JTTaskControllerState.h
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00001 /* Auto-generated by genmsg_cpp for file /home/rosbuild/hudson/workspace/doc-fuerte-pr2_cockpit/doc_stacks/2013-12-28_17-21-30.739565/pr2_cockpit/teleop_controllers/msg/JTTaskControllerState.msg */
00002 #ifndef TELEOP_CONTROLLERS_MESSAGE_JTTASKCONTROLLERSTATE_H
00003 #define TELEOP_CONTROLLERS_MESSAGE_JTTASKCONTROLLERSTATE_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 "std_msgs/Header.h"
00018 #include "geometry_msgs/PoseStamped.h"
00019 #include "geometry_msgs/PoseStamped.h"
00020 #include "geometry_msgs/PoseStamped.h"
00021 #include "geometry_msgs/Twist.h"
00022 #include "geometry_msgs/Twist.h"
00023 #include "geometry_msgs/Twist.h"
00024 #include "geometry_msgs/Wrench.h"
00025 #include "std_msgs/Float64MultiArray.h"
00026 #include "std_msgs/Float64MultiArray.h"
00027 
00028 namespace teleop_controllers
00029 {
00030 template <class ContainerAllocator>
00031 struct JTTaskControllerState_ {
00032   typedef JTTaskControllerState_<ContainerAllocator> Type;
00033 
00034   JTTaskControllerState_()
00035   : header()
00036   , x()
00037   , x_desi()
00038   , x_desi_filtered()
00039   , x_err()
00040   , xd()
00041   , xd_desi()
00042   , F()
00043   , tau_pose()
00044   , tau_posture()
00045   , tau()
00046   , J()
00047   , N()
00048   , df(0.0)
00049   , dx(0.0)
00050   , Df(0.0)
00051   , Dx(0.0)
00052   , stiffness(0.0)
00053   , compliance(0.0)
00054   {
00055   }
00056 
00057   JTTaskControllerState_(const ContainerAllocator& _alloc)
00058   : header(_alloc)
00059   , x(_alloc)
00060   , x_desi(_alloc)
00061   , x_desi_filtered(_alloc)
00062   , x_err(_alloc)
00063   , xd(_alloc)
00064   , xd_desi(_alloc)
00065   , F(_alloc)
00066   , tau_pose(_alloc)
00067   , tau_posture(_alloc)
00068   , tau(_alloc)
00069   , J(_alloc)
00070   , N(_alloc)
00071   , df(0.0)
00072   , dx(0.0)
00073   , Df(0.0)
00074   , Dx(0.0)
00075   , stiffness(0.0)
00076   , compliance(0.0)
00077   {
00078   }
00079 
00080   typedef  ::std_msgs::Header_<ContainerAllocator>  _header_type;
00081    ::std_msgs::Header_<ContainerAllocator>  header;
00082 
00083   typedef  ::geometry_msgs::PoseStamped_<ContainerAllocator>  _x_type;
00084    ::geometry_msgs::PoseStamped_<ContainerAllocator>  x;
00085 
00086   typedef  ::geometry_msgs::PoseStamped_<ContainerAllocator>  _x_desi_type;
00087    ::geometry_msgs::PoseStamped_<ContainerAllocator>  x_desi;
00088 
00089   typedef  ::geometry_msgs::PoseStamped_<ContainerAllocator>  _x_desi_filtered_type;
00090    ::geometry_msgs::PoseStamped_<ContainerAllocator>  x_desi_filtered;
00091 
00092   typedef  ::geometry_msgs::Twist_<ContainerAllocator>  _x_err_type;
00093    ::geometry_msgs::Twist_<ContainerAllocator>  x_err;
00094 
00095   typedef  ::geometry_msgs::Twist_<ContainerAllocator>  _xd_type;
00096    ::geometry_msgs::Twist_<ContainerAllocator>  xd;
00097 
00098   typedef  ::geometry_msgs::Twist_<ContainerAllocator>  _xd_desi_type;
00099    ::geometry_msgs::Twist_<ContainerAllocator>  xd_desi;
00100 
00101   typedef  ::geometry_msgs::Wrench_<ContainerAllocator>  _F_type;
00102    ::geometry_msgs::Wrench_<ContainerAllocator>  F;
00103 
00104   typedef std::vector<double, typename ContainerAllocator::template rebind<double>::other >  _tau_pose_type;
00105   std::vector<double, typename ContainerAllocator::template rebind<double>::other >  tau_pose;
00106 
00107   typedef std::vector<double, typename ContainerAllocator::template rebind<double>::other >  _tau_posture_type;
