00001 """autogenerated by genpy from nao_msgs/JointAnglesWithSpeedActionGoal.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 nao_msgs.msg
00008 import genpy
00009 import actionlib_msgs.msg
00010 import std_msgs.msg
00011
00012 class JointAnglesWithSpeedActionGoal(genpy.Message):
00013 _md5sum = "9b722e9749aa53fc0e8ca7aa12e95efb"
00014 _type = "nao_msgs/JointAnglesWithSpeedActionGoal"
00015 _has_header = True
00016 _full_text = """# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00017
00018 Header header
00019 actionlib_msgs/GoalID goal_id
00020 JointAnglesWithSpeedGoal goal
00021
00022 ================================================================================
00023 MSG: std_msgs/Header
00024 # Standard metadata for higher-level stamped data types.
00025 # This is generally used to communicate timestamped data
00026 # in a particular coordinate frame.
00027 #
00028 # sequence ID: consecutively increasing ID
00029 uint32 seq
00030 #Two-integer timestamp that is expressed as:
00031 # * stamp.secs: seconds (stamp_secs) since epoch
00032 # * stamp.nsecs: nanoseconds since stamp_secs
00033 # time-handling sugar is provided by the client library
00034 time stamp
00035 #Frame this data is associated with
00036 # 0: no frame
00037 # 1: global frame
00038 string frame_id
00039
00040 ================================================================================
00041 MSG: actionlib_msgs/GoalID
00042 # The stamp should store the time at which this goal was requested.
00043 # It is used by an action server when it tries to preempt all
00044 # goals that were requested before a certain time
00045 time stamp
00046
00047 # The id provides a way to associate feedback and
00048 # result message with specific goal requests. The id
00049 # specified must be unique.
00050 string id
00051
00052
00053 ================================================================================
00054 MSG: nao_msgs/JointAnglesWithSpeedGoal
00055 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00056 # goal: a registered body pose name
00057 nao_msgs/JointAnglesWithSpeed joint_angles
00058
00059 ================================================================================
00060 MSG: nao_msgs/JointAnglesWithSpeed
00061 Header header
00062
00063 # A list of joint names, corresponding to their names in the Nao docs.
00064 # This must be either the same lenght of joint_angles or 1 if it's a
00065 # keyword such as 'Body' (for all angles)
00066 string[] joint_names
00067 float32[] joint_angles
00068
00069 #fraction of max joint velocity [0:1]
00070 float32 speed
00071
00072 # Absolute angle(=0, default) or relative change
00073 uint8 relative
00074
00075 """
00076 __slots__ = ['header','goal_id','goal']
00077 _slot_types = ['std_msgs/Header','actionlib_msgs/GoalID','nao_msgs/JointAnglesWithSpeedGoal']
00078
00079 def __init__(self, *args, **kwds):
00080 """
00081 Constructor. Any message fields that are implicitly/explicitly
00082 set to None will be assigned a default value. The recommend
00083 use is keyword arguments as this is more robust to future message
00084 changes. You cannot mix in-order arguments and keyword arguments.
00085
00086 The available fields are:
00087 header,goal_id,goal
00088
00089 :param args: complete set of field values, in .msg order
00090 :param kwds: use keyword arguments corresponding to message field names
00091 to set specific fields.
00092 """
00093 if args or kwds:
00094 super(JointAnglesWithSpeedActionGoal, self).__init__(*args, **kwds)
00095
00096 if self.header is None:
00097 self.header = std_msgs.msg.Header()
00098 if self.goal_id is None:
00099 self.goal_id = actionlib_msgs.msg.GoalID()
00100 if self.goal is None:
00101 self.goal = nao_msgs.msg.JointAnglesWithSpeedGoal()
00102 else:
00103 self.header = std_msgs.msg.Header()
00104 self.goal_id = actionlib_msgs.msg.GoalID()
00105 self.goal = nao_msgs.msg.JointAnglesWithSpeedGoal()
00106
00107 def _get_types(self):
00108 """
00109 internal API method
00110 """
00111 return self._slot_types
00112
00113 def serialize(self, buff):
00114 """
00115 serialize message into buffer
00116 :param buff: buffer, ``StringIO``
00117 """
00118 try:
00119 _x = self
00120 buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
00121 _x = self.header.frame_id
00122 length = len(_x)
00123 if python3 or type(_x) == unicode:
00124 _x = _x.encode('utf-8')
00125 length = len(_x)
00126 buff.write(struct.pack('<I%ss'%length, length, _x))
