robot_mechanism_controllers: JTCartesianControllerState.h Source File

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00001 /* Auto-generated by genmsg_cpp for file /home/rosbuild/hudson/workspace/doc-groovy-pr2_controllers/doc_stacks/2014-04-24_15-41-20.176555/pr2_controllers/robot_mechanism_controllers/msg/JTCartesianControllerState.msg */
00002 #ifndef ROBOT_MECHANISM_CONTROLLERS_MESSAGE_JTCARTESIANCONTROLLERSTATE_H
00003 #define ROBOT_MECHANISM_CONTROLLERS_MESSAGE_JTCARTESIANCONTROLLERSTATE_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 robot_mechanism_controllers
00029 {
00030 template <class ContainerAllocator>
00031 struct JTCartesianControllerState_ {
00032   typedef JTCartesianControllerState_<ContainerAllocator> Type;
00033 
00034   JTCartesianControllerState_()
00035   : header()
00036   , x()
00037   , x_desi()
00038   , x_desi_filtered()
00039   , x_err()
00040   , xd()
00041   , xd_desi()
00042   , F()
00043   , tau_pose()
00044   , tau_posture()
00045   , tau()
00046   , J()
00047   , N()
00048   {
00049   }
00050 
00051   JTCartesianControllerState_(const ContainerAllocator& _alloc)
00052   : header(_alloc)
00053   , x(_alloc)
00054   , x_desi(_alloc)
00055   , x_desi_filtered(_alloc)
00056   , x_err(_alloc)
00057   , xd(_alloc)
00058   , xd_desi(_alloc)
00059   , F(_alloc)
00060   , tau_pose(_alloc)
00061   , tau_posture(_alloc)
00062   , tau(_alloc)
00063   , J(_alloc)
00064   , N(_alloc)
00065   {
00066   }
00067 
00068   typedef  ::std_msgs::Header_<ContainerAllocator>  _header_type;
00069    ::std_msgs::Header_<ContainerAllocator>  header;
00070 
00071   typedef  ::geometry_msgs::PoseStamped_<ContainerAllocator>  _x_type;
00072    ::geometry_msgs::PoseStamped_<ContainerAllocator>  x;
00073 
00074   typedef  ::geometry_msgs::PoseStamped_<ContainerAllocator>  _x_desi_type;
00075    ::geometry_msgs::PoseStamped_<ContainerAllocator>  x_desi;
00076 
00077   typedef  ::geometry_msgs::PoseStamped_<ContainerAllocator>  _x_desi_filtered_type;
00078    ::geometry_msgs::PoseStamped_<ContainerAllocator>  x_desi_filtered;
00079 
00080   typedef  ::geometry_msgs::Twist_<ContainerAllocator>  _x_err_type;
00081    ::geometry_msgs::Twist_<ContainerAllocator>  x_err;
00082 
00083   typedef  ::geometry_msgs::Twist_<ContainerAllocator>  _xd_type;
00084    ::geometry_msgs::Twist_<ContainerAllocator>  xd;
00085 
00086   typedef  ::geometry_msgs::Twist_<ContainerAllocator>  _xd_desi_type;
00087    ::geometry_msgs::Twist_<ContainerAllocator>  xd_desi;
00088 
00089   typedef  ::geometry_msgs::Wrench_<ContainerAllocator>  _F_type;
00090    ::geometry_msgs::Wrench_<ContainerAllocator>  F;
00091 
00092   typedef std::vector<double, typename ContainerAllocator::template rebind<double>::other >  _tau_pose_type;
00093   std::vector<double, typename ContainerAllocator::template rebind<double>::other >  tau_pose;
00094 
00095   typedef std::vector<double, typename ContainerAllocator::template rebind<double>::other >  _tau_posture_type;
00096   std::vector<double, typename ContainerAllocator::template rebind<double>::other >  tau_posture;
00097 
00098   typedef std::vector<double, typename ContainerAllocator::template rebind<double>::other >  _tau_type;
00099   std::vector<double, typename ContainerAllocator::template rebind<double>::other >  tau;
00100 
00101   typedef  ::std_msgs::Float64MultiArray_<ContainerAllocator>  _J_type;
00102    ::std_msgs::Float64MultiArray_<ContainerAllocator>  J;
00103 
00104   typedef  ::std_msgs::Float64MultiArray_<ContainerAllocator>  _N_type;
00105    ::std_msgs::Float64MultiArray_<ContainerAllocator>  N;
00106 
00107 
00108   typedef boost::shared_ptr< ::robot_mechanism_controllers::JTCartesianControllerState_<ContainerAllocator> > Ptr;
00109   typedef boost::shared_ptr< ::robot_mechanism_controllers::JTCartesianControllerState_<ContainerAllocator>  const> ConstPtr;
00110   boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00111 }; // struct JTCartesianControllerState
