00001 """autogenerated by genpy from pr2_manipulation_controllers/JinvExperimentalControllerState.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 geometry_msgs.msg
00008 import std_msgs.msg
00009
00010 class JinvExperimentalControllerState(genpy.Message):
00011 _md5sum = "c2742b55214fde97464aa5cf7938daf0"
00012 _type = "pr2_manipulation_controllers/JinvExperimentalControllerState"
00013 _has_header = True
00014 _full_text = """Header header
00015 geometry_msgs/PoseStamped x
00016 geometry_msgs/PoseStamped x_desi
00017 geometry_msgs/PoseStamped x_desi_filtered
00018 geometry_msgs/Twist x_err
00019 geometry_msgs/Twist xd
00020 geometry_msgs/Twist xd_desi
00021 geometry_msgs/Wrench F
00022 float64[] q_proxy
00023 float64[] qd_pose
00024 float64[] qd_posture
00025 float64[] qd_posture_raw
00026 float64[] qd_desi
00027 float64[] tau
00028 std_msgs/Float64MultiArray J
00029 std_msgs/Float64MultiArray N
00030
00031 float64[] J_singular_values
00032
00033 # Environmental stiffness
00034 float64 df
00035 float64 dx
00036 float64 Df
00037 float64 Dx
00038 float64 stiffness
00039 float64 compliance
00040
00041 ================================================================================
00042 MSG: std_msgs/Header
00043 # Standard metadata for higher-level stamped data types.
00044 # This is generally used to communicate timestamped data
00045 # in a particular coordinate frame.
00046 #
00047 # sequence ID: consecutively increasing ID
00048 uint32 seq
00049 #Two-integer timestamp that is expressed as:
00050 # * stamp.secs: seconds (stamp_secs) since epoch
00051 # * stamp.nsecs: nanoseconds since stamp_secs
00052 # time-handling sugar is provided by the client library
00053 time stamp
00054 #Frame this data is associated with
00055 # 0: no frame
00056 # 1: global frame
00057 string frame_id
00058
00059 ================================================================================
00060 MSG: geometry_msgs/PoseStamped
00061 # A Pose with reference coordinate frame and timestamp
00062 Header header
00063 Pose pose
00064
00065 ================================================================================
00066 MSG: geometry_msgs/Pose
00067 # A representation of pose in free space, composed of postion and orientation.
00068 Point position
00069 Quaternion orientation
00070
00071 ================================================================================
00072 MSG: geometry_msgs/Point
00073 # This contains the position of a point in free space
00074 float64 x
00075 float64 y
00076 float64 z
00077
00078 ================================================================================
00079 MSG: geometry_msgs/Quaternion
00080 # This represents an orientation in free space in quaternion form.
00081
00082 float64 x
00083 float64 y
00084 float64 z
00085 float64 w
00086
00087 ================================================================================
00088 MSG: geometry_msgs/Twist
00089 # This expresses velocity in free space broken into it's linear and angular parts.
00090 Vector3 linear
00091 Vector3 angular
00092
00093 ================================================================================
00094 MSG: geometry_msgs/Vector3
00095 # This represents a vector in free space.
00096
00097 float64 x
00098 float64 y
00099 float64 z
00100 ================================================================================
00101 MSG: geometry_msgs/Wrench
00102 # This represents force in free space, seperated into
00103 # it's linear and angular parts.
00104 Vector3 force
00105 Vector3 torque
00106
00107 ================================================================================
00108 MSG: std_msgs/Float64MultiArray
00109 # Please look at the MultiArrayLayout message definition for
00110 # documentation on all multiarrays.
00111
00112 MultiArrayLayout layout # specification of data layout
00113 float64[] data # array of data
00114
00115
00116 ================================================================================
00117 MSG: std_msgs/MultiArrayLayout
00118 # The multiarray declares a generic multi-dimensional array of a
00119 # particular data type. Dimensions are ordered from outer most
00120 # to inner most.
00121
00122 MultiArrayDimension[] dim # Array of dimension properties
00123 uint32 data_offset # padding bytes at front of data
00124
00125 # Accessors should ALWAYS be written in terms of dimension stride
00126 # and specified outer-most dimension first.
00127 #
00128 # multiarray(i,j,k) = data[data_offset + dim_stride[1]*i + dim_stride[2]*j + k]
00129 #
00130 # A standard, 3-channel 640x480 image with interleaved color channels
00131 # would be specified as:
00132 #
00133 # dim[0].label = "height"
00134 # dim[0].size = 480
00135 # dim[0].stride = 3*640*480 = 921600 (note dim[0] stride is just size of image)
00136 # dim[1].label = "width"
00137 # dim[1].size = 640
00138 # dim[1].stride = 3*640 = 1920
00139 # dim[2].label = "channel"
00140 # dim[2].size = 3
00141 # dim[2].stride = 3
00142 #
00143 # multiarray(i,j,k) refers to the ith row, jth column, and kth channel.
