hrl_haptic_manipulation_in_clutter_srvs: _ServiceBasedMPC.py Source File

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00001 """autogenerated by genpy from hrl_haptic_manipulation_in_clutter_srvs/ServiceBasedMPCRequest.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 ServiceBasedMPCRequest(genpy.Message):
00009   _md5sum = "ff2d5410ce473a73156a5162cbdc78d0"
00010   _type = "hrl_haptic_manipulation_in_clutter_srvs/ServiceBasedMPCRequest"
00011   _has_header = False #flag to mark the presence of a Header object
00012   _full_text = """float64 alpha
00013 float64 beta
00014 float64 gamma
00015 float64[] delta_x_d
00016 float64[] J
00017 float64[] desired_force_decrease
00018 float64[] x_0
00019 float64[] KP_t_KP
00020 float64[] B
00021 float64[] q_min
00022 float64[] q_max
00023 float64[] f_min
00024 float64[] f_max
00025 float64[] n_K_ci_J_ci
00026 float64[] n_K_ci_J_ci_max
00027 float64[] u_min
00028 float64[] u_max
00029 float64[] Q
00030 
00031 """
00032   __slots__ = ['alpha','beta','gamma','delta_x_d','J','desired_force_decrease','x_0','KP_t_KP','B','q_min','q_max','f_min','f_max','n_K_ci_J_ci','n_K_ci_J_ci_max','u_min','u_max','Q']
00033   _slot_types = ['float64','float64','float64','float64[]','float64[]','float64[]','float64[]','float64[]','float64[]','float64[]','float64[]','float64[]','float64[]','float64[]','float64[]','float64[]','float64[]','float64[]']
00034 
00035   def __init__(self, *args, **kwds):
00036     """
00037     Constructor. Any message fields that are implicitly/explicitly
00038     set to None will be assigned a default value. The recommend
00039     use is keyword arguments as this is more robust to future message
00040     changes.  You cannot mix in-order arguments and keyword arguments.
00041 
00042     The available fields are:
00043        alpha,beta,gamma,delta_x_d,J,desired_force_decrease,x_0,KP_t_KP,B,q_min,q_max,f_min,f_max,n_K_ci_J_ci,n_K_ci_J_ci_max,u_min,u_max,Q
00044 
00045     :param args: complete set of field values, in .msg order
00046     :param kwds: use keyword arguments corresponding to message field names
00047     to set specific fields.
00048     """
00049     if args or kwds:
00050       super(ServiceBasedMPCRequest, self).__init__(*args, **kwds)
00051       #message fields cannot be None, assign default values for those that are
00052       if self.alpha is None:
00053         self.alpha = 0.
00054       if self.beta is None:
00055         self.beta = 0.
00056       if self.gamma is None:
00057         self.gamma = 0.
00058       if self.delta_x_d is None:
00059         self.delta_x_d = []
00060       if self.J is None:
00061         self.J = []
00062       if self.desired_force_decrease is None:
00063         self.desired_force_decrease = []
00064       if self.x_0 is None:
00065         self.x_0 = []
00066       if self.KP_t_KP is None:
00067         self.KP_t_KP = []
00068       if self.B is None:
00069         self.B = []
00070       if self.q_min is None:
00071         self.q_min = []
00072       if self.q_max is None:
00073         self.q_max = []
00074       if self.f_min is None:
00075         self.f_min = []
00076       if self.f_max is None:
00077         self.f_max = []
00078       if self.n_K_ci_J_ci is None:
00079         self.n_K_ci_J_ci = []
00080       if self.n_K_ci_J_ci_max is None:
00081         self.n_K_ci_J_ci_max = []
00082       if self.u_min is None:
00083         self.u_min = []
00084       if self.u_max is None:
00085         self.u_max = []
00086       if self.Q is None:
00087         self.Q = []
00088     else:
00089       self.alpha = 0.
00090       self.beta = 0.
00091       self.gamma = 0.
