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00002 #ifndef KINEMATICS_MSGS_SERVICE_GETPOSITIONIK_H
00003 #define KINEMATICS_MSGS_SERVICE_GETPOSITIONIK_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 #include "kinematics_msgs/PositionIKRequest.h"
00020
00021
00022 #include "arm_navigation_msgs/RobotState.h"
00023 #include "arm_navigation_msgs/ArmNavigationErrorCodes.h"
00024
00025 namespace kinematics_msgs
00026 {
00027 template <class ContainerAllocator>
00028 struct GetPositionIKRequest_ {
00029 typedef GetPositionIKRequest_<ContainerAllocator> Type;
00030
00031 GetPositionIKRequest_()
00032 : ik_request()
00033 , timeout()
00034 {
00035 }
00036
00037 GetPositionIKRequest_(const ContainerAllocator& _alloc)
00038 : ik_request(_alloc)
00039 , timeout()
00040 {
00041 }
00042
00043 typedef ::kinematics_msgs::PositionIKRequest_<ContainerAllocator> _ik_request_type;
00044 ::kinematics_msgs::PositionIKRequest_<ContainerAllocator> ik_request;
00045
00046 typedef ros::Duration _timeout_type;
00047 ros::Duration timeout;
00048
00049
00050 typedef boost::shared_ptr< ::kinematics_msgs::GetPositionIKRequest_<ContainerAllocator> > Ptr;
00051 typedef boost::shared_ptr< ::kinematics_msgs::GetPositionIKRequest_<ContainerAllocator> const> ConstPtr;
00052 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00053 };
00054 typedef ::kinematics_msgs::GetPositionIKRequest_<std::allocator<void> > GetPositionIKRequest;
00055
00056 typedef boost::shared_ptr< ::kinematics_msgs::GetPositionIKRequest> GetPositionIKRequestPtr;
00057 typedef boost::shared_ptr< ::kinematics_msgs::GetPositionIKRequest const> GetPositionIKRequestConstPtr;
00058
00059
00060
00061 template <class ContainerAllocator>
00062 struct GetPositionIKResponse_ {
00063 typedef GetPositionIKResponse_<ContainerAllocator> Type;
00064
00065 GetPositionIKResponse_()
00066 : solution()
00067 , error_code()
00068 {
00069 }
00070
00071 GetPositionIKResponse_(const ContainerAllocator& _alloc)
00072 : solution(_alloc)
00073 , error_code(_alloc)
00074 {
00075 }
00076
00077 typedef ::arm_navigation_msgs::RobotState_<ContainerAllocator> _solution_type;
00078 ::arm_navigation_msgs::RobotState_<ContainerAllocator> solution;
00079
00080 typedef ::arm_navigation_msgs::ArmNavigationErrorCodes_<ContainerAllocator> _error_code_type;
00081 ::arm_navigation_msgs::ArmNavigationErrorCodes_<ContainerAllocator> error_code;
00082
00083
00084 typedef boost::shared_ptr< ::kinematics_msgs::GetPositionIKResponse_<ContainerAllocator> > Ptr;
00085 typedef boost::shared_ptr< ::kinematics_msgs::GetPositionIKResponse_<ContainerAllocator> const> ConstPtr;
00086 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00087 };
00088 typedef ::kinematics_msgs::GetPositionIKResponse_<std::allocator<void> > GetPositionIKResponse;
00089
00090 typedef boost::shared_ptr< ::kinematics_msgs::GetPositionIKResponse> GetPositionIKResponsePtr;
00091 typedef boost::shared_ptr< ::kinematics_msgs::GetPositionIKResponse const> GetPositionIKResponseConstPtr;
00092
00093
00094 struct GetPositionIK
00095 {
00096
00097 typedef GetPositionIKRequest Request;
00098 typedef GetPositionIKResponse Response;
00099 Request request;
00100 Response response;
00101
00102 typedef Request RequestType;
00103 typedef Response ResponseType;
00104 };
00105 }
00106
00107 namespace ros
00108 {
00109 namespace message_traits
00110 {
