00001 """autogenerated by genpy from pr2_gripper_sensor_msgs/PR2GripperForceServoAction.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 PR2GripperForceServoAction(genpy.Message):
00013 _md5sum = "0540bb7603e65b3df5c9dc87b150e790"
00014 _type = "pr2_gripper_sensor_msgs/PR2GripperForceServoAction"
00015 _has_header = False
00016 _full_text = """# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00017
00018 PR2GripperForceServoActionGoal action_goal
00019 PR2GripperForceServoActionResult action_result
00020 PR2GripperForceServoActionFeedback action_feedback
00021
00022 ================================================================================
00023 MSG: pr2_gripper_sensor_msgs/PR2GripperForceServoActionGoal
00024 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00025
00026 Header header
00027 actionlib_msgs/GoalID goal_id
00028 PR2GripperForceServoGoal goal
00029
00030 ================================================================================
00031 MSG: std_msgs/Header
00032 # Standard metadata for higher-level stamped data types.
00033 # This is generally used to communicate timestamped data
00034 # in a particular coordinate frame.
00035 #
00036 # sequence ID: consecutively increasing ID
00037 uint32 seq
00038 #Two-integer timestamp that is expressed as:
00039 # * stamp.secs: seconds (stamp_secs) since epoch
00040 # * stamp.nsecs: nanoseconds since stamp_secs
00041 # time-handling sugar is provided by the client library
00042 time stamp
00043 #Frame this data is associated with
00044 # 0: no frame
00045 # 1: global frame
00046 string frame_id
00047
00048 ================================================================================
00049 MSG: actionlib_msgs/GoalID
00050 # The stamp should store the time at which this goal was requested.
00051 # It is used by an action server when it tries to preempt all
00052 # goals that were requested before a certain time
00053 time stamp
00054
00055 # The id provides a way to associate feedback and
00056 # result message with specific goal requests. The id
00057 # specified must be unique.
00058 string id
00059
00060
00061 ================================================================================
00062 MSG: pr2_gripper_sensor_msgs/PR2GripperForceServoGoal
00063 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00064 # Action to launch the gripper into force servoing mode
00065
00066 #goals
00067 PR2GripperForceServoCommand command
00068
00069 ================================================================================
00070 MSG: pr2_gripper_sensor_msgs/PR2GripperForceServoCommand
00071 # the amount of fingertip force (in Newtons) to apply.
00072 # NOTE: the joint will squeeze until each finger reaches this level
00073 # values < 0 (opening force) are ignored
00074 #
00075 # 10 N can crack an egg or crush a soda can.
00076 # 15 N can firmly pick up a can of soup.
00077 # Experiment on your own.
00078 #
00079 float64 fingertip_force
00080 ================================================================================
00081 MSG: pr2_gripper_sensor_msgs/PR2GripperForceServoActionResult
00082 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00083
00084 Header header
00085 actionlib_msgs/GoalStatus status
00086 PR2GripperForceServoResult result
00087
00088 ================================================================================
00089 MSG: actionlib_msgs/GoalStatus
00090 GoalID goal_id
00091 uint8 status
00092 uint8 PENDING = 0 # The goal has yet to be processed by the action server
00093 uint8 ACTIVE = 1 # The goal is currently being processed by the action server
00094 uint8 PREEMPTED = 2 # The goal received a cancel request after it started executing
00095 # and has since completed its execution (Terminal State)
00096 uint8 SUCCEEDED = 3 # The goal was achieved successfully by the action server (Terminal State)
