00001
00002 #ifndef ARM_NAVIGATION_MSGS_MESSAGE_SIMPLEPOSECONSTRAINT_H
00003 #define ARM_NAVIGATION_MSGS_MESSAGE_SIMPLEPOSECONSTRAINT_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/Pose.h"
00019 #include "geometry_msgs/Point.h"
00020
00021 namespace arm_navigation_msgs
00022 {
00023 template <class ContainerAllocator>
00024 struct SimplePoseConstraint_ {
00025 typedef SimplePoseConstraint_<ContainerAllocator> Type;
00026
00027 SimplePoseConstraint_()
00028 : header()
00029 , link_name()
00030 , pose()
00031 , absolute_position_tolerance()
00032 , absolute_roll_tolerance(0.0)
00033 , absolute_yaw_tolerance(0.0)
00034 , absolute_pitch_tolerance(0.0)
00035 , orientation_constraint_type(0)
00036 {
00037 }
00038
00039 SimplePoseConstraint_(const ContainerAllocator& _alloc)
00040 : header(_alloc)
00041 , link_name(_alloc)
00042 , pose(_alloc)
00043 , absolute_position_tolerance(_alloc)
00044 , absolute_roll_tolerance(0.0)
00045 , absolute_yaw_tolerance(0.0)
00046 , absolute_pitch_tolerance(0.0)
00047 , orientation_constraint_type(0)
00048 {
00049 }
00050
00051 typedef ::std_msgs::Header_<ContainerAllocator> _header_type;
00052 ::std_msgs::Header_<ContainerAllocator> header;
00053
00054 typedef std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > _link_name_type;
00055 std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > link_name;
00056
00057 typedef ::geometry_msgs::Pose_<ContainerAllocator> _pose_type;
00058 ::geometry_msgs::Pose_<ContainerAllocator> pose;
00059
00060 typedef ::geometry_msgs::Point_<ContainerAllocator> _absolute_position_tolerance_type;
00061 ::geometry_msgs::Point_<ContainerAllocator> absolute_position_tolerance;
00062
00063 typedef double _absolute_roll_tolerance_type;
00064 double absolute_roll_tolerance;
00065
00066 typedef double _absolute_yaw_tolerance_type;
00067 double absolute_yaw_tolerance;
00068
00069 typedef double _absolute_pitch_tolerance_type;
00070 double absolute_pitch_tolerance;
00071
00072 typedef int32_t _orientation_constraint_type_type;
00073 int32_t orientation_constraint_type;
00074
00075 enum { HEADER_FRAME = 0 };
00076 enum { LINK_FRAME = 1 };
00077
00078 typedef boost::shared_ptr< ::arm_navigation_msgs::SimplePoseConstraint_<ContainerAllocator> > Ptr;
00079 typedef boost::shared_ptr< ::arm_navigation_msgs::SimplePoseConstraint_<ContainerAllocator> const> ConstPtr;
00080 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00081 };
00082 typedef ::arm_navigation_msgs::SimplePoseConstraint_<std::allocator<void> > SimplePoseConstraint;
00083
00084 typedef boost::shared_ptr< ::arm_navigation_msgs::SimplePoseConstraint> SimplePoseConstraintPtr;
00085 typedef boost::shared_ptr< ::arm_navigation_msgs::SimplePoseConstraint const> SimplePoseConstraintConstPtr;
00086
00087
00088 template<typename ContainerAllocator>
00089 std::ostream& operator<<(std::ostream& s, const ::arm_navigation_msgs::SimplePoseConstraint_<ContainerAllocator> & v)
00090 {
00091 ros::message_operations::Printer< ::arm_navigation_msgs::SimplePoseConstraint_<ContainerAllocator> >::stream(s, "", v);
00092 return s;}
00093
00094 }
00095
00096 namespace ros
00097 {
00098 namespace message_traits
00099 {
00100 template<class ContainerAllocator> struct IsMessage< ::arm_navigation_msgs::SimplePoseConstraint_<ContainerAllocator> > : public TrueType {};
00101 template<class ContainerAllocator> struct IsMessage< ::arm_navigation_msgs::SimplePoseConstraint_<ContainerAllocator> const> : public TrueType {};
00102 template<class ContainerAllocator>
00103 struct MD5Sum< ::arm_navigation_msgs::SimplePoseConstraint_<ContainerAllocator> > {
00104 static const char* value()
00105 {
00106 return "3483d830eb84ecd3059741fd417b30da";
00107 }
00108
00109 static const char* value(const ::arm_navigation_msgs::SimplePoseConstraint_<ContainerAllocator> &) { return value(); }
00110 static const uint64_t static_value1 = 0x3483d830eb84ecd3ULL;
00111 static const uint64_t static_value2 = 0x059741fd417b30daULL;
00112 };
00113
00114 template<class ContainerAllocator>
00115 struct DataType< ::arm_navigation_msgs::SimplePoseConstraint_<ContainerAllocator> > {
00116 static const char* value()
00117 {
00118 return "arm_navigation_msgs/SimplePoseConstraint";
00119 }
00120
00121 static const char* value(const ::arm_navigation_msgs::SimplePoseConstraint_<ContainerAllocator> &) { return value(); }
00122 };
00123
00124 template<class ContainerAllocator>
00125 struct Definition< ::arm_navigation_msgs::SimplePoseConstraint_<ContainerAllocator> > {
00126 static const char* value()
00127 {
00128 return "# This message contains the definition of a simple pose constraint \n\
00129 # that specifies the pose for a particular link of the robot and corresponding\n\
00130 # (absolute) position and orientation tolerances\n\
00131 \n\
00132 # The standard ROS message header\n\
00133 Header header\n\
00134 \n\
00135 # The robot link this constraint refers to\n\
