# This Python file uses the following encoding: utf-8
"""autogenerated by genpy from control_msgs/JointTrajectoryControllerState.msg. Do not edit."""
import codecs
import sys
python3 = True if sys.hexversion > 0x03000000 else False
import genpy
import struct
import genpy
import std_msgs.msg
import trajectory_msgs.msg
class JointTrajectoryControllerState(genpy.Message):
_md5sum = "10817c60c2486ef6b33e97dcd87f4474"
_type = "control_msgs/JointTrajectoryControllerState"
_has_header = True # flag to mark the presence of a Header object
_full_text = """Header header
string[] joint_names
trajectory_msgs/JointTrajectoryPoint desired
trajectory_msgs/JointTrajectoryPoint actual
trajectory_msgs/JointTrajectoryPoint error # Redundant, but useful
================================================================================
MSG: std_msgs/Header
# Standard metadata for higher-level stamped data types.
# This is generally used to communicate timestamped data
# in a particular coordinate frame.
#
# sequence ID: consecutively increasing ID
uint32 seq
#Two-integer timestamp that is expressed as:
# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')
# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')
# time-handling sugar is provided by the client library
time stamp
#Frame this data is associated with
string frame_id
================================================================================
MSG: trajectory_msgs/JointTrajectoryPoint
# Each trajectory point specifies either positions[, velocities[, accelerations]]
# or positions[, effort] for the trajectory to be executed.
# All specified values are in the same order as the joint names in JointTrajectory.msg
float64[] positions
float64[] velocities
float64[] accelerations
float64[] effort
duration time_from_start
"""
__slots__ = ['header','joint_names','desired','actual','error']
_slot_types = ['std_msgs/Header','string[]','trajectory_msgs/JointTrajectoryPoint','trajectory_msgs/JointTrajectoryPoint','trajectory_msgs/JointTrajectoryPoint']
def __init__(self, *args, **kwds):
"""
Constructor. Any message fields that are implicitly/explicitly
set to None will be assigned a default value. The recommend
use is keyword arguments as this is more robust to future message
changes. You cannot mix in-order arguments and keyword arguments.
The available fields are:
header,joint_names,desired,actual,error
:param args: complete set of field values, in .msg order
:param kwds: use keyword arguments corresponding to message field names
to set specific fields.
"""
if args or kwds:
super(JointTrajectoryControllerState, self).__init__(*args, **kwds)
# message fields cannot be None, assign default values for those that are
if self.header is None:
self.header = std_msgs.msg.Header()
if self.joint_names is None:
self.joint_names = []
if self.desired is None:
self.desired = trajectory_msgs.msg.JointTrajectoryPoint()
if self.actual is None:
self.actual = trajectory_msgs.msg.JointTrajectoryPoint()
if self.error is None:
self.error = trajectory_msgs.msg.JointTrajectoryPoint()
else:
self.header = std_msgs.msg.Header()
self.joint_names = []
self.desired = trajectory_msgs.msg.JointTrajectoryPoint()
self.actual = trajectory_msgs.msg.JointTrajectoryPoint()
self.error = trajectory_msgs.msg.JointTrajectoryPoint()
def _get_types(self):
"""
internal API method
"""
return self._slot_types
def serialize(self, buff):
"""
serialize message into buffer
:param buff: buffer, ``StringIO``
"""
try:
_x = self
buff.write(_get_struct_3I().pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
_x = self.header.frame_id
length = len(_x)
if python3 or type(_x) == unicode:
_x = _x.encode('utf-8')
length = len(_x)
buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
length = len(self.joint_names)
buff.write(_struct_I.pack(length))
for val1 in self.joint_names:
length = len(val1)
if python3 or type(val1) == unicode:
val1 = val1.encode('utf-8')
length = len(val1)
buff.write(struct.Struct('<I%ss'%length).pack(length, val1))
length = len(self.desired.positions)
buff.write(_struct_I.pack(length))
pattern = '<%sd'%length
buff.write(struct.Struct(pattern).pack(*self.desired.positions))
length = len(self.desired.velocities)
buff.write(_struct_I.pack(length))
pattern = '<%sd'%length
buff.write(struct.Struct(pattern).pack(*self.desired.velocities))
