_PR2GripperFindContactAction.py
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00001 """autogenerated by genpy from pr2_gripper_sensor_msgs/PR2GripperFindContactAction.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 PR2GripperFindContactAction(genpy.Message):
00013   _md5sum = "99ab2df1bbde46c447b38f28b7896d16"
00014   _type = "pr2_gripper_sensor_msgs/PR2GripperFindContactAction"
00015   _has_header = False #flag to mark the presence of a Header object
00016   _full_text = """# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00017 
00018 PR2GripperFindContactActionGoal action_goal
00019 PR2GripperFindContactActionResult action_result
00020 PR2GripperFindContactActionFeedback action_feedback
00021 
00022 ================================================================================
00023 MSG: pr2_gripper_sensor_msgs/PR2GripperFindContactActionGoal
00024 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00025 
00026 Header header
00027 actionlib_msgs/GoalID goal_id
00028 PR2GripperFindContactGoal goal
00029 
00030 ================================================================================
00031 MSG: std_msgs/Header
00032 # Standard metadata for higher-level stamped data types.
00033 # This is generally used to communicate timestamped data 
00034 # in a particular coordinate frame.
00035 # 
00036 # sequence ID: consecutively increasing ID 
00037 uint32 seq
00038 #Two-integer timestamp that is expressed as:
00039 # * stamp.secs: seconds (stamp_secs) since epoch
00040 # * stamp.nsecs: nanoseconds since stamp_secs
00041 # time-handling sugar is provided by the client library
00042 time stamp
00043 #Frame this data is associated with
00044 # 0: no frame
00045 # 1: global frame
00046 string frame_id
00047 
00048 ================================================================================
00049 MSG: actionlib_msgs/GoalID
00050 # The stamp should store the time at which this goal was requested.
00051 # It is used by an action server when it tries to preempt all
00052 # goals that were requested before a certain time
00053 time stamp
00054 
00055 # The id provides a way to associate feedback and
00056 # result message with specific goal requests. The id
00057 # specified must be unique.
00058 string id
00059 
00060 
00061 ================================================================================
00062 MSG: pr2_gripper_sensor_msgs/PR2GripperFindContactGoal
00063 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00064 # Contact action used to close fingers and find object contacts 
00065 # quickly while still stopping fast in real-time to not damage 
00066 # objects
00067 
00068 #goal
00069 PR2GripperFindContactCommand command
00070 
00071 ================================================================================
00072 MSG: pr2_gripper_sensor_msgs/PR2GripperFindContactCommand
00073 # set true if you want to calibrate the fingertip sensors on the start
00074 # of the find_contact action. While this is not necessary (and
00075 # the default value will not calibrate the sensors) for best 
00076 # performance it is recommended that you set this to true each time 
00077 # you are calling find_contact and are confident the fingertips are 
00078 # not touching anything
00079 # NOTE: SHOULD ONLY BE TRUE WHEN BOTH FINGERS ARE TOUCHING NOTHING
00080 bool zero_fingertip_sensors
00081 
00082 # the finger contact conditions that determine what our goal is
00083 # Leaving this field blank will result in the robot closing until
00084 # contact on BOTH fingers is achieved
00085 int8 contact_conditions
00086 
00087 # predefined values for the above contact_conditions variable
00088 int8 BOTH = 0   # both fingers must make contact
00089 int8 LEFT = 1   # just the left finger 
00090 int8 RIGHT = 2  # just the right finger
00091 int8 EITHER = 3 # either finger, we don't care which
00092 
00093 ================================================================================
00094 MSG: pr2_gripper_sensor_msgs/PR2GripperFindContactActionResult
00095 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00096 
00097 Header header
00098 actionlib_msgs/GoalStatus status
00099 PR2GripperFindContactResult result
00100 
00101 ================================================================================
00102 MSG: actionlib_msgs/GoalStatus
00103 GoalID goal_id
00104 uint8 status
00105 uint8 PENDING         = 0   # The goal has yet to be processed by the action server
00106 uint8 ACTIVE          = 1   # The goal is currently being processed by the action server
00107 uint8 PREEMPTED       = 2   # The goal received a cancel request after it started executing
00108                             #   and has since completed its execution (Terminal State)