00144 ================================================================================
00145 MSG: std_msgs/MultiArrayDimension
00146 string label # label of given dimension
00147 uint32 size # size of given dimension (in type units)
00148 uint32 stride # stride of given dimension
00149 """
00150 __slots__ = ['header','x','x_desi','x_desi_filtered','x_err','xd','xd_desi','F','q_proxy','qd_pose','qd_posture','qd_posture_raw','qd_desi','tau','J','N','J_singular_values','df','dx','Df','Dx','stiffness','compliance']
00151 _slot_types = ['std_msgs/Header','geometry_msgs/PoseStamped','geometry_msgs/PoseStamped','geometry_msgs/PoseStamped','geometry_msgs/Twist','geometry_msgs/Twist','geometry_msgs/Twist','geometry_msgs/Wrench','float64[]','float64[]','float64[]','float64[]','float64[]','float64[]','std_msgs/Float64MultiArray','std_msgs/Float64MultiArray','float64[]','float64','float64','float64','float64','float64','float64']
00152
00153 def __init__(self, *args, **kwds):
00154 """
00155 Constructor. Any message fields that are implicitly/explicitly
00156 set to None will be assigned a default value. The recommend
00157 use is keyword arguments as this is more robust to future message
00158 changes. You cannot mix in-order arguments and keyword arguments.
00159
00160 The available fields are:
00161 header,x,x_desi,x_desi_filtered,x_err,xd,xd_desi,F,q_proxy,qd_pose,qd_posture,qd_posture_raw,qd_desi,tau,J,N,J_singular_values,df,dx,Df,Dx,stiffness,compliance
00162
00163 :param args: complete set of field values, in .msg order
00164 :param kwds: use keyword arguments corresponding to message field names
00165 to set specific fields.
00166 """
00167 if args or kwds:
00168 super(JinvExperimentalControllerState, self).__init__(*args, **kwds)
00169
00170 if self.header is None:
00171 self.header = std_msgs.msg.Header()
00172 if self.x is None:
00173 self.x = geometry_msgs.msg.PoseStamped()
00174 if self.x_desi is None:
00175 self.x_desi = geometry_msgs.msg.PoseStamped()
00176 if self.x_desi_filtered is None:
00177 self.x_desi_filtered = geometry_msgs.msg.PoseStamped()
00178 if self.x_err is None:
00179 self.x_err = geometry_msgs.msg.Twist()
00180 if self.xd is None:
00181 self.xd = geometry_msgs.msg.Twist()
00182 if self.xd_desi is None:
00183 self.xd_desi = geometry_msgs.msg.Twist()
00184 if self.F is None:
00185 self.F = geometry_msgs.msg.Wrench()
00186 if self.q_proxy is None:
00187 self.q_proxy = []
00188 if self.qd_pose is None:
00189 self.qd_pose = []
00190 if self.qd_posture is None:
00191 self.qd_posture = []
00192 if self.qd_posture_raw is None:
00193 self.qd_posture_raw = []
00194 if self.qd_desi is None:
00195 self.qd_desi = []
00196 if self.tau is None:
00197 self.tau = []
00198 if self.J is None:
00199 self.J = std_msgs.msg.Float64MultiArray()
00200 if self.N is None:
00201 self.N = std_msgs.msg.Float64MultiArray()
00202 if self.J_singular_values is None:
00203 self.J_singular_values = []
00204 if self.df is None:
00205 self.df = 0.
00206 if self.dx is None:
00207 self.dx = 0.
00208 if self.Df is None:
00209 self.Df = 0.
00210 if self.Dx is None:
00211 self.Dx = 0.
00212 if self.stiffness is None:
00213 self.stiffness = 0.
00214 if self.compliance is None:
00215 self.compliance = 0.
00216 else:
00217 self.header = std_msgs.msg.Header()
00218 self.x = geometry_msgs.msg.PoseStamped()
00219 self.x_desi = geometry_msgs.msg.PoseStamped()
00220 self.x_desi_filtered = geometry_msgs.msg.PoseStamped()
00221 self.x_err = geometry_msgs.msg.Twist()
00222 self.xd = geometry_msgs.msg.Twist()
00223 self.xd_desi = geometry_msgs.msg.Twist()
00224 self.F = geometry_msgs.msg.Wrench()
00225 self.q_proxy = []
00226 self.qd_pose = []
00227 self.qd_posture = []
00228 self.qd_posture_raw = []
00229 self.qd_desi = []
00230 self.tau = []
00231 self.J = std_msgs.msg.Float64MultiArray()
00232 self.N = std_msgs.msg.Float64MultiArray()
00233 self.J_singular_values = []
00234 self.df = 0.
00235 self.dx = 0.
00236 self.Df = 0.
00237 self.Dx = 0.
00238 self.stiffness = 0.
00239 self.compliance = 0.
