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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/GetMotionPlan.srv */ 00002 #ifndef ARM_NAVIGATION_MSGS_SERVICE_GETMOTIONPLAN_H 00003 #define ARM_NAVIGATION_MSGS_SERVICE_GETMOTIONPLAN_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 "arm_navigation_msgs/MotionPlanRequest.h" 00020 00021 00022 #include "arm_navigation_msgs/RobotTrajectory.h" 00023 #include "arm_navigation_msgs/RobotState.h" 00024 #include "arm_navigation_msgs/ArmNavigationErrorCodes.h" 00025 #include "arm_navigation_msgs/ArmNavigationErrorCodes.h" 00026 00027 namespace arm_navigation_msgs 00028 { 00029 template <class ContainerAllocator> 00030 struct GetMotionPlanRequest_ { 00031 typedef GetMotionPlanRequest_<ContainerAllocator> Type; 00032 00033 GetMotionPlanRequest_() 00034 : motion_plan_request() 00035 { 00036 } 00037 00038 GetMotionPlanRequest_(const ContainerAllocator& _alloc) 00039 : motion_plan_request(_alloc) 00040 { 00041 } 00042 00043 typedef ::arm_navigation_msgs::MotionPlanRequest_<ContainerAllocator> _motion_plan_request_type; 00044 ::arm_navigation_msgs::MotionPlanRequest_<ContainerAllocator> motion_plan_request; 00045 00046 00047 private: 00048 static const char* __s_getDataType_() { return "arm_navigation_msgs/GetMotionPlanRequest"; } 00049 public: 00050 ROS_DEPRECATED static const std::string __s_getDataType() { return __s_getDataType_(); } 00051 00052 ROS_DEPRECATED const std::string __getDataType() const { return __s_getDataType_(); } 00053 00054 private: 00055 static const char* __s_getMD5Sum_() { return "53194db8d1959c06cb41e066f1f6695e"; } 00056 public: 00057 ROS_DEPRECATED static const std::string __s_getMD5Sum() { return __s_getMD5Sum_(); } 00058 00059 ROS_DEPRECATED const std::string __getMD5Sum() const { return __s_getMD5Sum_(); } 00060 00061 private: 00062 static const char* __s_getServerMD5Sum_() { return "e7f04013c167d0703692fec8a86b22ef"; } 00063 public: 00064 ROS_DEPRECATED static const std::string __s_getServerMD5Sum() { return __s_getServerMD5Sum_(); } 00065 00066 ROS_DEPRECATED const std::string __getServerMD5Sum() const { return __s_getServerMD5Sum_(); } 00067 00068 private: 00069 static const char* __s_getMessageDefinition_() { return "\n\ 00070 \n\ 00071 \n\ 00072 MotionPlanRequest motion_plan_request\n\ 00073 \n\ 00074 \n\ 00075 ================================================================================\n\ 00076 MSG: arm_navigation_msgs/MotionPlanRequest\n\ 00077 # This service contains the definition for a request to the motion\n\ 00078 # planner and the output it provides\n\ 00079 \n\ 00080 # Parameters for the workspace that the planner should work inside\n\ 00081 arm_navigation_msgs/WorkspaceParameters workspace_parameters\n\ 00082 \n\ 00083 # Starting state updates. If certain joints should be considered\n\ 00084 # at positions other than the current ones, these positions should\n\ 00085 # be set here\n\ 00086 arm_navigation_msgs/RobotState start_state\n\ 00087 \n\ 00088 # The goal state for the model to plan for. The goal is achieved\n\ 00089 # if all constraints are satisfied\n\ 00090 arm_navigation_msgs/Constraints goal_constraints\n\ 00091 \n\ 00092 # No state at any point along the path in the produced motion plan will violate these constraints\n\ 00093 arm_navigation_msgs/Constraints path_constraints\n\ 00094 \n\ 00095 # The name of the motion planner to use. If no name is specified,\n\ 00096 # a default motion planner will be used\n\ 00097 string planner_id\n\ 00098 \n\ 00099 # The name of the group of joints on which this planner is operating\n\ 00100 string group_name\n\ 00101 \n\ 00102 # The number of times this plan is to be computed. Shortest solution\n\ 00103 # will be reported.\n\ 00104 int32 num_planning_attempts\n\ 00105 \n\ 00106 # The maximum amount of time the motion planner is allowed to plan for\n\ 00107 duration allowed_planning_time\n\ 00108 \n\ 00109 # An expected path duration (in seconds) along with an expected discretization of the path allows the planner to determine the discretization of the trajectory that it returns\n\ 00110 duration expected_path_duration\n\ 00111 duration expected_path_dt\n\ 00112 \n\ 00113 ================================================================================\n\ 00114 MSG: arm_navigation_msgs/WorkspaceParameters\n\ 00115 # This message contains a set of parameters useful in\n\ 00116 # setting up the workspace for planning\n\ 00117 arm_navigation_msgs/Shape workspace_region_shape\n\ 00118 geometry_msgs/PoseStamped workspace_region_pose\n\ 00119 \n\ 00120 \n\ 00121 ================================================================================\n\ 00122 MSG: arm_navigation_msgs/Shape\n\ 00123 byte SPHERE=0\n\ 00124 byte BOX=1\n\ 00125 byte CYLINDER=2\n\ 00126 byte MESH=3\n\ 00127 \n\ 00128 byte type\n\ 00129 \n\ 00130 \n\ 00131 #### define sphere, box, cylinder ####\n\ 00132 # the origin of each shape is considered at the shape's center\n\ 00133 \n\ 00134 # for sphere\n\ 00135 # radius := dimensions[0]\n\ 00136 \n\ 00137 # for cylinder\n\ 00138 # radius := dimensions[0]\n\ 00139 # length := dimensions[1]\n\ 00140 # the length is along the Z axis\n\ 00141 \n\ 00142 # for box\n\ 00143 # size_x := dimensions[0]\n\ 00144 # size_y := dimensions[1]\n\ 00145 # size_z := dimensions[2]\n\ 00146 float64[] dimensions\n\ 00147 \n\ 00148 \n\ 00149 #### define mesh ####\n\ 00150 \n\ 00151 # list of triangles; triangle k is defined by tre vertices located\n\ 00152 # at indices triangles[3k], triangles[3k+1], triangles[3k+2]\n\ 00153 int32[] triangles\n\ 00154 geometry_msgs/Point[] vertices\n\ 00155 \n\ 00156 ================================================================================\n\ 00157 MSG: geometry_msgs/Point\n\ 00158 # This contains the position of a point in free space\n\ 00159 float64 x\n\ 00160 float64 y\n\ 00161 float64 z\n\ 00162 \n\ 00163 ================================================================================\n\ 00164 MSG: geometry_msgs/PoseStamped\n\ 00165 # A Pose with reference coordinate frame and timestamp\n\ 00166 Header header\n\ 00167 Pose pose\n\ 00168 \n\ 00169 ================================================================================\n\ 00170 MSG: std_msgs/Header\n\ 00171 # Standard metadata for higher-level stamped data types.\n\ 00172 # This is generally used to communicate timestamped data \n\ 00173 # in a particular coordinate frame.\n\ 00174 # \n\ 00175 # sequence ID: consecutively increasing ID \n\ 00176 uint32 seq\n\ 00177 #Two-integer timestamp that is expressed as:\n\ 00178 # * stamp.secs: seconds (stamp_secs) since epoch\n\ 00179 # * stamp.nsecs: nanoseconds since stamp_secs\n\ 00180 # time-handling sugar is provided by the client library\n\ 00181 time stamp\n\ 00182 #Frame this data is associated with\n\ 00183 # 0: no frame\n\ 00184 # 1: global frame\n\ 00185 string frame_id\n\ 00186 \n\ 00187 ================================================================================\n\ 00188 MSG: geometry_msgs/Pose\n\ 00189 # A representation of pose in free space, composed of postion and orientation. \n\ 00190 Point position\n\ 00191 Quaternion orientation\n\ 00192 \n\ 00193 ================================================================================\n\ 00194 MSG: geometry_msgs/Quaternion\n\ 00195 # This represents an orientation in free space in quaternion form.