00001 """autogenerated by genmsg_py from ReactiveGraspingAction.msg. Do not edit."""
00002 import roslib.message
00003 import struct
00004
00005 import srs_assisted_grasping_msgs.msg
00006 import roslib.rostime
00007 import actionlib_msgs.msg
00008 import std_msgs.msg
00009
00010 class ReactiveGraspingAction(roslib.message.Message):
00011 _md5sum = "7af9a87a0a4a8c95766f43128d661bab"
00012 _type = "srs_assisted_grasping_msgs/ReactiveGraspingAction"
00013 _has_header = False
00014 _full_text = """# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00015
00016 ReactiveGraspingActionGoal action_goal
00017 ReactiveGraspingActionResult action_result
00018 ReactiveGraspingActionFeedback action_feedback
00019
00020 ================================================================================
00021 MSG: srs_assisted_grasping_msgs/ReactiveGraspingActionGoal
00022 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00023
00024 Header header
00025 actionlib_msgs/GoalID goal_id
00026 ReactiveGraspingGoal goal
00027
00028 ================================================================================
00029 MSG: std_msgs/Header
00030 # Standard metadata for higher-level stamped data types.
00031 # This is generally used to communicate timestamped data
00032 # in a particular coordinate frame.
00033 #
00034 # sequence ID: consecutively increasing ID
00035 uint32 seq
00036 #Two-integer timestamp that is expressed as:
00037 # * stamp.secs: seconds (stamp_secs) since epoch
00038 # * stamp.nsecs: nanoseconds since stamp_secs
00039 # time-handling sugar is provided by the client library
00040 time stamp
00041 #Frame this data is associated with
00042 # 0: no frame
00043 # 1: global frame
00044 string frame_id
00045
00046 ================================================================================
00047 MSG: actionlib_msgs/GoalID
00048 # The stamp should store the time at which this goal was requested.
00049 # It is used by an action server when it tries to preempt all
00050 # goals that were requested before a certain time
00051 time stamp
00052
00053 # The id provides a way to associate feedback and
00054 # result message with specific goal requests. The id
00055 # specified must be unique.
00056 string id
00057
00058
00059 ================================================================================
00060 MSG: srs_assisted_grasping_msgs/ReactiveGraspingGoal
00061 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00062 # GOAL
00063 std_msgs/Float32MultiArray target_configuration # n joints, 7 for SDH (names should be specified in yaml file)
00064 std_msgs/Float32MultiArray max_force # m tactile pads
00065 duration time # time to reach target_configuration
00066
00067 ================================================================================
00068 MSG: std_msgs/Float32MultiArray
00069 # Please look at the MultiArrayLayout message definition for
00070 # documentation on all multiarrays.
00071
00072 MultiArrayLayout layout # specification of data layout
00073 float32[] data # array of data
00074
00075
00076 ================================================================================
00077 MSG: std_msgs/MultiArrayLayout
00078 # The multiarray declares a generic multi-dimensional array of a
00079 # particular data type. Dimensions are ordered from outer most
00080 # to inner most.
00081
00082 MultiArrayDimension[] dim # Array of dimension properties
00083 uint32 data_offset # padding bytes at front of data
00084
00085 # Accessors should ALWAYS be written in terms of dimension stride
00086 # and specified outer-most dimension first.
00087 #
00088 # multiarray(i,j,k) = data[data_offset + dim_stride[1]*i + dim_stride[2]*j + k]
00089 #
00090 # A standard, 3-channel 640x480 image with interleaved color channels
00091 # would be specified as:
00092 #
00093 # dim[0].label = "height"
00094 # dim[0].size = 480
00095 # dim[0].stride = 3*640*480 = 921600 (note dim[0] stride is just size of image)
00096 # dim[1].label = "width"
00097 # dim[1].size = 640
00098 # dim[1].stride = 3*640 = 1920
00099 # dim[2].label = "channel"
00100 # dim[2].size = 3
00101 # dim[2].stride = 3
00102 #
00103 # multiarray(i,j,k) refers to the ith row, jth column, and kth channel.
