00001 """autogenerated by genpy from hrl_haptic_manipulation_in_clutter_msgs/MPC_FormattedData.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 MPC_FormattedData(genpy.Message):
00010 _md5sum = "35ec73a5af9869a7ed35470b92764e75"
00011 _type = "hrl_haptic_manipulation_in_clutter_msgs/MPC_FormattedData"
00012 _has_header = True
00013 _full_text = """Header header
00014
00015 float64 alpha
00016 float64 beta
00017 float64 gamma
00018 float64[] delta_x_d
00019 float64[] J
00020 float64[] desired_dist_increase
00021 float64[] x_0
00022 float64[] KP_t_KP
00023 float64[] q_min
00024 float64[] q_max
00025 float64[] dist_min
00026 float64[] dist_max
00027 float64[] n_J_ci
00028 float64[] n_J_ci_max
00029 float64[] u_min
00030 float64[] u_max
00031 float64[] Q
00032
00033
00034
00035
00036
00037 ================================================================================
00038 MSG: std_msgs/Header
00039 # Standard metadata for higher-level stamped data types.
00040 # This is generally used to communicate timestamped data
00041 # in a particular coordinate frame.
00042 #
00043 # sequence ID: consecutively increasing ID
00044 uint32 seq
00045 #Two-integer timestamp that is expressed as:
00046 # * stamp.secs: seconds (stamp_secs) since epoch
00047 # * stamp.nsecs: nanoseconds since stamp_secs
00048 # time-handling sugar is provided by the client library
00049 time stamp
00050 #Frame this data is associated with
00051 # 0: no frame
00052 # 1: global frame
00053 string frame_id
00054
00055 """
00056 __slots__ = ['header','alpha','beta','gamma','delta_x_d','J','desired_dist_increase','x_0','KP_t_KP','q_min','q_max','dist_min','dist_max','n_J_ci','n_J_ci_max','u_min','u_max','Q']
00057 _slot_types = ['std_msgs/Header','float64','float64','float64','float64[]','float64[]','float64[]','float64[]','float64[]','float64[]','float64[]','float64[]','float64[]','float64[]','float64[]','float64[]','float64[]','float64[]']
00058
00059 def __init__(self, *args, **kwds):
00060 """
00061 Constructor. Any message fields that are implicitly/explicitly
00062 set to None will be assigned a default value. The recommend
00063 use is keyword arguments as this is more robust to future message
00064 changes. You cannot mix in-order arguments and keyword arguments.
00065
00066 The available fields are:
00067 header,alpha,beta,gamma,delta_x_d,J,desired_dist_increase,x_0,KP_t_KP,q_min,q_max,dist_min,dist_max,n_J_ci,n_J_ci_max,u_min,u_max,Q
00068
00069 :param args: complete set of field values, in .msg order
00070 :param kwds: use keyword arguments corresponding to message field names
00071 to set specific fields.
00072 """
00073 if args or kwds:
00074 super(MPC_FormattedData, self).__init__(*args, **kwds)
00075
00076 if self.header is None:
00077 self.header = std_msgs.msg.Header()
00078 if self.alpha is None:
00079 self.alpha = 0.
00080 if self.beta is None:
00081 self.beta = 0.
00082 if self.gamma is None:
00083 self.gamma = 0.
00084 if self.delta_x_d is None:
00085 self.delta_x_d = []
00086 if self.J is None:
00087 self.J = []
00088 if self.desired_dist_increase is None:
00089 self.desired_dist_increase = []
00090 if self.x_0 is None:
00091 self.x_0 = []
00092 if self.KP_t_KP is None:
00093 self.KP_t_KP = []
00094 if self.q_min is None:
00095 self.q_min = []
00096 if self.q_max is None:
00097 self.q_max = []
00098 if self.dist_min is None:
00099 self.dist_min = []
00100 if self.dist_max is None:
00101 self.dist_max = []
00102 if self.n_J_ci is None:
00103 self.n_J_ci = []
00104 if self.n_J_ci_max is None:
00105 self.n_J_ci_max = []
00106 if self.u_min is None:
00107 self.u_min = []
00108 if self.u_max is None:
00109 self.u_max = []
00110 if self.Q is None:
00111 self.Q = []
00112 else:
00113 self.header = std_msgs.msg.Header()
00114 self.alpha = 0.
