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00001 /* Auto-generated by genmsg_cpp for file /home/rosbuild/hudson/workspace/doc-electric-arm_navigation/doc_stacks/2013-03-01_14-05-03.553953/arm_navigation/arm_navigation_msgs/srv/FilterJointTrajectoryWithConstraints.srv */ 00002 #ifndef ARM_NAVIGATION_MSGS_SERVICE_FILTERJOINTTRAJECTORYWITHCONSTRAINTS_H 00003 #define ARM_NAVIGATION_MSGS_SERVICE_FILTERJOINTTRAJECTORYWITHCONSTRAINTS_H 00004 #include <string> 00005 #include <vector> 00006 #include <map> 00007 #include <ostream> 00008 #include "ros/serialization.h" 00009 #include "ros/builtin_message_traits.h" 00010 #include "ros/message_operations.h" 00011 #include "ros/time.h" 00012 00013 #include "ros/macros.h" 00014 00015 #include "ros/assert.h" 00016 00017 #include "ros/service_traits.h" 00018 00019 #include "trajectory_msgs/JointTrajectory.h" 00020 #include "arm_navigation_msgs/JointLimits.h" 00021 #include "arm_navigation_msgs/RobotState.h" 00022 #include "arm_navigation_msgs/Constraints.h" 00023 #include "arm_navigation_msgs/Constraints.h" 00024 00025 00026 #include "trajectory_msgs/JointTrajectory.h" 00027 #include "arm_navigation_msgs/ArmNavigationErrorCodes.h" 00028 00029 namespace arm_navigation_msgs 00030 { 00031 template <class ContainerAllocator> 00032 struct FilterJointTrajectoryWithConstraintsRequest_ { 00033 typedef FilterJointTrajectoryWithConstraintsRequest_<ContainerAllocator> Type; 00034 00035 FilterJointTrajectoryWithConstraintsRequest_() 00036 : trajectory() 00037 , group_name() 00038 , limits() 00039 , start_state() 00040 , path_constraints() 00041 , goal_constraints() 00042 , allowed_time() 00043 { 00044 } 00045 00046 FilterJointTrajectoryWithConstraintsRequest_(const ContainerAllocator& _alloc) 00047 : trajectory(_alloc) 00048 , group_name(_alloc) 00049 , limits(_alloc) 00050 , start_state(_alloc) 00051 , path_constraints(_alloc) 00052 , goal_constraints(_alloc) 00053 , allowed_time() 00054 { 00055 } 00056 00057 typedef ::trajectory_msgs::JointTrajectory_<ContainerAllocator> _trajectory_type; 00058 ::trajectory_msgs::JointTrajectory_<ContainerAllocator> trajectory; 00059 00060 typedef std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > _group_name_type; 00061 std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > group_name; 00062 00063 typedef std::vector< ::arm_navigation_msgs::JointLimits_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::arm_navigation_msgs::JointLimits_<ContainerAllocator> >::other > _limits_type; 00064 std::vector< ::arm_navigation_msgs::JointLimits_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::arm_navigation_msgs::JointLimits_<ContainerAllocator> >::other > limits; 00065 00066 typedef ::arm_navigation_msgs::RobotState_<ContainerAllocator> _start_state_type; 00067 ::arm_navigation_msgs::RobotState_<ContainerAllocator> start_state; 00068 00069 typedef ::arm_navigation_msgs::Constraints_<ContainerAllocator> _path_constraints_type; 00070 ::arm_navigation_msgs::Constraints_<ContainerAllocator> path_constraints; 00071 00072 typedef ::arm_navigation_msgs::Constraints_<ContainerAllocator> _goal_constraints_type; 00073 ::arm_navigation_msgs::Constraints_<ContainerAllocator> goal_constraints; 00074 00075 typedef ros::Duration _allowed_time_type; 00076 ros::Duration allowed_time; 00077 00078 00079 ROS_DEPRECATED uint32_t get_limits_size() const { return (uint32_t)limits.size(); } 00080 ROS_DEPRECATED void set_limits_size(uint32_t size) { limits.resize((size_t)size); } 00081 ROS_DEPRECATED void get_limits_vec(std::vector< ::arm_navigation_msgs::JointLimits_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::arm_navigation_msgs::JointLimits_<ContainerAllocator> >::other > & vec) const { vec = this->limits; } 00082 ROS_DEPRECATED void set_limits_vec(const std::vector< ::arm_navigation_msgs::JointLimits_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::arm_navigation_msgs::JointLimits_<ContainerAllocator> >::other > & vec) { this->limits = vec; } 00083 private: 00084 static const char* __s_getDataType_() { return "arm_navigation_msgs/FilterJointTrajectoryWithConstraintsRequest"; } 00085 public: 00086 ROS_DEPRECATED static const std::string __s_getDataType() { return __s_getDataType_(); } 00087 00088 ROS_DEPRECATED const std::string __getDataType() const { return __s_getDataType_(); } 00089 00090 private: 00091 static const char* __s_getMD5Sum_() { return "a710f518dceebd50ec8ca1f44b6d32de"; } 00092 public: 00093 ROS_DEPRECATED static const std::string __s_getMD5Sum() { return __s_getMD5Sum_(); } 00094 00095 ROS_DEPRECATED const std::string __getMD5Sum() const { return __s_getMD5Sum_(); } 00096 00097 private: 00098 static const char* __s_getServerMD5Sum_() { return "8da2437f9cfc1409ce927ce38e556772"; } 00099 public: 00100 ROS_DEPRECATED static const std::string __s_getServerMD5Sum() { return __s_getServerMD5Sum_(); } 00101 00102 ROS_DEPRECATED const std::string __getServerMD5Sum() const { return __s_getServerMD5Sum_(); } 00103 00104 private: 00105 static const char* __s_getMessageDefinition_() { return "\n\ 00106 trajectory_msgs/JointTrajectory trajectory\n\ 00107 \n\ 00108 \n\ 00109 string group_name\n\ 00110 \n\ 00111 \n\ 00112 \n\ 00113 arm_navigation_msgs/JointLimits[] limits\n\ 00114 \n\ 00115 \n\ 00116 \n\ 00117 \n\ 00118 arm_navigation_msgs/RobotState start_state\n\ 00119 \n\ 00120 \n\ 00121 Constraints path_constraints\n\ 00122 \n\ 00123 \n\ 00124 Constraints goal_constraints\n\ 00125 \n\ 00126 duration allowed_time\n\ 00127 \n\ 00128 ================================================================================\n\ 00129 MSG: trajectory_msgs/JointTrajectory\n\ 00130 Header header\n\ 00131 string[] joint_names\n\ 00132 JointTrajectoryPoint[] points\n\ 00133 ================================================================================\n\ 00134 MSG: std_msgs/Header\n\ 00135 # Standard metadata for higher-level stamped data types.\n\ 00136 # This is generally used to communicate timestamped data \n\ 00137 # in a particular coordinate frame.