00001
00002 #ifndef ARM_NAVIGATION_MSGS_SERVICE_GETROBOTTRAJECTORYVALIDITY_H
00003 #define ARM_NAVIGATION_MSGS_SERVICE_GETROBOTTRAJECTORYVALIDITY_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/RobotTrajectory.h"
00020 #include "arm_navigation_msgs/RobotState.h"
00021 #include "arm_navigation_msgs/Constraints.h"
00022 #include "arm_navigation_msgs/Constraints.h"
00023
00024
00025 #include "arm_navigation_msgs/ArmNavigationErrorCodes.h"
00026 #include "arm_navigation_msgs/ArmNavigationErrorCodes.h"
00027
00028 namespace arm_navigation_msgs
00029 {
00030 template <class ContainerAllocator>
00031 struct GetRobotTrajectoryValidityRequest_ {
00032 typedef GetRobotTrajectoryValidityRequest_<ContainerAllocator> Type;
00033
00034 GetRobotTrajectoryValidityRequest_()
00035 : trajectory()
00036 , robot_state()
00037 , check_collisions(false)
00038 , check_path_constraints(false)
00039 , check_goal_constraints(false)
00040 , check_joint_limits(false)
00041 , check_full_trajectory(false)
00042 , path_constraints()
00043 , goal_constraints()
00044 {
00045 }
00046
00047 GetRobotTrajectoryValidityRequest_(const ContainerAllocator& _alloc)
00048 : trajectory(_alloc)
00049 , robot_state(_alloc)
00050 , check_collisions(false)
00051 , check_path_constraints(false)
00052 , check_goal_constraints(false)
00053 , check_joint_limits(false)
00054 , check_full_trajectory(false)
00055 , path_constraints(_alloc)
00056 , goal_constraints(_alloc)
00057 {
00058 }
00059
00060 typedef ::arm_navigation_msgs::RobotTrajectory_<ContainerAllocator> _trajectory_type;
00061 ::arm_navigation_msgs::RobotTrajectory_<ContainerAllocator> trajectory;
00062
00063 typedef ::arm_navigation_msgs::RobotState_<ContainerAllocator> _robot_state_type;
00064 ::arm_navigation_msgs::RobotState_<ContainerAllocator> robot_state;
00065
00066 typedef uint8_t _check_collisions_type;
00067 uint8_t check_collisions;
00068
00069 typedef uint8_t _check_path_constraints_type;
00070 uint8_t check_path_constraints;
00071
00072 typedef uint8_t _check_goal_constraints_type;
00073 uint8_t check_goal_constraints;
00074
00075 typedef uint8_t _check_joint_limits_type;
00076 uint8_t check_joint_limits;
00077
00078 typedef uint8_t _check_full_trajectory_type;
00079 uint8_t check_full_trajectory;
00080
00081 typedef ::arm_navigation_msgs::Constraints_<ContainerAllocator> _path_constraints_type;
00082 ::arm_navigation_msgs::Constraints_<ContainerAllocator> path_constraints;
00083
00084 typedef ::arm_navigation_msgs::Constraints_<ContainerAllocator> _goal_constraints_type;
00085 ::arm_navigation_msgs::Constraints_<ContainerAllocator> goal_constraints;
00086
00087
00088 private:
00089 static const char* __s_getDataType_() { return "arm_navigation_msgs/GetRobotTrajectoryValidityRequest"; }
00090 public:
00091 ROS_DEPRECATED static const std::string __s_getDataType() { return __s_getDataType_(); }
00092
00093 ROS_DEPRECATED const std::string __getDataType() const { return __s_getDataType_(); }
00094
00095 private:
00096 static const char* __s_getMD5Sum_() { return "85259de614b32f9acd26c11efb8e55ca"; }
00097 public:
00098 ROS_DEPRECATED static const std::string __s_getMD5Sum() { return __s_getMD5Sum_(); }
00099
00100 ROS_DEPRECATED const std::string __getMD5Sum() const { return __s_getMD5Sum_(); }
00101
00102 private:
00103 static const char* __s_getServerMD5Sum_() { return "2b18e8353390aab164a69813e3458fdb"; }
00104 public:
00105 ROS_DEPRECATED static const std::string __s_getServerMD5Sum() { return __s_getServerMD5Sum_(); }
00106
00107 ROS_DEPRECATED const std::string __getServerMD5Sum() const { return __s_getServerMD5Sum_(); }
00108
00109 private:
00110 static const char* __s_getMessageDefinition_() { return "\n\
00111 arm_navigation_msgs/RobotTrajectory trajectory\n\
00112 \n\
00113 \n\
00114 \n\
00115 \n\
00116 \n\
00117 \n\
00118 \n\
00119 arm_navigation_msgs/RobotState robot_state\n\
00120 \n\
00121 \n\
00122 bool check_collisions\n\
00123 \n\
00124 \n\
00125 bool check_path_constraints\n\
00126 \n\
00127 \n\
00128 bool check_goal_constraints\n\
00129 \n\
00130 \n\
00131 bool check_joint_limits\n\
00132 \n\
00133 \n\
00134 \n\
00135 \n\
00136 bool check_full_trajectory\n\
00137 \n\
00138 \n\
00139 \n\
00140 \n\
00141 arm_navigation_msgs/Constraints path_constraints\n\
00142 \n\
00143 \n\
00144 \n\
00145 \n\
00146 arm_navigation_msgs/Constraints goal_constraints\n\
00147 \n\
00148 \n\
00149 ================================================================================\n\
00150 MSG: arm_navigation_msgs/RobotTrajectory\n\
00151 trajectory_msgs/JointTrajectory joint_trajectory\n\
00152 arm_navigation_msgs/MultiDOFJointTrajectory multi_dof_joint_trajectory\n\
00153 \n\
00154 ================================================================================\n\
00155 MSG: trajectory_msgs/JointTrajectory\n\
00156 Header header\n\
00157 string[] joint_names\n\
00158 JointTrajectoryPoint[] points\n\
00159 ================================================================================\n\
00160 MSG: std_msgs/Header\n\
00161 # Standard metadata for higher-level stamped data types.\n\
00162 # This is generally used to communicate timestamped data \n\
00163 # in a particular coordinate frame.\n\
00164 # \n\
00165 # sequence ID: consecutively increasing ID \n\
00166 uint32 seq\n\
00167 #Two-integer timestamp that is expressed as:\n\
00168 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00169 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00170 # time-handling sugar is provided by the client library\n\
00171 time stamp\n\
00172 #Frame this data is associated with\n\
00173 # 0: no frame\n\
00174 # 1: global frame\n\
00175 string frame_id\n\
00176 \n\
00177 ================================================================================\n\
00178 MSG: trajectory_msgs/JointTrajectoryPoint\n\
