_PR2GripperForceServoData.py
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00001 """autogenerated by genpy from pr2_gripper_sensor_msgs/PR2GripperForceServoData.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 PR2GripperForceServoData(genpy.Message):
00011   _md5sum = "d3960eb2ecb6a9b4c27065619e47fd06"
00012   _type = "pr2_gripper_sensor_msgs/PR2GripperForceServoData"
00013   _has_header = False #flag to mark the presence of a Header object
00014   _full_text = """# Time the data was recorded at
00015 time stamp
00016 
00017 # the force experienced by the finger Pads  (N)
00018 # NOTE:this ignores data from the edges of the finger pressure
00019 float64 left_fingertip_pad_force
00020 float64 right_fingertip_pad_force
00021 
00022 # the current gripper virtual parallel joint effort (in N)
00023 float64 joint_effort
00024 
00025 # true when the gripper is no longer moving
00026 # and we have reached the desired force level
00027 bool force_achieved
00028 
00029 
00030 # the control state of our realtime controller
00031 PR2GripperSensorRTState rtstate
00032 
00033 ================================================================================
00034 MSG: pr2_gripper_sensor_msgs/PR2GripperSensorRTState
00035 # the control state of our realtime controller
00036 int8 realtime_controller_state
00037 
00038 # predefined values to indicate our realtime_controller_state
00039 int8 DISABLED = 0
00040 int8 POSITION_SERVO = 3
00041 int8 FORCE_SERVO = 4
00042 int8 FIND_CONTACT = 5
00043 int8 SLIP_SERVO = 6
00044 """
00045   __slots__ = ['stamp','left_fingertip_pad_force','right_fingertip_pad_force','joint_effort','force_achieved','rtstate']
00046   _slot_types = ['time','float64','float64','float64','bool','pr2_gripper_sensor_msgs/PR2GripperSensorRTState']
00047 
00048   def __init__(self, *args, **kwds):
00049     """
00050     Constructor. Any message fields that are implicitly/explicitly
00051     set to None will be assigned a default value. The recommend
00052     use is keyword arguments as this is more robust to future message
00053     changes.  You cannot mix in-order arguments and keyword arguments.
00054 
00055     The available fields are:
00056        stamp,left_fingertip_pad_force,right_fingertip_pad_force,joint_effort,force_achieved,rtstate
00057 
00058     :param args: complete set of field values, in .msg order
00059     :param kwds: use keyword arguments corresponding to message field names
00060     to set specific fields.
00061     """
00062     if args or kwds:
00063       super(PR2GripperForceServoData, self).__init__(*args, **kwds)
00064       #message fields cannot be None, assign default values for those that are
00065       if self.stamp is None:
00066         self.stamp = genpy.Time()
00067       if self.left_fingertip_pad_force is None:
00068         self.left_fingertip_pad_force = 0.
00069       if self.right_fingertip_pad_force is None:
00070         self.right_fingertip_pad_force = 0.
00071       if self.joint_effort is None:
00072         self.joint_effort = 0.
00073       if self.force_achieved is None:
00074         self.force_achieved = False
00075       if self.rtstate is None:
00076         self.rtstate = pr2_gripper_sensor_msgs.msg.PR2GripperSensorRTState()
00077     else:
00078       self.stamp = genpy.Time()
00079       self.left_fingertip_pad_force = 0.
00080       self.right_fingertip_pad_force = 0.
00081       self.joint_effort = 0.
00082       self.force_achieved = False
00083       self.rtstate = pr2_gripper_sensor_msgs.msg.PR2GripperSensorRTState()
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_2I3dBb.pack(_x.stamp.secs, _x.stamp.nsecs, _x.left_fingertip_pad_force, _x.right_fingertip_pad_force, _x.joint_effort, _x.force_achieved, _x.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.stamp is None:
00109         self.stamp = genpy.Time()
00110       if self.rtstate is None:
00111         self.rtstate = pr2_gripper_sensor_msgs.msg.PR2GripperSensorRTState()
00112       end = 0
00113       _x = self
00114       start = end
00115       end += 34
00116       (_x.stamp.secs, _x.stamp.nsecs, _x.left_fingertip_pad_force, _x.right_fingertip_pad_force, _x.joint_effort, _x.force_achieved, _x.rtstate.realtime_controller_state,) = _struct_2I3dBb.unpack(str[start:end])
00117       self.force_achieved = bool(self.force_achieved)
00118       self.stamp.canon()
00119       return self
00120     except struct.error as e:
00121       raise genpy.DeserializationError(e) #most likely buffer underfill
00122 
00123 
00124   def serialize_numpy(self, buff, numpy):
00125     """
00126     serialize message with numpy array types into buffer
00127     :param buff: buffer, ``StringIO``
00128     :param numpy: numpy python module
00129     """
00130     try:
00131       _x = self
00132       buff.write(_struct_2I3dBb.pack(_x.stamp.secs, _x.stamp.nsecs, _x.left_fingertip_pad_force, _x.right_fingertip_pad_force, _x.joint_effort, _x.force_achieved, _x.rtstate.realtime_controller_state))
00133     except struct.error as se: self._check_types(se)
00134     except TypeError as te: self._check_types(te)
00135 
00136   def deserialize_numpy(self, str, numpy):
00137     """
00138     unpack serialized message in str into this message instance using numpy for array types
00139     :param str: byte array of serialized message, ``str``
00140     :param numpy: numpy python module
00141     """
00142     try:
00143       if self.stamp is None:
00144         self.stamp = genpy.Time()
00145       if self.rtstate is None:
00146         self.rtstate = pr2_gripper_sensor_msgs.msg.PR2GripperSensorRTState()
00147       end = 0
00148       _x = self
00149       start = end
00150       end += 34
00151       (_x.stamp.secs, _x.stamp.nsecs, _x.left_fingertip_pad_force, _x.right_fingertip_pad_force, _x.joint_effort, _x.force_achieved, _x.rtstate.realtime_controller_state,) = _struct_2I3dBb.unpack(str[start:end])
00152       self.force_achieved = bool(self.force_achieved)
00153       self.stamp.canon()
00154       return self
00155     except struct.error as e:
00156       raise genpy.DeserializationError(e) #most likely buffer underfill
00157 
00158 _struct_I = genpy.struct_I
00159 _struct_2I3dBb = struct.Struct("<2I3dBb")


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