00001
00002 #ifndef KATANA_MSGS_MESSAGE_JOINTMOVEMENTACTION_H
00003 #define KATANA_MSGS_MESSAGE_JOINTMOVEMENTACTION_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 "katana_msgs/JointMovementActionGoal.h"
00018 #include "katana_msgs/JointMovementActionResult.h"
00019 #include "katana_msgs/JointMovementActionFeedback.h"
00020
00021 namespace katana_msgs
00022 {
00023 template <class ContainerAllocator>
00024 struct JointMovementAction_ {
00025 typedef JointMovementAction_<ContainerAllocator> Type;
00026
00027 JointMovementAction_()
00028 : action_goal()
00029 , action_result()
00030 , action_feedback()
00031 {
00032 }
00033
00034 JointMovementAction_(const ContainerAllocator& _alloc)
00035 : action_goal(_alloc)
00036 , action_result(_alloc)
00037 , action_feedback(_alloc)
00038 {
00039 }
00040
00041 typedef ::katana_msgs::JointMovementActionGoal_<ContainerAllocator> _action_goal_type;
00042 ::katana_msgs::JointMovementActionGoal_<ContainerAllocator> action_goal;
00043
00044 typedef ::katana_msgs::JointMovementActionResult_<ContainerAllocator> _action_result_type;
00045 ::katana_msgs::JointMovementActionResult_<ContainerAllocator> action_result;
00046
00047 typedef ::katana_msgs::JointMovementActionFeedback_<ContainerAllocator> _action_feedback_type;
00048 ::katana_msgs::JointMovementActionFeedback_<ContainerAllocator> action_feedback;
00049
00050
00051 private:
00052 static const char* __s_getDataType_() { return "katana_msgs/JointMovementAction"; }
00053 public:
00054 ROS_DEPRECATED static const std::string __s_getDataType() { return __s_getDataType_(); }
00055
00056 ROS_DEPRECATED const std::string __getDataType() const { return __s_getDataType_(); }
00057
00058 private:
00059 static const char* __s_getMD5Sum_() { return "729d616fa544da9079d58e0ecde6ca21"; }
00060 public:
00061 ROS_DEPRECATED static const std::string __s_getMD5Sum() { return __s_getMD5Sum_(); }
00062
00063 ROS_DEPRECATED const std::string __getMD5Sum() const { return __s_getMD5Sum_(); }
00064
00065 private:
00066 static const char* __s_getMessageDefinition_() { return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00067 \n\
00068 JointMovementActionGoal action_goal\n\
00069 JointMovementActionResult action_result\n\
00070 JointMovementActionFeedback action_feedback\n\
00071 \n\
00072 ================================================================================\n\
00073 MSG: katana_msgs/JointMovementActionGoal\n\
00074 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00075 \n\
00076 Header header\n\
00077 actionlib_msgs/GoalID goal_id\n\
00078 JointMovementGoal goal\n\
00079 \n\
00080 ================================================================================\n\
00081 MSG: std_msgs/Header\n\
00082 # Standard metadata for higher-level stamped data types.\n\
00083 # This is generally used to communicate timestamped data \n\
00084 # in a particular coordinate frame.\n\
00085 # \n\
00086 # sequence ID: consecutively increasing ID \n\
00087 uint32 seq\n\
00088 #Two-integer timestamp that is expressed as:\n\
00089 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00090 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00091 # time-handling sugar is provided by the client library\n\
00092 time stamp\n\
00093 #Frame this data is associated with\n\
00094 # 0: no frame\n\
00095 # 1: global frame\n\
00096 string frame_id\n\
00097 \n\
00098 ================================================================================\n\
00099 MSG: actionlib_msgs/GoalID\n\
00100 # The stamp should store the time at which this goal was requested.\n\
00101 # It is used by an action server when it tries to preempt all\n\
00102 # goals that were requested before a certain time\n\
00103 time stamp\n\
00104 \n\
00105 # The id provides a way to associate feedback and\n\
00106 # result message with specific goal requests. The id\n\
00107 # specified must be unique.\n\
00108 string id\n\
00109 \n\
00110 \n\
