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00002 #ifndef ARM_NAVIGATION_MSGS_MESSAGE_CONSTRAINTS_H
00003 #define ARM_NAVIGATION_MSGS_MESSAGE_CONSTRAINTS_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 "arm_navigation_msgs/JointConstraint.h"
00018 #include "arm_navigation_msgs/PositionConstraint.h"
00019 #include "arm_navigation_msgs/OrientationConstraint.h"
00020 #include "arm_navigation_msgs/VisibilityConstraint.h"
00021
00022 namespace arm_navigation_msgs
00023 {
00024 template <class ContainerAllocator>
00025 struct Constraints_ {
00026 typedef Constraints_<ContainerAllocator> Type;
00027
00028 Constraints_()
00029 : joint_constraints()
00030 , position_constraints()
00031 , orientation_constraints()
00032 , visibility_constraints()
00033 {
00034 }
00035
00036 Constraints_(const ContainerAllocator& _alloc)
00037 : joint_constraints(_alloc)
00038 , position_constraints(_alloc)
00039 , orientation_constraints(_alloc)
00040 , visibility_constraints(_alloc)
00041 {
00042 }
00043
00044 typedef std::vector< ::arm_navigation_msgs::JointConstraint_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::arm_navigation_msgs::JointConstraint_<ContainerAllocator> >::other > _joint_constraints_type;
00045 std::vector< ::arm_navigation_msgs::JointConstraint_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::arm_navigation_msgs::JointConstraint_<ContainerAllocator> >::other > joint_constraints;
00046
00047 typedef std::vector< ::arm_navigation_msgs::PositionConstraint_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::arm_navigation_msgs::PositionConstraint_<ContainerAllocator> >::other > _position_constraints_type;
00048 std::vector< ::arm_navigation_msgs::PositionConstraint_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::arm_navigation_msgs::PositionConstraint_<ContainerAllocator> >::other > position_constraints;
00049
00050 typedef std::vector< ::arm_navigation_msgs::OrientationConstraint_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::arm_navigation_msgs::OrientationConstraint_<ContainerAllocator> >::other > _orientation_constraints_type;
00051 std::vector< ::arm_navigation_msgs::OrientationConstraint_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::arm_navigation_msgs::OrientationConstraint_<ContainerAllocator> >::other > orientation_constraints;
00052
00053 typedef std::vector< ::arm_navigation_msgs::VisibilityConstraint_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::arm_navigation_msgs::VisibilityConstraint_<ContainerAllocator> >::other > _visibility_constraints_type;
00054 std::vector< ::arm_navigation_msgs::VisibilityConstraint_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::arm_navigation_msgs::VisibilityConstraint_<ContainerAllocator> >::other > visibility_constraints;
00055
00056
00057 typedef boost::shared_ptr< ::arm_navigation_msgs::Constraints_<ContainerAllocator> > Ptr;
00058 typedef boost::shared_ptr< ::arm_navigation_msgs::Constraints_<ContainerAllocator> const> ConstPtr;
00059 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00060 };
00061 typedef ::arm_navigation_msgs::Constraints_<std::allocator<void> > Constraints;
00062
00063 typedef boost::shared_ptr< ::arm_navigation_msgs::Constraints> ConstraintsPtr;
00064 typedef boost::shared_ptr< ::arm_navigation_msgs::Constraints const> ConstraintsConstPtr;
00065
00066
00067 template<typename ContainerAllocator>
00068 std::ostream& operator<<(std::ostream& s, const ::arm_navigation_msgs::Constraints_<ContainerAllocator> & v)
00069 {
00070 ros::message_operations::Printer< ::arm_navigation_msgs::Constraints_<ContainerAllocator> >::stream(s, "", v);
00071 return s;}
00072
00073 }
00074
00075 namespace ros
00076 {
00077 namespace message_traits
00078 {
