00001
00002 #ifndef CONTROL_MSGS_MESSAGE_FOLLOWJOINTTRAJECTORYACTIONGOAL_H
00003 #define CONTROL_MSGS_MESSAGE_FOLLOWJOINTTRAJECTORYACTIONGOAL_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 "std_msgs/Header.h"
00018 #include "actionlib_msgs/GoalID.h"
00019 #include "control_msgs/FollowJointTrajectoryGoal.h"
00020
00021 namespace control_msgs
00022 {
00023 template <class ContainerAllocator>
00024 struct FollowJointTrajectoryActionGoal_ {
00025 typedef FollowJointTrajectoryActionGoal_<ContainerAllocator> Type;
00026
00027 FollowJointTrajectoryActionGoal_()
00028 : header()
00029 , goal_id()
00030 , goal()
00031 {
00032 }
00033
00034 FollowJointTrajectoryActionGoal_(const ContainerAllocator& _alloc)
00035 : header(_alloc)
00036 , goal_id(_alloc)
00037 , goal(_alloc)
00038 {
00039 }
00040
00041 typedef ::std_msgs::Header_<ContainerAllocator> _header_type;
00042 ::std_msgs::Header_<ContainerAllocator> header;
00043
00044 typedef ::actionlib_msgs::GoalID_<ContainerAllocator> _goal_id_type;
00045 ::actionlib_msgs::GoalID_<ContainerAllocator> goal_id;
00046
00047 typedef ::control_msgs::FollowJointTrajectoryGoal_<ContainerAllocator> _goal_type;
00048 ::control_msgs::FollowJointTrajectoryGoal_<ContainerAllocator> goal;
00049
00050
00051 private:
00052 static const char* __s_getDataType_() { return "control_msgs/FollowJointTrajectoryActionGoal"; }
00053 public:
00054 ROS_DEPRECATED static const std::string __s_getDataType() { return __s_getDataType_(); }
00055
00056 ROS_DEPRECATED const std::string __getDataType() const { return __s_getDataType_(); }
00057
00058 private:
00059 static const char* __s_getMD5Sum_() { return "8f3e00277a7b5b7c60e1ac5be35ddfa2"; }
00060 public:
00061 ROS_DEPRECATED static const std::string __s_getMD5Sum() { return __s_getMD5Sum_(); }
00062
00063 ROS_DEPRECATED const std::string __getMD5Sum() const { return __s_getMD5Sum_(); }
00064
00065 private:
00066 static const char* __s_getMessageDefinition_() { return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00067 \n\
00068 Header header\n\
00069 actionlib_msgs/GoalID goal_id\n\
00070 FollowJointTrajectoryGoal goal\n\
00071 \n\
00072 ================================================================================\n\
00073 MSG: std_msgs/Header\n\
00074 # Standard metadata for higher-level stamped data types.\n\
00075 # This is generally used to communicate timestamped data \n\
00076 # in a particular coordinate frame.\n\
00077 # \n\
00078 # sequence ID: consecutively increasing ID \n\
00079 uint32 seq\n\
00080 #Two-integer timestamp that is expressed as:\n\
00081 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00082 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00083 # time-handling sugar is provided by the client library\n\
00084 time stamp\n\
00085 #Frame this data is associated with\n\
00086 # 0: no frame\n\
00087 # 1: global frame\n\
00088 string frame_id\n\
00089 \n\
00090 ================================================================================\n\
00091 MSG: actionlib_msgs/GoalID\n\
00092 # The stamp should store the time at which this goal was requested.\n\
00093 # It is used by an action server when it tries to preempt all\n\
00094 # goals that were requested before a certain time\n\
00095 time stamp\n\
00096 \n\
00097 # The id provides a way to associate feedback and\n\
00098 # result message with specific goal requests. The id\n\
00099 # specified must be unique.\n\
00100 string id\n\
00101 \n\
00102 \n\
00103 ================================================================================\n\
00104 MSG: control_msgs/FollowJointTrajectoryGoal\n\
00105 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00106 # The joint trajectory to follow\n\
00107 trajectory_msgs/JointTrajectory trajectory\n\
00108 \n\
00109 # Tolerances for the trajectory. If the measured joint values fall\n\
00110 # outside the tolerances the trajectory goal is aborted. Any\n\
00111 # tolerances that are not specified (by being omitted or set to 0) are\n\
00112 # set to the defaults for the action server (often taken from the\n\
00113 # parameter server).\n\
00114 \n\
00115 # Tolerances applied to the joints as the trajectory is executed. If\n\
