hrl_haptic_manipulation_in_clutter_srvs: ServiceBasedMPC.h Source File

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00001 /* Auto-generated by genmsg_cpp for file /home/rosbuild/hudson/workspace/doc-fuerte-gt-ros-pkg/doc_stacks/2013-11-27_11-23-35.692702/hrl-haptic-manip/hrl_haptic_manipulation_in_clutter_srvs/srv/ServiceBasedMPC.srv */
00002 #ifndef HRL_HAPTIC_MANIPULATION_IN_CLUTTER_SRVS_SERVICE_SERVICEBASEDMPC_H
00003 #define HRL_HAPTIC_MANIPULATION_IN_CLUTTER_SRVS_SERVICE_SERVICEBASEDMPC_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 
00020 
00021 
00022 namespace hrl_haptic_manipulation_in_clutter_srvs
00023 {
00024 template <class ContainerAllocator>
00025 struct ServiceBasedMPCRequest_ {
00026   typedef ServiceBasedMPCRequest_<ContainerAllocator> Type;
00027 
00028   ServiceBasedMPCRequest_()
00029   : alpha(0.0)
00030   , beta(0.0)
00031   , gamma(0.0)
00032   , delta_x_d()
00033   , J()
00034   , desired_force_decrease()
00035   , x_0()
00036   , KP_t_KP()
00037   , B()
00038   , q_min()
00039   , q_max()
00040   , f_min()
00041   , f_max()
00042   , n_K_ci_J_ci()
00043   , n_K_ci_J_ci_max()
00044   , u_min()
00045   , u_max()
00046   , Q()
00047   {
00048   }
00049 
00050   ServiceBasedMPCRequest_(const ContainerAllocator& _alloc)
00051   : alpha(0.0)
00052   , beta(0.0)
00053   , gamma(0.0)
00054   , delta_x_d(_alloc)
00055   , J(_alloc)
00056   , desired_force_decrease(_alloc)
00057   , x_0(_alloc)
00058   , KP_t_KP(_alloc)
00059   , B(_alloc)
00060   , q_min(_alloc)
00061   , q_max(_alloc)
00062   , f_min(_alloc)
00063   , f_max(_alloc)
00064   , n_K_ci_J_ci(_alloc)
00065   , n_K_ci_J_ci_max(_alloc)
00066   , u_min(_alloc)
00067   , u_max(_alloc)
00068   , Q(_alloc)
00069   {
00070   }
00071 
00072   typedef double _alpha_type;
00073   double alpha;
00074 
00075   typedef double _beta_type;
00076   double beta;
00077 
00078   typedef double _gamma_type;
00079   double gamma;
00080 
00081   typedef std::vector<double, typename ContainerAllocator::template rebind<double>::other >  _delta_x_d_type;
00082   std::vector<double, typename ContainerAllocator::template rebind<double>::other >  delta_x_d;
00083 
00084   typedef std::vector<double, typename ContainerAllocator::template rebind<double>::other >  _J_type;
00085   std::vector<double, typename ContainerAllocator::template rebind<double>::other >  J;
00086 
00087   typedef std::vector<double, typename ContainerAllocator::template rebind<double>::other >  _desired_force_decrease_type;
00088   std::vector<double, typename ContainerAllocator::template rebind<double>::other >  desired_force_decrease;
00089 
00090   typedef std::vector<double, typename ContainerAllocator::template rebind<double>::other >  _x_0_type;
00091   std::vector<double, typename ContainerAllocator::template rebind<double>::other >  x_0;
00092 
00093   typedef std::vector<double, typename ContainerAllocator::template rebind<double>::other >  _KP_t_KP_type;
00094   std::vector<double, typename ContainerAllocator::template rebind<double>::other >  KP_t_KP;
00095 
00096   typedef std::vector<double, typename ContainerAllocator::template rebind<double>::other >  _B_type;
00097   std::vector<double, typename ContainerAllocator::template rebind<double>::other >  B;
00098 
00099   typedef std::vector<double, typename ContainerAllocator::template rebind<double>::other >  _q_min_type;
