00001 """autogenerated by genmsg_py from JTTaskControllerState.msg. Do not edit."""
00002 import roslib.message
00003 import struct
00004
00005 import geometry_msgs.msg
00006 import std_msgs.msg
00007
00008 class JTTaskControllerState(roslib.message.Message):
00009 _md5sum = "d654d2c71a8ecc5db9c015c4141c21d0"
00010 _type = "pr2_manipulation_controllers/JTTaskControllerState"
00011 _has_header = True
00012 _full_text = """Header header
00013 geometry_msgs/PoseStamped x
00014 geometry_msgs/PoseStamped x_desi
00015 geometry_msgs/PoseStamped x_desi_filtered
00016 geometry_msgs/Twist x_err
00017 geometry_msgs/Twist xd
00018 geometry_msgs/Twist xd_desi
00019 geometry_msgs/Wrench F
00020 float64[] tau_pose
00021 float64[] tau_posture
00022 float64[] tau
00023 std_msgs/Float64MultiArray J
00024 std_msgs/Float64MultiArray N
00025
00026 # Environmental stiffness
00027 float64 df
00028 float64 dx
00029 float64 Df
00030 float64 Dx
00031 float64 stiffness
00032 float64 compliance
00033 ================================================================================
00034 MSG: std_msgs/Header
00035 # Standard metadata for higher-level stamped data types.
00036 # This is generally used to communicate timestamped data
00037 # in a particular coordinate frame.
00038 #
00039 # sequence ID: consecutively increasing ID
00040 uint32 seq
00041 #Two-integer timestamp that is expressed as:
00042 # * stamp.secs: seconds (stamp_secs) since epoch
00043 # * stamp.nsecs: nanoseconds since stamp_secs
00044 # time-handling sugar is provided by the client library
00045 time stamp
00046 #Frame this data is associated with
00047 # 0: no frame
00048 # 1: global frame
00049 string frame_id
00050
00051 ================================================================================
00052 MSG: geometry_msgs/PoseStamped
00053 # A Pose with reference coordinate frame and timestamp
00054 Header header
00055 Pose pose
00056
00057 ================================================================================
00058 MSG: geometry_msgs/Pose
00059 # A representation of pose in free space, composed of postion and orientation.
00060 Point position
00061 Quaternion orientation
00062
00063 ================================================================================
00064 MSG: geometry_msgs/Point
00065 # This contains the position of a point in free space
00066 float64 x
00067 float64 y
00068 float64 z
00069
00070 ================================================================================
00071 MSG: geometry_msgs/Quaternion
00072 # This represents an orientation in free space in quaternion form.
00073
00074 float64 x
00075 float64 y
00076 float64 z
00077 float64 w
00078
00079 ================================================================================
00080 MSG: geometry_msgs/Twist
00081 # This expresses velocity in free space broken into it's linear and angular parts.
00082 Vector3 linear
00083 Vector3 angular
00084
00085 ================================================================================
00086 MSG: geometry_msgs/Vector3
00087 # This represents a vector in free space.
00088
00089 float64 x
00090 float64 y
00091 float64 z
00092 ================================================================================
00093 MSG: geometry_msgs/Wrench
00094 # This represents force in free space, seperated into
00095 # it's linear and angular parts.
00096 Vector3 force
00097 Vector3 torque
00098
00099 ================================================================================
00100 MSG: std_msgs/Float64MultiArray
00101 # Please look at the MultiArrayLayout message definition for
00102 # documentation on all multiarrays.
00103
00104 MultiArrayLayout layout # specification of data layout
00105 float64[] data # array of data
00106
00107
00108 ================================================================================
00109 MSG: std_msgs/MultiArrayLayout
00110 # The multiarray declares a generic multi-dimensional array of a
00111 # particular data type. Dimensions are ordered from outer most
00112 # to inner most.
00113
00114 MultiArrayDimension[] dim # Array of dimension properties
00115 uint32 data_offset # padding bytes at front of data
00116
00117 # Accessors should ALWAYS be written in terms of dimension stride
00118 # and specified outer-most dimension first.
