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00002 #ifndef KINEMATICS_MSGS_MESSAGE_KINEMATICSOLVERINFO_H
00003 #define KINEMATICS_MSGS_MESSAGE_KINEMATICSOLVERINFO_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/JointLimits.h"
00018
00019 namespace kinematics_msgs
00020 {
00021 template <class ContainerAllocator>
00022 struct KinematicSolverInfo_ {
00023 typedef KinematicSolverInfo_<ContainerAllocator> Type;
00024
00025 KinematicSolverInfo_()
00026 : joint_names()
00027 , limits()
00028 , link_names()
00029 {
00030 }
00031
00032 KinematicSolverInfo_(const ContainerAllocator& _alloc)
00033 : joint_names(_alloc)
00034 , limits(_alloc)
00035 , link_names(_alloc)
00036 {
00037 }
00038
00039 typedef std::vector<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > , typename ContainerAllocator::template rebind<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > >::other > _joint_names_type;
00040 std::vector<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > , typename ContainerAllocator::template rebind<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > >::other > joint_names;
00041
00042 typedef std::vector< ::arm_navigation_msgs::JointLimits_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::arm_navigation_msgs::JointLimits_<ContainerAllocator> >::other > _limits_type;
00043 std::vector< ::arm_navigation_msgs::JointLimits_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::arm_navigation_msgs::JointLimits_<ContainerAllocator> >::other > limits;
00044
00045 typedef std::vector<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > , typename ContainerAllocator::template rebind<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > >::other > _link_names_type;
00046 std::vector<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > , typename ContainerAllocator::template rebind<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > >::other > link_names;
00047
00048
00049 typedef boost::shared_ptr< ::kinematics_msgs::KinematicSolverInfo_<ContainerAllocator> > Ptr;
00050 typedef boost::shared_ptr< ::kinematics_msgs::KinematicSolverInfo_<ContainerAllocator> const> ConstPtr;
00051 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00052 };
00053 typedef ::kinematics_msgs::KinematicSolverInfo_<std::allocator<void> > KinematicSolverInfo;
00054
00055 typedef boost::shared_ptr< ::kinematics_msgs::KinematicSolverInfo> KinematicSolverInfoPtr;
00056 typedef boost::shared_ptr< ::kinematics_msgs::KinematicSolverInfo const> KinematicSolverInfoConstPtr;
00057
00058
00059 template<typename ContainerAllocator>
00060 std::ostream& operator<<(std::ostream& s, const ::kinematics_msgs::KinematicSolverInfo_<ContainerAllocator> & v)
00061 {
00062 ros::message_operations::Printer< ::kinematics_msgs::KinematicSolverInfo_<ContainerAllocator> >::stream(s, "", v);
00063 return s;}
00064
00065 }
00066
00067 namespace ros
00068 {
00069 namespace message_traits
00070 {
00071 template<class ContainerAllocator> struct IsMessage< ::kinematics_msgs::KinematicSolverInfo_<ContainerAllocator> > : public TrueType {};
00072 template<class ContainerAllocator> struct IsMessage< ::kinematics_msgs::KinematicSolverInfo_<ContainerAllocator> const> : public TrueType {};
00073 template<class ContainerAllocator>
00074 struct MD5Sum< ::kinematics_msgs::KinematicSolverInfo_<ContainerAllocator> > {
00075 static const char* value()
00076 {
00077 return "cc048557c0f9795c392dd80f8bb00489";
00078 }
00079
00080 static const char* value(const ::kinematics_msgs::KinematicSolverInfo_<ContainerAllocator> &) { return value(); }
00081 static const uint64_t static_value1 = 0xcc048557c0f9795cULL;
00082 static const uint64_t static_value2 = 0x392dd80f8bb00489ULL;
00083 };
00084
00085 template<class ContainerAllocator>