00109 uint8 SUCCEEDED       = 3   # The goal was achieved successfully by the action server (Terminal State)
00110 uint8 ABORTED         = 4   # The goal was aborted during execution by the action server due
00111                             #    to some failure (Terminal State)
00112 uint8 REJECTED        = 5   # The goal was rejected by the action server without being processed,
00113                             #    because the goal was unattainable or invalid (Terminal State)
00114 uint8 PREEMPTING      = 6   # The goal received a cancel request after it started executing
00115                             #    and has not yet completed execution
00116 uint8 RECALLING       = 7   # The goal received a cancel request before it started executing,
00117                             #    but the action server has not yet confirmed that the goal is canceled
00118 uint8 RECALLED        = 8   # The goal received a cancel request before it started executing
00119                             #    and was successfully cancelled (Terminal State)
00120 uint8 LOST            = 9   # An action client can determine that a goal is LOST. This should not be
00121                             #    sent over the wire by an action server
00122 
00123 #Allow for the user to associate a string with GoalStatus for debugging
00124 string text
00125 
00126 
00127 ================================================================================
00128 MSG: pr2_gripper_sensor_msgs/PR2GripperFindContactResult
00129 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00130 #results
00131 PR2GripperFindContactData data
00132 
00133 ================================================================================
00134 MSG: pr2_gripper_sensor_msgs/PR2GripperFindContactData
00135 # Time the data was recorded at
00136 time stamp
00137 
00138 # true when our contact conditions have been met
00139 # (see PR2GripperFindContact command)
00140 bool contact_conditions_met
00141 
00142 # the finger contact conditions 
00143 # true if the finger experienced a contact event
00144 #
00145 # contact events are defined as contact with the fingerpads
00146 # as either steady-state or high-freq force events
00147 bool left_fingertip_pad_contact
00148 bool right_fingertip_pad_contact
00149 
00150 # the force experinced by the finger Pads  (N)
00151 # NOTE:this ignores data from the edges of the finger pressure
00152 float64 left_fingertip_pad_force
00153 float64 right_fingertip_pad_force
00154 
00155 # the current joint position (m)
00156 float64 joint_position
00157 
00158 # the virtual (parallel) joint effort (N)
00159 float64 joint_effort
00160 
00161 # the control state of our realtime controller
00162 PR2GripperSensorRTState rtstate
00163 ================================================================================
00164 MSG: pr2_gripper_sensor_msgs/PR2GripperSensorRTState
00165 # the control state of our realtime controller
00166 int8 realtime_controller_state
00167 
00168 # predefined values to indicate our realtime_controller_state
00169 int8 DISABLED = 0
00170 int8 POSITION_SERVO = 3
00171 int8 FORCE_SERVO = 4
00172 int8 FIND_CONTACT = 5
00173 int8 SLIP_SERVO = 6
00174 ================================================================================
00175 MSG: pr2_gripper_sensor_msgs/PR2GripperFindContactActionFeedback
00176 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00177 
00178 Header header
00179 actionlib_msgs/GoalStatus status
00180 PR2GripperFindContactFeedback feedback
00181 
00182 ================================================================================
00183 MSG: pr2_gripper_sensor_msgs/PR2GripperFindContactFeedback
00184 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00185 # feedback
00186 PR2GripperFindContactData data
00187 
00188 
00189 
00190 """
00191   __slots__ = ['action_goal','action_result','action_feedback']
00192   _slot_types = ['pr2_gripper_sensor_msgs/PR2GripperFindContactActionGoal','pr2_gripper_sensor_msgs/PR2GripperFindContactActionResult','pr2_gripper_sensor_msgs/PR2GripperFindContactActionFeedback']
00193 
00194   def __init__(self, *args, **kwds):
00195     """
00196     Constructor. Any message fields that are implicitly/explicitly
00197     set to None will be assigned a default value. The recommend
00198     use is keyword arguments as this is more robust to future message
00199     changes.  You cannot mix in-order arguments and keyword arguments.
00200 
00201     The available fields are:
00202        action_goal,action_result,action_feedback
00203 
00204     :param args: complete set of field values, in .msg order
00205     :param kwds: use keyword arguments corresponding to message field names
00206     to set specific fields.
