_PressureInfoElement.py

Go to the documentation of this file.

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

import geometry_msgs.msg

class PressureInfoElement(genpy.Message):
  _md5sum = "1cb486bb542ab85e1ff8d84fe9cc899f"
  _type = "fingertip_pressure/PressureInfoElement"
  _has_header = False #flag to mark the presence of a Header object
  _full_text = """string frame_id # Frame ID
geometry_msgs/Vector3[] center # Corner of sensor (meters)
geometry_msgs/Vector3[] halfside1 # Half of one edge of sensor (meters)
geometry_msgs/Vector3[] halfside2 # Half of perpendicular edge of sensor (meters)
# Sensor corners are at center+-halfside1+-halfside2
# Cross product of halfside1 and halfside2 points out
float64[] force_per_unit # Multiply this by the raw sensor value to get a force

================================================================================
MSG: geometry_msgs/Vector3
# This represents a vector in free space. 

float64 x
float64 y
float64 z
"""
  __slots__ = ['frame_id','center','halfside1','halfside2','force_per_unit']
  _slot_types = ['string','geometry_msgs/Vector3[]','geometry_msgs/Vector3[]','geometry_msgs/Vector3[]','float64[]']

  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:
       frame_id,center,halfside1,halfside2,force_per_unit

    :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(PressureInfoElement, self).__init__(*args, **kwds)
      #message fields cannot be None, assign default values for those that are
      if self.frame_id is None:
        self.frame_id = ''
      if self.center is None:
        self.center = []
      if self.halfside1 is None:
        self.halfside1 = []
      if self.halfside2 is None:
        self.halfside2 = []
      if self.force_per_unit is None:
        self.force_per_unit = []
    else:
      self.frame_id = ''
      self.center = []
      self.halfside1 = []
      self.halfside2 = []
      self.force_per_unit = []

  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.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))
      length = len(self.center)
      buff.write(_struct_I.pack(length))
      for val1 in self.center:
        _x = val1
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
      length = len(self.halfside1)
      buff.write(_struct_I.pack(length))
      for val1 in self.halfside1:
        _x = val1
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
      length = len(self.halfside2)
      buff.write(_struct_I.pack(length))
      for val1 in self.halfside2:
        _x = val1
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
      length = len(self.force_per_unit)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.force_per_unit))
    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))

  def deserialize(self, str):
    """
    unpack serialized message in str into this message instance
    :param str: byte array of serialized message, ``str``
    """
    try:
      if self.center is None:
        self.center = None
      if self.halfside1 is None:
        self.halfside1 = None
      if self.halfside2 is None:
        self.halfside2 = None
      end = 0
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.frame_id = str[start:end].decode('utf-8')
      else:
        self.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.center = []
      for i in range(0, length):
        val1 = geometry_msgs.msg.Vector3()
        _x = val1
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        self.center.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.halfside1 = []
      for i in range(0, length):
        val1 = geometry_msgs.msg.Vector3()
        _x = val1
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        self.halfside1.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.halfside2 = []
      for i in range(0, length):
        val1 = geometry_msgs.msg.Vector3()
        _x = val1
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        self.halfside2.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.force_per_unit = struct.unpack(pattern, 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.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))
      length = len(self.center)
      buff.write(_struct_I.pack(length))
      for val1 in self.center:
        _x = val1
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
      length = len(self.halfside1)
      buff.write(_struct_I.pack(length))
      for val1 in self.halfside1:
        _x = val1
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
      length = len(self.halfside2)
      buff.write(_struct_I.pack(length))
      for val1 in self.halfside2:
        _x = val1
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
      length = len(self.force_per_unit)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.force_per_unit.tostring())
    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))

  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.center is None:
        self.center = None
      if self.halfside1 is None:
        self.halfside1 = None
      if self.halfside2 is None:
        self.halfside2 = None
      end = 0
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.frame_id = str[start:end].decode('utf-8')
      else:
        self.frame_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.center = []
      for i in range(0, length):
        val1 = geometry_msgs.msg.Vector3()
        _x = val1
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        self.center.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.halfside1 = []
      for i in range(0, length):
        val1 = geometry_msgs.msg.Vector3()
        _x = val1
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        self.halfside1.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.halfside2 = []
      for i in range(0, length):
        val1 = geometry_msgs.msg.Vector3()
        _x = val1
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        self.halfside2.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.force_per_unit = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
      return self
    except struct.error as e:
      raise genpy.DeserializationError(e) #most likely buffer underfill

_struct_I = genpy.struct_I
_struct_3d = struct.Struct("<3d")