00086 struct DataType< ::kinematics_msgs::KinematicSolverInfo_<ContainerAllocator> > {
00087 static const char* value()
00088 {
00089 return "kinematics_msgs/KinematicSolverInfo";
00090 }
00091
00092 static const char* value(const ::kinematics_msgs::KinematicSolverInfo_<ContainerAllocator> &) { return value(); }
00093 };
00094
00095 template<class ContainerAllocator>
00096 struct Definition< ::kinematics_msgs::KinematicSolverInfo_<ContainerAllocator> > {
00097 static const char* value()
00098 {
00099 return "# A list of joints in the kinematic tree\n\
00100 string[] joint_names\n\
00101 # A list of joint limits corresponding to the joint names\n\
00102 arm_navigation_msgs/JointLimits[] limits\n\
00103 # A list of links that the kinematics node provides solutions for\n\
00104 string[] link_names\n\
00105 \n\
00106 ================================================================================\n\
00107 MSG: arm_navigation_msgs/JointLimits\n\
00108 # This message contains information about limits of a particular joint (or control dimension)\n\
00109 string joint_name\n\
00110 \n\
00111 # true if the joint has position limits\n\
00112 bool has_position_limits\n\
00113 \n\
00114 # min and max position limits\n\
00115 float64 min_position\n\
00116 float64 max_position\n\
00117 \n\
00118 # true if joint has velocity limits\n\
00119 bool has_velocity_limits\n\
00120 \n\
00121 # max velocity limit\n\
00122 float64 max_velocity\n\
00123 # min_velocity is assumed to be -max_velocity\n\
00124 \n\
00125 # true if joint has acceleration limits\n\
00126 bool has_acceleration_limits\n\
00127 # max acceleration limit\n\
00128 float64 max_acceleration\n\
00129 # min_acceleration is assumed to be -max_acceleration\n\
00130 \n\
00131 ";
00132 }
00133
00134 static const char* value(const ::kinematics_msgs::KinematicSolverInfo_<ContainerAllocator> &) { return value(); }
00135 };
00136
00137 }
00138 }
00139
00140 namespace ros
00141 {
00142 namespace serialization
00143 {
00144
00145 template<class ContainerAllocator> struct Serializer< ::kinematics_msgs::KinematicSolverInfo_<ContainerAllocator> >
00146 {
00147 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00148 {
00149 stream.next(m.joint_names);
00150 stream.next(m.limits);
00151 stream.next(m.link_names);
00152 }
00153
00154 ROS_DECLARE_ALLINONE_SERIALIZER;
00155 };
00156 }
00157 }
00158
00159 namespace ros
00160 {
00161 namespace message_operations
00162 {
00163
00164 template<class ContainerAllocator>
00165 struct Printer< ::kinematics_msgs::KinematicSolverInfo_<ContainerAllocator> >
00166 {
00167 template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::kinematics_msgs::KinematicSolverInfo_<ContainerAllocator> & v)
00168 {
00169 s << indent << "joint_names[]" << std::endl;
00170 for (size_t i = 0; i < v.joint_names.size(); ++i)
00171 {
00172 s << indent << " joint_names[" << i << "]: ";
00173 Printer<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > >::stream(s, indent + " ", v.joint_names[i]);
00174 }
00175 s << indent << "limits[]" << std::endl;
00176 for (size_t i = 0; i < v.limits.size(); ++i)
00177 {
00178 s << indent << " limits[" << i << "]: ";
00179 s << std::endl;
00180 s << indent;
00181 Printer< ::arm_navigation_msgs::JointLimits_<ContainerAllocator> >::stream(s, indent + " ", v.limits[i]);
00182 }
00183 s << indent << "link_names[]" << std::endl;
00184 for (size_t i = 0; i < v.link_names.size(); ++i)
00185 {
00186 s << indent << " link_names[" << i << "]: ";
00187 Printer<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > >::stream(s, indent + " ", v.link_names[i]);
00188 }
00189 }
00190 };
00191
00192
00193 }
00194 }
00195
00196 #endif // KINEMATICS_MSGS_MESSAGE_KINEMATICSOLVERINFO_H
00197