JinvTeleopControllerState.h
Go to the documentation of this file.
00001 /* Auto-generated by genmsg_cpp for file /home/rosbuild/hudson/workspace/doc-groovy-pr2_object_manipulation/doc_stacks/2014-10-06_11-30-38.833395/pr2_object_manipulation/manipulation/pr2_manipulation_controllers/msg/JinvTeleopControllerState.msg */
00002 #ifndef PR2_MANIPULATION_CONTROLLERS_MESSAGE_JINVTELEOPCONTROLLERSTATE_H
00003 #define PR2_MANIPULATION_CONTROLLERS_MESSAGE_JINVTELEOPCONTROLLERSTATE_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 "geometry_msgs/PoseStamped.h"
00019 #include "geometry_msgs/PoseStamped.h"
00020 #include "geometry_msgs/PoseStamped.h"
00021 #include "geometry_msgs/Twist.h"
00022 #include "geometry_msgs/Twist.h"
00023 #include "geometry_msgs/Twist.h"
00024 #include "geometry_msgs/Wrench.h"
00025 #include "std_msgs/Float64MultiArray.h"
00026 #include "std_msgs/Float64MultiArray.h"
00027 
00028 namespace pr2_manipulation_controllers
00029 {
00030 template <class ContainerAllocator>
00031 struct JinvTeleopControllerState_ {
00032   typedef JinvTeleopControllerState_<ContainerAllocator> Type;
00033 
00034   JinvTeleopControllerState_()
00035   : header()
00036   , x()
00037   , x_desi()
00038   , x_desi_filtered()
00039   , x_err()
00040   , xd()
00041   , xd_desi()
00042   , F()
00043   , q_proxy()
00044   , qd_pose()
00045   , qd_posture()
00046   , qd_posture_raw()
00047   , qd_desi()
00048   , tau()
00049   , J()
00050   , N()
00051   , df(0.0)
00052   , dx(0.0)
00053   , Df(0.0)
00054   , Dx(0.0)
00055   , stiffness(0.0)
00056   , compliance(0.0)
00057   {
00058   }
00059 
00060   JinvTeleopControllerState_(const ContainerAllocator& _alloc)
00061   : header(_alloc)
00062   , x(_alloc)
00063   , x_desi(_alloc)
00064   , x_desi_filtered(_alloc)
00065   , x_err(_alloc)
00066   , xd(_alloc)
00067   , xd_desi(_alloc)
00068   , F(_alloc)
00069   , q_proxy(_alloc)
00070   , qd_pose(_alloc)
00071   , qd_posture(_alloc)
00072   , qd_posture_raw(_alloc)
00073   , qd_desi(_alloc)
00074   , tau(_alloc)
00075   , J(_alloc)
00076   , N(_alloc)
00077   , df(0.0)
00078   , dx(0.0)
00079   , Df(0.0)
00080   , Dx(0.0)
00081   , stiffness(0.0)
00082   , compliance(0.0)
00083   {
00084   }
00085 
00086   typedef  ::std_msgs::Header_<ContainerAllocator>  _header_type;
00087    ::std_msgs::Header_<ContainerAllocator>  header;
00088 
00089   typedef  ::geometry_msgs::PoseStamped_<ContainerAllocator>  _x_type;
00090    ::geometry_msgs::PoseStamped_<ContainerAllocator>  x;
00091 
00092   typedef  ::geometry_msgs::PoseStamped_<ContainerAllocator>  _x_desi_type;
00093    ::geometry_msgs::PoseStamped_<ContainerAllocator>  x_desi;
00094 
00095   typedef  ::geometry_msgs::PoseStamped_<ContainerAllocator>  _x_desi_filtered_type;
00096    ::geometry_msgs::PoseStamped_<ContainerAllocator>  x_desi_filtered;
00097 
00098   typedef  ::geometry_msgs::Twist_<ContainerAllocator>  _x_err_type;
00099    ::geometry_msgs::Twist_<ContainerAllocator>  x_err;
00100 
00101   typedef  ::geometry_msgs::Twist_<ContainerAllocator>  _xd_type;
00102    ::geometry_msgs::Twist_<ContainerAllocator>  xd;
00103 
00104   typedef  ::geometry_msgs::Twist_<ContainerAllocator>  _xd_desi_type;
00105    ::geometry_msgs::Twist_<ContainerAllocator>  xd_desi;
00106 
00107   typedef  ::geometry_msgs::Wrench_<ContainerAllocator>  _F_type;
00108    ::geometry_msgs::Wrench_<ContainerAllocator>  F;
00109 
00110   typedef std::vector<double, typename ContainerAllocator::template rebind<double>::other >  _q_proxy_type;
00111   std::vector<double, typename ContainerAllocator::template rebind<double>::other >  q_proxy;
00112 
00113   typedef std::vector<double, typename ContainerAllocator::template rebind<double>::other >  _qd_pose_type;
00114   std::vector<double, typename ContainerAllocator::template rebind<double>::other >  qd_pose;
00115 
00116   typedef std::vector<double, typename ContainerAllocator::template rebind<double>::other >  _qd_posture_type;
