arm_navigation_msgs: arm_navigation_msgs: PositionConstraint.h Source File

00001 /* Auto-generated by genmsg_cpp for file /home/rosbuild/hudson/workspace/doc-electric-arm_navigation/doc_stacks/2013-03-01_14-05-03.553953/arm_navigation/arm_navigation_msgs/msg/PositionConstraint.msg */
00002 #ifndef ARM_NAVIGATION_MSGS_MESSAGE_POSITIONCONSTRAINT_H
00003 #define ARM_NAVIGATION_MSGS_MESSAGE_POSITIONCONSTRAINT_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/Point.h"
00019 #include "geometry_msgs/Point.h"
00020 #include "arm_navigation_msgs/Shape.h"
00021 #include "geometry_msgs/Quaternion.h"
00022 
00023 namespace arm_navigation_msgs
00024 {
00025 template <class ContainerAllocator>
00026 struct PositionConstraint_ {
00027   typedef PositionConstraint_<ContainerAllocator> Type;
00028 
00029   PositionConstraint_()
00030   : header()
00031   , link_name()
00032   , target_point_offset()
00033   , position()
00034   , constraint_region_shape()
00035   , constraint_region_orientation()
00036   , weight(0.0)
00037   {
00038   }
00039 
00040   PositionConstraint_(const ContainerAllocator& _alloc)
00041   : header(_alloc)
00042   , link_name(_alloc)
00043   , target_point_offset(_alloc)
00044   , position(_alloc)
00045   , constraint_region_shape(_alloc)
00046   , constraint_region_orientation(_alloc)
00047   , weight(0.0)
00048   {
00049   }
00050 
00051   typedef  ::std_msgs::Header_<ContainerAllocator>  _header_type;
00052    ::std_msgs::Header_<ContainerAllocator>  header;
00053 
00054   typedef std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other >  _link_name_type;
00055   std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other >  link_name;
00056 
00057   typedef  ::geometry_msgs::Point_<ContainerAllocator>  _target_point_offset_type;
00058    ::geometry_msgs::Point_<ContainerAllocator>  target_point_offset;
00059 
00060   typedef  ::geometry_msgs::Point_<ContainerAllocator>  _position_type;
00061    ::geometry_msgs::Point_<ContainerAllocator>  position;
00062 
00063   typedef  ::arm_navigation_msgs::Shape_<ContainerAllocator>  _constraint_region_shape_type;
00064    ::arm_navigation_msgs::Shape_<ContainerAllocator>  constraint_region_shape;
00065 
00066   typedef  ::geometry_msgs::Quaternion_<ContainerAllocator>  _constraint_region_orientation_type;
00067    ::geometry_msgs::Quaternion_<ContainerAllocator>  constraint_region_orientation;
00068 
00069   typedef double _weight_type;
00070   double weight;
00071 
00072 
00073 private:
00074   static const char* __s_getDataType_() { return "arm_navigation_msgs/PositionConstraint"; }
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 "7e3d9697e64b346b9d3cb7311bb88ccb"; }
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 the definition of a position constraint.\n\
00089 Header header\n\
00090 \n\
00091 # The robot link this constraint refers to\n\
00092 string link_name\n\
00093 \n\
00094 # The offset (in the link frame) for the target point on the link we are planning for\n\
00095 geometry_msgs/Point target_point_offset\n\
00096 \n\
00097 # The nominal/target position for the point we are planning for\n\
00098 geometry_msgs/Point position\n\
00099 \n\
00100 # The shape of the bounded region that constrains the position of the end-effector\n\
00101 # This region is always centered at the position defined above\n\
00102 arm_navigation_msgs/Shape constraint_region_shape\n\
00103 \n\
00104 # The orientation of the bounded region that constrains the position of the end-effector. \n\
00105 # This allows the specification of non-axis aligned constraints\n\
00106 geometry_msgs/Quaternion constraint_region_orientation\n\
00107 \n\
00108 # Constraint weighting factor - a weight for this constraint\n\
00109 float64 weight\n\
00110 \n\
00111 ================================================================================\n\
00112 MSG: std_msgs/Header\n\
00113 # Standard metadata for higher-level stamped data types.\n\
00114 # This is generally used to communicate timestamped data \n\
00115 # in a particular coordinate frame.\n\
00116 # \n\
00117 # sequence ID: consecutively increasing ID \n\
00118 uint32 seq\n\
00119 #Two-integer timestamp that is expressed as:\n\
00120 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00121 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00122 # time-handling sugar is provided by the client library\n\