\n\ 00196 \n\ 00197 float64 x\n\ 00198 float64 y\n\ 00199 float64 z\n\ 00200 float64 w\n\ 00201 \n\ 00202 ================================================================================\n\ 00203 MSG: arm_navigation_msgs/RobotState\n\ 00204 # This message contains information about the robot state, i.e. the positions of its joints and links\n\ 00205 sensor_msgs/JointState joint_state\n\ 00206 arm_navigation_msgs/MultiDOFJointState multi_dof_joint_state\n\ 00207 \n\ 00208 ================================================================================\n\ 00209 MSG: sensor_msgs/JointState\n\ 00210 # This is a message that holds data to describe the state of a set of torque controlled joints. \n\ 00211 #\n\ 00212 # The state of each joint (revolute or prismatic) is defined by:\n\ 00213 # * the position of the joint (rad or m),\n\ 00214 # * the velocity of the joint (rad/s or m/s) and \n\ 00215 # * the effort that is applied in the joint (Nm or N).\n\ 00216 #\n\ 00217 # Each joint is uniquely identified by its name\n\ 00218 # The header specifies the time at which the joint states were recorded. All the joint states\n\ 00219 # in one message have to be recorded at the same time.\n\ 00220 #\n\ 00221 # This message consists of a multiple arrays, one for each part of the joint state. \n\ 00222 # The goal is to make each of the fields optional. When e.g. your joints have no\n\ 00223 # effort associated with them, you can leave the effort array empty. \n\ 00224 #\n\ 00225 # All arrays in this message should have the same size, or be empty.\n\ 00226 # This is the only way to uniquely associate the joint name with the correct\n\ 00227 # states.\n\ 00228 \n\ 00229 \n\ 00230 Header header\n\ 00231 \n\ 00232 string[] name\n\ 00233 float64[] position\n\ 00234 float64[] velocity\n\ 00235 float64[] effort\n\ 00236 \n\ 00237 ================================================================================\n\ 00238 MSG: arm_navigation_msgs/MultiDOFJointState\n\ 00239 #A representation of a multi-dof joint state\n\ 00240 time stamp\n\ 00241 string[] joint_names\n\ 00242 string[] frame_ids\n\ 00243 string[] child_frame_ids\n\ 00244 geometry_msgs/Pose[] poses\n\ 00245 \n\ 00246 ================================================================================\n\ 00247 MSG: arm_navigation_msgs/Constraints\n\ 00248 # This message contains a list of motion planning constraints.\n\ 00249 \n\ 00250 arm_navigation_msgs/JointConstraint[] joint_constraints\n\ 00251 arm_navigation_msgs/PositionConstraint[] position_constraints\n\ 00252 arm_navigation_msgs/OrientationConstraint[] orientation_constraints\n\ 00253 arm_navigation_msgs/VisibilityConstraint[] visibility_constraints\n\ 00254 \n\ 00255 ================================================================================\n\ 00256 MSG: arm_navigation_msgs/JointConstraint\n\ 00257 # Constrain the position of a joint to be within a certain bound\n\ 00258 string joint_name\n\ 00259 \n\ 00260 # the bound to be achieved is [position - tolerance_below, position + tolerance_above]\n\ 00261 float64 position\n\ 00262 float64 tolerance_above\n\ 00263 float64 tolerance_below\n\ 00264 \n\ 00265 # A weighting factor for this constraint\n\ 00266 float64 weight\n\ 00267 ================================================================================\n\ 00268 MSG: arm_navigation_msgs/PositionConstraint\n\ 00269 # This message contains the definition of a position constraint.\n\ 00270 Header header\n\ 00271 \n\ 00272 # The robot link this constraint refers to\n\ 00273 string link_name\n\ 00274 \n\ 00275 # The offset (in the link frame) for the target point on the link we are planning for\n\ 00276 geometry_msgs/Point target_point_offset\n\ 00277 \n\ 00278 # The nominal/target position for the point we are planning for\n\ 00279 geometry_msgs/Point position\n\ 00280 \n\ 00281 # The shape of the bounded region that constrains the position of the end-effector\n\ 00282 # This region is always centered at the position defined above\n\ 00283 arm_navigation_msgs/Shape constraint_region_shape\n\ 00284 \n\ 00285 # The orientation of the bounded region that constrains the position of the end-effector. \n\ 00286 # This allows the specification of non-axis aligned constraints\n\ 00287 geometry_msgs/Quaternion constraint_region_orientation\n\ 00288 \n\ 00289 # Constraint weighting factor - a weight for this constraint\n\ 00290 float64 weight\n\ 00291 \n\ 00292 ================================================================================\n\ 00293 MSG: arm_navigation_msgs/OrientationConstraint\n\ 00294 # This message contains the definition of an orientation constraint.\n\ 00295 Header header\n\ 00296 \n\ 00297 # The robot link this constraint refers to\n\ 00298 string link_name\n\ 00299 \n\ 00300 # The type of the constraint\n\ 00301 int32 type\n\ 00302 int32 LINK_FRAME=0\n\ 00303 int32 HEADER_FRAME=1\n\ 00304 \n\ 00305 # The desired orientation of the robot link specified as a quaternion\n\ 00306 geometry_msgs/Quaternion orientation\n\ 00307 \n\ 00308 # optional RPY error tolerances specified if \n\ 00309 float64 absolute_roll_tolerance\n\ 00310 float64 absolute_pitch_tolerance\n\ 00311 float64 absolute_yaw_tolerance\n\ 00312 \n\ 00313 # Constraint weighting factor - a weight for this constraint\n\ 00314 float64 weight\n\ 00315 \n\ 00316 ================================================================================\n\ 00317 MSG: arm_navigation_msgs/VisibilityConstraint\n\ 00318 # This message contains the definition of a visibility constraint.