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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/FilterJointTrajectory.srv */ 00002 #ifndef ARM_NAVIGATION_MSGS_SERVICE_FILTERJOINTTRAJECTORY_H 00003 #define ARM_NAVIGATION_MSGS_SERVICE_FILTERJOINTTRAJECTORY_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/RobotState.h" 00021 #include "arm_navigation_msgs/JointLimits.h" 00022 00023 00024 #include "trajectory_msgs/JointTrajectory.h" 00025 #include "arm_navigation_msgs/ArmNavigationErrorCodes.h" 00026 00027 namespace arm_navigation_msgs 00028 { 00029 template <class ContainerAllocator> 00030 struct FilterJointTrajectoryRequest_ { 00031 typedef FilterJointTrajectoryRequest_<ContainerAllocator> Type; 00032 00033 FilterJointTrajectoryRequest_() 00034 : trajectory() 00035 , start_state() 00036 , limits() 00037 , allowed_time() 00038 { 00039 } 00040 00041 FilterJointTrajectoryRequest_(const ContainerAllocator& _alloc) 00042 : trajectory(_alloc) 00043 , start_state(_alloc) 00044 , limits(_alloc) 00045 , allowed_time() 00046 { 00047 } 00048 00049 typedef ::trajectory_msgs::JointTrajectory_<ContainerAllocator> _trajectory_type; 00050 ::trajectory_msgs::JointTrajectory_<ContainerAllocator> trajectory; 00051 00052 typedef ::arm_navigation_msgs::RobotState_<ContainerAllocator> _start_state_type; 00053 ::arm_navigation_msgs::RobotState_<ContainerAllocator> start_state; 00054 00055 typedef std::vector< ::arm_navigation_msgs::JointLimits_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::arm_navigation_msgs::JointLimits_<ContainerAllocator> >::other > _limits_type; 00056 std::vector< ::arm_navigation_msgs::JointLimits_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::arm_navigation_msgs::JointLimits_<ContainerAllocator> >::other > limits; 00057 00058 typedef ros::Duration _allowed_time_type; 00059 ros::Duration allowed_time; 00060 00061 00062 ROS_DEPRECATED uint32_t get_limits_size() const { return (uint32_t)limits.size(); } 00063 ROS_DEPRECATED void set_limits_size(uint32_t size) { limits.resize((size_t)size); } 00064 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; } 00065 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; } 00066 private: 00067 static const char* __s_getDataType_() { return "arm_navigation_msgs/FilterJointTrajectoryRequest"; } 00068 public: 00069 ROS_DEPRECATED static const std::string __s_getDataType() { return __s_getDataType_(); } 00070 00071 ROS_DEPRECATED const std::string __getDataType() const { return __s_getDataType_(); } 00072 00073 private: 00074 static const char* __s_getMD5Sum_() { return "ab323cbf1c60ab841b012481156f47ba"; } 00075 public: 00076 ROS_DEPRECATED static const std::string __s_getMD5Sum() { return __s_getMD5Sum_(); } 00077 00078 ROS_DEPRECATED const std::string __getMD5Sum() const { return __s_getMD5Sum_(); } 00079 00080 private: 00081 static const char* __s_getServerMD5Sum_() { return "18a1c6fa9ab739ec5af11210c0fd79d1"; } 00082 public: 00083 ROS_DEPRECATED static const std::string __s_getServerMD5Sum() { return __s_getServerMD5Sum_(); } 00084 00085 ROS_DEPRECATED const std::string __getServerMD5Sum() const { return __s_getServerMD5Sum_(); } 00086 00087 private: 00088 static const char* __s_getMessageDefinition_() { return "\n\ 00089 trajectory_msgs/JointTrajectory trajectory\n\ 00090 \n\ 00091 \n\ 00092 \n\ 00093 \n\ 00094 arm_navigation_msgs/RobotState start_state\n\ 00095 \n\ 00096 \n\ 00097 \n\ 00098 \n\ 00099 arm_navigation_msgs/JointLimits[] limits\n\ 00100 \n\ 00101 \n\ 00102 duration allowed_time\n\ 00103 \n\ 00104 ================================================================================\n\ 00105 MSG: trajectory_msgs/JointTrajectory\n\ 00106 Header header\n\ 00107 string[] joint_names\n\ 00108 JointTrajectoryPoint[] points\n\ 00109 ================================================================================\n\ 00110 MSG: std_msgs/Header\n\ 00111 # Standard metadata for higher-level stamped data types.\n\ 00112 # This is generally used to communicate timestamped data \n\ 00113 # in a particular coordinate frame.