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00002 #ifndef NAO_MSGS_MESSAGE_JOINTANGLESWITHSPEEDACTION_H
00003 #define NAO_MSGS_MESSAGE_JOINTANGLESWITHSPEEDACTION_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 "nao_msgs/JointAnglesWithSpeedActionGoal.h"
00018 #include "nao_msgs/JointAnglesWithSpeedActionResult.h"
00019 #include "nao_msgs/JointAnglesWithSpeedActionFeedback.h"
00020
00021 namespace nao_msgs
00022 {
00023 template <class ContainerAllocator>
00024 struct JointAnglesWithSpeedAction_ {
00025 typedef JointAnglesWithSpeedAction_<ContainerAllocator> Type;
00026
00027 JointAnglesWithSpeedAction_()
00028 : action_goal()
00029 , action_result()
00030 , action_feedback()
00031 {
00032 }
00033
00034 JointAnglesWithSpeedAction_(const ContainerAllocator& _alloc)
00035 : action_goal(_alloc)
00036 , action_result(_alloc)
00037 , action_feedback(_alloc)
00038 {
00039 }
00040
00041 typedef ::nao_msgs::JointAnglesWithSpeedActionGoal_<ContainerAllocator> _action_goal_type;
00042 ::nao_msgs::JointAnglesWithSpeedActionGoal_<ContainerAllocator> action_goal;
00043
00044 typedef ::nao_msgs::JointAnglesWithSpeedActionResult_<ContainerAllocator> _action_result_type;
00045 ::nao_msgs::JointAnglesWithSpeedActionResult_<ContainerAllocator> action_result;
00046
00047 typedef ::nao_msgs::JointAnglesWithSpeedActionFeedback_<ContainerAllocator> _action_feedback_type;
00048 ::nao_msgs::JointAnglesWithSpeedActionFeedback_<ContainerAllocator> action_feedback;
00049
00050
00051 typedef boost::shared_ptr< ::nao_msgs::JointAnglesWithSpeedAction_<ContainerAllocator> > Ptr;
00052 typedef boost::shared_ptr< ::nao_msgs::JointAnglesWithSpeedAction_<ContainerAllocator> const> ConstPtr;
00053 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00054 };
00055 typedef ::nao_msgs::JointAnglesWithSpeedAction_<std::allocator<void> > JointAnglesWithSpeedAction;
00056
00057 typedef boost::shared_ptr< ::nao_msgs::JointAnglesWithSpeedAction> JointAnglesWithSpeedActionPtr;
00058 typedef boost::shared_ptr< ::nao_msgs::JointAnglesWithSpeedAction const> JointAnglesWithSpeedActionConstPtr;
00059
00060
00061 template<typename ContainerAllocator>
00062 std::ostream& operator<<(std::ostream& s, const ::nao_msgs::JointAnglesWithSpeedAction_<ContainerAllocator> & v)
00063 {
00064 ros::message_operations::Printer< ::nao_msgs::JointAnglesWithSpeedAction_<ContainerAllocator> >::stream(s, "", v);
00065 return s;}
00066
00067 }
00068
00069 namespace ros
00070 {
00071 namespace message_traits
00072 {
00073 template<class ContainerAllocator> struct IsMessage< ::nao_msgs::JointAnglesWithSpeedAction_<ContainerAllocator> > : public TrueType {};
00074 template<class ContainerAllocator> struct IsMessage< ::nao_msgs::JointAnglesWithSpeedAction_<ContainerAllocator> const> : public TrueType {};
00075 template<class ContainerAllocator>
00076 struct MD5Sum< ::nao_msgs::JointAnglesWithSpeedAction_<ContainerAllocator> > {
00077 static const char* value()
00078 {
00079 return "efd2f7ac88847414fd26aacf32f993a5";
00080 }
00081
00082 static const char* value(const ::nao_msgs::JointAnglesWithSpeedAction_<ContainerAllocator> &) { return value(); }
00083 static const uint64_t static_value1 = 0xefd2f7ac88847414ULL;
00084 static const uint64_t static_value2 = 0xfd26aacf32f993a5ULL;
00085 };
00086
00087 template<class ContainerAllocator>
00088 struct DataType< ::nao_msgs::JointAnglesWithSpeedAction_<ContainerAllocator> > {
00089 static const char* value()
00090 {
00091 return "nao_msgs/JointAnglesWithSpeedAction";
00092 }
00093
00094 static const char* value(const ::nao_msgs::JointAnglesWithSpeedAction_<ContainerAllocator> &) { return value(); }
00095 };
00096
00097 template<class ContainerAllocator>
00098 struct Definition< ::nao_msgs::JointAnglesWithSpeedAction_<ContainerAllocator> > {
00099 static const char* value()
00100 {
00101 return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00102 \n\
00103 JointAnglesWithSpeedActionGoal action_goal\n\
00104 JointAnglesWithSpeedActionResult action_result\n\
00105 JointAnglesWithSpeedActionFeedback action_feedback\n\
00106 \n\
00107 ================================================================================\n\
