00001 """autogenerated by genpy from hrpsys_gazebo_msgs/JointCommand.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 std_msgs.msg
00008
00009 class JointCommand(genpy.Message):
00010 _md5sum = "a0372ef5d92196049cc6aad1edca920c"
00011 _type = "hrpsys_gazebo_msgs/JointCommand"
00012 _has_header = True
00013 _full_text = """# Joint Command Message
00014 # This structure contains the gains to be applied to a joint.
00015 # The controller is a PID with feedforward desired torque:
00016 #
00017 # This message has been carefully constructed to be less
00018 # than 1500 in size when serialized, to accommodate transfer
00019 # UDP.
00020 #
00021 # k_effort * (
00022 # kp_position * ( position - measured_position ) +
00023 # ki_position * 1/s * ( position - measured_position ) +
00024 # kd_position * s * ( position - measured_position ) +
00025 # kp_velocity * ( velocity - measured_velocity ) +
00026 # effort ) +
00027 # (1 - k_effort) * effort_bdi
00028 #
00029 # Where effort_bdi comes from AtlasSimInterface Dynamics Behavior Library.
00030 #
00031 Header header
00032
00033 float64[] position
00034 float64[] velocity
00035 float64[] effort
00036
00037 float32[] kp_position
00038 float32[] ki_position
00039 float32[] kd_position
00040 float32[] kp_velocity
00041
00042 float32[] i_effort_min
00043 float32[] i_effort_max
00044
00045 uint8 desired_controller_period_ms # max allowed controller update period in milli-seconds simulation time for controller synchronization. See SynchronizationStatistics.msg for tracking synchronization status.
00046
00047 ================================================================================
00048 MSG: std_msgs/Header
00049 # Standard metadata for higher-level stamped data types.
00050 # This is generally used to communicate timestamped data
00051 # in a particular coordinate frame.
00052 #
00053 # sequence ID: consecutively increasing ID
00054 uint32 seq
00055 #Two-integer timestamp that is expressed as:
00056 # * stamp.secs: seconds (stamp_secs) since epoch
00057 # * stamp.nsecs: nanoseconds since stamp_secs
00058 # time-handling sugar is provided by the client library
00059 time stamp
00060 #Frame this data is associated with
00061 # 0: no frame
00062 # 1: global frame
00063 string frame_id
00064
00065 """
00066 __slots__ = ['header','position','velocity','effort','kp_position','ki_position','kd_position','kp_velocity','i_effort_min','i_effort_max','desired_controller_period_ms']
00067 _slot_types = ['std_msgs/Header','float64[]','float64[]','float64[]','float32[]','float32[]','float32[]','float32[]','float32[]','float32[]','uint8']
00068
00069 def __init__(self, *args, **kwds):
00070 """
00071 Constructor. Any message fields that are implicitly/explicitly
00072 set to None will be assigned a default value. The recommend
00073 use is keyword arguments as this is more robust to future message
00074 changes. You cannot mix in-order arguments and keyword arguments.
00075
00076 The available fields are:
00077 header,position,velocity,effort,kp_position,ki_position,kd_position,kp_velocity,i_effort_min,i_effort_max,desired_controller_period_ms
00078
00079 :param args: complete set of field values, in .msg order
00080 :param kwds: use keyword arguments corresponding to message field names
00081 to set specific fields.
00082 """
00083 if args or kwds:
00084 super(JointCommand, self).__init__(*args, **kwds)
00085
00086 if self.header is None:
00087 self.header = std_msgs.msg.Header()
00088 if self.position is None:
00089 self.position = []
00090 if self.velocity is None:
00091 self.velocity = []
00092 if self.effort is None:
00093 self.effort = []
00094 if self.kp_position is None:
00095 self.kp_position = []
00096 if self.ki_position is None:
00097 self.ki_position = []
00098 if self.kd_position is None:
00099 self.kd_position = []
00100 if self.kp_velocity is None:
00101 self.kp_velocity = []
00102 if self.i_effort_min is None:
00103 self.i_effort_min = []
00104 if self.i_effort_max is None:
00105 self.i_effort_max = []
00106 if self.desired_controller_period_ms is None:
00107 self.desired_controller_period_ms = 0
00108 else:
00109 self.header = std_msgs.msg.Header()
00110 self.position = []
00111 self.velocity = []
00112 self.effort = []
00113 self.kp_position = []
00114 self.ki_position = []
00115 self.kd_position = []
00116 self.kp_velocity = []
00117 self.i_effort_min = []
00118 self.i_effort_max = []
00119 self.desired_controller_period_ms = 0
00120
00121 def _get_types(self):
00122 """
00123 internal API method
00124 """
00125 return self._slot_types
00126
00127 def serialize(self, buff):
00128 """
00129 serialize message into buffer
00130 :param buff: buffer, ``StringIO``
00131 """
00132 try:
00133 _x = self
00134 buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
00135 _x = self.header.frame_id
00136 length = len(_x)
