JTCartesianControllerState.h

Go to the documentation of this file.

/* Auto-generated by genmsg_cpp for file /home/rosbuild/hudson/workspace/doc-fuerte-pr2_controllers/doc_stacks/2014-01-03_11-37-53.226877/pr2_controllers/robot_mechanism_controllers/msg/JTCartesianControllerState.msg */
#ifndef ROBOT_MECHANISM_CONTROLLERS_MESSAGE_JTCARTESIANCONTROLLERSTATE_H
#define ROBOT_MECHANISM_CONTROLLERS_MESSAGE_JTCARTESIANCONTROLLERSTATE_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 "std_msgs/Header.h"
#include "geometry_msgs/PoseStamped.h"
#include "geometry_msgs/PoseStamped.h"
#include "geometry_msgs/PoseStamped.h"
#include "geometry_msgs/Twist.h"
#include "geometry_msgs/Twist.h"
#include "geometry_msgs/Twist.h"
#include "geometry_msgs/Wrench.h"
#include "std_msgs/Float64MultiArray.h"
#include "std_msgs/Float64MultiArray.h"

namespace robot_mechanism_controllers
{
template <class ContainerAllocator>
struct JTCartesianControllerState_ {
  typedef JTCartesianControllerState_<ContainerAllocator> Type;

  JTCartesianControllerState_()
  : header()
  , x()
  , x_desi()
  , x_desi_filtered()
  , x_err()
  , xd()
  , xd_desi()
  , F()
  , tau_pose()
  , tau_posture()
  , tau()
  , J()
  , N()
  {
  }

  JTCartesianControllerState_(const ContainerAllocator& _alloc)
  : header(_alloc)
  , x(_alloc)
  , x_desi(_alloc)
  , x_desi_filtered(_alloc)
  , x_err(_alloc)
  , xd(_alloc)
  , xd_desi(_alloc)
  , F(_alloc)
  , tau_pose(_alloc)
  , tau_posture(_alloc)
  , tau(_alloc)
  , J(_alloc)
  , N(_alloc)
  {
  }

  typedef  ::std_msgs::Header_<ContainerAllocator>  _header_type;
   ::std_msgs::Header_<ContainerAllocator>  header;

  typedef  ::geometry_msgs::PoseStamped_<ContainerAllocator>  _x_type;
   ::geometry_msgs::PoseStamped_<ContainerAllocator>  x;

  typedef  ::geometry_msgs::PoseStamped_<ContainerAllocator>  _x_desi_type;
   ::geometry_msgs::PoseStamped_<ContainerAllocator>  x_desi;

  typedef  ::geometry_msgs::PoseStamped_<ContainerAllocator>  _x_desi_filtered_type;
   ::geometry_msgs::PoseStamped_<ContainerAllocator>  x_desi_filtered;

  typedef  ::geometry_msgs::Twist_<ContainerAllocator>  _x_err_type;
   ::geometry_msgs::Twist_<ContainerAllocator>  x_err;

  typedef  ::geometry_msgs::Twist_<ContainerAllocator>  _xd_type;
   ::geometry_msgs::Twist_<ContainerAllocator>  xd;

  typedef  ::geometry_msgs::Twist_<ContainerAllocator>  _xd_desi_type;
   ::geometry_msgs::Twist_<ContainerAllocator>  xd_desi;

  typedef  ::geometry_msgs::Wrench_<ContainerAllocator>  _F_type;
   ::geometry_msgs::Wrench_<ContainerAllocator>  F;

  typedef std::vector<double, typename ContainerAllocator::template rebind<double>::other >  _tau_pose_type;
  std::vector<double, typename ContainerAllocator::template rebind<double>::other >  tau_pose;

  typedef std::vector<double, typename ContainerAllocator::template rebind<double>::other >  _tau_posture_type;
  std::vector<double, typename ContainerAllocator::template rebind<double>::other >  tau_posture;

  typedef std::vector<double, typename ContainerAllocator::template rebind<double>::other >  _tau_type;
  std::vector<double, typename ContainerAllocator::template rebind<double>::other >  tau;

  typedef  ::std_msgs::Float64MultiArray_<ContainerAllocator>  _J_type;
   ::std_msgs::Float64MultiArray_<ContainerAllocator>  J;

  typedef  ::std_msgs::Float64MultiArray_<ContainerAllocator>  _N_type;
   ::std_msgs::Float64MultiArray_<ContainerAllocator>  N;


  typedef boost::shared_ptr< ::robot_mechanism_controllers::JTCartesianControllerState_<ContainerAllocator> > Ptr;
  typedef boost::shared_ptr< ::robot_mechanism_controllers::JTCartesianControllerState_<ContainerAllocator>  const> ConstPtr;
  boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
}; // struct JTCartesianControllerState
typedef  ::robot_mechanism_controllers::JTCartesianControllerState_<std::allocator<void> > JTCartesianControllerState;

typedef boost::shared_ptr< ::robot_mechanism_controllers::JTCartesianControllerState> JTCartesianControllerStatePtr;
typedef boost::shared_ptr< ::robot_mechanism_controllers::JTCartesianControllerState const> JTCartesianControllerStateConstPtr;