\n\ 00138 # \n\ 00139 # sequence ID: consecutively increasing ID \n\ 00140 uint32 seq\n\ 00141 #Two-integer timestamp that is expressed as:\n\ 00142 # * stamp.secs: seconds (stamp_secs) since epoch\n\ 00143 # * stamp.nsecs: nanoseconds since stamp_secs\n\ 00144 # time-handling sugar is provided by the client library\n\ 00145 time stamp\n\ 00146 #Frame this data is associated with\n\ 00147 # 0: no frame\n\ 00148 # 1: global frame\n\ 00149 string frame_id\n\ 00150 \n\ 00151 ================================================================================\n\ 00152 MSG: trajectory_msgs/JointTrajectoryPoint\n\ 00153 float64[] positions\n\ 00154 float64[] velocities\n\ 00155 float64[] accelerations\n\ 00156 duration time_from_start\n\ 00157 ================================================================================\n\ 00158 MSG: arm_navigation_msgs/JointLimits\n\ 00159 # This message contains information about limits of a particular joint (or control dimension)\n\ 00160 string joint_name\n\ 00161 \n\ 00162 # true if the joint has position limits\n\ 00163 bool has_position_limits\n\ 00164 \n\ 00165 # min and max position limits\n\ 00166 float64 min_position\n\ 00167 float64 max_position\n\ 00168 \n\ 00169 # true if joint has velocity limits\n\ 00170 bool has_velocity_limits\n\ 00171 \n\ 00172 # max velocity limit\n\ 00173 float64 max_velocity\n\ 00174 # min_velocity is assumed to be -max_velocity\n\ 00175 \n\ 00176 # true if joint has acceleration limits\n\ 00177 bool has_acceleration_limits\n\ 00178 # max acceleration limit\n\ 00179 float64 max_acceleration\n\ 00180 # min_acceleration is assumed to be -max_acceleration\n\ 00181 \n\ 00182 ================================================================================\n\ 00183 MSG: arm_navigation_msgs/RobotState\n\ 00184 # This message contains information about the robot state, i.e. the positions of its joints and links\n\ 00185 sensor_msgs/JointState joint_state\n\ 00186 arm_navigation_msgs/MultiDOFJointState multi_dof_joint_state\n\ 00187 \n\ 00188 ================================================================================\n\ 00189 MSG: sensor_msgs/JointState\n\ 00190 # This is a message that holds data to describe the state of a set of torque controlled joints. \n\ 00191 #\n\ 00192 # The state of each joint (revolute or prismatic) is defined by:\n\ 00193 # * the position of the joint (rad or m),\n\ 00194 # * the velocity of the joint (rad/s or m/s) and \n\ 00195 # * the effort that is applied in the joint (Nm or N).\n\ 00196 #\n\ 00197 # Each joint is uniquely identified by its name\n\ 00198 # The header specifies the time at which the joint states were recorded. All the joint states\n\ 00199 # in one message have to be recorded at the same time.\n\ 00200 #\n\ 00201 # This message consists of a multiple arrays, one for each part of the joint state. \n\ 00202 # The goal is to make each of the fields optional. When e.g. your joints have no\n\ 00203 # effort associated with them, you can leave the effort array empty. \n\ 00204 #\n\ 00205 # All arrays in this message should have the same size, or be empty.\n\ 00206 # This is the only way to uniquely associate the joint name with the correct\n\ 00207 # states.\n\ 00208 \n\ 00209 \n\ 00210 Header header\n\ 00211 \n\ 00212 string[] name\n\ 00213 float64[] position\n\ 00214 float64[] velocity\n\ 00215 float64[] effort\n\ 00216 \n\ 00217 ================================================================================\n\ 00218 MSG: arm_navigation_msgs/MultiDOFJointState\n\ 00219 #A representation of a multi-dof joint state\n\ 00220 time stamp\n\ 00221 string[] joint_names\n\ 00222 string[] frame_ids\n\ 00223 string[] child_frame_ids\n\ 00224 geometry_msgs/Pose[] poses\n\ 00225 \n\ 00226 ================================================================================\n\ 00227 MSG: geometry_msgs/Pose\n\ 00228 # A representation of pose in free space, composed of postion and orientation. \n\ 00229 Point position\n\ 00230 Quaternion orientation\n\ 00231 \n\ 00232 ================================================================================\n\ 00233 MSG: geometry_msgs/Point\n\ 00234 # This contains the position of a point in free space\n\ 00235 float64 x\n\ 00236 float64 y\n\ 00237 float64 z\n\ 00238 \n\ 00239 ================================================================================\n\ 00240 MSG: geometry_msgs/Quaternion\n\ 00241 # This represents an orientation in free space in quaternion form.\n\ 00242 \n\ 00243 float64 x\n\ 00244 float64 y\n\ 00245 float64 z\n\ 00246 float64 w\n\ 00247 \n\ 00248 ================================================================================\n\ 00249 MSG: arm_navigation_msgs/Constraints\n\ 00250 # This message contains a list of motion planning constraints.\n\ 00251 \n\ 00252 arm_navigation_msgs/JointConstraint[] joint_constraints\n\ 00253 arm_navigation_msgs/PositionConstraint[] position_constraints\n\ 00254 arm_navigation_msgs/OrientationConstraint[] orientation_constraints\n\ 00255 arm_navigation_msgs/VisibilityConstraint[] visibility_constraints\n\ 00256 \n\ 00257 ================================================================================\n\ 00258 MSG: arm_navigation_msgs/JointConstraint\n\ 00259 # Constrain the position of a joint to be within a certain bound\n\ 00260 string joint_name\n\ 00261 \n\ 00262 # the bound to be achieved is [position - tolerance_below, position + tolerance_above]\n\ 00263 float64 position\n\ 00264 float64 tolerance_above\n\ 00265 float64 tolerance_below\n\ 00266 \n\ 00267 # A weighting factor for this constraint\n\ 00268 float64 weight\n\ 00269 ================================================================================\n\ 00270 MSG: arm_navigation_msgs/PositionConstraint\n\ 00271 # This message contains the definition of a position constraint.