_PR2GripperFindContactActionGoal.py
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00001 """autogenerated by genpy from pr2_gripper_sensor_msgs/PR2GripperFindContactActionGoal.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 genpy
00008 import actionlib_msgs.msg
00009 import pr2_gripper_sensor_msgs.msg
00010 import std_msgs.msg
00011 
00012 class PR2GripperFindContactActionGoal(genpy.Message):
00013   _md5sum = "50fc3f7e604d4e257a2e38e3aa3f204e"
00014   _type = "pr2_gripper_sensor_msgs/PR2GripperFindContactActionGoal"
00015   _has_header = True #flag to mark the presence of a Header object
00016   _full_text = """# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00017 
00018 Header header
00019 actionlib_msgs/GoalID goal_id
00020 PR2GripperFindContactGoal 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: pr2_gripper_sensor_msgs/PR2GripperFindContactGoal
00055 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00056 # Contact action used to close fingers and find object contacts 
00057 # quickly while still stopping fast in real-time to not damage 
00058 # objects
00059 
00060 #goal
00061 PR2GripperFindContactCommand command
00062 
00063 ================================================================================
00064 MSG: pr2_gripper_sensor_msgs/PR2GripperFindContactCommand
00065 # set true if you want to calibrate the fingertip sensors on the start
00066 # of the find_contact action. While this is not necessary (and
00067 # the default value will not calibrate the sensors) for best 
00068 # performance it is recommended that you set this to true each time 
00069 # you are calling find_contact and are confident the fingertips are 
00070 # not touching anything
00071 # NOTE: SHOULD ONLY BE TRUE WHEN BOTH FINGERS ARE TOUCHING NOTHING
00072 bool zero_fingertip_sensors
00073 
00074 # the finger contact conditions that determine what our goal is
00075 # Leaving this field blank will result in the robot closing until
00076 # contact on BOTH fingers is achieved
00077 int8 contact_conditions
00078 
00079 # predefined values for the above contact_conditions variable
00080 int8 BOTH = 0   # both fingers must make contact
00081 int8 LEFT = 1   # just the left finger 
00082 int8 RIGHT = 2  # just the right finger
00083 int8 EITHER = 3 # either finger, we don't care which
00084 
00085 """
00086   __slots__ = ['header','goal_id','goal']
00087   _slot_types = ['std_msgs/Header','actionlib_msgs/GoalID','pr2_gripper_sensor_msgs/PR2GripperFindContactGoal']
00088 
00089   def __init__(self, *args, **kwds):
00090     """
00091     Constructor. Any message fields that are implicitly/explicitly
00092     set to None will be assigned a default value. The recommend
00093     use is keyword arguments as this is more robust to future message
00094     changes.  You cannot mix in-order arguments and keyword arguments.
00095 
00096     The available fields are:
00097        header,goal_id,goal
00098 
00099     :param args: complete set of field values, in .msg order
00100     :param kwds: use keyword arguments corresponding to message field names
00101     to set specific fields.
00102     """
00103     if args or kwds:
00104       super(PR2GripperFindContactActionGoal, self).__init__(*args, **kwds)
00105       #message fields cannot be None, assign default values for those that are
00106       if self.header is None:
00107         self.header = std_msgs.msg.Header()
00108       if self.goal_id is None:
00109         self.goal_id = actionlib_msgs.msg.GoalID()
00110       if self.goal is None:
00111         self.goal = pr2_gripper_sensor_msgs.msg.PR2GripperFindContactGoal()
00112     else:
00113       self.header = std_msgs.msg.Header()
00114       self.goal_id = actionlib_msgs.msg.GoalID()
00115       self.goal = pr2_gripper_sensor_msgs.msg.PR2GripperFindContactGoal()
00116 
00117   def _get_types(self):
00118     """
00119     internal API method
00120     """
00121     return self._slot_types
00122 
00123   def serialize(self, buff):
00124     """
00125     serialize message into buffer
00126     :param buff: buffer, ``StringIO``
00127     """
00128     try:
00129       _x = self
00130       buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
00131       _x = self.header.frame_id
00132       length = len(_x)
00133       if python3 or type(_x) == unicode:
00134         _x = _x.encode('utf-8')
00135         length = len(_x)
00136       buff.write(struct.pack('<I%ss'%length, length, _x))
00137       _x = self
00138       buff.write(_struct_2I.pack(_x.goal_id.stamp.secs, _x.goal_id.stamp.nsecs))
00139       _x = self.goal_id.id
00140       length = len(_x)
00141       if python3 or type(_x) == unicode:
00142         _x = _x.encode('utf-8')
00143         length = len(_x)
00144       buff.write(struct.pack('<I%ss'%length, length, _x))
00145       _x = self
00146       buff.write(_struct_Bb.pack(_x.goal.command.zero_fingertip_sensors, _x.goal.command.contact_conditions))
00147     except struct.error as se: self._check_types(se)
00148     except TypeError as te: self._check_types(te)
00149 
00150   def deserialize(self, str):
00151     """
00152     unpack serialized message in str into this message instance