00104 ================================================================================
00105 MSG: std_msgs/MultiArrayDimension
00106 string label # label of given dimension
00107 uint32 size # size of given dimension (in type units)
00108 uint32 stride # stride of given dimension
00109 ================================================================================
00110 MSG: srs_assisted_grasping_msgs/ReactiveGraspingActionResult
00111 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00112
00113 Header header
00114 actionlib_msgs/GoalStatus status
00115 ReactiveGraspingResult result
00116
00117 ================================================================================
00118 MSG: actionlib_msgs/GoalStatus
00119 GoalID goal_id
00120 uint8 status
00121 uint8 PENDING = 0 # The goal has yet to be processed by the action server
00122 uint8 ACTIVE = 1 # The goal is currently being processed by the action server
00123 uint8 PREEMPTED = 2 # The goal received a cancel request after it started executing
00124 # and has since completed its execution (Terminal State)
00125 uint8 SUCCEEDED = 3 # The goal was achieved successfully by the action server (Terminal State)
00126 uint8 ABORTED = 4 # The goal was aborted during execution by the action server due
00127 # to some failure (Terminal State)
00128 uint8 REJECTED = 5 # The goal was rejected by the action server without being processed,
00129 # because the goal was unattainable or invalid (Terminal State)
00130 uint8 PREEMPTING = 6 # The goal received a cancel request after it started executing
00131 # and has not yet completed execution
00132 uint8 RECALLING = 7 # The goal received a cancel request before it started executing,
00133 # but the action server has not yet confirmed that the goal is canceled
00134 uint8 RECALLED = 8 # The goal received a cancel request before it started executing
00135 # and was successfully cancelled (Terminal State)
00136 uint8 LOST = 9 # An action client can determine that a goal is LOST. This should not be
00137 # sent over the wire by an action server
00138
00139 #Allow for the user to associate a string with GoalStatus for debugging
00140 string text
00141
00142
00143 ================================================================================
00144 MSG: srs_assisted_grasping_msgs/ReactiveGraspingResult
00145 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00146 # RESULT
00147 std_msgs/Float32MultiArray actual_joint_values # n
00148 std_msgs/Int16MultiArray actual_forces # m
00149 std_msgs/Float32MultiArray time_to_stop # n
00150
00151 ================================================================================
00152 MSG: std_msgs/Int16MultiArray
00153 # Please look at the MultiArrayLayout message definition for
00154 # documentation on all multiarrays.
00155
00156 MultiArrayLayout layout # specification of data layout
00157 int16[] data # array of data
00158
00159
00160 ================================================================================
00161 MSG: srs_assisted_grasping_msgs/ReactiveGraspingActionFeedback
00162 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00163
00164 Header header
00165 actionlib_msgs/GoalStatus status
00166 ReactiveGraspingFeedback feedback
00167
00168 ================================================================================
00169 MSG: srs_assisted_grasping_msgs/ReactiveGraspingFeedback
00170 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00171 # FEEDBACK
00172
00173
00174 """
00175 __slots__ = ['action_goal','action_result','action_feedback']
00176 _slot_types = ['srs_assisted_grasping_msgs/ReactiveGraspingActionGoal','srs_assisted_grasping_msgs/ReactiveGraspingActionResult','srs_assisted_grasping_msgs/ReactiveGraspingActionFeedback']
00177
00178 def __init__(self, *args, **kwds):
00179 """
00180 Constructor. Any message fields that are implicitly/explicitly
00181 set to None will be assigned a default value. The recommend
00182 use is keyword arguments as this is more robust to future message
00183 changes. You cannot mix in-order arguments and keyword arguments.
00184
00185 The available fields are:
00186 action_goal,action_result,action_feedback
00187
00188 @param args: complete set of field values, in .msg order
00189 @param kwds: use keyword arguments corresponding to message field names
00190 to set specific fields.
00191 """
00192 if args or kwds:
00193 super(ReactiveGraspingAction, self).__init__(*args, **kwds)
00194
00195 if self.action_goal is None:
00196 self.action_goal = srs_assisted_grasping_msgs.msg.ReactiveGraspingActionGoal()
00197 if self.action_result is None:
00198 self.action_result = srs_assisted_grasping_msgs.msg.ReactiveGraspingActionResult()
00199 if self.action_feedback is None:
00200 self.action_feedback = srs_assisted_grasping_msgs.msg.ReactiveGraspingActionFeedback()
