00001 """autogenerated by genpy from pr2_manipulation_controllers/JinvTeleopControllerState.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 JinvTeleopControllerState(genpy.Message):
00011 _md5sum = "1456444fe71f72390283aef7aca2934d"
00012 _type = "pr2_manipulation_controllers/JinvTeleopControllerState"
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 # Environmental stiffness
00032 float64 df
00033 float64 dx
00034 float64 Df
00035 float64 Dx
00036 float64 stiffness
00037 float64 compliance
00038
00039 ================================================================================
00040 MSG: std_msgs/Header
00041 # Standard metadata for higher-level stamped data types.
00042 # This is generally used to communicate timestamped data
00043 # in a particular coordinate frame.
00044 #
00045 # sequence ID: consecutively increasing ID
00046 uint32 seq
00047 #Two-integer timestamp that is expressed as:
00048 # * stamp.secs: seconds (stamp_secs) since epoch
00049 # * stamp.nsecs: nanoseconds since stamp_secs
00050 # time-handling sugar is provided by the client library
00051 time stamp
00052 #Frame this data is associated with
00053 # 0: no frame
00054 # 1: global frame
00055 string frame_id
00056
00057 ================================================================================
00058 MSG: geometry_msgs/PoseStamped
00059 # A Pose with reference coordinate frame and timestamp
00060 Header header
00061 Pose pose
00062
00063 ================================================================================
00064 MSG: geometry_msgs/Pose
00065 # A representation of pose in free space, composed of postion and orientation.
00066 Point position
00067 Quaternion orientation
00068
00069 ================================================================================
00070 MSG: geometry_msgs/Point
00071 # This contains the position of a point in free space
00072 float64 x
00073 float64 y
00074 float64 z
00075
00076 ================================================================================
00077 MSG: geometry_msgs/Quaternion
00078 # This represents an orientation in free space in quaternion form.
00079
00080 float64 x
00081 float64 y
00082 float64 z
00083 float64 w
00084
00085 ================================================================================
00086 MSG: geometry_msgs/Twist
00087 # This expresses velocity in free space broken into it's linear and angular parts.
00088 Vector3 linear
00089 Vector3 angular
00090
00091 ================================================================================
00092 MSG: geometry_msgs/Vector3
00093 # This represents a vector in free space.
00094
00095 float64 x
00096 float64 y
00097 float64 z
00098 ================================================================================
00099 MSG: geometry_msgs/Wrench
00100 # This represents force in free space, seperated into
00101 # it's linear and angular parts.
00102 Vector3 force
00103 Vector3 torque
00104
00105 ================================================================================
00106 MSG: std_msgs/Float64MultiArray
00107 # Please look at the MultiArrayLayout message definition for
00108 # documentation on all multiarrays.
00109
00110 MultiArrayLayout layout # specification of data layout
00111 float64[] data # array of data
00112
00113
00114 ================================================================================
00115 MSG: std_msgs/MultiArrayLayout
00116 # The multiarray declares a generic multi-dimensional array of a
00117 # particular data type. Dimensions are ordered from outer most
00118 # to inner most.
00119
00120 MultiArrayDimension[] dim # Array of dimension properties
00121 uint32 data_offset # padding bytes at front of data
00122
00123 # Accessors should ALWAYS be written in terms of dimension stride
00124 # and specified outer-most dimension first.
00125 #
00126 # multiarray(i,j,k) = data[data_offset + dim_stride[1]*i + dim_stride[2]*j + k]
00127 #
00128 # A standard, 3-channel 640x480 image with interleaved color channels
00129 # would be specified as:
00130 #
00131 # dim[0].label = "height"
00132 # dim[0].size = 480
00133 # dim[0].stride = 3*640*480 = 921600 (note dim[0] stride is just size of image)
00134 # dim[1].label = "width"
00135 # dim[1].size = 640
00136 # dim[1].stride = 3*640 = 1920
00137 # dim[2].label = "channel"
00138 # dim[2].size = 3
00139 # dim[2].stride = 3
00140 #
00141 # multiarray(i,j,k) refers to the ith row, jth column, and kth channel.
