GetWeightedIK.h

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/* Auto-generated by genmsg_cpp for file /home/rosbuild/hudson/workspace/doc-fuerte-tum/doc_stacks/2013-05-23_04-38-08.595794/cram_physics/kdl_arm_kinematics/srv/GetWeightedIK.srv */
#ifndef KDL_ARM_KINEMATICS_SERVICE_GETWEIGHTEDIK_H
#define KDL_ARM_KINEMATICS_SERVICE_GETWEIGHTEDIK_H
#include <string>
#include <vector>
#include <map>
#include <ostream>
#include "ros/serialization.h"
#include "ros/builtin_message_traits.h"
#include "ros/message_operations.h"
#include "ros/time.h"

#include "ros/macros.h"

#include "ros/assert.h"

#include "ros/service_traits.h"

#include "geometry_msgs/PoseStamped.h"
#include "geometry_msgs/Pose.h"
#include "sensor_msgs/JointState.h"
#include "kdl_arm_kinematics/KDLWeights.h"


#include "sensor_msgs/JointState.h"
#include "arm_navigation_msgs/ArmNavigationErrorCodes.h"

namespace kdl_arm_kinematics
{
template <class ContainerAllocator>
struct GetWeightedIKRequest_ {
  typedef GetWeightedIKRequest_<ContainerAllocator> Type;

  GetWeightedIKRequest_()
  : pose()
  , tool_frame()
  , ik_seed()
  , weights()
  {
  }

  GetWeightedIKRequest_(const ContainerAllocator& _alloc)
  : pose(_alloc)
  , tool_frame(_alloc)
  , ik_seed(_alloc)
  , weights(_alloc)
  {
  }

  typedef  ::geometry_msgs::PoseStamped_<ContainerAllocator>  _pose_type;
   ::geometry_msgs::PoseStamped_<ContainerAllocator>  pose;

  typedef  ::geometry_msgs::Pose_<ContainerAllocator>  _tool_frame_type;
   ::geometry_msgs::Pose_<ContainerAllocator>  tool_frame;

  typedef  ::sensor_msgs::JointState_<ContainerAllocator>  _ik_seed_type;
   ::sensor_msgs::JointState_<ContainerAllocator>  ik_seed;

  typedef  ::kdl_arm_kinematics::KDLWeights_<ContainerAllocator>  _weights_type;
   ::kdl_arm_kinematics::KDLWeights_<ContainerAllocator>  weights;


  typedef boost::shared_ptr< ::kdl_arm_kinematics::GetWeightedIKRequest_<ContainerAllocator> > Ptr;
  typedef boost::shared_ptr< ::kdl_arm_kinematics::GetWeightedIKRequest_<ContainerAllocator>  const> ConstPtr;
  boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
}; // struct GetWeightedIKRequest
typedef  ::kdl_arm_kinematics::GetWeightedIKRequest_<std::allocator<void> > GetWeightedIKRequest;

typedef boost::shared_ptr< ::kdl_arm_kinematics::GetWeightedIKRequest> GetWeightedIKRequestPtr;
typedef boost::shared_ptr< ::kdl_arm_kinematics::GetWeightedIKRequest const> GetWeightedIKRequestConstPtr;


template <class ContainerAllocator>
struct GetWeightedIKResponse_ {
  typedef GetWeightedIKResponse_<ContainerAllocator> Type;

  GetWeightedIKResponse_()
  : solution()
  , error_code()
  {
  }

  GetWeightedIKResponse_(const ContainerAllocator& _alloc)
  : solution(_alloc)
  , error_code(_alloc)
  {
  }

  typedef  ::sensor_msgs::JointState_<ContainerAllocator>  _solution_type;
   ::sensor_msgs::JointState_<ContainerAllocator>  solution;

  typedef  ::arm_navigation_msgs::ArmNavigationErrorCodes_<ContainerAllocator>  _error_code_type;
   ::arm_navigation_msgs::ArmNavigationErrorCodes_<ContainerAllocator>  error_code;