00137 if python3 or type(_x) == unicode:
00138 _x = _x.encode('utf-8')
00139 length = len(_x)
00140 buff.write(struct.pack('<I%ss'%length, length, _x))
00141 length = len(self.position)
00142 buff.write(_struct_I.pack(length))
00143 pattern = '<%sd'%length
00144 buff.write(struct.pack(pattern, *self.position))
00145 length = len(self.velocity)
00146 buff.write(_struct_I.pack(length))
00147 pattern = '<%sd'%length
00148 buff.write(struct.pack(pattern, *self.velocity))
00149 length = len(self.effort)
00150 buff.write(_struct_I.pack(length))
00151 pattern = '<%sd'%length
00152 buff.write(struct.pack(pattern, *self.effort))
00153 length = len(self.kp_position)
00154 buff.write(_struct_I.pack(length))
00155 pattern = '<%sf'%length
00156 buff.write(struct.pack(pattern, *self.kp_position))
00157 length = len(self.ki_position)
00158 buff.write(_struct_I.pack(length))
00159 pattern = '<%sf'%length
00160 buff.write(struct.pack(pattern, *self.ki_position))
00161 length = len(self.kd_position)
00162 buff.write(_struct_I.pack(length))
00163 pattern = '<%sf'%length
00164 buff.write(struct.pack(pattern, *self.kd_position))
00165 length = len(self.kp_velocity)
00166 buff.write(_struct_I.pack(length))
00167 pattern = '<%sf'%length
00168 buff.write(struct.pack(pattern, *self.kp_velocity))
00169 length = len(self.i_effort_min)
00170 buff.write(_struct_I.pack(length))
00171 pattern = '<%sf'%length
00172 buff.write(struct.pack(pattern, *self.i_effort_min))
00173 length = len(self.i_effort_max)
00174 buff.write(_struct_I.pack(length))
00175 pattern = '<%sf'%length
00176 buff.write(struct.pack(pattern, *self.i_effort_max))
00177 buff.write(_struct_B.pack(self.desired_controller_period_ms))
00178 except struct.error as se: self._check_types(se)
00179 except TypeError as te: self._check_types(te)
00180
00181 def deserialize(self, str):
00182 """
00183 unpack serialized message in str into this message instance
00184 :param str: byte array of serialized message, ``str``
00185 """
00186 try:
00187 if self.header is None:
00188 self.header = std_msgs.msg.Header()
00189 end = 0
00190 _x = self
00191 start = end
00192 end += 12
00193 (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00194 start = end
00195 end += 4
00196 (length,) = _struct_I.unpack(str[start:end])
00197 start = end
00198 end += length
00199 if python3:
00200 self.header.frame_id = str[start:end].decode('utf-8')
00201 else:
00202 self.header.frame_id = str[start:end]
00203 start = end
00204 end += 4
00205 (length,) = _struct_I.unpack(str[start:end])
00206 pattern = '<%sd'%length
00207 start = end
00208 end += struct.calcsize(pattern)
00209 self.position = struct.unpack(pattern, str[start:end])
00210 start = end
00211 end += 4
00212 (length,) = _struct_I.unpack(str[start:end])
00213 pattern = '<%sd'%length
00214 start = end
00215 end += struct.calcsize(pattern)
00216 self.velocity = struct.unpack(pattern, str[start:end])
00217 start = end
00218 end += 4
00219 (length,) = _struct_I.unpack(str[start:end])
00220 pattern = '<%sd'%length
00221 start = end
00222 end += struct.calcsize(pattern)
00223 self.effort = struct.unpack(pattern, str[start:end])
00224 start = end
00225 end += 4
00226 (length,) = _struct_I.unpack(str[start:end])
00227 pattern = '<%sf'%length
00228 start = end
00229 end += struct.calcsize(pattern)
00230 self.kp_position = struct.unpack(pattern, str[start:end])
00231 start = end
00232 end += 4
00233 (length,) = _struct_I.unpack(str[start:end])
00234 pattern = '<%sf'%length
00235 start = end
00236 end += struct.calcsize(pattern)
00237 self.ki_position = struct.unpack(pattern, str[start:end])
00238 start = end
00239 end += 4
00240 (length,) = _struct_I.unpack(str[start:end])
00241 pattern = '<%sf'%length
00242 start = end
00243 end += struct.calcsize(pattern)
00244 self.kd_position = struct.unpack(pattern, str[start:end])
00245 start = end
00246 end += 4
00247 (length,) = _struct_I.unpack(str[start:end])
00248 pattern = '<%sf'%length
00249 start = end
00250 end += struct.calcsize(pattern)
00251 self.kp_velocity = struct.unpack(pattern, str[start:end])
00252 start = end
00253 end += 4
00254 (length,) = _struct_I.unpack(str[start:end])
00255 pattern = '<%sf'%length
00256 start = end
00257 end += struct.calcsize(pattern)
00258 self.i_effort_min = struct.unpack(pattern, str[start:end])
00259 start = end
00260 end += 4
00261 (length,) = _struct_I.unpack(str[start:end])
00262 pattern = '<%sf'%length
00263 start = end
00264 end += struct.calcsize(pattern)
00265 self.i_effort_max = struct.unpack(pattern, str[start:end])
00266 start = end
00267 end += 1
00268 (self.desired_controller_period_ms,) = _struct_B.unpack(str[start:end])
00269 return self
00270 except struct.error as e:
00271 raise genpy.DeserializationError(e)
00272
00273
00274 def serialize_numpy(self, buff, numpy):
00275 """
00276 serialize message with numpy array types into buffer