00115 self.beta = 0.
00116 self.gamma = 0.
00117 self.delta_x_d = []
00118 self.J = []
00119 self.desired_dist_increase = []
00120 self.x_0 = []
00121 self.KP_t_KP = []
00122 self.q_min = []
00123 self.q_max = []
00124 self.dist_min = []
00125 self.dist_max = []
00126 self.n_J_ci = []
00127 self.n_J_ci_max = []
00128 self.u_min = []
00129 self.u_max = []
00130 self.Q = []
00131
00132 def _get_types(self):
00133 """
00134 internal API method
00135 """
00136 return self._slot_types
00137
00138 def serialize(self, buff):
00139 """
00140 serialize message into buffer
00141 :param buff: buffer, ``StringIO``
00142 """
00143 try:
00144 _x = self
00145 buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
00146 _x = self.header.frame_id
00147 length = len(_x)
00148 if python3 or type(_x) == unicode:
00149 _x = _x.encode('utf-8')
00150 length = len(_x)
00151 buff.write(struct.pack('<I%ss'%length, length, _x))
00152 _x = self
00153 buff.write(_struct_3d.pack(_x.alpha, _x.beta, _x.gamma))
00154 length = len(self.delta_x_d)
00155 buff.write(_struct_I.pack(length))
00156 pattern = '<%sd'%length
00157 buff.write(struct.pack(pattern, *self.delta_x_d))
00158 length = len(self.J)
00159 buff.write(_struct_I.pack(length))
00160 pattern = '<%sd'%length
00161 buff.write(struct.pack(pattern, *self.J))
00162 length = len(self.desired_dist_increase)
00163 buff.write(_struct_I.pack(length))
00164 pattern = '<%sd'%length
00165 buff.write(struct.pack(pattern, *self.desired_dist_increase))
00166 length = len(self.x_0)
00167 buff.write(_struct_I.pack(length))
00168 pattern = '<%sd'%length
00169 buff.write(struct.pack(pattern, *self.x_0))
00170 length = len(self.KP_t_KP)
00171 buff.write(_struct_I.pack(length))
00172 pattern = '<%sd'%length
00173 buff.write(struct.pack(pattern, *self.KP_t_KP))
00174 length = len(self.q_min)
00175 buff.write(_struct_I.pack(length))
00176 pattern = '<%sd'%length
00177 buff.write(struct.pack(pattern, *self.q_min))
00178 length = len(self.q_max)
00179 buff.write(_struct_I.pack(length))
00180 pattern = '<%sd'%length
00181 buff.write(struct.pack(pattern, *self.q_max))
00182 length = len(self.dist_min)
00183 buff.write(_struct_I.pack(length))
00184 pattern = '<%sd'%length
00185 buff.write(struct.pack(pattern, *self.dist_min))
00186 length = len(self.dist_max)
00187 buff.write(_struct_I.pack(length))
00188 pattern = '<%sd'%length
00189 buff.write(struct.pack(pattern, *self.dist_max))
00190 length = len(self.n_J_ci)
00191 buff.write(_struct_I.pack(length))
00192 pattern = '<%sd'%length
00193 buff.write(struct.pack(pattern, *self.n_J_ci))
00194 length = len(self.n_J_ci_max)
00195 buff.write(_struct_I.pack(length))
00196 pattern = '<%sd'%length
00197 buff.write(struct.pack(pattern, *self.n_J_ci_max))
00198 length = len(self.u_min)
00199 buff.write(_struct_I.pack(length))
00200 pattern = '<%sd'%length
00201 buff.write(struct.pack(pattern, *self.u_min))
00202 length = len(self.u_max)
00203 buff.write(_struct_I.pack(length))
00204 pattern = '<%sd'%length
00205 buff.write(struct.pack(pattern, *self.u_max))
00206 length = len(self.Q)
00207 buff.write(_struct_I.pack(length))
00208 pattern = '<%sd'%length
00209 buff.write(struct.pack(pattern, *self.Q))
00210 except struct.error as se: self._check_types(se)
00211 except TypeError as te: self._check_types(te)
00212
00213 def deserialize(self, str):
00214 """
00215 unpack serialized message in str into this message instance
00216 :param str: byte array of serialized message, ``str``
00217 """
00218 try:
00219 if self.header is None:
00220 self.header = std_msgs.msg.Header()
00221 end = 0
00222 _x = self
00223 start = end
00224 end += 12
