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00002 #ifndef ARM_NAVIGATION_MSGS_SERVICE_GETROBOTTRAJECTORYVALIDITY_H
00003 #define ARM_NAVIGATION_MSGS_SERVICE_GETROBOTTRAJECTORYVALIDITY_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 "ros/service_traits.h"
00018
00019 #include "arm_navigation_msgs/RobotTrajectory.h"
00020 #include "arm_navigation_msgs/RobotState.h"
00021 #include "arm_navigation_msgs/Constraints.h"
00022 #include "arm_navigation_msgs/Constraints.h"
00023
00024
00025 #include "arm_navigation_msgs/ArmNavigationErrorCodes.h"
00026 #include "arm_navigation_msgs/ArmNavigationErrorCodes.h"
00027
00028 namespace arm_navigation_msgs
00029 {
00030 template <class ContainerAllocator>
00031 struct GetRobotTrajectoryValidityRequest_ {
00032 typedef GetRobotTrajectoryValidityRequest_<ContainerAllocator> Type;
00033
00034 GetRobotTrajectoryValidityRequest_()
00035 : trajectory()
00036 , robot_state()
00037 , check_collisions(false)
00038 , check_path_constraints(false)
00039 , check_goal_constraints(false)
00040 , check_joint_limits(false)
00041 , check_full_trajectory(false)
00042 , path_constraints()
00043 , goal_constraints()
00044 {
00045 }
00046
00047 GetRobotTrajectoryValidityRequest_(const ContainerAllocator& _alloc)
00048 : trajectory(_alloc)
00049 , robot_state(_alloc)
00050 , check_collisions(false)
00051 , check_path_constraints(false)
00052 , check_goal_constraints(false)
00053 , check_joint_limits(false)
00054 , check_full_trajectory(false)
00055 , path_constraints(_alloc)
00056 , goal_constraints(_alloc)
00057 {
00058 }
00059
00060 typedef ::arm_navigation_msgs::RobotTrajectory_<ContainerAllocator> _trajectory_type;
00061 ::arm_navigation_msgs::RobotTrajectory_<ContainerAllocator> trajectory;
00062
00063 typedef ::arm_navigation_msgs::RobotState_<ContainerAllocator> _robot_state_type;
00064 ::arm_navigation_msgs::RobotState_<ContainerAllocator> robot_state;
00065
00066 typedef uint8_t _check_collisions_type;
00067 uint8_t check_collisions;
00068
00069 typedef uint8_t _check_path_constraints_type;
00070 uint8_t check_path_constraints;
00071
00072 typedef uint8_t _check_goal_constraints_type;
00073 uint8_t check_goal_constraints;
00074
00075 typedef uint8_t _check_joint_limits_type;
00076 uint8_t check_joint_limits;
00077
00078 typedef uint8_t _check_full_trajectory_type;
00079 uint8_t check_full_trajectory;
00080
00081 typedef ::arm_navigation_msgs::Constraints_<ContainerAllocator> _path_constraints_type;
00082 ::arm_navigation_msgs::Constraints_<ContainerAllocator> path_constraints;
00083
00084 typedef ::arm_navigation_msgs::Constraints_<ContainerAllocator> _goal_constraints_type;
00085 ::arm_navigation_msgs::Constraints_<ContainerAllocator> goal_constraints;
00086
00087
00088 typedef boost::shared_ptr< ::arm_navigation_msgs::GetRobotTrajectoryValidityRequest_<ContainerAllocator> > Ptr;
00089 typedef boost::shared_ptr< ::arm_navigation_msgs::GetRobotTrajectoryValidityRequest_<ContainerAllocator> const> ConstPtr;
00090 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00091 };
00092 typedef ::arm_navigation_msgs::GetRobotTrajectoryValidityRequest_<std::allocator<void> > GetRobotTrajectoryValidityRequest;
00093
00094 typedef boost::shared_ptr< ::arm_navigation_msgs::GetRobotTrajectoryValidityRequest> GetRobotTrajectoryValidityRequestPtr;
00095 typedef boost::shared_ptr< ::arm_navigation_msgs::GetRobotTrajectoryValidityRequest const> GetRobotTrajectoryValidityRequestConstPtr;
00096
00097
00098 template <class ContainerAllocator>
00099 struct GetRobotTrajectoryValidityResponse_ {
00100 typedef GetRobotTrajectoryValidityResponse_<ContainerAllocator> Type;
00101
00102 GetRobotTrajectoryValidityResponse_()
00103 : error_code()
00104 , trajectory_error_codes()
00105 {
00106 }
00107
