GetChompCollisionCost.h

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/* Auto-generated by genmsg_cpp for file /tmp/buildd/ros-diamondback-motion-planners-0.3.10/debian/ros-diamondback-motion-planners/opt/ros/diamondback/stacks/motion_planners/chomp_motion_planner/srv/GetChompCollisionCost.srv */
#ifndef CHOMP_MOTION_PLANNER_SERVICE_GETCHOMPCOLLISIONCOST_H
#define CHOMP_MOTION_PLANNER_SERVICE_GETCHOMPCOLLISIONCOST_H
#include <string>
#include <vector>
#include <ostream>
#include "ros/serialization.h"
#include "ros/builtin_message_traits.h"
#include "ros/message_operations.h"
#include "ros/message.h"
#include "ros/time.h"

#include "ros/service_traits.h"

#include "motion_planning_msgs/RobotState.h"


#include "chomp_motion_planner/JointVelocityArray.h"

namespace chomp_motion_planner
{
template <class ContainerAllocator>
struct GetChompCollisionCostRequest_ : public ros::Message
{
  typedef GetChompCollisionCostRequest_<ContainerAllocator> Type;

  GetChompCollisionCostRequest_()
  : links()
  , state()
  {
  }

  GetChompCollisionCostRequest_(const ContainerAllocator& _alloc)
  : links(_alloc)
  , state(_alloc)
  {
  }

  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 >  _links_type;
  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 >  links;

  typedef  ::motion_planning_msgs::RobotState_<ContainerAllocator>  _state_type;
   ::motion_planning_msgs::RobotState_<ContainerAllocator>  state;


  ROS_DEPRECATED uint32_t get_links_size() const { return (uint32_t)links.size(); }
  ROS_DEPRECATED void set_links_size(uint32_t size) { links.resize((size_t)size); }
  ROS_DEPRECATED void get_links_vec(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 > & vec) const { vec = this->links; }
  ROS_DEPRECATED void set_links_vec(const 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 > & vec) { this->links = vec; }
private:
  static const char* __s_getDataType_() { return "chomp_motion_planner/GetChompCollisionCostRequest"; }
public:
  ROS_DEPRECATED static const std::string __s_getDataType() { return __s_getDataType_(); }

  ROS_DEPRECATED const std::string __getDataType() const { return __s_getDataType_(); }

private:
  static const char* __s_getMD5Sum_() { return "acabb6bac55143035edcf10159a5b130"; }
public:
  ROS_DEPRECATED static const std::string __s_getMD5Sum() { return __s_getMD5Sum_(); }

  ROS_DEPRECATED const std::string __getMD5Sum() const { return __s_getMD5Sum_(); }

private:
  static const char* __s_getServerMD5Sum_() { return "484cb732bcae020fb22ff8ac89a6ff9f"; }
public:
  ROS_DEPRECATED static const std::string __s_getServerMD5Sum() { return __s_getServerMD5Sum_(); }

  ROS_DEPRECATED const std::string __getServerMD5Sum() const { return __s_getServerMD5Sum_(); }