\n\ 00319 Header header\n\ 00320 \n\ 00321 # The point stamped target that needs to be kept within view of the sensor\n\ 00322 geometry_msgs/PointStamped target\n\ 00323 \n\ 00324 # The local pose of the frame in which visibility is to be maintained\n\ 00325 # The frame id should represent the robot link to which the sensor is attached\n\ 00326 # The visual axis of the sensor is assumed to be along the X axis of this frame\n\ 00327 geometry_msgs/PoseStamped sensor_pose\n\ 00328 \n\ 00329 # The deviation (in radians) that will be tolerated\n\ 00330 # Constraint error will be measured as the solid angle between the \n\ 00331 # X axis of the frame defined above and the vector between the origin \n\ 00332 # of the frame defined above and the target location\n\ 00333 float64 absolute_tolerance\n\ 00334 \n\ 00335 \n\ 00336 ================================================================================\n\ 00337 MSG: geometry_msgs/PointStamped\n\ 00338 # This represents a Point with reference coordinate frame and timestamp\n\ 00339 Header header\n\ 00340 Point point\n\ 00341 \n\ 00342 "; } 00343 public: 00344 ROS_DEPRECATED static const std::string __s_getMessageDefinition() { return __s_getMessageDefinition_(); } 00345 00346 ROS_DEPRECATED const std::string __getMessageDefinition() const { return __s_getMessageDefinition_(); } 00347 00348 ROS_DEPRECATED virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const 00349 { 00350 ros::serialization::OStream stream(write_ptr, 1000000000); 00351 ros::serialization::serialize(stream, motion_plan_request); 00352 return stream.getData(); 00353 } 00354 00355 ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr) 00356 { 00357 ros::serialization::IStream stream(read_ptr, 1000000000); 00358 ros::serialization::deserialize(stream, motion_plan_request); 00359 return stream.getData(); 00360 } 00361 00362 ROS_DEPRECATED virtual uint32_t serializationLength() const 00363 { 00364 uint32_t size = 0; 00365 size += ros::serialization::serializationLength(motion_plan_request); 00366 return size; 00367 } 00368 00369 typedef boost::shared_ptr< ::arm_navigation_msgs::GetMotionPlanRequest_<ContainerAllocator> > Ptr; 00370 typedef boost::shared_ptr< ::arm_navigation_msgs::GetMotionPlanRequest_<ContainerAllocator> const> ConstPtr; 00371 boost::shared_ptr<std::map<std::string, std::string> > __connection_header; 00372 }; // struct GetMotionPlanRequest 00373 typedef ::arm_navigation_msgs::GetMotionPlanRequest_<std::allocator<void> > GetMotionPlanRequest; 00374 00375 typedef boost::shared_ptr< ::arm_navigation_msgs::GetMotionPlanRequest> GetMotionPlanRequestPtr; 00376 typedef boost::shared_ptr< ::arm_navigation_msgs::GetMotionPlanRequest const> GetMotionPlanRequestConstPtr; 00377 00378 00379 template <class ContainerAllocator> 00380 struct GetMotionPlanResponse_ { 00381 typedef GetMotionPlanResponse_<ContainerAllocator> Type; 00382 00383 GetMotionPlanResponse_() 00384 : trajectory() 00385 , robot_state() 00386 , planning_time() 00387 , error_code() 00388 , trajectory_error_codes() 00389 { 00390 } 00391 00392 GetMotionPlanResponse_(const ContainerAllocator& _alloc) 00393 : trajectory(_alloc) 00394 , robot_state(_alloc) 00395 , planning_time() 00396 , error_code(_alloc) 00397 , trajectory_error_codes(_alloc) 00398 { 00399 } 00400 00401 typedef ::arm_navigation_msgs::RobotTrajectory_<ContainerAllocator> _trajectory_type; 00402 ::arm_navigation_msgs::RobotTrajectory_<ContainerAllocator> trajectory; 00403 00404 typedef ::arm_navigation_msgs::RobotState_<ContainerAllocator> _robot_state_type; 00405 ::arm_navigation_msgs::RobotState_<ContainerAllocator> robot_state; 00406 00407 typedef ros::Duration _planning_time_type; 00408 ros::Duration planning_time; 00409 00410 typedef ::arm_navigation_msgs::ArmNavigationErrorCodes_<ContainerAllocator> _error_code_type; 00411 ::arm_navigation_msgs::ArmNavigationErrorCodes_<ContainerAllocator> error_code; 00412 00413 typedef std::vector< ::arm_navigation_msgs::ArmNavigationErrorCodes_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::arm_navigation_msgs::ArmNavigationErrorCodes_<ContainerAllocator> >::other > _trajectory_error_codes_type; 00414 std::vector< ::arm_navigation_msgs::ArmNavigationErrorCodes_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::arm_navigation_msgs::ArmNavigationErrorCodes_<ContainerAllocator> >::other > trajectory_error_codes; 00415 00416 00417 ROS_DEPRECATED uint32_t get_trajectory_error_codes_size() const { return (uint32_t)trajectory_error_codes.size(); } 00418 ROS_DEPRECATED void set_trajectory_error_codes_size(uint32_t size) { trajectory_error_codes.resize((size_t)size); } 00419 ROS_DEPRECATED void get_trajectory_error_codes_vec(std::vector< ::arm_navigation_msgs::ArmNavigationErrorCodes_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::arm_navigation_msgs::ArmNavigationErrorCodes_<ContainerAllocator> >::other > & vec) const { vec = this->trajectory_error_codes; } 00420 ROS_DEPRECATED void set_trajectory_error_codes_vec(const std::vector< ::arm_navigation_msgs::ArmNavigationErrorCodes_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::arm_navigation_msgs::ArmNavigationErrorCodes_<ContainerAllocator> >::other > & vec) { this->trajectory_error_codes = vec; } 00421 private: 00422 static const char* __s_getDataType_() { return "arm_navigation_msgs/GetMotionPlanResponse"; } 00423 public: 00424 ROS_DEPRECATED static const std::string __s_getDataType() { return __s_getDataType_(); } 00425 00426 ROS_DEPRECATED const std::string __getDataType() const { return __s_getDataType_(); } 00427 00428 private: 00429 static const char* __s_getMD5Sum_() { return "644f3b4cf5b71b614298ce1d1a472b61"; } 00430 public: 00431 ROS_DEPRECATED static const std::string __s_getMD5Sum() { return __s_getMD5Sum_(); } 00432 00433 ROS_DEPRECATED const std::string __getMD5Sum() const { return __s_getMD5Sum_(); } 00434 00435 private: 00436 static const char* __s_getServerMD5Sum_() { return "e7f04013c167d0703692fec8a86b22ef"; } 00437 public: 00438 ROS_DEPRECATED static const std::string __s_getServerMD5Sum() { return __s_getServerMD5Sum_(); } 00439 00440 ROS_DEPRECATED const std::string __getServerMD5Sum() const { return __s_getServerMD5Sum_(); } 00441 00442 private: 00443 static const char* __s_getMessageDefinition_() { return "\n\ 00444 \n\ 00445 arm_navigation_msgs/RobotTrajectory trajectory\n\ 00446 \n\ 00447 \n\ 00448 arm_navigation_msgs/RobotState robot_state\n\ 00449 \n\ 00450 \n\ 00451 duration planning_time\n\ 00452 \n\ 00453 \n\ 00454 arm_navigation_msgs/ArmNavigationErrorCodes error_code\n\ 00455 \n\ 00456 \n\ 00457 arm_navigation_msgs/ArmNavigationErrorCodes[] trajectory_error_codes\n\ 00458 \n\ 00459 \n\ 00460 ================================================================================\n\ 00461 MSG: arm_navigation_msgs/RobotTrajectory\n\ 00462 trajectory_msgs/JointTrajectory joint_trajectory\n\ 00463 arm_navigation_msgs/MultiDOFJointTrajectory multi_dof_joint_trajectory\n\ 00464 \n\ 00465 ================================================================================\n\ 00466 MSG: trajectory_msgs/JointTrajectory\n\ 00467 Header header\n\ 00468 string[] joint_names\n\ 00469 JointTrajectoryPoint[] points\n\ 00470 ================================================================================\n\ 00471 MSG: std_msgs/Header\n\ 00472 # Standard metadata for higher-level stamped data types.\n\ 00473 # This is generally used to communicate timestamped data \n\ 00474 # in a particular coordinate frame.