00001
00002 #ifndef ROBOT_MECHANISM_CONTROLLERS_MESSAGE_JTCARTESIANCONTROLLERSTATE_H
00003 #define ROBOT_MECHANISM_CONTROLLERS_MESSAGE_JTCARTESIANCONTROLLERSTATE_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 "geometry_msgs/PoseStamped.h"
00019 #include "geometry_msgs/PoseStamped.h"
00020 #include "geometry_msgs/PoseStamped.h"
00021 #include "geometry_msgs/Twist.h"
00022 #include "geometry_msgs/Twist.h"
00023 #include "geometry_msgs/Twist.h"
00024 #include "geometry_msgs/Wrench.h"
00025 #include "std_msgs/Float64MultiArray.h"
00026 #include "std_msgs/Float64MultiArray.h"
00027
00028 namespace robot_mechanism_controllers
00029 {
00030 template <class ContainerAllocator>
00031 struct JTCartesianControllerState_ {
00032 typedef JTCartesianControllerState_<ContainerAllocator> Type;
00033
00034 JTCartesianControllerState_()
00035 : header()
00036 , x()
00037 , x_desi()
00038 , x_desi_filtered()
00039 , x_err()
00040 , xd()
00041 , xd_desi()
00042 , F()
00043 , tau_pose()
00044 , tau_posture()
00045 , tau()
00046 , J()
00047 , N()
00048 {
00049 }
00050
00051 JTCartesianControllerState_(const ContainerAllocator& _alloc)
00052 : header(_alloc)
00053 , x(_alloc)
00054 , x_desi(_alloc)
00055 , x_desi_filtered(_alloc)
00056 , x_err(_alloc)
00057 , xd(_alloc)
00058 , xd_desi(_alloc)
00059 , F(_alloc)
00060 , tau_pose(_alloc)
00061 , tau_posture(_alloc)
00062 , tau(_alloc)
00063 , J(_alloc)
00064 , N(_alloc)
00065 {
00066 }
00067
00068 typedef ::std_msgs::Header_<ContainerAllocator> _header_type;
00069 ::std_msgs::Header_<ContainerAllocator> header;
00070
00071 typedef ::geometry_msgs::PoseStamped_<ContainerAllocator> _x_type;
00072 ::geometry_msgs::PoseStamped_<ContainerAllocator> x;
00073
00074 typedef ::geometry_msgs::PoseStamped_<ContainerAllocator> _x_desi_type;
00075 ::geometry_msgs::PoseStamped_<ContainerAllocator> x_desi;
00076
00077 typedef ::geometry_msgs::PoseStamped_<ContainerAllocator> _x_desi_filtered_type;
00078 ::geometry_msgs::PoseStamped_<ContainerAllocator> x_desi_filtered;
00079
00080 typedef ::geometry_msgs::Twist_<ContainerAllocator> _x_err_type;
00081 ::geometry_msgs::Twist_<ContainerAllocator> x_err;
00082
00083 typedef ::geometry_msgs::Twist_<ContainerAllocator> _xd_type;
00084 ::geometry_msgs::Twist_<ContainerAllocator> xd;
00085
00086 typedef ::geometry_msgs::Twist_<ContainerAllocator> _xd_desi_type;
00087 ::geometry_msgs::Twist_<ContainerAllocator> xd_desi;
00088
00089 typedef ::geometry_msgs::Wrench_<ContainerAllocator> _F_type;
00090 ::geometry_msgs::Wrench_<ContainerAllocator> F;
00091
00092 typedef std::vector<double, typename ContainerAllocator::template rebind<double>::other > _tau_pose_type;
00093 std::vector<double, typename ContainerAllocator::template rebind<double>::other > tau_pose;
00094
00095 typedef std::vector<double, typename ContainerAllocator::template rebind<double>::other > _tau_posture_type;
00096 std::vector<double, typename ContainerAllocator::template rebind<double>::other > tau_posture;
00097
00098 typedef std::vector<double, typename ContainerAllocator::template rebind<double>::other > _tau_type;
00099 std::vector<double, typename ContainerAllocator::template rebind<double>::other > tau;
00100
00101 typedef ::std_msgs::Float64MultiArray_<ContainerAllocator> _J_type;
00102 ::std_msgs::Float64MultiArray_<ContainerAllocator> J;
00103
00104 typedef ::std_msgs::Float64MultiArray_<ContainerAllocator> _N_type;
00105 ::std_msgs::Float64MultiArray_<ContainerAllocator> N;
00106
00107
00108 ROS_DEPRECATED uint32_t get_tau_pose_size() const { return (uint32_t)tau_pose.size(); }
00109 ROS_DEPRECATED void set_tau_pose_size(uint32_t size) { tau_pose.resize((size_t)size); }
