00001 """autogenerated by genpy from hrl_phri_2011/ForceProcessed.msg. Do not edit."""
00002 import sys
00003 python3 = True if sys.hexversion > 0x03000000 else False
00004 import genpy
00005 import struct
00006
00007 import geometry_msgs.msg
00008 import std_msgs.msg
00009
00010 class ForceProcessed(genpy.Message):
00011 _md5sum = "5e1a218134302a1948d1586068f579b8"
00012 _type = "hrl_phri_2011/ForceProcessed"
00013 _has_header = True
00014 _full_text = """Header header
00015 float32 time_offset
00016 geometry_msgs/TransformStamped tool_frame
00017
00018 # pointcloud data
00019 int32 pc_ind
00020 geometry_msgs/Point pc_pt
00021 float32 pc_dist
00022 geometry_msgs/Vector3 pc_normal
00023
00024 # wrench data
00025 geometry_msgs/Wrench wrench
00026 geometry_msgs/Wrench raw_wrench
00027 float32 force_magnitude
00028 float32 force_normal
00029 float32 force_tangental
00030
00031 # semantic data
00032 geometry_msgs/Point ell_coords
00033 geometry_msgs/Transform tool_ell_frame
00034 string region
00035 string user
00036 int32 contact_period
00037 float32 time_from_contact_start
00038
00039 ================================================================================
00040 MSG: std_msgs/Header
00041 # Standard metadata for higher-level stamped data types.
00042 # This is generally used to communicate timestamped data
00043 # in a particular coordinate frame.
00044 #
00045 # sequence ID: consecutively increasing ID
00046 uint32 seq
00047 #Two-integer timestamp that is expressed as:
00048 # * stamp.secs: seconds (stamp_secs) since epoch
00049 # * stamp.nsecs: nanoseconds since stamp_secs
00050 # time-handling sugar is provided by the client library
00051 time stamp
00052 #Frame this data is associated with
00053 # 0: no frame
00054 # 1: global frame
00055 string frame_id
00056
00057 ================================================================================
00058 MSG: geometry_msgs/TransformStamped
00059 # This expresses a transform from coordinate frame header.frame_id
00060 # to the coordinate frame child_frame_id
00061 #
00062 # This message is mostly used by the
00063 # <a href="http://www.ros.org/wiki/tf">tf</a> package.
00064 # See it's documentation for more information.
00065
00066 Header header
00067 string child_frame_id # the frame id of the child frame
00068 Transform transform
00069
00070 ================================================================================
00071 MSG: geometry_msgs/Transform
00072 # This represents the transform between two coordinate frames in free space.
00073
00074 Vector3 translation
00075 Quaternion rotation
00076
00077 ================================================================================
00078 MSG: geometry_msgs/Vector3
00079 # This represents a vector in free space.
00080
00081 float64 x
00082 float64 y
00083 float64 z
00084 ================================================================================
00085 MSG: geometry_msgs/Quaternion
00086 # This represents an orientation in free space in quaternion form.
00087
00088 float64 x
00089 float64 y
00090 float64 z
00091 float64 w
00092
00093 ================================================================================
00094 MSG: geometry_msgs/Point
00095 # This contains the position of a point in free space
00096 float64 x
00097 float64 y
00098 float64 z
00099
00100 ================================================================================
00101 MSG: geometry_msgs/Wrench
00102 # This represents force in free space, seperated into
00103 # it's linear and angular parts.
00104 Vector3 force
00105 Vector3 torque
00106
00107 """
00108 __slots__ = ['header','time_offset','tool_frame','pc_ind','pc_pt','pc_dist','pc_normal','wrench','raw_wrench','force_magnitude','force_normal','force_tangental','ell_coords','tool_ell_frame','region','user','contact_period','time_from_contact_start']
00109 _slot_types = ['std_msgs/Header','float32','geometry_msgs/TransformStamped','int32','geometry_msgs/Point','float32','geometry_msgs/Vector3','geometry_msgs/Wrench','geometry_msgs/Wrench','float32','float32','float32','geometry_msgs/Point','geometry_msgs/Transform','string','string','int32','float32']
00110
00111 def __init__(self, *args, **kwds):
00112 """
00113 Constructor. Any message fields that are implicitly/explicitly
00114 set to None will be assigned a default value. The recommend
00115 use is keyword arguments as this is more robust to future message
00116 changes. You cannot mix in-order arguments and keyword arguments.