00136 string link_name\n\
00137 \n\
00138 # The desired position of the robot link\n\
00139 geometry_msgs/Pose pose\n\
00140 \n\
00141 # Position (absolute) tolerance\n\
00142 geometry_msgs/Point absolute_position_tolerance\n\
00143 \n\
00144 # Orientation (absolute) tolerance\n\
00145 float64 absolute_roll_tolerance\n\
00146 float64 absolute_yaw_tolerance\n\
00147 float64 absolute_pitch_tolerance\n\
00148 \n\
00149 int32 orientation_constraint_type\n\
00150 int32 HEADER_FRAME=0\n\
00151 int32 LINK_FRAME=1\n\
00152 \n\
00153 ================================================================================\n\
00154 MSG: std_msgs/Header\n\
00155 # Standard metadata for higher-level stamped data types.\n\
00156 # This is generally used to communicate timestamped data \n\
00157 # in a particular coordinate frame.\n\
00158 # \n\
00159 # sequence ID: consecutively increasing ID \n\
00160 uint32 seq\n\
00161 #Two-integer timestamp that is expressed as:\n\
00162 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00163 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00164 # time-handling sugar is provided by the client library\n\
00165 time stamp\n\
00166 #Frame this data is associated with\n\
00167 # 0: no frame\n\
00168 # 1: global frame\n\
00169 string frame_id\n\
00170 \n\
00171 ================================================================================\n\
00172 MSG: geometry_msgs/Pose\n\
00173 # A representation of pose in free space, composed of postion and orientation. \n\
00174 Point position\n\
00175 Quaternion orientation\n\
00176 \n\
00177 ================================================================================\n\
00178 MSG: geometry_msgs/Point\n\
00179 # This contains the position of a point in free space\n\
00180 float64 x\n\
00181 float64 y\n\
00182 float64 z\n\
00183 \n\
00184 ================================================================================\n\
00185 MSG: geometry_msgs/Quaternion\n\
00186 # This represents an orientation in free space in quaternion form.\n\
00187 \n\
00188 float64 x\n\
00189 float64 y\n\
00190 float64 z\n\
00191 float64 w\n\
00192 \n\
00193 ";
00194 }
00195
00196 static const char* value(const ::arm_navigation_msgs::SimplePoseConstraint_<ContainerAllocator> &) { return value(); }
00197 };
00198
00199 template<class ContainerAllocator> struct HasHeader< ::arm_navigation_msgs::SimplePoseConstraint_<ContainerAllocator> > : public TrueType {};
00200 template<class ContainerAllocator> struct HasHeader< const ::arm_navigation_msgs::SimplePoseConstraint_<ContainerAllocator> > : public TrueType {};
00201 }
00202 }
00203
00204 namespace ros
00205 {
00206 namespace serialization
00207 {
00208
00209 template<class ContainerAllocator> struct Serializer< ::arm_navigation_msgs::SimplePoseConstraint_<ContainerAllocator> >
00210 {
00211 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00212 {
00213 stream.next(m.header);
00214 stream.next(m.link_name);
00215 stream.next(m.pose);
00216 stream.next(m.absolute_position_tolerance);
00217 stream.next(m.absolute_roll_tolerance);
00218 stream.next(m.absolute_yaw_tolerance);
00219 stream.next(m.absolute_pitch_tolerance);
00220 stream.next(m.orientation_constraint_type);
00221 }
00222
00223 ROS_DECLARE_ALLINONE_SERIALIZER;
00224 };
00225 }
00226 }
00227
00228 namespace ros
00229 {
00230 namespace message_operations
00231 {
00232
00233 template<class ContainerAllocator>
00234 struct Printer< ::arm_navigation_msgs::SimplePoseConstraint_<ContainerAllocator> >
00235 {
00236 template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::arm_navigation_msgs::SimplePoseConstraint_<ContainerAllocator> & v)
00237 {
00238 s << indent << "header: ";
00239 s << std::endl;
00240 Printer< ::std_msgs::Header_<ContainerAllocator> >::stream(s, indent + " ", v.header);
00241 s << indent << "link_name: ";
00242 Printer<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > >::stream(s, indent + " ", v.link_name);
00243 s << indent << "pose: ";
00244 s << std::endl;
00245 Printer< ::geometry_msgs::Pose_<ContainerAllocator> >::stream(s, indent + " ", v.pose);
00246 s << indent << "absolute_position_tolerance: ";
00247 s << std::endl;
00248 Printer< ::geometry_msgs::Point_<ContainerAllocator> >::stream(s, indent + " ", v.absolute_position_tolerance);
00249 s << indent << "absolute_roll_tolerance: ";
00250 Printer<double>::stream(s, indent + " ", v.absolute_roll_tolerance);
00251 s << indent << "absolute_yaw_tolerance: ";
00252 Printer<double>::stream(s, indent + " ", v.absolute_yaw_tolerance);
00253 s << indent << "absolute_pitch_tolerance: ";
00254 Printer<double>::stream(s, indent + " ", v.absolute_pitch_tolerance);
00255 s << indent << "orientation_constraint_type: ";
00256 Printer<int32_t>::stream(s, indent + " ", v.orientation_constraint_type);
00257 }
00258 };
00259
00260
00261 }
00262 }
00263
00264 #endif // ARM_NAVIGATION_MSGS_MESSAGE_SIMPLEPOSECONSTRAINT_H
00265