00110 ROS_DEPRECATED void get_tau_pose_vec(std::vector<double, typename ContainerAllocator::template rebind<double>::other > & vec) const { vec = this->tau_pose; }
00111 ROS_DEPRECATED void set_tau_pose_vec(const std::vector<double, typename ContainerAllocator::template rebind<double>::other > & vec) { this->tau_pose = vec; }
00112 ROS_DEPRECATED uint32_t get_tau_posture_size() const { return (uint32_t)tau_posture.size(); }
00113 ROS_DEPRECATED void set_tau_posture_size(uint32_t size) { tau_posture.resize((size_t)size); }
00114 ROS_DEPRECATED void get_tau_posture_vec(std::vector<double, typename ContainerAllocator::template rebind<double>::other > & vec) const { vec = this->tau_posture; }
00115 ROS_DEPRECATED void set_tau_posture_vec(const std::vector<double, typename ContainerAllocator::template rebind<double>::other > & vec) { this->tau_posture = vec; }
00116 ROS_DEPRECATED uint32_t get_tau_size() const { return (uint32_t)tau.size(); }
00117 ROS_DEPRECATED void set_tau_size(uint32_t size) { tau.resize((size_t)size); }
00118 ROS_DEPRECATED void get_tau_vec(std::vector<double, typename ContainerAllocator::template rebind<double>::other > & vec) const { vec = this->tau; }
00119 ROS_DEPRECATED void set_tau_vec(const std::vector<double, typename ContainerAllocator::template rebind<double>::other > & vec) { this->tau = vec; }
00120 private:
00121 static const char* __s_getDataType_() { return "robot_mechanism_controllers/JTCartesianControllerState"; }
00122 public:
00123 ROS_DEPRECATED static const std::string __s_getDataType() { return __s_getDataType_(); }
00124
00125 ROS_DEPRECATED const std::string __getDataType() const { return __s_getDataType_(); }
00126
00127 private:
00128 static const char* __s_getMD5Sum_() { return "6ecdaa599ea0d27643819ae4cd4c43d0"; }
00129 public:
00130 ROS_DEPRECATED static const std::string __s_getMD5Sum() { return __s_getMD5Sum_(); }
00131
00132 ROS_DEPRECATED const std::string __getMD5Sum() const { return __s_getMD5Sum_(); }
00133
00134 private:
00135 static const char* __s_getMessageDefinition_() { return "Header header\n\
00136 geometry_msgs/PoseStamped x\n\
00137 geometry_msgs/PoseStamped x_desi\n\
00138 geometry_msgs/PoseStamped x_desi_filtered\n\
00139 geometry_msgs/Twist x_err\n\
00140 geometry_msgs/Twist xd\n\
00141 geometry_msgs/Twist xd_desi\n\
00142 geometry_msgs/Wrench F\n\
00143 float64[] tau_pose\n\
00144 float64[] tau_posture\n\
00145 float64[] tau\n\
00146 std_msgs/Float64MultiArray J\n\
00147 std_msgs/Float64MultiArray N\n\
00148 \n\
00149 ================================================================================\n\
00150 MSG: std_msgs/Header\n\
00151 # Standard metadata for higher-level stamped data types.\n\
00152 # This is generally used to communicate timestamped data \n\
00153 # in a particular coordinate frame.\n\
00154 # \n\
00155 # sequence ID: consecutively increasing ID \n\
00156 uint32 seq\n\
00157 #Two-integer timestamp that is expressed as:\n\
00158 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00159 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00160 # time-handling sugar is provided by the client library\n\
00161 time stamp\n\
00162 #Frame this data is associated with\n\
00163 # 0: no frame\n\
00164 # 1: global frame\n\
00165 string frame_id\n\
00166 \n\
00167 ================================================================================\n\
00168 MSG: geometry_msgs/PoseStamped\n\
00169 # A Pose with reference coordinate frame and timestamp\n\
00170 Header header\n\
00171 Pose pose\n\
00172 \n\
00173 ================================================================================\n\