00207     """
00208     if args or kwds:
00209       super(PR2GripperFindContactAction, self).__init__(*args, **kwds)
00210       #message fields cannot be None, assign default values for those that are
00211       if self.action_goal is None:
00212         self.action_goal = pr2_gripper_sensor_msgs.msg.PR2GripperFindContactActionGoal()
00213       if self.action_result is None:
00214         self.action_result = pr2_gripper_sensor_msgs.msg.PR2GripperFindContactActionResult()
00215       if self.action_feedback is None:
00216         self.action_feedback = pr2_gripper_sensor_msgs.msg.PR2GripperFindContactActionFeedback()
00217     else:
00218       self.action_goal = pr2_gripper_sensor_msgs.msg.PR2GripperFindContactActionGoal()
00219       self.action_result = pr2_gripper_sensor_msgs.msg.PR2GripperFindContactActionResult()
00220       self.action_feedback = pr2_gripper_sensor_msgs.msg.PR2GripperFindContactActionFeedback()
00221 
00222   def _get_types(self):
00223     """
00224     internal API method
00225     """
00226     return self._slot_types
00227 
00228   def serialize(self, buff):
00229     """
00230     serialize message into buffer
00231     :param buff: buffer, ``StringIO``
00232     """
00233     try:
00234       _x = self
00235       buff.write(_struct_3I.pack(_x.action_goal.header.seq, _x.action_goal.header.stamp.secs, _x.action_goal.header.stamp.nsecs))
00236       _x = self.action_goal.header.frame_id
00237       length = len(_x)
00238       if python3 or type(_x) == unicode:
00239         _x = _x.encode('utf-8')
00240         length = len(_x)
00241       buff.write(struct.pack('<I%ss'%length, length, _x))
00242       _x = self
00243       buff.write(_struct_2I.pack(_x.action_goal.goal_id.stamp.secs, _x.action_goal.goal_id.stamp.nsecs))
00244       _x = self.action_goal.goal_id.id
00245       length = len(_x)
00246       if python3 or type(_x) == unicode:
00247         _x = _x.encode('utf-8')
00248         length = len(_x)
00249       buff.write(struct.pack('<I%ss'%length, length, _x))
00250       _x = self
00251       buff.write(_struct_Bb3I.pack(_x.action_goal.goal.command.zero_fingertip_sensors, _x.action_goal.goal.command.contact_conditions, _x.action_result.header.seq, _x.action_result.header.stamp.secs, _x.action_result.header.stamp.nsecs))
00252       _x = self.action_result.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.action_result.status.goal_id.stamp.secs, _x.action_result.status.goal_id.stamp.nsecs))
00260       _x = self.action_result.status.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       buff.write(_struct_B.pack(self.action_result.status.status))
00267       _x = self.action_result.status.text
00268       length = len(_x)
00269       if python3 or type(_x) == unicode:
00270         _x = _x.encode('utf-8')
00271         length = len(_x)
00272       buff.write(struct.pack('<I%ss'%length, length, _x))
00273       _x = self
00274       buff.write(_struct_2I3B4db3I.pack(_x.action_result.result.data.stamp.secs, _x.action_result.result.data.stamp.nsecs, _x.action_result.result.data.contact_conditions_met, _x.action_result.result.data.left_fingertip_pad_contact, _x.action_result.result.data.right_fingertip_pad_contact, _x.action_result.result.data.left_fingertip_pad_force, _x.action_result.result.data.right_fingertip_pad_force, _x.action_result.result.data.joint_position, _x.action_result.result.data.joint_effort, _x.action_result.result.data.rtstate.realtime_controller_state, _x.action_feedback.header.seq, _x.action_feedback.header.stamp.secs, _x.action_feedback.header.stamp.nsecs))
00275       _x = self.action_feedback.header.frame_id
00276       length = len(_x)
00277       if python3 or type(_x) == unicode:
00278         _x = _x.encode('utf-8')
00279         length = len(_x)
00280       buff.write(struct.pack('<I%ss'%length, length, _x))
00281       _x = self
00282       buff.write(_struct_2I.pack(_x.action_feedback.status.goal_id.stamp.secs, _x.action_feedback.status.goal_id.stamp.nsecs))
00283       _x = self.action_feedback.status.goal_id.id
00284       length = len(_x)
00285       if python3 or type(_x) == unicode:
00286         _x = _x.encode('utf-8')