00119 #
00120 # multiarray(i,j,k) = data[data_offset + dim_stride[1]*i + dim_stride[2]*j + k]
00121 #
00122 # A standard, 3-channel 640x480 image with interleaved color channels
00123 # would be specified as:
00124 #
00125 # dim[0].label = "height"
00126 # dim[0].size = 480
00127 # dim[0].stride = 3*640*480 = 921600 (note dim[0] stride is just size of image)
00128 # dim[1].label = "width"
00129 # dim[1].size = 640
00130 # dim[1].stride = 3*640 = 1920
00131 # dim[2].label = "channel"
00132 # dim[2].size = 3
00133 # dim[2].stride = 3
00134 #
00135 # multiarray(i,j,k) refers to the ith row, jth column, and kth channel.
00136 ================================================================================
00137 MSG: std_msgs/MultiArrayDimension
00138 string label # label of given dimension
00139 uint32 size # size of given dimension (in type units)
00140 uint32 stride # stride of given dimension
00141 """
00142 __slots__ = ['header','x','x_desi','x_desi_filtered','x_err','xd','xd_desi','F','tau_pose','tau_posture','tau','J','N','df','dx','Df','Dx','stiffness','compliance']
00143 _slot_types = ['Header','geometry_msgs/PoseStamped','geometry_msgs/PoseStamped','geometry_msgs/PoseStamped','geometry_msgs/Twist','geometry_msgs/Twist','geometry_msgs/Twist','geometry_msgs/Wrench','float64[]','float64[]','float64[]','std_msgs/Float64MultiArray','std_msgs/Float64MultiArray','float64','float64','float64','float64','float64','float64']
00144
00145 def __init__(self, *args, **kwds):
00146 """
00147 Constructor. Any message fields that are implicitly/explicitly
00148 set to None will be assigned a default value. The recommend
00149 use is keyword arguments as this is more robust to future message
00150 changes. You cannot mix in-order arguments and keyword arguments.
00151
00152 The available fields are:
00153 header,x,x_desi,x_desi_filtered,x_err,xd,xd_desi,F,tau_pose,tau_posture,tau,J,N,df,dx,Df,Dx,stiffness,compliance
00154
00155 @param args: complete set of field values, in .msg order
00156 @param kwds: use keyword arguments corresponding to message field names
00157 to set specific fields.
00158 """
00159 if args or kwds:
00160 super(JTTaskControllerState, self).__init__(*args, **kwds)
00161
00162 if self.header is None:
00163 self.header = std_msgs.msg._Header.Header()
00164 if self.x is None:
00165 self.x = geometry_msgs.msg.PoseStamped()
00166 if self.x_desi is None:
00167 self.x_desi = geometry_msgs.msg.PoseStamped()
00168 if self.x_desi_filtered is None:
00169 self.x_desi_filtered = geometry_msgs.msg.PoseStamped()
00170 if self.x_err is None:
00171 self.x_err = geometry_msgs.msg.Twist()
00172 if self.xd is None:
00173 self.xd = geometry_msgs.msg.Twist()
00174 if self.xd_desi is None:
00175 self.xd_desi = geometry_msgs.msg.Twist()
00176 if self.F is None:
00177 self.F = geometry_msgs.msg.Wrench()
00178 if self.tau_pose is None:
00179 self.tau_pose = []
00180 if self.tau_posture is None:
00181 self.tau_posture = []
00182 if self.tau is None:
00183 self.tau = []
00184 if self.J is None:
00185 self.J = std_msgs.msg.Float64MultiArray()
00186 if self.N is None:
00187 self.N = std_msgs.msg.Float64MultiArray()
00188 if self.df is None:
00189 self.df = 0.
00190 if self.dx is None:
00191 self.dx = 0.
00192 if self.Df is None:
00193 self.Df = 0.
00194 if self.Dx is None:
00195 self.Dx = 0.
00196 if self.stiffness is None:
00197 self.stiffness = 0.
00198 if self.compliance is None:
00199 self.compliance = 0.
00200 else:
00201 self.header = std_msgs.msg._Header.Header()
00202 self.x = geometry_msgs.msg.PoseStamped()
00203 self.x_desi = geometry_msgs.msg.PoseStamped()
00204 self.x_desi_filtered = geometry_msgs.msg.PoseStamped()
00205 self.x_err = geometry_msgs.msg.Twist()
00206 self.xd = geometry_msgs.msg.Twist()
00207 self.xd_desi = geometry_msgs.msg.Twist()
00208 self.F = geometry_msgs.msg.Wrench()
00209 self.tau_pose = []
00210 self.tau_posture = []
00211 self.tau = []
00212 self.J = std_msgs.msg.Float64MultiArray()
00213 self.N = std_msgs.msg.Float64MultiArray()
00214 self.df = 0.
