_BaseControllerState2.py

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"""autogenerated by genpy from pr2_mechanism_controllers/BaseControllerState2.msg. Do not edit."""
import sys
python3 = True if sys.hexversion > 0x03000000 else False
import genpy
import struct

import geometry_msgs.msg

class BaseControllerState2(genpy.Message):
  _md5sum = "d4b64baf09d8cb133f3f2bc279de1137"
  _type = "pr2_mechanism_controllers/BaseControllerState2"
  _has_header = False #flag to mark the presence of a Header object
  _full_text = """geometry_msgs/Twist command
float64[] joint_command
float64[] joint_error
float64[] joint_velocity_commanded
float64[] joint_velocity_measured
float64[] joint_effort_measured
float64[] joint_effort_commanded
float64[] joint_effort_error
string[] joint_names


================================================================================
MSG: geometry_msgs/Twist
# This expresses velocity in free space broken into its linear and angular parts.
Vector3  linear
Vector3  angular

================================================================================
MSG: geometry_msgs/Vector3
# This represents a vector in free space. 

float64 x
float64 y
float64 z
"""
  __slots__ = ['command','joint_command','joint_error','joint_velocity_commanded','joint_velocity_measured','joint_effort_measured','joint_effort_commanded','joint_effort_error','joint_names']
  _slot_types = ['geometry_msgs/Twist','float64[]','float64[]','float64[]','float64[]','float64[]','float64[]','float64[]','string[]']

  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,joint_command,joint_error,joint_velocity_commanded,joint_velocity_measured,joint_effort_measured,joint_effort_commanded,joint_effort_error,joint_names

    :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(BaseControllerState2, self).__init__(*args, **kwds)
      #message fields cannot be None, assign default values for those that are
      if self.command is None:
        self.command = geometry_msgs.msg.Twist()
      if self.joint_command is None:
        self.joint_command = []
      if self.joint_error is None:
        self.joint_error = []
      if self.joint_velocity_commanded is None:
        self.joint_velocity_commanded = []
      if self.joint_velocity_measured is None:
        self.joint_velocity_measured = []
      if self.joint_effort_measured is None:
        self.joint_effort_measured = []
      if self.joint_effort_commanded is None:
        self.joint_effort_commanded = []
      if self.joint_effort_error is None:
        self.joint_effort_error = []
      if self.joint_names is None:
        self.joint_names = []
    else:
      self.command = geometry_msgs.msg.Twist()
      self.joint_command = []
      self.joint_error = []
      self.joint_velocity_commanded = []
      self.joint_velocity_measured = []
      self.joint_effort_measured = []
      self.joint_effort_commanded = []
      self.joint_effort_error = []
      self.joint_names = []

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

  def serialize(self, buff):
    """
    serialize message into buffer
    :param buff: buffer, ``StringIO``
    """
    try:
      _x = self
      buff.write(_struct_6d.pack(_x.command.linear.x, _x.command.linear.y, _x.command.linear.z, _x.command.angular.x, _x.command.angular.y, _x.command.angular.z))
      length = len(self.joint_command)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.joint_command))
      length = len(self.joint_error)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.joint_error))
      length = len(self.joint_velocity_commanded)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.joint_velocity_commanded))
      length = len(self.joint_velocity_measured)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.joint_velocity_measured))
      length = len(self.joint_effort_measured)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.joint_effort_measured))
      length = len(self.joint_effort_commanded)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.joint_effort_commanded))
      length = len(self.joint_effort_error)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(struct.pack(pattern, *self.joint_effort_error))
      length = len(self.joint_names)
      buff.write(_struct_I.pack(length))
      for val1 in self.joint_names:
        length = len(val1)
        if python3 or type(val1) == unicode:
          val1 = val1.encode('utf-8')
          length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
    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 = geometry_msgs.msg.Twist()
      end = 0
      _x = self
      start = end
      end += 48
      (_x.command.linear.x, _x.command.linear.y, _x.command.linear.z, _x.command.angular.x, _x.command.angular.y, _x.command.angular.z,) = _struct_6d.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.joint_command = struct.unpack(pattern, str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.joint_error = struct.unpack(pattern, str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.joint_velocity_commanded = struct.unpack(pattern, str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.joint_velocity_measured = struct.unpack(pattern, str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.joint_effort_measured = struct.unpack(pattern, str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.joint_effort_commanded = struct.unpack(pattern, str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.joint_effort_error = struct.unpack(pattern, str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.joint_names = []
      for i in range(0, length):
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1 = str[start:end].decode('utf-8')
        else:
          val1 = str[start:end]
        self.joint_names.append(val1)
      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:
      _x = self
      buff.write(_struct_6d.pack(_x.command.linear.x, _x.command.linear.y, _x.command.linear.z, _x.command.angular.x, _x.command.angular.y, _x.command.angular.z))
      length = len(self.joint_command)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.joint_command.tostring())
      length = len(self.joint_error)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.joint_error.tostring())
      length = len(self.joint_velocity_commanded)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.joint_velocity_commanded.tostring())
      length = len(self.joint_velocity_measured)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.joint_velocity_measured.tostring())
      length = len(self.joint_effort_measured)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.joint_effort_measured.tostring())
      length = len(self.joint_effort_commanded)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.joint_effort_commanded.tostring())
      length = len(self.joint_effort_error)
      buff.write(_struct_I.pack(length))
      pattern = '<%sd'%length
      buff.write(self.joint_effort_error.tostring())
      length = len(self.joint_names)
      buff.write(_struct_I.pack(length))
      for val1 in self.joint_names:
        length = len(val1)
        if python3 or type(val1) == unicode:
          val1 = val1.encode('utf-8')
          length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
    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 = geometry_msgs.msg.Twist()
      end = 0
      _x = self
      start = end
      end += 48
      (_x.command.linear.x, _x.command.linear.y, _x.command.linear.z, _x.command.angular.x, _x.command.angular.y, _x.command.angular.z,) = _struct_6d.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.joint_command = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.joint_error = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.joint_velocity_commanded = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.joint_velocity_measured = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.joint_effort_measured = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.joint_effort_commanded = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sd'%length
      start = end
      end += struct.calcsize(pattern)
      self.joint_effort_error = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.joint_names = []
      for i in range(0, length):
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1 = str[start:end].decode('utf-8')
        else:
          val1 = str[start:end]
        self.joint_names.append(val1)
      return self
    except struct.error as e:
      raise genpy.DeserializationError(e) #most likely buffer underfill

_struct_I = genpy.struct_I
_struct_6d = struct.Struct("<6d")