00108 GetRobotTrajectoryValidityResponse_(const ContainerAllocator& _alloc)
00109 : error_code(_alloc)
00110 , trajectory_error_codes(_alloc)
00111 {
00112 }
00113
00114 typedef ::arm_navigation_msgs::ArmNavigationErrorCodes_<ContainerAllocator> _error_code_type;
00115 ::arm_navigation_msgs::ArmNavigationErrorCodes_<ContainerAllocator> error_code;
00116
00117 typedef std::vector< ::arm_navigation_msgs::ArmNavigationErrorCodes_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::arm_navigation_msgs::ArmNavigationErrorCodes_<ContainerAllocator> >::other > _trajectory_error_codes_type;
00118 std::vector< ::arm_navigation_msgs::ArmNavigationErrorCodes_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::arm_navigation_msgs::ArmNavigationErrorCodes_<ContainerAllocator> >::other > trajectory_error_codes;
00119
00120
00121 typedef boost::shared_ptr< ::arm_navigation_msgs::GetRobotTrajectoryValidityResponse_<ContainerAllocator> > Ptr;
00122 typedef boost::shared_ptr< ::arm_navigation_msgs::GetRobotTrajectoryValidityResponse_<ContainerAllocator> const> ConstPtr;
00123 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00124 };
00125 typedef ::arm_navigation_msgs::GetRobotTrajectoryValidityResponse_<std::allocator<void> > GetRobotTrajectoryValidityResponse;
00126
00127 typedef boost::shared_ptr< ::arm_navigation_msgs::GetRobotTrajectoryValidityResponse> GetRobotTrajectoryValidityResponsePtr;
00128 typedef boost::shared_ptr< ::arm_navigation_msgs::GetRobotTrajectoryValidityResponse const> GetRobotTrajectoryValidityResponseConstPtr;
00129
00130 struct GetRobotTrajectoryValidity
00131 {
00132
00133 typedef GetRobotTrajectoryValidityRequest Request;
00134 typedef GetRobotTrajectoryValidityResponse Response;
00135 Request request;
00136 Response response;
00137
00138 typedef Request RequestType;
00139 typedef Response ResponseType;
00140 };
00141 }
00142
00143 namespace ros
00144 {
00145 namespace message_traits
00146 {
00147 template<class ContainerAllocator> struct IsMessage< ::arm_navigation_msgs::GetRobotTrajectoryValidityRequest_<ContainerAllocator> > : public TrueType {};
00148 template<class ContainerAllocator> struct IsMessage< ::arm_navigation_msgs::GetRobotTrajectoryValidityRequest_<ContainerAllocator> const> : public TrueType {};
00149 template<class ContainerAllocator>
00150 struct MD5Sum< ::arm_navigation_msgs::GetRobotTrajectoryValidityRequest_<ContainerAllocator> > {
00151 static const char* value()
00152 {
00153 return "85259de614b32f9acd26c11efb8e55ca";
00154 }
00155
00156 static const char* value(const ::arm_navigation_msgs::GetRobotTrajectoryValidityRequest_<ContainerAllocator> &) { return value(); }
00157 static const uint64_t static_value1 = 0x85259de614b32f9aULL;
00158 static const uint64_t static_value2 = 0xcd26c11efb8e55caULL;
00159 };
00160
00161 template<class ContainerAllocator>
00162 struct DataType< ::arm_navigation_msgs::GetRobotTrajectoryValidityRequest_<ContainerAllocator> > {
00163 static const char* value()
00164 {
00165 return "arm_navigation_msgs/GetRobotTrajectoryValidityRequest";
00166 }
00167
00168 static const char* value(const ::arm_navigation_msgs::GetRobotTrajectoryValidityRequest_<ContainerAllocator> &) { return value(); }
00169 };
00170
00171 template<class ContainerAllocator>
00172 struct Definition< ::arm_navigation_msgs::GetRobotTrajectoryValidityRequest_<ContainerAllocator> > {
00173 static const char* value()
00174 {
00175 return "\n\
00176 arm_navigation_msgs/RobotTrajectory trajectory\n\
00177 \n\
00178 \n\
00179 \n\
00180 \n\
00181 \n\
00182 \n\
00183 \n\
00184 arm_navigation_msgs/RobotState robot_state\n\
00185 \n\
00186 \n\
00187 bool check_collisions\n\
00188 \n\
00189 \n\
00190 bool check_path_constraints\n\
00191 \n\
00192 \n\
00193 bool check_goal_constraints\n\
00194 \n\
00195 \n\
00196 bool check_joint_limits\n\
