_PR2GripperForceServoActionResult.py
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00001 """autogenerated by genpy from pr2_gripper_sensor_msgs/PR2GripperForceServoActionResult.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 genpy
00008 import actionlib_msgs.msg
00009 import pr2_gripper_sensor_msgs.msg
00010 import std_msgs.msg
00011 
00012 class PR2GripperForceServoActionResult(genpy.Message):
00013   _md5sum = "2c107270a9608ca3951b3a5b1939e401"
00014   _type = "pr2_gripper_sensor_msgs/PR2GripperForceServoActionResult"
00015   _has_header = True #flag to mark the presence of a Header object
00016   _full_text = """# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00017 
00018 Header header
00019 actionlib_msgs/GoalStatus status
00020 PR2GripperForceServoResult result
00021 
00022 ================================================================================
00023 MSG: std_msgs/Header
00024 # Standard metadata for higher-level stamped data types.
00025 # This is generally used to communicate timestamped data 
00026 # in a particular coordinate frame.
00027 # 
00028 # sequence ID: consecutively increasing ID 
00029 uint32 seq
00030 #Two-integer timestamp that is expressed as:
00031 # * stamp.secs: seconds (stamp_secs) since epoch
00032 # * stamp.nsecs: nanoseconds since stamp_secs
00033 # time-handling sugar is provided by the client library
00034 time stamp
00035 #Frame this data is associated with
00036 # 0: no frame
00037 # 1: global frame
00038 string frame_id
00039 
00040 ================================================================================
00041 MSG: actionlib_msgs/GoalStatus
00042 GoalID goal_id
00043 uint8 status
00044 uint8 PENDING         = 0   # The goal has yet to be processed by the action server
00045 uint8 ACTIVE          = 1   # The goal is currently being processed by the action server
00046 uint8 PREEMPTED       = 2   # The goal received a cancel request after it started executing
00047                             #   and has since completed its execution (Terminal State)
00048 uint8 SUCCEEDED       = 3   # The goal was achieved successfully by the action server (Terminal State)
00049 uint8 ABORTED         = 4   # The goal was aborted during execution by the action server due
00050                             #    to some failure (Terminal State)
00051 uint8 REJECTED        = 5   # The goal was rejected by the action server without being processed,
00052                             #    because the goal was unattainable or invalid (Terminal State)
00053 uint8 PREEMPTING      = 6   # The goal received a cancel request after it started executing
00054                             #    and has not yet completed execution
00055 uint8 RECALLING       = 7   # The goal received a cancel request before it started executing,
00056                             #    but the action server has not yet confirmed that the goal is canceled
00057 uint8 RECALLED        = 8   # The goal received a cancel request before it started executing
00058                             #    and was successfully cancelled (Terminal State)
00059 uint8 LOST            = 9   # An action client can determine that a goal is LOST. This should not be
00060                             #    sent over the wire by an action server
00061 
00062 #Allow for the user to associate a string with GoalStatus for debugging
00063 string text
00064 
00065 
00066 ================================================================================
00067 MSG: actionlib_msgs/GoalID
00068 # The stamp should store the time at which this goal was requested.
00069 # It is used by an action server when it tries to preempt all
00070 # goals that were requested before a certain time
00071 time stamp
00072 
00073 # The id provides a way to associate feedback and
00074 # result message with specific goal requests. The id
00075 # specified must be unique.
00076 string id
00077 
00078 
00079 ================================================================================
00080 MSG: pr2_gripper_sensor_msgs/PR2GripperForceServoResult
00081 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00082 
00083 #result
00084 PR2GripperForceServoData data
00085 
00086 
00087 ================================================================================
00088 MSG: pr2_gripper_sensor_msgs/PR2GripperForceServoData
00089 # Time the data was recorded at
00090 time stamp
00091 
00092 # the force experienced by the finger Pads  (N)
00093 # NOTE:this ignores data from the edges of the finger pressure
00094 float64 left_fingertip_pad_force
00095 float64 right_fingertip_pad_force
00096 
00097 # the current gripper virtual parallel joint effort (in N)
00098 float64 joint_effort
00099 
00100 # true when the gripper is no longer moving
00101 # and we have reached the desired force level
00102 bool force_achieved
00103 
00104 
00105 # the control state of our realtime controller
00106 PR2GripperSensorRTState rtstate
00107 
00108 ================================================================================
00109 MSG: pr2_gripper_sensor_msgs/PR2GripperSensorRTState
00110 # the control state of our realtime controller
00111 int8 realtime_controller_state
00112 
00113 # predefined values to indicate our realtime_controller_state
00114 int8 DISABLED = 0
00115 int8 POSITION_SERVO = 3
00116 int8 FORCE_SERVO = 4
00117 int8 FIND_CONTACT = 5
00118 int8 SLIP_SERVO = 6
00119 """
00120   __slots__ = ['header','status','result']
00121   _slot_types = ['std_msgs/Header','actionlib_msgs/GoalStatus','pr2_gripper_sensor_msgs/PR2GripperForceServoResult']
00122 
00123   def __init__(self, *args, **kwds):
00124     """
00125     Constructor. Any message fields that are implicitly/explicitly
00126     set to None will be assigned a default value. The recommend
00127     use is keyword arguments as this is more robust to future message
00128     changes.  You cannot mix in-order arguments and keyword arguments.
