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00002 #ifndef ETHERCAT_HARDWARE_MESSAGE_MOTORTRACE_H
00003 #define ETHERCAT_HARDWARE_MESSAGE_MOTORTRACE_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 "std_msgs/Header.h"
00018 #include "ethercat_hardware/BoardInfo.h"
00019 #include "ethercat_hardware/ActuatorInfo.h"
00020 #include "ethercat_hardware/MotorTraceSample.h"
00021
00022 namespace ethercat_hardware
00023 {
00024 template <class ContainerAllocator>
00025 struct MotorTrace_ {
00026 typedef MotorTrace_<ContainerAllocator> Type;
00027
00028 MotorTrace_()
00029 : header()
00030 , reason()
00031 , board_info()
00032 , actuator_info()
00033 , samples()
00034 {
00035 }
00036
00037 MotorTrace_(const ContainerAllocator& _alloc)
00038 : header(_alloc)
00039 , reason(_alloc)
00040 , board_info(_alloc)
00041 , actuator_info(_alloc)
00042 , samples(_alloc)
00043 {
00044 }
00045
00046 typedef ::std_msgs::Header_<ContainerAllocator> _header_type;
00047 ::std_msgs::Header_<ContainerAllocator> header;
00048
00049 typedef std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > _reason_type;
00050 std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > reason;
00051
00052 typedef ::ethercat_hardware::BoardInfo_<ContainerAllocator> _board_info_type;
00053 ::ethercat_hardware::BoardInfo_<ContainerAllocator> board_info;
00054
00055 typedef ::ethercat_hardware::ActuatorInfo_<ContainerAllocator> _actuator_info_type;
00056 ::ethercat_hardware::ActuatorInfo_<ContainerAllocator> actuator_info;
00057
00058 typedef std::vector< ::ethercat_hardware::MotorTraceSample_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::ethercat_hardware::MotorTraceSample_<ContainerAllocator> >::other > _samples_type;
00059 std::vector< ::ethercat_hardware::MotorTraceSample_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::ethercat_hardware::MotorTraceSample_<ContainerAllocator> >::other > samples;
00060
00061
00062 typedef boost::shared_ptr< ::ethercat_hardware::MotorTrace_<ContainerAllocator> > Ptr;
00063 typedef boost::shared_ptr< ::ethercat_hardware::MotorTrace_<ContainerAllocator> const> ConstPtr;
00064 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00065 };
00066 typedef ::ethercat_hardware::MotorTrace_<std::allocator<void> > MotorTrace;
00067
00068 typedef boost::shared_ptr< ::ethercat_hardware::MotorTrace> MotorTracePtr;
00069 typedef boost::shared_ptr< ::ethercat_hardware::MotorTrace const> MotorTraceConstPtr;
00070
00071
00072 template<typename ContainerAllocator>
00073 std::ostream& operator<<(std::ostream& s, const ::ethercat_hardware::MotorTrace_<ContainerAllocator> & v)
00074 {
00075 ros::message_operations::Printer< ::ethercat_hardware::MotorTrace_<ContainerAllocator> >::stream(s, "", v);
00076 return s;}
00077
00078 }
00079
00080 namespace ros
00081 {
00082 namespace message_traits
00083 {
00084 template<class ContainerAllocator> struct IsMessage< ::ethercat_hardware::MotorTrace_<ContainerAllocator> > : public TrueType {};
00085 template<class ContainerAllocator> struct IsMessage< ::ethercat_hardware::MotorTrace_<ContainerAllocator> const> : public TrueType {};
00086 template<class ContainerAllocator>
00087 struct MD5Sum< ::ethercat_hardware::MotorTrace_<ContainerAllocator> > {
00088 static const char* value()
00089 {
00090 return "ada0b8b7f00967d292bd5bb4f59d4bd8";
00091 }
00092
00093 static const char* value(const ::ethercat_hardware::MotorTrace_<ContainerAllocator> &) { return value(); }
00094 static const uint64_t static_value1 = 0xada0b8b7f00967d2ULL;
00095 static const uint64_t static_value2 = 0x92bd5bb4f59d4bd8ULL;
00096 };
00097
00098 template<class ContainerAllocator>
00099 struct DataType< ::ethercat_hardware::MotorTrace_<ContainerAllocator> > {
00100 static const char* value()
00101 {
00102 return "ethercat_hardware/MotorTrace";
00103 }
00104
00105 static const char* value(const ::ethercat_hardware::MotorTrace_<ContainerAllocator> &) { return value(); }
00106 };
00107
00108 template<class ContainerAllocator>
00109 struct Definition< ::ethercat_hardware::MotorTrace_<ContainerAllocator> > {
00110 static const char* value()
00111 {
00112 return "Header header\n\
00113 string reason\n\
00114 ethercat_hardware/BoardInfo board_info\n\
00115 ethercat_hardware/ActuatorInfo actuator_info\n\
00116 ethercat_hardware/MotorTraceSample[] samples\n\
00117 ================================================================================\n\
00118 MSG: std_msgs/Header\n\
00119 # Standard metadata for higher-level stamped data types.\n\
00120 # This is generally used to communicate timestamped data \n\