00287         length = len(_x)
00288       buff.write(struct.pack('<I%ss'%length, length, _x))
00289       buff.write(_struct_B.pack(self.action_feedback.status.status))
00290       _x = self.action_feedback.status.text
00291       length = len(_x)
00292       if python3 or type(_x) == unicode:
00293         _x = _x.encode('utf-8')
00294         length = len(_x)
00295       buff.write(struct.pack('<I%ss'%length, length, _x))
00296       _x = self
00297       buff.write(_struct_2I3B4db.pack(_x.action_feedback.feedback.data.stamp.secs, _x.action_feedback.feedback.data.stamp.nsecs, _x.action_feedback.feedback.data.contact_conditions_met, _x.action_feedback.feedback.data.left_fingertip_pad_contact, _x.action_feedback.feedback.data.right_fingertip_pad_contact, _x.action_feedback.feedback.data.left_fingertip_pad_force, _x.action_feedback.feedback.data.right_fingertip_pad_force, _x.action_feedback.feedback.data.joint_position, _x.action_feedback.feedback.data.joint_effort, _x.action_feedback.feedback.data.rtstate.realtime_controller_state))
00298     except struct.error as se: self._check_types(se)
00299     except TypeError as te: self._check_types(te)
00300 
00301   def deserialize(self, str):
00302     """
00303     unpack serialized message in str into this message instance
00304     :param str: byte array of serialized message, ``str``
00305     """
00306     try:
00307       if self.action_goal is None:
00308         self.action_goal = pr2_gripper_sensor_msgs.msg.PR2GripperFindContactActionGoal()
00309       if self.action_result is None:
00310         self.action_result = pr2_gripper_sensor_msgs.msg.PR2GripperFindContactActionResult()
00311       if self.action_feedback is None:
00312         self.action_feedback = pr2_gripper_sensor_msgs.msg.PR2GripperFindContactActionFeedback()
00313       end = 0
00314       _x = self
00315       start = end
00316       end += 12
00317       (_x.action_goal.header.seq, _x.action_goal.header.stamp.secs, _x.action_goal.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00318       start = end
00319       end += 4
00320       (length,) = _struct_I.unpack(str[start:end])
00321       start = end
00322       end += length
00323       if python3:
00324         self.action_goal.header.frame_id = str[start:end].decode('utf-8')
00325       else:
00326         self.action_goal.header.frame_id = str[start:end]
00327       _x = self
00328       start = end
00329       end += 8
00330       (_x.action_goal.goal_id.stamp.secs, _x.action_goal.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00331       start = end
00332       end += 4
00333       (length,) = _struct_I.unpack(str[start:end])
00334       start = end
00335       end += length
00336       if python3:
00337         self.action_goal.goal_id.id = str[start:end].decode('utf-8')
00338       else:
00339         self.action_goal.goal_id.id = str[start:end]
00340       _x = self
00341       start = end
00342       end += 14
00343       (_x.action_goal.goal.command.zero_fingertip_sensors, _x.action_goal.goal.command.contact_conditions, _x.action_result.header.seq, _x.action_result.header.stamp.secs, _x.action_result.header.stamp.nsecs,) = _struct_Bb3I.unpack(str[start:end])
00344       self.action_goal.goal.command.zero_fingertip_sensors = bool(self.action_goal.goal.command.zero_fingertip_sensors)
00345       start = end
00346       end += 4
00347       (length,) = _struct_I.unpack(str[start:end])
00348       start = end
00349       end += length
00350       if python3:
00351         self.action_result.header.frame_id = str[start:end].decode('utf-8')
00352       else:
00353         self.action_result.header.frame_id = str[start:end]
00354       _x = self
00355       start = end
00356       end += 8
00357       (_x.action_result.status.goal_id.stamp.secs, _x.action_result.status.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00358       start = end
00359       end += 4
00360       (length,) = _struct_I.unpack(str[start:end])
00361       start = end
00362       end += length
00363       if python3:
00364         self.action_result.status.goal_id.id = str[start:end].decode('utf-8')
00365       else:
00366         self.action_result.status.goal_id.id = str[start:end]