\n\ 00475 # \n\ 00476 # sequence ID: consecutively increasing ID \n\ 00477 uint32 seq\n\ 00478 #Two-integer timestamp that is expressed as:\n\ 00479 # * stamp.secs: seconds (stamp_secs) since epoch\n\ 00480 # * stamp.nsecs: nanoseconds since stamp_secs\n\ 00481 # time-handling sugar is provided by the client library\n\ 00482 time stamp\n\ 00483 #Frame this data is associated with\n\ 00484 # 0: no frame\n\ 00485 # 1: global frame\n\ 00486 string frame_id\n\ 00487 \n\ 00488 ================================================================================\n\ 00489 MSG: trajectory_msgs/JointTrajectoryPoint\n\ 00490 float64[] positions\n\ 00491 float64[] velocities\n\ 00492 float64[] accelerations\n\ 00493 duration time_from_start\n\ 00494 ================================================================================\n\ 00495 MSG: arm_navigation_msgs/MultiDOFJointTrajectory\n\ 00496 #A representation of a multi-dof joint trajectory\n\ 00497 duration stamp\n\ 00498 string[] joint_names\n\ 00499 string[] frame_ids\n\ 00500 string[] child_frame_ids\n\ 00501 MultiDOFJointTrajectoryPoint[] points\n\ 00502 \n\ 00503 ================================================================================\n\ 00504 MSG: arm_navigation_msgs/MultiDOFJointTrajectoryPoint\n\ 00505 geometry_msgs/Pose[] poses\n\ 00506 duration time_from_start\n\ 00507 ================================================================================\n\ 00508 MSG: geometry_msgs/Pose\n\ 00509 # A representation of pose in free space, composed of postion and orientation. \n\ 00510 Point position\n\ 00511 Quaternion orientation\n\ 00512 \n\ 00513 ================================================================================\n\ 00514 MSG: geometry_msgs/Point\n\ 00515 # This contains the position of a point in free space\n\ 00516 float64 x\n\ 00517 float64 y\n\ 00518 float64 z\n\ 00519 \n\ 00520 ================================================================================\n\ 00521 MSG: geometry_msgs/Quaternion\n\ 00522 # This represents an orientation in free space in quaternion form.\n\ 00523 \n\ 00524 float64 x\n\ 00525 float64 y\n\ 00526 float64 z\n\ 00527 float64 w\n\ 00528 \n\ 00529 ================================================================================\n\ 00530 MSG: arm_navigation_msgs/RobotState\n\ 00531 # This message contains information about the robot state, i.e. the positions of its joints and links\n\ 00532 sensor_msgs/JointState joint_state\n\ 00533 arm_navigation_msgs/MultiDOFJointState multi_dof_joint_state\n\ 00534 \n\ 00535 ================================================================================\n\ 00536 MSG: sensor_msgs/JointState\n\ 00537 # This is a message that holds data to describe the state of a set of torque controlled joints. \n\ 00538 #\n\ 00539 # The state of each joint (revolute or prismatic) is defined by:\n\ 00540 # * the position of the joint (rad or m),\n\ 00541 # * the velocity of the joint (rad/s or m/s) and \n\ 00542 # * the effort that is applied in the joint (Nm or N).\n\ 00543 #\n\ 00544 # Each joint is uniquely identified by its name\n\ 00545 # The header specifies the time at which the joint states were recorded. All the joint states\n\ 00546 # in one message have to be recorded at the same time.\n\ 00547 #\n\ 00548 # This message consists of a multiple arrays, one for each part of the joint state. \n\ 00549 # The goal is to make each of the fields optional. When e.g. your joints have no\n\ 00550 # effort associated with them, you can leave the effort array empty. \n\ 00551 #\n\ 00552 # All arrays in this message should have the same size, or be empty.\n\ 00553 # This is the only way to uniquely associate the joint name with the correct\n\ 00554 # states.\n\ 00555 \n\ 00556 \n\ 00557 Header header\n\ 00558 \n\ 00559 string[] name\n\ 00560 float64[] position\n\ 00561 float64[] velocity\n\ 00562 float64[] effort\n\ 00563 \n\ 00564 ================================================================================\n\ 00565 MSG: arm_navigation_msgs/MultiDOFJointState\n\ 00566 #A representation of a multi-dof joint state\n\ 00567 time stamp\n\ 00568 string[] joint_names\n\ 00569 string[] frame_ids\n\ 00570 string[] child_frame_ids\n\ 00571 geometry_msgs/Pose[] poses\n\ 00572 \n\ 00573 ================================================================================\n\ 00574 MSG: arm_navigation_msgs/ArmNavigationErrorCodes\n\ 00575 int32 val\n\ 00576 \n\ 00577 # overall behavior\n\ 00578 int32 PLANNING_FAILED=-1\n\ 00579 int32 SUCCESS=1\n\ 00580 int32 TIMED_OUT=-2\n\ 00581 \n\ 00582 # start state errors\n\ 00583 int32 START_STATE_IN_COLLISION=-3\n\ 00584 int32 START_STATE_VIOLATES_PATH_CONSTRAINTS=-4\n\ 00585 \n\ 00586 # goal errors\n\ 00587 int32 GOAL_IN_COLLISION=-5\n\ 00588 int32 GOAL_VIOLATES_PATH_CONSTRAINTS=-6\n\ 00589 \n\ 00590 # robot state\n\ 00591 int32 INVALID_ROBOT_STATE=-7\n\ 00592 int32 INCOMPLETE_ROBOT_STATE=-8\n\ 00593 \n\ 00594 # planning request errors\n\ 00595 int32 INVALID_PLANNER_ID=-9\n\ 00596 int32 INVALID_NUM_PLANNING_ATTEMPTS=-10\n\ 00597 int32 INVALID_ALLOWED_PLANNING_TIME=-11\n\ 00598 int32 INVALID_GROUP_NAME=-12\n\ 00599 int32 INVALID_GOAL_JOINT_CONSTRAINTS=-13\n\ 00600 int32 INVALID_GOAL_POSITION_CONSTRAINTS=-14\n\ 00601 int32 INVALID_GOAL_ORIENTATION_CONSTRAINTS=-15\n\ 00602 int32 INVALID_PATH_JOINT_CONSTRAINTS=-16\n\ 00603 int32 INVALID_PATH_POSITION_CONSTRAINTS=-17\n\ 00604 int32 INVALID_PATH_ORIENTATION_CONSTRAINTS=-18\n\ 00605 \n\ 00606 # state/trajectory monitor errors\n\ 00607 int32 INVALID_TRAJECTORY=-19\n\ 00608 int32 INVALID_INDEX=-20\n\ 00609 int32 JOINT_LIMITS_VIOLATED=-21\n\ 00610 int32 PATH_CONSTRAINTS_VIOLATED=-22\n\ 00611 int32 COLLISION_CONSTRAINTS_VIOLATED=-23\n\ 00612 int32 GOAL_CONSTRAINTS_VIOLATED=-24\n\ 00613 int32 JOINTS_NOT_MOVING=-25\n\ 00614 int32 TRAJECTORY_CONTROLLER_FAILED=-26\n\ 00615 \n\ 00616 # system errors\n\ 00617 int32 FRAME_TRANSFORM_FAILURE=-27\n\ 00618 int32 COLLISION_CHECKING_UNAVAILABLE=-28\n\ 00619 int32 ROBOT_STATE_STALE=-29\n\ 00620 int32 SENSOR_INFO_STALE=-30\n\ 00621 \n\ 00622 # kinematics errors\n\ 00623 int32 NO_IK_SOLUTION=-31\n\ 00624 int32 INVALID_LINK_NAME=-32\n\ 00625 int32 IK_LINK_IN_COLLISION=-33\n\ 00626 int32 NO_FK_SOLUTION=-34\n\ 00627 int32 KINEMATICS_STATE_IN_COLLISION=-35\n\ 00628 \n\ 00629 # general errors\n\ 00630 int32 INVALID_TIMEOUT=-36\n\ 00631 \n\ 00632 \n\ 00633 "; } 00634 public: 00635 ROS_DEPRECATED static const std::string __s_getMessageDefinition() { return __s_getMessageDefinition_(); } 00636 00637 ROS_DEPRECATED const std::string __getMessageDefinition() const { return __s_getMessageDefinition_(); } 00638 00639 ROS_DEPRECATED virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const 00640 { 00641 ros::serialization::OStream stream(write_ptr, 1000000000); 00642 ros::serialization::serialize(stream, trajectory); 00643 ros::serialization::serialize(stream, robot_state); 00644 ros::serialization::serialize(stream, planning_time); 00645 ros::serialization::serialize(stream, error_code); 00646 ros::serialization::serialize(stream, trajectory_error_codes); 00647 return stream.getData(); 00648 } 00649 00650 ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr) 00651 { 00652 ros::serialization::IStream stream(read_ptr, 1000000000); 00653 ros::serialization::deserialize(stream, trajectory); 00654 ros::serialization::deserialize(stream, robot_state); 00655 