00117   std::vector<double, typename ContainerAllocator::template rebind<double>::other >  qd_posture;
00118 
00119   typedef std::vector<double, typename ContainerAllocator::template rebind<double>::other >  _qd_posture_raw_type;
00120   std::vector<double, typename ContainerAllocator::template rebind<double>::other >  qd_posture_raw;
00121 
00122   typedef std::vector<double, typename ContainerAllocator::template rebind<double>::other >  _qd_desi_type;
00123   std::vector<double, typename ContainerAllocator::template rebind<double>::other >  qd_desi;
00124 
00125   typedef std::vector<double, typename ContainerAllocator::template rebind<double>::other >  _tau_type;
00126   std::vector<double, typename ContainerAllocator::template rebind<double>::other >  tau;
00127 
00128   typedef  ::std_msgs::Float64MultiArray_<ContainerAllocator>  _J_type;
00129    ::std_msgs::Float64MultiArray_<ContainerAllocator>  J;
00130 
00131   typedef  ::std_msgs::Float64MultiArray_<ContainerAllocator>  _N_type;
00132    ::std_msgs::Float64MultiArray_<ContainerAllocator>  N;
00133 
00134   typedef double _df_type;
00135   double df;
00136 
00137   typedef double _dx_type;
00138   double dx;
00139 
00140   typedef double _Df_type;
00141   double Df;
00142 
00143   typedef double _Dx_type;
00144   double Dx;
00145 
00146   typedef double _stiffness_type;
00147   double stiffness;
00148 
00149   typedef double _compliance_type;
00150   double compliance;
00151 
00152 
00153   typedef boost::shared_ptr< ::pr2_manipulation_controllers::JinvTeleopControllerState_<ContainerAllocator> > Ptr;
00154   typedef boost::shared_ptr< ::pr2_manipulation_controllers::JinvTeleopControllerState_<ContainerAllocator>  const> ConstPtr;
00155   boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00156 }; // struct JinvTeleopControllerState
00157 typedef  ::pr2_manipulation_controllers::JinvTeleopControllerState_<std::allocator<void> > JinvTeleopControllerState;
00158 
00159 typedef boost::shared_ptr< ::pr2_manipulation_controllers::JinvTeleopControllerState> JinvTeleopControllerStatePtr;
00160 typedef boost::shared_ptr< ::pr2_manipulation_controllers::JinvTeleopControllerState const> JinvTeleopControllerStateConstPtr;
00161 
00162 
00163 template<typename ContainerAllocator>
00164 std::ostream& operator<<(std::ostream& s, const  ::pr2_manipulation_controllers::JinvTeleopControllerState_<ContainerAllocator> & v)
00165 {
00166   ros::message_operations::Printer< ::pr2_manipulation_controllers::JinvTeleopControllerState_<ContainerAllocator> >::stream(s, "", v);
00167   return s;}
00168 
00169 } // namespace pr2_manipulation_controllers
00170 
00171 namespace ros
00172 {
00173 namespace message_traits
00174 {
00175 template<class ContainerAllocator> struct IsMessage< ::pr2_manipulation_controllers::JinvTeleopControllerState_<ContainerAllocator> > : public TrueType {};
00176 template<class ContainerAllocator> struct IsMessage< ::pr2_manipulation_controllers::JinvTeleopControllerState_<ContainerAllocator>  const> : public TrueType {};
00177 template<class ContainerAllocator>
00178 struct MD5Sum< ::pr2_manipulation_controllers::JinvTeleopControllerState_<ContainerAllocator> > {
00179   static const char* value() 
00180   {
00181     return "1456444fe71f72390283aef7aca2934d";
00182   }
00183 
00184   static const char* value(const  ::pr2_manipulation_controllers::JinvTeleopControllerState_<ContainerAllocator> &) { return value(); } 
00185   static const uint64_t static_value1 = 0x1456444fe71f7239ULL;
00186   static const uint64_t static_value2 = 0x0283aef7aca2934dULL;
00187 };
00188 
00189 template<class ContainerAllocator>
00190 struct DataType< ::pr2_manipulation_controllers::JinvTeleopControllerState_<ContainerAllocator> > {
00191   static const char* value() 
00192   {
00193     return "pr2_manipulation_controllers/JinvTeleopControllerState";
00194   }
00195 
00196   static const char* value(const  ::pr2_manipulation_controllers::JinvTeleopControllerState_<ContainerAllocator> &) { return value(); } 