00367       start = end
00368       end += 1
00369       (self.action_result.status.status,) = _struct_B.unpack(str[start:end])
00370       start = end
00371       end += 4
00372       (length,) = _struct_I.unpack(str[start:end])
00373       start = end
00374       end += length
00375       if python3:
00376         self.action_result.status.text = str[start:end].decode('utf-8')
00377       else:
00378         self.action_result.status.text = str[start:end]
00379       _x = self
00380       start = end
00381       end += 56
00382       (_x.action_result.result.data.stamp.secs, _x.action_result.result.data.stamp.nsecs, _x.action_result.result.data.contact_conditions_met, _x.action_result.result.data.left_fingertip_pad_contact, _x.action_result.result.data.right_fingertip_pad_contact, _x.action_result.result.data.left_fingertip_pad_force, _x.action_result.result.data.right_fingertip_pad_force, _x.action_result.result.data.joint_position, _x.action_result.result.data.joint_effort, _x.action_result.result.data.rtstate.realtime_controller_state, _x.action_feedback.header.seq, _x.action_feedback.header.stamp.secs, _x.action_feedback.header.stamp.nsecs,) = _struct_2I3B4db3I.unpack(str[start:end])
00383       self.action_result.result.data.contact_conditions_met = bool(self.action_result.result.data.contact_conditions_met)
00384       self.action_result.result.data.left_fingertip_pad_contact = bool(self.action_result.result.data.left_fingertip_pad_contact)
00385       self.action_result.result.data.right_fingertip_pad_contact = bool(self.action_result.result.data.right_fingertip_pad_contact)
00386       start = end
00387       end += 4
00388       (length,) = _struct_I.unpack(str[start:end])
00389       start = end
00390       end += length
00391       if python3:
00392         self.action_feedback.header.frame_id = str[start:end].decode('utf-8')
00393       else:
00394         self.action_feedback.header.frame_id = str[start:end]
00395       _x = self
00396       start = end
00397       end += 8
00398       (_x.action_feedback.status.goal_id.stamp.secs, _x.action_feedback.status.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00399       start = end
00400       end += 4
00401       (length,) = _struct_I.unpack(str[start:end])
00402       start = end
00403       end += length
00404       if python3:
00405         self.action_feedback.status.goal_id.id = str[start:end].decode('utf-8')
00406       else:
00407         self.action_feedback.status.goal_id.id = str[start:end]
00408       start = end
00409       end += 1
00410       (self.action_feedback.status.status,) = _struct_B.unpack(str[start:end])
00411       start = end
00412       end += 4
00413       (length,) = _struct_I.unpack(str[start:end])
00414       start = end
00415       end += length
00416       if python3:
00417         self.action_feedback.status.text = str[start:end].decode('utf-8')
00418       else:
00419         self.action_feedback.status.text = str[start:end]
00420       _x = self
00421       start = end
00422       end += 44
00423       (_x.action_feedback.feedback.data.stamp.secs, _x.action_feedback.feedback.data.stamp.nsecs, _x.action_feedback.feedback.data.contact_conditions_met, _x.action_feedback.feedback.data.left_fingertip_pad_contact, _x.action_feedback.feedback.data.right_fingertip_pad_contact, _x.action_feedback.feedback.data.left_fingertip_pad_force, _x.action_feedback.feedback.data.right_fingertip_pad_force, _x.action_feedback.feedback.data.joint_position, _x.action_feedback.feedback.data.joint_effort, _x.action_feedback.feedback.data.rtstate.realtime_controller_state,) = _struct_2I3B4db.unpack(str[start:end])
00424       self.action_feedback.feedback.data.contact_conditions_met = bool(self.action_feedback.feedback.data.contact_conditions_met)
00425       self.action_feedback.feedback.data.left_fingertip_pad_contact = bool(self.action_feedback.feedback.data.left_fingertip_pad_contact)
00426       self.action_feedback.feedback.data.right_fingertip_pad_contact = bool(self.action_feedback.feedback.data.right_fingertip_pad_contact)
00427       return self
00428     except struct.error as e:
