ConvertToJointConstraint.h

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/* Auto-generated by genmsg_cpp for file /tmp/buildd/ros-diamondback-motion-planning-common-0.3.6/debian/ros-diamondback-motion-planning-common/opt/ros/diamondback/stacks/motion_planning_common/motion_planning_msgs/srv/ConvertToJointConstraint.srv */
#ifndef MOTION_PLANNING_MSGS_SERVICE_CONVERTTOJOINTCONSTRAINT_H
#define MOTION_PLANNING_MSGS_SERVICE_CONVERTTOJOINTCONSTRAINT_H
#include <string>
#include <vector>
#include <ostream>
#include "ros/serialization.h"
#include "ros/builtin_message_traits.h"
#include "ros/message_operations.h"
#include "ros/message.h"
#include "ros/time.h"

#include "ros/service_traits.h"

#include "motion_planning_msgs/WorkspaceParameters.h"
#include "motion_planning_msgs/RobotState.h"
#include "motion_planning_msgs/RobotState.h"
#include "motion_planning_msgs/Constraints.h"


#include "motion_planning_msgs/JointConstraint.h"

namespace motion_planning_msgs
{
template <class ContainerAllocator>
struct ConvertToJointConstraintRequest_ : public ros::Message
{
  typedef ConvertToJointConstraintRequest_<ContainerAllocator> Type;

  ConvertToJointConstraintRequest_()
  : model_id()
  , workspace_parameters()
  , start_state()
  , joint_names()
  , init_states()
  , constraints()
  , allowed_time(0.0)
  {
  }

  ConvertToJointConstraintRequest_(const ContainerAllocator& _alloc)
  : model_id(_alloc)
  , workspace_parameters(_alloc)
  , start_state(_alloc)
  , joint_names(_alloc)
  , init_states(_alloc)
  , constraints(_alloc)
  , allowed_time(0.0)
  {
  }

  typedef std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other >  _model_id_type;
  std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other >  model_id;

  typedef  ::motion_planning_msgs::WorkspaceParameters_<ContainerAllocator>  _workspace_parameters_type;
   ::motion_planning_msgs::WorkspaceParameters_<ContainerAllocator>  workspace_parameters;

  typedef  ::motion_planning_msgs::RobotState_<ContainerAllocator>  _start_state_type;
   ::motion_planning_msgs::RobotState_<ContainerAllocator>  start_state;

  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 >  _joint_names_type;
  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 >  joint_names;

  typedef std::vector< ::motion_planning_msgs::RobotState_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::motion_planning_msgs::RobotState_<ContainerAllocator> >::other >  _init_states_type;
  std::vector< ::motion_planning_msgs::RobotState_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::motion_planning_msgs::RobotState_<ContainerAllocator> >::other >  init_states;

  typedef  ::motion_planning_msgs::Constraints_<ContainerAllocator>  _constraints_type;
   ::motion_planning_msgs::Constraints_<ContainerAllocator>  constraints;

  typedef double _allowed_time_type;
  double allowed_time;


  ROS_DEPRECATED uint32_t get_joint_names_size() const { return (uint32_t)joint_names.size(); }
  ROS_DEPRECATED void set_joint_names_size(uint32_t size) { joint_names.resize((size_t)size); }
  ROS_DEPRECATED void get_joint_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->joint_names; }
  ROS_DEPRECATED void set_joint_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->joint_names = vec; }
  ROS_DEPRECATED uint32_t get_init_states_size() const { return (uint32_t)init_states.size(); }
  ROS_DEPRECATED void set_init_states_size(uint32_t size) { init_states.resize((size_t)size); }
  ROS_DEPRECATED void get_init_states_vec(std::vector< ::motion_planning_msgs::RobotState_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::motion_planning_msgs::RobotState_<ContainerAllocator> >::other > & vec) const { vec = this->init_states; }
  ROS_DEPRECATED void set_init_states_vec(const std::vector< ::motion_planning_msgs::RobotState_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::motion_planning_msgs::RobotState_<ContainerAllocator> >::other > & vec) { this->init_states = vec; }
private:
  static const char* __s_getDataType_() { return "motion_planning_msgs/ConvertToJointConstraintRequest"; }
public:
  ROS_DEPRECATED static const std::string __s_getDataType() { return __s_getDataType_(); }

  ROS_DEPRECATED const std::string __getDataType() const { return __s_getDataType_(); }

private:
  static const char* __s_getMD5Sum_() { return "8b3ecfc1134a2ed8c555c48c08a7aff2"; }
public:
  ROS_DEPRECATED static const std::string __s_getMD5Sum() { return __s_getMD5Sum_(); }