00079 template<class ContainerAllocator> struct IsMessage< ::arm_navigation_msgs::Constraints_<ContainerAllocator> > : public TrueType {};
00080 template<class ContainerAllocator> struct IsMessage< ::arm_navigation_msgs::Constraints_<ContainerAllocator> const> : public TrueType {};
00081 template<class ContainerAllocator>
00082 struct MD5Sum< ::arm_navigation_msgs::Constraints_<ContainerAllocator> > {
00083 static const char* value()
00084 {
00085 return "fe6b6f09c687fd46c05a2de4ca18378a";
00086 }
00087
00088 static const char* value(const ::arm_navigation_msgs::Constraints_<ContainerAllocator> &) { return value(); }
00089 static const uint64_t static_value1 = 0xfe6b6f09c687fd46ULL;
00090 static const uint64_t static_value2 = 0xc05a2de4ca18378aULL;
00091 };
00092
00093 template<class ContainerAllocator>
00094 struct DataType< ::arm_navigation_msgs::Constraints_<ContainerAllocator> > {
00095 static const char* value()
00096 {
00097 return "arm_navigation_msgs/Constraints";
00098 }
00099
00100 static const char* value(const ::arm_navigation_msgs::Constraints_<ContainerAllocator> &) { return value(); }
00101 };
00102
00103 template<class ContainerAllocator>
00104 struct Definition< ::arm_navigation_msgs::Constraints_<ContainerAllocator> > {
00105 static const char* value()
00106 {
00107 return "# This message contains a list of motion planning constraints.\n\
00108 \n\
00109 arm_navigation_msgs/JointConstraint[] joint_constraints\n\
00110 arm_navigation_msgs/PositionConstraint[] position_constraints\n\
00111 arm_navigation_msgs/OrientationConstraint[] orientation_constraints\n\
00112 arm_navigation_msgs/VisibilityConstraint[] visibility_constraints\n\
00113 \n\
00114 ================================================================================\n\
00115 MSG: arm_navigation_msgs/JointConstraint\n\
00116 # Constrain the position of a joint to be within a certain bound\n\
00117 string joint_name\n\
00118 \n\
00119 # the bound to be achieved is [position - tolerance_below, position + tolerance_above]\n\
00120 float64 position\n\
00121 float64 tolerance_above\n\
00122 float64 tolerance_below\n\
00123 \n\
00124 # A weighting factor for this constraint\n\
00125 float64 weight\n\
00126 ================================================================================\n\
00127 MSG: arm_navigation_msgs/PositionConstraint\n\
00128 # This message contains the definition of a position constraint.\n\
00129 Header header\n\
00130 \n\
00131 # The robot link this constraint refers to\n\
00132 string link_name\n\
00133 \n\
00134 # The offset (in the link frame) for the target point on the link we are planning for\n\
00135 geometry_msgs/Point target_point_offset\n\
00136 \n\
00137 # The nominal/target position for the point we are planning for\n\
00138 geometry_msgs/Point position\n\
00139 \n\
00140 # The shape of the bounded region that constrains the position of the end-effector\n\
00141 # This region is always centered at the position defined above\n\
00142 arm_navigation_msgs/Shape constraint_region_shape\n\
00143 \n\
00144 # The orientation of the bounded region that constrains the position of the end-effector. \n\
00145 # This allows the specification of non-axis aligned constraints\n\
00146 geometry_msgs/Quaternion constraint_region_orientation\n\
00147 \n\
00148 # Constraint weighting factor - a weight for this constraint\n\
00149 float64 weight\n\
00150 \n\
00151 ================================================================================\n\
00152 MSG: std_msgs/Header\n\
00153 # Standard metadata for higher-level stamped data types.\n\
00154 # This is generally used to communicate timestamped data \n\
00155 # in a particular coordinate frame.\n\
00156 # \n\