00097 uint8 ABORTED = 4 # The goal was aborted during execution by the action server due
00098 # to some failure (Terminal State)
00099 uint8 REJECTED = 5 # The goal was rejected by the action server without being processed,
00100 # because the goal was unattainable or invalid (Terminal State)
00101 uint8 PREEMPTING = 6 # The goal received a cancel request after it started executing
00102 # and has not yet completed execution
00103 uint8 RECALLING = 7 # The goal received a cancel request before it started executing,
00104 # but the action server has not yet confirmed that the goal is canceled
00105 uint8 RECALLED = 8 # The goal received a cancel request before it started executing
00106 # and was successfully cancelled (Terminal State)
00107 uint8 LOST = 9 # An action client can determine that a goal is LOST. This should not be
00108 # sent over the wire by an action server
00109
00110 #Allow for the user to associate a string with GoalStatus for debugging
00111 string text
00112
00113
00114 ================================================================================
00115 MSG: pr2_gripper_sensor_msgs/PR2GripperForceServoResult
00116 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00117
00118 #result
00119 PR2GripperForceServoData data
00120
00121
00122 ================================================================================
00123 MSG: pr2_gripper_sensor_msgs/PR2GripperForceServoData
00124 # Time the data was recorded at
00125 time stamp
00126
00127 # the force experienced by the finger Pads (N)
00128 # NOTE:this ignores data from the edges of the finger pressure
00129 float64 left_fingertip_pad_force
00130 float64 right_fingertip_pad_force
00131
00132 # the current gripper virtual parallel joint effort (in N)
00133 float64 joint_effort
00134
00135 # true when the gripper is no longer moving
00136 # and we have reached the desired force level
00137 bool force_achieved
00138
00139
00140 # the control state of our realtime controller
00141 PR2GripperSensorRTState rtstate
00142
00143 ================================================================================
00144 MSG: pr2_gripper_sensor_msgs/PR2GripperSensorRTState
00145 # the control state of our realtime controller
00146 int8 realtime_controller_state
00147
00148 # predefined values to indicate our realtime_controller_state
00149 int8 DISABLED = 0
00150 int8 POSITION_SERVO = 3
00151 int8 FORCE_SERVO = 4
00152 int8 FIND_CONTACT = 5
00153 int8 SLIP_SERVO = 6
00154 ================================================================================
00155 MSG: pr2_gripper_sensor_msgs/PR2GripperForceServoActionFeedback
00156 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00157
00158 Header header
00159 actionlib_msgs/GoalStatus status
00160 PR2GripperForceServoFeedback feedback
00161
00162 ================================================================================
00163 MSG: pr2_gripper_sensor_msgs/PR2GripperForceServoFeedback
00164 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00165
00166 #feedback
00167 PR2GripperForceServoData data
00168
00169 """
00170 __slots__ = ['action_goal','action_result','action_feedback']
00171 _slot_types = ['pr2_gripper_sensor_msgs/PR2GripperForceServoActionGoal','pr2_gripper_sensor_msgs/PR2GripperForceServoActionResult','pr2_gripper_sensor_msgs/PR2GripperForceServoActionFeedback']
00172
00173 def __init__(self, *args, **kwds):
00174 """
00175 Constructor. Any message fields that are implicitly/explicitly
00176 set to None will be assigned a default value. The recommend
00177 use is keyword arguments as this is more robust to future message
00178 changes. You cannot mix in-order arguments and keyword arguments.
00179
00180 The available fields are:
00181 action_goal,action_result,action_feedback
00182
00183 :param args: complete set of field values, in .msg order
00184 :param kwds: use keyword arguments corresponding to message field names
00185 to set specific fields.
