00001
00002 #ifndef KINEMATICS_MSGS_SERVICE_GETPOSITIONFK_H
00003 #define KINEMATICS_MSGS_SERVICE_GETPOSITIONFK_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 "std_msgs/Header.h"
00020 #include "arm_navigation_msgs/RobotState.h"
00021
00022
00023 #include "geometry_msgs/PoseStamped.h"
00024 #include "arm_navigation_msgs/ArmNavigationErrorCodes.h"
00025
00026 namespace kinematics_msgs
00027 {
00028 template <class ContainerAllocator>
00029 struct GetPositionFKRequest_ {
00030 typedef GetPositionFKRequest_<ContainerAllocator> Type;
00031
00032 GetPositionFKRequest_()
00033 : header()
00034 , fk_link_names()
00035 , robot_state()
00036 {
00037 }
00038
00039 GetPositionFKRequest_(const ContainerAllocator& _alloc)
00040 : header(_alloc)
00041 , fk_link_names(_alloc)
00042 , robot_state(_alloc)
00043 {
00044 }
00045
00046 typedef ::std_msgs::Header_<ContainerAllocator> _header_type;
00047 ::std_msgs::Header_<ContainerAllocator> header;
00048
00049 typedef std::vector<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > , typename ContainerAllocator::template rebind<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > >::other > _fk_link_names_type;
00050 std::vector<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > , typename ContainerAllocator::template rebind<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > >::other > fk_link_names;
00051
00052 typedef ::arm_navigation_msgs::RobotState_<ContainerAllocator> _robot_state_type;
00053 ::arm_navigation_msgs::RobotState_<ContainerAllocator> robot_state;
00054
00055
00056 ROS_DEPRECATED uint32_t get_fk_link_names_size() const { return (uint32_t)fk_link_names.size(); }
00057 ROS_DEPRECATED void set_fk_link_names_size(uint32_t size) { fk_link_names.resize((size_t)size); }
00058 ROS_DEPRECATED void get_fk_link_names_vec(std::vector<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > , typename ContainerAllocator::template rebind<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > >::other > & vec) const { vec = this->fk_link_names; }
00059 ROS_DEPRECATED void set_fk_link_names_vec(const std::vector<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > , typename ContainerAllocator::template rebind<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > >::other > & vec) { this->fk_link_names = vec; }
00060 private:
00061 static const char* __s_getDataType_() { return "kinematics_msgs/GetPositionFKRequest"; }
00062 public:
00063 ROS_DEPRECATED static const std::string __s_getDataType() { return __s_getDataType_(); }
00064
00065 ROS_DEPRECATED const std::string __getDataType() const { return __s_getDataType_(); }
00066
00067 private:
00068 static const char* __s_getMD5Sum_() { return "ddaa8b9932e60599795bcb983e28cf57"; }
00069 public:
00070 ROS_DEPRECATED static const std::string __s_getMD5Sum() { return __s_getMD5Sum_(); }
00071
00072 ROS_DEPRECATED const std::string __getMD5Sum() const { return __s_getMD5Sum_(); }
00073
00074 private:
00075 static const char* __s_getServerMD5Sum_() { return "2088007c8963e2252a67c872affa0985"; }
00076 public:
00077 ROS_DEPRECATED static const std::string __s_getServerMD5Sum() { return __s_getServerMD5Sum_(); }
00078
00079 ROS_DEPRECATED const std::string __getServerMD5Sum() const { return __s_getServerMD5Sum_(); }
00080
00081 private:
00082 static const char* __s_getMessageDefinition_() { return "\n\
00083 \n\
00084 \n\
00085 Header header\n\
00086 \n\
00087 \n\
00088 string[] fk_link_names\n\
00089 \n\
00090 \n\
00091 arm_navigation_msgs/RobotState robot_state\n\
00092 \n\
00093 ================================================================================\n\
00094 MSG: std_msgs/Header\n\
00095 # Standard metadata for higher-level stamped data types.\n\
00096 # This is generally used to communicate timestamped data \n\
00097 # in a particular coordinate frame.\n\
00098 # \n\
00099 # sequence ID: consecutively increasing ID \n\
00100 uint32 seq\n\
00101 #Two-integer timestamp that is expressed as:\n\
00102 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00103 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00104 # time-handling sugar is provided by the client library\n\
00105 time stamp\n\
00106 #Frame this data is associated with\n\
00107 # 0: no frame\n\
00108 # 1: global frame\n\