00117
00118 The available fields are:
00119 header,time_offset,tool_frame,pc_ind,pc_pt,pc_dist,pc_normal,wrench,raw_wrench,force_magnitude,force_normal,force_tangental,ell_coords,tool_ell_frame,region,user,contact_period,time_from_contact_start
00120
00121 :param args: complete set of field values, in .msg order
00122 :param kwds: use keyword arguments corresponding to message field names
00123 to set specific fields.
00124 """
00125 if args or kwds:
00126 super(ForceProcessed, self).__init__(*args, **kwds)
00127
00128 if self.header is None:
00129 self.header = std_msgs.msg.Header()
00130 if self.time_offset is None:
00131 self.time_offset = 0.
00132 if self.tool_frame is None:
00133 self.tool_frame = geometry_msgs.msg.TransformStamped()
00134 if self.pc_ind is None:
00135 self.pc_ind = 0
00136 if self.pc_pt is None:
00137 self.pc_pt = geometry_msgs.msg.Point()
00138 if self.pc_dist is None:
00139 self.pc_dist = 0.
00140 if self.pc_normal is None:
00141 self.pc_normal = geometry_msgs.msg.Vector3()
00142 if self.wrench is None:
00143 self.wrench = geometry_msgs.msg.Wrench()
00144 if self.raw_wrench is None:
00145 self.raw_wrench = geometry_msgs.msg.Wrench()
00146 if self.force_magnitude is None:
00147 self.force_magnitude = 0.
00148 if self.force_normal is None:
00149 self.force_normal = 0.
00150 if self.force_tangental is None:
00151 self.force_tangental = 0.
00152 if self.ell_coords is None:
00153 self.ell_coords = geometry_msgs.msg.Point()
00154 if self.tool_ell_frame is None:
00155 self.tool_ell_frame = geometry_msgs.msg.Transform()
00156 if self.region is None:
00157 self.region = ''
00158 if self.user is None:
00159 self.user = ''
00160 if self.contact_period is None:
00161 self.contact_period = 0
00162 if self.time_from_contact_start is None:
00163 self.time_from_contact_start = 0.
00164 else:
00165 self.header = std_msgs.msg.Header()
00166 self.time_offset = 0.
00167 self.tool_frame = geometry_msgs.msg.TransformStamped()
00168 self.pc_ind = 0
00169 self.pc_pt = geometry_msgs.msg.Point()
00170 self.pc_dist = 0.
00171 self.pc_normal = geometry_msgs.msg.Vector3()
00172 self.wrench = geometry_msgs.msg.Wrench()
00173 self.raw_wrench = geometry_msgs.msg.Wrench()
00174 self.force_magnitude = 0.
00175 self.force_normal = 0.
00176 self.force_tangental = 0.
00177 self.ell_coords = geometry_msgs.msg.Point()
00178 self.tool_ell_frame = geometry_msgs.msg.Transform()
00179 self.region = ''
00180 self.user = ''
00181 self.contact_period = 0
00182 self.time_from_contact_start = 0.