00201 else:
00202 self.action_goal = srs_assisted_grasping_msgs.msg.ReactiveGraspingActionGoal()
00203 self.action_result = srs_assisted_grasping_msgs.msg.ReactiveGraspingActionResult()
00204 self.action_feedback = srs_assisted_grasping_msgs.msg.ReactiveGraspingActionFeedback()
00205
00206 def _get_types(self):
00207 """
00208 internal API method
00209 """
00210 return self._slot_types
00211
00212 def serialize(self, buff):
00213 """
00214 serialize message into buffer
00215 @param buff: buffer
00216 @type buff: StringIO
00217 """
00218 try:
00219 _x = self
00220 buff.write(_struct_3I.pack(_x.action_goal.header.seq, _x.action_goal.header.stamp.secs, _x.action_goal.header.stamp.nsecs))
00221 _x = self.action_goal.header.frame_id
00222 length = len(_x)
00223 buff.write(struct.pack('<I%ss'%length, length, _x))
00224 _x = self
00225 buff.write(_struct_2I.pack(_x.action_goal.goal_id.stamp.secs, _x.action_goal.goal_id.stamp.nsecs))
00226 _x = self.action_goal.goal_id.id
00227 length = len(_x)
00228 buff.write(struct.pack('<I%ss'%length, length, _x))
00229 length = len(self.action_goal.goal.target_configuration.layout.dim)
00230 buff.write(_struct_I.pack(length))
00231 for val1 in self.action_goal.goal.target_configuration.layout.dim:
00232 _x = val1.label
00233 length = len(_x)
00234 buff.write(struct.pack('<I%ss'%length, length, _x))
00235 _x = val1
00236 buff.write(_struct_2I.pack(_x.size, _x.stride))
00237 buff.write(_struct_I.pack(self.action_goal.goal.target_configuration.layout.data_offset))
00238 length = len(self.action_goal.goal.target_configuration.data)
00239 buff.write(_struct_I.pack(length))
00240 pattern = '<%sf'%length
00241 buff.write(struct.pack(pattern, *self.action_goal.goal.target_configuration.data))
00242 length = len(self.action_goal.goal.max_force.layout.dim)
00243 buff.write(_struct_I.pack(length))
00244 for val1 in self.action_goal.goal.max_force.layout.dim:
00245 _x = val1.label
00246 length = len(_x)
00247 buff.write(struct.pack('<I%ss'%length, length, _x))
00248 _x = val1
00249 buff.write(_struct_2I.pack(_x.size, _x.stride))
00250 buff.write(_struct_I.pack(self.action_goal.goal.max_force.layout.data_offset))
00251 length = len(self.action_goal.goal.max_force.data)
00252 buff.write(_struct_I.pack(length))
00253 pattern = '<%sf'%length
00254 buff.write(struct.pack(pattern, *self.action_goal.goal.max_force.data))
00255 _x = self
00256 buff.write(_struct_2i3I.pack(_x.action_goal.goal.time.secs, _x.action_goal.goal.time.nsecs, _x.action_result.header.seq, _x.action_result.header.stamp.secs, _x.action_result.header.stamp.nsecs))
00257 _x = self.action_result.header.frame_id
00258 length = len(_x)
00259 buff.write(struct.pack('<I%ss'%length, length, _x))
00260 _x = self
00261 buff.write(_struct_2I.pack(_x.action_result.status.goal_id.stamp.secs, _x.action_result.status.goal_id.stamp.nsecs))
00262 _x = self.action_result.status.goal_id.id
00263 length = len(_x)
00264 buff.write(struct.pack('<I%ss'%length, length, _x))
00265 buff.write(_struct_B.pack(self.action_result.status.status))
00266 _x = self.action_result.status.text
00267 length = len(_x)
00268 buff.write(struct.pack('<I%ss'%length, length, _x))
00269 length = len(self.action_result.result.actual_joint_values.layout.dim)
00270 buff.write(_struct_I.pack(length))
00271 for val1 in self.action_result.result.actual_joint_values.layout.dim:
00272 _x = val1.label
00273 length = len(_x)
00274 buff.write(struct.pack('<I%ss'%length, length, _x))
00275 _x = val1
00276 buff.write(_struct_2I.pack(_x.size, _x.stride))
00277 buff.write(_struct_I.pack(self.action_result.result.actual_joint_values.layout.data_offset))
00278 length = len(self.action_result.result.actual_joint_values.data)
00279 buff.write(_struct_I.pack(length))
00280 pattern = '<%sf'%length
00281 buff.write(struct.pack(pattern, *self.action_result.result.actual_joint_values.data))
00282 length = len(self.action_result.result.actual_forces.layout.dim)
00283 buff.write(_struct_I.pack(length))
00284 for val1 in self.action_result.result.actual_forces.layout.dim:
00285 _x = val1.label
00286 length = len(_x)
00287 buff.write(struct.pack('<I%ss'%length, length, _x))
00288 _x = val1
00289 buff.write(_struct_2I.pack(_x.size, _x.stride))
00290 buff.write(_struct_I.pack(self.action_result.result.actual_forces.layout.data_offset))
00291 length = len(self.action_result.result.actual_forces.data)
00292 buff.write(_struct_I.pack(length))
00293 pattern = '<%sh'%length
00294 buff.write(struct.pack(pattern, *self.action_result.result.actual_forces.data))
00295 length = len(self.action_result.result.time_to_stop.layout.dim)
00296 buff.write(_struct_I.pack(length))
00297 for val1 in self.action_result.result.time_to_stop.layout.dim:
00298 _x = val1.label
00299 length = len(_x)
00300 buff.write(struct.pack('<I%ss'%length, length, _x))