00108   std::vector<double, typename ContainerAllocator::template rebind<double>::other >  tau_posture;
00109 
00110   typedef std::vector<double, typename ContainerAllocator::template rebind<double>::other >  _tau_type;
00111   std::vector<double, typename ContainerAllocator::template rebind<double>::other >  tau;
00112 
00113   typedef  ::std_msgs::Float64MultiArray_<ContainerAllocator>  _J_type;
00114    ::std_msgs::Float64MultiArray_<ContainerAllocator>  J;
00115 
00116   typedef  ::std_msgs::Float64MultiArray_<ContainerAllocator>  _N_type;
00117    ::std_msgs::Float64MultiArray_<ContainerAllocator>  N;
00118 
00119   typedef double _df_type;
00120   double df;
00121 
00122   typedef double _dx_type;
00123   double dx;
00124 
00125   typedef double _Df_type;
00126   double Df;
00127 
00128   typedef double _Dx_type;
00129   double Dx;
00130 
00131   typedef double _stiffness_type;
00132   double stiffness;
00133 
00134   typedef double _compliance_type;
00135   double compliance;
00136 
00137 
00138   typedef boost::shared_ptr< ::teleop_controllers::JTTaskControllerState_<ContainerAllocator> > Ptr;
00139   typedef boost::shared_ptr< ::teleop_controllers::JTTaskControllerState_<ContainerAllocator>  const> ConstPtr;
00140   boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00141 }; // struct JTTaskControllerState
00142 typedef  ::teleop_controllers::JTTaskControllerState_<std::allocator<void> > JTTaskControllerState;
00143 
00144 typedef boost::shared_ptr< ::teleop_controllers::JTTaskControllerState> JTTaskControllerStatePtr;
00145 typedef boost::shared_ptr< ::teleop_controllers::JTTaskControllerState const> JTTaskControllerStateConstPtr;
00146 
00147 
00148 template<typename ContainerAllocator>
00149 std::ostream& operator<<(std::ostream& s, const  ::teleop_controllers::JTTaskControllerState_<ContainerAllocator> & v)
00150 {
00151   ros::message_operations::Printer< ::teleop_controllers::JTTaskControllerState_<ContainerAllocator> >::stream(s, "", v);
00152   return s;}
00153 
00154 } // namespace teleop_controllers
00155 
00156 namespace ros
00157 {
00158 namespace message_traits
00159 {
00160 template<class ContainerAllocator> struct IsMessage< ::teleop_controllers::JTTaskControllerState_<ContainerAllocator> > : public TrueType {};
00161 template<class ContainerAllocator> struct IsMessage< ::teleop_controllers::JTTaskControllerState_<ContainerAllocator>  const> : public TrueType {};
00162 template<class ContainerAllocator>
00163 struct MD5Sum< ::teleop_controllers::JTTaskControllerState_<ContainerAllocator> > {
00164   static const char* value() 
00165   {
00166     return "d654d2c71a8ecc5db9c015c4141c21d0";
00167   }
00168 
00169   static const char* value(const  ::teleop_controllers::JTTaskControllerState_<ContainerAllocator> &) { return value(); } 
00170   static const uint64_t static_value1 = 0xd654d2c71a8ecc5dULL;
00171   static const uint64_t static_value2 = 0xb9c015c4141c21d0ULL;
00172 };
00173 
00174 template<class ContainerAllocator>
00175 struct DataType< ::teleop_controllers::JTTaskControllerState_<ContainerAllocator> > {
00176   static const char* value() 
00177   {
00178     return "teleop_controllers/JTTaskControllerState";
00179   }
00180 
00181   static const char* value(const  ::teleop_controllers::JTTaskControllerState_<ContainerAllocator> &) { return value(); } 
00182 };
00183 
00184 template<class ContainerAllocator>
00185 struct Definition< ::teleop_controllers::JTTaskControllerState_<ContainerAllocator> > {