ros::serialization::deserialize(stream, planning_time); 00656 ros::serialization::deserialize(stream, error_code); 00657 ros::serialization::deserialize(stream, trajectory_error_codes); 00658 return stream.getData(); 00659 } 00660 00661 ROS_DEPRECATED virtual uint32_t serializationLength() const 00662 { 00663 uint32_t size = 0; 00664 size += ros::serialization::serializationLength(trajectory); 00665 size += ros::serialization::serializationLength(robot_state); 00666 size += ros::serialization::serializationLength(planning_time); 00667 size += ros::serialization::serializationLength(error_code); 00668 size += ros::serialization::serializationLength(trajectory_error_codes); 00669 return size; 00670 } 00671 00672 typedef boost::shared_ptr< ::arm_navigation_msgs::GetMotionPlanResponse_<ContainerAllocator> > Ptr; 00673 typedef boost::shared_ptr< ::arm_navigation_msgs::GetMotionPlanResponse_<ContainerAllocator> const> ConstPtr; 00674 boost::shared_ptr<std::map<std::string, std::string> > __connection_header; 00675 }; // struct GetMotionPlanResponse 00676 typedef ::arm_navigation_msgs::GetMotionPlanResponse_<std::allocator<void> > GetMotionPlanResponse; 00677 00678 typedef boost::shared_ptr< ::arm_navigation_msgs::GetMotionPlanResponse> GetMotionPlanResponsePtr; 00679 typedef boost::shared_ptr< ::arm_navigation_msgs::GetMotionPlanResponse const> GetMotionPlanResponseConstPtr; 00680 00681 struct GetMotionPlan 00682 { 00683 00684 typedef GetMotionPlanRequest Request; 00685 typedef GetMotionPlanResponse Response; 00686 Request request; 00687 Response response; 00688 00689 typedef Request RequestType; 00690 typedef Response ResponseType; 00691 }; // struct GetMotionPlan 00692 } // namespace arm_navigation_msgs 00693 00694 namespace ros 00695 { 00696 namespace message_traits 00697 { 00698 template<class ContainerAllocator> struct IsMessage< ::arm_navigation_msgs::GetMotionPlanRequest_<ContainerAllocator> > : public TrueType {}; 00699 template<class ContainerAllocator> struct IsMessage< ::arm_navigation_msgs::GetMotionPlanRequest_<ContainerAllocator> const> : public TrueType {}; 00700 template<class ContainerAllocator> 00701 struct MD5Sum< ::arm_navigation_msgs::GetMotionPlanRequest_<ContainerAllocator> > { 00702 static const char* value() 00703 { 00704 return "53194db8d1959c06cb41e066f1f6695e"; 00705 } 00706 00707 static const char* value(const ::arm_navigation_msgs::GetMotionPlanRequest_<ContainerAllocator> &) { return value(); } 00708 static const uint64_t static_value1 = 0x53194db8d1959c06ULL; 00709 static const uint64_t static_value2 = 0xcb41e066f1f6695eULL; 00710 }; 00711 00712 template<class ContainerAllocator> 00713 struct DataType< ::arm_navigation_msgs::GetMotionPlanRequest_<ContainerAllocator> > { 00714 static const char* value() 00715 { 00716 return "arm_navigation_msgs/GetMotionPlanRequest"; 00717 } 00718 00719 static const char* value(const ::arm_navigation_msgs::GetMotionPlanRequest_<ContainerAllocator> &) { return value(); } 00720 }; 00721 00722 template<class ContainerAllocator> 00723 struct Definition< ::arm_navigation_msgs::GetMotionPlanRequest_<ContainerAllocator> > { 00724 static const char* value() 00725 { 00726 return "\n\ 00727 \n\ 00728 \n\ 00729 MotionPlanRequest motion_plan_request\n\ 00730 \n\ 00731 \n\ 00732 ================================================================================\n\ 00733 MSG: arm_navigation_msgs/MotionPlanRequest\n\ 00734 # This service contains the definition for a request to the motion\n\ 00735 # planner and the output it provides\n\ 00736 \n\ 00737 # Parameters for the workspace that the planner should work inside\n\ 00738 arm_navigation_msgs/WorkspaceParameters workspace_parameters\n\ 00739 \n\ 00740 # Starting state updates. If certain joints should be considered\n\ 00741 # at positions other than the current ones, these positions should\n\ 00742 # be set here\n\ 00743 arm_navigation_msgs/RobotState start_state\n\ 00744 \n\ 00745 # The goal state for the model to plan for. The goal is achieved\n\ 00746 # if all constraints are satisfied\n\ 00747 arm_navigation_msgs/Constraints goal_constraints\n\ 00748 \n\ 00749 # No state at any point along the path in the produced motion plan will violate these constraints\n\ 00750 arm_navigation_msgs/Constraints path_constraints\n\ 00751 \n\ 00752 # The name of the motion planner to use. If no name is specified,\n\ 00753 # a default motion planner will be used\n\ 00754 string planner_id\n\ 00755 \n\ 00756 # The name of the group of joints on which this planner is operating\n\ 00757 string group_name\n\ 00758 \n\ 00759 # The number of times this plan is to be computed. Shortest solution\n\ 00760 # will be reported.\n\ 00761 int32 num_planning_attempts\n\ 00762 \n\ 00763 # The maximum amount of time the motion planner is allowed to plan for\n\ 00764 duration allowed_planning_time\n\ 00765 \n\ 00766 # An expected path duration (in seconds) along with an expected discretization of the path allows the planner to determine the discretization of the trajectory that it returns\n\ 00767 duration expected_path_duration\n\ 00768 duration expected_path_dt\n\ 00769 \n\ 00770 ================================================================================\n\ 00771 MSG: arm_navigation_msgs/WorkspaceParameters\n\ 00772 # This message contains a set of parameters useful in\n\ 00773 # setting up the workspace for planning\n\ 00774 arm_navigation_msgs/Shape workspace_region_shape\n\ 00775 geometry_msgs/PoseStamped workspace_region_pose\n\ 00776 \n\ 00777 \n\ 00778 ================================================================================\n\ 00779 MSG: arm_navigation_msgs/Shape\n\ 00780 byte SPHERE=0\n\ 00781 byte BOX=1\n\ 00782 byte CYLINDER=2\n\ 00783 byte MESH=3\n\ 00784 \n\ 00785 byte type\n\ 00786 \n\ 00787 \n\ 00788 #### define sphere, box, cylinder ####\n\ 00789 # the origin of each shape is considered at the shape's center\n\ 00790 \n\ 00791 # for sphere\n\ 00792 # radius := dimensions[0]\n\ 00793 \n\ 00794 # for cylinder\n\ 00795 # radius := dimensions[0]\n\ 00796 # length := dimensions[1]\n\ 00797 # the length is along the Z axis\n\ 00798 \n\ 00799 # for box\n\ 00800 # size_x := dimensions[0]\n\ 00801 # size_y := dimensions[1]\n\ 00802 # size_z := dimensions[2]\n\ 00803 float64[] dimensions\n\ 00804 \n\ 00805 \n\ 00806 #### define mesh ####\n\ 00807 \n\ 00808 # list of triangles; triangle k is defined by tre vertices located\n\ 00809 # at indices triangles[3k], triangles[3k+1], triangles[3k+2]\n\ 00810 int32[] triangles\n\ 00811 geometry_msgs/Point[] vertices\n\ 00812 \n\ 00813 ================================================================================\n\ 00814 MSG: geometry_msgs/Point\n\ 00815 # This contains the position of a point in free space\n\ 00816 float64 x\n\ 00817 float64 y\n\ 00818 float64 z\n\ 00819 \n\ 00820 ================================================================================\n\ 00821 MSG: geometry_msgs/PoseStamped\n\ 00822 # A Pose with reference coordinate frame and timestamp\n\ 00823 Header header\n\ 00824 Pose pose\n\ 00825 \n\ 00826 ================================================================================\n\ 00827 MSG: std_msgs/Header\n\ 00828 # Standard metadata for higher-level stamped data types.