00001
00002 #ifndef ARM_NAVIGATION_MSGS_MESSAGE_CONSTRAINTS_H
00003 #define ARM_NAVIGATION_MSGS_MESSAGE_CONSTRAINTS_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 "arm_navigation_msgs/JointConstraint.h"
00018 #include "arm_navigation_msgs/PositionConstraint.h"
00019 #include "arm_navigation_msgs/OrientationConstraint.h"
00020 #include "arm_navigation_msgs/VisibilityConstraint.h"
00021
00022 namespace arm_navigation_msgs
00023 {
00024 template <class ContainerAllocator>
00025 struct Constraints_ {
00026 typedef Constraints_<ContainerAllocator> Type;
00027
00028 Constraints_()
00029 : joint_constraints()
00030 , position_constraints()
00031 , orientation_constraints()
00032 , visibility_constraints()
00033 {
00034 }
00035
00036 Constraints_(const ContainerAllocator& _alloc)
00037 : joint_constraints(_alloc)
00038 , position_constraints(_alloc)
00039 , orientation_constraints(_alloc)
00040 , visibility_constraints(_alloc)
00041 {
00042 }
00043
00044 typedef std::vector< ::arm_navigation_msgs::JointConstraint_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::arm_navigation_msgs::JointConstraint_<ContainerAllocator> >::other > _joint_constraints_type;
00045 std::vector< ::arm_navigation_msgs::JointConstraint_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::arm_navigation_msgs::JointConstraint_<ContainerAllocator> >::other > joint_constraints;
00046
00047 typedef std::vector< ::arm_navigation_msgs::PositionConstraint_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::arm_navigation_msgs::PositionConstraint_<ContainerAllocator> >::other > _position_constraints_type;
00048 std::vector< ::arm_navigation_msgs::PositionConstraint_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::arm_navigation_msgs::PositionConstraint_<ContainerAllocator> >::other > position_constraints;
00049
00050 typedef std::vector< ::arm_navigation_msgs::OrientationConstraint_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::arm_navigation_msgs::OrientationConstraint_<ContainerAllocator> >::other > _orientation_constraints_type;
00051 std::vector< ::arm_navigation_msgs::OrientationConstraint_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::arm_navigation_msgs::OrientationConstraint_<ContainerAllocator> >::other > orientation_constraints;
00052
00053 typedef std::vector< ::arm_navigation_msgs::VisibilityConstraint_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::arm_navigation_msgs::VisibilityConstraint_<ContainerAllocator> >::other > _visibility_constraints_type;
00054 std::vector< ::arm_navigation_msgs::VisibilityConstraint_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::arm_navigation_msgs::VisibilityConstraint_<ContainerAllocator> >::other > visibility_constraints;
00055
00056
00057 ROS_DEPRECATED uint32_t get_joint_constraints_size() const { return (uint32_t)joint_constraints.size(); }
00058 ROS_DEPRECATED void set_joint_constraints_size(uint32_t size) { joint_constraints.resize((size_t)size); }
00059 ROS_DEPRECATED void get_joint_constraints_vec(std::vector< ::arm_navigation_msgs::JointConstraint_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::arm_navigation_msgs::JointConstraint_<ContainerAllocator> >::other > & vec) const { vec = this->joint_constraints; }
00060 ROS_DEPRECATED void set_joint_constraints_vec(const std::vector< ::arm_navigation_msgs::JointConstraint_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::arm_navigation_msgs::JointConstraint_<ContainerAllocator> >::other > & vec) { this->joint_constraints = vec; }
00061 ROS_DEPRECATED uint32_t get_position_constraints_size() const { return (uint32_t)position_constraints.size(); }
00062 ROS_DEPRECATED void set_position_constraints_size(uint32_t size) { position_constraints.resize((size_t)size); }
00063 ROS_DEPRECATED void get_position_constraints_vec(std::vector< ::arm_navigation_msgs::PositionConstraint_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::arm_navigation_msgs::PositionConstraint_<ContainerAllocator> >::other > & vec) const { vec = this->position_constraints; }
