_CartImpTrajectoryPoint.py

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

import lwr_impedance_controller.msg
import geometry_msgs.msg
import genpy

class CartImpTrajectoryPoint(genpy.Message):
  _md5sum = "e50c14d9f0e04d3a544573bcc6e7bb7c"
  _type = "lwr_impedance_controller/CartImpTrajectoryPoint"
  _has_header = False #flag to mark the presence of a Header object
  _full_text = """geometry_msgs/Pose pose
lwr_impedance_controller/CartesianImpedance impedance
geometry_msgs/Wrench wrench
geometry_msgs/Twist velocity
duration time_from_start

================================================================================
MSG: geometry_msgs/Pose
# A representation of pose in free space, composed of postion and orientation. 
Point position
Quaternion orientation

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

================================================================================
MSG: geometry_msgs/Quaternion
# This represents an orientation in free space in quaternion form.

float64 x
float64 y
float64 z
float64 w

================================================================================
MSG: lwr_impedance_controller/CartesianImpedance
geometry_msgs/Wrench stiffness
geometry_msgs/Wrench damping

================================================================================
MSG: geometry_msgs/Wrench
# This represents force in free space, seperated into 
# it's linear and angular parts.  
Vector3  force
Vector3  torque

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

float64 x
float64 y
float64 z
================================================================================
MSG: geometry_msgs/Twist
# This expresses velocity in free space broken into it's linear and angular parts. 
Vector3  linear
Vector3  angular

"""
  __slots__ = ['pose','impedance','wrench','velocity','time_from_start']
  _slot_types = ['geometry_msgs/Pose','lwr_impedance_controller/CartesianImpedance','geometry_msgs/Wrench','geometry_msgs/Twist','duration']

  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:
       pose,impedance,wrench,velocity,time_from_start

    :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(CartImpTrajectoryPoint, self).__init__(*args, **kwds)
      #message fields cannot be None, assign default values for those that are
      if self.pose is None:
        self.pose = geometry_msgs.msg.Pose()
      if self.impedance is None:
        self.impedance = lwr_impedance_controller.msg.CartesianImpedance()
      if self.wrench is None:
        self.wrench = geometry_msgs.msg.Wrench()
      if self.velocity is None:
        self.velocity = geometry_msgs.msg.Twist()
      if self.time_from_start is None:
        self.time_from_start = genpy.Duration()
    else:
      self.pose = geometry_msgs.msg.Pose()
      self.impedance = lwr_impedance_controller.msg.CartesianImpedance()
      self.wrench = geometry_msgs.msg.Wrench()
      self.velocity = geometry_msgs.msg.Twist()
      self.time_from_start = genpy.Duration()

  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_31d2i.pack(_x.pose.position.x, _x.pose.position.y, _x.pose.position.z, _x.pose.orientation.x, _x.pose.orientation.y, _x.pose.orientation.z, _x.pose.orientation.w, _x.impedance.stiffness.force.x, _x.impedance.stiffness.force.y, _x.impedance.stiffness.force.z, _x.impedance.stiffness.torque.x, _x.impedance.stiffness.torque.y, _x.impedance.stiffness.torque.z, _x.impedance.damping.force.x, _x.impedance.damping.force.y, _x.impedance.damping.force.z, _x.impedance.damping.torque.x, _x.impedance.damping.torque.y, _x.impedance.damping.torque.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.velocity.linear.x, _x.velocity.linear.y, _x.velocity.linear.z, _x.velocity.angular.x, _x.velocity.angular.y, _x.velocity.angular.z, _x.time_from_start.secs, _x.time_from_start.nsecs))
    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.pose is None:
        self.pose = geometry_msgs.msg.Pose()
      if self.impedance is None:
        self.impedance = lwr_impedance_controller.msg.CartesianImpedance()
      if self.wrench is None:
        self.wrench = geometry_msgs.msg.Wrench()
      if self.velocity is None:
        self.velocity = geometry_msgs.msg.Twist()
      if self.time_from_start is None:
        self.time_from_start = genpy.Duration()
      end = 0
      _x = self
      start = end
      end += 256
      (_x.pose.position.x, _x.pose.position.y, _x.pose.position.z, _x.pose.orientation.x, _x.pose.orientation.y, _x.pose.orientation.z, _x.pose.orientation.w, _x.impedance.stiffness.force.x, _x.impedance.stiffness.force.y, _x.impedance.stiffness.force.z, _x.impedance.stiffness.torque.x, _x.impedance.stiffness.torque.y, _x.impedance.stiffness.torque.z, _x.impedance.damping.force.x, _x.impedance.damping.force.y, _x.impedance.damping.force.z, _x.impedance.damping.torque.x, _x.impedance.damping.torque.y, _x.impedance.damping.torque.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.velocity.linear.x, _x.velocity.linear.y, _x.velocity.linear.z, _x.velocity.angular.x, _x.velocity.angular.y, _x.velocity.angular.z, _x.time_from_start.secs, _x.time_from_start.nsecs,) = _struct_31d2i.unpack(str[start:end])
      self.time_from_start.canon()
      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_31d2i.pack(_x.pose.position.x, _x.pose.position.y, _x.pose.position.z, _x.pose.orientation.x, _x.pose.orientation.y, _x.pose.orientation.z, _x.pose.orientation.w, _x.impedance.stiffness.force.x, _x.impedance.stiffness.force.y, _x.impedance.stiffness.force.z, _x.impedance.stiffness.torque.x, _x.impedance.stiffness.torque.y, _x.impedance.stiffness.torque.z, _x.impedance.damping.force.x, _x.impedance.damping.force.y, _x.impedance.damping.force.z, _x.impedance.damping.torque.x, _x.impedance.damping.torque.y, _x.impedance.damping.torque.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.velocity.linear.x, _x.velocity.linear.y, _x.velocity.linear.z, _x.velocity.angular.x, _x.velocity.angular.y, _x.velocity.angular.z, _x.time_from_start.secs, _x.time_from_start.nsecs))
    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.pose is None:
        self.pose = geometry_msgs.msg.Pose()
      if self.impedance is None:
        self.impedance = lwr_impedance_controller.msg.CartesianImpedance()
      if self.wrench is None:
        self.wrench = geometry_msgs.msg.Wrench()
      if self.velocity is None:
        self.velocity = geometry_msgs.msg.Twist()
      if self.time_from_start is None:
        self.time_from_start = genpy.Duration()
      end = 0
      _x = self
      start = end
      end += 256
      (_x.pose.position.x, _x.pose.position.y, _x.pose.position.z, _x.pose.orientation.x, _x.pose.orientation.y, _x.pose.orientation.z, _x.pose.orientation.w, _x.impedance.stiffness.force.x, _x.impedance.stiffness.force.y, _x.impedance.stiffness.force.z, _x.impedance.stiffness.torque.x, _x.impedance.stiffness.torque.y, _x.impedance.stiffness.torque.z, _x.impedance.damping.force.x, _x.impedance.damping.force.y, _x.impedance.damping.force.z, _x.impedance.damping.torque.x, _x.impedance.damping.torque.y, _x.impedance.damping.torque.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.velocity.linear.x, _x.velocity.linear.y, _x.velocity.linear.z, _x.velocity.angular.x, _x.velocity.angular.y, _x.velocity.angular.z, _x.time_from_start.secs, _x.time_from_start.nsecs,) = _struct_31d2i.unpack(str[start:end])
      self.time_from_start.canon()
      return self
    except struct.error as e:
      raise genpy.DeserializationError(e) #most likely buffer underfill

_struct_I = genpy.struct_I
_struct_31d2i = struct.Struct("<31d2i")