00179 float64[] positions\n\
00180 float64[] velocities\n\
00181 float64[] accelerations\n\
00182 duration time_from_start\n\
00183 ================================================================================\n\
00184 MSG: arm_navigation_msgs/MultiDOFJointTrajectory\n\
00185 #A representation of a multi-dof joint trajectory\n\
00186 duration stamp\n\
00187 string[] joint_names\n\
00188 string[] frame_ids\n\
00189 string[] child_frame_ids\n\
00190 MultiDOFJointTrajectoryPoint[] points\n\
00191 \n\
00192 ================================================================================\n\
00193 MSG: arm_navigation_msgs/MultiDOFJointTrajectoryPoint\n\
00194 geometry_msgs/Pose[] poses\n\
00195 duration time_from_start\n\
00196 ================================================================================\n\
00197 MSG: geometry_msgs/Pose\n\
00198 # A representation of pose in free space, composed of postion and orientation. \n\
00199 Point position\n\
00200 Quaternion orientation\n\
00201 \n\
00202 ================================================================================\n\
00203 MSG: geometry_msgs/Point\n\
00204 # This contains the position of a point in free space\n\
00205 float64 x\n\
00206 float64 y\n\
00207 float64 z\n\
00208 \n\
00209 ================================================================================\n\
00210 MSG: geometry_msgs/Quaternion\n\
00211 # This represents an orientation in free space in quaternion form.\n\
00212 \n\
00213 float64 x\n\
00214 float64 y\n\
00215 float64 z\n\
00216 float64 w\n\
00217 \n\
00218 ================================================================================\n\
00219 MSG: arm_navigation_msgs/RobotState\n\
00220 # This message contains information about the robot state, i.e. the positions of its joints and links\n\
00221 sensor_msgs/JointState joint_state\n\
00222 arm_navigation_msgs/MultiDOFJointState multi_dof_joint_state\n\
00223 \n\
00224 ================================================================================\n\
00225 MSG: sensor_msgs/JointState\n\
00226 # This is a message that holds data to describe the state of a set of torque controlled joints. \n\
00227 #\n\
00228 # The state of each joint (revolute or prismatic) is defined by:\n\
00229 # * the position of the joint (rad or m),\n\
00230 # * the velocity of the joint (rad/s or m/s) and \n\
00231 # * the effort that is applied in the joint (Nm or N).\n\
00232 #\n\
00233 # Each joint is uniquely identified by its name\n\
00234 # The header specifies the time at which the joint states were recorded. All the joint states\n\
00235 # in one message have to be recorded at the same time.\n\
00236 #\n\
00237 # This message consists of a multiple arrays, one for each part of the joint state. \n\
00238 # The goal is to make each of the fields optional. When e.g. your joints have no\n\
00239 # effort associated with them, you can leave the effort array empty. \n\
00240 #\n\
00241 # All arrays in this message should have the same size, or be empty.\n\
00242 # This is the only way to uniquely associate the joint name with the correct\n\
00243 # states.\n\
00244 \n\
00245 \n\
00246 Header header\n\
00247 \n\
00248 string[] name\n\
00249 float64[] position\n\
00250 float64[] velocity\n\
00251 float64[] effort\n\
00252 \n\
00253 ================================================================================\n\
00254 MSG: arm_navigation_msgs/MultiDOFJointState\n\
00255 #A representation of a multi-dof joint state\n\
00256 time stamp\n\
00257 string[] joint_names\n\
00258 string[] frame_ids\n\
00259 string[] child_frame_ids\n\
00260 geometry_msgs/Pose[] poses\n\
00261 \n\
00262 ================================================================================\n\
00263 MSG: arm_navigation_msgs/Constraints\n\
00264 # This message contains a list of motion planning constraints.\n\
00265 \n\
00266 arm_navigation_msgs/JointConstraint[] joint_constraints\n\
00267 arm_navigation_msgs/PositionConstraint[] position_constraints\n\
00268 arm_navigation_msgs/OrientationConstraint[] orientation_constraints\n\
00269 arm_navigation_msgs/VisibilityConstraint[] visibility_constraints\n\
00270 \n\
00271 ================================================================================\n\
00272 MSG: arm_navigation_msgs/JointConstraint\n\
00273 # Constrain the position of a joint to be within a certain bound\n\
00274 string joint_name\n\
00275 \n\
00276 # the bound to be achieved is [position - tolerance_below, position + tolerance_above]\n\
00277 float64 position\n\
00278 float64 tolerance_above\n\
00279 float64 tolerance_below\n\
00280 \n\
00281 # A weighting factor for this constraint\n\
00282 float64 weight\n\
00283 ================================================================================\n\
00284 MSG: arm_navigation_msgs/PositionConstraint\n\
00285 # This message contains the definition of a position constraint.\n\
00286 Header header\n\
00287 \n\
00288 # The robot link this constraint refers to\n\
00289 string link_name\n\
00290 \n\
00291 # The offset (in the link frame) for the target point on the link we are planning for\n\
00292 geometry_msgs/Point target_point_offset\n\
00293 \n\
00294 # The nominal/target position for the point we are planning for\n\
00295 geometry_msgs/Point position\n\
00296 \n\
00297 # The shape of the bounded region that constrains the position of the end-effector\n\
00298 # This region is always centered at the position defined above\n\
00299 arm_navigation_msgs/Shape constraint_region_shape\n\
00300 \n\
00301 # The orientation of the bounded region that constrains the position of the end-effector. \n\
00302 # This allows the specification of non-axis aligned constraints\n\
00303 geometry_msgs/Quaternion constraint_region_orientation\n\
00304 \n\
00305 # Constraint weighting factor - a weight for this constraint\n\
