize message into buffer
    :param buff: buffer, ``StringIO``
    """
    try:
      buff.write(_struct_B.pack(self.success))
      _x = self.status_message
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
    except struct.error as se: self._check_types(se)
    except TypeError as te: self._check_types(te)

  def deserialize(self, str):
    """
    unpack serialized message in str into this message instance
    :param str: byte array of serialized message, ``str``
    """
    try:
      end = 0
      start = end
      end += 1
      (self.success,) = _struct_B.unpack(str[start:end])
      self.success = bool(self.success)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.status_message = str[start:end].decode('utf-8')
      else:
        self.status_message = str[start:end]
      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:
      buff.write(_struct_B.pack(self.success))
      _x = self.status_message
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
    except struct.error as se: self._check_types(se)
    except TypeError as te: self._check_types(te)

  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
      start = end
      end += 1
      (self.success,) = _struct_B.unpack(str[start:end])
      self.success = bool(self.success)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.status_message = str[start:end].decode('utf-8')
      else:
        self.status_message = str[start:end]
      return self
    except struct.error as e:
      raise genpy.DeserializationError(e) #most likely buffer underfill

_struct_I = genpy.struct_I
_struct_B = struct.Struct("<B")
class SetJointProperties(object):
  _type          = 'gazebo_msgs/SetJointProperties'
  _md5sum = '15a76e921b1410c698d82782ea5fa370'
  _request_class  = SetJointPropertiesRequest
  _response_class = SetJointPropertiesResponse