00157 # sequence ID: consecutively increasing ID \n\
00158 uint32 seq\n\
00159 #Two-integer timestamp that is expressed as:\n\
00160 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00161 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00162 # time-handling sugar is provided by the client library\n\
00163 time stamp\n\
00164 #Frame this data is associated with\n\
00165 # 0: no frame\n\
00166 # 1: global frame\n\
00167 string frame_id\n\
00168 \n\
00169 ================================================================================\n\
00170 MSG: geometry_msgs/Point\n\
00171 # This contains the position of a point in free space\n\
00172 float64 x\n\
00173 float64 y\n\
00174 float64 z\n\
00175 \n\
00176 ================================================================================\n\
00177 MSG: arm_navigation_msgs/Shape\n\
00178 byte SPHERE=0\n\
00179 byte BOX=1\n\
00180 byte CYLINDER=2\n\
00181 byte MESH=3\n\
00182 \n\
00183 byte type\n\
00184 \n\
00185 \n\
00186 #### define sphere, box, cylinder ####\n\
00187 # the origin of each shape is considered at the shape's center\n\
00188 \n\
00189 # for sphere\n\
00190 # radius := dimensions[0]\n\
00191 \n\
00192 # for cylinder\n\
00193 # radius := dimensions[0]\n\
00194 # length := dimensions[1]\n\
00195 # the length is along the Z axis\n\
00196 \n\
00197 # for box\n\
00198 # size_x := dimensions[0]\n\
00199 # size_y := dimensions[1]\n\
00200 # size_z := dimensions[2]\n\
00201 float64[] dimensions\n\
00202 \n\
00203 \n\
00204 #### define mesh ####\n\
00205 \n\
00206 # list of triangles; triangle k is defined by tre vertices located\n\
00207 # at indices triangles[3k], triangles[3k+1], triangles[3k+2]\n\
00208 int32[] triangles\n\
00209 geometry_msgs/Point[] vertices\n\
00210 \n\
00211 ================================================================================\n\
00212 MSG: geometry_msgs/Quaternion\n\
00213 # This represents an orientation in free space in quaternion form.\n\
00214 \n\
00215 float64 x\n\
00216 float64 y\n\
00217 float64 z\n\
00218 float64 w\n\
00219 \n\
00220 ================================================================================\n\
00221 MSG: arm_navigation_msgs/OrientationConstraint\n\
00222 # This message contains the definition of an orientation constraint.\n\
00223 Header header\n\
00224 \n\
00225 # The robot link this constraint refers to\n\
00226 string link_name\n\
00227 \n\
00228 # The type of the constraint\n\
00229 int32 type\n\
00230 int32 LINK_FRAME=0\n\
00231 int32 HEADER_FRAME=1\n\
00232 \n\
00233 # The desired orientation of the robot link specified as a quaternion\n\
00234 geometry_msgs/Quaternion orientation\n\
00235 \n\
00236 # optional RPY error tolerances specified if \n\
00237 float64 absolute_roll_tolerance\n\
00238 float64 absolute_pitch_tolerance\n\
00239 float64 absolute_yaw_tolerance\n\
00240 \n\
00241 # Constraint weighting factor - a weight for this constraint\n\
00242 float64 weight\n\
00243 \n\
00244 ================================================================================\n\
00245 MSG: arm_navigation_msgs/VisibilityConstraint\n\
00246 # This message contains the definition of a visibility constraint.\n\
00247 Header header\n\
00248 \n\
00249 # The point stamped target that needs to be kept within view of the sensor\n\
00250 geometry_msgs/PointStamped target\n\
00251 \n\
00252 # The local pose of the frame in which visibility is to be maintained\n\
00253 # The frame id should represent the robot link to which the sensor is attached\n\
00254 # The visual axis of the sensor is assumed to be along the X axis of this frame\n\
00255 geometry_msgs/PoseStamped sensor_pose\n\
00256 \n\
00257 # The deviation (in radians) that will be tolerated\n\
