00001 """autogenerated by genpy from katana_msgs/JointMovementAction.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 sensor_msgs.msg
00008 import std_msgs.msg
00009 import genpy
00010 import actionlib_msgs.msg
00011 import katana_msgs.msg
00012
00013 class JointMovementAction(genpy.Message):
00014 _md5sum = "729d616fa544da9079d58e0ecde6ca21"
00015 _type = "katana_msgs/JointMovementAction"
00016 _has_header = False
00017 _full_text = """# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00018
00019 JointMovementActionGoal action_goal
00020 JointMovementActionResult action_result
00021 JointMovementActionFeedback action_feedback
00022
00023 ================================================================================
00024 MSG: katana_msgs/JointMovementActionGoal
00025 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00026
00027 Header header
00028 actionlib_msgs/GoalID goal_id
00029 JointMovementGoal goal
00030
00031 ================================================================================
00032 MSG: std_msgs/Header
00033 # Standard metadata for higher-level stamped data types.
00034 # This is generally used to communicate timestamped data
00035 # in a particular coordinate frame.
00036 #
00037 # sequence ID: consecutively increasing ID
00038 uint32 seq
00039 #Two-integer timestamp that is expressed as:
00040 # * stamp.secs: seconds (stamp_secs) since epoch
00041 # * stamp.nsecs: nanoseconds since stamp_secs
00042 # time-handling sugar is provided by the client library
00043 time stamp
00044 #Frame this data is associated with
00045 # 0: no frame
00046 # 1: global frame
00047 string frame_id
00048
00049 ================================================================================
00050 MSG: actionlib_msgs/GoalID
00051 # The stamp should store the time at which this goal was requested.
00052 # It is used by an action server when it tries to preempt all
00053 # goals that were requested before a certain time
00054 time stamp
00055
00056 # The id provides a way to associate feedback and
00057 # result message with specific goal requests. The id
00058 # specified must be unique.
00059 string id
00060
00061
00062 ================================================================================
00063 MSG: katana_msgs/JointMovementGoal
00064 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00065 #goal definition
00066 sensor_msgs/JointState jointGoal
00067
00068 ================================================================================
00069 MSG: sensor_msgs/JointState
00070 # This is a message that holds data to describe the state of a set of torque controlled joints.
00071 #
00072 # The state of each joint (revolute or prismatic) is defined by:
00073 # * the position of the joint (rad or m),
00074 # * the velocity of the joint (rad/s or m/s) and
00075 # * the effort that is applied in the joint (Nm or N).
00076 #
00077 # Each joint is uniquely identified by its name
00078 # The header specifies the time at which the joint states were recorded. All the joint states
00079 # in one message have to be recorded at the same time.
00080 #
00081 # This message consists of a multiple arrays, one for each part of the joint state.
00082 # The goal is to make each of the fields optional. When e.g. your joints have no
00083 # effort associated with them, you can leave the effort array empty.
00084 #
00085 # All arrays in this message should have the same size, or be empty.
00086 # This is the only way to uniquely associate the joint name with the correct
00087 # states.
00088
00089
00090 Header header
00091
00092 string[] name
00093 float64[] position
00094 float64[] velocity
00095 float64[] effort
00096
00097 ================================================================================
00098 MSG: katana_msgs/JointMovementActionResult
00099 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00100
00101 Header header
00102 actionlib_msgs/GoalStatus status
00103 JointMovementResult result
00104
00105 ================================================================================
00106 MSG: actionlib_msgs/GoalStatus
00107 GoalID goal_id
