kuavo-humanoid-sdk 1.2.1b3321__20250917182547-py3-none-any.whl

kuavo_humanoid_sdk/msg/ocs2_msgs/msg/_mpc_input.py

@@ -0,0 +1,122 @@
+# This Python file uses the following encoding: utf-8
+"""autogenerated by genpy from ocs2_msgs/mpc_input.msg. Do not edit."""
+import codecs
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+
+class mpc_input(genpy.Message):
+  _md5sum = "1becc0cb8362a822e3753aa6cf42cf70"
+  _type = "ocs2_msgs/mpc_input"
+  _has_header = False  # flag to mark the presence of a Header object
+  _full_text = """# MPC internal model input vector 
+
+float32[] value"""
+  __slots__ = ['value']
+  _slot_types = ['float32[]']
+
+  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:
+       value
+
+    :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(mpc_input, self).__init__(*args, **kwds)
+      # message fields cannot be None, assign default values for those that are
+      if self.value is None:
+        self.value = []
+    else:
+      self.value = []
+
+  def _get_types(self):
+    """
+    internal API method
+    """
+    return self._slot_types
+
+  def serialize(self, buff):
+    """
+    serialize message into buffer
+    :param buff: buffer, ``StringIO``
+    """
+    try:
+      length = len(self.value)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%sf'%length
+      buff.write(struct.Struct(pattern).pack(*self.value))
+    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:
+      end = 0
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      pattern = '<%sf'%length
+      start = end
+      s = struct.Struct(pattern)
+      end += s.size
+      self.value = s.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:
+      length = len(self.value)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%sf'%length
+      buff.write(self.value.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
+    """
+    if python3:
+      codecs.lookup_error("rosmsg").msg_type = self._type
+    try:
+      end = 0
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      pattern = '<%sf'%length
+      start = end
+      s = struct.Struct(pattern)
+      end += s.size
+      self.value = numpy.frombuffer(str[start:end], dtype=numpy.float32, 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

kuavo_humanoid_sdk/msg/ocs2_msgs/msg/_mpc_observation.py

@@ -0,0 +1,209 @@
+# This Python file uses the following encoding: utf-8
+"""autogenerated by genpy from ocs2_msgs/mpc_observation.msg. Do not edit."""
+import codecs
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+import ocs2_msgs.msg
+
+class mpc_observation(genpy.Message):
+  _md5sum = "c4075a25799f2a89c6d62b26e93cb66f"
+  _type = "ocs2_msgs/mpc_observation"
+  _has_header = False  # flag to mark the presence of a Header object
+  _full_text = """# MPC observation
+float64        time        # Current time
+mpc_state      state       # Current state
+mpc_input      input       # Current input
+int8           mode        # Current mode
+
+================================================================================
+MSG: ocs2_msgs/mpc_state
+# MPC internal model state vector
+float32[] value
+
+================================================================================
+MSG: ocs2_msgs/mpc_input
+# MPC internal model input vector 
+
+float32[] value"""
+  __slots__ = ['time','state','input','mode']
+  _slot_types = ['float64','ocs2_msgs/mpc_state','ocs2_msgs/mpc_input','int8']
+
+  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:
+       time,state,input,mode
+
+    :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(mpc_observation, self).__init__(*args, **kwds)
+      # message fields cannot be None, assign default values for those that are
+      if self.time is None:
+        self.time = 0.
+      if self.state is None:
+        self.state = ocs2_msgs.msg.mpc_state()
+      if self.input is None:
+        self.input = ocs2_msgs.msg.mpc_input()
+      if self.mode is None:
+        self.mode = 0
+    else:
+      self.time = 0.
+      self.state = ocs2_msgs.msg.mpc_state()
+      self.input = ocs2_msgs.msg.mpc_input()
+      self.mode = 0
+
+  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.time
+      buff.write(_get_struct_d().pack(_x))
+      length = len(self.state.value)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%sf'%length
+      buff.write(struct.Struct(pattern).pack(*self.state.value))
+      length = len(self.input.value)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%sf'%length
+      buff.write(struct.Struct(pattern).pack(*self.input.value))
+      _x = self.mode
+      buff.write(_get_struct_b().pack(_x))
+    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.state is None:
+        self.state = ocs2_msgs.msg.mpc_state()
+      if self.input is None:
+        self.input = ocs2_msgs.msg.mpc_input()
+      end = 0
+      start = end
+      end += 8
+      (self.time,) = _get_struct_d().unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      pattern = '<%sf'%length
+      start = end
+      s = struct.Struct(pattern)
+      end += s.size
+      self.state.value = s.unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      pattern = '<%sf'%length
+      start = end
+      s = struct.Struct(pattern)
+      end += s.size
+      self.input.value = s.unpack(str[start:end])
+      start = end
+      end += 1
+      (self.mode,) = _get_struct_b().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.time
+      buff.write(_get_struct_d().pack(_x))
+      length = len(self.state.value)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%sf'%length
+      buff.write(self.state.value.tostring())
+      length = len(self.input.value)
+      buff.write(_struct_I.pack(length))
+      pattern = '<%sf'%length
+      buff.write(self.input.value.tostring())
+      _x = self.mode
+      buff.write(_get_struct_b().pack(_x))
+    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.state is None:
+        self.state = ocs2_msgs.msg.mpc_state()
+      if self.input is None:
+        self.input = ocs2_msgs.msg.mpc_input()
+      end = 0
+      start = end
+      end += 8
+      (self.time,) = _get_struct_d().unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      pattern = '<%sf'%length
+      start = end
+      s = struct.Struct(pattern)
+      end += s.size
+      self.state.value = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=length)
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      pattern = '<%sf'%length
+      start = end
+      s = struct.Struct(pattern)
+      end += s.size
+      self.input.value = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=length)
+      start = end
+      end += 1
+      (self.mode,) = _get_struct_b().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_b = None
+def _get_struct_b():
+    global _struct_b
+    if _struct_b is None:
+        _struct_b = struct.Struct("<b")
+    return _struct_b
+_struct_d = None
+def _get_struct_d():
+    global _struct_d
+    if _struct_d is None:
+        _struct_d = struct.Struct("<d")
+    return _struct_d

