dynamixel_msgs: dynamixel_msgs: JointState.h Source File

00001 /* Auto-generated by genmsg_cpp for file /home/rosbuild/hudson/workspace/doc-electric-dynamixel_motor/doc_stacks/2013-03-05_11-51-27.351858/dynamixel_motor/dynamixel_msgs/msg/JointState.msg */
00002 #ifndef DYNAMIXEL_MSGS_MESSAGE_JOINTSTATE_H
00003 #define DYNAMIXEL_MSGS_MESSAGE_JOINTSTATE_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 
00019 namespace dynamixel_msgs
00020 {
00021 template <class ContainerAllocator>
00022 struct JointState_ {
00023   typedef JointState_<ContainerAllocator> Type;
00024 
00025   JointState_()
00026   : header()
00027   , name()
00028   , motor_ids()
00029   , motor_temps()
00030   , goal_pos(0.0)
00031   , current_pos(0.0)
00032   , error(0.0)
00033   , velocity(0.0)
00034   , load(0.0)
00035   , is_moving(false)
00036   {
00037   }
00038 
00039   JointState_(const ContainerAllocator& _alloc)
00040   : header(_alloc)
00041   , name(_alloc)
00042   , motor_ids(_alloc)
00043   , motor_temps(_alloc)
00044   , goal_pos(0.0)
00045   , current_pos(0.0)
00046   , error(0.0)
00047   , velocity(0.0)
00048   , load(0.0)
00049   , is_moving(false)
00050   {
00051   }
00052 
00053   typedef  ::std_msgs::Header_<ContainerAllocator>  _header_type;
00054    ::std_msgs::Header_<ContainerAllocator>  header;
00055 
00056   typedef std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other >  _name_type;
00057   std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other >  name;
00058 
00059   typedef std::vector<int32_t, typename ContainerAllocator::template rebind<int32_t>::other >  _motor_ids_type;
00060   std::vector<int32_t, typename ContainerAllocator::template rebind<int32_t>::other >  motor_ids;
00061 
00062   typedef std::vector<int32_t, typename ContainerAllocator::template rebind<int32_t>::other >  _motor_temps_type;
00063   std::vector<int32_t, typename ContainerAllocator::template rebind<int32_t>::other >  motor_temps;
00064 
00065   typedef double _goal_pos_type;
00066   double goal_pos;
00067 
00068   typedef double _current_pos_type;
00069   double current_pos;
00070 
00071   typedef double _error_type;
00072   double error;
00073 
00074   typedef double _velocity_type;
00075   double velocity;
00076 
00077   typedef double _load_type;
00078   double load;
00079 
00080   typedef uint8_t _is_moving_type;
00081   uint8_t is_moving;
00082 
00083 
00084   ROS_DEPRECATED uint32_t get_motor_ids_size() const { return (uint32_t)motor_ids.size(); }
00085   ROS_DEPRECATED void set_motor_ids_size(uint32_t size) { motor_ids.resize((size_t)size); }
00086   ROS_DEPRECATED void get_motor_ids_vec(std::vector<int32_t, typename ContainerAllocator::template rebind<int32_t>::other > & vec) const { vec = this->motor_ids; }
00087   ROS_DEPRECATED void set_motor_ids_vec(const std::vector<int32_t, typename ContainerAllocator::template rebind<int32_t>::other > & vec) { this->motor_ids = vec; }
00088   ROS_DEPRECATED uint32_t get_motor_temps_size() const { return (uint32_t)motor_temps.size(); }
00089   ROS_DEPRECATED void set_motor_temps_size(uint32_t size) { motor_temps.resize((size_t)size); }
00090   ROS_DEPRECATED void get_motor_temps_vec(std::vector<int32_t, typename ContainerAllocator::template rebind<int32_t>::other > & vec) const { vec = this->motor_temps; }
00091   ROS_DEPRECATED void set_motor_temps_vec(const std::vector<int32_t, typename ContainerAllocator::template rebind<int32_t>::other > & vec) { this->motor_temps = vec; }
00092 private:
00093   static const char* __s_getDataType_() { return "dynamixel_msgs/JointState"; }
00094 public:
00095   ROS_DEPRECATED static const std::string __s_getDataType() { return __s_getDataType_(); }
00096 
00097   ROS_DEPRECATED const std::string __getDataType() const { return __s_getDataType_(); }
00098 