  ROS_DEPRECATED const std::string __getMD5Sum() const { return __s_getMD5Sum_(); }

private:
  static const char* __s_getServerMD5Sum_() { return "44f1f1ccbb08264490b769e8b8b79668"; }
public:
  ROS_DEPRECATED static const std::string __s_getServerMD5Sum() { return __s_getServerMD5Sum_(); }

  ROS_DEPRECATED const std::string __getServerMD5Sum() const { return __s_getServerMD5Sum_(); }

private:
  static const char* __s_getMessageDefinition_() { return "string model_id\n\
\n\
\n\
motion_planning_msgs/WorkspaceParameters workspace_parameters\n\
\n\
\n\
\n\
\n\
motion_planning_msgs/RobotState start_state\n\
\n\
\n\
string[] joint_names\n\
\n\
\n\
motion_planning_msgs/RobotState[] init_states\n\
\n\
\n\
motion_planning_msgs/Constraints constraints\n\
\n\
\n\
float64 allowed_time\n\
\n\
\n\
================================================================================\n\
MSG: motion_planning_msgs/WorkspaceParameters\n\
# This message contains a set of parameters useful in\n\
# setting up the workspace for planning\n\
geometric_shapes_msgs/Shape  workspace_region_shape\n\
geometry_msgs/PoseStamped    workspace_region_pose\n\
\n\
\n\
================================================================================\n\
MSG: geometric_shapes_msgs/Shape\n\
byte SPHERE=0\n\
byte BOX=1\n\
byte CYLINDER=2\n\
byte MESH=3\n\
\n\
byte type\n\
\n\
\n\
#### define sphere, box, cylinder ####\n\
# the origin of each shape is considered at the shape's center\n\
\n\
# for sphere\n\
# radius := dimensions[0]\n\
\n\
# for cylinder\n\
# radius := dimensions[0]\n\
# length := dimensions[1]\n\
# the length is along the Z axis\n\
\n\
# for box\n\
# size_x := dimensions[0]\n\
# size_y := dimensions[1]\n\
# size_z := dimensions[2]\n\
float64[] dimensions\n\
\n\
\n\
#### define mesh ####\n\
\n\
# list of triangles; triangle k is defined by tre vertices located\n\
# at indices triangles[3k], triangles[3k+1], triangles[3k+2]\n\
int32[] triangles\n\
geometry_msgs/Point[] vertices\n\
\n\
================================================================================\n\
MSG: geometry_msgs/Point\n\
# This contains the position of a point in free space\n\
float64 x\n\
float64 y\n\
float64 z\n\
\n\
================================================================================\n\
MSG: geometry_msgs/PoseStamped\n\
# A Pose with reference coordinate frame and timestamp\n\
Header header\n\
Pose pose\n\
\n\
================================================================================\n\
MSG: std_msgs/Header\n\
# Standard metadata for higher-level stamped data types.\n\
# This is generally used to communicate timestamped data \n\
# in a particular coordinate frame.\n\
# \n\
# sequence ID: consecutively increasing ID \n\
uint32 seq\n\
#Two-integer timestamp that is expressed as:\n\
# * stamp.secs: seconds (stamp_secs) since epoch\n\
# * stamp.nsecs: nanoseconds since stamp_secs\n\
# time-handling sugar is provided by the client library\n\
time stamp\n\
#Frame this data is associated with\n\
# 0: no frame\n\
# 1: global frame\n\
string frame_id\n\
\n\
================================================================================\n\
MSG: geometry_msgs/Pose\n\
# A representation of pose in free space, composed of postion and orientation. \n\
Point position\n\
Quaternion orientation\n\
\n\
================================================================================\n\
MSG: geometry_msgs/Quaternion\n\
# This represents an orientation in free space in quaternion form.\n\
\n\
float64 x\n\
float64 y\n\
float64 z\n\
float64 w\n\
\n\
================================================================================\n\
MSG: motion_planning_msgs/RobotState\n\
# This message contains information about the robot state, i.e. the positions of its joints and links\n\
sensor_msgs/JointState joint_state\n\
motion_planning_msgs/MultiDOFJointState multi_dof_joint_state\n\
================================================================================\n\
MSG: sensor_msgs/JointState\n\
# This is a message that holds data to describe the state of a set of torque controlled joints. \n\
#\n\
# The state of each joint (revolute or prismatic) is defined by:\n\
#  * the position of the joint (rad or m),\n\
#  * the velocity of the joint (rad/s or m/s) and \n\
#  * the effort that is applied in the joint (Nm or N).\n\
#\n\
# Each joint is uniquely identified by its name\n\
# The header specifies the time at which the joint states were recorded. All the joint states\n\
# in one message have to be recorded at the same time.\n\
#\n\
# This message consists of a multiple arrays, one for each part of the joint state. \n\
# The goal is to make each of the fields optional. When e.g. your joints have no\n\
# effort associated with them, you can leave the effort array empty. \n\
#\n\
