_JointMovementActionGoal.py
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00001 """autogenerated by genpy from katana_msgs/JointMovementActionGoal.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 sensor_msgs.msg
00008 import katana_msgs.msg
00009 import genpy
00010 import actionlib_msgs.msg
00011 import std_msgs.msg
00012 
00013 class JointMovementActionGoal(genpy.Message):
00014   _md5sum = "2b6e9b9692b7ab0a124ca0558966f79a"
00015   _type = "katana_msgs/JointMovementActionGoal"
00016   _has_header = True #flag to mark the presence of a Header object
00017   _full_text = """# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00018 
00019 Header header
00020 actionlib_msgs/GoalID goal_id
00021 JointMovementGoal goal
00022 
00023 ================================================================================
00024 MSG: std_msgs/Header
00025 # Standard metadata for higher-level stamped data types.
00026 # This is generally used to communicate timestamped data 
00027 # in a particular coordinate frame.
00028 # 
00029 # sequence ID: consecutively increasing ID 
00030 uint32 seq
00031 #Two-integer timestamp that is expressed as:
00032 # * stamp.secs: seconds (stamp_secs) since epoch
00033 # * stamp.nsecs: nanoseconds since stamp_secs
00034 # time-handling sugar is provided by the client library
00035 time stamp
00036 #Frame this data is associated with
00037 # 0: no frame
00038 # 1: global frame
00039 string frame_id
00040 
00041 ================================================================================
00042 MSG: actionlib_msgs/GoalID
00043 # The stamp should store the time at which this goal was requested.
00044 # It is used by an action server when it tries to preempt all
00045 # goals that were requested before a certain time
00046 time stamp
00047 
00048 # The id provides a way to associate feedback and
00049 # result message with specific goal requests. The id
00050 # specified must be unique.
00051 string id
00052 
00053 
00054 ================================================================================
00055 MSG: katana_msgs/JointMovementGoal
00056 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00057 #goal definition
00058 sensor_msgs/JointState jointGoal
00059 
00060 ================================================================================
00061 MSG: sensor_msgs/JointState
00062 # This is a message that holds data to describe the state of a set of torque controlled joints. 
00063 #
00064 # The state of each joint (revolute or prismatic) is defined by:
00065 #  * the position of the joint (rad or m),
00066 #  * the velocity of the joint (rad/s or m/s) and 
00067 #  * the effort that is applied in the joint (Nm or N).
00068 #
00069 # Each joint is uniquely identified by its name
00070 # The header specifies the time at which the joint states were recorded. All the joint states
00071 # in one message have to be recorded at the same time.
00072 #
00073 # This message consists of a multiple arrays, one for each part of the joint state. 
00074 # The goal is to make each of the fields optional. When e.g. your joints have no
00075 # effort associated with them, you can leave the effort array empty. 
00076 #
00077 # All arrays in this message should have the same size, or be empty.
00078 # This is the only way to uniquely associate the joint name with the correct
00079 # states.
00080 
00081 
00082 Header header
00083 
00084 string[] name
00085 float64[] position
00086 float64[] velocity
00087 float64[] effort
00088 
00089 """
00090   __slots__ = ['header','goal_id','goal']
00091   _slot_types = ['std_msgs/Header','actionlib_msgs/GoalID','katana_msgs/JointMovementGoal']
00092 
00093   def __init__(self, *args, **kwds):
00094     """
00095     Constructor. Any message fields that are implicitly/explicitly
00096     set to None will be assigned a default value. The recommend
00097     use is keyword arguments as this is more robust to future message
00098     changes.  You cannot mix in-order arguments and keyword arguments.
00099 
00100     The available fields are:
00101        header,goal_id,goal
00102 
00103     :param args: complete set of field values, in .msg order
00104     :param kwds: use keyword arguments corresponding to message field names
00105     to set specific fields.