00142 ================================================================================
00143 MSG: std_msgs/MultiArrayDimension
00144 string label # label of given dimension
00145 uint32 size # size of given dimension (in type units)
00146 uint32 stride # stride of given dimension
00147 """
00148 __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','df','dx','Df','Dx','stiffness','compliance']
00149 _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']
00150
00151 def __init__(self, *args, **kwds):
00152 """
00153 Constructor. Any message fields that are implicitly/explicitly
00154 set to None will be assigned a default value. The recommend
00155 use is keyword arguments as this is more robust to future message
00156 changes. You cannot mix in-order arguments and keyword arguments.
00157
00158 The available fields are:
00159 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,df,dx,Df,Dx,stiffness,compliance
00160
00161 :param args: complete set of field values, in .msg order
00162 :param kwds: use keyword arguments corresponding to message field names
00163 to set specific fields.
00164 """
00165 if args or kwds:
00166 super(JinvTeleopControllerState, self).__init__(*args, **kwds)
00167
00168 if self.header is None:
00169 self.header = std_msgs.msg.Header()
00170 if self.x is None:
00171 self.x = geometry_msgs.msg.PoseStamped()
00172 if self.x_desi is None:
00173 self.x_desi = geometry_msgs.msg.PoseStamped()
00174 if self.x_desi_filtered is None:
00175 self.x_desi_filtered = geometry_msgs.msg.PoseStamped()
00176 if self.x_err is None:
00177 self.x_err = geometry_msgs.msg.Twist()
00178 if self.xd is None:
00179 self.xd = geometry_msgs.msg.Twist()
00180 if self.xd_desi is None:
00181 self.xd_desi = geometry_msgs.msg.Twist()
00182 if self.F is None:
00183 self.F = geometry_msgs.msg.Wrench()
00184 if self.q_proxy is None:
00185 self.q_proxy = []
00186 if self.qd_pose is None:
00187 self.qd_pose = []
00188 if self.qd_posture is None:
00189 self.qd_posture = []
00190 if self.qd_posture_raw is None:
00191 self.qd_posture_raw = []
00192 if self.qd_desi is None:
00193 self.qd_desi = []
00194 if self.tau is None:
00195 self.tau = []
00196 if self.J is None:
00197 self.J = std_msgs.msg.Float64MultiArray()
00198 if self.N is None:
00199 self.N = std_msgs.msg.Float64MultiArray()
00200 if self.df is None:
00201 self.df = 0.
00202 if self.dx is None:
00203 self.dx = 0.
00204 if self.Df is None:
00205 self.Df = 0.
00206 if self.Dx is None:
00207 self.Dx = 0.
00208 if self.stiffness is None:
00209 self.stiffness = 0.
00210 if self.compliance is None:
00211 self.compliance = 0.
00212 else:
00213 self.header = std_msgs.msg.Header()
00214 self.x = geometry_msgs.msg.PoseStamped()
00215 self.x_desi = geometry_msgs.msg.PoseStamped()
00216 self.x_desi_filtered = geometry_msgs.msg.PoseStamped()
00217 self.x_err = geometry_msgs.msg.Twist()
00218 self.xd = geometry_msgs.msg.Twist()
00219 self.xd_desi = geometry_msgs.msg.Twist()
00220 self.F = geometry_msgs.msg.Wrench()
00221 self.q_proxy = []
00222 self.qd_pose = []
00223 self.qd_posture = []
00224 self.qd_posture_raw = []
00225 self.qd_desi = []
00226 self.tau = []
00227 self.J = std_msgs.msg.Float64MultiArray()
00228 self.N = std_msgs.msg.Float64MultiArray()
00229 self.df = 0.
00230 self.dx = 0.
00231 self.Df = 0.
00232 self.Dx = 0.
00233 self.stiffness = 0.
00234 self.compliance = 0.
