00001 """autogenerated by genmsg_py from GraspAdjustActionGoal.msg. Do not edit."""
00002 import roslib.message
00003 import struct
00004
00005 import roslib.rostime
00006 import actionlib_msgs.msg
00007 import geometry_msgs.msg
00008 import sensor_msgs.msg
00009 import pr2_grasp_adjust.msg
00010 import std_msgs.msg
00011
00012 class GraspAdjustActionGoal(roslib.message.Message):
00013 _md5sum = "dcec75de1b67ec577ef7d0e121194cb5"
00014 _type = "pr2_grasp_adjust/GraspAdjustActionGoal"
00015 _has_header = True
00016 _full_text = """# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00017
00018 Header header
00019 actionlib_msgs/GoalID goal_id
00020 GraspAdjustGoal goal
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/GoalID
00042 # The stamp should store the time at which this goal was requested.
00043 # It is used by an action server when it tries to preempt all
00044 # goals that were requested before a certain time
00045 time stamp
00046
00047 # The id provides a way to associate feedback and
00048 # result message with specific goal requests. The id
00049 # specified must be unique.
00050 string id
00051
00052
00053 ================================================================================
00054 MSG: pr2_grasp_adjust/GraspAdjustGoal
00055 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00056 #goal definition
00057
00058 sensor_msgs/PointCloud2 cloud
00059 geometry_msgs/PoseStamped pose_stamped
00060 bool use_orientation
00061 int32 seed_index
00062 uint8 search_mode
00063
00064 int32 GLOBAL_SEARCH = 0
00065 int32 LOCAL_SEARCH = 1
00066 int32 SINGLE_POSE = 2
00067
00068
00069 ================================================================================
00070 MSG: sensor_msgs/PointCloud2
00071 # This message holds a collection of N-dimensional points, which may
00072 # contain additional information such as normals, intensity, etc. The
00073 # point data is stored as a binary blob, its layout described by the
00074 # contents of the "fields" array.
00075
00076 # The point cloud data may be organized 2d (image-like) or 1d
00077 # (unordered). Point clouds organized as 2d images may be produced by
00078 # camera depth sensors such as stereo or time-of-flight.
00079
00080 # Time of sensor data acquisition, and the coordinate frame ID (for 3d
00081 # points).
00082 Header header
00083
00084 # 2D structure of the point cloud. If the cloud is unordered, height is
00085 # 1 and width is the length of the point cloud.
00086 uint32 height
00087 uint32 width
00088
00089 # Describes the channels and their layout in the binary data blob.
00090 PointField[] fields
00091
00092 bool is_bigendian # Is this data bigendian?
00093 uint32 point_step # Length of a point in bytes
00094 uint32 row_step # Length of a row in bytes
00095 uint8[] data # Actual point data, size is (row_step*height)
00096
00097 bool is_dense # True if there are no invalid points
00098
00099 ================================================================================
00100 MSG: sensor_msgs/PointField
00101 # This message holds the description of one point entry in the
00102 # PointCloud2 message format.
00103 uint8 INT8 = 1
00104 uint8 UINT8 = 2
00105 uint8 INT16 = 3
00106 uint8 UINT16 = 4
00107 uint8 INT32 = 5
00108 uint8 UINT32 = 6
00109 uint8 FLOAT32 = 7
00110 uint8 FLOAT64 = 8
00111
00112 string name # Name of field
00113 uint32 offset # Offset from start of point struct
00114 uint8 datatype # Datatype enumeration, see above
00115 uint32 count # How many elements in the field
00116
00117 ================================================================================
00118 MSG: geometry_msgs/PoseStamped
00119 # A Pose with reference coordinate frame and timestamp
00120 Header header
00121 Pose pose
00122
00123 ================================================================================
00124 MSG: geometry_msgs/Pose
00125 # A representation of pose in free space, composed of postion and orientation.
00126 Point position
00127 Quaternion orientation
00128
00129 ================================================================================
00130 MSG: geometry_msgs/Point
00131 # This contains the position of a point in free space
00132 float64 x
00133 float64 y
00134 float64 z
00135
00136 ================================================================================
00137 MSG: geometry_msgs/Quaternion
00138 # This represents an orientation in free space in quaternion form.
