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00002 #ifndef LWR_FRI_MESSAGE_FRIROBOTJNTDATA_H
00003 #define LWR_FRI_MESSAGE_FRIROBOTJNTDATA_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 FriRobotJntData_ {
00022 typedef FriRobotJntData_<ContainerAllocator> Type;
00023
00024 FriRobotJntData_()
00025 : msrJntPos()
00026 , cmdJntPos()
00027 , cmdJntPosFriOffset()
00028 , msrJntTrq()
00029 , estExtJntTrq()
00030 , gravity()
00031 {
00032 msrJntPos.assign(0.0);
00033 cmdJntPos.assign(0.0);
00034 cmdJntPosFriOffset.assign(0.0);
00035 msrJntTrq.assign(0.0);
00036 estExtJntTrq.assign(0.0);
00037 gravity.assign(0.0);
00038 }
00039
00040 FriRobotJntData_(const ContainerAllocator& _alloc)
00041 : msrJntPos()
00042 , cmdJntPos()
00043 , cmdJntPosFriOffset()
00044 , msrJntTrq()
00045 , estExtJntTrq()
00046 , gravity()
00047 {
00048 msrJntPos.assign(0.0);
00049 cmdJntPos.assign(0.0);
00050 cmdJntPosFriOffset.assign(0.0);
00051 msrJntTrq.assign(0.0);
00052 estExtJntTrq.assign(0.0);
00053 gravity.assign(0.0);
00054 }
00055
00056 typedef boost::array<float, 7> _msrJntPos_type;
00057 boost::array<float, 7> msrJntPos;
00058
00059 typedef boost::array<float, 7> _cmdJntPos_type;
00060 boost::array<float, 7> cmdJntPos;
00061
00062 typedef boost::array<float, 7> _cmdJntPosFriOffset_type;
00063 boost::array<float, 7> cmdJntPosFriOffset;
00064
00065 typedef boost::array<float, 7> _msrJntTrq_type;
00066 boost::array<float, 7> msrJntTrq;
00067
00068 typedef boost::array<float, 7> _estExtJntTrq_type;
00069 boost::array<float, 7> estExtJntTrq;
00070
00071 typedef boost::array<float, 7> _gravity_type;
00072 boost::array<float, 7> gravity;
00073
00074
00075 typedef boost::shared_ptr< ::lwr_fri::FriRobotJntData_<ContainerAllocator> > Ptr;
00076 typedef boost::shared_ptr< ::lwr_fri::FriRobotJntData_<ContainerAllocator> const> ConstPtr;
00077 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00078 };
00079 typedef ::lwr_fri::FriRobotJntData_<std::allocator<void> > FriRobotJntData;
00080
00081 typedef boost::shared_ptr< ::lwr_fri::FriRobotJntData> FriRobotJntDataPtr;
00082 typedef boost::shared_ptr< ::lwr_fri::FriRobotJntData const> FriRobotJntDataConstPtr;
00083
00084
00085 template<typename ContainerAllocator>
00086 std::ostream& operator<<(std::ostream& s, const ::lwr_fri::FriRobotJntData_<ContainerAllocator> & v)
00087 {
00088 ros::message_operations::Printer< ::lwr_fri::FriRobotJntData_<ContainerAllocator> >::stream(s, "", v);
00089 return s;}
00090
00091 }
00092
00093 namespace ros
00094 {
00095 namespace message_traits
00096 {
00097 template<class ContainerAllocator> struct IsMessage< ::lwr_fri::FriRobotJntData_<ContainerAllocator> > : public TrueType {};
00098 template<class ContainerAllocator> struct IsMessage< ::lwr_fri::FriRobotJntData_<ContainerAllocator> const> : public TrueType {};
00099 template<class ContainerAllocator>
00100 struct MD5Sum< ::lwr_fri::FriRobotJntData_<ContainerAllocator> > {
00101 static const char* value()
00102 {
00103 return "0aaff558814188d51a3ef7a1023d53a7";
00104 }
00105
00106 static const char* value(const ::lwr_fri::FriRobotJntData_<ContainerAllocator> &) { return value(); }
00107 static const uint64_t static_value1 = 0x0aaff558814188d5ULL;
00108 static const uint64_t static_value2 = 0x1a3ef7a1023d53a7ULL;
00109 };
00110
00111 template<class ContainerAllocator>