00099 private:
00100   static const char* __s_getMD5Sum_() { return "2b8449320cde76616338e2539db27c32"; }
00101 public:
00102   ROS_DEPRECATED static const std::string __s_getMD5Sum() { return __s_getMD5Sum_(); }
00103 
00104   ROS_DEPRECATED const std::string __getMD5Sum() const { return __s_getMD5Sum_(); }
00105 
00106 private:
00107   static const char* __s_getMessageDefinition_() { return "Header header\n\
00108 string name         # joint name\n\
00109 int32[] motor_ids   # motor ids controlling this joint\n\
00110 int32[] motor_temps # motor temperatures, same order as motor_ids\n\
00111 \n\
00112 float64 goal_pos    # commanded position (in radians)\n\
00113 float64 current_pos # current joint position (in radians)\n\
00114 float64 error       # error between commanded and current positions (in radians)\n\
00115 float64 velocity    # current joint speed (in radians per second)\n\
00116 float64 load        # current load\n\
00117 bool is_moving      # is joint currently in motion\n\
00118 \n\
00119 \n\
00120 ================================================================================\n\
00121 MSG: std_msgs/Header\n\
00122 # Standard metadata for higher-level stamped data types.\n\
00123 # This is generally used to communicate timestamped data \n\
00124 # in a particular coordinate frame.\n\
00125 # \n\
00126 # sequence ID: consecutively increasing ID \n\
00127 uint32 seq\n\
00128 #Two-integer timestamp that is expressed as:\n\
00129 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00130 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00131 # time-handling sugar is provided by the client library\n\
00132 time stamp\n\
00133 #Frame this data is associated with\n\
00134 # 0: no frame\n\
00135 # 1: global frame\n\
00136 string frame_id\n\
00137 \n\
00138 "; }
00139 public:
00140   ROS_DEPRECATED static const std::string __s_getMessageDefinition() { return __s_getMessageDefinition_(); }
00141 
00142   ROS_DEPRECATED const std::string __getMessageDefinition() const { return __s_getMessageDefinition_(); }
00143 
00144   ROS_DEPRECATED virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const
00145   {
00146     ros::serialization::OStream stream(write_ptr, 1000000000);
00147     ros::serialization::serialize(stream, header);
00148     ros::serialization::serialize(stream, name);
00149     ros::serialization::serialize(stream, motor_ids);
00150     ros::serialization::serialize(stream, motor_temps);
00151     ros::serialization::serialize(stream, goal_pos);
00152     ros::serialization::serialize(stream, current_pos);
00153     ros::serialization::serialize(stream, error);
00154     ros::serialization::serialize(stream, velocity);
00155     ros::serialization::serialize(stream, load);
00156     ros::serialization::serialize(stream, is_moving);
00157     return stream.getData();
00158   }
00159 
00160   ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr)
00161   {
00162     ros::serialization::IStream stream(read_ptr, 1000000000);
00163     ros::serialization::deserialize(stream, header);
00164     ros::serialization::deserialize(stream, name);
00165     ros::serialization::deserialize(stream, motor_ids);
00166     ros::serialization::deserialize(stream, motor_temps);
00167     ros::serialization::deserialize(stream, goal_pos);
00168     ros::serialization::deserialize(stream, current_pos);
00169     ros::serialization::deserialize(stream, error);
00170     ros::serialization::deserialize(stream, velocity);
00171     ros::serialization::deserialize(stream, load);
00172     ros::serialization::deserialize(stream, is_moving);
00173     return stream.getData();
00174   }
00175 
00176   ROS_DEPRECATED virtual uint32_t serializationLength() const
00177   {
00178     uint32_t size = 0;
00179     size += ros::serialization::serializationLength(header);