00225 (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00226 start = end
00227 end += 4
00228 (length,) = _struct_I.unpack(str[start:end])
00229 start = end
00230 end += length
00231 if python3:
00232 self.header.frame_id = str[start:end].decode('utf-8')
00233 else:
00234 self.header.frame_id = str[start:end]
00235 _x = self
00236 start = end
00237 end += 24
00238 (_x.alpha, _x.beta, _x.gamma,) = _struct_3d.unpack(str[start:end])
00239 start = end
00240 end += 4
00241 (length,) = _struct_I.unpack(str[start:end])
00242 pattern = '<%sd'%length
00243 start = end
00244 end += struct.calcsize(pattern)
00245 self.delta_x_d = struct.unpack(pattern, str[start:end])
00246 start = end
00247 end += 4
00248 (length,) = _struct_I.unpack(str[start:end])
00249 pattern = '<%sd'%length
00250 start = end
00251 end += struct.calcsize(pattern)
00252 self.J = struct.unpack(pattern, str[start:end])
00253 start = end
00254 end += 4
00255 (length,) = _struct_I.unpack(str[start:end])
00256 pattern = '<%sd'%length
00257 start = end
00258 end += struct.calcsize(pattern)
00259 self.desired_dist_increase = struct.unpack(pattern, str[start:end])
00260 start = end
00261 end += 4
00262 (length,) = _struct_I.unpack(str[start:end])
00263 pattern = '<%sd'%length
00264 start = end
00265 end += struct.calcsize(pattern)
00266 self.x_0 = struct.unpack(pattern, str[start:end])
00267 start = end
00268 end += 4
00269 (length,) = _struct_I.unpack(str[start:end])
00270 pattern = '<%sd'%length
00271 start = end
00272 end += struct.calcsize(pattern)
00273 self.KP_t_KP = struct.unpack(pattern, str[start:end])
00274 start = end
00275 end += 4
00276 (length,) = _struct_I.unpack(str[start:end])
00277 pattern = '<%sd'%length
00278 start = end
00279 end += struct.calcsize(pattern)
00280 self.q_min = struct.unpack(pattern, str[start:end])
00281 start = end
00282 end += 4
00283 (length,) = _struct_I.unpack(str[start:end])
00284 pattern = '<%sd'%length
00285 start = end
00286 end += struct.calcsize(pattern)
00287 self.q_max = struct.unpack(pattern, str[start:end])
00288 start = end
00289 end += 4
00290 (length,) = _struct_I.unpack(str[start:end])
00291 pattern = '<%sd'%length
00292 start = end
00293 end += struct.calcsize(pattern)
00294 self.dist_min = struct.unpack(pattern, str[start:end])
00295 start = end
00296 end += 4
00297 (length,) = _struct_I.unpack(str[start:end])
00298 pattern = '<%sd'%length
00299 start = end
00300 end += struct.calcsize(pattern)
00301 self.dist_max = struct.unpack(pattern, str[start:end])
00302 start = end
00303 end += 4
00304 (length,) = _struct_I.unpack(str[start:end])
00305 pattern = '<%sd'%length
00306 start = end
00307 end += struct.calcsize(pattern)
00308 self.n_J_ci = struct.unpack(pattern, str[start:end])
00309 start = end
00310 end += 4
00311 (length,) = _struct_I.unpack(str[start:end])
00312 pattern = '<%sd'%length
00313 start = end
00314 end += struct.calcsize(pattern)
00315 self.n_J_ci_max = struct.unpack(pattern, str[start:end])
00316 start = end
00317 end += 4
00318 (length,) = _struct_I.unpack(str[start:end])
00319 pattern = '<%sd'%length
00320 start = end
00321 end += struct.calcsize(pattern)
00322 self.u_min = struct.unpack(pattern, str[start:end])
00323 start = end
00324 end += 4
00325 (length,) = _struct_I.unpack(str[start:end])
00326 pattern = '<%sd'%length
00327 start = end
00328 end += struct.calcsize(pattern)
00329 self.u_max = struct.unpack(pattern, str[start:end])
00330 start = end
00331 end += 4
00332 (length,) = _struct_I.unpack(str[start:end])
00333 pattern = '<%sd'%length
00334 start = end
00335 end += struct.calcsize(pattern)
00336 self.Q = struct.unpack(pattern, str[start:end])