00111 template<class ContainerAllocator> struct IsMessage< ::kinematics_msgs::GetPositionIKRequest_<ContainerAllocator> > : public TrueType {};
00112 template<class ContainerAllocator> struct IsMessage< ::kinematics_msgs::GetPositionIKRequest_<ContainerAllocator> const> : public TrueType {};
00113 template<class ContainerAllocator>
00114 struct MD5Sum< ::kinematics_msgs::GetPositionIKRequest_<ContainerAllocator> > {
00115 static const char* value()
00116 {
00117 return "bf9ee33930d9eaff390b8af4a213ba62";
00118 }
00119
00120 static const char* value(const ::kinematics_msgs::GetPositionIKRequest_<ContainerAllocator> &) { return value(); }
00121 static const uint64_t static_value1 = 0xbf9ee33930d9eaffULL;
00122 static const uint64_t static_value2 = 0x390b8af4a213ba62ULL;
00123 };
00124
00125 template<class ContainerAllocator>
00126 struct DataType< ::kinematics_msgs::GetPositionIKRequest_<ContainerAllocator> > {
00127 static const char* value()
00128 {
00129 return "kinematics_msgs/GetPositionIKRequest";
00130 }
00131
00132 static const char* value(const ::kinematics_msgs::GetPositionIKRequest_<ContainerAllocator> &) { return value(); }
00133 };
00134
00135 template<class ContainerAllocator>
00136 struct Definition< ::kinematics_msgs::GetPositionIKRequest_<ContainerAllocator> > {
00137 static const char* value()
00138 {
00139 return "\n\
00140 \n\
00141 kinematics_msgs/PositionIKRequest ik_request\n\
00142 \n\
00143 duration timeout\n\
00144 \n\
00145 ================================================================================\n\
00146 MSG: kinematics_msgs/PositionIKRequest\n\
00147 # A Position IK request message\n\
00148 # The name of the link for which we are computing IK\n\
00149 string ik_link_name\n\
00150 \n\
00151 # The (stamped) pose of the link\n\
00152 geometry_msgs/PoseStamped pose_stamped\n\
00153 \n\
00154 # A RobotState consisting of hint/seed positions for the IK computation. \n\
00155 # These may be used to seed the IK search. \n\
00156 # The seed state MUST contain state for all joints to be used by the IK solver\n\
00157 # to compute IK. The list of joints that the IK solver deals with can be found using\n\
00158 # the kinematics_msgs/GetKinematicSolverInfo\n\
00159 arm_navigation_msgs/RobotState ik_seed_state\n\
00160 \n\
00161 # Additional state information can be provided here to specify the starting positions \n\
00162 # of other joints/links on the robot.\n\
00163 arm_navigation_msgs/RobotState robot_state\n\
00164 \n\
00165 ================================================================================\n\
00166 MSG: geometry_msgs/PoseStamped\n\
00167 # A Pose with reference coordinate frame and timestamp\n\
00168 Header header\n\
00169 Pose pose\n\
00170 \n\
00171 ================================================================================\n\
00172 MSG: std_msgs/Header\n\
00173 # Standard metadata for higher-level stamped data types.\n\
00174 # This is generally used to communicate timestamped data \n\
00175 # in a particular coordinate frame.\n\
00176 # \n\
00177 # sequence ID: consecutively increasing ID \n\
00178 uint32 seq\n\
00179 #Two-integer timestamp that is expressed as:\n\
00180 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00181 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00182 # time-handling sugar is provided by the client library\n\
00183 time stamp\n\
00184 #Frame this data is associated with\n\
00185 # 0: no frame\n\
00186 # 1: global frame\n\
00187 string frame_id\n\