\n\ 00272 Header header\n\ 00273 \n\ 00274 # The robot link this constraint refers to\n\ 00275 string link_name\n\ 00276 \n\ 00277 # The offset (in the link frame) for the target point on the link we are planning for\n\ 00278 geometry_msgs/Point target_point_offset\n\ 00279 \n\ 00280 # The nominal/target position for the point we are planning for\n\ 00281 geometry_msgs/Point position\n\ 00282 \n\ 00283 # The shape of the bounded region that constrains the position of the end-effector\n\ 00284 # This region is always centered at the position defined above\n\ 00285 arm_navigation_msgs/Shape constraint_region_shape\n\ 00286 \n\ 00287 # The orientation of the bounded region that constrains the position of the end-effector. \n\ 00288 # This allows the specification of non-axis aligned constraints\n\ 00289 geometry_msgs/Quaternion constraint_region_orientation\n\ 00290 \n\ 00291 # Constraint weighting factor - a weight for this constraint\n\ 00292 float64 weight\n\ 00293 \n\ 00294 ================================================================================\n\ 00295 MSG: arm_navigation_msgs/Shape\n\ 00296 byte SPHERE=0\n\ 00297 byte BOX=1\n\ 00298 byte CYLINDER=2\n\ 00299 byte MESH=3\n\ 00300 \n\ 00301 byte type\n\ 00302 \n\ 00303 \n\ 00304 #### define sphere, box, cylinder ####\n\ 00305 # the origin of each shape is considered at the shape's center\n\ 00306 \n\ 00307 # for sphere\n\ 00308 # radius := dimensions[0]\n\ 00309 \n\ 00310 # for cylinder\n\ 00311 # radius := dimensions[0]\n\ 00312 # length := dimensions[1]\n\ 00313 # the length is along the Z axis\n\ 00314 \n\ 00315 # for box\n\ 00316 # size_x := dimensions[0]\n\ 00317 # size_y := dimensions[1]\n\ 00318 # size_z := dimensions[2]\n\ 00319 float64[] dimensions\n\ 00320 \n\ 00321 \n\ 00322 #### define mesh ####\n\ 00323 \n\ 00324 # list of triangles; triangle k is defined by tre vertices located\n\ 00325 # at indices triangles[3k], triangles[3k+1], triangles[3k+2]\n\ 00326 int32[] triangles\n\ 00327 geometry_msgs/Point[] vertices\n\ 00328 \n\ 00329 ================================================================================\n\ 00330 MSG: arm_navigation_msgs/OrientationConstraint\n\ 00331 # This message contains the definition of an orientation constraint.\n\ 00332 Header header\n\ 00333 \n\ 00334 # The robot link this constraint refers to\n\ 00335 string link_name\n\ 00336 \n\ 00337 # The type of the constraint\n\ 00338 int32 type\n\ 00339 int32 LINK_FRAME=0\n\ 00340 int32 HEADER_FRAME=1\n\ 00341 \n\ 00342 # The desired orientation of the robot link specified as a quaternion\n\ 00343 geometry_msgs/Quaternion orientation\n\ 00344 \n\ 00345 # optional RPY error tolerances specified if \n\ 00346 float64 absolute_roll_tolerance\n\ 00347 float64 absolute_pitch_tolerance\n\ 00348 float64 absolute_yaw_tolerance\n\ 00349 \n\ 00350 # Constraint weighting factor - a weight for this constraint\n\ 00351 float64 weight\n\ 00352 \n\ 00353 ================================================================================\n\ 00354 MSG: arm_navigation_msgs/VisibilityConstraint\n\ 00355 # This message contains the definition of a visibility constraint.\n\ 00356 Header header\n\ 00357 \n\ 00358 # The point stamped target that needs to be kept within view of the sensor\n\ 00359 geometry_msgs/PointStamped target\n\ 00360 \n\ 00361 # The local pose of the frame in which visibility is to be maintained\n\ 00362 # The frame id should represent the robot link to which the sensor is attached\n\ 00363 # The visual axis of the sensor is assumed to be along the X axis of this frame\n\ 00364 geometry_msgs/PoseStamped sensor_pose\n\ 00365 \n\ 00366 # The deviation (in radians) that will be tolerated\n\ 00367 # Constraint error will be measured as the solid angle between the \n\ 00368 # X axis of the frame defined above and the vector between the origin \n\ 00369 # of the frame defined above and the target location\n\ 00370 float64 absolute_tolerance\n\ 00371 \n\ 00372 \n\ 00373 ================================================================================\n\ 00374 MSG: geometry_msgs/PointStamped\n\ 00375 # This represents a Point with reference coordinate frame and timestamp\n\ 00376 Header header\n\ 00377 Point point\n\ 00378 \n\ 00379 ================================================================================\n\ 00380 MSG: geometry_msgs/PoseStamped\n\ 00381 # A Pose with reference coordinate frame and timestamp\n\ 00382 Header header\n\ 00383 Pose pose\n\ 00384 \n\ 00385 "; } 00386 public: 00387 ROS_DEPRECATED static const std::string __s_getMessageDefinition() { return __s_getMessageDefinition_(); } 00388 00389 ROS_DEPRECATED const std::string __getMessageDefinition() const { return __s_getMessageDefinition_(); } 00390 00391 ROS_DEPRECATED virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const 00392 { 00393 ros::serialization::OStream stream(write_ptr, 1000000000); 00394 ros::serialization::serialize(stream, trajectory); 00395 ros::serialization::serialize(stream, group_name); 00396 ros::serialization::serialize(stream, limits); 00397 ros::serialization::serialize(stream, start_state); 00398 ros::serialization::serialize(stream, path_constraints); 00399 ros::serialization::serialize(stream, goal_constraints); 00400 ros::serialization::serialize(stream, allowed_time); 00401 return stream.getData(); 00402 } 00403 00404 ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr) 00405 { 00406 ros::serialization::IStream stream(read_ptr, 1000000000); 00407 ros::serialization::deserialize(stream, trajectory); 00408 ros::serialization::deserialize(stream, group_name); 00409 ros::serialization::deserialize(stream, limits); 00410 ros::serialization::deserialize(stream, start_state); 00411 ros::serialization::deserialize(stream, path_constraints); 00412 ros::serialization::deserialize(stream, goal_constraints); 00413 ros::serialization::deserialize(stream, allowed_time); 00414 return stream.getData(); 00415 } 00416 00417 ROS_DEPRECATED virtual uint32_t serializationLength() const 00418 { 00419 uint32_t size = 0; 00420 size += ros::serialization::serializationLength(trajectory); 00421 size += ros::serialization::serializationLength(group_name); 00422 size += ros::serialization::serializationLength(limits); 00423 size += ros::serialization::serializationLength(start_state); 00424 size += ros::serialization::serializationLength(path_constraints); 00425 size += ros::serialization::serializationLength(goal_constraints); 00426 size += ros::serialization::serializationLength(allowed_time); 00427 return size; 00428 } 00429 00430 typedef boost::shared_ptr< ::arm_navigation_msgs::FilterJointTrajectoryWithConstraintsRequest_<ContainerAllocator> > Ptr; 00431 typedef