00197 \n\
00198 \n\
00199 \n\
00200 \n\
00201 bool check_full_trajectory\n\
00202 \n\
00203 \n\
00204 \n\
00205 \n\
00206 arm_navigation_msgs/Constraints path_constraints\n\
00207 \n\
00208 \n\
00209 \n\
00210 \n\
00211 arm_navigation_msgs/Constraints goal_constraints\n\
00212 \n\
00213 \n\
00214 ================================================================================\n\
00215 MSG: arm_navigation_msgs/RobotTrajectory\n\
00216 trajectory_msgs/JointTrajectory joint_trajectory\n\
00217 arm_navigation_msgs/MultiDOFJointTrajectory multi_dof_joint_trajectory\n\
00218 \n\
00219 ================================================================================\n\
00220 MSG: trajectory_msgs/JointTrajectory\n\
00221 Header header\n\
00222 string[] joint_names\n\
00223 JointTrajectoryPoint[] points\n\
00224 ================================================================================\n\
00225 MSG: std_msgs/Header\n\
00226 # Standard metadata for higher-level stamped data types.\n\
00227 # This is generally used to communicate timestamped data \n\
00228 # in a particular coordinate frame.\n\
00229 # \n\
00230 # sequence ID: consecutively increasing ID \n\
00231 uint32 seq\n\
00232 #Two-integer timestamp that is expressed as:\n\
00233 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00234 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00235 # time-handling sugar is provided by the client library\n\
00236 time stamp\n\
00237 #Frame this data is associated with\n\
00238 # 0: no frame\n\
00239 # 1: global frame\n\
00240 string frame_id\n\
00241 \n\
00242 ================================================================================\n\
00243 MSG: trajectory_msgs/JointTrajectoryPoint\n\
00244 float64[] positions\n\
00245 float64[] velocities\n\
00246 float64[] accelerations\n\
00247 duration time_from_start\n\
00248 ================================================================================\n\
00249 MSG: arm_navigation_msgs/MultiDOFJointTrajectory\n\
00250 #A representation of a multi-dof joint trajectory\n\
00251 duration stamp\n\
00252 string[] joint_names\n\
00253 string[] frame_ids\n\
00254 string[] child_frame_ids\n\
00255 MultiDOFJointTrajectoryPoint[] points\n\
00256 \n\
00257 ================================================================================\n\
00258 MSG: arm_navigation_msgs/MultiDOFJointTrajectoryPoint\n\
00259 geometry_msgs/Pose[] poses\n\
00260 duration time_from_start\n\
00261 ================================================================================\n\
00262 MSG: geometry_msgs/Pose\n\
00263 # A representation of pose in free space, composed of postion and orientation. \n\
00264 Point position\n\
00265 Quaternion orientation\n\
00266 \n\
00267 ================================================================================\n\
00268 MSG: geometry_msgs/Point\n\
00269 # This contains the position of a point in free space\n\
00270 float64 x\n\
00271 float64 y\n\
00272 float64 z\n\
00273 \n\
00274 ================================================================================\n\
00275 MSG: geometry_msgs/Quaternion\n\
00276 # This represents an orientation in free space in quaternion form.\n\
00277 \n\
00278 float64 x\n\
00279 float64 y\n\
00280 float64 z\n\
00281 float64 w\n\
00282 \n\
00283 ================================================================================\n\
00284 MSG: arm_navigation_msgs/RobotState\n\
00285 # This message contains information about the robot state, i.e. the positions of its joints and links\n\
00286 sensor_msgs/JointState joint_state\n\
00287 arm_navigation_msgs/MultiDOFJointState multi_dof_joint_state\n\
00288 \n\
00289 ================================================================================\n\
00290 MSG: sensor_msgs/JointState\n\