length = len(self.desired.accelerations)
buff.write(_struct_I.pack(length))
pattern = '<%sd'%length
buff.write(struct.Struct(pattern).pack(*self.desired.accelerations))
length = len(self.desired.effort)
buff.write(_struct_I.pack(length))
pattern = '<%sd'%length
buff.write(struct.Struct(pattern).pack(*self.desired.effort))
_x = self
buff.write(_get_struct_2i().pack(_x.desired.time_from_start.secs, _x.desired.time_from_start.nsecs))
length = len(self.actual.positions)
buff.write(_struct_I.pack(length))
pattern = '<%sd'%length
buff.write(struct.Struct(pattern).pack(*self.actual.positions))
length = len(self.actual.velocities)
buff.write(_struct_I.pack(length))
pattern = '<%sd'%length
buff.write(struct.Struct(pattern).pack(*self.actual.velocities))
length = len(self.actual.accelerations)
buff.write(_struct_I.pack(length))
pattern = '<%sd'%length
buff.write(struct.Struct(pattern).pack(*self.actual.accelerations))
length = len(self.actual.effort)
buff.write(_struct_I.pack(length))
pattern = '<%sd'%length
buff.write(struct.Struct(pattern).pack(*self.actual.effort))
_x = self
buff.write(_get_struct_2i().pack(_x.actual.time_from_start.secs, _x.actual.time_from_start.nsecs))
length = len(self.error.positions)
buff.write(_struct_I.pack(length))
pattern = '<%sd'%length
buff.write(struct.Struct(pattern).pack(*self.error.positions))
length = len(self.error.velocities)
buff.write(_struct_I.pack(length))
pattern = '<%sd'%length
buff.write(struct.Struct(pattern).pack(*self.error.velocities))
length = len(self.error.accelerations)
buff.write(_struct_I.pack(length))
pattern = '<%sd'%length
buff.write(struct.Struct(pattern).pack(*self.error.accelerations))
length = len(self.error.effort)
buff.write(_struct_I.pack(length))
pattern = '<%sd'%length
buff.write(struct.Struct(pattern).pack(*self.error.effort))
_x = self
buff.write(_get_struct_2i().pack(_x.error.time_from_start.secs, _x.error.time_from_start.nsecs))
except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(locals().get('_x', self)))))
except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(locals().get('_x', self)))))
def deserialize(self, str):
"""
unpack serialized message in str into this message instance
:param str: byte array of serialized message, ``str``
"""
if python3:
codecs.lookup_error("rosmsg").msg_type = self._type
try:
if self.header is None:
self.header = std_msgs.msg.Header()
if self.desired is None:
self.desired = trajectory_msgs.msg.JointTrajectoryPoint()
if self.actual is None:
self.actual = trajectory_msgs.msg.JointTrajectoryPoint()
if self.error is None:
self.error = trajectory_msgs.msg.JointTrajectoryPoint()
end = 0
_x = self
start = end
end += 12
(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _get_struct_3I().unpack(str[start:end])
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
start = end
end += length
if python3:
self.header.frame_id = str[start:end].decode('utf-8', 'rosmsg')
else:
self.header.frame_id = str[start:end]
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
self.joint_names = []
for i in range(0, length):
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
start = end
end += length
if python3:
val1 = str[start:end].decode('utf-8', 'rosmsg')
else:
val1 = str[start:end]
self.joint_names.append(val1)
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
pattern = '<%sd'%length
start = end
s = struct.Struct(pattern)
end += s.size
self.desired.positions = s.unpack(str[start:end])
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
pattern = '<%sd'%length
start = end
s = struct.Struct(pattern)
end += s.size
self.desired.velocities = s.unpack(str[start:end])
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
pattern = '<%sd'%length
start = end
s = struct.Struct(pattern)
end += s.size
self.desired.accelerations = s.unpack(str[start:end])
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
pattern = '<%sd'%length
start = end
s = struct.Struct(pattern)
end += s.size
self.desired.effort = s.unpack(str[start:end])
_x = self
start = end
end += 8
(_x.desired.time_from_start.secs, _x.desired.time_from_start.nsecs,) = _get_struct_2i().unpack(str[start:end])
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
pattern = '<%sd'%length
start = end
s = struct.Struct(pattern)
end += s.size
self.actual.positions = s.unpack(str[start:end])