00301 _x = val1
00302 buff.write(_struct_2I.pack(_x.size, _x.stride))
00303 buff.write(_struct_I.pack(self.action_result.result.time_to_stop.layout.data_offset))
00304 length = len(self.action_result.result.time_to_stop.data)
00305 buff.write(_struct_I.pack(length))
00306 pattern = '<%sf'%length
00307 buff.write(struct.pack(pattern, *self.action_result.result.time_to_stop.data))
00308 _x = self
00309 buff.write(_struct_3I.pack(_x.action_feedback.header.seq, _x.action_feedback.header.stamp.secs, _x.action_feedback.header.stamp.nsecs))
00310 _x = self.action_feedback.header.frame_id
00311 length = len(_x)
00312 buff.write(struct.pack('<I%ss'%length, length, _x))
00313 _x = self
00314 buff.write(_struct_2I.pack(_x.action_feedback.status.goal_id.stamp.secs, _x.action_feedback.status.goal_id.stamp.nsecs))
00315 _x = self.action_feedback.status.goal_id.id
00316 length = len(_x)
00317 buff.write(struct.pack('<I%ss'%length, length, _x))
00318 buff.write(_struct_B.pack(self.action_feedback.status.status))
00319 _x = self.action_feedback.status.text
00320 length = len(_x)
00321 buff.write(struct.pack('<I%ss'%length, length, _x))
00322 except struct.error as se: self._check_types(se)
00323 except TypeError as te: self._check_types(te)
00324
00325 def deserialize(self, str):
00326 """
00327 unpack serialized message in str into this message instance
00328 @param str: byte array of serialized message
00329 @type str: str
00330 """
00331 try:
00332 if self.action_goal is None:
00333 self.action_goal = srs_assisted_grasping_msgs.msg.ReactiveGraspingActionGoal()
00334 if self.action_result is None:
00335 self.action_result = srs_assisted_grasping_msgs.msg.ReactiveGraspingActionResult()
00336 if self.action_feedback is None:
00337 self.action_feedback = srs_assisted_grasping_msgs.msg.ReactiveGraspingActionFeedback()
00338 end = 0
00339 _x = self
00340 start = end
00341 end += 12
00342 (_x.action_goal.header.seq, _x.action_goal.header.stamp.secs, _x.action_goal.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00343 start = end
00344 end += 4
00345 (length,) = _struct_I.unpack(str[start:end])
00346 start = end
00347 end += length
00348 self.action_goal.header.frame_id = str[start:end]
00349 _x = self
00350 start = end
00351 end += 8
00352 (_x.action_goal.goal_id.stamp.secs, _x.action_goal.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00353 start = end
00354 end += 4
00355 (length,) = _struct_I.unpack(str[start:end])
00356 start = end
00357 end += length
00358 self.action_goal.goal_id.id = str[start:end]
00359 start = end
00360 end += 4
00361 (length,) = _struct_I.unpack(str[start:end])
00362 self.action_goal.goal.target_configuration.layout.dim = []
00363 for i in range(0, length):
00364 val1 = std_msgs.msg.MultiArrayDimension()
00365 start = end
00366 end += 4
00367 (length,) = _struct_I.unpack(str[start:end])
00368 start = end
00369 end += length
00370 val1.label = str[start:end]
00371 _x = val1
00372 start = end
00373 end += 8
00374 (_x.size, _x.stride,) = _struct_2I.unpack(str[start:end])
00375 self.action_goal.goal.target_configuration.layout.dim.append(val1)
00376 start = end
00377 end += 4
00378 (self.action_goal.goal.target_configuration.layout.data_offset,) = _struct_I.unpack(str[start:end])
00379 start = end
00380 end += 4
00381 (length,) = _struct_I.unpack(str[start:end])
00382 pattern = '<%sf'%length
00383 start = end
00384 end += struct.calcsize(pattern)
00385 self.action_goal.goal.target_configuration.data = struct.unpack(pattern, str[start:end])
00386 start = end
00387 end += 4
00388 (length,) = _struct_I.unpack(str[start:end])
00389 self.action_goal.goal.max_force.layout.dim = []
00390 for i in range(0, length):
00391 val1 = std_msgs.msg.MultiArrayDimension()
00392 start = end
00393 end += 4
00394 (length,) = _struct_I.unpack(str[start:end])
00395 start = end
00396 end += length
00397 val1.label = str[start:end]
00398 _x = val1
00399 start = end
00400 end += 8
00401 (_x.size, _x.stride,) = _struct_2I.unpack(str[start:end])
00402 self.action_goal.goal.max_force.layout.dim.append(val1)
00403 start = end
00404 end += 4
00405 (self.action_goal.goal.max_force.layout.data_offset,) = _struct_I.unpack(str[start:end])
00406 start = end
00407 end += 4
00408 (length,) = _struct_I.unpack(str[start:end])
00409 pattern = '<%sf'%length
00410 start = end
00411 end += struct.calcsize(pattern)
00412 self.action_goal.goal.max_force.data = struct.unpack(pattern, str[start:end])
00413 _x = self
00414 start = end
00415 end += 20
00416 (_x.action_goal.goal.time.secs, _x.action_goal.goal.time.nsecs, _x.action_result.header.seq, _x.action_result.header.stamp.secs, _x.action_result.header.stamp.nsecs,) = _struct_2i3I.unpack(str[start:end])
00417 start = end
00418 end += 4
00419 (length,) = _struct_I.unpack(str[start:end])
