00001 #ifndef _ROS_SERVICE_GetConstraintAwarePositionIK_h 00002 #define _ROS_SERVICE_GetConstraintAwarePositionIK_h 00003 #include <stdint.h> 00004 #include <string.h> 00005 #include <stdlib.h> 00006 #include "ros/msg.h" 00007 #include "moveit_msgs/MoveItErrorCodes.h" 00008 #include "moveit_msgs/PositionIKRequest.h" 00009 #include "moveit_msgs/RobotState.h" 00010 #include "moveit_msgs/Constraints.h" 00011 00012 namespace moveit_msgs 00013 { 00014 00015 static const char GETCONSTRAINTAWAREPOSITIONIK[] = "moveit_msgs/GetConstraintAwarePositionIK"; 00016 00017 class GetConstraintAwarePositionIKRequest : public ros::Msg 00018 { 00019 public: 00020 moveit_msgs::PositionIKRequest ik_request; 00021 moveit_msgs::Constraints constraints; 00022 00023 virtual int serialize(unsigned char *outbuffer) const 00024 { 00025 int offset = 0; 00026 offset += this->ik_request.serialize(outbuffer + offset); 00027 offset += this->constraints.serialize(outbuffer + offset); 00028 return offset; 00029 } 00030 00031 virtual int deserialize(unsigned char *inbuffer) 00032 { 00033 int offset = 0; 00034 offset += this->ik_request.deserialize(inbuffer + offset); 00035 offset += this->constraints.deserialize(inbuffer + offset); 00036 return offset; 00037 } 00038 00039 const char * getType(){ return GETCONSTRAINTAWAREPOSITIONIK; }; 00040 const char * getMD5(){ return "7397fbef2589fd33df21251c96c43f11"; }; 00041 00042 }; 00043 00044 class GetConstraintAwarePositionIKResponse : public ros::Msg 00045 { 00046 public: 00047 moveit_msgs::RobotState solution; 00048 moveit_msgs::MoveItErrorCodes error_code; 00049 00050 virtual int serialize(unsigned char *outbuffer) const 00051 { 00052 int offset = 0; 00053 offset += this->solution.serialize(outbuffer + offset); 00054 offset += this->error_code.serialize(outbuffer + offset); 00055 return offset; 00056 } 00057 00058 virtual int deserialize(unsigned char *inbuffer) 00059 { 00060 int offset = 0; 00061 offset += this->solution.deserialize(inbuffer + offset); 00062 offset += this->error_code.deserialize(inbuffer + offset); 00063 return offset; 00064 } 00065 00066 const char * getType(){ return GETCONSTRAINTAWAREPOSITIONIK; }; 00067 const char * getMD5(){ return "ad50fe5fa0ddb482909be313121ea148"; }; 00068 00069 }; 00070 00071 class GetConstraintAwarePositionIK { 00072 public: 00073 typedef GetConstraintAwarePositionIKRequest Request; 00074 typedef GetConstraintAwarePositionIKResponse Response; 00075 }; 00076 00077 } 00078 #endif