00306 float64 weight\n\
00307 \n\
00308 ================================================================================\n\
00309 MSG: arm_navigation_msgs/Shape\n\
00310 byte SPHERE=0\n\
00311 byte BOX=1\n\
00312 byte CYLINDER=2\n\
00313 byte MESH=3\n\
00314 \n\
00315 byte type\n\
00316 \n\
00317 \n\
00318 #### define sphere, box, cylinder ####\n\
00319 # the origin of each shape is considered at the shape's center\n\
00320 \n\
00321 # for sphere\n\
00322 # radius := dimensions[0]\n\
00323 \n\
00324 # for cylinder\n\
00325 # radius := dimensions[0]\n\
00326 # length := dimensions[1]\n\
00327 # the length is along the Z axis\n\
00328 \n\
00329 # for box\n\
00330 # size_x := dimensions[0]\n\
00331 # size_y := dimensions[1]\n\
00332 # size_z := dimensions[2]\n\
00333 float64[] dimensions\n\
00334 \n\
00335 \n\
00336 #### define mesh ####\n\
00337 \n\
00338 # list of triangles; triangle k is defined by tre vertices located\n\
00339 # at indices triangles[3k], triangles[3k+1], triangles[3k+2]\n\
00340 int32[] triangles\n\
00341 geometry_msgs/Point[] vertices\n\
00342 \n\
00343 ================================================================================\n\
00344 MSG: arm_navigation_msgs/OrientationConstraint\n\
00345 # This message contains the definition of an orientation constraint.\n\
00346 Header header\n\
00347 \n\
00348 # The robot link this constraint refers to\n\
00349 string link_name\n\
00350 \n\
00351 # The type of the constraint\n\
00352 int32 type\n\
00353 int32 LINK_FRAME=0\n\
00354 int32 HEADER_FRAME=1\n\
00355 \n\
00356 # The desired orientation of the robot link specified as a quaternion\n\
00357 geometry_msgs/Quaternion orientation\n\
00358 \n\
00359 # optional RPY error tolerances specified if \n\
00360 float64 absolute_roll_tolerance\n\
00361 float64 absolute_pitch_tolerance\n\
00362 float64 absolute_yaw_tolerance\n\
00363 \n\
00364 # Constraint weighting factor - a weight for this constraint\n\
00365 float64 weight\n\
00366 \n\
00367 ================================================================================\n\
00368 MSG: arm_navigation_msgs/VisibilityConstraint\n\
00369 # This message contains the definition of a visibility constraint.\n\
00370 Header header\n\
00371 \n\
00372 # The point stamped target that needs to be kept within view of the sensor\n\
00373 geometry_msgs/PointStamped target\n\
00374 \n\
00375 # The local pose of the frame in which visibility is to be maintained\n\
00376 # The frame id should represent the robot link to which the sensor is attached\n\
00377 # The visual axis of the sensor is assumed to be along the X axis of this frame\n\
00378 geometry_msgs/PoseStamped sensor_pose\n\
00379 \n\
00380 # The deviation (in radians) that will be tolerated\n\
00381 # Constraint error will be measured as the solid angle between the \n\
00382 # X axis of the frame defined above and the vector between the origin \n\
00383 # of the frame defined above and the target location\n\
00384 float64 absolute_tolerance\n\
00385 \n\
00386 \n\
00387 ================================================================================\n\
00388 MSG: geometry_msgs/PointStamped\n\
00389 # This represents a Point with reference coordinate frame and timestamp\n\
00390 Header header\n\
00391 Point point\n\
00392 \n\
00393 ================================================================================\n\
00394 MSG: geometry_msgs/PoseStamped\n\
00395 # A Pose with reference coordinate frame and timestamp\n\
00396 Header header\n\
00397 Pose pose\n\
00398 \n\
00399 "; }
00400 public:
00401 ROS_DEPRECATED static const std::string __s_getMessageDefinition() { return __s_getMessageDefinition_(); }
00402
00403 ROS_DEPRECATED const std::string __getMessageDefinition() const { return __s_getMessageDefinition_(); }
00404
00405 ROS_DEPRECATED virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const
00406 {
00407 ros::serialization::OStream stream(write_ptr, 1000000000);
00408 ros::serialization::serialize(stream, trajectory);
00409 ros::serialization::serialize(stream, robot_state);
00410 ros::serialization::serialize(stream, check_collisions);
00411 ros::serialization::serialize(stream, check_path_constraints);
00412 ros::serialization::serialize(stream, check_goal_constraints);
00413 ros::serialization::serialize(stream, check_joint_limits);
00414 ros::serialization::serialize(stream, check_full_trajectory);
00415 ros::serialization::serialize(stream, path_constraints);
00416 ros::serialization::serialize(stream, goal_constraints);
00417 return stream.getData();
00418 }
00419
00420 ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr)
00421 {
00422 ros::serialization::IStream stream(read_ptr, 1000000000);
00423 ros::serialization::deserialize(stream, trajectory);
00424 ros::serialization::deserialize(stream, robot_state);
00425 ros::serialization::deserialize(stream, check_collisions);
00426 ros::serialization::deserialize(stream, check_path_constraints);
00427 ros::serialization::deserialize(stream, check_goal_constraints);
00428 ros::serialization::deserialize(stream, check_joint_limits);
00429 ros::serialization::deserialize(stream, check_full_trajectory);
00430 ros::serialization::deserialize(stream, path_constraints);
00431 ros::serialization::deserialize(stream, goal_constraints);
00432 return stream.getData();
00433 }
00434
00435 ROS_DEPRECATED virtual uint32_t serializationLength() const
00436 {
00437 uint32_t size = 0;
00438 size += ros::serialization::serializationLength(trajectory);
00439 size += ros::serialization::serializationLength(robot_state);
00440 size += ros::serialization::serializationLength(check_collisions);
00441 size += ros::serialization::serializationLength(check_path_constraints);
00442 size += ros::serialization::serializationLength(check_goal_constraints);