00109 string frame_id\n\
00110 \n\
00111 ================================================================================\n\
00112 MSG: arm_navigation_msgs/RobotState\n\
00113 # This message contains information about the robot state, i.e. the positions of its joints and links\n\
00114 sensor_msgs/JointState joint_state\n\
00115 arm_navigation_msgs/MultiDOFJointState multi_dof_joint_state\n\
00116 \n\
00117 ================================================================================\n\
00118 MSG: sensor_msgs/JointState\n\
00119 # This is a message that holds data to describe the state of a set of torque controlled joints. \n\
00120 #\n\
00121 # The state of each joint (revolute or prismatic) is defined by:\n\
00122 # * the position of the joint (rad or m),\n\
00123 # * the velocity of the joint (rad/s or m/s) and \n\
00124 # * the effort that is applied in the joint (Nm or N).\n\
00125 #\n\
00126 # Each joint is uniquely identified by its name\n\
00127 # The header specifies the time at which the joint states were recorded. All the joint states\n\
00128 # in one message have to be recorded at the same time.\n\
00129 #\n\
00130 # This message consists of a multiple arrays, one for each part of the joint state. \n\
00131 # The goal is to make each of the fields optional. When e.g. your joints have no\n\
00132 # effort associated with them, you can leave the effort array empty. \n\
00133 #\n\
00134 # All arrays in this message should have the same size, or be empty.\n\
00135 # This is the only way to uniquely associate the joint name with the correct\n\
00136 # states.\n\
00137 \n\
00138 \n\
00139 Header header\n\
00140 \n\
00141 string[] name\n\
00142 float64[] position\n\
00143 float64[] velocity\n\
00144 float64[] effort\n\
00145 \n\
00146 ================================================================================\n\
00147 MSG: arm_navigation_msgs/MultiDOFJointState\n\
00148 #A representation of a multi-dof joint state\n\
00149 time stamp\n\
00150 string[] joint_names\n\
00151 string[] frame_ids\n\
00152 string[] child_frame_ids\n\
00153 geometry_msgs/Pose[] poses\n\
00154 \n\
00155 ================================================================================\n\
00156 MSG: geometry_msgs/Pose\n\
00157 # A representation of pose in free space, composed of postion and orientation. \n\
00158 Point position\n\
00159 Quaternion orientation\n\
00160 \n\
00161 ================================================================================\n\
00162 MSG: geometry_msgs/Point\n\
00163 # This contains the position of a point in free space\n\
00164 float64 x\n\
00165 float64 y\n\
00166 float64 z\n\
00167 \n\
00168 ================================================================================\n\
00169 MSG: geometry_msgs/Quaternion\n\
00170 # This represents an orientation in free space in quaternion form.\n\
00171 \n\
00172 float64 x\n\
00173 float64 y\n\
00174 float64 z\n\
00175 float64 w\n\
00176 \n\
00177 "; }
00178 public:
00179 ROS_DEPRECATED static const std::string __s_getMessageDefinition() { return __s_getMessageDefinition_(); }
00180
00181 ROS_DEPRECATED const std::string __getMessageDefinition() const { return __s_getMessageDefinition_(); }
00182
00183 ROS_DEPRECATED virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const
00184 {
00185 ros::serialization::OStream stream(write_ptr, 1000000000);
00186 ros::serialization::serialize(stream, header);
00187 ros::serialization::serialize(stream, fk_link_names);
00188 ros::serialization::serialize(stream, robot_state);
00189 return stream.getData();
00190 }
00191
00192 ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr)
00193 {
00194 ros::serialization::IStream stream(read_ptr, 1000000000);
00195 ros::serialization::deserialize(stream, header);
00196 ros::serialization::deserialize(stream, fk_link_names);
00197 ros::serialization::deserialize(stream, robot_state);
00198 return stream.getData();
00199 }
00200
00201 ROS_DEPRECATED virtual uint32_t serializationLength() const
00202 {
00203 uint32_t size = 0;
00204 size += ros::serialization::serializationLength(header);
00205 size += ros::serialization::serializationLength(fk_link_names);
00206 size += ros::serialization::serializationLength(robot_state);
00207 return size;
