Go to the documentation of this file.00001
00002 #ifndef ARM_NAVIGATION_MSGS_SERVICE_GETROBOTSTATE_H
00003 #define ARM_NAVIGATION_MSGS_SERVICE_GETROBOTSTATE_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 "ros/service_traits.h"
00018
00019
00020
00021 #include "arm_navigation_msgs/RobotState.h"
00022 #include "arm_navigation_msgs/ArmNavigationErrorCodes.h"
00023
00024 namespace arm_navigation_msgs
00025 {
00026 template <class ContainerAllocator>
00027 struct GetRobotStateRequest_ {
00028 typedef GetRobotStateRequest_<ContainerAllocator> Type;
00029
00030 GetRobotStateRequest_()
00031 {
00032 }
00033
00034 GetRobotStateRequest_(const ContainerAllocator& _alloc)
00035 {
00036 }
00037
00038
00039 typedef boost::shared_ptr< ::arm_navigation_msgs::GetRobotStateRequest_<ContainerAllocator> > Ptr;
00040 typedef boost::shared_ptr< ::arm_navigation_msgs::GetRobotStateRequest_<ContainerAllocator> const> ConstPtr;
00041 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00042 };
00043 typedef ::arm_navigation_msgs::GetRobotStateRequest_<std::allocator<void> > GetRobotStateRequest;
00044
00045 typedef boost::shared_ptr< ::arm_navigation_msgs::GetRobotStateRequest> GetRobotStateRequestPtr;
00046 typedef boost::shared_ptr< ::arm_navigation_msgs::GetRobotStateRequest const> GetRobotStateRequestConstPtr;
00047
00048
00049
00050 template <class ContainerAllocator>
00051 struct GetRobotStateResponse_ {
00052 typedef GetRobotStateResponse_<ContainerAllocator> Type;
00053
00054 GetRobotStateResponse_()
00055 : robot_state()
00056 , error_code()
00057 {
00058 }
00059
00060 GetRobotStateResponse_(const ContainerAllocator& _alloc)
00061 : robot_state(_alloc)
00062 , error_code(_alloc)
00063 {
00064 }
00065
00066 typedef ::arm_navigation_msgs::RobotState_<ContainerAllocator> _robot_state_type;
00067 ::arm_navigation_msgs::RobotState_<ContainerAllocator> robot_state;
00068
00069 typedef ::arm_navigation_msgs::ArmNavigationErrorCodes_<ContainerAllocator> _error_code_type;
00070 ::arm_navigation_msgs::ArmNavigationErrorCodes_<ContainerAllocator> error_code;
00071
00072
00073 typedef boost::shared_ptr< ::arm_navigation_msgs::GetRobotStateResponse_<ContainerAllocator> > Ptr;
00074 typedef boost::shared_ptr< ::arm_navigation_msgs::GetRobotStateResponse_<ContainerAllocator> const> ConstPtr;
00075 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00076 };
00077 typedef ::arm_navigation_msgs::GetRobotStateResponse_<std::allocator<void> > GetRobotStateResponse;
00078
00079 typedef boost::shared_ptr< ::arm_navigation_msgs::GetRobotStateResponse> GetRobotStateResponsePtr;
00080 typedef boost::shared_ptr< ::arm_navigation_msgs::GetRobotStateResponse const> GetRobotStateResponseConstPtr;
00081
00082
00083 struct GetRobotState
00084 {
00085
00086 typedef GetRobotStateRequest Request;
00087 typedef GetRobotStateResponse Response;
00088 Request request;
00089 Response response;
00090
00091 typedef Request RequestType;
00092 typedef Response ResponseType;
00093 };
00094 }
00095
00096 namespace ros
00097 {
00098 namespace message_traits
00099 {
00100 template<class ContainerAllocator> struct IsMessage< ::arm_navigation_msgs::GetRobotStateRequest_<ContainerAllocator> > : public TrueType {};
00101 template<class ContainerAllocator> struct IsMessage< ::arm_navigation_msgs::GetRobotStateRequest_<ContainerAllocator> const> : public TrueType {};
00102 template<class ContainerAllocator>
00103 struct MD5Sum< ::arm_navigation_msgs::GetRobotStateRequest_<ContainerAllocator> > {
00104 static const char* value()
00105 {
00106 return "d41d8cd98f00b204e9800998ecf8427e";
00107 }
00108
00109 static const char* value(const ::arm_navigation_msgs::GetRobotStateRequest_<ContainerAllocator> &) { return value(); }
00110 static const uint64_t static_value1 = 0xd41d8cd98f00b204ULL;
00111 static const uint64_t static_value2 = 0xe9800998ecf8427eULL;
00112 };