00183
00184 def _get_types(self):
00185 """
00186 internal API method
00187 """
00188 return self._slot_types
00189
00190 def serialize(self, buff):
00191 """
00192 serialize message into buffer
00193 :param buff: buffer, ``StringIO``
00194 """
00195 try:
00196 _x = self
00197 buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
00198 _x = self.header.frame_id
00199 length = len(_x)
00200 if python3 or type(_x) == unicode:
00201 _x = _x.encode('utf-8')
00202 length = len(_x)
00203 buff.write(struct.pack('<I%ss'%length, length, _x))
00204 _x = self
00205 buff.write(_struct_f3I.pack(_x.time_offset, _x.tool_frame.header.seq, _x.tool_frame.header.stamp.secs, _x.tool_frame.header.stamp.nsecs))
00206 _x = self.tool_frame.header.frame_id
00207 length = len(_x)
00208 if python3 or type(_x) == unicode:
00209 _x = _x.encode('utf-8')
00210 length = len(_x)
00211 buff.write(struct.pack('<I%ss'%length, length, _x))
00212 _x = self.tool_frame.child_frame_id
00213 length = len(_x)
00214 if python3 or type(_x) == unicode:
00215 _x = _x.encode('utf-8')
00216 length = len(_x)
00217 buff.write(struct.pack('<I%ss'%length, length, _x))
00218 _x = self
00219 buff.write(_struct_7di3df15d3f10d.pack(_x.tool_frame.transform.translation.x, _x.tool_frame.transform.translation.y, _x.tool_frame.transform.translation.z, _x.tool_frame.transform.rotation.x, _x.tool_frame.transform.rotation.y, _x.tool_frame.transform.rotation.z, _x.tool_frame.transform.rotation.w, _x.pc_ind, _x.pc_pt.x, _x.pc_pt.y, _x.pc_pt.z, _x.pc_dist, _x.pc_normal.x, _x.pc_normal.y, _x.pc_normal.z, _x.wrench.force.x, _x.wrench.force.y, _x.wrench.force.z, _x.wrench.torque.x, _x.wrench.torque.y, _x.wrench.torque.z, _x.raw_wrench.force.x, _x.raw_wrench.force.y, _x.raw_wrench.force.z, _x.raw_wrench.torque.x, _x.raw_wrench.torque.y, _x.raw_wrench.torque.z, _x.force_magnitude, _x.force_normal, _x.force_tangental, _x.ell_coords.x, _x.ell_coords.y, _x.ell_coords.z, _x.tool_ell_frame.translation.x, _x.tool_ell_frame.translation.y, _x.tool_ell_frame.translation.z, _x.tool_ell_frame.rotation.x, _x.tool_ell_frame.rotation.y, _x.tool_ell_frame.rotation.z, _x.tool_ell_frame.rotation.w))
00220 _x = self.region
00221 length = len(_x)
00222 if python3 or type(_x) == unicode:
00223 _x = _x.encode('utf-8')
00224 length = len(_x)
00225 buff.write(struct.pack('<I%ss'%length, length, _x))
00226 _x = self.user
00227 length = len(_x)
00228 if python3 or type(_x) == unicode:
00229 _x = _x.encode('utf-8')
00230 length = len(_x)
00231 buff.write(struct.pack('<I%ss'%length, length, _x))
00232 _x = self
00233 buff.write(_struct_if.pack(_x.contact_period, _x.time_from_contact_start))
00234 except struct.error as se: self._check_types(se)
00235 except TypeError as te: self._check_types(te)
00236
00237 def deserialize(self, str):
00238 """
00239 unpack serialized message in str into this message instance
00240 :param str: byte array of serialized message, ``str``
00241 """
00242 try:
00243 if self.header is None:
00244 self.header = std_msgs.msg.Header()
00245 if self.tool_frame is None:
00246 self.tool_frame = geometry_msgs.msg.TransformStamped()
00247 if self.pc_pt is None:
00248 self.pc_pt = geometry_msgs.msg.Point()
00249 if self.pc_normal is None:
00250 self.pc_normal = geometry_msgs.msg.Vector3()
00251 if self.wrench is None:
00252 self.wrench = geometry_msgs.msg.Wrench()
