footstep_planning_msgs.h
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00001 //=================================================================================================
00002 // Copyright (c) 2017, Alexander Stumpf, TU Darmstadt
00003 // All rights reserved.
00004 
00005 // Redistribution and use in source and binary forms, with or without
00006 // modification, are permitted provided that the following conditions are met:
00007 //     * Redistributions of source code must retain the above copyright
00008 //       notice, this list of conditions and the following disclaimer.
00009 //     * Redistributions in binary form must reproduce the above copyright
00010 //       notice, this list of conditions and the following disclaimer in the
00011 //       documentation and/or other materials provided with the distribution.
00012 //     * Neither the name of the Simulation, Systems Optimization and Robotics
00013 //       group, TU Darmstadt nor the names of its contributors may be used to
00014 //       endorse or promote products derived from this software without
00015 //       specific prior written permission.
00016 
00017 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
00018 // ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
00019 // WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00020 // DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
00021 // DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
00022 // (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00023 // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
00024 // ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
00025 // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
00026 // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00027 //=================================================================================================
00028 
00029 #ifndef VIGIR_FOOTSTEP_PLANNING_MSGS_H__
00030 #define VIGIR_FOOTSTEP_PLANNING_MSGS_H__
00031 
00032 #include <ros/ros.h>
00033 
00034 #include <geometry_msgs/Vector3.h>
00035 
00036 // messages
00037 #include <vigir_footstep_planning_msgs/EditStep.h>
00038 #include <vigir_footstep_planning_msgs/ErrorStatus.h>
00039 #include <vigir_footstep_planning_msgs/Feet.h>
00040 #include <vigir_footstep_planning_msgs/FeetPoseRequest.h>
00041 #include <vigir_footstep_planning_msgs/FootstepExecutionStatus.h>
00042 #include <vigir_footstep_planning_msgs/Foot.h>
00043 #include <vigir_footstep_planning_msgs/PatternParameters.h>
00044 #include <vigir_footstep_planning_msgs/PatternGeneratorParameters.h>
00045 #include <vigir_footstep_planning_msgs/PlanningFeedback.h>
00046 #include <vigir_footstep_planning_msgs/StepPlanFeedback.h>
00047 #include <vigir_footstep_planning_msgs/StepPlanRequest.h>
00048 #include <vigir_footstep_planning_msgs/StepPlan.h>
00049 #include <vigir_footstep_planning_msgs/Step.h>
00050 #include <vigir_footstep_planning_msgs/UpdateMode.h>
00051 
00052 // services
00053 #include <vigir_footstep_planning_msgs/EditStepService.h>
00054 #include <vigir_footstep_planning_msgs/GenerateFeetPoseService.h>
00055 #include <vigir_footstep_planning_msgs/GeneratePatternService.h>
00056 #include <vigir_footstep_planning_msgs/GetStepPlanService.h>
00057 #include <vigir_footstep_planning_msgs/PatternGeneratorParametersService.h>
00058 #include <vigir_footstep_planning_msgs/SetStepPlanService.h>
00059 #include <vigir_footstep_planning_msgs/StepPlanRequestService.h>
00060 #include <vigir_footstep_planning_msgs/StitchStepPlanService.h>
00061 #include <vigir_footstep_planning_msgs/StitchStepPlanService.h>
00062 #include <vigir_footstep_planning_msgs/TransformFeetPosesService.h>
00063 #include <vigir_footstep_planning_msgs/TransformFootPoseService.h>
00064 #include <vigir_footstep_planning_msgs/TransformStepPlanService.h>
00065 #include <vigir_footstep_planning_msgs/StitchStepPlanService.h>
00066 #include <vigir_footstep_planning_msgs/UpdateFeetService.h>
00067 #include <vigir_footstep_planning_msgs/UpdateFootService.h>
00068 #include <vigir_footstep_planning_msgs/UpdateStepPlanService.h>
00069 
00070 // actions
00071 #include <vigir_footstep_planning_msgs/EditStepAction.h>
00072 #include <vigir_footstep_planning_msgs/ExecuteStepPlanAction.h>
00073 #include <vigir_footstep_planning_msgs/GenerateFeetPoseAction.h>
00074 #include <vigir_footstep_planning_msgs/GeneratePatternAction.h>
00075 #include <vigir_footstep_planning_msgs/GetStepPlanAction.h>
00076 #include <vigir_footstep_planning_msgs/SetStepPlanAction.h>
00077 #include <vigir_footstep_planning_msgs/StepPlanRequestAction.h>
00078 #include <vigir_footstep_planning_msgs/StitchStepPlanAction.h>
00079 #include <vigir_footstep_planning_msgs/UpdateFeetAction.h>
00080 #include <vigir_footstep_planning_msgs/UpdateFootAction.h>
00081 #include <vigir_footstep_planning_msgs/UpdateStepPlanAction.h>
00082 
00083 
00084 
00085 namespace vigir_footstep_planning
00086 {
00087 namespace msgs
00088 {
00089 using namespace vigir_footstep_planning_msgs;
00090 }
00091 // Extension to ErrorStatus message
00092 msgs::ErrorStatus operator+(const msgs::ErrorStatus& lhs, const msgs::ErrorStatus& rhs);
00093 msgs::ErrorStatus operator+=(msgs::ErrorStatus& lhs, const msgs::ErrorStatus& rhs);
00094 
00095 msgs::ErrorStatus isConsistent(const msgs::StepPlan& result);
00096 
00097 std::string ErrorStatusCodeToString(unsigned int error);
00098 std::string WarningStatusCodeToString(unsigned int warning);
00099 
00100 msgs::ErrorStatus createErrorStatus(const std::string& context, unsigned int error, const std::string& error_msg, unsigned int warning, const std::string& warning_msg, bool output = true, double throttle_rate = 0.0);
00101 msgs::ErrorStatus ErrorStatusError(unsigned int error, const std::string& context, const std::string& error_msg, bool output = true, double throttle_rate = 0.0);
00102 msgs::ErrorStatus ErrorStatusWarning(unsigned int warning, const std::string& context, const std::string& warning_msg, bool output = true, double throttle_rate = 0.0);
00103 
00104 bool hasError(const msgs::ErrorStatus& status);
00105 bool hasWarning(const msgs::ErrorStatus& status);
00106 bool isOk(const msgs::ErrorStatus& status);
00107 
00108 std::string toString(const msgs::ErrorStatus& error_status);
00109 
00110 std::string toString(const msgs::FootstepExecutionStatus& execution_status);
00111 
00112 template <typename Tin, typename Tout>
00113 void copyPosition(const Tin &p_in, Tout &p_out)
00114 {
00115   p_out.x = p_in.x;
00116   p_out.y = p_in.y;
00117   p_out.z = p_in.z;
00118 }
00119 }
00120 
00121 #endif


vigir_footstep_planning_msgs
Author(s): Alexander Stumpf
autogenerated on Sat Jul 8 2017 02:21:30