\n\ 00114 # \n\ 00115 # sequence ID: consecutively increasing ID \n\ 00116 uint32 seq\n\ 00117 #Two-integer timestamp that is expressed as:\n\ 00118 # * stamp.secs: seconds (stamp_secs) since epoch\n\ 00119 # * stamp.nsecs: nanoseconds since stamp_secs\n\ 00120 # time-handling sugar is provided by the client library\n\ 00121 time stamp\n\ 00122 #Frame this data is associated with\n\ 00123 # 0: no frame\n\ 00124 # 1: global frame\n\ 00125 string frame_id\n\ 00126 \n\ 00127 ================================================================================\n\ 00128 MSG: trajectory_msgs/JointTrajectoryPoint\n\ 00129 float64[] positions\n\ 00130 float64[] velocities\n\ 00131 float64[] accelerations\n\ 00132 duration time_from_start\n\ 00133 ================================================================================\n\ 00134 MSG: arm_navigation_msgs/RobotState\n\ 00135 # This message contains information about the robot state, i.e. the positions of its joints and links\n\ 00136 sensor_msgs/JointState joint_state\n\ 00137 arm_navigation_msgs/MultiDOFJointState multi_dof_joint_state\n\ 00138 \n\ 00139 ================================================================================\n\ 00140 MSG: sensor_msgs/JointState\n\ 00141 # This is a message that holds data to describe the state of a set of torque controlled joints. \n\ 00142 #\n\ 00143 # The state of each joint (revolute or prismatic) is defined by:\n\ 00144 # * the position of the joint (rad or m),\n\ 00145 # * the velocity of the joint (rad/s or m/s) and \n\ 00146 # * the effort that is applied in the joint (Nm or N).\n\ 00147 #\n\ 00148 # Each joint is uniquely identified by its name\n\ 00149 # The header specifies the time at which the joint states were recorded. All the joint states\n\ 00150 # in one message have to be recorded at the same time.\n\ 00151 #\n\ 00152 # This message consists of a multiple arrays, one for each part of the joint state. \n\ 00153 # The goal is to make each of the fields optional. When e.g. your joints have no\n\ 00154 # effort associated with them, you can leave the effort array empty. \n\ 00155 #\n\ 00156 # All arrays in this message should have the same size, or be empty.\n\ 00157 # This is the only way to uniquely associate the joint name with the correct\n\ 00158 # states.\n\ 00159 \n\ 00160 \n\ 00161 Header header\n\ 00162 \n\ 00163 string[] name\n\ 00164 float64[] position\n\ 00165 float64[] velocity\n\ 00166 float64[] effort\n\ 00167 \n\ 00168 ================================================================================\n\ 00169 MSG: arm_navigation_msgs/MultiDOFJointState\n\ 00170 #A representation of a multi-dof joint state\n\ 00171 time stamp\n\ 00172 string[] joint_names\n\ 00173 string[] frame_ids\n\ 00174 string[] child_frame_ids\n\ 00175 geometry_msgs/Pose[] poses\n\ 00176 \n\ 00177 ================================================================================\n\ 00178 MSG: geometry_msgs/Pose\n\ 00179 # A representation of pose in free space, composed of postion and orientation. \n\ 00180 Point position\n\ 00181 Quaternion orientation\n\ 00182 \n\ 00183 ================================================================================\n\ 00184 MSG: geometry_msgs/Point\n\ 00185 # This contains the position of a point in free space\n\ 00186 float64 x\n\ 00187 float64 y\n\ 00188 float64 z\n\ 00189 \n\ 00190 ================================================================================\n\ 00191 MSG: geometry_msgs/Quaternion\n\ 00192 # This represents an orientation in free space in quaternion form.\n\ 00193 \n\ 00194 float64 x\n\ 00195 float64 y\n\ 00196 float64 z\n\ 00197 float64 w\n\ 00198 \n\ 00199 ================================================================================\n\ 00200 MSG: arm_navigation_msgs/JointLimits\n\ 00201 # This message contains information about limits of a particular joint (or control dimension)\n\ 00202 string joint_name\n\ 00203 \n\ 00204 # true if the joint has position limits\n\ 00205 bool has_position_limits\n\ 00206 \n\ 00207 # min and max position limits\n\ 00208 float64 min_position\n\ 00209 float64 max_position\n\ 00210 \n\ 00211 # true if joint has velocity limits\n\ 00212 bool has_velocity_limits\n\ 00213 \n\ 00214 # max velocity limit\n\ 00215 float64 max_velocity\n\ 00216 # min_velocity is assumed to be -max_velocity\n\ 00217 \n\ 00218 # true if joint has acceleration limits\n\ 00219 bool has_acceleration_limits\n\ 00220 # max acceleration limit\n\ 00221 float64 max_acceleration\n\ 00222 # min_acceleration is