00092       self.delta_x_d = []
00093       self.J = []
00094       self.desired_force_decrease = []
00095       self.x_0 = []
00096       self.KP_t_KP = []
00097       self.B = []
00098       self.q_min = []
00099       self.q_max = []
00100       self.f_min = []
00101       self.f_max = []
00102       self.n_K_ci_J_ci = []
00103       self.n_K_ci_J_ci_max = []
00104       self.u_min = []
00105       self.u_max = []
00106       self.Q = []
00107 
00108   def _get_types(self):
00109     """
00110     internal API method
00111     """
00112     return self._slot_types
00113 
00114   def serialize(self, buff):
00115     """
00116     serialize message into buffer
00117     :param buff: buffer, ``StringIO``
00118     """
00119     try:
00120       _x = self
00121       buff.write(_struct_3d.pack(_x.alpha, _x.beta, _x.gamma))
00122       length = len(self.delta_x_d)
00123       buff.write(_struct_I.pack(length))
00124       pattern = '<%sd'%length
00125       buff.write(struct.pack(pattern, *self.delta_x_d))
00126       length = len(self.J)
00127       buff.write(_struct_I.pack(length))
00128       pattern = '<%sd'%length
00129       buff.write(struct.pack(pattern, *self.J))
00130       length = len(self.desired_force_decrease)
00131       buff.write(_struct_I.pack(length))
00132       pattern = '<%sd'%length
00133       buff.write(struct.pack(pattern, *self.desired_force_decrease))
00134       length = len(self.x_0)
00135       buff.write(_struct_I.pack(length))
00136       pattern = '<%sd'%length
00137       buff.write(struct.pack(pattern, *self.x_0))
00138       length = len(self.KP_t_KP)
00139       buff.write(_struct_I.pack(length))
00140       pattern = '<%sd'%length
00141       buff.write(struct.pack(pattern, *self.KP_t_KP))
00142       length = len(self.B)
00143       buff.write(_struct_I.pack(length))
00144       pattern = '<%sd'%length
00145       buff.write(struct.pack(pattern, *self.B))
00146       length = len(self.q_min)
00147       buff.write(_struct_I.pack(length))
00148       pattern = '<%sd'%length
00149       buff.write(struct.pack(pattern, *self.q_min))
00150       length = len(self.q_max)
00151       buff.write(_struct_I.pack(length))
00152       pattern = '<%sd'%length
00153       buff.write(struct.pack(pattern, *self.q_max))
00154       length = len(self.f_min)
00155       buff.write(_struct_I.pack(length))
00156       pattern = '<%sd'%length
00157       buff.write(struct.pack(pattern, *self.f_min))
00158       length = len(self.f_max)
00159       buff.write(_struct_I.pack(length))
00160       pattern = '<%sd'%length
00161       buff.write(struct.pack(pattern, *self.f_max))
00162       length = len(self.n_K_ci_J_ci)
00163       buff.write(_struct_I.pack(length))
00164       pattern = '<%sd'%length
00165       buff.write(struct.pack(pattern, *self.n_K_ci_J_ci))
00166       length = len(self.n_K_ci_J_ci_max)
00167       buff.write(_struct_I.pack(length))
00168       pattern = '<%sd'%length
00169       buff.write(struct.pack(pattern, *self.n_K_ci_J_ci_max))
00170       length = len(self.u_min)
00171       buff.write(_struct_I.pack(length))
00172       pattern = '<%sd'%length
00173       buff.write(struct.pack(pattern, *self.u_min))
00174       length = len(self.u_max)
00175       buff.write(_struct_I.pack(length))
00176       pattern = '<%sd'%length
00177       buff.write(struct.pack(pattern, *self.u_max))
00178       length = len(self.Q)
00179       buff.write(_struct_I.pack(length))
00180       pattern = '<%sd'%length
00181       buff.write(struct.pack(pattern, *self.Q))
00182     except struct.error as se: self._check_types(se)
00183     except TypeError as te: self._check_types(te)
00184 
00185   def deserialize(self, str):
00186     """
00187     unpack serialized message in str into this message instance
00188     :param str: byte array of serialized message, ``str``
00189     """
00190     try:
00191       end = 0
00192       _x = self
00193       start = end
00194       end += 24
00195       (_x.alpha, _x.beta, _x.gamma,) = _struct_3d.unpack(str[start:end])
00196       start = end
