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00002 #ifndef LWR_FRI_MESSAGE_FRIJOINTIMPEDANCE_H
00003 #define LWR_FRI_MESSAGE_FRIJOINTIMPEDANCE_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
00018 namespace lwr_fri
00019 {
00020 template <class ContainerAllocator>
00021 struct FriJointImpedance_ {
00022 typedef FriJointImpedance_<ContainerAllocator> Type;
00023
00024 FriJointImpedance_()
00025 : stiffness()
00026 , damping()
00027 {
00028 stiffness.assign(0.0);
00029 damping.assign(0.0);
00030 }
00031
00032 FriJointImpedance_(const ContainerAllocator& _alloc)
00033 : stiffness()
00034 , damping()
00035 {
00036 stiffness.assign(0.0);
00037 damping.assign(0.0);
00038 }
00039
00040 typedef boost::array<float, 7> _stiffness_type;
00041 boost::array<float, 7> stiffness;
00042
00043 typedef boost::array<float, 7> _damping_type;
00044 boost::array<float, 7> damping;
00045
00046
00047 typedef boost::shared_ptr< ::lwr_fri::FriJointImpedance_<ContainerAllocator> > Ptr;
00048 typedef boost::shared_ptr< ::lwr_fri::FriJointImpedance_<ContainerAllocator> const> ConstPtr;
00049 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00050 };
00051 typedef ::lwr_fri::FriJointImpedance_<std::allocator<void> > FriJointImpedance;
00052
00053 typedef boost::shared_ptr< ::lwr_fri::FriJointImpedance> FriJointImpedancePtr;
00054 typedef boost::shared_ptr< ::lwr_fri::FriJointImpedance const> FriJointImpedanceConstPtr;
00055
00056
00057 template<typename ContainerAllocator>
00058 std::ostream& operator<<(std::ostream& s, const ::lwr_fri::FriJointImpedance_<ContainerAllocator> & v)
00059 {
00060 ros::message_operations::Printer< ::lwr_fri::FriJointImpedance_<ContainerAllocator> >::stream(s, "", v);
00061 return s;}
00062
00063 }
00064
00065 namespace ros
00066 {
00067 namespace message_traits
00068 {
00069 template<class ContainerAllocator> struct IsMessage< ::lwr_fri::FriJointImpedance_<ContainerAllocator> > : public TrueType {};
00070 template<class ContainerAllocator> struct IsMessage< ::lwr_fri::FriJointImpedance_<ContainerAllocator> const> : public TrueType {};
00071 template<class ContainerAllocator>
00072 struct MD5Sum< ::lwr_fri::FriJointImpedance_<ContainerAllocator> > {
00073 static const char* value()
00074 {
00075 return "0d99cffe99f4e45e313ffa6bb7c0de4e";
00076 }
00077
00078 static const char* value(const ::lwr_fri::FriJointImpedance_<ContainerAllocator> &) { return value(); }
00079 static const uint64_t static_value1 = 0x0d99cffe99f4e45eULL;
00080 static const uint64_t static_value2 = 0x313ffa6bb7c0de4eULL;
00081 };
00082
00083 template<class ContainerAllocator>
00084 struct DataType< ::lwr_fri::FriJointImpedance_<ContainerAllocator> > {
00085 static const char* value()
00086 {
00087 return "lwr_fri/FriJointImpedance";
00088 }
00089
00090 static const char* value(const ::lwr_fri::FriJointImpedance_<ContainerAllocator> &) { return value(); }
00091 };
00092
00093 template<class ContainerAllocator>
00094 struct Definition< ::lwr_fri::FriJointImpedance_<ContainerAllocator> > {
00095 static const char* value()
00096 {
00097 return "float32[7] stiffness\n\
00098 float32[7] damping\n\
00099 ";
00100 }
00101
00102 static const char* value(const ::lwr_fri::FriJointImpedance_<ContainerAllocator> &) { return value(); }
00103 };
00104
00105 template<class ContainerAllocator> struct IsFixedSize< ::lwr_fri::FriJointImpedance_<ContainerAllocator> > : public TrueType {};
00106 }
00107 }
00108
00109 namespace ros
00110 {
00111 namespace serialization
00112 {
00113
00114 template<class ContainerAllocator> struct Serializer< ::lwr_fri::FriJointImpedance_<ContainerAllocator> >
00115 {
00116 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00117 {
00118 stream.next(m.stiffness);
00119 stream.next(m.damping);
00120 }
00121
00122 ROS_DECLARE_ALLINONE_SERIALIZER;
00123 };
00124 }
00125 }
00126
00127 namespace ros
00128 {
00129 namespace message_operations
00130 {
00131
00132 template<class ContainerAllocator>
00133 struct Printer< ::lwr_fri::FriJointImpedance_<ContainerAllocator> >
00134 {
00135 template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::lwr_fri::FriJointImpedance_<ContainerAllocator> & v)
00136 {
00137 s << indent << "stiffness[]" << std::endl;
00138 for (size_t i = 0; i < v.stiffness.size(); ++i)
00139 {
00140 s << indent << " stiffness[" << i << "]: ";
00141 Printer<float>::stream(s, indent + " ", v.stiffness[i]);
00142 }
00143 s << indent << "damping[]" << std::endl;
00144 for (size_t i = 0; i < v.damping.size(); ++i)
00145 {
00146 s << indent << " damping[" << i << "]: ";
00147 Printer<float>::stream(s, indent + " ", v.damping[i]);
00148 }
00149 }
00150 };
00151
00152
00153 }
00154 }
00155
00156 #endif // LWR_FRI_MESSAGE_FRIJOINTIMPEDANCE_H
00157