00208 }
00209
00210 typedef boost::shared_ptr< ::kinematics_msgs::GetPositionFKRequest_<ContainerAllocator> > Ptr;
00211 typedef boost::shared_ptr< ::kinematics_msgs::GetPositionFKRequest_<ContainerAllocator> const> ConstPtr;
00212 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00213 };
00214 typedef ::kinematics_msgs::GetPositionFKRequest_<std::allocator<void> > GetPositionFKRequest;
00215
00216 typedef boost::shared_ptr< ::kinematics_msgs::GetPositionFKRequest> GetPositionFKRequestPtr;
00217 typedef boost::shared_ptr< ::kinematics_msgs::GetPositionFKRequest const> GetPositionFKRequestConstPtr;
00218
00219
00220 template <class ContainerAllocator>
00221 struct GetPositionFKResponse_ {
00222 typedef GetPositionFKResponse_<ContainerAllocator> Type;
00223
00224 GetPositionFKResponse_()
00225 : pose_stamped()
00226 , fk_link_names()
00227 , error_code()
00228 {
00229 }
00230
00231 GetPositionFKResponse_(const ContainerAllocator& _alloc)
00232 : pose_stamped(_alloc)
00233 , fk_link_names(_alloc)
00234 , error_code(_alloc)
00235 {
00236 }
00237
00238 typedef std::vector< ::geometry_msgs::PoseStamped_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::geometry_msgs::PoseStamped_<ContainerAllocator> >::other > _pose_stamped_type;
00239 std::vector< ::geometry_msgs::PoseStamped_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::geometry_msgs::PoseStamped_<ContainerAllocator> >::other > pose_stamped;
00240
00241 typedef std::vector<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > , typename ContainerAllocator::template rebind<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > >::other > _fk_link_names_type;
00242 std::vector<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > , typename ContainerAllocator::template rebind<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > >::other > fk_link_names;
00243
00244 typedef ::arm_navigation_msgs::ArmNavigationErrorCodes_<ContainerAllocator> _error_code_type;
00245 ::arm_navigation_msgs::ArmNavigationErrorCodes_<ContainerAllocator> error_code;
00246
00247
00248 ROS_DEPRECATED uint32_t get_pose_stamped_size() const { return (uint32_t)pose_stamped.size(); }
00249 ROS_DEPRECATED void set_pose_stamped_size(uint32_t size) { pose_stamped.resize((size_t)size); }
00250 ROS_DEPRECATED void get_pose_stamped_vec(std::vector< ::geometry_msgs::PoseStamped_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::geometry_msgs::PoseStamped_<ContainerAllocator> >::other > & vec) const { vec = this->pose_stamped; }
00251 ROS_DEPRECATED void set_pose_stamped_vec(const std::vector< ::geometry_msgs::PoseStamped_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::geometry_msgs::PoseStamped_<ContainerAllocator> >::other > & vec) { this->pose_stamped = vec; }
00252 ROS_DEPRECATED uint32_t get_fk_link_names_size() const { return (uint32_t)fk_link_names.size(); }
00253 ROS_DEPRECATED void set_fk_link_names_size(uint32_t size) { fk_link_names.resize((size_t)size); }
00254 ROS_DEPRECATED void get_fk_link_names_vec(std::vector<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > , typename ContainerAllocator::template rebind<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > >::other > & vec) const { vec = this->fk_link_names; }
00255 ROS_DEPRECATED void set_fk_link_names_vec(const std::vector<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > , typename ContainerAllocator::template rebind<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > >::other > & vec) { this->fk_link_names = vec; }
00256 private:
00257 static const char* __s_getDataType_() { return "kinematics_msgs/GetPositionFKResponse"; }
00258 public:
00259 ROS_DEPRECATED static const std::string __s_getDataType() { return __s_getDataType_(); }
00260
00261 ROS_DEPRECATED const std::string __getDataType() const { return __s_getDataType_(); }
00262
00263 private:
00264 static const char* __s_getMD5Sum_() { return "4a3efc190f6ac6f248069cfa3cd94286"; }
00265 public:
00266 ROS_DEPRECATED static const std::string __s_getMD5Sum() { return __s_getMD5Sum_(); }
00267
00268 ROS_DEPRECATED const std::string __getMD5Sum() const { return __s_getMD5Sum_(); }
00269
00270 private:
00271 static const char* __s_getServerMD5Sum_() { return "2088007c8963e2252a67c872affa0985"; }
00272 public:
00273 ROS_DEPRECATED static const std::string __s_getServerMD5Sum() { return __s_getServerMD5Sum_(); }
00274
00275 ROS_DEPRECATED const std::string __getServerMD5Sum() const { return __s_getServerMD5Sum_(); }
00276
00277 private:
00278 static const char* __s_getMessageDefinition_() { return "\n\
00279 geometry_msgs/PoseStamped[] pose_stamped\n\
00280 \n\
00281 \n\
00282 string[] fk_link_names\n\
00283 \n\
00284 arm_navigation_msgs/ArmNavigationErrorCodes error_code\n\
00285 \n\
00286 \n\
00287 ================================================================================\n\
00288 MSG: geometry_msgs/PoseStamped\n\
00289 # A Pose with reference coordinate frame and timestamp\n\
00290 Header header\n\
00291 Pose pose\n\
00292 \n\
00293 ================================================================================\n\
00294 MSG: std_msgs/Header\n\
00295 # Standard metadata for higher-level stamped data types.\n\
00296 # This is generally used to communicate timestamped data \n\
00297 # in a particular coordinate frame.\n\
00298 # \n\
00299 # sequence ID: consecutively increasing ID \n\
00300 uint32 seq\n\
00301 #Two-integer timestamp that is expressed as:\n\
00302 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00303 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00304 # time-handling sugar is provided by the client library\n\
00305 time stamp\n\
00306 #Frame this data is associated with\n\
00307 # 0: no frame\n\
00308 # 1: global frame\n\
00309 string frame_id\n\
00310 \n\
00311 ================================================================================\n\
00312 MSG: geometry_msgs/Pose\n\
00313 # A representation of pose in free space, composed of postion and orientation. \n\
00314 Point position\n\
00315 Quaternion orientation\n\
00316 \n\
00317 ================================================================================\n\
00318 MSG: geometry_msgs/Point\n\
00319 # This contains the position of a point in free space\n\
00320 float64 x\n\
00321 float64 y\n\
00322 float64 z\n\
00323 \n\
00324 ================================================================================\n\
00325 MSG: geometry_msgs/Quaternion\n\
00326 # This represents an orientation in free space in quaternion form.\n\
00327 \n\
00328 float64 x\n\
00329 float64 y\n\
00330 float64 z\n\
00331 float64 w\n\
00332 \n\
00333 ================================================================================\n\
00334 MSG: arm_navigation_msgs/ArmNavigationErrorCodes\n\
00335 int32 val\n\
00336 \n\
00337 # overall behavior\n\
00338 int32 PLANNING_FAILED=-1\n\
00339 int32 SUCCESS=1\n\
00340 int32 TIMED_OUT=-2\n\
00341 \n\
00342 # start state errors\n\
00343 int32 START_STATE_IN_COLLISION=-3\n\
00344 int32 START_STATE_VIOLATES_PATH_CONSTRAINTS=-4\n\
00345 \n\
00346 # goal errors\n\
00347 int32 GOAL_IN_COLLISION=-5\n\
00348 int32 GOAL_VIOLATES_PATH_CONSTRAINTS=-6\n\
00349 \n\
00350 # robot state\n\
00351 int32 INVALID_ROBOT_STATE=-7\n\
00352 int32 INCOMPLETE_ROBOT_STATE=-8\n\
00353 \n\
00354 # planning request errors\n\
00355 int32 INVALID_PLANNER_ID=-9\n\
00356 int32 INVALID_NUM_PLANNING_ATTEMPTS=-10\n\
00357 int32 INVALID_ALLOWED_PLANNING_TIME=-11\n\
00358 int32 INVALID_GROUP_NAME=-12\n\
00359 int32 INVALID_GOAL_JOINT_CONSTRAINTS=-13\n\
00360 int32 INVALID_GOAL_POSITION_CONSTRAINTS=-14\n\
00361 int32 INVALID_GOAL_ORIENTATION_CONSTRAINTS=-15\n\
00362 int32 INVALID_PATH_JOINT_CONSTRAINTS=-16\n\
00363 int32 INVALID_PATH_POSITION_CONSTRAINTS=-17\n\
00364 int32 INVALID_PATH_ORIENTATION_CONSTRAINTS=-18\n\
00365 \n\
00366 # state/trajectory monitor errors\n\
00367 int32 INVALID_TRAJECTORY=-19\n\
00368 int32 INVALID_INDEX=-20\n\
00369 int32 JOINT_LIMITS_VIOLATED=-21\n\
00370 int32 PATH_CONSTRAINTS_VIOLATED=-22\n\
00371 int32 COLLISION_CONSTRAINTS_VIOLATED=-23\n\
00372 int32 GOAL_CONSTRAINTS_VIOLATED=-24\n\
00373 int32 JOINTS_NOT_MOVING=-25\n\
00374 int32 TRAJECTORY_CONTROLLER_FAILED=-26\n\
00375 \n\
00376 # system errors\n\
00377 int32 FRAME_TRANSFORM_FAILURE=-27\n\
00378 int32 COLLISION_CHECKING_UNAVAILABLE=-28\n\
00379 int32 ROBOT_STATE_STALE=-29\n\
00380 int32 SENSOR_INFO_STALE=-30\n\
00381 \n\
00382 # kinematics errors\n\
00383 int32 NO_IK_SOLUTION=-31\n\
00384 int32 INVALID_LINK_NAME=-32\n\