private:
  static const char* __s_getMessageDefinition_() { return "\n\
string[] links\n\
\n\
\n\
\n\
motion_planning_msgs/RobotState state\n\
\n\
\n\
================================================================================\n\
MSG: motion_planning_msgs/RobotState\n\
# This message contains information about the robot state, i.e. the positions of its joints and links\n\
sensor_msgs/JointState joint_state\n\
motion_planning_msgs/MultiDOFJointState multi_dof_joint_state\n\
================================================================================\n\
MSG: sensor_msgs/JointState\n\
# This is a message that holds data to describe the state of a set of torque controlled joints. \n\
#\n\
# The state of each joint (revolute or prismatic) is defined by:\n\
#  * the position of the joint (rad or m),\n\
#  * the velocity of the joint (rad/s or m/s) and \n\
#  * the effort that is applied in the joint (Nm or N).\n\
#\n\
# Each joint is uniquely identified by its name\n\
# The header specifies the time at which the joint states were recorded. All the joint states\n\
# in one message have to be recorded at the same time.\n\
#\n\
# This message consists of a multiple arrays, one for each part of the joint state. \n\
# The goal is to make each of the fields optional. When e.g. your joints have no\n\
# effort associated with them, you can leave the effort array empty. \n\
#\n\
# All arrays in this message should have the same size, or be empty.\n\
# This is the only way to uniquely associate the joint name with the correct\n\
# states.\n\
\n\
\n\
Header header\n\
\n\
string[] name\n\
float64[] position\n\
float64[] velocity\n\
float64[] effort\n\
\n\
================================================================================\n\
MSG: std_msgs/Header\n\
# Standard metadata for higher-level stamped data types.\n\
# This is generally used to communicate timestamped data \n\
# in a particular coordinate frame.\n\
# \n\
# sequence ID: consecutively increasing ID \n\
uint32 seq\n\
#Two-integer timestamp that is expressed as:\n\
# * stamp.secs: seconds (stamp_secs) since epoch\n\
# * stamp.nsecs: nanoseconds since stamp_secs\n\
# time-handling sugar is provided by the client library\n\
time stamp\n\
#Frame this data is associated with\n\
# 0: no frame\n\
# 1: global frame\n\
string frame_id\n\
\n\
================================================================================\n\
MSG: motion_planning_msgs/MultiDOFJointState\n\
#A representation of a multi-dof joint state\n\
time stamp\n\
string[] joint_names\n\
string[] frame_ids\n\
string[] child_frame_ids\n\
geometry_msgs/Pose[] poses\n\
\n\
================================================================================\n\
MSG: geometry_msgs/Pose\n\
# A representation of pose in free space, composed of postion and orientation. \n\
Point position\n\
Quaternion orientation\n\
\n\
================================================================================\n\
MSG: geometry_msgs/Point\n\
# This contains the position of a point in free space\n\
float64 x\n\
float64 y\n\
float64 z\n\
\n\
================================================================================\n\
MSG: geometry_msgs/Quaternion\n\
# This represents an orientation in free space in quaternion form.\n\
\n\
float64 x\n\
float64 y\n\
float64 z\n\
float64 w\n\
\n\
"; }
public:
  ROS_DEPRECATED static const std::string __s_getMessageDefinition() { return __s_getMessageDefinition_(); }

  ROS_DEPRECATED const std::string __getMessageDefinition() const { return __s_getMessageDefinition_(); }

  ROS_DEPRECATED virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const
  {
    ros::serialization::OStream stream(write_ptr, 1000000000);
    ros::serialization::serialize(stream, links);
    ros::serialization::serialize(stream, state);
    return stream.getData();
  }

  ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr)
  {
    ros::serialization::IStream stream(read_ptr, 1000000000);
    ros::serialization::deserialize(stream, links);
    ros::serialization::deserialize(stream, state);
    return stream.getData();
  }

  ROS_DEPRECATED virtual uint32_t serializationLength() const
  {
    uint32_t size = 0;
    size += ros::serialization::serializationLength(links);
    size += ros::serialization::serializationLength(state);
    return size;
  }

  typedef boost::shared_ptr< ::chomp_motion_planner::GetChompCollisionCostRequest_<ContainerAllocator> > Ptr;
  typedef boost::shared_ptr< ::chomp_motion_planner::GetChompCollisionCostRequest_<ContainerAllocator>  const> ConstPtr;
}; // struct GetChompCollisionCostRequest
typedef  ::chomp_motion_planner::GetChompCollisionCostRequest_<std::allocator<void> > GetChompCollisionCostRequest;

typedef boost::shared_ptr< ::chomp_motion_planner::GetChompCollisionCostRequest> GetChompCollisionCostRequestPtr;
typedef boost::shared_ptr< ::chomp_motion_planner::GetChompCollisionCostRequest const> GetChompCollisionCostRequestConstPtr;


template <class ContainerAllocator>
struct GetChompCollisionCostResponse_ : public ros::Message
{
  typedef GetChompCollisionCostResponse_<ContainerAllocator> Type;

