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GetConstraintAwarePositionIK.h

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/* 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/kinematics_msgs/srv/GetConstraintAwarePositionIK.srv */
#ifndef KINEMATICS_MSGS_SERVICE_GETCONSTRAINTAWAREPOSITIONIK_H
#define KINEMATICS_MSGS_SERVICE_GETCONSTRAINTAWAREPOSITIONIK_H
#include <string>
#include <vector>
#include <map>
#include <ostream>
#include "ros/serialization.h"
#include "ros/builtin_message_traits.h"
#include "ros/message_operations.h"
#include "ros/time.h"

#include "ros/macros.h"

#include "ros/assert.h"

#include "ros/service_traits.h"

#include "kinematics_msgs/PositionIKRequest.h"
#include "arm_navigation_msgs/Constraints.h"


#include "arm_navigation_msgs/RobotState.h"
#include "arm_navigation_msgs/ArmNavigationErrorCodes.h"

namespace kinematics_msgs
{
template <class ContainerAllocator>
struct GetConstraintAwarePositionIKRequest_ {
  typedef GetConstraintAwarePositionIKRequest_<ContainerAllocator> Type;

  GetConstraintAwarePositionIKRequest_()
  : ik_request()
  , constraints()
  , timeout()
  {
  }

  GetConstraintAwarePositionIKRequest_(const ContainerAllocator& _alloc)
  : ik_request(_alloc)
  , constraints(_alloc)
  , timeout()
  {
  }

  typedef  ::kinematics_msgs::PositionIKRequest_<ContainerAllocator>  _ik_request_type;
   ::kinematics_msgs::PositionIKRequest_<ContainerAllocator>  ik_request;

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

  typedef ros::Duration _timeout_type;
  ros::Duration timeout;


private:
  static const char* __s_getDataType_() { return "kinematics_msgs/GetConstraintAwarePositionIKRequest"; }
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 "3772a29c71f9b0627ec5c37e3ab80920"; }
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 "76b178dd7f9e5aa0c4c559bc733d0d81"; }
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\
kinematics_msgs/PositionIKRequest ik_request\n\
\n\
arm_navigation_msgs/Constraints constraints\n\
\n\
duration timeout\n\
\n\
================================================================================\n\
MSG: kinematics_msgs/PositionIKRequest\n\
# A Position IK request message\n\
# The name of the link for which we are computing IK\n\
string ik_link_name\n\
\n\
# The (stamped) pose of the link\n\
geometry_msgs/PoseStamped pose_stamped\n\
\n\
# A RobotState consisting of hint/seed positions for the IK computation. \n\
# These may be used to seed the IK search. \n\
# The seed state MUST contain state for all joints to be used by the IK solver\n\
# to compute IK. The list of joints that the IK solver deals with can be found using\n\
# the kinematics_msgs/GetKinematicSolverInfo\n\
arm_navigation_msgs/RobotState ik_seed_state\n\
\n\
# Additional state information can be provided here to specify the starting positions \n\
# of other joints/links on the robot.\n\
arm_navigation_msgs/RobotState robot_state\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/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/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: arm_navigation_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\
arm_navigation_msgs/MultiDOFJointState multi_dof_joint_state\n\
\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: arm_navigation_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: arm_navigation_msgs/Constraints\n\
# This message contains a list of motion planning constraints.\n\
\n\
arm_navigation_msgs/JointConstraint[] joint_constraints\n\
arm_navigation_msgs/PositionConstraint[] position_constraints\n\
arm_navigation_msgs/OrientationConstraint[] orientation_constraints\n\
arm_navigation_msgs/VisibilityConstraint[] visibility_constraints\n\
\n\
================================================================================\n\
MSG: arm_navigation_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: arm_navigation_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\
arm_navigation_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\
================================================================================\n\
MSG: arm_navigation_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: arm_navigation_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: arm_navigation_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, ik_request);
    ros::serialization::serialize(stream, constraints);
    ros::serialization::serialize(stream, timeout);
    return stream.getData();
  }