00188 \n\
00189 ================================================================================\n\
00190 MSG: geometry_msgs/Pose\n\
00191 # A representation of pose in free space, composed of postion and orientation. \n\
00192 Point position\n\
00193 Quaternion orientation\n\
00194 \n\
00195 ================================================================================\n\
00196 MSG: geometry_msgs/Point\n\
00197 # This contains the position of a point in free space\n\
00198 float64 x\n\
00199 float64 y\n\
00200 float64 z\n\
00201 \n\
00202 ================================================================================\n\
00203 MSG: geometry_msgs/Quaternion\n\
00204 # This represents an orientation in free space in quaternion form.\n\
00205 \n\
00206 float64 x\n\
00207 float64 y\n\
00208 float64 z\n\
00209 float64 w\n\
00210 \n\
00211 ================================================================================\n\
00212 MSG: arm_navigation_msgs/RobotState\n\
00213 # This message contains information about the robot state, i.e. the positions of its joints and links\n\
00214 sensor_msgs/JointState joint_state\n\
00215 arm_navigation_msgs/MultiDOFJointState multi_dof_joint_state\n\
00216 \n\
00217 ================================================================================\n\
00218 MSG: sensor_msgs/JointState\n\
00219 # This is a message that holds data to describe the state of a set of torque controlled joints. \n\
00220 #\n\
00221 # The state of each joint (revolute or prismatic) is defined by:\n\
00222 # * the position of the joint (rad or m),\n\
00223 # * the velocity of the joint (rad/s or m/s) and \n\
00224 # * the effort that is applied in the joint (Nm or N).\n\
00225 #\n\
00226 # Each joint is uniquely identified by its name\n\
00227 # The header specifies the time at which the joint states were recorded. All the joint states\n\
00228 # in one message have to be recorded at the same time.\n\
00229 #\n\
00230 # This message consists of a multiple arrays, one for each part of the joint state. \n\
00231 # The goal is to make each of the fields optional. When e.g. your joints have no\n\
00232 # effort associated with them, you can leave the effort array empty. \n\
00233 #\n\
00234 # All arrays in this message should have the same size, or be empty.\n\
00235 # This is the only way to uniquely associate the joint name with the correct\n\
00236 # states.\n\
00237 \n\
00238 \n\
00239 Header header\n\
00240 \n\
00241 string[] name\n\
00242 float64[] position\n\
00243 float64[] velocity\n\
00244 float64[] effort\n\
00245 \n\
00246 ================================================================================\n\
00247 MSG: arm_navigation_msgs/MultiDOFJointState\n\
00248 #A representation of a multi-dof joint state\n\
00249 time stamp\n\
00250 string[] joint_names\n\
00251 string[] frame_ids\n\
00252 string[] child_frame_ids\n\
00253 geometry_msgs/Pose[] poses\n\
00254 \n\
00255 ";
00256 }
00257
00258 static const char* value(const ::kinematics_msgs::GetPositionIKRequest_<ContainerAllocator> &) { return value(); }
00259 };
00260
00261 }
00262 }
00263
00264
00265 namespace ros
00266 {
00267 namespace message_traits
00268 {
00269 template<class ContainerAllocator> struct IsMessage< ::kinematics_msgs::GetPositionIKResponse_<ContainerAllocator> > : public TrueType {};
00270 template<class ContainerAllocator> struct IsMessage< ::kinematics_msgs::GetPositionIKResponse_<ContainerAllocator> const> : public TrueType {};
