_PR2GripperSlipServoActionFeedback.py
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00001 """autogenerated by genpy from pr2_gripper_sensor_msgs/PR2GripperSlipServoActionFeedback.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 PR2GripperSlipServoActionFeedback(genpy.Message):
00013   _md5sum = "8819de47d9e7dfd2acefc052395548ad"
00014   _type = "pr2_gripper_sensor_msgs/PR2GripperSlipServoActionFeedback"
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/GoalStatus status
00020 PR2GripperSlipServoFeedback feedback
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/GoalStatus
00042 GoalID goal_id
00043 uint8 status
00044 uint8 PENDING         = 0   # The goal has yet to be processed by the action server
00045 uint8 ACTIVE          = 1   # The goal is currently being processed by the action server
00046 uint8 PREEMPTED       = 2   # The goal received a cancel request after it started executing
00047                             #   and has since completed its execution (Terminal State)
00048 uint8 SUCCEEDED       = 3   # The goal was achieved successfully by the action server (Terminal State)
00049 uint8 ABORTED         = 4   # The goal was aborted during execution by the action server due
00050                             #    to some failure (Terminal State)
00051 uint8 REJECTED        = 5   # The goal was rejected by the action server without being processed,
00052                             #    because the goal was unattainable or invalid (Terminal State)
00053 uint8 PREEMPTING      = 6   # The goal received a cancel request after it started executing
00054                             #    and has not yet completed execution
00055 uint8 RECALLING       = 7   # The goal received a cancel request before it started executing,
00056                             #    but the action server has not yet confirmed that the goal is canceled
00057 uint8 RECALLED        = 8   # The goal received a cancel request before it started executing
00058                             #    and was successfully cancelled (Terminal State)
00059 uint8 LOST            = 9   # An action client can determine that a goal is LOST. This should not be
00060                             #    sent over the wire by an action server
00061 
00062 #Allow for the user to associate a string with GoalStatus for debugging
00063 string text
00064 
00065 
00066 ================================================================================
00067 MSG: actionlib_msgs/GoalID
00068 # The stamp should store the time at which this goal was requested.
00069 # It is used by an action server when it tries to preempt all
00070 # goals that were requested before a certain time
00071 time stamp
00072 
00073 # The id provides a way to associate feedback and
00074 # result message with specific goal requests. The id
00075 # specified must be unique.
00076 string id
00077 
00078 
00079 ================================================================================
00080 MSG: pr2_gripper_sensor_msgs/PR2GripperSlipServoFeedback
00081 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00082 
00083 #feedback
00084 PR2GripperSlipServoData data
00085 
00086 ================================================================================
00087 MSG: pr2_gripper_sensor_msgs/PR2GripperSlipServoData
00088 # time the data was recorded at
00089 time stamp
00090 
00091 # the amount of deformation from action start (in meters)
00092 float64 deformation
00093 
00094 # the force experinced by the finger Pads  (N)
00095 # NOTE:this ignores data from the edges of the finger pressure
00096 float64 left_fingertip_pad_force
00097 float64 right_fingertip_pad_force
00098 
00099 # the current virtual parallel joint effort of the gripper (in N)
00100 float64 joint_effort
00101 
00102 # true if the object recently slipped
00103 bool slip_detected
00104 
00105 # true if we are at or exceeding the deformation limit
00106 # (see wiki page and param server for more info)
00107 bool deformation_limit_reached
00108 
00109 # true if we are at or exceeding our force 
00110 # (see wiki page and param server for more info)
00111 bool fingertip_force_limit_reached
00112 
00113 # true if the controller thinks the gripper is empty
00114 # (see wiki page for more info)
00115 bool gripper_empty
00116 
00117 # the control state of our realtime controller
00118 PR2GripperSensorRTState rtstate
00119 ================================================================================
00120 MSG: pr2_gripper_sensor_msgs/PR2GripperSensorRTState
00121 # the control state of our realtime controller
00122 int8 realtime_controller_state
00123 
00124 # predefined values to indicate our realtime_controller_state
00125 int8 DISABLED = 0
00126 int8 POSITION_SERVO = 3
00127 int8 FORCE_SERVO = 4
00128 int8 FIND_CONTACT = 5
00129 int8 SLIP_SERVO = 6
00130 """
00131   __slots__ = ['header','status','feedback']
00132   _slot_types = ['std_msgs/Header','actionlib_msgs/GoalStatus','pr2_gripper_sensor_msgs/PR2GripperSlipServoFeedback']
00133 
00134   def __init__(self, *args, **kwds):
00135     """
00136     Constructor. Any message fields that are implicitly/explicitly
00137     set to None will be assigned a default value. The recommend
00138     use is keyword arguments as this is more robust to future message
00139     changes.  You cannot mix in-order arguments and keyword arguments.