00123 time stamp\n\
00124 #Frame this data is associated with\n\
00125 # 0: no frame\n\
00126 # 1: global frame\n\
00127 string frame_id\n\
00128 \n\
00129 ================================================================================\n\
00130 MSG: geometry_msgs/Point\n\
00131 # This contains the position of a point in free space\n\
00132 float64 x\n\
00133 float64 y\n\
00134 float64 z\n\
00135 \n\
00136 ================================================================================\n\
00137 MSG: arm_navigation_msgs/Shape\n\
00138 byte SPHERE=0\n\
00139 byte BOX=1\n\
00140 byte CYLINDER=2\n\
00141 byte MESH=3\n\
00142 \n\
00143 byte type\n\
00144 \n\
00145 \n\
00146 #### define sphere, box, cylinder ####\n\
00147 # the origin of each shape is considered at the shape's center\n\
00148 \n\
00149 # for sphere\n\
00150 # radius := dimensions[0]\n\
00151 \n\
00152 # for cylinder\n\
00153 # radius := dimensions[0]\n\
00154 # length := dimensions[1]\n\
00155 # the length is along the Z axis\n\
00156 \n\
00157 # for box\n\
00158 # size_x := dimensions[0]\n\
00159 # size_y := dimensions[1]\n\
00160 # size_z := dimensions[2]\n\
00161 float64[] dimensions\n\
00162 \n\
00163 \n\
00164 #### define mesh ####\n\
00165 \n\
00166 # list of triangles; triangle k is defined by tre vertices located\n\
00167 # at indices triangles[3k], triangles[3k+1], triangles[3k+2]\n\
00168 int32[] triangles\n\
00169 geometry_msgs/Point[] vertices\n\
00170 \n\
00171 ================================================================================\n\
00172 MSG: geometry_msgs/Quaternion\n\
00173 # This represents an orientation in free space in quaternion form.\n\
00174 \n\
00175 float64 x\n\
00176 float64 y\n\
00177 float64 z\n\
00178 float64 w\n\
00179 \n\
00180 "; }
00181 public:
00182   ROS_DEPRECATED static const std::string __s_getMessageDefinition() { return __s_getMessageDefinition_(); }
00183 
00184   ROS_DEPRECATED const std::string __getMessageDefinition() const { return __s_getMessageDefinition_(); }
00185 
00186   ROS_DEPRECATED virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const
00187   {
00188     ros::serialization::OStream stream(write_ptr, 1000000000);
00189     ros::serialization::serialize(stream, header);
00190     ros::serialization::serialize(stream, link_name);
00191     ros::serialization::serialize(stream, target_point_offset);
00192     ros::serialization::serialize(stream, position);
00193     ros::serialization::serialize(stream, constraint_region_shape);
00194     ros::serialization::serialize(stream, constraint_region_orientation);
00195     ros::serialization::serialize(stream, weight);
00196     return stream.getData();
00197   }
00198 
00199   ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr)
00200   {
00201     ros::serialization::IStream stream(read_ptr, 1000000000);
00202     ros::serialization::deserialize(stream, header);
00203     ros::serialization::deserialize(stream, link_name);
00204     ros::serialization::deserialize(stream, target_point_offset);
00205     ros::serialization::deserialize(stream, position);
00206     ros::serialization::deserialize(stream, constraint_region_shape);
00207     ros::serialization::deserialize(stream, constraint_region_orientation);
00208     ros::serialization::deserialize(stream, weight);
00209     return stream.getData();
00210   }
00211 
00212   ROS_DEPRECATED virtual uint32_t serializationLength() const
00213   {
00214     uint32_t size = 0;
00215     size += ros::serialization::serializationLength(header);
00216     size += ros::serialization::serializationLength(link_name);
00217     size += ros::serialization::serializationLength(target_point_offset);
00218     size += ros::serialization::serializationLength(position);
00219     size += ros::serialization::serializationLength(constraint_region_shape);
00220     size += ros::serialization::serializationLength(constraint_region_orientation);
00221     size += ros::serialization::serializationLength(weight);
00222     return size;
00223   }
00224 
00225   typedef boost::shared_ptr< ::arm_navigation_msgs::PositionConstraint_<ContainerAllocator> > Ptr;
00226   typedef boost::shared_ptr< ::arm_navigation_msgs::PositionConstraint_<ContainerAllocator>  const> ConstPtr;