00108 uint8 status
00109 uint8 PENDING = 0 # The goal has yet to be processed by the action server
00110 uint8 ACTIVE = 1 # The goal is currently being processed by the action server
00111 uint8 PREEMPTED = 2 # The goal received a cancel request after it started executing
00112 # and has since completed its execution (Terminal State)
00113 uint8 SUCCEEDED = 3 # The goal was achieved successfully by the action server (Terminal State)
00114 uint8 ABORTED = 4 # The goal was aborted during execution by the action server due
00115 # to some failure (Terminal State)
00116 uint8 REJECTED = 5 # The goal was rejected by the action server without being processed,
00117 # because the goal was unattainable or invalid (Terminal State)
00118 uint8 PREEMPTING = 6 # The goal received a cancel request after it started executing
00119 # and has not yet completed execution
00120 uint8 RECALLING = 7 # The goal received a cancel request before it started executing,
00121 # but the action server has not yet confirmed that the goal is canceled
00122 uint8 RECALLED = 8 # The goal received a cancel request before it started executing
00123 # and was successfully cancelled (Terminal State)
00124 uint8 LOST = 9 # An action client can determine that a goal is LOST. This should not be
00125 # sent over the wire by an action server
00126
00127 #Allow for the user to associate a string with GoalStatus for debugging
00128 string text
00129
00130
00131 ================================================================================
00132 MSG: katana_msgs/JointMovementResult
00133 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00134
00135 ================================================================================
00136 MSG: katana_msgs/JointMovementActionFeedback
00137 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00138
00139 Header header
00140 actionlib_msgs/GoalStatus status
00141 JointMovementFeedback feedback
00142
00143 ================================================================================
00144 MSG: katana_msgs/JointMovementFeedback
00145 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00146
00147
00148 """
00149 __slots__ = ['action_goal','action_result','action_feedback']
00150 _slot_types = ['katana_msgs/JointMovementActionGoal','katana_msgs/JointMovementActionResult','katana_msgs/JointMovementActionFeedback']
00151
00152 def __init__(self, *args, **kwds):
00153 """
00154 Constructor. Any message fields that are implicitly/explicitly
00155 set to None will be assigned a default value. The recommend
00156 use is keyword arguments as this is more robust to future message
00157 changes. You cannot mix in-order arguments and keyword arguments.
00158
00159 The available fields are:
00160 action_goal,action_result,action_feedback
00161
00162 :param args: complete set of field values, in .msg order
00163 :param kwds: use keyword arguments corresponding to message field names
00164 to set specific fields.
00165 """
00166 if args or kwds:
00167 super(JointMovementAction, self).__init__(*args, **kwds)
00168
00169 if self.action_goal is None:
00170 self.action_goal = katana_msgs.msg.JointMovementActionGoal()
00171 if self.action_result is None:
00172 self.action_result = katana_msgs.msg.JointMovementActionResult()
00173 if self.action_feedback is None:
00174 self.action_feedback = katana_msgs.msg.JointMovementActionFeedback()
00175 else:
00176 self.action_goal = katana_msgs.msg.JointMovementActionGoal()
00177 self.action_result = katana_msgs.msg.JointMovementActionResult()
00178 self.action_feedback = katana_msgs.msg.JointMovementActionFeedback()
00179
00180 def _get_types(self):
00181 """
00182 internal API method
00183 """
00184 return self._slot_types
00185
00186 def serialize(self, buff):
00187 """
00188 serialize message into buffer
00189 :param buff: buffer, ``StringIO``
00190 """
00191 try:
00192 _x = self
00193 buff.write(_struct_3I.pack(_x.action_goal.header.seq, _x.action_goal.header.stamp.secs, _x.action_goal.header.stamp.nsecs))
00194 _x = self.action_goal.header.frame_id
00195 length = len(_x)
00196 if python3 or type(_x) == unicode:
00197 _x = _x.encode('utf-8')
00198 length = len(_x)
00199 buff.write(struct.pack('<I%ss'%length, length, _x))
00200 _x = self
00201 buff.write(_struct_2I.pack(_x.action_goal.goal_id.stamp.secs, _x.action_goal.goal_id.stamp.nsecs))
00202 _x = self.action_goal.goal_id.id
00203 length = len(_x)
00204 if python3 or type(_x) == unicode:
00205 _x = _x.encode('utf-8')
00206 length = len(_x)
00207 buff.write(struct.pack('<I%ss'%length, length, _x))
00208 _x = self
00209 buff.write(_struct_3I.pack(_x.action_goal.goal.jointGoal.header.seq, _x.action_goal.goal.jointGoal.header.stamp.secs, _x.action_goal.goal.jointGoal.header.stamp.nsecs))
00210 _x = self.action_goal.goal.jointGoal.header.frame_id
00211 length = len(_x)
00212 if python3 or type(_x) == unicode:
00213 _x = _x.encode('utf-8')
00214 length = len(_x)
00215 buff.write(struct.pack('<I%ss'%length, length, _x))
00216 length = len(self.action_goal.goal.jointGoal.name)
00217 buff.write(_struct_I.pack(length))
00218 for val1 in self.action_goal.goal.jointGoal.name:
00219 length = len(val1)
00220 if python3 or type(val1) == unicode:
00221 val1 = val1.encode('utf-8')
00222 length = len(val1)
00223 buff.write(struct.pack('<I%ss'%length, length, val1))
00224 length = len(self.action_goal.goal.jointGoal.position)
00225 buff.write(_struct_I.pack(length))
00226 pattern = '<%sd'%length
00227 buff.write(struct.pack(pattern, *self.action_goal.goal.jointGoal.position))
00228 length = len(self.action_goal.goal.jointGoal.velocity)
00229 buff.write(_struct_I.pack(length))
00230 pattern = '<%sd'%length
00231 buff.write(struct.pack(pattern, *self.action_goal.goal.jointGoal.velocity))
00232 length = len(self.action_goal.goal.jointGoal.effort)
00233 buff.write(_struct_I.pack(length))
00234 pattern = '<%sd'%length
00235 buff.write(struct.pack(pattern, *self.action_goal.goal.jointGoal.effort))
00236 _x = self
00237 buff.write(_struct_3I.pack(_x.action_result.header.seq, _x.action_result.header.stamp.secs, _x.action_result.header.stamp.nsecs))
00238 _x = self.action_result.header.frame_id
00239 length = len(_x)
00240 if python3 or type(_x) == unicode:
00241 _x = _x.encode('utf-8')
00242 length = len(_x)
00243 buff.write(struct.pack('<I%ss'%length, length, _x))
00244 _x = self
00245 buff.write(_struct_2I.pack(_x.action_result.status.goal_id.stamp.secs, _x.action_result.status.goal_id.stamp.nsecs))
00246 _x = self.action_result.status.goal_id.id
00247 length = len(_x)
00248 if python3 or type(_x) == unicode:
00249 _x = _x.encode('utf-8')
00250 length = len(_x)
00251 buff.write(struct.pack('<I%ss'%length, length, _x))
00252 buff.write(_struct_B.pack(self.action_result.status.status))
00253 _x = self.action_result.status.text
00254 length = len(_x)
00255 if python3 or type(_x) == unicode:
00256 _x = _x.encode('utf-8')
00257 length = len(_x)
00258 buff.write(struct.pack('<I%ss'%length, length, _x))
00259 _x = self
00260 buff.write(_struct_3I.pack(_x.action_feedback.header.seq, _x.action_feedback.header.stamp.secs, _x.action_feedback.header.stamp.nsecs))
00261 _x = self.action_feedback.header.frame_id
00262 length = len(_x)
00263 if python3 or type(_x) == unicode:
00264 _x = _x.encode('utf-8')
00265 length = len(_x)
00266 buff.write(struct.pack('<I%ss'%length, length, _x))
00267 _x = self
00268 buff.write(_struct_2I.pack(_x.action_feedback.status.goal_id.stamp.secs, _x.action_feedback.status.goal_id.stamp.nsecs))
00269 _x = self.action_feedback.status.goal_id.id
00270 length = len(_x)
00271 if python3 or type(_x) == unicode:
00272 _x = _x.encode('utf-8')
00273 length = len(_x)
00274 buff.write(struct.pack('<I%ss'%length, length, _x))
00275 buff.write(_struct_B.pack(self.action_feedback.status.status))
00276 _x = self.action_feedback.status.text
00277 length = len(_x)
00278 if python3 or type(_x) == unicode:
00279 _x = _x.encode('utf-8')
00280 length = len(_x)
00281 buff.write(struct.pack('<I%ss'%length, length, _x))
00282 except struct.error as se: self._check_types(se)
00283 except TypeError as te: self._check_types(te)
00284
00285 def deserialize(self, str):
00286 """
00287 unpack serialized message in str into this message instance