00186 """
00187 if args or kwds:
00188 super(PR2GripperForceServoAction, self).__init__(*args, **kwds)
00189
00190 if self.action_goal is None:
00191 self.action_goal = pr2_gripper_sensor_msgs.msg.PR2GripperForceServoActionGoal()
00192 if self.action_result is None:
00193 self.action_result = pr2_gripper_sensor_msgs.msg.PR2GripperForceServoActionResult()
00194 if self.action_feedback is None:
00195 self.action_feedback = pr2_gripper_sensor_msgs.msg.PR2GripperForceServoActionFeedback()
00196 else:
00197 self.action_goal = pr2_gripper_sensor_msgs.msg.PR2GripperForceServoActionGoal()
00198 self.action_result = pr2_gripper_sensor_msgs.msg.PR2GripperForceServoActionResult()
00199 self.action_feedback = pr2_gripper_sensor_msgs.msg.PR2GripperForceServoActionFeedback()
00200
00201 def _get_types(self):
00202 """
00203 internal API method
00204 """
00205 return self._slot_types
00206
00207 def serialize(self, buff):
00208 """
00209 serialize message into buffer
00210 :param buff: buffer, ``StringIO``
00211 """
00212 try:
00213 _x = self
00214 buff.write(_struct_3I.pack(_x.action_goal.header.seq, _x.action_goal.header.stamp.secs, _x.action_goal.header.stamp.nsecs))
00215 _x = self.action_goal.header.frame_id
00216 length = len(_x)
00217 if python3 or type(_x) == unicode:
00218 _x = _x.encode('utf-8')
00219 length = len(_x)
00220 buff.write(struct.pack('<I%ss'%length, length, _x))
00221 _x = self
00222 buff.write(_struct_2I.pack(_x.action_goal.goal_id.stamp.secs, _x.action_goal.goal_id.stamp.nsecs))
00223 _x = self.action_goal.goal_id.id
00224 length = len(_x)
00225 if python3 or type(_x) == unicode:
00226 _x = _x.encode('utf-8')
00227 length = len(_x)
00228 buff.write(struct.pack('<I%ss'%length, length, _x))
00229 _x = self
00230 buff.write(_struct_d3I.pack(_x.action_goal.goal.command.fingertip_force, _x.action_result.header.seq, _x.action_result.header.stamp.secs, _x.action_result.header.stamp.nsecs))
00231 _x = self.action_result.header.frame_id
00232 length = len(_x)
00233 if python3 or type(_x) == unicode:
00234 _x = _x.encode('utf-8')
00235 length = len(_x)
00236 buff.write(struct.pack('<I%ss'%length, length, _x))
00237 _x = self
00238 buff.write(_struct_2I.pack(_x.action_result.status.goal_id.stamp.secs, _x.action_result.status.goal_id.stamp.nsecs))
00239 _x = self.action_result.status.goal_id.id
00240 length = len(_x)
00241 if python3 or type(_x) == unicode:
00242 _x = _x.encode('utf-8')
00243 length = len(_x)
00244 buff.write(struct.pack('<I%ss'%length, length, _x))
00245 buff.write(_struct_B.pack(self.action_result.status.status))
00246 _x = self.action_result.status.text
00247 length = len(_x)
00248 if python3 or type(_x) == unicode:
00249 _x = _x.encode('utf-8')
00250 length = len(_x)
00251 buff.write(struct.pack('<I%ss'%length, length, _x))
00252 _x = self
00253 buff.write(_struct_2I3dBb3I.pack(_x.action_result.result.data.stamp.secs, _x.action_result.result.data.stamp.nsecs, _x.action_result.result.data.left_fingertip_pad_force, _x.action_result.result.data.right_fingertip_pad_force, _x.action_result.result.data.joint_effort, _x.action_result.result.data.force_achieved, _x.action_result.result.data.rtstate.realtime_controller_state, _x.action_feedback.header.seq, _x.action_feedback.header.stamp.secs, _x.action_feedback.header.stamp.nsecs))
00254 _x = self.action_feedback.header.frame_id
00255 length = len(_x)
00256 if python3 or type(_x) == unicode:
00257 _x = _x.encode('utf-8')
00258 length = len(_x)
00259 buff.write(struct.pack('<I%ss'%length, length, _x))
00260 _x = self
00261 buff.write(_struct_2I.pack(_x.action_feedback.status.goal_id.stamp.secs, _x.action_feedback.status.goal_id.stamp.nsecs))
00262 _x = self.action_feedback.status.goal_id.id
00263 length = len(_x)
00264 if python3 or type(_x) == unicode:
00265 _x = _x.encode('utf-8')
00266 length = len(_x)
00267 buff.write(struct.pack('<I%ss'%length, length, _x))
00268 buff.write(_struct_B.pack(self.action_feedback.status.status))