00385 int32 IK_LINK_IN_COLLISION=-33\n\
00386 int32 NO_FK_SOLUTION=-34\n\
00387 int32 KINEMATICS_STATE_IN_COLLISION=-35\n\
00388 \n\
00389 # general errors\n\
00390 int32 INVALID_TIMEOUT=-36\n\
00391 \n\
00392 \n\
00393 "; }
00394 public:
00395 ROS_DEPRECATED static const std::string __s_getMessageDefinition() { return __s_getMessageDefinition_(); }
00396
00397 ROS_DEPRECATED const std::string __getMessageDefinition() const { return __s_getMessageDefinition_(); }
00398
00399 ROS_DEPRECATED virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const
00400 {
00401 ros::serialization::OStream stream(write_ptr, 1000000000);
00402 ros::serialization::serialize(stream, pose_stamped);
00403 ros::serialization::serialize(stream, fk_link_names);
00404 ros::serialization::serialize(stream, error_code);
00405 return stream.getData();
00406 }
00407
00408 ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr)
00409 {
00410 ros::serialization::IStream stream(read_ptr, 1000000000);
00411 ros::serialization::deserialize(stream, pose_stamped);
00412 ros::serialization::deserialize(stream, fk_link_names);
00413 ros::serialization::deserialize(stream, error_code);
00414 return stream.getData();
00415 }
00416
00417 ROS_DEPRECATED virtual uint32_t serializationLength() const
00418 {
00419 uint32_t size = 0;
00420 size += ros::serialization::serializationLength(pose_stamped);
00421 size += ros::serialization::serializationLength(fk_link_names);
00422 size += ros::serialization::serializationLength(error_code);
00423 return size;
00424 }
00425
00426 typedef boost::shared_ptr< ::kinematics_msgs::GetPositionFKResponse_<ContainerAllocator> > Ptr;
00427 typedef boost::shared_ptr< ::kinematics_msgs::GetPositionFKResponse_<ContainerAllocator> const> ConstPtr;
00428 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00429 };
00430 typedef ::kinematics_msgs::GetPositionFKResponse_<std::allocator<void> > GetPositionFKResponse;
00431
00432 typedef boost::shared_ptr< ::kinematics_msgs::GetPositionFKResponse> GetPositionFKResponsePtr;
00433 typedef boost::shared_ptr< ::kinematics_msgs::GetPositionFKResponse const> GetPositionFKResponseConstPtr;
00434
00435 struct GetPositionFK
00436 {
00437
00438 typedef GetPositionFKRequest Request;
00439 typedef GetPositionFKResponse Response;
00440 Request request;
00441 Response response;
00442
00443 typedef Request RequestType;
00444 typedef Response ResponseType;
00445 };
00446 }
00447
00448 namespace ros
00449 {
00450 namespace message_traits
00451 {
00452 template<class ContainerAllocator> struct IsMessage< ::kinematics_msgs::GetPositionFKRequest_<ContainerAllocator> > : public TrueType {};
00453 template<class ContainerAllocator> struct IsMessage< ::kinematics_msgs::GetPositionFKRequest_<ContainerAllocator> const> : public TrueType {};
00454 template<class ContainerAllocator>
00455 struct MD5Sum< ::kinematics_msgs::GetPositionFKRequest_<ContainerAllocator> > {
00456 static const char* value()
00457 {
00458 return "ddaa8b9932e60599795bcb983e28cf57";
00459 }
00460
00461 static const char* value(const ::kinematics_msgs::GetPositionFKRequest_<ContainerAllocator> &) { return value(); }
00462 static const uint64_t static_value1 = 0xddaa8b9932e60599ULL;
00463 static const uint64_t static_value2 = 0x795bcb983e28cf57ULL;
00464 };
00465
00466 template<class ContainerAllocator>
00467 struct DataType< ::kinematics_msgs::GetPositionFKRequest_<ContainerAllocator> > {
00468 static const char* value()
00469 {
00470 return "kinematics_msgs/GetPositionFKRequest";
00471 }
00472
00473 static const char* value(const ::kinematics_msgs::GetPositionFKRequest_<ContainerAllocator> &) { return value(); }
00474 };
00475
00476 template<class ContainerAllocator>
00477 struct Definition< ::kinematics_msgs::GetPositionFKRequest_<ContainerAllocator> > {
00478 static const char* value()
00479 {
00480 return "\n\
00481 \n\
00482 \n\
00483 Header header\n\
00484 \n\
00485 \n\
00486 string[] fk_link_names\n\
00487 \n\
00488 \n\
00489 arm_navigation_msgs/RobotState robot_state\n\
00490 \n\
00491 ================================================================================\n\
00492 MSG: std_msgs/Header\n\
00493 # Standard metadata for higher-level stamped data types.\n\
00494 # This is generally used to communicate timestamped data \n\
