00001
00002 #ifndef PR2_MECHANISM_CONTROLLERS_MESSAGE_BASECONTROLLERSTATE2_H
00003 #define PR2_MECHANISM_CONTROLLERS_MESSAGE_BASECONTROLLERSTATE2_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 "geometry_msgs/Twist.h"
00018
00019 namespace pr2_mechanism_controllers
00020 {
00021 template <class ContainerAllocator>
00022 struct BaseControllerState2_ {
00023 typedef BaseControllerState2_<ContainerAllocator> Type;
00024
00025 BaseControllerState2_()
00026 : command()
00027 , joint_command()
00028 , joint_error()
00029 , joint_velocity_commanded()
00030 , joint_velocity_measured()
00031 , joint_effort_measured()
00032 , joint_effort_commanded()
00033 , joint_effort_error()
00034 , joint_names()
00035 {
00036 }
00037
00038 BaseControllerState2_(const ContainerAllocator& _alloc)
00039 : command(_alloc)
00040 , joint_command(_alloc)
00041 , joint_error(_alloc)
00042 , joint_velocity_commanded(_alloc)
00043 , joint_velocity_measured(_alloc)
00044 , joint_effort_measured(_alloc)
00045 , joint_effort_commanded(_alloc)
00046 , joint_effort_error(_alloc)
00047 , joint_names(_alloc)
00048 {
00049 }
00050
00051 typedef ::geometry_msgs::Twist_<ContainerAllocator> _command_type;
00052 ::geometry_msgs::Twist_<ContainerAllocator> command;
00053
00054 typedef std::vector<double, typename ContainerAllocator::template rebind<double>::other > _joint_command_type;
00055 std::vector<double, typename ContainerAllocator::template rebind<double>::other > joint_command;
00056
00057 typedef std::vector<double, typename ContainerAllocator::template rebind<double>::other > _joint_error_type;
00058 std::vector<double, typename ContainerAllocator::template rebind<double>::other > joint_error;
00059
00060 typedef std::vector<double, typename ContainerAllocator::template rebind<double>::other > _joint_velocity_commanded_type;
00061 std::vector<double, typename ContainerAllocator::template rebind<double>::other > joint_velocity_commanded;
00062
00063 typedef std::vector<double, typename ContainerAllocator::template rebind<double>::other > _joint_velocity_measured_type;
00064 std::vector<double, typename ContainerAllocator::template rebind<double>::other > joint_velocity_measured;
00065
00066 typedef std::vector<double, typename ContainerAllocator::template rebind<double>::other > _joint_effort_measured_type;
00067 std::vector<double, typename ContainerAllocator::template rebind<double>::other > joint_effort_measured;
00068
00069 typedef std::vector<double, typename ContainerAllocator::template rebind<double>::other > _joint_effort_commanded_type;
00070 std::vector<double, typename ContainerAllocator::template rebind<double>::other > joint_effort_commanded;
00071
00072 typedef std::vector<double, typename ContainerAllocator::template rebind<double>::other > _joint_effort_error_type;
00073 std::vector<double, typename ContainerAllocator::template rebind<double>::other > joint_effort_error;
00074
00075 typedef std::vector<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > , typename ContainerAllocator::template rebind<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > >::other > _joint_names_type;
00076 std::vector<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > , typename ContainerAllocator::template rebind<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > >::other > joint_names;
00077
00078
00079 typedef boost::shared_ptr< ::pr2_mechanism_controllers::BaseControllerState2_<ContainerAllocator> > Ptr;
00080 typedef boost::shared_ptr< ::pr2_mechanism_controllers::BaseControllerState2_<ContainerAllocator> const> ConstPtr;
00081 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00082 };
00083 typedef ::pr2_mechanism_controllers::BaseControllerState2_<std::allocator<void> > BaseControllerState2;
00084
00085 typedef boost::shared_ptr< ::pr2_mechanism_controllers::BaseControllerState2> BaseControllerState2Ptr;
00086 typedef boost::shared_ptr< ::pr2_mechanism_controllers::BaseControllerState2 const> BaseControllerState2ConstPtr;
00087
00088
00089 template<typename ContainerAllocator>
00090 std::ostream& operator<<(std::ostream& s, const ::pr2_mechanism_controllers::BaseControllerState2_<ContainerAllocator> & v)
00091 {
00092 ros::message_operations::Printer< ::pr2_mechanism_controllers::BaseControllerState2_<ContainerAllocator> >::stream(s, "", v);
00093 return s;}
00094
00095 }
00096
00097 namespace ros
00098 {
00099 namespace message_traits
00100 {
00101 template<class ContainerAllocator> struct IsMessage< ::pr2_mechanism_controllers::BaseControllerState2_<ContainerAllocator> > : public TrueType {};
00102 template<class ContainerAllocator> struct IsMessage< ::pr2_mechanism_controllers::BaseControllerState2_<ContainerAllocator> const> : public TrueType {};
00103 template<class ContainerAllocator>
00104 struct MD5Sum< ::pr2_mechanism_controllers::BaseControllerState2_<ContainerAllocator> > {
00105 static const char* value()
00106 {
00107 return "d4b64baf09d8cb133f3f2bc279de1137";
00108 }
00109
00110 static const char* value(const ::pr2_mechanism_controllers::BaseControllerState2_<ContainerAllocator> &) { return value(); }
00111 static const uint64_t static_value1 = 0xd4b64baf09d8cb13ULL;
00112 static const uint64_t static_value2 = 0x3f3f2bc279de1137ULL;
00113 };