00227   boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00228 }; // struct PositionConstraint
00229 typedef  ::arm_navigation_msgs::PositionConstraint_<std::allocator<void> > PositionConstraint;
00230 
00231 typedef boost::shared_ptr< ::arm_navigation_msgs::PositionConstraint> PositionConstraintPtr;
00232 typedef boost::shared_ptr< ::arm_navigation_msgs::PositionConstraint const> PositionConstraintConstPtr;
00233 
00234 
00235 template<typename ContainerAllocator>
00236 std::ostream& operator<<(std::ostream& s, const  ::arm_navigation_msgs::PositionConstraint_<ContainerAllocator> & v)
00237 {
00238   ros::message_operations::Printer< ::arm_navigation_msgs::PositionConstraint_<ContainerAllocator> >::stream(s, "", v);
00239   return s;}
00240 
00241 } // namespace arm_navigation_msgs
00242 
00243 namespace ros
00244 {
00245 namespace message_traits
00246 {
00247 template<class ContainerAllocator> struct IsMessage< ::arm_navigation_msgs::PositionConstraint_<ContainerAllocator> > : public TrueType {};
00248 template<class ContainerAllocator> struct IsMessage< ::arm_navigation_msgs::PositionConstraint_<ContainerAllocator>  const> : public TrueType {};
00249 template<class ContainerAllocator>
00250 struct MD5Sum< ::arm_navigation_msgs::PositionConstraint_<ContainerAllocator> > {
00251   static const char* value() 
00252   {
00253     return "7e3d9697e64b346b9d3cb7311bb88ccb";
00254   }
00255 
00256   static const char* value(const  ::arm_navigation_msgs::PositionConstraint_<ContainerAllocator> &) { return value(); } 
00257   static const uint64_t static_value1 = 0x7e3d9697e64b346bULL;
00258   static const uint64_t static_value2 = 0x9d3cb7311bb88ccbULL;
00259 };
00260 
00261 template<class ContainerAllocator>
00262 struct DataType< ::arm_navigation_msgs::PositionConstraint_<ContainerAllocator> > {
00263   static const char* value() 
00264   {
00265     return "arm_navigation_msgs/PositionConstraint";
00266   }
00267 
00268   static const char* value(const  ::arm_navigation_msgs::PositionConstraint_<ContainerAllocator> &) { return value(); } 
00269 };
00270 
00271 template<class ContainerAllocator>
00272 struct Definition< ::arm_navigation_msgs::PositionConstraint_<ContainerAllocator> > {
00273   static const char* value() 
00274   {
00275     return "# This message contains the definition of a position constraint.\n\
00276 Header header\n\
00277 \n\
00278 # The robot link this constraint refers to\n\
00279 string link_name\n\
00280 \n\
00281 # The offset (in the link frame) for the target point on the link we are planning for\n\
00282 geometry_msgs/Point target_point_offset\n\
00283 \n\
00284 # The nominal/target position for the point we are planning for\n\
00285 geometry_msgs/Point position\n\
00286 \n\
00287 # The shape of the bounded region that constrains the position of the end-effector\n\
00288 # This region is always centered at the position defined above\n\
00289 arm_navigation_msgs/Shape constraint_region_shape\n\
00290 \n\
00291 # The orientation of the bounded region that constrains the position of the end-effector. \n\
00292 # This allows the specification of non-axis aligned constraints\n\
00293 geometry_msgs/Quaternion constraint_region_orientation\n\
00294 \n\
00295 # Constraint weighting factor - a weight for this constraint\n\
00296 float64 weight\n\
00297 \n\
00298 ================================================================================\n\
00299 MSG: std_msgs/Header\n\
00300 # Standard metadata for higher-level stamped data types.\n\
00301 # This is generally used to communicate timestamped data \n\
00302 # in a particular coordinate frame.\n\
00303 # \n\
00304 # sequence ID: consecutively increasing ID \n\
00305 uint32 seq\n\
00306 #Two-integer timestamp that is expressed as:\n\
00307 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00308 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00309 # time-handling sugar is provided by the client library\n\
00310 time stamp\n\
00311 #Frame this data is associated with\n\
00312 # 0: no frame\n\
00313 # 1: global frame\n\
00314 string frame_id\n\
00315 \n\
00316 ================================================================================\n\
00317 MSG: geometry_msgs/Point\n\
00318 # This contains the position of a point in free space\n\
00319 float64 x\n\
00320 float64 y\n\
00321 float64 z\n\
00322 \n\
