RobotInfo.h

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/* Auto-generated by genmsg_cpp for file /home/rosbuild/hudson/workspace/doc-fuerte-jsk-ros-pkg/doc_stacks/2013-03-23_12-16-27.483192/jsk-ros-pkg/openrave_planning/openraveros/msg/RobotInfo.msg */
#ifndef OPENRAVEROS_MESSAGE_ROBOTINFO_H
#define OPENRAVEROS_MESSAGE_ROBOTINFO_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 "openraveros/BodyInfo.h"
#include "openraveros/Manipulator.h"
#include "openraveros/AttachedSensor.h"
#include "openraveros/ActiveDOFs.h"

namespace openraveros
{
template <class ContainerAllocator>
struct RobotInfo_ {
  typedef RobotInfo_<ContainerAllocator> Type;

  RobotInfo_()
  : bodyinfo()
  , manips()
  , sensors()
  , activedof(0)
  , activemanip(0)
  , active()
  , activelowerlimit()
  , activeupperlimit()
  {
  }

  RobotInfo_(const ContainerAllocator& _alloc)
  : bodyinfo(_alloc)
  , manips(_alloc)
  , sensors(_alloc)
  , activedof(0)
  , activemanip(0)
  , active(_alloc)
  , activelowerlimit(_alloc)
  , activeupperlimit(_alloc)
  {
  }

  typedef  ::openraveros::BodyInfo_<ContainerAllocator>  _bodyinfo_type;
   ::openraveros::BodyInfo_<ContainerAllocator>  bodyinfo;

  typedef std::vector< ::openraveros::Manipulator_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::openraveros::Manipulator_<ContainerAllocator> >::other >  _manips_type;
  std::vector< ::openraveros::Manipulator_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::openraveros::Manipulator_<ContainerAllocator> >::other >  manips;

  typedef std::vector< ::openraveros::AttachedSensor_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::openraveros::AttachedSensor_<ContainerAllocator> >::other >  _sensors_type;
  std::vector< ::openraveros::AttachedSensor_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::openraveros::AttachedSensor_<ContainerAllocator> >::other >  sensors;

  typedef uint8_t _activedof_type;
  uint8_t activedof;

  typedef uint8_t _activemanip_type;
  uint8_t activemanip;

  typedef  ::openraveros::ActiveDOFs_<ContainerAllocator>  _active_type;
   ::openraveros::ActiveDOFs_<ContainerAllocator>  active;

  typedef std::vector<float, typename ContainerAllocator::template rebind<float>::other >  _activelowerlimit_type;
  std::vector<float, typename ContainerAllocator::template rebind<float>::other >  activelowerlimit;

  typedef std::vector<float, typename ContainerAllocator::template rebind<float>::other >  _activeupperlimit_type;
  std::vector<float, typename ContainerAllocator::template rebind<float>::other >  activeupperlimit;

  enum { Req_Manipulators = 256 };
  enum { Req_Sensors = 512 };
  enum { Req_ActiveDOFs = 1024 };
  enum { Req_ActiveLimits = 2048 };

  typedef boost::shared_ptr< ::openraveros::RobotInfo_<ContainerAllocator> > Ptr;
  typedef boost::shared_ptr< ::openraveros::RobotInfo_<ContainerAllocator>  const> ConstPtr;
  boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
}; // struct RobotInfo
typedef  ::openraveros::RobotInfo_<std::allocator<void> > RobotInfo;

typedef boost::shared_ptr< ::openraveros::RobotInfo> RobotInfoPtr;
typedef boost::shared_ptr< ::openraveros::RobotInfo const> RobotInfoConstPtr;


template<typename ContainerAllocator>
std::ostream& operator<<(std::ostream& s, const  ::openraveros::RobotInfo_<ContainerAllocator> & v)
{
  ros::message_operations::Printer< ::openraveros::RobotInfo_<ContainerAllocator> >::stream(s, "", v);
  return s;}

