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00002 #ifndef LWR_FRI_MESSAGE_CARTESIANIMPEDANCE_H
00003 #define LWR_FRI_MESSAGE_CARTESIANIMPEDANCE_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 "geometry_msgs/Twist.h"
00018 #include "geometry_msgs/Twist.h"
00019
00020 namespace lwr_fri
00021 {
00022 template <class ContainerAllocator>
00023 struct CartesianImpedance_ {
00024 typedef CartesianImpedance_<ContainerAllocator> Type;
00025
00026 CartesianImpedance_()
00027 : stiffness()
00028 , damping()
00029 {
00030 }
00031
00032 CartesianImpedance_(const ContainerAllocator& _alloc)
00033 : stiffness(_alloc)
00034 , damping(_alloc)
00035 {
00036 }
00037
00038 typedef ::geometry_msgs::Twist_<ContainerAllocator> _stiffness_type;
00039 ::geometry_msgs::Twist_<ContainerAllocator> stiffness;
00040
00041 typedef ::geometry_msgs::Twist_<ContainerAllocator> _damping_type;
00042 ::geometry_msgs::Twist_<ContainerAllocator> damping;
00043
00044
00045 typedef boost::shared_ptr< ::lwr_fri::CartesianImpedance_<ContainerAllocator> > Ptr;
00046 typedef boost::shared_ptr< ::lwr_fri::CartesianImpedance_<ContainerAllocator> const> ConstPtr;
00047 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00048 };
00049 typedef ::lwr_fri::CartesianImpedance_<std::allocator<void> > CartesianImpedance;
00050
00051 typedef boost::shared_ptr< ::lwr_fri::CartesianImpedance> CartesianImpedancePtr;
00052 typedef boost::shared_ptr< ::lwr_fri::CartesianImpedance const> CartesianImpedanceConstPtr;
00053
00054
00055 template<typename ContainerAllocator>
00056 std::ostream& operator<<(std::ostream& s, const ::lwr_fri::CartesianImpedance_<ContainerAllocator> & v)
00057 {
00058 ros::message_operations::Printer< ::lwr_fri::CartesianImpedance_<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< ::lwr_fri::CartesianImpedance_<ContainerAllocator> > : public TrueType {};
00068 template<class ContainerAllocator> struct IsMessage< ::lwr_fri::CartesianImpedance_<ContainerAllocator> const> : public TrueType {};
00069 template<class ContainerAllocator>
00070 struct MD5Sum< ::lwr_fri::CartesianImpedance_<ContainerAllocator> > {
00071 static const char* value()
00072 {
00073 return "bd4dbca8475cfa8e858db7599bb64f48";
00074 }
00075
00076 static const char* value(const ::lwr_fri::CartesianImpedance_<ContainerAllocator> &) { return value(); }
00077 static const uint64_t static_value1 = 0xbd4dbca8475cfa8eULL;
00078 static const uint64_t static_value2 = 0x858db7599bb64f48ULL;
00079 };
00080
00081 template<class ContainerAllocator>
00082 struct DataType< ::lwr_fri::CartesianImpedance_<ContainerAllocator> > {
00083 static const char* value()
00084 {
00085 return "lwr_fri/CartesianImpedance";
00086 }
00087
00088 static const char* value(const ::lwr_fri::CartesianImpedance_<ContainerAllocator> &) { return value(); }
00089 };
00090
00091 template<class ContainerAllocator>
00092 struct Definition< ::lwr_fri::CartesianImpedance_<ContainerAllocator> > {
00093 static const char* value()
00094 {
00095 return "geometry_msgs/Twist stiffness\n\
00096 geometry_msgs/Twist damping\n\
00097 ================================================================================\n\
00098 MSG: geometry_msgs/Twist\n\
00099 # This expresses velocity in free space broken into it's linear and angular parts. \n\
00100 Vector3 linear\n\
00101 Vector3 angular\n\
00102 \n\
00103 ================================================================================\n\
00104 MSG: geometry_msgs/Vector3\n\
00105 # This represents a vector in free space. \n\
00106 \n\
00107 float64 x\n\
00108 float64 y\n\
00109 float64 z\n\
00110 ";
00111 }
00112
00113 static const char* value(const ::lwr_fri::CartesianImpedance_<ContainerAllocator> &) { return value(); }
00114 };
00115
00116 template<class ContainerAllocator> struct IsFixedSize< ::lwr_fri::CartesianImpedance_<ContainerAllocator> > : public TrueType {};
00117 }
00118 }
00119
00120 namespace ros
00121 {
00122 namespace serialization
00123 {
00124
00125 template<class ContainerAllocator> struct Serializer< ::lwr_fri::CartesianImpedance_<ContainerAllocator> >
00126 {
00127 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00128 {
00129 stream.next(m.stiffness);
00130 stream.next(m.damping);
00131 }
00132
00133 ROS_DECLARE_ALLINONE_SERIALIZER;
00134 };
00135 }
00136 }
00137
00138 namespace ros
00139 {
00140 namespace message_operations
00141 {
00142
00143 template<class ContainerAllocator>
00144 struct Printer< ::lwr_fri::CartesianImpedance_<ContainerAllocator> >
00145 {
00146 template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::lwr_fri::CartesianImpedance_<ContainerAllocator> & v)
00147 {
00148 s << indent << "stiffness: ";
00149 s << std::endl;
00150 Printer< ::geometry_msgs::Twist_<ContainerAllocator> >::stream(s, indent + " ", v.stiffness);
00151 s << indent << "damping: ";
00152 s << std::endl;
00153 Printer< ::geometry_msgs::Twist_<ContainerAllocator> >::stream(s, indent + " ", v.damping);
00154 }
00155 };
00156
00157
00158 }
00159 }
00160
00161 #endif // LWR_FRI_MESSAGE_CARTESIANIMPEDANCE_H
00162