00197       end += 4
00198       (length,) = _struct_I.unpack(str[start:end])
00199       pattern = '<%sd'%length
00200       start = end
00201       end += struct.calcsize(pattern)
00202       self.delta_x_d = struct.unpack(pattern, str[start:end])
00203       start = end
00204       end += 4
00205       (length,) = _struct_I.unpack(str[start:end])
00206       pattern = '<%sd'%length
00207       start = end
00208       end += struct.calcsize(pattern)
00209       self.J = struct.unpack(pattern, str[start:end])
00210       start = end
00211       end += 4
00212       (length,) = _struct_I.unpack(str[start:end])
00213       pattern = '<%sd'%length
00214       start = end
00215       end += struct.calcsize(pattern)
00216       self.desired_force_decrease = struct.unpack(pattern, str[start:end])
00217       start = end
00218       end += 4
00219       (length,) = _struct_I.unpack(str[start:end])
00220       pattern = '<%sd'%length
00221       start = end
00222       end += struct.calcsize(pattern)
00223       self.x_0 = struct.unpack(pattern, str[start:end])
00224       start = end
00225       end += 4
00226       (length,) = _struct_I.unpack(str[start:end])
00227       pattern = '<%sd'%length
00228       start = end
00229       end += struct.calcsize(pattern)
00230       self.KP_t_KP = struct.unpack(pattern, str[start:end])
00231       start = end
00232       end += 4
00233       (length,) = _struct_I.unpack(str[start:end])
00234       pattern = '<%sd'%length
00235       start = end
00236       end += struct.calcsize(pattern)
00237       self.B = struct.unpack(pattern, str[start:end])
00238       start = end
00239       end += 4
00240       (length,) = _struct_I.unpack(str[start:end])
00241       pattern = '<%sd'%length
00242       start = end
00243       end += struct.calcsize(pattern)
00244       self.q_min = struct.unpack(pattern, str[start:end])
00245       start = end
00246       end += 4
00247       (length,) = _struct_I.unpack(str[start:end])
00248       pattern = '<%sd'%length
00249       start = end
00250       end += struct.calcsize(pattern)
00251       self.q_max = struct.unpack(pattern, str[start:end])
00252       start = end
00253       end += 4
00254       (length,) = _struct_I.unpack(str[start:end])
00255       pattern = '<%sd'%length
00256       start = end
00257       end += struct.calcsize(pattern)
00258       self.f_min = struct.unpack(pattern, str[start:end])
00259       start = end
00260       end += 4
00261       (length,) = _struct_I.unpack(str[start:end])
00262       pattern = '<%sd'%length
00263       start = end
00264       end += struct.calcsize(pattern)
00265       self.f_max = struct.unpack(pattern, str[start:end])
00266       start = end
00267       end += 4
00268       (length,) = _struct_I.unpack(str[start:end])
00269       pattern = '<%sd'%length
00270       start = end
00271       end += struct.calcsize(pattern)
00272       self.n_K_ci_J_ci = struct.unpack(pattern, str[start:end])
00273       start = end
00274       end += 4
00275       (length,) = _struct_I.unpack(str[start:end])
00276       pattern = '<%sd'%length
00277       start = end
00278       end += struct.calcsize(pattern)
00279       self.n_K_ci_J_ci_max = struct.unpack(pattern, str[start:end])
00280       start = end
00281       end += 4
00282       (length,) = _struct_I.unpack(str[start:end])
00283       pattern = '<%sd'%length
00284       start = end
00285       end += struct.calcsize(pattern)
00286       self.u_min = struct.unpack(pattern, str[start:end])
00287       start = end
00288       end += 4
00289       (length,) = _struct_I.unpack(str[start:end])
00290       pattern = '<%sd'%length
00291       start = end
00292       end += struct.calcsize(pattern)
00293       self.u_max = struct.unpack(pattern, str[start:end])
00294       start = end
00295       end += 4
00296       (length,) = _struct_I.unpack(str[start:end])
00297       pattern = '<%sd'%length
00298       start = end
00299       end += struct.calcsize(pattern)
00300       self.Q = struct.unpack(pattern, str[start:end])
00301       return self
00302     except struct.error as e:
