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00002 #ifndef EE_CART_IMPED_MSGS_MESSAGE_EECARTIMPEDGOAL_H
00003 #define EE_CART_IMPED_MSGS_MESSAGE_EECARTIMPEDGOAL_H
00004 #include <string>
00005 #include <vector>
00006 #include <map>
00007 #include <ostream>
00008 #include "ros/serialization.h"
00009 #include "ros/builtin_message_traits.h"
00010 #include "ros/message_operations.h"
00011 #include "ros/time.h"
00012
00013 #include "ros/macros.h"
00014
00015 #include "ros/assert.h"
00016
00017 #include "std_msgs/Header.h"
00018 #include "ee_cart_imped_msgs/StiffPoint.h"
00019
00020 namespace ee_cart_imped_msgs
00021 {
00022 template <class ContainerAllocator>
00023 struct EECartImpedGoal_ {
00024 typedef EECartImpedGoal_<ContainerAllocator> Type;
00025
00026 EECartImpedGoal_()
00027 : header()
00028 , trajectory()
00029 {
00030 }
00031
00032 EECartImpedGoal_(const ContainerAllocator& _alloc)
00033 : header(_alloc)
00034 , trajectory(_alloc)
00035 {
00036 }
00037
00038 typedef ::std_msgs::Header_<ContainerAllocator> _header_type;
00039 ::std_msgs::Header_<ContainerAllocator> header;
00040
00041 typedef std::vector< ::ee_cart_imped_msgs::StiffPoint_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::ee_cart_imped_msgs::StiffPoint_<ContainerAllocator> >::other > _trajectory_type;
00042 std::vector< ::ee_cart_imped_msgs::StiffPoint_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::ee_cart_imped_msgs::StiffPoint_<ContainerAllocator> >::other > trajectory;
00043
00044
00045 typedef boost::shared_ptr< ::ee_cart_imped_msgs::EECartImpedGoal_<ContainerAllocator> > Ptr;
00046 typedef boost::shared_ptr< ::ee_cart_imped_msgs::EECartImpedGoal_<ContainerAllocator> const> ConstPtr;
00047 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00048 };
00049 typedef ::ee_cart_imped_msgs::EECartImpedGoal_<std::allocator<void> > EECartImpedGoal;
00050
00051 typedef boost::shared_ptr< ::ee_cart_imped_msgs::EECartImpedGoal> EECartImpedGoalPtr;
00052 typedef boost::shared_ptr< ::ee_cart_imped_msgs::EECartImpedGoal const> EECartImpedGoalConstPtr;
00053
00054
00055 template<typename ContainerAllocator>
00056 std::ostream& operator<<(std::ostream& s, const ::ee_cart_imped_msgs::EECartImpedGoal_<ContainerAllocator> & v)
00057 {
00058 ros::message_operations::Printer< ::ee_cart_imped_msgs::EECartImpedGoal_<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< ::ee_cart_imped_msgs::EECartImpedGoal_<ContainerAllocator> > : public TrueType {};
00068 template<class ContainerAllocator> struct IsMessage< ::ee_cart_imped_msgs::EECartImpedGoal_<ContainerAllocator> const> : public TrueType {};
00069 template<class ContainerAllocator>
00070 struct MD5Sum< ::ee_cart_imped_msgs::EECartImpedGoal_<ContainerAllocator> > {
00071 static const char* value()
00072 {
00073 return "0b1ff60300ab63f83c2158e930c32bb2";
00074 }
00075
00076 static const char* value(const ::ee_cart_imped_msgs::EECartImpedGoal_<ContainerAllocator> &) { return value(); }
00077 static const uint64_t static_value1 = 0x0b1ff60300ab63f8ULL;
00078 static const uint64_t static_value2 = 0x3c2158e930c32bb2ULL;
00079 };
00080
00081 template<class ContainerAllocator>
00082 struct DataType< ::ee_cart_imped_msgs::EECartImpedGoal_<ContainerAllocator> > {
00083 static const char* value()
00084 {
00085 return "ee_cart_imped_msgs/EECartImpedGoal";
00086 }
00087
00088 static const char* value(const ::ee_cart_imped_msgs::EECartImpedGoal_<ContainerAllocator> &) { return value(); }
00089 };
00090
00091 template<class ContainerAllocator>
00092 struct Definition< ::ee_cart_imped_msgs::EECartImpedGoal_<ContainerAllocator> > {
00093 static const char* value()
00094 {
00095 return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00096 #goal definition\n\
00097 Header header\n\
00098 ee_cart_imped_msgs/StiffPoint[] trajectory\n\
00099 \n\
00100 ================================================================================\n\
00101 MSG: std_msgs/Header\n\
00102 # Standard metadata for higher-level stamped data types.\n\
00103 # This is generally used to communicate timestamped data \n\
00104 # in a particular coordinate frame.\n\
00105 # \n\
00106 # sequence ID: consecutively increasing ID \n\
00107 uint32 seq\n\
00108 #Two-integer timestamp that is expressed as:\n\