00240
00241 def _get_types(self):
00242 """
00243 internal API method
00244 """
00245 return self._slot_types
00246
00247 def serialize(self, buff):
00248 """
00249 serialize message into buffer
00250 :param buff: buffer, ``StringIO``
00251 """
00252 try:
00253 _x = self
00254 buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
00255 _x = self.header.frame_id
00256 length = len(_x)
00257 if python3 or type(_x) == unicode:
00258 _x = _x.encode('utf-8')
00259 length = len(_x)
00260 buff.write(struct.pack('<I%ss'%length, length, _x))
00261 _x = self
00262 buff.write(_struct_3I.pack(_x.x.header.seq, _x.x.header.stamp.secs, _x.x.header.stamp.nsecs))
00263 _x = self.x.header.frame_id
00264 length = len(_x)
00265 if python3 or type(_x) == unicode:
00266 _x = _x.encode('utf-8')
00267 length = len(_x)
00268 buff.write(struct.pack('<I%ss'%length, length, _x))
00269 _x = self
00270 buff.write(_struct_7d3I.pack(_x.x.pose.position.x, _x.x.pose.position.y, _x.x.pose.position.z, _x.x.pose.orientation.x, _x.x.pose.orientation.y, _x.x.pose.orientation.z, _x.x.pose.orientation.w, _x.x_desi.header.seq, _x.x_desi.header.stamp.secs, _x.x_desi.header.stamp.nsecs))
00271 _x = self.x_desi.header.frame_id
00272 length = len(_x)
00273 if python3 or type(_x) == unicode:
00274 _x = _x.encode('utf-8')
00275 length = len(_x)
00276 buff.write(struct.pack('<I%ss'%length, length, _x))
00277 _x = self
00278 buff.write(_struct_7d3I.pack(_x.x_desi.pose.position.x, _x.x_desi.pose.position.y, _x.x_desi.pose.position.z, _x.x_desi.pose.orientation.x, _x.x_desi.pose.orientation.y, _x.x_desi.pose.orientation.z, _x.x_desi.pose.orientation.w, _x.x_desi_filtered.header.seq, _x.x_desi_filtered.header.stamp.secs, _x.x_desi_filtered.header.stamp.nsecs))
00279 _x = self.x_desi_filtered.header.frame_id
00280 length = len(_x)
00281 if python3 or type(_x) == unicode:
00282 _x = _x.encode('utf-8')
00283 length = len(_x)
00284 buff.write(struct.pack('<I%ss'%length, length, _x))
00285 _x = self
00286 buff.write(_struct_31d.pack(_x.x_desi_filtered.pose.position.x, _x.x_desi_filtered.pose.position.y, _x.x_desi_filtered.pose.position.z, _x.x_desi_filtered.pose.orientation.x, _x.x_desi_filtered.pose.orientation.y, _x.x_desi_filtered.pose.orientation.z, _x.x_desi_filtered.pose.orientation.w, _x.x_err.linear.x, _x.x_err.linear.y, _x.x_err.linear.z, _x.x_err.angular.x, _x.x_err.angular.y, _x.x_err.angular.z, _x.xd.linear.x, _x.xd.linear.y, _x.xd.linear.z, _x.xd.angular.x, _x.xd.angular.y, _x.xd.angular.z, _x.xd_desi.linear.x, _x.xd_desi.linear.y, _x.xd_desi.linear.z, _x.xd_desi.angular.x, _x.xd_desi.angular.y, _x.xd_desi.angular.z, _x.F.force.x, _x.F.force.y, _x.F.force.z, _x.F.torque.x, _x.F.torque.y, _x.F.torque.z))
00287 length = len(self.q_proxy)
00288 buff.write(_struct_I.pack(length))
00289 pattern = '<%sd'%length
00290 buff.write(struct.pack(pattern, *self.q_proxy))
00291 length = len(self.qd_pose)
00292 buff.write(_struct_I.pack(length))
00293 pattern = '<%sd'%length
00294 buff.write(struct.pack(pattern, *self.qd_pose))
00295 length = len(self.qd_posture)
00296 buff.write(_struct_I.pack(length))
00297 pattern = '<%sd'%length
00298 buff.write(struct.pack(pattern, *self.qd_posture))
00299 length = len(self.qd_posture_raw)
00300 buff.write(_struct_I.pack(length))
00301 pattern = '<%sd'%length
00302 buff.write(struct.pack(pattern, *self.qd_posture_raw))
00303 length = len(self.qd_desi)
00304 buff.write(_struct_I.pack(length))
00305 pattern = '<%sd'%length
00306 buff.write(struct.pack(pattern, *self.qd_desi))
00307 length = len(self.tau)
00308 buff.write(_struct_I.pack(length))
00309 pattern = '<%sd'%length
00310 buff.write(struct.pack(pattern, *self.tau))
00311 length = len(self.J.layout.dim)
00312 buff.write(_struct_I.pack(length))
00313 for val1 in self.J.layout.dim:
00314 _x = val1.label
00315 length = len(_x)
00316 if python3 or type(_x) == unicode:
00317 _x = _x.encode('utf-8')
00318 length = len(_x)
00319 buff.write(struct.pack('<I%ss'%length, length, _x))
00320 _x = val1
00321 buff.write(_struct_2I.pack(_x.size, _x.stride))
00322 buff.write(_struct_I.pack(self.J.layout.data_offset))
00323 length = len(self.J.data)
00324 buff.write(_struct_I.pack(length))
00325 pattern = '<%sd'%length
00326 buff.write(struct.pack(pattern, *self.J.data))
00327 length = len(self.N.layout.dim)
