_PR2GripperReleaseActionGoal.py
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00001 """autogenerated by genpy from pr2_gripper_sensor_msgs/PR2GripperReleaseActionGoal.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 PR2GripperReleaseActionGoal(genpy.Message):
00013   _md5sum = "e5f06f3717f8990527330a2e0eaa0c81"
00014   _type = "pr2_gripper_sensor_msgs/PR2GripperReleaseActionGoal"
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 PR2GripperReleaseGoal 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/PR2GripperReleaseGoal
00055 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00056 #goal
00057 PR2GripperReleaseCommand command
00058 
00059 ================================================================================
00060 MSG: pr2_gripper_sensor_msgs/PR2GripperReleaseCommand
00061 # the event conditions we would like to trigger the robot to release on
00062 PR2GripperEventDetectorCommand event
00063 ================================================================================
00064 MSG: pr2_gripper_sensor_msgs/PR2GripperEventDetectorCommand
00065 # state variable that defines what events we would like to trigger on
00066 # Leaving this field blank will result in the robot triggering when 
00067 # anything touches the sides of the finger or an impact is detected
00068 # with the hand/arm.
00069 int8 trigger_conditions
00070 # definitions for our various trigger_conditions values
00071 # trigger on either acceleration contact or finger sensor side impact
00072 int8 FINGER_SIDE_IMPACT_OR_ACC = 0
00073 # tigger once  both slip and acceleration signals occur
00074 int8 SLIP_AND_ACC = 1 
00075 #  trigger on either slip, acceleration, or finger sensor side impact
00076 int8 FINGER_SIDE_IMPACT_OR_SLIP_OR_ACC = 2
00077 # trigger only on slip information
00078 int8 SLIP = 3
00079 # trigger only on acceleration contact information
00080 int8 ACC = 4 
00081 
00082 
00083 # the amount of acceleration to trigger on (acceleration vector magnitude)
00084 # Units = m/s^2
00085 # The user needs to be concerned here about not setting the trigger too
00086 # low so that is set off by the robot's own motions.
00087 #
00088 # For large rapid motions, say by a motion planner, 5 m/s^2 is a good level
00089 # For small delicate controlled motions this can be set MUCH lower (try 2.0)
00090 #
00091 # NOTE: When moving the gripper joint (opening/closing the grippr)
00092 # the high gearing of the PR2 gripper causes large acceleration vibrations
00093 # which will cause triggering to occur. This is a known drawback of the PR2.
00094 #
00095 # NOTE: Leaving this value blank will result in a 0 m/s^2 trigger. If you
00096 # are using a trigger_conditions value that returns on acceleration contact
00097 # events then it will immediately exceed your trigger and return
00098 float64 acceleration_trigger_magnitude
00099 
00100 
00101 # the slip detector gain to trigger on (either finger) : try 0.01
00102 # higher values decrease slip sensitivty (to a point)
00103 # lower values increase sensitivity (to a point)
00104 #
00105 # NOTE: Leaving this value blank will result in the most sensitive slip level.
00106 float64 slip_trigger_magnitude
00107 """
00108   __slots__ = ['header','goal_id','goal']
00109   _slot_types = ['std_msgs/Header','actionlib_msgs/GoalID','pr2_gripper_sensor_msgs/PR2GripperReleaseGoal']
00110 
00111   def __init__(self, *args, **kwds):
00112     """
00113     Constructor. Any message fields that are implicitly/explicitly
00114     set to None will be assigned a default value. The recommend
00115     use is keyword arguments as this is more robust to future message
00116     changes.  You cannot mix in-order arguments and keyword arguments.
00117 
00118     The available fields are:
00119        header,goal_id,goal
00120 
00121     :param args: complete set of field values, in .msg order
00122     :param kwds: use keyword arguments corresponding to message field names
00123     to set specific fields.