00153     :param str: byte array of serialized message, ``str``
00154     """
00155     try:
00156       if self.header is None:
00157         self.header = std_msgs.msg.Header()
00158       if self.goal_id is None:
00159         self.goal_id = actionlib_msgs.msg.GoalID()
00160       if self.goal is None:
00161         self.goal = pr2_gripper_sensor_msgs.msg.PR2GripperFindContactGoal()
00162       end = 0
00163       _x = self
00164       start = end
00165       end += 12
00166       (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00167       start = end
00168       end += 4
00169       (length,) = _struct_I.unpack(str[start:end])
00170       start = end
00171       end += length
00172       if python3:
00173         self.header.frame_id = str[start:end].decode('utf-8')
00174       else:
00175         self.header.frame_id = str[start:end]
00176       _x = self
00177       start = end
00178       end += 8
00179       (_x.goal_id.stamp.secs, _x.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00180       start = end
00181       end += 4
00182       (length,) = _struct_I.unpack(str[start:end])
00183       start = end
00184       end += length
00185       if python3:
00186         self.goal_id.id = str[start:end].decode('utf-8')
00187       else:
00188         self.goal_id.id = str[start:end]
00189       _x = self
00190       start = end
00191       end += 2
00192       (_x.goal.command.zero_fingertip_sensors, _x.goal.command.contact_conditions,) = _struct_Bb.unpack(str[start:end])
00193       self.goal.command.zero_fingertip_sensors = bool(self.goal.command.zero_fingertip_sensors)
00194       return self
00195     except struct.error as e:
00196       raise genpy.DeserializationError(e) #most likely buffer underfill
00197 
00198 
00199   def serialize_numpy(self, buff, numpy):
00200     """
00201     serialize message with numpy array types into buffer
00202     :param buff: buffer, ``StringIO``
00203     :param numpy: numpy python module
00204     """
00205     try:
00206       _x = self
00207       buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
00208       _x = self.header.frame_id
00209       length = len(_x)
00210       if python3 or type(_x) == unicode:
00211         _x = _x.encode('utf-8')
00212         length = len(_x)
00213       buff.write(struct.pack('<I%ss'%length, length, _x))
00214       _x = self
00215       buff.write(_struct_2I.pack(_x.goal_id.stamp.secs, _x.goal_id.stamp.nsecs))
00216       _x = self.goal_id.id
00217       length = len(_x)
00218       if python3 or type(_x) == unicode:
00219         _x = _x.encode('utf-8')
00220         length = len(_x)
00221       buff.write(struct.pack('<I%ss'%length, length, _x))
00222       _x = self
00223       buff.write(_struct_Bb.pack(_x.goal.command.zero_fingertip_sensors, _x.goal.command.contact_conditions))
00224     except struct.error as se: self._check_types(se)
00225     except TypeError as te: self._check_types(te)
00226 
00227   def deserialize_numpy(self, str, numpy):
00228     """
00229     unpack serialized message in str into this message instance using numpy for array types
00230     :param str: byte array of serialized message, ``str``
00231     :param numpy: numpy python module
00232     """
00233     try:
00234       if self.header is None:
00235         self.header = std_msgs.msg.Header()
00236       if self.goal_id is None:
00237         self.goal_id = actionlib_msgs.msg.GoalID()
00238       if self.goal is None:
00239         self.goal = pr2_gripper_sensor_msgs.msg.PR2GripperFindContactGoal()
00240       end = 0
00241       _x = self
00242       start = end
00243       end += 12
00244       (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00245       start = end
00246       end += 4
00247       (length,) = _struct_I.unpack(str[start:end])
00248       start = end
00249       end += length
00250       if python3:
00251         self.header.frame_id = str[start:end].decode('utf-8')
00252       else:
00253         self.header.frame_id = str[start:end]
00254       _x = self
00255       start = end
00256       end += 8
00257       (_x.goal_id.stamp.secs, _x.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00258       start = end
00259       end += 4
00260       (length,) = _struct_I.unpack(str[start:end])
00261       start = end
00262       end += length
00263       if python3:
00264         self.goal_id.id = str[start:end].decode('utf-8')
00265       else:
00266         self.goal_id.id = str[start:end]
00267       _x = self
00268       start = end
00269       end += 2
00270       (_x.goal.command.zero_fingertip_sensors, _x.goal.command.contact_conditions,) = _struct_Bb.unpack(str[start:end])
00271       self.goal.command.zero_fingertip_sensors = bool(self.goal.command.zero_fingertip_sensors)
00272       return self
00273     except struct.error as e:
00274       raise genpy.DeserializationError(e) #most likely buffer underfill
00275 
00276 _struct_I = genpy.struct_I
00277 _struct_3I = struct.Struct("<3I")
00278 _struct_2I = struct.Struct("<2I")
00279 _struct_Bb = struct.Struct("<Bb")


pr2_gripper_sensor_msgs
Author(s): Joe Romano
autogenerated on Fri Jan 3 2014 11:52:58