_PR2GripperSlipServoActionResult.py
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00001 """autogenerated by genpy from pr2_gripper_sensor_msgs/PR2GripperSlipServoActionResult.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 PR2GripperSlipServoActionResult(genpy.Message):
00013   _md5sum = "803e6845ed2b1f1d15016f48d0689075"
00014   _type = "pr2_gripper_sensor_msgs/PR2GripperSlipServoActionResult"
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 PR2GripperSlipServoResult result
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/PR2GripperSlipServoResult
00081 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00082 
00083 #result
00084 PR2GripperSlipServoData data
00085 
00086 
00087 ================================================================================
00088 MSG: pr2_gripper_sensor_msgs/PR2GripperSlipServoData
00089 # time the data was recorded at
00090 time stamp
00091 
00092 # the amount of deformation from action start (in meters)
00093 float64 deformation
00094 
00095 # the force experinced by the finger Pads  (N)
00096 # NOTE:this ignores data from the edges of the finger pressure
00097 float64 left_fingertip_pad_force
00098 float64 right_fingertip_pad_force
00099 
00100 # the current virtual parallel joint effort of the gripper (in N)
00101 float64 joint_effort
00102 
00103 # true if the object recently slipped
00104 bool slip_detected
00105 
00106 # true if we are at or exceeding the deformation limit
00107 # (see wiki page and param server for more info)
00108 bool deformation_limit_reached
00109 
00110 # true if we are at or exceeding our force 
00111 # (see wiki page and param server for more info)
00112 bool fingertip_force_limit_reached
00113 
00114 # true if the controller thinks the gripper is empty
00115 # (see wiki page for more info)
00116 bool gripper_empty
00117 
00118 # the control state of our realtime controller
00119 PR2GripperSensorRTState rtstate
00120 ================================================================================
00121 MSG: pr2_gripper_sensor_msgs/PR2GripperSensorRTState
00122 # the control state of our realtime controller
00123 int8 realtime_controller_state
00124 
00125 # predefined values to indicate our realtime_controller_state
00126 int8 DISABLED = 0
00127 int8 POSITION_SERVO = 3
00128 int8 FORCE_SERVO = 4
00129 int8 FIND_CONTACT = 5
00130 int8 SLIP_SERVO = 6
00131 """
00132   __slots__ = ['header','status','result']
00133   _slot_types = ['std_msgs/Header','actionlib_msgs/GoalStatus','pr2_gripper_sensor_msgs/PR2GripperSlipServoResult']
00134 
00135   def __init__(self, *args, **kwds):
00136     """
00137     Constructor. Any message fields that are implicitly/explicitly
00138     set to None will be assigned a default value. The recommend
00139     use is keyword arguments as this is more robust to future message
00140     changes.  You cannot mix in-order arguments and keyword arguments.
00141 
00142     The available fields are:
00143        header,status,result
00144 
00145     :param args: complete set of field values, in .msg order
00146     :param kwds: use keyword arguments corresponding to message field names
00147     to set specific fields.
00148     """
00149     if args or kwds:
00150       super(PR2GripperSlipServoActionResult, self).__init__(*args, **kwds)
00151       #message fields cannot be None, assign default values for those that are
00152       if self.header is None:
00153         self.header = std_msgs.msg.Header()
00154       if self.status is None:
00155         self.status = actionlib_msgs.msg.GoalStatus()
00156       if self.result is None:
00157         self.result = pr2_gripper_sensor_msgs.msg.PR2GripperSlipServoResult()
00158     else:
00159       self.header = std_msgs.msg.Header()
00160       self.status = actionlib_msgs.msg.GoalStatus()
00161       self.result = pr2_gripper_sensor_msgs.msg.PR2GripperSlipServoResult()
00162 
00163   def _get_types(self):
00164     """
00165     internal API method
00166     """
00167     return self._slot_types
00168 
00169   def serialize(self, buff):
00170     """
00171     serialize message into buffer
00172     :param buff: buffer, ``StringIO``
00173     """
00174     try:
00175       _x = self
00176       buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
00177       _x = self.header.frame_id
00178       length = len(_x)
00179       if python3 or type(_x) == unicode:
00180         _x = _x.encode('utf-8')
00181         length = len(_x)
00182       buff.write(struct.pack('<I%ss'%length, length, _x))
00183       _x = self
00184       buff.write(_struct_2I.pack(_x.status.goal_id.stamp.secs, _x.status.goal_id.stamp.nsecs))