00106     """
00107     if args or kwds:
00108       super(JointMovementActionGoal, self).__init__(*args, **kwds)
00109       #message fields cannot be None, assign default values for those that are
00110       if self.header is None:
00111         self.header = std_msgs.msg.Header()
00112       if self.goal_id is None:
00113         self.goal_id = actionlib_msgs.msg.GoalID()
00114       if self.goal is None:
00115         self.goal = katana_msgs.msg.JointMovementGoal()
00116     else:
00117       self.header = std_msgs.msg.Header()
00118       self.goal_id = actionlib_msgs.msg.GoalID()
00119       self.goal = katana_msgs.msg.JointMovementGoal()
00120 
00121   def _get_types(self):
00122     """
00123     internal API method
00124     """
00125     return self._slot_types
00126 
00127   def serialize(self, buff):
00128     """
00129     serialize message into buffer
00130     :param buff: buffer, ``StringIO``
00131     """
00132     try:
00133       _x = self
00134       buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
00135       _x = self.header.frame_id
00136       length = len(_x)
00137       if python3 or type(_x) == unicode:
00138         _x = _x.encode('utf-8')
00139         length = len(_x)
00140       buff.write(struct.pack('<I%ss'%length, length, _x))
00141       _x = self
00142       buff.write(_struct_2I.pack(_x.goal_id.stamp.secs, _x.goal_id.stamp.nsecs))
00143       _x = self.goal_id.id
00144       length = len(_x)
00145       if python3 or type(_x) == unicode:
00146         _x = _x.encode('utf-8')
00147         length = len(_x)
00148       buff.write(struct.pack('<I%ss'%length, length, _x))
00149       _x = self
00150       buff.write(_struct_3I.pack(_x.goal.jointGoal.header.seq, _x.goal.jointGoal.header.stamp.secs, _x.goal.jointGoal.header.stamp.nsecs))
00151       _x = self.goal.jointGoal.header.frame_id
00152       length = len(_x)
00153       if python3 or type(_x) == unicode:
00154         _x = _x.encode('utf-8')
00155         length = len(_x)
00156       buff.write(struct.pack('<I%ss'%length, length, _x))
00157       length = len(self.goal.jointGoal.name)
00158       buff.write(_struct_I.pack(length))
00159       for val1 in self.goal.jointGoal.name:
00160         length = len(val1)
00161         if python3 or type(val1) == unicode:
00162           val1 = val1.encode('utf-8')
00163           length = len(val1)
00164         buff.write(struct.pack('<I%ss'%length, length, val1))
00165       length = len(self.goal.jointGoal.position)
00166       buff.write(_struct_I.pack(length))
00167       pattern = '<%sd'%length
00168       buff.write(struct.pack(pattern, *self.goal.jointGoal.position))
00169       length = len(self.goal.jointGoal.velocity)
00170       buff.write(_struct_I.pack(length))
00171       pattern = '<%sd'%length
00172       buff.write(struct.pack(pattern, *self.goal.jointGoal.velocity))
00173       length = len(self.goal.jointGoal.effort)
00174       buff.write(_struct_I.pack(length))
00175       pattern = '<%sd'%length
00176       buff.write(struct.pack(pattern, *self.goal.jointGoal.effort))
00177     except struct.error as se: self._check_types(se)
00178     except TypeError as te: self._check_types(te)
00179 
00180   def deserialize(self, str):
00181     """
00182     unpack serialized message in str into this message instance
00183     :param str: byte array of serialized message, ``str``
00184     """
00185     try:
00186       if self.header is None:
00187         self.header = std_msgs.msg.Header()
00188       if self.goal_id is None:
00189         self.goal_id = actionlib_msgs.msg.GoalID()
00190       if self.goal is None:
00191         self.goal = katana_msgs.msg.JointMovementGoal()
00192       end = 0
00193       _x = self
00194       start = end
00195       end += 12
00196       (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00197       start = end
00198       end += 4
00199       (length,) = _struct_I.unpack(str[start:end])
00200       start = end
00201       end += length
00202       if python3:
00203         self.header.frame_id = str[start:end].decode('utf-8')
00204       else:
00205         self.header.frame_id = str[start:end]
00206       _x = self
00207       start = end
00208       end += 8
00209       (_x.goal_id.stamp.secs, _x.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00210       start = end
00211       end += 4