00303       raise genpy.DeserializationError(e) #most likely buffer underfill
00304 
00305 
00306   def serialize_numpy(self, buff, numpy):
00307     """
00308     serialize message with numpy array types into buffer
00309     :param buff: buffer, ``StringIO``
00310     :param numpy: numpy python module
00311     """
00312     try:
00313       _x = self
00314       buff.write(_struct_3d.pack(_x.alpha, _x.beta, _x.gamma))
00315       length = len(self.delta_x_d)
00316       buff.write(_struct_I.pack(length))
00317       pattern = '<%sd'%length
00318       buff.write(self.delta_x_d.tostring())
00319       length = len(self.J)
00320       buff.write(_struct_I.pack(length))
00321       pattern = '<%sd'%length
00322       buff.write(self.J.tostring())
00323       length = len(self.desired_force_decrease)
00324       buff.write(_struct_I.pack(length))
00325       pattern = '<%sd'%length
00326       buff.write(self.desired_force_decrease.tostring())
00327       length = len(self.x_0)
00328       buff.write(_struct_I.pack(length))
00329       pattern = '<%sd'%length
00330       buff.write(self.x_0.tostring())
00331       length = len(self.KP_t_KP)
00332       buff.write(_struct_I.pack(length))
00333       pattern = '<%sd'%length
00334       buff.write(self.KP_t_KP.tostring())
00335       length = len(self.B)
00336       buff.write(_struct_I.pack(length))
00337       pattern = '<%sd'%length
00338       buff.write(self.B.tostring())
00339       length = len(self.q_min)
00340       buff.write(_struct_I.pack(length))
00341       pattern = '<%sd'%length
00342       buff.write(self.q_min.tostring())
00343       length = len(self.q_max)
00344       buff.write(_struct_I.pack(length))
00345       pattern = '<%sd'%length
00346       buff.write(self.q_max.tostring())
00347       length = len(self.f_min)
00348       buff.write(_struct_I.pack(length))
00349       pattern = '<%sd'%length
00350       buff.write(self.f_min.tostring())
00351       length = len(self.f_max)
00352       buff.write(_struct_I.pack(length))
00353       pattern = '<%sd'%length
00354       buff.write(self.f_max.tostring())
00355       length = len(self.n_K_ci_J_ci)
00356       buff.write(_struct_I.pack(length))
00357       pattern = '<%sd'%length
00358       buff.write(self.n_K_ci_J_ci.tostring())
00359       length = len(self.n_K_ci_J_ci_max)
00360       buff.write(_struct_I.pack(length))
00361       pattern = '<%sd'%length
00362       buff.write(self.n_K_ci_J_ci_max.tostring())
00363       length = len(self.u_min)
00364       buff.write(_struct_I.pack(length))
00365       pattern = '<%sd'%length
00366       buff.write(self.u_min.tostring())
00367       length = len(self.u_max)
00368       buff.write(_struct_I.pack(length))
00369       pattern = '<%sd'%length
00370       buff.write(self.u_max.tostring())
00371       length = len(self.Q)
00372       buff.write(_struct_I.pack(length))
00373       pattern = '<%sd'%length
00374       buff.write(self.Q.tostring())
00375     except struct.error as se: self._check_types(se)
00376     except TypeError as te: self._check_types(te)
00377 
00378   def deserialize_numpy(self, str, numpy):
00379     """
00380     unpack serialized message in str into this message instance using numpy for array types
00381     :param str: byte array of serialized message, ``str``
00382     :param numpy: numpy python module
00383     """
00384     try:
00385       end = 0
00386       _x = self
00387       start = end
00388       end += 24
00389       (_x.alpha, _x.beta, _x.gamma,) = _struct_3d.unpack(str[start:end])
00390       start = end
00391       end += 4
00392       (length,) = _struct_I.unpack(str[start:end])
00393       pattern = '<%sd'%length
00394       start = end
00395       end += struct.calcsize(pattern)
00396       self.delta_x_d = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00397       start = end
00398       end += 4
00399       (length,) = _struct_I.unpack(str[start:end])
00400       pattern = '<%sd'%length
00401       start = end
00402       end += struct.calcsize(pattern)
