_PR2GripperSensorRawData.py
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00001 """autogenerated by genpy from pr2_gripper_sensor_msgs/PR2GripperSensorRawData.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 
00009 class PR2GripperSensorRawData(genpy.Message):
00010   _md5sum = "696a1f2e6969deb0bc6998636ae1b17e"
00011   _type = "pr2_gripper_sensor_msgs/PR2GripperSensorRawData"
00012   _has_header = False #flag to mark the presence of a Header object
00013   _full_text = """# NOTE: This message is only for debugging purposes. It is not intended for API usage - and is not published under release code.
00014 
00015 # Standard ROS header
00016 time stamp
00017 
00018 # corrected for zero contact
00019 float64 left_finger_pad_force
00020 float64 right_finger_pad_force
00021 
00022 # filtered values : high pass filter at 5 Hz after correcting for zero contact
00023 float64 left_finger_pad_force_filtered
00024 float64 right_finger_pad_force_filtered
00025 
00026 # corrected for zero contact
00027 float64[22] left_finger_pad_forces
00028 float64[22] right_finger_pad_forces
00029 
00030 # filtered values : high pass filter at 5 Hz after correcting for zero contact
00031 float64[22] left_finger_pad_forces_filtered
00032 float64[22] right_finger_pad_forces_filtered
00033 
00034 # raw acceleration values
00035 float64 acc_x_raw
00036 float64 acc_y_raw
00037 float64 acc_z_raw
00038 
00039 # filtered acceleration values
00040 float64 acc_x_filtered
00041 float64 acc_y_filtered
00042 float64 acc_z_filtered
00043 
00044 # boolean variables indicating whether contact exists or not
00045 bool left_contact
00046 bool right_contact
00047 """
00048   __slots__ = ['stamp','left_finger_pad_force','right_finger_pad_force','left_finger_pad_force_filtered','right_finger_pad_force_filtered','left_finger_pad_forces','right_finger_pad_forces','left_finger_pad_forces_filtered','right_finger_pad_forces_filtered','acc_x_raw','acc_y_raw','acc_z_raw','acc_x_filtered','acc_y_filtered','acc_z_filtered','left_contact','right_contact']
00049   _slot_types = ['time','float64','float64','float64','float64','float64[22]','float64[22]','float64[22]','float64[22]','float64','float64','float64','float64','float64','float64','bool','bool']
00050 
00051   def __init__(self, *args, **kwds):
00052     """
00053     Constructor. Any message fields that are implicitly/explicitly
00054     set to None will be assigned a default value. The recommend
00055     use is keyword arguments as this is more robust to future message
00056     changes.  You cannot mix in-order arguments and keyword arguments.
00057 
00058     The available fields are:
00059        stamp,left_finger_pad_force,right_finger_pad_force,left_finger_pad_force_filtered,right_finger_pad_force_filtered,left_finger_pad_forces,right_finger_pad_forces,left_finger_pad_forces_filtered,right_finger_pad_forces_filtered,acc_x_raw,acc_y_raw,acc_z_raw,acc_x_filtered,acc_y_filtered,acc_z_filtered,left_contact,right_contact
00060 
00061     :param args: complete set of field values, in .msg order
00062     :param kwds: use keyword arguments corresponding to message field names
00063     to set specific fields.
00064     """
00065     if args or kwds:
00066       super(PR2GripperSensorRawData, self).__init__(*args, **kwds)
00067       #message fields cannot be None, assign default values for those that are
00068       if self.stamp is None:
00069         self.stamp = genpy.Time()
00070       if self.left_finger_pad_force is None:
00071         self.left_finger_pad_force = 0.
00072       if self.right_finger_pad_force is None:
00073         self.right_finger_pad_force = 0.
00074       if self.left_finger_pad_force_filtered is None:
00075         self.left_finger_pad_force_filtered = 0.
00076       if self.right_finger_pad_force_filtered is None:
00077         self.right_finger_pad_force_filtered = 0.
00078       if self.left_finger_pad_forces is None:
00079         self.left_finger_pad_forces = [0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.]