00429       raise genpy.DeserializationError(e) #most likely buffer underfill
00430 
00431 
00432   def serialize_numpy(self, buff, numpy):
00433     """
00434     serialize message with numpy array types into buffer
00435     :param buff: buffer, ``StringIO``
00436     :param numpy: numpy python module
00437     """
00438     try:
00439       _x = self
00440       buff.write(_struct_3I.pack(_x.action_goal.header.seq, _x.action_goal.header.stamp.secs, _x.action_goal.header.stamp.nsecs))
00441       _x = self.action_goal.header.frame_id
00442       length = len(_x)
00443       if python3 or type(_x) == unicode:
00444         _x = _x.encode('utf-8')
00445         length = len(_x)
00446       buff.write(struct.pack('<I%ss'%length, length, _x))
00447       _x = self
00448       buff.write(_struct_2I.pack(_x.action_goal.goal_id.stamp.secs, _x.action_goal.goal_id.stamp.nsecs))
00449       _x = self.action_goal.goal_id.id
00450       length = len(_x)
00451       if python3 or type(_x) == unicode:
00452         _x = _x.encode('utf-8')
00453         length = len(_x)
00454       buff.write(struct.pack('<I%ss'%length, length, _x))
00455       _x = self
00456       buff.write(_struct_Bb3I.pack(_x.action_goal.goal.command.zero_fingertip_sensors, _x.action_goal.goal.command.contact_conditions, _x.action_result.header.seq, _x.action_result.header.stamp.secs, _x.action_result.header.stamp.nsecs))
00457       _x = self.action_result.header.frame_id
00458       length = len(_x)
00459       if python3 or type(_x) == unicode:
00460         _x = _x.encode('utf-8')
00461         length = len(_x)
00462       buff.write(struct.pack('<I%ss'%length, length, _x))
00463       _x = self
00464       buff.write(_struct_2I.pack(_x.action_result.status.goal_id.stamp.secs, _x.action_result.status.goal_id.stamp.nsecs))
00465       _x = self.action_result.status.goal_id.id
00466       length = len(_x)
00467       if python3 or type(_x) == unicode:
00468         _x = _x.encode('utf-8')
00469         length = len(_x)
00470       buff.write(struct.pack('<I%ss'%length, length, _x))
00471       buff.write(_struct_B.pack(self.action_result.status.status))
00472       _x = self.action_result.status.text
00473       length = len(_x)
00474       if python3 or type(_x) == unicode:
00475         _x = _x.encode('utf-8')
00476         length = len(_x)
00477       buff.write(struct.pack('<I%ss'%length, length, _x))
00478       _x = self
00479       buff.write(_struct_2I3B4db3I.pack(_x.action_result.result.data.stamp.secs, _x.action_result.result.data.stamp.nsecs, _x.action_result.result.data.contact_conditions_met, _x.action_result.result.data.left_fingertip_pad_contact, _x.action_result.result.data.right_fingertip_pad_contact, _x.action_result.result.data.left_fingertip_pad_force, _x.action_result.result.data.right_fingertip_pad_force, _x.action_result.result.data.joint_position, _x.action_result.result.data.joint_effort, _x.action_result.result.data.rtstate.realtime_controller_state, _x.action_feedback.header.seq, _x.action_feedback.header.stamp.secs, _x.action_feedback.header.stamp.nsecs))
00480       _x = self.action_feedback.header.frame_id
00481       length = len(_x)
00482       if python3 or type(_x) == unicode:
00483         _x = _x.encode('utf-8')
00484         length = len(_x)
00485       buff.write(struct.pack('<I%ss'%length, length, _x))
00486       _x = self
00487       buff.write(_struct_2I.pack(_x.action_feedback.status.goal_id.stamp.secs, _x.action_feedback.status.goal_id.stamp.nsecs))
00488       _x = self.action_feedback.status.goal_id.id
00489       length = len(_x)
00490       if python3 or type(_x) == unicode:
00491         _x = _x.encode('utf-8')
00492         length = len(_x)
00493       buff.write(struct.pack('<I%ss'%length, length, _x))
00494       buff.write(_struct_B.pack(self.action_feedback.status.status))
00495       _x = self.action_feedback.status.text
00496       length = len(_x)
00497       if python3 or type(_x) == unicode:
00498         _x = _x.encode('utf-8')
00499         length = len(_x)
00500       buff.write(struct.pack('<I%ss'%length, length, _x))
00501       _x = self