00328 buff.write(_struct_I.pack(length))
00329 for val1 in self.N.layout.dim:
00330 _x = val1.label
00331 length = len(_x)
00332 if python3 or type(_x) == unicode:
00333 _x = _x.encode('utf-8')
00334 length = len(_x)
00335 buff.write(struct.pack('<I%ss'%length, length, _x))
00336 _x = val1
00337 buff.write(_struct_2I.pack(_x.size, _x.stride))
00338 buff.write(_struct_I.pack(self.N.layout.data_offset))
00339 length = len(self.N.data)
00340 buff.write(_struct_I.pack(length))
00341 pattern = '<%sd'%length
00342 buff.write(struct.pack(pattern, *self.N.data))
00343 length = len(self.J_singular_values)
00344 buff.write(_struct_I.pack(length))
00345 pattern = '<%sd'%length
00346 buff.write(struct.pack(pattern, *self.J_singular_values))
00347 _x = self
00348 buff.write(_struct_6d.pack(_x.df, _x.dx, _x.Df, _x.Dx, _x.stiffness, _x.compliance))
00349 except struct.error as se: self._check_types(se)
00350 except TypeError as te: self._check_types(te)
00351
00352 def deserialize(self, str):
00353 """
00354 unpack serialized message in str into this message instance
00355 :param str: byte array of serialized message, ``str``
00356 """
00357 try:
00358 if self.header is None:
00359 self.header = std_msgs.msg.Header()
00360 if self.x is None:
00361 self.x = geometry_msgs.msg.PoseStamped()
00362 if self.x_desi is None:
00363 self.x_desi = geometry_msgs.msg.PoseStamped()
00364 if self.x_desi_filtered is None:
00365 self.x_desi_filtered = geometry_msgs.msg.PoseStamped()
00366 if self.x_err is None:
00367 self.x_err = geometry_msgs.msg.Twist()
00368 if self.xd is None:
00369 self.xd = geometry_msgs.msg.Twist()
00370 if self.xd_desi is None:
00371 self.xd_desi = geometry_msgs.msg.Twist()
00372 if self.F is None:
00373 self.F = geometry_msgs.msg.Wrench()
00374 if self.J is None:
00375 self.J = std_msgs.msg.Float64MultiArray()
00376 if self.N is None:
00377 self.N = std_msgs.msg.Float64MultiArray()
00378 end = 0
00379 _x = self
00380 start = end
00381 end += 12
00382 (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00383 start = end
00384 end += 4
00385 (length,) = _struct_I.unpack(str[start:end])
00386 start = end
00387 end += length
00388 if python3:
00389 self.header.frame_id = str[start:end].decode('utf-8')
00390 else:
00391 self.header.frame_id = str[start:end]
00392 _x = self
00393 start = end
00394 end += 12
00395 (_x.x.header.seq, _x.x.header.stamp.secs, _x.x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00396 start = end
00397 end += 4
00398 (length,) = _struct_I.unpack(str[start:end])
00399 start = end
00400 end += length
00401 if python3:
00402 self.x.header.frame_id = str[start:end].decode('utf-8')
00403 else:
00404 self.x.header.frame_id = str[start:end]
00405 _x = self
00406 start = end
00407 end += 68
00408 (_x.x.pose.position.x, _x.x.pose.position.y, _x.x.pose.position.z, _x.x.pose.orientation.x, _x.x.pose.orientation.y, _x.x.pose.orientation.z, _x.x.pose.orientation.w, _x.x_desi.header.seq, _x.x_desi.header.stamp.secs, _x.x_desi.header.stamp.nsecs,) = _struct_7d3I.unpack(str[start:end])
00409 start = end
00410 end += 4
00411 (length,) = _struct_I.unpack(str[start:end])
00412 start = end
00413 end += length
00414 if python3:
00415 self.x_desi.header.frame_id = str[start:end].decode('utf-8')
00416 else:
00417 self.x_desi.header.frame_id = str[start:end]
00418 _x = self
00419 start = end
00420 end += 68
00421 (_x.x_desi.pose.position.x, _x.x_desi.pose.position.y, _x.x_desi.pose.position.z, _x.x_desi.pose.orientation.x, _x.x_desi.pose.orientation.y, _x.x_desi.pose.orientation.z, _x.x_desi.pose.orientation.w, _x.x_desi_filtered.header.seq, _x.x_desi_filtered.header.stamp.secs, _x.x_desi_filtered.header.stamp.nsecs,) = _struct_7d3I.unpack(str[start:end])
00422 start = end
00423 end += 4
00424 (length,) = _struct_I.unpack(str[start:end])
00425 start = end
00426 end += length
00427 if python3:
00428 self.x_desi_filtered.header.frame_id = str[start:end].decode('utf-8')
00429 else:
00430 self.x_desi_filtered.header.frame_id = str[start:end]
00431 _x = self
00432 start = end
00433 end += 248