# All arrays in this message should have the same size, or be empty.\n\
# This is the only way to uniquely associate the joint name with the correct\n\
# states.\n\
\n\
\n\
Header header\n\
\n\
string[] name\n\
float64[] position\n\
float64[] velocity\n\
float64[] effort\n\
\n\
================================================================================\n\
MSG: motion_planning_msgs/MultiDOFJointState\n\
#A representation of a multi-dof joint state\n\
time stamp\n\
string[] joint_names\n\
string[] frame_ids\n\
string[] child_frame_ids\n\
geometry_msgs/Pose[] poses\n\
\n\
================================================================================\n\
MSG: motion_planning_msgs/Constraints\n\
# This message contains a list of motion planning constraints.\n\
\n\
motion_planning_msgs/JointConstraint[] joint_constraints\n\
motion_planning_msgs/PositionConstraint[] position_constraints\n\
motion_planning_msgs/OrientationConstraint[] orientation_constraints\n\
motion_planning_msgs/VisibilityConstraint[] visibility_constraints\n\
\n\
================================================================================\n\
MSG: motion_planning_msgs/JointConstraint\n\
# Constrain the position of a joint to be within a certain bound\n\
string joint_name\n\
\n\
# the bound to be achieved is [position - tolerance_below, position + tolerance_above]\n\
float64 position\n\
float64 tolerance_above\n\
float64 tolerance_below\n\
\n\
# A weighting factor for this constraint\n\
float64 weight\n\
================================================================================\n\
MSG: motion_planning_msgs/PositionConstraint\n\
# This message contains the definition of a position constraint.\n\
Header header\n\
\n\
# The robot link this constraint refers to\n\
string link_name\n\
\n\
# The offset (in the link frame) for the target point on the link we are planning for\n\
geometry_msgs/Point target_point_offset\n\
\n\
# The nominal/target position for the point we are planning for\n\
geometry_msgs/Point position\n\
\n\
# The shape of the bounded region that constrains the position of the end-effector\n\
# This region is always centered at the position defined above\n\
geometric_shapes_msgs/Shape constraint_region_shape\n\
\n\
# The orientation of the bounded region that constrains the position of the end-effector. \n\
# This allows the specification of non-axis aligned constraints\n\
geometry_msgs/Quaternion constraint_region_orientation\n\
\n\
# Constraint weighting factor - a weight for this constraint\n\
float64 weight\n\
================================================================================\n\
MSG: motion_planning_msgs/OrientationConstraint\n\
# This message contains the definition of an orientation constraint.\n\
Header header\n\
\n\
# The robot link this constraint refers to\n\
string link_name\n\
\n\
# The type of the constraint\n\
int32 type\n\
int32 LINK_FRAME=0\n\
int32 HEADER_FRAME=1\n\
\n\
# The desired orientation of the robot link specified as a quaternion\n\
geometry_msgs/Quaternion orientation\n\
\n\
# optional RPY error tolerances specified if \n\
float64 absolute_roll_tolerance\n\
float64 absolute_pitch_tolerance\n\
float64 absolute_yaw_tolerance\n\
\n\
# Constraint weighting factor - a weight for this constraint\n\
float64 weight\n\
\n\
================================================================================\n\
MSG: motion_planning_msgs/VisibilityConstraint\n\
# This message contains the definition of a visibility constraint.\n\
Header header\n\
\n\
# The point stamped target that needs to be kept within view of the sensor\n\
geometry_msgs/PointStamped target\n\
\n\
# The local pose of the frame in which visibility is to be maintained\n\
# The frame id should represent the robot link to which the sensor is attached\n\
# The visual axis of the sensor is assumed to be along the X axis of this frame\n\
geometry_msgs/PoseStamped sensor_pose\n\
\n\
# The deviation (in radians) that will be tolerated\n\
# Constraint error will be measured as the solid angle between the \n\
# X axis of the frame defined above and the vector between the origin \n\
# of the frame defined above and the target location\n\
float64 absolute_tolerance\n\
\n\
\n\
================================================================================\n\
MSG: geometry_msgs/PointStamped\n\
# This represents a Point with reference coordinate frame and timestamp\n\
Header header\n\
Point point\n\
\n\
"; }
public:
  ROS_DEPRECATED static const std::string __s_getMessageDefinition() { return __s_getMessageDefinition_(); }