00108 MSG: nao_msgs/JointAnglesWithSpeedActionGoal\n\
00109 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00110 \n\
00111 Header header\n\
00112 actionlib_msgs/GoalID goal_id\n\
00113 JointAnglesWithSpeedGoal goal\n\
00114 \n\
00115 ================================================================================\n\
00116 MSG: std_msgs/Header\n\
00117 # Standard metadata for higher-level stamped data types.\n\
00118 # This is generally used to communicate timestamped data \n\
00119 # in a particular coordinate frame.\n\
00120 # \n\
00121 # sequence ID: consecutively increasing ID \n\
00122 uint32 seq\n\
00123 #Two-integer timestamp that is expressed as:\n\
00124 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00125 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00126 # time-handling sugar is provided by the client library\n\
00127 time stamp\n\
00128 #Frame this data is associated with\n\
00129 # 0: no frame\n\
00130 # 1: global frame\n\
00131 string frame_id\n\
00132 \n\
00133 ================================================================================\n\
00134 MSG: actionlib_msgs/GoalID\n\
00135 # The stamp should store the time at which this goal was requested.\n\
00136 # It is used by an action server when it tries to preempt all\n\
00137 # goals that were requested before a certain time\n\
00138 time stamp\n\
00139 \n\
00140 # The id provides a way to associate feedback and\n\
00141 # result message with specific goal requests. The id\n\
00142 # specified must be unique.\n\
00143 string id\n\
00144 \n\
00145 \n\
00146 ================================================================================\n\
00147 MSG: nao_msgs/JointAnglesWithSpeedGoal\n\
00148 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00149 # goal: a registered body pose name\n\
00150 nao_msgs/JointAnglesWithSpeed joint_angles\n\
00151 \n\
00152 ================================================================================\n\
00153 MSG: nao_msgs/JointAnglesWithSpeed\n\
00154 Header header\n\
00155 \n\
00156 # A list of joint names, corresponding to their names in the Nao docs.\n\
00157 # This must be either the same lenght of joint_angles or 1 if it's a\n\
00158 # keyword such as 'Body' (for all angles)\n\
00159 string[] joint_names\n\
00160 float32[] joint_angles\n\
00161 \n\
00162 #fraction of max joint velocity [0:1]\n\
00163 float32 speed\n\
00164 \n\
00165 # Absolute angle(=0, default) or relative change\n\
00166 uint8 relative\n\
00167 \n\
00168 ================================================================================\n\
00169 MSG: nao_msgs/JointAnglesWithSpeedActionResult\n\
00170 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00171 \n\
00172 Header header\n\
00173 actionlib_msgs/GoalStatus status\n\
00174 JointAnglesWithSpeedResult result\n\
00175 \n\
00176 ================================================================================\n\
00177 MSG: actionlib_msgs/GoalStatus\n\
00178 GoalID goal_id\n\
00179 uint8 status\n\
00180 uint8 PENDING = 0 # The goal has yet to be processed by the action server\n\
00181 uint8 ACTIVE = 1 # The goal is currently being processed by the action server\n\
00182 uint8 PREEMPTED = 2 # The goal received a cancel request after it started executing\n\
00183 # and has since completed its execution (Terminal State)\n\
00184 uint8 SUCCEEDED = 3 # The goal was achieved successfully by the action server (Terminal State)\n\
00185 uint8 ABORTED = 4 # The goal was aborted during execution by the action server due\n\
00186 # to some failure (Terminal State)\n\
00187 uint8 REJECTED = 5 # The goal was rejected by the action server without being processed,\n\
00188 # because the goal was unattainable or invalid (Terminal State)\n\
00189 uint8 PREEMPTING = 6 # The goal received a cancel request after it started executing\n\
00190 # and has not yet completed execution\n\
00191 uint8 RECALLING = 7 # The goal received a cancel request before it started executing,\n\
00192 # but the action server has not yet confirmed that the goal is canceled\n\
00193 uint8 RECALLED = 8 # The goal received a cancel request before it started executing\n\
00194 # and was successfully cancelled (Terminal State)\n\
