_SegwayRMP200Status.py

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"""autogenerated by genpy from iri_segway_rmp_msgs/SegwayRMP200Status.msg. Do not edit."""
import sys
python3 = True if sys.hexversion > 0x03000000 else False
import genpy
import struct

import std_msgs.msg

class SegwayRMP200Status(genpy.Message):
  _md5sum = "ee83912171465b6bc0a6397a2c596ee1"
  _type = "iri_segway_rmp_msgs/SegwayRMP200Status"
  _has_header = True #flag to mark the presence of a Header object
  _full_text = """Header header
float32 pitch_angle
float32 pitch_rate
float32 roll_angle
float32 roll_rate
float32 left_wheel_velocity
float32 right_wheel_velocity
float32 yaw_rate
float32 uptime
float32 left_wheel_displacement
float32 right_wheel_displacement
float32 forward_displacement
float32 yaw_displacement
float32 left_motor_torque
float32 right_motor_torque
int8 operation_mode
int8 gain_schedule
float32 ui_battery
float32 powerbase_battery

================================================================================
MSG: std_msgs/Header
# Standard metadata for higher-level stamped data types.
# This is generally used to communicate timestamped data 
# in a particular coordinate frame.
# 
# sequence ID: consecutively increasing ID 
uint32 seq
#Two-integer timestamp that is expressed as:
# * stamp.secs: seconds (stamp_secs) since epoch
# * stamp.nsecs: nanoseconds since stamp_secs
# time-handling sugar is provided by the client library
time stamp
#Frame this data is associated with
# 0: no frame
# 1: global frame
string frame_id

"""
  __slots__ = ['header','pitch_angle','pitch_rate','roll_angle','roll_rate','left_wheel_velocity','right_wheel_velocity','yaw_rate','uptime','left_wheel_displacement','right_wheel_displacement','forward_displacement','yaw_displacement','left_motor_torque','right_motor_torque','operation_mode','gain_schedule','ui_battery','powerbase_battery']
  _slot_types = ['std_msgs/Header','float32','float32','float32','float32','float32','float32','float32','float32','float32','float32','float32','float32','float32','float32','int8','int8','float32','float32']

  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:
       header,pitch_angle,pitch_rate,roll_angle,roll_rate,left_wheel_velocity,right_wheel_velocity,yaw_rate,uptime,left_wheel_displacement,right_wheel_displacement,forward_displacement,yaw_displacement,left_motor_torque,right_motor_torque,operation_mode,gain_schedule,ui_battery,powerbase_battery

    :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(SegwayRMP200Status, self).__init__(*args, **kwds)
      #message fields cannot be None, assign default values for those that are
      if self.header is None:
        self.header = std_msgs.msg.Header()
      if self.pitch_angle is None:
        self.pitch_angle = 0.
      if self.pitch_rate is None:
        self.pitch_rate = 0.
      if self.roll_angle is None:
        self.roll_angle = 0.
      if self.roll_rate is None:
        self.roll_rate = 0.
      if self.left_wheel_velocity is None:
        self.left_wheel_velocity = 0.
      if self.right_wheel_velocity is None:
        self.right_wheel_velocity = 0.
      if self.yaw_rate is None:
        self.yaw_rate = 0.
      if self.uptime is None:
        self.uptime = 0.
      if self.left_wheel_displacement is None:
        self.left_wheel_displacement = 0.
      if self.right_wheel_displacement is None:
        self.right_wheel_displacement = 0.
      if self.forward_displacement is None:
        self.forward_displacement = 0.
      if self.yaw_displacement is None:
        self.yaw_displacement = 0.
      if self.left_motor_torque is None:
        self.left_motor_torque = 0.
      if self.right_motor_torque is None:
        self.right_motor_torque = 0.
      if self.operation_mode is None:
        self.operation_mode = 0
      if self.gain_schedule is None:
        self.gain_schedule = 0
      if self.ui_battery is None:
        self.ui_battery = 0.
      if self.powerbase_battery is None:
        self.powerbase_battery = 0.
    else:
      self.header = std_msgs.msg.Header()
      self.pitch_angle = 0.
      self.pitch_rate = 0.
      self.roll_angle = 0.
      self.roll_rate = 0.
      self.left_wheel_velocity = 0.
      self.right_wheel_velocity = 0.
      self.yaw_rate = 0.
      self.uptime = 0.
      self.left_wheel_displacement = 0.
      self.right_wheel_displacement = 0.
      self.forward_displacement = 0.
      self.yaw_displacement = 0.
      self.left_motor_torque = 0.
      self.right_motor_torque = 0.
      self.operation_mode = 0
      self.gain_schedule = 0
      self.ui_battery = 0.
      self.powerbase_battery = 0.

  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
      buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
      _x = self.header.frame_id
      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))
      _x = self
      buff.write(_struct_14f2b2f.pack(_x.pitch_angle, _x.pitch_rate, _x.roll_angle, _x.roll_rate, _x.left_wheel_velocity, _x.right_wheel_velocity, _x.yaw_rate, _x.uptime, _x.left_wheel_displacement, _x.right_wheel_displacement, _x.forward_displacement, _x.yaw_displacement, _x.left_motor_torque, _x.right_motor_torque, _x.operation_mode, _x.gain_schedule, _x.ui_battery, _x.powerbase_battery))
    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.header is None:
        self.header = std_msgs.msg.Header()
      end = 0
      _x = self
      start = end
      end += 12
      (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 66
      (_x.pitch_angle, _x.pitch_rate, _x.roll_angle, _x.roll_rate, _x.left_wheel_velocity, _x.right_wheel_velocity, _x.yaw_rate, _x.uptime, _x.left_wheel_displacement, _x.right_wheel_displacement, _x.forward_displacement, _x.yaw_displacement, _x.left_motor_torque, _x.right_motor_torque, _x.operation_mode, _x.gain_schedule, _x.ui_battery, _x.powerbase_battery,) = _struct_14f2b2f.unpack(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
      buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
      _x = self.header.frame_id
      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))
      _x = self
      buff.write(_struct_14f2b2f.pack(_x.pitch_angle, _x.pitch_rate, _x.roll_angle, _x.roll_rate, _x.left_wheel_velocity, _x.right_wheel_velocity, _x.yaw_rate, _x.uptime, _x.left_wheel_displacement, _x.right_wheel_displacement, _x.forward_displacement, _x.yaw_displacement, _x.left_motor_torque, _x.right_motor_torque, _x.operation_mode, _x.gain_schedule, _x.ui_battery, _x.powerbase_battery))
    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.header is None:
        self.header = std_msgs.msg.Header()
      end = 0
      _x = self
      start = end
      end += 12
      (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 66
      (_x.pitch_angle, _x.pitch_rate, _x.roll_angle, _x.roll_rate, _x.left_wheel_velocity, _x.right_wheel_velocity, _x.yaw_rate, _x.uptime, _x.left_wheel_displacement, _x.right_wheel_displacement, _x.forward_displacement, _x.yaw_displacement, _x.left_motor_torque, _x.right_motor_torque, _x.operation_mode, _x.gain_schedule, _x.ui_battery, _x.powerbase_battery,) = _struct_14f2b2f.unpack(str[start:end])
      return self
    except struct.error as e:
      raise genpy.DeserializationError(e) #most likely buffer underfill

_struct_I = genpy.struct_I
_struct_14f2b2f = struct.Struct("<14f2b2f")
_struct_3I = struct.Struct("<3I")