_PR2GripperForceServoGoal.py

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"""autogenerated by genpy from pr2_gripper_sensor_msgs/PR2GripperForceServoGoal.msg. Do not edit."""
import sys
python3 = True if sys.hexversion > 0x03000000 else False
import genpy
import struct

import pr2_gripper_sensor_msgs.msg

class PR2GripperForceServoGoal(genpy.Message):
  _md5sum = "72dfec6461d0f26a4433260fc791bc48"
  _type = "pr2_gripper_sensor_msgs/PR2GripperForceServoGoal"
  _has_header = False #flag to mark the presence of a Header object
  _full_text = """# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
# Action to launch the gripper into force servoing mode 

#goals
PR2GripperForceServoCommand command

================================================================================
MSG: pr2_gripper_sensor_msgs/PR2GripperForceServoCommand
# the amount of fingertip force (in Newtons) to apply.
# NOTE: the joint will squeeze until each finger reaches this level
# values < 0 (opening force) are ignored
#
# 10 N can crack an egg or crush a soda can.
# 15 N can firmly pick up a can of soup.
# Experiment on your own.
#
float64 fingertip_force
"""
  __slots__ = ['command']
  _slot_types = ['pr2_gripper_sensor_msgs/PR2GripperForceServoCommand']

  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:
       command

    :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(PR2GripperForceServoGoal, self).__init__(*args, **kwds)
      #message fields cannot be None, assign default values for those that are
      if self.command is None:
        self.command = pr2_gripper_sensor_msgs.msg.PR2GripperForceServoCommand()
    else:
      self.command = pr2_gripper_sensor_msgs.msg.PR2GripperForceServoCommand()

  def _get_types(self):
    """
    internal API method
    """
    return self._slot_types

  def serialize(self, buff):
    """
    serialize message into buffer
    :param buff: buffer, ``StringIO``
    """
    try:
      buff.write(_struct_d.pack(self.command.fingertip_force))
    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.command is None:
        self.command = pr2_gripper_sensor_msgs.msg.PR2GripperForceServoCommand()
      end = 0
      start = end
      end += 8
      (self.command.fingertip_force,) = _struct_d.unpack(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:
      buff.write(_struct_d.pack(self.command.fingertip_force))
    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.command is None:
        self.command = pr2_gripper_sensor_msgs.msg.PR2GripperForceServoCommand()
      end = 0
      start = end
      end += 8
      (self.command.fingertip_force,) = _struct_d.unpack(str[start:end])
      return self
    except struct.error as e:
      raise genpy.DeserializationError(e) #most likely buffer underfill

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