00215 self.dx = 0.
00216 self.Df = 0.
00217 self.Dx = 0.
00218 self.stiffness = 0.
00219 self.compliance = 0.
00220
00221 def _get_types(self):
00222 """
00223 internal API method
00224 """
00225 return self._slot_types
00226
00227 def serialize(self, buff):
00228 """
00229 serialize message into buffer
00230 @param buff: buffer
00231 @type buff: StringIO
00232 """
00233 try:
00234 _x = self
00235 buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
00236 _x = self.header.frame_id
00237 length = len(_x)
00238 buff.write(struct.pack('<I%ss'%length, length, _x))
00239 _x = self
00240 buff.write(_struct_3I.pack(_x.x.header.seq, _x.x.header.stamp.secs, _x.x.header.stamp.nsecs))
00241 _x = self.x.header.frame_id
00242 length = len(_x)
00243 buff.write(struct.pack('<I%ss'%length, length, _x))
00244 _x = self
00245 buff.write(_struct_7d3I.pack(_x.x.pose.position.x, _x.x.pose.position.y, _x.x.pose.position.z, _x.x.pose.orientation.x, _x.x.pose.orientation.y, _x.x.pose.orientation.z, _x.x.pose.orientation.w, _x.x_desi.header.seq, _x.x_desi.header.stamp.secs, _x.x_desi.header.stamp.nsecs))
00246 _x = self.x_desi.header.frame_id
00247 length = len(_x)
00248 buff.write(struct.pack('<I%ss'%length, length, _x))
00249 _x = self
00250 buff.write(_struct_7d3I.pack(_x.x_desi.pose.position.x, _x.x_desi.pose.position.y, _x.x_desi.pose.position.z, _x.x_desi.pose.orientation.x, _x.x_desi.pose.orientation.y, _x.x_desi.pose.orientation.z, _x.x_desi.pose.orientation.w, _x.x_desi_filtered.header.seq, _x.x_desi_filtered.header.stamp.secs, _x.x_desi_filtered.header.stamp.nsecs))
00251 _x = self.x_desi_filtered.header.frame_id
00252 length = len(_x)
00253 buff.write(struct.pack('<I%ss'%length, length, _x))
00254 _x = self
00255 buff.write(_struct_31d.pack(_x.x_desi_filtered.pose.position.x, _x.x_desi_filtered.pose.position.y, _x.x_desi_filtered.pose.position.z, _x.x_desi_filtered.pose.orientation.x, _x.x_desi_filtered.pose.orientation.y, _x.x_desi_filtered.pose.orientation.z, _x.x_desi_filtered.pose.orientation.w, _x.x_err.linear.x, _x.x_err.linear.y, _x.x_err.linear.z, _x.x_err.angular.x, _x.x_err.angular.y, _x.x_err.angular.z, _x.xd.linear.x, _x.xd.linear.y, _x.xd.linear.z, _x.xd.angular.x, _x.xd.angular.y, _x.xd.angular.z, _x.xd_desi.linear.x, _x.xd_desi.linear.y, _x.xd_desi.linear.z, _x.xd_desi.angular.x, _x.xd_desi.angular.y, _x.xd_desi.angular.z, _x.F.force.x, _x.F.force.y, _x.F.force.z, _x.F.torque.x, _x.F.torque.y, _x.F.torque.z))
00256 length = len(self.tau_pose)
00257 buff.write(_struct_I.pack(length))
00258 pattern = '<%sd'%length
00259 buff.write(struct.pack(pattern, *self.tau_pose))
00260 length = len(self.tau_posture)
00261 buff.write(_struct_I.pack(length))
00262 pattern = '<%sd'%length
00263 buff.write(struct.pack(pattern, *self.tau_posture))
00264 length = len(self.tau)
00265 buff.write(_struct_I.pack(length))
00266 pattern = '<%sd'%length
00267 buff.write(struct.pack(pattern, *self.tau))
00268 length = len(self.J.layout.dim)
00269 buff.write(_struct_I.pack(length))
00270 for val1 in self.J.layout.dim:
00271 _x = val1.label
00272 length = len(_x)
00273 buff.write(struct.pack('<I%ss'%length, length, _x))
00274 _x = val1
00275 buff.write(_struct_2I.pack(_x.size, _x.stride))
00276 buff.write(_struct_I.pack(self.J.layout.data_offset))
00277 length = len(self.J.data)
00278 buff.write(_struct_I.pack(length))
00279 pattern = '<%sd'%length
00280 buff.write(struct.pack(pattern, *self.J.data))
00281 length = len(self.N.layout.dim)