00337 return self
00338 except struct.error as e:
00339 raise genpy.DeserializationError(e)
00340
00341
00342 def serialize_numpy(self, buff, numpy):
00343 """
00344 serialize message with numpy array types into buffer
00345 :param buff: buffer, ``StringIO``
00346 :param numpy: numpy python module
00347 """
00348 try:
00349 _x = self
00350 buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
00351 _x = self.header.frame_id
00352 length = len(_x)
00353 if python3 or type(_x) == unicode:
00354 _x = _x.encode('utf-8')
00355 length = len(_x)
00356 buff.write(struct.pack('<I%ss'%length, length, _x))
00357 _x = self
00358 buff.write(_struct_3d.pack(_x.alpha, _x.beta, _x.gamma))
00359 length = len(self.delta_x_d)
00360 buff.write(_struct_I.pack(length))
00361 pattern = '<%sd'%length
00362 buff.write(self.delta_x_d.tostring())
00363 length = len(self.J)
00364 buff.write(_struct_I.pack(length))
00365 pattern = '<%sd'%length
00366 buff.write(self.J.tostring())
00367 length = len(self.desired_dist_increase)
00368 buff.write(_struct_I.pack(length))
00369 pattern = '<%sd'%length
00370 buff.write(self.desired_dist_increase.tostring())
00371 length = len(self.x_0)
00372 buff.write(_struct_I.pack(length))
00373 pattern = '<%sd'%length
00374 buff.write(self.x_0.tostring())
00375 length = len(self.KP_t_KP)
00376 buff.write(_struct_I.pack(length))
00377 pattern = '<%sd'%length
00378 buff.write(self.KP_t_KP.tostring())
00379 length = len(self.q_min)
00380 buff.write(_struct_I.pack(length))
00381 pattern = '<%sd'%length
00382 buff.write(self.q_min.tostring())
00383 length = len(self.q_max)
00384 buff.write(_struct_I.pack(length))
00385 pattern = '<%sd'%length
00386 buff.write(self.q_max.tostring())
00387 length = len(self.dist_min)
00388 buff.write(_struct_I.pack(length))
00389 pattern = '<%sd'%length
00390 buff.write(self.dist_min.tostring())
00391 length = len(self.dist_max)
00392 buff.write(_struct_I.pack(length))
00393 pattern = '<%sd'%length
00394 buff.write(self.dist_max.tostring())
00395 length = len(self.n_J_ci)
00396 buff.write(_struct_I.pack(length))
00397 pattern = '<%sd'%length
00398 buff.write(self.n_J_ci.tostring())
00399 length = len(self.n_J_ci_max)
00400 buff.write(_struct_I.pack(length))
00401 pattern = '<%sd'%length
00402 buff.write(self.n_J_ci_max.tostring())
00403 length = len(self.u_min)
00404 buff.write(_struct_I.pack(length))
00405 pattern = '<%sd'%length
00406 buff.write(self.u_min.tostring())
00407 length = len(self.u_max)
00408 buff.write(_struct_I.pack(length))
00409 pattern = '<%sd'%length
00410 buff.write(self.u_max.tostring())
00411 length = len(self.Q)
00412 buff.write(_struct_I.pack(length))
00413 pattern = '<%sd'%length
00414 buff.write(self.Q.tostring())
00415 except struct.error as se: self._check_types(se)
00416 except TypeError as te: self._check_types(te)
00417
00418 def deserialize_numpy(self, str, numpy):
00419 """
00420 unpack serialized message in str into this message instance using numpy for array types
00421 :param str: byte array of serialized message, ``str``
00422 :param numpy: numpy python module
00423 """
00424 try:
00425 if self.header is None:
00426 self.header = std_msgs.msg.Header()
00427 end = 0
00428 _x = self
00429 start = end
00430 end += 12
00431 (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00432 start = end
00433 end += 4
00434 (length,) = _struct_I.unpack(str[start:end])
00435 start = end
00436 end += length
00437 if python3:
00438 self.header.frame_id = str[start:end].decode('utf-8')
00439 else:
00440 self.header.frame_id = str[start:end]
00441 _x = self
00442 start = end
00443 end += 24