00420 start = end
00421 end += length
00422 self.action_result.header.frame_id = str[start:end]
00423 _x = self
00424 start = end
00425 end += 8
00426 (_x.action_result.status.goal_id.stamp.secs, _x.action_result.status.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00427 start = end
00428 end += 4
00429 (length,) = _struct_I.unpack(str[start:end])
00430 start = end
00431 end += length
00432 self.action_result.status.goal_id.id = str[start:end]
00433 start = end
00434 end += 1
00435 (self.action_result.status.status,) = _struct_B.unpack(str[start:end])
00436 start = end
00437 end += 4
00438 (length,) = _struct_I.unpack(str[start:end])
00439 start = end
00440 end += length
00441 self.action_result.status.text = str[start:end]
00442 start = end
00443 end += 4
00444 (length,) = _struct_I.unpack(str[start:end])
00445 self.action_result.result.actual_joint_values.layout.dim = []
00446 for i in range(0, length):
00447 val1 = std_msgs.msg.MultiArrayDimension()
00448 start = end
00449 end += 4
00450 (length,) = _struct_I.unpack(str[start:end])
00451 start = end
00452 end += length
00453 val1.label = str[start:end]
00454 _x = val1
00455 start = end
00456 end += 8
00457 (_x.size, _x.stride,) = _struct_2I.unpack(str[start:end])
00458 self.action_result.result.actual_joint_values.layout.dim.append(val1)
00459 start = end
00460 end += 4
00461 (self.action_result.result.actual_joint_values.layout.data_offset,) = _struct_I.unpack(str[start:end])
00462 start = end
00463 end += 4
00464 (length,) = _struct_I.unpack(str[start:end])
00465 pattern = '<%sf'%length
00466 start = end
00467 end += struct.calcsize(pattern)
00468 self.action_result.result.actual_joint_values.data = struct.unpack(pattern, str[start:end])
00469 start = end
00470 end += 4
00471 (length,) = _struct_I.unpack(str[start:end])
00472 self.action_result.result.actual_forces.layout.dim = []
00473 for i in range(0, length):
00474 val1 = std_msgs.msg.MultiArrayDimension()
00475 start = end
00476 end += 4
00477 (length,) = _struct_I.unpack(str[start:end])
00478 start = end
00479 end += length
00480 val1.label = str[start:end]
00481 _x = val1
00482 start = end
00483 end += 8
00484 (_x.size, _x.stride,) = _struct_2I.unpack(str[start:end])
00485 self.action_result.result.actual_forces.layout.dim.append(val1)
00486 start = end
00487 end += 4
00488 (self.action_result.result.actual_forces.layout.data_offset,) = _struct_I.unpack(str[start:end])
00489 start = end
00490 end += 4
00491 (length,) = _struct_I.unpack(str[start:end])
00492 pattern = '<%sh'%length
00493 start = end
00494 end += struct.calcsize(pattern)
00495 self.action_result.result.actual_forces.data = struct.unpack(pattern, str[start:end])
00496 start = end
00497 end += 4
00498 (length,) = _struct_I.unpack(str[start:end])
00499 self.action_result.result.time_to_stop.layout.dim = []
00500 for i in range(0, length):
00501 val1 = std_msgs.msg.MultiArrayDimension()
00502 start = end
00503 end += 4
00504 (length,) = _struct_I.unpack(str[start:end])
00505 start = end
00506 end += length
00507 val1.label = str[start:end]
00508 _x = val1
00509 start = end
00510 end += 8
00511 (_x.size, _x.stride,) = _struct_2I.unpack(str[start:end])
00512 self.action_result.result.time_to_stop.layout.dim.append(val1)
00513 start = end
00514 end += 4
00515 (self.action_result.result.time_to_stop.layout.data_offset,) = _struct_I.unpack(str[start:end])
00516 start = end
00517 end += 4
00518 (length,) = _struct_I.unpack(str[start:end])
00519 pattern = '<%sf'%length
00520 start = end
00521 end += struct.calcsize(pattern)
00522 self.action_result.result.time_to_stop.data = struct.unpack(pattern, str[start:end])
00523 _x = self
00524 start = end
00525 end += 12
00526 (_x.action_feedback.header.seq, _x.action_feedback.header.stamp.secs, _x.action_feedback.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00527 start = end
00528 end += 4
00529 (length,) = _struct_I.unpack(str[start:end])
00530 start = end
00531 end += length
00532 self.action_feedback.header.frame_id = str[start:end]
00533 _x = self
00534 start = end
00535 end += 8
00536 (_x.action_feedback.status.goal_id.stamp.secs, _x.action_feedback.status.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00537 start = end
00538 end += 4
00539 (length,) = _struct_I.unpack(str[start:end])
00540 start = end
00541 end += length
00542 self.action_feedback.status.goal_id.id = str[start:end]
00543 start = end
00544 end += 1
00545 (self.action_feedback.status.status,) = _struct_B.unpack(str[start:end])
00546 start = end
00547 end += 4
00548 (length,) = _struct_I.unpack(str[start:end])
00549 start = end
00550 end += length
00551 self.action_feedback.status.text = str[start:end]
00552 return self
00553 except struct.error as e:
00554 raise roslib.message.DeserializationError(e)
00555
00556
00557 def serialize_numpy(self, buff, numpy):