  ROS_DEPRECATED const std::string __getMessageDefinition() const { return __s_getMessageDefinition_(); }

  ROS_DEPRECATED virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const
  {
    ros::serialization::OStream stream(write_ptr, 1000000000);
    ros::serialization::serialize(stream, model_id);
    ros::serialization::serialize(stream, workspace_parameters);
    ros::serialization::serialize(stream, start_state);
    ros::serialization::serialize(stream, joint_names);
    ros::serialization::serialize(stream, init_states);
    ros::serialization::serialize(stream, constraints);
    ros::serialization::serialize(stream, allowed_time);
    return stream.getData();
  }

  ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr)
  {
    ros::serialization::IStream stream(read_ptr, 1000000000);
    ros::serialization::deserialize(stream, model_id);
    ros::serialization::deserialize(stream, workspace_parameters);
    ros::serialization::deserialize(stream, start_state);
    ros::serialization::deserialize(stream, joint_names);
    ros::serialization::deserialize(stream, init_states);
    ros::serialization::deserialize(stream, constraints);
    ros::serialization::deserialize(stream, allowed_time);
    return stream.getData();
  }

  ROS_DEPRECATED virtual uint32_t serializationLength() const
  {
    uint32_t size = 0;
    size += ros::serialization::serializationLength(model_id);
    size += ros::serialization::serializationLength(workspace_parameters);
    size += ros::serialization::serializationLength(start_state);
    size += ros::serialization::serializationLength(joint_names);
    size += ros::serialization::serializationLength(init_states);
    size += ros::serialization::serializationLength(constraints);
    size += ros::serialization::serializationLength(allowed_time);
    return size;
  }

  typedef boost::shared_ptr< ::motion_planning_msgs::ConvertToJointConstraintRequest_<ContainerAllocator> > Ptr;
  typedef boost::shared_ptr< ::motion_planning_msgs::ConvertToJointConstraintRequest_<ContainerAllocator>  const> ConstPtr;
}; // struct ConvertToJointConstraintRequest
typedef  ::motion_planning_msgs::ConvertToJointConstraintRequest_<std::allocator<void> > ConvertToJointConstraintRequest;

typedef boost::shared_ptr< ::motion_planning_msgs::ConvertToJointConstraintRequest> ConvertToJointConstraintRequestPtr;
typedef boost::shared_ptr< ::motion_planning_msgs::ConvertToJointConstraintRequest const> ConvertToJointConstraintRequestConstPtr;


template <class ContainerAllocator>
struct ConvertToJointConstraintResponse_ : public ros::Message
{
  typedef ConvertToJointConstraintResponse_<ContainerAllocator> Type;

  ConvertToJointConstraintResponse_()
  : joint_constraints()
  {
  }

  ConvertToJointConstraintResponse_(const ContainerAllocator& _alloc)
  : joint_constraints(_alloc)
  {
  }

  typedef std::vector< ::motion_planning_msgs::JointConstraint_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::motion_planning_msgs::JointConstraint_<ContainerAllocator> >::other >  _joint_constraints_type;
  std::vector< ::motion_planning_msgs::JointConstraint_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::motion_planning_msgs::JointConstraint_<ContainerAllocator> >::other >  joint_constraints;


  ROS_DEPRECATED uint32_t get_joint_constraints_size() const { return (uint32_t)joint_constraints.size(); }
  ROS_DEPRECATED void set_joint_constraints_size(uint32_t size) { joint_constraints.resize((size_t)size); }
  ROS_DEPRECATED void get_joint_constraints_vec(std::vector< ::motion_planning_msgs::JointConstraint_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::motion_planning_msgs::JointConstraint_<ContainerAllocator> >::other > & vec) const { vec = this->joint_constraints; }
  ROS_DEPRECATED void set_joint_constraints_vec(const std::vector< ::motion_planning_msgs::JointConstraint_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::motion_planning_msgs::JointConstraint_<ContainerAllocator> >::other > & vec) { this->joint_constraints = vec; }
private:
  static const char* __s_getDataType_() { return "motion_planning_msgs/ConvertToJointConstraintResponse"; }
public:
  ROS_DEPRECATED static const std::string __s_getDataType() { return __s_getDataType_(); }

  ROS_DEPRECATED const std::string __getDataType() const { return __s_getDataType_(); }

private:
  static const char* __s_getMD5Sum_() { return "d7a8073958b17b9bc926b7fb8d466ac6"; }
public:
  ROS_DEPRECATED static const std::string __s_getMD5Sum() { return __s_getMD5Sum_(); }