00140 
00141     The available fields are:
00142        header,status,feedback
00143 
00144     :param args: complete set of field values, in .msg order
00145     :param kwds: use keyword arguments corresponding to message field names
00146     to set specific fields.
00147     """
00148     if args or kwds:
00149       super(PR2GripperSlipServoActionFeedback, self).__init__(*args, **kwds)
00150       #message fields cannot be None, assign default values for those that are
00151       if self.header is None:
00152         self.header = std_msgs.msg.Header()
00153       if self.status is None:
00154         self.status = actionlib_msgs.msg.GoalStatus()
00155       if self.feedback is None:
00156         self.feedback = pr2_gripper_sensor_msgs.msg.PR2GripperSlipServoFeedback()
00157     else:
00158       self.header = std_msgs.msg.Header()
00159       self.status = actionlib_msgs.msg.GoalStatus()
00160       self.feedback = pr2_gripper_sensor_msgs.msg.PR2GripperSlipServoFeedback()
00161 
00162   def _get_types(self):
00163     """
00164     internal API method
00165     """
00166     return self._slot_types
00167 
00168   def serialize(self, buff):
00169     """
00170     serialize message into buffer
00171     :param buff: buffer, ``StringIO``
00172     """
00173     try:
00174       _x = self
00175       buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
00176       _x = self.header.frame_id
00177       length = len(_x)
00178       if python3 or type(_x) == unicode:
00179         _x = _x.encode('utf-8')
00180         length = len(_x)
00181       buff.write(struct.pack('<I%ss'%length, length, _x))
00182       _x = self
00183       buff.write(_struct_2I.pack(_x.status.goal_id.stamp.secs, _x.status.goal_id.stamp.nsecs))
00184       _x = self.status.goal_id.id
00185       length = len(_x)
00186       if python3 or type(_x) == unicode:
00187         _x = _x.encode('utf-8')
00188         length = len(_x)
00189       buff.write(struct.pack('<I%ss'%length, length, _x))
00190       buff.write(_struct_B.pack(self.status.status))
00191       _x = self.status.text
00192       length = len(_x)
00193       if python3 or type(_x) == unicode:
00194         _x = _x.encode('utf-8')
00195         length = len(_x)
00196       buff.write(struct.pack('<I%ss'%length, length, _x))
00197       _x = self
00198       buff.write(_struct_2I4d4Bb.pack(_x.feedback.data.stamp.secs, _x.feedback.data.stamp.nsecs, _x.feedback.data.deformation, _x.feedback.data.left_fingertip_pad_force, _x.feedback.data.right_fingertip_pad_force, _x.feedback.data.joint_effort, _x.feedback.data.slip_detected, _x.feedback.data.deformation_limit_reached, _x.feedback.data.fingertip_force_limit_reached, _x.feedback.data.gripper_empty, _x.feedback.data.rtstate.realtime_controller_state))
00199     except struct.error as se: self._check_types(se)
00200     except TypeError as te: self._check_types(te)
00201 
00202   def deserialize(self, str):
00203     """
00204     unpack serialized message in str into this message instance
00205     :param str: byte array of serialized message, ``str``
00206     """
00207     try:
00208       if self.header is None:
00209         self.header = std_msgs.msg.Header()
00210       if self.status is None:
00211         self.status = actionlib_msgs.msg.GoalStatus()
00212       if self.feedback is None:
00213         self.feedback = pr2_gripper_sensor_msgs.msg.PR2GripperSlipServoFeedback()
00214       end = 0
00215       _x = self
00216       start = end
00217       end += 12
00218       (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00219       start = end
00220       end += 4
00221       (length,) = _struct_I.unpack(str[start:end])