00116 # violated, the goal aborts with error_code set to\n\
00117 # PATH_TOLERANCE_VIOLATED.\n\
00118 JointTolerance[] path_tolerance\n\
00119 \n\
00120 # To report success, the joints must be within goal_tolerance of the\n\
00121 # final trajectory value. The goal must be achieved by time the\n\
00122 # trajectory ends plus goal_time_tolerance. (goal_time_tolerance\n\
00123 # allows some leeway in time, so that the trajectory goal can still\n\
00124 # succeed even if the joints reach the goal some time after the\n\
00125 # precise end time of the trajectory).\n\
00126 #\n\
00127 # If the joints are not within goal_tolerance after \"trajectory finish\n\
00128 # time\" + goal_time_tolerance, the goal aborts with error_code set to\n\
00129 # GOAL_TOLERANCE_VIOLATED\n\
00130 JointTolerance[] goal_tolerance\n\
00131 duration goal_time_tolerance\n\
00132 \n\
00133 \n\
00134 ================================================================================\n\
00135 MSG: trajectory_msgs/JointTrajectory\n\
00136 Header header\n\
00137 string[] joint_names\n\
00138 JointTrajectoryPoint[] points\n\
00139 ================================================================================\n\
00140 MSG: trajectory_msgs/JointTrajectoryPoint\n\
00141 float64[] positions\n\
00142 float64[] velocities\n\
00143 float64[] accelerations\n\
00144 duration time_from_start\n\
00145 ================================================================================\n\
00146 MSG: control_msgs/JointTolerance\n\
00147 # The tolerances specify the amount the position, velocity, and\n\
00148 # accelerations can vary from the setpoints. For example, in the case\n\
00149 # of trajectory control, when the actual position varies beyond\n\
00150 # (desired position + position tolerance), the trajectory goal may\n\
00151 # abort.\n\
00152 # \n\
00153 # There are two special values for tolerances:\n\
00154 # * 0 - The tolerance is unspecified and will remain at whatever the default is\n\
00155 # * -1 - The tolerance is \"erased\". If there was a default, the joint will be\n\
00156 # allowed to move without restriction.\n\
00157 \n\
00158 string name\n\
00159 float64 position # in radians or meters (for a revolute or prismatic joint, respectively)\n\
00160 float64 velocity # in rad/sec or m/sec\n\
00161 float64 acceleration # in rad/sec^2 or m/sec^2\n\
00162 \n\
00163 "; }
00164 public:
00165 ROS_DEPRECATED static const std::string __s_getMessageDefinition() { return __s_getMessageDefinition_(); }
00166
00167 ROS_DEPRECATED const std::string __getMessageDefinition() const { return __s_getMessageDefinition_(); }
00168
00169 ROS_DEPRECATED virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const
00170 {
00171 ros::serialization::OStream stream(write_ptr, 1000000000);
00172 ros::serialization::serialize(stream, header);
00173 ros::serialization::serialize(stream, goal_id);
00174 ros::serialization::serialize(stream, goal);
00175 return stream.getData();
00176 }
00177
00178 ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr)
00179 {
00180 ros::serialization::IStream stream(read_ptr, 1000000000);
00181 ros::serialization::deserialize(stream, header);
00182 ros::serialization::deserialize(stream, goal_id);
00183 ros::serialization::deserialize(stream, goal);
00184 return stream.getData();
00185 }
00186
00187 ROS_DEPRECATED virtual uint32_t serializationLength() const
00188 {
00189 uint32_t size = 0;
00190 size += ros::serialization::serializationLength(header);
00191 size += ros::serialization::serializationLength(goal_id);
00192 size += ros::serialization::serializationLength(goal);
00193 return size;
00194 }
00195
00196 typedef boost::shared_ptr< ::control_msgs::FollowJointTrajectoryActionGoal_<ContainerAllocator> > Ptr;
00197 typedef boost::shared_ptr< ::control_msgs::FollowJointTrajectoryActionGoal_<ContainerAllocator> const> ConstPtr;
00198 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00199 };
00200 typedef ::control_msgs::FollowJointTrajectoryActionGoal_<std::allocator<void> > FollowJointTrajectoryActionGoal;
00201
00202 typedef boost::shared_ptr< ::control_msgs::FollowJointTrajectoryActionGoal> FollowJointTrajectoryActionGoalPtr;