00185       _x = self.status.goal_id.id
00186       length = len(_x)
00187       if python3 or type(_x) == unicode:
00188         _x = _x.encode('utf-8')
00189         length = len(_x)
00190       buff.write(struct.pack('<I%ss'%length, length, _x))
00191       buff.write(_struct_B.pack(self.status.status))
00192       _x = self.status.text
00193       length = len(_x)
00194       if python3 or type(_x) == unicode:
00195         _x = _x.encode('utf-8')
00196         length = len(_x)
00197       buff.write(struct.pack('<I%ss'%length, length, _x))
00198       _x = self
00199       buff.write(_struct_2I4d4Bb.pack(_x.result.data.stamp.secs, _x.result.data.stamp.nsecs, _x.result.data.deformation, _x.result.data.left_fingertip_pad_force, _x.result.data.right_fingertip_pad_force, _x.result.data.joint_effort, _x.result.data.slip_detected, _x.result.data.deformation_limit_reached, _x.result.data.fingertip_force_limit_reached, _x.result.data.gripper_empty, _x.result.data.rtstate.realtime_controller_state))
00200     except struct.error as se: self._check_types(se)
00201     except TypeError as te: self._check_types(te)
00202 
00203   def deserialize(self, str):
00204     """
00205     unpack serialized message in str into this message instance
00206     :param str: byte array of serialized message, ``str``
00207     """
00208     try:
00209       if self.header is None:
00210         self.header = std_msgs.msg.Header()
00211       if self.status is None:
00212         self.status = actionlib_msgs.msg.GoalStatus()
00213       if self.result is None:
00214         self.result = pr2_gripper_sensor_msgs.msg.PR2GripperSlipServoResult()
00215       end = 0
00216       _x = self
00217       start = end
00218       end += 12
00219       (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00220       start = end
00221       end += 4
00222       (length,) = _struct_I.unpack(str[start:end])
00223       start = end
00224       end += length
00225       if python3:
00226         self.header.frame_id = str[start:end].decode('utf-8')
00227       else:
00228         self.header.frame_id = str[start:end]
00229       _x = self
00230       start = end
00231       end += 8
00232       (_x.status.goal_id.stamp.secs, _x.status.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00233       start = end
00234       end += 4
00235       (length,) = _struct_I.unpack(str[start:end])
00236       start = end
00237       end += length
00238       if python3:
00239         self.status.goal_id.id = str[start:end].decode('utf-8')
00240       else:
00241         self.status.goal_id.id = str[start:end]
00242       start = end
00243       end += 1
00244       (self.status.status,) = _struct_B.unpack(str[start:end])
00245       start = end
00246       end += 4
00247       (length,) = _struct_I.unpack(str[start:end])
00248       start = end
00249       end += length
00250       if python3:
00251         self.status.text = str[start:end].decode('utf-8')
00252       else:
00253         self.status.text = str[start:end]
00254       _x = self
00255       start = end
00256       end += 45
00257       (_x.result.data.stamp.secs, _x.result.data.stamp.nsecs, _x.result.data.deformation, _x.result.data.left_fingertip_pad_force, _x.result.data.right_fingertip_pad_force, _x.result.data.joint_effort, _x.result.data.slip_detected, _x.result.data.deformation_limit_reached, _x.result.data.fingertip_force_limit_reached, _x.result.data.gripper_empty, _x.result.data.rtstate.realtime_controller_state,) = _struct_2I4d4Bb.unpack(str[start:end])
00258       self.result.data.slip_detected = bool(self.result.data.slip_detected)
00259       self.result.data.deformation_limit_reached = bool(self.result.data.deformation_limit_reached)
00260       self.result.data.fingertip_force_limit_reached = bool(self.result.data.fingertip_force_limit_reached)
00261       self.result.data.gripper_empty = bool(self.result.data.gripper_empty)
00262       return self
00263     except struct.error as e:
00264       raise genpy.DeserializationError(e) #most likely buffer underfill
00265 
00266 
00267   def serialize_numpy(self, buff, numpy):
00268     """
00269     serialize message with numpy array types into buffer
00270     :param buff: buffer, ``StringIO``
00271     :param numpy: numpy python module
00272     """
00273     try:
00274       _x = self
00275       buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
00276       _x = self.header.frame_id
00277       length = len(_x)
00278       if python3 or type(_x) == unicode:
00279         _x = _x.encode('utf-8')