00222       start = end
00223       end += length
00224       if python3:
00225         self.header.frame_id = str[start:end].decode('utf-8')
00226       else:
00227         self.header.frame_id = str[start:end]
00228       _x = self
00229       start = end
00230       end += 8
00231       (_x.status.goal_id.stamp.secs, _x.status.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00232       start = end
00233       end += 4
00234       (length,) = _struct_I.unpack(str[start:end])
00235       start = end
00236       end += length
00237       if python3:
00238         self.status.goal_id.id = str[start:end].decode('utf-8')
00239       else:
00240         self.status.goal_id.id = str[start:end]
00241       start = end
00242       end += 1
00243       (self.status.status,) = _struct_B.unpack(str[start:end])
00244       start = end
00245       end += 4
00246       (length,) = _struct_I.unpack(str[start:end])
00247       start = end
00248       end += length
00249       if python3:
00250         self.status.text = str[start:end].decode('utf-8')
00251       else:
00252         self.status.text = str[start:end]
00253       _x = self
00254       start = end
00255       end += 45
00256       (_x.feedback.data.stamp.secs, _x.feedback.data.stamp.nsecs, _x.feedback.data.deformation, _x.feedback.data.left_fingertip_pad_force, _x.feedback.data.right_fingertip_pad_force, _x.feedback.data.joint_effort, _x.feedback.data.slip_detected, _x.feedback.data.deformation_limit_reached, _x.feedback.data.fingertip_force_limit_reached, _x.feedback.data.gripper_empty, _x.feedback.data.rtstate.realtime_controller_state,) = _struct_2I4d4Bb.unpack(str[start:end])
00257       self.feedback.data.slip_detected = bool(self.feedback.data.slip_detected)
00258       self.feedback.data.deformation_limit_reached = bool(self.feedback.data.deformation_limit_reached)
00259       self.feedback.data.fingertip_force_limit_reached = bool(self.feedback.data.fingertip_force_limit_reached)
00260       self.feedback.data.gripper_empty = bool(self.feedback.data.gripper_empty)
00261       return self
00262     except struct.error as e:
00263       raise genpy.DeserializationError(e) #most likely buffer underfill
00264 
00265 
00266   def serialize_numpy(self, buff, numpy):
00267     """
00268     serialize message with numpy array types into buffer
00269     :param buff: buffer, ``StringIO``
00270     :param numpy: numpy python module
00271     """
00272     try:
00273       _x = self
00274       buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
00275       _x = self.header.frame_id
00276       length = len(_x)
00277       if python3 or type(_x) == unicode:
00278         _x = _x.encode('utf-8')
00279         length = len(_x)
00280       buff.write(struct.pack('<I%ss'%length, length, _x))
00281       _x = self
00282       buff.write(_struct_2I.pack(_x.status.goal_id.stamp.secs, _x.status.goal_id.stamp.nsecs))
00283       _x = self.status.goal_id.id
00284       length = len(_x)
00285       if python3 or type(_x) == unicode:
00286         _x = _x.encode('utf-8')
00287         length = len(_x)
00288       buff.write(struct.pack('<I%ss'%length, length, _x))
00289       buff.write(_struct_B.pack(self.status.status))
00290       _x = self.status.text
00291       length = len(_x)
00292       if python3 or type(_x) == unicode:
00293         _x = _x.encode('utf-8')
00294         length = len(_x)
00295       buff.write(struct.pack('<I%ss'%length, length, _x))
00296       _x = self