  ROS_DEPRECATED const std::string __getMD5Sum() const { return __s_getMD5Sum_(); }

private:
  static const char* __s_getServerMD5Sum_() { return "44f1f1ccbb08264490b769e8b8b79668"; }
public:
  ROS_DEPRECATED static const std::string __s_getServerMD5Sum() { return __s_getServerMD5Sum_(); }

  ROS_DEPRECATED const std::string __getServerMD5Sum() const { return __s_getServerMD5Sum_(); }

private:
  static const char* __s_getMessageDefinition_() { return "\n\
\n\
motion_planning_msgs/JointConstraint[] joint_constraints\n\
\n\
\n\
================================================================================\n\
MSG: motion_planning_msgs/JointConstraint\n\
# Constrain the position of a joint to be within a certain bound\n\
string joint_name\n\
\n\
# the bound to be achieved is [position - tolerance_below, position + tolerance_above]\n\
float64 position\n\
float64 tolerance_above\n\
float64 tolerance_below\n\
\n\
# A weighting factor for this constraint\n\
float64 weight\n\
"; }
public:
  ROS_DEPRECATED static const std::string __s_getMessageDefinition() { return __s_getMessageDefinition_(); }

  ROS_DEPRECATED const std::string __getMessageDefinition() const { return __s_getMessageDefinition_(); }

  ROS_DEPRECATED virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const
  {
    ros::serialization::OStream stream(write_ptr, 1000000000);
    ros::serialization::serialize(stream, joint_constraints);
    return stream.getData();
  }

  ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr)
  {
    ros::serialization::IStream stream(read_ptr, 1000000000);
    ros::serialization::deserialize(stream, joint_constraints);
    return stream.getData();
  }

  ROS_DEPRECATED virtual uint32_t serializationLength() const
  {
    uint32_t size = 0;
    size += ros::serialization::serializationLength(joint_constraints);
    return size;
  }

  typedef boost::shared_ptr< ::motion_planning_msgs::ConvertToJointConstraintResponse_<ContainerAllocator> > Ptr;
  typedef boost::shared_ptr< ::motion_planning_msgs::ConvertToJointConstraintResponse_<ContainerAllocator>  const> ConstPtr;
}; // struct ConvertToJointConstraintResponse
typedef  ::motion_planning_msgs::ConvertToJointConstraintResponse_<std::allocator<void> > ConvertToJointConstraintResponse;

typedef boost::shared_ptr< ::motion_planning_msgs::ConvertToJointConstraintResponse> ConvertToJointConstraintResponsePtr;
typedef boost::shared_ptr< ::motion_planning_msgs::ConvertToJointConstraintResponse const> ConvertToJointConstraintResponseConstPtr;

struct ConvertToJointConstraint
{

typedef ConvertToJointConstraintRequest Request;
typedef ConvertToJointConstraintResponse Response;
Request request;
Response response;

typedef Request RequestType;
typedef Response ResponseType;
}; // struct ConvertToJointConstraint
} // namespace motion_planning_msgs

namespace ros
{
namespace message_traits
{
template<class ContainerAllocator>
struct MD5Sum< ::motion_planning_msgs::ConvertToJointConstraintRequest_<ContainerAllocator> > {
  static const char* value() 
  {
    return "8b3ecfc1134a2ed8c555c48c08a7aff2";
  }

  static const char* value(const  ::motion_planning_msgs::ConvertToJointConstraintRequest_<ContainerAllocator> &) { return value(); } 
  static const uint64_t static_value1 = 0x8b3ecfc1134a2ed8ULL;
  static const uint64_t static_value2 = 0xc555c48c08a7aff2ULL;
};

template<class ContainerAllocator>
struct DataType< ::motion_planning_msgs::ConvertToJointConstraintRequest_<ContainerAllocator> > {
  static const char* value() 
  {
    return "motion_planning_msgs/ConvertToJointConstraintRequest";
  }

  static const char* value(const  ::motion_planning_msgs::ConvertToJointConstraintRequest_<ContainerAllocator> &) { return value(); } 
};