\n\ 00829 # This is generally used to communicate timestamped data \n\ 00830 # in a particular coordinate frame.\n\ 00831 # \n\ 00832 # sequence ID: consecutively increasing ID \n\ 00833 uint32 seq\n\ 00834 #Two-integer timestamp that is expressed as:\n\ 00835 # * stamp.secs: seconds (stamp_secs) since epoch\n\ 00836 # * stamp.nsecs: nanoseconds since stamp_secs\n\ 00837 # time-handling sugar is provided by the client library\n\ 00838 time stamp\n\ 00839 #Frame this data is associated with\n\ 00840 # 0: no frame\n\ 00841 # 1: global frame\n\ 00842 string frame_id\n\ 00843 \n\ 00844 ================================================================================\n\ 00845 MSG: geometry_msgs/Pose\n\ 00846 # A representation of pose in free space, composed of postion and orientation. \n\ 00847 Point position\n\ 00848 Quaternion orientation\n\ 00849 \n\ 00850 ================================================================================\n\ 00851 MSG: geometry_msgs/Quaternion\n\ 00852 # This represents an orientation in free space in quaternion form.\n\ 00853 \n\ 00854 float64 x\n\ 00855 float64 y\n\ 00856 float64 z\n\ 00857 float64 w\n\ 00858 \n\ 00859 ================================================================================\n\ 00860 MSG: arm_navigation_msgs/RobotState\n\ 00861 # This message contains information about the robot state, i.e. the positions of its joints and links\n\ 00862 sensor_msgs/JointState joint_state\n\ 00863 arm_navigation_msgs/MultiDOFJointState multi_dof_joint_state\n\ 00864 \n\ 00865 ================================================================================\n\ 00866 MSG: sensor_msgs/JointState\n\ 00867 # This is a message that holds data to describe the state of a set of torque controlled joints. \n\ 00868 #\n\ 00869 # The state of each joint (revolute or prismatic) is defined by:\n\ 00870 # * the position of the joint (rad or m),\n\ 00871 # * the velocity of the joint (rad/s or m/s) and \n\ 00872 # * the effort that is applied in the joint (Nm or N).\n\ 00873 #\n\ 00874 # Each joint is uniquely identified by its name\n\ 00875 # The header specifies the time at which the joint states were recorded. All the joint states\n\ 00876 # in one message have to be recorded at the same time.\n\ 00877 #\n\ 00878 # This message consists of a multiple arrays, one for each part of the joint state. \n\ 00879 # The goal is to make each of the fields optional. When e.g. your joints have no\n\ 00880 # effort associated with them, you can leave the effort array empty. \n\ 00881 #\n\ 00882 # All arrays in this message should have the same size, or be empty.\n\ 00883 # This is the only way to uniquely associate the joint name with the correct\n\ 00884 # states.\n\ 00885 \n\ 00886 \n\ 00887 Header header\n\ 00888 \n\ 00889 string[] name\n\ 00890 float64[] position\n\ 00891 float64[] velocity\n\ 00892 float64[] effort\n\ 00893 \n\ 00894 ================================================================================\n\ 00895 MSG: arm_navigation_msgs/MultiDOFJointState\n\ 00896 #A representation of a multi-dof joint state\n\ 00897 time stamp\n\ 00898 string[] joint_names\n\ 00899 string[] frame_ids\n\ 00900 string[] child_frame_ids\n\ 00901 geometry_msgs/Pose[] poses\n\ 00902 \n\ 00903 ================================================================================\n\ 00904 MSG: arm_navigation_msgs/Constraints\n\ 00905 # This message contains a list of motion planning constraints.\n\ 00906 \n\ 00907 arm_navigation_msgs/JointConstraint[] joint_constraints\n\ 00908 arm_navigation_msgs/PositionConstraint[] position_constraints\n\ 00909 arm_navigation_msgs/OrientationConstraint[] orientation_constraints\n\ 00910 arm_navigation_msgs/VisibilityConstraint[] visibility_constraints\n\ 00911 \n\ 00912 ================================================================================\n\ 00913 MSG: arm_navigation_msgs/JointConstraint\n\ 00914 # Constrain the position of a joint to be within a certain bound\n\ 00915 string joint_name\n\ 00916 \n\ 00917 # the bound to be achieved is [position - tolerance_below, position + tolerance_above]\n\ 00918 float64 position\n\ 00919 float64 tolerance_above\n\ 00920 float64 tolerance_below\n\ 00921 \n\ 00922 # A weighting factor for this constraint\n\ 00923 float64 weight\n\ 00924 ================================================================================\n\ 00925 MSG: arm_navigation_msgs/PositionConstraint\n\ 00926 # This message contains the definition of a position constraint.\n\ 00927 Header header\n\ 00928 \n\ 00929 # The robot link this constraint refers to\n\ 00930 string link_name\n\ 00931 \n\ 00932 # The offset (in the link frame) for the target point on the link we are planning for\n\ 00933 geometry_msgs/Point target_point_offset\n\ 00934 \n\ 00935 # The nominal/target position for the point we are planning for\n\ 00936 geometry_msgs/Point position\n\ 00937 \n\ 00938 # The shape of the bounded region that constrains the position of the end-effector\n\ 00939 # This region is always centered at the position defined above\n\ 00940 arm_navigation_msgs/Shape constraint_region_shape\n\ 00941 \n\ 00942 # The orientation of the bounded region that constrains the position of the end-effector. \n\ 00943 # This allows the specification of non-axis aligned constraints\n\ 00944 geometry_msgs/Quaternion constraint_region_orientation\n\ 00945 \n\ 00946 # Constraint weighting factor - a weight for this constraint\n\ 00947 float64 weight\n\ 00948 \n\ 00949 ================================================================================\n\ 00950 MSG: arm_navigation_msgs/OrientationConstraint\n\ 00951 # This message contains the definition of an orientation constraint.\n\ 00952 Header header\n\ 00953 \n\ 00954 # The robot link this constraint refers to\n\ 00955 string link_name\n\ 00956 \n\ 00957 # The type of the constraint\n\ 00958 int32 type\n\ 00959 int32 LINK_FRAME=0\n\ 00960 int32 HEADER_FRAME=1\n\ 00961 \n\ 00962 # The desired orientation of the robot link specified as a quaternion\n\ 00963 geometry_msgs/Quaternion orientation\n\ 00964 \n\ 00965 # optional RPY error tolerances specified if \n\ 00966 float64 absolute_roll_tolerance\n\ 00967 float64 absolute_pitch_tolerance\n\ 00968 float64 absolute_yaw_tolerance\n\ 00969 \n\ 00970 # Constraint weighting factor - a weight for this constraint\n\ 00971 float64 weight\n\ 00972 \n\ 00973 ================================================================================\n\ 00974 MSG: arm_navigation_msgs/VisibilityConstraint\n\ 00975 # This message contains the definition of a visibility constraint.