Primo commit Completo

devel/lib/python2.7/dist-packages/jog_msgs/msg/_JogFrame.py

@@ -0,0 +1,304 @@
+# This Python file uses the following encoding: utf-8
+"""autogenerated by genpy from jog_msgs/JogFrame.msg. Do not edit."""
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+import geometry_msgs.msg
+import std_msgs.msg
+
+class JogFrame(genpy.Message):
+  _md5sum = "e342f29bf6beaf00261bdae365abfff9"
+  _type = "jog_msgs/JogFrame"
+  _has_header = True #flag to mark the presence of a Header object
+  _full_text = """# This is a message to hold data to jog by specifying a target
+# frame. It uses MoveIt! kinematics, so you need to specify the
+# JointGroup name to use in group_name. (lienar|angular)_delta is the
+# amount of displacement.
+
+# header message. You must set frame_id to define the reference
+# coordinate system of the displacament
+Header header
+
+# Name of JointGroup of MoveIt!
+string group_name
+
+# Target link name to jog. The link must be in the JoingGroup
+string link_name
+
+# Linear displacement vector to jog. The refrence frame is defined by
+# frame_id in header. Unit is in meter.
+geometry_msgs/Vector3 linear_delta
+
+# Angular displacement vector to jog. The refrence frame is defined by
+# frame_id in header. Unit is in radian.
+geometry_msgs/Vector3 angular_delta
+
+# It uses avoid_collisions option of MoveIt! kinematics. If it is
+# true, the robot doesn't move if any collisions occured.
+bool avoid_collisions
+
+================================================================================
+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
+# 0: no frame
+# 1: global frame
+string frame_id
+
+================================================================================
+MSG: geometry_msgs/Vector3
+# This represents a vector in free space. 
+# It is only meant to represent a direction. Therefore, it does not
+# make sense to apply a translation to it (e.g., when applying a 
+# generic rigid transformation to a Vector3, tf2 will only apply the
+# rotation). If you want your data to be translatable too, use the
+# geometry_msgs/Point message instead.
+
+float64 x
+float64 y
+float64 z"""
+  __slots__ = ['header','group_name','link_name','linear_delta','angular_delta','avoid_collisions']
+  _slot_types = ['std_msgs/Header','string','string','geometry_msgs/Vector3','geometry_msgs/Vector3','bool']
+
+  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,group_name,link_name,linear_delta,angular_delta,avoid_collisions
+
+    :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(JogFrame, 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.group_name is None:
+        self.group_name = ''
+      if self.link_name is None:
+        self.link_name = ''
+      if self.linear_delta is None:
+        self.linear_delta = geometry_msgs.msg.Vector3()
+      if self.angular_delta is None:
+        self.angular_delta = geometry_msgs.msg.Vector3()
+      if self.avoid_collisions is None:
+        self.avoid_collisions = False
+    else:
+      self.header = std_msgs.msg.Header()
+      self.group_name = ''
+      self.link_name = ''
+      self.linear_delta = geometry_msgs.msg.Vector3()
+      self.angular_delta = geometry_msgs.msg.Vector3()
+      self.avoid_collisions = False
+
+  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.pack('<I%ss'%length, length, _x))
+      _x = self.group_name
+      length = len(_x)
+      if python3 or type(_x) == unicode:
+        _x = _x.encode('utf-8')
+        length = len(_x)
+      buff.write(struct.pack('<I%ss'%length, length, _x))
+      _x = self.link_name
+      length = len(_x)
+      if python3 or type(_x) == unicode:
+        _x = _x.encode('utf-8')
+        length = len(_x)
+      buff.write(struct.pack('<I%ss'%length, length, _x))
+      _x = self
+      buff.write(_get_struct_6dB().pack(_x.linear_delta.x, _x.linear_delta.y, _x.linear_delta.z, _x.angular_delta.x, _x.angular_delta.y, _x.angular_delta.z, _x.avoid_collisions))
+    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``
+    """
+    try:
+      if self.header is None:
+        self.header = std_msgs.msg.Header()
+      if self.linear_delta is None:
+        self.linear_delta = geometry_msgs.msg.Vector3()
+      if self.angular_delta is None:
+        self.angular_delta = geometry_msgs.msg.Vector3()
+      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')
+      else:
+        self.header.frame_id = str[start:end]
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.group_name = str[start:end].decode('utf-8')
+      else:
+        self.group_name = str[start:end]
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.link_name = str[start:end].decode('utf-8')
+      else:
+        self.link_name = str[start:end]
+      _x = self
+      start = end
+      end += 49
+      (_x.linear_delta.x, _x.linear_delta.y, _x.linear_delta.z, _x.angular_delta.x, _x.angular_delta.y, _x.angular_delta.z, _x.avoid_collisions,) = _get_struct_6dB().unpack(str[start:end])
+      self.avoid_collisions = bool(self.avoid_collisions)
+      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.pack('<I%ss'%length, length, _x))
+      _x = self.group_name
+      length = len(_x)
+      if python3 or type(_x) == unicode:
+        _x = _x.encode('utf-8')
+        length = len(_x)
+      buff.write(struct.pack('<I%ss'%length, length, _x))
+      _x = self.link_name
+      length = len(_x)
+      if python3 or type(_x) == unicode:
+        _x = _x.encode('utf-8')
+        length = len(_x)
+      buff.write(struct.pack('<I%ss'%length, length, _x))
+      _x = self
+      buff.write(_get_struct_6dB().pack(_x.linear_delta.x, _x.linear_delta.y, _x.linear_delta.z, _x.angular_delta.x, _x.angular_delta.y, _x.angular_delta.z, _x.avoid_collisions))
+    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
+    """
+    try:
+      if self.header is None:
+        self.header = std_msgs.msg.Header()
+      if self.linear_delta is None:
+        self.linear_delta = geometry_msgs.msg.Vector3()
+      if self.angular_delta is None:
+        self.angular_delta = geometry_msgs.msg.Vector3()
+      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')
+      else:
+        self.header.frame_id = str[start:end]
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.group_name = str[start:end].decode('utf-8')
+      else:
+        self.group_name = str[start:end]
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.link_name = str[start:end].decode('utf-8')
+      else:
+        self.link_name = str[start:end]
+      _x = self
+      start = end
+      end += 49
+      (_x.linear_delta.x, _x.linear_delta.y, _x.linear_delta.z, _x.angular_delta.x, _x.angular_delta.y, _x.angular_delta.z, _x.avoid_collisions,) = _get_struct_6dB().unpack(str[start:end])
+      self.avoid_collisions = bool(self.avoid_collisions)
+      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_3I = None
+def _get_struct_3I():
+    global _struct_3I
+    if _struct_3I is None:
+        _struct_3I = struct.Struct("<3I")
+    return _struct_3I
+_struct_6dB = None
+def _get_struct_6dB():
+    global _struct_6dB
+    if _struct_6dB is None:
+        _struct_6dB = struct.Struct("<6dB")
+    return _struct_6dB

