_JointTrajectoryActionGoal.py
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00001 """autogenerated by genpy from pr2_controllers_msgs/JointTrajectoryActionGoal.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 trajectory_msgs.msg
00008 import pr2_controllers_msgs.msg
00009 import genpy
00010 import actionlib_msgs.msg
00011 import std_msgs.msg
00012 
00013 class JointTrajectoryActionGoal(genpy.Message):
00014   _md5sum = "aee77e81e3afb8d91af4939d603609d8"
00015   _type = "pr2_controllers_msgs/JointTrajectoryActionGoal"
00016   _has_header = True #flag to mark the presence of a Header object
00017   _full_text = """# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00018 
00019 Header header
00020 actionlib_msgs/GoalID goal_id
00021 JointTrajectoryGoal goal
00022 
00023 ================================================================================
00024 MSG: std_msgs/Header
00025 # Standard metadata for higher-level stamped data types.
00026 # This is generally used to communicate timestamped data 
00027 # in a particular coordinate frame.
00028 # 
00029 # sequence ID: consecutively increasing ID 
00030 uint32 seq
00031 #Two-integer timestamp that is expressed as:
00032 # * stamp.secs: seconds (stamp_secs) since epoch
00033 # * stamp.nsecs: nanoseconds since stamp_secs
00034 # time-handling sugar is provided by the client library
00035 time stamp
00036 #Frame this data is associated with
00037 # 0: no frame
00038 # 1: global frame
00039 string frame_id
00040 
00041 ================================================================================
00042 MSG: actionlib_msgs/GoalID
00043 # The stamp should store the time at which this goal was requested.
00044 # It is used by an action server when it tries to preempt all
00045 # goals that were requested before a certain time
00046 time stamp
00047 
00048 # The id provides a way to associate feedback and
00049 # result message with specific goal requests. The id
00050 # specified must be unique.
00051 string id
00052 
00053 
00054 ================================================================================
00055 MSG: pr2_controllers_msgs/JointTrajectoryGoal
00056 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00057 trajectory_msgs/JointTrajectory trajectory
00058 
00059 ================================================================================
00060 MSG: trajectory_msgs/JointTrajectory
00061 Header header
00062 string[] joint_names
00063 JointTrajectoryPoint[] points
00064 ================================================================================
00065 MSG: trajectory_msgs/JointTrajectoryPoint
00066 float64[] positions
00067 float64[] velocities
00068 float64[] accelerations
00069 duration time_from_start
00070 """
00071   __slots__ = ['header','goal_id','goal']
00072   _slot_types = ['std_msgs/Header','actionlib_msgs/GoalID','pr2_controllers_msgs/JointTrajectoryGoal']
00073 
00074   def __init__(self, *args, **kwds):
00075     """
00076     Constructor. Any message fields that are implicitly/explicitly
00077     set to None will be assigned a default value. The recommend
00078     use is keyword arguments as this is more robust to future message
00079     changes.  You cannot mix in-order arguments and keyword arguments.
00080 
00081     The available fields are:
00082        header,goal_id,goal
00083 
00084     :param args: complete set of field values, in .msg order
00085     :param kwds: use keyword arguments corresponding to message field names
00086     to set specific fields.