00127 _x = self
00128 buff.write(_struct_2I.pack(_x.goal_id.stamp.secs, _x.goal_id.stamp.nsecs))
00129 _x = self.goal_id.id
00130 length = len(_x)
00131 if python3 or type(_x) == unicode:
00132 _x = _x.encode('utf-8')
00133 length = len(_x)
00134 buff.write(struct.pack('<I%ss'%length, length, _x))
00135 _x = self
00136 buff.write(_struct_3I.pack(_x.goal.joint_angles.header.seq, _x.goal.joint_angles.header.stamp.secs, _x.goal.joint_angles.header.stamp.nsecs))
00137 _x = self.goal.joint_angles.header.frame_id
00138 length = len(_x)
00139 if python3 or type(_x) == unicode:
00140 _x = _x.encode('utf-8')
00141 length = len(_x)
00142 buff.write(struct.pack('<I%ss'%length, length, _x))
00143 length = len(self.goal.joint_angles.joint_names)
00144 buff.write(_struct_I.pack(length))
00145 for val1 in self.goal.joint_angles.joint_names:
00146 length = len(val1)
00147 if python3 or type(val1) == unicode:
00148 val1 = val1.encode('utf-8')
00149 length = len(val1)
00150 buff.write(struct.pack('<I%ss'%length, length, val1))
00151 length = len(self.goal.joint_angles.joint_angles)
00152 buff.write(_struct_I.pack(length))
00153 pattern = '<%sf'%length
00154 buff.write(struct.pack(pattern, *self.goal.joint_angles.joint_angles))
00155 _x = self
00156 buff.write(_struct_fB.pack(_x.goal.joint_angles.speed, _x.goal.joint_angles.relative))
00157 except struct.error as se: self._check_types(se)
00158 except TypeError as te: self._check_types(te)
00159
00160 def deserialize(self, str):
00161 """
00162 unpack serialized message in str into this message instance
00163 :param str: byte array of serialized message, ``str``
00164 """
00165 try:
00166 if self.header is None:
00167 self.header = std_msgs.msg.Header()
00168 if self.goal_id is None:
00169 self.goal_id = actionlib_msgs.msg.GoalID()
00170 if self.goal is None:
00171 self.goal = nao_msgs.msg.JointAnglesWithSpeedGoal()
00172 end = 0
00173 _x = self
00174 start = end
00175 end += 12
00176 (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00177 start = end
00178 end += 4
00179 (length,) = _struct_I.unpack(str[start:end])
00180 start = end
00181 end += length
00182 if python3:
00183 self.header.frame_id = str[start:end].decode('utf-8')
00184 else:
00185 self.header.frame_id = str[start:end]
00186 _x = self
00187 start = end
00188 end += 8
00189 (_x.goal_id.stamp.secs, _x.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00190 start = end
00191 end += 4
00192 (length,) = _struct_I.unpack(str[start:end])
00193 start = end
00194 end += length
00195 if python3:
00196 self.goal_id.id = str[start:end].decode('utf-8')
00197 else:
00198 self.goal_id.id = str[start:end]
00199 _x = self
00200 start = end
00201 end += 12
00202 (_x.goal.joint_angles.header.seq, _x.goal.joint_angles.header.stamp.secs, _x.goal.joint_angles.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00203 start = end
00204 end += 4
00205 (length,) = _struct_I.unpack(str[start:end])
00206 start = end
00207 end += length
00208 if python3:
00209 self.goal.joint_angles.header.frame_id = str[start:end].decode('utf-8')
00210 else:
00211 self.goal.joint_angles.header.frame_id = str[start:end]
00212 start = end
00213 end += 4
00214 (length,) = _struct_I.unpack(str[start:end])
00215 self.goal.joint_angles.joint_names = []
00216 for i in range(0, length):
00217 start = end
00218 end += 4
00219 (length,) = _struct_I.unpack(str[start:end])
00220 start = end
00221 end += length
00222 if python3:
00223 val1 = str[start:end].decode('utf-8')
00224 else:
00225 val1 = str[start:end]
00226 self.goal.joint_angles.joint_names.append(val1)
00227 start = end
00228 end += 4
00229 (length,) = _struct_I.unpack(str[start:end])
00230 pattern = '<%sf'%length
00231 start = end
00232 end += struct.calcsize(pattern)
00233 self.goal.joint_angles.joint_angles = struct.unpack(pattern, str[start:end])
00234 _x = self
00235 start = end
00236 end += 5
00237 (_x.goal.joint_angles.speed, _x.goal.joint_angles.relative,) = _struct_fB.unpack(str[start:end])
00238 return self
00239 except struct.error as e:
00240 raise genpy.DeserializationError(e)
00241
00242
00243 def serialize_numpy(self, buff, numpy):
00244 """
00245 serialize message with numpy array types into buffer
00246 :param buff: buffer, ``StringIO``
00247 :param numpy: numpy python module
00248 """
00249 try:
00250 _x = self
00251 buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
00252 _x = self.header.frame_id
00253 length = len(_x)