00434 (_x.x_desi_filtered.pose.position.x, _x.x_desi_filtered.pose.position.y, _x.x_desi_filtered.pose.position.z, _x.x_desi_filtered.pose.orientation.x, _x.x_desi_filtered.pose.orientation.y, _x.x_desi_filtered.pose.orientation.z, _x.x_desi_filtered.pose.orientation.w, _x.x_err.linear.x, _x.x_err.linear.y, _x.x_err.linear.z, _x.x_err.angular.x, _x.x_err.angular.y, _x.x_err.angular.z, _x.xd.linear.x, _x.xd.linear.y, _x.xd.linear.z, _x.xd.angular.x, _x.xd.angular.y, _x.xd.angular.z, _x.xd_desi.linear.x, _x.xd_desi.linear.y, _x.xd_desi.linear.z, _x.xd_desi.angular.x, _x.xd_desi.angular.y, _x.xd_desi.angular.z, _x.F.force.x, _x.F.force.y, _x.F.force.z, _x.F.torque.x, _x.F.torque.y, _x.F.torque.z,) = _struct_31d.unpack(str[start:end])
00435 start = end
00436 end += 4
00437 (length,) = _struct_I.unpack(str[start:end])
00438 pattern = '<%sd'%length
00439 start = end
00440 end += struct.calcsize(pattern)
00441 self.q_proxy = struct.unpack(pattern, str[start:end])
00442 start = end
00443 end += 4
00444 (length,) = _struct_I.unpack(str[start:end])
00445 pattern = '<%sd'%length
00446 start = end
00447 end += struct.calcsize(pattern)
00448 self.qd_pose = struct.unpack(pattern, str[start:end])
00449 start = end
00450 end += 4
00451 (length,) = _struct_I.unpack(str[start:end])
00452 pattern = '<%sd'%length
00453 start = end
00454 end += struct.calcsize(pattern)
00455 self.qd_posture = struct.unpack(pattern, str[start:end])
00456 start = end
00457 end += 4
00458 (length,) = _struct_I.unpack(str[start:end])
00459 pattern = '<%sd'%length
00460 start = end
00461 end += struct.calcsize(pattern)
00462 self.qd_posture_raw = struct.unpack(pattern, str[start:end])
00463 start = end
00464 end += 4
00465 (length,) = _struct_I.unpack(str[start:end])
00466 pattern = '<%sd'%length
00467 start = end
00468 end += struct.calcsize(pattern)
00469 self.qd_desi = struct.unpack(pattern, str[start:end])
00470 start = end
00471 end += 4
00472 (length,) = _struct_I.unpack(str[start:end])
00473 pattern = '<%sd'%length
00474 start = end
00475 end += struct.calcsize(pattern)
00476 self.tau = struct.unpack(pattern, str[start:end])
00477 start = end
00478 end += 4
00479 (length,) = _struct_I.unpack(str[start:end])
00480 self.J.layout.dim = []
00481 for i in range(0, length):
00482 val1 = std_msgs.msg.MultiArrayDimension()
00483 start = end
00484 end += 4
00485 (length,) = _struct_I.unpack(str[start:end])
00486 start = end
00487 end += length
00488 if python3:
00489 val1.label = str[start:end].decode('utf-8')
00490 else:
00491 val1.label = str[start:end]
00492 _x = val1
00493 start = end
00494 end += 8
00495 (_x.size, _x.stride,) = _struct_2I.unpack(str[start:end])
00496 self.J.layout.dim.append(val1)
00497 start = end
00498 end += 4
00499 (self.J.layout.data_offset,) = _struct_I.unpack(str[start:end])
00500 start = end
00501 end += 4
00502 (length,) = _struct_I.unpack(str[start:end])
00503 pattern = '<%sd'%length
00504 start = end
00505 end += struct.calcsize(pattern)
00506 self.J.data = struct.unpack(pattern, str[start:end])
00507 start = end
00508 end += 4
00509 (length,) = _struct_I.unpack(str[start:end])
00510 self.N.layout.dim = []
00511 for i in range(0, length):
00512 val1 = std_msgs.msg.MultiArrayDimension()
00513 start = end
00514 end += 4
00515 (length,) = _struct_I.unpack(str[start:end])
00516 start = end
00517 end += length
00518 if python3:
00519 val1.label = str[start:end].decode('utf-8')
00520 else:
00521 val1.label = str[start:end]
00522 _x = val1
00523 start = end
00524 end += 8
00525 (_x.size, _x.stride,) = _struct_2I.unpack(str[start:end])
00526 self.N.layout.dim.append(val1)
00527 start = end
00528 end += 4
00529 (self.N.layout.data_offset,) = _struct_I.unpack(str[start:end])
00530 start = end
00531 end += 4
00532 (length,) = _struct_I.unpack(str[start:end])
00533 pattern = '<%sd'%length
00534 start = end
00535 end += struct.calcsize(pattern)
00536 self.N.data = struct.unpack(pattern, str[start:end])
00537 start = end
00538 end += 4
00539 (length,) = _struct_I.unpack(str[start:end])
00540 pattern = '<%sd'%length
00541 start = end
00542 end += struct.calcsize(pattern)
00543 self.J_singular_values = struct.unpack(pattern, str[start:end])
00544 _x = self
00545 start = end
00546 end += 48
00547 (_x.df, _x.dx, _x.Df, _x.Dx, _x.stiffness, _x.compliance,) = _struct_6d.unpack(str[start:end])
00548 return self
00549 except struct.error as e:
00550 raise genpy.DeserializationError(e)
00551
00552
00553 def serialize_numpy(self, buff, numpy):
00554 """
00555 serialize message with numpy array types into buffer
00556 :param buff: buffer, ``StringIO``