00111 ================================================================================\n\
00112 MSG: katana_msgs/JointMovementGoal\n\
00113 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00114 #goal definition\n\
00115 sensor_msgs/JointState jointGoal\n\
00116 \n\
00117 ================================================================================\n\
00118 MSG: sensor_msgs/JointState\n\
00119 # This is a message that holds data to describe the state of a set of torque controlled joints. \n\
00120 #\n\
00121 # The state of each joint (revolute or prismatic) is defined by:\n\
00122 # * the position of the joint (rad or m),\n\
00123 # * the velocity of the joint (rad/s or m/s) and \n\
00124 # * the effort that is applied in the joint (Nm or N).\n\
00125 #\n\
00126 # Each joint is uniquely identified by its name\n\
00127 # The header specifies the time at which the joint states were recorded. All the joint states\n\
00128 # in one message have to be recorded at the same time.\n\
00129 #\n\
00130 # This message consists of a multiple arrays, one for each part of the joint state. \n\
00131 # The goal is to make each of the fields optional. When e.g. your joints have no\n\
00132 # effort associated with them, you can leave the effort array empty. \n\
00133 #\n\
00134 # All arrays in this message should have the same size, or be empty.\n\
00135 # This is the only way to uniquely associate the joint name with the correct\n\
00136 # states.\n\
00137 \n\
00138 \n\
00139 Header header\n\
00140 \n\
00141 string[] name\n\
00142 float64[] position\n\
00143 float64[] velocity\n\
00144 float64[] effort\n\
00145 \n\
00146 ================================================================================\n\
00147 MSG: katana_msgs/JointMovementActionResult\n\
00148 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00149 \n\
00150 Header header\n\
00151 actionlib_msgs/GoalStatus status\n\
00152 JointMovementResult result\n\
00153 \n\
00154 ================================================================================\n\
00155 MSG: actionlib_msgs/GoalStatus\n\
00156 GoalID goal_id\n\
00157 uint8 status\n\
00158 uint8 PENDING = 0 # The goal has yet to be processed by the action server\n\
00159 uint8 ACTIVE = 1 # The goal is currently being processed by the action server\n\
00160 uint8 PREEMPTED = 2 # The goal received a cancel request after it started executing\n\
00161 # and has since completed its execution (Terminal State)\n\
00162 uint8 SUCCEEDED = 3 # The goal was achieved successfully by the action server (Terminal State)\n\
00163 uint8 ABORTED = 4 # The goal was aborted during execution by the action server due\n\
00164 # to some failure (Terminal State)\n\
00165 uint8 REJECTED = 5 # The goal was rejected by the action server without being processed,\n\
00166 # because the goal was unattainable or invalid (Terminal State)\n\
00167 uint8 PREEMPTING = 6 # The goal received a cancel request after it started executing\n\
00168 # and has not yet completed execution\n\
00169 uint8 RECALLING = 7 # The goal received a cancel request before it started executing,\n\
00170 # but the action server has not yet confirmed that the goal is canceled\n\
00171 uint8 RECALLED = 8 # The goal received a cancel request before it started executing\n\
00172 # and was successfully cancelled (Terminal State)\n\
00173 uint8 LOST = 9 # An action client can determine that a goal is LOST. This should not be\n\
00174 # sent over the wire by an action server\n\
00175 \n\
00176 #Allow for the user to associate a string with GoalStatus for debugging\n\
00177 string text\n\
00178 \n\
00179 \n\
00180 ================================================================================\n\
00181 MSG: katana_msgs/JointMovementResult\n\
00182 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00183 \n\
00184 ================================================================================\n\
00185 MSG: katana_msgs/JointMovementActionFeedback\n\