  typedef boost::shared_ptr< ::kdl_arm_kinematics::GetWeightedIKResponse_<ContainerAllocator> > Ptr;
  typedef boost::shared_ptr< ::kdl_arm_kinematics::GetWeightedIKResponse_<ContainerAllocator>  const> ConstPtr;
  boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
}; // struct GetWeightedIKResponse
typedef  ::kdl_arm_kinematics::GetWeightedIKResponse_<std::allocator<void> > GetWeightedIKResponse;

typedef boost::shared_ptr< ::kdl_arm_kinematics::GetWeightedIKResponse> GetWeightedIKResponsePtr;
typedef boost::shared_ptr< ::kdl_arm_kinematics::GetWeightedIKResponse const> GetWeightedIKResponseConstPtr;

struct GetWeightedIK
{

typedef GetWeightedIKRequest Request;
typedef GetWeightedIKResponse Response;
Request request;
Response response;

typedef Request RequestType;
typedef Response ResponseType;
}; // struct GetWeightedIK
} // namespace kdl_arm_kinematics

namespace ros
{
namespace message_traits
{
template<class ContainerAllocator> struct IsMessage< ::kdl_arm_kinematics::GetWeightedIKRequest_<ContainerAllocator> > : public TrueType {};
template<class ContainerAllocator> struct IsMessage< ::kdl_arm_kinematics::GetWeightedIKRequest_<ContainerAllocator>  const> : public TrueType {};
template<class ContainerAllocator>
struct MD5Sum< ::kdl_arm_kinematics::GetWeightedIKRequest_<ContainerAllocator> > {
  static const char* value() 
  {
    return "53b781873d4bc97a81274c9247a551d9";
  }

  static const char* value(const  ::kdl_arm_kinematics::GetWeightedIKRequest_<ContainerAllocator> &) { return value(); } 
  static const uint64_t static_value1 = 0x53b781873d4bc97aULL;
  static const uint64_t static_value2 = 0x81274c9247a551d9ULL;
};

template<class ContainerAllocator>
struct DataType< ::kdl_arm_kinematics::GetWeightedIKRequest_<ContainerAllocator> > {
  static const char* value() 
  {
    return "kdl_arm_kinematics/GetWeightedIKRequest";
  }

  static const char* value(const  ::kdl_arm_kinematics::GetWeightedIKRequest_<ContainerAllocator> &) { return value(); } 
};