00443 size += ros::serialization::serializationLength(check_joint_limits);
00444 size += ros::serialization::serializationLength(check_full_trajectory);
00445 size += ros::serialization::serializationLength(path_constraints);
00446 size += ros::serialization::serializationLength(goal_constraints);
00447 return size;
00448 }
00449
00450 typedef boost::shared_ptr< ::arm_navigation_msgs::GetRobotTrajectoryValidityRequest_<ContainerAllocator> > Ptr;
00451 typedef boost::shared_ptr< ::arm_navigation_msgs::GetRobotTrajectoryValidityRequest_<ContainerAllocator> const> ConstPtr;
00452 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00453 };
00454 typedef ::arm_navigation_msgs::GetRobotTrajectoryValidityRequest_<std::allocator<void> > GetRobotTrajectoryValidityRequest;
00455
00456 typedef boost::shared_ptr< ::arm_navigation_msgs::GetRobotTrajectoryValidityRequest> GetRobotTrajectoryValidityRequestPtr;
00457 typedef boost::shared_ptr< ::arm_navigation_msgs::GetRobotTrajectoryValidityRequest const> GetRobotTrajectoryValidityRequestConstPtr;
00458
00459
00460 template <class ContainerAllocator>
00461 struct GetRobotTrajectoryValidityResponse_ {
00462 typedef GetRobotTrajectoryValidityResponse_<ContainerAllocator> Type;
00463
00464 GetRobotTrajectoryValidityResponse_()
00465 : error_code()
00466 , trajectory_error_codes()
00467 {
00468 }
00469
00470 GetRobotTrajectoryValidityResponse_(const ContainerAllocator& _alloc)
00471 : error_code(_alloc)
00472 , trajectory_error_codes(_alloc)
00473 {
00474 }
00475
00476 typedef ::arm_navigation_msgs::ArmNavigationErrorCodes_<ContainerAllocator> _error_code_type;
00477 ::arm_navigation_msgs::ArmNavigationErrorCodes_<ContainerAllocator> error_code;
00478
00479 typedef std::vector< ::arm_navigation_msgs::ArmNavigationErrorCodes_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::arm_navigation_msgs::ArmNavigationErrorCodes_<ContainerAllocator> >::other > _trajectory_error_codes_type;
00480 std::vector< ::arm_navigation_msgs::ArmNavigationErrorCodes_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::arm_navigation_msgs::ArmNavigationErrorCodes_<ContainerAllocator> >::other > trajectory_error_codes;
00481
00482
00483 ROS_DEPRECATED uint32_t get_trajectory_error_codes_size() const { return (uint32_t)trajectory_error_codes.size(); }
00484 ROS_DEPRECATED void set_trajectory_error_codes_size(uint32_t size) { trajectory_error_codes.resize((size_t)size); }
00485 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; }
00486 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; }
00487 private:
00488 static const char* __s_getDataType_() { return "arm_navigation_msgs/GetRobotTrajectoryValidityResponse"; }
00489 public:
00490 ROS_DEPRECATED static const std::string __s_getDataType() { return __s_getDataType_(); }
00491
00492 ROS_DEPRECATED const std::string __getDataType() const { return __s_getDataType_(); }
00493
00494 private:
00495 static const char* __s_getMD5Sum_() { return "6316c11e993d068a87f32bc2109e7658"; }
00496 public:
00497 ROS_DEPRECATED static const std::string __s_getMD5Sum() { return __s_getMD5Sum_(); }
00498
00499 ROS_DEPRECATED const std::string __getMD5Sum() const { return __s_getMD5Sum_(); }
00500
00501 private:
00502 static const char* __s_getServerMD5Sum_() { return "2b18e8353390aab164a69813e3458fdb"; }
00503 public:
00504 ROS_DEPRECATED static const std::string __s_getServerMD5Sum() { return __s_getServerMD5Sum_(); }
00505
00506 ROS_DEPRECATED const std::string __getServerMD5Sum() const { return __s_getServerMD5Sum_(); }
00507
00508 private:
00509 static const char* __s_getMessageDefinition_() { return "\n\
00510 \n\
00511 \n\
00512 \n\
00513 arm_navigation_msgs/ArmNavigationErrorCodes error_code\n\
00514 \n\
00515 \n\
00516 \n\
00517 \n\
00518 arm_navigation_msgs/ArmNavigationErrorCodes[] trajectory_error_codes\n\
00519 \n\
00520 \n\
00521 ================================================================================\n\
00522 MSG: arm_navigation_msgs/ArmNavigationErrorCodes\n\
00523 int32 val\n\
00524 \n\
00525 # overall behavior\n\
00526 int32 PLANNING_FAILED=-1\n\
00527 int32 SUCCESS=1\n\
00528 int32 TIMED_OUT=-2\n\
00529 \n\
00530 # start state errors\n\
00531 int32 START_STATE_IN_COLLISION=-3\n\
00532 int32 START_STATE_VIOLATES_PATH_CONSTRAINTS=-4\n\
00533 \n\
00534 # goal errors\n\
00535 int32 GOAL_IN_COLLISION=-5\n\
00536 int32 GOAL_VIOLATES_PATH_CONSTRAINTS=-6\n\
00537 \n\
00538 # robot state\n\
00539 int32 INVALID_ROBOT_STATE=-7\n\
00540 int32 INCOMPLETE_ROBOT_STATE=-8\n\
00541 \n\
00542 # planning request errors\n\
00543 int32 INVALID_PLANNER_ID=-9\n\
00544 int32 INVALID_NUM_PLANNING_ATTEMPTS=-10\n\
00545 int32 INVALID_ALLOWED_PLANNING_TIME=-11\n\
00546 int32 INVALID_GROUP_NAME=-12\n\
00547 int32 INVALID_GOAL_JOINT_CONSTRAINTS=-13\n\
00548 int32 INVALID_GOAL_POSITION_CONSTRAINTS=-14\n\
00549 int32 INVALID_GOAL_ORIENTATION_CONSTRAINTS=-15\n\
00550 int32 INVALID_PATH_JOINT_CONSTRAINTS=-16\n\
00551 int32 INVALID_PATH_POSITION_CONSTRAINTS=-17\n\
00552 int32 INVALID_PATH_ORIENTATION_CONSTRAINTS=-18\n\
00553 \n\
00554 # state/trajectory monitor errors\n\
00555 int32 INVALID_TRAJECTORY=-19\n\
00556 int32 INVALID_INDEX=-20\n\
00557 int32 JOINT_LIMITS_VIOLATED=-21\n\
00558 int32 PATH_CONSTRAINTS_VIOLATED=-22\n\
00559 int32 COLLISION_CONSTRAINTS_VIOLATED=-23\n\
00560 int32 GOAL_CONSTRAINTS_VIOLATED=-24\n\
00561 int32 JOINTS_NOT_MOVING=-25\n\
00562 int32 TRAJECTORY_CONTROLLER_FAILED=-26\n\
00563 \n\
00564 # system errors\n\
00565 int32 FRAME_TRANSFORM_FAILURE=-27\n\
00566 int32 COLLISION_CHECKING_UNAVAILABLE=-28\n\
00567 int32 ROBOT_STATE_STALE=-29\n\
00568 int32 SENSOR_INFO_STALE=-30\n\
00569 \n\
00570 # kinematics errors\n\
00571 int32 NO_IK_SOLUTION=-31\n\
00572 int32 INVALID_LINK_NAME=-32\n\
00573 int32 IK_LINK_IN_COLLISION=-33\n\
00574 int32 NO_FK_SOLUTION=-34\n\
00575 int32 KINEMATICS_STATE_IN_COLLISION=-35\n\
