robot-dog-mgu-mors/whole_body_state_msgs/contact_state_rule.bmr

class update_whole_body_state_msgs_ContactState_f6d14dc81033ba2c960f899fcaf261ff(MessageUpdateRule):
	old_type = "whole_body_state_msgs/ContactState"
	old_full_text = """
# This message describes the state of contact or end-effector body.
#
# The contact state is expressed in the world frame. A contact state is
# defined by:
#  * type of contact
#  * the frame name
#  * the pose of the contact,
#  * the velocity of the contact,
#  * the wrench of the contact
#  * the normal vector that defines the surface
#  * the friction coefficient of the surface
#  * its classified state, if available

# Type of contact identifiers
uint8 locomotion=0
uint8 manipulation=1

# Name of the contact body
string name
uint8 type

# Type of contact states
int8 UNKNOWN  = 0  # 0 because it's the default for int8
int8 INACTIVE = 1
int8 ACTIVE   = 2
int8 SLIPPING = 3

# Contact state (e.g. from a contact state estimator)
int8 contact_state

# State of the contact body
geometry_msgs/Pose pose
geometry_msgs/Twist velocity
geometry_msgs/Wrench wrench
geometry_msgs/Vector3 surface_normal
float64 friction_coefficient

================================================================================
MSG: geometry_msgs/Pose
# A representation of pose in free space, composed of position and orientation.
Point position
Quaternion orientation

================================================================================
MSG: geometry_msgs/Point
# This contains the position of a point in free space
float64 x
float64 y
float64 z

================================================================================
MSG: geometry_msgs/Quaternion
# This represents an orientation in free space in quaternion form.

float64 x
float64 y
float64 z
float64 w

================================================================================
MSG: geometry_msgs/Twist
# This expresses velocity in free space broken into its linear and angular parts.
Vector3  linear
Vector3  angular

================================================================================
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
================================================================================
MSG: geometry_msgs/Wrench
# This represents force in free space, separated into
# its linear and angular parts.
Vector3  force
Vector3  torque
"""

	new_type = "whole_body_state_msgs/ContactState"
	new_full_text = """
# This message describes the state of contact or end-effector body.
#
# The contact state is expressed in the world frame. A contact state is
# defined by:
#  * type of contact
#  * status of the contact
#  * the frame name
#  * the pose of the contact,
#  * the velocity of the contact,
#  * the wrench of the contact
#  * the normal vector that defines the surface
#  * the friction coefficient of the surface
#  * its classified state, if available

# Type of contact identifiers
uint8 LOCOMOTION   = 0
uint8 MANIPULATION = 1

# Type of contact states
uint8 UNKNOWN  = 0  # 0 because it's the default for int8
uint8 INACTIVE = 1
uint8 ACTIVE   = 2
uint8 SLIPPING = 3

# Name of the contact body
string name

# Type of contact
uint8 type

# Contact status (e.g. from a contact state estimator)
uint8 status

# State of the contact body
geometry_msgs/Pose pose
geometry_msgs/Twist velocity
geometry_msgs/Wrench wrench
geometry_msgs/Vector3 surface_normal
float64 friction_coefficient

================================================================================
MSG: geometry_msgs/Pose
# A representation of pose in free space, composed of position and orientation.
Point position
Quaternion orientation

================================================================================
MSG: geometry_msgs/Point
# This contains the position of a point in free space
float64 x
float64 y
float64 z

================================================================================
MSG: geometry_msgs/Quaternion
# This represents an orientation in free space in quaternion form.

float64 x
float64 y
float64 z
float64 w

================================================================================
MSG: geometry_msgs/Twist
# This expresses velocity in free space broken into its linear and angular parts.
Vector3  linear
Vector3  angular

================================================================================
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
================================================================================
MSG: geometry_msgs/Wrench
# This represents force in free space, separated into
# its linear and angular parts.
Vector3  force
Vector3  torque
"""

	order = 0
	migrated_types = [
		("geometry_msgs/Pose","geometry_msgs/Pose"),
		("geometry_msgs/Twist","geometry_msgs/Twist"),
		("geometry_msgs/Wrench","geometry_msgs/Wrench"),
		("geometry_msgs/Vector3","geometry_msgs/Vector3"),]

	valid = True

	def update(self, old_msg, new_msg):
		#Constant 'locomotion' has changed
		#Constant 'ACTIVE' has changed
		#Constant 'SLIPPING' has changed
		#Constant 'UNKNOWN' has changed
		#Constant 'manipulation' has changed
		#Constant 'INACTIVE' has changed
		new_msg.name = old_msg.name
		new_msg.type = old_msg.type
		new_msg.status = old_msg.contact_state
		self.migrate(old_msg.pose, new_msg.pose)
		self.migrate(old_msg.velocity, new_msg.velocity)
		self.migrate(old_msg.wrench, new_msg.wrench)
		self.migrate(old_msg.surface_normal, new_msg.surface_normal)
		new_msg.friction_coefficient = old_msg.friction_coefficient
		#No field to match field contact_state from old message