00100   std::vector<double, typename ContainerAllocator::template rebind<double>::other >  q_min;
00101 
00102   typedef std::vector<double, typename ContainerAllocator::template rebind<double>::other >  _q_max_type;
00103   std::vector<double, typename ContainerAllocator::template rebind<double>::other >  q_max;
00104 
00105   typedef std::vector<double, typename ContainerAllocator::template rebind<double>::other >  _f_min_type;
00106   std::vector<double, typename ContainerAllocator::template rebind<double>::other >  f_min;
00107 
00108   typedef std::vector<double, typename ContainerAllocator::template rebind<double>::other >  _f_max_type;
00109   std::vector<double, typename ContainerAllocator::template rebind<double>::other >  f_max;
00110 
00111   typedef std::vector<double, typename ContainerAllocator::template rebind<double>::other >  _n_K_ci_J_ci_type;
00112   std::vector<double, typename ContainerAllocator::template rebind<double>::other >  n_K_ci_J_ci;
00113 
00114   typedef std::vector<double, typename ContainerAllocator::template rebind<double>::other >  _n_K_ci_J_ci_max_type;
00115   std::vector<double, typename ContainerAllocator::template rebind<double>::other >  n_K_ci_J_ci_max;
00116 
00117   typedef std::vector<double, typename ContainerAllocator::template rebind<double>::other >  _u_min_type;
00118   std::vector<double, typename ContainerAllocator::template rebind<double>::other >  u_min;
00119 
00120   typedef std::vector<double, typename ContainerAllocator::template rebind<double>::other >  _u_max_type;
00121   std::vector<double, typename ContainerAllocator::template rebind<double>::other >  u_max;
00122 
00123   typedef std::vector<double, typename ContainerAllocator::template rebind<double>::other >  _Q_type;
00124   std::vector<double, typename ContainerAllocator::template rebind<double>::other >  Q;
00125 
00126 
00127   typedef boost::shared_ptr< ::hrl_haptic_manipulation_in_clutter_srvs::ServiceBasedMPCRequest_<ContainerAllocator> > Ptr;
00128   typedef boost::shared_ptr< ::hrl_haptic_manipulation_in_clutter_srvs::ServiceBasedMPCRequest_<ContainerAllocator>  const> ConstPtr;
00129   boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00130 }; // struct ServiceBasedMPCRequest
00131 typedef  ::hrl_haptic_manipulation_in_clutter_srvs::ServiceBasedMPCRequest_<std::allocator<void> > ServiceBasedMPCRequest;
00132 
00133 typedef boost::shared_ptr< ::hrl_haptic_manipulation_in_clutter_srvs::ServiceBasedMPCRequest> ServiceBasedMPCRequestPtr;
00134 typedef boost::shared_ptr< ::hrl_haptic_manipulation_in_clutter_srvs::ServiceBasedMPCRequest const> ServiceBasedMPCRequestConstPtr;
00135 
00136 
00137 template <class ContainerAllocator>
00138 struct ServiceBasedMPCResponse_ {
00139   typedef ServiceBasedMPCResponse_<ContainerAllocator> Type;
00140 
00141   ServiceBasedMPCResponse_()
00142   : delta_phi_opt()
00143   , predicted_joint_angles()
00144   {
00145     delta_phi_opt.assign(0.0);
00146     predicted_joint_angles.assign(0.0);
00147   }
00148 
00149   ServiceBasedMPCResponse_(const ContainerAllocator& _alloc)
00150   : delta_phi_opt()
00151   , predicted_joint_angles()
00152   {
00153     delta_phi_opt.assign(0.0);
00154     predicted_joint_angles.assign(0.0);
00155   }
00156 
00157   typedef boost::array<double, 7>  _delta_phi_opt_type;
00158   boost::array<double, 7>  delta_phi_opt;
00159 
00160   typedef boost::array<double, 7>  _predicted_joint_angles_type;