00197 };
00198 
00199 template<class ContainerAllocator>
00200 struct Definition< ::pr2_manipulation_controllers::JinvTeleopControllerState_<ContainerAllocator> > {
00201   static const char* value() 
00202   {
00203     return "Header header\n\
00204 geometry_msgs/PoseStamped x\n\
00205 geometry_msgs/PoseStamped x_desi\n\
00206 geometry_msgs/PoseStamped x_desi_filtered\n\
00207 geometry_msgs/Twist x_err\n\
00208 geometry_msgs/Twist xd\n\
00209 geometry_msgs/Twist xd_desi\n\
00210 geometry_msgs/Wrench F\n\
00211 float64[] q_proxy\n\
00212 float64[] qd_pose\n\
00213 float64[] qd_posture\n\
00214 float64[] qd_posture_raw\n\
00215 float64[] qd_desi\n\
00216 float64[] tau\n\
00217 std_msgs/Float64MultiArray J\n\
00218 std_msgs/Float64MultiArray N\n\
00219 \n\
00220 # Environmental stiffness\n\
00221 float64 df\n\
00222 float64 dx\n\
00223 float64 Df\n\
00224 float64 Dx\n\
00225 float64 stiffness\n\
00226 float64 compliance\n\
00227 \n\
00228 ================================================================================\n\
00229 MSG: std_msgs/Header\n\
00230 # Standard metadata for higher-level stamped data types.\n\
00231 # This is generally used to communicate timestamped data \n\
00232 # in a particular coordinate frame.\n\
00233 # \n\
00234 # sequence ID: consecutively increasing ID \n\
00235 uint32 seq\n\
00236 #Two-integer timestamp that is expressed as:\n\
00237 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00238 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00239 # time-handling sugar is provided by the client library\n\
00240 time stamp\n\
00241 #Frame this data is associated with\n\
00242 # 0: no frame\n\
00243 # 1: global frame\n\
00244 string frame_id\n\
00245 \n\
00246 ================================================================================\n\
00247 MSG: geometry_msgs/PoseStamped\n\
00248 # A Pose with reference coordinate frame and timestamp\n\
00249 Header header\n\
00250 Pose pose\n\
00251 \n\
00252 ================================================================================\n\
00253 MSG: geometry_msgs/Pose\n\
00254 # A representation of pose in free space, composed of postion and orientation. \n\
00255 Point position\n\
00256 Quaternion orientation\n\
00257 \n\
00258 ================================================================================\n\
00259 MSG: geometry_msgs/Point\n\
00260 # This contains the position of a point in free space\n\
00261 float64 x\n\
00262 float64 y\n\
00263 float64 z\n\
00264 \n\
00265 ================================================================================\n\
00266 MSG: geometry_msgs/Quaternion\n\
00267 # This represents an orientation in free space in quaternion form.\n\
00268 \n\
00269 float64 x\n\
00270 float64 y\n\
00271 float64 z\n\
00272 float64 w\n\
00273 \n\
00274 ================================================================================\n\
00275 MSG: geometry_msgs/Twist\n\
00276 # This expresses velocity in free space broken into its linear and angular parts.\n\
00277 Vector3  linear\n\
00278 Vector3  angular\n\
00279 \n\
00280 ================================================================================\n\
00281 MSG: geometry_msgs/Vector3\n\
00282 # This represents a vector in free space. \n\
00283 \n\
00284 float64 x\n\
00285 float64 y\n\
00286 float64 z\n\
00287 ================================================================================\n\
00288 MSG: geometry_msgs/Wrench\n\
00289 # This represents force in free space, separated into\n\
00290 # its linear and angular parts.\n\
00291 Vector3  force\n\
00292 Vector3  torque\n\
00293 \n\
00294 ================================================================================\n\
00295 MSG: std_msgs/Float64MultiArray\n\
00296 # Please look at the MultiArrayLayout message definition for\n\
00297 # documentation on all multiarrays.\n\
00298 \n\
00299 MultiArrayLayout  layout        # specification of data layout\n\