00139
00140 float64 x
00141 float64 y
00142 float64 z
00143 float64 w
00144
00145 """
00146 __slots__ = ['header','goal_id','goal']
00147 _slot_types = ['Header','actionlib_msgs/GoalID','pr2_grasp_adjust/GraspAdjustGoal']
00148
00149 def __init__(self, *args, **kwds):
00150 """
00151 Constructor. Any message fields that are implicitly/explicitly
00152 set to None will be assigned a default value. The recommend
00153 use is keyword arguments as this is more robust to future message
00154 changes. You cannot mix in-order arguments and keyword arguments.
00155
00156 The available fields are:
00157 header,goal_id,goal
00158
00159 @param args: complete set of field values, in .msg order
00160 @param kwds: use keyword arguments corresponding to message field names
00161 to set specific fields.
00162 """
00163 if args or kwds:
00164 super(GraspAdjustActionGoal, self).__init__(*args, **kwds)
00165
00166 if self.header is None:
00167 self.header = std_msgs.msg._Header.Header()
00168 if self.goal_id is None:
00169 self.goal_id = actionlib_msgs.msg.GoalID()
00170 if self.goal is None:
00171 self.goal = pr2_grasp_adjust.msg.GraspAdjustGoal()
00172 else:
00173 self.header = std_msgs.msg._Header.Header()
00174 self.goal_id = actionlib_msgs.msg.GoalID()
00175 self.goal = pr2_grasp_adjust.msg.GraspAdjustGoal()
00176
00177 def _get_types(self):
00178 """
00179 internal API method
00180 """
00181 return self._slot_types
00182
00183 def serialize(self, buff):
00184 """
00185 serialize message into buffer
00186 @param buff: buffer
00187 @type buff: StringIO
00188 """
00189 try:
00190 _x = self
00191 buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
00192 _x = self.header.frame_id
00193 length = len(_x)
00194 buff.write(struct.pack('<I%ss'%length, length, _x))
00195 _x = self
00196 buff.write(_struct_2I.pack(_x.goal_id.stamp.secs, _x.goal_id.stamp.nsecs))
00197 _x = self.goal_id.id
00198 length = len(_x)
00199 buff.write(struct.pack('<I%ss'%length, length, _x))
00200 _x = self
00201 buff.write(_struct_3I.pack(_x.goal.cloud.header.seq, _x.goal.cloud.header.stamp.secs, _x.goal.cloud.header.stamp.nsecs))
00202 _x = self.goal.cloud.header.frame_id
00203 length = len(_x)
00204 buff.write(struct.pack('<I%ss'%length, length, _x))
00205 _x = self
00206 buff.write(_struct_2I.pack(_x.goal.cloud.height, _x.goal.cloud.width))
00207 length = len(self.goal.cloud.fields)
00208 buff.write(_struct_I.pack(length))
00209 for val1 in self.goal.cloud.fields:
00210 _x = val1.name
00211 length = len(_x)
00212 buff.write(struct.pack('<I%ss'%length, length, _x))
00213 _x = val1
00214 buff.write(_struct_IBI.pack(_x.offset, _x.datatype, _x.count))
00215 _x = self
00216 buff.write(_struct_B2I.pack(_x.goal.cloud.is_bigendian, _x.goal.cloud.point_step, _x.goal.cloud.row_step))
00217 _x = self.goal.cloud.data
00218 length = len(_x)
00219
00220 if type(_x) in [list, tuple]:
00221 buff.write(struct.pack('<I%sB'%length, length, *_x))
00222 else:
00223 buff.write(struct.pack('<I%ss'%length, length, _x))
00224 _x = self
00225 buff.write(_struct_B3I.pack(_x.goal.cloud.is_dense, _x.goal.pose_stamped.header.seq, _x.goal.pose_stamped.header.stamp.secs, _x.goal.pose_stamped.header.stamp.nsecs))
00226 _x = self.goal.pose_stamped.header.frame_id
00227 length = len(_x)
00228 buff.write(struct.pack('<I%ss'%length, length, _x))
00229 _x = self