00180     size += ros::serialization::serializationLength(name);
00181     size += ros::serialization::serializationLength(motor_ids);
00182     size += ros::serialization::serializationLength(motor_temps);
00183     size += ros::serialization::serializationLength(goal_pos);
00184     size += ros::serialization::serializationLength(current_pos);
00185     size += ros::serialization::serializationLength(error);
00186     size += ros::serialization::serializationLength(velocity);
00187     size += ros::serialization::serializationLength(load);
00188     size += ros::serialization::serializationLength(is_moving);
00189     return size;
00190   }
00191 
00192   typedef boost::shared_ptr< ::dynamixel_msgs::JointState_<ContainerAllocator> > Ptr;
00193   typedef boost::shared_ptr< ::dynamixel_msgs::JointState_<ContainerAllocator>  const> ConstPtr;
00194   boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00195 }; // struct JointState
00196 typedef  ::dynamixel_msgs::JointState_<std::allocator<void> > JointState;
00197 
00198 typedef boost::shared_ptr< ::dynamixel_msgs::JointState> JointStatePtr;
00199 typedef boost::shared_ptr< ::dynamixel_msgs::JointState const> JointStateConstPtr;
00200 
00201 
00202 template<typename ContainerAllocator>
00203 std::ostream& operator<<(std::ostream& s, const  ::dynamixel_msgs::JointState_<ContainerAllocator> & v)
00204 {
00205   ros::message_operations::Printer< ::dynamixel_msgs::JointState_<ContainerAllocator> >::stream(s, "", v);
00206   return s;}
00207 
00208 } // namespace dynamixel_msgs
00209 
00210 namespace ros
00211 {
00212 namespace message_traits
00213 {
00214 template<class ContainerAllocator> struct IsMessage< ::dynamixel_msgs::JointState_<ContainerAllocator> > : public TrueType {};
00215 template<class ContainerAllocator> struct IsMessage< ::dynamixel_msgs::JointState_<ContainerAllocator>  const> : public TrueType {};
00216 template<class ContainerAllocator>
00217 struct MD5Sum< ::dynamixel_msgs::JointState_<ContainerAllocator> > {
00218   static const char* value() 
00219   {
00220     return "2b8449320cde76616338e2539db27c32";
00221   }
00222 
00223   static const char* value(const  ::dynamixel_msgs::JointState_<ContainerAllocator> &) { return value(); } 
00224   static const uint64_t static_value1 = 0x2b8449320cde7661ULL;
00225   static const uint64_t static_value2 = 0x6338e2539db27c32ULL;
00226 };
00227 
00228 template<class ContainerAllocator>
00229 struct DataType< ::dynamixel_msgs::JointState_<ContainerAllocator> > {
00230   static const char* value() 
00231   {
00232     return "dynamixel_msgs/JointState";
00233   }
00234 
00235   static const char* value(const  ::dynamixel_msgs::JointState_<ContainerAllocator> &) { return value(); } 
00236 };
00237 
00238 template<class ContainerAllocator>
00239 struct Definition< ::dynamixel_msgs::JointState_<ContainerAllocator> > {
00240   static const char* value() 
00241   {
00242     return "Header header\n\
00243 string name         # joint name\n\
00244 int32[] motor_ids   # motor ids controlling this joint\n\
00245 int32[] motor_temps # motor temperatures, same order as motor_ids\n\
00246 \n\
00247 float64 goal_pos    # commanded position (in radians)\n\
00248 float64 current_pos # current joint position (in radians)\n\
00249 float64 error       # error between commanded and current positions (in radians)\n\
00250 float64 velocity    # current joint speed (in radians per second)\n\
00251 float64 load        # current load\n\
00252 bool is_moving      # is joint currently in motion\n\
00253 \n\
00254 \n\
00255 ================================================================================\n\
00256 MSG: std_msgs/Header\n\
00257 # Standard metadata for higher-level stamped data types.\n\