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

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

  typedef boost::shared_ptr< ::kinematics_msgs::GetConstraintAwarePositionIKRequest_<ContainerAllocator> > Ptr;
  typedef boost::shared_ptr< ::kinematics_msgs::GetConstraintAwarePositionIKRequest_<ContainerAllocator>  const> ConstPtr;
  boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
}; // struct GetConstraintAwarePositionIKRequest
typedef  ::kinematics_msgs::GetConstraintAwarePositionIKRequest_<std::allocator<void> > GetConstraintAwarePositionIKRequest;

typedef boost::shared_ptr< ::kinematics_msgs::GetConstraintAwarePositionIKRequest> GetConstraintAwarePositionIKRequestPtr;
typedef boost::shared_ptr< ::kinematics_msgs::GetConstraintAwarePositionIKRequest const> GetConstraintAwarePositionIKRequestConstPtr;


template <class ContainerAllocator>
struct GetConstraintAwarePositionIKResponse_ {
  typedef GetConstraintAwarePositionIKResponse_<ContainerAllocator> Type;

  GetConstraintAwarePositionIKResponse_()
  : solution()
  , error_code()
  {
  }

  GetConstraintAwarePositionIKResponse_(const ContainerAllocator& _alloc)
  : solution(_alloc)
  , error_code(_alloc)
  {
  }

  typedef  ::arm_navigation_msgs::RobotState_<ContainerAllocator>  _solution_type;
   ::arm_navigation_msgs::RobotState_<ContainerAllocator>  solution;

  typedef  ::arm_navigation_msgs::ArmNavigationErrorCodes_<ContainerAllocator>  _error_code_type;
   ::arm_navigation_msgs::ArmNavigationErrorCodes_<ContainerAllocator>  error_code;


private:
  static const char* __s_getDataType_() { return "kinematics_msgs/GetConstraintAwarePositionIKResponse"; }
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 "5a8bbc4eb2775fe00cbd09858fd3dc65"; }
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 "76b178dd7f9e5aa0c4c559bc733d0d81"; }
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\
arm_navigation_msgs/RobotState solution\n\
arm_navigation_msgs/ArmNavigationErrorCodes error_code\n\
\n\
\n\
================================================================================\n\
MSG: arm_navigation_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\
arm_navigation_msgs/MultiDOFJointState multi_dof_joint_state\n\
\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: 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: arm_navigation_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: 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/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/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: arm_navigation_msgs/ArmNavigationErrorCodes\n\
int32 val\n\
\n\
# overall behavior\n\
int32 PLANNING_FAILED=-1\n\
int32 SUCCESS=1\n\
int32 TIMED_OUT=-2\n\
\n\
# start state errors\n\
int32 START_STATE_IN_COLLISION=-3\n\
int32 START_STATE_VIOLATES_PATH_CONSTRAINTS=-4\n\
\n\
# goal errors\n\
int32 GOAL_IN_COLLISION=-5\n\
int32 GOAL_VIOLATES_PATH_CONSTRAINTS=-6\n\
\n\
# robot state\n\
int32 INVALID_ROBOT_STATE=-7\n\
int32 INCOMPLETE_ROBOT_STATE=-8\n\
\n\
# planning request errors\n\
int32 INVALID_PLANNER_ID=-9\n\
int32 INVALID_NUM_PLANNING_ATTEMPTS=-10\n\
int32 INVALID_ALLOWED_PLANNING_TIME=-11\n\
int32 INVALID_GROUP_NAME=-12\n\
int32 INVALID_GOAL_JOINT_CONSTRAINTS=-13\n\
int32 INVALID_GOAL_POSITION_CONSTRAINTS=-14\n\
int32 INVALID_GOAL_ORIENTATION_CONSTRAINTS=-15\n\
int32 INVALID_PATH_JOINT_CONSTRAINTS=-16\n\
int32 INVALID_PATH_POSITION_CONSTRAINTS=-17\n\
int32 INVALID_PATH_ORIENTATION_CONSTRAINTS=-18\n\
\n\
# state/trajectory monitor errors\n\
int32 INVALID_TRAJECTORY=-19\n\
int32 INVALID_INDEX=-20\n\
int32 JOINT_LIMITS_VIOLATED=-21\n\
int32 PATH_CONSTRAINTS_VIOLATED=-22\n\
int32 COLLISION_CONSTRAINTS_VIOLATED=-23\n\
int32 GOAL_CONSTRAINTS_VIOLATED=-24\n\
int32 JOINTS_NOT_MOVING=-25\n\
int32 TRAJECTORY_CONTROLLER_FAILED=-26\n\
\n\
# system errors\n\
int32 FRAME_TRANSFORM_FAILURE=-27\n\
int32 COLLISION_CHECKING_UNAVAILABLE=-28\n\
int32 ROBOT_STATE_STALE=-29\n\
int32 SENSOR_INFO_STALE=-30\n\
\n\
# kinematics errors\n\
int32 NO_IK_SOLUTION=-31\n\
int32 INVALID_LINK_NAME=-32\n\
int32 IK_LINK_IN_COLLISION=-33\n\
int32 NO_FK_SOLUTION=-34\n\
int32 KINEMATICS_STATE_IN_COLLISION=-35\n\
\n\
# general errors\n\
int32 INVALID_TIMEOUT=-36\n\
\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, solution);
    ros::serialization::serialize(stream, error_code);
    return stream.getData();
  }

