_PR2GripperSensorRawData.py

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"""autogenerated by genpy from pr2_gripper_sensor_msgs/PR2GripperSensorRawData.msg. Do not edit."""
import sys
python3 = True if sys.hexversion > 0x03000000 else False
import genpy
import struct

import genpy

class PR2GripperSensorRawData(genpy.Message):
  _md5sum = "696a1f2e6969deb0bc6998636ae1b17e"
  _type = "pr2_gripper_sensor_msgs/PR2GripperSensorRawData"
  _has_header = False #flag to mark the presence of a Header object
  _full_text = """# NOTE: This message is only for debugging purposes. It is not intended for API usage - and is not published under release code.

# Standard ROS header
time stamp

# corrected for zero contact
float64 left_finger_pad_force
float64 right_finger_pad_force

# filtered values : high pass filter at 5 Hz after correcting for zero contact
float64 left_finger_pad_force_filtered
float64 right_finger_pad_force_filtered

# corrected for zero contact
float64[22] left_finger_pad_forces
float64[22] right_finger_pad_forces

# filtered values : high pass filter at 5 Hz after correcting for zero contact
float64[22] left_finger_pad_forces_filtered
float64[22] right_finger_pad_forces_filtered

# raw acceleration values
float64 acc_x_raw
float64 acc_y_raw
float64 acc_z_raw

# filtered acceleration values
float64 acc_x_filtered
float64 acc_y_filtered
float64 acc_z_filtered

# boolean variables indicating whether contact exists or not
bool left_contact
bool right_contact
"""
  __slots__ = ['stamp','left_finger_pad_force','right_finger_pad_force','left_finger_pad_force_filtered','right_finger_pad_force_filtered','left_finger_pad_forces','right_finger_pad_forces','left_finger_pad_forces_filtered','right_finger_pad_forces_filtered','acc_x_raw','acc_y_raw','acc_z_raw','acc_x_filtered','acc_y_filtered','acc_z_filtered','left_contact','right_contact']
  _slot_types = ['time','float64','float64','float64','float64','float64[22]','float64[22]','float64[22]','float64[22]','float64','float64','float64','float64','float64','float64','bool','bool']

  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:
       stamp,left_finger_pad_force,right_finger_pad_force,left_finger_pad_force_filtered,right_finger_pad_force_filtered,left_finger_pad_forces,right_finger_pad_forces,left_finger_pad_forces_filtered,right_finger_pad_forces_filtered,acc_x_raw,acc_y_raw,acc_z_raw,acc_x_filtered,acc_y_filtered,acc_z_filtered,left_contact,right_contact

    :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(PR2GripperSensorRawData, self).__init__(*args, **kwds)
      #message fields cannot be None, assign default values for those that are
      if self.stamp is None:
        self.stamp = genpy.Time()
      if self.left_finger_pad_force is None:
        self.left_finger_pad_force = 0.
      if self.right_finger_pad_force is None:
        self.right_finger_pad_force = 0.
      if self.left_finger_pad_force_filtered is None:
        self.left_finger_pad_force_filtered = 0.
      if self.right_finger_pad_force_filtered is None:
        self.right_finger_pad_force_filtered = 0.
      if self.left_finger_pad_forces is None:
        self.left_finger_pad_forces = [0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.]
      if self.right_finger_pad_forces is None:
        self.right_finger_pad_forces = [0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.]
      if self.left_finger_pad_forces_filtered is None:
        self.left_finger_pad_forces_filtered = [0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.]
      if self.right_finger_pad_forces_filtered is None:
        self.right_finger_pad_forces_filtered = [0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.]
      if self.acc_x_raw is None:
        self.acc_x_raw = 0.
      if self.acc_y_raw is None:
        self.acc_y_raw = 0.
      if self.acc_z_raw is None:
        self.acc_z_raw = 0.
      if self.acc_x_filtered is None:
        self.acc_x_filtered = 0.
      if self.acc_y_filtered is None:
        self.acc_y_filtered = 0.
      if self.acc_z_filtered is None:
        self.acc_z_filtered = 0.
      if self.left_contact is None:
        self.left_contact = False
      if self.right_contact is None:
        self.right_contact = False
    else:
      self.stamp = genpy.Time()
      self.left_finger_pad_force = 0.
      self.right_finger_pad_force = 0.
      self.left_finger_pad_force_filtered = 0.
      self.right_finger_pad_force_filtered = 0.
      self.left_finger_pad_forces = [0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.]
      self.right_finger_pad_forces = [0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.]
      self.left_finger_pad_forces_filtered = [0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.]
      self.right_finger_pad_forces_filtered = [0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.]
      self.acc_x_raw = 0.
      self.acc_y_raw = 0.
      self.acc_z_raw = 0.
      self.acc_x_filtered = 0.
      self.acc_y_filtered = 0.
      self.acc_z_filtered = 0.
      self.left_contact = False
      self.right_contact = False