00282 buff.write(_struct_I.pack(length))
00283 for val1 in self.N.layout.dim:
00284 _x = val1.label
00285 length = len(_x)
00286 buff.write(struct.pack('<I%ss'%length, length, _x))
00287 _x = val1
00288 buff.write(_struct_2I.pack(_x.size, _x.stride))
00289 buff.write(_struct_I.pack(self.N.layout.data_offset))
00290 length = len(self.N.data)
00291 buff.write(_struct_I.pack(length))
00292 pattern = '<%sd'%length
00293 buff.write(struct.pack(pattern, *self.N.data))
00294 _x = self
00295 buff.write(_struct_6d.pack(_x.df, _x.dx, _x.Df, _x.Dx, _x.stiffness, _x.compliance))
00296 except struct.error as se: self._check_types(se)
00297 except TypeError as te: self._check_types(te)
00298
00299 def deserialize(self, str):
00300 """
00301 unpack serialized message in str into this message instance
00302 @param str: byte array of serialized message
00303 @type str: str
00304 """
00305 try:
00306 if self.header is None:
00307 self.header = std_msgs.msg._Header.Header()
00308 if self.x is None:
00309 self.x = geometry_msgs.msg.PoseStamped()
00310 if self.x_desi is None:
00311 self.x_desi = geometry_msgs.msg.PoseStamped()
00312 if self.x_desi_filtered is None:
00313 self.x_desi_filtered = geometry_msgs.msg.PoseStamped()
00314 if self.x_err is None:
00315 self.x_err = geometry_msgs.msg.Twist()
00316 if self.xd is None:
00317 self.xd = geometry_msgs.msg.Twist()
00318 if self.xd_desi is None:
00319 self.xd_desi = geometry_msgs.msg.Twist()
00320 if self.F is None:
00321 self.F = geometry_msgs.msg.Wrench()
00322 if self.J is None:
00323 self.J = std_msgs.msg.Float64MultiArray()
00324 if self.N is None:
00325 self.N = std_msgs.msg.Float64MultiArray()
00326 end = 0
00327 _x = self
00328 start = end
00329 end += 12
00330 (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00331 start = end
00332 end += 4
00333 (length,) = _struct_I.unpack(str[start:end])
00334 start = end
00335 end += length
00336 self.header.frame_id = str[start:end]
00337 _x = self
00338 start = end
00339 end += 12
00340 (_x.x.header.seq, _x.x.header.stamp.secs, _x.x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00341 start = end
00342 end += 4
00343 (length,) = _struct_I.unpack(str[start:end])
00344 start = end
00345 end += length
00346 self.x.header.frame_id = str[start:end]
00347 _x = self
00348 start = end
00349 end += 68
00350 (_x.x.pose.position.x, _x.x.pose.position.y, _x.x.pose.position.z, _x.x.pose.orientation.x, _x.x.pose.orientation.y, _x.x.pose.orientation.z, _x.x.pose.orientation.w, _x.x_desi.header.seq, _x.x_desi.header.stamp.secs, _x.x_desi.header.stamp.nsecs,) = _struct_7d3I.unpack(str[start:end])
00351 start = end
00352 end += 4
00353 (length,) = _struct_I.unpack(str[start:end])
00354 start = end
00355 end += length
00356 self.x_desi.header.frame_id = str[start:end]
00357 _x = self
00358 start = end
00359 end += 68
00360 (_x.x_desi.pose.position.x, _x.x_desi.pose.position.y, _x.x_desi.pose.position.z, _x.x_desi.pose.orientation.x, _x.x_desi.pose.orientation.y, _x.x_desi.pose.orientation.z, _x.x_desi.pose.orientation.w, _x.x_desi_filtered.header.seq, _x.x_desi_filtered.header.stamp.secs, _x.x_desi_filtered.header.stamp.nsecs,) = _struct_7d3I.unpack(str[start:end])
00361 start = end
00362 end += 4
00363 (length,) = _struct_I.unpack(str[start:end])
00364 start = end
00365 end += length
00366 self.x_desi_filtered.header.frame_id = str[start:end]
00367 _x = self
00368 start = end
00369 end += 248