00161   boost::array<double, 7>  predicted_joint_angles;
00162 
00163 
00164   typedef boost::shared_ptr< ::hrl_haptic_manipulation_in_clutter_srvs::ServiceBasedMPCResponse_<ContainerAllocator> > Ptr;
00165   typedef boost::shared_ptr< ::hrl_haptic_manipulation_in_clutter_srvs::ServiceBasedMPCResponse_<ContainerAllocator>  const> ConstPtr;
00166   boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00167 }; // struct ServiceBasedMPCResponse
00168 typedef  ::hrl_haptic_manipulation_in_clutter_srvs::ServiceBasedMPCResponse_<std::allocator<void> > ServiceBasedMPCResponse;
00169 
00170 typedef boost::shared_ptr< ::hrl_haptic_manipulation_in_clutter_srvs::ServiceBasedMPCResponse> ServiceBasedMPCResponsePtr;
00171 typedef boost::shared_ptr< ::hrl_haptic_manipulation_in_clutter_srvs::ServiceBasedMPCResponse const> ServiceBasedMPCResponseConstPtr;
00172 
00173 struct ServiceBasedMPC
00174 {
00175 
00176 typedef ServiceBasedMPCRequest Request;
00177 typedef ServiceBasedMPCResponse Response;
00178 Request request;
00179 Response response;
00180 
00181 typedef Request RequestType;
00182 typedef Response ResponseType;
00183 }; // struct ServiceBasedMPC
00184 } // namespace hrl_haptic_manipulation_in_clutter_srvs
00185 
00186 namespace ros
00187 {
00188 namespace message_traits
00189 {
00190 template<class ContainerAllocator> struct IsMessage< ::hrl_haptic_manipulation_in_clutter_srvs::ServiceBasedMPCRequest_<ContainerAllocator> > : public TrueType {};
00191 template<class ContainerAllocator> struct IsMessage< ::hrl_haptic_manipulation_in_clutter_srvs::ServiceBasedMPCRequest_<ContainerAllocator>  const> : public TrueType {};
00192 template<class ContainerAllocator>
00193 struct MD5Sum< ::hrl_haptic_manipulation_in_clutter_srvs::ServiceBasedMPCRequest_<ContainerAllocator> > {
00194   static const char* value() 
00195   {
00196     return "ff2d5410ce473a73156a5162cbdc78d0";
00197   }
00198 
00199   static const char* value(const  ::hrl_haptic_manipulation_in_clutter_srvs::ServiceBasedMPCRequest_<ContainerAllocator> &) { return value(); } 
00200   static const uint64_t static_value1 = 0xff2d5410ce473a73ULL;
00201   static const uint64_t static_value2 = 0x156a5162cbdc78d0ULL;
00202 };
00203 
00204 template<class ContainerAllocator>
00205 struct DataType< ::hrl_haptic_manipulation_in_clutter_srvs::ServiceBasedMPCRequest_<ContainerAllocator> > {
00206   static const char* value() 
00207   {
00208     return "hrl_haptic_manipulation_in_clutter_srvs/ServiceBasedMPCRequest";
00209   }
00210 
00211   static const char* value(const  ::hrl_haptic_manipulation_in_clutter_srvs::ServiceBasedMPCRequest_<ContainerAllocator> &) { return value(); } 
00212 };
00213 
00214 template<class ContainerAllocator>
00215 struct Definition< ::hrl_haptic_manipulation_in_clutter_srvs::ServiceBasedMPCRequest_<ContainerAllocator> > {
00216   static const char* value() 
00217   {
00218     return "float64 alpha\n\
00219 float64 beta\n\
00220 float64 gamma\n\
00221 float64[] delta_x_d\n\
00222 float64[] J\n\
00223 float64[] desired_force_decrease\n\
00224 float64[] x_0\n\
00225 float64[] KP_t_KP\n\
00226 float64[] B\n\
00227 float64[] q_min\n\
00228 float64[] q_max\n\
00229 float64[] f_min\n\
00230 float64[] f_max\n\
00231 float64[] n_K_ci_J_ci\n\
00232 float64[] n_K_ci_J_ci_max\n\
00233 float64[] u_min\n\
00234 float64[] u_max\n\
00235 float64[] Q\n\
00236 \n\
00237 ";
00238   }
00239 