00557 :param numpy: numpy python module
00558 """
00559 try:
00560 _x = self
00561 buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
00562 _x = self.header.frame_id
00563 length = len(_x)
00564 if python3 or type(_x) == unicode:
00565 _x = _x.encode('utf-8')
00566 length = len(_x)
00567 buff.write(struct.pack('<I%ss'%length, length, _x))
00568 _x = self
00569 buff.write(_struct_3I.pack(_x.x.header.seq, _x.x.header.stamp.secs, _x.x.header.stamp.nsecs))
00570 _x = self.x.header.frame_id
00571 length = len(_x)
00572 if python3 or type(_x) == unicode:
00573 _x = _x.encode('utf-8')
00574 length = len(_x)
00575 buff.write(struct.pack('<I%ss'%length, length, _x))
00576 _x = self
00577 buff.write(_struct_7d3I.pack(_x.x.pose.position.x, _x.x.pose.position.y, _x.x.pose.position.z, _x.x.pose.orientation.x, _x.x.pose.orientation.y, _x.x.pose.orientation.z, _x.x.pose.orientation.w, _x.x_desi.header.seq, _x.x_desi.header.stamp.secs, _x.x_desi.header.stamp.nsecs))
00578 _x = self.x_desi.header.frame_id
00579 length = len(_x)
00580 if python3 or type(_x) == unicode:
00581 _x = _x.encode('utf-8')
00582 length = len(_x)
00583 buff.write(struct.pack('<I%ss'%length, length, _x))
00584 _x = self
00585 buff.write(_struct_7d3I.pack(_x.x_desi.pose.position.x, _x.x_desi.pose.position.y, _x.x_desi.pose.position.z, _x.x_desi.pose.orientation.x, _x.x_desi.pose.orientation.y, _x.x_desi.pose.orientation.z, _x.x_desi.pose.orientation.w, _x.x_desi_filtered.header.seq, _x.x_desi_filtered.header.stamp.secs, _x.x_desi_filtered.header.stamp.nsecs))
00586 _x = self.x_desi_filtered.header.frame_id
00587 length = len(_x)
00588 if python3 or type(_x) == unicode:
00589 _x = _x.encode('utf-8')
00590 length = len(_x)
00591 buff.write(struct.pack('<I%ss'%length, length, _x))
00592 _x = self
00593 buff.write(_struct_31d.pack(_x.x_desi_filtered.pose.position.x, _x.x_desi_filtered.pose.position.y, _x.x_desi_filtered.pose.position.z, _x.x_desi_filtered.pose.orientation.x, _x.x_desi_filtered.pose.orientation.y, _x.x_desi_filtered.pose.orientation.z, _x.x_desi_filtered.pose.orientation.w, _x.x_err.linear.x, _x.x_err.linear.y, _x.x_err.linear.z, _x.x_err.angular.x, _x.x_err.angular.y, _x.x_err.angular.z, _x.xd.linear.x, _x.xd.linear.y, _x.xd.linear.z, _x.xd.angular.x, _x.xd.angular.y, _x.xd.angular.z, _x.xd_desi.linear.x, _x.xd_desi.linear.y, _x.xd_desi.linear.z, _x.xd_desi.angular.x, _x.xd_desi.angular.y, _x.xd_desi.angular.z, _x.F.force.x, _x.F.force.y, _x.F.force.z, _x.F.torque.x, _x.F.torque.y, _x.F.torque.z))
00594 length = len(self.q_proxy)
00595 buff.write(_struct_I.pack(length))
00596 pattern = '<%sd'%length
00597 buff.write(self.q_proxy.tostring())
00598 length = len(self.qd_pose)
00599 buff.write(_struct_I.pack(length))
00600 pattern = '<%sd'%length
00601 buff.write(self.qd_pose.tostring())
00602 length = len(self.qd_posture)
00603 buff.write(_struct_I.pack(length))
00604 pattern = '<%sd'%length
00605 buff.write(self.qd_posture.tostring())
00606 length = len(self.qd_posture_raw)
00607 buff.write(_struct_I.pack(length))
00608 pattern = '<%sd'%length
00609 buff.write(self.qd_posture_raw.tostring())
00610 length = len(self.qd_desi)
00611 buff.write(_struct_I.pack(length))
00612 pattern = '<%sd'%length
00613 buff.write(self.qd_desi.tostring())
00614 length = len(self.tau)
00615 buff.write(_struct_I.pack(length))
00616 pattern = '<%sd'%length
00617 buff.write(self.tau.tostring())
00618 length = len(self.J.layout.dim)
00619 buff.write(_struct_I.pack(length))
00620 for val1 in self.J.layout.dim:
00621 _x = val1.label
00622 length = len(_x)
00623 if python3 or type(_x) == unicode:
00624 _x = _x.encode('utf-8')
00625 length = len(_x)
00626 buff.write(struct.pack('<I%ss'%length, length, _x))
00627 _x = val1
00628 buff.write(_struct_2I.pack(_x.size, _x.stride))
00629 buff.write(_struct_I.pack(self.J.layout.data_offset))
00630 length = len(self.J.data)
00631 buff.write(_struct_I.pack(length))
00632 pattern = '<%sd'%length
00633 buff.write(self.J.data.tostring())
00634 length = len(self.N.layout.dim)
00635 buff.write(_struct_I.pack(length))
00636 for val1 in self.N.layout.dim:
00637 _x = val1.label
00638 length = len(_x)
00639 if python3 or type(_x) == unicode:
00640 _x = _x.encode('utf-8')
00641 length = len(_x)
00642 buff.write(struct.pack('<I%ss'%length, length, _x))