00277 :param buff: buffer, ``StringIO``
00278 :param numpy: numpy python module
00279 """
00280 try:
00281 _x = self
00282 buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
00283 _x = self.header.frame_id
00284 length = len(_x)
00285 if python3 or type(_x) == unicode:
00286 _x = _x.encode('utf-8')
00287 length = len(_x)
00288 buff.write(struct.pack('<I%ss'%length, length, _x))
00289 length = len(self.position)
00290 buff.write(_struct_I.pack(length))
00291 pattern = '<%sd'%length
00292 buff.write(self.position.tostring())
00293 length = len(self.velocity)
00294 buff.write(_struct_I.pack(length))
00295 pattern = '<%sd'%length
00296 buff.write(self.velocity.tostring())
00297 length = len(self.effort)
00298 buff.write(_struct_I.pack(length))
00299 pattern = '<%sd'%length
00300 buff.write(self.effort.tostring())
00301 length = len(self.kp_position)
00302 buff.write(_struct_I.pack(length))
00303 pattern = '<%sf'%length
00304 buff.write(self.kp_position.tostring())
00305 length = len(self.ki_position)
00306 buff.write(_struct_I.pack(length))
00307 pattern = '<%sf'%length
00308 buff.write(self.ki_position.tostring())
00309 length = len(self.kd_position)
00310 buff.write(_struct_I.pack(length))
00311 pattern = '<%sf'%length
00312 buff.write(self.kd_position.tostring())
00313 length = len(self.kp_velocity)
00314 buff.write(_struct_I.pack(length))
00315 pattern = '<%sf'%length
00316 buff.write(self.kp_velocity.tostring())
00317 length = len(self.i_effort_min)
00318 buff.write(_struct_I.pack(length))
00319 pattern = '<%sf'%length
00320 buff.write(self.i_effort_min.tostring())
00321 length = len(self.i_effort_max)
00322 buff.write(_struct_I.pack(length))
00323 pattern = '<%sf'%length
00324 buff.write(self.i_effort_max.tostring())
00325 buff.write(_struct_B.pack(self.desired_controller_period_ms))
00326 except struct.error as se: self._check_types(se)
00327 except TypeError as te: self._check_types(te)
00328
00329 def deserialize_numpy(self, str, numpy):
00330 """
00331 unpack serialized message in str into this message instance using numpy for array types
00332 :param str: byte array of serialized message, ``str``
00333 :param numpy: numpy python module
00334 """
00335 try:
00336 if self.header is None:
00337 self.header = std_msgs.msg.Header()
00338 end = 0
00339 _x = self
00340 start = end
00341 end += 12
00342 (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00343 start = end
00344 end += 4
00345 (length,) = _struct_I.unpack(str[start:end])
00346 start = end
00347 end += length
00348 if python3:
00349 self.header.frame_id = str[start:end].decode('utf-8')
00350 else:
00351 self.header.frame_id = str[start:end]
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.position = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
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.velocity = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
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.effort = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00373 start = end
00374 end += 4
00375 (length,) = _struct_I.unpack(str[start:end])
00376 pattern = '<%sf'%length
00377 start = end
00378 end += struct.calcsize(pattern)
00379 self.kp_position = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=length)
00380 start = end
00381 end += 4
00382 (length,) = _struct_I.unpack(str[start:end])
00383 pattern = '<%sf'%length
00384 start = end
00385 end += struct.calcsize(pattern)
00386 self.ki_position = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=length)
00387 start = end
00388 end += 4
00389 (length,) = _struct_I.unpack(str[start:end])
00390 pattern = '<%sf'%length
00391 start = end
00392 end += struct.calcsize(pattern)
00393 self.kd_position = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=length)
00394 start = end
00395 end += 4
00396 (length,) = _struct_I.unpack(str[start:end])
00397 pattern = '<%sf'%length
00398 start = end
00399 end += struct.calcsize(pattern)
00400 self.kp_velocity = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=length)
00401 start = end
00402 end += 4
00403 (length,) = _struct_I.unpack(str[start:end])
00404 pattern = '<%sf'%length
00405 start = end
00406 end += struct.calcsize(pattern)
00407 self.i_effort_min = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=length)
00408 start = end
00409 end += 4
00410 (length,) = _struct_I.unpack(str[start:end])
00411 pattern = '<%sf'%length
00412 start = end
00413 end += struct.calcsize(pattern)
00414 self.i_effort_max = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=length)
00415 start = end
00416 end += 1
00417 (self.desired_controller_period_ms,) = _struct_B.unpack(str[start:end])
00418 return self
00419 except struct.error as e:
00420 raise genpy.DeserializationError(e)
00421
00422 _struct_I = genpy.struct_I
00423 _struct_3I = struct.Struct("<3I")
00424 _struct_B = struct.Struct("<B")