00502       buff.write(_struct_2I3B4db.pack(_x.action_feedback.feedback.data.stamp.secs, _x.action_feedback.feedback.data.stamp.nsecs, _x.action_feedback.feedback.data.contact_conditions_met, _x.action_feedback.feedback.data.left_fingertip_pad_contact, _x.action_feedback.feedback.data.right_fingertip_pad_contact, _x.action_feedback.feedback.data.left_fingertip_pad_force, _x.action_feedback.feedback.data.right_fingertip_pad_force, _x.action_feedback.feedback.data.joint_position, _x.action_feedback.feedback.data.joint_effort, _x.action_feedback.feedback.data.rtstate.realtime_controller_state))
00503     except struct.error as se: self._check_types(se)
00504     except TypeError as te: self._check_types(te)
00505 
00506   def deserialize_numpy(self, str, numpy):
00507     """
00508     unpack serialized message in str into this message instance using numpy for array types
00509     :param str: byte array of serialized message, ``str``
00510     :param numpy: numpy python module
00511     """
00512     try:
00513       if self.action_goal is None:
00514         self.action_goal = pr2_gripper_sensor_msgs.msg.PR2GripperFindContactActionGoal()
00515       if self.action_result is None:
00516         self.action_result = pr2_gripper_sensor_msgs.msg.PR2GripperFindContactActionResult()
00517       if self.action_feedback is None:
00518         self.action_feedback = pr2_gripper_sensor_msgs.msg.PR2GripperFindContactActionFeedback()
00519       end = 0
00520       _x = self
00521       start = end
00522       end += 12
00523       (_x.action_goal.header.seq, _x.action_goal.header.stamp.secs, _x.action_goal.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00524       start = end
00525       end += 4
00526       (length,) = _struct_I.unpack(str[start:end])
00527       start = end
00528       end += length
00529       if python3:
00530         self.action_goal.header.frame_id = str[start:end].decode('utf-8')
00531       else:
00532         self.action_goal.header.frame_id = str[start:end]
00533       _x = self
00534       start = end
00535       end += 8
00536       (_x.action_goal.goal_id.stamp.secs, _x.action_goal.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00537       start = end
00538       end += 4
00539       (length,) = _struct_I.unpack(str[start:end])
00540       start = end
00541       end += length
00542       if python3:
00543         self.action_goal.goal_id.id = str[start:end].decode('utf-8')
00544       else:
00545         self.action_goal.goal_id.id = str[start:end]
00546       _x = self
00547       start = end
00548       end += 14
00549       (_x.action_goal.goal.command.zero_fingertip_sensors, _x.action_goal.goal.command.contact_conditions, _x.action_result.header.seq, _x.action_result.header.stamp.secs, _x.action_result.header.stamp.nsecs,) = _struct_Bb3I.unpack(str[start:end])
00550       self.action_goal.goal.command.zero_fingertip_sensors = bool(self.action_goal.goal.command.zero_fingertip_sensors)
00551       start = end
00552       end += 4
00553       (length,) = _struct_I.unpack(str[start:end])
00554       start = end
00555       end += length
00556       if python3:
00557         self.action_result.header.frame_id = str[start:end].decode('utf-8')
00558       else:
00559         self.action_result.header.frame_id = str[start:end]
00560       _x = self
00561       start = end
00562       end += 8
00563       (_x.action_result.status.goal_id.stamp.secs, _x.action_result.status.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00564       start = end
00565       end += 4
00566       (length,) = _struct_I.unpack(str[start:end])
00567       start = end
00568       end += length
00569       if python3:
00570         self.action_result.status.goal_id.id = str[start:end].decode('utf-8')
00571       else:
00572         self.action_result.status.goal_id.id = str[start:end]
00573       start = end
00574       end += 1
00575       (self.action_result.status.status,) = _struct_B.unpack(str[start:end])
00576       start = end
00577       end += 4
00578       (length,) = _struct_I.unpack(str[start:end])
00579       start = end
00580       end += length
00581       if python3:
00582         self.action_result.status.text = str[start:end].decode('utf-8')
00583       else:
00584         self.action_result.status.text = str[start:end]
00585       _x = self
00586       start = end
00587       end += 56
00588       (_x.action_result.result.data.stamp.secs, _x.action_result.result.data.stamp.nsecs, _x.action_result.result.data.contact_conditions_met, _x.action_result.result.data.left_fingertip_pad_contact, _x.action_result.result.data.right_fingertip_pad_contact, _x.action_result.result.data.left_fingertip_pad_force, _x.action_result.result.data.right_fingertip_pad_force, _x.action_result.result.data.joint_position, _x.action_result.result.data.joint_effort, _x.action_result.result.data.rtstate.realtime_controller_state, _x.action_feedback.header.seq, _x.action_feedback.header.stamp.secs, _x.action_feedback.header.stamp.nsecs,) = _struct_2I3B4db3I.unpack(str[start:end])
00589       self.action_result.result.data.contact_conditions_met = bool(self.action_result.result.data.contact_conditions_met)
00590       self.action_result.result.data.left_fingertip_pad_contact = bool(self.action_result.result.data.left_fingertip_pad_contact)
00591       self.action_result.result.data.right_fingertip_pad_contact = bool(self.action_result.result.data.right_fingertip_pad_contact)
00592       start = end
00593       end += 4
00594       (length,) = _struct_I.unpack(str[start:end])
00595       start = end
00596       end += length
00597       if python3:
00598         self.action_feedback.header.frame_id = str[start:end].decode('utf-8')
00599       else:
00600         self.action_feedback.header.frame_id = str[start:end]
00601       _x = self
00602       start = end
00603       end += 8
00604       (_x.action_feedback.status.goal_id.stamp.secs, _x.action_feedback.status.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00605       start = end
00606       end += 4
00607       (length,) = _struct_I.unpack(str[start:end])
00608       start = end
00609       end += length
00610       if python3:
00611         self.action_feedback.status.goal_id.id = str[start:end].decode('utf-8')
00612       else:
00613         self.action_feedback.status.goal_id.id = str[start:end]
00614       start = end
00615       end += 1
00616       (self.action_feedback.status.status,) = _struct_B.unpack(str[start:end])
00617       start = end
00618       end += 4
00619       (length,) = _struct_I.unpack(str[start:end])
00620       start = end
00621       end += length
00622       if python3:
00623         self.action_feedback.status.text = str[start:end].decode('utf-8')
00624       else:
00625         self.action_feedback.status.text = str[start:end]
00626       _x = self
00627       start = end
00628       end += 44
00629       (_x.action_feedback.feedback.data.stamp.secs, _x.action_feedback.feedback.data.stamp.nsecs, _x.action_feedback.feedback.data.contact_conditions_met, _x.action_feedback.feedback.data.left_fingertip_pad_contact, _x.action_feedback.feedback.data.right_fingertip_pad_contact, _x.action_feedback.feedback.data.left_fingertip_pad_force, _x.action_feedback.feedback.data.right_fingertip_pad_force, _x.action_feedback.feedback.data.joint_position, _x.action_feedback.feedback.data.joint_effort, _x.action_feedback.feedback.data.rtstate.realtime_controller_state,) = _struct_2I3B4db.unpack(str[start:end])
00630       self.action_feedback.feedback.data.contact_conditions_met = bool(self.action_feedback.feedback.data.contact_conditions_met)
00631       self.action_feedback.feedback.data.left_fingertip_pad_contact = bool(self.action_feedback.feedback.data.left_fingertip_pad_contact)
00632       self.action_feedback.feedback.data.right_fingertip_pad_contact = bool(self.action_feedback.feedback.data.right_fingertip_pad_contact)
00633       return self
00634     except struct.error as e:
00635       raise genpy.DeserializationError(e) #most likely buffer underfill
00636 
00637 _struct_I = genpy.struct_I
00638 _struct_B = struct.Struct("<B")
00639 _struct_2I3B4db = struct.Struct("<2I3B4db")
00640 _struct_Bb3I = struct.Struct("<Bb3I")
00641 _struct_3I = struct.Struct("<3I")
00642 _struct_2I = struct.Struct("<2I")
00643 _struct_2I3B4db3I = struct.Struct("<2I3B4db3I")


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