  GetChompCollisionCostResponse_()
  : costs()
  , gradient()
  , in_collision(0)
  {
  }

  GetChompCollisionCostResponse_(const ContainerAllocator& _alloc)
  : costs(_alloc)
  , gradient(_alloc)
  , in_collision(0)
  {
  }

  typedef std::vector<double, typename ContainerAllocator::template rebind<double>::other >  _costs_type;
  std::vector<double, typename ContainerAllocator::template rebind<double>::other >  costs;

  typedef std::vector< ::chomp_motion_planner::JointVelocityArray_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::chomp_motion_planner::JointVelocityArray_<ContainerAllocator> >::other >  _gradient_type;
  std::vector< ::chomp_motion_planner::JointVelocityArray_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::chomp_motion_planner::JointVelocityArray_<ContainerAllocator> >::other >  gradient;

  typedef uint8_t _in_collision_type;
  uint8_t in_collision;


  ROS_DEPRECATED uint32_t get_costs_size() const { return (uint32_t)costs.size(); }
  ROS_DEPRECATED void set_costs_size(uint32_t size) { costs.resize((size_t)size); }
  ROS_DEPRECATED void get_costs_vec(std::vector<double, typename ContainerAllocator::template rebind<double>::other > & vec) const { vec = this->costs; }
  ROS_DEPRECATED void set_costs_vec(const std::vector<double, typename ContainerAllocator::template rebind<double>::other > & vec) { this->costs = vec; }
  ROS_DEPRECATED uint32_t get_gradient_size() const { return (uint32_t)gradient.size(); }
  ROS_DEPRECATED void set_gradient_size(uint32_t size) { gradient.resize((size_t)size); }
  ROS_DEPRECATED void get_gradient_vec(std::vector< ::chomp_motion_planner::JointVelocityArray_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::chomp_motion_planner::JointVelocityArray_<ContainerAllocator> >::other > & vec) const { vec = this->gradient; }
  ROS_DEPRECATED void set_gradient_vec(const std::vector< ::chomp_motion_planner::JointVelocityArray_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::chomp_motion_planner::JointVelocityArray_<ContainerAllocator> >::other > & vec) { this->gradient = vec; }
private:
  static const char* __s_getDataType_() { return "chomp_motion_planner/GetChompCollisionCostResponse"; }
public:
  ROS_DEPRECATED static const std::string __s_getDataType() { return __s_getDataType_(); }

  ROS_DEPRECATED const std::string __getDataType() const { return __s_getDataType_(); }

private:
  static const char* __s_getMD5Sum_() { return "bed009b7d4d6620621ef40430dbc9236"; }
public:
  ROS_DEPRECATED static const std::string __s_getMD5Sum() { return __s_getMD5Sum_(); }

  ROS_DEPRECATED const std::string __getMD5Sum() const { return __s_getMD5Sum_(); }

private:
  static const char* __s_getServerMD5Sum_() { return "484cb732bcae020fb22ff8ac89a6ff9f"; }
public:
  ROS_DEPRECATED static const std::string __s_getServerMD5Sum() { return __s_getServerMD5Sum_(); }

  ROS_DEPRECATED const std::string __getServerMD5Sum() const { return __s_getServerMD5Sum_(); }

private:
  static const char* __s_getMessageDefinition_() { return "\n\
\n\
float64[] costs\n\
\n\
\n\
\n\
\n\
JointVelocityArray[] gradient\n\
\n\
\n\
uint8 in_collision\n\
\n\
\n\
================================================================================\n\
MSG: chomp_motion_planner/JointVelocityArray\n\
# A list of joint names\n\
string[] joint_names\n\
\n\
# Velocity for each of the above joints\n\
float64[] velocities\n\
\n\
"; }
public:
  ROS_DEPRECATED static const std::string __s_getMessageDefinition() { return __s_getMessageDefinition_(); }