00121 # in a particular coordinate frame.\n\
00122 # \n\
00123 # sequence ID: consecutively increasing ID \n\
00124 uint32 seq\n\
00125 #Two-integer timestamp that is expressed as:\n\
00126 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00127 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00128 # time-handling sugar is provided by the client library\n\
00129 time stamp\n\
00130 #Frame this data is associated with\n\
00131 # 0: no frame\n\
00132 # 1: global frame\n\
00133 string frame_id\n\
00134 \n\
00135 ================================================================================\n\
00136 MSG: ethercat_hardware/BoardInfo\n\
00137 string description\n\
00138 uint32 product_code\n\
00139 uint32 pcb\n\
00140 uint32 pca\n\
00141 uint32 serial\n\
00142 uint32 firmware_major\n\
00143 uint32 firmware_minor\n\
00144 float64 board_resistance\n\
00145 float64 max_pwm_ratio\n\
00146 float64 hw_max_current\n\
00147 bool poor_measured_motor_voltage\n\
00148 ================================================================================\n\
00149 MSG: ethercat_hardware/ActuatorInfo\n\
00150 uint32 id\n\
00151 string name\n\
00152 string robot_name\n\
00153 string motor_make\n\
00154 string motor_model\n\
00155 float64 max_current\n\
00156 float64 speed_constant\n\
00157 float64 motor_resistance\n\
00158 float64 motor_torque_constant\n\
00159 float64 encoder_reduction\n\
00160 float64 pulses_per_revolution\n\
00161 ================================================================================\n\
00162 MSG: ethercat_hardware/MotorTraceSample\n\
00163 float64 timestamp\n\
00164 bool enabled\n\
00165 float64 supply_voltage\n\
00166 float64 measured_motor_voltage\n\
00167 float64 programmed_pwm\n\
00168 float64 executed_current\n\
00169 float64 measured_current\n\
00170 float64 velocity\n\
00171 float64 encoder_position\n\
00172 uint32 encoder_error_count\n\
00173 float64 motor_voltage_error_limit\n\
00174 float64 filtered_motor_voltage_error\n\
00175 float64 filtered_abs_motor_voltage_error\n\
00176 float64 filtered_measured_voltage_error\n\
00177 float64 filtered_abs_measured_voltage_error\n\
00178 float64 filtered_current_error\n\
00179 float64 filtered_abs_current_error\n\
00180 ";
00181 }
00182
00183 static const char* value(const ::ethercat_hardware::MotorTrace_<ContainerAllocator> &) { return value(); }
00184 };
00185
00186 template<class ContainerAllocator> struct HasHeader< ::ethercat_hardware::MotorTrace_<ContainerAllocator> > : public TrueType {};
00187 template<class ContainerAllocator> struct HasHeader< const ::ethercat_hardware::MotorTrace_<ContainerAllocator> > : public TrueType {};
00188 }
00189 }
00190
00191 namespace ros
00192 {
00193 namespace serialization
00194 {
00195
00196 template<class ContainerAllocator> struct Serializer< ::ethercat_hardware::MotorTrace_<ContainerAllocator> >
00197 {
00198 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00199 {
00200 stream.next(m.header);
00201 stream.next(m.reason);
00202 stream.next(m.board_info);
00203 stream.next(m.actuator_info);
00204 stream.next(m.samples);
00205 }
00206
00207 ROS_DECLARE_ALLINONE_SERIALIZER;
00208 };
00209 }
00210 }
00211
00212 namespace ros
00213 {
00214 namespace message_operations
00215 {
00216
00217 template<class ContainerAllocator>
00218 struct Printer< ::ethercat_hardware::MotorTrace_<ContainerAllocator> >
00219 {
00220 template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::ethercat_hardware::MotorTrace_<ContainerAllocator> & v)
00221 {
00222 s << indent << "header: ";
00223 s << std::endl;
00224 Printer< ::std_msgs::Header_<ContainerAllocator> >::stream(s, indent + " ", v.header);
00225 s << indent << "reason: ";
00226 Printer<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > >::stream(s, indent + " ", v.reason);
00227 s << indent << "board_info: ";
00228 s << std::endl;
00229 Printer< ::ethercat_hardware::BoardInfo_<ContainerAllocator> >::stream(s, indent + " ", v.board_info);
00230 s << indent << "actuator_info: ";
00231 s << std::endl;
00232 Printer< ::ethercat_hardware::ActuatorInfo_<ContainerAllocator> >::stream(s, indent + " ", v.actuator_info);
00233 s << indent << "samples[]" << std::endl;
00234 for (size_t i = 0; i < v.samples.size(); ++i)
00235 {
00236 s << indent << " samples[" << i << "]: ";
00237 s << std::endl;
00238 s << indent;
00239 Printer< ::ethercat_hardware::MotorTraceSample_<ContainerAllocator> >::stream(s, indent + " ", v.samples[i]);
00240 }
00241 }
00242 };
00243
00244
00245 }
00246 }
00247
00248 #endif // ETHERCAT_HARDWARE_MESSAGE_MOTORTRACE_H
00249