00370 (_x.x_desi_filtered.pose.position.x, _x.x_desi_filtered.pose.position.y, _x.x_desi_filtered.pose.position.z, _x.x_desi_filtered.pose.orientation.x, _x.x_desi_filtered.pose.orientation.y, _x.x_desi_filtered.pose.orientation.z, _x.x_desi_filtered.pose.orientation.w, _x.x_err.linear.x, _x.x_err.linear.y, _x.x_err.linear.z, _x.x_err.angular.x, _x.x_err.angular.y, _x.x_err.angular.z, _x.xd.linear.x, _x.xd.linear.y, _x.xd.linear.z, _x.xd.angular.x, _x.xd.angular.y, _x.xd.angular.z, _x.xd_desi.linear.x, _x.xd_desi.linear.y, _x.xd_desi.linear.z, _x.xd_desi.angular.x, _x.xd_desi.angular.y, _x.xd_desi.angular.z, _x.F.force.x, _x.F.force.y, _x.F.force.z, _x.F.torque.x, _x.F.torque.y, _x.F.torque.z,) = _struct_31d.unpack(str[start:end])
00371 start = end
00372 end += 4
00373 (length,) = _struct_I.unpack(str[start:end])
00374 pattern = '<%sd'%length
00375 start = end
00376 end += struct.calcsize(pattern)
00377 self.tau_pose = struct.unpack(pattern, str[start:end])
00378 start = end
00379 end += 4
00380 (length,) = _struct_I.unpack(str[start:end])
00381 pattern = '<%sd'%length
00382 start = end
00383 end += struct.calcsize(pattern)
00384 self.tau_posture = struct.unpack(pattern, str[start:end])
00385 start = end
00386 end += 4
00387 (length,) = _struct_I.unpack(str[start:end])
00388 pattern = '<%sd'%length
00389 start = end
00390 end += struct.calcsize(pattern)
00391 self.tau = struct.unpack(pattern, str[start:end])
00392 start = end
00393 end += 4
00394 (length,) = _struct_I.unpack(str[start:end])
00395 self.J.layout.dim = []
00396 for i in range(0, length):
00397 val1 = std_msgs.msg.MultiArrayDimension()
00398 start = end
00399 end += 4
00400 (length,) = _struct_I.unpack(str[start:end])
00401 start = end
00402 end += length
00403 val1.label = str[start:end]
00404 _x = val1
00405 start = end
00406 end += 8
00407 (_x.size, _x.stride,) = _struct_2I.unpack(str[start:end])
00408 self.J.layout.dim.append(val1)
00409 start = end
00410 end += 4
00411 (self.J.layout.data_offset,) = _struct_I.unpack(str[start:end])
00412 start = end
00413 end += 4
00414 (length,) = _struct_I.unpack(str[start:end])
00415 pattern = '<%sd'%length
00416 start = end
00417 end += struct.calcsize(pattern)
00418 self.J.data = struct.unpack(pattern, str[start:end])
00419 start = end
00420 end += 4
00421 (length,) = _struct_I.unpack(str[start:end])
00422 self.N.layout.dim = []
00423 for i in range(0, length):
00424 val1 = std_msgs.msg.MultiArrayDimension()
00425 start = end
00426 end += 4
00427 (length,) = _struct_I.unpack(str[start:end])
00428 start = end
00429 end += length
00430 val1.label = str[start:end]
00431 _x = val1
00432 start = end
00433 end += 8
00434 (_x.size, _x.stride,) = _struct_2I.unpack(str[start:end])
00435 self.N.layout.dim.append(val1)
00436 start = end
00437 end += 4
00438 (self.N.layout.data_offset,) = _struct_I.unpack(str[start:end])
00439 start = end
00440 end += 4
00441 (length,) = _struct_I.unpack(str[start:end])
00442 pattern = '<%sd'%length
00443 start = end
00444 end += struct.calcsize(pattern)
00445 self.N.data = struct.unpack(pattern, str[start:end])
00446 _x = self
00447 start = end
00448 end += 48
00449 (_x.df, _x.dx, _x.Df, _x.Dx, _x.stiffness, _x.compliance,) = _struct_6d.unpack(str[start:end])
00450 return self
00451 except struct.error as e:
00452 raise roslib.message.DeserializationError(e)
00453
00454
00455 def serialize_numpy(self, buff, numpy):
00456 """
00457 serialize message with numpy array types into buffer