00174 MSG: geometry_msgs/Pose\n\
00175 # A representation of pose in free space, composed of postion and orientation. \n\
00176 Point position\n\
00177 Quaternion orientation\n\
00178 \n\
00179 ================================================================================\n\
00180 MSG: geometry_msgs/Point\n\
00181 # This contains the position of a point in free space\n\
00182 float64 x\n\
00183 float64 y\n\
00184 float64 z\n\
00185 \n\
00186 ================================================================================\n\
00187 MSG: geometry_msgs/Quaternion\n\
00188 # This represents an orientation in free space in quaternion form.\n\
00189 \n\
00190 float64 x\n\
00191 float64 y\n\
00192 float64 z\n\
00193 float64 w\n\
00194 \n\
00195 ================================================================================\n\
00196 MSG: geometry_msgs/Twist\n\
00197 # This expresses velocity in free space broken into it's linear and angular parts. \n\
00198 Vector3 linear\n\
00199 Vector3 angular\n\
00200 \n\
00201 ================================================================================\n\
00202 MSG: geometry_msgs/Vector3\n\
00203 # This represents a vector in free space. \n\
00204 \n\
00205 float64 x\n\
00206 float64 y\n\
00207 float64 z\n\
00208 ================================================================================\n\
00209 MSG: geometry_msgs/Wrench\n\
00210 # This represents force in free space, seperated into \n\
00211 # it's linear and angular parts. \n\
00212 Vector3 force\n\
00213 Vector3 torque\n\
00214 \n\
00215 ================================================================================\n\
00216 MSG: std_msgs/Float64MultiArray\n\
00217 # Please look at the MultiArrayLayout message definition for\n\
00218 # documentation on all multiarrays.\n\
00219 \n\
00220 MultiArrayLayout layout # specification of data layout\n\
00221 float64[] data # array of data\n\
00222 \n\
00223 \n\
00224 ================================================================================\n\
00225 MSG: std_msgs/MultiArrayLayout\n\
00226 # The multiarray declares a generic multi-dimensional array of a\n\
00227 # particular data type. Dimensions are ordered from outer most\n\
00228 # to inner most.\n\
00229 \n\
00230 MultiArrayDimension[] dim # Array of dimension properties\n\
00231 uint32 data_offset # padding bytes at front of data\n\
00232 \n\
00233 # Accessors should ALWAYS be written in terms of dimension stride\n\
00234 # and specified outer-most dimension first.\n\
00235 # \n\
00236 # multiarray(i,j,k) = data[data_offset + dim_stride[1]*i + dim_stride[2]*j + k]\n\
00237 #\n\
00238 # A standard, 3-channel 640x480 image with interleaved color channels\n\
00239 # would be specified as:\n\
00240 #\n\
00241 # dim[0].label = \"height\"\n\
00242 # dim[0].size = 480\n\
00243 # dim[0].stride = 3*640*480 = 921600 (note dim[0] stride is just size of image)\n\
00244 # dim[1].label = \"width\"\n\
00245 # dim[1].size = 640\n\
00246 # dim[1].stride = 3*640 = 1920\n\
00247 # dim[2].label = \"channel\"\n\
00248 # dim[2].size = 3\n\
00249 # dim[2].stride = 3\n\
00250 #\n\
00251 # multiarray(i,j,k) refers to the ith row, jth column, and kth channel.\n\
00252 ================================================================================\n\
00253 MSG: std_msgs/MultiArrayDimension\n\
00254 string label # label of given dimension\n\
00255 uint32 size # size of given dimension (in type units)\n\
00256 uint32 stride # stride of given dimension\n\
00257 "; }
00258 public:
00259 ROS_DEPRECATED static const std::string __s_getMessageDefinition() { return __s_getMessageDefinition_(); }
