_PR2GripperForceServoActionGoal.py
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00001 """autogenerated by genpy from pr2_gripper_sensor_msgs/PR2GripperForceServoActionGoal.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 PR2GripperForceServoActionGoal(genpy.Message):
00013   _md5sum = "6fef46f6d468335bf123ba62175e1dc9"
00014   _type = "pr2_gripper_sensor_msgs/PR2GripperForceServoActionGoal"
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 PR2GripperForceServoGoal 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/PR2GripperForceServoGoal
00055 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00056 # Action to launch the gripper into force servoing mode 
00057 
00058 #goals
00059 PR2GripperForceServoCommand command
00060 
00061 ================================================================================
00062 MSG: pr2_gripper_sensor_msgs/PR2GripperForceServoCommand
00063 # the amount of fingertip force (in Newtons) to apply.
00064 # NOTE: the joint will squeeze until each finger reaches this level
00065 # values < 0 (opening force) are ignored
00066 #
00067 # 10 N can crack an egg or crush a soda can.
00068 # 15 N can firmly pick up a can of soup.
00069 # Experiment on your own.
00070 #
00071 float64 fingertip_force
00072 """
00073   __slots__ = ['header','goal_id','goal']
00074   _slot_types = ['std_msgs/Header','actionlib_msgs/GoalID','pr2_gripper_sensor_msgs/PR2GripperForceServoGoal']
00075 
00076   def __init__(self, *args, **kwds):
00077     """
00078     Constructor. Any message fields that are implicitly/explicitly
00079     set to None will be assigned a default value. The recommend
00080     use is keyword arguments as this is more robust to future message
00081     changes.  You cannot mix in-order arguments and keyword arguments.
00082 
00083     The available fields are:
00084        header,goal_id,goal
00085 
00086     :param args: complete set of field values, in .msg order
00087     :param kwds: use keyword arguments corresponding to message field names
00088     to set specific fields.
00089     """
00090     if args or kwds:
00091       super(PR2GripperForceServoActionGoal, self).__init__(*args, **kwds)
00092       #message fields cannot be None, assign default values for those that are
00093       if self.header is None:
00094         self.header = std_msgs.msg.Header()
00095       if self.goal_id is None:
00096         self.goal_id = actionlib_msgs.msg.GoalID()
00097       if self.goal is None:
00098         self.goal = pr2_gripper_sensor_msgs.msg.PR2GripperForceServoGoal()
00099     else:
00100       self.header = std_msgs.msg.Header()
00101       self.goal_id = actionlib_msgs.msg.GoalID()
00102       self.goal = pr2_gripper_sensor_msgs.msg.PR2GripperForceServoGoal()
00103 
00104   def _get_types(self):
00105     """
00106     internal API method
00107     """
00108     return self._slot_types
00109 
00110   def serialize(self, buff):
00111     """
00112     serialize message into buffer
00113     :param buff: buffer, ``StringIO``
00114     """
00115     try:
00116       _x = self
00117       buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
00118       _x = self.header.frame_id
00119       length = len(_x)
00120       if python3 or type(_x) == unicode:
00121         _x = _x.encode('utf-8')
00122         length = len(_x)
00123       buff.write(struct.pack('<I%ss'%length, length, _x))
00124       _x = self
00125       buff.write(_struct_2I.pack(_x.goal_id.stamp.secs, _x.goal_id.stamp.nsecs))
00126       _x = self.goal_id.id
00127       length = len(_x)
00128       if python3 or type(_x) == unicode:
00129         _x = _x.encode('utf-8')
00130         length = len(_x)
00131       buff.write(struct.pack('<I%ss'%length, length, _x))
00132       buff.write(_struct_d.pack(self.goal.command.fingertip_force))
00133     except struct.error as se: self._check_types(se)
00134     except TypeError as te: self._check_types(te)
00135 
00136   def deserialize(self, str):
00137     """
00138     unpack serialized message in str into this message instance
00139     :param str: byte array of serialized message, ``str``
00140     """
00141     try:
00142       if self.header is None:
00143         self.header = std_msgs.msg.Header()
00144       if self.goal_id is None:
00145         self.goal_id = actionlib_msgs.msg.GoalID()
00146       if self.goal is None:
00147         self.goal = pr2_gripper_sensor_msgs.msg.PR2GripperForceServoGoal()
00148       end = 0
00149       _x = self
00150       start = end
00151       end += 12
00152       (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00153       start = end
00154       end += 4
00155       (length,) = _struct_I.unpack(str[start:end])
00156       start = end
00157       end += length
00158       if python3:
00159         self.header.frame_id = str[start:end].decode('utf-8')
00160       else:
00161         self.header.frame_id = str[start:end]
00162       _x = self
00163       start = end
00164       end += 8
00165       (_x.goal_id.stamp.secs, _x.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00166       start = end
00167       end += 4
00168       (length,) = _struct_I.unpack(str[start:end])
00169       start = end
00170       end += length
00171       if python3:
00172         self.goal_id.id = str[start:end].decode('utf-8')
00173       else:
00174         self.goal_id.id = str[start:end]
00175       start = end
00176       end += 8
00177       (self.goal.command.fingertip_force,) = _struct_d.unpack(str[start:end])
00178       return self
00179     except struct.error as e:
00180       raise genpy.DeserializationError(e) #most likely buffer underfill
00181 
00182 
00183   def serialize_numpy(self, buff, numpy):
00184     """
00185     serialize message with numpy array types into buffer
00186     :param buff: buffer, ``StringIO``
00187     :param numpy: numpy python module
00188     """
00189     try:
00190       _x = self
00191       buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
00192       _x = self.header.frame_id
00193       length = len(_x)
00194       if python3 or type(_x) == unicode:
00195         _x = _x.encode('utf-8')
00196         length = len(_x)
00197       buff.write(struct.pack('<I%ss'%length, length, _x))
00198       _x = self
00199       buff.write(_struct_2I.pack(_x.goal_id.stamp.secs, _x.goal_id.stamp.nsecs))
00200       _x = self.goal_id.id
00201       length = len(_x)
00202       if python3 or type(_x) == unicode:
00203         _x = _x.encode('utf-8')
00204         length = len(_x)
00205       buff.write(struct.pack('<I%ss'%length, length, _x))
00206       buff.write(_struct_d.pack(self.goal.command.fingertip_force))
00207     except struct.error as se: self._check_types(se)
00208     except TypeError as te: self._check_types(te)
00209 
00210   def deserialize_numpy(self, str, numpy):
00211     """
00212     unpack serialized message in str into this message instance using numpy for array types
00213     :param str: byte array of serialized message, ``str``
00214     :param numpy: numpy python module
00215     """
00216     try:
00217       if self.header is None:
00218         self.header = std_msgs.msg.Header()
00219       if self.goal_id is None:
00220         self.goal_id = actionlib_msgs.msg.GoalID()
00221       if self.goal is None:
00222         self.goal = pr2_gripper_sensor_msgs.msg.PR2GripperForceServoGoal()
00223       end = 0
00224       _x = self
00225       start = end
00226       end += 12
00227       (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00228       start = end
00229       end += 4
00230       (length,) = _struct_I.unpack(str[start:end])
00231       start = end
00232       end += length
00233       if python3:
00234         self.header.frame_id = str[start:end].decode('utf-8')
00235       else:
00236         self.header.frame_id = str[start:end]
00237       _x = self
00238       start = end
00239       end += 8
00240       (_x.goal_id.stamp.secs, _x.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00241       start = end
00242       end += 4
00243       (length,) = _struct_I.unpack(str[start:end])
00244       start = end
00245       end += length
00246       if python3:
00247         self.goal_id.id = str[start:end].decode('utf-8')
00248       else:
00249         self.goal_id.id = str[start:end]
00250       start = end
00251       end += 8
00252       (self.goal.command.fingertip_force,) = _struct_d.unpack(str[start:end])
00253       return self
00254     except struct.error as e:
00255       raise genpy.DeserializationError(e) #most likely buffer underfill
00256 
00257 _struct_I = genpy.struct_I
00258 _struct_3I = struct.Struct("<3I")
00259 _struct_2I = struct.Struct("<2I")
00260 _struct_d = struct.Struct("<d")


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