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00002 #ifndef ARM_NAVIGATION_MSGS_MESSAGE_ROBOTTRAJECTORY_H
00003 #define ARM_NAVIGATION_MSGS_MESSAGE_ROBOTTRAJECTORY_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 "trajectory_msgs/JointTrajectory.h"
00018 #include "arm_navigation_msgs/MultiDOFJointTrajectory.h"
00019
00020 namespace arm_navigation_msgs
00021 {
00022 template <class ContainerAllocator>
00023 struct RobotTrajectory_ {
00024 typedef RobotTrajectory_<ContainerAllocator> Type;
00025
00026 RobotTrajectory_()
00027 : joint_trajectory()
00028 , multi_dof_joint_trajectory()
00029 {
00030 }
00031
00032 RobotTrajectory_(const ContainerAllocator& _alloc)
00033 : joint_trajectory(_alloc)
00034 , multi_dof_joint_trajectory(_alloc)
00035 {
00036 }
00037
00038 typedef ::trajectory_msgs::JointTrajectory_<ContainerAllocator> _joint_trajectory_type;
00039 ::trajectory_msgs::JointTrajectory_<ContainerAllocator> joint_trajectory;
00040
00041 typedef ::arm_navigation_msgs::MultiDOFJointTrajectory_<ContainerAllocator> _multi_dof_joint_trajectory_type;
00042 ::arm_navigation_msgs::MultiDOFJointTrajectory_<ContainerAllocator> multi_dof_joint_trajectory;
00043
00044
00045 typedef boost::shared_ptr< ::arm_navigation_msgs::RobotTrajectory_<ContainerAllocator> > Ptr;
00046 typedef boost::shared_ptr< ::arm_navigation_msgs::RobotTrajectory_<ContainerAllocator> const> ConstPtr;
00047 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00048 };
00049 typedef ::arm_navigation_msgs::RobotTrajectory_<std::allocator<void> > RobotTrajectory;
00050
00051 typedef boost::shared_ptr< ::arm_navigation_msgs::RobotTrajectory> RobotTrajectoryPtr;
00052 typedef boost::shared_ptr< ::arm_navigation_msgs::RobotTrajectory const> RobotTrajectoryConstPtr;
00053
00054
00055 template<typename ContainerAllocator>
00056 std::ostream& operator<<(std::ostream& s, const ::arm_navigation_msgs::RobotTrajectory_<ContainerAllocator> & v)
00057 {
00058 ros::message_operations::Printer< ::arm_navigation_msgs::RobotTrajectory_<ContainerAllocator> >::stream(s, "", v);
00059 return s;}
00060
00061 }
00062
00063 namespace ros
00064 {
00065 namespace message_traits
00066 {
00067 template<class ContainerAllocator> struct IsMessage< ::arm_navigation_msgs::RobotTrajectory_<ContainerAllocator> > : public TrueType {};
00068 template<class ContainerAllocator> struct IsMessage< ::arm_navigation_msgs::RobotTrajectory_<ContainerAllocator> const> : public TrueType {};
00069 template<class ContainerAllocator>
00070 struct MD5Sum< ::arm_navigation_msgs::RobotTrajectory_<ContainerAllocator> > {
00071 static const char* value()
00072 {
00073 return "5bc8324620001e5c07a09d0bbfaaf093";
00074 }
00075
00076 static const char* value(const ::arm_navigation_msgs::RobotTrajectory_<ContainerAllocator> &) { return value(); }
00077 static const uint64_t static_value1 = 0x5bc8324620001e5cULL;
00078 static const uint64_t static_value2 = 0x07a09d0bbfaaf093ULL;
00079 };
00080
00081 template<class ContainerAllocator>
00082 struct DataType< ::arm_navigation_msgs::RobotTrajectory_<ContainerAllocator> > {
00083 static const char* value()
00084 {
00085 return "arm_navigation_msgs/RobotTrajectory";
00086 }
00087
00088 static const char* value(const ::arm_navigation_msgs::RobotTrajectory_<ContainerAllocator> &) { return value(); }
00089 };
00090
00091 template<class ContainerAllocator>
00092 struct Definition< ::arm_navigation_msgs::RobotTrajectory_<ContainerAllocator> > {
00093 static const char* value()
00094 {
00095 return "trajectory_msgs/JointTrajectory joint_trajectory\n\
00096 arm_navigation_msgs/MultiDOFJointTrajectory multi_dof_joint_trajectory\n\
00097 \n\
00098 ================================================================================\n\
00099 MSG: trajectory_msgs/JointTrajectory\n\
00100 Header header\n\
00101 string[] joint_names\n\
00102 JointTrajectoryPoint[] points\n\