00129 
00130     The available fields are:
00131        header,status,result
00132 
00133     :param args: complete set of field values, in .msg order
00134     :param kwds: use keyword arguments corresponding to message field names
00135     to set specific fields.
00136     """
00137     if args or kwds:
00138       super(PR2GripperForceServoActionResult, self).__init__(*args, **kwds)
00139       #message fields cannot be None, assign default values for those that are
00140       if self.header is None:
00141         self.header = std_msgs.msg.Header()
00142       if self.status is None:
00143         self.status = actionlib_msgs.msg.GoalStatus()
00144       if self.result is None:
00145         self.result = pr2_gripper_sensor_msgs.msg.PR2GripperForceServoResult()
00146     else:
00147       self.header = std_msgs.msg.Header()
00148       self.status = actionlib_msgs.msg.GoalStatus()
00149       self.result = pr2_gripper_sensor_msgs.msg.PR2GripperForceServoResult()
00150 
00151   def _get_types(self):
00152     """
00153     internal API method
00154     """
00155     return self._slot_types
00156 
00157   def serialize(self, buff):
00158     """
00159     serialize message into buffer
00160     :param buff: buffer, ``StringIO``
00161     """
00162     try:
00163       _x = self
00164       buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
00165       _x = self.header.frame_id
00166       length = len(_x)
00167       if python3 or type(_x) == unicode:
00168         _x = _x.encode('utf-8')
00169         length = len(_x)
00170       buff.write(struct.pack('<I%ss'%length, length, _x))
00171       _x = self
00172       buff.write(_struct_2I.pack(_x.status.goal_id.stamp.secs, _x.status.goal_id.stamp.nsecs))
00173       _x = self.status.goal_id.id
00174       length = len(_x)
00175       if python3 or type(_x) == unicode:
00176         _x = _x.encode('utf-8')
00177         length = len(_x)
00178       buff.write(struct.pack('<I%ss'%length, length, _x))
00179       buff.write(_struct_B.pack(self.status.status))
00180       _x = self.status.text
00181       length = len(_x)
00182       if python3 or type(_x) == unicode:
00183         _x = _x.encode('utf-8')
00184         length = len(_x)
00185       buff.write(struct.pack('<I%ss'%length, length, _x))
00186       _x = self
00187       buff.write(_struct_2I3dBb.pack(_x.result.data.stamp.secs, _x.result.data.stamp.nsecs, _x.result.data.left_fingertip_pad_force, _x.result.data.right_fingertip_pad_force, _x.result.data.joint_effort, _x.result.data.force_achieved, _x.result.data.rtstate.realtime_controller_state))
00188     except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
00189     except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))
00190 
00191   def deserialize(self, str):
00192     """
00193     unpack serialized message in str into this message instance
00194     :param str: byte array of serialized message, ``str``
00195     """
00196     try:
00197       if self.header is None:
00198         self.header = std_msgs.msg.Header()
00199       if self.status is None:
00200         self.status = actionlib_msgs.msg.GoalStatus()
00201       if self.result is None:
00202         self.result = pr2_gripper_sensor_msgs.msg.PR2GripperForceServoResult()
00203       end = 0
00204       _x = self
00205       start = end
00206       end += 12
00207       (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00208       start = end
00209       end += 4
00210       (length,) = _struct_I.unpack(str[start:end])
00211       start = end
00212       end += length
00213       if python3:
00214         self.header.frame_id = str[start:end].decode('utf-8')
00215       else:
00216         self.header.frame_id = str[start:end]
00217       _x = self
00218       start = end
00219       end += 8
00220       (_x.status.goal_id.stamp.secs, _x.status.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00221       start = end
00222       end += 4
00223       (length,) = _struct_I.unpack(str[start:end])
00224       start = end
00225       end += length
00226       if python3:
00227         self.status.goal_id.id = str[start:end].decode('utf-8')
00228       else:
00229         self.status.goal_id.id = str[start:end]
00230       start = end
00231       end += 1
00232       (self.status.status,) = _struct_B.unpack(str[start:end])
00233       start = end
00234       end += 4
00235       (length,) = _struct_I.unpack(str[start:end])
00236       start = end
00237       end += length
00238       if python3:
00239         self.status.text = str[start:end].decode('utf-8')
00240       else:
00241         self.status.text = str[start:end]
00242       _x = self
00243       start = end
00244       end += 34
00245       (_x.result.data.stamp.secs, _x.result.data.stamp.nsecs, _x.result.data.left_fingertip_pad_force, _x.result.data.right_fingertip_pad_force, _x.result.data.joint_effort, _x.result.data.force_achieved, _x.result.data.rtstate.realtime_controller_state,) = _struct_2I3dBb.unpack(str[start:end])
00246       self.result.data.force_achieved = bool(self.result.data.force_achieved)
00247       return self
00248     except struct.error as e:
00249       raise genpy.DeserializationError(e) #most likely buffer underfill
00250 
00251 
00252   def serialize_numpy(self, buff, numpy):
00253     """
00254     serialize message with numpy array types into buffer
00255     :param buff: buffer, ``StringIO``
00256     :param numpy: numpy python module
00257     """
00258     try:
00259       _x = self
00260       buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
00261       _x = self.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.status.goal_id.stamp.secs, _x.status.goal_id.stamp.nsecs))
00269       _x = self.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.status.status))
00276       _x = self.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       _x = self
00283       buff.write(_struct_2I3dBb.pack(_x.result.data.stamp.secs, _x.result.data.stamp.nsecs, _x.result.data.left_fingertip_pad_force, _x.result.data.right_fingertip_pad_force, _x.result.data.joint_effort, _x.result.data.force_achieved, _x.result.data.rtstate.realtime_controller_state))
00284     except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
00285     except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))
00286 
00287   def deserialize_numpy(self, str, numpy):
00288     """
00289     unpack serialized message in str into this message instance using numpy for array types
00290     :param str: byte array of serialized message, ``str``
00291     :param numpy: numpy python module
00292     """
00293     try:
00294       if self.header is None:
00295         self.header = std_msgs.msg.Header()
00296       if self.status is None:
00297         self.status = actionlib_msgs.msg.GoalStatus()
00298       if self.result is None:
00299         self.result = pr2_gripper_sensor_msgs.msg.PR2GripperForceServoResult()
00300       end = 0
00301       _x = self
00302       start = end
00303       end += 12
00304       (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00305       start = end
00306       end += 4
00307       (length,) = _struct_I.unpack(str[start:end])
00308       start = end
00309       end += length
00310       if python3:
00311         self.header.frame_id = str[start:end].decode('utf-8')
00312       else:
00313         self.header.frame_id = str[start:end]
00314       _x = self
00315       start = end
00316       end += 8
00317       (_x.status.goal_id.stamp.secs, _x.status.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00318       start = end
00319       end += 4
00320       (length,) = _struct_I.unpack(str[start:end])
00321       start = end
00322       end += length
00323       if python3:
00324         self.status.goal_id.id = str[start:end].decode('utf-8')
00325       else:
00326         self.status.goal_id.id = str[start:end]
00327       start = end
00328       end += 1
00329       (self.status.status,) = _struct_B.unpack(str[start:end])
00330       start = end
00331       end += 4
00332       (length,) = _struct_I.unpack(str[start:end])
00333       start = end
00334       end += length
00335       if python3:
00336         self.status.text = str[start:end].decode('utf-8')
00337       else:
00338         self.status.text = str[start:end]
00339       _x = self
00340       start = end
00341       end += 34
00342       (_x.result.data.stamp.secs, _x.result.data.stamp.nsecs, _x.result.data.left_fingertip_pad_force, _x.result.data.right_fingertip_pad_force, _x.result.data.joint_effort, _x.result.data.force_achieved, _x.result.data.rtstate.realtime_controller_state,) = _struct_2I3dBb.unpack(str[start:end])
00343       self.result.data.force_achieved = bool(self.result.data.force_achieved)
00344       return self
00345     except struct.error as e:
00346       raise genpy.DeserializationError(e) #most likely buffer underfill
00347 
00348 _struct_I = genpy.struct_I
00349 _struct_3I = struct.Struct("<3I")
00350 _struct_B = struct.Struct("<B")
00351 _struct_2I3dBb = struct.Struct("<2I3dBb")
00352 _struct_2I = struct.Struct("<2I")


pr2_gripper_sensor_msgs
Author(s): Joe Romano
autogenerated on Mon Oct 6 2014 12:17:32