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00002 #ifndef EE_CART_IMPED_MSGS_MESSAGE_EECARTIMPEDACTION_H
00003 #define EE_CART_IMPED_MSGS_MESSAGE_EECARTIMPEDACTION_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 "ee_cart_imped_msgs/EECartImpedActionGoal.h"
00018 #include "ee_cart_imped_msgs/EECartImpedActionResult.h"
00019 #include "ee_cart_imped_msgs/EECartImpedActionFeedback.h"
00020
00021 namespace ee_cart_imped_msgs
00022 {
00023 template <class ContainerAllocator>
00024 struct EECartImpedAction_ {
00025 typedef EECartImpedAction_<ContainerAllocator> Type;
00026
00027 EECartImpedAction_()
00028 : action_goal()
00029 , action_result()
00030 , action_feedback()
00031 {
00032 }
00033
00034 EECartImpedAction_(const ContainerAllocator& _alloc)
00035 : action_goal(_alloc)
00036 , action_result(_alloc)
00037 , action_feedback(_alloc)
00038 {
00039 }
00040
00041 typedef ::ee_cart_imped_msgs::EECartImpedActionGoal_<ContainerAllocator> _action_goal_type;
00042 ::ee_cart_imped_msgs::EECartImpedActionGoal_<ContainerAllocator> action_goal;
00043
00044 typedef ::ee_cart_imped_msgs::EECartImpedActionResult_<ContainerAllocator> _action_result_type;
00045 ::ee_cart_imped_msgs::EECartImpedActionResult_<ContainerAllocator> action_result;
00046
00047 typedef ::ee_cart_imped_msgs::EECartImpedActionFeedback_<ContainerAllocator> _action_feedback_type;
00048 ::ee_cart_imped_msgs::EECartImpedActionFeedback_<ContainerAllocator> action_feedback;
00049
00050
00051 typedef boost::shared_ptr< ::ee_cart_imped_msgs::EECartImpedAction_<ContainerAllocator> > Ptr;
00052 typedef boost::shared_ptr< ::ee_cart_imped_msgs::EECartImpedAction_<ContainerAllocator> const> ConstPtr;
00053 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00054 };
00055 typedef ::ee_cart_imped_msgs::EECartImpedAction_<std::allocator<void> > EECartImpedAction;
00056
00057 typedef boost::shared_ptr< ::ee_cart_imped_msgs::EECartImpedAction> EECartImpedActionPtr;
00058 typedef boost::shared_ptr< ::ee_cart_imped_msgs::EECartImpedAction const> EECartImpedActionConstPtr;
00059
00060
00061 template<typename ContainerAllocator>
00062 std::ostream& operator<<(std::ostream& s, const ::ee_cart_imped_msgs::EECartImpedAction_<ContainerAllocator> & v)
00063 {
00064 ros::message_operations::Printer< ::ee_cart_imped_msgs::EECartImpedAction_<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< ::ee_cart_imped_msgs::EECartImpedAction_<ContainerAllocator> > : public TrueType {};
00074 template<class ContainerAllocator> struct IsMessage< ::ee_cart_imped_msgs::EECartImpedAction_<ContainerAllocator> const> : public TrueType {};
00075 template<class ContainerAllocator>
00076 struct MD5Sum< ::ee_cart_imped_msgs::EECartImpedAction_<ContainerAllocator> > {
00077 static const char* value()
00078 {
00079 return "363b9ba3af4663dbf9394e1ef0b84435";
00080 }
00081
00082 static const char* value(const ::ee_cart_imped_msgs::EECartImpedAction_<ContainerAllocator> &) { return value(); }
00083 static const uint64_t static_value1 = 0x363b9ba3af4663dbULL;
00084 static const uint64_t static_value2 = 0xf9394e1ef0b84435ULL;
00085 };
00086
00087 template<class ContainerAllocator>
00088 struct DataType< ::ee_cart_imped_msgs::EECartImpedAction_<ContainerAllocator> > {
00089 static const char* value()
00090 {
00091 return "ee_cart_imped_msgs/EECartImpedAction";
00092 }
00093
00094 static const char* value(const ::ee_cart_imped_msgs::EECartImpedAction_<ContainerAllocator> &) { return value(); }
00095 };
00096
00097 template<class ContainerAllocator>
00098 struct Definition< ::ee_cart_imped_msgs::EECartImpedAction_<ContainerAllocator> > {