  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_2I4d.pack(_x.stamp.secs, _x.stamp.nsecs, _x.left_finger_pad_force, _x.right_finger_pad_force, _x.left_finger_pad_force_filtered, _x.right_finger_pad_force_filtered))
      buff.write(_struct_22d.pack(*self.left_finger_pad_forces))
      buff.write(_struct_22d.pack(*self.right_finger_pad_forces))
      buff.write(_struct_22d.pack(*self.left_finger_pad_forces_filtered))
      buff.write(_struct_22d.pack(*self.right_finger_pad_forces_filtered))
      _x = self
      buff.write(_struct_6d2B.pack(_x.acc_x_raw, _x.acc_y_raw, _x.acc_z_raw, _x.acc_x_filtered, _x.acc_y_filtered, _x.acc_z_filtered, _x.left_contact, _x.right_contact))
    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.stamp is None:
        self.stamp = genpy.Time()
      end = 0
      _x = self
      start = end
      end += 40
      (_x.stamp.secs, _x.stamp.nsecs, _x.left_finger_pad_force, _x.right_finger_pad_force, _x.left_finger_pad_force_filtered, _x.right_finger_pad_force_filtered,) = _struct_2I4d.unpack(str[start:end])
      start = end
      end += 176
      self.left_finger_pad_forces = _struct_22d.unpack(str[start:end])
      start = end
      end += 176
      self.right_finger_pad_forces = _struct_22d.unpack(str[start:end])
      start = end
      end += 176
      self.left_finger_pad_forces_filtered = _struct_22d.unpack(str[start:end])
      start = end
      end += 176
      self.right_finger_pad_forces_filtered = _struct_22d.unpack(str[start:end])
      _x = self
      start = end
      end += 50
      (_x.acc_x_raw, _x.acc_y_raw, _x.acc_z_raw, _x.acc_x_filtered, _x.acc_y_filtered, _x.acc_z_filtered, _x.left_contact, _x.right_contact,) = _struct_6d2B.unpack(str[start:end])
      self.left_contact = bool(self.left_contact)
      self.right_contact = bool(self.right_contact)
      self.stamp.canon()
      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_2I4d.pack(_x.stamp.secs, _x.stamp.nsecs, _x.left_finger_pad_force, _x.right_finger_pad_force, _x.left_finger_pad_force_filtered, _x.right_finger_pad_force_filtered))
      buff.write(self.left_finger_pad_forces.tostring())
      buff.write(self.right_finger_pad_forces.tostring())
      buff.write(self.left_finger_pad_forces_filtered.tostring())
      buff.write(self.right_finger_pad_forces_filtered.tostring())
      _x = self
      buff.write(_struct_6d2B.pack(_x.acc_x_raw, _x.acc_y_raw, _x.acc_z_raw, _x.acc_x_filtered, _x.acc_y_filtered, _x.acc_z_filtered, _x.left_contact, _x.right_contact))
    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.stamp is None:
        self.stamp = genpy.Time()
      end = 0
      _x = self
      start = end
      end += 40
      (_x.stamp.secs, _x.stamp.nsecs, _x.left_finger_pad_force, _x.right_finger_pad_force, _x.left_finger_pad_force_filtered, _x.right_finger_pad_force_filtered,) = _struct_2I4d.unpack(str[start:end])
      start = end
      end += 176
      self.left_finger_pad_forces = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=22)
      start = end
      end += 176
      self.right_finger_pad_forces = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=22)
      start = end
      end += 176
      self.left_finger_pad_forces_filtered = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=22)
      start = end
      end += 176
      self.right_finger_pad_forces_filtered = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=22)
      _x = self
      start = end
      end += 50
      (_x.acc_x_raw, _x.acc_y_raw, _x.acc_z_raw, _x.acc_x_filtered, _x.acc_y_filtered, _x.acc_z_filtered, _x.left_contact, _x.right_contact,) = _struct_6d2B.unpack(str[start:end])
      self.left_contact = bool(self.left_contact)
      self.right_contact = bool(self.right_contact)
      self.stamp.canon()
      return self
    except struct.error as e:
      raise genpy.DeserializationError(e) #most likely buffer underfill

_struct_I = genpy.struct_I
_struct_22d = struct.Struct("<22d")
_struct_2I4d = struct.Struct("<2I4d")
_struct_6d2B = struct.Struct("<6d2B")