00112 struct DataType< ::lwr_fri::FriRobotJntData_<ContainerAllocator> > {
00113 static const char* value()
00114 {
00115 return "lwr_fri/FriRobotJntData";
00116 }
00117
00118 static const char* value(const ::lwr_fri::FriRobotJntData_<ContainerAllocator> &) { return value(); }
00119 };
00120
00121 template<class ContainerAllocator>
00122 struct Definition< ::lwr_fri::FriRobotJntData_<ContainerAllocator> > {
00123 static const char* value()
00124 {
00125 return "float32[7] msrJntPos\n\
00126 float32[7] cmdJntPos\n\
00127 float32[7] cmdJntPosFriOffset\n\
00128 float32[7] msrJntTrq\n\
00129 float32[7] estExtJntTrq\n\
00130 float32[7] gravity\n\
00131 ";
00132 }
00133
00134 static const char* value(const ::lwr_fri::FriRobotJntData_<ContainerAllocator> &) { return value(); }
00135 };
00136
00137 template<class ContainerAllocator> struct IsFixedSize< ::lwr_fri::FriRobotJntData_<ContainerAllocator> > : public TrueType {};
00138 }
00139 }
00140
00141 namespace ros
00142 {
00143 namespace serialization
00144 {
00145
00146 template<class ContainerAllocator> struct Serializer< ::lwr_fri::FriRobotJntData_<ContainerAllocator> >
00147 {
00148 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00149 {
00150 stream.next(m.msrJntPos);
00151 stream.next(m.cmdJntPos);
00152 stream.next(m.cmdJntPosFriOffset);
00153 stream.next(m.msrJntTrq);
00154 stream.next(m.estExtJntTrq);
00155 stream.next(m.gravity);
00156 }
00157
00158 ROS_DECLARE_ALLINONE_SERIALIZER;
00159 };
00160 }
00161 }
00162
00163 namespace ros
00164 {
00165 namespace message_operations
00166 {
00167
00168 template<class ContainerAllocator>
00169 struct Printer< ::lwr_fri::FriRobotJntData_<ContainerAllocator> >
00170 {
00171 template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::lwr_fri::FriRobotJntData_<ContainerAllocator> & v)
00172 {
00173 s << indent << "msrJntPos[]" << std::endl;
00174 for (size_t i = 0; i < v.msrJntPos.size(); ++i)
00175 {
00176 s << indent << " msrJntPos[" << i << "]: ";
00177 Printer<float>::stream(s, indent + " ", v.msrJntPos[i]);
00178 }
00179 s << indent << "cmdJntPos[]" << std::endl;
00180 for (size_t i = 0; i < v.cmdJntPos.size(); ++i)
00181 {
00182 s << indent << " cmdJntPos[" << i << "]: ";
00183 Printer<float>::stream(s, indent + " ", v.cmdJntPos[i]);
00184 }
00185 s << indent << "cmdJntPosFriOffset[]" << std::endl;
00186 for (size_t i = 0; i < v.cmdJntPosFriOffset.size(); ++i)
00187 {
00188 s << indent << " cmdJntPosFriOffset[" << i << "]: ";
00189 Printer<float>::stream(s, indent + " ", v.cmdJntPosFriOffset[i]);
00190 }
00191 s << indent << "msrJntTrq[]" << std::endl;
00192 for (size_t i = 0; i < v.msrJntTrq.size(); ++i)
00193 {
00194 s << indent << " msrJntTrq[" << i << "]: ";
00195 Printer<float>::stream(s, indent + " ", v.msrJntTrq[i]);
00196 }
00197 s << indent << "estExtJntTrq[]" << std::endl;
00198 for (size_t i = 0; i < v.estExtJntTrq.size(); ++i)
00199 {
00200 s << indent << " estExtJntTrq[" << i << "]: ";
00201 Printer<float>::stream(s, indent + " ", v.estExtJntTrq[i]);
00202 }
00203 s << indent << "gravity[]" << std::endl;
00204 for (size_t i = 0; i < v.gravity.size(); ++i)
00205 {
00206 s << indent << " gravity[" << i << "]: ";
00207 Printer<float>::stream(s, indent + " ", v.gravity[i]);
00208 }
00209 }
00210 };
00211
00212
00213 }
00214 }
00215
00216 #endif // LWR_FRI_MESSAGE_FRIROBOTJNTDATA_H
00217