00271 template<class ContainerAllocator>
00272 struct MD5Sum< ::kinematics_msgs::GetPositionIKResponse_<ContainerAllocator> > {
00273 static const char* value()
00274 {
00275 return "5a8bbc4eb2775fe00cbd09858fd3dc65";
00276 }
00277
00278 static const char* value(const ::kinematics_msgs::GetPositionIKResponse_<ContainerAllocator> &) { return value(); }
00279 static const uint64_t static_value1 = 0x5a8bbc4eb2775fe0ULL;
00280 static const uint64_t static_value2 = 0x0cbd09858fd3dc65ULL;
00281 };
00282
00283 template<class ContainerAllocator>
00284 struct DataType< ::kinematics_msgs::GetPositionIKResponse_<ContainerAllocator> > {
00285 static const char* value()
00286 {
00287 return "kinematics_msgs/GetPositionIKResponse";
00288 }
00289
00290 static const char* value(const ::kinematics_msgs::GetPositionIKResponse_<ContainerAllocator> &) { return value(); }
00291 };
00292
00293 template<class ContainerAllocator>
00294 struct Definition< ::kinematics_msgs::GetPositionIKResponse_<ContainerAllocator> > {
00295 static const char* value()
00296 {
00297 return "\n\
00298 \n\
00299 arm_navigation_msgs/RobotState solution\n\
00300 \n\
00301 arm_navigation_msgs/ArmNavigationErrorCodes error_code\n\
00302 \n\
00303 \n\
00304 \n\
00305 ================================================================================\n\
00306 MSG: arm_navigation_msgs/RobotState\n\
00307 # This message contains information about the robot state, i.e. the positions of its joints and links\n\
00308 sensor_msgs/JointState joint_state\n\
00309 arm_navigation_msgs/MultiDOFJointState multi_dof_joint_state\n\
00310 \n\
00311 ================================================================================\n\
00312 MSG: sensor_msgs/JointState\n\
00313 # This is a message that holds data to describe the state of a set of torque controlled joints. \n\
00314 #\n\
00315 # The state of each joint (revolute or prismatic) is defined by:\n\
00316 # * the position of the joint (rad or m),\n\
00317 # * the velocity of the joint (rad/s or m/s) and \n\
00318 # * the effort that is applied in the joint (Nm or N).\n\
00319 #\n\
00320 # Each joint is uniquely identified by its name\n\
00321 # The header specifies the time at which the joint states were recorded. All the joint states\n\
00322 # in one message have to be recorded at the same time.\n\
00323 #\n\
00324 # This message consists of a multiple arrays, one for each part of the joint state. \n\
00325 # The goal is to make each of the fields optional. When e.g. your joints have no\n\
00326 # effort associated with them, you can leave the effort array empty. \n\
00327 #\n\
00328 # All arrays in this message should have the same size, or be empty.\n\
00329 # This is the only way to uniquely associate the joint name with the correct\n\
00330 # states.\n\
00331 \n\
00332 \n\
00333 Header header\n\
00334 \n\
00335 string[] name\n\
00336 float64[] position\n\
00337 float64[] velocity\n\
00338 float64[] effort\n\
00339 \n\
00340 ================================================================================\n\
00341 MSG: std_msgs/Header\n\
00342 # Standard metadata for higher-level stamped data types.\n\
00343 # This is generally used to communicate timestamped data \n\
00344 # in a particular coordinate frame.\n\
00345 # \n\
00346 # sequence ID: consecutively increasing ID \n\
00347 uint32 seq\n\