00258 # This is generally used to communicate timestamped data \n\
00259 # in a particular coordinate frame.\n\
00260 # \n\
00261 # sequence ID: consecutively increasing ID \n\
00262 uint32 seq\n\
00263 #Two-integer timestamp that is expressed as:\n\
00264 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00265 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00266 # time-handling sugar is provided by the client library\n\
00267 time stamp\n\
00268 #Frame this data is associated with\n\
00269 # 0: no frame\n\
00270 # 1: global frame\n\
00271 string frame_id\n\
00272 \n\
00273 ";
00274   }
00275 
00276   static const char* value(const  ::dynamixel_msgs::JointState_<ContainerAllocator> &) { return value(); } 
00277 };
00278 
00279 template<class ContainerAllocator> struct HasHeader< ::dynamixel_msgs::JointState_<ContainerAllocator> > : public TrueType {};
00280 template<class ContainerAllocator> struct HasHeader< const ::dynamixel_msgs::JointState_<ContainerAllocator> > : public TrueType {};
00281 } // namespace message_traits
00282 } // namespace ros
00283 
00284 namespace ros
00285 {
00286 namespace serialization
00287 {
00288 
00289 template<class ContainerAllocator> struct Serializer< ::dynamixel_msgs::JointState_<ContainerAllocator> >
00290 {
00291   template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00292   {
00293     stream.next(m.header);
00294     stream.next(m.name);
00295     stream.next(m.motor_ids);
00296     stream.next(m.motor_temps);
00297     stream.next(m.goal_pos);
00298     stream.next(m.current_pos);
00299     stream.next(m.error);
00300     stream.next(m.velocity);
00301     stream.next(m.load);
00302     stream.next(m.is_moving);
00303   }
00304 
00305   ROS_DECLARE_ALLINONE_SERIALIZER;
00306 }; // struct JointState_
00307 } // namespace serialization
00308 } // namespace ros
00309 
00310 namespace ros
00311 {
00312 namespace message_operations
00313 {
00314 
00315 template<class ContainerAllocator>
00316 struct Printer< ::dynamixel_msgs::JointState_<ContainerAllocator> >
00317 {
00318   template<typename Stream> static void stream(Stream& s, const std::string& indent, const  ::dynamixel_msgs::JointState_<ContainerAllocator> & v) 
00319   {
00320     s << indent << "header: ";
00321 s << std::endl;
00322     Printer< ::std_msgs::Header_<ContainerAllocator> >::stream(s, indent + "  ", v.header);
00323     s << indent << "name: ";
00324     Printer<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > >::stream(s, indent + "  ", v.name);
00325     s << indent << "motor_ids[]" << std::endl;
00326     for (size_t i = 0; i < v.motor_ids.size(); ++i)
00327     {
00328       s << indent << "  motor_ids[" << i << "]: ";
00329       Printer<int32_t>::stream(s, indent + "  ", v.motor_ids[i]);
00330     }
00331     s << indent << "motor_temps[]" << std::endl;
00332     for (size_t i = 0; i < v.motor_temps.size(); ++i)
00333     {
00334       s << indent << "  motor_temps[" << i << "]: ";
00335       Printer<int32_t>::stream(s, indent + "  ", v.motor_temps[i]);
00336     }
00337     s << indent << "goal_pos: ";
00338     Printer<double>::stream(s, indent + "  ", v.goal_pos);
00339     s << indent << "current_pos: ";
00340     Printer<double>::stream(s, indent + "  ", v.current_pos);
00341     s << indent << "error: ";
00342     Printer<double>::stream(s, indent + "  ", v.error);
00343     s << indent << "velocity: ";
00344     Printer<double>::stream(s, indent + "  ", v.velocity);
00345     s << indent << "load: ";
00346     Printer<double>::stream(s, indent + "  ", v.load);
00347     s << indent << "is_moving: ";
00348     Printer<uint8_t>::stream(s, indent + "  ", v.is_moving);
00349   }
00350 };
00351 
00352 
00353 } // namespace message_operations
00354 } // namespace ros
00355 
00356 #endif // DYNAMIXEL_MSGS_MESSAGE_JOINTSTATE_H
00357