00576 \n\
00577 # general errors\n\
00578 int32 INVALID_TIMEOUT=-36\n\
00579 \n\
00580 \n\
00581 "; }
00582 public:
00583 ROS_DEPRECATED static const std::string __s_getMessageDefinition() { return __s_getMessageDefinition_(); }
00584
00585 ROS_DEPRECATED const std::string __getMessageDefinition() const { return __s_getMessageDefinition_(); }
00586
00587 ROS_DEPRECATED virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const
00588 {
00589 ros::serialization::OStream stream(write_ptr, 1000000000);
00590 ros::serialization::serialize(stream, error_code);
00591 ros::serialization::serialize(stream, trajectory_error_codes);
00592 return stream.getData();
00593 }
00594
00595 ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr)
00596 {
00597 ros::serialization::IStream stream(read_ptr, 1000000000);
00598 ros::serialization::deserialize(stream, error_code);
00599 ros::serialization::deserialize(stream, trajectory_error_codes);
00600 return stream.getData();
00601 }
00602
00603 ROS_DEPRECATED virtual uint32_t serializationLength() const
00604 {
00605 uint32_t size = 0;
00606 size += ros::serialization::serializationLength(error_code);
00607 size += ros::serialization::serializationLength(trajectory_error_codes);
00608 return size;
00609 }
00610
00611 typedef boost::shared_ptr< ::arm_navigation_msgs::GetRobotTrajectoryValidityResponse_<ContainerAllocator> > Ptr;
00612 typedef boost::shared_ptr< ::arm_navigation_msgs::GetRobotTrajectoryValidityResponse_<ContainerAllocator> const> ConstPtr;
00613 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00614 };
00615 typedef ::arm_navigation_msgs::GetRobotTrajectoryValidityResponse_<std::allocator<void> > GetRobotTrajectoryValidityResponse;
00616
00617 typedef boost::shared_ptr< ::arm_navigation_msgs::GetRobotTrajectoryValidityResponse> GetRobotTrajectoryValidityResponsePtr;
00618 typedef boost::shared_ptr< ::arm_navigation_msgs::GetRobotTrajectoryValidityResponse const> GetRobotTrajectoryValidityResponseConstPtr;
00619
00620 struct GetRobotTrajectoryValidity
00621 {
00622
00623 typedef GetRobotTrajectoryValidityRequest Request;
00624 typedef GetRobotTrajectoryValidityResponse Response;
00625 Request request;
00626 Response response;
00627
00628 typedef Request RequestType;
00629 typedef Response ResponseType;
00630 };
00631 }
00632
00633 namespace ros
00634 {
00635 namespace message_traits
00636 {
00637 template<class ContainerAllocator> struct IsMessage< ::arm_navigation_msgs::GetRobotTrajectoryValidityRequest_<ContainerAllocator> > : public TrueType {};
00638 template<class ContainerAllocator> struct IsMessage< ::arm_navigation_msgs::GetRobotTrajectoryValidityRequest_<ContainerAllocator> const> : public TrueType {};
00639 template<class ContainerAllocator>
00640 struct MD5Sum< ::arm_navigation_msgs::GetRobotTrajectoryValidityRequest_<ContainerAllocator> > {
00641 static const char* value()
00642 {
00643 return "85259de614b32f9acd26c11efb8e55ca";
00644 }
00645
00646 static const char* value(const ::arm_navigation_msgs::GetRobotTrajectoryValidityRequest_<ContainerAllocator> &) { return value(); }
00647 static const uint64_t static_value1 = 0x85259de614b32f9aULL;
00648 static const uint64_t static_value2 = 0xcd26c11efb8e55caULL;
00649 };
00650
00651 template<class ContainerAllocator>
00652 struct DataType< ::arm_navigation_msgs::GetRobotTrajectoryValidityRequest_<ContainerAllocator> > {
00653 static const char* value()
00654 {
00655 return "arm_navigation_msgs/GetRobotTrajectoryValidityRequest";
00656 }
00657
00658 static const char* value(const ::arm_navigation_msgs::GetRobotTrajectoryValidityRequest_<ContainerAllocator> &) { return value(); }
00659 };
00660
00661 template<class ContainerAllocator>
00662 struct Definition< ::arm_navigation_msgs::GetRobotTrajectoryValidityRequest_<ContainerAllocator> > {
00663 static const char* value()
00664 {
00665 return "\n\
00666 arm_navigation_msgs/RobotTrajectory trajectory\n\
00667 \n\
00668 \n\
00669 \n\
00670 \n\
00671 \n\
00672 \n\
00673 \n\
00674 arm_navigation_msgs/RobotState robot_state\n\
00675 \n\
00676 \n\
00677 bool check_collisions\n\
00678 \n\
00679 \n\
00680 bool check_path_constraints\n\
00681 \n\
00682 \n\
00683 bool check_goal_constraints\n\
00684 \n\
00685 \n\
00686 bool check_joint_limits\n\
00687 \n\
00688 \n\
00689 \n\
00690 \n\
00691 bool check_full_trajectory\n\
00692 \n\
00693 \n\
00694 \n\
00695 \n\
00696 arm_navigation_msgs/Constraints path_constraints\n\
00697 \n\
00698 \n\
00699 \n\
00700 \n\
00701 arm_navigation_msgs/Constraints goal_constraints\n\
00702 \n\
00703 \n\
00704 ================================================================================\n\
00705 MSG: arm_navigation_msgs/RobotTrajectory\n\
00706 trajectory_msgs/JointTrajectory joint_trajectory\n\
00707 arm_navigation_msgs/MultiDOFJointTrajectory multi_dof_joint_trajectory\n\
00708 \n\
00709 ================================================================================\n\
00710 MSG: trajectory_msgs/JointTrajectory\n\
00711 Header header\n\
00712 string[] joint_names\n\
00713 JointTrajectoryPoint[] points\n\
00714 ================================================================================\n\
00715 MSG: std_msgs/Header\n\
00716 # Standard metadata for higher-level stamped data types.\n\
00717 # This is generally used to communicate timestamped data \n\
00718 # in a particular coordinate frame.\n\
00719 # \n\
00720 # sequence ID: consecutively increasing ID \n\
00721 uint32 seq\n\
00722 #Two-integer timestamp that is expressed as:\n\
00723 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00724 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00725 # time-handling sugar is provided by the client library\n\
00726 time stamp\n\
00727 #Frame this data is associated with\n\
00728 # 0: no frame\n\
00729 # 1: global frame\n\