00235
00236 def _get_types(self):
00237 """
00238 internal API method
00239 """
00240 return self._slot_types
00241
00242 def serialize(self, buff):
00243 """
00244 serialize message into buffer
00245 :param buff: buffer, ``StringIO``
00246 """
00247 try:
00248 _x = self
00249 buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
00250 _x = self.header.frame_id
00251 length = len(_x)
00252 if python3 or type(_x) == unicode:
00253 _x = _x.encode('utf-8')
00254 length = len(_x)
00255 buff.write(struct.pack('<I%ss'%length, length, _x))
00256 _x = self
00257 buff.write(_struct_3I.pack(_x.x.header.seq, _x.x.header.stamp.secs, _x.x.header.stamp.nsecs))
00258 _x = self.x.header.frame_id
00259 length = len(_x)
00260 if python3 or type(_x) == unicode:
00261 _x = _x.encode('utf-8')
00262 length = len(_x)
00263 buff.write(struct.pack('<I%ss'%length, length, _x))
00264 _x = self
00265 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))
00266 _x = self.x_desi.header.frame_id
00267 length = len(_x)
00268 if python3 or type(_x) == unicode:
00269 _x = _x.encode('utf-8')
00270 length = len(_x)
00271 buff.write(struct.pack('<I%ss'%length, length, _x))
00272 _x = self
00273 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))
00274 _x = self.x_desi_filtered.header.frame_id
00275 length = len(_x)
00276 if python3 or type(_x) == unicode:
00277 _x = _x.encode('utf-8')
00278 length = len(_x)
00279 buff.write(struct.pack('<I%ss'%length, length, _x))
00280 _x = self
00281 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))
00282 length = len(self.q_proxy)
00283 buff.write(_struct_I.pack(length))
00284 pattern = '<%sd'%length
00285 buff.write(struct.pack(pattern, *self.q_proxy))
00286 length = len(self.qd_pose)
00287 buff.write(_struct_I.pack(length))
00288 pattern = '<%sd'%length
00289 buff.write(struct.pack(pattern, *self.qd_pose))
00290 length = len(self.qd_posture)
00291 buff.write(_struct_I.pack(length))
00292 pattern = '<%sd'%length
00293 buff.write(struct.pack(pattern, *self.qd_posture))
00294 length = len(self.qd_posture_raw)
00295 buff.write(_struct_I.pack(length))
00296 pattern = '<%sd'%length
00297 buff.write(struct.pack(pattern, *self.qd_posture_raw))
00298 length = len(self.qd_desi)
00299 buff.write(_struct_I.pack(length))
00300 pattern = '<%sd'%length
00301 buff.write(struct.pack(pattern, *self.qd_desi))
00302 length = len(self.tau)
00303 buff.write(_struct_I.pack(length))
00304 pattern = '<%sd'%length
00305 buff.write(struct.pack(pattern, *self.tau))
00306 length = len(self.J.layout.dim)
00307 buff.write(_struct_I.pack(length))
00308 for val1 in self.J.layout.dim:
00309 _x = val1.label
00310 length = len(_x)
00311 if python3 or type(_x) == unicode:
00312 _x = _x.encode('utf-8')
00313 length = len(_x)
00314 buff.write(struct.pack('<I%ss'%length, length, _x))
00315 _x = val1
00316 buff.write(_struct_2I.pack(_x.size, _x.stride))
00317 buff.write(_struct_I.pack(self.J.layout.data_offset))
00318 length = len(self.J.data)
00319 buff.write(_struct_I.pack(length))
00320 pattern = '<%sd'%length
00321 buff.write(struct.pack(pattern, *self.J.data))
00322 length = len(self.N.layout.dim)
00323 buff.write(_struct_I.pack(length))
00324 for val1 in self.N.layout.dim:
00325 _x = val1.label
00326 length = len(_x)
00327 if python3 or type(_x) == unicode:
00328 _x = _x.encode('utf-8')
00329 length = len(_x)
00330 buff.write(struct.pack('<I%ss'%length, length, _x))
00331 _x = val1
00332 buff.write(_struct_2I.pack(_x.size, _x.stride))
00333 buff.write(_struct_I.pack(self.N.layout.data_offset))
00334 length = len(self.N.data)
00335 buff.write(_struct_I.pack(length))
00336 pattern = '<%sd'%length
00337 buff.write(struct.pack(pattern, *self.N.data))
00338 _x = self
00339 buff.write(_struct_6d.pack(_x.df, _x.dx, _x.Df, _x.Dx, _x.stiffness, _x.compliance))
00340 except struct.error as se: self._check_types(se)
00341 except TypeError as te: self._check_types(te)
00342
00343 def deserialize(self, str):