00113
00114 template<class ContainerAllocator>
00115 struct DataType< ::arm_navigation_msgs::GetRobotStateRequest_<ContainerAllocator> > {
00116 static const char* value()
00117 {
00118 return "arm_navigation_msgs/GetRobotStateRequest";
00119 }
00120
00121 static const char* value(const ::arm_navigation_msgs::GetRobotStateRequest_<ContainerAllocator> &) { return value(); }
00122 };
00123
00124 template<class ContainerAllocator>
00125 struct Definition< ::arm_navigation_msgs::GetRobotStateRequest_<ContainerAllocator> > {
00126 static const char* value()
00127 {
00128 return "\n\
00129 \n\
00130 \n\
00131 \n\
00132 ";
00133 }
00134
00135 static const char* value(const ::arm_navigation_msgs::GetRobotStateRequest_<ContainerAllocator> &) { return value(); }
00136 };
00137
00138 template<class ContainerAllocator> struct IsFixedSize< ::arm_navigation_msgs::GetRobotStateRequest_<ContainerAllocator> > : public TrueType {};
00139 }
00140 }
00141
00142
00143 namespace ros
00144 {
00145 namespace message_traits
00146 {
00147 template<class ContainerAllocator> struct IsMessage< ::arm_navigation_msgs::GetRobotStateResponse_<ContainerAllocator> > : public TrueType {};
00148 template<class ContainerAllocator> struct IsMessage< ::arm_navigation_msgs::GetRobotStateResponse_<ContainerAllocator> const> : public TrueType {};
00149 template<class ContainerAllocator>
00150 struct MD5Sum< ::arm_navigation_msgs::GetRobotStateResponse_<ContainerAllocator> > {
00151 static const char* value()
00152 {
00153 return "9799d82a26586bf3963962b7c3038f40";
00154 }
00155
00156 static const char* value(const ::arm_navigation_msgs::GetRobotStateResponse_<ContainerAllocator> &) { return value(); }
00157 static const uint64_t static_value1 = 0x9799d82a26586bf3ULL;
00158 static const uint64_t static_value2 = 0x963962b7c3038f40ULL;
00159 };
00160
00161 template<class ContainerAllocator>
00162 struct DataType< ::arm_navigation_msgs::GetRobotStateResponse_<ContainerAllocator> > {
00163 static const char* value()
00164 {
00165 return "arm_navigation_msgs/GetRobotStateResponse";
00166 }
00167
00168 static const char* value(const ::arm_navigation_msgs::GetRobotStateResponse_<ContainerAllocator> &) { return value(); }
00169 };
00170
00171 template<class ContainerAllocator>
00172 struct Definition< ::arm_navigation_msgs::GetRobotStateResponse_<ContainerAllocator> > {
00173 static const char* value()
00174 {
00175 return "\n\
00176 \n\
00177 arm_navigation_msgs/RobotState robot_state\n\
00178 \n\
00179 \n\
00180 \n\
00181 \n\
00182 arm_navigation_msgs/ArmNavigationErrorCodes error_code\n\
00183 \n\
00184 \n\
00185 ================================================================================\n\
00186 MSG: arm_navigation_msgs/RobotState\n\
00187 # This message contains information about the robot state, i.e. the positions of its joints and links\n\
00188 sensor_msgs/JointState joint_state\n\
00189 arm_navigation_msgs/MultiDOFJointState multi_dof_joint_state\n\
00190 \n\
00191 ================================================================================\n\
00192 MSG: sensor_msgs/JointState\n\
00193 # This is a message that holds data to describe the state of a set of torque controlled joints. \n\
00194 #\n\
00195 # The state of each joint (revolute or prismatic) is defined by:\n\
00196 # * the position of the joint (rad or m),\n\
00197 # * the velocity of the joint (rad/s or m/s) and \n\
00198 # * the effort that is applied in the joint (Nm or N).\n\
00199 #\n\
00200 # Each joint is uniquely identified by its name\n\
00201 # The header specifies the time at which the joint states were recorded. All the joint states\n\
00202 # in one message have to be recorded at the same time.\n\
00203 #\n\
00204 # This message consists of a multiple arrays, one for each part of the joint state. \n\
00205 # The goal is to make each of the fields optional. When e.g. your joints have no\n\