00064 ROS_DEPRECATED void set_position_constraints_vec(const std::vector< ::arm_navigation_msgs::PositionConstraint_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::arm_navigation_msgs::PositionConstraint_<ContainerAllocator> >::other > & vec) { this->position_constraints = vec; }
00065 ROS_DEPRECATED uint32_t get_orientation_constraints_size() const { return (uint32_t)orientation_constraints.size(); }
00066 ROS_DEPRECATED void set_orientation_constraints_size(uint32_t size) { orientation_constraints.resize((size_t)size); }
00067 ROS_DEPRECATED void get_orientation_constraints_vec(std::vector< ::arm_navigation_msgs::OrientationConstraint_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::arm_navigation_msgs::OrientationConstraint_<ContainerAllocator> >::other > & vec) const { vec = this->orientation_constraints; }
00068 ROS_DEPRECATED void set_orientation_constraints_vec(const std::vector< ::arm_navigation_msgs::OrientationConstraint_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::arm_navigation_msgs::OrientationConstraint_<ContainerAllocator> >::other > & vec) { this->orientation_constraints = vec; }
00069 ROS_DEPRECATED uint32_t get_visibility_constraints_size() const { return (uint32_t)visibility_constraints.size(); }
00070 ROS_DEPRECATED void set_visibility_constraints_size(uint32_t size) { visibility_constraints.resize((size_t)size); }
00071 ROS_DEPRECATED void get_visibility_constraints_vec(std::vector< ::arm_navigation_msgs::VisibilityConstraint_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::arm_navigation_msgs::VisibilityConstraint_<ContainerAllocator> >::other > & vec) const { vec = this->visibility_constraints; }
00072 ROS_DEPRECATED void set_visibility_constraints_vec(const std::vector< ::arm_navigation_msgs::VisibilityConstraint_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::arm_navigation_msgs::VisibilityConstraint_<ContainerAllocator> >::other > & vec) { this->visibility_constraints = vec; }
00073 private:
00074 static const char* __s_getDataType_() { return "arm_navigation_msgs/Constraints"; }
00075 public:
00076 ROS_DEPRECATED static const std::string __s_getDataType() { return __s_getDataType_(); }
00077
00078 ROS_DEPRECATED const std::string __getDataType() const { return __s_getDataType_(); }
00079
00080 private:
00081 static const char* __s_getMD5Sum_() { return "fe6b6f09c687fd46c05a2de4ca18378a"; }
00082 public:
00083 ROS_DEPRECATED static const std::string __s_getMD5Sum() { return __s_getMD5Sum_(); }
00084
00085 ROS_DEPRECATED const std::string __getMD5Sum() const { return __s_getMD5Sum_(); }
00086
00087 private:
00088 static const char* __s_getMessageDefinition_() { return "# This message contains a list of motion planning constraints.\n\
00089 \n\
00090 arm_navigation_msgs/JointConstraint[] joint_constraints\n\
00091 arm_navigation_msgs/PositionConstraint[] position_constraints\n\
00092 arm_navigation_msgs/OrientationConstraint[] orientation_constraints\n\
00093 arm_navigation_msgs/VisibilityConstraint[] visibility_constraints\n\
00094 \n\
00095 ================================================================================\n\
00096 MSG: arm_navigation_msgs/JointConstraint\n\
00097 # Constrain the position of a joint to be within a certain bound\n\
00098 string joint_name\n\
00099 \n\
00100 # the bound to be achieved is [position - tolerance_below, position + tolerance_above]\n\
00101 float64 position\n\
00102 float64 tolerance_above\n\
00103 float64 tolerance_below\n\
00104 \n\
00105 # A weighting factor for this constraint\n\
00106 float64 weight\n\
00107 ================================================================================\n\
00108 MSG: arm_navigation_msgs/PositionConstraint\n\
00109 # This message contains the definition of a position constraint.\n\
00110 Header header\n\
00111 \n\
00112 # The robot link this constraint refers to\n\