00558 """
00559 serialize message with numpy array types into buffer
00560 @param buff: buffer
00561 @type buff: StringIO
00562 @param numpy: numpy python module
00563 @type numpy module
00564 """
00565 try:
00566 _x = self
00567 buff.write(_struct_3I.pack(_x.action_goal.header.seq, _x.action_goal.header.stamp.secs, _x.action_goal.header.stamp.nsecs))
00568 _x = self.action_goal.header.frame_id
00569 length = len(_x)
00570 buff.write(struct.pack('<I%ss'%length, length, _x))
00571 _x = self
00572 buff.write(_struct_2I.pack(_x.action_goal.goal_id.stamp.secs, _x.action_goal.goal_id.stamp.nsecs))
00573 _x = self.action_goal.goal_id.id
00574 length = len(_x)
00575 buff.write(struct.pack('<I%ss'%length, length, _x))
00576 length = len(self.action_goal.goal.target_configuration.layout.dim)
00577 buff.write(_struct_I.pack(length))
00578 for val1 in self.action_goal.goal.target_configuration.layout.dim:
00579 _x = val1.label
00580 length = len(_x)
00581 buff.write(struct.pack('<I%ss'%length, length, _x))
00582 _x = val1
00583 buff.write(_struct_2I.pack(_x.size, _x.stride))
00584 buff.write(_struct_I.pack(self.action_goal.goal.target_configuration.layout.data_offset))
00585 length = len(self.action_goal.goal.target_configuration.data)
00586 buff.write(_struct_I.pack(length))
00587 pattern = '<%sf'%length
00588 buff.write(self.action_goal.goal.target_configuration.data.tostring())
00589 length = len(self.action_goal.goal.max_force.layout.dim)
00590 buff.write(_struct_I.pack(length))
00591 for val1 in self.action_goal.goal.max_force.layout.dim:
00592 _x = val1.label
00593 length = len(_x)
00594 buff.write(struct.pack('<I%ss'%length, length, _x))
00595 _x = val1
00596 buff.write(_struct_2I.pack(_x.size, _x.stride))
00597 buff.write(_struct_I.pack(self.action_goal.goal.max_force.layout.data_offset))
00598 length = len(self.action_goal.goal.max_force.data)
00599 buff.write(_struct_I.pack(length))
00600 pattern = '<%sf'%length
00601 buff.write(self.action_goal.goal.max_force.data.tostring())
00602 _x = self
00603 buff.write(_struct_2i3I.pack(_x.action_goal.goal.time.secs, _x.action_goal.goal.time.nsecs, _x.action_result.header.seq, _x.action_result.header.stamp.secs, _x.action_result.header.stamp.nsecs))
00604 _x = self.action_result.header.frame_id
00605 length = len(_x)
00606 buff.write(struct.pack('<I%ss'%length, length, _x))
00607 _x = self
00608 buff.write(_struct_2I.pack(_x.action_result.status.goal_id.stamp.secs, _x.action_result.status.goal_id.stamp.nsecs))
00609 _x = self.action_result.status.goal_id.id
00610 length = len(_x)
00611 buff.write(struct.pack('<I%ss'%length, length, _x))
00612 buff.write(_struct_B.pack(self.action_result.status.status))
00613 _x = self.action_result.status.text
00614 length = len(_x)
00615 buff.write(struct.pack('<I%ss'%length, length, _x))
00616 length = len(self.action_result.result.actual_joint_values.layout.dim)
00617 buff.write(_struct_I.pack(length))
00618 for val1 in self.action_result.result.actual_joint_values.layout.dim:
00619 _x = val1.label
00620 length = len(_x)
00621 buff.write(struct.pack('<I%ss'%length, length, _x))
00622 _x = val1
00623 buff.write(_struct_2I.pack(_x.size, _x.stride))
00624 buff.write(_struct_I.pack(self.action_result.result.actual_joint_values.layout.data_offset))
00625 length = len(self.action_result.result.actual_joint_values.data)
00626 buff.write(_struct_I.pack(length))
00627 pattern = '<%sf'%length
00628 buff.write(self.action_result.result.actual_joint_values.data.tostring())
00629 length = len(self.action_result.result.actual_forces.layout.dim)
00630 buff.write(_struct_I.pack(length))
00631 for val1 in self.action_result.result.actual_forces.layout.dim:
00632 _x = val1.label
00633 length = len(_x)
00634 buff.write(struct.pack('<I%ss'%length, length, _x))
00635 _x = val1
00636 buff.write(_struct_2I.pack(_x.size, _x.stride))
00637 buff.write(_struct_I.pack(self.action_result.result.actual_forces.layout.data_offset))
00638 length = len(self.action_result.result.actual_forces.data)
00639 buff.write(_struct_I.pack(length))
00640 pattern = '<%sh'%length
00641 buff.write(self.action_result.result.actual_forces.data.tostring())
00642 length = len(self.action_result.result.time_to_stop.layout.dim)
00643 buff.write(_struct_I.pack(length))
00644 for val1 in self.action_result.result.time_to_stop.layout.dim:
00645 _x = val1.label
00646 length = len(_x)
00647 buff.write(struct.pack('<I%ss'%length, length, _x))
00648 _x = val1
00649 buff.write(_struct_2I.pack(_x.size, _x.stride))
00650 buff.write(_struct_I.pack(self.action_result.result.time_to_stop.layout.data_offset))
00651 length = len(self.action_result.result.time_to_stop.data)
00652 buff.write(_struct_I.pack(length))
00653 pattern = '<%sf'%length
00654 buff.write(self.action_result.result.time_to_stop.data.tostring())