} // namespace openraveros

namespace ros
{
namespace message_traits
{
template<class ContainerAllocator> struct IsMessage< ::openraveros::RobotInfo_<ContainerAllocator> > : public TrueType {};
template<class ContainerAllocator> struct IsMessage< ::openraveros::RobotInfo_<ContainerAllocator>  const> : public TrueType {};
template<class ContainerAllocator>
struct MD5Sum< ::openraveros::RobotInfo_<ContainerAllocator> > {
  static const char* value() 
  {
    return "fd0755be07c8600a7f1a81ef43e04b2c";
  }

  static const char* value(const  ::openraveros::RobotInfo_<ContainerAllocator> &) { return value(); } 
  static const uint64_t static_value1 = 0xfd0755be07c8600aULL;
  static const uint64_t static_value2 = 0x7f1a81ef43e04b2cULL;
};

template<class ContainerAllocator>
struct DataType< ::openraveros::RobotInfo_<ContainerAllocator> > {
  static const char* value() 
  {
    return "openraveros/RobotInfo";
  }

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

template<class ContainerAllocator>
struct Definition< ::openraveros::RobotInfo_<ContainerAllocator> > {
  static const char* value() 
  {
    return "# robot information\n\
\n\
BodyInfo bodyinfo\n\
Manipulator[] manips\n\
AttachedSensor[] sensors\n\
\n\
# total active dof\n\
uint8 activedof\n\
\n\
# current active manipulator\n\
uint8 activemanip\n\
\n\
# information about the active dofs\n\
ActiveDOFs active\n\
\n\
# joint limits\n\
float32[] activelowerlimit\n\
float32[] activeupperlimit\n\
\n\
# upper 8 bits\n\
uint16 Req_Manipulators=256\n\
uint16 Req_Sensors=512\n\
uint16 Req_ActiveDOFs=1024\n\
uint16 Req_ActiveLimits=2048\n\
\n\
================================================================================\n\
MSG: openraveros/BodyInfo\n\
# information about a body\n\
int32 bodyid\n\
\n\
# current transformation\n\
AffineTransformMatrix transform\n\
\n\
# degrees of freedom (number of joints)\n\
uint8 dof\n\
\n\
# enabled status\n\
uint8 enabled\n\
\n\
\n\
# filename used to create body geometry\n\
string filename\n\
\n\
# name of the body\n\
string name\n\
\n\
# type of body\n\
string type\n\
\n\
float32[] jointvalues\n\
AffineTransformMatrix[] links\n\
string[] linknames\n\
string[] jointnames\n\
\n\
# joint limits\n\
float32[] lowerlimit\n\
float32[] upperlimit\n\
\n\
# request information bitmasks, also holds robot specific request information (lower 8 bits)\n\
uint16 Req_JointValues=1\n\
uint16 Req_Links=2\n\
uint16 Req_LinkNames=4 # fills the linknames\n\
uint16 Req_JointLimits=8\n\
uint16 Req_Names=16 # if set, fills filename, name, and type\n\
uint16 Req_JointNames=32 # fills the jointnames\n\
================================================================================\n\
MSG: openraveros/AffineTransformMatrix\n\
# column ordered 3x4 affine transformation, ie: the arrangement in memory is:\n\
# where the upper 3x3 matrix is orthonormal\n\
# [0] [3] [6] [9]\n\
# [1] [4] [7] [10]\n\
# [2] [5] [8] [11]\n\
float32[12] m\n\
\n\
================================================================================\n\
MSG: openraveros/Manipulator\n\
# information specific to a manipulator for a robot\n\
\n\
# zero-based index of base link that manipulator is attached to\n\
int8 baselink\n\
\n\
# zero-based index of link defining the end-effector\n\
int8 eelink\n\
\n\
# 3x4 matrix of the grasp frame relative to the end-effector link\n\
AffineTransformMatrix tgrasp\n\
\n\
# zero-based hand joint indices\n\
uint8[] handjoints\n\
\n\
# zero-based arm joints indices (from base to end-effector)\n\
uint8[] armjoints\n\
\n\
# name of ik solver using\n\
string iksolvername\n\
\n\
# manipulator name\n\
string name\n\
\n\
================================================================================\n\
MSG: openraveros/AttachedSensor\n\
# information specific to an attached sensor for a robot\n\
\n\
# name of sensor\n\
string name\n\
\n\
# zero-based index of link sensor is attached to\n\
int8 attachedlink\n\
\n\
# 3x4 matrix of the relative transform of the sensor frame with respect to the link frame\n\
AffineTransformMatrix trelative\n\
\n\
# 3x4 matrix of the global transform of the sensor (ie, with link transform applied)\n\
AffineTransformMatrix tglobal\n\
\n\
# type of sensor\n\
string type\n\
\n\
================================================================================\n\
MSG: openraveros/ActiveDOFs\n\
# specifies the active degrees of freedom of the robot\n\
\n\
# mask of active base degrees of freedom\n\
uint32 affine\n\
\n\
# active joints\n\
int32[] indices\n\
\n\
float32[3] rotationaxis\n\
\n\
# mask for affine dofs\n\
uint8 DOF_X = 1\n\
uint8 DOF_Y = 2\n\
uint8 DOF_Z = 4\n\
uint8 DOF_RotationAxis = 8\n\
uint8 DOF_Rotation3D = 16\n\
uint8 DOF_RotationQuat = 32\n\
\n\
";
  }