00203 typedef boost::shared_ptr< ::control_msgs::FollowJointTrajectoryActionGoal const> FollowJointTrajectoryActionGoalConstPtr;
00204
00205
00206 template<typename ContainerAllocator>
00207 std::ostream& operator<<(std::ostream& s, const ::control_msgs::FollowJointTrajectoryActionGoal_<ContainerAllocator> & v)
00208 {
00209 ros::message_operations::Printer< ::control_msgs::FollowJointTrajectoryActionGoal_<ContainerAllocator> >::stream(s, "", v);
00210 return s;}
00211
00212 }
00213
00214 namespace ros
00215 {
00216 namespace message_traits
00217 {
00218 template<class ContainerAllocator> struct IsMessage< ::control_msgs::FollowJointTrajectoryActionGoal_<ContainerAllocator> > : public TrueType {};
00219 template<class ContainerAllocator> struct IsMessage< ::control_msgs::FollowJointTrajectoryActionGoal_<ContainerAllocator> const> : public TrueType {};
00220 template<class ContainerAllocator>
00221 struct MD5Sum< ::control_msgs::FollowJointTrajectoryActionGoal_<ContainerAllocator> > {
00222 static const char* value()
00223 {
00224 return "8f3e00277a7b5b7c60e1ac5be35ddfa2";
00225 }
00226
00227 static const char* value(const ::control_msgs::FollowJointTrajectoryActionGoal_<ContainerAllocator> &) { return value(); }
00228 static const uint64_t static_value1 = 0x8f3e00277a7b5b7cULL;
00229 static const uint64_t static_value2 = 0x60e1ac5be35ddfa2ULL;
00230 };
00231
00232 template<class ContainerAllocator>
00233 struct DataType< ::control_msgs::FollowJointTrajectoryActionGoal_<ContainerAllocator> > {
00234 static const char* value()
00235 {
00236 return "control_msgs/FollowJointTrajectoryActionGoal";
00237 }
00238
00239 static const char* value(const ::control_msgs::FollowJointTrajectoryActionGoal_<ContainerAllocator> &) { return value(); }
00240 };
00241
00242 template<class ContainerAllocator>
00243 struct Definition< ::control_msgs::FollowJointTrajectoryActionGoal_<ContainerAllocator> > {
00244 static const char* value()
00245 {
00246 return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00247 \n\
00248 Header header\n\
00249 actionlib_msgs/GoalID goal_id\n\
00250 FollowJointTrajectoryGoal goal\n\
00251 \n\
00252 ================================================================================\n\
00253 MSG: std_msgs/Header\n\
00254 # Standard metadata for higher-level stamped data types.\n\
00255 # This is generally used to communicate timestamped data \n\
00256 # in a particular coordinate frame.\n\
00257 # \n\
00258 # sequence ID: consecutively increasing ID \n\
00259 uint32 seq\n\
00260 #Two-integer timestamp that is expressed as:\n\
00261 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00262 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00263 # time-handling sugar is provided by the client library\n\
00264 time stamp\n\
00265 #Frame this data is associated with\n\
00266 # 0: no frame\n\
00267 # 1: global frame\n\
00268 string frame_id\n\
00269 \n\
00270 ================================================================================\n\
00271 MSG: actionlib_msgs/GoalID\n\
00272 # The stamp should store the time at which this goal was requested.\n\
00273 # It is used by an action server when it tries to preempt all\n\
00274 # goals that were requested before a certain time\n\
00275 time stamp\n\
00276 \n\
00277 # The id provides a way to associate feedback and\n\
00278 # result message with specific goal requests. The id\n\
00279 # specified must be unique.\n\
00280 string id\n\
00281 \n\
00282 \n\
00283 ================================================================================\n\
00284 MSG: control_msgs/FollowJointTrajectoryGoal\n\
00285 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00286 # The joint trajectory to follow\n\
00287 trajectory_msgs/JointTrajectory trajectory\n\
00288 \n\
00289 # Tolerances for the trajectory. If the measured joint values fall\n\
00290 # outside the tolerances the trajectory goal is aborted. Any\n\
00291 # tolerances that are not specified (by being omitted or set to 0) are\n\
00292 # set to the defaults for the action server (often taken from the\n\
00293 # parameter server).\n\
00294 \n\
00295 # Tolerances applied to the joints as the trajectory is executed. If\n\
00296 # violated, the goal aborts with error_code set to\n\