00344 """
00345 unpack serialized message in str into this message instance
00346 :param str: byte array of serialized message, ``str``
00347 """
00348 try:
00349 if self.header is None:
00350 self.header = std_msgs.msg.Header()
00351 if self.x is None:
00352 self.x = geometry_msgs.msg.PoseStamped()
00353 if self.x_desi is None:
00354 self.x_desi = geometry_msgs.msg.PoseStamped()
00355 if self.x_desi_filtered is None:
00356 self.x_desi_filtered = geometry_msgs.msg.PoseStamped()
00357 if self.x_err is None:
00358 self.x_err = geometry_msgs.msg.Twist()
00359 if self.xd is None:
00360 self.xd = geometry_msgs.msg.Twist()
00361 if self.xd_desi is None:
00362 self.xd_desi = geometry_msgs.msg.Twist()
00363 if self.F is None:
00364 self.F = geometry_msgs.msg.Wrench()
00365 if self.J is None:
00366 self.J = std_msgs.msg.Float64MultiArray()
00367 if self.N is None:
00368 self.N = std_msgs.msg.Float64MultiArray()
00369 end = 0
00370 _x = self
00371 start = end
00372 end += 12
00373 (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00374 start = end
00375 end += 4
00376 (length,) = _struct_I.unpack(str[start:end])
00377 start = end
00378 end += length
00379 if python3:
00380 self.header.frame_id = str[start:end].decode('utf-8')
00381 else:
00382 self.header.frame_id = str[start:end]
00383 _x = self
00384 start = end
00385 end += 12
00386 (_x.x.header.seq, _x.x.header.stamp.secs, _x.x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00387 start = end
00388 end += 4
00389 (length,) = _struct_I.unpack(str[start:end])
00390 start = end
00391 end += length
00392 if python3:
00393 self.x.header.frame_id = str[start:end].decode('utf-8')
00394 else:
00395 self.x.header.frame_id = str[start:end]
00396 _x = self
00397 start = end
00398 end += 68
00399 (_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])
00400 start = end
00401 end += 4
00402 (length,) = _struct_I.unpack(str[start:end])
00403 start = end
00404 end += length
00405 if python3:
00406 self.x_desi.header.frame_id = str[start:end].decode('utf-8')
00407 else:
00408 self.x_desi.header.frame_id = str[start:end]
00409 _x = self
00410 start = end
00411 end += 68
00412 (_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])
00413 start = end
00414 end += 4
00415 (length,) = _struct_I.unpack(str[start:end])
00416 start = end
00417 end += length
00418 if python3:
00419 self.x_desi_filtered.header.frame_id = str[start:end].decode('utf-8')
00420 else:
00421 self.x_desi_filtered.header.frame_id = str[start:end]
00422 _x = self
00423 start = end
00424 end += 248
00425 (_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])
00426 start = end
00427 end += 4
00428 (length,) = _struct_I.unpack(str[start:end])
00429 pattern = '<%sd'%length
00430 start = end
00431 end += struct.calcsize(pattern)
00432 self.q_proxy = struct.unpack(pattern, str[start:end])
00433 start = end
00434 end += 4
00435 (length,) = _struct_I.unpack(str[start:end])
00436 pattern = '<%sd'%length
00437 start = end
00438 end += struct.calcsize(pattern)
00439 self.qd_pose = struct.unpack(pattern, str[start:end])
00440 start = end
00441 end += 4
00442 (length,) = _struct_I.unpack(str[start:end])
00443 pattern = '<%sd'%length
00444 start = end
00445 end += struct.calcsize(pattern)
00446 self.qd_posture = struct.unpack(pattern, str[start:end])
00447 start = end
00448 end += 4
00449 (length,) = _struct_I.unpack(str[start:end])
00450 pattern = '<%sd'%length
00451 start = end
00452 end += struct.calcsize(pattern)
00453 self.qd_posture_raw = struct.unpack(pattern, str[start:end])
00454 start = end
00455 end += 4
00456 (length,) = _struct_I.unpack(str[start:end])
00457 pattern = '<%sd'%length
00458 start = end
00459 end += struct.calcsize(pattern)
00460 self.qd_desi = struct.unpack(pattern, str[start:end])
00461 start = end
00462 end += 4
00463 (length,) = _struct_I.unpack(str[start:end])
00464 pattern = '<%sd'%length
00465 start = end
00466 end += struct.calcsize(pattern)