devel/lib/python2.7/dist-packages/jog_msgs/msg/_JogJoint.py

@@ -0,0 +1,252 @@
+# This Python file uses the following encoding: utf-8
+"""autogenerated by genpy from jog_msgs/JogJoint.msg. Do not edit."""
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+import std_msgs.msg
+
+class JogJoint(genpy.Message):
+  _md5sum = "8d2aa14be64b51cf6374d198bfd489b2"
+  _type = "jog_msgs/JogJoint"
+  _has_header = True #flag to mark the presence of a Header object
+  _full_text = """# This is a message to hold data to jog by specifying joint
+# displacement. You only need to set relative displacement to joint
+# angles (or displacements for linear joints).
+
+# header message. You must set frame_id to define the reference
+# coordinate system of the displacament
+Header header
+
+# Name list of the joints. You don't need to specify all joint of the
+# robot. Joint names are case-sensitive.
+string[] joint_names
+
+# Relative displacement of the joints to jog. The order must be
+# identical to joint_names. Unit is in radian for revolutive joints,
+# meter for linear joints.
+float64[] deltas
+
+================================================================================
+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
+# 0: no frame
+# 1: global frame
+string frame_id
+"""
+  __slots__ = ['header','joint_names','deltas']
+  _slot_types = ['std_msgs/Header','string[]','float64[]']
+
+  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,deltas
+
+    :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(JogJoint, 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.deltas is None:
+        self.deltas = []
+    else:
+      self.header = std_msgs.msg.Header()
+      self.joint_names = []
+      self.deltas = []
+
+  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.pack('<I%ss'%length, 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.pack('<I%ss'%length, length, val1))
+      length = len(self.deltas)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%sd'%length
+      buff.write(struct.pack(pattern, *self.deltas))
+    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``
+    """
+    try:
+      if self.header is None:
+        self.header = std_msgs.msg.Header()
+      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')
+      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')
+        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
+      end += struct.calcsize(pattern)
+      self.deltas = struct.unpack(pattern, 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.pack('<I%ss'%length, 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.pack('<I%ss'%length, length, val1))
+      length = len(self.deltas)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%sd'%length
+      buff.write(self.deltas.tostring())
+    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
+    """
+    try:
+      if self.header is None:
+        self.header = std_msgs.msg.Header()
+      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')
+      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')
+        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
+      end += struct.calcsize(pattern)
+      self.deltas = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
+      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_3I = None
+def _get_struct_3I():
+    global _struct_3I
+    if _struct_3I is None:
+        _struct_3I = struct.Struct("<3I")
+    return _struct_3I

devel/lib/python2.7/dist-packages/jog_msgs/msg/__init__.py

@@ -0,0 +1,2 @@
+from ._JogFrame import *
+from ._JogJoint import *