00206 # effort associated with them, you can leave the effort array empty. \n\
00207 #\n\
00208 # All arrays in this message should have the same size, or be empty.\n\
00209 # This is the only way to uniquely associate the joint name with the correct\n\
00210 # states.\n\
00211 \n\
00212 \n\
00213 Header header\n\
00214 \n\
00215 string[] name\n\
00216 float64[] position\n\
00217 float64[] velocity\n\
00218 float64[] effort\n\
00219 \n\
00220 ================================================================================\n\
00221 MSG: std_msgs/Header\n\
00222 # Standard metadata for higher-level stamped data types.\n\
00223 # This is generally used to communicate timestamped data \n\
00224 # in a particular coordinate frame.\n\
00225 # \n\
00226 # sequence ID: consecutively increasing ID \n\
00227 uint32 seq\n\
00228 #Two-integer timestamp that is expressed as:\n\
00229 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00230 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00231 # time-handling sugar is provided by the client library\n\
00232 time stamp\n\
00233 #Frame this data is associated with\n\
00234 # 0: no frame\n\
00235 # 1: global frame\n\
00236 string frame_id\n\
00237 \n\
00238 ================================================================================\n\
00239 MSG: arm_navigation_msgs/MultiDOFJointState\n\
00240 #A representation of a multi-dof joint state\n\
00241 time stamp\n\
00242 string[] joint_names\n\
00243 string[] frame_ids\n\
00244 string[] child_frame_ids\n\
00245 geometry_msgs/Pose[] poses\n\
00246 \n\
00247 ================================================================================\n\
00248 MSG: geometry_msgs/Pose\n\
00249 # A representation of pose in free space, composed of postion and orientation. \n\
00250 Point position\n\
00251 Quaternion orientation\n\
00252 \n\
00253 ================================================================================\n\
00254 MSG: geometry_msgs/Point\n\
00255 # This contains the position of a point in free space\n\
00256 float64 x\n\
00257 float64 y\n\
00258 float64 z\n\
00259 \n\
00260 ================================================================================\n\
00261 MSG: geometry_msgs/Quaternion\n\
00262 # This represents an orientation in free space in quaternion form.\n\
00263 \n\
00264 float64 x\n\
00265 float64 y\n\
00266 float64 z\n\
00267 float64 w\n\
00268 \n\
00269 ================================================================================\n\
00270 MSG: arm_navigation_msgs/ArmNavigationErrorCodes\n\
00271 int32 val\n\
00272 \n\
00273 # overall behavior\n\
00274 int32 PLANNING_FAILED=-1\n\
00275 int32 SUCCESS=1\n\
00276 int32 TIMED_OUT=-2\n\
00277 \n\
00278 # start state errors\n\
00279 int32 START_STATE_IN_COLLISION=-3\n\
00280 int32 START_STATE_VIOLATES_PATH_CONSTRAINTS=-4\n\
00281 \n\
00282 # goal errors\n\
00283 int32 GOAL_IN_COLLISION=-5\n\
00284 int32 GOAL_VIOLATES_PATH_CONSTRAINTS=-6\n\
00285 \n\
00286 # robot state\n\
00287 int32 INVALID_ROBOT_STATE=-7\n\
00288 int32 INCOMPLETE_ROBOT_STATE=-8\n\
00289 \n\
00290 # planning request errors\n\
00291 int32 INVALID_PLANNER_ID=-9\n\
00292 int32 INVALID_NUM_PLANNING_ATTEMPTS=-10\n\
00293 int32 INVALID_ALLOWED_PLANNING_TIME=-11\n\
00294 int32 INVALID_GROUP_NAME=-12\n\
00295 int32 INVALID_GOAL_JOINT_CONSTRAINTS=-13\n\
00296 int32 INVALID_GOAL_POSITION_CONSTRAINTS=-14\n\
00297 int32 INVALID_GOAL_ORIENTATION_CONSTRAINTS=-15\n\
00298 int32 INVALID_PATH_JOINT_CONSTRAINTS=-16\n\
00299 int32 INVALID_PATH_POSITION_CONSTRAINTS=-17\n\
00300 int32 INVALID_PATH_ORIENTATION_CONSTRAINTS=-18\n\
00301 \n\
00302 # state/trajectory monitor errors\n\
00303 int32 INVALID_TRAJECTORY=-19\n\
00304 int32 INVALID_INDEX=-20\n\
00305 int32 JOINT_LIMITS_VIOLATED=-21\n\
00306 int32 PATH_CONSTRAINTS_VIOLATED=-22\n\
00307 int32 COLLISION_CONSTRAINTS_VIOLATED=-23\n\
