Go to the documentation of this file.00001 """autogenerated by genpy from pr2_gripper_sensor_msgs/PR2GripperEventDetectorGoal.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 pr2_gripper_sensor_msgs.msg
00008
00009 class PR2GripperEventDetectorGoal(genpy.Message):
00010 _md5sum = "88b98e578eece7bef53cd48d37d3253b"
00011 _type = "pr2_gripper_sensor_msgs/PR2GripperEventDetectorGoal"
00012 _has_header = False
00013 _full_text = """# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00014 # Event Detector action used to tell detect events happening on the
00015 # palm mounted accelerometer and finger pressure sensors
00016
00017 #goal
00018 PR2GripperEventDetectorCommand command
00019
00020 ================================================================================
00021 MSG: pr2_gripper_sensor_msgs/PR2GripperEventDetectorCommand
00022 # state variable that defines what events we would like to trigger on
00023 # Leaving this field blank will result in the robot triggering when
00024 # anything touches the sides of the finger or an impact is detected
00025 # with the hand/arm.
00026 int8 trigger_conditions
00027 # definitions for our various trigger_conditions values
00028 # trigger on either acceleration contact or finger sensor side impact
00029 int8 FINGER_SIDE_IMPACT_OR_ACC = 0
00030 # tigger once both slip and acceleration signals occur
00031 int8 SLIP_AND_ACC = 1
00032 # trigger on either slip, acceleration, or finger sensor side impact
00033 int8 FINGER_SIDE_IMPACT_OR_SLIP_OR_ACC = 2
00034 # trigger only on slip information
00035 int8 SLIP = 3
00036 # trigger only on acceleration contact information
00037 int8 ACC = 4
00038
00039
00040 # the amount of acceleration to trigger on (acceleration vector magnitude)
00041 # Units = m/s^2
00042 # The user needs to be concerned here about not setting the trigger too
00043 # low so that is set off by the robot's own motions.
00044 #
00045 # For large rapid motions, say by a motion planner, 5 m/s^2 is a good level
00046 # For small delicate controlled motions this can be set MUCH lower (try 2.0)
00047 #
00048 # NOTE: When moving the gripper joint (opening/closing the grippr)
00049 # the high gearing of the PR2 gripper causes large acceleration vibrations
00050 # which will cause triggering to occur. This is a known drawback of the PR2.
00051 #
00052 # NOTE: Leaving this value blank will result in a 0 m/s^2 trigger. If you
00053 # are using a trigger_conditions value that returns on acceleration contact
00054 # events then it will immediately exceed your trigger and return
00055 float64 acceleration_trigger_magnitude
00056
00057
00058 # the slip detector gain to trigger on (either finger) : try 0.01
00059 # higher values decrease slip sensitivty (to a point)
00060 # lower values increase sensitivity (to a point)
00061 #
00062 # NOTE: Leaving this value blank will result in the most sensitive slip level.
00063 float64 slip_trigger_magnitude
00064 """
00065 __slots__ = ['command']
00066 _slot_types = ['pr2_gripper_sensor_msgs/PR2GripperEventDetectorCommand']
00067
00068 def __init__(self, *args, **kwds):
00069 """
00070 Constructor. Any message fields that are implicitly/explicitly
00071 set to None will be assigned a default value. The recommend
00072 use is keyword arguments as this is more robust to future message
00073 changes. You cannot mix in-order arguments and keyword arguments.
00074
00075 The available fields are:
00076 command
00077
00078 :param args: complete set of field values, in .msg order
00079 :param kwds: use keyword arguments corresponding to message field names
00080 to set specific fields.
00081 """
00082 if args or kwds:
00083 super(PR2GripperEventDetectorGoal, self).__init__(*args, **kwds)
00084
00085 if self.command is None:
00086 self.command = pr2_gripper_sensor_msgs.msg.PR2GripperEventDetectorCommand()
00087 else:
00088 self.command = pr2_gripper_sensor_msgs.msg.PR2GripperEventDetectorCommand()
00089
00090 def _get_types(self):
00091 """
00092 internal API method
00093 """
00094 return self._slot_types
00095
00096 def serialize(self, buff):
00097 """
00098 serialize message into buffer
00099 :param buff: buffer, ``StringIO``
00100 """
00101 try:
00102 _x = self
00103 buff.write(_struct_b2d.pack(_x.command.trigger_conditions, _x.command.acceleration_trigger_magnitude, _x.command.slip_trigger_magnitude))
00104 except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
00105 except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))
00106
00107 def deserialize(self, str):
00108 """
00109 unpack serialized message in str into this message instance
00110 :param str: byte array of serialized message, ``str``
00111 """
00112 try:
00113 if self.command is None:
00114 self.command = pr2_gripper_sensor_msgs.msg.PR2GripperEventDetectorCommand()
00115 end = 0
00116 _x = self
00117 start = end
00118 end += 17
00119 (_x.command.trigger_conditions, _x.command.acceleration_trigger_magnitude, _x.command.slip_trigger_magnitude,) = _struct_b2d.unpack(str[start:end])
00120 return self
00121 except struct.error as e:
00122 raise genpy.DeserializationError(e)
00123
00124
00125 def serialize_numpy(self, buff, numpy):
00126 """
00127 serialize message with numpy array types into buffer
00128 :param buff: buffer, ``StringIO``
00129 :param numpy: numpy python module
00130 """
00131 try:
00132 _x = self
00133 buff.write(_struct_b2d.pack(_x.command.trigger_conditions, _x.command.acceleration_trigger_magnitude, _x.command.slip_trigger_magnitude))
00134 except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
00135 except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))
00136
00137 def deserialize_numpy(self, str, numpy):
00138 """
00139 unpack serialized message in str into this message instance using numpy for array types
00140 :param str: byte array of serialized message, ``str``
00141 :param numpy: numpy python module
00142 """
00143 try:
00144 if self.command is None:
00145 self.command = pr2_gripper_sensor_msgs.msg.PR2GripperEventDetectorCommand()
00146 end = 0
00147 _x = self
00148 start = end
00149 end += 17
00150 (_x.command.trigger_conditions, _x.command.acceleration_trigger_magnitude, _x.command.slip_trigger_magnitude,) = _struct_b2d.unpack(str[start:end])
00151 return self
00152 except struct.error as e:
00153 raise genpy.DeserializationError(e)
00154
00155 _struct_I = genpy.struct_I
00156 _struct_b2d = struct.Struct("<b2d")