assumed to be -max_acceleration\n\ 00223 \n\ 00224 "; } 00225 public: 00226 ROS_DEPRECATED static const std::string __s_getMessageDefinition() { return __s_getMessageDefinition_(); } 00227 00228 ROS_DEPRECATED const std::string __getMessageDefinition() const { return __s_getMessageDefinition_(); } 00229 00230 ROS_DEPRECATED virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const 00231 { 00232 ros::serialization::OStream stream(write_ptr, 1000000000); 00233 ros::serialization::serialize(stream, trajectory); 00234 ros::serialization::serialize(stream, start_state); 00235 ros::serialization::serialize(stream, limits); 00236 ros::serialization::serialize(stream, allowed_time); 00237 return stream.getData(); 00238 } 00239 00240 ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr) 00241 { 00242 ros::serialization::IStream stream(read_ptr, 1000000000); 00243 ros::serialization::deserialize(stream, trajectory); 00244 ros::serialization::deserialize(stream, start_state); 00245 ros::serialization::deserialize(stream, limits); 00246 ros::serialization::deserialize(stream, allowed_time); 00247 return stream.getData(); 00248 } 00249 00250 ROS_DEPRECATED virtual uint32_t serializationLength() const 00251 { 00252 uint32_t size = 0; 00253 size += ros::serialization::serializationLength(trajectory); 00254 size += ros::serialization::serializationLength(start_state); 00255 size += ros::serialization::serializationLength(limits); 00256 size += ros::serialization::serializationLength(allowed_time); 00257 return size; 00258 } 00259 00260 typedef boost::shared_ptr< ::arm_navigation_msgs::FilterJointTrajectoryRequest_<ContainerAllocator> > Ptr; 00261 typedef boost::shared_ptr< ::arm_navigation_msgs::FilterJointTrajectoryRequest_<ContainerAllocator> const> ConstPtr; 00262 boost::shared_ptr<std::map<std::string, std::string> > __connection_header; 00263 }; // struct FilterJointTrajectoryRequest 00264 typedef ::arm_navigation_msgs::FilterJointTrajectoryRequest_<std::allocator<void> > FilterJointTrajectoryRequest; 00265 00266 typedef boost::shared_ptr< ::arm_navigation_msgs::FilterJointTrajectoryRequest> FilterJointTrajectoryRequestPtr; 00267 typedef boost::shared_ptr< ::arm_navigation_msgs::FilterJointTrajectoryRequest const> FilterJointTrajectoryRequestConstPtr; 00268 00269 00270 template <class ContainerAllocator> 00271 struct FilterJointTrajectoryResponse_ { 00272 typedef FilterJointTrajectoryResponse_<ContainerAllocator> Type; 00273 00274 FilterJointTrajectoryResponse_() 00275 : trajectory() 00276 , error_code() 00277 { 00278 } 00279 00280 FilterJointTrajectoryResponse_(const ContainerAllocator& _alloc) 00281 : trajectory(_alloc) 00282 , error_code(_alloc) 00283 { 00284 } 00285 00286 typedef ::trajectory_msgs::JointTrajectory_<ContainerAllocator> _trajectory_type; 00287 ::trajectory_msgs::JointTrajectory_<ContainerAllocator> trajectory; 00288 00289 typedef ::arm_navigation_msgs::ArmNavigationErrorCodes_<ContainerAllocator> _error_code_type; 00290 ::arm_navigation_msgs::ArmNavigationErrorCodes_<ContainerAllocator> error_code; 00291 00292 00293 private: 00294 static const char* __s_getDataType_() { return "arm_navigation_msgs/FilterJointTrajectoryResponse"; } 00295 public: 00296 ROS_DEPRECATED static const std::string __s_getDataType() { return __s_getDataType_(); } 00297 00298 ROS_DEPRECATED const std::string __getDataType() const { return __s_getDataType_(); } 00299 00300 private: 00301 static const char* __s_getMD5Sum_() { return "5b4da90f4032f9ac3da9abfb05f766cc"; } 00302 public: 00303 ROS_DEPRECATED static const std::string __s_getMD5Sum() { return __s_getMD5Sum_(); } 00304 00305 ROS_DEPRECATED const std::string __getMD5Sum() const { return __s_getMD5Sum_(); } 00306 00307 private: 00308 static const char* __s_getServerMD5Sum_() { return "18a1c6fa9ab739ec5af11210c0fd79d1"; } 00309 public: 00310 ROS_DEPRECATED static const std::string __s_getServerMD5Sum() { return __s_getServerMD5Sum_(); } 00311 00312 ROS_DEPRECATED const std::string __getServerMD5Sum() const { return __s_getServerMD5Sum_(); } 00313 00314 private: 00315 static const char* __s_getMessageDefinition_() { return "trajectory_msgs/JointTrajectory trajectory\n\ 00316 ArmNavigationErrorCodes error_code\n\ 00317 \n\ 00318 \n\ 00319 ================================================================================\n\ 00320 MSG: trajectory_msgs/JointTrajectory\n\ 00321 Header header\n\ 00322 string[] joint_names\n\ 00323 JointTrajectoryPoint[] points\n\ 00324 ================================================================================\n\ 00325 MSG: std_msgs/Header\n\ 00326 # Standard metadata for higher-level stamped data types.