boost::shared_ptr< ::arm_navigation_msgs::FilterJointTrajectoryWithConstraintsRequest_<ContainerAllocator> const> ConstPtr; 00432 boost::shared_ptr<std::map<std::string, std::string> > __connection_header; 00433 }; // struct FilterJointTrajectoryWithConstraintsRequest 00434 typedef ::arm_navigation_msgs::FilterJointTrajectoryWithConstraintsRequest_<std::allocator<void> > FilterJointTrajectoryWithConstraintsRequest; 00435 00436 typedef boost::shared_ptr< ::arm_navigation_msgs::FilterJointTrajectoryWithConstraintsRequest> FilterJointTrajectoryWithConstraintsRequestPtr; 00437 typedef boost::shared_ptr< ::arm_navigation_msgs::FilterJointTrajectoryWithConstraintsRequest const> FilterJointTrajectoryWithConstraintsRequestConstPtr; 00438 00439 00440 template <class ContainerAllocator> 00441 struct FilterJointTrajectoryWithConstraintsResponse_ { 00442 typedef FilterJointTrajectoryWithConstraintsResponse_<ContainerAllocator> Type; 00443 00444 FilterJointTrajectoryWithConstraintsResponse_() 00445 : trajectory() 00446 , error_code() 00447 { 00448 } 00449 00450 FilterJointTrajectoryWithConstraintsResponse_(const ContainerAllocator& _alloc) 00451 : trajectory(_alloc) 00452 , error_code(_alloc) 00453 { 00454 } 00455 00456 typedef ::trajectory_msgs::JointTrajectory_<ContainerAllocator> _trajectory_type; 00457 ::trajectory_msgs::JointTrajectory_<ContainerAllocator> trajectory; 00458 00459 typedef ::arm_navigation_msgs::ArmNavigationErrorCodes_<ContainerAllocator> _error_code_type; 00460 ::arm_navigation_msgs::ArmNavigationErrorCodes_<ContainerAllocator> error_code; 00461 00462 00463 private: 00464 static const char* __s_getDataType_() { return "arm_navigation_msgs/FilterJointTrajectoryWithConstraintsResponse"; } 00465 public: 00466 ROS_DEPRECATED static const std::string __s_getDataType() { return __s_getDataType_(); } 00467 00468 ROS_DEPRECATED const std::string __getDataType() const { return __s_getDataType_(); } 00469 00470 private: 00471 static const char* __s_getMD5Sum_() { return "5b4da90f4032f9ac3da9abfb05f766cc"; } 00472 public: 00473 ROS_DEPRECATED static const std::string __s_getMD5Sum() { return __s_getMD5Sum_(); } 00474 00475 ROS_DEPRECATED const std::string __getMD5Sum() const { return __s_getMD5Sum_(); } 00476 00477 private: 00478 static const char* __s_getServerMD5Sum_() { return "8da2437f9cfc1409ce927ce38e556772"; } 00479 public: 00480 ROS_DEPRECATED static const std::string __s_getServerMD5Sum() { return __s_getServerMD5Sum_(); } 00481 00482 ROS_DEPRECATED const std::string __getServerMD5Sum() const { return __s_getServerMD5Sum_(); } 00483 00484 private: 00485 static const char* __s_getMessageDefinition_() { return "trajectory_msgs/JointTrajectory trajectory\n\ 00486 ArmNavigationErrorCodes error_code\n\ 00487 \n\ 00488 \n\ 00489 ================================================================================\n\ 00490 MSG: trajectory_msgs/JointTrajectory\n\ 00491 Header header\n\ 00492 string[] joint_names\n\ 00493 JointTrajectoryPoint[] points\n\ 00494 ================================================================================\n\ 00495 MSG: std_msgs/Header\n\ 00496 # Standard metadata for higher-level stamped data types.\n\ 00497 # This is generally used to communicate timestamped data \n\ 00498 # in a particular coordinate frame.\n\ 00499 # \n\ 00500 # sequence ID: consecutively increasing ID \n\ 00501 uint32 seq\n\ 00502 #Two-integer timestamp that is expressed as:\n\ 00503 # * stamp.secs: seconds (stamp_secs) since epoch\n\ 00504 # * stamp.nsecs: nanoseconds since stamp_secs\n\ 00505 # time-handling sugar is provided by the client library\n\ 00506 time stamp\n\ 00507 #Frame this data is associated with\n\ 00508 # 0: no frame\n\ 00509 # 1: global frame\n\ 00510 string frame_id\n\ 00511 \n\ 00512 ================================================================================\n\ 00513 MSG: trajectory_msgs/JointTrajectoryPoint\n\ 00514 float64[] positions\n\ 00515 float64[] velocities\n\ 00516 float64[] accelerations\n\ 00517 duration time_from_start\n\ 00518 ================================================================================\n\ 00519 MSG: arm_navigation_msgs/ArmNavigationErrorCodes\n\ 00520 int32 val\n\ 00521 \n\ 00522 # overall behavior\n\ 00523 int32 PLANNING_FAILED=-1\n\ 00524 int32 SUCCESS=1\n\ 00525 int32 TIMED_OUT=-2\n\ 00526 \n\ 00527 # start state errors\n\ 00528 int32 START_STATE_IN_COLLISION=-3\n\ 00529 int32 START_STATE_VIOLATES_PATH_CONSTRAINTS=-4\n\ 00530 \n\ 00531 # goal errors\n\ 00532 int32 GOAL_IN_COLLISION=-5\n\ 00533 int32 GOAL_VIOLATES_PATH_CONSTRAINTS=-6\n\ 00534 \n\ 00535 # robot state\n\ 00536 int32 INVALID_ROBOT_STATE=-7\n\ 00537 int32 INCOMPLETE_ROBOT_STATE=-8\n\ 00538 \n\ 00539 # planning request errors\n\ 00540 int32 INVALID_PLANNER_ID=-9\n\ 00541 int32 INVALID_NUM_PLANNING_ATTEMPTS=-10\n\ 00542 int32 INVALID_ALLOWED_PLANNING_TIME=-11\n\ 00543 int32 INVALID_GROUP_NAME=-12\n\ 00544 int32 INVALID_GOAL_JOINT_CONSTRAINTS=-13\n\ 00545 int32 INVALID_GOAL_POSITION_CONSTRAINTS=-14\n\ 00546 int32 INVALID_GOAL_ORIENTATION_CONSTRAINTS=-15\n\ 00547 int32 INVALID_PATH_JOINT_CONSTRAINTS=-16\n\ 00548 int32 INVALID_PATH_POSITION_CONSTRAINTS=-17\n\ 00549 int32 INVALID_PATH_ORIENTATION_CONSTRAINTS=-18\n\ 00550 \n\ 00551 # state/trajectory monitor errors\n\ 00552 int32 INVALID_TRAJECTORY=-19\n\ 00553 int32 INVALID_INDEX=-20\n\ 00554 int32 JOINT_LIMITS_VIOLATED=-21\n\ 00555 int32 PATH_CONSTRAINTS_VIOLATED=-22\n\ 00556 int32 COLLISION_CONSTRAINTS_VIOLATED=-23\n\ 00557 int32 GOAL_CONSTRAINTS_VIOLATED=-24\n\ 00558 int32 JOINTS_NOT_MOVING=-25\n\ 00559 int32 TRAJECTORY_CONTROLLER_FAILED=-26\n\ 00560 \n\ 00561 # system errors\n\ 00562 int32 FRAME_TRANSFORM_FAILURE=-27\n\ 00563 int32 COLLISION_CHECKING_UNAVAILABLE=-28\n\ 00564 int32 ROBOT_STATE_STALE=-29\n\ 00565 int32 SENSOR_INFO_STALE=-30\n\ 00566 \n\ 00567 # kinematics errors\n\ 00568 int32 NO_IK_SOLUTION=-31\n\ 00569 int32 INVALID_LINK_NAME=-32\n\ 00570 int32 IK_LINK_IN_COLLISION=-33\n\ 00571 int32 NO_FK_SOLUTION=-34\n\ 00572 int32 KINEMATICS_STATE_IN_COLLISION=-35\n\ 00573 \n\ 00574 # general errors\n\ 00575 int32 INVALID_TIMEOUT=-36\n\ 00576 \n\ 00577 \n\ 00578 "; } 00579 public: 00580 ROS_DEPRECATED static const std::string __s_getMessageDefinition() { return __s_getMessageDefinition_(); } 00581 00582 ROS_DEPRECATED const std::string __getMessageDefinition() const { return __s_getMessageDefinition_(); } 00583 00584 ROS_DEPRECATED virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const 00585 { 00586 ros::serialization::OStream stream(write_ptr, 1000000000); 00587 ros::serialization::serialize(stream, trajectory); 00588 ros::serialization::serialize(stream, error_code); 00589 return stream.getData(); 00590 } 00591 00592 ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr) 00593 { 00594 ros::serialization::IStream stream(read_ptr, 1000000000); 00595 ros::serialization::deserialize(stream, trajectory); 00596 ros::serialization::deserialize(stream, error_code); 00597 return stream.getData(); 00598 } 00599 00600 ROS_DEPRECATED virtual uint32_t serializationLength() const 00601 { 00602 uint32_t size = 0; 00603 size += ros::serialization::serializationLength(trajectory); 00604 size += ros::serialization::serializationLength(error_code); 00605 return size; 00606 } 00607 00608 typedef boost::shared_ptr< ::arm_navigation_msgs::FilterJointTrajectoryWithConstraintsResponse_<ContainerAllocator> > Ptr; 00609 typedef boost::shared_ptr< ::arm_navigation_msgs::FilterJointTrajectoryWithConstraintsResponse_<ContainerAllocator> const> ConstPtr; 00610 boost::shared_ptr<std::map<std::string, std::string> > __connection_header; 00611 }; // struct FilterJointTrajectoryWithConstraintsResponse 00612 typedef ::arm_navigation_msgs::FilterJointTrajectoryWithConstraintsResponse_<std::allocator<void> > FilterJointTrajectoryWithConstraintsResponse; 00613 00614 typedef boost::shared_ptr< ::arm_navigation_msgs::FilterJointTrajectoryWithConstraintsResponse> FilterJointTrajectoryWithConstraintsResponsePtr; 00615 typedef boost::shared_ptr< ::arm_navigation_msgs::FilterJointTrajectoryWithConstraintsResponse const> FilterJointTrajectoryWithConstraintsResponseConstPtr; 00616 00617 struct FilterJointTrajectoryWithConstraints 00618 { 00619 00620 typedef FilterJointTrajectoryWithConstraintsRequest Request; 00621 typedef FilterJointTrajectoryWithConstraintsResponse Response; 00622 Request request; 00623 Response response; 00624 00625 typedef Request RequestType; 00626 typedef Response ResponseType; 00627 }; // struct FilterJointTrajectoryWithConstraints 00628 } // namespace arm_navigation_msgs 00629 00630 namespace ros 00631 { 00632 namespace message_traits 00633 { 00634 template<class ContainerAllocator> struct IsMessage< ::arm_navigation_msgs::FilterJointTrajectoryWithConstraintsRequest_<ContainerAllocator> > : public TrueType {}; 00635 template<class ContainerAllocator> struct IsMessage< ::arm_navigation_msgs::FilterJointTrajectoryWithConstraintsRequest_<ContainerAllocator> const> : public TrueType {}; 00636 template<class ContainerAllocator> 00637 struct MD5Sum< ::arm_navigation_msgs::FilterJointTrajectoryWithConstraintsRequest_<ContainerAllocator> > { 00638 static const char* value() 00639 { 00640 return "a710f518dceebd50ec8ca1f44b6d32de"; 00641 } 00642 00643 static const char* value(const ::arm_navigation_msgs::FilterJointTrajectoryWithConstraintsRequest_<ContainerAllocator> &) { return value(); } 00644 static const uint64_t static_value1 = 0xa710f518dceebd50ULL; 00645 static const uint64_t static_value2 = 0xec8ca1f44b6d32deULL; 00646 }; 00647 00648 template<class ContainerAllocator> 00649 struct DataType< ::arm_navigation_msgs::FilterJointTrajectoryWithConstraintsRequest_<ContainerAllocator> > { 00650 static const char* value() 00651 { 00652 return "arm_navigation_msgs/FilterJointTrajectoryWithConstraintsRequest"; 00653 } 00654 00655 static const char* value(const ::arm_navigation_msgs::FilterJointTrajectoryWithConstraintsRequest_<ContainerAllocator> &) { return value(); } 00656 }; 00657 00658 template<class ContainerAllocator> 00659 struct Definition< ::arm_navigation_msgs::FilterJointTrajectoryWithConstraintsRequest_<ContainerAllocator> > { 00660 static const char* value() 00661 { 00662 return "\n\ 00663 trajectory_msgs/JointTrajectory trajectory\n\ 00664 \n\ 00665 \n\ 00666 string group_name\n\ 00667 \n\ 00668 \n\ 00669 \n\ 00670 arm_navigation_msgs/JointLimits[] limits\n\ 00671 \n\ 00672 \n\ 00673 \n\ 00674 \n\ 00675 arm_navigation_msgs/RobotState start_state\n\ 00676 \n\ 00677 \n\ 00678 Constraints path_constraints\n\ 00679 \n\ 00680 \n\ 00681 Constraints goal_constraints\n\ 00682 \n\ 00683 duration allowed_time\n\ 00684 \n\ 00685 ================================================================================\n\ 00686 MSG: trajectory_msgs/JointTrajectory\n\ 00687 Header header\n\ 00688 string[] joint_names\n\ 00689 JointTrajectoryPoint[] points\n\ 00690 ================================================================================\n\ 00691 MSG: std_msgs/Header\n\ 00692 # Standard metadata for higher-level stamped data types.\n\ 00693 # This is generally used to communicate timestamped data \n\ 00694 # in a particular coordinate frame.\n\ 00695 # \n\ 00696 # sequence ID: consecutively increasing ID \n\ 00697 uint32 seq\n\ 00698 #Two-integer timestamp that is expressed as:\n\ 00699 # * stamp.secs: seconds (stamp_secs) since epoch\n\ 00700 # * stamp.nsecs: nanoseconds since stamp_secs\n\ 00701 # time-handling sugar is provided by the client library\n\ 00702 time stamp\n\ 00703 #Frame this data is associated with\n\ 00704 # 0: no frame\n\ 00705 # 1: global frame\n\ 00706 string frame_id\n\ 00707 \n\ 00708 ================================================================================\n\ 00709 MSG: trajectory_msgs/JointTrajectoryPoint\n\ 00710 float64[] positions\n\ 00711 float64[] velocities\n\ 00712 float64[] accelerations\n\ 00713 duration time_from_start\n\ 00714 ================================================================================\n\ 00715 MSG: arm_navigation_msgs/JointLimits\n\ 00716 # This message contains information about limits of a particular joint (or control dimension)\n\ 00717 string joint_name\n\ 00718 \n\ 00719 # true if the joint has position limits\n\ 00720 bool has_position_limits\n\ 00721 \n\ 00722 # min and max position limits\n\ 00723 float64 min_position\n\ 00724 float64 max_position\n\ 00725 \n\ 00726 # true if joint has velocity