_PR2GripperReleaseGoal.py
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00001 """autogenerated by genpy from pr2_gripper_sensor_msgs/PR2GripperReleaseGoal.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 pr2_gripper_sensor_msgs.msg
00008 
00009 class PR2GripperReleaseGoal(genpy.Message):
00010   _md5sum = "f92a4c7c03d33b62ef7f6041bec6a43d"
00011   _type = "pr2_gripper_sensor_msgs/PR2GripperReleaseGoal"
00012   _has_header = False #flag to mark the presence of a Header object
00013   _full_text = """# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00014 #goal
00015 PR2GripperReleaseCommand command
00016 
00017 ================================================================================
00018 MSG: pr2_gripper_sensor_msgs/PR2GripperReleaseCommand
00019 # the event conditions we would like to trigger the robot to release on
00020 PR2GripperEventDetectorCommand event
00021 ================================================================================
00022 MSG: pr2_gripper_sensor_msgs/PR2GripperEventDetectorCommand
00023 # state variable that defines what events we would like to trigger on
00024 # Leaving this field blank will result in the robot triggering when 
00025 # anything touches the sides of the finger or an impact is detected
00026 # with the hand/arm.
00027 int8 trigger_conditions
00028 # definitions for our various trigger_conditions values
00029 # trigger on either acceleration contact or finger sensor side impact
00030 int8 FINGER_SIDE_IMPACT_OR_ACC = 0
00031 # tigger once  both slip and acceleration signals occur
00032 int8 SLIP_AND_ACC = 1 
00033 #  trigger on either slip, acceleration, or finger sensor side impact
00034 int8 FINGER_SIDE_IMPACT_OR_SLIP_OR_ACC = 2
00035 # trigger only on slip information
00036 int8 SLIP = 3
00037 # trigger only on acceleration contact information
00038 int8 ACC = 4 
00039 
00040 
00041 # the amount of acceleration to trigger on (acceleration vector magnitude)
00042 # Units = m/s^2
00043 # The user needs to be concerned here about not setting the trigger too
00044 # low so that is set off by the robot's own motions.
00045 #
00046 # For large rapid motions, say by a motion planner, 5 m/s^2 is a good level
00047 # For small delicate controlled motions this can be set MUCH lower (try 2.0)
00048 #
00049 # NOTE: When moving the gripper joint (opening/closing the grippr)
00050 # the high gearing of the PR2 gripper causes large acceleration vibrations
00051 # which will cause triggering to occur. This is a known drawback of the PR2.
00052 #
00053 # NOTE: Leaving this value blank will result in a 0 m/s^2 trigger. If you
00054 # are using a trigger_conditions value that returns on acceleration contact
00055 # events then it will immediately exceed your trigger and return
00056 float64 acceleration_trigger_magnitude
00057 
00058 
00059 # the slip detector gain to trigger on (either finger) : try 0.01
00060 # higher values decrease slip sensitivty (to a point)
00061 # lower values increase sensitivity (to a point)
00062 #
00063 # NOTE: Leaving this value blank will result in the most sensitive slip level.
00064 float64 slip_trigger_magnitude
00065 """
00066   __slots__ = ['command']
00067   _slot_types = ['pr2_gripper_sensor_msgs/PR2GripperReleaseCommand']
00068 
00069   def __init__(self, *args, **kwds):
00070     """
00071     Constructor. Any message fields that are implicitly/explicitly
00072     set to None will be assigned a default value. The recommend
00073     use is keyword arguments as this is more robust to future message
00074     changes.  You cannot mix in-order arguments and keyword arguments.
00075 
00076     The available fields are:
00077        command
00078 
00079     :param args: complete set of field values, in .msg order
00080     :param kwds: use keyword arguments corresponding to message field names
00081     to set specific fields.
00082     """
00083     if args or kwds:
00084       super(PR2GripperReleaseGoal, self).__init__(*args, **kwds)
00085       #message fields cannot be None, assign default values for those that are
00086       if self.command is None:
00087         self.command = pr2_gripper_sensor_msgs.msg.PR2GripperReleaseCommand()
00088     else:
00089       self.command = pr2_gripper_sensor_msgs.msg.PR2GripperReleaseCommand()
00090 
00091   def _get_types(self):
00092     """
00093     internal API method
00094     """
00095     return self._slot_types
00096 
00097   def serialize(self, buff):
00098     """
00099     serialize message into buffer
00100     :param buff: buffer, ``StringIO``
00101     """
00102     try:
00103       _x = self
00104       buff.write(_struct_b2d.pack(_x.command.event.trigger_conditions, _x.command.event.acceleration_trigger_magnitude, _x.command.event.slip_trigger_magnitude))
00105     except struct.error as se: self._check_types(se)
00106     except TypeError as te: self._check_types(te)
00107 
00108   def deserialize(self, str):
00109     """
00110     unpack serialized message in str into this message instance
00111     :param str: byte array of serialized message, ``str``
00112     """
00113     try:
00114       if self.command is None:
00115         self.command = pr2_gripper_sensor_msgs.msg.PR2GripperReleaseCommand()
00116       end = 0
00117       _x = self
00118       start = end
00119       end += 17
00120       (_x.command.event.trigger_conditions, _x.command.event.acceleration_trigger_magnitude, _x.command.event.slip_trigger_magnitude,) = _struct_b2d.unpack(str[start:end])
00121       return self
00122     except struct.error as e:
00123       raise genpy.DeserializationError(e) #most likely buffer underfill
00124 
00125 
00126   def serialize_numpy(self, buff, numpy):
00127     """
00128     serialize message with numpy array types into buffer
00129     :param buff: buffer, ``StringIO``
00130     :param numpy: numpy python module
00131     """
00132     try:
00133       _x = self
00134       buff.write(_struct_b2d.pack(_x.command.event.trigger_conditions, _x.command.event.acceleration_trigger_magnitude, _x.command.event.slip_trigger_magnitude))
00135     except struct.error as se: self._check_types(se)
00136     except TypeError as te: self._check_types(te)
00137 
00138   def deserialize_numpy(self, str, numpy):
00139     """
00140     unpack serialized message in str into this message instance using numpy for array types
00141     :param str: byte array of serialized message, ``str``
00142     :param numpy: numpy python module
00143     """
00144     try:
00145       if self.command is None:
00146         self.command = pr2_gripper_sensor_msgs.msg.PR2GripperReleaseCommand()
00147       end = 0
00148       _x = self
00149       start = end
00150       end += 17
00151       (_x.command.event.trigger_conditions, _x.command.event.acceleration_trigger_magnitude, _x.command.event.slip_trigger_magnitude,) = _struct_b2d.unpack(str[start:end])
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_b2d = struct.Struct("<b2d")


pr2_gripper_sensor_msgs
Author(s): Joe Romano
autogenerated on Fri Jan 3 2014 11:52:59