00403       self.J = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00404       start = end
00405       end += 4
00406       (length,) = _struct_I.unpack(str[start:end])
00407       pattern = '<%sd'%length
00408       start = end
00409       end += struct.calcsize(pattern)
00410       self.desired_force_decrease = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00411       start = end
00412       end += 4
00413       (length,) = _struct_I.unpack(str[start:end])
00414       pattern = '<%sd'%length
00415       start = end
00416       end += struct.calcsize(pattern)
00417       self.x_0 = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00418       start = end
00419       end += 4
00420       (length,) = _struct_I.unpack(str[start:end])
00421       pattern = '<%sd'%length
00422       start = end
00423       end += struct.calcsize(pattern)
00424       self.KP_t_KP = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00425       start = end
00426       end += 4
00427       (length,) = _struct_I.unpack(str[start:end])
00428       pattern = '<%sd'%length
00429       start = end
00430       end += struct.calcsize(pattern)
00431       self.B = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00432       start = end
00433       end += 4
00434       (length,) = _struct_I.unpack(str[start:end])
00435       pattern = '<%sd'%length
00436       start = end
00437       end += struct.calcsize(pattern)
00438       self.q_min = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00439       start = end
00440       end += 4
00441       (length,) = _struct_I.unpack(str[start:end])
00442       pattern = '<%sd'%length
00443       start = end
00444       end += struct.calcsize(pattern)
00445       self.q_max = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00446       start = end
00447       end += 4
00448       (length,) = _struct_I.unpack(str[start:end])
00449       pattern = '<%sd'%length
00450       start = end
00451       end += struct.calcsize(pattern)
00452       self.f_min = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00453       start = end
00454       end += 4
00455       (length,) = _struct_I.unpack(str[start:end])
00456       pattern = '<%sd'%length
00457       start = end
00458       end += struct.calcsize(pattern)
00459       self.f_max = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00460       start = end
00461       end += 4
00462       (length,) = _struct_I.unpack(str[start:end])
00463       pattern = '<%sd'%length
00464       start = end
00465       end += struct.calcsize(pattern)
00466       self.n_K_ci_J_ci = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00467       start = end
00468       end += 4
00469       (length,) = _struct_I.unpack(str[start:end])
00470       pattern = '<%sd'%length
00471       start = end
00472       end += struct.calcsize(pattern)
00473       self.n_K_ci_J_ci_max = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00474       start = end
00475       end += 4
00476       (length,) = _struct_I.unpack(str[start:end])
00477       pattern = '<%sd'%length
00478       start = end
00479       end += struct.calcsize(pattern)
00480       self.u_min = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00481       start = end
00482       end += 4
00483       (length,) = _struct_I.unpack(str[start:end])
00484       pattern = '<%sd'%length
00485       start = end
00486       end += struct.calcsize(pattern)
00487       self.u_max = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00488       start = end
00489       end += 4
00490       (length,) = _struct_I.unpack(str[start:end])
00491       pattern = '<%sd'%length
00492       start = end
00493       end += struct.calcsize(pattern)
00494       self.Q = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00495       return self
00496     except struct.error as e:
00497       raise genpy.DeserializationError(e) #most likely buffer underfill
00498 
00499 _struct_I = genpy.struct_I
00500 _struct_3d = struct.Struct("<3d")
00501 """autogenerated by genpy from hrl_haptic_manipulation_in_clutter_srvs/ServiceBasedMPCResponse.msg. Do not edit."""