00258 # Constraint error will be measured as the solid angle between the \n\
00259 # X axis of the frame defined above and the vector between the origin \n\
00260 # of the frame defined above and the target location\n\
00261 float64 absolute_tolerance\n\
00262 \n\
00263 \n\
00264 ================================================================================\n\
00265 MSG: geometry_msgs/PointStamped\n\
00266 # This represents a Point with reference coordinate frame and timestamp\n\
00267 Header header\n\
00268 Point point\n\
00269 \n\
00270 ================================================================================\n\
00271 MSG: geometry_msgs/PoseStamped\n\
00272 # A Pose with reference coordinate frame and timestamp\n\
00273 Header header\n\
00274 Pose pose\n\
00275 \n\
00276 ================================================================================\n\
00277 MSG: geometry_msgs/Pose\n\
00278 # A representation of pose in free space, composed of postion and orientation. \n\
00279 Point position\n\
00280 Quaternion orientation\n\
00281 \n\
00282 ";
00283 }
00284
00285 static const char* value(const ::arm_navigation_msgs::Constraints_<ContainerAllocator> &) { return value(); }
00286 };
00287
00288 }
00289 }
00290
00291 namespace ros
00292 {
00293 namespace serialization
00294 {
00295
00296 template<class ContainerAllocator> struct Serializer< ::arm_navigation_msgs::Constraints_<ContainerAllocator> >
00297 {
00298 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00299 {
00300 stream.next(m.joint_constraints);
00301 stream.next(m.position_constraints);
00302 stream.next(m.orientation_constraints);
00303 stream.next(m.visibility_constraints);
00304 }
00305
00306 ROS_DECLARE_ALLINONE_SERIALIZER;
00307 };
00308 }
00309 }
00310
00311 namespace ros
00312 {
00313 namespace message_operations
00314 {
00315
00316 template<class ContainerAllocator>
00317 struct Printer< ::arm_navigation_msgs::Constraints_<ContainerAllocator> >
00318 {
00319 template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::arm_navigation_msgs::Constraints_<ContainerAllocator> & v)
00320 {
00321 s << indent << "joint_constraints[]" << std::endl;
00322 for (size_t i = 0; i < v.joint_constraints.size(); ++i)
00323 {
00324 s << indent << " joint_constraints[" << i << "]: ";
00325 s << std::endl;
00326 s << indent;
00327 Printer< ::arm_navigation_msgs::JointConstraint_<ContainerAllocator> >::stream(s, indent + " ", v.joint_constraints[i]);
00328 }
00329 s << indent << "position_constraints[]" << std::endl;
00330 for (size_t i = 0; i < v.position_constraints.size(); ++i)
00331 {
00332 s << indent << " position_constraints[" << i << "]: ";
00333 s << std::endl;
00334 s << indent;
00335 Printer< ::arm_navigation_msgs::PositionConstraint_<ContainerAllocator> >::stream(s, indent + " ", v.position_constraints[i]);
00336 }
00337 s << indent << "orientation_constraints[]" << std::endl;
00338 for (size_t i = 0; i < v.orientation_constraints.size(); ++i)
00339 {
00340 s << indent << " orientation_constraints[" << i << "]: ";
00341 s << std::endl;
00342 s << indent;
00343 Printer< ::arm_navigation_msgs::OrientationConstraint_<ContainerAllocator> >::stream(s, indent + " ", v.orientation_constraints[i]);
00344 }
00345 s << indent << "visibility_constraints[]" << std::endl;
00346 for (size_t i = 0; i < v.visibility_constraints.size(); ++i)
00347 {
00348 s << indent << " visibility_constraints[" << i << "]: ";
00349 s << std::endl;
00350 s << indent;
00351 Printer< ::arm_navigation_msgs::VisibilityConstraint_<ContainerAllocator> >::stream(s, indent + " ", v.visibility_constraints[i]);
00352 }
00353 }
00354 };
00355
00356
00357 }
00358 }
00359
00360 #endif // ARM_NAVIGATION_MSGS_MESSAGE_CONSTRAINTS_H
00361