00186   static const char* value() 
00187   {
00188     return "Header header\n\
00189 geometry_msgs/PoseStamped x\n\
00190 geometry_msgs/PoseStamped x_desi\n\
00191 geometry_msgs/PoseStamped x_desi_filtered\n\
00192 geometry_msgs/Twist x_err\n\
00193 geometry_msgs/Twist xd\n\
00194 geometry_msgs/Twist xd_desi\n\
00195 geometry_msgs/Wrench F\n\
00196 float64[] tau_pose\n\
00197 float64[] tau_posture\n\
00198 float64[] tau\n\
00199 std_msgs/Float64MultiArray J\n\
00200 std_msgs/Float64MultiArray N\n\
00201 \n\
00202 # Environmental stiffness\n\
00203 float64 df\n\
00204 float64 dx\n\
00205 float64 Df\n\
00206 float64 Dx\n\
00207 float64 stiffness\n\
00208 float64 compliance\n\
00209 ================================================================================\n\
00210 MSG: std_msgs/Header\n\
00211 # Standard metadata for higher-level stamped data types.\n\
00212 # This is generally used to communicate timestamped data \n\
00213 # in a particular coordinate frame.\n\
00214 # \n\
00215 # sequence ID: consecutively increasing ID \n\
00216 uint32 seq\n\
00217 #Two-integer timestamp that is expressed as:\n\
00218 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00219 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00220 # time-handling sugar is provided by the client library\n\
00221 time stamp\n\
00222 #Frame this data is associated with\n\
00223 # 0: no frame\n\
00224 # 1: global frame\n\
00225 string frame_id\n\
00226 \n\
00227 ================================================================================\n\
00228 MSG: geometry_msgs/PoseStamped\n\
00229 # A Pose with reference coordinate frame and timestamp\n\
00230 Header header\n\
00231 Pose pose\n\
00232 \n\
00233 ================================================================================\n\
00234 MSG: geometry_msgs/Pose\n\
00235 # A representation of pose in free space, composed of postion and orientation. \n\
00236 Point position\n\
00237 Quaternion orientation\n\
00238 \n\
00239 ================================================================================\n\
00240 MSG: geometry_msgs/Point\n\
00241 # This contains the position of a point in free space\n\
00242 float64 x\n\
00243 float64 y\n\
00244 float64 z\n\
00245 \n\
00246 ================================================================================\n\
00247 MSG: geometry_msgs/Quaternion\n\
00248 # This represents an orientation in free space in quaternion form.\n\
00249 \n\
00250 float64 x\n\
00251 float64 y\n\
00252 float64 z\n\
00253 float64 w\n\
00254 \n\
00255 ================================================================================\n\
00256 MSG: geometry_msgs/Twist\n\
00257 # This expresses velocity in free space broken into it's linear and angular parts. \n\
00258 Vector3  linear\n\
00259 Vector3  angular\n\
00260 \n\
00261 ================================================================================\n\
00262 MSG: geometry_msgs/Vector3\n\
00263 # This represents a vector in free space. \n\
00264 \n\
00265 float64 x\n\
00266 float64 y\n\
00267 float64 z\n\
00268 ================================================================================\n\
00269 MSG: geometry_msgs/Wrench\n\
00270 # This represents force in free space, seperated into \n\
00271 # it's linear and angular parts.  \n\
00272 Vector3  force\n\
00273 Vector3  torque\n\
00274 \n\
00275 ================================================================================\n\
00276 MSG: std_msgs/Float64MultiArray\n\
00277 # Please look at the MultiArrayLayout message definition for\n\