00113 string link_name\n\
00114 \n\
00115 # The offset (in the link frame) for the target point on the link we are planning for\n\
00116 geometry_msgs/Point target_point_offset\n\
00117 \n\
00118 # The nominal/target position for the point we are planning for\n\
00119 geometry_msgs/Point position\n\
00120 \n\
00121 # The shape of the bounded region that constrains the position of the end-effector\n\
00122 # This region is always centered at the position defined above\n\
00123 arm_navigation_msgs/Shape constraint_region_shape\n\
00124 \n\
00125 # The orientation of the bounded region that constrains the position of the end-effector. \n\
00126 # This allows the specification of non-axis aligned constraints\n\
00127 geometry_msgs/Quaternion constraint_region_orientation\n\
00128 \n\
00129 # Constraint weighting factor - a weight for this constraint\n\
00130 float64 weight\n\
00131 \n\
00132 ================================================================================\n\
00133 MSG: std_msgs/Header\n\
00134 # Standard metadata for higher-level stamped data types.\n\
00135 # This is generally used to communicate timestamped data \n\
00136 # in a particular coordinate frame.\n\
00137 # \n\
00138 # sequence ID: consecutively increasing ID \n\
00139 uint32 seq\n\
00140 #Two-integer timestamp that is expressed as:\n\
00141 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00142 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00143 # time-handling sugar is provided by the client library\n\
00144 time stamp\n\
00145 #Frame this data is associated with\n\
00146 # 0: no frame\n\
00147 # 1: global frame\n\
00148 string frame_id\n\
00149 \n\
00150 ================================================================================\n\
00151 MSG: geometry_msgs/Point\n\
00152 # This contains the position of a point in free space\n\
00153 float64 x\n\
00154 float64 y\n\
00155 float64 z\n\
00156 \n\
00157 ================================================================================\n\
00158 MSG: arm_navigation_msgs/Shape\n\
00159 byte SPHERE=0\n\
00160 byte BOX=1\n\
00161 byte CYLINDER=2\n\
00162 byte MESH=3\n\
00163 \n\
00164 byte type\n\
00165 \n\
00166 \n\
00167 #### define sphere, box, cylinder ####\n\
00168 # the origin of each shape is considered at the shape's center\n\
00169 \n\
00170 # for sphere\n\
00171 # radius := dimensions[0]\n\
00172 \n\
00173 # for cylinder\n\
00174 # radius := dimensions[0]\n\
00175 # length := dimensions[1]\n\
00176 # the length is along the Z axis\n\
00177 \n\
00178 # for box\n\
00179 # size_x := dimensions[0]\n\
00180 # size_y := dimensions[1]\n\
00181 # size_z := dimensions[2]\n\
00182 float64[] dimensions\n\
00183 \n\
00184 \n\
00185 #### define mesh ####\n\
00186 \n\
00187 # list of triangles; triangle k is defined by tre vertices located\n\
00188 # at indices triangles[3k], triangles[3k+1], triangles[3k+2]\n\
00189 int32[] triangles\n\
00190 geometry_msgs/Point[] vertices\n\
00191 \n\
00192 ================================================================================\n\
00193 MSG: geometry_msgs/Quaternion\n\
00194 # This represents an orientation in free space in quaternion form.\n\
00195 \n\
00196 float64 x\n\
00197 float64 y\n\
00198 float64 z\n\
00199 float64 w\n\
00200 \n\
00201 ================================================================================\n\
00202 MSG: arm_navigation_msgs/OrientationConstraint\n\
00203 # This message contains the definition of an orientation constraint.\n\
00204 Header header\n\
00205 \n\
00206 # The robot link this constraint refers to\n\
00207 string link_name\n\
00208 \n\
00209 # The type of the constraint\n\
00210 int32 type\n\
00211 int32 LINK_FRAME=0\n\
00212 int32 HEADER_FRAME=1\n\
00213 \n\
00214 # The desired orientation of the robot link specified as a quaternion\n\
00215 geometry_msgs/Quaternion orientation\n\
00216 \n\
00217 # optional RPY error tolerances specified if \n\