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
pattern = '<%sd'%length
start = end
s = struct.Struct(pattern)
end += s.size
self.actual.velocities = s.unpack(str[start:end])
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
pattern = '<%sd'%length
start = end
s = struct.Struct(pattern)
end += s.size
self.actual.accelerations = s.unpack(str[start:end])
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
pattern = '<%sd'%length
start = end
s = struct.Struct(pattern)
end += s.size
self.actual.effort = s.unpack(str[start:end])
_x = self
start = end
end += 8
(_x.actual.time_from_start.secs, _x.actual.time_from_start.nsecs,) = _get_struct_2i().unpack(str[start:end])
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
pattern = '<%sd'%length
start = end
s = struct.Struct(pattern)
end += s.size
self.error.positions = s.unpack(str[start:end])
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
pattern = '<%sd'%length
start = end
s = struct.Struct(pattern)
end += s.size
self.error.velocities = s.unpack(str[start:end])
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
pattern = '<%sd'%length
start = end
s = struct.Struct(pattern)
end += s.size
self.error.accelerations = s.unpack(str[start:end])
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
pattern = '<%sd'%length
start = end
s = struct.Struct(pattern)
end += s.size
self.error.effort = s.unpack(str[start:end])
_x = self
start = end
end += 8
(_x.error.time_from_start.secs, _x.error.time_from_start.nsecs,) = _get_struct_2i().unpack(str[start:end])
return self
except struct.error as e:
raise genpy.DeserializationError(e) # most likely buffer underfill
def serialize_numpy(self, buff, numpy):
"""
serialize message with numpy array types into buffer
:param buff: buffer, ``StringIO``
:param numpy: numpy python module
"""
try:
_x = self
buff.write(_get_struct_3I().pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
_x = self.header.frame_id
length = len(_x)
if python3 or type(_x) == unicode:
_x = _x.encode('utf-8')
length = len(_x)
buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
length = len(self.joint_names)
buff.write(_struct_I.pack(length))
for val1 in self.joint_names:
length = len(val1)
if python3 or type(val1) == unicode:
val1 = val1.encode('utf-8')
length = len(val1)
buff.write(struct.Struct('<I%ss'%length).pack(length, val1))
length = len(self.desired.positions)
buff.write(_struct_I.pack(length))
pattern = '<%sd'%length
buff.write(self.desired.positions.tostring())
length = len(self.desired.velocities)
buff.write(_struct_I.pack(length))
pattern = '<%sd'%length
buff.write(self.desired.velocities.tostring())
length = len(self.desired.accelerations)
buff.write(_struct_I.pack(length))
pattern = '<%sd'%length
buff.write(self.desired.accelerations.tostring())
length = len(self.desired.effort)
buff.write(_struct_I.pack(length))
pattern = '<%sd'%length
buff.write(self.desired.effort.tostring())
_x = self
buff.write(_get_struct_2i().pack(_x.desired.time_from_start.secs, _x.desired.time_from_start.nsecs))
length = len(self.actual.positions)
buff.write(_struct_I.pack(length))
pattern = '<%sd'%length
buff.write(self.actual.positions.tostring())
length = len(self.actual.velocities)
buff.write(_struct_I.pack(length))
pattern = '<%sd'%length
buff.write(self.actual.velocities.tostring())
length = len(self.actual.accelerations)
buff.write(_struct_I.pack(length))
pattern = '<%sd'%length
buff.write(self.actual.accelerations.tostring())
length = len(self.actual.effort)
buff.write(_struct_I.pack(length))
pattern = '<%sd'%length
buff.write(self.actual.effort.tostring())
_x = self
buff.write(_get_struct_2i().pack(_x.actual.time_from_start.secs, _x.actual.time_from_start.nsecs))
length = len(self.error.positions)
buff.write(_struct_I.pack(length))
pattern = '<%sd'%length
buff.write(self.error.positions.tostring())
length = len(self.error.velocities)
buff.write(_struct_I.pack(length))
pattern = '<%sd'%length
buff.write(self.error.velocities.tostring())
length = len(self.error.accelerations)
buff.write(_struct_I.pack(length))
pattern = '<%sd'%length
buff.write(self.error.accelerations.tostring())
length = len(self.error.effort)
buff.write(_struct_I.pack(length))
pattern = '<%sd'%length
buff.write(self.error.effort.tostring())
_x = self
buff.write(_get_struct_2i().pack(_x.error.time_from_start.secs, _x.error.time_from_start.nsecs))