00288 :param str: byte array of serialized message, ``str``
00289 """
00290 try:
00291 if self.action_goal is None:
00292 self.action_goal = katana_msgs.msg.JointMovementActionGoal()
00293 if self.action_result is None:
00294 self.action_result = katana_msgs.msg.JointMovementActionResult()
00295 if self.action_feedback is None:
00296 self.action_feedback = katana_msgs.msg.JointMovementActionFeedback()
00297 end = 0
00298 _x = self
00299 start = end
00300 end += 12
00301 (_x.action_goal.header.seq, _x.action_goal.header.stamp.secs, _x.action_goal.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00302 start = end
00303 end += 4
00304 (length,) = _struct_I.unpack(str[start:end])
00305 start = end
00306 end += length
00307 if python3:
00308 self.action_goal.header.frame_id = str[start:end].decode('utf-8')
00309 else:
00310 self.action_goal.header.frame_id = str[start:end]
00311 _x = self
00312 start = end
00313 end += 8
00314 (_x.action_goal.goal_id.stamp.secs, _x.action_goal.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00315 start = end
00316 end += 4
00317 (length,) = _struct_I.unpack(str[start:end])
00318 start = end
00319 end += length
00320 if python3:
00321 self.action_goal.goal_id.id = str[start:end].decode('utf-8')
00322 else:
00323 self.action_goal.goal_id.id = str[start:end]
00324 _x = self
00325 start = end
00326 end += 12
00327 (_x.action_goal.goal.jointGoal.header.seq, _x.action_goal.goal.jointGoal.header.stamp.secs, _x.action_goal.goal.jointGoal.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00328 start = end
00329 end += 4
00330 (length,) = _struct_I.unpack(str[start:end])
00331 start = end
00332 end += length
00333 if python3:
00334 self.action_goal.goal.jointGoal.header.frame_id = str[start:end].decode('utf-8')
00335 else:
00336 self.action_goal.goal.jointGoal.header.frame_id = str[start:end]
00337 start = end
00338 end += 4
00339 (length,) = _struct_I.unpack(str[start:end])
00340 self.action_goal.goal.jointGoal.name = []
00341 for i in range(0, length):
00342 start = end
00343 end += 4
00344 (length,) = _struct_I.unpack(str[start:end])
00345 start = end
00346 end += length
00347 if python3:
00348 val1 = str[start:end].decode('utf-8')
00349 else:
00350 val1 = str[start:end]
00351 self.action_goal.goal.jointGoal.name.append(val1)
00352 start = end
00353 end += 4
00354 (length,) = _struct_I.unpack(str[start:end])
00355 pattern = '<%sd'%length
00356 start = end
00357 end += struct.calcsize(pattern)
00358 self.action_goal.goal.jointGoal.position = struct.unpack(pattern, str[start:end])
00359 start = end
00360 end += 4
00361 (length,) = _struct_I.unpack(str[start:end])
00362 pattern = '<%sd'%length
00363 start = end
00364 end += struct.calcsize(pattern)
00365 self.action_goal.goal.jointGoal.velocity = struct.unpack(pattern, str[start:end])
00366 start = end
00367 end += 4
00368 (length,) = _struct_I.unpack(str[start:end])
00369 pattern = '<%sd'%length
00370 start = end
00371 end += struct.calcsize(pattern)
00372 self.action_goal.goal.jointGoal.effort = struct.unpack(pattern, str[start:end])
00373 _x = self
00374 start = end
00375 end += 12
00376 (_x.action_result.header.seq, _x.action_result.header.stamp.secs, _x.action_result.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00377 start = end
00378 end += 4
00379 (length,) = _struct_I.unpack(str[start:end])
00380 start = end
00381 end += length
00382 if python3:
00383 self.action_result.header.frame_id = str[start:end].decode('utf-8')
00384 else:
00385 self.action_result.header.frame_id = str[start:end]
00386 _x = self
00387 start = end
00388 end += 8
00389 (_x.action_result.status.goal_id.stamp.secs, _x.action_result.status.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00390 start = end
00391 end += 4
00392 (length,) = _struct_I.unpack(str[start:end])
00393 start = end
00394 end += length
00395 if python3:
00396 self.action_result.status.goal_id.id = str[start:end].decode('utf-8')
00397 else:
00398 self.action_result.status.goal_id.id = str[start:end]
00399 start = end
00400 end += 1
00401 (self.action_result.status.status,) = _struct_B.unpack(str[start:end])
00402 start = end