00218 float64 absolute_roll_tolerance\n\
00219 float64 absolute_pitch_tolerance\n\
00220 float64 absolute_yaw_tolerance\n\
00221 \n\
00222 # Constraint weighting factor - a weight for this constraint\n\
00223 float64 weight\n\
00224 \n\
00225 ================================================================================\n\
00226 MSG: arm_navigation_msgs/VisibilityConstraint\n\
00227 # This message contains the definition of a visibility constraint.\n\
00228 Header header\n\
00229 \n\
00230 # The point stamped target that needs to be kept within view of the sensor\n\
00231 geometry_msgs/PointStamped target\n\
00232 \n\
00233 # The local pose of the frame in which visibility is to be maintained\n\
00234 # The frame id should represent the robot link to which the sensor is attached\n\
00235 # The visual axis of the sensor is assumed to be along the X axis of this frame\n\
00236 geometry_msgs/PoseStamped sensor_pose\n\
00237 \n\
00238 # The deviation (in radians) that will be tolerated\n\
00239 # Constraint error will be measured as the solid angle between the \n\
00240 # X axis of the frame defined above and the vector between the origin \n\
00241 # of the frame defined above and the target location\n\
00242 float64 absolute_tolerance\n\
00243 \n\
00244 \n\
00245 ================================================================================\n\
00246 MSG: geometry_msgs/PointStamped\n\
00247 # This represents a Point with reference coordinate frame and timestamp\n\
00248 Header header\n\
00249 Point point\n\
00250 \n\
00251 ================================================================================\n\
00252 MSG: geometry_msgs/PoseStamped\n\
00253 # A Pose with reference coordinate frame and timestamp\n\
00254 Header header\n\
00255 Pose pose\n\
00256 \n\
00257 ================================================================================\n\
00258 MSG: geometry_msgs/Pose\n\
00259 # A representation of pose in free space, composed of postion and orientation. \n\
00260 Point position\n\
00261 Quaternion orientation\n\
00262 \n\
00263 "; }
00264 public:
00265 ROS_DEPRECATED static const std::string __s_getMessageDefinition() { return __s_getMessageDefinition_(); }
00266
00267 ROS_DEPRECATED const std::string __getMessageDefinition() const { return __s_getMessageDefinition_(); }
00268
00269 ROS_DEPRECATED virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const
00270 {
00271 ros::serialization::OStream stream(write_ptr, 1000000000);
00272 ros::serialization::serialize(stream, joint_constraints);
00273 ros::serialization::serialize(stream, position_constraints);
00274 ros::serialization::serialize(stream, orientation_constraints);
00275 ros::serialization::serialize(stream, visibility_constraints);
00276 return stream.getData();
00277 }
00278
00279 ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr)
00280 {
00281 ros::serialization::IStream stream(read_ptr, 1000000000);
00282 ros::serialization::deserialize(stream, joint_constraints);
00283 ros::serialization::deserialize(stream, position_constraints);
00284 ros::serialization::deserialize(stream, orientation_constraints);
00285 ros::serialization::deserialize(stream, visibility_constraints);
00286 return stream.getData();
00287 }
00288
00289 ROS_DEPRECATED virtual uint32_t serializationLength() const
00290 {
00291 uint32_t size = 0;
00292 size += ros::serialization::serializationLength(joint_constraints);
00293 size += ros::serialization::serializationLength(position_constraints);
00294 size += ros::serialization::serializationLength(orientation_constraints);
00295 size += ros::serialization::serializationLength(visibility_constraints);
00296 return size;
00297 }
00298
00299 typedef boost::shared_ptr< ::arm_navigation_msgs::Constraints_<ContainerAllocator> > Ptr;
00300 typedef boost::shared_ptr< ::arm_navigation_msgs::Constraints_<ContainerAllocator> const> ConstPtr;
00301 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00302 };