template<class ContainerAllocator>
struct Definition< ::motion_planning_msgs::ConvertToJointConstraintRequest_<ContainerAllocator> > {
  static const char* value() 
  {
    return "string model_id\n\
\n\
\n\
motion_planning_msgs/WorkspaceParameters workspace_parameters\n\
\n\
\n\
\n\
\n\
motion_planning_msgs/RobotState start_state\n\
\n\
\n\
string[] joint_names\n\
\n\
\n\
motion_planning_msgs/RobotState[] init_states\n\
\n\
\n\
motion_planning_msgs/Constraints constraints\n\
\n\
\n\
float64 allowed_time\n\
\n\
\n\
================================================================================\n\
MSG: motion_planning_msgs/WorkspaceParameters\n\
# This message contains a set of parameters useful in\n\
# setting up the workspace for planning\n\
geometric_shapes_msgs/Shape  workspace_region_shape\n\
geometry_msgs/PoseStamped    workspace_region_pose\n\
\n\
\n\
================================================================================\n\
MSG: geometric_shapes_msgs/Shape\n\
byte SPHERE=0\n\
byte BOX=1\n\
byte CYLINDER=2\n\
byte MESH=3\n\
\n\
byte type\n\
\n\
\n\
#### define sphere, box, cylinder ####\n\
# the origin of each shape is considered at the shape's center\n\
\n\
# for sphere\n\
# radius := dimensions[0]\n\
\n\
# for cylinder\n\
# radius := dimensions[0]\n\
# length := dimensions[1]\n\
# the length is along the Z axis\n\
\n\
# for box\n\
# size_x := dimensions[0]\n\
# size_y := dimensions[1]\n\
# size_z := dimensions[2]\n\
float64[] dimensions\n\
\n\
\n\
#### define mesh ####\n\
\n\
# list of triangles; triangle k is defined by tre vertices located\n\
# at indices triangles[3k], triangles[3k+1], triangles[3k+2]\n\
int32[] triangles\n\
geometry_msgs/Point[] vertices\n\
\n\
================================================================================\n\
MSG: geometry_msgs/Point\n\
# This contains the position of a point in free space\n\
float64 x\n\
float64 y\n\
float64 z\n\
\n\
================================================================================\n\
MSG: geometry_msgs/PoseStamped\n\
# A Pose with reference coordinate frame and timestamp\n\
Header header\n\
Pose pose\n\
\n\
================================================================================\n\
MSG: std_msgs/Header\n\
# Standard metadata for higher-level stamped data types.\n\
# This is generally used to communicate timestamped data \n\
# in a particular coordinate frame.\n\
# \n\
# sequence ID: consecutively increasing ID \n\
uint32 seq\n\
#Two-integer timestamp that is expressed as:\n\
# * stamp.secs: seconds (stamp_secs) since epoch\n\
# * stamp.nsecs: nanoseconds since stamp_secs\n\
# time-handling sugar is provided by the client library\n\
time stamp\n\
#Frame this data is associated with\n\
# 0: no frame\n\
# 1: global frame\n\
string frame_id\n\
\n\
================================================================================\n\
MSG: geometry_msgs/Pose\n\
# A representation of pose in free space, composed of postion and orientation. \n\
Point position\n\
Quaternion orientation\n\
\n\
================================================================================\n\
MSG: geometry_msgs/Quaternion\n\
# This represents an orientation in free space in quaternion form.\n\
\n\
float64 x\n\
float64 y\n\
float64 z\n\
float64 w\n\
\n\
================================================================================\n\
MSG: motion_planning_msgs/RobotState\n\
# This message contains information about the robot state, i.e. the positions of its joints and links\n\
sensor_msgs/JointState joint_state\n\
motion_planning_msgs/MultiDOFJointState multi_dof_joint_state\n\
================================================================================\n\
MSG: sensor_msgs/JointState\n\
# This is a message that holds data to describe the state of a set of torque controlled joints. \n\
#\n\
# The state of each joint (revolute or prismatic) is defined by:\n\
#  * the position of the joint (rad or m),\n\
#  * the velocity of the joint (rad/s or m/s) and \n\
#  * the effort that is applied in the joint (Nm or N).\n\
#\n\
# Each joint is uniquely identified by its name\n\
# The header specifies the time at which the joint states were recorded. All the joint states\n\
# in one message have to be recorded at the same time.\n\
#\n\
# This message consists of a multiple arrays, one for each part of the joint state. \n\
# The goal is to make each of the fields optional. When e.g. your joints have no\n\
# effort associated with them, you can leave the effort array empty. \n\
#\n\