\n\ 00327 # This is generally used to communicate timestamped data \n\ 00328 # in a particular coordinate frame.\n\ 00329 # \n\ 00330 # sequence ID: consecutively increasing ID \n\ 00331 uint32 seq\n\ 00332 #Two-integer timestamp that is expressed as:\n\ 00333 # * stamp.secs: seconds (stamp_secs) since epoch\n\ 00334 # * stamp.nsecs: nanoseconds since stamp_secs\n\ 00335 # time-handling sugar is provided by the client library\n\ 00336 time stamp\n\ 00337 #Frame this data is associated with\n\ 00338 # 0: no frame\n\ 00339 # 1: global frame\n\ 00340 string frame_id\n\ 00341 \n\ 00342 ================================================================================\n\ 00343 MSG: trajectory_msgs/JointTrajectoryPoint\n\ 00344 float64[] positions\n\ 00345 float64[] velocities\n\ 00346 float64[] accelerations\n\ 00347 duration time_from_start\n\ 00348 ================================================================================\n\ 00349 MSG: arm_navigation_msgs/ArmNavigationErrorCodes\n\ 00350 int32 val\n\ 00351 \n\ 00352 # overall behavior\n\ 00353 int32 PLANNING_FAILED=-1\n\ 00354 int32 SUCCESS=1\n\ 00355 int32 TIMED_OUT=-2\n\ 00356 \n\ 00357 # start state errors\n\ 00358 int32 START_STATE_IN_COLLISION=-3\n\ 00359 int32 START_STATE_VIOLATES_PATH_CONSTRAINTS=-4\n\ 00360 \n\ 00361 # goal errors\n\ 00362 int32 GOAL_IN_COLLISION=-5\n\ 00363 int32 GOAL_VIOLATES_PATH_CONSTRAINTS=-6\n\ 00364 \n\ 00365 # robot state\n\ 00366 int32 INVALID_ROBOT_STATE=-7\n\ 00367 int32 INCOMPLETE_ROBOT_STATE=-8\n\ 00368 \n\ 00369 # planning request errors\n\ 00370 int32 INVALID_PLANNER_ID=-9\n\ 00371 int32 INVALID_NUM_PLANNING_ATTEMPTS=-10\n\ 00372 int32 INVALID_ALLOWED_PLANNING_TIME=-11\n\ 00373 int32 INVALID_GROUP_NAME=-12\n\ 00374 int32 INVALID_GOAL_JOINT_CONSTRAINTS=-13\n\ 00375 int32 INVALID_GOAL_POSITION_CONSTRAINTS=-14\n\ 00376 int32 INVALID_GOAL_ORIENTATION_CONSTRAINTS=-15\n\ 00377 int32 INVALID_PATH_JOINT_CONSTRAINTS=-16\n\ 00378 int32 INVALID_PATH_POSITION_CONSTRAINTS=-17\n\ 00379 int32 INVALID_PATH_ORIENTATION_CONSTRAINTS=-18\n\ 00380 \n\ 00381 # state/trajectory monitor errors\n\ 00382 int32 INVALID_TRAJECTORY=-19\n\ 00383 int32 INVALID_INDEX=-20\n\ 00384 int32 JOINT_LIMITS_VIOLATED=-21\n\ 00385 int32 PATH_CONSTRAINTS_VIOLATED=-22\n\ 00386 int32 COLLISION_CONSTRAINTS_VIOLATED=-23\n\ 00387 int32 GOAL_CONSTRAINTS_VIOLATED=-24\n\ 00388 int32 JOINTS_NOT_MOVING=-25\n\ 00389 int32 TRAJECTORY_CONTROLLER_FAILED=-26\n\ 00390 \n\ 00391 # system errors\n\ 00392 int32 FRAME_TRANSFORM_FAILURE=-27\n\ 00393 int32 COLLISION_CHECKING_UNAVAILABLE=-28\n\ 00394 int32 ROBOT_STATE_STALE=-29\n\ 00395 int32 SENSOR_INFO_STALE=-30\n\ 00396 \n\ 00397 # kinematics errors\n\ 00398 int32 NO_IK_SOLUTION=-31\n\ 00399 int32 INVALID_LINK_NAME=-32\n\ 00400 int32 IK_LINK_IN_COLLISION=-33\n\ 00401 int32 NO_FK_SOLUTION=-34\n\ 00402 int32 KINEMATICS_STATE_IN_COLLISION=-35\n\ 00403 \n\ 00404 # general errors\n\ 00405 int32 INVALID_TIMEOUT=-36\n\ 00406 \n\ 00407 \n\ 00408 "; } 00409 public: 00410 ROS_DEPRECATED static const std::string __s_getMessageDefinition() { return __s_getMessageDefinition_(); } 00411 00412 ROS_DEPRECATED const std::string __getMessageDefinition() const { return __s_getMessageDefinition_(); } 00413 00414 ROS_DEPRECATED virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const 00415 { 00416 ros::serialization::OStream stream(write_ptr, 1000000000); 00417 ros::serialization::serialize(stream, trajectory); 00418 ros::serialization::serialize(stream, error_code); 00419 return stream.getData(); 00420 } 00421 00422 ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr) 00423 { 00424 ros::serialization::IStream stream(read_ptr, 1000000000); 00425 ros::serialization::deserialize(stream, trajectory); 00426 ros::serialization::deserialize(stream, error_code); 00427 return stream.getData(); 00428 } 00429 00430 ROS_DEPRECATED virtual uint32_t serializationLength() const 00431 { 00432 uint32_t size = 0; 00433 