kuavo_humanoid_sdk/msg/ocs2_msgs/msg/_mpc_performance_indices.py

@@ -0,0 +1,140 @@
+# This Python file uses the following encoding: utf-8
+"""autogenerated by genpy from ocs2_msgs/mpc_performance_indices.msg. Do not edit."""
+import codecs
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+
+class mpc_performance_indices(genpy.Message):
+  _md5sum = "d3efdce4c946e170e65e642157f48398"
+  _type = "ocs2_msgs/mpc_performance_indices"
+  _has_header = False  # flag to mark the presence of a Header object
+  _full_text = """# MPC performance indices
+float32     initTime
+float32     merit
+float32     cost
+float32     dynamicsViolationSSE
+float32     equalityConstraintsSSE
+float32     equalityLagrangian
+float32     inequalityLagrangian
+"""
+  __slots__ = ['initTime','merit','cost','dynamicsViolationSSE','equalityConstraintsSSE','equalityLagrangian','inequalityLagrangian']
+  _slot_types = ['float32','float32','float32','float32','float32','float32','float32']
+
+  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:
+       initTime,merit,cost,dynamicsViolationSSE,equalityConstraintsSSE,equalityLagrangian,inequalityLagrangian
+
+    :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(mpc_performance_indices, self).__init__(*args, **kwds)
+      # message fields cannot be None, assign default values for those that are
+      if self.initTime is None:
+        self.initTime = 0.
+      if self.merit is None:
+        self.merit = 0.
+      if self.cost is None:
+        self.cost = 0.
+      if self.dynamicsViolationSSE is None:
+        self.dynamicsViolationSSE = 0.
+      if self.equalityConstraintsSSE is None:
+        self.equalityConstraintsSSE = 0.
+      if self.equalityLagrangian is None:
+        self.equalityLagrangian = 0.
+      if self.inequalityLagrangian is None:
+        self.inequalityLagrangian = 0.
+    else:
+      self.initTime = 0.
+      self.merit = 0.
+      self.cost = 0.
+      self.dynamicsViolationSSE = 0.
+      self.equalityConstraintsSSE = 0.
+      self.equalityLagrangian = 0.
+      self.inequalityLagrangian = 0.
+
+  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_7f().pack(_x.initTime, _x.merit, _x.cost, _x.dynamicsViolationSSE, _x.equalityConstraintsSSE, _x.equalityLagrangian, _x.inequalityLagrangian))
+    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:
+      end = 0
+      _x = self
+      start = end
+      end += 28
+      (_x.initTime, _x.merit, _x.cost, _x.dynamicsViolationSSE, _x.equalityConstraintsSSE, _x.equalityLagrangian, _x.inequalityLagrangian,) = _get_struct_7f().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_7f().pack(_x.initTime, _x.merit, _x.cost, _x.dynamicsViolationSSE, _x.equalityConstraintsSSE, _x.equalityLagrangian, _x.inequalityLagrangian))
+    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:
+      end = 0
+      _x = self
+      start = end
+      end += 28
+      (_x.initTime, _x.merit, _x.cost, _x.dynamicsViolationSSE, _x.equalityConstraintsSSE, _x.equalityLagrangian, _x.inequalityLagrangian,) = _get_struct_7f().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_7f = None
+def _get_struct_7f():
+    global _struct_7f
+    if _struct_7f is None:
+        _struct_7f = struct.Struct("<7f")
+    return _struct_7f