00502 import sys
00503 python3 = True if sys.hexversion > 0x03000000 else False
00504 import genpy
00505 import struct
00506 
00507 
00508 class ServiceBasedMPCResponse(genpy.Message):
00509   _md5sum = "00475d6b4b4fc3a6b932afa7b8502db3"
00510   _type = "hrl_haptic_manipulation_in_clutter_srvs/ServiceBasedMPCResponse"
00511   _has_header = False #flag to mark the presence of a Header object
00512   _full_text = """float64[7] delta_phi_opt
00513 float64[7] predicted_joint_angles
00514 
00515 
00516 
00517 
00518 
00519 
00520 """
00521   __slots__ = ['delta_phi_opt','predicted_joint_angles']
00522   _slot_types = ['float64[7]','float64[7]']
00523 
00524   def __init__(self, *args, **kwds):
00525     """
00526     Constructor. Any message fields that are implicitly/explicitly
00527     set to None will be assigned a default value. The recommend
00528     use is keyword arguments as this is more robust to future message
00529     changes.  You cannot mix in-order arguments and keyword arguments.
00530 
00531     The available fields are:
00532        delta_phi_opt,predicted_joint_angles
00533 
00534     :param args: complete set of field values, in .msg order
00535     :param kwds: use keyword arguments corresponding to message field names
00536     to set specific fields.
00537     """
00538     if args or kwds:
00539       super(ServiceBasedMPCResponse, self).__init__(*args, **kwds)
00540       #message fields cannot be None, assign default values for those that are
00541       if self.delta_phi_opt is None:
00542         self.delta_phi_opt = [0.,0.,0.,0.,0.,0.,0.]
00543       if self.predicted_joint_angles is None:
00544         self.predicted_joint_angles = [0.,0.,0.,0.,0.,0.,0.]
00545     else:
00546       self.delta_phi_opt = [0.,0.,0.,0.,0.,0.,0.]
00547       self.predicted_joint_angles = [0.,0.,0.,0.,0.,0.,0.]
00548 
00549   def _get_types(self):
00550     """
00551     internal API method
00552     """
00553     return self._slot_types
00554 
00555   def serialize(self, buff):
00556     """
00557     serialize message into buffer
00558     :param buff: buffer, ``StringIO``
00559     """
00560     try:
00561       buff.write(_struct_7d.pack(*self.delta_phi_opt))
00562       buff.write(_struct_7d.pack(*self.predicted_joint_angles))
00563     except struct.error as se: self._check_types(se)
00564     except TypeError as te: self._check_types(te)
00565 
00566   def deserialize(self, str):
00567     """
00568     unpack serialized message in str into this message instance
00569     :param str: byte array of serialized message, ``str``
00570     """
00571     try:
00572       end = 0
00573       start = end
00574       end += 56
00575       self.delta_phi_opt = _struct_7d.unpack(str[start:end])
00576       start = end
00577       end += 56
00578       self.predicted_joint_angles = _struct_7d.unpack(str[start:end])
00579       return self
00580     except struct.error as e:
00581       raise genpy.DeserializationError(e) #most likely buffer underfill
00582 
00583 
00584   def serialize_numpy(self, buff, numpy):
00585     """
00586     serialize message with numpy array types into buffer
00587     :param buff: buffer, ``StringIO``
00588     :param numpy: numpy python module
00589     """
00590     try:
00591       buff.write(self.delta_phi_opt.tostring())
00592       buff.write(self.predicted_joint_angles.tostring())
00593     except struct.error as se: self._check_types(se)
00594     except TypeError as te: self._check_types(te)
00595 
00596   def deserialize_numpy(self, str, numpy):
00597     """
00598     unpack serialized message in str into this message instance using numpy for array types
00599     :param str: byte array of serialized message, ``str``
00600     :param numpy: numpy python module
00601     """
00602     try:
00603       end = 0
00604       start = end
00605       end += 56
00606       self.delta_phi_opt = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=7)
00607       start = end
00608       end += 56
00609       self.predicted_joint_angles = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=7)
00610       return self
00611     except struct.error as e:
00612       raise genpy.DeserializationError(e) #most likely buffer underfill
00613 
00614 _struct_I = genpy.struct_I
00615 _struct_7d = struct.Struct("<7d")
00616 class ServiceBasedMPC(object):
00617   _type          = 'hrl_haptic_manipulation_in_clutter_srvs/ServiceBasedMPC'
00618   _md5sum = '67c7bceb584229e1de3a6ec4552d4994'
00619   _request_class  = ServiceBasedMPCRequest
00620   _response_class = ServiceBasedMPCResponse