00080       if self.right_finger_pad_forces is None:
00081         self.right_finger_pad_forces = [0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.]
00082       if self.left_finger_pad_forces_filtered is None:
00083         self.left_finger_pad_forces_filtered = [0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.]
00084       if self.right_finger_pad_forces_filtered is None:
00085         self.right_finger_pad_forces_filtered = [0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.]
00086       if self.acc_x_raw is None:
00087         self.acc_x_raw = 0.
00088       if self.acc_y_raw is None:
00089         self.acc_y_raw = 0.
00090       if self.acc_z_raw is None:
00091         self.acc_z_raw = 0.
00092       if self.acc_x_filtered is None:
00093         self.acc_x_filtered = 0.
00094       if self.acc_y_filtered is None:
00095         self.acc_y_filtered = 0.
00096       if self.acc_z_filtered is None:
00097         self.acc_z_filtered = 0.
00098       if self.left_contact is None:
00099         self.left_contact = False
00100       if self.right_contact is None:
00101         self.right_contact = False
00102     else:
00103       self.stamp = genpy.Time()
00104       self.left_finger_pad_force = 0.
00105       self.right_finger_pad_force = 0.
00106       self.left_finger_pad_force_filtered = 0.
00107       self.right_finger_pad_force_filtered = 0.
00108       self.left_finger_pad_forces = [0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.]
00109       self.right_finger_pad_forces = [0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.]
00110       self.left_finger_pad_forces_filtered = [0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.]
00111       self.right_finger_pad_forces_filtered = [0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.]
00112       self.acc_x_raw = 0.
00113       self.acc_y_raw = 0.
00114       self.acc_z_raw = 0.
00115       self.acc_x_filtered = 0.
00116       self.acc_y_filtered = 0.
00117       self.acc_z_filtered = 0.
00118       self.left_contact = False
00119       self.right_contact = False
00120 
00121   def _get_types(self):
00122     """
00123     internal API method
00124     """
00125     return self._slot_types
00126 
00127   def serialize(self, buff):
00128     """
00129     serialize message into buffer
00130     :param buff: buffer, ``StringIO``
00131     """
00132     try:
00133       _x = self
00134       buff.write(_struct_2I4d.pack(_x.stamp.secs, _x.stamp.nsecs, _x.left_finger_pad_force, _x.right_finger_pad_force, _x.left_finger_pad_force_filtered, _x.right_finger_pad_force_filtered))
00135       buff.write(_struct_22d.pack(*self.left_finger_pad_forces))
00136       buff.write(_struct_22d.pack(*self.right_finger_pad_forces))
00137       buff.write(_struct_22d.pack(*self.left_finger_pad_forces_filtered))
00138       buff.write(_struct_22d.pack(*self.right_finger_pad_forces_filtered))
00139       _x = self
00140       buff.write(_struct_6d2B.pack(_x.acc_x_raw, _x.acc_y_raw, _x.acc_z_raw, _x.acc_x_filtered, _x.acc_y_filtered, _x.acc_z_filtered, _x.left_contact, _x.right_contact))
00141     except struct.error as se: self._check_types(se)
00142     except TypeError as te: self._check_types(te)
00143 
00144   def deserialize(self, str):
00145     """
00146     unpack serialized message in str into this message instance
00147     :param str: byte array of serialized message, ``str``
00148     """
00149     try:
00150       if self.stamp is None:
00151         self.stamp = genpy.Time()
00152       end = 0
00153       _x = self
00154       start = end
00155       end += 40
00156       (_x.stamp.secs, _x.stamp.nsecs, _x.left_finger_pad_force, _x.right_finger_pad_force, _x.left_finger_pad_force_filtered, _x.right_finger_pad_force_filtered,) = _struct_2I4d.unpack(str[start:end])
00157       start = end
00158       end += 176
00159       self.left_finger_pad_forces = _struct_22d.unpack(str[start:end])
00160       start = end
00161       end += 176