size += ros::serialization::serializationLength(trajectory); 00434 size += ros::serialization::serializationLength(error_code); 00435 return size; 00436 } 00437 00438 typedef boost::shared_ptr< ::arm_navigation_msgs::FilterJointTrajectoryResponse_<ContainerAllocator> > Ptr; 00439 typedef boost::shared_ptr< ::arm_navigation_msgs::FilterJointTrajectoryResponse_<ContainerAllocator> const> ConstPtr; 00440 boost::shared_ptr<std::map<std::string, std::string> > __connection_header; 00441 }; // struct FilterJointTrajectoryResponse 00442 typedef ::arm_navigation_msgs::FilterJointTrajectoryResponse_<std::allocator<void> > FilterJointTrajectoryResponse; 00443 00444 typedef boost::shared_ptr< ::arm_navigation_msgs::FilterJointTrajectoryResponse> FilterJointTrajectoryResponsePtr; 00445 typedef boost::shared_ptr< ::arm_navigation_msgs::FilterJointTrajectoryResponse const> FilterJointTrajectoryResponseConstPtr; 00446 00447 struct FilterJointTrajectory 00448 { 00449 00450 typedef FilterJointTrajectoryRequest Request; 00451 typedef FilterJointTrajectoryResponse Response; 00452 Request request; 00453 Response response; 00454 00455 typedef Request RequestType; 00456 typedef Response ResponseType; 00457 }; // struct FilterJointTrajectory 00458 } // namespace arm_navigation_msgs 00459 00460 namespace ros 00461 { 00462 namespace message_traits 00463 { 00464 template<class ContainerAllocator> struct IsMessage< ::arm_navigation_msgs::FilterJointTrajectoryRequest_<ContainerAllocator> > : public TrueType {}; 00465 template<class ContainerAllocator> struct IsMessage< ::arm_navigation_msgs::FilterJointTrajectoryRequest_<ContainerAllocator> const> : public TrueType {}; 00466 template<class ContainerAllocator> 00467 struct MD5Sum< ::arm_navigation_msgs::FilterJointTrajectoryRequest_<ContainerAllocator> > { 00468 static const char* value() 00469 { 00470 return "ab323cbf1c60ab841b012481156f47ba"; 00471 } 00472 00473 static const char* value(const ::arm_navigation_msgs::FilterJointTrajectoryRequest_<ContainerAllocator> &) { return value(); } 00474 static const uint64_t static_value1 = 0xab323cbf1c60ab84ULL; 00475 static const uint64_t static_value2 = 0x1b012481156f47baULL; 00476 }; 00477 00478 template<class ContainerAllocator> 00479 struct DataType< ::arm_navigation_msgs::FilterJointTrajectoryRequest_<ContainerAllocator> > { 00480 static const char* value() 00481 { 00482 return "arm_navigation_msgs/FilterJointTrajectoryRequest"; 00483 } 00484 00485 static const char* value(const ::arm_navigation_msgs::FilterJointTrajectoryRequest_<ContainerAllocator> &) { return value(); } 00486 }; 00487 00488 template<class ContainerAllocator> 00489 struct Definition< ::arm_navigation_msgs::FilterJointTrajectoryRequest_<ContainerAllocator> > { 00490 static const char* value() 00491 { 00492 return "\n\ 00493 trajectory_msgs/JointTrajectory trajectory\n\ 00494 \n\ 00495 \n\ 00496 \n\ 00497 \n\ 00498 arm_navigation_msgs/RobotState start_state\n\ 00499 \n\ 00500 \n\ 00501 \n\ 00502 \n\ 00503 arm_navigation_msgs/JointLimits[] limits\n\ 00504 \n\ 00505 \n\ 00506 duration allowed_time\n\ 00507 \n\ 00508 ================================================================================\n\ 00509 MSG: trajectory_msgs/JointTrajectory\n\ 00510 Header header\n\ 00511 string[] joint_names\n\ 00512 JointTrajectoryPoint[] points\n\ 00513 ================================================================================\n\ 00514 MSG: std_msgs/Header\n\ 00515 # Standard metadata for higher-level stamped data types.\n\ 00516 # This is generally used to communicate timestamped data \n\ 00517 # in a particular coordinate frame.\n\ 00518 # \n\ 00519 # sequence ID: consecutively increasing ID \n\ 00520 uint32 seq\n\ 00521 #Two-integer timestamp that is expressed as:\n\ 00522 # * stamp.secs: seconds (stamp_secs) since epoch\n\ 00523 # * stamp.nsecs: nanoseconds since stamp_secs\n\ 00524 # time-handling sugar is provided by the client library\n\ 00525 time stamp\n\ 00526 #Frame this data is associated with\n\ 00527 # 0: no frame\n\ 00528 # 1: global frame\n\ 00529 string frame_id\n\ 00530 \n\ 00531 ================================================================================\n\ 00532 MSG: trajectory_msgs/JointTrajectoryPoint\n\ 00533 float64[] positions\n\ 00534 float64[] velocities\n\ 00535 