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

} // namespace robot_mechanism_controllers

namespace ros
{
namespace message_traits
{
template<class ContainerAllocator> struct IsMessage< ::robot_mechanism_controllers::JTCartesianControllerState_<ContainerAllocator> > : public TrueType {};
template<class ContainerAllocator> struct IsMessage< ::robot_mechanism_controllers::JTCartesianControllerState_<ContainerAllocator>  const> : public TrueType {};
template<class ContainerAllocator>
struct MD5Sum< ::robot_mechanism_controllers::JTCartesianControllerState_<ContainerAllocator> > {
  static const char* value() 
  {
    return "6ecdaa599ea0d27643819ae4cd4c43d0";
  }

  static const char* value(const  ::robot_mechanism_controllers::JTCartesianControllerState_<ContainerAllocator> &) { return value(); } 
  static const uint64_t static_value1 = 0x6ecdaa599ea0d276ULL;
  static const uint64_t static_value2 = 0x43819ae4cd4c43d0ULL;
};

template<class ContainerAllocator>
struct DataType< ::robot_mechanism_controllers::JTCartesianControllerState_<ContainerAllocator> > {
  static const char* value() 
  {
    return "robot_mechanism_controllers/JTCartesianControllerState";
  }

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

template<class ContainerAllocator>
struct Definition< ::robot_mechanism_controllers::JTCartesianControllerState_<ContainerAllocator> > {
  static const char* value() 
  {
    return "Header header\n\
geometry_msgs/PoseStamped x\n\
geometry_msgs/PoseStamped x_desi\n\
geometry_msgs/PoseStamped x_desi_filtered\n\
geometry_msgs/Twist x_err\n\
geometry_msgs/Twist xd\n\
geometry_msgs/Twist xd_desi\n\
geometry_msgs/Wrench F\n\
float64[] tau_pose\n\
float64[] tau_posture\n\
float64[] tau\n\
std_msgs/Float64MultiArray J\n\
std_msgs/Float64MultiArray N\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/PoseStamped\n\
# A Pose with reference coordinate frame and timestamp\n\
Header header\n\
Pose pose\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: geometry_msgs/Twist\n\
# This expresses velocity in free space broken into it's linear and angular parts. \n\
Vector3  linear\n\
Vector3  angular\n\
\n\
================================================================================\n\
MSG: geometry_msgs/Vector3\n\
# This represents a vector in free space. \n\
\n\
float64 x\n\
float64 y\n\
float64 z\n\
================================================================================\n\
MSG: geometry_msgs/Wrench\n\
# This represents force in free space, seperated into \n\
# it's linear and angular parts.  \n\
Vector3  force\n\
Vector3  torque\n\
\n\
================================================================================\n\
MSG: std_msgs/Float64MultiArray\n\
# Please look at the MultiArrayLayout message definition for\n\
# documentation on all multiarrays.\n\
\n\
MultiArrayLayout  layout        # specification of data layout\n\
float64[]         data          # array of data\n\
\n\
\n\
================================================================================\n\
MSG: std_msgs/MultiArrayLayout\n\
# The multiarray declares a generic multi-dimensional array of a\n\
# particular data type.  Dimensions are ordered from outer most\n\
# to inner most.\n\
\n\
MultiArrayDimension[] dim # Array of dimension properties\n\
uint32 data_offset        # padding bytes at front of data\n\
\n\
# Accessors should ALWAYS be written in terms of dimension stride\n\
# and specified outer-most dimension first.\n\
# \n\
# multiarray(i,j,k) = data[data_offset + dim_stride[1]*i + dim_stride[2]*j + k]\n\
#\n\
# A standard, 3-channel 640x480 image with interleaved color channels\n\
# would be specified as:\n\
#\n\
# dim[0].label  = \"height\"\n\
# dim[0].size   = 480\n\
# dim[0].stride = 3*640*480 = 921600  (note dim[0] stride is just size of image)\n\
# dim[1].label  = \"width\"\n\
# dim[1].size   = 640\n\
# dim[1].stride = 3*640 = 1920\n\
# dim[2].label  = \"channel\"\n\
# dim[2].size   = 3\n\
# dim[2].stride = 3\n\
#\n\
# multiarray(i,j,k) refers to the ith row, jth column, and kth channel.\n\
================================================================================\n\
MSG: std_msgs/MultiArrayDimension\n\
string label   # label of given dimension\n\
uint32 size    # size of given dimension (in type units)\n\
uint32 stride  # stride of given dimension\n\
";
  }