00300 float64[]         data          # array of data\n\
00301 \n\
00302 \n\
00303 ================================================================================\n\
00304 MSG: std_msgs/MultiArrayLayout\n\
00305 # The multiarray declares a generic multi-dimensional array of a\n\
00306 # particular data type.  Dimensions are ordered from outer most\n\
00307 # to inner most.\n\
00308 \n\
00309 MultiArrayDimension[] dim # Array of dimension properties\n\
00310 uint32 data_offset        # padding bytes at front of data\n\
00311 \n\
00312 # Accessors should ALWAYS be written in terms of dimension stride\n\
00313 # and specified outer-most dimension first.\n\
00314 # \n\
00315 # multiarray(i,j,k) = data[data_offset + dim_stride[1]*i + dim_stride[2]*j + k]\n\
00316 #\n\
00317 # A standard, 3-channel 640x480 image with interleaved color channels\n\
00318 # would be specified as:\n\
00319 #\n\
00320 # dim[0].label  = \"height\"\n\
00321 # dim[0].size   = 480\n\
00322 # dim[0].stride = 3*640*480 = 921600  (note dim[0] stride is just size of image)\n\
00323 # dim[1].label  = \"width\"\n\
00324 # dim[1].size   = 640\n\
00325 # dim[1].stride = 3*640 = 1920\n\
00326 # dim[2].label  = \"channel\"\n\
00327 # dim[2].size   = 3\n\
00328 # dim[2].stride = 3\n\
00329 #\n\
00330 # multiarray(i,j,k) refers to the ith row, jth column, and kth channel.\n\
00331 ================================================================================\n\
00332 MSG: std_msgs/MultiArrayDimension\n\
00333 string label   # label of given dimension\n\
00334 uint32 size    # size of given dimension (in type units)\n\
00335 uint32 stride  # stride of given dimension\n\
00336 ";
00337   }
00338 
00339   static const char* value(const  ::pr2_manipulation_controllers::JinvTeleopControllerState_<ContainerAllocator> &) { return value(); } 
00340 };
00341 
00342 template<class ContainerAllocator> struct HasHeader< ::pr2_manipulation_controllers::JinvTeleopControllerState_<ContainerAllocator> > : public TrueType {};
00343 template<class ContainerAllocator> struct HasHeader< const ::pr2_manipulation_controllers::JinvTeleopControllerState_<ContainerAllocator> > : public TrueType {};
00344 } // namespace message_traits
00345 } // namespace ros
00346 
00347 namespace ros
00348 {
00349 namespace serialization
00350 {
00351 
00352 template<class ContainerAllocator> struct Serializer< ::pr2_manipulation_controllers::JinvTeleopControllerState_<ContainerAllocator> >
00353 {
00354   template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00355   {
00356     stream.next(m.header);
00357     stream.next(m.x);
00358     stream.next(m.x_desi);
00359     stream.next(m.x_desi_filtered);
00360     stream.next(m.x_err);
00361     stream.next(m.xd);
00362     stream.next(m.xd_desi);
00363     stream.next(m.F);
00364     stream.next(m.q_proxy);
00365     stream.next(m.qd_pose);
00366     stream.next(m.qd_posture);
00367     stream.next(m.qd_posture_raw);
00368     stream.next(m.qd_desi);
00369     stream.next(m.tau);
00370     stream.next(m.J);
00371     stream.next(m.N);
00372     stream.next(m.df);
00373     stream.next(m.dx);
00374     stream.next(m.Df);
00375     stream.next(m.Dx);
00376     stream.next(m.stiffness);
00377     stream.next(m.compliance);
00378   }
00379 
00380   ROS_DECLARE_ALLINONE_SERIALIZER;
00381 }; // struct JinvTeleopControllerState_
00382 } // namespace serialization
00383 } // namespace ros
00384 
00385 namespace ros
00386 {
00387 namespace message_operations
00388 {
00389 
00390 template<class ContainerAllocator>
00391 struct Printer< ::pr2_manipulation_controllers::JinvTeleopControllerState_<ContainerAllocator> >
00392 {
00393   template<typename Stream> static void stream(Stream& s, const std::string& indent, const  ::pr2_manipulation_controllers::JinvTeleopControllerState_<ContainerAllocator> & v) 
00394   {
00395     s << indent << "header: ";
00396 s << std::endl;