00269 _x = self.action_feedback.status.text
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 _x = self
00276 buff.write(_struct_2I3dBb.pack(_x.action_feedback.feedback.data.stamp.secs, _x.action_feedback.feedback.data.stamp.nsecs, _x.action_feedback.feedback.data.left_fingertip_pad_force, _x.action_feedback.feedback.data.right_fingertip_pad_force, _x.action_feedback.feedback.data.joint_effort, _x.action_feedback.feedback.data.force_achieved, _x.action_feedback.feedback.data.rtstate.realtime_controller_state))
00277 except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
00278 except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))
00279
00280 def deserialize(self, str):
00281 """
00282 unpack serialized message in str into this message instance
00283 :param str: byte array of serialized message, ``str``
00284 """
00285 try:
00286 if self.action_goal is None:
00287 self.action_goal = pr2_gripper_sensor_msgs.msg.PR2GripperForceServoActionGoal()
00288 if self.action_result is None:
00289 self.action_result = pr2_gripper_sensor_msgs.msg.PR2GripperForceServoActionResult()
00290 if self.action_feedback is None:
00291 self.action_feedback = pr2_gripper_sensor_msgs.msg.PR2GripperForceServoActionFeedback()
00292 end = 0
00293 _x = self
00294 start = end
00295 end += 12
00296 (_x.action_goal.header.seq, _x.action_goal.header.stamp.secs, _x.action_goal.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00297 start = end
00298 end += 4
00299 (length,) = _struct_I.unpack(str[start:end])
00300 start = end
00301 end += length
00302 if python3:
00303 self.action_goal.header.frame_id = str[start:end].decode('utf-8')
00304 else:
00305 self.action_goal.header.frame_id = str[start:end]
00306 _x = self
00307 start = end
00308 end += 8
00309 (_x.action_goal.goal_id.stamp.secs, _x.action_goal.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00310 start = end
00311 end += 4
00312 (length,) = _struct_I.unpack(str[start:end])
00313 start = end
00314 end += length
00315 if python3:
00316 self.action_goal.goal_id.id = str[start:end].decode('utf-8')
00317 else:
00318 self.action_goal.goal_id.id = str[start:end]
00319 _x = self
00320 start = end
00321 end += 20
00322 (_x.action_goal.goal.command.fingertip_force, _x.action_result.header.seq, _x.action_result.header.stamp.secs, _x.action_result.header.stamp.nsecs,) = _struct_d3I.unpack(str[start:end])
00323 start = end
00324 end += 4
00325 (length,) = _struct_I.unpack(str[start:end])
00326 start = end
00327 end += length
00328 if python3:
00329 self.action_result.header.frame_id = str[start:end].decode('utf-8')
00330 else:
00331 self.action_result.header.frame_id = str[start:end]
00332 _x = self
00333 start = end
00334 end += 8
00335 (_x.action_result.status.goal_id.stamp.secs, _x.action_result.status.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00336 start = end
00337 end += 4
00338 (length,) = _struct_I.unpack(str[start:end])
00339 start = end
00340 end += length
00341 if python3:
00342 self.action_result.status.goal_id.id = str[start:end].decode('utf-8')
00343 else:
00344 self.action_result.status.goal_id.id = str[start:end]
00345 start = end
00346 end += 1
00347 (self.action_result.status.status,) = _struct_B.unpack(str[start:end])
00348 start = end
00349 end += 4
00350 (length,) = _struct_I.unpack(str[start:end])
00351 start = end
00352 end += length
00353 if python3:
00354 self.action_result.status.text = str[start:end].decode('utf-8')
00355 else:
00356 self.action_result.status.text = str[start:end]
00357 _x = self
00358 start = end
00359 end += 46
00360 (_x.action_result.result.data.stamp.secs, _x.action_result.result.data.stamp.nsecs, _x.action_result.result.data.left_fingertip_pad_force, _x.action_result.result.data.right_fingertip_pad_force, _x.action_result.result.data.joint_effort, _x.action_result.result.data.force_achieved, _x.action_result.result.data.rtstate.realtime_controller_state, _x.action_feedback.header.seq, _x.action_feedback.header.stamp.secs, _x.action_feedback.header.stamp.nsecs,) = _struct_2I3dBb3I.unpack(str[start:end])