00348 #Two-integer timestamp that is expressed as:\n\
00349 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00350 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00351 # time-handling sugar is provided by the client library\n\
00352 time stamp\n\
00353 #Frame this data is associated with\n\
00354 # 0: no frame\n\
00355 # 1: global frame\n\
00356 string frame_id\n\
00357 \n\
00358 ================================================================================\n\
00359 MSG: arm_navigation_msgs/MultiDOFJointState\n\
00360 #A representation of a multi-dof joint state\n\
00361 time stamp\n\
00362 string[] joint_names\n\
00363 string[] frame_ids\n\
00364 string[] child_frame_ids\n\
00365 geometry_msgs/Pose[] poses\n\
00366 \n\
00367 ================================================================================\n\
00368 MSG: geometry_msgs/Pose\n\
00369 # A representation of pose in free space, composed of postion and orientation. \n\
00370 Point position\n\
00371 Quaternion orientation\n\
00372 \n\
00373 ================================================================================\n\
00374 MSG: geometry_msgs/Point\n\
00375 # This contains the position of a point in free space\n\
00376 float64 x\n\
00377 float64 y\n\
00378 float64 z\n\
00379 \n\
00380 ================================================================================\n\
00381 MSG: geometry_msgs/Quaternion\n\
00382 # This represents an orientation in free space in quaternion form.\n\
00383 \n\
00384 float64 x\n\
00385 float64 y\n\
00386 float64 z\n\
00387 float64 w\n\
00388 \n\
00389 ================================================================================\n\
00390 MSG: arm_navigation_msgs/ArmNavigationErrorCodes\n\
00391 int32 val\n\
00392 \n\
00393 # overall behavior\n\
00394 int32 PLANNING_FAILED=-1\n\
00395 int32 SUCCESS=1\n\
00396 int32 TIMED_OUT=-2\n\
00397 \n\
00398 # start state errors\n\
00399 int32 START_STATE_IN_COLLISION=-3\n\
00400 int32 START_STATE_VIOLATES_PATH_CONSTRAINTS=-4\n\
00401 \n\
00402 # goal errors\n\
00403 int32 GOAL_IN_COLLISION=-5\n\
00404 int32 GOAL_VIOLATES_PATH_CONSTRAINTS=-6\n\
00405 \n\
00406 # robot state\n\
00407 int32 INVALID_ROBOT_STATE=-7\n\
00408 int32 INCOMPLETE_ROBOT_STATE=-8\n\
00409 \n\
00410 # planning request errors\n\
00411 int32 INVALID_PLANNER_ID=-9\n\
00412 int32 INVALID_NUM_PLANNING_ATTEMPTS=-10\n\
00413 int32 INVALID_ALLOWED_PLANNING_TIME=-11\n\
00414 int32 INVALID_GROUP_NAME=-12\n\
00415 int32 INVALID_GOAL_JOINT_CONSTRAINTS=-13\n\
00416 int32 INVALID_GOAL_POSITION_CONSTRAINTS=-14\n\
00417 int32 INVALID_GOAL_ORIENTATION_CONSTRAINTS=-15\n\
00418 int32 INVALID_PATH_JOINT_CONSTRAINTS=-16\n\
00419 int32 INVALID_PATH_POSITION_CONSTRAINTS=-17\n\
00420 int32 INVALID_PATH_ORIENTATION_CONSTRAINTS=-18\n\
00421 \n\
00422 # state/trajectory monitor errors\n\
00423 int32 INVALID_TRAJECTORY=-19\n\
00424 int32 INVALID_INDEX=-20\n\
00425 int32 JOINT_LIMITS_VIOLATED=-21\n\
00426 int32 PATH_CONSTRAINTS_VIOLATED=-22\n\
00427 int32 COLLISION_CONSTRAINTS_VIOLATED=-23\n\
00428 int32 GOAL_CONSTRAINTS_VIOLATED=-24\n\
00429 int32 JOINTS_NOT_MOVING=-25\n\
00430 int32 TRAJECTORY_CONTROLLER_FAILED=-26\n\
00431 \n\
00432 # system errors\n\
00433 int32 FRAME_TRANSFORM_FAILURE=-27\n\
00434 int32 COLLISION_CHECKING_UNAVAILABLE=-28\n\
00435 int32 ROBOT_STATE_STALE=-29\n\
00436 int32 SENSOR_INFO_STALE=-30\n\
00437 \n\
00438 # kinematics errors\n\
00439 int32 NO_IK_SOLUTION=-31\n\