limits\n\ 00727 bool has_velocity_limits\n\ 00728 \n\ 00729 # max velocity limit\n\ 00730 float64 max_velocity\n\ 00731 # min_velocity is assumed to be -max_velocity\n\ 00732 \n\ 00733 # true if joint has acceleration limits\n\ 00734 bool has_acceleration_limits\n\ 00735 # max acceleration limit\n\ 00736 float64 max_acceleration\n\ 00737 # min_acceleration is assumed to be -max_acceleration\n\ 00738 \n\ 00739 ================================================================================\n\ 00740 MSG: arm_navigation_msgs/RobotState\n\ 00741 # This message contains information about the robot state, i.e. the positions of its joints and links\n\ 00742 sensor_msgs/JointState joint_state\n\ 00743 arm_navigation_msgs/MultiDOFJointState multi_dof_joint_state\n\ 00744 \n\ 00745 ================================================================================\n\ 00746 MSG: sensor_msgs/JointState\n\ 00747 # This is a message that holds data to describe the state of a set of torque controlled joints. \n\ 00748 #\n\ 00749 # The state of each joint (revolute or prismatic) is defined by:\n\ 00750 # * the position of the joint (rad or m),\n\ 00751 # * the velocity of the joint (rad/s or m/s) and \n\ 00752 # * the effort that is applied in the joint (Nm or N).\n\ 00753 #\n\ 00754 # Each joint is uniquely identified by its name\n\ 00755 # The header specifies the time at which the joint states were recorded. All the joint states\n\ 00756 # in one message have to be recorded at the same time.\n\ 00757 #\n\ 00758 # This message consists of a multiple arrays, one for each part of the joint state. \n\ 00759 # The goal is to make each of the fields optional. When e.g. your joints have no\n\ 00760 # effort associated with them, you can leave the effort array empty. \n\ 00761 #\n\ 00762 # All arrays in this message should have the same size, or be empty.\n\ 00763 # This is the only way to uniquely associate the joint name with the correct\n\ 00764 # states.\n\ 00765 \n\ 00766 \n\ 00767 Header header\n\ 00768 \n\ 00769 string[] name\n\ 00770 float64[] position\n\ 00771 float64[] velocity\n\ 00772 float64[] effort\n\ 00773 \n\ 00774 ================================================================================\n\ 00775 MSG: arm_navigation_msgs/MultiDOFJointState\n\ 00776 #A representation of a multi-dof joint state\n\ 00777 time stamp\n\ 00778 string[] joint_names\n\ 00779 string[] frame_ids\n\ 00780 string[] child_frame_ids\n\ 00781 geometry_msgs/Pose[] poses\n\ 00782 \n\ 00783 ================================================================================\n\ 00784 MSG: geometry_msgs/Pose\n\ 00785 # A representation of pose in free space, composed of postion and orientation. \n\ 00786 Point position\n\ 00787 Quaternion orientation\n\ 00788 \n\ 00789 ================================================================================\n\ 00790 MSG: geometry_msgs/Point\n\ 00791 # This contains the position of a point in free space\n\ 00792 float64 x\n\ 00793 float64 y\n\ 00794 float64 z\n\ 00795 \n\ 00796 ================================================================================\n\ 00797 MSG: geometry_msgs/Quaternion\n\ 00798 # This represents an orientation in free space in quaternion form.\n\ 00799 \n\ 00800 float64 x\n\ 00801 float64 y\n\ 00802 float64 z\n\ 00803 float64 w\n\ 00804 \n\ 00805 ================================================================================\n\ 00806 MSG: arm_navigation_msgs/Constraints\n\ 00807 # This message contains a list of motion planning constraints.\n\ 00808 \n\ 00809 arm_navigation_msgs/JointConstraint[] joint_constraints\n\ 00810 arm_navigation_msgs/PositionConstraint[] position_constraints\n\ 00811 arm_navigation_msgs/OrientationConstraint[] orientation_constraints\n\ 00812 arm_navigation_msgs/VisibilityConstraint[] visibility_constraints\n\ 00813 \n\ 00814 ================================================================================\n\ 00815 MSG: arm_navigation_msgs/JointConstraint\n\ 00816 # Constrain the position of a joint to be within a certain bound\n\ 00817 string joint_name\n\ 00818 \n\ 00819 # the bound to be achieved is [position - tolerance_below, position + tolerance_above]\n\ 00820 float64 position\n\ 00821 float64 tolerance_above\n\ 00822 float64 tolerance_below\n\ 00823 \n\ 00824 # A weighting factor for this constraint\n\ 00825 float64 weight\n\ 00826 ================================================================================\n\ 00827 MSG: arm_navigation_msgs/PositionConstraint\n\ 00828 # This message contains the definition of a position constraint.\n\ 00829 Header header\n\ 00830 \n\ 00831 # The robot link this constraint refers to\n\ 00832 string link_name\n\ 00833 \n\ 00834 # The offset (in the link frame) for the target point on the link we are planning for\n\ 00835 geometry_msgs/Point target_point_offset\n\ 00836 \n\ 00837 # The nominal/target position for the point we are planning for\n\ 00838 geometry_msgs/Point position\n\ 00839 \n\ 00840 # The shape of the bounded region that constrains the position of the end-effector\n\ 00841 # This region is always centered at the position defined above\n\ 00842 arm_navigation_msgs/Shape constraint_region_shape\n\ 00843 \n\ 00844 # The orientation of the bounded region that constrains the position of the end-effector. \n\ 00845 # This allows the specification of non-axis aligned constraints\n\ 00846 geometry_msgs/Quaternion constraint_region_orientation\n\ 00847 \n\ 00848 # Constraint weighting factor - a weight for this constraint\n\ 00849 float64 weight\n\ 00850 \n\ 00851 ================================================================================\n\ 00852 MSG: arm_navigation_msgs/Shape\n\ 00853 byte SPHERE=0\n\ 00854 byte BOX=1\n\ 00855 byte CYLINDER=2\n\ 00856 byte MESH=3\n\ 00857 \n\ 00858 byte type\n\ 00859 \n\ 00860 \n\ 00861 #### define sphere, box, cylinder ####\n\ 00862 # the origin of each shape is considered at the shape's center\n\ 00863 \n\ 00864 # for sphere\n\ 00865 # radius := dimensions[0]\n\ 00866 \n\ 00867 # for cylinder\n\ 00868 # radius := dimensions[0]\n\ 00869 # length := dimensions[1]\n\ 00870 # the length is along the Z axis\n\ 00871 \n\ 00872 # for box\n\ 00873 # size_x := dimensions[0]\n\ 00874 # size_y := dimensions[1]\n\ 00875 # size_z := dimensions[2]\n\ 00876 float64[] dimensions\n\ 00877 \n\ 00878 \n\ 00879 #### define mesh ####\n\ 00880 \n\ 00881 # list of triangles; triangle k is defined by tre vertices located\n\ 00882 # at indices triangles[3k], triangles[3k+1], triangles[3k+2]\n\ 00883 int32[] triangles\n\ 00884 geometry_msgs/Point[] vertices\n\ 00885 \n\ 00886 ================================================================================\n\ 00887 MSG: arm_navigation_msgs/OrientationConstraint\n\ 00888 # This message contains the definition of an orientation constraint.