00444 (_x.alpha, _x.beta, _x.gamma,) = _struct_3d.unpack(str[start:end])
00445 start = end
00446 end += 4
00447 (length,) = _struct_I.unpack(str[start:end])
00448 pattern = '<%sd'%length
00449 start = end
00450 end += struct.calcsize(pattern)
00451 self.delta_x_d = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00452 start = end
00453 end += 4
00454 (length,) = _struct_I.unpack(str[start:end])
00455 pattern = '<%sd'%length
00456 start = end
00457 end += struct.calcsize(pattern)
00458 self.J = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00459 start = end
00460 end += 4
00461 (length,) = _struct_I.unpack(str[start:end])
00462 pattern = '<%sd'%length
00463 start = end
00464 end += struct.calcsize(pattern)
00465 self.desired_dist_increase = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00466 start = end
00467 end += 4
00468 (length,) = _struct_I.unpack(str[start:end])
00469 pattern = '<%sd'%length
00470 start = end
00471 end += struct.calcsize(pattern)
00472 self.x_0 = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00473 start = end
00474 end += 4
00475 (length,) = _struct_I.unpack(str[start:end])
00476 pattern = '<%sd'%length
00477 start = end
00478 end += struct.calcsize(pattern)
00479 self.KP_t_KP = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00480 start = end
00481 end += 4
00482 (length,) = _struct_I.unpack(str[start:end])
00483 pattern = '<%sd'%length
00484 start = end
00485 end += struct.calcsize(pattern)
00486 self.q_min = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00487 start = end
00488 end += 4
00489 (length,) = _struct_I.unpack(str[start:end])
00490 pattern = '<%sd'%length
00491 start = end
00492 end += struct.calcsize(pattern)
00493 self.q_max = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00494 start = end
00495 end += 4
00496 (length,) = _struct_I.unpack(str[start:end])
00497 pattern = '<%sd'%length
00498 start = end
00499 end += struct.calcsize(pattern)
00500 self.dist_min = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00501 start = end
00502 end += 4
00503 (length,) = _struct_I.unpack(str[start:end])
00504 pattern = '<%sd'%length
00505 start = end
00506 end += struct.calcsize(pattern)
00507 self.dist_max = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00508 start = end
00509 end += 4
00510 (length,) = _struct_I.unpack(str[start:end])
00511 pattern = '<%sd'%length
00512 start = end
00513 end += struct.calcsize(pattern)
00514 self.n_J_ci = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00515 start = end
00516 end += 4
00517 (length,) = _struct_I.unpack(str[start:end])
00518 pattern = '<%sd'%length
00519 start = end
00520 end += struct.calcsize(pattern)
00521 self.n_J_ci_max = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00522 start = end
00523 end += 4
00524 (length,) = _struct_I.unpack(str[start:end])
00525 pattern = '<%sd'%length
00526 start = end
00527 end += struct.calcsize(pattern)
00528 self.u_min = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00529 start = end
00530 end += 4
00531 (length,) = _struct_I.unpack(str[start:end])
00532 pattern = '<%sd'%length
00533 start = end
00534 end += struct.calcsize(pattern)
00535 self.u_max = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00536 start = end
00537 end += 4
00538 (length,) = _struct_I.unpack(str[start:end])
00539 pattern = '<%sd'%length
00540 start = end
00541 end += struct.calcsize(pattern)
00542 self.Q = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00543 return self
00544 except struct.error as e:
00545 raise genpy.DeserializationError(e)
00546
00547 _struct_I = genpy.struct_I
00548 _struct_3I = struct.Struct("<3I")
00549 _struct_3d = struct.Struct("<3d")