00253 if self.raw_wrench is None:
00254 self.raw_wrench = geometry_msgs.msg.Wrench()
00255 if self.ell_coords is None:
00256 self.ell_coords = geometry_msgs.msg.Point()
00257 if self.tool_ell_frame is None:
00258 self.tool_ell_frame = geometry_msgs.msg.Transform()
00259 end = 0
00260 _x = self
00261 start = end
00262 end += 12
00263 (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00264 start = end
00265 end += 4
00266 (length,) = _struct_I.unpack(str[start:end])
00267 start = end
00268 end += length
00269 if python3:
00270 self.header.frame_id = str[start:end].decode('utf-8')
00271 else:
00272 self.header.frame_id = str[start:end]
00273 _x = self
00274 start = end
00275 end += 16
00276 (_x.time_offset, _x.tool_frame.header.seq, _x.tool_frame.header.stamp.secs, _x.tool_frame.header.stamp.nsecs,) = _struct_f3I.unpack(str[start:end])
00277 start = end
00278 end += 4
00279 (length,) = _struct_I.unpack(str[start:end])
00280 start = end
00281 end += length
00282 if python3:
00283 self.tool_frame.header.frame_id = str[start:end].decode('utf-8')
00284 else:
00285 self.tool_frame.header.frame_id = str[start:end]
00286 start = end
00287 end += 4
00288 (length,) = _struct_I.unpack(str[start:end])
00289 start = end
00290 end += length
00291 if python3:
00292 self.tool_frame.child_frame_id = str[start:end].decode('utf-8')
00293 else:
00294 self.tool_frame.child_frame_id = str[start:end]
00295 _x = self
00296 start = end
00297 end += 300
00298 (_x.tool_frame.transform.translation.x, _x.tool_frame.transform.translation.y, _x.tool_frame.transform.translation.z, _x.tool_frame.transform.rotation.x, _x.tool_frame.transform.rotation.y, _x.tool_frame.transform.rotation.z, _x.tool_frame.transform.rotation.w, _x.pc_ind, _x.pc_pt.x, _x.pc_pt.y, _x.pc_pt.z, _x.pc_dist, _x.pc_normal.x, _x.pc_normal.y, _x.pc_normal.z, _x.wrench.force.x, _x.wrench.force.y, _x.wrench.force.z, _x.wrench.torque.x, _x.wrench.torque.y, _x.wrench.torque.z, _x.raw_wrench.force.x, _x.raw_wrench.force.y, _x.raw_wrench.force.z, _x.raw_wrench.torque.x, _x.raw_wrench.torque.y, _x.raw_wrench.torque.z, _x.force_magnitude, _x.force_normal, _x.force_tangental, _x.ell_coords.x, _x.ell_coords.y, _x.ell_coords.z, _x.tool_ell_frame.translation.x, _x.tool_ell_frame.translation.y, _x.tool_ell_frame.translation.z, _x.tool_ell_frame.rotation.x, _x.tool_ell_frame.rotation.y, _x.tool_ell_frame.rotation.z, _x.tool_ell_frame.rotation.w,) = _struct_7di3df15d3f10d.unpack(str[start:end])
00299 start = end
00300 end += 4
00301 (length,) = _struct_I.unpack(str[start:end])
00302 start = end
00303 end += length
00304 if python3:
00305 self.region = str[start:end].decode('utf-8')
00306 else:
00307 self.region = str[start:end]
00308 start = end
00309 end += 4
00310 (length,) = _struct_I.unpack(str[start:end])
00311 start = end
00312 end += length
00313 if python3:
00314 self.user = str[start:end].decode('utf-8')
00315 else:
00316 self.user = str[start:end]
00317 _x = self
00318 start = end
00319 end += 8
00320 (_x.contact_period, _x.time_from_contact_start,) = _struct_if.unpack(str[start:end])
00321 return self
00322 except struct.error as e:
00323 raise genpy.DeserializationError(e)
00324
00325
00326 def serialize_numpy(self, buff, numpy):
00327 """
00328 serialize message with numpy array types into buffer