00087     """
00088     if args or kwds:
00089       super(JointTrajectoryActionGoal, self).__init__(*args, **kwds)
00090       #message fields cannot be None, assign default values for those that are
00091       if self.header is None:
00092         self.header = std_msgs.msg.Header()
00093       if self.goal_id is None:
00094         self.goal_id = actionlib_msgs.msg.GoalID()
00095       if self.goal is None:
00096         self.goal = pr2_controllers_msgs.msg.JointTrajectoryGoal()
00097     else:
00098       self.header = std_msgs.msg.Header()
00099       self.goal_id = actionlib_msgs.msg.GoalID()
00100       self.goal = pr2_controllers_msgs.msg.JointTrajectoryGoal()
00101 
00102   def _get_types(self):
00103     """
00104     internal API method
00105     """
00106     return self._slot_types
00107 
00108   def serialize(self, buff):
00109     """
00110     serialize message into buffer
00111     :param buff: buffer, ``StringIO``
00112     """
00113     try:
00114       _x = self
00115       buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
00116       _x = self.header.frame_id
00117       length = len(_x)
00118       if python3 or type(_x) == unicode:
00119         _x = _x.encode('utf-8')
00120         length = len(_x)
00121       buff.write(struct.pack('<I%ss'%length, length, _x))
00122       _x = self
00123       buff.write(_struct_2I.pack(_x.goal_id.stamp.secs, _x.goal_id.stamp.nsecs))
00124       _x = self.goal_id.id
00125       length = len(_x)
00126       if python3 or type(_x) == unicode:
00127         _x = _x.encode('utf-8')
00128         length = len(_x)
00129       buff.write(struct.pack('<I%ss'%length, length, _x))
00130       _x = self
00131       buff.write(_struct_3I.pack(_x.goal.trajectory.header.seq, _x.goal.trajectory.header.stamp.secs, _x.goal.trajectory.header.stamp.nsecs))
00132       _x = self.goal.trajectory.header.frame_id
00133       length = len(_x)
00134       if python3 or type(_x) == unicode:
00135         _x = _x.encode('utf-8')
00136         length = len(_x)
00137       buff.write(struct.pack('<I%ss'%length, length, _x))
00138       length = len(self.goal.trajectory.joint_names)
00139       buff.write(_struct_I.pack(length))
00140       for val1 in self.goal.trajectory.joint_names:
00141         length = len(val1)
00142         if python3 or type(val1) == unicode:
00143           val1 = val1.encode('utf-8')
00144           length = len(val1)
00145         buff.write(struct.pack('<I%ss'%length, length, val1))
00146       length = len(self.goal.trajectory.points)
00147       buff.write(_struct_I.pack(length))
00148       for val1 in self.goal.trajectory.points:
00149         length = len(val1.positions)
00150         buff.write(_struct_I.pack(length))
00151         pattern = '<%sd'%length
00152         buff.write(struct.pack(pattern, *val1.positions))
00153         length = len(val1.velocities)
00154         buff.write(_struct_I.pack(length))
00155         pattern = '<%sd'%length
00156         buff.write(struct.pack(pattern, *val1.velocities))
00157         length = len(val1.accelerations)
00158         buff.write(_struct_I.pack(length))
00159         pattern = '<%sd'%length
00160         buff.write(struct.pack(pattern, *val1.accelerations))
00161         _v1 = val1.time_from_start
00162         _x = _v1
00163         buff.write(_struct_2i.pack(_x.secs, _x.nsecs))
00164     except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
00165     except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))
00166 
00167   def deserialize(self, str):
00168     """
00169     unpack serialized message in str into this message instance
00170     :param str: byte array of serialized message, ``str``
00171     """
00172     try:
00173       if self.header is None:
00174         self.header = std_msgs.msg.Header()
00175       if self.goal_id is None:
00176         self.goal_id = actionlib_msgs.msg.GoalID()
00177       if self.goal is None:
00178         self.goal = pr2_controllers_msgs.msg.JointTrajectoryGoal()
00179       end = 0
00180       _x = self
00181       start = end
00182       end += 12
00183       (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00184       start = end
00185       end += 4
00186       (length,) = _struct_I.unpack(str[start:end])
00187       start = end
00188       end += length
00189       if python3:
00190         self.header.frame_id = str[start:end].decode('utf-8')
00191       else:
00192         self.header.frame_id = str[start:end]
00193       _x = self
00194       start = end
00195       end += 8
00196       (_x.goal_id.stamp.secs, _x.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00197       start = end
00198       end += 4
00199       (length,) = _struct_I.unpack(str[start:end])
00200       start = end
00201       end += length
00202       if python3:
00203         self.goal_id.id = str[start:end].decode('utf-8')
00204       else:
00205         self.goal_id.id = str[start:end]
00206       _x = self
00207       start = end
00208       end += 12
00209       (_x.goal.trajectory.header.seq, _x.goal.trajectory.header.stamp.secs, _x.goal.trajectory.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00210       start = end
00211       end += 4
00212       (length,) = _struct_I.unpack(str[start:end])
00213       start = end
00214       end += length
00215       if python3:
00216         self.goal.trajectory.header.frame_id = str[start:end].decode('utf-8')
00217       else:
00218         self.goal.trajectory.header.frame_id = str[start:end]
00219       start = end
00220       end += 4
00221       (length,) = _struct_I.unpack(str[start:end])
00222       self.goal.trajectory.joint_names = []
00223       for i in range(0, length):
00224         start = end
00225         end += 4
00226         (length,) = _struct_I.unpack(str[start:end])
00227         start = end
00228         end += length
00229         if python3:
00230           val1 = str[start:end].decode('utf-8')
00231         else:
00232           val1 = str[start:end]
00233         self.goal.trajectory.joint_names.append(val1)
00234       start = end
00235       end += 4
00236       (length,) = _struct_I.unpack(str[start:end])
00237       self.goal.trajectory.points = []
00238       for i in range(0, length):
00239         val1 = trajectory_msgs.msg.JointTrajectoryPoint()
00240         start = end
00241         end += 4
00242         (length,) = _struct_I.unpack(str[start:end])
00243         pattern = '<%sd'%length
00244         start = end
00245         end += struct.calcsize(pattern)
00246         val1.positions = struct.unpack(pattern, str[start:end])
00247         start = end
00248         end += 4
00249         (length,) = _struct_I.unpack(str[start:end])
00250         pattern = '<%sd'%length
00251         start = end
00252         end += struct.calcsize(pattern)
00253         val1.velocities = struct.unpack(pattern, str[start:end])
00254         start = end
00255         end += 4
00256         (length,) = _struct_I.unpack(str[start:end])
00257         pattern = '<%sd'%length
00258         start = end
00259         end += struct.calcsize(pattern)
00260         val1.accelerations = struct.unpack(pattern, str[start:end])
00261         _v2 = val1.time_from_start
00262         _x = _v2
00263         start = end
00264         end += 8
00265         (_x.secs, _x.nsecs,) = _struct_2i.unpack(str[start:end])
00266         self.goal.trajectory.points.append(val1)
00267       return self
00268     except struct.error as e:
00269       raise genpy.DeserializationError(e) #most likely buffer underfill
00270 
00271 
00272   def serialize_numpy(self, buff, numpy):
00273     """
00274     serialize message with numpy array types into buffer
00275     :param buff: buffer, ``StringIO``
00276     :param numpy: numpy python module
00277     """
00278     try:
00279       _x = self
00280       buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
00281       _x = self.header.frame_id
00282       length = len(_x)
00283       if python3 or type(_x) == unicode:
00284         _x = _x.encode('utf-8')
00285         length = len(_x)
00286       buff.write(struct.pack('<I%ss'%length, length, _x))
00287       _x = self
00288       buff.write(_struct_2I.pack(_x.goal_id.stamp.secs, _x.goal_id.stamp.nsecs))
00289       _x = self.goal_id.id
00290       length = len(_x)
00291       if python3 or type(_x) == unicode:
00292         _x = _x.encode('utf-8')
00293         length = len(_x)
00294       buff.write(struct.pack('<I%ss'%length, length, _x))
00295       _x = self
00296       buff.write(_struct_3I.pack(_x.goal.trajectory.header.seq, _x.goal.trajectory.header.stamp.secs, _x.goal.trajectory.header.stamp.nsecs))
00297       _x = self.goal.trajectory.header.frame_id
00298       length = len(_x)
00299       if python3 or type(_x) == unicode:
00300         _x = _x.encode('utf-8')
00301         length = len(_x)
00302       buff.write(struct.pack('<I%ss'%length, length, _x))
00303       length = len(self.goal.trajectory.joint_names)
00304       buff.write(_struct_I.pack(length))
00305       for val1 in self.goal.trajectory.joint_names:
00306         length = len(val1)
00307         if python3 or type(val1) == unicode:
00308           val1 = val1.encode('utf-8')
00309           length = len(val1)
00310         buff.write(struct.pack('<I%ss'%length, length, val1))
00311       length = len(self.goal.trajectory.points)
00312       buff.write(_struct_I.pack(length))
00313       for val1 in self.goal.trajectory.points:
00314         length = len(val1.positions)
00315         buff.write(_struct_I.pack(length))
00316         pattern = '<%sd'%length
00317         buff.write(val1.positions.tostring())
00318         length = len(val1.velocities)
00319         buff.write(_struct_I.pack(length))
00320         pattern = '<%sd'%length