00361 self.action_result.result.data.force_achieved = bool(self.action_result.result.data.force_achieved)
00362 start = end
00363 end += 4
00364 (length,) = _struct_I.unpack(str[start:end])
00365 start = end
00366 end += length
00367 if python3:
00368 self.action_feedback.header.frame_id = str[start:end].decode('utf-8')
00369 else:
00370 self.action_feedback.header.frame_id = str[start:end]
00371 _x = self
00372 start = end
00373 end += 8
00374 (_x.action_feedback.status.goal_id.stamp.secs, _x.action_feedback.status.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00375 start = end
00376 end += 4
00377 (length,) = _struct_I.unpack(str[start:end])
00378 start = end
00379 end += length
00380 if python3:
00381 self.action_feedback.status.goal_id.id = str[start:end].decode('utf-8')
00382 else:
00383 self.action_feedback.status.goal_id.id = str[start:end]
00384 start = end
00385 end += 1
00386 (self.action_feedback.status.status,) = _struct_B.unpack(str[start:end])
00387 start = end
00388 end += 4
00389 (length,) = _struct_I.unpack(str[start:end])
00390 start = end
00391 end += length
00392 if python3:
00393 self.action_feedback.status.text = str[start:end].decode('utf-8')
00394 else:
00395 self.action_feedback.status.text = str[start:end]
00396 _x = self
00397 start = end
00398 end += 34
00399 (_x.action_feedback.feedback.data.stamp.secs, _x.action_feedback.feedback.data.stamp.nsecs, _x.action_feedback.feedback.data.left_fingertip_pad_force, _x.action_feedback.feedback.data.right_fingertip_pad_force, _x.action_feedback.feedback.data.joint_effort, _x.action_feedback.feedback.data.force_achieved, _x.action_feedback.feedback.data.rtstate.realtime_controller_state,) = _struct_2I3dBb.unpack(str[start:end])
00400 self.action_feedback.feedback.data.force_achieved = bool(self.action_feedback.feedback.data.force_achieved)
00401 return self
00402 except struct.error as e:
00403 raise genpy.DeserializationError(e)
00404
00405
00406 def serialize_numpy(self, buff, numpy):
00407 """
00408 serialize message with numpy array types into buffer
00409 :param buff: buffer, ``StringIO``
00410 :param numpy: numpy python module
00411 """
00412 try:
00413 _x = self
00414 buff.write(_struct_3I.pack(_x.action_goal.header.seq, _x.action_goal.header.stamp.secs, _x.action_goal.header.stamp.nsecs))
00415 _x = self.action_goal.header.frame_id
00416 length = len(_x)
00417 if python3 or type(_x) == unicode:
00418 _x = _x.encode('utf-8')
00419 length = len(_x)
00420 buff.write(struct.pack('<I%ss'%length, length, _x))
00421 _x = self
00422 buff.write(_struct_2I.pack(_x.action_goal.goal_id.stamp.secs, _x.action_goal.goal_id.stamp.nsecs))
00423 _x = self.action_goal.goal_id.id
00424 length = len(_x)
00425 if python3 or type(_x) == unicode:
00426 _x = _x.encode('utf-8')
00427 length = len(_x)
00428 buff.write(struct.pack('<I%ss'%length, length, _x))
00429 _x = self
00430 buff.write(_struct_d3I.pack(_x.action_goal.goal.command.fingertip_force, _x.action_result.header.seq, _x.action_result.header.stamp.secs, _x.action_result.header.stamp.nsecs))
00431 _x = self.action_result.header.frame_id
00432 length = len(_x)
00433 if python3 or type(_x) == unicode:
00434 _x = _x.encode('utf-8')
00435 length = len(_x)
00436 buff.write(struct.pack('<I%ss'%length, length, _x))
00437 _x = self
00438 buff.write(_struct_2I.pack(_x.action_result.status.goal_id.stamp.secs, _x.action_result.status.goal_id.stamp.nsecs))
00439 _x = self.action_result.status.goal_id.id
00440 length = len(_x)
00441 if python3 or type(_x) == unicode:
00442 _x = _x.encode('utf-8')
00443 length = len(_x)
00444 buff.write(struct.pack('<I%ss'%length, length, _x))
00445 buff.write(_struct_B.pack(self.action_result.status.status))
00446 _x = self.action_result.status.text