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

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

  typedef boost::shared_ptr< ::kinematics_msgs::GetConstraintAwarePositionIKResponse_<ContainerAllocator> > Ptr;
  typedef boost::shared_ptr< ::kinematics_msgs::GetConstraintAwarePositionIKResponse_<ContainerAllocator>  const> ConstPtr;
  boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
}; // struct GetConstraintAwarePositionIKResponse
typedef  ::kinematics_msgs::GetConstraintAwarePositionIKResponse_<std::allocator<void> > GetConstraintAwarePositionIKResponse;

typedef boost::shared_ptr< ::kinematics_msgs::GetConstraintAwarePositionIKResponse> GetConstraintAwarePositionIKResponsePtr;
typedef boost::shared_ptr< ::kinematics_msgs::GetConstraintAwarePositionIKResponse const> GetConstraintAwarePositionIKResponseConstPtr;

struct GetConstraintAwarePositionIK
{

typedef GetConstraintAwarePositionIKRequest Request;
typedef GetConstraintAwarePositionIKResponse Response;
Request request;
Response response;

typedef Request RequestType;
typedef Response ResponseType;
}; // struct GetConstraintAwarePositionIK
} // namespace kinematics_msgs

namespace ros
{
namespace message_traits
{
template<class ContainerAllocator> struct IsMessage< ::kinematics_msgs::GetConstraintAwarePositionIKRequest_<ContainerAllocator> > : public TrueType {};
template<class ContainerAllocator> struct IsMessage< ::kinematics_msgs::GetConstraintAwarePositionIKRequest_<ContainerAllocator>  const> : public TrueType {};
template<class ContainerAllocator>
struct MD5Sum< ::kinematics_msgs::GetConstraintAwarePositionIKRequest_<ContainerAllocator> > {
  static const char* value() 
  {
    return "3772a29c71f9b0627ec5c37e3ab80920";
  }

  static const char* value(const  ::kinematics_msgs::GetConstraintAwarePositionIKRequest_<ContainerAllocator> &) { return value(); } 
  static const uint64_t static_value1 = 0x3772a29c71f9b062ULL;
  static const uint64_t static_value2 = 0x7ec5c37e3ab80920ULL;
};

template<class ContainerAllocator>
struct DataType< ::kinematics_msgs::GetConstraintAwarePositionIKRequest_<ContainerAllocator> > {
  static const char* value() 
  {
    return "kinematics_msgs/GetConstraintAwarePositionIKRequest";
  }