00109 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00110 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00111 # time-handling sugar is provided by the client library\n\
00112 time stamp\n\
00113 #Frame this data is associated with\n\
00114 # 0: no frame\n\
00115 # 1: global frame\n\
00116 string frame_id\n\
00117 \n\
00118 ================================================================================\n\
00119 MSG: ee_cart_imped_msgs/StiffPoint\n\
00120 Header header\n\
00121 #The pose to achieve in the stiffness directions\n\
00122 geometry_msgs/Pose pose\n\
00123 #Wrench or stiffness for each dimension\n\
00124 geometry_msgs/Wrench wrench_or_stiffness\n\
00125 #The following are True if a force/torque should\n\
00126 #be exerted and False if a stiffness should be used.\n\
00127 bool isForceX\n\
00128 bool isForceY\n\
00129 bool isForceZ\n\
00130 bool isTorqueX\n\
00131 bool isTorqueY\n\
00132 bool isTorqueZ\n\
00133 #The time from the start of the trajectory that this\n\
00134 #point should be achieved.\n\
00135 duration time_from_start\n\
00136 ================================================================================\n\
00137 MSG: geometry_msgs/Pose\n\
00138 # A representation of pose in free space, composed of postion and orientation. \n\
00139 Point position\n\
00140 Quaternion orientation\n\
00141 \n\
00142 ================================================================================\n\
00143 MSG: geometry_msgs/Point\n\
00144 # This contains the position of a point in free space\n\
00145 float64 x\n\
00146 float64 y\n\
00147 float64 z\n\
00148 \n\
00149 ================================================================================\n\
00150 MSG: geometry_msgs/Quaternion\n\
00151 # This represents an orientation in free space in quaternion form.\n\
00152 \n\
00153 float64 x\n\
00154 float64 y\n\
00155 float64 z\n\
00156 float64 w\n\
00157 \n\
00158 ================================================================================\n\
00159 MSG: geometry_msgs/Wrench\n\
00160 # This represents force in free space, seperated into \n\
00161 # it's linear and angular parts. \n\
00162 Vector3 force\n\
00163 Vector3 torque\n\
00164 \n\
00165 ================================================================================\n\
00166 MSG: geometry_msgs/Vector3\n\
00167 # This represents a vector in free space. \n\
00168 \n\
00169 float64 x\n\
00170 float64 y\n\
00171 float64 z\n\
00172 ";
00173 }
00174
00175 static const char* value(const ::ee_cart_imped_msgs::EECartImpedGoal_<ContainerAllocator> &) { return value(); }
00176 };
00177
00178 template<class ContainerAllocator> struct HasHeader< ::ee_cart_imped_msgs::EECartImpedGoal_<ContainerAllocator> > : public TrueType {};
00179 template<class ContainerAllocator> struct HasHeader< const ::ee_cart_imped_msgs::EECartImpedGoal_<ContainerAllocator> > : public TrueType {};
00180 }
00181 }
00182
00183 namespace ros
00184 {
00185 namespace serialization
00186 {
00187
00188 template<class ContainerAllocator> struct Serializer< ::ee_cart_imped_msgs::EECartImpedGoal_<ContainerAllocator> >
00189 {
00190 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00191 {
00192 stream.next(m.header);
00193 stream.next(m.trajectory);
00194 }
00195
00196 ROS_DECLARE_ALLINONE_SERIALIZER;
00197 };
00198 }
00199 }
00200
00201 namespace ros
00202 {
00203 namespace message_operations
00204 {
00205
00206 template<class ContainerAllocator>
00207 struct Printer< ::ee_cart_imped_msgs::EECartImpedGoal_<ContainerAllocator> >
00208 {
00209 template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::ee_cart_imped_msgs::EECartImpedGoal_<ContainerAllocator> & v)
00210 {
00211 s << indent << "header: ";
00212 s << std::endl;
00213 Printer< ::std_msgs::Header_<ContainerAllocator> >::stream(s, indent + " ", v.header);
00214 s << indent << "trajectory[]" << std::endl;
00215 for (size_t i = 0; i < v.trajectory.size(); ++i)
00216 {
00217 s << indent << " trajectory[" << i << "]: ";
00218 s << std::endl;
00219 s << indent;
00220 Printer< ::ee_cart_imped_msgs::StiffPoint_<ContainerAllocator> >::stream(s, indent + " ", v.trajectory[i]);
00221 }
00222 }
00223 };
00224
00225
00226 }
00227 }
00228
00229 #endif // EE_CART_IMPED_MSGS_MESSAGE_EECARTIMPEDGOAL_H
00230