_ContactInformation.py

Go to the documentation of this file.

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

import geometry_msgs.msg
import std_msgs.msg

class ContactInformation(genpy.Message):
  _md5sum = "85f341c0166ad4e68b4421391bbd2e15"
  _type = "arm_navigation_msgs/ContactInformation"
  _has_header = True #flag to mark the presence of a Header object
  _full_text = """# Standard ROS header contains information 
# about the frame in which this 
# contact is specified
Header header

# Position of the contact point
geometry_msgs/Point position

# Normal corresponding to the contact point
geometry_msgs/Vector3 normal 

# Depth of contact point
float64 depth

# Name of the first body that is in contact
# This could be a link or a namespace that represents a body
string contact_body_1
string attached_body_1
uint32 body_type_1

# Name of the second body that is in contact
# This could be a link or a namespace that represents a body
string contact_body_2
string attached_body_2
uint32 body_type_2

uint32 ROBOT_LINK=0
uint32 OBJECT=1
uint32 ATTACHED_BODY=2
================================================================================
MSG: std_msgs/Header
# Standard metadata for higher-level stamped data types.
# This is generally used to communicate timestamped data 
# in a particular coordinate frame.
# 
# sequence ID: consecutively increasing ID 
uint32 seq
#Two-integer timestamp that is expressed as:
# * stamp.secs: seconds (stamp_secs) since epoch
# * stamp.nsecs: nanoseconds since stamp_secs
# time-handling sugar is provided by the client library
time stamp
#Frame this data is associated with
# 0: no frame
# 1: global frame
string frame_id

================================================================================
MSG: geometry_msgs/Point
# This contains the position of a point in free space
float64 x
float64 y
float64 z

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

float64 x
float64 y
float64 z
"""
  # Pseudo-constants
  ROBOT_LINK = 0
  OBJECT = 1
  ATTACHED_BODY = 2

  __slots__ = ['header','position','normal','depth','contact_body_1','attached_body_1','body_type_1','contact_body_2','attached_body_2','body_type_2']
  _slot_types = ['std_msgs/Header','geometry_msgs/Point','geometry_msgs/Vector3','float64','string','string','uint32','string','string','uint32']

  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:
       header,position,normal,depth,contact_body_1,attached_body_1,body_type_1,contact_body_2,attached_body_2,body_type_2

    :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(ContactInformation, self).__init__(*args, **kwds)
      #message fields cannot be None, assign default values for those that are
      if self.header is None:
        self.header = std_msgs.msg.Header()
      if self.position is None:
        self.position = geometry_msgs.msg.Point()
      if self.normal is None:
        self.normal = geometry_msgs.msg.Vector3()
      if self.depth is None:
        self.depth = 0.
      if self.contact_body_1 is None:
        self.contact_body_1 = ''
      if self.attached_body_1 is None:
        self.attached_body_1 = ''
      if self.body_type_1 is None:
        self.body_type_1 = 0
      if self.contact_body_2 is None:
        self.contact_body_2 = ''
      if self.attached_body_2 is None:
        self.attached_body_2 = ''
      if self.body_type_2 is None:
        self.body_type_2 = 0
    else:
      self.header = std_msgs.msg.Header()
      self.position = geometry_msgs.msg.Point()
      self.normal = geometry_msgs.msg.Vector3()
      self.depth = 0.
      self.contact_body_1 = ''
      self.attached_body_1 = ''
      self.body_type_1 = 0
      self.contact_body_2 = ''
      self.attached_body_2 = ''
      self.body_type_2 = 0

  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_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
      _x = self.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_7d.pack(_x.position.x, _x.position.y, _x.position.z, _x.normal.x, _x.normal.y, _x.normal.z, _x.depth))
      _x = self.contact_body_1
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self.attached_body_1
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      buff.write(_struct_I.pack(self.body_type_1))
      _x = self.contact_body_2
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self.attached_body_2
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      buff.write(_struct_I.pack(self.body_type_2))
    except struct.error as se: self._check_types(se)
    except TypeError as te: self._check_types(te)

  def deserialize(self, str):
    """
    unpack serialized message in str into this message instance
    :param str: byte array of serialized message, ``str``
    """
    try:
      if self.header is None:
        self.header = std_msgs.msg.Header()
      if self.position is None:
        self.position = geometry_msgs.msg.Point()
      if self.normal is None:
        self.normal = geometry_msgs.msg.Vector3()
      end = 0
      _x = self
      start = end
      end += 12
      (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 56
      (_x.position.x, _x.position.y, _x.position.z, _x.normal.x, _x.normal.y, _x.normal.z, _x.depth,) = _struct_7d.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.contact_body_1 = str[start:end].decode('utf-8')
      else:
        self.contact_body_1 = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.attached_body_1 = str[start:end].decode('utf-8')
      else:
        self.attached_body_1 = str[start:end]
      start = end
      end += 4
      (self.body_type_1,) = _struct_I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.contact_body_2 = str[start:end].decode('utf-8')
      else:
        self.contact_body_2 = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.attached_body_2 = str[start:end].decode('utf-8')
      else:
        self.attached_body_2 = str[start:end]
      start = end
      end += 4
      (self.body_type_2,) = _struct_I.unpack(str[start:end])
      return self
    except struct.error as e:
      raise genpy.DeserializationError(e) #most likely buffer underfill


  def serialize_numpy(self, buff, numpy):
    """
    serialize message with numpy array types into buffer
    :param buff: buffer, ``StringIO``
    :param numpy: numpy python module
    """
    try:
      _x = self
      buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
      _x = self.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_7d.pack(_x.position.x, _x.position.y, _x.position.z, _x.normal.x, _x.normal.y, _x.normal.z, _x.depth))
      _x = self.contact_body_1
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self.attached_body_1
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      buff.write(_struct_I.pack(self.body_type_1))
      _x = self.contact_body_2
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self.attached_body_2
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      buff.write(_struct_I.pack(self.body_type_2))
    except struct.error as se: self._check_types(se)
    except TypeError as te: self._check_types(te)

  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.header is None:
        self.header = std_msgs.msg.Header()
      if self.position is None:
        self.position = geometry_msgs.msg.Point()
      if self.normal is None:
        self.normal = geometry_msgs.msg.Vector3()
      end = 0
      _x = self
      start = end
      end += 12
      (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 56
      (_x.position.x, _x.position.y, _x.position.z, _x.normal.x, _x.normal.y, _x.normal.z, _x.depth,) = _struct_7d.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.contact_body_1 = str[start:end].decode('utf-8')
      else:
        self.contact_body_1 = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.attached_body_1 = str[start:end].decode('utf-8')
      else:
        self.attached_body_1 = str[start:end]
      start = end
      end += 4
      (self.body_type_1,) = _struct_I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.contact_body_2 = str[start:end].decode('utf-8')
      else:
        self.contact_body_2 = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.attached_body_2 = str[start:end].decode('utf-8')
      else:
        self.attached_body_2 = str[start:end]
      start = end
      end += 4
      (self.body_type_2,) = _struct_I.unpack(str[start:end])
      return self
    except struct.error as e:
      raise genpy.DeserializationError(e) #most likely buffer underfill

_struct_I = genpy.struct_I
_struct_3I = struct.Struct("<3I")
_struct_7d = struct.Struct("<7d")