00303 typedef ::arm_navigation_msgs::Constraints_<std::allocator<void> > Constraints;
00304
00305 typedef boost::shared_ptr< ::arm_navigation_msgs::Constraints> ConstraintsPtr;
00306 typedef boost::shared_ptr< ::arm_navigation_msgs::Constraints const> ConstraintsConstPtr;
00307
00308
00309 template<typename ContainerAllocator>
00310 std::ostream& operator<<(std::ostream& s, const ::arm_navigation_msgs::Constraints_<ContainerAllocator> & v)
00311 {
00312 ros::message_operations::Printer< ::arm_navigation_msgs::Constraints_<ContainerAllocator> >::stream(s, "", v);
00313 return s;}
00314
00315 }
00316
00317 namespace ros
00318 {
00319 namespace message_traits
00320 {
00321 template<class ContainerAllocator> struct IsMessage< ::arm_navigation_msgs::Constraints_<ContainerAllocator> > : public TrueType {};
00322 template<class ContainerAllocator> struct IsMessage< ::arm_navigation_msgs::Constraints_<ContainerAllocator> const> : public TrueType {};
00323 template<class ContainerAllocator>
00324 struct MD5Sum< ::arm_navigation_msgs::Constraints_<ContainerAllocator> > {
00325 static const char* value()
00326 {
00327 return "fe6b6f09c687fd46c05a2de4ca18378a";
00328 }
00329
00330 static const char* value(const ::arm_navigation_msgs::Constraints_<ContainerAllocator> &) { return value(); }
00331 static const uint64_t static_value1 = 0xfe6b6f09c687fd46ULL;
00332 static const uint64_t static_value2 = 0xc05a2de4ca18378aULL;
00333 };
00334
00335 template<class ContainerAllocator>
00336 struct DataType< ::arm_navigation_msgs::Constraints_<ContainerAllocator> > {
00337 static const char* value()
00338 {
00339 return "arm_navigation_msgs/Constraints";
00340 }
00341
00342 static const char* value(const ::arm_navigation_msgs::Constraints_<ContainerAllocator> &) { return value(); }
00343 };
00344
00345 template<class ContainerAllocator>
00346 struct Definition< ::arm_navigation_msgs::Constraints_<ContainerAllocator> > {
00347 static const char* value()
00348 {
00349 return "# This message contains a list of motion planning constraints.\n\
00350 \n\
00351 arm_navigation_msgs/JointConstraint[] joint_constraints\n\
00352 arm_navigation_msgs/PositionConstraint[] position_constraints\n\
00353 arm_navigation_msgs/OrientationConstraint[] orientation_constraints\n\
00354 arm_navigation_msgs/VisibilityConstraint[] visibility_constraints\n\
00355 \n\
00356 ================================================================================\n\
00357 MSG: arm_navigation_msgs/JointConstraint\n\
00358 # Constrain the position of a joint to be within a certain bound\n\
00359 string joint_name\n\
00360 \n\
00361 # the bound to be achieved is [position - tolerance_below, position + tolerance_above]\n\
00362 float64 position\n\
00363 float64 tolerance_above\n\
00364 float64 tolerance_below\n\
00365 \n\
00366 # A weighting factor for this constraint\n\
00367 float64 weight\n\
00368 ================================================================================\n\
00369 MSG: arm_navigation_msgs/PositionConstraint\n\
00370 # This message contains the definition of a position constraint.\n\
00371 Header header\n\
00372 \n\
00373 # The robot link this constraint refers to\n\
00374 string link_name\n\
00375 \n\
00376 # The offset (in the link frame) for the target point on the link we are planning for\n\
00377 geometry_msgs/Point target_point_offset\n\
00378 \n\
00379 # The nominal/target position for the point we are planning for\n\
00380 geometry_msgs/Point position\n\
00381 \n\
00382 # The shape of the bounded region that constrains the position of the end-effector\n\
00383 # This region is always centered at the position defined above\n\
00384 arm_navigation_msgs/Shape constraint_region_shape\n\
00385 \n\
00386 # The orientation of the bounded region that constrains the position of the end-effector. \n\
00387 # This allows the specification of non-axis aligned constraints\n\
00388 geometry_msgs/Quaternion constraint_region_orientation\n\