00280         length = len(_x)
00281       buff.write(struct.pack('<I%ss'%length, length, _x))
00282       _x = self
00283       buff.write(_struct_2I.pack(_x.status.goal_id.stamp.secs, _x.status.goal_id.stamp.nsecs))
00284       _x = self.status.goal_id.id
00285       length = len(_x)
00286       if python3 or type(_x) == unicode:
00287         _x = _x.encode('utf-8')
00288         length = len(_x)
00289       buff.write(struct.pack('<I%ss'%length, length, _x))
00290       buff.write(_struct_B.pack(self.status.status))
00291       _x = self.status.text
00292       length = len(_x)
00293       if python3 or type(_x) == unicode:
00294         _x = _x.encode('utf-8')
00295         length = len(_x)
00296       buff.write(struct.pack('<I%ss'%length, length, _x))
00297       _x = self
00298       buff.write(_struct_2I4d4Bb.pack(_x.result.data.stamp.secs, _x.result.data.stamp.nsecs, _x.result.data.deformation, _x.result.data.left_fingertip_pad_force, _x.result.data.right_fingertip_pad_force, _x.result.data.joint_effort, _x.result.data.slip_detected, _x.result.data.deformation_limit_reached, _x.result.data.fingertip_force_limit_reached, _x.result.data.gripper_empty, _x.result.data.rtstate.realtime_controller_state))
00299     except struct.error as se: self._check_types(se)
00300     except TypeError as te: self._check_types(te)
00301 
00302   def deserialize_numpy(self, str, numpy):
00303     """
00304     unpack serialized message in str into this message instance using numpy for array types
00305     :param str: byte array of serialized message, ``str``
00306     :param numpy: numpy python module
00307     """
00308     try:
00309       if self.header is None:
00310         self.header = std_msgs.msg.Header()
00311       if self.status is None:
00312         self.status = actionlib_msgs.msg.GoalStatus()
00313       if self.result is None:
00314         self.result = pr2_gripper_sensor_msgs.msg.PR2GripperSlipServoResult()
00315       end = 0
00316       _x = self
00317       start = end
00318       end += 12
00319       (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00320       start = end
00321       end += 4
00322       (length,) = _struct_I.unpack(str[start:end])
00323       start = end
00324       end += length
00325       if python3:
00326         self.header.frame_id = str[start:end].decode('utf-8')
00327       else:
00328         self.header.frame_id = str[start:end]
00329       _x = self
00330       start = end
00331       end += 8
00332       (_x.status.goal_id.stamp.secs, _x.status.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00333       start = end
00334       end += 4
00335       (length,) = _struct_I.unpack(str[start:end])
00336       start = end
00337       end += length
00338       if python3:
00339         self.status.goal_id.id = str[start:end].decode('utf-8')
00340       else:
00341         self.status.goal_id.id = str[start:end]
00342       start = end
00343       end += 1
00344       (self.status.status,) = _struct_B.unpack(str[start:end])
00345       start = end
00346       end += 4
00347       (length,) = _struct_I.unpack(str[start:end])
00348       start = end
00349       end += length
00350       if python3:
00351         self.status.text = str[start:end].decode('utf-8')
00352       else:
00353         self.status.text = str[start:end]
00354       _x = self
00355       start = end
00356       end += 45
00357       (_x.result.data.stamp.secs, _x.result.data.stamp.nsecs, _x.result.data.deformation, _x.result.data.left_fingertip_pad_force, _x.result.data.right_fingertip_pad_force, _x.result.data.joint_effort, _x.result.data.slip_detected, _x.result.data.deformation_limit_reached, _x.result.data.fingertip_force_limit_reached, _x.result.data.gripper_empty, _x.result.data.rtstate.realtime_controller_state,) = _struct_2I4d4Bb.unpack(str[start:end])
00358       self.result.data.slip_detected = bool(self.result.data.slip_detected)
00359       self.result.data.deformation_limit_reached = bool(self.result.data.deformation_limit_reached)
00360       self.result.data.fingertip_force_limit_reached = bool(self.result.data.fingertip_force_limit_reached)
00361       self.result.data.gripper_empty = bool(self.result.data.gripper_empty)
00362       return self
00363     except struct.error as e:
00364       raise genpy.DeserializationError(e) #most likely buffer underfill
00365 
00366 _struct_I = genpy.struct_I
00367 _struct_3I = struct.Struct("<3I")
00368 _struct_B = struct.Struct("<B")
00369 _struct_2I = struct.Struct("<2I")
00370 _struct_2I4d4Bb = struct.Struct("<2I4d4Bb")


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