template<class ContainerAllocator>
struct Definition< ::kdl_arm_kinematics::GetWeightedIKRequest_<ContainerAllocator> > {
  static const char* value() 
  {
    return "\n\
geometry_msgs/PoseStamped pose\n\
\n\
\n\
geometry_msgs/Pose tool_frame\n\
\n\
\n\
sensor_msgs/JointState ik_seed\n\
\n\
\n\
kdl_arm_kinematics/KDLWeights weights\n\
\n\
\n\
================================================================================\n\
MSG: geometry_msgs/PoseStamped\n\
# A Pose with reference coordinate frame and timestamp\n\
Header header\n\
Pose pose\n\
\n\
================================================================================\n\
MSG: std_msgs/Header\n\
# Standard metadata for higher-level stamped data types.\n\
# This is generally used to communicate timestamped data \n\
# in a particular coordinate frame.\n\
# \n\
# sequence ID: consecutively increasing ID \n\
uint32 seq\n\
#Two-integer timestamp that is expressed as:\n\
# * stamp.secs: seconds (stamp_secs) since epoch\n\
# * stamp.nsecs: nanoseconds since stamp_secs\n\
# time-handling sugar is provided by the client library\n\
time stamp\n\
#Frame this data is associated with\n\
# 0: no frame\n\
# 1: global frame\n\
string frame_id\n\
\n\
================================================================================\n\
MSG: geometry_msgs/Pose\n\
# A representation of pose in free space, composed of postion and orientation. \n\
Point position\n\
Quaternion orientation\n\
\n\
================================================================================\n\
MSG: geometry_msgs/Point\n\
# This contains the position of a point in free space\n\
float64 x\n\
float64 y\n\
float64 z\n\
\n\
================================================================================\n\
MSG: geometry_msgs/Quaternion\n\
# This represents an orientation in free space in quaternion form.\n\
\n\
float64 x\n\
float64 y\n\
float64 z\n\
float64 w\n\
\n\
================================================================================\n\
MSG: sensor_msgs/JointState\n\
# This is a message that holds data to describe the state of a set of torque controlled joints. \n\
#\n\
# The state of each joint (revolute or prismatic) is defined by:\n\
#  * the position of the joint (rad or m),\n\
#  * the velocity of the joint (rad/s or m/s) and \n\
#  * the effort that is applied in the joint (Nm or N).\n\
#\n\
# Each joint is uniquely identified by its name\n\
# The header specifies the time at which the joint states were recorded. All the joint states\n\
# in one message have to be recorded at the same time.\n\
#\n\
# This message consists of a multiple arrays, one for each part of the joint state. \n\
# The goal is to make each of the fields optional. When e.g. your joints have no\n\
# effort associated with them, you can leave the effort array empty. \n\
#\n\
# All arrays in this message should have the same size, or be empty.\n\
# This is the only way to uniquely associate the joint name with the correct\n\
# states.\n\
\n\
\n\
Header header\n\
\n\
string[] name\n\
float64[] position\n\
float64[] velocity\n\
float64[] effort\n\
\n\
================================================================================\n\
MSG: kdl_arm_kinematics/KDLWeights\n\
byte INVALID_MODE = 0\n\
byte SET_TS = 1\n\
byte SET_JS = 2\n\
byte SET_LAMBDA = 4\n\
byte SET_TS_JS = 3\n\
\n\
byte mode                  # or-combination of values to set\n\
float64[36] weight_ts      # the 6x6 matrix of task space weights in row-major order\n\
float64[] weight_js        # the joints x joints matrix of joint space weights in row-major order\n\
float64 lambda             # Lambda value\n\
\n\
";
  }

  static const char* value(const  ::kdl_arm_kinematics::GetWeightedIKRequest_<ContainerAllocator> &) { return value(); } 
};

} // namespace message_traits
} // namespace ros


namespace ros
{
namespace message_traits
{
template<class ContainerAllocator> struct IsMessage< ::kdl_arm_kinematics::GetWeightedIKResponse_<ContainerAllocator> > : public TrueType {};
template<class ContainerAllocator> struct IsMessage< ::kdl_arm_kinematics::GetWeightedIKResponse_<ContainerAllocator>  const> : public TrueType {};
template<class ContainerAllocator>
struct MD5Sum< ::kdl_arm_kinematics::GetWeightedIKResponse_<ContainerAllocator> > {
  static const char* value() 
  {
    return "26703d3aa2f94a5367558f4749423a09";
  }

  static const char* value(const  ::kdl_arm_kinematics::GetWeightedIKResponse_<ContainerAllocator> &) { return value(); } 
  static const uint64_t static_value1 = 0x26703d3aa2f94a53ULL;
  static const uint64_t static_value2 = 0x67558f4749423a09ULL;
};

template<class ContainerAllocator>
struct DataType< ::kdl_arm_kinematics::GetWeightedIKResponse_<ContainerAllocator> > {
  static const char* value() 
  {
    return "kdl_arm_kinematics/GetWeightedIKResponse";
  }

  static const char* value(const  ::kdl_arm_kinematics::GetWeightedIKResponse_<ContainerAllocator> &) { return value(); } 
};