00655 _x = self
00656 buff.write(_struct_3I.pack(_x.action_feedback.header.seq, _x.action_feedback.header.stamp.secs, _x.action_feedback.header.stamp.nsecs))
00657 _x = self.action_feedback.header.frame_id
00658 length = len(_x)
00659 buff.write(struct.pack('<I%ss'%length, length, _x))
00660 _x = self
00661 buff.write(_struct_2I.pack(_x.action_feedback.status.goal_id.stamp.secs, _x.action_feedback.status.goal_id.stamp.nsecs))
00662 _x = self.action_feedback.status.goal_id.id
00663 length = len(_x)
00664 buff.write(struct.pack('<I%ss'%length, length, _x))
00665 buff.write(_struct_B.pack(self.action_feedback.status.status))
00666 _x = self.action_feedback.status.text
00667 length = len(_x)
00668 buff.write(struct.pack('<I%ss'%length, length, _x))
00669 except struct.error as se: self._check_types(se)
00670 except TypeError as te: self._check_types(te)
00671
00672 def deserialize_numpy(self, str, numpy):
00673 """
00674 unpack serialized message in str into this message instance using numpy for array types
00675 @param str: byte array of serialized message
00676 @type str: str
00677 @param numpy: numpy python module
00678 @type numpy: module
00679 """
00680 try:
00681 if self.action_goal is None:
00682 self.action_goal = srs_assisted_grasping_msgs.msg.ReactiveGraspingActionGoal()
00683 if self.action_result is None:
00684 self.action_result = srs_assisted_grasping_msgs.msg.ReactiveGraspingActionResult()
00685 if self.action_feedback is None:
00686 self.action_feedback = srs_assisted_grasping_msgs.msg.ReactiveGraspingActionFeedback()
00687 end = 0
00688 _x = self
00689 start = end
00690 end += 12
00691 (_x.action_goal.header.seq, _x.action_goal.header.stamp.secs, _x.action_goal.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00692 start = end
00693 end += 4
00694 (length,) = _struct_I.unpack(str[start:end])
00695 start = end
00696 end += length
00697 self.action_goal.header.frame_id = str[start:end]
00698 _x = self
00699 start = end
00700 end += 8
00701 (_x.action_goal.goal_id.stamp.secs, _x.action_goal.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00702 start = end
00703 end += 4
00704 (length,) = _struct_I.unpack(str[start:end])
00705 start = end
00706 end += length
00707 self.action_goal.goal_id.id = str[start:end]
00708 start = end
00709 end += 4
00710 (length,) = _struct_I.unpack(str[start:end])
00711 self.action_goal.goal.target_configuration.layout.dim = []
00712 for i in range(0, length):
00713 val1 = std_msgs.msg.MultiArrayDimension()
00714 start = end
00715 end += 4
00716 (length,) = _struct_I.unpack(str[start:end])
00717 start = end
00718 end += length
00719 val1.label = str[start:end]
00720 _x = val1
00721 start = end
00722 end += 8
00723 (_x.size, _x.stride,) = _struct_2I.unpack(str[start:end])
00724 self.action_goal.goal.target_configuration.layout.dim.append(val1)
00725 start = end
00726 end += 4
00727 (self.action_goal.goal.target_configuration.layout.data_offset,) = _struct_I.unpack(str[start:end])
00728 start = end
00729 end += 4
00730 (length,) = _struct_I.unpack(str[start:end])
00731 pattern = '<%sf'%length
00732 start = end
00733 end += struct.calcsize(pattern)
00734 self.action_goal.goal.target_configuration.data = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=length)
00735 start = end
00736 end += 4
00737 (length,) = _struct_I.unpack(str[start:end])
00738 self.action_goal.goal.max_force.layout.dim = []
00739 for i in range(0, length):
00740 val1 = std_msgs.msg.MultiArrayDimension()
00741 start = end
00742 end += 4
00743 (length,) = _struct_I.unpack(str[start:end])
00744 start = end
00745 end += length
00746 val1.label = str[start:end]
00747 _x = val1
00748 start = end
00749 end += 8
00750 (_x.size, _x.stride,) = _struct_2I.unpack(str[start:end])
00751 self.action_goal.goal.max_force.layout.dim.append(val1)
00752 start = end
00753 end += 4
00754 (self.action_goal.goal.max_force.layout.data_offset,) = _struct_I.unpack(str[start:end])
00755 start = end
00756 end += 4
00757 (length,) = _struct_I.unpack(str[start:end])
00758 pattern = '<%sf'%length
00759 start = end
00760 end += struct.calcsize(pattern)
00761 self.action_goal.goal.max_force.data = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=length)
00762 _x = self
00763 start = end
00764 end += 20
00765 (_x.action_goal.goal.time.secs, _x.action_goal.goal.time.nsecs, _x.action_result.header.seq, _x.action_result.header.stamp.secs, _x.action_result.header.stamp.nsecs,) = _struct_2i3I.unpack(str[start:end])
00766 start = end
00767 end += 4
00768 (length,) = _struct_I.unpack(str[start:end])
00769 start = end
00770 end += length
00771 self.action_result.header.frame_id = str[start:end]
00772 _x = self
00773 start = end
00774 end += 8
00775 (_x.action_result.status.goal_id.stamp.secs, _x.action_result.status.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00776 start = end
