_PR2GripperForceServoFeedback.py
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00001 """autogenerated by genpy from pr2_gripper_sensor_msgs/PR2GripperForceServoFeedback.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 pr2_gripper_sensor_msgs.msg
00009 
00010 class PR2GripperForceServoFeedback(genpy.Message):
00011   _md5sum = "a85c0d43537b45945527f5de565ab7c2"
00012   _type = "pr2_gripper_sensor_msgs/PR2GripperForceServoFeedback"
00013   _has_header = False #flag to mark the presence of a Header object
00014   _full_text = """# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00015 
00016 #feedback
00017 PR2GripperForceServoData data
00018 
00019 ================================================================================
00020 MSG: pr2_gripper_sensor_msgs/PR2GripperForceServoData
00021 # Time the data was recorded at
00022 time stamp
00023 
00024 # the force experienced by the finger Pads  (N)
00025 # NOTE:this ignores data from the edges of the finger pressure
00026 float64 left_fingertip_pad_force
00027 float64 right_fingertip_pad_force
00028 
00029 # the current gripper virtual parallel joint effort (in N)
00030 float64 joint_effort
00031 
00032 # true when the gripper is no longer moving
00033 # and we have reached the desired force level
00034 bool force_achieved
00035 
00036 
00037 # the control state of our realtime controller
00038 PR2GripperSensorRTState rtstate
00039 
00040 ================================================================================
00041 MSG: pr2_gripper_sensor_msgs/PR2GripperSensorRTState
00042 # the control state of our realtime controller
00043 int8 realtime_controller_state
00044 
00045 # predefined values to indicate our realtime_controller_state
00046 int8 DISABLED = 0
00047 int8 POSITION_SERVO = 3
00048 int8 FORCE_SERVO = 4
00049 int8 FIND_CONTACT = 5
00050 int8 SLIP_SERVO = 6
00051 """
00052   __slots__ = ['data']
00053   _slot_types = ['pr2_gripper_sensor_msgs/PR2GripperForceServoData']
00054 
00055   def __init__(self, *args, **kwds):
00056     """
00057     Constructor. Any message fields that are implicitly/explicitly
00058     set to None will be assigned a default value. The recommend
00059     use is keyword arguments as this is more robust to future message
00060     changes.  You cannot mix in-order arguments and keyword arguments.
00061 
00062     The available fields are:
00063        data
00064 
00065     :param args: complete set of field values, in .msg order
00066     :param kwds: use keyword arguments corresponding to message field names
00067     to set specific fields.
00068     """
00069     if args or kwds:
00070       super(PR2GripperForceServoFeedback, self).__init__(*args, **kwds)
00071       #message fields cannot be None, assign default values for those that are
00072       if self.data is None:
00073         self.data = pr2_gripper_sensor_msgs.msg.PR2GripperForceServoData()
00074     else:
00075       self.data = pr2_gripper_sensor_msgs.msg.PR2GripperForceServoData()
00076 
00077   def _get_types(self):
00078     """
00079     internal API method
00080     """
00081     return self._slot_types
00082 
00083   def serialize(self, buff):
00084     """
00085     serialize message into buffer
00086     :param buff: buffer, ``StringIO``
00087     """
00088     try:
00089       _x = self
00090       buff.write(_struct_2I3dBb.pack(_x.data.stamp.secs, _x.data.stamp.nsecs, _x.data.left_fingertip_pad_force, _x.data.right_fingertip_pad_force, _x.data.joint_effort, _x.data.force_achieved, _x.data.rtstate.realtime_controller_state))
00091     except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
00092     except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))
00093 
00094   def deserialize(self, str):
00095     """
00096     unpack serialized message in str into this message instance
00097     :param str: byte array of serialized message, ``str``
00098     """
00099     try:
00100       if self.data is None:
00101         self.data = pr2_gripper_sensor_msgs.msg.PR2GripperForceServoData()
00102       end = 0
00103       _x = self
00104       start = end
00105       end += 34
00106       (_x.data.stamp.secs, _x.data.stamp.nsecs, _x.data.left_fingertip_pad_force, _x.data.right_fingertip_pad_force, _x.data.joint_effort, _x.data.force_achieved, _x.data.rtstate.realtime_controller_state,) = _struct_2I3dBb.unpack(str[start:end])
00107       self.data.force_achieved = bool(self.data.force_achieved)
00108       return self
00109     except struct.error as e:
00110       raise genpy.DeserializationError(e) #most likely buffer underfill
00111 
00112 
00113   def serialize_numpy(self, buff, numpy):
00114     """
00115     serialize message with numpy array types into buffer
00116     :param buff: buffer, ``StringIO``
00117     :param numpy: numpy python module
00118     """
00119     try:
00120       _x = self
00121       buff.write(_struct_2I3dBb.pack(_x.data.stamp.secs, _x.data.stamp.nsecs, _x.data.left_fingertip_pad_force, _x.data.right_fingertip_pad_force, _x.data.joint_effort, _x.data.force_achieved, _x.data.rtstate.realtime_controller_state))
00122     except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
00123     except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))
00124 
00125   def deserialize_numpy(self, str, numpy):
00126     """
00127     unpack serialized message in str into this message instance using numpy for array types
00128     :param str: byte array of serialized message, ``str``
00129     :param numpy: numpy python module
00130     """
00131     try:
00132       if self.data is None:
00133         self.data = pr2_gripper_sensor_msgs.msg.PR2GripperForceServoData()
00134       end = 0
00135       _x = self
00136       start = end
00137       end += 34
00138       (_x.data.stamp.secs, _x.data.stamp.nsecs, _x.data.left_fingertip_pad_force, _x.data.right_fingertip_pad_force, _x.data.joint_effort, _x.data.force_achieved, _x.data.rtstate.realtime_controller_state,) = _struct_2I3dBb.unpack(str[start:end])
00139       self.data.force_achieved = bool(self.data.force_achieved)
00140       return self
00141     except struct.error as e:
00142       raise genpy.DeserializationError(e) #most likely buffer underfill
00143 
00144 _struct_I = genpy.struct_I
00145 _struct_2I3dBb = struct.Struct("<2I3dBb")


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