00730 string frame_id\n\
00731 \n\
00732 ================================================================================\n\
00733 MSG: trajectory_msgs/JointTrajectoryPoint\n\
00734 float64[] positions\n\
00735 float64[] velocities\n\
00736 float64[] accelerations\n\
00737 duration time_from_start\n\
00738 ================================================================================\n\
00739 MSG: arm_navigation_msgs/MultiDOFJointTrajectory\n\
00740 #A representation of a multi-dof joint trajectory\n\
00741 duration stamp\n\
00742 string[] joint_names\n\
00743 string[] frame_ids\n\
00744 string[] child_frame_ids\n\
00745 MultiDOFJointTrajectoryPoint[] points\n\
00746 \n\
00747 ================================================================================\n\
00748 MSG: arm_navigation_msgs/MultiDOFJointTrajectoryPoint\n\
00749 geometry_msgs/Pose[] poses\n\
00750 duration time_from_start\n\
00751 ================================================================================\n\
00752 MSG: geometry_msgs/Pose\n\
00753 # A representation of pose in free space, composed of postion and orientation. \n\
00754 Point position\n\
00755 Quaternion orientation\n\
00756 \n\
00757 ================================================================================\n\
00758 MSG: geometry_msgs/Point\n\
00759 # This contains the position of a point in free space\n\
00760 float64 x\n\
00761 float64 y\n\
00762 float64 z\n\
00763 \n\
00764 ================================================================================\n\
00765 MSG: geometry_msgs/Quaternion\n\
00766 # This represents an orientation in free space in quaternion form.\n\
00767 \n\
00768 float64 x\n\
00769 float64 y\n\
00770 float64 z\n\
00771 float64 w\n\
00772 \n\
00773 ================================================================================\n\
00774 MSG: arm_navigation_msgs/RobotState\n\
00775 # This message contains information about the robot state, i.e. the positions of its joints and links\n\
00776 sensor_msgs/JointState joint_state\n\
00777 arm_navigation_msgs/MultiDOFJointState multi_dof_joint_state\n\
00778 \n\
00779 ================================================================================\n\
00780 MSG: sensor_msgs/JointState\n\
00781 # This is a message that holds data to describe the state of a set of torque controlled joints. \n\
00782 #\n\
00783 # The state of each joint (revolute or prismatic) is defined by:\n\
00784 # * the position of the joint (rad or m),\n\
00785 # * the velocity of the joint (rad/s or m/s) and \n\
00786 # * the effort that is applied in the joint (Nm or N).\n\
00787 #\n\
00788 # Each joint is uniquely identified by its name\n\
00789 # The header specifies the time at which the joint states were recorded. All the joint states\n\
00790 # in one message have to be recorded at the same time.\n\
00791 #\n\
00792 # This message consists of a multiple arrays, one for each part of the joint state. \n\
00793 # The goal is to make each of the fields optional. When e.g. your joints have no\n\
00794 # effort associated with them, you can leave the effort array empty. \n\
00795 #\n\
00796 # All arrays in this message should have the same size, or be empty.\n\
00797 # This is the only way to uniquely associate the joint name with the correct\n\
00798 # states.\n\
00799 \n\
00800 \n\
00801 Header header\n\
00802 \n\
00803 string[] name\n\
00804 float64[] position\n\
00805 float64[] velocity\n\
00806 float64[] effort\n\
00807 \n\
00808 ================================================================================\n\
00809 MSG: arm_navigation_msgs/MultiDOFJointState\n\
00810 #A representation of a multi-dof joint state\n\
00811 time stamp\n\
00812 string[] joint_names\n\
00813 string[] frame_ids\n\
00814 string[] child_frame_ids\n\
00815 geometry_msgs/Pose[] poses\n\
00816 \n\
00817 ================================================================================\n\
00818 MSG: arm_navigation_msgs/Constraints\n\
00819 # This message contains a list of motion planning constraints.\n\
00820 \n\
00821 arm_navigation_msgs/JointConstraint[] joint_constraints\n\
00822 arm_navigation_msgs/PositionConstraint[] position_constraints\n\
00823 arm_navigation_msgs/OrientationConstraint[] orientation_constraints\n\
00824 arm_navigation_msgs/VisibilityConstraint[] visibility_constraints\n\
00825 \n\
00826 ================================================================================\n\
00827 MSG: arm_navigation_msgs/JointConstraint\n\
00828 # Constrain the position of a joint to be within a certain bound\n\
00829 string joint_name\n\
00830 \n\
00831 # the bound to be achieved is [position - tolerance_below, position + tolerance_above]\n\
00832 float64 position\n\
00833 float64 tolerance_above\n\
00834 float64 tolerance_below\n\
00835 \n\
00836 # A weighting factor for this constraint\n\
00837 float64 weight\n\
00838 ================================================================================\n\
00839 MSG: arm_navigation_msgs/PositionConstraint\n\
00840 # This message contains the definition of a position constraint.\n\
00841 Header header\n\
00842 \n\
00843 # The robot link this constraint refers to\n\
00844 string link_name\n\
00845 \n\
00846 # The offset (in the link frame) for the target point on the link we are planning for\n\
00847 geometry_msgs/Point target_point_offset\n\
00848 \n\
00849 # The nominal/target position for the point we are planning for\n\
00850 geometry_msgs/Point position\n\
00851 \n\
00852 # The shape of the bounded region that constrains the position of the end-effector\n\
00853 # This region is always centered at the position defined above\n\
00854 arm_navigation_msgs/Shape constraint_region_shape\n\
00855 \n\
00856 # The orientation of the bounded region that constrains the position of the end-effector. \n\