00112 typedef  ::robot_mechanism_controllers::JTCartesianControllerState_<std::allocator<void> > JTCartesianControllerState;
00113 
00114 typedef boost::shared_ptr< ::robot_mechanism_controllers::JTCartesianControllerState> JTCartesianControllerStatePtr;
00115 typedef boost::shared_ptr< ::robot_mechanism_controllers::JTCartesianControllerState const> JTCartesianControllerStateConstPtr;
00116 
00117 
00118 template<typename ContainerAllocator>
00119 std::ostream& operator<<(std::ostream& s, const  ::robot_mechanism_controllers::JTCartesianControllerState_<ContainerAllocator> & v)
00120 {
00121   ros::message_operations::Printer< ::robot_mechanism_controllers::JTCartesianControllerState_<ContainerAllocator> >::stream(s, "", v);
00122   return s;}
00123 
00124 } // namespace robot_mechanism_controllers
00125 
00126 namespace ros
00127 {
00128 namespace message_traits
00129 {
00130 template<class ContainerAllocator> struct IsMessage< ::robot_mechanism_controllers::JTCartesianControllerState_<ContainerAllocator> > : public TrueType {};
00131 template<class ContainerAllocator> struct IsMessage< ::robot_mechanism_controllers::JTCartesianControllerState_<ContainerAllocator>  const> : public TrueType {};
00132 template<class ContainerAllocator>
00133 struct MD5Sum< ::robot_mechanism_controllers::JTCartesianControllerState_<ContainerAllocator> > {
00134   static const char* value() 
00135   {
00136     return "6ecdaa599ea0d27643819ae4cd4c43d0";
00137   }
00138 
00139   static const char* value(const  ::robot_mechanism_controllers::JTCartesianControllerState_<ContainerAllocator> &) { return value(); } 
00140   static const uint64_t static_value1 = 0x6ecdaa599ea0d276ULL;
00141   static const uint64_t static_value2 = 0x43819ae4cd4c43d0ULL;
00142 };
00143 
00144 template<class ContainerAllocator>
00145 struct DataType< ::robot_mechanism_controllers::JTCartesianControllerState_<ContainerAllocator> > {
00146   static const char* value() 
00147   {
00148     return "robot_mechanism_controllers/JTCartesianControllerState";
00149   }
00150 
00151   static const char* value(const  ::robot_mechanism_controllers::JTCartesianControllerState_<ContainerAllocator> &) { return value(); } 
00152 };
00153 
00154 template<class ContainerAllocator>
00155 struct Definition< ::robot_mechanism_controllers::JTCartesianControllerState_<ContainerAllocator> > {
00156   static const char* value() 
00157   {
00158     return "Header header\n\
00159 geometry_msgs/PoseStamped x\n\
00160 geometry_msgs/PoseStamped x_desi\n\
00161 geometry_msgs/PoseStamped x_desi_filtered\n\
00162 geometry_msgs/Twist x_err\n\
00163 geometry_msgs/Twist xd\n\
00164 geometry_msgs/Twist xd_desi\n\
00165 geometry_msgs/Wrench F\n\
00166 float64[] tau_pose\n\
00167 float64[] tau_posture\n\
00168 float64[] tau\n\
00169 std_msgs/Float64MultiArray J\n\
00170 std_msgs/Float64MultiArray N\n\
00171 \n\
00172 ================================================================================\n\
00173 MSG: std_msgs/Header\n\
00174 # Standard metadata for higher-level stamped data types.\n\
00175 # This is generally used to communicate timestamped data \n\
00176 # in a particular coordinate frame.\n\
00177 # \n\
00178 # sequence ID: consecutively increasing ID \n\
00179 uint32 seq\n\
00180 #Two-integer timestamp that is expressed as:\n\
00181 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00182 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00183 # time-handling sugar is provided by the client library\n\
00184 time stamp\n\
00185 #Frame this data is associated with\n\
00186 # 0: no frame\n\
00187 # 1: global frame\n\
00188 string frame_id\n\
00189 \n\
00190 ================================================================================\n\
00191 MSG: geometry_msgs/PoseStamped\n\
00192 # A Pose with reference coordinate frame and timestamp\n\
00193 Header header\n\
00194 Pose pose\n\
00195 \n\
00196 ================================================================================\n\
00197 MSG: geometry_msgs/Pose\n\