00186 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00187 \n\
00188 Header header\n\
00189 actionlib_msgs/GoalStatus status\n\
00190 JointMovementFeedback feedback\n\
00191 \n\
00192 ================================================================================\n\
00193 MSG: katana_msgs/JointMovementFeedback\n\
00194 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00195 \n\
00196 \n\
00197 "; }
00198 public:
00199 ROS_DEPRECATED static const std::string __s_getMessageDefinition() { return __s_getMessageDefinition_(); }
00200
00201 ROS_DEPRECATED const std::string __getMessageDefinition() const { return __s_getMessageDefinition_(); }
00202
00203 ROS_DEPRECATED virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const
00204 {
00205 ros::serialization::OStream stream(write_ptr, 1000000000);
00206 ros::serialization::serialize(stream, action_goal);
00207 ros::serialization::serialize(stream, action_result);
00208 ros::serialization::serialize(stream, action_feedback);
00209 return stream.getData();
00210 }
00211
00212 ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr)
00213 {
00214 ros::serialization::IStream stream(read_ptr, 1000000000);
00215 ros::serialization::deserialize(stream, action_goal);
00216 ros::serialization::deserialize(stream, action_result);
00217 ros::serialization::deserialize(stream, action_feedback);
00218 return stream.getData();
00219 }
00220
00221 ROS_DEPRECATED virtual uint32_t serializationLength() const
00222 {
00223 uint32_t size = 0;
00224 size += ros::serialization::serializationLength(action_goal);
00225 size += ros::serialization::serializationLength(action_result);
00226 size += ros::serialization::serializationLength(action_feedback);
00227 return size;
00228 }
00229
00230 typedef boost::shared_ptr< ::katana_msgs::JointMovementAction_<ContainerAllocator> > Ptr;
00231 typedef boost::shared_ptr< ::katana_msgs::JointMovementAction_<ContainerAllocator> const> ConstPtr;
00232 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00233 };
00234 typedef ::katana_msgs::JointMovementAction_<std::allocator<void> > JointMovementAction;
00235
00236 typedef boost::shared_ptr< ::katana_msgs::JointMovementAction> JointMovementActionPtr;
00237 typedef boost::shared_ptr< ::katana_msgs::JointMovementAction const> JointMovementActionConstPtr;
00238
00239
00240 template<typename ContainerAllocator>
00241 std::ostream& operator<<(std::ostream& s, const ::katana_msgs::JointMovementAction_<ContainerAllocator> & v)
00242 {
00243 ros::message_operations::Printer< ::katana_msgs::JointMovementAction_<ContainerAllocator> >::stream(s, "", v);
00244 return s;}
00245
00246 }
00247
00248 namespace ros
00249 {
00250 namespace message_traits
00251 {
00252 template<class ContainerAllocator> struct IsMessage< ::katana_msgs::JointMovementAction_<ContainerAllocator> > : public TrueType {};
00253 template<class ContainerAllocator> struct IsMessage< ::katana_msgs::JointMovementAction_<ContainerAllocator> const> : public TrueType {};
00254 template<class ContainerAllocator>
00255 struct MD5Sum< ::katana_msgs::JointMovementAction_<ContainerAllocator> > {
00256 static const char* value()
00257 {
00258 return "729d616fa544da9079d58e0ecde6ca21";
00259 }
00260
00261 static const char* value(const ::katana_msgs::JointMovementAction_<ContainerAllocator> &) { return value(); }
00262 static const uint64_t static_value1 = 0x729d616fa544da90ULL;
00263 static const uint64_t static_value2 = 0x79d58e0ecde6ca21ULL;
00264 };
00265
00266 template<class ContainerAllocator>
00267 struct DataType< ::katana_msgs::JointMovementAction_<ContainerAllocator> > {
00268 static const char* value()
00269 {
00270 return "katana_msgs/JointMovementAction";
00271 }
00272
00273 static const char* value(const ::katana_msgs::JointMovementAction_<ContainerAllocator> &) { return value(); }
00274 };
00275
00276 template<class ContainerAllocator>
00277 struct Definition< ::katana_msgs::JointMovementAction_<ContainerAllocator> > {