00124     """
00125     if args or kwds:
00126       super(PR2GripperReleaseActionGoal, self).__init__(*args, **kwds)
00127       #message fields cannot be None, assign default values for those that are
00128       if self.header is None:
00129         self.header = std_msgs.msg.Header()
00130       if self.goal_id is None:
00131         self.goal_id = actionlib_msgs.msg.GoalID()
00132       if self.goal is None:
00133         self.goal = pr2_gripper_sensor_msgs.msg.PR2GripperReleaseGoal()
00134     else:
00135       self.header = std_msgs.msg.Header()
00136       self.goal_id = actionlib_msgs.msg.GoalID()
00137       self.goal = pr2_gripper_sensor_msgs.msg.PR2GripperReleaseGoal()
00138 
00139   def _get_types(self):
00140     """
00141     internal API method
00142     """
00143     return self._slot_types
00144 
00145   def serialize(self, buff):
00146     """
00147     serialize message into buffer
00148     :param buff: buffer, ``StringIO``
00149     """
00150     try:
00151       _x = self
00152       buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
00153       _x = self.header.frame_id
00154       length = len(_x)
00155       if python3 or type(_x) == unicode:
00156         _x = _x.encode('utf-8')
00157         length = len(_x)
00158       buff.write(struct.pack('<I%ss'%length, length, _x))
00159       _x = self
00160       buff.write(_struct_2I.pack(_x.goal_id.stamp.secs, _x.goal_id.stamp.nsecs))
00161       _x = self.goal_id.id
00162       length = len(_x)
00163       if python3 or type(_x) == unicode:
00164         _x = _x.encode('utf-8')
00165         length = len(_x)
00166       buff.write(struct.pack('<I%ss'%length, length, _x))
00167       _x = self
00168       buff.write(_struct_b2d.pack(_x.goal.command.event.trigger_conditions, _x.goal.command.event.acceleration_trigger_magnitude, _x.goal.command.event.slip_trigger_magnitude))
00169     except struct.error as se: self._check_types(se)
00170     except TypeError as te: self._check_types(te)
00171 
00172   def deserialize(self, str):
00173     """
00174     unpack serialized message in str into this message instance
00175     :param str: byte array of serialized message, ``str``
00176     """
00177     try:
00178       if self.header is None:
00179         self.header = std_msgs.msg.Header()
00180       if self.goal_id is None:
00181         self.goal_id = actionlib_msgs.msg.GoalID()
00182       if self.goal is None:
00183         self.goal = pr2_gripper_sensor_msgs.msg.PR2GripperReleaseGoal()
00184       end = 0
00185       _x = self
00186       start = end
00187       end += 12
00188       (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00189       start = end
00190       end += 4
00191       (length,) = _struct_I.unpack(str[start:end])
00192       start = end
00193       end += length
00194       if python3:
00195         self.header.frame_id = str[start:end].decode('utf-8')
00196       else:
00197         self.header.frame_id = str[start:end]
00198       _x = self
00199       start = end
00200       end += 8
00201       (_x.goal_id.stamp.secs, _x.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00202       start = end
00203       end += 4
00204       (length,) = _struct_I.unpack(str[start:end])
00205       start = end
00206       end += length
00207       if python3:
00208         self.goal_id.id = str[start:end].decode('utf-8')
00209       else:
00210         self.goal_id.id = str[start:end]
00211       _x = self
00212       start = end
00213       end += 17
00214       (_x.goal.command.event.trigger_conditions, _x.goal.command.event.acceleration_trigger_magnitude, _x.goal.command.event.slip_trigger_magnitude,) = _struct_b2d.unpack(str[start:end])
00215       return self
00216     except struct.error as e:
00217       raise genpy.DeserializationError(e) #most likely buffer underfill
00218 
00219 
00220   def serialize_numpy(self, buff, numpy):
00221     """
00222     serialize message with numpy array types into buffer
00223     :param buff: buffer, ``StringIO``
00224     :param numpy: numpy python module
00225     """
00226     try:
00227       _x = self
00228       buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
00229       _x = self.header.frame_id
00230       length = len(_x)
00231       if python3 or type(_x) == unicode:
00232         _x = _x.encode('utf-8')
00233         length = len(_x)
00234       buff.write(struct.pack('<I%ss'%length, length, _x))
00235       _x = self
00236       buff.write(_struct_2I.pack(_x.goal_id.stamp.secs, _x.goal_id.stamp.nsecs))
00237       _x = self.goal_id.id
00238       length = len(_x)
00239       if python3 or type(_x) == unicode:
00240         _x = _x.encode('utf-8')
00241         length = len(_x)
00242       buff.write(struct.pack('<I%ss'%length, length, _x))
00243       _x = self
00244       buff.write(_struct_b2d.pack(_x.goal.command.event.trigger_conditions, _x.goal.command.event.acceleration_trigger_magnitude, _x.goal.command.event.slip_trigger_magnitude))
00245     except struct.error as se: self._check_types(se)
00246     except TypeError as te: self._check_types(te)
00247 
00248   def deserialize_numpy(self, str, numpy):
00249     """
00250     unpack serialized message in str into this message instance using numpy for array types
00251     :param str: byte array of serialized message, ``str``
00252     :param numpy: numpy python module
00253     """
00254     try:
00255       if self.header is None:
00256         self.header = std_msgs.msg.Header()
00257       if self.goal_id is None:
00258         self.goal_id = actionlib_msgs.msg.GoalID()
00259       if self.goal is None:
00260         self.goal = pr2_gripper_sensor_msgs.msg.PR2GripperReleaseGoal()
00261       end = 0
00262       _x = self
00263       start = end
00264       end += 12
00265       (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00266       start = end
00267       end += 4
00268       (length,) = _struct_I.unpack(str[start:end])
00269       start = end
00270       end += length
00271       if python3:
00272         self.header.frame_id = str[start:end].decode('utf-8')
00273       else:
00274         self.header.frame_id = str[start:end]
00275       _x = self
00276       start = end
00277       end += 8
00278       (_x.goal_id.stamp.secs, _x.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00279       start = end
00280       end += 4
00281       (length,) = _struct_I.unpack(str[start:end])
00282       start = end
00283       end += length
00284       if python3:
00285         self.goal_id.id = str[start:end].decode('utf-8')
00286       else:
00287         self.goal_id.id = str[start:end]
00288       _x = self
00289       start = end
00290       end += 17
00291       (_x.goal.command.event.trigger_conditions, _x.goal.command.event.acceleration_trigger_magnitude, _x.goal.command.event.slip_trigger_magnitude,) = _struct_b2d.unpack(str[start:end])
00292       return self
00293     except struct.error as e:
00294       raise genpy.DeserializationError(e) #most likely buffer underfill
00295 
00296 _struct_I = genpy.struct_I
00297 _struct_3I = struct.Struct("<3I")
00298 _struct_b2d = struct.Struct("<b2d")
00299 _struct_2I = struct.Struct("<2I")


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