template<class ContainerAllocator>
struct Definition< ::kdl_arm_kinematics::GetWeightedIKResponse_<ContainerAllocator> > {
  static const char* value() 
  {
    return "sensor_msgs/JointState solution\n\
\n\
arm_navigation_msgs/ArmNavigationErrorCodes error_code\n\
\n\
\n\
================================================================================\n\
MSG: sensor_msgs/JointState\n\
# This is a message that holds data to describe the state of a set of torque controlled joints. \n\
#\n\
# The state of each joint (revolute or prismatic) is defined by:\n\
#  * the position of the joint (rad or m),\n\
#  * the velocity of the joint (rad/s or m/s) and \n\
#  * the effort that is applied in the joint (Nm or N).\n\
#\n\
# Each joint is uniquely identified by its name\n\
# The header specifies the time at which the joint states were recorded. All the joint states\n\
# in one message have to be recorded at the same time.\n\
#\n\
# This message consists of a multiple arrays, one for each part of the joint state. \n\
# The goal is to make each of the fields optional. When e.g. your joints have no\n\
# effort associated with them, you can leave the effort array empty. \n\
#\n\
# All arrays in this message should have the same size, or be empty.\n\
# This is the only way to uniquely associate the joint name with the correct\n\
# states.\n\
\n\
\n\
Header header\n\
\n\
string[] name\n\
float64[] position\n\
float64[] velocity\n\
float64[] effort\n\
\n\
================================================================================\n\
MSG: std_msgs/Header\n\
# Standard metadata for higher-level stamped data types.\n\
# This is generally used to communicate timestamped data \n\
# in a particular coordinate frame.\n\
# \n\
# sequence ID: consecutively increasing ID \n\
uint32 seq\n\
#Two-integer timestamp that is expressed as:\n\
# * stamp.secs: seconds (stamp_secs) since epoch\n\
# * stamp.nsecs: nanoseconds since stamp_secs\n\
# time-handling sugar is provided by the client library\n\
time stamp\n\
#Frame this data is associated with\n\
# 0: no frame\n\
# 1: global frame\n\
string frame_id\n\
\n\
================================================================================\n\
MSG: arm_navigation_msgs/ArmNavigationErrorCodes\n\
int32 val\n\
\n\
# overall behavior\n\
int32 PLANNING_FAILED=-1\n\
int32 SUCCESS=1\n\
int32 TIMED_OUT=-2\n\
\n\
# start state errors\n\
int32 START_STATE_IN_COLLISION=-3\n\
int32 START_STATE_VIOLATES_PATH_CONSTRAINTS=-4\n\
\n\
# goal errors\n\
int32 GOAL_IN_COLLISION=-5\n\
int32 GOAL_VIOLATES_PATH_CONSTRAINTS=-6\n\
\n\
# robot state\n\
int32 INVALID_ROBOT_STATE=-7\n\
int32 INCOMPLETE_ROBOT_STATE=-8\n\
\n\
# planning request errors\n\
int32 INVALID_PLANNER_ID=-9\n\
int32 INVALID_NUM_PLANNING_ATTEMPTS=-10\n\
int32 INVALID_ALLOWED_PLANNING_TIME=-11\n\
int32 INVALID_GROUP_NAME=-12\n\
int32 INVALID_GOAL_JOINT_CONSTRAINTS=-13\n\
int32 INVALID_GOAL_POSITION_CONSTRAINTS=-14\n\
int32 INVALID_GOAL_ORIENTATION_CONSTRAINTS=-15\n\
int32 INVALID_PATH_JOINT_CONSTRAINTS=-16\n\
int32 INVALID_PATH_POSITION_CONSTRAINTS=-17\n\
int32 INVALID_PATH_ORIENTATION_CONSTRAINTS=-18\n\
\n\
# state/trajectory monitor errors\n\
int32 INVALID_TRAJECTORY=-19\n\
int32 INVALID_INDEX=-20\n\
int32 JOINT_LIMITS_VIOLATED=-21\n\
int32 PATH_CONSTRAINTS_VIOLATED=-22\n\
int32 COLLISION_CONSTRAINTS_VIOLATED=-23\n\
int32 GOAL_CONSTRAINTS_VIOLATED=-24\n\
int32 JOINTS_NOT_MOVING=-25\n\
int32 TRAJECTORY_CONTROLLER_FAILED=-26\n\
\n\
# system errors\n\
int32 FRAME_TRANSFORM_FAILURE=-27\n\
int32 COLLISION_CHECKING_UNAVAILABLE=-28\n\
int32 ROBOT_STATE_STALE=-29\n\
int32 SENSOR_INFO_STALE=-30\n\
\n\
# kinematics errors\n\
int32 NO_IK_SOLUTION=-31\n\
int32 INVALID_LINK_NAME=-32\n\
int32 IK_LINK_IN_COLLISION=-33\n\
int32 NO_FK_SOLUTION=-34\n\
int32 KINEMATICS_STATE_IN_COLLISION=-35\n\
\n\
# general errors\n\
int32 INVALID_TIMEOUT=-36\n\
\n\
\n\
";
  }