00254 if python3 or type(_x) == unicode:
00255 _x = _x.encode('utf-8')
00256 length = len(_x)
00257 buff.write(struct.pack('<I%ss'%length, length, _x))
00258 _x = self
00259 buff.write(_struct_2I.pack(_x.goal_id.stamp.secs, _x.goal_id.stamp.nsecs))
00260 _x = self.goal_id.id
00261 length = len(_x)
00262 if python3 or type(_x) == unicode:
00263 _x = _x.encode('utf-8')
00264 length = len(_x)
00265 buff.write(struct.pack('<I%ss'%length, length, _x))
00266 _x = self
00267 buff.write(_struct_3I.pack(_x.goal.joint_angles.header.seq, _x.goal.joint_angles.header.stamp.secs, _x.goal.joint_angles.header.stamp.nsecs))
00268 _x = self.goal.joint_angles.header.frame_id
00269 length = len(_x)
00270 if python3 or type(_x) == unicode:
00271 _x = _x.encode('utf-8')
00272 length = len(_x)
00273 buff.write(struct.pack('<I%ss'%length, length, _x))
00274 length = len(self.goal.joint_angles.joint_names)
00275 buff.write(_struct_I.pack(length))
00276 for val1 in self.goal.joint_angles.joint_names:
00277 length = len(val1)
00278 if python3 or type(val1) == unicode:
00279 val1 = val1.encode('utf-8')
00280 length = len(val1)
00281 buff.write(struct.pack('<I%ss'%length, length, val1))
00282 length = len(self.goal.joint_angles.joint_angles)
00283 buff.write(_struct_I.pack(length))
00284 pattern = '<%sf'%length
00285 buff.write(self.goal.joint_angles.joint_angles.tostring())
00286 _x = self
00287 buff.write(_struct_fB.pack(_x.goal.joint_angles.speed, _x.goal.joint_angles.relative))
00288 except struct.error as se: self._check_types(se)
00289 except TypeError as te: self._check_types(te)
00290
00291 def deserialize_numpy(self, str, numpy):
00292 """
00293 unpack serialized message in str into this message instance using numpy for array types
00294 :param str: byte array of serialized message, ``str``
00295 :param numpy: numpy python module
00296 """
00297 try:
00298 if self.header is None:
00299 self.header = std_msgs.msg.Header()
00300 if self.goal_id is None:
00301 self.goal_id = actionlib_msgs.msg.GoalID()
00302 if self.goal is None:
00303 self.goal = nao_msgs.msg.JointAnglesWithSpeedGoal()
00304 end = 0
00305 _x = self
00306 start = end
00307 end += 12
00308 (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00309 start = end
00310 end += 4
00311 (length,) = _struct_I.unpack(str[start:end])
00312 start = end
00313 end += length
00314 if python3:
00315 self.header.frame_id = str[start:end].decode('utf-8')
00316 else:
00317 self.header.frame_id = str[start:end]
00318 _x = self
00319 start = end
00320 end += 8
00321 (_x.goal_id.stamp.secs, _x.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00322 start = end
00323 end += 4
00324 (length,) = _struct_I.unpack(str[start:end])
00325 start = end
00326 end += length
00327 if python3:
00328 self.goal_id.id = str[start:end].decode('utf-8')
00329 else:
00330 self.goal_id.id = str[start:end]
00331 _x = self
00332 start = end
00333 end += 12
00334 (_x.goal.joint_angles.header.seq, _x.goal.joint_angles.header.stamp.secs, _x.goal.joint_angles.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00335 start = end
00336 end += 4
00337 (length,) = _struct_I.unpack(str[start:end])
00338 start = end
00339 end += length
00340 if python3:
00341 self.goal.joint_angles.header.frame_id = str[start:end].decode('utf-8')
00342 else:
00343 self.goal.joint_angles.header.frame_id = str[start:end]
00344 start = end
00345 end += 4
00346 (length,) = _struct_I.unpack(str[start:end])
00347 self.goal.joint_angles.joint_names = []
00348 for i in range(0, length):
00349 start = end
00350 end += 4
00351 (length,) = _struct_I.unpack(str[start:end])
00352 start = end
00353 end += length
00354 if python3:
00355 val1 = str[start:end].decode('utf-8')
00356 else:
00357 val1 = str[start:end]
00358 self.goal.joint_angles.joint_names.append(val1)
00359 start = end
00360 end += 4
00361 (length,) = _struct_I.unpack(str[start:end])
00362 pattern = '<%sf'%length
00363 start = end
00364 end += struct.calcsize(pattern)
00365 self.goal.joint_angles.joint_angles = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=length)
00366 _x = self
00367 start = end
00368 end += 5
00369 (_x.goal.joint_angles.speed, _x.goal.joint_angles.relative,) = _struct_fB.unpack(str[start:end])
00370 return self
00371 except struct.error as e:
00372 raise genpy.DeserializationError(e)
00373
00374 _struct_I = genpy.struct_I
00375 _struct_fB = struct.Struct("<fB")
00376 _struct_3I = struct.Struct("<3I")
00377 _struct_2I = struct.Struct("<2I")