00857 # This allows the specification of non-axis aligned constraints\n\
00858 geometry_msgs/Quaternion constraint_region_orientation\n\
00859 \n\
00860 # Constraint weighting factor - a weight for this constraint\n\
00861 float64 weight\n\
00862 \n\
00863 ================================================================================\n\
00864 MSG: arm_navigation_msgs/Shape\n\
00865 byte SPHERE=0\n\
00866 byte BOX=1\n\
00867 byte CYLINDER=2\n\
00868 byte MESH=3\n\
00869 \n\
00870 byte type\n\
00871 \n\
00872 \n\
00873 #### define sphere, box, cylinder ####\n\
00874 # the origin of each shape is considered at the shape's center\n\
00875 \n\
00876 # for sphere\n\
00877 # radius := dimensions[0]\n\
00878 \n\
00879 # for cylinder\n\
00880 # radius := dimensions[0]\n\
00881 # length := dimensions[1]\n\
00882 # the length is along the Z axis\n\
00883 \n\
00884 # for box\n\
00885 # size_x := dimensions[0]\n\
00886 # size_y := dimensions[1]\n\
00887 # size_z := dimensions[2]\n\
00888 float64[] dimensions\n\
00889 \n\
00890 \n\
00891 #### define mesh ####\n\
00892 \n\
00893 # list of triangles; triangle k is defined by tre vertices located\n\
00894 # at indices triangles[3k], triangles[3k+1], triangles[3k+2]\n\
00895 int32[] triangles\n\
00896 geometry_msgs/Point[] vertices\n\
00897 \n\
00898 ================================================================================\n\
00899 MSG: arm_navigation_msgs/OrientationConstraint\n\
00900 # This message contains the definition of an orientation constraint.\n\
00901 Header header\n\
00902 \n\
00903 # The robot link this constraint refers to\n\
00904 string link_name\n\
00905 \n\
00906 # The type of the constraint\n\
00907 int32 type\n\
00908 int32 LINK_FRAME=0\n\
00909 int32 HEADER_FRAME=1\n\
00910 \n\
00911 # The desired orientation of the robot link specified as a quaternion\n\
00912 geometry_msgs/Quaternion orientation\n\
00913 \n\
00914 # optional RPY error tolerances specified if \n\
00915 float64 absolute_roll_tolerance\n\
00916 float64 absolute_pitch_tolerance\n\
00917 float64 absolute_yaw_tolerance\n\
00918 \n\
00919 # Constraint weighting factor - a weight for this constraint\n\
00920 float64 weight\n\
00921 \n\
00922 ================================================================================\n\
00923 MSG: arm_navigation_msgs/VisibilityConstraint\n\
00924 # This message contains the definition of a visibility constraint.\n\
00925 Header header\n\
00926 \n\
00927 # The point stamped target that needs to be kept within view of the sensor\n\
00928 geometry_msgs/PointStamped target\n\
00929 \n\
00930 # The local pose of the frame in which visibility is to be maintained\n\
00931 # The frame id should represent the robot link to which the sensor is attached\n\
00932 # The visual axis of the sensor is assumed to be along the X axis of this frame\n\
00933 geometry_msgs/PoseStamped sensor_pose\n\
00934 \n\
00935 # The deviation (in radians) that will be tolerated\n\
00936 # Constraint error will be measured as the solid angle between the \n\
00937 # X axis of the frame defined above and the vector between the origin \n\
00938 # of the frame defined above and the target location\n\
00939 float64 absolute_tolerance\n\
00940 \n\
00941 \n\
00942 ================================================================================\n\
00943 MSG: geometry_msgs/PointStamped\n\
00944 # This represents a Point with reference coordinate frame and timestamp\n\
00945 Header header\n\
00946 Point point\n\
00947 \n\
00948 ================================================================================\n\
00949 MSG: geometry_msgs/PoseStamped\n\
00950 # A Pose with reference coordinate frame and timestamp\n\
00951 Header header\n\
00952 Pose pose\n\
00953 \n\
00954 ";
00955 }
00956
00957 static const char* value(const ::arm_navigation_msgs::GetRobotTrajectoryValidityRequest_<ContainerAllocator> &) { return value(); }
00958 };
00959
00960 }
00961 }
00962
00963
00964 namespace ros
00965 {
00966 namespace message_traits
00967 {
00968 template<class ContainerAllocator> struct IsMessage< ::arm_navigation_msgs::GetRobotTrajectoryValidityResponse_<ContainerAllocator> > : public TrueType {};
00969 template<class ContainerAllocator> struct IsMessage< ::arm_navigation_msgs::GetRobotTrajectoryValidityResponse_<ContainerAllocator> const> : public TrueType {};
00970 template<class ContainerAllocator>
00971 struct MD5Sum< ::arm_navigation_msgs::GetRobotTrajectoryValidityResponse_<ContainerAllocator> > {
00972 static const char* value()
00973 {
00974 return "6316c11e993d068a87f32bc2109e7658";
00975 }
00976
00977 static const char* value(const ::arm_navigation_msgs::GetRobotTrajectoryValidityResponse_<ContainerAllocator> &) { return value(); }
00978 static const uint64_t static_value1 = 0x6316c11e993d068aULL;
00979 static const uint64_t static_value2 = 0x87f32bc2109e7658ULL;
00980 };
00981
00982 template<class ContainerAllocator>
00983 struct DataType< ::arm_navigation_msgs::GetRobotTrajectoryValidityResponse_<ContainerAllocator> > {
00984 static const char* value()
00985 {
00986 return "arm_navigation_msgs/GetRobotTrajectoryValidityResponse";
00987 }
00988
00989 static const char* value(const ::arm_navigation_msgs::GetRobotTrajectoryValidityResponse_<ContainerAllocator> &) { return value(); }
00990 };
00991
00992 template<class ContainerAllocator>
00993 struct Definition< ::arm_navigation_msgs::GetRobotTrajectoryValidityResponse_<ContainerAllocator> > {
00994 static const char* value()
00995 {
00996 return "\n\
00997 \n\
00998 \n\
00999 \n\
01000 arm_navigation_msgs/ArmNavigationErrorCodes error_code\n\
01001 \n\
01002 \n\
01003 \n\
01004 \n\
01005 arm_navigation_msgs/ArmNavigationErrorCodes[] trajectory_error_codes\n\
01006 \n\
01007 \n\
01008 ================================================================================\n\