00103 ================================================================================\n\
00104 MSG: std_msgs/Header\n\
00105 # Standard metadata for higher-level stamped data types.\n\
00106 # This is generally used to communicate timestamped data \n\
00107 # in a particular coordinate frame.\n\
00108 # \n\
00109 # sequence ID: consecutively increasing ID \n\
00110 uint32 seq\n\
00111 #Two-integer timestamp that is expressed as:\n\
00112 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00113 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00114 # time-handling sugar is provided by the client library\n\
00115 time stamp\n\
00116 #Frame this data is associated with\n\
00117 # 0: no frame\n\
00118 # 1: global frame\n\
00119 string frame_id\n\
00120 \n\
00121 ================================================================================\n\
00122 MSG: trajectory_msgs/JointTrajectoryPoint\n\
00123 float64[] positions\n\
00124 float64[] velocities\n\
00125 float64[] accelerations\n\
00126 duration time_from_start\n\
00127 ================================================================================\n\
00128 MSG: arm_navigation_msgs/MultiDOFJointTrajectory\n\
00129 #A representation of a multi-dof joint trajectory\n\
00130 duration stamp\n\
00131 string[] joint_names\n\
00132 string[] frame_ids\n\
00133 string[] child_frame_ids\n\
00134 MultiDOFJointTrajectoryPoint[] points\n\
00135 \n\
00136 ================================================================================\n\
00137 MSG: arm_navigation_msgs/MultiDOFJointTrajectoryPoint\n\
00138 geometry_msgs/Pose[] poses\n\
00139 duration time_from_start\n\
00140 ================================================================================\n\
00141 MSG: geometry_msgs/Pose\n\
00142 # A representation of pose in free space, composed of postion and orientation. \n\
00143 Point position\n\
00144 Quaternion orientation\n\
00145 \n\
00146 ================================================================================\n\
00147 MSG: geometry_msgs/Point\n\
00148 # This contains the position of a point in free space\n\
00149 float64 x\n\
00150 float64 y\n\
00151 float64 z\n\
00152 \n\
00153 ================================================================================\n\
00154 MSG: geometry_msgs/Quaternion\n\
00155 # This represents an orientation in free space in quaternion form.\n\
00156 \n\
00157 float64 x\n\
00158 float64 y\n\
00159 float64 z\n\
00160 float64 w\n\
00161 \n\
00162 ";
00163 }
00164
00165 static const char* value(const ::arm_navigation_msgs::RobotTrajectory_<ContainerAllocator> &) { return value(); }
00166 };
00167
00168 }
00169 }
00170
00171 namespace ros
00172 {
00173 namespace serialization
00174 {
00175
00176 template<class ContainerAllocator> struct Serializer< ::arm_navigation_msgs::RobotTrajectory_<ContainerAllocator> >
00177 {
00178 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00179 {
00180 stream.next(m.joint_trajectory);
00181 stream.next(m.multi_dof_joint_trajectory);
00182 }
00183
00184 ROS_DECLARE_ALLINONE_SERIALIZER;
00185 };
00186 }
00187 }
00188
00189 namespace ros
00190 {
00191 namespace message_operations
00192 {
00193
00194 template<class ContainerAllocator>
00195 struct Printer< ::arm_navigation_msgs::RobotTrajectory_<ContainerAllocator> >
00196 {
00197 template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::arm_navigation_msgs::RobotTrajectory_<ContainerAllocator> & v)
00198 {
00199 s << indent << "joint_trajectory: ";
00200 s << std::endl;
00201 Printer< ::trajectory_msgs::JointTrajectory_<ContainerAllocator> >::stream(s, indent + " ", v.joint_trajectory);
00202 s << indent << "multi_dof_joint_trajectory: ";
00203 s << std::endl;
00204 Printer< ::arm_navigation_msgs::MultiDOFJointTrajectory_<ContainerAllocator> >::stream(s, indent + " ", v.multi_dof_joint_trajectory);
00205 }
00206 };
00207
00208
00209 }
00210 }
00211
00212 #endif // ARM_NAVIGATION_MSGS_MESSAGE_ROBOTTRAJECTORY_H
00213