float64[] accelerations\n\ 00536 duration time_from_start\n\ 00537 ================================================================================\n\ 00538 MSG: arm_navigation_msgs/RobotState\n\ 00539 # This message contains information about the robot state, i.e. the positions of its joints and links\n\ 00540 sensor_msgs/JointState joint_state\n\ 00541 arm_navigation_msgs/MultiDOFJointState multi_dof_joint_state\n\ 00542 \n\ 00543 ================================================================================\n\ 00544 MSG: sensor_msgs/JointState\n\ 00545 # This is a message that holds data to describe the state of a set of torque controlled joints. \n\ 00546 #\n\ 00547 # The state of each joint (revolute or prismatic) is defined by:\n\ 00548 # * the position of the joint (rad or m),\n\ 00549 # * the velocity of the joint (rad/s or m/s) and \n\ 00550 # * the effort that is applied in the joint (Nm or N).\n\ 00551 #\n\ 00552 # Each joint is uniquely identified by its name\n\ 00553 # The header specifies the time at which the joint states were recorded. All the joint states\n\ 00554 # in one message have to be recorded at the same time.\n\ 00555 #\n\ 00556 # This message consists of a multiple arrays, one for each part of the joint state. \n\ 00557 # The goal is to make each of the fields optional. When e.g. your joints have no\n\ 00558 # effort associated with them, you can leave the effort array empty. \n\ 00559 #\n\ 00560 # All arrays in this message should have the same size, or be empty.\n\ 00561 # This is the only way to uniquely associate the joint name with the correct\n\ 00562 # states.\n\ 00563 \n\ 00564 \n\ 00565 Header header\n\ 00566 \n\ 00567 string[] name\n\ 00568 float64[] position\n\ 00569 float64[] velocity\n\ 00570 float64[] effort\n\ 00571 \n\ 00572 ================================================================================\n\ 00573 MSG: arm_navigation_msgs/MultiDOFJointState\n\ 00574 #A representation of a multi-dof joint state\n\ 00575 time stamp\n\ 00576 string[] joint_names\n\ 00577 string[] frame_ids\n\ 00578 string[] child_frame_ids\n\ 00579 geometry_msgs/Pose[] poses\n\ 00580 \n\ 00581 ================================================================================\n\ 00582 MSG: geometry_msgs/Pose\n\ 00583 # A representation of pose in free space, composed of postion and orientation. \n\ 00584 Point position\n\ 00585 Quaternion orientation\n\ 00586 \n\ 00587 ================================================================================\n\ 00588 MSG: geometry_msgs/Point\n\ 00589 # This contains the position of a point in free space\n\ 00590 float64 x\n\ 00591 float64 y\n\ 00592 float64 z\n\ 00593 \n\ 00594 ================================================================================\n\ 00595 MSG: geometry_msgs/Quaternion\n\ 00596 # This represents an orientation in free space in quaternion form.\n\ 00597 \n\ 00598 float64 x\n\ 00599 float64 y\n\ 00600 float64 z\n\ 00601 float64 w\n\ 00602 \n\ 00603 ================================================================================\n\ 00604 MSG: arm_navigation_msgs/JointLimits\n\ 00605 # This message contains information about limits of a particular joint (or control dimension)\n\ 00606 string joint_name\n\ 00607 \n\ 00608 # true if the joint has position limits\n\ 00609 bool has_position_limits\n\ 00610 \n\ 00611 # min and max position limits\n\ 00612 float64 min_position\n\ 00613 float64 max_position\n\ 00614 \n\ 00615 # true if joint has velocity limits\n\ 00616 bool has_velocity_limits\n\ 00617 \n\ 00618 # max velocity limit\n\ 00619 float64 max_velocity\n\ 00620 # min_velocity is assumed to be -max_velocity\n\ 00621 \n\ 00622 # true if joint has acceleration limits\n\ 00623 bool has_acceleration_limits\n\ 00624 # max acceleration limit\n\ 00625 float64 max_acceleration\n\ 00626 # min_acceleration is assumed to be -max_acceleration\n\ 00627 \n\ 00628 "; 00629 } 00630 00631 static const char* value(const ::arm_navigation_msgs::FilterJointTrajectoryRequest_<ContainerAllocator> &) { return value(); } 00632 }; 00633 00634 } // namespace message_traits 00635 } // namespace ros 00636 00637 00638 namespace ros 00639 { 00640 namespace message_traits 00641 { 00642 template<class ContainerAllocator> struct