00458 @param buff: buffer
00459 @type buff: StringIO
00460 @param numpy: numpy python module
00461 @type numpy module
00462 """
00463 try:
00464 _x = self
00465 buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
00466 _x = self.header.frame_id
00467 length = len(_x)
00468 buff.write(struct.pack('<I%ss'%length, length, _x))
00469 _x = self
00470 buff.write(_struct_3I.pack(_x.x.header.seq, _x.x.header.stamp.secs, _x.x.header.stamp.nsecs))
00471 _x = self.x.header.frame_id
00472 length = len(_x)
00473 buff.write(struct.pack('<I%ss'%length, length, _x))
00474 _x = self
00475 buff.write(_struct_7d3I.pack(_x.x.pose.position.x, _x.x.pose.position.y, _x.x.pose.position.z, _x.x.pose.orientation.x, _x.x.pose.orientation.y, _x.x.pose.orientation.z, _x.x.pose.orientation.w, _x.x_desi.header.seq, _x.x_desi.header.stamp.secs, _x.x_desi.header.stamp.nsecs))
00476 _x = self.x_desi.header.frame_id
00477 length = len(_x)
00478 buff.write(struct.pack('<I%ss'%length, length, _x))
00479 _x = self
00480 buff.write(_struct_7d3I.pack(_x.x_desi.pose.position.x, _x.x_desi.pose.position.y, _x.x_desi.pose.position.z, _x.x_desi.pose.orientation.x, _x.x_desi.pose.orientation.y, _x.x_desi.pose.orientation.z, _x.x_desi.pose.orientation.w, _x.x_desi_filtered.header.seq, _x.x_desi_filtered.header.stamp.secs, _x.x_desi_filtered.header.stamp.nsecs))
00481 _x = self.x_desi_filtered.header.frame_id
00482 length = len(_x)
00483 buff.write(struct.pack('<I%ss'%length, length, _x))
00484 _x = self
00485 buff.write(_struct_31d.pack(_x.x_desi_filtered.pose.position.x, _x.x_desi_filtered.pose.position.y, _x.x_desi_filtered.pose.position.z, _x.x_desi_filtered.pose.orientation.x, _x.x_desi_filtered.pose.orientation.y, _x.x_desi_filtered.pose.orientation.z, _x.x_desi_filtered.pose.orientation.w, _x.x_err.linear.x, _x.x_err.linear.y, _x.x_err.linear.z, _x.x_err.angular.x, _x.x_err.angular.y, _x.x_err.angular.z, _x.xd.linear.x, _x.xd.linear.y, _x.xd.linear.z, _x.xd.angular.x, _x.xd.angular.y, _x.xd.angular.z, _x.xd_desi.linear.x, _x.xd_desi.linear.y, _x.xd_desi.linear.z, _x.xd_desi.angular.x, _x.xd_desi.angular.y, _x.xd_desi.angular.z, _x.F.force.x, _x.F.force.y, _x.F.force.z, _x.F.torque.x, _x.F.torque.y, _x.F.torque.z))
00486 length = len(self.tau_pose)
00487 buff.write(_struct_I.pack(length))
00488 pattern = '<%sd'%length
00489 buff.write(self.tau_pose.tostring())
00490 length = len(self.tau_posture)
00491 buff.write(_struct_I.pack(length))
00492 pattern = '<%sd'%length
00493 buff.write(self.tau_posture.tostring())
00494 length = len(self.tau)
00495 buff.write(_struct_I.pack(length))
00496 pattern = '<%sd'%length
00497 buff.write(self.tau.tostring())
00498 length = len(self.J.layout.dim)
00499 buff.write(_struct_I.pack(length))
00500 for val1 in self.J.layout.dim:
00501 _x = val1.label
00502 length = len(_x)
00503 buff.write(struct.pack('<I%ss'%length, length, _x))
00504 _x = val1
00505 buff.write(_struct_2I.pack(_x.size, _x.stride))
00506 buff.write(_struct_I.pack(self.J.layout.data_offset))
00507 length = len(self.J.data)
00508 buff.write(_struct_I.pack(length))
00509 pattern = '<%sd'%length
00510 buff.write(self.J.data.tostring())
00511 length = len(self.N.layout.dim)
00512 buff.write(_struct_I.pack(length))
00513 for val1 in self.N.layout.dim:
00514 _x = val1.label
00515 length = len(_x)
00516 buff.write(struct.pack('<I%ss'%length, length, _x))
00517 _x = val1
00518 buff.write(_struct_2I.pack(_x.size, _x.stride))