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

} // namespace message_traits
} // namespace ros

namespace ros
{
namespace serialization
{

template<class ContainerAllocator> struct Serializer< ::openraveros::RobotInfo_<ContainerAllocator> >
{
  template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
  {
    stream.next(m.bodyinfo);
    stream.next(m.manips);
    stream.next(m.sensors);
    stream.next(m.activedof);
    stream.next(m.activemanip);
    stream.next(m.active);
    stream.next(m.activelowerlimit);
    stream.next(m.activeupperlimit);
  }

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

namespace ros
{
namespace message_operations
{

template<class ContainerAllocator>
struct Printer< ::openraveros::RobotInfo_<ContainerAllocator> >
{
  template<typename Stream> static void stream(Stream& s, const std::string& indent, const  ::openraveros::RobotInfo_<ContainerAllocator> & v) 
  {
    s << indent << "bodyinfo: ";
s << std::endl;
    Printer< ::openraveros::BodyInfo_<ContainerAllocator> >::stream(s, indent + "  ", v.bodyinfo);
    s << indent << "manips[]" << std::endl;
    for (size_t i = 0; i < v.manips.size(); ++i)
    {
      s << indent << "  manips[" << i << "]: ";
      s << std::endl;
      s << indent;
      Printer< ::openraveros::Manipulator_<ContainerAllocator> >::stream(s, indent + "    ", v.manips[i]);
    }
    s << indent << "sensors[]" << std::endl;
    for (size_t i = 0; i < v.sensors.size(); ++i)
    {
      s << indent << "  sensors[" << i << "]: ";
      s << std::endl;
      s << indent;
      Printer< ::openraveros::AttachedSensor_<ContainerAllocator> >::stream(s, indent + "    ", v.sensors[i]);
    }
    s << indent << "activedof: ";
    Printer<uint8_t>::stream(s, indent + "  ", v.activedof);
    s << indent << "activemanip: ";
    Printer<uint8_t>::stream(s, indent + "  ", v.activemanip);
    s << indent << "active: ";
s << std::endl;
    Printer< ::openraveros::ActiveDOFs_<ContainerAllocator> >::stream(s, indent + "  ", v.active);
    s << indent << "activelowerlimit[]" << std::endl;
    for (size_t i = 0; i < v.activelowerlimit.size(); ++i)
    {
      s << indent << "  activelowerlimit[" << i << "]: ";
      Printer<float>::stream(s, indent + "  ", v.activelowerlimit[i]);
    }
    s << indent << "activeupperlimit[]" << std::endl;
    for (size_t i = 0; i < v.activeupperlimit.size(); ++i)
    {
      s << indent << "  activeupperlimit[" << i << "]: ";
      Printer<float>::stream(s, indent + "  ", v.activeupperlimit[i]);
    }
  }
};


} // namespace message_operations
} // namespace ros

#endif // OPENRAVEROS_MESSAGE_ROBOTINFO_H