00777 end += 4
00778 (length,) = _struct_I.unpack(str[start:end])
00779 start = end
00780 end += length
00781 self.action_result.status.goal_id.id = str[start:end]
00782 start = end
00783 end += 1
00784 (self.action_result.status.status,) = _struct_B.unpack(str[start:end])
00785 start = end
00786 end += 4
00787 (length,) = _struct_I.unpack(str[start:end])
00788 start = end
00789 end += length
00790 self.action_result.status.text = str[start:end]
00791 start = end
00792 end += 4
00793 (length,) = _struct_I.unpack(str[start:end])
00794 self.action_result.result.actual_joint_values.layout.dim = []
00795 for i in range(0, length):
00796 val1 = std_msgs.msg.MultiArrayDimension()
00797 start = end
00798 end += 4
00799 (length,) = _struct_I.unpack(str[start:end])
00800 start = end
00801 end += length
00802 val1.label = str[start:end]
00803 _x = val1
00804 start = end
00805 end += 8
00806 (_x.size, _x.stride,) = _struct_2I.unpack(str[start:end])
00807 self.action_result.result.actual_joint_values.layout.dim.append(val1)
00808 start = end
00809 end += 4
00810 (self.action_result.result.actual_joint_values.layout.data_offset,) = _struct_I.unpack(str[start:end])
00811 start = end
00812 end += 4
00813 (length,) = _struct_I.unpack(str[start:end])
00814 pattern = '<%sf'%length
00815 start = end
00816 end += struct.calcsize(pattern)
00817 self.action_result.result.actual_joint_values.data = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=length)
00818 start = end
00819 end += 4
00820 (length,) = _struct_I.unpack(str[start:end])
00821 self.action_result.result.actual_forces.layout.dim = []
00822 for i in range(0, length):
00823 val1 = std_msgs.msg.MultiArrayDimension()
00824 start = end
00825 end += 4
00826 (length,) = _struct_I.unpack(str[start:end])
00827 start = end
00828 end += length
00829 val1.label = str[start:end]
00830 _x = val1
00831 start = end
00832 end += 8
00833 (_x.size, _x.stride,) = _struct_2I.unpack(str[start:end])
00834 self.action_result.result.actual_forces.layout.dim.append(val1)
00835 start = end
00836 end += 4
00837 (self.action_result.result.actual_forces.layout.data_offset,) = _struct_I.unpack(str[start:end])
00838 start = end
00839 end += 4
00840 (length,) = _struct_I.unpack(str[start:end])
00841 pattern = '<%sh'%length
00842 start = end
00843 end += struct.calcsize(pattern)
00844 self.action_result.result.actual_forces.data = numpy.frombuffer(str[start:end], dtype=numpy.int16, count=length)
00845 start = end
00846 end += 4
00847 (length,) = _struct_I.unpack(str[start:end])
00848 self.action_result.result.time_to_stop.layout.dim = []
00849 for i in range(0, length):
00850 val1 = std_msgs.msg.MultiArrayDimension()
00851 start = end
00852 end += 4
00853 (length,) = _struct_I.unpack(str[start:end])
00854 start = end
00855 end += length
00856 val1.label = str[start:end]
00857 _x = val1
00858 start = end
00859 end += 8
00860 (_x.size, _x.stride,) = _struct_2I.unpack(str[start:end])
00861 self.action_result.result.time_to_stop.layout.dim.append(val1)
00862 start = end
00863 end += 4
00864 (self.action_result.result.time_to_stop.layout.data_offset,) = _struct_I.unpack(str[start:end])
00865 start = end
00866 end += 4
00867 (length,) = _struct_I.unpack(str[start:end])
00868 pattern = '<%sf'%length
00869 start = end
00870 end += struct.calcsize(pattern)
00871 self.action_result.result.time_to_stop.data = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=length)
00872 _x = self
00873 start = end
00874 end += 12
00875 (_x.action_feedback.header.seq, _x.action_feedback.header.stamp.secs, _x.action_feedback.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00876 start = end
00877 end += 4
00878 (length,) = _struct_I.unpack(str[start:end])
00879 start = end
00880 end += length
00881 self.action_feedback.header.frame_id = str[start:end]
00882 _x = self
00883 start = end
00884 end += 8
00885 (_x.action_feedback.status.goal_id.stamp.secs, _x.action_feedback.status.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00886 start = end
00887 end += 4
00888 (length,) = _struct_I.unpack(str[start:end])
00889 start = end
00890 end += length
00891 self.action_feedback.status.goal_id.id = str[start:end]
00892 start = end
00893 end += 1
00894 (self.action_feedback.status.status,) = _struct_B.unpack(str[start:end])
00895 start = end
00896 end += 4
00897 (length,) = _struct_I.unpack(str[start:end])
00898 start = end
00899 end += length
00900 self.action_feedback.status.text = str[start:end]
00901 return self
00902 except struct.error as e:
00903 raise roslib.message.DeserializationError(e)
00904
00905 _struct_I = roslib.message.struct_I
00906 _struct_3I = struct.Struct("<3I")
00907 _struct_B = struct.Struct("<B")
00908 _struct_2I = struct.Struct("<2I")
00909 _struct_2i3I = struct.Struct("<2i3I")