00495 # in a particular coordinate frame.\n\
00496 # \n\
00497 # sequence ID: consecutively increasing ID \n\
00498 uint32 seq\n\
00499 #Two-integer timestamp that is expressed as:\n\
00500 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00501 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00502 # time-handling sugar is provided by the client library\n\
00503 time stamp\n\
00504 #Frame this data is associated with\n\
00505 # 0: no frame\n\
00506 # 1: global frame\n\
00507 string frame_id\n\
00508 \n\
00509 ================================================================================\n\
00510 MSG: arm_navigation_msgs/RobotState\n\
00511 # This message contains information about the robot state, i.e. the positions of its joints and links\n\
00512 sensor_msgs/JointState joint_state\n\
00513 arm_navigation_msgs/MultiDOFJointState multi_dof_joint_state\n\
00514 \n\
00515 ================================================================================\n\
00516 MSG: sensor_msgs/JointState\n\
00517 # This is a message that holds data to describe the state of a set of torque controlled joints. \n\
00518 #\n\
00519 # The state of each joint (revolute or prismatic) is defined by:\n\
00520 # * the position of the joint (rad or m),\n\
00521 # * the velocity of the joint (rad/s or m/s) and \n\
00522 # * the effort that is applied in the joint (Nm or N).\n\
00523 #\n\
00524 # Each joint is uniquely identified by its name\n\
00525 # The header specifies the time at which the joint states were recorded. All the joint states\n\
00526 # in one message have to be recorded at the same time.\n\
00527 #\n\
00528 # This message consists of a multiple arrays, one for each part of the joint state. \n\
00529 # The goal is to make each of the fields optional. When e.g. your joints have no\n\
00530 # effort associated with them, you can leave the effort array empty. \n\
00531 #\n\
00532 # All arrays in this message should have the same size, or be empty.\n\
00533 # This is the only way to uniquely associate the joint name with the correct\n\
00534 # states.\n\
00535 \n\
00536 \n\
00537 Header header\n\
00538 \n\
00539 string[] name\n\
00540 float64[] position\n\
00541 float64[] velocity\n\
00542 float64[] effort\n\
00543 \n\
00544 ================================================================================\n\
00545 MSG: arm_navigation_msgs/MultiDOFJointState\n\
00546 #A representation of a multi-dof joint state\n\
00547 time stamp\n\
00548 string[] joint_names\n\
00549 string[] frame_ids\n\
00550 string[] child_frame_ids\n\
00551 geometry_msgs/Pose[] poses\n\
00552 \n\
00553 ================================================================================\n\
00554 MSG: geometry_msgs/Pose\n\
00555 # A representation of pose in free space, composed of postion and orientation. \n\
00556 Point position\n\
00557 Quaternion orientation\n\
00558 \n\
00559 ================================================================================\n\
00560 MSG: geometry_msgs/Point\n\
00561 # This contains the position of a point in free space\n\
00562 float64 x\n\
00563 float64 y\n\
00564 float64 z\n\
00565 \n\
00566 ================================================================================\n\
00567 MSG: geometry_msgs/Quaternion\n\
00568 # This represents an orientation in free space in quaternion form.\n\
00569 \n\
00570 float64 x\n\
00571 float64 y\n\
00572 float64 z\n\
00573 float64 w\n\
00574 \n\
00575 ";
00576 }
00577
00578 static const char* value(const ::kinematics_msgs::GetPositionFKRequest_<ContainerAllocator> &) { return value(); }
00579 };
00580
00581 template<class ContainerAllocator> struct HasHeader< ::kinematics_msgs::GetPositionFKRequest_<ContainerAllocator> > : public TrueType {};
00582 template<class ContainerAllocator> struct HasHeader< const ::kinematics_msgs::GetPositionFKRequest_<ContainerAllocator> > : public TrueType {};
00583 }
00584 }
00585
00586
00587 namespace ros
00588 {
00589 namespace message_traits
00590 {
00591 template<class ContainerAllocator> struct IsMessage< ::kinematics_msgs::GetPositionFKResponse_<ContainerAllocator> > : public TrueType {};
00592 template<class ContainerAllocator> struct IsMessage< ::kinematics_msgs::GetPositionFKResponse_<ContainerAllocator> const> : public TrueType {};