00308 int32 GOAL_CONSTRAINTS_VIOLATED=-24\n\
00309 int32 JOINTS_NOT_MOVING=-25\n\
00310 int32 TRAJECTORY_CONTROLLER_FAILED=-26\n\
00311 \n\
00312 # system errors\n\
00313 int32 FRAME_TRANSFORM_FAILURE=-27\n\
00314 int32 COLLISION_CHECKING_UNAVAILABLE=-28\n\
00315 int32 ROBOT_STATE_STALE=-29\n\
00316 int32 SENSOR_INFO_STALE=-30\n\
00317 \n\
00318 # kinematics errors\n\
00319 int32 NO_IK_SOLUTION=-31\n\
00320 int32 INVALID_LINK_NAME=-32\n\
00321 int32 IK_LINK_IN_COLLISION=-33\n\
00322 int32 NO_FK_SOLUTION=-34\n\
00323 int32 KINEMATICS_STATE_IN_COLLISION=-35\n\
00324 \n\
00325 # general errors\n\
00326 int32 INVALID_TIMEOUT=-36\n\
00327 \n\
00328 \n\
00329 ";
00330 }
00331
00332 static const char* value(const ::arm_navigation_msgs::GetRobotStateResponse_<ContainerAllocator> &) { return value(); }
00333 };
00334
00335 }
00336 }
00337
00338 namespace ros
00339 {
00340 namespace serialization
00341 {
00342
00343 template<class ContainerAllocator> struct Serializer< ::arm_navigation_msgs::GetRobotStateRequest_<ContainerAllocator> >
00344 {
00345 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00346 {
00347 }
00348
00349 ROS_DECLARE_ALLINONE_SERIALIZER;
00350 };
00351 }
00352 }
00353
00354
00355 namespace ros
00356 {
00357 namespace serialization
00358 {
00359
00360 template<class ContainerAllocator> struct Serializer< ::arm_navigation_msgs::GetRobotStateResponse_<ContainerAllocator> >
00361 {
00362 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00363 {
00364 stream.next(m.robot_state);
00365 stream.next(m.error_code);
00366 }
00367
00368 ROS_DECLARE_ALLINONE_SERIALIZER;
00369 };
00370 }
00371 }
00372
00373 namespace ros
00374 {
00375 namespace service_traits
00376 {
00377 template<>
00378 struct MD5Sum<arm_navigation_msgs::GetRobotState> {
00379 static const char* value()
00380 {
00381 return "9799d82a26586bf3963962b7c3038f40";
00382 }
00383
00384 static const char* value(const arm_navigation_msgs::GetRobotState&) { return value(); }
00385 };
00386
00387 template<>
00388 struct DataType<arm_navigation_msgs::GetRobotState> {
00389 static const char* value()
00390 {
00391 return "arm_navigation_msgs/GetRobotState";
00392 }
00393
00394 static const char* value(const arm_navigation_msgs::GetRobotState&) { return value(); }
00395 };
00396
00397 template<class ContainerAllocator>
00398 struct MD5Sum<arm_navigation_msgs::GetRobotStateRequest_<ContainerAllocator> > {
00399 static const char* value()
00400 {
00401 return "9799d82a26586bf3963962b7c3038f40";
00402 }
00403
00404 static const char* value(const arm_navigation_msgs::GetRobotStateRequest_<ContainerAllocator> &) { return value(); }
00405 };
00406
00407 template<class ContainerAllocator>
00408 struct DataType<arm_navigation_msgs::GetRobotStateRequest_<ContainerAllocator> > {
00409 static const char* value()
00410 {
00411 return "arm_navigation_msgs/GetRobotState";
00412 }
00413
00414 static const char* value(const arm_navigation_msgs::GetRobotStateRequest_<ContainerAllocator> &) { return value(); }
00415 };
00416
00417 template<class ContainerAllocator>
00418 struct MD5Sum<arm_navigation_msgs::GetRobotStateResponse_<ContainerAllocator> > {
00419 static const char* value()
00420 {
00421 return "9799d82a26586bf3963962b7c3038f40";
00422 }
00423
00424 static const char* value(const arm_navigation_msgs::GetRobotStateResponse_<ContainerAllocator> &) { return value(); }
00425 };
00426
00427 template<class ContainerAllocator>
00428 struct DataType<arm_navigation_msgs::GetRobotStateResponse_<ContainerAllocator> > {
00429 static const char* value()
00430 {
00431 return "arm_navigation_msgs/GetRobotState";
00432 }
00433
00434 static const char* value(const arm_navigation_msgs::GetRobotStateResponse_<ContainerAllocator> &) { return value(); }
00435 };
00436
00437 }
00438 }
00439
00440 #endif // ARM_NAVIGATION_MSGS_SERVICE_GETROBOTSTATE_H
00441