00389 \n\
00390 # Constraint weighting factor - a weight for this constraint\n\
00391 float64 weight\n\
00392 \n\
00393 ================================================================================\n\
00394 MSG: std_msgs/Header\n\
00395 # Standard metadata for higher-level stamped data types.\n\
00396 # This is generally used to communicate timestamped data \n\
00397 # in a particular coordinate frame.\n\
00398 # \n\
00399 # sequence ID: consecutively increasing ID \n\
00400 uint32 seq\n\
00401 #Two-integer timestamp that is expressed as:\n\
00402 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00403 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00404 # time-handling sugar is provided by the client library\n\
00405 time stamp\n\
00406 #Frame this data is associated with\n\
00407 # 0: no frame\n\
00408 # 1: global frame\n\
00409 string frame_id\n\
00410 \n\
00411 ================================================================================\n\
00412 MSG: geometry_msgs/Point\n\
00413 # This contains the position of a point in free space\n\
00414 float64 x\n\
00415 float64 y\n\
00416 float64 z\n\
00417 \n\
00418 ================================================================================\n\
00419 MSG: arm_navigation_msgs/Shape\n\
00420 byte SPHERE=0\n\
00421 byte BOX=1\n\
00422 byte CYLINDER=2\n\
00423 byte MESH=3\n\
00424 \n\
00425 byte type\n\
00426 \n\
00427 \n\
00428 #### define sphere, box, cylinder ####\n\
00429 # the origin of each shape is considered at the shape's center\n\
00430 \n\
00431 # for sphere\n\
00432 # radius := dimensions[0]\n\
00433 \n\
00434 # for cylinder\n\
00435 # radius := dimensions[0]\n\
00436 # length := dimensions[1]\n\
00437 # the length is along the Z axis\n\
00438 \n\
00439 # for box\n\
00440 # size_x := dimensions[0]\n\
00441 # size_y := dimensions[1]\n\
00442 # size_z := dimensions[2]\n\
00443 float64[] dimensions\n\
00444 \n\
00445 \n\
00446 #### define mesh ####\n\
00447 \n\
00448 # list of triangles; triangle k is defined by tre vertices located\n\
00449 # at indices triangles[3k], triangles[3k+1], triangles[3k+2]\n\
00450 int32[] triangles\n\
00451 geometry_msgs/Point[] vertices\n\
00452 \n\
00453 ================================================================================\n\
00454 MSG: geometry_msgs/Quaternion\n\
00455 # This represents an orientation in free space in quaternion form.\n\
00456 \n\
00457 float64 x\n\
00458 float64 y\n\
00459 float64 z\n\
00460 float64 w\n\
00461 \n\
00462 ================================================================================\n\
00463 MSG: arm_navigation_msgs/OrientationConstraint\n\
00464 # This message contains the definition of an orientation constraint.\n\
00465 Header header\n\
00466 \n\
00467 # The robot link this constraint refers to\n\
00468 string link_name\n\
00469 \n\
00470 # The type of the constraint\n\
00471 int32 type\n\
00472 int32 LINK_FRAME=0\n\
00473 int32 HEADER_FRAME=1\n\
00474 \n\
00475 # The desired orientation of the robot link specified as a quaternion\n\
00476 geometry_msgs/Quaternion orientation\n\
00477 \n\
00478 # optional RPY error tolerances specified if \n\
00479 float64 absolute_roll_tolerance\n\
00480 float64 absolute_pitch_tolerance\n\
00481 float64 absolute_yaw_tolerance\n\
00482 \n\
00483 # Constraint weighting factor - a weight for this constraint\n\
00484 float64 weight\n\
00485 \n\
00486 ================================================================================\n\
00487 MSG: arm_navigation_msgs/VisibilityConstraint\n\
00488 # This message contains the definition of a visibility constraint.\n\
00489 Header header\n\
00490 \n\
00491 # The point stamped target that needs to be kept within view of the sensor\n\
00492 geometry_msgs/PointStamped target\n\
00493 \n\
00494 # The local pose of the frame in which visibility is to be maintained\n\
00495 # The frame id should represent the robot link to which the sensor is attached\n\