00329 :param buff: buffer, ``StringIO``
00330 :param numpy: numpy python module
00331 """
00332 try:
00333 _x = self
00334 buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
00335 _x = self.header.frame_id
00336 length = len(_x)
00337 if python3 or type(_x) == unicode:
00338 _x = _x.encode('utf-8')
00339 length = len(_x)
00340 buff.write(struct.pack('<I%ss'%length, length, _x))
00341 _x = self
00342 buff.write(_struct_f3I.pack(_x.time_offset, _x.tool_frame.header.seq, _x.tool_frame.header.stamp.secs, _x.tool_frame.header.stamp.nsecs))
00343 _x = self.tool_frame.header.frame_id
00344 length = len(_x)
00345 if python3 or type(_x) == unicode:
00346 _x = _x.encode('utf-8')
00347 length = len(_x)
00348 buff.write(struct.pack('<I%ss'%length, length, _x))
00349 _x = self.tool_frame.child_frame_id
00350 length = len(_x)
00351 if python3 or type(_x) == unicode:
00352 _x = _x.encode('utf-8')
00353 length = len(_x)
00354 buff.write(struct.pack('<I%ss'%length, length, _x))
00355 _x = self
00356 buff.write(_struct_7di3df15d3f10d.pack(_x.tool_frame.transform.translation.x, _x.tool_frame.transform.translation.y, _x.tool_frame.transform.translation.z, _x.tool_frame.transform.rotation.x, _x.tool_frame.transform.rotation.y, _x.tool_frame.transform.rotation.z, _x.tool_frame.transform.rotation.w, _x.pc_ind, _x.pc_pt.x, _x.pc_pt.y, _x.pc_pt.z, _x.pc_dist, _x.pc_normal.x, _x.pc_normal.y, _x.pc_normal.z, _x.wrench.force.x, _x.wrench.force.y, _x.wrench.force.z, _x.wrench.torque.x, _x.wrench.torque.y, _x.wrench.torque.z, _x.raw_wrench.force.x, _x.raw_wrench.force.y, _x.raw_wrench.force.z, _x.raw_wrench.torque.x, _x.raw_wrench.torque.y, _x.raw_wrench.torque.z, _x.force_magnitude, _x.force_normal, _x.force_tangental, _x.ell_coords.x, _x.ell_coords.y, _x.ell_coords.z, _x.tool_ell_frame.translation.x, _x.tool_ell_frame.translation.y, _x.tool_ell_frame.translation.z, _x.tool_ell_frame.rotation.x, _x.tool_ell_frame.rotation.y, _x.tool_ell_frame.rotation.z, _x.tool_ell_frame.rotation.w))
00357 _x = self.region
00358 length = len(_x)
00359 if python3 or type(_x) == unicode:
00360 _x = _x.encode('utf-8')
00361 length = len(_x)
00362 buff.write(struct.pack('<I%ss'%length, length, _x))
00363 _x = self.user
00364 length = len(_x)
00365 if python3 or type(_x) == unicode:
00366 _x = _x.encode('utf-8')
00367 length = len(_x)
00368 buff.write(struct.pack('<I%ss'%length, length, _x))
00369 _x = self
00370 buff.write(_struct_if.pack(_x.contact_period, _x.time_from_contact_start))
00371 except struct.error as se: self._check_types(se)
00372 except TypeError as te: self._check_types(te)
00373
00374 def deserialize_numpy(self, str, numpy):
00375 """
00376 unpack serialized message in str into this message instance using numpy for array types
00377 :param str: byte array of serialized message, ``str``
00378 :param numpy: numpy python module
00379 """
00380 try:
00381 if self.header is None:
00382 self.header = std_msgs.msg.Header()
00383 if self.tool_frame is None:
00384 self.tool_frame = geometry_msgs.msg.TransformStamped()
00385 if self.pc_pt is None:
00386 self.pc_pt = geometry_msgs.msg.Point()
00387 if self.pc_normal is None:
00388 self.pc_normal = geometry_msgs.msg.Vector3()
00389 if self.wrench is None:
00390 self.wrench = geometry_msgs.msg.Wrench()
00391 if self.raw_wrench is None:
00392 self.raw_wrench = geometry_msgs.msg.Wrench()