00260
00261 ROS_DEPRECATED const std::string __getMessageDefinition() const { return __s_getMessageDefinition_(); }
00262
00263 ROS_DEPRECATED virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const
00264 {
00265 ros::serialization::OStream stream(write_ptr, 1000000000);
00266 ros::serialization::serialize(stream, header);
00267 ros::serialization::serialize(stream, x);
00268 ros::serialization::serialize(stream, x_desi);
00269 ros::serialization::serialize(stream, x_desi_filtered);
00270 ros::serialization::serialize(stream, x_err);
00271 ros::serialization::serialize(stream, xd);
00272 ros::serialization::serialize(stream, xd_desi);
00273 ros::serialization::serialize(stream, F);
00274 ros::serialization::serialize(stream, tau_pose);
00275 ros::serialization::serialize(stream, tau_posture);
00276 ros::serialization::serialize(stream, tau);
00277 ros::serialization::serialize(stream, J);
00278 ros::serialization::serialize(stream, N);
00279 return stream.getData();
00280 }
00281
00282 ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr)
00283 {
00284 ros::serialization::IStream stream(read_ptr, 1000000000);
00285 ros::serialization::deserialize(stream, header);
00286 ros::serialization::deserialize(stream, x);
00287 ros::serialization::deserialize(stream, x_desi);
00288 ros::serialization::deserialize(stream, x_desi_filtered);
00289 ros::serialization::deserialize(stream, x_err);
00290 ros::serialization::deserialize(stream, xd);
00291 ros::serialization::deserialize(stream, xd_desi);
00292 ros::serialization::deserialize(stream, F);
00293 ros::serialization::deserialize(stream, tau_pose);
00294 ros::serialization::deserialize(stream, tau_posture);
00295 ros::serialization::deserialize(stream, tau);
00296 ros::serialization::deserialize(stream, J);
00297 ros::serialization::deserialize(stream, N);
00298 return stream.getData();
00299 }
00300
00301 ROS_DEPRECATED virtual uint32_t serializationLength() const
00302 {
00303 uint32_t size = 0;
00304 size += ros::serialization::serializationLength(header);
00305 size += ros::serialization::serializationLength(x);
00306 size += ros::serialization::serializationLength(x_desi);
00307 size += ros::serialization::serializationLength(x_desi_filtered);
00308 size += ros::serialization::serializationLength(x_err);
00309 size += ros::serialization::serializationLength(xd);
00310 size += ros::serialization::serializationLength(xd_desi);
00311 size += ros::serialization::serializationLength(F);
00312 size += ros::serialization::serializationLength(tau_pose);
00313 size += ros::serialization::serializationLength(tau_posture);
00314 size += ros::serialization::serializationLength(tau);
00315 size += ros::serialization::serializationLength(J);
00316 size += ros::serialization::serializationLength(N);
00317 return size;
00318 }
00319
00320 typedef boost::shared_ptr< ::robot_mechanism_controllers::JTCartesianControllerState_<ContainerAllocator> > Ptr;
00321 typedef boost::shared_ptr< ::robot_mechanism_controllers::JTCartesianControllerState_<ContainerAllocator> const> ConstPtr;
00322 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00323 };
00324 typedef ::robot_mechanism_controllers::JTCartesianControllerState_<std::allocator<void> > JTCartesianControllerState;
00325
00326 typedef boost::shared_ptr< ::robot_mechanism_controllers::JTCartesianControllerState> JTCartesianControllerStatePtr;
00327 typedef boost::shared_ptr< ::robot_mechanism_controllers::JTCartesianControllerState const> JTCartesianControllerStateConstPtr;
00328
00329
00330 template<typename ContainerAllocator>