00297       buff.write(_struct_2I4d4Bb.pack(_x.feedback.data.stamp.secs, _x.feedback.data.stamp.nsecs, _x.feedback.data.deformation, _x.feedback.data.left_fingertip_pad_force, _x.feedback.data.right_fingertip_pad_force, _x.feedback.data.joint_effort, _x.feedback.data.slip_detected, _x.feedback.data.deformation_limit_reached, _x.feedback.data.fingertip_force_limit_reached, _x.feedback.data.gripper_empty, _x.feedback.data.rtstate.realtime_controller_state))
00298     except struct.error as se: self._check_types(se)
00299     except TypeError as te: self._check_types(te)
00300 
00301   def deserialize_numpy(self, str, numpy):
00302     """
00303     unpack serialized message in str into this message instance using numpy for array types
00304     :param str: byte array of serialized message, ``str``
00305     :param numpy: numpy python module
00306     """
00307     try:
00308       if self.header is None:
00309         self.header = std_msgs.msg.Header()
00310       if self.status is None:
00311         self.status = actionlib_msgs.msg.GoalStatus()
00312       if self.feedback is None:
00313         self.feedback = pr2_gripper_sensor_msgs.msg.PR2GripperSlipServoFeedback()
00314       end = 0
00315       _x = self
00316       start = end
00317       end += 12
00318       (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00319       start = end
00320       end += 4
00321       (length,) = _struct_I.unpack(str[start:end])
00322       start = end
00323       end += length
00324       if python3:
00325         self.header.frame_id = str[start:end].decode('utf-8')
00326       else:
00327         self.header.frame_id = str[start:end]
00328       _x = self
00329       start = end
00330       end += 8
00331       (_x.status.goal_id.stamp.secs, _x.status.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00332       start = end
00333       end += 4
00334       (length,) = _struct_I.unpack(str[start:end])
00335       start = end
00336       end += length
00337       if python3:
00338         self.status.goal_id.id = str[start:end].decode('utf-8')
00339       else:
00340         self.status.goal_id.id = str[start:end]
00341       start = end
00342       end += 1
00343       (self.status.status,) = _struct_B.unpack(str[start:end])
00344       start = end
00345       end += 4
00346       (length,) = _struct_I.unpack(str[start:end])
00347       start = end
00348       end += length
00349       if python3:
00350         self.status.text = str[start:end].decode('utf-8')
00351       else:
00352         self.status.text = str[start:end]
00353       _x = self
00354       start = end
00355       end += 45
00356       (_x.feedback.data.stamp.secs, _x.feedback.data.stamp.nsecs, _x.feedback.data.deformation, _x.feedback.data.left_fingertip_pad_force, _x.feedback.data.right_fingertip_pad_force, _x.feedback.data.joint_effort, _x.feedback.data.slip_detected, _x.feedback.data.deformation_limit_reached, _x.feedback.data.fingertip_force_limit_reached, _x.feedback.data.gripper_empty, _x.feedback.data.rtstate.realtime_controller_state,) = _struct_2I4d4Bb.unpack(str[start:end])
00357       self.feedback.data.slip_detected = bool(self.feedback.data.slip_detected)
00358       self.feedback.data.deformation_limit_reached = bool(self.feedback.data.deformation_limit_reached)
00359       self.feedback.data.fingertip_force_limit_reached = bool(self.feedback.data.fingertip_force_limit_reached)
00360       self.feedback.data.gripper_empty = bool(self.feedback.data.gripper_empty)
00361       return self
00362     except struct.error as e:
00363       raise genpy.DeserializationError(e) #most likely buffer underfill
00364 
00365 _struct_I = genpy.struct_I
00366 _struct_3I = struct.Struct("<3I")
00367 _struct_B = struct.Struct("<B")
00368 _struct_2I = struct.Struct("<2I")
00369 _struct_2I4d4Bb = struct.Struct("<2I4d4Bb")


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