00440 int32 INVALID_LINK_NAME=-32\n\
00441 int32 IK_LINK_IN_COLLISION=-33\n\
00442 int32 NO_FK_SOLUTION=-34\n\
00443 int32 KINEMATICS_STATE_IN_COLLISION=-35\n\
00444 \n\
00445 # general errors\n\
00446 int32 INVALID_TIMEOUT=-36\n\
00447 \n\
00448 \n\
00449 ";
00450 }
00451
00452 static const char* value(const ::kinematics_msgs::GetPositionIKResponse_<ContainerAllocator> &) { return value(); }
00453 };
00454
00455 }
00456 }
00457
00458 namespace ros
00459 {
00460 namespace serialization
00461 {
00462
00463 template<class ContainerAllocator> struct Serializer< ::kinematics_msgs::GetPositionIKRequest_<ContainerAllocator> >
00464 {
00465 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00466 {
00467 stream.next(m.ik_request);
00468 stream.next(m.timeout);
00469 }
00470
00471 ROS_DECLARE_ALLINONE_SERIALIZER;
00472 };
00473 }
00474 }
00475
00476
00477 namespace ros
00478 {
00479 namespace serialization
00480 {
00481
00482 template<class ContainerAllocator> struct Serializer< ::kinematics_msgs::GetPositionIKResponse_<ContainerAllocator> >
00483 {
00484 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00485 {
00486 stream.next(m.solution);
00487 stream.next(m.error_code);
00488 }
00489
00490 ROS_DECLARE_ALLINONE_SERIALIZER;
00491 };
00492 }
00493 }
00494
00495 namespace ros
00496 {
00497 namespace service_traits
00498 {
00499 template<>
00500 struct MD5Sum<kinematics_msgs::GetPositionIK> {
00501 static const char* value()
00502 {
00503 return "6d82fcb918d48c6d8a708bc55e34ace2";
00504 }
00505
00506 static const char* value(const kinematics_msgs::GetPositionIK&) { return value(); }
00507 };
00508
00509 template<>
00510 struct DataType<kinematics_msgs::GetPositionIK> {
00511 static const char* value()
00512 {
00513 return "kinematics_msgs/GetPositionIK";
00514 }
00515
00516 static const char* value(const kinematics_msgs::GetPositionIK&) { return value(); }
00517 };
00518
00519 template<class ContainerAllocator>
00520 struct MD5Sum<kinematics_msgs::GetPositionIKRequest_<ContainerAllocator> > {
00521 static const char* value()
00522 {
00523 return "6d82fcb918d48c6d8a708bc55e34ace2";
00524 }
00525
00526 static const char* value(const kinematics_msgs::GetPositionIKRequest_<ContainerAllocator> &) { return value(); }
00527 };
00528
00529 template<class ContainerAllocator>
00530 struct DataType<kinematics_msgs::GetPositionIKRequest_<ContainerAllocator> > {
00531 static const char* value()
00532 {
00533 return "kinematics_msgs/GetPositionIK";
00534 }
00535
00536 static const char* value(const kinematics_msgs::GetPositionIKRequest_<ContainerAllocator> &) { return value(); }
00537 };
00538
00539 template<class ContainerAllocator>
00540 struct MD5Sum<kinematics_msgs::GetPositionIKResponse_<ContainerAllocator> > {
00541 static const char* value()
00542 {
00543 return "6d82fcb918d48c6d8a708bc55e34ace2";
00544 }
00545
00546 static const char* value(const kinematics_msgs::GetPositionIKResponse_<ContainerAllocator> &) { return value(); }
00547 };
00548
00549 template<class ContainerAllocator>
00550 struct DataType<kinematics_msgs::GetPositionIKResponse_<ContainerAllocator> > {
00551 static const char* value()
00552 {
00553 return "kinematics_msgs/GetPositionIK";
00554 }
00555
00556 static const char* value(const kinematics_msgs::GetPositionIKResponse_<ContainerAllocator> &) { return value(); }
00557 };
00558
00559 }
00560 }
00561
00562 #endif // KINEMATICS_MSGS_SERVICE_GETPOSITIONIK_H
00563