_BaseControllerState.py
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00001 """autogenerated by genpy from pr2_mechanism_controllers/BaseControllerState.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 
00009 class BaseControllerState(genpy.Message):
00010   _md5sum = "7a488aa492f9175d5fa35e22e56c4b28"
00011   _type = "pr2_mechanism_controllers/BaseControllerState"
00012   _has_header = False #flag to mark the presence of a Header object
00013   _full_text = """geometry_msgs/Twist command
00014 float64[] joint_velocity_measured
00015 float64[] joint_velocity_commanded
00016 float64[] joint_velocity_error
00017 float64[] joint_effort_measured
00018 float64[] joint_effort_commanded
00019 float64[] joint_effort_error
00020 string[] joint_names
00021 
00022 
00023 ================================================================================
00024 MSG: geometry_msgs/Twist
00025 # This expresses velocity in free space broken into it's linear and angular parts. 
00026 Vector3  linear
00027 Vector3  angular
00028 
00029 ================================================================================
00030 MSG: geometry_msgs/Vector3
00031 # This represents a vector in free space. 
00032 
00033 float64 x
00034 float64 y
00035 float64 z
00036 """
00037   __slots__ = ['command','joint_velocity_measured','joint_velocity_commanded','joint_velocity_error','joint_effort_measured','joint_effort_commanded','joint_effort_error','joint_names']
00038   _slot_types = ['geometry_msgs/Twist','float64[]','float64[]','float64[]','float64[]','float64[]','float64[]','string[]']
00039 
00040   def __init__(self, *args, **kwds):
00041     """
00042     Constructor. Any message fields that are implicitly/explicitly
00043     set to None will be assigned a default value. The recommend
00044     use is keyword arguments as this is more robust to future message
00045     changes.  You cannot mix in-order arguments and keyword arguments.
00046 
00047     The available fields are:
00048        command,joint_velocity_measured,joint_velocity_commanded,joint_velocity_error,joint_effort_measured,joint_effort_commanded,joint_effort_error,joint_names
00049 
00050     :param args: complete set of field values, in .msg order
00051     :param kwds: use keyword arguments corresponding to message field names
00052     to set specific fields.
00053     """
00054     if args or kwds:
00055       super(BaseControllerState, self).__init__(*args, **kwds)
00056       #message fields cannot be None, assign default values for those that are
00057       if self.command is None:
00058         self.command = geometry_msgs.msg.Twist()
00059       if self.joint_velocity_measured is None:
00060         self.joint_velocity_measured = []
00061       if self.joint_velocity_commanded is None:
00062         self.joint_velocity_commanded = []
00063       if self.joint_velocity_error is None:
00064         self.joint_velocity_error = []
00065       if self.joint_effort_measured is None:
00066         self.joint_effort_measured = []
00067       if self.joint_effort_commanded is None:
00068         self.joint_effort_commanded = []
00069       if self.joint_effort_error is None:
00070         self.joint_effort_error = []
00071       if self.joint_names is None:
00072         self.joint_names = []
00073     else:
00074       self.command = geometry_msgs.msg.Twist()
00075       self.joint_velocity_measured = []
00076       self.joint_velocity_commanded = []
00077       self.joint_velocity_error = []
00078       self.joint_effort_measured = []
00079       self.joint_effort_commanded = []
00080       self.joint_effort_error = []
00081       self.joint_names = []
00082 
00083   def _get_types(self):
00084     """
00085     internal API method
00086     """
00087     return self._slot_types
00088 
00089   def serialize(self, buff):
00090     """
00091     serialize message into buffer
00092     :param buff: buffer, ``StringIO``
00093     """
00094     try:
00095       _x = self
00096       buff.write(_struct_6d.pack(_x.command.linear.x, _x.command.linear.y, _x.command.linear.z, _x.command.angular.x, _x.command.angular.y, _x.command.angular.z))
00097       length = len(self.joint_velocity_measured)
00098       buff.write(_struct_I.pack(length))
00099       pattern = '<%sd'%length
00100       buff.write(struct.pack(pattern, *self.joint_velocity_measured))
00101       length = len(self.joint_velocity_commanded)
00102       buff.write(_struct_I.pack(length))
00103       pattern = '<%sd'%length
00104       buff.write(struct.pack(pattern, *self.joint_velocity_commanded))
00105       length = len(self.joint_velocity_error)
00106       buff.write(_struct_I.pack(length))
00107       pattern = '<%sd'%length
00108       buff.write(struct.pack(pattern, *self.joint_velocity_error))