\n\ 00976 Header header\n\ 00977 \n\ 00978 # The point stamped target that needs to be kept within view of the sensor\n\ 00979 geometry_msgs/PointStamped target\n\ 00980 \n\ 00981 # The local pose of the frame in which visibility is to be maintained\n\ 00982 # The frame id should represent the robot link to which the sensor is attached\n\ 00983 # The visual axis of the sensor is assumed to be along the X axis of this frame\n\ 00984 geometry_msgs/PoseStamped sensor_pose\n\ 00985 \n\ 00986 # The deviation (in radians) that will be tolerated\n\ 00987 # Constraint error will be measured as the solid angle between the \n\ 00988 # X axis of the frame defined above and the vector between the origin \n\ 00989 # of the frame defined above and the target location\n\ 00990 float64 absolute_tolerance\n\ 00991 \n\ 00992 \n\ 00993 ================================================================================\n\ 00994 MSG: geometry_msgs/PointStamped\n\ 00995 # This represents a Point with reference coordinate frame and timestamp\n\ 00996 Header header\n\ 00997 Point point\n\ 00998 \n\ 00999 "; 01000 } 01001 01002 static const char* value(const ::arm_navigation_msgs::GetMotionPlanRequest_<ContainerAllocator> &) { return value(); } 01003 }; 01004 01005 } // namespace message_traits 01006 } // namespace ros 01007 01008 01009 namespace ros 01010 { 01011 namespace message_traits 01012 { 01013 template<class ContainerAllocator> struct IsMessage< ::arm_navigation_msgs::GetMotionPlanResponse_<ContainerAllocator> > : public TrueType {}; 01014 template<class ContainerAllocator> struct IsMessage< ::arm_navigation_msgs::GetMotionPlanResponse_<ContainerAllocator> const> : public TrueType {}; 01015 template<class ContainerAllocator> 01016 struct MD5Sum< ::arm_navigation_msgs::GetMotionPlanResponse_<ContainerAllocator> > { 01017 static const char* value() 01018 { 01019 return "644f3b4cf5b71b614298ce1d1a472b61"; 01020 } 01021 01022 static const char* value(const ::arm_navigation_msgs::GetMotionPlanResponse_<ContainerAllocator> &) { return value(); } 01023 static const uint64_t static_value1 = 0x644f3b4cf5b71b61ULL; 01024 static const uint64_t static_value2 = 0x4298ce1d1a472b61ULL; 01025 }; 01026 01027 template<class ContainerAllocator> 01028 struct DataType< ::arm_navigation_msgs::GetMotionPlanResponse_<ContainerAllocator> > { 01029 static const char* value() 01030 { 01031 return "arm_navigation_msgs/GetMotionPlanResponse"; 01032 } 01033 01034 static const char* value(const ::arm_navigation_msgs::GetMotionPlanResponse_<ContainerAllocator> &) { return value(); } 01035 }; 01036 01037 template<class ContainerAllocator> 01038 struct Definition< ::arm_navigation_msgs::GetMotionPlanResponse_<ContainerAllocator> > { 01039 static const char* value() 01040 { 01041 return "\n\ 01042 \n\ 01043 arm_navigation_msgs/RobotTrajectory trajectory\n\ 01044 \n\ 01045 \n\ 01046 arm_navigation_msgs/RobotState robot_state\n\ 01047 \n\ 01048 \n\ 01049 duration planning_time\n\ 01050 \n\ 01051 \n\ 01052 arm_navigation_msgs/ArmNavigationErrorCodes error_code\n\ 01053 \n\ 01054 \n\ 01055 arm_navigation_msgs/ArmNavigationErrorCodes[] trajectory_error_codes\n\ 01056 \n\ 01057 \n\ 01058 ================================================================================\n\ 01059 MSG: arm_navigation_msgs/RobotTrajectory\n\ 01060 trajectory_msgs/JointTrajectory joint_trajectory\n\ 01061 arm_navigation_msgs/MultiDOFJointTrajectory multi_dof_joint_trajectory\n\ 01062 \n\ 01063 ================================================================================\n\ 01064 MSG: trajectory_msgs/JointTrajectory\n\ 01065 Header header\n\ 01066 string[] joint_names\n\ 01067 JointTrajectoryPoint[] points\n\ 01068 ================================================================================\n\ 01069 MSG: std_msgs/Header\n\ 01070 # Standard metadata for higher-level stamped data types.\n\ 01071 # This is generally used to communicate timestamped data \n\ 01072 # in a particular coordinate frame.\n\ 01073 # \n\ 01074 # sequence ID: consecutively increasing ID \n\ 01075 uint32 seq\n\ 01076 #Two-integer timestamp that is expressed as:\n\ 01077 # * stamp.secs: seconds (stamp_secs) since epoch\n\ 01078 # * stamp.nsecs: nanoseconds since stamp_secs\n\ 01079 # time-handling sugar is provided by the client library\n\ 01080 time stamp\n\ 01081 #Frame this data is associated with\n\ 01082 # 0: no frame\n\ 01083 # 1: global frame\n\ 01084 string frame_id\n\ 01085 \n\ 01086 ================================================================================\n\ 01087 MSG: trajectory_msgs/JointTrajectoryPoint\n\ 01088 float64[] positions\n\ 01089 float64[] velocities\n\ 01090 float64[] accelerations\n\ 01091 duration time_from_start\n\ 01092 ================================================================================\n\ 01093 MSG: arm_navigation_msgs/MultiDOFJointTrajectory\n\ 01094 #A representation of a multi-dof joint trajectory\n\ 01095 duration stamp\n\ 01096 string[] joint_names\n\ 01097 string[] frame_ids\n\ 01098 string[] child_frame_ids\n\ 01099 MultiDOFJointTrajectoryPoint[] points\n\ 01100 \n\ 01101 ================================================================================\n\ 01102 MSG: arm_navigation_msgs/MultiDOFJointTrajectoryPoint\n\ 01103 geometry_msgs/Pose[] poses\n\ 01104 duration time_from_start\n\ 01105 ================================================================================\n\ 01106 MSG: geometry_msgs/Pose\n\ 01107 # A representation of pose in free space, composed of postion and orientation. \n\ 01108 Point position\n\ 01109 Quaternion orientation\n\ 01110 \n\ 01111 ================================================================================\n\ 01112 MSG: geometry_msgs/Point\n\ 01113 # This contains the position of a point in free space\n\ 01114 float64 x\n\ 01115 float64 y\n\ 01116 float64 z\n\ 01117 \n\ 01118 ================================================================================\n\ 01119 MSG: geometry_msgs/Quaternion\n\ 01120 # This represents an orientation in free space in quaternion form.\n\ 01121 \n\ 01122 float64 x\n\ 01123 float64 y\n\ 01124 float64 z\n\ 01125 float64 w\n\ 01126 \n\ 01127 ================================================================================\n\ 01128 MSG: arm_navigation_msgs/RobotState\n\ 01129 # This message contains information about the robot state, i.e. the positions of its joints and links\n\ 01130 sensor_msgs/JointState joint_state\n\ 01131 arm_navigation_msgs/MultiDOFJointState multi_dof_joint_state\n\ 01132 \n\ 01133 ================================================================================\n\ 01134 MSG: sensor_msgs/JointState\n\ 01135 # This is a message that holds data to describe the state of a set of torque controlled joints. \n\ 01136 #\n\ 01137 # The state of each joint (revolute or prismatic) is defined by:\n\ 01138 # * the position of the joint (rad or m),\n\ 01139 # * the velocity of the joint (rad/s or m/s) and \n\ 01140 # * the effort that is applied in the joint (Nm or N).