00447 length = len(_x)
00448 if python3 or type(_x) == unicode:
00449 _x = _x.encode('utf-8')
00450 length = len(_x)
00451 buff.write(struct.pack('<I%ss'%length, length, _x))
00452 _x = self
00453 buff.write(_struct_2I3dBb3I.pack(_x.action_result.result.data.stamp.secs, _x.action_result.result.data.stamp.nsecs, _x.action_result.result.data.left_fingertip_pad_force, _x.action_result.result.data.right_fingertip_pad_force, _x.action_result.result.data.joint_effort, _x.action_result.result.data.force_achieved, _x.action_result.result.data.rtstate.realtime_controller_state, _x.action_feedback.header.seq, _x.action_feedback.header.stamp.secs, _x.action_feedback.header.stamp.nsecs))
00454 _x = self.action_feedback.header.frame_id
00455 length = len(_x)
00456 if python3 or type(_x) == unicode:
00457 _x = _x.encode('utf-8')
00458 length = len(_x)
00459 buff.write(struct.pack('<I%ss'%length, length, _x))
00460 _x = self
00461 buff.write(_struct_2I.pack(_x.action_feedback.status.goal_id.stamp.secs, _x.action_feedback.status.goal_id.stamp.nsecs))
00462 _x = self.action_feedback.status.goal_id.id
00463 length = len(_x)
00464 if python3 or type(_x) == unicode:
00465 _x = _x.encode('utf-8')
00466 length = len(_x)
00467 buff.write(struct.pack('<I%ss'%length, length, _x))
00468 buff.write(_struct_B.pack(self.action_feedback.status.status))
00469 _x = self.action_feedback.status.text
00470 length = len(_x)
00471 if python3 or type(_x) == unicode:
00472 _x = _x.encode('utf-8')
00473 length = len(_x)
00474 buff.write(struct.pack('<I%ss'%length, length, _x))
00475 _x = self
00476 buff.write(_struct_2I3dBb.pack(_x.action_feedback.feedback.data.stamp.secs, _x.action_feedback.feedback.data.stamp.nsecs, _x.action_feedback.feedback.data.left_fingertip_pad_force, _x.action_feedback.feedback.data.right_fingertip_pad_force, _x.action_feedback.feedback.data.joint_effort, _x.action_feedback.feedback.data.force_achieved, _x.action_feedback.feedback.data.rtstate.realtime_controller_state))
00477 except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
00478 except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))
00479
00480 def deserialize_numpy(self, str, numpy):
00481 """
00482 unpack serialized message in str into this message instance using numpy for array types
00483 :param str: byte array of serialized message, ``str``
00484 :param numpy: numpy python module
00485 """
00486 try:
00487 if self.action_goal is None:
00488 self.action_goal = pr2_gripper_sensor_msgs.msg.PR2GripperForceServoActionGoal()
00489 if self.action_result is None:
00490 self.action_result = pr2_gripper_sensor_msgs.msg.PR2GripperForceServoActionResult()
00491 if self.action_feedback is None:
00492 self.action_feedback = pr2_gripper_sensor_msgs.msg.PR2GripperForceServoActionFeedback()
00493 end = 0
00494 _x = self
00495 start = end
00496 end += 12
00497 (_x.action_goal.header.seq, _x.action_goal.header.stamp.secs, _x.action_goal.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00498 start = end
00499 end += 4
00500 (length,) = _struct_I.unpack(str[start:end])
00501 start = end
00502 end += length
00503 if python3:
00504 self.action_goal.header.frame_id = str[start:end].decode('utf-8')
00505 else:
00506 self.action_goal.header.frame_id = str[start:end]
00507 _x = self
00508 start = end
00509 end += 8
00510 (_x.action_goal.goal_id.stamp.secs, _x.action_goal.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00511 start = end
00512 end += 4
00513 (length,) = _struct_I.unpack(str[start:end])
00514 start = end
00515 end += length
00516 if python3:
00517 self.action_goal.goal_id.id = str[start:end].decode('utf-8')
00518 else:
00519 self.action_goal.goal_id.id = str[start:end]
00520 _x = self
00521 start = end
00522 end += 20
00523 (_x.action_goal.goal.command.fingertip_force, _x.action_result.header.seq, _x.action_result.header.stamp.secs, _x.action_result.header.stamp.nsecs,) = _struct_d3I.unpack(str[start:end])