00291 # This is a message that holds data to describe the state of a set of torque controlled joints. \n\
00292 #\n\
00293 # The state of each joint (revolute or prismatic) is defined by:\n\
00294 # * the position of the joint (rad or m),\n\
00295 # * the velocity of the joint (rad/s or m/s) and \n\
00296 # * the effort that is applied in the joint (Nm or N).\n\
00297 #\n\
00298 # Each joint is uniquely identified by its name\n\
00299 # The header specifies the time at which the joint states were recorded. All the joint states\n\
00300 # in one message have to be recorded at the same time.\n\
00301 #\n\
00302 # This message consists of a multiple arrays, one for each part of the joint state. \n\
00303 # The goal is to make each of the fields optional. When e.g. your joints have no\n\
00304 # effort associated with them, you can leave the effort array empty. \n\
00305 #\n\
00306 # All arrays in this message should have the same size, or be empty.\n\
00307 # This is the only way to uniquely associate the joint name with the correct\n\
00308 # states.\n\
00309 \n\
00310 \n\
00311 Header header\n\
00312 \n\
00313 string[] name\n\
00314 float64[] position\n\
00315 float64[] velocity\n\
00316 float64[] effort\n\
00317 \n\
00318 ================================================================================\n\
00319 MSG: arm_navigation_msgs/MultiDOFJointState\n\
00320 #A representation of a multi-dof joint state\n\
00321 time stamp\n\
00322 string[] joint_names\n\
00323 string[] frame_ids\n\
00324 string[] child_frame_ids\n\
00325 geometry_msgs/Pose[] poses\n\
00326 \n\
00327 ================================================================================\n\
00328 MSG: arm_navigation_msgs/Constraints\n\
00329 # This message contains a list of motion planning constraints.\n\
00330 \n\
00331 arm_navigation_msgs/JointConstraint[] joint_constraints\n\
00332 arm_navigation_msgs/PositionConstraint[] position_constraints\n\
00333 arm_navigation_msgs/OrientationConstraint[] orientation_constraints\n\
00334 arm_navigation_msgs/VisibilityConstraint[] visibility_constraints\n\
00335 \n\
00336 ================================================================================\n\
00337 MSG: arm_navigation_msgs/JointConstraint\n\
00338 # Constrain the position of a joint to be within a certain bound\n\
00339 string joint_name\n\
00340 \n\
00341 # the bound to be achieved is [position - tolerance_below, position + tolerance_above]\n\
00342 float64 position\n\
00343 float64 tolerance_above\n\
00344 float64 tolerance_below\n\
00345 \n\
00346 # A weighting factor for this constraint\n\
00347 float64 weight\n\
00348 ================================================================================\n\
00349 MSG: arm_navigation_msgs/PositionConstraint\n\
00350 # This message contains the definition of a position constraint.\n\
00351 Header header\n\
00352 \n\
00353 # The robot link this constraint refers to\n\
00354 string link_name\n\
00355 \n\
00356 # The offset (in the link frame) for the target point on the link we are planning for\n\
00357 geometry_msgs/Point target_point_offset\n\
00358 \n\
00359 # The nominal/target position for the point we are planning for\n\
00360 geometry_msgs/Point position\n\
00361 \n\
00362 # The shape of the bounded region that constrains the position of the end-effector\n\
00363 # This region is always centered at the position defined above\n\
00364 arm_navigation_msgs/Shape constraint_region_shape\n\
00365 \n\
00366 # The orientation of the bounded region that constrains the position of the end-effector. \n\
00367 # This allows the specification of non-axis aligned constraints\n\
00368 geometry_msgs/Quaternion constraint_region_orientation\n\
00369 \n\
00370 # Constraint weighting factor - a weight for this constraint\n\
00371 float64 weight\n\
00372 \n\