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

template<class ContainerAllocator> struct HasHeader< ::robot_mechanism_controllers::JTCartesianControllerState_<ContainerAllocator> > : public TrueType {};
template<class ContainerAllocator> struct HasHeader< const ::robot_mechanism_controllers::JTCartesianControllerState_<ContainerAllocator> > : public TrueType {};
} // namespace message_traits
} // namespace ros

namespace ros
{
namespace serialization
{

template<class ContainerAllocator> struct Serializer< ::robot_mechanism_controllers::JTCartesianControllerState_<ContainerAllocator> >
{
  template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
  {
    stream.next(m.header);
    stream.next(m.x);
    stream.next(m.x_desi);
    stream.next(m.x_desi_filtered);
    stream.next(m.x_err);
    stream.next(m.xd);
    stream.next(m.xd_desi);
    stream.next(m.F);
    stream.next(m.tau_pose);
    stream.next(m.tau_posture);
    stream.next(m.tau);
    stream.next(m.J);
    stream.next(m.N);
  }

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

namespace ros
{
namespace message_operations
{

template<class ContainerAllocator>
struct Printer< ::robot_mechanism_controllers::JTCartesianControllerState_<ContainerAllocator> >
{
  template<typename Stream> static void stream(Stream& s, const std::string& indent, const  ::robot_mechanism_controllers::JTCartesianControllerState_<ContainerAllocator> & v) 
  {
    s << indent << "header: ";
s << std::endl;
    Printer< ::std_msgs::Header_<ContainerAllocator> >::stream(s, indent + "  ", v.header);
    s << indent << "x: ";
s << std::endl;
    Printer< ::geometry_msgs::PoseStamped_<ContainerAllocator> >::stream(s, indent + "  ", v.x);
    s << indent << "x_desi: ";
s << std::endl;
    Printer< ::geometry_msgs::PoseStamped_<ContainerAllocator> >::stream(s, indent + "  ", v.x_desi);
    s << indent << "x_desi_filtered: ";
s << std::endl;
    Printer< ::geometry_msgs::PoseStamped_<ContainerAllocator> >::stream(s, indent + "  ", v.x_desi_filtered);
    s << indent << "x_err: ";
s << std::endl;
    Printer< ::geometry_msgs::Twist_<ContainerAllocator> >::stream(s, indent + "  ", v.x_err);
    s << indent << "xd: ";
s << std::endl;
    Printer< ::geometry_msgs::Twist_<ContainerAllocator> >::stream(s, indent + "  ", v.xd);
    s << indent << "xd_desi: ";
s << std::endl;
    Printer< ::geometry_msgs::Twist_<ContainerAllocator> >::stream(s, indent + "  ", v.xd_desi);
    s << indent << "F: ";
s << std::endl;
    Printer< ::geometry_msgs::Wrench_<ContainerAllocator> >::stream(s, indent + "  ", v.F);
    s << indent << "tau_pose[]" << std::endl;
    for (size_t i = 0; i < v.tau_pose.size(); ++i)
    {
      s << indent << "  tau_pose[" << i << "]: ";
      Printer<double>::stream(s, indent + "  ", v.tau_pose[i]);
    }
    s << indent << "tau_posture[]" << std::endl;
    for (size_t i = 0; i < v.tau_posture.size(); ++i)
    {
      s << indent << "  tau_posture[" << i << "]: ";
      Printer<double>::stream(s, indent + "  ", v.tau_posture[i]);
    }
    s << indent << "tau[]" << std::endl;
    for (size_t i = 0; i < v.tau.size(); ++i)
    {
      s << indent << "  tau[" << i << "]: ";
      Printer<double>::stream(s, indent + "  ", v.tau[i]);
    }
    s << indent << "J: ";
s << std::endl;
    Printer< ::std_msgs::Float64MultiArray_<ContainerAllocator> >::stream(s, indent + "  ", v.J);
    s << indent << "N: ";
s << std::endl;
    Printer< ::std_msgs::Float64MultiArray_<ContainerAllocator> >::stream(s, indent + "  ", v.N);
  }
};


} // namespace message_operations
} // namespace ros

#endif // ROBOT_MECHANISM_CONTROLLERS_MESSAGE_JTCARTESIANCONTROLLERSTATE_H