00230 buff.write(_struct_7dBiB.pack(_x.goal.pose_stamped.pose.position.x, _x.goal.pose_stamped.pose.position.y, _x.goal.pose_stamped.pose.position.z, _x.goal.pose_stamped.pose.orientation.x, _x.goal.pose_stamped.pose.orientation.y, _x.goal.pose_stamped.pose.orientation.z, _x.goal.pose_stamped.pose.orientation.w, _x.goal.use_orientation, _x.goal.seed_index, _x.goal.search_mode))
00231 except struct.error as se: self._check_types(se)
00232 except TypeError as te: self._check_types(te)
00233
00234 def deserialize(self, str):
00235 """
00236 unpack serialized message in str into this message instance
00237 @param str: byte array of serialized message
00238 @type str: str
00239 """
00240 try:
00241 if self.header is None:
00242 self.header = std_msgs.msg._Header.Header()
00243 if self.goal_id is None:
00244 self.goal_id = actionlib_msgs.msg.GoalID()
00245 if self.goal is None:
00246 self.goal = pr2_grasp_adjust.msg.GraspAdjustGoal()
00247 end = 0
00248 _x = self
00249 start = end
00250 end += 12
00251 (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00252 start = end
00253 end += 4
00254 (length,) = _struct_I.unpack(str[start:end])
00255 start = end
00256 end += length
00257 self.header.frame_id = str[start:end]
00258 _x = self
00259 start = end
00260 end += 8
00261 (_x.goal_id.stamp.secs, _x.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00262 start = end
00263 end += 4
00264 (length,) = _struct_I.unpack(str[start:end])
00265 start = end
00266 end += length
00267 self.goal_id.id = str[start:end]
00268 _x = self
00269 start = end
00270 end += 12
00271 (_x.goal.cloud.header.seq, _x.goal.cloud.header.stamp.secs, _x.goal.cloud.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00272 start = end
00273 end += 4
00274 (length,) = _struct_I.unpack(str[start:end])
00275 start = end
00276 end += length
00277 self.goal.cloud.header.frame_id = str[start:end]
00278 _x = self
00279 start = end
00280 end += 8
00281 (_x.goal.cloud.height, _x.goal.cloud.width,) = _struct_2I.unpack(str[start:end])
00282 start = end
00283 end += 4
00284 (length,) = _struct_I.unpack(str[start:end])
00285 self.goal.cloud.fields = []
00286 for i in range(0, length):
00287 val1 = sensor_msgs.msg.PointField()
00288 start = end
00289 end += 4
00290 (length,) = _struct_I.unpack(str[start:end])
00291 start = end
00292 end += length
00293 val1.name = str[start:end]
00294 _x = val1
00295 start = end
00296 end += 9
00297 (_x.offset, _x.datatype, _x.count,) = _struct_IBI.unpack(str[start:end])
00298 self.goal.cloud.fields.append(val1)
00299 _x = self
00300 start = end
00301 end += 9
00302 (_x.goal.cloud.is_bigendian, _x.goal.cloud.point_step, _x.goal.cloud.row_step,) = _struct_B2I.unpack(str[start:end])
00303 self.goal.cloud.is_bigendian = bool(self.goal.cloud.is_bigendian)
00304 start = end
00305 end += 4
00306 (length,) = _struct_I.unpack(str[start:end])
00307 start = end
00308 end += length
00309 self.goal.cloud.data = str[start:end]
00310 _x = self
00311 start = end
00312 end += 13
00313 (_x.goal.cloud.is_dense, _x.goal.pose_stamped.header.seq, _x.goal.pose_stamped.header.stamp.secs, _x.goal.pose_stamped.header.stamp.nsecs,) = _struct_B3I.unpack(str[start:end])
00314 self.goal.cloud.is_dense = bool(self.goal.cloud.is_dense)
00315 start = end
00316 end += 4
00317 (length,) = _struct_I.unpack(str[start:end])
00318 start = end
00319 end += length
00320 self.goal.pose_stamped.header.frame_id = str[start:end]
00321 _x = self
00322 start = end
00323 end += 62