  ROS_DEPRECATED const std::string __getMessageDefinition() const { return __s_getMessageDefinition_(); }

  ROS_DEPRECATED virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const
  {
    ros::serialization::OStream stream(write_ptr, 1000000000);
    ros::serialization::serialize(stream, costs);
    ros::serialization::serialize(stream, gradient);
    ros::serialization::serialize(stream, in_collision);
    return stream.getData();
  }

  ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr)
  {
    ros::serialization::IStream stream(read_ptr, 1000000000);
    ros::serialization::deserialize(stream, costs);
    ros::serialization::deserialize(stream, gradient);
    ros::serialization::deserialize(stream, in_collision);
    return stream.getData();
  }

  ROS_DEPRECATED virtual uint32_t serializationLength() const
  {
    uint32_t size = 0;
    size += ros::serialization::serializationLength(costs);
    size += ros::serialization::serializationLength(gradient);
    size += ros::serialization::serializationLength(in_collision);
    return size;
  }

  typedef boost::shared_ptr< ::chomp_motion_planner::GetChompCollisionCostResponse_<ContainerAllocator> > Ptr;
  typedef boost::shared_ptr< ::chomp_motion_planner::GetChompCollisionCostResponse_<ContainerAllocator>  const> ConstPtr;
}; // struct GetChompCollisionCostResponse
typedef  ::chomp_motion_planner::GetChompCollisionCostResponse_<std::allocator<void> > GetChompCollisionCostResponse;

typedef boost::shared_ptr< ::chomp_motion_planner::GetChompCollisionCostResponse> GetChompCollisionCostResponsePtr;
typedef boost::shared_ptr< ::chomp_motion_planner::GetChompCollisionCostResponse const> GetChompCollisionCostResponseConstPtr;

struct GetChompCollisionCost
{

typedef GetChompCollisionCostRequest Request;
typedef GetChompCollisionCostResponse Response;
Request request;
Response response;

typedef Request RequestType;
typedef Response ResponseType;
}; // struct GetChompCollisionCost
} // namespace chomp_motion_planner

namespace ros
{
namespace message_traits
{
template<class ContainerAllocator>
struct MD5Sum< ::chomp_motion_planner::GetChompCollisionCostRequest_<ContainerAllocator> > {
  static const char* value() 
  {
    return "acabb6bac55143035edcf10159a5b130";
  }

  static const char* value(const  ::chomp_motion_planner::GetChompCollisionCostRequest_<ContainerAllocator> &) { return value(); } 
  static const uint64_t static_value1 = 0xacabb6bac5514303ULL;
  static const uint64_t static_value2 = 0x5edcf10159a5b130ULL;
};

template<class ContainerAllocator>
struct DataType< ::chomp_motion_planner::GetChompCollisionCostRequest_<ContainerAllocator> > {
  static const char* value() 
  {
    return "chomp_motion_planner/GetChompCollisionCostRequest";
  }

  static const char* value(const  ::chomp_motion_planner::GetChompCollisionCostRequest_<ContainerAllocator> &) { return value(); } 
};