00643 _x = val1
00644 buff.write(_struct_2I.pack(_x.size, _x.stride))
00645 buff.write(_struct_I.pack(self.N.layout.data_offset))
00646 length = len(self.N.data)
00647 buff.write(_struct_I.pack(length))
00648 pattern = '<%sd'%length
00649 buff.write(self.N.data.tostring())
00650 length = len(self.J_singular_values)
00651 buff.write(_struct_I.pack(length))
00652 pattern = '<%sd'%length
00653 buff.write(self.J_singular_values.tostring())
00654 _x = self
00655 buff.write(_struct_6d.pack(_x.df, _x.dx, _x.Df, _x.Dx, _x.stiffness, _x.compliance))
00656 except struct.error as se: self._check_types(se)
00657 except TypeError as te: self._check_types(te)
00658
00659 def deserialize_numpy(self, str, numpy):
00660 """
00661 unpack serialized message in str into this message instance using numpy for array types
00662 :param str: byte array of serialized message, ``str``
00663 :param numpy: numpy python module
00664 """
00665 try:
00666 if self.header is None:
00667 self.header = std_msgs.msg.Header()
00668 if self.x is None:
00669 self.x = geometry_msgs.msg.PoseStamped()
00670 if self.x_desi is None:
00671 self.x_desi = geometry_msgs.msg.PoseStamped()
00672 if self.x_desi_filtered is None:
00673 self.x_desi_filtered = geometry_msgs.msg.PoseStamped()
00674 if self.x_err is None:
00675 self.x_err = geometry_msgs.msg.Twist()
00676 if self.xd is None:
00677 self.xd = geometry_msgs.msg.Twist()
00678 if self.xd_desi is None:
00679 self.xd_desi = geometry_msgs.msg.Twist()
00680 if self.F is None:
00681 self.F = geometry_msgs.msg.Wrench()
00682 if self.J is None:
00683 self.J = std_msgs.msg.Float64MultiArray()
00684 if self.N is None:
00685 self.N = std_msgs.msg.Float64MultiArray()
00686 end = 0
00687 _x = self
00688 start = end
00689 end += 12
00690 (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00691 start = end
00692 end += 4
00693 (length,) = _struct_I.unpack(str[start:end])
00694 start = end
00695 end += length
00696 if python3:
00697 self.header.frame_id = str[start:end].decode('utf-8')
00698 else:
00699 self.header.frame_id = str[start:end]
00700 _x = self
00701 start = end
00702 end += 12
00703 (_x.x.header.seq, _x.x.header.stamp.secs, _x.x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00704 start = end
00705 end += 4
00706 (length,) = _struct_I.unpack(str[start:end])
00707 start = end
00708 end += length
00709 if python3:
00710 self.x.header.frame_id = str[start:end].decode('utf-8')
00711 else:
00712 self.x.header.frame_id = str[start:end]
00713 _x = self
00714 start = end
00715 end += 68
00716 (_x.x.pose.position.x, _x.x.pose.position.y, _x.x.pose.position.z, _x.x.pose.orientation.x, _x.x.pose.orientation.y, _x.x.pose.orientation.z, _x.x.pose.orientation.w, _x.x_desi.header.seq, _x.x_desi.header.stamp.secs, _x.x_desi.header.stamp.nsecs,) = _struct_7d3I.unpack(str[start:end])
00717 start = end
00718 end += 4
00719 (length,) = _struct_I.unpack(str[start:end])
00720 start = end
00721 end += length
00722 if python3:
00723 self.x_desi.header.frame_id = str[start:end].decode('utf-8')
00724 else:
00725 self.x_desi.header.frame_id = str[start:end]
00726 _x = self
00727 start = end
00728 end += 68
00729 (_x.x_desi.pose.position.x, _x.x_desi.pose.position.y, _x.x_desi.pose.position.z, _x.x_desi.pose.orientation.x, _x.x_desi.pose.orientation.y, _x.x_desi.pose.orientation.z, _x.x_desi.pose.orientation.w, _x.x_desi_filtered.header.seq, _x.x_desi_filtered.header.stamp.secs, _x.x_desi_filtered.header.stamp.nsecs,) = _struct_7d3I.unpack(str[start:end])
00730 start = end
00731 end += 4
00732 (length,) = _struct_I.unpack(str[start:end])
00733 start = end
00734 end += length
00735 if python3:
00736 self.x_desi_filtered.header.frame_id = str[start:end].decode('utf-8')
00737 else:
00738 self.x_desi_filtered.header.frame_id = str[start:end]
00739 _x = self
00740 start = end
00741 end += 248
00742 (_x.x_desi_filtered.pose.position.x, _x.x_desi_filtered.pose.position.y, _x.x_desi_filtered.pose.position.z, _x.x_desi_filtered.pose.orientation.x, _x.x_desi_filtered.pose.orientation.y, _x.x_desi_filtered.pose.orientation.z, _x.x_desi_filtered.pose.orientation.w, _x.x_err.linear.x, _x.x_err.linear.y, _x.x_err.linear.z, _x.x_err.angular.x, _x.x_err.angular.y, _x.x_err.angular.z, _x.xd.linear.x, _x.xd.linear.y, _x.xd.linear.z, _x.xd.angular.x, _x.xd.angular.y, _x.xd.angular.z, _x.xd_desi.linear.x, _x.xd_desi.linear.y, _x.xd_desi.linear.z, _x.xd_desi.angular.x, _x.xd_desi.angular.y, _x.xd_desi.angular.z, _x.F.force.x, _x.F.force.y, _x.F.force.z, _x.F.torque.x, _x.F.torque.y, _x.F.torque.z,) = _struct_31d.unpack(str[start:end])