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

template<class ContainerAllocator>
struct Definition< ::kinematics_msgs::GetConstraintAwarePositionIKRequest_<ContainerAllocator> > {
  static const char* value() 
  {
    return "\n\
\n\
kinematics_msgs/PositionIKRequest ik_request\n\
\n\
arm_navigation_msgs/Constraints constraints\n\
\n\
duration timeout\n\
\n\
================================================================================\n\
MSG: kinematics_msgs/PositionIKRequest\n\
# A Position IK request message\n\
# The name of the link for which we are computing IK\n\
string ik_link_name\n\
\n\
# The (stamped) pose of the link\n\
geometry_msgs/PoseStamped pose_stamped\n\
\n\
# A RobotState consisting of hint/seed positions for the IK computation. \n\
# These may be used to seed the IK search. \n\
# The seed state MUST contain state for all joints to be used by the IK solver\n\
# to compute IK. The list of joints that the IK solver deals with can be found using\n\
# the kinematics_msgs/GetKinematicSolverInfo\n\
arm_navigation_msgs/RobotState ik_seed_state\n\
\n\
# Additional state information can be provided here to specify the starting positions \n\
# of other joints/links on the robot.\n\
arm_navigation_msgs/RobotState robot_state\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/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/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: arm_navigation_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\
arm_navigation_msgs/MultiDOFJointState multi_dof_joint_state\n\
\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: arm_navigation_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: arm_navigation_msgs/Constraints\n\
# This message contains a list of motion planning constraints.\n\
\n\
arm_navigation_msgs/JointConstraint[] joint_constraints\n\
arm_navigation_msgs/PositionConstraint[] position_constraints\n\
arm_navigation_msgs/OrientationConstraint[] orientation_constraints\n\
arm_navigation_msgs/VisibilityConstraint[] visibility_constraints\n\
\n\
================================================================================\n\
MSG: arm_navigation_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: arm_navigation_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\
arm_navigation_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\
================================================================================\n\
MSG: arm_navigation_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: arm_navigation_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: arm_navigation_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  ::kinematics_msgs::GetConstraintAwarePositionIKRequest_<ContainerAllocator> &) { return value(); } 
};

} // namespace message_traits
} // namespace ros


namespace ros
{
namespace message_traits
{
template<class ContainerAllocator> struct IsMessage< ::kinematics_msgs::GetConstraintAwarePositionIKResponse_<ContainerAllocator> > : public TrueType {};
template<class ContainerAllocator> struct IsMessage< ::kinematics_msgs::GetConstraintAwarePositionIKResponse_<ContainerAllocator>  const> : public TrueType {};
template<class ContainerAllocator>
struct MD5Sum< ::kinematics_msgs::GetConstraintAwarePositionIKResponse_<ContainerAllocator> > {
  static const char* value() 
  {
    return "5a8bbc4eb2775fe00cbd09858fd3dc65";
  }

  static const char* value(const  ::kinematics_msgs::GetConstraintAwarePositionIKResponse_<ContainerAllocator> &) { return value(); } 
  static const uint64_t static_value1 = 0x5a8bbc4eb2775fe0ULL;
  static const uint64_t static_value2 = 0x0cbd09858fd3dc65ULL;
};

template<class ContainerAllocator>
struct DataType< ::kinematics_msgs::GetConstraintAwarePositionIKResponse_<ContainerAllocator> > {
  static const char* value() 
  {
    return "kinematics_msgs/GetConstraintAwarePositionIKResponse";
  }