00278 # documentation on all multiarrays.\n\
00279 \n\
00280 MultiArrayLayout  layout        # specification of data layout\n\
00281 float64[]         data          # array of data\n\
00282 \n\
00283 \n\
00284 ================================================================================\n\
00285 MSG: std_msgs/MultiArrayLayout\n\
00286 # The multiarray declares a generic multi-dimensional array of a\n\
00287 # particular data type.  Dimensions are ordered from outer most\n\
00288 # to inner most.\n\
00289 \n\
00290 MultiArrayDimension[] dim # Array of dimension properties\n\
00291 uint32 data_offset        # padding bytes at front of data\n\
00292 \n\
00293 # Accessors should ALWAYS be written in terms of dimension stride\n\
00294 # and specified outer-most dimension first.\n\
00295 # \n\
00296 # multiarray(i,j,k) = data[data_offset + dim_stride[1]*i + dim_stride[2]*j + k]\n\
00297 #\n\
00298 # A standard, 3-channel 640x480 image with interleaved color channels\n\
00299 # would be specified as:\n\
00300 #\n\
00301 # dim[0].label  = \"height\"\n\
00302 # dim[0].size   = 480\n\
00303 # dim[0].stride = 3*640*480 = 921600  (note dim[0] stride is just size of image)\n\
00304 # dim[1].label  = \"width\"\n\
00305 # dim[1].size   = 640\n\
00306 # dim[1].stride = 3*640 = 1920\n\
00307 # dim[2].label  = \"channel\"\n\
00308 # dim[2].size   = 3\n\
00309 # dim[2].stride = 3\n\
00310 #\n\
00311 # multiarray(i,j,k) refers to the ith row, jth column, and kth channel.\n\
00312 ================================================================================\n\
00313 MSG: std_msgs/MultiArrayDimension\n\
00314 string label   # label of given dimension\n\
00315 uint32 size    # size of given dimension (in type units)\n\
00316 uint32 stride  # stride of given dimension\n\
00317 ";
00318   }
00319 
00320   static const char* value(const  ::teleop_controllers::JTTaskControllerState_<ContainerAllocator> &) { return value(); } 
00321 };
00322 
00323 template<class ContainerAllocator> struct HasHeader< ::teleop_controllers::JTTaskControllerState_<ContainerAllocator> > : public TrueType {};
00324 template<class ContainerAllocator> struct HasHeader< const ::teleop_controllers::JTTaskControllerState_<ContainerAllocator> > : public TrueType {};
00325 } // namespace message_traits
00326 } // namespace ros
00327 
00328 namespace ros
00329 {
00330 namespace serialization
00331 {
00332 
00333 template<class ContainerAllocator> struct Serializer< ::teleop_controllers::JTTaskControllerState_<ContainerAllocator> >
00334 {
00335   template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00336   {
00337     stream.next(m.header);
00338     stream.next(m.x);
00339     stream.next(m.x_desi);
00340     stream.next(m.x_desi_filtered);
00341     stream.next(m.x_err);
00342     stream.next(m.xd);
00343     stream.next(m.xd_desi);
00344     stream.next(m.F);
00345     stream.next(m.tau_pose);
00346     stream.next(m.tau_posture);
00347     stream.next(m.tau);
00348     stream.next(m.J);
00349     stream.next(m.N);
00350     stream.next(m.df);
00351     stream.next(m.dx);
00352     stream.next(m.Df);
00353     stream.next(m.Dx);
00354     stream.next(m.stiffness);
00355     stream.next(m.compliance);
00356   }
00357 
00358   ROS_DECLARE_ALLINONE_SERIALIZER;
00359 }; // struct JTTaskControllerState_
00360 } // namespace serialization
00361 } // namespace ros
00362 
00363 namespace ros
00364 {
00365 namespace message_operations
00366 {
00367 
00368 template<class ContainerAllocator>