00373 ================================================================================\n\
00374 MSG: arm_navigation_msgs/Shape\n\
00375 byte SPHERE=0\n\
00376 byte BOX=1\n\
00377 byte CYLINDER=2\n\
00378 byte MESH=3\n\
00379 \n\
00380 byte type\n\
00381 \n\
00382 \n\
00383 #### define sphere, box, cylinder ####\n\
00384 # the origin of each shape is considered at the shape's center\n\
00385 \n\
00386 # for sphere\n\
00387 # radius := dimensions[0]\n\
00388 \n\
00389 # for cylinder\n\
00390 # radius := dimensions[0]\n\
00391 # length := dimensions[1]\n\
00392 # the length is along the Z axis\n\
00393 \n\
00394 # for box\n\
00395 # size_x := dimensions[0]\n\
00396 # size_y := dimensions[1]\n\
00397 # size_z := dimensions[2]\n\
00398 float64[] dimensions\n\
00399 \n\
00400 \n\
00401 #### define mesh ####\n\
00402 \n\
00403 # list of triangles; triangle k is defined by tre vertices located\n\
00404 # at indices triangles[3k], triangles[3k+1], triangles[3k+2]\n\
00405 int32[] triangles\n\
00406 geometry_msgs/Point[] vertices\n\
00407 \n\
00408 ================================================================================\n\
00409 MSG: arm_navigation_msgs/OrientationConstraint\n\
00410 # This message contains the definition of an orientation constraint.\n\
00411 Header header\n\
00412 \n\
00413 # The robot link this constraint refers to\n\
00414 string link_name\n\
00415 \n\
00416 # The type of the constraint\n\
00417 int32 type\n\
00418 int32 LINK_FRAME=0\n\
00419 int32 HEADER_FRAME=1\n\
00420 \n\
00421 # The desired orientation of the robot link specified as a quaternion\n\
00422 geometry_msgs/Quaternion orientation\n\
00423 \n\
00424 # optional RPY error tolerances specified if \n\
00425 float64 absolute_roll_tolerance\n\
00426 float64 absolute_pitch_tolerance\n\
00427 float64 absolute_yaw_tolerance\n\
00428 \n\
00429 # Constraint weighting factor - a weight for this constraint\n\
00430 float64 weight\n\
00431 \n\
00432 ================================================================================\n\
00433 MSG: arm_navigation_msgs/VisibilityConstraint\n\
00434 # This message contains the definition of a visibility constraint.\n\
00435 Header header\n\
00436 \n\
00437 # The point stamped target that needs to be kept within view of the sensor\n\
00438 geometry_msgs/PointStamped target\n\
00439 \n\
00440 # The local pose of the frame in which visibility is to be maintained\n\
00441 # The frame id should represent the robot link to which the sensor is attached\n\
00442 # The visual axis of the sensor is assumed to be along the X axis of this frame\n\
00443 geometry_msgs/PoseStamped sensor_pose\n\
00444 \n\
00445 # The deviation (in radians) that will be tolerated\n\
00446 # Constraint error will be measured as the solid angle between the \n\
00447 # X axis of the frame defined above and the vector between the origin \n\
00448 # of the frame defined above and the target location\n\
00449 float64 absolute_tolerance\n\
00450 \n\
00451 \n\
00452 ================================================================================\n\
00453 MSG: geometry_msgs/PointStamped\n\
00454 # This represents a Point with reference coordinate frame and timestamp\n\
00455 Header header\n\
00456 Point point\n\
00457 \n\
00458 ================================================================================\n\
00459 MSG: geometry_msgs/PoseStamped\n\
00460 # A Pose with reference coordinate frame and timestamp\n\
00461 Header header\n\
00462 Pose pose\n\
00463 \n\
00464 ";
00465 }
00466
00467 static const char* value(const ::arm_navigation_msgs::GetRobotTrajectoryValidityRequest_<ContainerAllocator> &) { return value(); }
00468 };
00469
00470 }
00471 }
00472
00473
00474 namespace ros
00475 {
00476 namespace message_traits
00477 {