00278 static const char* value()
00279 {
00280 return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00281 \n\
00282 JointMovementActionGoal action_goal\n\
00283 JointMovementActionResult action_result\n\
00284 JointMovementActionFeedback action_feedback\n\
00285 \n\
00286 ================================================================================\n\
00287 MSG: katana_msgs/JointMovementActionGoal\n\
00288 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00289 \n\
00290 Header header\n\
00291 actionlib_msgs/GoalID goal_id\n\
00292 JointMovementGoal goal\n\
00293 \n\
00294 ================================================================================\n\
00295 MSG: std_msgs/Header\n\
00296 # Standard metadata for higher-level stamped data types.\n\
00297 # This is generally used to communicate timestamped data \n\
00298 # in a particular coordinate frame.\n\
00299 # \n\
00300 # sequence ID: consecutively increasing ID \n\
00301 uint32 seq\n\
00302 #Two-integer timestamp that is expressed as:\n\
00303 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00304 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00305 # time-handling sugar is provided by the client library\n\
00306 time stamp\n\
00307 #Frame this data is associated with\n\
00308 # 0: no frame\n\
00309 # 1: global frame\n\
00310 string frame_id\n\
00311 \n\
00312 ================================================================================\n\
00313 MSG: actionlib_msgs/GoalID\n\
00314 # The stamp should store the time at which this goal was requested.\n\
00315 # It is used by an action server when it tries to preempt all\n\
00316 # goals that were requested before a certain time\n\
00317 time stamp\n\
00318 \n\
00319 # The id provides a way to associate feedback and\n\
00320 # result message with specific goal requests. The id\n\
00321 # specified must be unique.\n\
00322 string id\n\
00323 \n\
00324 \n\
00325 ================================================================================\n\
00326 MSG: katana_msgs/JointMovementGoal\n\
00327 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00328 #goal definition\n\
00329 sensor_msgs/JointState jointGoal\n\
00330 \n\
00331 ================================================================================\n\
00332 MSG: sensor_msgs/JointState\n\
00333 # This is a message that holds data to describe the state of a set of torque controlled joints. \n\
00334 #\n\
00335 # The state of each joint (revolute or prismatic) is defined by:\n\
00336 # * the position of the joint (rad or m),\n\
00337 # * the velocity of the joint (rad/s or m/s) and \n\
00338 # * the effort that is applied in the joint (Nm or N).\n\
00339 #\n\
00340 # Each joint is uniquely identified by its name\n\
00341 # The header specifies the time at which the joint states were recorded. All the joint states\n\
00342 # in one message have to be recorded at the same time.\n\
00343 #\n\
00344 # This message consists of a multiple arrays, one for each part of the joint state. \n\
00345 # The goal is to make each of the fields optional. When e.g. your joints have no\n\
00346 # effort associated with them, you can leave the effort array empty. \n\
00347 #\n\
00348 # All arrays in this message should have the same size, or be empty.\n\
00349 # This is the only way to uniquely associate the joint name with the correct\n\
00350 # states.\n\
00351 \n\
00352 \n\
00353 Header header\n\
00354 \n\
00355 string[] name\n\
00356 float64[] position\n\
00357 float64[] velocity\n\
00358 float64[] effort\n\
00359 \n\
00360 ================================================================================\n\
00361 MSG: katana_msgs/JointMovementActionResult\n\
00362 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00363 \n\
00364 Header header\n\
00365 actionlib_msgs/GoalStatus status\n\
00366 JointMovementResult result\n\
00367 \n\
00368 ================================================================================\n\