00240   static const char* value(const  ::hrl_haptic_manipulation_in_clutter_srvs::ServiceBasedMPCRequest_<ContainerAllocator> &) { return value(); } 
00241 };
00242 
00243 } // namespace message_traits
00244 } // namespace ros
00245 
00246 
00247 namespace ros
00248 {
00249 namespace message_traits
00250 {
00251 template<class ContainerAllocator> struct IsMessage< ::hrl_haptic_manipulation_in_clutter_srvs::ServiceBasedMPCResponse_<ContainerAllocator> > : public TrueType {};
00252 template<class ContainerAllocator> struct IsMessage< ::hrl_haptic_manipulation_in_clutter_srvs::ServiceBasedMPCResponse_<ContainerAllocator>  const> : public TrueType {};
00253 template<class ContainerAllocator>
00254 struct MD5Sum< ::hrl_haptic_manipulation_in_clutter_srvs::ServiceBasedMPCResponse_<ContainerAllocator> > {
00255   static const char* value() 
00256   {
00257     return "00475d6b4b4fc3a6b932afa7b8502db3";
00258   }
00259 
00260   static const char* value(const  ::hrl_haptic_manipulation_in_clutter_srvs::ServiceBasedMPCResponse_<ContainerAllocator> &) { return value(); } 
00261   static const uint64_t static_value1 = 0x00475d6b4b4fc3a6ULL;
00262   static const uint64_t static_value2 = 0xb932afa7b8502db3ULL;
00263 };
00264 
00265 template<class ContainerAllocator>
00266 struct DataType< ::hrl_haptic_manipulation_in_clutter_srvs::ServiceBasedMPCResponse_<ContainerAllocator> > {
00267   static const char* value() 
00268   {
00269     return "hrl_haptic_manipulation_in_clutter_srvs/ServiceBasedMPCResponse";
00270   }
00271 
00272   static const char* value(const  ::hrl_haptic_manipulation_in_clutter_srvs::ServiceBasedMPCResponse_<ContainerAllocator> &) { return value(); } 
00273 };
00274 
00275 template<class ContainerAllocator>
00276 struct Definition< ::hrl_haptic_manipulation_in_clutter_srvs::ServiceBasedMPCResponse_<ContainerAllocator> > {
00277   static const char* value() 
00278   {
00279     return "float64[7] delta_phi_opt\n\
00280 float64[7] predicted_joint_angles\n\
00281 \n\
00282 \n\
00283 \n\
00284 \n\
00285 \n\
00286 \n\
00287 ";
00288   }
00289 
00290   static const char* value(const  ::hrl_haptic_manipulation_in_clutter_srvs::ServiceBasedMPCResponse_<ContainerAllocator> &) { return value(); } 
00291 };
00292 
00293 template<class ContainerAllocator> struct IsFixedSize< ::hrl_haptic_manipulation_in_clutter_srvs::ServiceBasedMPCResponse_<ContainerAllocator> > : public TrueType {};
00294 } // namespace message_traits
00295 } // namespace ros
00296 
00297 namespace ros
00298 {
00299 namespace serialization
00300 {
00301 
00302 template<class ContainerAllocator> struct Serializer< ::hrl_haptic_manipulation_in_clutter_srvs::ServiceBasedMPCRequest_<ContainerAllocator> >
00303 {
00304   template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00305   {
00306     stream.next(m.alpha);
00307     stream.next(m.beta);
00308     stream.next(m.gamma);
00309     stream.next(m.delta_x_d);
00310     stream.next(m.J);
00311     stream.next(m.desired_force_decrease);
00312     stream.next(m.x_0);
00313     stream.next(m.KP_t_KP);
00314     stream.next(m.B);
00315     stream.next(m.q_min);
00316     stream.next(m.q_max);
00317     stream.next(m.f_min);
00318     stream.next(m.f_max);
00319     stream.next(m.n_K_ci_J_ci);
00320     stream.next(m.n_K_ci_J_ci_max);
00321     stream.next(m.u_min);
00322     stream.next(m.u_max);
00323     stream.next(m.Q);
00324   }
00325 
00326   ROS_DECLARE_ALLINONE_SERIALIZER;