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

template<class ContainerAllocator>
struct Definition< ::kinematics_msgs::GetConstraintAwarePositionIKResponse_<ContainerAllocator> > {
  static const char* value() 
  {
    return "\n\
arm_navigation_msgs/RobotState solution\n\
arm_navigation_msgs/ArmNavigationErrorCodes error_code\n\
\n\
\n\
================================================================================\n\
MSG: arm_navigation_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\
arm_navigation_msgs/MultiDOFJointState multi_dof_joint_state\n\
\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: 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: arm_navigation_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: 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/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/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: arm_navigation_msgs/ArmNavigationErrorCodes\n\
int32 val\n\
\n\
# overall behavior\n\
int32 PLANNING_FAILED=-1\n\
int32 SUCCESS=1\n\
int32 TIMED_OUT=-2\n\
\n\
# start state errors\n\
int32 START_STATE_IN_COLLISION=-3\n\
int32 START_STATE_VIOLATES_PATH_CONSTRAINTS=-4\n\
\n\
# goal errors\n\
int32 GOAL_IN_COLLISION=-5\n\
int32 GOAL_VIOLATES_PATH_CONSTRAINTS=-6\n\
\n\
# robot state\n\
int32 INVALID_ROBOT_STATE=-7\n\
int32 INCOMPLETE_ROBOT_STATE=-8\n\
\n\
# planning request errors\n\
int32 INVALID_PLANNER_ID=-9\n\
int32 INVALID_NUM_PLANNING_ATTEMPTS=-10\n\
int32 INVALID_ALLOWED_PLANNING_TIME=-11\n\
int32 INVALID_GROUP_NAME=-12\n\
int32 INVALID_GOAL_JOINT_CONSTRAINTS=-13\n\
int32 INVALID_GOAL_POSITION_CONSTRAINTS=-14\n\
int32 INVALID_GOAL_ORIENTATION_CONSTRAINTS=-15\n\
int32 INVALID_PATH_JOINT_CONSTRAINTS=-16\n\
int32 INVALID_PATH_POSITION_CONSTRAINTS=-17\n\
int32 INVALID_PATH_ORIENTATION_CONSTRAINTS=-18\n\
\n\
# state/trajectory monitor errors\n\
int32 INVALID_TRAJECTORY=-19\n\
int32 INVALID_INDEX=-20\n\
int32 JOINT_LIMITS_VIOLATED=-21\n\
int32 PATH_CONSTRAINTS_VIOLATED=-22\n\
int32 COLLISION_CONSTRAINTS_VIOLATED=-23\n\
int32 GOAL_CONSTRAINTS_VIOLATED=-24\n\
int32 JOINTS_NOT_MOVING=-25\n\
int32 TRAJECTORY_CONTROLLER_FAILED=-26\n\
\n\
# system errors\n\
int32 FRAME_TRANSFORM_FAILURE=-27\n\
int32 COLLISION_CHECKING_UNAVAILABLE=-28\n\
int32 ROBOT_STATE_STALE=-29\n\
int32 SENSOR_INFO_STALE=-30\n\
\n\
# kinematics errors\n\
int32 NO_IK_SOLUTION=-31\n\
int32 INVALID_LINK_NAME=-32\n\
int32 IK_LINK_IN_COLLISION=-33\n\
int32 NO_FK_SOLUTION=-34\n\
int32 KINEMATICS_STATE_IN_COLLISION=-35\n\
\n\
# general errors\n\
int32 INVALID_TIMEOUT=-36\n\
\n\
\n\
";
  }

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

} // namespace message_traits
} // namespace ros

namespace ros
{
namespace serialization
{

template<class ContainerAllocator> struct Serializer< ::kinematics_msgs::GetConstraintAwarePositionIKRequest_<ContainerAllocator> >
{
  template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
  {
    stream.next(m.ik_request);
    stream.next(m.constraints);
    stream.next(m.timeout);
  }

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


namespace ros
{
namespace serialization
{

template<class ContainerAllocator> struct Serializer< ::kinematics_msgs::GetConstraintAwarePositionIKResponse_<ContainerAllocator> >
{
  template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
  {
    stream.next(m.solution);
    stream.next(m.error_code);
  }

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

namespace ros
{
namespace service_traits
{
template<>
struct MD5Sum<kinematics_msgs::GetConstraintAwarePositionIK> {
  static const char* value() 
  {
    return "76b178dd7f9e5aa0c4c559bc733d0d81";
  }

  static const char* value(const kinematics_msgs::GetConstraintAwarePositionIK&) { return value(); } 
};

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

  static const char* value(const kinematics_msgs::GetConstraintAwarePositionIK&) { return value(); } 
};

template<class ContainerAllocator>
struct MD5Sum<kinematics_msgs::GetConstraintAwarePositionIKRequest_<ContainerAllocator> > {
  static const char* value() 
  {
    return "76b178dd7f9e5aa0c4c559bc733d0d81";
  }

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

template<class ContainerAllocator>
struct DataType<kinematics_msgs::GetConstraintAwarePositionIKRequest_<ContainerAllocator> > {
  static const char* value() 
  {
    return "kinematics_msgs/GetConstraintAwarePositionIK";
  }

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

template<class ContainerAllocator>
struct MD5Sum<kinematics_msgs::GetConstraintAwarePositionIKResponse_<ContainerAllocator> > {
  static const char* value() 
  {
    return "76b178dd7f9e5aa0c4c559bc733d0d81";
  }

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

template<class ContainerAllocator>
struct DataType<kinematics_msgs::GetConstraintAwarePositionIKResponse_<ContainerAllocator> > {
  static const char* value() 
  {
    return "kinematics_msgs/GetConstraintAwarePositionIK";
  }

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

} // namespace service_traits
} // namespace ros

#endif // KINEMATICS_MSGS_SERVICE_GETCONSTRAINTAWAREPOSITIONIK_H

---

kinematics_msgs
Author(s): Sachin Chitta
autogenerated on Fri Mar 1 14:15:52 2013