00403 end += 4
00404 (length,) = _struct_I.unpack(str[start:end])
00405 start = end
00406 end += length
00407 if python3:
00408 self.action_result.status.text = str[start:end].decode('utf-8')
00409 else:
00410 self.action_result.status.text = str[start:end]
00411 _x = self
00412 start = end
00413 end += 12
00414 (_x.action_feedback.header.seq, _x.action_feedback.header.stamp.secs, _x.action_feedback.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00415 start = end
00416 end += 4
00417 (length,) = _struct_I.unpack(str[start:end])
00418 start = end
00419 end += length
00420 if python3:
00421 self.action_feedback.header.frame_id = str[start:end].decode('utf-8')
00422 else:
00423 self.action_feedback.header.frame_id = str[start:end]
00424 _x = self
00425 start = end
00426 end += 8
00427 (_x.action_feedback.status.goal_id.stamp.secs, _x.action_feedback.status.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00428 start = end
00429 end += 4
00430 (length,) = _struct_I.unpack(str[start:end])
00431 start = end
00432 end += length
00433 if python3:
00434 self.action_feedback.status.goal_id.id = str[start:end].decode('utf-8')
00435 else:
00436 self.action_feedback.status.goal_id.id = str[start:end]
00437 start = end
00438 end += 1
00439 (self.action_feedback.status.status,) = _struct_B.unpack(str[start:end])
00440 start = end
00441 end += 4
00442 (length,) = _struct_I.unpack(str[start:end])
00443 start = end
00444 end += length
00445 if python3:
00446 self.action_feedback.status.text = str[start:end].decode('utf-8')
00447 else:
00448 self.action_feedback.status.text = str[start:end]
00449 return self
00450 except struct.error as e:
00451 raise genpy.DeserializationError(e)
00452
00453
00454 def serialize_numpy(self, buff, numpy):
00455 """
00456 serialize message with numpy array types into buffer
00457 :param buff: buffer, ``StringIO``
00458 :param numpy: numpy python module
00459 """
00460 try:
00461 _x = self
00462 buff.write(_struct_3I.pack(_x.action_goal.header.seq, _x.action_goal.header.stamp.secs, _x.action_goal.header.stamp.nsecs))
00463 _x = self.action_goal.header.frame_id
00464 length = len(_x)
00465 if python3 or type(_x) == unicode:
00466 _x = _x.encode('utf-8')
00467 length = len(_x)
00468 buff.write(struct.pack('<I%ss'%length, length, _x))
00469 _x = self
00470 buff.write(_struct_2I.pack(_x.action_goal.goal_id.stamp.secs, _x.action_goal.goal_id.stamp.nsecs))
00471 _x = self.action_goal.goal_id.id
00472 length = len(_x)
00473 if python3 or type(_x) == unicode:
00474 _x = _x.encode('utf-8')
00475 length = len(_x)
00476 buff.write(struct.pack('<I%ss'%length, length, _x))
00477 _x = self
00478 buff.write(_struct_3I.pack(_x.action_goal.goal.jointGoal.header.seq, _x.action_goal.goal.jointGoal.header.stamp.secs, _x.action_goal.goal.jointGoal.header.stamp.nsecs))
00479 _x = self.action_goal.goal.jointGoal.header.frame_id
00480 length = len(_x)
00481 if python3 or type(_x) == unicode:
00482 _x = _x.encode('utf-8')
00483 length = len(_x)
00484 buff.write(struct.pack('<I%ss'%length, length, _x))
00485 length = len(self.action_goal.goal.jointGoal.name)
00486 buff.write(_struct_I.pack(length))
00487 for val1 in self.action_goal.goal.jointGoal.name:
00488 length = len(val1)
00489 if python3 or type(val1) == unicode:
00490 val1 = val1.encode('utf-8')
00491 length = len(val1)
00492 buff.write(struct.pack('<I%ss'%length, length, val1))
00493 length = len(self.action_goal.goal.jointGoal.position)
00494 buff.write(_struct_I.pack(length))
00495 pattern = '<%sd'%length
00496 buff.write(self.action_goal.goal.jointGoal.position.tostring())
00497 length = len(self.action_goal.goal.jointGoal.velocity)
00498 buff.write(_struct_I.pack(length))
00499 pattern = '<%sd'%length
00500 buff.write(self.action_goal.goal.jointGoal.velocity.tostring())
00501 length = len(self.action_goal.goal.jointGoal.effort)
00502 buff.write(_struct_I.pack(length))
00503 pattern = '<%sd'%length
00504 buff.write(self.action_goal.goal.jointGoal.effort.tostring())
00505 _x = self
00506 buff.write(_struct_3I.pack(_x.action_result.header.seq, _x.action_result.header.stamp.secs, _x.action_result.header.stamp.nsecs))