\n\ 00889 Header header\n\ 00890 \n\ 00891 # The robot link this constraint refers to\n\ 00892 string link_name\n\ 00893 \n\ 00894 # The type of the constraint\n\ 00895 int32 type\n\ 00896 int32 LINK_FRAME=0\n\ 00897 int32 HEADER_FRAME=1\n\ 00898 \n\ 00899 # The desired orientation of the robot link specified as a quaternion\n\ 00900 geometry_msgs/Quaternion orientation\n\ 00901 \n\ 00902 # optional RPY error tolerances specified if \n\ 00903 float64 absolute_roll_tolerance\n\ 00904 float64 absolute_pitch_tolerance\n\ 00905 float64 absolute_yaw_tolerance\n\ 00906 \n\ 00907 # Constraint weighting factor - a weight for this constraint\n\ 00908 float64 weight\n\ 00909 \n\ 00910 ================================================================================\n\ 00911 MSG: arm_navigation_msgs/VisibilityConstraint\n\ 00912 # This message contains the definition of a visibility constraint.\n\ 00913 Header header\n\ 00914 \n\ 00915 # The point stamped target that needs to be kept within view of the sensor\n\ 00916 geometry_msgs/PointStamped target\n\ 00917 \n\ 00918 # The local pose of the frame in which visibility is to be maintained\n\ 00919 # The frame id should represent the robot link to which the sensor is attached\n\ 00920 # The visual axis of the sensor is assumed to be along the X axis of this frame\n\ 00921 geometry_msgs/PoseStamped sensor_pose\n\ 00922 \n\ 00923 # The deviation (in radians) that will be tolerated\n\ 00924 # Constraint error will be measured as the solid angle between the \n\ 00925 # X axis of the frame defined above and the vector between the origin \n\ 00926 # of the frame defined above and the target location\n\ 00927 float64 absolute_tolerance\n\ 00928 \n\ 00929 \n\ 00930 ================================================================================\n\ 00931 MSG: geometry_msgs/PointStamped\n\ 00932 # This represents a Point with reference coordinate frame and timestamp\n\ 00933 Header header\n\ 00934 Point point\n\ 00935 \n\ 00936 ================================================================================\n\ 00937 MSG: geometry_msgs/PoseStamped\n\ 00938 # A Pose with reference coordinate frame and timestamp\n\ 00939 Header header\n\ 00940 Pose pose\n\ 00941 \n\ 00942 "; 00943 } 00944 00945 static const char* value(const ::arm_navigation_msgs::FilterJointTrajectoryWithConstraintsRequest_<ContainerAllocator> &) { return value(); } 00946 }; 00947 00948 } // namespace message_traits 00949 } // namespace ros 00950 00951 00952 namespace ros 00953 { 00954 namespace message_traits 00955 { 00956 template<class ContainerAllocator> struct IsMessage< ::arm_navigation_msgs::FilterJointTrajectoryWithConstraintsResponse_<ContainerAllocator> > : public TrueType {}; 00957 template<class ContainerAllocator> struct IsMessage< ::arm_navigation_msgs::FilterJointTrajectoryWithConstraintsResponse_<ContainerAllocator> const> : public TrueType {}; 00958 template<class ContainerAllocator> 00959 struct MD5Sum< ::arm_navigation_msgs::FilterJointTrajectoryWithConstraintsResponse_<ContainerAllocator> > { 00960 static const char* value() 00961 { 00962 return "5b4da90f4032f9ac3da9abfb05f766cc"; 00963 } 00964 00965 static const char* value(const ::arm_navigation_msgs::FilterJointTrajectoryWithConstraintsResponse_<ContainerAllocator> &) { return value(); } 00966 static const uint64_t static_value1 = 0x5b4da90f4032f9acULL; 00967 static const uint64_t static_value2 = 0x3da9abfb05f766ccULL; 00968 }; 00969 00970 template<class ContainerAllocator> 00971 struct DataType< ::arm_navigation_msgs::FilterJointTrajectoryWithConstraintsResponse_<ContainerAllocator> > { 00972 static const char* value() 00973 { 00974 return "arm_navigation_msgs/FilterJointTrajectoryWithConstraintsResponse"; 00975 } 00976 00977 static const char* value(const ::arm_navigation_msgs::FilterJointTrajectoryWithConstraintsResponse_<ContainerAllocator> &) { return value(); } 00978 }; 00979 00980 template<class ContainerAllocator> 00981 struct Definition< ::arm_navigation_msgs::FilterJointTrajectoryWithConstraintsResponse_<ContainerAllocator> > { 00982 static const char* value() 00983 { 00984 return "trajectory_msgs/JointTrajectory trajectory\n\ 00985 ArmNavigationErrorCodes error_code\n\ 00986 \n\ 00987 \n\ 00988 ================================================================================\n\ 00989 MSG: trajectory_msgs/JointTrajectory\n\ 00990 Header header\n\ 00991 string[] joint_names\n\ 00992 JointTrajectoryPoint[] points\n\ 00993 ================================================================================\n\ 00994 MSG: std_msgs/Header\n\ 00995 # Standard metadata for higher-level stamped data types.\n\ 00996 # This is generally used to communicate timestamped data \n\ 00997 # in a particular coordinate frame.