00195 uint8 LOST = 9 # An action client can determine that a goal is LOST. This should not be\n\
00196 # sent over the wire by an action server\n\
00197 \n\
00198 #Allow for the user to associate a string with GoalStatus for debugging\n\
00199 string text\n\
00200 \n\
00201 \n\
00202 ================================================================================\n\
00203 MSG: nao_msgs/JointAnglesWithSpeedResult\n\
00204 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00205 # result is the actually reached position\n\
00206 sensor_msgs/JointState goal_position\n\
00207 \n\
00208 ================================================================================\n\
00209 MSG: sensor_msgs/JointState\n\
00210 # This is a message that holds data to describe the state of a set of torque controlled joints. \n\
00211 #\n\
00212 # The state of each joint (revolute or prismatic) is defined by:\n\
00213 # * the position of the joint (rad or m),\n\
00214 # * the velocity of the joint (rad/s or m/s) and \n\
00215 # * the effort that is applied in the joint (Nm or N).\n\
00216 #\n\
00217 # Each joint is uniquely identified by its name\n\
00218 # The header specifies the time at which the joint states were recorded. All the joint states\n\
00219 # in one message have to be recorded at the same time.\n\
00220 #\n\
00221 # This message consists of a multiple arrays, one for each part of the joint state. \n\
00222 # The goal is to make each of the fields optional. When e.g. your joints have no\n\
00223 # effort associated with them, you can leave the effort array empty. \n\
00224 #\n\
00225 # All arrays in this message should have the same size, or be empty.\n\
00226 # This is the only way to uniquely associate the joint name with the correct\n\
00227 # states.\n\
00228 \n\
00229 \n\
00230 Header header\n\
00231 \n\
00232 string[] name\n\
00233 float64[] position\n\
00234 float64[] velocity\n\
00235 float64[] effort\n\
00236 \n\
00237 ================================================================================\n\
00238 MSG: nao_msgs/JointAnglesWithSpeedActionFeedback\n\
00239 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00240 \n\
00241 Header header\n\
00242 actionlib_msgs/GoalStatus status\n\
00243 JointAnglesWithSpeedFeedback feedback\n\
00244 \n\
00245 ================================================================================\n\
00246 MSG: nao_msgs/JointAnglesWithSpeedFeedback\n\
00247 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00248 # no feedback currently \n\
00249 \n\
00250 ";
00251 }
00252
00253 static const char* value(const ::nao_msgs::JointAnglesWithSpeedAction_<ContainerAllocator> &) { return value(); }
00254 };
00255
00256 }
00257 }
00258
00259 namespace ros
00260 {
00261 namespace serialization
00262 {
00263
00264 template<class ContainerAllocator> struct Serializer< ::nao_msgs::JointAnglesWithSpeedAction_<ContainerAllocator> >
00265 {
00266 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00267 {
00268 stream.next(m.action_goal);
00269 stream.next(m.action_result);
00270 stream.next(m.action_feedback);
00271 }
00272
00273 ROS_DECLARE_ALLINONE_SERIALIZER;
00274 };
00275 }
00276 }
00277
00278 namespace ros
00279 {
00280 namespace message_operations
00281 {
00282
00283 template<class ContainerAllocator>
00284 struct Printer< ::nao_msgs::JointAnglesWithSpeedAction_<ContainerAllocator> >
00285 {
00286 template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::nao_msgs::JointAnglesWithSpeedAction_<ContainerAllocator> & v)
00287 {
00288 s << indent << "action_goal: ";
00289 s << std::endl;
00290 Printer< ::nao_msgs::JointAnglesWithSpeedActionGoal_<ContainerAllocator> >::stream(s, indent + " ", v.action_goal);
00291 s << indent << "action_result: ";
00292 s << std::endl;
00293 Printer< ::nao_msgs::JointAnglesWithSpeedActionResult_<ContainerAllocator> >::stream(s, indent + " ", v.action_result);
00294 s << indent << "action_feedback: ";
00295 s << std::endl;
00296 Printer< ::nao_msgs::JointAnglesWithSpeedActionFeedback_<ContainerAllocator> >::stream(s, indent + " ", v.action_feedback);
00297 }
00298 };
00299
00300
00301 }
00302 }
00303
00304 #endif // NAO_MSGS_MESSAGE_JOINTANGLESWITHSPEEDACTION_H
00305