00467 self.tau = struct.unpack(pattern, str[start:end])
00468 start = end
00469 end += 4
00470 (length,) = _struct_I.unpack(str[start:end])
00471 self.J.layout.dim = []
00472 for i in range(0, length):
00473 val1 = std_msgs.msg.MultiArrayDimension()
00474 start = end
00475 end += 4
00476 (length,) = _struct_I.unpack(str[start:end])
00477 start = end
00478 end += length
00479 if python3:
00480 val1.label = str[start:end].decode('utf-8')
00481 else:
00482 val1.label = str[start:end]
00483 _x = val1
00484 start = end
00485 end += 8
00486 (_x.size, _x.stride,) = _struct_2I.unpack(str[start:end])
00487 self.J.layout.dim.append(val1)
00488 start = end
00489 end += 4
00490 (self.J.layout.data_offset,) = _struct_I.unpack(str[start:end])
00491 start = end
00492 end += 4
00493 (length,) = _struct_I.unpack(str[start:end])
00494 pattern = '<%sd'%length
00495 start = end
00496 end += struct.calcsize(pattern)
00497 self.J.data = struct.unpack(pattern, str[start:end])
00498 start = end
00499 end += 4
00500 (length,) = _struct_I.unpack(str[start:end])
00501 self.N.layout.dim = []
00502 for i in range(0, length):
00503 val1 = std_msgs.msg.MultiArrayDimension()
00504 start = end
00505 end += 4
00506 (length,) = _struct_I.unpack(str[start:end])
00507 start = end
00508 end += length
00509 if python3:
00510 val1.label = str[start:end].decode('utf-8')
00511 else:
00512 val1.label = str[start:end]
00513 _x = val1
00514 start = end
00515 end += 8
00516 (_x.size, _x.stride,) = _struct_2I.unpack(str[start:end])
00517 self.N.layout.dim.append(val1)
00518 start = end
00519 end += 4
00520 (self.N.layout.data_offset,) = _struct_I.unpack(str[start:end])
00521 start = end
00522 end += 4
00523 (length,) = _struct_I.unpack(str[start:end])
00524 pattern = '<%sd'%length
00525 start = end
00526 end += struct.calcsize(pattern)
00527 self.N.data = struct.unpack(pattern, str[start:end])
00528 _x = self
00529 start = end
00530 end += 48
00531 (_x.df, _x.dx, _x.Df, _x.Dx, _x.stiffness, _x.compliance,) = _struct_6d.unpack(str[start:end])
00532 return self
00533 except struct.error as e:
00534 raise genpy.DeserializationError(e)
00535
00536
00537 def serialize_numpy(self, buff, numpy):
00538 """
00539 serialize message with numpy array types into buffer
00540 :param buff: buffer, ``StringIO``
00541 :param numpy: numpy python module
00542 """
00543 try:
00544 _x = self
00545 buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
00546 _x = self.header.frame_id
00547 length = len(_x)
00548 if python3 or type(_x) == unicode:
00549 _x = _x.encode('utf-8')
00550 length = len(_x)
00551 buff.write(struct.pack('<I%ss'%length, length, _x))
00552 _x = self
00553 buff.write(_struct_3I.pack(_x.x.header.seq, _x.x.header.stamp.secs, _x.x.header.stamp.nsecs))
00554 _x = self.x.header.frame_id
00555 length = len(_x)
00556 if python3 or type(_x) == unicode:
00557 _x = _x.encode('utf-8')
00558 length = len(_x)
00559 buff.write(struct.pack('<I%ss'%length, length, _x))
00560 _x = self
00561 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))
00562 _x = self.x_desi.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_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))
00570 _x = self.x_desi_filtered.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_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))
00578 length = len(self.q_proxy)
00579 buff.write(_struct_I.pack(length))
00580 pattern = '<%sd'%length
00581 buff.write(self.q_proxy.tostring())
00582 length = len(self.qd_pose)
00583 buff.write(_struct_I.pack(length))
00584 pattern = '<%sd'%length
00585 buff.write(self.qd_pose.tostring())
00586 length = len(self.qd_posture)
00587 buff.write(_struct_I.pack(length))
00588 pattern = '<%sd'%length
00589 buff.write(self.qd_posture.tostring())
00590 length = len(self.qd_posture_raw)
00591 buff.write(_struct_I.pack(length))
00592 pattern = '<%sd'%length
00593 buff.write(self.qd_posture_raw.tostring())
00594 length = len(self.qd_desi)