  static const char* value(const  ::kdl_arm_kinematics::GetWeightedIKResponse_<ContainerAllocator> &) { return value(); } 
};

} // namespace message_traits
} // namespace ros

namespace ros
{
namespace serialization
{

template<class ContainerAllocator> struct Serializer< ::kdl_arm_kinematics::GetWeightedIKRequest_<ContainerAllocator> >
{
  template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
  {
    stream.next(m.pose);
    stream.next(m.tool_frame);
    stream.next(m.ik_seed);
    stream.next(m.weights);
  }

  ROS_DECLARE_ALLINONE_SERIALIZER;
}; // struct GetWeightedIKRequest_
} // namespace serialization
} // namespace ros


namespace ros
{
namespace serialization
{

template<class ContainerAllocator> struct Serializer< ::kdl_arm_kinematics::GetWeightedIKResponse_<ContainerAllocator> >
{
  template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
  {
    stream.next(m.solution);
    stream.next(m.error_code);
  }

  ROS_DECLARE_ALLINONE_SERIALIZER;
}; // struct GetWeightedIKResponse_
} // namespace serialization
} // namespace ros

namespace ros
{
namespace service_traits
{
template<>
struct MD5Sum<kdl_arm_kinematics::GetWeightedIK> {
  static const char* value() 
  {
    return "ae963d0cab638b025249ba90e48a170c";
  }

  static const char* value(const kdl_arm_kinematics::GetWeightedIK&) { return value(); } 
};

template<>
struct DataType<kdl_arm_kinematics::GetWeightedIK> {
  static const char* value() 
  {
    return "kdl_arm_kinematics/GetWeightedIK";
  }

  static const char* value(const kdl_arm_kinematics::GetWeightedIK&) { return value(); } 
};

template<class ContainerAllocator>
struct MD5Sum<kdl_arm_kinematics::GetWeightedIKRequest_<ContainerAllocator> > {
  static const char* value() 
  {
    return "ae963d0cab638b025249ba90e48a170c";
  }

  static const char* value(const kdl_arm_kinematics::GetWeightedIKRequest_<ContainerAllocator> &) { return value(); } 
};

template<class ContainerAllocator>
struct DataType<kdl_arm_kinematics::GetWeightedIKRequest_<ContainerAllocator> > {
  static const char* value() 
  {
    return "kdl_arm_kinematics/GetWeightedIK";
  }

  static const char* value(const kdl_arm_kinematics::GetWeightedIKRequest_<ContainerAllocator> &) { return value(); } 
};

template<class ContainerAllocator>
struct MD5Sum<kdl_arm_kinematics::GetWeightedIKResponse_<ContainerAllocator> > {
  static const char* value() 
  {
    return "ae963d0cab638b025249ba90e48a170c";
  }

  static const char* value(const kdl_arm_kinematics::GetWeightedIKResponse_<ContainerAllocator> &) { return value(); } 
};

template<class ContainerAllocator>
struct DataType<kdl_arm_kinematics::GetWeightedIKResponse_<ContainerAllocator> > {
  static const char* value() 
  {
    return "kdl_arm_kinematics/GetWeightedIK";
  }

  static const char* value(const kdl_arm_kinematics::GetWeightedIKResponse_<ContainerAllocator> &) { return value(); } 
};

} // namespace service_traits
} // namespace ros

#endif // KDL_ARM_KINEMATICS_SERVICE_GETWEIGHTEDIK_H