00397     Printer< ::std_msgs::Header_<ContainerAllocator> >::stream(s, indent + "  ", v.header);
00398     s << indent << "x: ";
00399 s << std::endl;
00400     Printer< ::geometry_msgs::PoseStamped_<ContainerAllocator> >::stream(s, indent + "  ", v.x);
00401     s << indent << "x_desi: ";
00402 s << std::endl;
00403     Printer< ::geometry_msgs::PoseStamped_<ContainerAllocator> >::stream(s, indent + "  ", v.x_desi);
00404     s << indent << "x_desi_filtered: ";
00405 s << std::endl;
00406     Printer< ::geometry_msgs::PoseStamped_<ContainerAllocator> >::stream(s, indent + "  ", v.x_desi_filtered);
00407     s << indent << "x_err: ";
00408 s << std::endl;
00409     Printer< ::geometry_msgs::Twist_<ContainerAllocator> >::stream(s, indent + "  ", v.x_err);
00410     s << indent << "xd: ";
00411 s << std::endl;
00412     Printer< ::geometry_msgs::Twist_<ContainerAllocator> >::stream(s, indent + "  ", v.xd);
00413     s << indent << "xd_desi: ";
00414 s << std::endl;
00415     Printer< ::geometry_msgs::Twist_<ContainerAllocator> >::stream(s, indent + "  ", v.xd_desi);
00416     s << indent << "F: ";
00417 s << std::endl;
00418     Printer< ::geometry_msgs::Wrench_<ContainerAllocator> >::stream(s, indent + "  ", v.F);
00419     s << indent << "q_proxy[]" << std::endl;
00420     for (size_t i = 0; i < v.q_proxy.size(); ++i)
00421     {
00422       s << indent << "  q_proxy[" << i << "]: ";
00423       Printer<double>::stream(s, indent + "  ", v.q_proxy[i]);
00424     }
00425     s << indent << "qd_pose[]" << std::endl;
00426     for (size_t i = 0; i < v.qd_pose.size(); ++i)
00427     {
00428       s << indent << "  qd_pose[" << i << "]: ";
00429       Printer<double>::stream(s, indent + "  ", v.qd_pose[i]);
00430     }
00431     s << indent << "qd_posture[]" << std::endl;
00432     for (size_t i = 0; i < v.qd_posture.size(); ++i)
00433     {
00434       s << indent << "  qd_posture[" << i << "]: ";
00435       Printer<double>::stream(s, indent + "  ", v.qd_posture[i]);
00436     }
00437     s << indent << "qd_posture_raw[]" << std::endl;
00438     for (size_t i = 0; i < v.qd_posture_raw.size(); ++i)
00439     {
00440       s << indent << "  qd_posture_raw[" << i << "]: ";
00441       Printer<double>::stream(s, indent + "  ", v.qd_posture_raw[i]);
00442     }
00443     s << indent << "qd_desi[]" << std::endl;
00444     for (size_t i = 0; i < v.qd_desi.size(); ++i)
00445     {
00446       s << indent << "  qd_desi[" << i << "]: ";
00447       Printer<double>::stream(s, indent + "  ", v.qd_desi[i]);
00448     }
00449     s << indent << "tau[]" << std::endl;
00450     for (size_t i = 0; i < v.tau.size(); ++i)
00451     {
00452       s << indent << "  tau[" << i << "]: ";
00453       Printer<double>::stream(s, indent + "  ", v.tau[i]);
00454     }
00455     s << indent << "J: ";
00456 s << std::endl;
00457     Printer< ::std_msgs::Float64MultiArray_<ContainerAllocator> >::stream(s, indent + "  ", v.J);
00458     s << indent << "N: ";
00459 s << std::endl;
00460     Printer< ::std_msgs::Float64MultiArray_<ContainerAllocator> >::stream(s, indent + "  ", v.N);
00461     s << indent << "df: ";
00462     Printer<double>::stream(s, indent + "  ", v.df);
00463     s << indent << "dx: ";
00464     Printer<double>::stream(s, indent + "  ", v.dx);
00465     s << indent << "Df: ";
00466     Printer<double>::stream(s, indent + "  ", v.Df);
00467     s << indent << "Dx: ";
00468     Printer<double>::stream(s, indent + "  ", v.Dx);
00469     s << indent << "stiffness: ";
00470     Printer<double>::stream(s, indent + "  ", v.stiffness);
00471     s << indent << "compliance: ";
00472     Printer<double>::stream(s, indent + "  ", v.compliance);
00473   }
00474 };
00475 
00476 
00477 } // namespace message_operations
00478 } // namespace ros
00479 
00480 #endif // PR2_MANIPULATION_CONTROLLERS_MESSAGE_JINVTELEOPCONTROLLERSTATE_H
00481 


pr2_manipulation_controllers
Author(s): Kaijen Hsiao, Stu Glaser, Adam Leeper
autogenerated on Mon Oct 6 2014 12:10:46