00496 # The visual axis of the sensor is assumed to be along the X axis of this frame\n\
00497 geometry_msgs/PoseStamped sensor_pose\n\
00498 \n\
00499 # The deviation (in radians) that will be tolerated\n\
00500 # Constraint error will be measured as the solid angle between the \n\
00501 # X axis of the frame defined above and the vector between the origin \n\
00502 # of the frame defined above and the target location\n\
00503 float64 absolute_tolerance\n\
00504 \n\
00505 \n\
00506 ================================================================================\n\
00507 MSG: geometry_msgs/PointStamped\n\
00508 # This represents a Point with reference coordinate frame and timestamp\n\
00509 Header header\n\
00510 Point point\n\
00511 \n\
00512 ================================================================================\n\
00513 MSG: geometry_msgs/PoseStamped\n\
00514 # A Pose with reference coordinate frame and timestamp\n\
00515 Header header\n\
00516 Pose pose\n\
00517 \n\
00518 ================================================================================\n\
00519 MSG: geometry_msgs/Pose\n\
00520 # A representation of pose in free space, composed of postion and orientation. \n\
00521 Point position\n\
00522 Quaternion orientation\n\
00523 \n\
00524 ";
00525 }
00526
00527 static const char* value(const ::arm_navigation_msgs::Constraints_<ContainerAllocator> &) { return value(); }
00528 };
00529
00530 }
00531 }
00532
00533 namespace ros
00534 {
00535 namespace serialization
00536 {
00537
00538 template<class ContainerAllocator> struct Serializer< ::arm_navigation_msgs::Constraints_<ContainerAllocator> >
00539 {
00540 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00541 {
00542 stream.next(m.joint_constraints);
00543 stream.next(m.position_constraints);
00544 stream.next(m.orientation_constraints);
00545 stream.next(m.visibility_constraints);
00546 }
00547
00548 ROS_DECLARE_ALLINONE_SERIALIZER;
00549 };
00550 }
00551 }
00552
00553 namespace ros
00554 {
00555 namespace message_operations
00556 {
00557
00558 template<class ContainerAllocator>
00559 struct Printer< ::arm_navigation_msgs::Constraints_<ContainerAllocator> >
00560 {
00561 template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::arm_navigation_msgs::Constraints_<ContainerAllocator> & v)
00562 {
00563 s << indent << "joint_constraints[]" << std::endl;
00564 for (size_t i = 0; i < v.joint_constraints.size(); ++i)
00565 {
00566 s << indent << " joint_constraints[" << i << "]: ";
00567 s << std::endl;
00568 s << indent;
00569 Printer< ::arm_navigation_msgs::JointConstraint_<ContainerAllocator> >::stream(s, indent + " ", v.joint_constraints[i]);
00570 }
00571 s << indent << "position_constraints[]" << std::endl;
00572 for (size_t i = 0; i < v.position_constraints.size(); ++i)
00573 {
00574 s << indent << " position_constraints[" << i << "]: ";
00575 s << std::endl;
00576 s << indent;
00577 Printer< ::arm_navigation_msgs::PositionConstraint_<ContainerAllocator> >::stream(s, indent + " ", v.position_constraints[i]);
00578 }
00579 s << indent << "orientation_constraints[]" << std::endl;
00580 for (size_t i = 0; i < v.orientation_constraints.size(); ++i)
00581 {
00582 s << indent << " orientation_constraints[" << i << "]: ";
00583 s << std::endl;
00584 s << indent;
00585 Printer< ::arm_navigation_msgs::OrientationConstraint_<ContainerAllocator> >::stream(s, indent + " ", v.orientation_constraints[i]);
00586 }
00587 s << indent << "visibility_constraints[]" << std::endl;
00588 for (size_t i = 0; i < v.visibility_constraints.size(); ++i)
00589 {
00590 s << indent << " visibility_constraints[" << i << "]: ";
00591 s << std::endl;
00592 s << indent;
00593 Printer< ::arm_navigation_msgs::VisibilityConstraint_<ContainerAllocator> >::stream(s, indent + " ", v.visibility_constraints[i]);
00594 }
00595 }
00596 };
00597
00598
00599 }
00600 }
00601
00602 #endif // ARM_NAVIGATION_MSGS_MESSAGE_CONSTRAINTS_H
00603