00743 start = end
00744 end += 4
00745 (length,) = _struct_I.unpack(str[start:end])
00746 pattern = '<%sd'%length
00747 start = end
00748 end += struct.calcsize(pattern)
00749 self.q_proxy = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00750 start = end
00751 end += 4
00752 (length,) = _struct_I.unpack(str[start:end])
00753 pattern = '<%sd'%length
00754 start = end
00755 end += struct.calcsize(pattern)
00756 self.qd_pose = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00757 start = end
00758 end += 4
00759 (length,) = _struct_I.unpack(str[start:end])
00760 pattern = '<%sd'%length
00761 start = end
00762 end += struct.calcsize(pattern)
00763 self.qd_posture = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00764 start = end
00765 end += 4
00766 (length,) = _struct_I.unpack(str[start:end])
00767 pattern = '<%sd'%length
00768 start = end
00769 end += struct.calcsize(pattern)
00770 self.qd_posture_raw = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00771 start = end
00772 end += 4
00773 (length,) = _struct_I.unpack(str[start:end])
00774 pattern = '<%sd'%length
00775 start = end
00776 end += struct.calcsize(pattern)
00777 self.qd_desi = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00778 start = end
00779 end += 4
00780 (length,) = _struct_I.unpack(str[start:end])
00781 pattern = '<%sd'%length
00782 start = end
00783 end += struct.calcsize(pattern)
00784 self.tau = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00785 start = end
00786 end += 4
00787 (length,) = _struct_I.unpack(str[start:end])
00788 self.J.layout.dim = []
00789 for i in range(0, length):
00790 val1 = std_msgs.msg.MultiArrayDimension()
00791 start = end
00792 end += 4
00793 (length,) = _struct_I.unpack(str[start:end])
00794 start = end
00795 end += length
00796 if python3:
00797 val1.label = str[start:end].decode('utf-8')
00798 else:
00799 val1.label = str[start:end]
00800 _x = val1
00801 start = end
00802 end += 8
00803 (_x.size, _x.stride,) = _struct_2I.unpack(str[start:end])
00804 self.J.layout.dim.append(val1)
00805 start = end
00806 end += 4
00807 (self.J.layout.data_offset,) = _struct_I.unpack(str[start:end])
00808 start = end
00809 end += 4
00810 (length,) = _struct_I.unpack(str[start:end])
00811 pattern = '<%sd'%length
00812 start = end
00813 end += struct.calcsize(pattern)
00814 self.J.data = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00815 start = end
00816 end += 4
00817 (length,) = _struct_I.unpack(str[start:end])
00818 self.N.layout.dim = []
00819 for i in range(0, length):
00820 val1 = std_msgs.msg.MultiArrayDimension()
00821 start = end
00822 end += 4
00823 (length,) = _struct_I.unpack(str[start:end])
00824 start = end
00825 end += length
00826 if python3:
00827 val1.label = str[start:end].decode('utf-8')
00828 else:
00829 val1.label = str[start:end]
00830 _x = val1
00831 start = end
00832 end += 8
00833 (_x.size, _x.stride,) = _struct_2I.unpack(str[start:end])
00834 self.N.layout.dim.append(val1)
00835 start = end
00836 end += 4
00837 (self.N.layout.data_offset,) = _struct_I.unpack(str[start:end])
00838 start = end
00839 end += 4
00840 (length,) = _struct_I.unpack(str[start:end])
00841 pattern = '<%sd'%length
00842 start = end
00843 end += struct.calcsize(pattern)
00844 self.N.data = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00845 start = end
00846 end += 4
00847 (length,) = _struct_I.unpack(str[start:end])
00848 pattern = '<%sd'%length
00849 start = end
00850 end += struct.calcsize(pattern)
00851 self.J_singular_values = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00852 _x = self
00853 start = end
00854 end += 48
00855 (_x.df, _x.dx, _x.Df, _x.Dx, _x.stiffness, _x.compliance,) = _struct_6d.unpack(str[start:end])
00856 return self
00857 except struct.error as e:
00858 raise genpy.DeserializationError(e)
00859
00860 _struct_I = genpy.struct_I
00861 _struct_6d = struct.Struct("<6d")
00862 _struct_2I = struct.Struct("<2I")
00863 _struct_3I = struct.Struct("<3I")
00864 _struct_7d3I = struct.Struct("<7d3I")
00865 _struct_31d = struct.Struct("<31d")