00327 }; // struct ServiceBasedMPCRequest_
00328 } // namespace serialization
00329 } // namespace ros
00330 
00331 
00332 namespace ros
00333 {
00334 namespace serialization
00335 {
00336 
00337 template<class ContainerAllocator> struct Serializer< ::hrl_haptic_manipulation_in_clutter_srvs::ServiceBasedMPCResponse_<ContainerAllocator> >
00338 {
00339   template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00340   {
00341     stream.next(m.delta_phi_opt);
00342     stream.next(m.predicted_joint_angles);
00343   }
00344 
00345   ROS_DECLARE_ALLINONE_SERIALIZER;
00346 }; // struct ServiceBasedMPCResponse_
00347 } // namespace serialization
00348 } // namespace ros
00349 
00350 namespace ros
00351 {
00352 namespace service_traits
00353 {
00354 template<>
00355 struct MD5Sum<hrl_haptic_manipulation_in_clutter_srvs::ServiceBasedMPC> {
00356   static const char* value() 
00357   {
00358     return "67c7bceb584229e1de3a6ec4552d4994";
00359   }
00360 
00361   static const char* value(const hrl_haptic_manipulation_in_clutter_srvs::ServiceBasedMPC&) { return value(); } 
00362 };
00363 
00364 template<>
00365 struct DataType<hrl_haptic_manipulation_in_clutter_srvs::ServiceBasedMPC> {
00366   static const char* value() 
00367   {
00368     return "hrl_haptic_manipulation_in_clutter_srvs/ServiceBasedMPC";
00369   }
00370 
00371   static const char* value(const hrl_haptic_manipulation_in_clutter_srvs::ServiceBasedMPC&) { return value(); } 
00372 };
00373 
00374 template<class ContainerAllocator>
00375 struct MD5Sum<hrl_haptic_manipulation_in_clutter_srvs::ServiceBasedMPCRequest_<ContainerAllocator> > {
00376   static const char* value() 
00377   {
00378     return "67c7bceb584229e1de3a6ec4552d4994";
00379   }
00380 
00381   static const char* value(const hrl_haptic_manipulation_in_clutter_srvs::ServiceBasedMPCRequest_<ContainerAllocator> &) { return value(); } 
00382 };
00383 
00384 template<class ContainerAllocator>
00385 struct DataType<hrl_haptic_manipulation_in_clutter_srvs::ServiceBasedMPCRequest_<ContainerAllocator> > {
00386   static const char* value() 
00387   {
00388     return "hrl_haptic_manipulation_in_clutter_srvs/ServiceBasedMPC";
00389   }
00390 
00391   static const char* value(const hrl_haptic_manipulation_in_clutter_srvs::ServiceBasedMPCRequest_<ContainerAllocator> &) { return value(); } 
00392 };
00393 
00394 template<class ContainerAllocator>
00395 struct MD5Sum<hrl_haptic_manipulation_in_clutter_srvs::ServiceBasedMPCResponse_<ContainerAllocator> > {
00396   static const char* value() 
00397   {
00398     return "67c7bceb584229e1de3a6ec4552d4994";
00399   }
00400 
00401   static const char* value(const hrl_haptic_manipulation_in_clutter_srvs::ServiceBasedMPCResponse_<ContainerAllocator> &) { return value(); } 
00402 };
00403 
00404 template<class ContainerAllocator>
00405 struct DataType<hrl_haptic_manipulation_in_clutter_srvs::ServiceBasedMPCResponse_<ContainerAllocator> > {
00406   static const char* value() 
00407   {
00408     return "hrl_haptic_manipulation_in_clutter_srvs/ServiceBasedMPC";
00409   }
00410 
00411   static const char* value(const hrl_haptic_manipulation_in_clutter_srvs::ServiceBasedMPCResponse_<ContainerAllocator> &) { return value(); } 
00412 };
00413 
00414 } // namespace service_traits
00415 } // namespace ros
00416 
00417 #endif // HRL_HAPTIC_MANIPULATION_IN_CLUTTER_SRVS_SERVICE_SERVICEBASEDMPC_H
00418