00212       (length,) = _struct_I.unpack(str[start:end])
00213       start = end
00214       end += length
00215       if python3:
00216         self.goal_id.id = str[start:end].decode('utf-8')
00217       else:
00218         self.goal_id.id = str[start:end]
00219       _x = self
00220       start = end
00221       end += 12
00222       (_x.goal.jointGoal.header.seq, _x.goal.jointGoal.header.stamp.secs, _x.goal.jointGoal.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00223       start = end
00224       end += 4
00225       (length,) = _struct_I.unpack(str[start:end])
00226       start = end
00227       end += length
00228       if python3:
00229         self.goal.jointGoal.header.frame_id = str[start:end].decode('utf-8')
00230       else:
00231         self.goal.jointGoal.header.frame_id = str[start:end]
00232       start = end
00233       end += 4
00234       (length,) = _struct_I.unpack(str[start:end])
00235       self.goal.jointGoal.name = []
00236       for i in range(0, length):
00237         start = end
00238         end += 4
00239         (length,) = _struct_I.unpack(str[start:end])
00240         start = end
00241         end += length
00242         if python3:
00243           val1 = str[start:end].decode('utf-8')
00244         else:
00245           val1 = str[start:end]
00246         self.goal.jointGoal.name.append(val1)
00247       start = end
00248       end += 4
00249       (length,) = _struct_I.unpack(str[start:end])
00250       pattern = '<%sd'%length
00251       start = end
00252       end += struct.calcsize(pattern)
00253       self.goal.jointGoal.position = struct.unpack(pattern, str[start:end])
00254       start = end
00255       end += 4
00256       (length,) = _struct_I.unpack(str[start:end])
00257       pattern = '<%sd'%length
00258       start = end
00259       end += struct.calcsize(pattern)
00260       self.goal.jointGoal.velocity = struct.unpack(pattern, str[start:end])
00261       start = end
00262       end += 4
00263       (length,) = _struct_I.unpack(str[start:end])
00264       pattern = '<%sd'%length
00265       start = end
00266       end += struct.calcsize(pattern)
00267       self.goal.jointGoal.effort = struct.unpack(pattern, str[start:end])
00268       return self
00269     except struct.error as e:
00270       raise genpy.DeserializationError(e) #most likely buffer underfill
00271 
00272 
00273   def serialize_numpy(self, buff, numpy):
00274     """
00275     serialize message with numpy array types into buffer
00276     :param buff: buffer, ``StringIO``
00277     :param numpy: numpy python module
00278     """
00279     try:
00280       _x = self
00281       buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
00282       _x = self.header.frame_id
00283       length = len(_x)
00284       if python3 or type(_x) == unicode:
00285         _x = _x.encode('utf-8')
00286         length = len(_x)
00287       buff.write(struct.pack('<I%ss'%length, length, _x))
00288       _x = self
00289       buff.write(_struct_2I.pack(_x.goal_id.stamp.secs, _x.goal_id.stamp.nsecs))
00290       _x = self.goal_id.id
00291       length = len(_x)
00292       if python3 or type(_x) == unicode:
00293         _x = _x.encode('utf-8')
00294         length = len(_x)
00295       buff.write(struct.pack('<I%ss'%length, length, _x))
00296       _x = self
00297       buff.write(_struct_3I.pack(_x.goal.jointGoal.header.seq, _x.goal.jointGoal.header.stamp.secs, _x.goal.jointGoal.header.stamp.nsecs))
00298       _x = self.goal.jointGoal.header.frame_id
00299       length = len(_x)
00300       if python3 or type(_x) == unicode:
00301         _x = _x.encode('utf-8')
00302         length = len(_x)
00303       buff.write(struct.pack('<I%ss'%length, length, _x))
00304       length = len(self.goal.jointGoal.name)
00305       buff.write(_struct_I.pack(length))
00306       for val1 in self.goal.jointGoal.name:
00307         length = len(val1)
00308         if python3 or type(val1) == unicode:
00309           val1 = val1.encode('utf-8')
00310           length = len(val1)
00311         buff.write(struct.pack('<I%ss'%length, length, val1))
00312       length = len(self.goal.jointGoal.position)
00313       buff.write(_struct_I.pack(length))
00314       pattern = '<%sd'%length
00315       buff.write(self.goal.jointGoal.position.tostring())
00316       length = len(self.goal.jointGoal.velocity)