00109       length = len(self.joint_effort_measured)
00110       buff.write(_struct_I.pack(length))
00111       pattern = '<%sd'%length
00112       buff.write(struct.pack(pattern, *self.joint_effort_measured))
00113       length = len(self.joint_effort_commanded)
00114       buff.write(_struct_I.pack(length))
00115       pattern = '<%sd'%length
00116       buff.write(struct.pack(pattern, *self.joint_effort_commanded))
00117       length = len(self.joint_effort_error)
00118       buff.write(_struct_I.pack(length))
00119       pattern = '<%sd'%length
00120       buff.write(struct.pack(pattern, *self.joint_effort_error))
00121       length = len(self.joint_names)
00122       buff.write(_struct_I.pack(length))
00123       for val1 in self.joint_names:
00124         length = len(val1)
00125         if python3 or type(val1) == unicode:
00126           val1 = val1.encode('utf-8')
00127           length = len(val1)
00128         buff.write(struct.pack('<I%ss'%length, length, val1))
00129     except struct.error as se: self._check_types(se)
00130     except TypeError as te: self._check_types(te)
00131 
00132   def deserialize(self, str):
00133     """
00134     unpack serialized message in str into this message instance
00135     :param str: byte array of serialized message, ``str``
00136     """
00137     try:
00138       if self.command is None:
00139         self.command = geometry_msgs.msg.Twist()
00140       end = 0
00141       _x = self
00142       start = end
00143       end += 48
00144       (_x.command.linear.x, _x.command.linear.y, _x.command.linear.z, _x.command.angular.x, _x.command.angular.y, _x.command.angular.z,) = _struct_6d.unpack(str[start:end])
00145       start = end
00146       end += 4
00147       (length,) = _struct_I.unpack(str[start:end])
00148       pattern = '<%sd'%length
00149       start = end
00150       end += struct.calcsize(pattern)
00151       self.joint_velocity_measured = struct.unpack(pattern, str[start:end])
00152       start = end
00153       end += 4
00154       (length,) = _struct_I.unpack(str[start:end])
00155       pattern = '<%sd'%length
00156       start = end
00157       end += struct.calcsize(pattern)
00158       self.joint_velocity_commanded = struct.unpack(pattern, str[start:end])
00159       start = end
00160       end += 4
00161       (length,) = _struct_I.unpack(str[start:end])
00162       pattern = '<%sd'%length
00163       start = end
00164       end += struct.calcsize(pattern)
00165       self.joint_velocity_error = struct.unpack(pattern, str[start:end])
00166       start = end
00167       end += 4
00168       (length,) = _struct_I.unpack(str[start:end])
00169       pattern = '<%sd'%length
00170       start = end
00171       end += struct.calcsize(pattern)
00172       self.joint_effort_measured = struct.unpack(pattern, str[start:end])
00173       start = end
00174       end += 4
00175       (length,) = _struct_I.unpack(str[start:end])
00176       pattern = '<%sd'%length
00177       start = end
00178       end += struct.calcsize(pattern)
00179       self.joint_effort_commanded = struct.unpack(pattern, str[start:end])
00180       start = end
00181       end += 4
00182       (length,) = _struct_I.unpack(str[start:end])
00183       pattern = '<%sd'%length
00184       start = end
00185       end += struct.calcsize(pattern)
00186       self.joint_effort_error = struct.unpack(pattern, str[start:end])
00187       start = end
00188       end += 4
00189       (length,) = _struct_I.unpack(str[start:end])
00190       self.joint_names = []
00191       for i in range(0, length):
00192         start = end
00193         end += 4
00194         (length,) = _struct_I.unpack(str[start:end])
00195         start = end
00196         end += length
00197         if python3:
00198           val1 = str[start:end].decode('utf-8')
00199         else:
00200           val1 = str[start:end]
00201         self.joint_names.append(val1)
00202       return self
00203     except struct.error as e:
00204       raise genpy.DeserializationError(e) #most likely buffer underfill
00205 
00206 
00207   def serialize_numpy(self, buff, numpy):
00208     """
00209     serialize message with numpy array types into buffer
00210     :param buff: buffer, ``StringIO``
00211     :param numpy: numpy python module
00212     """
00213     try:
00214       _x = self
00215       buff.write(_struct_6d.pack(_x.command.linear.x, _x.command.linear.y, _x.command.linear.z, _x.command.angular.x, _x.command.angular.y, _x.command.angular.z))
00216       length = len(self.joint_velocity_measured)
00217       buff.write(_struct_I.pack(length))
00218       pattern = '<%sd'%length
00219       buff.write(self.joint_velocity_measured.tostring())