template<class ContainerAllocator>
struct Definition< ::chomp_motion_planner::GetChompCollisionCostRequest_<ContainerAllocator> > {
  static const char* value() 
  {
    return "\n\
string[] links\n\
\n\
\n\
\n\
motion_planning_msgs/RobotState state\n\
\n\
\n\
================================================================================\n\
MSG: motion_planning_msgs/RobotState\n\
# This message contains information about the robot state, i.e. the positions of its joints and links\n\
sensor_msgs/JointState joint_state\n\
motion_planning_msgs/MultiDOFJointState multi_dof_joint_state\n\
================================================================================\n\
MSG: sensor_msgs/JointState\n\
# This is a message that holds data to describe the state of a set of torque controlled joints. \n\
#\n\
# The state of each joint (revolute or prismatic) is defined by:\n\
#  * the position of the joint (rad or m),\n\
#  * the velocity of the joint (rad/s or m/s) and \n\
#  * the effort that is applied in the joint (Nm or N).\n\
#\n\
# Each joint is uniquely identified by its name\n\
# The header specifies the time at which the joint states were recorded. All the joint states\n\
# in one message have to be recorded at the same time.\n\
#\n\
# This message consists of a multiple arrays, one for each part of the joint state. \n\
# The goal is to make each of the fields optional. When e.g. your joints have no\n\
# effort associated with them, you can leave the effort array empty. \n\
#\n\
# All arrays in this message should have the same size, or be empty.\n\
# This is the only way to uniquely associate the joint name with the correct\n\
# states.\n\
\n\
\n\
Header header\n\
\n\
string[] name\n\
float64[] position\n\
float64[] velocity\n\
float64[] effort\n\
\n\
================================================================================\n\
MSG: std_msgs/Header\n\
# Standard metadata for higher-level stamped data types.\n\
# This is generally used to communicate timestamped data \n\
# in a particular coordinate frame.\n\
# \n\
# sequence ID: consecutively increasing ID \n\
uint32 seq\n\
#Two-integer timestamp that is expressed as:\n\
# * stamp.secs: seconds (stamp_secs) since epoch\n\
# * stamp.nsecs: nanoseconds since stamp_secs\n\
# time-handling sugar is provided by the client library\n\
time stamp\n\
#Frame this data is associated with\n\
# 0: no frame\n\
# 1: global frame\n\
string frame_id\n\
\n\
================================================================================\n\
MSG: motion_planning_msgs/MultiDOFJointState\n\
#A representation of a multi-dof joint state\n\
time stamp\n\
string[] joint_names\n\
string[] frame_ids\n\
string[] child_frame_ids\n\
geometry_msgs/Pose[] poses\n\
\n\
================================================================================\n\
MSG: geometry_msgs/Pose\n\
# A representation of pose in free space, composed of postion and orientation. \n\
Point position\n\
Quaternion orientation\n\
\n\
================================================================================\n\
MSG: geometry_msgs/Point\n\
# This contains the position of a point in free space\n\
float64 x\n\
float64 y\n\
float64 z\n\
\n\
================================================================================\n\
MSG: geometry_msgs/Quaternion\n\
# This represents an orientation in free space in quaternion form.\n\
\n\
float64 x\n\
float64 y\n\
float64 z\n\
float64 w\n\
\n\
";
  }

  static const char* value(const  ::chomp_motion_planner::GetChompCollisionCostRequest_<ContainerAllocator> &) { return value(); } 
};

} // namespace message_traits
} // namespace ros


namespace ros
{
namespace message_traits
{
template<class ContainerAllocator>
struct MD5Sum< ::chomp_motion_planner::GetChompCollisionCostResponse_<ContainerAllocator> > {
  static const char* value() 
  {
    return "bed009b7d4d6620621ef40430dbc9236";
  }

  static const char* value(const  ::chomp_motion_planner::GetChompCollisionCostResponse_<ContainerAllocator> &) { return value(); } 
  static const uint64_t static_value1 = 0xbed009b7d4d66206ULL;
  static const uint64_t static_value2 = 0x21ef40430dbc9236ULL;
};

template<class ContainerAllocator>
struct DataType< ::chomp_motion_planner::GetChompCollisionCostResponse_<ContainerAllocator> > {
  static const char* value() 
  {
    return "chomp_motion_planner/GetChompCollisionCostResponse";
  }

  static const char* value(const  ::chomp_motion_planner::GetChompCollisionCostResponse_<ContainerAllocator> &) { return value(); } 
};

template<class ContainerAllocator>
struct Definition< ::chomp_motion_planner::GetChompCollisionCostResponse_<ContainerAllocator> > {
  static const char* value() 
  {
    return "\n\
\n\
float64[] costs\n\
\n\
\n\
\n\
\n\
JointVelocityArray[] gradient\n\
\n\
\n\
uint8 in_collision\n\
\n\
\n\
================================================================================\n\
MSG: chomp_motion_planner/JointVelocityArray\n\
# A list of joint names\n\
string[] joint_names\n\
\n\
# Velocity for each of the above joints\n\
float64[] velocities\n\
\n\
";
  }

  static const char* value(const  ::chomp_motion_planner::GetChompCollisionCostResponse_<ContainerAllocator> &) { return value(); } 
};

