00001
00002 #ifndef EE_CART_IMPED_MSGS_MESSAGE_STIFFPOINT_H
00003 #define EE_CART_IMPED_MSGS_MESSAGE_STIFFPOINT_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/Wrench.h"
00020
00021 namespace ee_cart_imped_msgs
00022 {
00023 template <class ContainerAllocator>
00024 struct StiffPoint_ {
00025 typedef StiffPoint_<ContainerAllocator> Type;
00026
00027 StiffPoint_()
00028 : header()
00029 , pose()
00030 , wrench_or_stiffness()
00031 , isForceX(false)
00032 , isForceY(false)
00033 , isForceZ(false)
00034 , isTorqueX(false)
00035 , isTorqueY(false)
00036 , isTorqueZ(false)
00037 , time_from_start()
00038 {
00039 }
00040
00041 StiffPoint_(const ContainerAllocator& _alloc)
00042 : header(_alloc)
00043 , pose(_alloc)
00044 , wrench_or_stiffness(_alloc)
00045 , isForceX(false)
00046 , isForceY(false)
00047 , isForceZ(false)
00048 , isTorqueX(false)
00049 , isTorqueY(false)
00050 , isTorqueZ(false)
00051 , time_from_start()
00052 {
00053 }
00054
00055 typedef ::std_msgs::Header_<ContainerAllocator> _header_type;
00056 ::std_msgs::Header_<ContainerAllocator> header;
00057
00058 typedef ::geometry_msgs::Pose_<ContainerAllocator> _pose_type;
00059 ::geometry_msgs::Pose_<ContainerAllocator> pose;
00060
00061 typedef ::geometry_msgs::Wrench_<ContainerAllocator> _wrench_or_stiffness_type;
00062 ::geometry_msgs::Wrench_<ContainerAllocator> wrench_or_stiffness;
00063
00064 typedef uint8_t _isForceX_type;
00065 uint8_t isForceX;
00066
00067 typedef uint8_t _isForceY_type;
00068 uint8_t isForceY;
00069
00070 typedef uint8_t _isForceZ_type;
00071 uint8_t isForceZ;
00072
00073 typedef uint8_t _isTorqueX_type;
00074 uint8_t isTorqueX;
00075
00076 typedef uint8_t _isTorqueY_type;
00077 uint8_t isTorqueY;
00078
00079 typedef uint8_t _isTorqueZ_type;
00080 uint8_t isTorqueZ;
00081
00082 typedef ros::Duration _time_from_start_type;
00083 ros::Duration time_from_start;
00084
00085
00086 typedef boost::shared_ptr< ::ee_cart_imped_msgs::StiffPoint_<ContainerAllocator> > Ptr;
00087 typedef boost::shared_ptr< ::ee_cart_imped_msgs::StiffPoint_<ContainerAllocator> const> ConstPtr;
00088 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00089 };
00090 typedef ::ee_cart_imped_msgs::StiffPoint_<std::allocator<void> > StiffPoint;
00091
00092 typedef boost::shared_ptr< ::ee_cart_imped_msgs::StiffPoint> StiffPointPtr;
00093 typedef boost::shared_ptr< ::ee_cart_imped_msgs::StiffPoint const> StiffPointConstPtr;
00094
00095
00096 template<typename ContainerAllocator>
00097 std::ostream& operator<<(std::ostream& s, const ::ee_cart_imped_msgs::StiffPoint_<ContainerAllocator> & v)
00098 {
00099 ros::message_operations::Printer< ::ee_cart_imped_msgs::StiffPoint_<ContainerAllocator> >::stream(s, "", v);
00100 return s;}
00101
00102 }
00103
00104 namespace ros
00105 {
00106 namespace message_traits
00107 {
00108 template<class ContainerAllocator> struct IsMessage< ::ee_cart_imped_msgs::StiffPoint_<ContainerAllocator> > : public TrueType {};
00109 template<class ContainerAllocator> struct IsMessage< ::ee_cart_imped_msgs::StiffPoint_<ContainerAllocator> const> : public TrueType {};
00110 template<class ContainerAllocator>
00111 struct MD5Sum< ::ee_cart_imped_msgs::StiffPoint_<ContainerAllocator> > {
00112 static const char* value()
00113 {
00114 return "2b6b597656e805a0ca2e1de07dc31a66";
00115 }
00116
00117 static const char* value(const ::ee_cart_imped_msgs::StiffPoint_<ContainerAllocator> &) { return value(); }
00118 static const uint64_t static_value1 = 0x2b6b597656e805a0ULL;
00119 static const uint64_t static_value2 = 0xca2e1de07dc31a66ULL;
00120 };
00121
00122 template<class ContainerAllocator>
00123 struct DataType< ::ee_cart_imped_msgs::StiffPoint_<ContainerAllocator> > {
00124 static const char* value()
00125 {
00126 return "ee_cart_imped_msgs/StiffPoint";
00127 }
00128
00129 static const char* value(const ::ee_cart_imped_msgs::StiffPoint_<ContainerAllocator> &) { return value(); }
00130 };
00131
00132 template<class ContainerAllocator>
00133 struct Definition< ::ee_cart_imped_msgs::StiffPoint_<ContainerAllocator> > {
00134 static const char* value()
00135 {
00136 return "Header header\n\
00137 #The pose to achieve in the stiffness directions\n\
00138 geometry_msgs/Pose pose\n\
00139 #Wrench or stiffness for each dimension\n\
00140 geometry_msgs/Wrench wrench_or_stiffness\n\
00141 #The following are True if a force/torque should\n\
00142 #be exerted and False if a stiffness should be used.\n\
00143 bool isForceX\n\
00144 bool isForceY\n\
00145 bool isForceZ\n\
00146 bool isTorqueX\n\
00147 bool isTorqueY\n\
00148 bool isTorqueZ\n\
00149 #The time from the start of the trajectory that this\n\
00150 #point should be achieved.\n\
00151 duration time_from_start\n\
00152 ================================================================================\n\