00324 (_x.goal.pose_stamped.pose.position.x, _x.goal.pose_stamped.pose.position.y, _x.goal.pose_stamped.pose.position.z, _x.goal.pose_stamped.pose.orientation.x, _x.goal.pose_stamped.pose.orientation.y, _x.goal.pose_stamped.pose.orientation.z, _x.goal.pose_stamped.pose.orientation.w, _x.goal.use_orientation, _x.goal.seed_index, _x.goal.search_mode,) = _struct_7dBiB.unpack(str[start:end])
00325 self.goal.use_orientation = bool(self.goal.use_orientation)
00326 return self
00327 except struct.error as e:
00328 raise roslib.message.DeserializationError(e)
00329
00330
00331 def serialize_numpy(self, buff, numpy):
00332 """
00333 serialize message with numpy array types into buffer
00334 @param buff: buffer
00335 @type buff: StringIO
00336 @param numpy: numpy python module
00337 @type numpy module
00338 """
00339 try:
00340 _x = self
00341 buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
00342 _x = self.header.frame_id
00343 length = len(_x)
00344 buff.write(struct.pack('<I%ss'%length, length, _x))
00345 _x = self
00346 buff.write(_struct_2I.pack(_x.goal_id.stamp.secs, _x.goal_id.stamp.nsecs))
00347 _x = self.goal_id.id
00348 length = len(_x)
00349 buff.write(struct.pack('<I%ss'%length, length, _x))
00350 _x = self
00351 buff.write(_struct_3I.pack(_x.goal.cloud.header.seq, _x.goal.cloud.header.stamp.secs, _x.goal.cloud.header.stamp.nsecs))
00352 _x = self.goal.cloud.header.frame_id
00353 length = len(_x)
00354 buff.write(struct.pack('<I%ss'%length, length, _x))
00355 _x = self
00356 buff.write(_struct_2I.pack(_x.goal.cloud.height, _x.goal.cloud.width))
00357 length = len(self.goal.cloud.fields)
00358 buff.write(_struct_I.pack(length))
00359 for val1 in self.goal.cloud.fields:
00360 _x = val1.name
00361 length = len(_x)
00362 buff.write(struct.pack('<I%ss'%length, length, _x))
00363 _x = val1
00364 buff.write(_struct_IBI.pack(_x.offset, _x.datatype, _x.count))
00365 _x = self
00366 buff.write(_struct_B2I.pack(_x.goal.cloud.is_bigendian, _x.goal.cloud.point_step, _x.goal.cloud.row_step))
00367 _x = self.goal.cloud.data
00368 length = len(_x)
00369
00370 if type(_x) in [list, tuple]:
00371 buff.write(struct.pack('<I%sB'%length, length, *_x))
00372 else:
00373 buff.write(struct.pack('<I%ss'%length, length, _x))
00374 _x = self
00375 buff.write(_struct_B3I.pack(_x.goal.cloud.is_dense, _x.goal.pose_stamped.header.seq, _x.goal.pose_stamped.header.stamp.secs, _x.goal.pose_stamped.header.stamp.nsecs))
00376 _x = self.goal.pose_stamped.header.frame_id
00377 length = len(_x)
00378 buff.write(struct.pack('<I%ss'%length, length, _x))
00379 _x = self
00380 buff.write(_struct_7dBiB.pack(_x.goal.pose_stamped.pose.position.x, _x.goal.pose_stamped.pose.position.y, _x.goal.pose_stamped.pose.position.z, _x.goal.pose_stamped.pose.orientation.x, _x.goal.pose_stamped.pose.orientation.y, _x.goal.pose_stamped.pose.orientation.z, _x.goal.pose_stamped.pose.orientation.w, _x.goal.use_orientation, _x.goal.seed_index, _x.goal.search_mode))
00381 except struct.error as se: self._check_types(se)
00382 except TypeError as te: self._check_types(te)
00383
00384 def deserialize_numpy(self, str, numpy):
00385 """
00386 unpack serialized message in str into this message instance using numpy for array types
00387 @param str: byte array of serialized message
00388 @type str: str
00389 @param numpy: numpy python module
00390 @type numpy: module
00391 """
00392 try:
00393 if self.header is None:
00394 self.header = std_msgs.msg._Header.Header()
00395 if self.goal_id is None:
00396 self.goal_id = actionlib_msgs.msg.GoalID()
00397 if self.goal is None:
00398 self.goal = pr2_grasp_adjust.msg.GraspAdjustGoal()
00399 end = 0
00400 _x = self
00401 start = end
00402 end += 12
00403 (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00404 start = end
00405 end += 4
00406 (length,) = _struct_I.unpack(str[start:end])
00407 start = end
00408 end += length
00409 self.header.frame_id = str[start:end]
00410 _x = self
00411 start = end
00412 end += 8
00413 (_x.goal_id.stamp.secs, _x.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00414 start = end
00415 end += 4
00416 (length,) = _struct_I.unpack(str[start:end])
00417 start = end
00418 end += length
00419 self.goal_id.id = str[start:end]
00420 _x = self
00421 start = end
00422 end += 12
00423 (_x.goal.cloud.header.seq, _x.goal.cloud.header.stamp.secs, _x.goal.cloud.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00424 start = end
00425 end += 4
00426 (length,) = _struct_I.unpack(str[start:end])
00427 start = end
00428 end += length
00429 self.goal.cloud.header.frame_id = str[start:end]
00430 _x = self
00431 start = end
00432 end += 8
00433 (_x.goal.cloud.height, _x.goal.cloud.width,) = _struct_2I.unpack(str[start:end])
00434 start = end
00435 end += 4
00436 (length,) = _struct_I.unpack(str[start:end])
00437 self.goal.cloud.fields = []
00438 for i in range(0, length):
00439 val1 = sensor_msgs.msg.PointField()
00440 start = end
00441 end += 4
00442 (length,) = _struct_I.unpack(str[start:end])
00443 start = end
00444 end += length
00445 val1.name = str[start:end]
00446 _x = val1
00447 start = end
00448 end += 9
00449 (_x.offset, _x.datatype, _x.count,) = _struct_IBI.unpack(str[start:end])
00450 self.goal.cloud.fields.append(val1)
00451 _x = self
00452 start = end
00453 end += 9
00454 (_x.goal.cloud.is_bigendian, _x.goal.cloud.point_step, _x.goal.cloud.row_step,) = _struct_B2I.unpack(str[start:end])
00455 self.goal.cloud.is_bigendian = bool(self.goal.cloud.is_bigendian)
00456 start = end
00457 end += 4
00458 (length,) = _struct_I.unpack(str[start:end])
00459 start = end
00460 end += length
00461 self.goal.cloud.data = str[start:end]
00462 _x = self
00463 start = end
00464 end += 13
00465 (_x.goal.cloud.is_dense, _x.goal.pose_stamped.header.seq, _x.goal.pose_stamped.header.stamp.secs, _x.goal.pose_stamped.header.stamp.nsecs,) = _struct_B3I.unpack(str[start:end])
00466 self.goal.cloud.is_dense = bool(self.goal.cloud.is_dense)
00467 start = end
00468 end += 4
00469 (length,) = _struct_I.unpack(str[start:end])
00470 start = end
00471 end += length
00472 self.goal.pose_stamped.header.frame_id = str[start:end]
00473 _x = self
00474 start = end
00475 end += 62
00476 (_x.goal.pose_stamped.pose.position.x, _x.goal.pose_stamped.pose.position.y, _x.goal.pose_stamped.pose.position.z, _x.goal.pose_stamped.pose.orientation.x, _x.goal.pose_stamped.pose.orientation.y, _x.goal.pose_stamped.pose.orientation.z, _x.goal.pose_stamped.pose.orientation.w, _x.goal.use_orientation, _x.goal.seed_index, _x.goal.search_mode,) = _struct_7dBiB.unpack(str[start:end])
00477 self.goal.use_orientation = bool(self.goal.use_orientation)
00478 return self
00479 except struct.error as e:
00480 raise roslib.message.DeserializationError(e)
00481
00482 _struct_I = roslib.message.struct_I
00483 _struct_IBI = struct.Struct("<IBI")
00484 _struct_3I = struct.Struct("<3I")
00485 _struct_B3I = struct.Struct("<B3I")
00486 _struct_B2I = struct.Struct("<B2I")
00487 _struct_7dBiB = struct.Struct("<7dBiB")
00488 _struct_2I = struct.Struct("<2I")