00478 template<class ContainerAllocator> struct IsMessage< ::arm_navigation_msgs::GetRobotTrajectoryValidityResponse_<ContainerAllocator> > : public TrueType {};
00479 template<class ContainerAllocator> struct IsMessage< ::arm_navigation_msgs::GetRobotTrajectoryValidityResponse_<ContainerAllocator> const> : public TrueType {};
00480 template<class ContainerAllocator>
00481 struct MD5Sum< ::arm_navigation_msgs::GetRobotTrajectoryValidityResponse_<ContainerAllocator> > {
00482 static const char* value()
00483 {
00484 return "6316c11e993d068a87f32bc2109e7658";
00485 }
00486
00487 static const char* value(const ::arm_navigation_msgs::GetRobotTrajectoryValidityResponse_<ContainerAllocator> &) { return value(); }
00488 static const uint64_t static_value1 = 0x6316c11e993d068aULL;
00489 static const uint64_t static_value2 = 0x87f32bc2109e7658ULL;
00490 };
00491
00492 template<class ContainerAllocator>
00493 struct DataType< ::arm_navigation_msgs::GetRobotTrajectoryValidityResponse_<ContainerAllocator> > {
00494 static const char* value()
00495 {
00496 return "arm_navigation_msgs/GetRobotTrajectoryValidityResponse";
00497 }
00498
00499 static const char* value(const ::arm_navigation_msgs::GetRobotTrajectoryValidityResponse_<ContainerAllocator> &) { return value(); }
00500 };
00501
00502 template<class ContainerAllocator>
00503 struct Definition< ::arm_navigation_msgs::GetRobotTrajectoryValidityResponse_<ContainerAllocator> > {
00504 static const char* value()
00505 {
00506 return "\n\
00507 \n\
00508 \n\
00509 \n\
00510 arm_navigation_msgs/ArmNavigationErrorCodes error_code\n\
00511 \n\
00512 \n\
00513 \n\
00514 \n\
00515 arm_navigation_msgs/ArmNavigationErrorCodes[] trajectory_error_codes\n\
00516 \n\
00517 \n\
00518 ================================================================================\n\
00519 MSG: arm_navigation_msgs/ArmNavigationErrorCodes\n\
00520 int32 val\n\
00521 \n\
00522 # overall behavior\n\
00523 int32 PLANNING_FAILED=-1\n\
00524 int32 SUCCESS=1\n\
00525 int32 TIMED_OUT=-2\n\
00526 \n\
00527 # start state errors\n\
00528 int32 START_STATE_IN_COLLISION=-3\n\
00529 int32 START_STATE_VIOLATES_PATH_CONSTRAINTS=-4\n\
00530 \n\
00531 # goal errors\n\
00532 int32 GOAL_IN_COLLISION=-5\n\
00533 int32 GOAL_VIOLATES_PATH_CONSTRAINTS=-6\n\
00534 \n\
00535 # robot state\n\
00536 int32 INVALID_ROBOT_STATE=-7\n\
00537 int32 INCOMPLETE_ROBOT_STATE=-8\n\
00538 \n\
00539 # planning request errors\n\
00540 int32 INVALID_PLANNER_ID=-9\n\
00541 int32 INVALID_NUM_PLANNING_ATTEMPTS=-10\n\
00542 int32 INVALID_ALLOWED_PLANNING_TIME=-11\n\
00543 int32 INVALID_GROUP_NAME=-12\n\
00544 int32 INVALID_GOAL_JOINT_CONSTRAINTS=-13\n\
00545 int32 INVALID_GOAL_POSITION_CONSTRAINTS=-14\n\
00546 int32 INVALID_GOAL_ORIENTATION_CONSTRAINTS=-15\n\
00547 int32 INVALID_PATH_JOINT_CONSTRAINTS=-16\n\
00548 int32 INVALID_PATH_POSITION_CONSTRAINTS=-17\n\
00549 int32 INVALID_PATH_ORIENTATION_CONSTRAINTS=-18\n\
00550 \n\
00551 # state/trajectory monitor errors\n\
00552 int32 INVALID_TRAJECTORY=-19\n\
00553 int32 INVALID_INDEX=-20\n\
00554 int32 JOINT_LIMITS_VIOLATED=-21\n\
00555 int32 PATH_CONSTRAINTS_VIOLATED=-22\n\
00556 int32 COLLISION_CONSTRAINTS_VIOLATED=-23\n\
00557 int32 GOAL_CONSTRAINTS_VIOLATED=-24\n\
00558 int32 JOINTS_NOT_MOVING=-25\n\
00559 int32 TRAJECTORY_CONTROLLER_FAILED=-26\n\
00560 \n\
00561 # system errors\n\
00562 int32 FRAME_TRANSFORM_FAILURE=-27\n\
00563 int32 COLLISION_CHECKING_UNAVAILABLE=-28\n\
00564 int32 ROBOT_STATE_STALE=-29\n\
00565 int32 SENSOR_INFO_STALE=-30\n\
00566 \n\
00567 # kinematics errors\n\
00568 int32 NO_IK_SOLUTION=-31\n\
00569 int32 INVALID_LINK_NAME=-32\n\
00570 int32 IK_LINK_IN_COLLISION=-33\n\
00571 int32 NO_FK_SOLUTION=-34\n\
00572 int32 KINEMATICS_STATE_IN_COLLISION=-35\n\
00573 \n\
00574 # general errors\n\
00575 int32 INVALID_TIMEOUT=-36\n\
00576 \n\
00577 \n\
00578 ";