except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(locals().get('_x', self)))))
except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(locals().get('_x', self)))))
def deserialize_numpy(self, str, numpy):
"""
unpack serialized message in str into this message instance using numpy for array types
:param str: byte array of serialized message, ``str``
:param numpy: numpy python module
"""
if python3:
codecs.lookup_error("rosmsg").msg_type = self._type
try:
if self.header is None:
self.header = std_msgs.msg.Header()
if self.desired is None:
self.desired = trajectory_msgs.msg.JointTrajectoryPoint()
if self.actual is None:
self.actual = trajectory_msgs.msg.JointTrajectoryPoint()
if self.error is None:
self.error = trajectory_msgs.msg.JointTrajectoryPoint()
end = 0
_x = self
start = end
end += 12
(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _get_struct_3I().unpack(str[start:end])
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
start = end
end += length
if python3:
self.header.frame_id = str[start:end].decode('utf-8', 'rosmsg')
else:
self.header.frame_id = str[start:end]
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
self.joint_names = []
for i in range(0, length):
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
start = end
end += length
if python3:
val1 = str[start:end].decode('utf-8', 'rosmsg')
else:
val1 = str[start:end]
self.joint_names.append(val1)
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
pattern = '<%sd'%length
start = end
s = struct.Struct(pattern)
end += s.size
self.desired.positions = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
pattern = '<%sd'%length
start = end
s = struct.Struct(pattern)
end += s.size
self.desired.velocities = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
pattern = '<%sd'%length
start = end
s = struct.Struct(pattern)
end += s.size
self.desired.accelerations = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
pattern = '<%sd'%length
start = end
s = struct.Struct(pattern)
end += s.size
self.desired.effort = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
_x = self
start = end
end += 8
(_x.desired.time_from_start.secs, _x.desired.time_from_start.nsecs,) = _get_struct_2i().unpack(str[start:end])
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
pattern = '<%sd'%length
start = end
s = struct.Struct(pattern)
end += s.size
self.actual.positions = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
pattern = '<%sd'%length
start = end
s = struct.Struct(pattern)
end += s.size
self.actual.velocities = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
pattern = '<%sd'%length
start = end
s = struct.Struct(pattern)
end += s.size
self.actual.accelerations = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
pattern = '<%sd'%length
start = end
s = struct.Struct(pattern)
end += s.size
self.actual.effort = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
_x = self
start = end
end += 8
(_x.actual.time_from_start.secs, _x.actual.time_from_start.nsecs,) = _get_struct_2i().unpack(str[start:end])
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
pattern = '<%sd'%length
start = end
s = struct.Struct(pattern)
end += s.size
self.error.positions = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
pattern = '<%sd'%length
start = end
s = struct.Struct(pattern)
end += s.size
self.error.velocities = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
pattern = '<%sd'%length
start = end
s = struct.Struct(pattern)
end += s.size
self.error.accelerations = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
pattern = '<%sd'%length
start = end
s = struct.Struct(pattern)
end += s.size
self.error.effort = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
_x = self
start = end
end += 8
(_x.error.time_from_start.secs, _x.error.time_from_start.nsecs,) = _get_struct_2i().unpack(str[start:end])
return self
except struct.error as e:
raise genpy.DeserializationError(e) # most likely buffer underfill
_struct_I = genpy.struct_I
def _get_struct_I():
global _struct_I
return _struct_I
_struct_2i = None
def _get_struct_2i():
global _struct_2i
if _struct_2i is None:
_struct_2i = struct.Struct("<2i")
return _struct_2i
_struct_3I = None
def _get_struct_3I():
global _struct_3I
if _struct_3I is None:
_struct_3I = struct.Struct("<3I")
return _struct_3I