00198 # A representation of pose in free space, composed of postion and orientation. \n\
00199 Point position\n\
00200 Quaternion orientation\n\
00201 \n\
00202 ================================================================================\n\
00203 MSG: geometry_msgs/Point\n\
00204 # This contains the position of a point in free space\n\
00205 float64 x\n\
00206 float64 y\n\
00207 float64 z\n\
00208 \n\
00209 ================================================================================\n\
00210 MSG: geometry_msgs/Quaternion\n\
00211 # This represents an orientation in free space in quaternion form.\n\
00212 \n\
00213 float64 x\n\
00214 float64 y\n\
00215 float64 z\n\
00216 float64 w\n\
00217 \n\
00218 ================================================================================\n\
00219 MSG: geometry_msgs/Twist\n\
00220 # This expresses velocity in free space broken into its linear and angular parts.\n\
00221 Vector3  linear\n\
00222 Vector3  angular\n\
00223 \n\
00224 ================================================================================\n\
00225 MSG: geometry_msgs/Vector3\n\
00226 # This represents a vector in free space. \n\
00227 \n\
00228 float64 x\n\
00229 float64 y\n\
00230 float64 z\n\
00231 ================================================================================\n\
00232 MSG: geometry_msgs/Wrench\n\
00233 # This represents force in free space, separated into\n\
00234 # its linear and angular parts.\n\
00235 Vector3  force\n\
00236 Vector3  torque\n\
00237 \n\
00238 ================================================================================\n\
00239 MSG: std_msgs/Float64MultiArray\n\
00240 # Please look at the MultiArrayLayout message definition for\n\
00241 # documentation on all multiarrays.\n\
00242 \n\
00243 MultiArrayLayout  layout        # specification of data layout\n\
00244 float64[]         data          # array of data\n\
00245 \n\
00246 \n\
00247 ================================================================================\n\
00248 MSG: std_msgs/MultiArrayLayout\n\
00249 # The multiarray declares a generic multi-dimensional array of a\n\
00250 # particular data type.  Dimensions are ordered from outer most\n\
00251 # to inner most.\n\
00252 \n\
00253 MultiArrayDimension[] dim # Array of dimension properties\n\
00254 uint32 data_offset        # padding bytes at front of data\n\
00255 \n\
00256 # Accessors should ALWAYS be written in terms of dimension stride\n\
00257 # and specified outer-most dimension first.\n\
00258 # \n\
00259 # multiarray(i,j,k) = data[data_offset + dim_stride[1]*i + dim_stride[2]*j + k]\n\
00260 #\n\
00261 # A standard, 3-channel 640x480 image with interleaved color channels\n\
00262 # would be specified as:\n\
00263 #\n\
00264 # dim[0].label  = \"height\"\n\
00265 # dim[0].size   = 480\n\
00266 # dim[0].stride = 3*640*480 = 921600  (note dim[0] stride is just size of image)\n\
00267 # dim[1].label  = \"width\"\n\
00268 # dim[1].size   = 640\n\
00269 # dim[1].stride = 3*640 = 1920\n\
00270 # dim[2].label  = \"channel\"\n\
00271 # dim[2].size   = 3\n\
00272 # dim[2].stride = 3\n\
00273 #\n\
00274 # multiarray(i,j,k) refers to the ith row, jth column, and kth channel.\n\
00275 ================================================================================\n\
00276 MSG: std_msgs/MultiArrayDimension\n\
00277 string label   # label of given dimension\n\
00278 uint32 size    # size of given dimension (in type units)\n\
00279 uint32 stride  # stride of given dimension\n\
00280 ";
00281   }
00282 
00283   static const char* value(const  ::robot_mechanism_controllers::JTCartesianControllerState_<ContainerAllocator> &) { return value(); } 
00284 };
00285 
00286 template<class ContainerAllocator> struct HasHeader< ::robot_mechanism_controllers::JTCartesianControllerState_<ContainerAllocator> > : public TrueType {};
00287 template<class ContainerAllocator> struct HasHeader< const ::robot_mechanism_controllers::JTCartesianControllerState_<ContainerAllocator> > : public TrueType {};