00579 }
00580
00581 static const char* value(const ::arm_navigation_msgs::GetRobotTrajectoryValidityResponse_<ContainerAllocator> &) { return value(); }
00582 };
00583
00584 }
00585 }
00586
00587 namespace ros
00588 {
00589 namespace serialization
00590 {
00591
00592 template<class ContainerAllocator> struct Serializer< ::arm_navigation_msgs::GetRobotTrajectoryValidityRequest_<ContainerAllocator> >
00593 {
00594 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00595 {
00596 stream.next(m.trajectory);
00597 stream.next(m.robot_state);
00598 stream.next(m.check_collisions);
00599 stream.next(m.check_path_constraints);
00600 stream.next(m.check_goal_constraints);
00601 stream.next(m.check_joint_limits);
00602 stream.next(m.check_full_trajectory);
00603 stream.next(m.path_constraints);
00604 stream.next(m.goal_constraints);
00605 }
00606
00607 ROS_DECLARE_ALLINONE_SERIALIZER;
00608 };
00609 }
00610 }
00611
00612
00613 namespace ros
00614 {
00615 namespace serialization
00616 {
00617
00618 template<class ContainerAllocator> struct Serializer< ::arm_navigation_msgs::GetRobotTrajectoryValidityResponse_<ContainerAllocator> >
00619 {
00620 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00621 {
00622 stream.next(m.error_code);
00623 stream.next(m.trajectory_error_codes);
00624 }
00625
00626 ROS_DECLARE_ALLINONE_SERIALIZER;
00627 };
00628 }
00629 }
00630
00631 namespace ros
00632 {
00633 namespace service_traits
00634 {
00635 template<>
00636 struct MD5Sum<arm_navigation_msgs::GetRobotTrajectoryValidity> {
00637 static const char* value()
00638 {
00639 return "2b18e8353390aab164a69813e3458fdb";
00640 }
00641
00642 static const char* value(const arm_navigation_msgs::GetRobotTrajectoryValidity&) { return value(); }
00643 };
00644
00645 template<>
00646 struct DataType<arm_navigation_msgs::GetRobotTrajectoryValidity> {
00647 static const char* value()
00648 {
00649 return "arm_navigation_msgs/GetRobotTrajectoryValidity";
00650 }
00651
00652 static const char* value(const arm_navigation_msgs::GetRobotTrajectoryValidity&) { return value(); }
00653 };
00654
00655 template<class ContainerAllocator>
00656 struct MD5Sum<arm_navigation_msgs::GetRobotTrajectoryValidityRequest_<ContainerAllocator> > {
00657 static const char* value()
00658 {
00659 return "2b18e8353390aab164a69813e3458fdb";
00660 }
00661
00662 static const char* value(const arm_navigation_msgs::GetRobotTrajectoryValidityRequest_<ContainerAllocator> &) { return value(); }
00663 };
00664
00665 template<class ContainerAllocator>
00666 struct DataType<arm_navigation_msgs::GetRobotTrajectoryValidityRequest_<ContainerAllocator> > {
00667 static const char* value()
00668 {
00669 return "arm_navigation_msgs/GetRobotTrajectoryValidity";
00670 }
00671
00672 static const char* value(const arm_navigation_msgs::GetRobotTrajectoryValidityRequest_<ContainerAllocator> &) { return value(); }
00673 };
00674
00675 template<class ContainerAllocator>
00676 struct MD5Sum<arm_navigation_msgs::GetRobotTrajectoryValidityResponse_<ContainerAllocator> > {
00677 static const char* value()
00678 {
00679 return "2b18e8353390aab164a69813e3458fdb";
00680 }
00681
00682 static const char* value(const arm_navigation_msgs::GetRobotTrajectoryValidityResponse_<ContainerAllocator> &) { return value(); }
00683 };
00684
00685 template<class ContainerAllocator>
00686 struct DataType<arm_navigation_msgs::GetRobotTrajectoryValidityResponse_<ContainerAllocator> > {
00687 static const char* value()
00688 {
00689 return "arm_navigation_msgs/GetRobotTrajectoryValidity";
00690 }
00691
00692 static const char* value(const arm_navigation_msgs::GetRobotTrajectoryValidityResponse_<ContainerAllocator> &) { return value(); }
00693 };
00694
00695 }
00696 }
00697
00698 #endif // ARM_NAVIGATION_MSGS_SERVICE_GETROBOTTRAJECTORYVALIDITY_H
00699