_GraspObjectResult.py

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

import arm_navigation_msgs.msg
import geometry_msgs.msg
import std_msgs.msg

class GraspObjectResult(genpy.Message):
  _md5sum = "31092179077a179da9598ff7caa77928"
  _type = "tidyup_msgs/GraspObjectResult"
  _has_header = False #flag to mark the presence of a Header object
  _full_text = """# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
# the new pose of the object
geometry_msgs/PoseStamped grasp
arm_navigation_msgs/ArmNavigationErrorCodes error_code

================================================================================
MSG: geometry_msgs/PoseStamped
# A Pose with reference coordinate frame and timestamp
Header header
Pose pose

================================================================================
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

================================================================================
MSG: geometry_msgs/Pose
# A representation of pose in free space, composed of postion and orientation. 
Point position
Quaternion orientation

================================================================================
MSG: geometry_msgs/Point
# This contains the position of a point in free space
float64 x
float64 y
float64 z

================================================================================
MSG: geometry_msgs/Quaternion
# This represents an orientation in free space in quaternion form.

float64 x
float64 y
float64 z
float64 w

================================================================================
MSG: arm_navigation_msgs/ArmNavigationErrorCodes
int32 val

# overall behavior
int32 PLANNING_FAILED=-1
int32 SUCCESS=1
int32 TIMED_OUT=-2

# start state errors
int32 START_STATE_IN_COLLISION=-3
int32 START_STATE_VIOLATES_PATH_CONSTRAINTS=-4

# goal errors
int32 GOAL_IN_COLLISION=-5
int32 GOAL_VIOLATES_PATH_CONSTRAINTS=-6

# robot state
int32 INVALID_ROBOT_STATE=-7
int32 INCOMPLETE_ROBOT_STATE=-8

# planning request errors
int32 INVALID_PLANNER_ID=-9
int32 INVALID_NUM_PLANNING_ATTEMPTS=-10
int32 INVALID_ALLOWED_PLANNING_TIME=-11
int32 INVALID_GROUP_NAME=-12
int32 INVALID_GOAL_JOINT_CONSTRAINTS=-13
int32 INVALID_GOAL_POSITION_CONSTRAINTS=-14
int32 INVALID_GOAL_ORIENTATION_CONSTRAINTS=-15
int32 INVALID_PATH_JOINT_CONSTRAINTS=-16
int32 INVALID_PATH_POSITION_CONSTRAINTS=-17
int32 INVALID_PATH_ORIENTATION_CONSTRAINTS=-18

# state/trajectory monitor errors
int32 INVALID_TRAJECTORY=-19
int32 INVALID_INDEX=-20
int32 JOINT_LIMITS_VIOLATED=-21
int32 PATH_CONSTRAINTS_VIOLATED=-22
int32 COLLISION_CONSTRAINTS_VIOLATED=-23
int32 GOAL_CONSTRAINTS_VIOLATED=-24
int32 JOINTS_NOT_MOVING=-25
int32 TRAJECTORY_CONTROLLER_FAILED=-26

# system errors
int32 FRAME_TRANSFORM_FAILURE=-27
int32 COLLISION_CHECKING_UNAVAILABLE=-28
int32 ROBOT_STATE_STALE=-29
int32 SENSOR_INFO_STALE=-30

# kinematics errors
int32 NO_IK_SOLUTION=-31
int32 INVALID_LINK_NAME=-32
int32 IK_LINK_IN_COLLISION=-33
int32 NO_FK_SOLUTION=-34
int32 KINEMATICS_STATE_IN_COLLISION=-35

# general errors
int32 INVALID_TIMEOUT=-36


"""
  __slots__ = ['grasp','error_code']
  _slot_types = ['geometry_msgs/PoseStamped','arm_navigation_msgs/ArmNavigationErrorCodes']

  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:
       grasp,error_code

    :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(GraspObjectResult, self).__init__(*args, **kwds)
      #message fields cannot be None, assign default values for those that are
      if self.grasp is None:
        self.grasp = geometry_msgs.msg.PoseStamped()
      if self.error_code is None:
        self.error_code = arm_navigation_msgs.msg.ArmNavigationErrorCodes()
    else:
      self.grasp = geometry_msgs.msg.PoseStamped()
      self.error_code = arm_navigation_msgs.msg.ArmNavigationErrorCodes()

  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.grasp.header.seq, _x.grasp.header.stamp.secs, _x.grasp.header.stamp.nsecs))
      _x = self.grasp.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_7di.pack(_x.grasp.pose.position.x, _x.grasp.pose.position.y, _x.grasp.pose.position.z, _x.grasp.pose.orientation.x, _x.grasp.pose.orientation.y, _x.grasp.pose.orientation.z, _x.grasp.pose.orientation.w, _x.error_code.val))
    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.grasp is None:
        self.grasp = geometry_msgs.msg.PoseStamped()
      if self.error_code is None:
        self.error_code = arm_navigation_msgs.msg.ArmNavigationErrorCodes()
      end = 0
      _x = self
      start = end
      end += 12
      (_x.grasp.header.seq, _x.grasp.header.stamp.secs, _x.grasp.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.grasp.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.grasp.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 60
      (_x.grasp.pose.position.x, _x.grasp.pose.position.y, _x.grasp.pose.position.z, _x.grasp.pose.orientation.x, _x.grasp.pose.orientation.y, _x.grasp.pose.orientation.z, _x.grasp.pose.orientation.w, _x.error_code.val,) = _struct_7di.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.grasp.header.seq, _x.grasp.header.stamp.secs, _x.grasp.header.stamp.nsecs))
      _x = self.grasp.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_7di.pack(_x.grasp.pose.position.x, _x.grasp.pose.position.y, _x.grasp.pose.position.z, _x.grasp.pose.orientation.x, _x.grasp.pose.orientation.y, _x.grasp.pose.orientation.z, _x.grasp.pose.orientation.w, _x.error_code.val))
    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.grasp is None:
        self.grasp = geometry_msgs.msg.PoseStamped()
      if self.error_code is None:
        self.error_code = arm_navigation_msgs.msg.ArmNavigationErrorCodes()
      end = 0
      _x = self
      start = end
      end += 12
      (_x.grasp.header.seq, _x.grasp.header.stamp.secs, _x.grasp.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.grasp.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.grasp.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 60
      (_x.grasp.pose.position.x, _x.grasp.pose.position.y, _x.grasp.pose.position.z, _x.grasp.pose.orientation.x, _x.grasp.pose.orientation.y, _x.grasp.pose.orientation.z, _x.grasp.pose.orientation.w, _x.error_code.val,) = _struct_7di.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_7di = struct.Struct("<7di")
_struct_3I = struct.Struct("<3I")