\n\ 00998 # \n\ 00999 # sequence ID: consecutively increasing ID \n\ 01000 uint32 seq\n\ 01001 #Two-integer timestamp that is expressed as:\n\ 01002 # * stamp.secs: seconds (stamp_secs) since epoch\n\ 01003 # * stamp.nsecs: nanoseconds since stamp_secs\n\ 01004 # time-handling sugar is provided by the client library\n\ 01005 time stamp\n\ 01006 #Frame this data is associated with\n\ 01007 # 0: no frame\n\ 01008 # 1: global frame\n\ 01009 string frame_id\n\ 01010 \n\ 01011 ================================================================================\n\ 01012 MSG: trajectory_msgs/JointTrajectoryPoint\n\ 01013 float64[] positions\n\ 01014 float64[] velocities\n\ 01015 float64[] accelerations\n\ 01016 duration time_from_start\n\ 01017 ================================================================================\n\ 01018 MSG: arm_navigation_msgs/ArmNavigationErrorCodes\n\ 01019 int32 val\n\ 01020 \n\ 01021 # overall behavior\n\ 01022 int32 PLANNING_FAILED=-1\n\ 01023 int32 SUCCESS=1\n\ 01024 int32 TIMED_OUT=-2\n\ 01025 \n\ 01026 # start state errors\n\ 01027 int32 START_STATE_IN_COLLISION=-3\n\ 01028 int32 START_STATE_VIOLATES_PATH_CONSTRAINTS=-4\n\ 01029 \n\ 01030 # goal errors\n\ 01031 int32 GOAL_IN_COLLISION=-5\n\ 01032 int32 GOAL_VIOLATES_PATH_CONSTRAINTS=-6\n\ 01033 \n\ 01034 # robot state\n\ 01035 int32 INVALID_ROBOT_STATE=-7\n\ 01036 int32 INCOMPLETE_ROBOT_STATE=-8\n\ 01037 \n\ 01038 # planning request errors\n\ 01039 int32 INVALID_PLANNER_ID=-9\n\ 01040 int32 INVALID_NUM_PLANNING_ATTEMPTS=-10\n\ 01041 int32 INVALID_ALLOWED_PLANNING_TIME=-11\n\ 01042 int32 INVALID_GROUP_NAME=-12\n\ 01043 int32 INVALID_GOAL_JOINT_CONSTRAINTS=-13\n\ 01044 int32 INVALID_GOAL_POSITION_CONSTRAINTS=-14\n\ 01045 int32 INVALID_GOAL_ORIENTATION_CONSTRAINTS=-15\n\ 01046 int32 INVALID_PATH_JOINT_CONSTRAINTS=-16\n\ 01047 int32 INVALID_PATH_POSITION_CONSTRAINTS=-17\n\ 01048 int32 INVALID_PATH_ORIENTATION_CONSTRAINTS=-18\n\ 01049 \n\ 01050 # state/trajectory monitor errors\n\ 01051 int32 INVALID_TRAJECTORY=-19\n\ 01052 int32 INVALID_INDEX=-20\n\ 01053 int32 JOINT_LIMITS_VIOLATED=-21\n\ 01054 int32 PATH_CONSTRAINTS_VIOLATED=-22\n\ 01055 int32 COLLISION_CONSTRAINTS_VIOLATED=-23\n\ 01056 int32 GOAL_CONSTRAINTS_VIOLATED=-24\n\ 01057 int32 JOINTS_NOT_MOVING=-25\n\ 01058 int32 TRAJECTORY_CONTROLLER_FAILED=-26\n\ 01059 \n\ 01060 # system errors\n\ 01061 int32 FRAME_TRANSFORM_FAILURE=-27\n\ 01062 int32 COLLISION_CHECKING_UNAVAILABLE=-28\n\ 01063 int32 ROBOT_STATE_STALE=-29\n\ 01064 int32 SENSOR_INFO_STALE=-30\n\ 01065 \n\ 01066 # kinematics errors\n\ 01067 int32 NO_IK_SOLUTION=-31\n\ 01068 int32 INVALID_LINK_NAME=-32\n\ 01069 int32 IK_LINK_IN_COLLISION=-33\n\ 01070 int32 NO_FK_SOLUTION=-34\n\ 01071 int32 KINEMATICS_STATE_IN_COLLISION=-35\n\ 01072 \n\ 01073 # general errors\n\ 01074 int32 INVALID_TIMEOUT=-36\n\ 01075 \n\ 01076 \n\ 01077 "; 01078 } 01079 01080 static const char* value(const ::arm_navigation_msgs::FilterJointTrajectoryWithConstraintsResponse_<ContainerAllocator> &) { return value(); } 01081 }; 01082 01083 } // namespace message_traits 01084 } // namespace ros 01085 01086 namespace ros 01087 { 01088 namespace serialization 01089 { 01090 01091 template<class ContainerAllocator> struct Serializer< ::arm_navigation_msgs::FilterJointTrajectoryWithConstraintsRequest_<ContainerAllocator> > 01092 { 01093 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m) 01094 { 01095 stream.next(m.trajectory); 01096 stream.next(m.group_name); 01097 stream.next(m.limits); 01098 stream.next(m.start_state); 01099 stream.next(m.path_constraints); 01100 stream.next(m.goal_constraints); 01101 stream.next(m.allowed_time); 01102 } 01103 01104 ROS_DECLARE_ALLINONE_SERIALIZER; 01105 }; // struct FilterJointTrajectoryWithConstraintsRequest_ 01106 } // namespace serialization 01107 } // namespace ros 01108 01109 01110 namespace ros 01111 { 01112 namespace serialization 01113 { 01114 01115 template<class ContainerAllocator> struct Serializer< ::arm_navigation_msgs::FilterJointTrajectoryWithConstraintsResponse_<ContainerAllocator> > 01116 { 01117 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m) 01118 { 01119 stream.next(m.trajectory); 01120 stream.next(m.error_code); 01121 } 01122 01123 ROS_DECLARE_ALLINONE_SERIALIZER; 01124 }; // struct FilterJointTrajectoryWithConstraintsResponse_ 01125 } // namespace serialization 01126 } // namespace ros 01127 01128 namespace ros 01129 { 01130 namespace service_traits 01131 { 01132 template<> 01133 struct MD5Sum<arm_navigation_msgs::FilterJointTrajectoryWithConstraints> { 01134 static const char* value() 01135 { 01136 return "8da2437f9cfc1409ce927ce38e556772"; 01137 } 01138 01139 static const char* value(const arm_navigation_msgs::FilterJointTrajectoryWithConstraints&) { return value(); } 01140 }; 01141 01142 template<> 01143 struct DataType<arm_navigation_msgs::FilterJointTrajectoryWithConstraints> { 01144 static const char* value() 01145 { 01146 return "arm_navigation_msgs/FilterJointTrajectoryWithConstraints"; 01147 } 01148 01149 static const char* value(const arm_navigation_msgs::FilterJointTrajectoryWithConstraints&) { return value(); } 01150 }; 01151 01152 template<class ContainerAllocator> 01153 struct MD5Sum<arm_navigation_msgs::FilterJointTrajectoryWithConstraintsRequest_<ContainerAllocator> > { 01154 static const char* value() 01155 { 01156 return "8da2437f9cfc1409ce927ce38e556772"; 01157 } 01158 01159 static const char* value(const arm_navigation_msgs::FilterJointTrajectoryWithConstraintsRequest_<ContainerAllocator> &) { return value(); } 01160 }; 01161 01162 template<class ContainerAllocator> 01163 struct DataType<arm_navigation_msgs::FilterJointTrajectoryWithConstraintsRequest_<ContainerAllocator> > { 01164 static const char* value() 01165 { 01166 return "arm_navigation_msgs/FilterJointTrajectoryWithConstraints"; 01167 } 01168 01169 static const char* value(const arm_navigation_msgs::FilterJointTrajectoryWithConstraintsRequest_<ContainerAllocator> &) { return value(); } 01170 }; 01171 01172 template<class ContainerAllocator> 01173 struct MD5Sum<arm_navigation_msgs::FilterJointTrajectoryWithConstraintsResponse_<ContainerAllocator> > { 01174 static const char* value() 01175 { 01176 return "8da2437f9cfc1409ce927ce38e556772"; 01177 } 01178 01179 static const char* value(const arm_navigation_msgs::FilterJointTrajectoryWithConstraintsResponse_<ContainerAllocator> &) { return value(); } 01180 }; 01181 01182 template<class ContainerAllocator> 01183 struct DataType<arm_navigation_msgs::FilterJointTrajectoryWithConstraintsResponse_<ContainerAllocator> > { 01184 static const char* value() 01185 { 01186 return "arm_navigation_msgs/FilterJointTrajectoryWithConstraints"; 01187 } 01188 01189 static const char* value(const arm_navigation_msgs::FilterJointTrajectoryWithConstraintsResponse_<ContainerAllocator> &) { return value(); } 01190 }; 01191 01192 } // namespace service_traits 01193 } // namespace ros 01194 01195 #endif // ARM_NAVIGATION_MSGS_SERVICE_FILTERJOINTTRAJECTORYWITHCONSTRAINTS_H 01196