01009 MSG: arm_navigation_msgs/ArmNavigationErrorCodes\n\
01010 int32 val\n\
01011 \n\
01012 # overall behavior\n\
01013 int32 PLANNING_FAILED=-1\n\
01014 int32 SUCCESS=1\n\
01015 int32 TIMED_OUT=-2\n\
01016 \n\
01017 # start state errors\n\
01018 int32 START_STATE_IN_COLLISION=-3\n\
01019 int32 START_STATE_VIOLATES_PATH_CONSTRAINTS=-4\n\
01020 \n\
01021 # goal errors\n\
01022 int32 GOAL_IN_COLLISION=-5\n\
01023 int32 GOAL_VIOLATES_PATH_CONSTRAINTS=-6\n\
01024 \n\
01025 # robot state\n\
01026 int32 INVALID_ROBOT_STATE=-7\n\
01027 int32 INCOMPLETE_ROBOT_STATE=-8\n\
01028 \n\
01029 # planning request errors\n\
01030 int32 INVALID_PLANNER_ID=-9\n\
01031 int32 INVALID_NUM_PLANNING_ATTEMPTS=-10\n\
01032 int32 INVALID_ALLOWED_PLANNING_TIME=-11\n\
01033 int32 INVALID_GROUP_NAME=-12\n\
01034 int32 INVALID_GOAL_JOINT_CONSTRAINTS=-13\n\
01035 int32 INVALID_GOAL_POSITION_CONSTRAINTS=-14\n\
01036 int32 INVALID_GOAL_ORIENTATION_CONSTRAINTS=-15\n\
01037 int32 INVALID_PATH_JOINT_CONSTRAINTS=-16\n\
01038 int32 INVALID_PATH_POSITION_CONSTRAINTS=-17\n\
01039 int32 INVALID_PATH_ORIENTATION_CONSTRAINTS=-18\n\
01040 \n\
01041 # state/trajectory monitor errors\n\
01042 int32 INVALID_TRAJECTORY=-19\n\
01043 int32 INVALID_INDEX=-20\n\
01044 int32 JOINT_LIMITS_VIOLATED=-21\n\
01045 int32 PATH_CONSTRAINTS_VIOLATED=-22\n\
01046 int32 COLLISION_CONSTRAINTS_VIOLATED=-23\n\
01047 int32 GOAL_CONSTRAINTS_VIOLATED=-24\n\
01048 int32 JOINTS_NOT_MOVING=-25\n\
01049 int32 TRAJECTORY_CONTROLLER_FAILED=-26\n\
01050 \n\
01051 # system errors\n\
01052 int32 FRAME_TRANSFORM_FAILURE=-27\n\
01053 int32 COLLISION_CHECKING_UNAVAILABLE=-28\n\
01054 int32 ROBOT_STATE_STALE=-29\n\
01055 int32 SENSOR_INFO_STALE=-30\n\
01056 \n\
01057 # kinematics errors\n\
01058 int32 NO_IK_SOLUTION=-31\n\
01059 int32 INVALID_LINK_NAME=-32\n\
01060 int32 IK_LINK_IN_COLLISION=-33\n\
01061 int32 NO_FK_SOLUTION=-34\n\
01062 int32 KINEMATICS_STATE_IN_COLLISION=-35\n\
01063 \n\
01064 # general errors\n\
01065 int32 INVALID_TIMEOUT=-36\n\
01066 \n\
01067 \n\
01068 ";
01069 }
01070
01071 static const char* value(const ::arm_navigation_msgs::GetRobotTrajectoryValidityResponse_<ContainerAllocator> &) { return value(); }
01072 };
01073
01074 }
01075 }
01076
01077 namespace ros
01078 {
01079 namespace serialization
01080 {
01081
01082 template<class ContainerAllocator> struct Serializer< ::arm_navigation_msgs::GetRobotTrajectoryValidityRequest_<ContainerAllocator> >
01083 {
01084 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
01085 {
01086 stream.next(m.trajectory);
01087 stream.next(m.robot_state);
01088 stream.next(m.check_collisions);
01089 stream.next(m.check_path_constraints);
01090 stream.next(m.check_goal_constraints);
01091 stream.next(m.check_joint_limits);
01092 stream.next(m.check_full_trajectory);
01093 stream.next(m.path_constraints);
01094 stream.next(m.goal_constraints);
01095 }
01096
01097 ROS_DECLARE_ALLINONE_SERIALIZER;
01098 };
01099 }
01100 }
01101
01102
01103 namespace ros
01104 {
01105 namespace serialization
01106 {
01107
01108 template<class ContainerAllocator> struct Serializer< ::arm_navigation_msgs::GetRobotTrajectoryValidityResponse_<ContainerAllocator> >
01109 {
01110 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
01111 {
01112 stream.next(m.error_code);
01113 stream.next(m.trajectory_error_codes);
01114 }
01115
01116 ROS_DECLARE_ALLINONE_SERIALIZER;
01117 };
01118 }
01119 }
01120
01121 namespace ros
01122 {
01123 namespace service_traits
01124 {
01125 template<>
01126 struct MD5Sum<arm_navigation_msgs::GetRobotTrajectoryValidity> {
01127 static const char* value()
01128 {
01129 return "2b18e8353390aab164a69813e3458fdb";
01130 }
01131
01132 static const char* value(const arm_navigation_msgs::GetRobotTrajectoryValidity&) { return value(); }
01133 };
01134
01135 template<>
01136 struct DataType<arm_navigation_msgs::GetRobotTrajectoryValidity> {
01137 static const char* value()
01138 {
01139 return "arm_navigation_msgs/GetRobotTrajectoryValidity";
01140 }
01141
01142 static const char* value(const arm_navigation_msgs::GetRobotTrajectoryValidity&) { return value(); }
01143 };
01144
01145 template<class ContainerAllocator>
01146 struct MD5Sum<arm_navigation_msgs::GetRobotTrajectoryValidityRequest_<ContainerAllocator> > {
01147 static const char* value()
01148 {
01149 return "2b18e8353390aab164a69813e3458fdb";
01150 }
01151
01152 static const char* value(const arm_navigation_msgs::GetRobotTrajectoryValidityRequest_<ContainerAllocator> &) { return value(); }
01153 };
01154
01155 template<class ContainerAllocator>
01156 struct DataType<arm_navigation_msgs::GetRobotTrajectoryValidityRequest_<ContainerAllocator> > {
01157 static const char* value()
01158 {
01159 return "arm_navigation_msgs/GetRobotTrajectoryValidity";
01160 }
01161
01162 static const char* value(const arm_navigation_msgs::GetRobotTrajectoryValidityRequest_<ContainerAllocator> &) { return value(); }
01163 };
01164
01165 template<class ContainerAllocator>
01166 struct MD5Sum<arm_navigation_msgs::GetRobotTrajectoryValidityResponse_<ContainerAllocator> > {
01167 static const char* value()
01168 {
01169 return "2b18e8353390aab164a69813e3458fdb";
01170 }
01171
01172 static const char* value(const arm_navigation_msgs::GetRobotTrajectoryValidityResponse_<ContainerAllocator> &) { return value(); }
01173 };
01174
01175 template<class ContainerAllocator>
01176 struct DataType<arm_navigation_msgs::GetRobotTrajectoryValidityResponse_<ContainerAllocator> > {
01177 static const char* value()
01178 {
01179 return "arm_navigation_msgs/GetRobotTrajectoryValidity";
01180 }
01181
01182 static const char* value(const arm_navigation_msgs::GetRobotTrajectoryValidityResponse_<ContainerAllocator> &) { return value(); }
01183 };
01184
01185 }
01186 }
01187
01188 #endif // ARM_NAVIGATION_MSGS_SERVICE_GETROBOTTRAJECTORYVALIDITY_H
01189