00153 MSG: std_msgs/Header\n\
00154 # Standard metadata for higher-level stamped data types.\n\
00155 # This is generally used to communicate timestamped data \n\
00156 # in a particular coordinate frame.\n\
00157 # \n\
00158 # sequence ID: consecutively increasing ID \n\
00159 uint32 seq\n\
00160 #Two-integer timestamp that is expressed as:\n\
00161 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00162 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00163 # time-handling sugar is provided by the client library\n\
00164 time stamp\n\
00165 #Frame this data is associated with\n\
00166 # 0: no frame\n\
00167 # 1: global frame\n\
00168 string frame_id\n\
00169 \n\
00170 ================================================================================\n\
00171 MSG: geometry_msgs/Pose\n\
00172 # A representation of pose in free space, composed of postion and orientation. \n\
00173 Point position\n\
00174 Quaternion orientation\n\
00175 \n\
00176 ================================================================================\n\
00177 MSG: geometry_msgs/Point\n\
00178 # This contains the position of a point in free space\n\
00179 float64 x\n\
00180 float64 y\n\
00181 float64 z\n\
00182 \n\
00183 ================================================================================\n\
00184 MSG: geometry_msgs/Quaternion\n\
00185 # This represents an orientation in free space in quaternion form.\n\
00186 \n\
00187 float64 x\n\
00188 float64 y\n\
00189 float64 z\n\
00190 float64 w\n\
00191 \n\
00192 ================================================================================\n\
00193 MSG: geometry_msgs/Wrench\n\
00194 # This represents force in free space, seperated into \n\
00195 # it's linear and angular parts. \n\
00196 Vector3 force\n\
00197 Vector3 torque\n\
00198 \n\
00199 ================================================================================\n\
00200 MSG: geometry_msgs/Vector3\n\
00201 # This represents a vector in free space. \n\
00202 \n\
00203 float64 x\n\
00204 float64 y\n\
00205 float64 z\n\
00206 ";
00207 }
00208
00209 static const char* value(const ::ee_cart_imped_msgs::StiffPoint_<ContainerAllocator> &) { return value(); }
00210 };
00211
00212 template<class ContainerAllocator> struct HasHeader< ::ee_cart_imped_msgs::StiffPoint_<ContainerAllocator> > : public TrueType {};
00213 template<class ContainerAllocator> struct HasHeader< const ::ee_cart_imped_msgs::StiffPoint_<ContainerAllocator> > : public TrueType {};
00214 }
00215 }
00216
00217 namespace ros
00218 {
00219 namespace serialization
00220 {
00221
00222 template<class ContainerAllocator> struct Serializer< ::ee_cart_imped_msgs::StiffPoint_<ContainerAllocator> >
00223 {
00224 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00225 {
00226 stream.next(m.header);
00227 stream.next(m.pose);
00228 stream.next(m.wrench_or_stiffness);
00229 stream.next(m.isForceX);
00230 stream.next(m.isForceY);
00231 stream.next(m.isForceZ);
00232 stream.next(m.isTorqueX);
00233 stream.next(m.isTorqueY);
00234 stream.next(m.isTorqueZ);
00235 stream.next(m.time_from_start);
00236 }
00237
00238 ROS_DECLARE_ALLINONE_SERIALIZER;
00239 };
00240 }
00241 }
00242
00243 namespace ros
00244 {
00245 namespace message_operations
00246 {
00247
00248 template<class ContainerAllocator>
00249 struct Printer< ::ee_cart_imped_msgs::StiffPoint_<ContainerAllocator> >
00250 {
00251 template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::ee_cart_imped_msgs::StiffPoint_<ContainerAllocator> & v)
00252 {
00253 s << indent << "header: ";
00254 s << std::endl;
00255 Printer< ::std_msgs::Header_<ContainerAllocator> >::stream(s, indent + " ", v.header);
00256 s << indent << "pose: ";
00257 s << std::endl;
00258 Printer< ::geometry_msgs::Pose_<ContainerAllocator> >::stream(s, indent + " ", v.pose);
00259 s << indent << "wrench_or_stiffness: ";
00260 s << std::endl;
00261 Printer< ::geometry_msgs::Wrench_<ContainerAllocator> >::stream(s, indent + " ", v.wrench_or_stiffness);
00262 s << indent << "isForceX: ";
00263 Printer<uint8_t>::stream(s, indent + " ", v.isForceX);
00264 s << indent << "isForceY: ";
00265 Printer<uint8_t>::stream(s, indent + " ", v.isForceY);
00266 s << indent << "isForceZ: ";
00267 Printer<uint8_t>::stream(s, indent + " ", v.isForceZ);
00268 s << indent << "isTorqueX: ";
00269 Printer<uint8_t>::stream(s, indent + " ", v.isTorqueX);
00270 s << indent << "isTorqueY: ";
00271 Printer<uint8_t>::stream(s, indent + " ", v.isTorqueY);
00272 s << indent << "isTorqueZ: ";
00273 Printer<uint8_t>::stream(s, indent + " ", v.isTorqueZ);
00274 s << indent << "time_from_start: ";
00275 Printer<ros::Duration>::stream(s, indent + " ", v.time_from_start);
00276 }
00277 };
00278
00279
00280 }
00281 }
00282
00283 #endif // EE_CART_IMPED_MSGS_MESSAGE_STIFFPOINT_H
00284