00162       self.right_finger_pad_forces = _struct_22d.unpack(str[start:end])
00163       start = end
00164       end += 176
00165       self.left_finger_pad_forces_filtered = _struct_22d.unpack(str[start:end])
00166       start = end
00167       end += 176
00168       self.right_finger_pad_forces_filtered = _struct_22d.unpack(str[start:end])
00169       _x = self
00170       start = end
00171       end += 50
00172       (_x.acc_x_raw, _x.acc_y_raw, _x.acc_z_raw, _x.acc_x_filtered, _x.acc_y_filtered, _x.acc_z_filtered, _x.left_contact, _x.right_contact,) = _struct_6d2B.unpack(str[start:end])
00173       self.left_contact = bool(self.left_contact)
00174       self.right_contact = bool(self.right_contact)
00175       self.stamp.canon()
00176       return self
00177     except struct.error as e:
00178       raise genpy.DeserializationError(e) #most likely buffer underfill
00179 
00180 
00181   def serialize_numpy(self, buff, numpy):
00182     """
00183     serialize message with numpy array types into buffer
00184     :param buff: buffer, ``StringIO``
00185     :param numpy: numpy python module
00186     """
00187     try:
00188       _x = self
00189       buff.write(_struct_2I4d.pack(_x.stamp.secs, _x.stamp.nsecs, _x.left_finger_pad_force, _x.right_finger_pad_force, _x.left_finger_pad_force_filtered, _x.right_finger_pad_force_filtered))
00190       buff.write(self.left_finger_pad_forces.tostring())
00191       buff.write(self.right_finger_pad_forces.tostring())
00192       buff.write(self.left_finger_pad_forces_filtered.tostring())
00193       buff.write(self.right_finger_pad_forces_filtered.tostring())
00194       _x = self
00195       buff.write(_struct_6d2B.pack(_x.acc_x_raw, _x.acc_y_raw, _x.acc_z_raw, _x.acc_x_filtered, _x.acc_y_filtered, _x.acc_z_filtered, _x.left_contact, _x.right_contact))
00196     except struct.error as se: self._check_types(se)
00197     except TypeError as te: self._check_types(te)
00198 
00199   def deserialize_numpy(self, str, numpy):
00200     """
00201     unpack serialized message in str into this message instance using numpy for array types
00202     :param str: byte array of serialized message, ``str``
00203     :param numpy: numpy python module
00204     """
00205     try:
00206       if self.stamp is None:
00207         self.stamp = genpy.Time()
00208       end = 0
00209       _x = self
00210       start = end
00211       end += 40
00212       (_x.stamp.secs, _x.stamp.nsecs, _x.left_finger_pad_force, _x.right_finger_pad_force, _x.left_finger_pad_force_filtered, _x.right_finger_pad_force_filtered,) = _struct_2I4d.unpack(str[start:end])
00213       start = end
00214       end += 176
00215       self.left_finger_pad_forces = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=22)
00216       start = end
00217       end += 176
00218       self.right_finger_pad_forces = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=22)
00219       start = end
00220       end += 176
00221       self.left_finger_pad_forces_filtered = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=22)
00222       start = end
00223       end += 176
00224       self.right_finger_pad_forces_filtered = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=22)
00225       _x = self
00226       start = end
00227       end += 50
00228       (_x.acc_x_raw, _x.acc_y_raw, _x.acc_z_raw, _x.acc_x_filtered, _x.acc_y_filtered, _x.acc_z_filtered, _x.left_contact, _x.right_contact,) = _struct_6d2B.unpack(str[start:end])
00229       self.left_contact = bool(self.left_contact)
00230       self.right_contact = bool(self.right_contact)
00231       self.stamp.canon()
00232       return self
00233     except struct.error as e:
00234       raise genpy.DeserializationError(e) #most likely buffer underfill
00235 
00236 _struct_I = genpy.struct_I
00237 _struct_22d = struct.Struct("<22d")
00238 _struct_2I4d = struct.Struct("<2I4d")
00239 _struct_6d2B = struct.Struct("<6d2B")


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