_Manipulator.py

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

import openraveros.msg

class Manipulator(genpy.Message):
  _md5sum = "60775f163caf6091aa7df7e34e3cf146"
  _type = "openraveros/Manipulator"
  _has_header = False #flag to mark the presence of a Header object
  _full_text = """# information specific to a manipulator for a robot

# zero-based index of base link that manipulator is attached to
int8 baselink

# zero-based index of link defining the end-effector
int8 eelink

# 3x4 matrix of the grasp frame relative to the end-effector link
AffineTransformMatrix tgrasp

# zero-based hand joint indices
uint8[] handjoints

# zero-based arm joints indices (from base to end-effector)
uint8[] armjoints

# name of ik solver using
string iksolvername

# manipulator name
string name

================================================================================
MSG: openraveros/AffineTransformMatrix
# column ordered 3x4 affine transformation, ie: the arrangement in memory is:
# where the upper 3x3 matrix is orthonormal
# [0] [3] [6] [9]
# [1] [4] [7] [10]
# [2] [5] [8] [11]
float32[12] m

"""
  __slots__ = ['baselink','eelink','tgrasp','handjoints','armjoints','iksolvername','name']
  _slot_types = ['int8','int8','openraveros/AffineTransformMatrix','uint8[]','uint8[]','string','string']

  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:
       baselink,eelink,tgrasp,handjoints,armjoints,iksolvername,name

    :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(Manipulator, self).__init__(*args, **kwds)
      #message fields cannot be None, assign default values for those that are
      if self.baselink is None:
        self.baselink = 0
      if self.eelink is None:
        self.eelink = 0
      if self.tgrasp is None:
        self.tgrasp = openraveros.msg.AffineTransformMatrix()
      if self.handjoints is None:
        self.handjoints = ''
      if self.armjoints is None:
        self.armjoints = ''
      if self.iksolvername is None:
        self.iksolvername = ''
      if self.name is None:
        self.name = ''
    else:
      self.baselink = 0
      self.eelink = 0
      self.tgrasp = openraveros.msg.AffineTransformMatrix()
      self.handjoints = ''
      self.armjoints = ''
      self.iksolvername = ''
      self.name = ''

  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_2b.pack(_x.baselink, _x.eelink))
      buff.write(_struct_12f.pack(*self.tgrasp.m))
      _x = self.handjoints
      length = len(_x)
      # - if encoded as a list instead, serialize as bytes instead of string
      if type(_x) in [list, tuple]:
        buff.write(struct.pack('<I%sB'%length, length, *_x))
      else:
        buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self.armjoints
      length = len(_x)
      # - if encoded as a list instead, serialize as bytes instead of string
      if type(_x) in [list, tuple]:
        buff.write(struct.pack('<I%sB'%length, length, *_x))
      else:
        buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self.iksolvername
      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.name
      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))
    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.tgrasp is None:
        self.tgrasp = openraveros.msg.AffineTransformMatrix()
      end = 0
      _x = self
      start = end
      end += 2
      (_x.baselink, _x.eelink,) = _struct_2b.unpack(str[start:end])
      start = end
      end += 48
      self.tgrasp.m = _struct_12f.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.handjoints = str[start:end].decode('utf-8')
      else:
        self.handjoints = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.armjoints = str[start:end].decode('utf-8')
      else:
        self.armjoints = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.iksolvername = str[start:end].decode('utf-8')
      else:
        self.iksolvername = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.name = str[start:end].decode('utf-8')
      else:
        self.name = str[start:end]
      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_2b.pack(_x.baselink, _x.eelink))
      buff.write(self.tgrasp.m.tostring())
      _x = self.handjoints
      length = len(_x)
      # - if encoded as a list instead, serialize as bytes instead of string
      if type(_x) in [list, tuple]:
        buff.write(struct.pack('<I%sB'%length, length, *_x))
      else:
        buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self.armjoints
      length = len(_x)
      # - if encoded as a list instead, serialize as bytes instead of string
      if type(_x) in [list, tuple]:
        buff.write(struct.pack('<I%sB'%length, length, *_x))
      else:
        buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self.iksolvername
      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.name
      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))
    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.tgrasp is None:
        self.tgrasp = openraveros.msg.AffineTransformMatrix()
      end = 0
      _x = self
      start = end
      end += 2
      (_x.baselink, _x.eelink,) = _struct_2b.unpack(str[start:end])
      start = end
      end += 48
      self.tgrasp.m = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=12)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.handjoints = str[start:end].decode('utf-8')
      else:
        self.handjoints = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.armjoints = str[start:end].decode('utf-8')
      else:
        self.armjoints = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.iksolvername = str[start:end].decode('utf-8')
      else:
        self.iksolvername = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.name = str[start:end].decode('utf-8')
      else:
        self.name = str[start:end]
      return self
    except struct.error as e:
      raise genpy.DeserializationError(e) #most likely buffer underfill

_struct_I = genpy.struct_I
_struct_12f = struct.Struct("<12f")
_struct_2b = struct.Struct("<2b")