00331 std::ostream& operator<<(std::ostream& s, const ::robot_mechanism_controllers::JTCartesianControllerState_<ContainerAllocator> & v)
00332 {
00333 ros::message_operations::Printer< ::robot_mechanism_controllers::JTCartesianControllerState_<ContainerAllocator> >::stream(s, "", v);
00334 return s;}
00335
00336 }
00337
00338 namespace ros
00339 {
00340 namespace message_traits
00341 {
00342 template<class ContainerAllocator> struct IsMessage< ::robot_mechanism_controllers::JTCartesianControllerState_<ContainerAllocator> > : public TrueType {};
00343 template<class ContainerAllocator> struct IsMessage< ::robot_mechanism_controllers::JTCartesianControllerState_<ContainerAllocator> const> : public TrueType {};
00344 template<class ContainerAllocator>
00345 struct MD5Sum< ::robot_mechanism_controllers::JTCartesianControllerState_<ContainerAllocator> > {
00346 static const char* value()
00347 {
00348 return "6ecdaa599ea0d27643819ae4cd4c43d0";
00349 }
00350
00351 static const char* value(const ::robot_mechanism_controllers::JTCartesianControllerState_<ContainerAllocator> &) { return value(); }
00352 static const uint64_t static_value1 = 0x6ecdaa599ea0d276ULL;
00353 static const uint64_t static_value2 = 0x43819ae4cd4c43d0ULL;
00354 };
00355
00356 template<class ContainerAllocator>
00357 struct DataType< ::robot_mechanism_controllers::JTCartesianControllerState_<ContainerAllocator> > {
00358 static const char* value()
00359 {
00360 return "robot_mechanism_controllers/JTCartesianControllerState";
00361 }
00362
00363 static const char* value(const ::robot_mechanism_controllers::JTCartesianControllerState_<ContainerAllocator> &) { return value(); }
00364 };
00365
00366 template<class ContainerAllocator>
00367 struct Definition< ::robot_mechanism_controllers::JTCartesianControllerState_<ContainerAllocator> > {
00368 static const char* value()
00369 {
00370 return "Header header\n\
00371 geometry_msgs/PoseStamped x\n\
00372 geometry_msgs/PoseStamped x_desi\n\
00373 geometry_msgs/PoseStamped x_desi_filtered\n\
00374 geometry_msgs/Twist x_err\n\
00375 geometry_msgs/Twist xd\n\
00376 geometry_msgs/Twist xd_desi\n\
00377 geometry_msgs/Wrench F\n\
00378 float64[] tau_pose\n\
00379 float64[] tau_posture\n\
00380 float64[] tau\n\
00381 std_msgs/Float64MultiArray J\n\
00382 std_msgs/Float64MultiArray N\n\
00383 \n\
00384 ================================================================================\n\
00385 MSG: std_msgs/Header\n\
00386 # Standard metadata for higher-level stamped data types.\n\
00387 # This is generally used to communicate timestamped data \n\
00388 # in a particular coordinate frame.\n\
00389 # \n\
00390 # sequence ID: consecutively increasing ID \n\
00391 uint32 seq\n\
00392 #Two-integer timestamp that is expressed as:\n\
00393 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00394 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00395 # time-handling sugar is provided by the client library\n\
00396 time stamp\n\
00397 #Frame this data is associated with\n\
00398 # 0: no frame\n\
00399 # 1: global frame\n\
00400 string frame_id\n\
00401 \n\
00402 ================================================================================\n\
00403 MSG: geometry_msgs/PoseStamped\n\
00404 # A Pose with reference coordinate frame and timestamp\n\
00405 Header header\n\
00406 Pose pose\n\
00407 \n\
00408 ================================================================================\n\
00409 MSG: geometry_msgs/Pose\n\
00410 # A representation of pose in free space, composed of postion and orientation. \n\
00411 Point position\n\
00412 Quaternion orientation\n\
00413 \n\