# All arrays in this message should have the same size, or be empty.\n\
# This is the only way to uniquely associate the joint name with the correct\n\
# states.\n\
\n\
\n\
Header header\n\
\n\
string[] name\n\
float64[] position\n\
float64[] velocity\n\
float64[] effort\n\
\n\
================================================================================\n\
MSG: motion_planning_msgs/MultiDOFJointState\n\
#A representation of a multi-dof joint state\n\
time stamp\n\
string[] joint_names\n\
string[] frame_ids\n\
string[] child_frame_ids\n\
geometry_msgs/Pose[] poses\n\
\n\
================================================================================\n\
MSG: motion_planning_msgs/Constraints\n\
# This message contains a list of motion planning constraints.\n\
\n\
motion_planning_msgs/JointConstraint[] joint_constraints\n\
motion_planning_msgs/PositionConstraint[] position_constraints\n\
motion_planning_msgs/OrientationConstraint[] orientation_constraints\n\
motion_planning_msgs/VisibilityConstraint[] visibility_constraints\n\
\n\
================================================================================\n\
MSG: motion_planning_msgs/JointConstraint\n\
# Constrain the position of a joint to be within a certain bound\n\
string joint_name\n\
\n\
# the bound to be achieved is [position - tolerance_below, position + tolerance_above]\n\
float64 position\n\
float64 tolerance_above\n\
float64 tolerance_below\n\
\n\
# A weighting factor for this constraint\n\
float64 weight\n\
================================================================================\n\
MSG: motion_planning_msgs/PositionConstraint\n\
# This message contains the definition of a position constraint.\n\
Header header\n\
\n\
# The robot link this constraint refers to\n\
string link_name\n\
\n\
# The offset (in the link frame) for the target point on the link we are planning for\n\
geometry_msgs/Point target_point_offset\n\
\n\
# The nominal/target position for the point we are planning for\n\
geometry_msgs/Point position\n\
\n\
# The shape of the bounded region that constrains the position of the end-effector\n\
# This region is always centered at the position defined above\n\
geometric_shapes_msgs/Shape constraint_region_shape\n\
\n\
# The orientation of the bounded region that constrains the position of the end-effector. \n\
# This allows the specification of non-axis aligned constraints\n\
geometry_msgs/Quaternion constraint_region_orientation\n\
\n\
# Constraint weighting factor - a weight for this constraint\n\
float64 weight\n\
================================================================================\n\
MSG: motion_planning_msgs/OrientationConstraint\n\
# This message contains the definition of an orientation constraint.\n\
Header header\n\
\n\
# The robot link this constraint refers to\n\
string link_name\n\
\n\
# The type of the constraint\n\
int32 type\n\
int32 LINK_FRAME=0\n\
int32 HEADER_FRAME=1\n\
\n\
# The desired orientation of the robot link specified as a quaternion\n\
geometry_msgs/Quaternion orientation\n\
\n\
# optional RPY error tolerances specified if \n\
float64 absolute_roll_tolerance\n\
float64 absolute_pitch_tolerance\n\
float64 absolute_yaw_tolerance\n\
\n\
# Constraint weighting factor - a weight for this constraint\n\
float64 weight\n\
\n\
================================================================================\n\
MSG: motion_planning_msgs/VisibilityConstraint\n\
# This message contains the definition of a visibility constraint.\n\
Header header\n\
\n\
# The point stamped target that needs to be kept within view of the sensor\n\
geometry_msgs/PointStamped target\n\
\n\
# The local pose of the frame in which visibility is to be maintained\n\
# The frame id should represent the robot link to which the sensor is attached\n\
# The visual axis of the sensor is assumed to be along the X axis of this frame\n\
geometry_msgs/PoseStamped sensor_pose\n\
\n\
# The deviation (in radians) that will be tolerated\n\
# Constraint error will be measured as the solid angle between the \n\
# X axis of the frame defined above and the vector between the origin \n\
# of the frame defined above and the target location\n\
float64 absolute_tolerance\n\
\n\
\n\
================================================================================\n\
MSG: geometry_msgs/PointStamped\n\
# This represents a Point with reference coordinate frame and timestamp\n\
Header header\n\
Point point\n\
\n\
";
  }

