_PR2GripperFindContactResult.py
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00001 """autogenerated by genpy from pr2_gripper_sensor_msgs/PR2GripperFindContactResult.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 pr2_gripper_sensor_msgs.msg
00009 
00010 class PR2GripperFindContactResult(genpy.Message):
00011   _md5sum = "a1cc8c2fc9268b550e6167f268f97574"
00012   _type = "pr2_gripper_sensor_msgs/PR2GripperFindContactResult"
00013   _has_header = False #flag to mark the presence of a Header object
00014   _full_text = """# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00015 #results
00016 PR2GripperFindContactData data
00017 
00018 ================================================================================
00019 MSG: pr2_gripper_sensor_msgs/PR2GripperFindContactData
00020 # Time the data was recorded at
00021 time stamp
00022 
00023 # true when our contact conditions have been met
00024 # (see PR2GripperFindContact command)
00025 bool contact_conditions_met
00026 
00027 # the finger contact conditions 
00028 # true if the finger experienced a contact event
00029 #
00030 # contact events are defined as contact with the fingerpads
00031 # as either steady-state or high-freq force events
00032 bool left_fingertip_pad_contact
00033 bool right_fingertip_pad_contact
00034 
00035 # the force experinced by the finger Pads  (N)
00036 # NOTE:this ignores data from the edges of the finger pressure
00037 float64 left_fingertip_pad_force
00038 float64 right_fingertip_pad_force
00039 
00040 # the current joint position (m)
00041 float64 joint_position
00042 
00043 # the virtual (parallel) joint effort (N)
00044 float64 joint_effort
00045 
00046 # the control state of our realtime controller
00047 PR2GripperSensorRTState rtstate
00048 ================================================================================
00049 MSG: pr2_gripper_sensor_msgs/PR2GripperSensorRTState
00050 # the control state of our realtime controller
00051 int8 realtime_controller_state
00052 
00053 # predefined values to indicate our realtime_controller_state
00054 int8 DISABLED = 0
00055 int8 POSITION_SERVO = 3
00056 int8 FORCE_SERVO = 4
00057 int8 FIND_CONTACT = 5
00058 int8 SLIP_SERVO = 6
00059 """
00060   __slots__ = ['data']
00061   _slot_types = ['pr2_gripper_sensor_msgs/PR2GripperFindContactData']
00062 
00063   def __init__(self, *args, **kwds):
00064     """
00065     Constructor. Any message fields that are implicitly/explicitly
00066     set to None will be assigned a default value. The recommend
00067     use is keyword arguments as this is more robust to future message
00068     changes.  You cannot mix in-order arguments and keyword arguments.
00069 
00070     The available fields are:
00071        data
00072 
00073     :param args: complete set of field values, in .msg order
00074     :param kwds: use keyword arguments corresponding to message field names
00075     to set specific fields.
00076     """
00077     if args or kwds:
00078       super(PR2GripperFindContactResult, self).__init__(*args, **kwds)
00079       #message fields cannot be None, assign default values for those that are
00080       if self.data is None:
00081         self.data = pr2_gripper_sensor_msgs.msg.PR2GripperFindContactData()
00082     else:
00083       self.data = pr2_gripper_sensor_msgs.msg.PR2GripperFindContactData()
00084 
00085   def _get_types(self):
00086     """
00087     internal API method
00088     """
00089     return self._slot_types
00090 
00091   def serialize(self, buff):
00092     """
00093     serialize message into buffer
00094     :param buff: buffer, ``StringIO``
00095     """
00096     try:
00097       _x = self
00098       buff.write(_struct_2I3B4db.pack(_x.data.stamp.secs, _x.data.stamp.nsecs, _x.data.contact_conditions_met, _x.data.left_fingertip_pad_contact, _x.data.right_fingertip_pad_contact, _x.data.left_fingertip_pad_force, _x.data.right_fingertip_pad_force, _x.data.joint_position, _x.data.joint_effort, _x.data.rtstate.realtime_controller_state))
00099     except struct.error as se: self._check_types(se)
00100     except TypeError as te: self._check_types(te)
00101 
00102   def deserialize(self, str):
00103     """
00104     unpack serialized message in str into this message instance
00105     :param str: byte array of serialized message, ``str``
00106     """
00107     try:
00108       if self.data is None:
00109         self.data = pr2_gripper_sensor_msgs.msg.PR2GripperFindContactData()
00110       end = 0
00111       _x = self
00112       start = end
00113       end += 44
00114       (_x.data.stamp.secs, _x.data.stamp.nsecs, _x.data.contact_conditions_met, _x.data.left_fingertip_pad_contact, _x.data.right_fingertip_pad_contact, _x.data.left_fingertip_pad_force, _x.data.right_fingertip_pad_force, _x.data.joint_position, _x.data.joint_effort, _x.data.rtstate.realtime_controller_state,) = _struct_2I3B4db.unpack(str[start:end])
00115       self.data.contact_conditions_met = bool(self.data.contact_conditions_met)
00116       self.data.left_fingertip_pad_contact = bool(self.data.left_fingertip_pad_contact)
00117       self.data.right_fingertip_pad_contact = bool(self.data.right_fingertip_pad_contact)
00118       return self
00119     except struct.error as e:
00120       raise genpy.DeserializationError(e) #most likely buffer underfill
00121 
00122 
00123   def serialize_numpy(self, buff, numpy):
00124     """
00125     serialize message with numpy array types into buffer
00126     :param buff: buffer, ``StringIO``
00127     :param numpy: numpy python module
00128     """
00129     try:
00130       _x = self
00131       buff.write(_struct_2I3B4db.pack(_x.data.stamp.secs, _x.data.stamp.nsecs, _x.data.contact_conditions_met, _x.data.left_fingertip_pad_contact, _x.data.right_fingertip_pad_contact, _x.data.left_fingertip_pad_force, _x.data.right_fingertip_pad_force, _x.data.joint_position, _x.data.joint_effort, _x.data.rtstate.realtime_controller_state))
00132     except struct.error as se: self._check_types(se)
00133     except TypeError as te: self._check_types(te)
00134 
00135   def deserialize_numpy(self, str, numpy):
00136     """
00137     unpack serialized message in str into this message instance using numpy for array types
00138     :param str: byte array of serialized message, ``str``
00139     :param numpy: numpy python module
00140     """
00141     try:
00142       if self.data is None:
00143         self.data = pr2_gripper_sensor_msgs.msg.PR2GripperFindContactData()
00144       end = 0
00145       _x = self
00146       start = end
00147       end += 44
00148       (_x.data.stamp.secs, _x.data.stamp.nsecs, _x.data.contact_conditions_met, _x.data.left_fingertip_pad_contact, _x.data.right_fingertip_pad_contact, _x.data.left_fingertip_pad_force, _x.data.right_fingertip_pad_force, _x.data.joint_position, _x.data.joint_effort, _x.data.rtstate.realtime_controller_state,) = _struct_2I3B4db.unpack(str[start:end])
00149       self.data.contact_conditions_met = bool(self.data.contact_conditions_met)
00150       self.data.left_fingertip_pad_contact = bool(self.data.left_fingertip_pad_contact)
00151       self.data.right_fingertip_pad_contact = bool(self.data.right_fingertip_pad_contact)
00152       return self
00153     except struct.error as e:
00154       raise genpy.DeserializationError(e) #most likely buffer underfill
00155 
00156 _struct_I = genpy.struct_I
00157 _struct_2I3B4db = struct.Struct("<2I3B4db")


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