00414 ================================================================================\n\
00415 MSG: geometry_msgs/Point\n\
00416 # This contains the position of a point in free space\n\
00417 float64 x\n\
00418 float64 y\n\
00419 float64 z\n\
00420 \n\
00421 ================================================================================\n\
00422 MSG: geometry_msgs/Quaternion\n\
00423 # This represents an orientation in free space in quaternion form.\n\
00424 \n\
00425 float64 x\n\
00426 float64 y\n\
00427 float64 z\n\
00428 float64 w\n\
00429 \n\
00430 ================================================================================\n\
00431 MSG: geometry_msgs/Twist\n\
00432 # This expresses velocity in free space broken into it's linear and angular parts. \n\
00433 Vector3 linear\n\
00434 Vector3 angular\n\
00435 \n\
00436 ================================================================================\n\
00437 MSG: geometry_msgs/Vector3\n\
00438 # This represents a vector in free space. \n\
00439 \n\
00440 float64 x\n\
00441 float64 y\n\
00442 float64 z\n\
00443 ================================================================================\n\
00444 MSG: geometry_msgs/Wrench\n\
00445 # This represents force in free space, seperated into \n\
00446 # it's linear and angular parts. \n\
00447 Vector3 force\n\
00448 Vector3 torque\n\
00449 \n\
00450 ================================================================================\n\
00451 MSG: std_msgs/Float64MultiArray\n\
00452 # Please look at the MultiArrayLayout message definition for\n\
00453 # documentation on all multiarrays.\n\
00454 \n\
00455 MultiArrayLayout layout # specification of data layout\n\
00456 float64[] data # array of data\n\
00457 \n\
00458 \n\
00459 ================================================================================\n\
00460 MSG: std_msgs/MultiArrayLayout\n\
00461 # The multiarray declares a generic multi-dimensional array of a\n\
00462 # particular data type. Dimensions are ordered from outer most\n\
00463 # to inner most.\n\
00464 \n\
00465 MultiArrayDimension[] dim # Array of dimension properties\n\
00466 uint32 data_offset # padding bytes at front of data\n\
00467 \n\
00468 # Accessors should ALWAYS be written in terms of dimension stride\n\
00469 # and specified outer-most dimension first.\n\
00470 # \n\
00471 # multiarray(i,j,k) = data[data_offset + dim_stride[1]*i + dim_stride[2]*j + k]\n\
00472 #\n\
00473 # A standard, 3-channel 640x480 image with interleaved color channels\n\
00474 # would be specified as:\n\
00475 #\n\
00476 # dim[0].label = \"height\"\n\
00477 # dim[0].size = 480\n\
00478 # dim[0].stride = 3*640*480 = 921600 (note dim[0] stride is just size of image)\n\
00479 # dim[1].label = \"width\"\n\
00480 # dim[1].size = 640\n\
00481 # dim[1].stride = 3*640 = 1920\n\
00482 # dim[2].label = \"channel\"\n\
00483 # dim[2].size = 3\n\
00484 # dim[2].stride = 3\n\
00485 #\n\
00486 # multiarray(i,j,k) refers to the ith row, jth column, and kth channel.\n\
00487 ================================================================================\n\
00488 MSG: std_msgs/MultiArrayDimension\n\
00489 string label # label of given dimension\n\
00490 uint32 size # size of given dimension (in type units)\n\
00491 uint32 stride # stride of given dimension\n\
00492 ";
00493 }
00494
00495 static const char* value(const ::robot_mechanism_controllers::JTCartesianControllerState_<ContainerAllocator> &) { return value(); }
00496 };
00497
00498 template<class ContainerAllocator> struct HasHeader< ::robot_mechanism_controllers::JTCartesianControllerState_<ContainerAllocator> > : public TrueType {};