00220       length = len(self.joint_velocity_commanded)
00221       buff.write(_struct_I.pack(length))
00222       pattern = '<%sd'%length
00223       buff.write(self.joint_velocity_commanded.tostring())
00224       length = len(self.joint_velocity_error)
00225       buff.write(_struct_I.pack(length))
00226       pattern = '<%sd'%length
00227       buff.write(self.joint_velocity_error.tostring())
00228       length = len(self.joint_effort_measured)
00229       buff.write(_struct_I.pack(length))
00230       pattern = '<%sd'%length
00231       buff.write(self.joint_effort_measured.tostring())
00232       length = len(self.joint_effort_commanded)
00233       buff.write(_struct_I.pack(length))
00234       pattern = '<%sd'%length
00235       buff.write(self.joint_effort_commanded.tostring())
00236       length = len(self.joint_effort_error)
00237       buff.write(_struct_I.pack(length))
00238       pattern = '<%sd'%length
00239       buff.write(self.joint_effort_error.tostring())
00240       length = len(self.joint_names)
00241       buff.write(_struct_I.pack(length))
00242       for val1 in self.joint_names:
00243         length = len(val1)
00244         if python3 or type(val1) == unicode:
00245           val1 = val1.encode('utf-8')
00246           length = len(val1)
00247         buff.write(struct.pack('<I%ss'%length, length, val1))
00248     except struct.error as se: self._check_types(se)
00249     except TypeError as te: self._check_types(te)
00250 
00251   def deserialize_numpy(self, str, numpy):
00252     """
00253     unpack serialized message in str into this message instance using numpy for array types
00254     :param str: byte array of serialized message, ``str``
00255     :param numpy: numpy python module
00256     """
00257     try:
00258       if self.command is None:
00259         self.command = geometry_msgs.msg.Twist()
00260       end = 0
00261       _x = self
00262       start = end
00263       end += 48
00264       (_x.command.linear.x, _x.command.linear.y, _x.command.linear.z, _x.command.angular.x, _x.command.angular.y, _x.command.angular.z,) = _struct_6d.unpack(str[start:end])
00265       start = end
00266       end += 4
00267       (length,) = _struct_I.unpack(str[start:end])
00268       pattern = '<%sd'%length
00269       start = end
00270       end += struct.calcsize(pattern)
00271       self.joint_velocity_measured = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00272       start = end
00273       end += 4
00274       (length,) = _struct_I.unpack(str[start:end])
00275       pattern = '<%sd'%length
00276       start = end
00277       end += struct.calcsize(pattern)
00278       self.joint_velocity_commanded = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00279       start = end
00280       end += 4
00281       (length,) = _struct_I.unpack(str[start:end])
00282       pattern = '<%sd'%length
00283       start = end
00284       end += struct.calcsize(pattern)
00285       self.joint_velocity_error = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00286       start = end
00287       end += 4
00288       (length,) = _struct_I.unpack(str[start:end])
00289       pattern = '<%sd'%length
00290       start = end
00291       end += struct.calcsize(pattern)
00292       self.joint_effort_measured = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00293       start = end
00294       end += 4
00295       (length,) = _struct_I.unpack(str[start:end])
00296       pattern = '<%sd'%length
00297       start = end
00298       end += struct.calcsize(pattern)
00299       self.joint_effort_commanded = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00300       start = end
00301       end += 4
00302       (length,) = _struct_I.unpack(str[start:end])
00303       pattern = '<%sd'%length
00304       start = end
00305       end += struct.calcsize(pattern)
00306       self.joint_effort_error = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00307       start = end
00308       end += 4
00309       (length,) = _struct_I.unpack(str[start:end])
00310       self.joint_names = []
00311       for i in range(0, length):
00312         start = end
00313         end += 4
00314         (length,) = _struct_I.unpack(str[start:end])
00315         start = end
00316         end += length
00317         if python3:
00318           val1 = str[start:end].decode('utf-8')
00319         else:
00320           val1 = str[start:end]
00321         self.joint_names.append(val1)
00322       return self
00323     except struct.error as e:
00324       raise genpy.DeserializationError(e) #most likely buffer underfill
00325 
00326 _struct_I = genpy.struct_I
00327 _struct_6d = struct.Struct("<6d")


pr2_mechanism_controllers
Author(s): Sachin Chita, John Hsu, Melonee Wise
autogenerated on Fri Jan 3 2014 11:41:46