00288 } // namespace message_traits
00289 } // namespace ros
00290 
00291 namespace ros
00292 {
00293 namespace serialization
00294 {
00295 
00296 template<class ContainerAllocator> struct Serializer< ::robot_mechanism_controllers::JTCartesianControllerState_<ContainerAllocator> >
00297 {
00298   template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00299   {
00300     stream.next(m.header);
00301     stream.next(m.x);
00302     stream.next(m.x_desi);
00303     stream.next(m.x_desi_filtered);
00304     stream.next(m.x_err);
00305     stream.next(m.xd);
00306     stream.next(m.xd_desi);
00307     stream.next(m.F);
00308     stream.next(m.tau_pose);
00309     stream.next(m.tau_posture);
00310     stream.next(m.tau);
00311     stream.next(m.J);
00312     stream.next(m.N);
00313   }
00314 
00315   ROS_DECLARE_ALLINONE_SERIALIZER;
00316 }; // struct JTCartesianControllerState_
00317 } // namespace serialization
00318 } // namespace ros
00319 
00320 namespace ros
00321 {
00322 namespace message_operations
00323 {
00324 
00325 template<class ContainerAllocator>
00326 struct Printer< ::robot_mechanism_controllers::JTCartesianControllerState_<ContainerAllocator> >
00327 {
00328   template<typename Stream> static void stream(Stream& s, const std::string& indent, const  ::robot_mechanism_controllers::JTCartesianControllerState_<ContainerAllocator> & v) 
00329   {
00330     s << indent << "header: ";
00331 s << std::endl;
00332     Printer< ::std_msgs::Header_<ContainerAllocator> >::stream(s, indent + "  ", v.header);
00333     s << indent << "x: ";
00334 s << std::endl;
00335     Printer< ::geometry_msgs::PoseStamped_<ContainerAllocator> >::stream(s, indent + "  ", v.x);
00336     s << indent << "x_desi: ";
00337 s << std::endl;
00338     Printer< ::geometry_msgs::PoseStamped_<ContainerAllocator> >::stream(s, indent + "  ", v.x_desi);
00339     s << indent << "x_desi_filtered: ";
00340 s << std::endl;
00341     Printer< ::geometry_msgs::PoseStamped_<ContainerAllocator> >::stream(s, indent + "  ", v.x_desi_filtered);
00342     s << indent << "x_err: ";
00343 s << std::endl;
00344     Printer< ::geometry_msgs::Twist_<ContainerAllocator> >::stream(s, indent + "  ", v.x_err);
00345     s << indent << "xd: ";
00346 s << std::endl;
00347     Printer< ::geometry_msgs::Twist_<ContainerAllocator> >::stream(s, indent + "  ", v.xd);
00348     s << indent << "xd_desi: ";
00349 s << std::endl;
00350     Printer< ::geometry_msgs::Twist_<ContainerAllocator> >::stream(s, indent + "  ", v.xd_desi);
00351     s << indent << "F: ";
00352 s << std::endl;
00353     Printer< ::geometry_msgs::Wrench_<ContainerAllocator> >::stream(s, indent + "  ", v.F);
00354     s << indent << "tau_pose[]" << std::endl;
00355     for (size_t i = 0; i < v.tau_pose.size(); ++i)
00356     {
00357       s << indent << "  tau_pose[" << i << "]: ";
00358       Printer<double>::stream(s, indent + "  ", v.tau_pose[i]);
00359     }
00360     s << indent << "tau_posture[]" << std::endl;
00361     for (size_t i = 0; i < v.tau_posture.size(); ++i)
00362     {
00363       s << indent << "  tau_posture[" << i << "]: ";
00364       Printer<double>::stream(s, indent + "  ", v.tau_posture[i]);
00365     }
00366     s << indent << "tau[]" << std::endl;
00367     for (size_t i = 0; i < v.tau.size(); ++i)
00368     {
00369       s << indent << "  tau[" << i << "]: ";
00370       Printer<double>::stream(s, indent + "  ", v.tau[i]);
00371     }
00372     s << indent << "J: ";
00373 s << std::endl;
00374     Printer< ::std_msgs::Float64MultiArray_<ContainerAllocator> >::stream(s, indent + "  ", v.J);
00375     s << indent << "N: ";
00376 s << std::endl;
00377     Printer< ::std_msgs::Float64MultiArray_<ContainerAllocator> >::stream(s, indent + "  ", v.N);
00378   }
00379 };
00380 
00381 
00382 } // namespace message_operations
00383 } // namespace ros
00384 
00385 #endif // ROBOT_MECHANISM_CONTROLLERS_MESSAGE_JTCARTESIANCONTROLLERSTATE_H
00386