00499 template<class ContainerAllocator> struct HasHeader< const ::robot_mechanism_controllers::JTCartesianControllerState_<ContainerAllocator> > : public TrueType {};
00500 }
00501 }
00502
00503 namespace ros
00504 {
00505 namespace serialization
00506 {
00507
00508 template<class ContainerAllocator> struct Serializer< ::robot_mechanism_controllers::JTCartesianControllerState_<ContainerAllocator> >
00509 {
00510 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00511 {
00512 stream.next(m.header);
00513 stream.next(m.x);
00514 stream.next(m.x_desi);
00515 stream.next(m.x_desi_filtered);
00516 stream.next(m.x_err);
00517 stream.next(m.xd);
00518 stream.next(m.xd_desi);
00519 stream.next(m.F);
00520 stream.next(m.tau_pose);
00521 stream.next(m.tau_posture);
00522 stream.next(m.tau);
00523 stream.next(m.J);
00524 stream.next(m.N);
00525 }
00526
00527 ROS_DECLARE_ALLINONE_SERIALIZER;
00528 };
00529 }
00530 }
00531
00532 namespace ros
00533 {
00534 namespace message_operations
00535 {
00536
00537 template<class ContainerAllocator>
00538 struct Printer< ::robot_mechanism_controllers::JTCartesianControllerState_<ContainerAllocator> >
00539 {
00540 template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::robot_mechanism_controllers::JTCartesianControllerState_<ContainerAllocator> & v)
00541 {
00542 s << indent << "header: ";
00543 s << std::endl;
00544 Printer< ::std_msgs::Header_<ContainerAllocator> >::stream(s, indent + " ", v.header);
00545 s << indent << "x: ";
00546 s << std::endl;
00547 Printer< ::geometry_msgs::PoseStamped_<ContainerAllocator> >::stream(s, indent + " ", v.x);
00548 s << indent << "x_desi: ";
00549 s << std::endl;
00550 Printer< ::geometry_msgs::PoseStamped_<ContainerAllocator> >::stream(s, indent + " ", v.x_desi);
00551 s << indent << "x_desi_filtered: ";
00552 s << std::endl;
00553 Printer< ::geometry_msgs::PoseStamped_<ContainerAllocator> >::stream(s, indent + " ", v.x_desi_filtered);
00554 s << indent << "x_err: ";
00555 s << std::endl;
00556 Printer< ::geometry_msgs::Twist_<ContainerAllocator> >::stream(s, indent + " ", v.x_err);
00557 s << indent << "xd: ";
00558 s << std::endl;
00559 Printer< ::geometry_msgs::Twist_<ContainerAllocator> >::stream(s, indent + " ", v.xd);
00560 s << indent << "xd_desi: ";
00561 s << std::endl;
00562 Printer< ::geometry_msgs::Twist_<ContainerAllocator> >::stream(s, indent + " ", v.xd_desi);
00563 s << indent << "F: ";
00564 s << std::endl;
00565 Printer< ::geometry_msgs::Wrench_<ContainerAllocator> >::stream(s, indent + " ", v.F);
00566 s << indent << "tau_pose[]" << std::endl;
00567 for (size_t i = 0; i < v.tau_pose.size(); ++i)
00568 {
00569 s << indent << " tau_pose[" << i << "]: ";
00570 Printer<double>::stream(s, indent + " ", v.tau_pose[i]);
00571 }
00572 s << indent << "tau_posture[]" << std::endl;
00573 for (size_t i = 0; i < v.tau_posture.size(); ++i)
00574 {
00575 s << indent << " tau_posture[" << i << "]: ";
00576 Printer<double>::stream(s, indent + " ", v.tau_posture[i]);
00577 }
00578 s << indent << "tau[]" << std::endl;
00579 for (size_t i = 0; i < v.tau.size(); ++i)
00580 {
00581 s << indent << " tau[" << i << "]: ";
00582 Printer<double>::stream(s, indent + " ", v.tau[i]);
00583 }
00584 s << indent << "J: ";
00585 s << std::endl;
00586 Printer< ::std_msgs::Float64MultiArray_<ContainerAllocator> >::stream(s, indent + " ", v.J);
00587 s << indent << "N: ";
00588 s << std::endl;
00589 Printer< ::std_msgs::Float64MultiArray_<ContainerAllocator> >::stream(s, indent + " ", v.N);
00590 }
00591 };
00592
00593
00594 }
00595 }
00596
00597 #endif // ROBOT_MECHANISM_CONTROLLERS_MESSAGE_JTCARTESIANCONTROLLERSTATE_H
00598