00369 struct Printer< ::teleop_controllers::JTTaskControllerState_<ContainerAllocator> >
00370 {
00371   template<typename Stream> static void stream(Stream& s, const std::string& indent, const  ::teleop_controllers::JTTaskControllerState_<ContainerAllocator> & v) 
00372   {
00373     s << indent << "header: ";
00374 s << std::endl;
00375     Printer< ::std_msgs::Header_<ContainerAllocator> >::stream(s, indent + "  ", v.header);
00376     s << indent << "x: ";
00377 s << std::endl;
00378     Printer< ::geometry_msgs::PoseStamped_<ContainerAllocator> >::stream(s, indent + "  ", v.x);
00379     s << indent << "x_desi: ";
00380 s << std::endl;
00381     Printer< ::geometry_msgs::PoseStamped_<ContainerAllocator> >::stream(s, indent + "  ", v.x_desi);
00382     s << indent << "x_desi_filtered: ";
00383 s << std::endl;
00384     Printer< ::geometry_msgs::PoseStamped_<ContainerAllocator> >::stream(s, indent + "  ", v.x_desi_filtered);
00385     s << indent << "x_err: ";
00386 s << std::endl;
00387     Printer< ::geometry_msgs::Twist_<ContainerAllocator> >::stream(s, indent + "  ", v.x_err);
00388     s << indent << "xd: ";
00389 s << std::endl;
00390     Printer< ::geometry_msgs::Twist_<ContainerAllocator> >::stream(s, indent + "  ", v.xd);
00391     s << indent << "xd_desi: ";
00392 s << std::endl;
00393     Printer< ::geometry_msgs::Twist_<ContainerAllocator> >::stream(s, indent + "  ", v.xd_desi);
00394     s << indent << "F: ";
00395 s << std::endl;
00396     Printer< ::geometry_msgs::Wrench_<ContainerAllocator> >::stream(s, indent + "  ", v.F);
00397     s << indent << "tau_pose[]" << std::endl;
00398     for (size_t i = 0; i < v.tau_pose.size(); ++i)
00399     {
00400       s << indent << "  tau_pose[" << i << "]: ";
00401       Printer<double>::stream(s, indent + "  ", v.tau_pose[i]);
00402     }
00403     s << indent << "tau_posture[]" << std::endl;
00404     for (size_t i = 0; i < v.tau_posture.size(); ++i)
00405     {
00406       s << indent << "  tau_posture[" << i << "]: ";
00407       Printer<double>::stream(s, indent + "  ", v.tau_posture[i]);
00408     }
00409     s << indent << "tau[]" << std::endl;
00410     for (size_t i = 0; i < v.tau.size(); ++i)
00411     {
00412       s << indent << "  tau[" << i << "]: ";
00413       Printer<double>::stream(s, indent + "  ", v.tau[i]);
00414     }
00415     s << indent << "J: ";
00416 s << std::endl;
00417     Printer< ::std_msgs::Float64MultiArray_<ContainerAllocator> >::stream(s, indent + "  ", v.J);
00418     s << indent << "N: ";
00419 s << std::endl;
00420     Printer< ::std_msgs::Float64MultiArray_<ContainerAllocator> >::stream(s, indent + "  ", v.N);
00421     s << indent << "df: ";
00422     Printer<double>::stream(s, indent + "  ", v.df);
00423     s << indent << "dx: ";
00424     Printer<double>::stream(s, indent + "  ", v.dx);
00425     s << indent << "Df: ";
00426     Printer<double>::stream(s, indent + "  ", v.Df);
00427     s << indent << "Dx: ";
00428     Printer<double>::stream(s, indent + "  ", v.Dx);
00429     s << indent << "stiffness: ";
00430     Printer<double>::stream(s, indent + "  ", v.stiffness);
00431     s << indent << "compliance: ";
00432     Printer<double>::stream(s, indent + "  ", v.compliance);
00433   }
00434 };
00435 
00436 
00437 } // namespace message_operations
00438 } // namespace ros
00439 
00440 #endif // TELEOP_CONTROLLERS_MESSAGE_JTTASKCONTROLLERSTATE_H
00441 


teleop_controllers
Author(s): Stuart Glaser
autogenerated on Sat Dec 28 2013 17:23:59