00507 _x = self.action_result.header.frame_id
00508 length = len(_x)
00509 if python3 or type(_x) == unicode:
00510 _x = _x.encode('utf-8')
00511 length = len(_x)
00512 buff.write(struct.pack('<I%ss'%length, length, _x))
00513 _x = self
00514 buff.write(_struct_2I.pack(_x.action_result.status.goal_id.stamp.secs, _x.action_result.status.goal_id.stamp.nsecs))
00515 _x = self.action_result.status.goal_id.id
00516 length = len(_x)
00517 if python3 or type(_x) == unicode:
00518 _x = _x.encode('utf-8')
00519 length = len(_x)
00520 buff.write(struct.pack('<I%ss'%length, length, _x))
00521 buff.write(_struct_B.pack(self.action_result.status.status))
00522 _x = self.action_result.status.text
00523 length = len(_x)
00524 if python3 or type(_x) == unicode:
00525 _x = _x.encode('utf-8')
00526 length = len(_x)
00527 buff.write(struct.pack('<I%ss'%length, length, _x))
00528 _x = self
00529 buff.write(_struct_3I.pack(_x.action_feedback.header.seq, _x.action_feedback.header.stamp.secs, _x.action_feedback.header.stamp.nsecs))
00530 _x = self.action_feedback.header.frame_id
00531 length = len(_x)
00532 if python3 or type(_x) == unicode:
00533 _x = _x.encode('utf-8')
00534 length = len(_x)
00535 buff.write(struct.pack('<I%ss'%length, length, _x))
00536 _x = self
00537 buff.write(_struct_2I.pack(_x.action_feedback.status.goal_id.stamp.secs, _x.action_feedback.status.goal_id.stamp.nsecs))
00538 _x = self.action_feedback.status.goal_id.id
00539 length = len(_x)
00540 if python3 or type(_x) == unicode:
00541 _x = _x.encode('utf-8')
00542 length = len(_x)
00543 buff.write(struct.pack('<I%ss'%length, length, _x))
00544 buff.write(_struct_B.pack(self.action_feedback.status.status))
00545 _x = self.action_feedback.status.text
00546 length = len(_x)
00547 if python3 or type(_x) == unicode:
00548 _x = _x.encode('utf-8')
00549 length = len(_x)
00550 buff.write(struct.pack('<I%ss'%length, length, _x))
00551 except struct.error as se: self._check_types(se)
00552 except TypeError as te: self._check_types(te)
00553
00554 def deserialize_numpy(self, str, numpy):
00555 """
00556 unpack serialized message in str into this message instance using numpy for array types
00557 :param str: byte array of serialized message, ``str``
00558 :param numpy: numpy python module
00559 """
00560 try:
00561 if self.action_goal is None:
00562 self.action_goal = katana_msgs.msg.JointMovementActionGoal()
00563 if self.action_result is None:
00564 self.action_result = katana_msgs.msg.JointMovementActionResult()
00565 if self.action_feedback is None:
00566 self.action_feedback = katana_msgs.msg.JointMovementActionFeedback()
00567 end = 0
00568 _x = self
00569 start = end
00570 end += 12
00571 (_x.action_goal.header.seq, _x.action_goal.header.stamp.secs, _x.action_goal.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00572 start = end
00573 end += 4
00574 (length,) = _struct_I.unpack(str[start:end])
00575 start = end
00576 end += length
00577 if python3:
00578 self.action_goal.header.frame_id = str[start:end].decode('utf-8')
00579 else:
00580 self.action_goal.header.frame_id = str[start:end]
00581 _x = self
00582 start = end
00583 end += 8
00584 (_x.action_goal.goal_id.stamp.secs, _x.action_goal.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00585 start = end
00586 end += 4
00587 (length,) = _struct_I.unpack(str[start:end])
00588 start = end
00589 end += length
00590 if python3:
00591 self.action_goal.goal_id.id = str[start:end].decode('utf-8')
00592 else:
00593 self.action_goal.goal_id.id = str[start:end]
00594 _x = self
00595 start = end
00596 end += 12
00597 (_x.action_goal.goal.jointGoal.header.seq, _x.action_goal.goal.jointGoal.header.stamp.secs, _x.action_goal.goal.jointGoal.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00598 start = end
00599 end += 4
00600 (length,) = _struct_I.unpack(str[start:end])
00601 start = end
00602 end += length
00603 if python3:
00604 self.action_goal.goal.jointGoal.header.frame_id = str[start:end].decode('utf-8')
00605 else:
00606 self.action_goal.goal.jointGoal.header.frame_id = str[start:end]
00607 start = end
00608 end += 4
