_CartImpTrajectory.py

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"""autogenerated by genpy from lwr_impedance_controller/CartImpTrajectory.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
import std_msgs.msg

class CartImpTrajectory(genpy.Message):
  _md5sum = "d16d5667e567d51697c8ecf375bc347b"
  _type = "lwr_impedance_controller/CartImpTrajectory"
  _has_header = True #flag to mark the presence of a Header object
  _full_text = """Header header
geometry_msgs/Pose force_tool
lwr_impedance_controller/CartImpTrajectoryPoint[] trajectory

================================================================================
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/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/CartImpTrajectoryPoint
geometry_msgs/Pose pose
lwr_impedance_controller/CartesianImpedance impedance
geometry_msgs/Wrench wrench
geometry_msgs/Twist velocity
duration time_from_start

================================================================================
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__ = ['header','force_tool','trajectory']
  _slot_types = ['std_msgs/Header','geometry_msgs/Pose','lwr_impedance_controller/CartImpTrajectoryPoint[]']

  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,force_tool,trajectory

    :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(CartImpTrajectory, 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.force_tool is None:
        self.force_tool = geometry_msgs.msg.Pose()
      if self.trajectory is None:
        self.trajectory = []
    else:
      self.header = std_msgs.msg.Header()
      self.force_tool = geometry_msgs.msg.Pose()
      self.trajectory = []

  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.force_tool.position.x, _x.force_tool.position.y, _x.force_tool.position.z, _x.force_tool.orientation.x, _x.force_tool.orientation.y, _x.force_tool.orientation.z, _x.force_tool.orientation.w))
      length = len(self.trajectory)
      buff.write(_struct_I.pack(length))
      for val1 in self.trajectory:
        _v1 = val1.pose
        _v2 = _v1.position
        _x = _v2
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v3 = _v1.orientation
        _x = _v3
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
        _v4 = val1.impedance
        _v5 = _v4.stiffness
        _v6 = _v5.force
        _x = _v6
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v7 = _v5.torque
        _x = _v7
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v8 = _v4.damping
        _v9 = _v8.force
        _x = _v9
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v10 = _v8.torque
        _x = _v10
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v11 = val1.wrench
        _v12 = _v11.force
        _x = _v12
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v13 = _v11.torque
        _x = _v13
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v14 = val1.velocity
        _v15 = _v14.linear
        _x = _v15
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v16 = _v14.angular
        _x = _v16
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v17 = val1.time_from_start
        _x = _v17
        buff.write(_struct_2i.pack(_x.secs, _x.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.header is None:
        self.header = std_msgs.msg.Header()
      if self.force_tool is None:
        self.force_tool = geometry_msgs.msg.Pose()
      if self.trajectory is None:
        self.trajectory = None
      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.force_tool.position.x, _x.force_tool.position.y, _x.force_tool.position.z, _x.force_tool.orientation.x, _x.force_tool.orientation.y, _x.force_tool.orientation.z, _x.force_tool.orientation.w,) = _struct_7d.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.trajectory = []
      for i in range(0, length):
        val1 = lwr_impedance_controller.msg.CartImpTrajectoryPoint()
        _v18 = val1.pose
        _v19 = _v18.position
        _x = _v19
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v20 = _v18.orientation
        _x = _v20
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        _v21 = val1.impedance
        _v22 = _v21.stiffness
        _v23 = _v22.force
        _x = _v23
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v24 = _v22.torque
        _x = _v24
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v25 = _v21.damping
        _v26 = _v25.force
        _x = _v26
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v27 = _v25.torque
        _x = _v27
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v28 = val1.wrench
        _v29 = _v28.force
        _x = _v29
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v30 = _v28.torque
        _x = _v30
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v31 = val1.velocity
        _v32 = _v31.linear
        _x = _v32
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v33 = _v31.angular
        _x = _v33
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v34 = val1.time_from_start
        _x = _v34
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2i.unpack(str[start:end])
        self.trajectory.append(val1)
      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.force_tool.position.x, _x.force_tool.position.y, _x.force_tool.position.z, _x.force_tool.orientation.x, _x.force_tool.orientation.y, _x.force_tool.orientation.z, _x.force_tool.orientation.w))
      length = len(self.trajectory)
      buff.write(_struct_I.pack(length))
      for val1 in self.trajectory:
        _v35 = val1.pose
        _v36 = _v35.position
        _x = _v36
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v37 = _v35.orientation
        _x = _v37
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
        _v38 = val1.impedance
        _v39 = _v38.stiffness
        _v40 = _v39.force
        _x = _v40
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v41 = _v39.torque
        _x = _v41
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v42 = _v38.damping
        _v43 = _v42.force
        _x = _v43
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v44 = _v42.torque
        _x = _v44
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v45 = val1.wrench
        _v46 = _v45.force
        _x = _v46
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v47 = _v45.torque
        _x = _v47
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v48 = val1.velocity
        _v49 = _v48.linear
        _x = _v49
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v50 = _v48.angular
        _x = _v50
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v51 = val1.time_from_start
        _x = _v51
        buff.write(_struct_2i.pack(_x.secs, _x.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.header is None:
        self.header = std_msgs.msg.Header()
      if self.force_tool is None:
        self.force_tool = geometry_msgs.msg.Pose()
      if self.trajectory is None:
        self.trajectory = None
      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.force_tool.position.x, _x.force_tool.position.y, _x.force_tool.position.z, _x.force_tool.orientation.x, _x.force_tool.orientation.y, _x.force_tool.orientation.z, _x.force_tool.orientation.w,) = _struct_7d.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.trajectory = []
      for i in range(0, length):
        val1 = lwr_impedance_controller.msg.CartImpTrajectoryPoint()
        _v52 = val1.pose
        _v53 = _v52.position
        _x = _v53
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v54 = _v52.orientation
        _x = _v54
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        _v55 = val1.impedance
        _v56 = _v55.stiffness
        _v57 = _v56.force
        _x = _v57
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v58 = _v56.torque
        _x = _v58
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v59 = _v55.damping
        _v60 = _v59.force
        _x = _v60
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v61 = _v59.torque
        _x = _v61
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v62 = val1.wrench
        _v63 = _v62.force
        _x = _v63
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v64 = _v62.torque
        _x = _v64
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v65 = val1.velocity
        _v66 = _v65.linear
        _x = _v66
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v67 = _v65.angular
        _x = _v67
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v68 = val1.time_from_start
        _x = _v68
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2i.unpack(str[start:end])
        self.trajectory.append(val1)
      return self
    except struct.error as e:
      raise genpy.DeserializationError(e) #most likely buffer underfill

_struct_I = genpy.struct_I
_struct_2i = struct.Struct("<2i")
_struct_3I = struct.Struct("<3I")
_struct_7d = struct.Struct("<7d")
_struct_4d = struct.Struct("<4d")
_struct_3d = struct.Struct("<3d")