00369 MSG: actionlib_msgs/GoalStatus\n\
00370 GoalID goal_id\n\
00371 uint8 status\n\
00372 uint8 PENDING = 0 # The goal has yet to be processed by the action server\n\
00373 uint8 ACTIVE = 1 # The goal is currently being processed by the action server\n\
00374 uint8 PREEMPTED = 2 # The goal received a cancel request after it started executing\n\
00375 # and has since completed its execution (Terminal State)\n\
00376 uint8 SUCCEEDED = 3 # The goal was achieved successfully by the action server (Terminal State)\n\
00377 uint8 ABORTED = 4 # The goal was aborted during execution by the action server due\n\
00378 # to some failure (Terminal State)\n\
00379 uint8 REJECTED = 5 # The goal was rejected by the action server without being processed,\n\
00380 # because the goal was unattainable or invalid (Terminal State)\n\
00381 uint8 PREEMPTING = 6 # The goal received a cancel request after it started executing\n\
00382 # and has not yet completed execution\n\
00383 uint8 RECALLING = 7 # The goal received a cancel request before it started executing,\n\
00384 # but the action server has not yet confirmed that the goal is canceled\n\
00385 uint8 RECALLED = 8 # The goal received a cancel request before it started executing\n\
00386 # and was successfully cancelled (Terminal State)\n\
00387 uint8 LOST = 9 # An action client can determine that a goal is LOST. This should not be\n\
00388 # sent over the wire by an action server\n\
00389 \n\
00390 #Allow for the user to associate a string with GoalStatus for debugging\n\
00391 string text\n\
00392 \n\
00393 \n\
00394 ================================================================================\n\
00395 MSG: katana_msgs/JointMovementResult\n\
00396 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00397 \n\
00398 ================================================================================\n\
00399 MSG: katana_msgs/JointMovementActionFeedback\n\
00400 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00401 \n\
00402 Header header\n\
00403 actionlib_msgs/GoalStatus status\n\
00404 JointMovementFeedback feedback\n\
00405 \n\
00406 ================================================================================\n\
00407 MSG: katana_msgs/JointMovementFeedback\n\
00408 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00409 \n\
00410 \n\
00411 ";
00412 }
00413
00414 static const char* value(const ::katana_msgs::JointMovementAction_<ContainerAllocator> &) { return value(); }
00415 };
00416
00417 }
00418 }
00419
00420 namespace ros
00421 {
00422 namespace serialization
00423 {
00424
00425 template<class ContainerAllocator> struct Serializer< ::katana_msgs::JointMovementAction_<ContainerAllocator> >
00426 {
00427 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00428 {
00429 stream.next(m.action_goal);
00430 stream.next(m.action_result);
00431 stream.next(m.action_feedback);
00432 }
00433
00434 ROS_DECLARE_ALLINONE_SERIALIZER;
00435 };
00436 }
00437 }
00438
00439 namespace ros
00440 {
00441 namespace message_operations
00442 {
00443
00444 template<class ContainerAllocator>
00445 struct Printer< ::katana_msgs::JointMovementAction_<ContainerAllocator> >
00446 {
00447 template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::katana_msgs::JointMovementAction_<ContainerAllocator> & v)
00448 {
00449 s << indent << "action_goal: ";
00450 s << std::endl;
00451 Printer< ::katana_msgs::JointMovementActionGoal_<ContainerAllocator> >::stream(s, indent + " ", v.action_goal);
00452 s << indent << "action_result: ";
00453 s << std::endl;
00454 Printer< ::katana_msgs::JointMovementActionResult_<ContainerAllocator> >::stream(s, indent + " ", v.action_result);
00455 s << indent << "action_feedback: ";
00456 s << std::endl;
00457 Printer< ::katana_msgs::JointMovementActionFeedback_<ContainerAllocator> >::stream(s, indent + " ", v.action_feedback);
00458 }
00459 };
00460
00461
00462 }
00463 }
00464
00465 #endif // KATANA_MSGS_MESSAGE_JOINTMOVEMENTACTION_H
00466