00317       buff.write(_struct_I.pack(length))
00318       pattern = '<%sd'%length
00319       buff.write(self.goal.jointGoal.velocity.tostring())
00320       length = len(self.goal.jointGoal.effort)
00321       buff.write(_struct_I.pack(length))
00322       pattern = '<%sd'%length
00323       buff.write(self.goal.jointGoal.effort.tostring())
00324     except struct.error as se: self._check_types(se)
00325     except TypeError as te: self._check_types(te)
00326 
00327   def deserialize_numpy(self, str, numpy):
00328     """
00329     unpack serialized message in str into this message instance using numpy for array types
00330     :param str: byte array of serialized message, ``str``
00331     :param numpy: numpy python module
00332     """
00333     try:
00334       if self.header is None:
00335         self.header = std_msgs.msg.Header()
00336       if self.goal_id is None:
00337         self.goal_id = actionlib_msgs.msg.GoalID()
00338       if self.goal is None:
00339         self.goal = katana_msgs.msg.JointMovementGoal()
00340       end = 0
00341       _x = self
00342       start = end
00343       end += 12
00344       (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00345       start = end
00346       end += 4
00347       (length,) = _struct_I.unpack(str[start:end])
00348       start = end
00349       end += length
00350       if python3:
00351         self.header.frame_id = str[start:end].decode('utf-8')
00352       else:
00353         self.header.frame_id = str[start:end]
00354       _x = self
00355       start = end
00356       end += 8
00357       (_x.goal_id.stamp.secs, _x.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00358       start = end
00359       end += 4
00360       (length,) = _struct_I.unpack(str[start:end])
00361       start = end
00362       end += length
00363       if python3:
00364         self.goal_id.id = str[start:end].decode('utf-8')
00365       else:
00366         self.goal_id.id = str[start:end]
00367       _x = self
00368       start = end
00369       end += 12
00370       (_x.goal.jointGoal.header.seq, _x.goal.jointGoal.header.stamp.secs, _x.goal.jointGoal.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00371       start = end
00372       end += 4
00373       (length,) = _struct_I.unpack(str[start:end])
00374       start = end
00375       end += length
00376       if python3:
00377         self.goal.jointGoal.header.frame_id = str[start:end].decode('utf-8')
00378       else:
00379         self.goal.jointGoal.header.frame_id = str[start:end]
00380       start = end
00381       end += 4
00382       (length,) = _struct_I.unpack(str[start:end])
00383       self.goal.jointGoal.name = []
00384       for i in range(0, length):
00385         start = end
00386         end += 4
00387         (length,) = _struct_I.unpack(str[start:end])
00388         start = end
00389         end += length
00390         if python3:
00391           val1 = str[start:end].decode('utf-8')
00392         else:
00393           val1 = str[start:end]
00394         self.goal.jointGoal.name.append(val1)
00395       start = end
00396       end += 4
00397       (length,) = _struct_I.unpack(str[start:end])
00398       pattern = '<%sd'%length
00399       start = end
00400       end += struct.calcsize(pattern)
00401       self.goal.jointGoal.position = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00402       start = end
00403       end += 4
00404       (length,) = _struct_I.unpack(str[start:end])
00405       pattern = '<%sd'%length
00406       start = end
00407       end += struct.calcsize(pattern)
00408       self.goal.jointGoal.velocity = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00409       start = end
00410       end += 4
00411       (length,) = _struct_I.unpack(str[start:end])
00412       pattern = '<%sd'%length
00413       start = end
00414       end += struct.calcsize(pattern)
00415       self.goal.jointGoal.effort = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00416       return self
00417     except struct.error as e:
00418       raise genpy.DeserializationError(e) #most likely buffer underfill
00419 
00420 _struct_I = genpy.struct_I
00421 _struct_3I = struct.Struct("<3I")
00422 _struct_2I = struct.Struct("<2I")
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katana_msgs
Author(s): Martin Günther
autogenerated on Tue May 28 2013 14:50:07