00524 start = end
00525 end += 4
00526 (length,) = _struct_I.unpack(str[start:end])
00527 start = end
00528 end += length
00529 if python3:
00530 self.action_result.header.frame_id = str[start:end].decode('utf-8')
00531 else:
00532 self.action_result.header.frame_id = str[start:end]
00533 _x = self
00534 start = end
00535 end += 8
00536 (_x.action_result.status.goal_id.stamp.secs, _x.action_result.status.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00537 start = end
00538 end += 4
00539 (length,) = _struct_I.unpack(str[start:end])
00540 start = end
00541 end += length
00542 if python3:
00543 self.action_result.status.goal_id.id = str[start:end].decode('utf-8')
00544 else:
00545 self.action_result.status.goal_id.id = str[start:end]
00546 start = end
00547 end += 1
00548 (self.action_result.status.status,) = _struct_B.unpack(str[start:end])
00549 start = end
00550 end += 4
00551 (length,) = _struct_I.unpack(str[start:end])
00552 start = end
00553 end += length
00554 if python3:
00555 self.action_result.status.text = str[start:end].decode('utf-8')
00556 else:
00557 self.action_result.status.text = str[start:end]
00558 _x = self
00559 start = end
00560 end += 46
00561 (_x.action_result.result.data.stamp.secs, _x.action_result.result.data.stamp.nsecs, _x.action_result.result.data.left_fingertip_pad_force, _x.action_result.result.data.right_fingertip_pad_force, _x.action_result.result.data.joint_effort, _x.action_result.result.data.force_achieved, _x.action_result.result.data.rtstate.realtime_controller_state, _x.action_feedback.header.seq, _x.action_feedback.header.stamp.secs, _x.action_feedback.header.stamp.nsecs,) = _struct_2I3dBb3I.unpack(str[start:end])
00562 self.action_result.result.data.force_achieved = bool(self.action_result.result.data.force_achieved)
00563 start = end
00564 end += 4
00565 (length,) = _struct_I.unpack(str[start:end])
00566 start = end
00567 end += length
00568 if python3:
00569 self.action_feedback.header.frame_id = str[start:end].decode('utf-8')
00570 else:
00571 self.action_feedback.header.frame_id = str[start:end]
00572 _x = self
00573 start = end
00574 end += 8
00575 (_x.action_feedback.status.goal_id.stamp.secs, _x.action_feedback.status.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00576 start = end
00577 end += 4
00578 (length,) = _struct_I.unpack(str[start:end])
00579 start = end
00580 end += length
00581 if python3:
00582 self.action_feedback.status.goal_id.id = str[start:end].decode('utf-8')
00583 else:
00584 self.action_feedback.status.goal_id.id = str[start:end]
00585 start = end
00586 end += 1
00587 (self.action_feedback.status.status,) = _struct_B.unpack(str[start:end])
00588 start = end
00589 end += 4
00590 (length,) = _struct_I.unpack(str[start:end])
00591 start = end
00592 end += length
00593 if python3:
00594 self.action_feedback.status.text = str[start:end].decode('utf-8')
00595 else:
00596 self.action_feedback.status.text = str[start:end]
00597 _x = self
00598 start = end
00599 end += 34
00600 (_x.action_feedback.feedback.data.stamp.secs, _x.action_feedback.feedback.data.stamp.nsecs, _x.action_feedback.feedback.data.left_fingertip_pad_force, _x.action_feedback.feedback.data.right_fingertip_pad_force, _x.action_feedback.feedback.data.joint_effort, _x.action_feedback.feedback.data.force_achieved, _x.action_feedback.feedback.data.rtstate.realtime_controller_state,) = _struct_2I3dBb.unpack(str[start:end])
00601 self.action_feedback.feedback.data.force_achieved = bool(self.action_feedback.feedback.data.force_achieved)
00602 return self
00603 except struct.error as e:
00604 raise genpy.DeserializationError(e)
00605
00606 _struct_I = genpy.struct_I
00607 _struct_B = struct.Struct("<B")
00608 _struct_3I = struct.Struct("<3I")
00609 _struct_2I3dBb3I = struct.Struct("<2I3dBb3I")
00610 _struct_d3I = struct.Struct("<d3I")
00611 _struct_2I3dBb = struct.Struct("<2I3dBb")
00612 _struct_2I = struct.Struct("<2I")