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00002 #ifndef EE_CART_IMPED_MSGS_MESSAGE_EECARTIMPEDRESULT_H
00003 #define EE_CART_IMPED_MSGS_MESSAGE_EECARTIMPEDRESULT_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 #include "geometry_msgs/Pose.h"
00020
00021 namespace ee_cart_imped_msgs
00022 {
00023 template <class ContainerAllocator>
00024 struct EECartImpedResult_ {
00025 typedef EECartImpedResult_<ContainerAllocator> Type;
00026
00027 EECartImpedResult_()
00028 : header()
00029 , success(false)
00030 , desired()
00031 , actual_pose()
00032 , effort_sq_error(0.0)
00033 {
00034 }
00035
00036 EECartImpedResult_(const ContainerAllocator& _alloc)
00037 : header(_alloc)
00038 , success(false)
00039 , desired(_alloc)
00040 , actual_pose(_alloc)
00041 , effort_sq_error(0.0)
00042 {
00043 }
00044
00045 typedef ::std_msgs::Header_<ContainerAllocator> _header_type;
00046 ::std_msgs::Header_<ContainerAllocator> header;
00047
00048 typedef uint8_t _success_type;
00049 uint8_t success;
00050
00051 typedef ::ee_cart_imped_msgs::StiffPoint_<ContainerAllocator> _desired_type;
00052 ::ee_cart_imped_msgs::StiffPoint_<ContainerAllocator> desired;
00053
00054 typedef ::geometry_msgs::Pose_<ContainerAllocator> _actual_pose_type;
00055 ::geometry_msgs::Pose_<ContainerAllocator> actual_pose;
00056
00057 typedef double _effort_sq_error_type;
00058 double effort_sq_error;
00059
00060
00061 typedef boost::shared_ptr< ::ee_cart_imped_msgs::EECartImpedResult_<ContainerAllocator> > Ptr;
00062 typedef boost::shared_ptr< ::ee_cart_imped_msgs::EECartImpedResult_<ContainerAllocator> const> ConstPtr;
00063 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00064 };
00065 typedef ::ee_cart_imped_msgs::EECartImpedResult_<std::allocator<void> > EECartImpedResult;
00066
00067 typedef boost::shared_ptr< ::ee_cart_imped_msgs::EECartImpedResult> EECartImpedResultPtr;
00068 typedef boost::shared_ptr< ::ee_cart_imped_msgs::EECartImpedResult const> EECartImpedResultConstPtr;
00069
00070
00071 template<typename ContainerAllocator>
00072 std::ostream& operator<<(std::ostream& s, const ::ee_cart_imped_msgs::EECartImpedResult_<ContainerAllocator> & v)
00073 {
00074 ros::message_operations::Printer< ::ee_cart_imped_msgs::EECartImpedResult_<ContainerAllocator> >::stream(s, "", v);
00075 return s;}
00076
00077 }
00078
00079 namespace ros
00080 {
00081 namespace message_traits
00082 {
00083 template<class ContainerAllocator> struct IsMessage< ::ee_cart_imped_msgs::EECartImpedResult_<ContainerAllocator> > : public TrueType {};
00084 template<class ContainerAllocator> struct IsMessage< ::ee_cart_imped_msgs::EECartImpedResult_<ContainerAllocator> const> : public TrueType {};
00085 template<class ContainerAllocator>
00086 struct MD5Sum< ::ee_cart_imped_msgs::EECartImpedResult_<ContainerAllocator> > {
00087 static const char* value()
00088 {
00089 return "947387aff8267ef3d7c884c07783eb7d";
00090 }
00091
00092 static const char* value(const ::ee_cart_imped_msgs::EECartImpedResult_<ContainerAllocator> &) { return value(); }
00093 static const uint64_t static_value1 = 0x947387aff8267ef3ULL;
00094 static const uint64_t static_value2 = 0xd7c884c07783eb7dULL;
00095 };
00096
00097 template<class ContainerAllocator>
00098 struct DataType< ::ee_cart_imped_msgs::EECartImpedResult_<ContainerAllocator> > {
00099 static const char* value()
00100 {
00101 return "ee_cart_imped_msgs/EECartImpedResult";
00102 }
00103
00104 static const char* value(const ::ee_cart_imped_msgs::EECartImpedResult_<ContainerAllocator> &) { return value(); }
00105 };
00106
00107 template<class ContainerAllocator>
00108 struct Definition< ::ee_cart_imped_msgs::EECartImpedResult_<ContainerAllocator> > {
00109 static const char* value()
00110 {
00111 return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00112 #result definition\n\
00113 #whether it was successful\n\
00114 #the pose and force we ended with\n\
00115 Header header\n\
00116 bool success\n\
00117 ee_cart_imped_msgs/StiffPoint desired\n\
00118 geometry_msgs/Pose actual_pose\n\
00119 float64 effort_sq_error\n\
00120 \n\
00121 ================================================================================\n\
00122 MSG: std_msgs/Header\n\
00123 # Standard metadata for higher-level stamped data types.\n\
00124 # This is generally used to communicate timestamped data \n\
00125 # in a particular coordinate frame.\n\
00126 # \n\
00127 # sequence ID: consecutively increasing ID \n\
00128 uint32 seq\n\
00129 #Two-integer timestamp that is expressed as:\n\