00609 (length,) = _struct_I.unpack(str[start:end])
00610 self.action_goal.goal.jointGoal.name = []
00611 for i in range(0, length):
00612 start = end
00613 end += 4
00614 (length,) = _struct_I.unpack(str[start:end])
00615 start = end
00616 end += length
00617 if python3:
00618 val1 = str[start:end].decode('utf-8')
00619 else:
00620 val1 = str[start:end]
00621 self.action_goal.goal.jointGoal.name.append(val1)
00622 start = end
00623 end += 4
00624 (length,) = _struct_I.unpack(str[start:end])
00625 pattern = '<%sd'%length
00626 start = end
00627 end += struct.calcsize(pattern)
00628 self.action_goal.goal.jointGoal.position = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00629 start = end
00630 end += 4
00631 (length,) = _struct_I.unpack(str[start:end])
00632 pattern = '<%sd'%length
00633 start = end
00634 end += struct.calcsize(pattern)
00635 self.action_goal.goal.jointGoal.velocity = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00636 start = end
00637 end += 4
00638 (length,) = _struct_I.unpack(str[start:end])
00639 pattern = '<%sd'%length
00640 start = end
00641 end += struct.calcsize(pattern)
00642 self.action_goal.goal.jointGoal.effort = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00643 _x = self
00644 start = end
00645 end += 12
00646 (_x.action_result.header.seq, _x.action_result.header.stamp.secs, _x.action_result.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00647 start = end
00648 end += 4
00649 (length,) = _struct_I.unpack(str[start:end])
00650 start = end
00651 end += length
00652 if python3:
00653 self.action_result.header.frame_id = str[start:end].decode('utf-8')
00654 else:
00655 self.action_result.header.frame_id = str[start:end]
00656 _x = self
00657 start = end
00658 end += 8
00659 (_x.action_result.status.goal_id.stamp.secs, _x.action_result.status.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00660 start = end
00661 end += 4
00662 (length,) = _struct_I.unpack(str[start:end])
00663 start = end
00664 end += length
00665 if python3:
00666 self.action_result.status.goal_id.id = str[start:end].decode('utf-8')
00667 else:
00668 self.action_result.status.goal_id.id = str[start:end]
00669 start = end
00670 end += 1
00671 (self.action_result.status.status,) = _struct_B.unpack(str[start:end])
00672 start = end
00673 end += 4
00674 (length,) = _struct_I.unpack(str[start:end])
00675 start = end
00676 end += length
00677 if python3:
00678 self.action_result.status.text = str[start:end].decode('utf-8')
00679 else:
00680 self.action_result.status.text = str[start:end]
00681 _x = self
00682 start = end
00683 end += 12
00684 (_x.action_feedback.header.seq, _x.action_feedback.header.stamp.secs, _x.action_feedback.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00685 start = end
00686 end += 4
00687 (length,) = _struct_I.unpack(str[start:end])
00688 start = end
00689 end += length
00690 if python3:
00691 self.action_feedback.header.frame_id = str[start:end].decode('utf-8')
00692 else:
00693 self.action_feedback.header.frame_id = str[start:end]
00694 _x = self
00695 start = end
00696 end += 8
00697 (_x.action_feedback.status.goal_id.stamp.secs, _x.action_feedback.status.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00698 start = end
00699 end += 4
00700 (length,) = _struct_I.unpack(str[start:end])
00701 start = end
00702 end += length
00703 if python3:
00704 self.action_feedback.status.goal_id.id = str[start:end].decode('utf-8')
00705 else:
00706 self.action_feedback.status.goal_id.id = str[start:end]
00707 start = end
00708 end += 1
00709 (self.action_feedback.status.status,) = _struct_B.unpack(str[start:end])
00710 start = end
00711 end += 4
00712 (length,) = _struct_I.unpack(str[start:end])
00713 start = end
00714 end += length
00715 if python3:
00716 self.action_feedback.status.text = str[start:end].decode('utf-8')
00717 else:
00718 self.action_feedback.status.text = str[start:end]
00719 return self
00720 except struct.error as e:
00721 raise genpy.DeserializationError(e)
00722
00723 _struct_I = genpy.struct_I
00724 _struct_3I = struct.Struct("<3I")
00725 _struct_B = struct.Struct("<B")
00726 _struct_2I = struct.Struct("<2I")