IsMessage< ::arm_navigation_msgs::FilterJointTrajectoryResponse_<ContainerAllocator> > : public TrueType {}; 00643 template<class ContainerAllocator> struct IsMessage< ::arm_navigation_msgs::FilterJointTrajectoryResponse_<ContainerAllocator> const> : public TrueType {}; 00644 template<class ContainerAllocator> 00645 struct MD5Sum< ::arm_navigation_msgs::FilterJointTrajectoryResponse_<ContainerAllocator> > { 00646 static const char* value() 00647 { 00648 return "5b4da90f4032f9ac3da9abfb05f766cc"; 00649 } 00650 00651 static const char* value(const ::arm_navigation_msgs::FilterJointTrajectoryResponse_<ContainerAllocator> &) { return value(); } 00652 static const uint64_t static_value1 = 0x5b4da90f4032f9acULL; 00653 static const uint64_t static_value2 = 0x3da9abfb05f766ccULL; 00654 }; 00655 00656 template<class ContainerAllocator> 00657 struct DataType< ::arm_navigation_msgs::FilterJointTrajectoryResponse_<ContainerAllocator> > { 00658 static const char* value() 00659 { 00660 return "arm_navigation_msgs/FilterJointTrajectoryResponse"; 00661 } 00662 00663 static const char* value(const ::arm_navigation_msgs::FilterJointTrajectoryResponse_<ContainerAllocator> &) { return value(); } 00664 }; 00665 00666 template<class ContainerAllocator> 00667 struct Definition< ::arm_navigation_msgs::FilterJointTrajectoryResponse_<ContainerAllocator> > { 00668 static const char* value() 00669 { 00670 return "trajectory_msgs/JointTrajectory trajectory\n\ 00671 ArmNavigationErrorCodes error_code\n\ 00672 \n\ 00673 \n\ 00674 ================================================================================\n\ 00675 MSG: trajectory_msgs/JointTrajectory\n\ 00676 Header header\n\ 00677 string[] joint_names\n\ 00678 JointTrajectoryPoint[] points\n\ 00679 ================================================================================\n\ 00680 MSG: std_msgs/Header\n\ 00681 # Standard metadata for higher-level stamped data types.\n\ 00682 # This is generally used to communicate timestamped data \n\ 00683 # in a particular coordinate frame.\n\ 00684 # \n\ 00685 # sequence ID: consecutively increasing ID \n\ 00686 uint32 seq\n\ 00687 #Two-integer timestamp that is expressed as:\n\ 00688 # * stamp.secs: seconds (stamp_secs) since epoch\n\ 00689 # * stamp.nsecs: nanoseconds since stamp_secs\n\ 00690 # time-handling sugar is provided by the client library\n\ 00691 time stamp\n\ 00692 #Frame this data is associated with\n\ 00693 # 0: no frame\n\ 00694 # 1: global frame\n\ 00695 string frame_id\n\ 00696 \n\ 00697 ================================================================================\n\ 00698 MSG: trajectory_msgs/JointTrajectoryPoint\n\ 00699 float64[] positions\n\ 00700 float64[] velocities\n\ 00701 float64[] accelerations\n\ 00702 duration time_from_start\n\ 00703 ================================================================================\n\ 00704 MSG: arm_navigation_msgs/ArmNavigationErrorCodes\n\ 00705 int32 val\n\ 00706 \n\ 00707 # overall behavior\n\ 00708 int32 PLANNING_FAILED=-1\n\ 00709 int32 SUCCESS=1\n\ 00710 int32 TIMED_OUT=-2\n\ 00711 \n\ 00712 # start state errors\n\ 00713 int32 START_STATE_IN_COLLISION=-3\n\ 00714 int32 START_STATE_VIOLATES_PATH_CONSTRAINTS=-4\n\ 00715 \n\ 00716 # goal errors\n\ 00717 int32 GOAL_IN_COLLISION=-5\n\ 00718 int32 GOAL_VIOLATES_PATH_CONSTRAINTS=-6\n\ 00719 \n\ 00720 # robot state\n\ 00721 int32 INVALID_ROBOT_STATE=-7\n\ 00722 int32 INCOMPLETE_ROBOT_STATE=-8\n\ 00723 \n\ 00724 # planning request errors\n\ 00725 int32 INVALID_PLANNER_ID=-9\n\ 00726 int32 INVALID_NUM_PLANNING_ATTEMPTS=-10\n\ 00727 int32 INVALID_ALLOWED_PLANNING_TIME=-11\n\ 00728 int32 INVALID_GROUP_NAME=-12\n\ 00729 int32 INVALID_GOAL_JOINT_CONSTRAINTS=-13\n\ 00730 int32 INVALID_GOAL_POSITION_CONSTRAINTS=-14\n\ 00731 int32 INVALID_GOAL_ORIENTATION_CONSTRAINTS=-15\n\ 00732 int32 INVALID_PATH_JOINT_CONSTRAINTS=-16\n\ 00733 int32 INVALID_PATH_POSITION_CONSTRAINTS=-17\n\ 00734 int32 INVALID_PATH_ORIENTATION_CONSTRAINTS=-18\n\ 00735 \n\ 00736 # state/trajectory monitor errors\n\ 00737 int32 INVALID_TRAJECTORY=-19\n\ 00738 int32 INVALID_INDEX=-20\n\ 00739 int32 JOINT_LIMITS_VIOLATED=-21\n\ 00740 int32 PATH_CONSTRAINTS_VIOLATED=-22\n\ 00741 int32 COLLISION_CONSTRAINTS_VIOLATED=-23\n\ 00742 int32 GOAL_CONSTRAINTS_VIOLATED=-24\n\ 00743 int32 JOINTS_NOT_MOVING=-25\n\ 00744 int32 