00130 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00131 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00132 # time-handling sugar is provided by the client library\n\
00133 time stamp\n\
00134 #Frame this data is associated with\n\
00135 # 0: no frame\n\
00136 # 1: global frame\n\
00137 string frame_id\n\
00138 \n\
00139 ================================================================================\n\
00140 MSG: ee_cart_imped_msgs/StiffPoint\n\
00141 Header header\n\
00142 #The pose to achieve in the stiffness directions\n\
00143 geometry_msgs/Pose pose\n\
00144 #Wrench or stiffness for each dimension\n\
00145 geometry_msgs/Wrench wrench_or_stiffness\n\
00146 #The following are True if a force/torque should\n\
00147 #be exerted and False if a stiffness should be used.\n\
00148 bool isForceX\n\
00149 bool isForceY\n\
00150 bool isForceZ\n\
00151 bool isTorqueX\n\
00152 bool isTorqueY\n\
00153 bool isTorqueZ\n\
00154 #The time from the start of the trajectory that this\n\
00155 #point should be achieved.\n\
00156 duration time_from_start\n\
00157 ================================================================================\n\
00158 MSG: geometry_msgs/Pose\n\
00159 # A representation of pose in free space, composed of postion and orientation. \n\
00160 Point position\n\
00161 Quaternion orientation\n\
00162 \n\
00163 ================================================================================\n\
00164 MSG: geometry_msgs/Point\n\
00165 # This contains the position of a point in free space\n\
00166 float64 x\n\
00167 float64 y\n\
00168 float64 z\n\
00169 \n\
00170 ================================================================================\n\
00171 MSG: geometry_msgs/Quaternion\n\
00172 # This represents an orientation in free space in quaternion form.\n\
00173 \n\
00174 float64 x\n\
00175 float64 y\n\
00176 float64 z\n\
00177 float64 w\n\
00178 \n\
00179 ================================================================================\n\
00180 MSG: geometry_msgs/Wrench\n\
00181 # This represents force in free space, seperated into \n\
00182 # it's linear and angular parts. \n\
00183 Vector3 force\n\
00184 Vector3 torque\n\
00185 \n\
00186 ================================================================================\n\
00187 MSG: geometry_msgs/Vector3\n\
00188 # This represents a vector in free space. \n\
00189 \n\
00190 float64 x\n\
00191 float64 y\n\
00192 float64 z\n\
00193 ";
00194 }
00195
00196 static const char* value(const ::ee_cart_imped_msgs::EECartImpedResult_<ContainerAllocator> &) { return value(); }
00197 };
00198
00199 template<class ContainerAllocator> struct HasHeader< ::ee_cart_imped_msgs::EECartImpedResult_<ContainerAllocator> > : public TrueType {};
00200 template<class ContainerAllocator> struct HasHeader< const ::ee_cart_imped_msgs::EECartImpedResult_<ContainerAllocator> > : public TrueType {};
00201 }
00202 }
00203
00204 namespace ros
00205 {
00206 namespace serialization
00207 {
00208
00209 template<class ContainerAllocator> struct Serializer< ::ee_cart_imped_msgs::EECartImpedResult_<ContainerAllocator> >
00210 {
00211 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00212 {
00213 stream.next(m.header);
00214 stream.next(m.success);
00215 stream.next(m.desired);
00216 stream.next(m.actual_pose);
00217 stream.next(m.effort_sq_error);
00218 }
00219
00220 ROS_DECLARE_ALLINONE_SERIALIZER;
00221 };
00222 }
00223 }
00224
00225 namespace ros
00226 {
00227 namespace message_operations
00228 {
00229
00230 template<class ContainerAllocator>
00231 struct Printer< ::ee_cart_imped_msgs::EECartImpedResult_<ContainerAllocator> >
00232 {
00233 template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::ee_cart_imped_msgs::EECartImpedResult_<ContainerAllocator> & v)
00234 {
00235 s << indent << "header: ";
00236 s << std::endl;
00237 Printer< ::std_msgs::Header_<ContainerAllocator> >::stream(s, indent + " ", v.header);
00238 s << indent << "success: ";
00239 Printer<uint8_t>::stream(s, indent + " ", v.success);
00240 s << indent << "desired: ";
00241 s << std::endl;
00242 Printer< ::ee_cart_imped_msgs::StiffPoint_<ContainerAllocator> >::stream(s, indent + " ", v.desired);
00243 s << indent << "actual_pose: ";
00244 s << std::endl;
00245 Printer< ::geometry_msgs::Pose_<ContainerAllocator> >::stream(s, indent + " ", v.actual_pose);
00246 s << indent << "effort_sq_error: ";
00247 Printer<double>::stream(s, indent + " ", v.effort_sq_error);
00248 }
00249 };
00250
00251
00252 }
00253 }
00254
00255 #endif // EE_CART_IMPED_MSGS_MESSAGE_EECARTIMPEDRESULT_H
00256