\n\ 01141 #\n\ 01142 # Each joint is uniquely identified by its name\n\ 01143 # The header specifies the time at which the joint states were recorded. All the joint states\n\ 01144 # in one message have to be recorded at the same time.\n\ 01145 #\n\ 01146 # This message consists of a multiple arrays, one for each part of the joint state. \n\ 01147 # The goal is to make each of the fields optional. When e.g. your joints have no\n\ 01148 # effort associated with them, you can leave the effort array empty. \n\ 01149 #\n\ 01150 # All arrays in this message should have the same size, or be empty.\n\ 01151 # This is the only way to uniquely associate the joint name with the correct\n\ 01152 # states.\n\ 01153 \n\ 01154 \n\ 01155 Header header\n\ 01156 \n\ 01157 string[] name\n\ 01158 float64[] position\n\ 01159 float64[] velocity\n\ 01160 float64[] effort\n\ 01161 \n\ 01162 ================================================================================\n\ 01163 MSG: arm_navigation_msgs/MultiDOFJointState\n\ 01164 #A representation of a multi-dof joint state\n\ 01165 time stamp\n\ 01166 string[] joint_names\n\ 01167 string[] frame_ids\n\ 01168 string[] child_frame_ids\n\ 01169 geometry_msgs/Pose[] poses\n\ 01170 \n\ 01171 ================================================================================\n\ 01172 MSG: arm_navigation_msgs/ArmNavigationErrorCodes\n\ 01173 int32 val\n\ 01174 \n\ 01175 # overall behavior\n\ 01176 int32 PLANNING_FAILED=-1\n\ 01177 int32 SUCCESS=1\n\ 01178 int32 TIMED_OUT=-2\n\ 01179 \n\ 01180 # start state errors\n\ 01181 int32 START_STATE_IN_COLLISION=-3\n\ 01182 int32 START_STATE_VIOLATES_PATH_CONSTRAINTS=-4\n\ 01183 \n\ 01184 # goal errors\n\ 01185 int32 GOAL_IN_COLLISION=-5\n\ 01186 int32 GOAL_VIOLATES_PATH_CONSTRAINTS=-6\n\ 01187 \n\ 01188 # robot state\n\ 01189 int32 INVALID_ROBOT_STATE=-7\n\ 01190 int32 INCOMPLETE_ROBOT_STATE=-8\n\ 01191 \n\ 01192 # planning request errors\n\ 01193 int32 INVALID_PLANNER_ID=-9\n\ 01194 int32 INVALID_NUM_PLANNING_ATTEMPTS=-10\n\ 01195 int32 INVALID_ALLOWED_PLANNING_TIME=-11\n\ 01196 int32 INVALID_GROUP_NAME=-12\n\ 01197 int32 INVALID_GOAL_JOINT_CONSTRAINTS=-13\n\ 01198 int32 INVALID_GOAL_POSITION_CONSTRAINTS=-14\n\ 01199 int32 INVALID_GOAL_ORIENTATION_CONSTRAINTS=-15\n\ 01200 int32 INVALID_PATH_JOINT_CONSTRAINTS=-16\n\ 01201 int32 INVALID_PATH_POSITION_CONSTRAINTS=-17\n\ 01202 int32 INVALID_PATH_ORIENTATION_CONSTRAINTS=-18\n\ 01203 \n\ 01204 # state/trajectory monitor errors\n\ 01205 int32 INVALID_TRAJECTORY=-19\n\ 01206 int32 INVALID_INDEX=-20\n\ 01207 int32 JOINT_LIMITS_VIOLATED=-21\n\ 01208 int32 PATH_CONSTRAINTS_VIOLATED=-22\n\ 01209 int32 COLLISION_CONSTRAINTS_VIOLATED=-23\n\ 01210 int32 GOAL_CONSTRAINTS_VIOLATED=-24\n\ 01211 int32 JOINTS_NOT_MOVING=-25\n\ 01212 int32 TRAJECTORY_CONTROLLER_FAILED=-26\n\ 01213 \n\ 01214 # system errors\n\ 01215 int32 FRAME_TRANSFORM_FAILURE=-27\n\ 01216 int32 COLLISION_CHECKING_UNAVAILABLE=-28\n\ 01217 int32 ROBOT_STATE_STALE=-29\n\ 01218 int32 SENSOR_INFO_STALE=-30\n\ 01219 \n\ 01220 # kinematics errors\n\ 01221 int32 NO_IK_SOLUTION=-31\n\ 01222 int32 INVALID_LINK_NAME=-32\n\ 01223 int32 IK_LINK_IN_COLLISION=-33\n\ 01224 int32 NO_FK_SOLUTION=-34\n\ 01225 int32 KINEMATICS_STATE_IN_COLLISION=-35\n\ 01226 \n\ 01227 # general errors\n\ 01228 int32 INVALID_TIMEOUT=-36\n\ 01229 \n\ 01230 \n\ 01231 "; 01232 } 01233 01234 static const char* value(const ::arm_navigation_msgs::GetMotionPlanResponse_<ContainerAllocator> &) { return value(); } 01235 }; 01236 01237 } // namespace message_traits 01238 } // namespace ros 01239 01240 namespace ros 01241 { 01242 namespace serialization 01243 { 01244 01245 template<class ContainerAllocator> struct Serializer< ::arm_navigation_msgs::GetMotionPlanRequest_<ContainerAllocator> > 01246 { 01247 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m) 01248 { 01249 stream.next(m.motion_plan_request); 01250 } 01251 01252 ROS_DECLARE_ALLINONE_SERIALIZER; 01253 }; // struct GetMotionPlanRequest_ 01254 } // namespace serialization 01255 } // namespace ros 01256 01257 01258 namespace ros 01259 { 01260 namespace serialization 01261 { 01262 01263 template<class ContainerAllocator> struct Serializer< ::arm_navigation_msgs::GetMotionPlanResponse_<ContainerAllocator> > 01264 { 01265 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m) 01266 { 01267 stream.next(m.trajectory); 01268 stream.next(m.robot_state); 01269 stream.next(m.planning_time); 01270 stream.next(m.error_code); 01271 stream.next(m.trajectory_error_codes); 01272 } 01273 01274 ROS_DECLARE_ALLINONE_SERIALIZER; 01275 }; // struct GetMotionPlanResponse_ 01276 } // namespace serialization 01277 } // namespace ros 01278 01279 namespace ros 01280 { 01281 namespace service_traits 01282 { 01283 template<> 01284 struct MD5Sum<arm_navigation_msgs::GetMotionPlan> { 01285 static const char* value() 01286 { 01287 return "e7f04013c167d0703692fec8a86b22ef"; 01288 } 01289 01290 static const char* value(const arm_navigation_msgs::GetMotionPlan&) { return value(); } 01291 }; 01292 01293 template<> 01294 struct DataType<arm_navigation_msgs::GetMotionPlan> { 01295 static const char* value() 01296 { 01297 return "arm_navigation_msgs/GetMotionPlan"; 01298 } 01299 01300 static const char* value(const arm_navigation_msgs::GetMotionPlan&) { return value(); } 01301 }; 01302 01303 template<class ContainerAllocator> 01304 struct MD5Sum<arm_navigation_msgs::GetMotionPlanRequest_<ContainerAllocator> > { 01305 static const char* value() 01306 { 01307 return "e7f04013c167d0703692fec8a86b22ef"; 01308 } 01309 01310 static const char* value(const arm_navigation_msgs::GetMotionPlanRequest_<ContainerAllocator> &) { return value(); } 01311 }; 01312 01313 template<class ContainerAllocator> 01314 struct DataType<arm_navigation_msgs::GetMotionPlanRequest_<ContainerAllocator> > { 01315 static const char* value() 01316 { 01317 return "arm_navigation_msgs/GetMotionPlan"; 01318 } 01319 01320 static const char* value(const arm_navigation_msgs::GetMotionPlanRequest_<ContainerAllocator> &) { return value(); } 01321 }; 01322 01323 template<class ContainerAllocator> 01324 struct MD5Sum<arm_navigation_msgs::GetMotionPlanResponse_<ContainerAllocator> > { 01325 static const char* value() 01326 { 01327 return "e7f04013c167d0703692fec8a86b22ef"; 01328 } 01329 01330 static const char* value(const arm_navigation_msgs::GetMotionPlanResponse_<ContainerAllocator> &) { return value(); } 01331 }; 01332 01333 template<class ContainerAllocator> 01334 struct DataType<arm_navigation_msgs::GetMotionPlanResponse_<ContainerAllocator> > { 01335 static const char* value() 01336 { 01337 return "arm_navigation_msgs/GetMotionPlan"; 01338 } 01339 01340 static const char* value(const arm_navigation_msgs::GetMotionPlanResponse_<ContainerAllocator> &) { return value(); } 01341 }; 01342 01343 } // namespace service_traits 01344 } // namespace ros 01345 01346 #endif // ARM_NAVIGATION_MSGS_SERVICE_GETMOTIONPLAN_H 01347