00519 buff.write(_struct_I.pack(self.N.layout.data_offset))
00520 length = len(self.N.data)
00521 buff.write(_struct_I.pack(length))
00522 pattern = '<%sd'%length
00523 buff.write(self.N.data.tostring())
00524 _x = self
00525 buff.write(_struct_6d.pack(_x.df, _x.dx, _x.Df, _x.Dx, _x.stiffness, _x.compliance))
00526 except struct.error as se: self._check_types(se)
00527 except TypeError as te: self._check_types(te)
00528
00529 def deserialize_numpy(self, str, numpy):
00530 """
00531 unpack serialized message in str into this message instance using numpy for array types
00532 @param str: byte array of serialized message
00533 @type str: str
00534 @param numpy: numpy python module
00535 @type numpy: module
00536 """
00537 try:
00538 if self.header is None:
00539 self.header = std_msgs.msg._Header.Header()
00540 if self.x is None:
00541 self.x = geometry_msgs.msg.PoseStamped()
00542 if self.x_desi is None:
00543 self.x_desi = geometry_msgs.msg.PoseStamped()
00544 if self.x_desi_filtered is None:
00545 self.x_desi_filtered = geometry_msgs.msg.PoseStamped()
00546 if self.x_err is None:
00547 self.x_err = geometry_msgs.msg.Twist()
00548 if self.xd is None:
00549 self.xd = geometry_msgs.msg.Twist()
00550 if self.xd_desi is None:
00551 self.xd_desi = geometry_msgs.msg.Twist()
00552 if self.F is None:
00553 self.F = geometry_msgs.msg.Wrench()
00554 if self.J is None:
00555 self.J = std_msgs.msg.Float64MultiArray()
00556 if self.N is None:
00557 self.N = std_msgs.msg.Float64MultiArray()
00558 end = 0
00559 _x = self
00560 start = end
00561 end += 12
00562 (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00563 start = end
00564 end += 4
00565 (length,) = _struct_I.unpack(str[start:end])
00566 start = end
00567 end += length
00568 self.header.frame_id = str[start:end]
00569 _x = self
00570 start = end
00571 end += 12
00572 (_x.x.header.seq, _x.x.header.stamp.secs, _x.x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00573 start = end
00574 end += 4
00575 (length,) = _struct_I.unpack(str[start:end])
00576 start = end
00577 end += length
00578 self.x.header.frame_id = str[start:end]
00579 _x = self
00580 start = end
00581 end += 68
00582 (_x.x.pose.position.x, _x.x.pose.position.y, _x.x.pose.position.z, _x.x.pose.orientation.x, _x.x.pose.orientation.y, _x.x.pose.orientation.z, _x.x.pose.orientation.w, _x.x_desi.header.seq, _x.x_desi.header.stamp.secs, _x.x_desi.header.stamp.nsecs,) = _struct_7d3I.unpack(str[start:end])
00583 start = end
00584 end += 4
00585 (length,) = _struct_I.unpack(str[start:end])
00586 start = end
00587 end += length
00588 self.x_desi.header.frame_id = str[start:end]
00589 _x = self
00590 start = end
00591 end += 68
00592 (_x.x_desi.pose.position.x, _x.x_desi.pose.position.y, _x.x_desi.pose.position.z, _x.x_desi.pose.orientation.x, _x.x_desi.pose.orientation.y, _x.x_desi.pose.orientation.z, _x.x_desi.pose.orientation.w, _x.x_desi_filtered.header.seq, _x.x_desi_filtered.header.stamp.secs, _x.x_desi_filtered.header.stamp.nsecs,) = _struct_7d3I.unpack(str[start:end])
00593 start = end
00594 end += 4
00595 (length,) = _struct_I.unpack(str[start:end])
00596 start = end
00597 end += length
00598 self.x_desi_filtered.header.frame_id = str[start:end]
00599 _x = self
00600 start = end
00601 end += 248