00114
00115 template<class ContainerAllocator>
00116 struct DataType< ::pr2_mechanism_controllers::BaseControllerState2_<ContainerAllocator> > {
00117 static const char* value()
00118 {
00119 return "pr2_mechanism_controllers/BaseControllerState2";
00120 }
00121
00122 static const char* value(const ::pr2_mechanism_controllers::BaseControllerState2_<ContainerAllocator> &) { return value(); }
00123 };
00124
00125 template<class ContainerAllocator>
00126 struct Definition< ::pr2_mechanism_controllers::BaseControllerState2_<ContainerAllocator> > {
00127 static const char* value()
00128 {
00129 return "geometry_msgs/Twist command\n\
00130 float64[] joint_command\n\
00131 float64[] joint_error\n\
00132 float64[] joint_velocity_commanded\n\
00133 float64[] joint_velocity_measured\n\
00134 float64[] joint_effort_measured\n\
00135 float64[] joint_effort_commanded\n\
00136 float64[] joint_effort_error\n\
00137 string[] joint_names\n\
00138 \n\
00139 \n\
00140 ================================================================================\n\
00141 MSG: geometry_msgs/Twist\n\
00142 # This expresses velocity in free space broken into it's linear and angular parts. \n\
00143 Vector3 linear\n\
00144 Vector3 angular\n\
00145 \n\
00146 ================================================================================\n\
00147 MSG: geometry_msgs/Vector3\n\
00148 # This represents a vector in free space. \n\
00149 \n\
00150 float64 x\n\
00151 float64 y\n\
00152 float64 z\n\
00153 ";
00154 }
00155
00156 static const char* value(const ::pr2_mechanism_controllers::BaseControllerState2_<ContainerAllocator> &) { return value(); }
00157 };
00158
00159 }
00160 }
00161
00162 namespace ros
00163 {
00164 namespace serialization
00165 {
00166
00167 template<class ContainerAllocator> struct Serializer< ::pr2_mechanism_controllers::BaseControllerState2_<ContainerAllocator> >
00168 {
00169 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00170 {
00171 stream.next(m.command);
00172 stream.next(m.joint_command);
00173 stream.next(m.joint_error);
00174 stream.next(m.joint_velocity_commanded);
00175 stream.next(m.joint_velocity_measured);
00176 stream.next(m.joint_effort_measured);
00177 stream.next(m.joint_effort_commanded);
00178 stream.next(m.joint_effort_error);
00179 stream.next(m.joint_names);
00180 }
00181
00182 ROS_DECLARE_ALLINONE_SERIALIZER;
00183 };
00184 }
00185 }
00186
00187 namespace ros
00188 {
00189 namespace message_operations
00190 {
00191
00192 template<class ContainerAllocator>
00193 struct Printer< ::pr2_mechanism_controllers::BaseControllerState2_<ContainerAllocator> >
00194 {
00195 template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::pr2_mechanism_controllers::BaseControllerState2_<ContainerAllocator> & v)
00196 {
00197 s << indent << "command: ";
00198 s << std::endl;
00199 Printer< ::geometry_msgs::Twist_<ContainerAllocator> >::stream(s, indent + " ", v.command);
00200 s << indent << "joint_command[]" << std::endl;
00201 for (size_t i = 0; i < v.joint_command.size(); ++i)
00202 {
00203 s << indent << " joint_command[" << i << "]: ";
00204 Printer<double>::stream(s, indent + " ", v.joint_command[i]);
00205 }
00206 s << indent << "joint_error[]" << std::endl;
00207 for (size_t i = 0; i < v.joint_error.size(); ++i)
00208 {
00209 s << indent << " joint_error[" << i << "]: ";
00210 Printer<double>::stream(s, indent + " ", v.joint_error[i]);
00211 }
00212 s << indent << "joint_velocity_commanded[]" << std::endl;
00213 for (size_t i = 0; i < v.joint_velocity_commanded.size(); ++i)
00214 {
00215 s << indent << " joint_velocity_commanded[" << i << "]: ";
00216 Printer<double>::stream(s, indent + " ", v.joint_velocity_commanded[i]);
00217 }
00218 s << indent << "joint_velocity_measured[]" << std::endl;
00219 for (size_t i = 0; i < v.joint_velocity_measured.size(); ++i)
00220 {
00221 s << indent << " joint_velocity_measured[" << i << "]: ";
00222 Printer<double>::stream(s, indent + " ", v.joint_velocity_measured[i]);
00223 }
00224 s << indent << "joint_effort_measured[]" << std::endl;
00225 for (size_t i = 0; i < v.joint_effort_measured.size(); ++i)
00226 {
00227 s << indent << " joint_effort_measured[" << i << "]: ";
00228 Printer<double>::stream(s, indent + " ", v.joint_effort_measured[i]);
00229 }
00230 s << indent << "joint_effort_commanded[]" << std::endl;
00231 for (size_t i = 0; i < v.joint_effort_commanded.size(); ++i)
00232 {
00233 s << indent << " joint_effort_commanded[" << i << "]: ";
00234 Printer<double>::stream(s, indent + " ", v.joint_effort_commanded[i]);
00235 }
00236 s << indent << "joint_effort_error[]" << std::endl;
00237 for (size_t i = 0; i < v.joint_effort_error.size(); ++i)
00238 {
00239 s << indent << " joint_effort_error[" << i << "]: ";
00240 Printer<double>::stream(s, indent + " ", v.joint_effort_error[i]);
00241 }
00242 s << indent << "joint_names[]" << std::endl;
00243 for (size_t i = 0; i < v.joint_names.size(); ++i)
00244 {
00245 s << indent << " joint_names[" << i << "]: ";
00246 Printer<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > >::stream(s, indent + " ", v.joint_names[i]);
00247 }
00248 }
00249 };
00250
00251
00252 }
00253 }
00254
00255 #endif // PR2_MECHANISM_CONTROLLERS_MESSAGE_BASECONTROLLERSTATE2_H
00256