00593 template<class ContainerAllocator>
00594 struct MD5Sum< ::kinematics_msgs::GetPositionFKResponse_<ContainerAllocator> > {
00595 static const char* value()
00596 {
00597 return "4a3efc190f6ac6f248069cfa3cd94286";
00598 }
00599
00600 static const char* value(const ::kinematics_msgs::GetPositionFKResponse_<ContainerAllocator> &) { return value(); }
00601 static const uint64_t static_value1 = 0x4a3efc190f6ac6f2ULL;
00602 static const uint64_t static_value2 = 0x48069cfa3cd94286ULL;
00603 };
00604
00605 template<class ContainerAllocator>
00606 struct DataType< ::kinematics_msgs::GetPositionFKResponse_<ContainerAllocator> > {
00607 static const char* value()
00608 {
00609 return "kinematics_msgs/GetPositionFKResponse";
00610 }
00611
00612 static const char* value(const ::kinematics_msgs::GetPositionFKResponse_<ContainerAllocator> &) { return value(); }
00613 };
00614
00615 template<class ContainerAllocator>
00616 struct Definition< ::kinematics_msgs::GetPositionFKResponse_<ContainerAllocator> > {
00617 static const char* value()
00618 {
00619 return "\n\
00620 geometry_msgs/PoseStamped[] pose_stamped\n\
00621 \n\
00622 \n\
00623 string[] fk_link_names\n\
00624 \n\
00625 arm_navigation_msgs/ArmNavigationErrorCodes error_code\n\
00626 \n\
00627 \n\
00628 ================================================================================\n\
00629 MSG: geometry_msgs/PoseStamped\n\
00630 # A Pose with reference coordinate frame and timestamp\n\
00631 Header header\n\
00632 Pose pose\n\
00633 \n\
00634 ================================================================================\n\
00635 MSG: std_msgs/Header\n\
00636 # Standard metadata for higher-level stamped data types.\n\
00637 # This is generally used to communicate timestamped data \n\
00638 # in a particular coordinate frame.\n\
00639 # \n\
00640 # sequence ID: consecutively increasing ID \n\
00641 uint32 seq\n\
00642 #Two-integer timestamp that is expressed as:\n\
00643 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00644 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00645 # time-handling sugar is provided by the client library\n\
00646 time stamp\n\
00647 #Frame this data is associated with\n\
00648 # 0: no frame\n\
00649 # 1: global frame\n\
00650 string frame_id\n\
00651 \n\
00652 ================================================================================\n\
00653 MSG: geometry_msgs/Pose\n\
00654 # A representation of pose in free space, composed of postion and orientation. \n\
00655 Point position\n\
00656 Quaternion orientation\n\
00657 \n\
00658 ================================================================================\n\
00659 MSG: geometry_msgs/Point\n\
00660 # This contains the position of a point in free space\n\
00661 float64 x\n\
00662 float64 y\n\
00663 float64 z\n\
00664 \n\
00665 ================================================================================\n\
00666 MSG: geometry_msgs/Quaternion\n\
00667 # This represents an orientation in free space in quaternion form.\n\
00668 \n\
00669 float64 x\n\
00670 float64 y\n\
00671 float64 z\n\
00672 float64 w\n\
00673 \n\
00674 ================================================================================\n\
00675 MSG: arm_navigation_msgs/ArmNavigationErrorCodes\n\
00676 int32 val\n\
00677 \n\
00678 # overall behavior\n\
00679 int32 PLANNING_FAILED=-1\n\
00680 int32 SUCCESS=1\n\
00681 int32 TIMED_OUT=-2\n\
00682 \n\
00683 # start state errors\n\
00684 int32 START_STATE_IN_COLLISION=-3\n\
00685 int32 START_STATE_VIOLATES_PATH_CONSTRAINTS=-4\n\
00686 \n\
00687 # goal errors\n\
00688 int32 GOAL_IN_COLLISION=-5\n\
00689 int32 GOAL_VIOLATES_PATH_CONSTRAINTS=-6\n\
00690 \n\
00691 # robot state\n\
00692 int32 INVALID_ROBOT_STATE=-7\n\
00693 int32 INCOMPLETE_ROBOT_STATE=-8\n\
00694 \n\
00695 # planning request errors\n\
00696 int32 INVALID_PLANNER_ID=-9\n\
00697 int32 INVALID_NUM_PLANNING_ATTEMPTS=-10\n\
00698 int32 INVALID_ALLOWED_PLANNING_TIME=-11\n\
00699 int32 INVALID_GROUP_NAME=-12\n\
00700 int32 INVALID_GOAL_JOINT_CONSTRAINTS=-13\n\
00701 int32 INVALID_GOAL_POSITION_CONSTRAINTS=-14\n\
00702 int32 INVALID_GOAL_ORIENTATION_CONSTRAINTS=-15\n\
00703 int32 INVALID_PATH_JOINT_CONSTRAINTS=-16\n\