  static const char* value(const  ::motion_planning_msgs::ConvertToJointConstraintRequest_<ContainerAllocator> &) { return value(); } 
};

} // namespace message_traits
} // namespace ros


namespace ros
{
namespace message_traits
{
template<class ContainerAllocator>
struct MD5Sum< ::motion_planning_msgs::ConvertToJointConstraintResponse_<ContainerAllocator> > {
  static const char* value() 
  {
    return "d7a8073958b17b9bc926b7fb8d466ac6";
  }

  static const char* value(const  ::motion_planning_msgs::ConvertToJointConstraintResponse_<ContainerAllocator> &) { return value(); } 
  static const uint64_t static_value1 = 0xd7a8073958b17b9bULL;
  static const uint64_t static_value2 = 0xc926b7fb8d466ac6ULL;
};

template<class ContainerAllocator>
struct DataType< ::motion_planning_msgs::ConvertToJointConstraintResponse_<ContainerAllocator> > {
  static const char* value() 
  {
    return "motion_planning_msgs/ConvertToJointConstraintResponse";
  }

  static const char* value(const  ::motion_planning_msgs::ConvertToJointConstraintResponse_<ContainerAllocator> &) { return value(); } 
};

template<class ContainerAllocator>
struct Definition< ::motion_planning_msgs::ConvertToJointConstraintResponse_<ContainerAllocator> > {
  static const char* value() 
  {
    return "\n\
\n\
motion_planning_msgs/JointConstraint[] joint_constraints\n\
\n\
\n\
================================================================================\n\
MSG: motion_planning_msgs/JointConstraint\n\
# Constrain the position of a joint to be within a certain bound\n\
string joint_name\n\
\n\
# the bound to be achieved is [position - tolerance_below, position + tolerance_above]\n\
float64 position\n\
float64 tolerance_above\n\
float64 tolerance_below\n\
\n\
# A weighting factor for this constraint\n\
float64 weight\n\
";
  }

  static const char* value(const  ::motion_planning_msgs::ConvertToJointConstraintResponse_<ContainerAllocator> &) { return value(); } 
};

} // namespace message_traits
} // namespace ros

namespace ros
{
namespace serialization
{

template<class ContainerAllocator> struct Serializer< ::motion_planning_msgs::ConvertToJointConstraintRequest_<ContainerAllocator> >
{
  template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
  {
    stream.next(m.model_id);
    stream.next(m.workspace_parameters);
    stream.next(m.start_state);
    stream.next(m.joint_names);
    stream.next(m.init_states);
    stream.next(m.constraints);
    stream.next(m.allowed_time);
  }

  ROS_DECLARE_ALLINONE_SERIALIZER;
}; // struct ConvertToJointConstraintRequest_
} // namespace serialization
} // namespace ros


namespace ros
{
namespace serialization
{

template<class ContainerAllocator> struct Serializer< ::motion_planning_msgs::ConvertToJointConstraintResponse_<ContainerAllocator> >
{
  template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
  {
    stream.next(m.joint_constraints);
  }

  ROS_DECLARE_ALLINONE_SERIALIZER;
}; // struct ConvertToJointConstraintResponse_
} // namespace serialization
} // namespace ros

namespace ros
{
namespace service_traits
{
template<>
struct MD5Sum<motion_planning_msgs::ConvertToJointConstraint> {
  static const char* value() 
  {
    return "44f1f1ccbb08264490b769e8b8b79668";
  }

  static const char* value(const motion_planning_msgs::ConvertToJointConstraint&) { return value(); } 
};

template<>
struct DataType<motion_planning_msgs::ConvertToJointConstraint> {
  static const char* value() 
  {
    return "motion_planning_msgs/ConvertToJointConstraint";
  }

  static const char* value(const motion_planning_msgs::ConvertToJointConstraint&) { return value(); } 
};

template<class ContainerAllocator>
struct MD5Sum<motion_planning_msgs::ConvertToJointConstraintRequest_<ContainerAllocator> > {
  static const char* value() 
  {
    return "44f1f1ccbb08264490b769e8b8b79668";
  }

  static const char* value(const motion_planning_msgs::ConvertToJointConstraintRequest_<ContainerAllocator> &) { return value(); } 
};

template<class ContainerAllocator>
struct DataType<motion_planning_msgs::ConvertToJointConstraintRequest_<ContainerAllocator> > {
  static const char* value() 
  {
    return "motion_planning_msgs/ConvertToJointConstraint";
  }

  static const char* value(const motion_planning_msgs::ConvertToJointConstraintRequest_<ContainerAllocator> &) { return value(); } 
};

template<class ContainerAllocator>
struct MD5Sum<motion_planning_msgs::ConvertToJointConstraintResponse_<ContainerAllocator> > {
  static const char* value() 
  {
    return "44f1f1ccbb08264490b769e8b8b79668";
  }

  static const char* value(const motion_planning_msgs::ConvertToJointConstraintResponse_<ContainerAllocator> &) { return value(); } 
};

template<class ContainerAllocator>
struct DataType<motion_planning_msgs::ConvertToJointConstraintResponse_<ContainerAllocator> > {
  static const char* value() 
  {
    return "motion_planning_msgs/ConvertToJointConstraint";
  }

  static const char* value(const motion_planning_msgs::ConvertToJointConstraintResponse_<ContainerAllocator> &) { return value(); } 
};

} // namespace service_traits
} // namespace ros

#endif // MOTION_PLANNING_MSGS_SERVICE_CONVERTTOJOINTCONSTRAINT_H

---

motion_planning_msgs
Author(s): Ioan Sucan/isucan@willowgarage.com, Sachin Chitta/sachinc@willowgarage.com
autogenerated on Fri Jan 11 09:59:45 2013