00099 static const char* value()
00100 {
00101 return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00102 \n\
00103 EECartImpedActionGoal action_goal\n\
00104 EECartImpedActionResult action_result\n\
00105 EECartImpedActionFeedback action_feedback\n\
00106 \n\
00107 ================================================================================\n\
00108 MSG: ee_cart_imped_msgs/EECartImpedActionGoal\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 EECartImpedGoal 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: ee_cart_imped_msgs/EECartImpedGoal\n\
00148 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00149 #goal definition\n\
00150 Header header\n\
00151 ee_cart_imped_msgs/StiffPoint[] trajectory\n\
00152 \n\
00153 ================================================================================\n\
00154 MSG: ee_cart_imped_msgs/StiffPoint\n\
00155 Header header\n\
00156 #The pose to achieve in the stiffness directions\n\
00157 geometry_msgs/Pose pose\n\
00158 #Wrench or stiffness for each dimension\n\
00159 geometry_msgs/Wrench wrench_or_stiffness\n\
00160 #The following are True if a force/torque should\n\
00161 #be exerted and False if a stiffness should be used.\n\
00162 bool isForceX\n\
00163 bool isForceY\n\
00164 bool isForceZ\n\
00165 bool isTorqueX\n\
00166 bool isTorqueY\n\
00167 bool isTorqueZ\n\
00168 #The time from the start of the trajectory that this\n\
00169 #point should be achieved.\n\
00170 duration time_from_start\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 ================================================================================\n\
00194 MSG: geometry_msgs/Wrench\n\
00195 # This represents force in free space, seperated into \n\
00196 # it's linear and angular parts. \n\
00197 Vector3 force\n\
00198 Vector3 torque\n\
00199 \n\
00200 ================================================================================\n\
00201 MSG: geometry_msgs/Vector3\n\
00202 # This represents a vector in free space. \n\
00203 \n\
00204 float64 x\n\
00205 float64 y\n\
00206 float64 z\n\
00207 ================================================================================\n\
00208 MSG: ee_cart_imped_msgs/EECartImpedActionResult\n\
00209 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00210 \n\
00211 Header header\n\
00212 actionlib_msgs/GoalStatus status\n\
00213 EECartImpedResult result\n\
00214 \n\
00215 ================================================================================\n\
00216 MSG: actionlib_msgs/GoalStatus\n\
00217 GoalID goal_id\n\
00218 uint8 status\n\
00219 uint8 PENDING = 0 # The goal has yet to be processed by the action server\n\
00220 uint8 ACTIVE = 1 # The goal is currently being processed by the action server\n\
00221 uint8 PREEMPTED = 2 # The goal received a cancel request after it started executing\n\
00222 # and has since completed its execution (Terminal State)\n\
00223 uint8 SUCCEEDED = 3 # The goal was achieved successfully by the action server (Terminal State)\n\
00224 uint8 ABORTED = 4 # The goal was aborted during execution by the action server due\n\
00225 # to some failure (Terminal State)\n\
00226 uint8 REJECTED = 5 # The goal was rejected by the action server without being processed,\n\
00227 # because the goal was unattainable or invalid (Terminal State)\n\
00228 uint8 PREEMPTING = 6 # The goal received a cancel request after it started executing\n\
00229 # and has not yet completed execution\n\
00230 uint8 RECALLING = 7 # The goal received a cancel request before it started executing,\n\
00231 # but the action server has not yet confirmed that the goal is canceled\n\