} // namespace message_traits
} // namespace ros

namespace ros
{
namespace serialization
{

template<class ContainerAllocator> struct Serializer< ::chomp_motion_planner::GetChompCollisionCostRequest_<ContainerAllocator> >
{
  template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
  {
    stream.next(m.links);
    stream.next(m.state);
  }

  ROS_DECLARE_ALLINONE_SERIALIZER;
}; // struct GetChompCollisionCostRequest_
} // namespace serialization
} // namespace ros


namespace ros
{
namespace serialization
{

template<class ContainerAllocator> struct Serializer< ::chomp_motion_planner::GetChompCollisionCostResponse_<ContainerAllocator> >
{
  template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
  {
    stream.next(m.costs);
    stream.next(m.gradient);
    stream.next(m.in_collision);
  }

  ROS_DECLARE_ALLINONE_SERIALIZER;
}; // struct GetChompCollisionCostResponse_
} // namespace serialization
} // namespace ros

namespace ros
{
namespace service_traits
{
template<>
struct MD5Sum<chomp_motion_planner::GetChompCollisionCost> {
  static const char* value() 
  {
    return "484cb732bcae020fb22ff8ac89a6ff9f";
  }

  static const char* value(const chomp_motion_planner::GetChompCollisionCost&) { return value(); } 
};

template<>
struct DataType<chomp_motion_planner::GetChompCollisionCost> {
  static const char* value() 
  {
    return "chomp_motion_planner/GetChompCollisionCost";
  }

  static const char* value(const chomp_motion_planner::GetChompCollisionCost&) { return value(); } 
};

template<class ContainerAllocator>
struct MD5Sum<chomp_motion_planner::GetChompCollisionCostRequest_<ContainerAllocator> > {
  static const char* value() 
  {
    return "484cb732bcae020fb22ff8ac89a6ff9f";
  }

  static const char* value(const chomp_motion_planner::GetChompCollisionCostRequest_<ContainerAllocator> &) { return value(); } 
};

template<class ContainerAllocator>
struct DataType<chomp_motion_planner::GetChompCollisionCostRequest_<ContainerAllocator> > {
  static const char* value() 
  {
    return "chomp_motion_planner/GetChompCollisionCost";
  }

  static const char* value(const chomp_motion_planner::GetChompCollisionCostRequest_<ContainerAllocator> &) { return value(); } 
};

template<class ContainerAllocator>
struct MD5Sum<chomp_motion_planner::GetChompCollisionCostResponse_<ContainerAllocator> > {
  static const char* value() 
  {
    return "484cb732bcae020fb22ff8ac89a6ff9f";
  }

  static const char* value(const chomp_motion_planner::GetChompCollisionCostResponse_<ContainerAllocator> &) { return value(); } 
};

template<class ContainerAllocator>
struct DataType<chomp_motion_planner::GetChompCollisionCostResponse_<ContainerAllocator> > {
  static const char* value() 
  {
    return "chomp_motion_planner/GetChompCollisionCost";
  }

  static const char* value(const chomp_motion_planner::GetChompCollisionCostResponse_<ContainerAllocator> &) { return value(); } 
};

} // namespace service_traits
} // namespace ros

#endif // CHOMP_MOTION_PLANNER_SERVICE_GETCHOMPCOLLISIONCOST_H

---

chomp_motion_planner
Author(s): Mrinal Kalakrishnan / mail@mrinal.net
autogenerated on Fri Jan 11 09:52:40 2013