00704 int32 INVALID_PATH_POSITION_CONSTRAINTS=-17\n\
00705 int32 INVALID_PATH_ORIENTATION_CONSTRAINTS=-18\n\
00706 \n\
00707 # state/trajectory monitor errors\n\
00708 int32 INVALID_TRAJECTORY=-19\n\
00709 int32 INVALID_INDEX=-20\n\
00710 int32 JOINT_LIMITS_VIOLATED=-21\n\
00711 int32 PATH_CONSTRAINTS_VIOLATED=-22\n\
00712 int32 COLLISION_CONSTRAINTS_VIOLATED=-23\n\
00713 int32 GOAL_CONSTRAINTS_VIOLATED=-24\n\
00714 int32 JOINTS_NOT_MOVING=-25\n\
00715 int32 TRAJECTORY_CONTROLLER_FAILED=-26\n\
00716 \n\
00717 # system errors\n\
00718 int32 FRAME_TRANSFORM_FAILURE=-27\n\
00719 int32 COLLISION_CHECKING_UNAVAILABLE=-28\n\
00720 int32 ROBOT_STATE_STALE=-29\n\
00721 int32 SENSOR_INFO_STALE=-30\n\
00722 \n\
00723 # kinematics errors\n\
00724 int32 NO_IK_SOLUTION=-31\n\
00725 int32 INVALID_LINK_NAME=-32\n\
00726 int32 IK_LINK_IN_COLLISION=-33\n\
00727 int32 NO_FK_SOLUTION=-34\n\
00728 int32 KINEMATICS_STATE_IN_COLLISION=-35\n\
00729 \n\
00730 # general errors\n\
00731 int32 INVALID_TIMEOUT=-36\n\
00732 \n\
00733 \n\
00734 ";
00735 }
00736
00737 static const char* value(const ::kinematics_msgs::GetPositionFKResponse_<ContainerAllocator> &) { return value(); }
00738 };
00739
00740 }
00741 }
00742
00743 namespace ros
00744 {
00745 namespace serialization
00746 {
00747
00748 template<class ContainerAllocator> struct Serializer< ::kinematics_msgs::GetPositionFKRequest_<ContainerAllocator> >
00749 {
00750 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00751 {
00752 stream.next(m.header);
00753 stream.next(m.fk_link_names);
00754 stream.next(m.robot_state);
00755 }
00756
00757 ROS_DECLARE_ALLINONE_SERIALIZER;
00758 };
00759 }
00760 }
00761
00762
00763 namespace ros
00764 {
00765 namespace serialization
00766 {
00767
00768 template<class ContainerAllocator> struct Serializer< ::kinematics_msgs::GetPositionFKResponse_<ContainerAllocator> >
00769 {
00770 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00771 {
00772 stream.next(m.pose_stamped);
00773 stream.next(m.fk_link_names);
00774 stream.next(m.error_code);
00775 }
00776
00777 ROS_DECLARE_ALLINONE_SERIALIZER;
00778 };
00779 }
00780 }
00781
00782 namespace ros
00783 {
00784 namespace service_traits
00785 {
00786 template<>
00787 struct MD5Sum<kinematics_msgs::GetPositionFK> {
00788 static const char* value()
00789 {
00790 return "2088007c8963e2252a67c872affa0985";
00791 }
00792
00793 static const char* value(const kinematics_msgs::GetPositionFK&) { return value(); }
00794 };
00795
00796 template<>
00797 struct DataType<kinematics_msgs::GetPositionFK> {
00798 static const char* value()
00799 {
00800 return "kinematics_msgs/GetPositionFK";
00801 }
00802
00803 static const char* value(const kinematics_msgs::GetPositionFK&) { return value(); }
00804 };
00805
00806 template<class ContainerAllocator>
00807 struct MD5Sum<kinematics_msgs::GetPositionFKRequest_<ContainerAllocator> > {
00808 static const char* value()
00809 {
00810 return "2088007c8963e2252a67c872affa0985";
00811 }
00812
00813 static const char* value(const kinematics_msgs::GetPositionFKRequest_<ContainerAllocator> &) { return value(); }
00814 };
00815
00816 template<class ContainerAllocator>
00817 struct DataType<kinematics_msgs::GetPositionFKRequest_<ContainerAllocator> > {
00818 static const char* value()
00819 {
00820 return "kinematics_msgs/GetPositionFK";
00821 }
00822
00823 static const char* value(const kinematics_msgs::GetPositionFKRequest_<ContainerAllocator> &) { return value(); }
00824 };
00825
00826 template<class ContainerAllocator>
00827 struct MD5Sum<kinematics_msgs::GetPositionFKResponse_<ContainerAllocator> > {
00828 static const char* value()
00829 {
00830 return "2088007c8963e2252a67c872affa0985";
00831 }
00832
00833 static const char* value(const kinematics_msgs::GetPositionFKResponse_<ContainerAllocator> &) { return value(); }
00834 };
00835
00836 template<class ContainerAllocator>
00837 struct DataType<kinematics_msgs::GetPositionFKResponse_<ContainerAllocator> > {
00838 static const char* value()
00839 {
00840 return "kinematics_msgs/GetPositionFK";
00841 }
00842
00843 static const char* value(const kinematics_msgs::GetPositionFKResponse_<ContainerAllocator> &) { return value(); }
00844 };
00845
00846 }
00847 }
00848
00849 #endif // KINEMATICS_MSGS_SERVICE_GETPOSITIONFK_H
00850