00232 uint8 RECALLED = 8 # The goal received a cancel request before it started executing\n\
00233 # and was successfully cancelled (Terminal State)\n\
00234 uint8 LOST = 9 # An action client can determine that a goal is LOST. This should not be\n\
00235 # sent over the wire by an action server\n\
00236 \n\
00237 #Allow for the user to associate a string with GoalStatus for debugging\n\
00238 string text\n\
00239 \n\
00240 \n\
00241 ================================================================================\n\
00242 MSG: ee_cart_imped_msgs/EECartImpedResult\n\
00243 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00244 #result definition\n\
00245 #whether it was successful\n\
00246 #the pose and force we ended with\n\
00247 Header header\n\
00248 bool success\n\
00249 ee_cart_imped_msgs/StiffPoint desired\n\
00250 geometry_msgs/Pose actual_pose\n\
00251 float64 effort_sq_error\n\
00252 \n\
00253 ================================================================================\n\
00254 MSG: ee_cart_imped_msgs/EECartImpedActionFeedback\n\
00255 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00256 \n\
00257 Header header\n\
00258 actionlib_msgs/GoalStatus status\n\
00259 EECartImpedFeedback feedback\n\
00260 \n\
00261 ================================================================================\n\
00262 MSG: ee_cart_imped_msgs/EECartImpedFeedback\n\
00263 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00264 #feedback\n\
00265 #current pose and squared error in force \n\
00266 #and the running time of this goal so far\n\
00267 Header header\n\
00268 ee_cart_imped_msgs/StiffPoint[] goal\n\
00269 ee_cart_imped_msgs/StiffPoint initial_point\n\
00270 ee_cart_imped_msgs/StiffPoint desired\n\
00271 ee_cart_imped_msgs/StiffPoint actual_pose\n\
00272 float64 effort_sq_error\n\
00273 float64[] requested_joint_efforts\n\
00274 float64[] actual_joint_efforts\n\
00275 duration running_time\n\
00276 \n\
00277 \n\
00278 \n\
00279 ";
00280 }
00281
00282 static const char* value(const ::ee_cart_imped_msgs::EECartImpedAction_<ContainerAllocator> &) { return value(); }
00283 };
00284
00285 }
00286 }
00287
00288 namespace ros
00289 {
00290 namespace serialization
00291 {
00292
00293 template<class ContainerAllocator> struct Serializer< ::ee_cart_imped_msgs::EECartImpedAction_<ContainerAllocator> >
00294 {
00295 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00296 {
00297 stream.next(m.action_goal);
00298 stream.next(m.action_result);
00299 stream.next(m.action_feedback);
00300 }
00301
00302 ROS_DECLARE_ALLINONE_SERIALIZER;
00303 };
00304 }
00305 }
00306
00307 namespace ros
00308 {
00309 namespace message_operations
00310 {
00311
00312 template<class ContainerAllocator>
00313 struct Printer< ::ee_cart_imped_msgs::EECartImpedAction_<ContainerAllocator> >
00314 {
00315 template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::ee_cart_imped_msgs::EECartImpedAction_<ContainerAllocator> & v)
00316 {
00317 s << indent << "action_goal: ";
00318 s << std::endl;
00319 Printer< ::ee_cart_imped_msgs::EECartImpedActionGoal_<ContainerAllocator> >::stream(s, indent + " ", v.action_goal);
00320 s << indent << "action_result: ";
00321 s << std::endl;
00322 Printer< ::ee_cart_imped_msgs::EECartImpedActionResult_<ContainerAllocator> >::stream(s, indent + " ", v.action_result);
00323 s << indent << "action_feedback: ";
00324 s << std::endl;
00325 Printer< ::ee_cart_imped_msgs::EECartImpedActionFeedback_<ContainerAllocator> >::stream(s, indent + " ", v.action_feedback);
00326 }
00327 };
00328
00329
00330 }
00331 }
00332
00333 #endif // EE_CART_IMPED_MSGS_MESSAGE_EECARTIMPEDACTION_H
00334