00321         buff.write(val1.velocities.tostring())
00322         length = len(val1.accelerations)
00323         buff.write(_struct_I.pack(length))
00324         pattern = '<%sd'%length
00325         buff.write(val1.accelerations.tostring())
00326         _v3 = val1.time_from_start
00327         _x = _v3
00328         buff.write(_struct_2i.pack(_x.secs, _x.nsecs))
00329     except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
00330     except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))
00331 
00332   def deserialize_numpy(self, str, numpy):
00333     """
00334     unpack serialized message in str into this message instance using numpy for array types
00335     :param str: byte array of serialized message, ``str``
00336     :param numpy: numpy python module
00337     """
00338     try:
00339       if self.header is None:
00340         self.header = std_msgs.msg.Header()
00341       if self.goal_id is None:
00342         self.goal_id = actionlib_msgs.msg.GoalID()
00343       if self.goal is None:
00344         self.goal = pr2_controllers_msgs.msg.JointTrajectoryGoal()
00345       end = 0
00346       _x = self
00347       start = end
00348       end += 12
00349       (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00350       start = end
00351       end += 4
00352       (length,) = _struct_I.unpack(str[start:end])
00353       start = end
00354       end += length
00355       if python3:
00356         self.header.frame_id = str[start:end].decode('utf-8')
00357       else:
00358         self.header.frame_id = str[start:end]
00359       _x = self
00360       start = end
00361       end += 8
00362       (_x.goal_id.stamp.secs, _x.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00363       start = end
00364       end += 4
00365       (length,) = _struct_I.unpack(str[start:end])
00366       start = end
00367       end += length
00368       if python3:
00369         self.goal_id.id = str[start:end].decode('utf-8')
00370       else:
00371         self.goal_id.id = str[start:end]
00372       _x = self
00373       start = end
00374       end += 12
00375       (_x.goal.trajectory.header.seq, _x.goal.trajectory.header.stamp.secs, _x.goal.trajectory.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00376       start = end
00377       end += 4
00378       (length,) = _struct_I.unpack(str[start:end])
00379       start = end
00380       end += length
00381       if python3:
00382         self.goal.trajectory.header.frame_id = str[start:end].decode('utf-8')
00383       else:
00384         self.goal.trajectory.header.frame_id = str[start:end]
00385       start = end
00386       end += 4
00387       (length,) = _struct_I.unpack(str[start:end])
00388       self.goal.trajectory.joint_names = []
00389       for i in range(0, length):
00390         start = end
00391         end += 4
00392         (length,) = _struct_I.unpack(str[start:end])
00393         start = end
00394         end += length
00395         if python3:
00396           val1 = str[start:end].decode('utf-8')
00397         else:
00398           val1 = str[start:end]
00399         self.goal.trajectory.joint_names.append(val1)
00400       start = end
00401       end += 4
00402       (length,) = _struct_I.unpack(str[start:end])
00403       self.goal.trajectory.points = []
00404       for i in range(0, length):
00405         val1 = trajectory_msgs.msg.JointTrajectoryPoint()
00406         start = end
00407         end += 4
00408         (length,) = _struct_I.unpack(str[start:end])
00409         pattern = '<%sd'%length
00410         start = end
00411         end += struct.calcsize(pattern)
00412         val1.positions = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00413         start = end
00414         end += 4
00415         (length,) = _struct_I.unpack(str[start:end])
00416         pattern = '<%sd'%length
00417         start = end
00418         end += struct.calcsize(pattern)
00419         val1.velocities = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00420         start = end
00421         end += 4
00422         (length,) = _struct_I.unpack(str[start:end])
00423         pattern = '<%sd'%length
00424         start = end
00425         end += struct.calcsize(pattern)
00426         val1.accelerations = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00427         _v4 = val1.time_from_start
00428         _x = _v4
00429         start = end
00430         end += 8
00431         (_x.secs, _x.nsecs,) = _struct_2i.unpack(str[start:end])
00432         self.goal.trajectory.points.append(val1)
00433       return self
00434     except struct.error as e:
00435       raise genpy.DeserializationError(e) #most likely buffer underfill
00436 
00437 _struct_I = genpy.struct_I
00438 _struct_3I = struct.Struct("<3I")
00439 _struct_2I = struct.Struct("<2I")
00440 _struct_2i = struct.Struct("<2i")


pr2_controllers_msgs
Author(s): Stuart Glaser
autogenerated on Thu Apr 24 2014 15:44:12