00595 buff.write(_struct_I.pack(length))
00596 pattern = '<%sd'%length
00597 buff.write(self.qd_desi.tostring())
00598 length = len(self.tau)
00599 buff.write(_struct_I.pack(length))
00600 pattern = '<%sd'%length
00601 buff.write(self.tau.tostring())
00602 length = len(self.J.layout.dim)
00603 buff.write(_struct_I.pack(length))
00604 for val1 in self.J.layout.dim:
00605 _x = val1.label
00606 length = len(_x)
00607 if python3 or type(_x) == unicode:
00608 _x = _x.encode('utf-8')
00609 length = len(_x)
00610 buff.write(struct.pack('<I%ss'%length, length, _x))
00611 _x = val1
00612 buff.write(_struct_2I.pack(_x.size, _x.stride))
00613 buff.write(_struct_I.pack(self.J.layout.data_offset))
00614 length = len(self.J.data)
00615 buff.write(_struct_I.pack(length))
00616 pattern = '<%sd'%length
00617 buff.write(self.J.data.tostring())
00618 length = len(self.N.layout.dim)
00619 buff.write(_struct_I.pack(length))
00620 for val1 in self.N.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.N.layout.data_offset))
00630 length = len(self.N.data)
00631 buff.write(_struct_I.pack(length))
00632 pattern = '<%sd'%length
00633 buff.write(self.N.data.tostring())
00634 _x = self
00635 buff.write(_struct_6d.pack(_x.df, _x.dx, _x.Df, _x.Dx, _x.stiffness, _x.compliance))
00636 except struct.error as se: self._check_types(se)
00637 except TypeError as te: self._check_types(te)
00638
00639 def deserialize_numpy(self, str, numpy):
00640 """
00641 unpack serialized message in str into this message instance using numpy for array types
00642 :param str: byte array of serialized message, ``str``
00643 :param numpy: numpy python module
00644 """
00645 try:
00646 if self.header is None:
00647 self.header = std_msgs.msg.Header()
00648 if self.x is None:
00649 self.x = geometry_msgs.msg.PoseStamped()
00650 if self.x_desi is None:
00651 self.x_desi = geometry_msgs.msg.PoseStamped()
00652 if self.x_desi_filtered is None:
00653 self.x_desi_filtered = geometry_msgs.msg.PoseStamped()
00654 if self.x_err is None:
00655 self.x_err = geometry_msgs.msg.Twist()
00656 if self.xd is None:
00657 self.xd = geometry_msgs.msg.Twist()
00658 if self.xd_desi is None:
00659 self.xd_desi = geometry_msgs.msg.Twist()
00660 if self.F is None:
00661 self.F = geometry_msgs.msg.Wrench()
00662 if self.J is None:
00663 self.J = std_msgs.msg.Float64MultiArray()
00664 if self.N is None:
00665 self.N = std_msgs.msg.Float64MultiArray()
00666 end = 0
00667 _x = self
00668 start = end
00669 end += 12
00670 (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00671 start = end
00672 end += 4
00673 (length,) = _struct_I.unpack(str[start:end])
00674 start = end
00675 end += length
00676 if python3:
00677 self.header.frame_id = str[start:end].decode('utf-8')
00678 else:
00679 self.header.frame_id = str[start:end]
00680 _x = self
00681 start = end
00682 end += 12
00683 (_x.x.header.seq, _x.x.header.stamp.secs, _x.x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00684 start = end
00685 end += 4
00686 (length,) = _struct_I.unpack(str[start:end])
00687 start = end
00688 end += length
00689 if python3:
00690 self.x.header.frame_id = str[start:end].decode('utf-8')
00691 else:
00692 self.x.header.frame_id = str[start:end]
00693 _x = self
00694 start = end
00695 end += 68
00696 (_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])
00697 start = end
00698 end += 4
00699 (length,) = _struct_I.unpack(str[start:end])
00700 start = end
00701 end += length
00702 if python3:
00703 self.x_desi.header.frame_id = str[start:end].decode('utf-8')
00704 else:
00705 self.x_desi.header.frame_id = str[start:end]
00706 _x = self
00707 start = end
00708 end += 68
00709 (_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])
00710 start = end
00711 end += 4
00712 (length,) = _struct_I.unpack(str[start:end])
00713 start = end
00714 end += length
00715 if python3:
00716 self.x_desi_filtered.header.frame_id = str[start:end].decode('utf-8')
00717 else:
00718 self.x_desi_filtered.header.frame_id = str[start:end]
00719 _x = self
00720 start = end
00721 end += 248
00722 (_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])
00723 start = end
00724 end += 4
00725 (length,) = _struct_I.unpack(str[start:end])
00726 pattern = '<%sd'%length
00727 start = end
00728 end += struct.calcsize(pattern)
00729 self.q_proxy = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00730 start = end
00731 end += 4
00732 (length,) = _struct_I.unpack(str[start:end])
00733 pattern = '<%sd'%length
00734 start = end
00735 end += struct.calcsize(pattern)
00736 self.qd_pose = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00737 start = end
00738 end += 4
00739 (length,) = _struct_I.unpack(str[start:end])
00740 pattern = '<%sd'%length
00741 start = end
00742 end += struct.calcsize(pattern)
00743 self.qd_posture = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00744 start = end
00745 end += 4
00746 (length,) = _struct_I.unpack(str[start:end])
00747 pattern = '<%sd'%length
00748 start = end
00749 end += struct.calcsize(pattern)
00750 self.qd_posture_raw = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00751 start = end
00752 end += 4
00753 (length,) = _struct_I.unpack(str[start:end])
00754 pattern = '<%sd'%length
00755 start = end
00756 end += struct.calcsize(pattern)
00757 self.qd_desi = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00758 start = end
00759 end += 4
00760 (length,) = _struct_I.unpack(str[start:end])
00761 pattern = '<%sd'%length
00762 start = end
00763 end += struct.calcsize(pattern)
00764 self.tau = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00765 start = end
00766 end += 4
00767 (length,) = _struct_I.unpack(str[start:end])
00768 self.J.layout.dim = []
00769 for i in range(0, length):
00770 val1 = std_msgs.msg.MultiArrayDimension()
00771 start = end
00772 end += 4
00773 (length,) = _struct_I.unpack(str[start:end])
00774 start = end
00775 end += length
00776 if python3:
00777 val1.label = str[start:end].decode('utf-8')
00778 else:
00779 val1.label = str[start:end]
00780 _x = val1
00781 start = end
00782 end += 8
00783 (_x.size, _x.stride,) = _struct_2I.unpack(str[start:end])
00784 self.J.layout.dim.append(val1)
00785 start = end
00786 end += 4
00787 (self.J.layout.data_offset,) = _struct_I.unpack(str[start:end])
00788 start = end
00789 end += 4
00790 (length,) = _struct_I.unpack(str[start:end])
00791 pattern = '<%sd'%length
00792 start = end
00793 end += struct.calcsize(pattern)
00794 self.J.data = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00795 start = end
00796 end += 4
00797 (length,) = _struct_I.unpack(str[start:end])
00798 self.N.layout.dim = []
00799 for i in range(0, length):
00800 val1 = std_msgs.msg.MultiArrayDimension()
00801 start = end
00802 end += 4
00803 (length,) = _struct_I.unpack(str[start:end])
00804 start = end
00805 end += length
00806 if python3:
00807 val1.label = str[start:end].decode('utf-8')
00808 else:
00809 val1.label = str[start:end]
00810 _x = val1
00811 start = end
00812 end += 8
00813 (_x.size, _x.stride,) = _struct_2I.unpack(str[start:end])
00814 self.N.layout.dim.append(val1)
00815 start = end
00816 end += 4
00817 (self.N.layout.data_offset,) = _struct_I.unpack(str[start:end])
00818 start = end
00819 end += 4
00820 (length,) = _struct_I.unpack(str[start:end])
00821 pattern = '<%sd'%length
00822 start = end
00823 end += struct.calcsize(pattern)
00824 self.N.data = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00825 _x = self
00826 start = end
00827 end += 48
00828 (_x.df, _x.dx, _x.Df, _x.Dx, _x.stiffness, _x.compliance,) = _struct_6d.unpack(str[start:end])
00829 return self
00830 except struct.error as e:
00831 raise genpy.DeserializationError(e)
00832
00833 _struct_I = genpy.struct_I
00834 _struct_6d = struct.Struct("<6d")
00835 _struct_2I = struct.Struct("<2I")
00836 _struct_3I = struct.Struct("<3I")
00837 _struct_7d3I = struct.Struct("<7d3I")
00838 _struct_31d = struct.Struct("<31d")