00393 if self.ell_coords is None:
00394 self.ell_coords = geometry_msgs.msg.Point()
00395 if self.tool_ell_frame is None:
00396 self.tool_ell_frame = geometry_msgs.msg.Transform()
00397 end = 0
00398 _x = self
00399 start = end
00400 end += 12
00401 (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00402 start = end
00403 end += 4
00404 (length,) = _struct_I.unpack(str[start:end])
00405 start = end
00406 end += length
00407 if python3:
00408 self.header.frame_id = str[start:end].decode('utf-8')
00409 else:
00410 self.header.frame_id = str[start:end]
00411 _x = self
00412 start = end
00413 end += 16
00414 (_x.time_offset, _x.tool_frame.header.seq, _x.tool_frame.header.stamp.secs, _x.tool_frame.header.stamp.nsecs,) = _struct_f3I.unpack(str[start:end])
00415 start = end
00416 end += 4
00417 (length,) = _struct_I.unpack(str[start:end])
00418 start = end
00419 end += length
00420 if python3:
00421 self.tool_frame.header.frame_id = str[start:end].decode('utf-8')
00422 else:
00423 self.tool_frame.header.frame_id = str[start:end]
00424 start = end
00425 end += 4
00426 (length,) = _struct_I.unpack(str[start:end])
00427 start = end
00428 end += length
00429 if python3:
00430 self.tool_frame.child_frame_id = str[start:end].decode('utf-8')
00431 else:
00432 self.tool_frame.child_frame_id = str[start:end]
00433 _x = self
00434 start = end
00435 end += 300
00436 (_x.tool_frame.transform.translation.x, _x.tool_frame.transform.translation.y, _x.tool_frame.transform.translation.z, _x.tool_frame.transform.rotation.x, _x.tool_frame.transform.rotation.y, _x.tool_frame.transform.rotation.z, _x.tool_frame.transform.rotation.w, _x.pc_ind, _x.pc_pt.x, _x.pc_pt.y, _x.pc_pt.z, _x.pc_dist, _x.pc_normal.x, _x.pc_normal.y, _x.pc_normal.z, _x.wrench.force.x, _x.wrench.force.y, _x.wrench.force.z, _x.wrench.torque.x, _x.wrench.torque.y, _x.wrench.torque.z, _x.raw_wrench.force.x, _x.raw_wrench.force.y, _x.raw_wrench.force.z, _x.raw_wrench.torque.x, _x.raw_wrench.torque.y, _x.raw_wrench.torque.z, _x.force_magnitude, _x.force_normal, _x.force_tangental, _x.ell_coords.x, _x.ell_coords.y, _x.ell_coords.z, _x.tool_ell_frame.translation.x, _x.tool_ell_frame.translation.y, _x.tool_ell_frame.translation.z, _x.tool_ell_frame.rotation.x, _x.tool_ell_frame.rotation.y, _x.tool_ell_frame.rotation.z, _x.tool_ell_frame.rotation.w,) = _struct_7di3df15d3f10d.unpack(str[start:end])
00437 start = end
00438 end += 4
00439 (length,) = _struct_I.unpack(str[start:end])
00440 start = end
00441 end += length
00442 if python3:
00443 self.region = str[start:end].decode('utf-8')
00444 else:
00445 self.region = str[start:end]
00446 start = end
00447 end += 4
00448 (length,) = _struct_I.unpack(str[start:end])
00449 start = end
00450 end += length
00451 if python3:
00452 self.user = str[start:end].decode('utf-8')
00453 else:
00454 self.user = str[start:end]
00455 _x = self
00456 start = end
00457 end += 8
00458 (_x.contact_period, _x.time_from_contact_start,) = _struct_if.unpack(str[start:end])
00459 return self
00460 except struct.error as e:
00461 raise genpy.DeserializationError(e)
00462
00463 _struct_I = genpy.struct_I
00464 _struct_f3I = struct.Struct("<f3I")
00465 _struct_3I = struct.Struct("<3I")
00466 _struct_if = struct.Struct("<if")
00467 _struct_7di3df15d3f10d = struct.Struct("<7di3df15d3f10d")