00297 # PATH_TOLERANCE_VIOLATED.\n\
00298 JointTolerance[] path_tolerance\n\
00299 \n\
00300 # To report success, the joints must be within goal_tolerance of the\n\
00301 # final trajectory value. The goal must be achieved by time the\n\
00302 # trajectory ends plus goal_time_tolerance. (goal_time_tolerance\n\
00303 # allows some leeway in time, so that the trajectory goal can still\n\
00304 # succeed even if the joints reach the goal some time after the\n\
00305 # precise end time of the trajectory).\n\
00306 #\n\
00307 # If the joints are not within goal_tolerance after \"trajectory finish\n\
00308 # time\" + goal_time_tolerance, the goal aborts with error_code set to\n\
00309 # GOAL_TOLERANCE_VIOLATED\n\
00310 JointTolerance[] goal_tolerance\n\
00311 duration goal_time_tolerance\n\
00312 \n\
00313 \n\
00314 ================================================================================\n\
00315 MSG: trajectory_msgs/JointTrajectory\n\
00316 Header header\n\
00317 string[] joint_names\n\
00318 JointTrajectoryPoint[] points\n\
00319 ================================================================================\n\
00320 MSG: trajectory_msgs/JointTrajectoryPoint\n\
00321 float64[] positions\n\
00322 float64[] velocities\n\
00323 float64[] accelerations\n\
00324 duration time_from_start\n\
00325 ================================================================================\n\
00326 MSG: control_msgs/JointTolerance\n\
00327 # The tolerances specify the amount the position, velocity, and\n\
00328 # accelerations can vary from the setpoints. For example, in the case\n\
00329 # of trajectory control, when the actual position varies beyond\n\
00330 # (desired position + position tolerance), the trajectory goal may\n\
00331 # abort.\n\
00332 # \n\
00333 # There are two special values for tolerances:\n\
00334 # * 0 - The tolerance is unspecified and will remain at whatever the default is\n\
00335 # * -1 - The tolerance is \"erased\". If there was a default, the joint will be\n\
00336 # allowed to move without restriction.\n\
00337 \n\
00338 string name\n\
00339 float64 position # in radians or meters (for a revolute or prismatic joint, respectively)\n\
00340 float64 velocity # in rad/sec or m/sec\n\
00341 float64 acceleration # in rad/sec^2 or m/sec^2\n\
00342 \n\
00343 ";
00344 }
00345
00346 static const char* value(const ::control_msgs::FollowJointTrajectoryActionGoal_<ContainerAllocator> &) { return value(); }
00347 };
00348
00349 template<class ContainerAllocator> struct HasHeader< ::control_msgs::FollowJointTrajectoryActionGoal_<ContainerAllocator> > : public TrueType {};
00350 template<class ContainerAllocator> struct HasHeader< const ::control_msgs::FollowJointTrajectoryActionGoal_<ContainerAllocator> > : public TrueType {};
00351 }
00352 }
00353
00354 namespace ros
00355 {
00356 namespace serialization
00357 {
00358
00359 template<class ContainerAllocator> struct Serializer< ::control_msgs::FollowJointTrajectoryActionGoal_<ContainerAllocator> >
00360 {
00361 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00362 {
00363 stream.next(m.header);
00364 stream.next(m.goal_id);
00365 stream.next(m.goal);
00366 }
00367
00368 ROS_DECLARE_ALLINONE_SERIALIZER;
00369 };
00370 }
00371 }
00372
00373 namespace ros
00374 {
00375 namespace message_operations
00376 {
00377
00378 template<class ContainerAllocator>
00379 struct Printer< ::control_msgs::FollowJointTrajectoryActionGoal_<ContainerAllocator> >
00380 {
00381 template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::control_msgs::FollowJointTrajectoryActionGoal_<ContainerAllocator> & v)
00382 {
00383 s << indent << "header: ";
00384 s << std::endl;
00385 Printer< ::std_msgs::Header_<ContainerAllocator> >::stream(s, indent + " ", v.header);
00386 s << indent << "goal_id: ";
00387 s << std::endl;
00388 Printer< ::actionlib_msgs::GoalID_<ContainerAllocator> >::stream(s, indent + " ", v.goal_id);
00389 s << indent << "goal: ";
00390 s << std::endl;
00391 Printer< ::control_msgs::FollowJointTrajectoryGoal_<ContainerAllocator> >::stream(s, indent + " ", v.goal);
00392 }
00393 };
00394
00395
00396 }
00397 }
00398
00399 #endif // CONTROL_MSGS_MESSAGE_FOLLOWJOINTTRAJECTORYACTIONGOAL_H
00400