00323 ================================================================================\n\
00324 MSG: arm_navigation_msgs/Shape\n\
00325 byte SPHERE=0\n\
00326 byte BOX=1\n\
00327 byte CYLINDER=2\n\
00328 byte MESH=3\n\
00329 \n\
00330 byte type\n\
00331 \n\
00332 \n\
00333 #### define sphere, box, cylinder ####\n\
00334 # the origin of each shape is considered at the shape's center\n\
00335 \n\
00336 # for sphere\n\
00337 # radius := dimensions[0]\n\
00338 \n\
00339 # for cylinder\n\
00340 # radius := dimensions[0]\n\
00341 # length := dimensions[1]\n\
00342 # the length is along the Z axis\n\
00343 \n\
00344 # for box\n\
00345 # size_x := dimensions[0]\n\
00346 # size_y := dimensions[1]\n\
00347 # size_z := dimensions[2]\n\
00348 float64[] dimensions\n\
00349 \n\
00350 \n\
00351 #### define mesh ####\n\
00352 \n\
00353 # list of triangles; triangle k is defined by tre vertices located\n\
00354 # at indices triangles[3k], triangles[3k+1], triangles[3k+2]\n\
00355 int32[] triangles\n\
00356 geometry_msgs/Point[] vertices\n\
00357 \n\
00358 ================================================================================\n\
00359 MSG: geometry_msgs/Quaternion\n\
00360 # This represents an orientation in free space in quaternion form.\n\
00361 \n\
00362 float64 x\n\
00363 float64 y\n\
00364 float64 z\n\
00365 float64 w\n\
00366 \n\
00367 ";
00368   }
00369 
00370   static const char* value(const  ::arm_navigation_msgs::PositionConstraint_<ContainerAllocator> &) { return value(); } 
00371 };
00372 
00373 template<class ContainerAllocator> struct HasHeader< ::arm_navigation_msgs::PositionConstraint_<ContainerAllocator> > : public TrueType {};
00374 template<class ContainerAllocator> struct HasHeader< const ::arm_navigation_msgs::PositionConstraint_<ContainerAllocator> > : public TrueType {};
00375 } // namespace message_traits
00376 } // namespace ros
00377 
00378 namespace ros
00379 {
00380 namespace serialization
00381 {
00382 
00383 template<class ContainerAllocator> struct Serializer< ::arm_navigation_msgs::PositionConstraint_<ContainerAllocator> >
00384 {
00385   template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00386   {
00387     stream.next(m.header);
00388     stream.next(m.link_name);
00389     stream.next(m.target_point_offset);
00390     stream.next(m.position);
00391     stream.next(m.constraint_region_shape);
00392     stream.next(m.constraint_region_orientation);
00393     stream.next(m.weight);
00394   }
00395 
00396   ROS_DECLARE_ALLINONE_SERIALIZER;
00397 }; // struct PositionConstraint_
00398 } // namespace serialization
00399 } // namespace ros
00400 
00401 namespace ros
00402 {
00403 namespace message_operations
00404 {
00405 
00406 template<class ContainerAllocator>
00407 struct Printer< ::arm_navigation_msgs::PositionConstraint_<ContainerAllocator> >
00408 {
00409   template<typename Stream> static void stream(Stream& s, const std::string& indent, const  ::arm_navigation_msgs::PositionConstraint_<ContainerAllocator> & v) 
00410   {
00411     s << indent << "header: ";
00412 s << std::endl;
00413     Printer< ::std_msgs::Header_<ContainerAllocator> >::stream(s, indent + "  ", v.header);
00414     s << indent << "link_name: ";
00415     Printer<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > >::stream(s, indent + "  ", v.link_name);
00416     s << indent << "target_point_offset: ";
00417 s << std::endl;
00418     Printer< ::geometry_msgs::Point_<ContainerAllocator> >::stream(s, indent + "  ", v.target_point_offset);
00419     s << indent << "position: ";
00420 s << std::endl;
00421     Printer< ::geometry_msgs::Point_<ContainerAllocator> >::stream(s, indent + "  ", v.position);
00422     s << indent << "constraint_region_shape: ";
00423 s << std::endl;
00424     Printer< ::arm_navigation_msgs::Shape_<ContainerAllocator> >::stream(s, indent + "  ", v.constraint_region_shape);
00425     s << indent << "constraint_region_orientation: ";
00426 s << std::endl;
00427     Printer< ::geometry_msgs::Quaternion_<ContainerAllocator> >::stream(s, indent + "  ", v.constraint_region_orientation);
00428     s << indent << "weight: ";
00429     Printer<double>::stream(s, indent + "  ", v.weight);
00430   }
00431 };
00432 
00433 
00434 } // namespace message_operations
00435 } // namespace ros
00436 
00437 #endif // ARM_NAVIGATION_MSGS_MESSAGE_POSITIONCONSTRAINT_H
00438