00602 (_x.x_desi_filtered.pose.position.x, _x.x_desi_filtered.pose.position.y, _x.x_desi_filtered.pose.position.z, _x.x_desi_filtered.pose.orientation.x, _x.x_desi_filtered.pose.orientation.y, _x.x_desi_filtered.pose.orientation.z, _x.x_desi_filtered.pose.orientation.w, _x.x_err.linear.x, _x.x_err.linear.y, _x.x_err.linear.z, _x.x_err.angular.x, _x.x_err.angular.y, _x.x_err.angular.z, _x.xd.linear.x, _x.xd.linear.y, _x.xd.linear.z, _x.xd.angular.x, _x.xd.angular.y, _x.xd.angular.z, _x.xd_desi.linear.x, _x.xd_desi.linear.y, _x.xd_desi.linear.z, _x.xd_desi.angular.x, _x.xd_desi.angular.y, _x.xd_desi.angular.z, _x.F.force.x, _x.F.force.y, _x.F.force.z, _x.F.torque.x, _x.F.torque.y, _x.F.torque.z,) = _struct_31d.unpack(str[start:end])
00603 start = end
00604 end += 4
00605 (length,) = _struct_I.unpack(str[start:end])
00606 pattern = '<%sd'%length
00607 start = end
00608 end += struct.calcsize(pattern)
00609 self.tau_pose = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00610 start = end
00611 end += 4
00612 (length,) = _struct_I.unpack(str[start:end])
00613 pattern = '<%sd'%length
00614 start = end
00615 end += struct.calcsize(pattern)
00616 self.tau_posture = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00617 start = end
00618 end += 4
00619 (length,) = _struct_I.unpack(str[start:end])
00620 pattern = '<%sd'%length
00621 start = end
00622 end += struct.calcsize(pattern)
00623 self.tau = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00624 start = end
00625 end += 4
00626 (length,) = _struct_I.unpack(str[start:end])
00627 self.J.layout.dim = []
00628 for i in range(0, length):
00629 val1 = std_msgs.msg.MultiArrayDimension()
00630 start = end
00631 end += 4
00632 (length,) = _struct_I.unpack(str[start:end])
00633 start = end
00634 end += length
00635 val1.label = str[start:end]
00636 _x = val1
00637 start = end
00638 end += 8
00639 (_x.size, _x.stride,) = _struct_2I.unpack(str[start:end])
00640 self.J.layout.dim.append(val1)
00641 start = end
00642 end += 4
00643 (self.J.layout.data_offset,) = _struct_I.unpack(str[start:end])
00644 start = end
00645 end += 4
00646 (length,) = _struct_I.unpack(str[start:end])
00647 pattern = '<%sd'%length
00648 start = end
00649 end += struct.calcsize(pattern)
00650 self.J.data = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00651 start = end
00652 end += 4
00653 (length,) = _struct_I.unpack(str[start:end])
00654 self.N.layout.dim = []
00655 for i in range(0, length):
00656 val1 = std_msgs.msg.MultiArrayDimension()
00657 start = end
00658 end += 4
00659 (length,) = _struct_I.unpack(str[start:end])
00660 start = end
00661 end += length
00662 val1.label = str[start:end]
00663 _x = val1
00664 start = end
00665 end += 8
00666 (_x.size, _x.stride,) = _struct_2I.unpack(str[start:end])
00667 self.N.layout.dim.append(val1)
00668 start = end
00669 end += 4
00670 (self.N.layout.data_offset,) = _struct_I.unpack(str[start:end])
00671 start = end
00672 end += 4
00673 (length,) = _struct_I.unpack(str[start:end])
00674 pattern = '<%sd'%length
00675 start = end
00676 end += struct.calcsize(pattern)
00677 self.N.data = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00678 _x = self
00679 start = end
00680 end += 48
00681 (_x.df, _x.dx, _x.Df, _x.Dx, _x.stiffness, _x.compliance,) = _struct_6d.unpack(str[start:end])
00682 return self
00683 except struct.error as e:
00684 raise roslib.message.DeserializationError(e)
00685
00686 _struct_I = roslib.message.struct_I
00687 _struct_6d = struct.Struct("<6d")
00688 _struct_2I = struct.Struct("<2I")
00689 _struct_3I = struct.Struct("<3I")
00690 _struct_7d3I = struct.Struct("<7d3I")
00691 _struct_31d = struct.Struct("<31d")