TRAJECTORY_CONTROLLER_FAILED=-26\n\ 00745 \n\ 00746 # system errors\n\ 00747 int32 FRAME_TRANSFORM_FAILURE=-27\n\ 00748 int32 COLLISION_CHECKING_UNAVAILABLE=-28\n\ 00749 int32 ROBOT_STATE_STALE=-29\n\ 00750 int32 SENSOR_INFO_STALE=-30\n\ 00751 \n\ 00752 # kinematics errors\n\ 00753 int32 NO_IK_SOLUTION=-31\n\ 00754 int32 INVALID_LINK_NAME=-32\n\ 00755 int32 IK_LINK_IN_COLLISION=-33\n\ 00756 int32 NO_FK_SOLUTION=-34\n\ 00757 int32 KINEMATICS_STATE_IN_COLLISION=-35\n\ 00758 \n\ 00759 # general errors\n\ 00760 int32 INVALID_TIMEOUT=-36\n\ 00761 \n\ 00762 \n\ 00763 "; 00764 } 00765 00766 static const char* value(const ::arm_navigation_msgs::FilterJointTrajectoryResponse_<ContainerAllocator> &) { return value(); } 00767 }; 00768 00769 } // namespace message_traits 00770 } // namespace ros 00771 00772 namespace ros 00773 { 00774 namespace serialization 00775 { 00776 00777 template<class ContainerAllocator> struct Serializer< ::arm_navigation_msgs::FilterJointTrajectoryRequest_<ContainerAllocator> > 00778 { 00779 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m) 00780 { 00781 stream.next(m.trajectory); 00782 stream.next(m.start_state); 00783 stream.next(m.limits); 00784 stream.next(m.allowed_time); 00785 } 00786 00787 ROS_DECLARE_ALLINONE_SERIALIZER; 00788 }; // struct FilterJointTrajectoryRequest_ 00789 } // namespace serialization 00790 } // namespace ros 00791 00792 00793 namespace ros 00794 { 00795 namespace serialization 00796 { 00797 00798 template<class ContainerAllocator> struct Serializer< ::arm_navigation_msgs::FilterJointTrajectoryResponse_<ContainerAllocator> > 00799 { 00800 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m) 00801 { 00802 stream.next(m.trajectory); 00803 stream.next(m.error_code); 00804 } 00805 00806 ROS_DECLARE_ALLINONE_SERIALIZER; 00807 }; // struct FilterJointTrajectoryResponse_ 00808 } // namespace serialization 00809 } // namespace ros 00810 00811 namespace ros 00812 { 00813 namespace service_traits 00814 { 00815 template<> 00816 struct MD5Sum<arm_navigation_msgs::FilterJointTrajectory> { 00817 static const char* value() 00818 { 00819 return "18a1c6fa9ab739ec5af11210c0fd79d1"; 00820 } 00821 00822 static const char* value(const arm_navigation_msgs::FilterJointTrajectory&) { return value(); } 00823 }; 00824 00825 template<> 00826 struct DataType<arm_navigation_msgs::FilterJointTrajectory> { 00827 static const char* value() 00828 { 00829 return "arm_navigation_msgs/FilterJointTrajectory"; 00830 } 00831 00832 static const char* value(const arm_navigation_msgs::FilterJointTrajectory&) { return value(); } 00833 }; 00834 00835 template<class ContainerAllocator> 00836 struct MD5Sum<arm_navigation_msgs::FilterJointTrajectoryRequest_<ContainerAllocator> > { 00837 static const char* value() 00838 { 00839 return "18a1c6fa9ab739ec5af11210c0fd79d1"; 00840 } 00841 00842 static const char* value(const arm_navigation_msgs::FilterJointTrajectoryRequest_<ContainerAllocator> &) { return value(); } 00843 }; 00844 00845 template<class ContainerAllocator> 00846 struct DataType<arm_navigation_msgs::FilterJointTrajectoryRequest_<ContainerAllocator> > { 00847 static const char* value() 00848 { 00849 return "arm_navigation_msgs/FilterJointTrajectory"; 00850 } 00851 00852 static const char* value(const arm_navigation_msgs::FilterJointTrajectoryRequest_<ContainerAllocator> &) { return value(); } 00853 }; 00854 00855 template<class ContainerAllocator> 00856 struct MD5Sum<arm_navigation_msgs::FilterJointTrajectoryResponse_<ContainerAllocator> > { 00857 static const char* value() 00858 { 00859 return "18a1c6fa9ab739ec5af11210c0fd79d1"; 00860 } 00861 00862 static const char* value(const arm_navigation_msgs::FilterJointTrajectoryResponse_<ContainerAllocator> &) { return value(); } 00863 }; 00864 00865 template<class ContainerAllocator> 00866 struct DataType<arm_navigation_msgs::FilterJointTrajectoryResponse_<ContainerAllocator> > { 00867 static const char* value() 00868 { 00869 return "arm_navigation_msgs/FilterJointTrajectory"; 00870 } 00871 00872 static const char* value(const arm_navigation_msgs::FilterJointTrajectoryResponse_<ContainerAllocator> &) { return value(); } 00873 }; 00874 00875 } // namespace service_traits 00876 } // namespace ros 00877 00878 #endif // ARM_NAVIGATION_MSGS_SERVICE_FILTERJOINTTRAJECTORY_H 00879