SetConstraints.h

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/* Auto-generated by genmsg_cpp for file /tmp/buildd/ros-diamondback-motion-planning-common-0.3.6/debian/ros-diamondback-motion-planning-common/opt/ros/diamondback/stacks/motion_planning_common/planning_environment_msgs/srv/SetConstraints.srv */
#ifndef PLANNING_ENVIRONMENT_MSGS_SERVICE_SETCONSTRAINTS_H
#define PLANNING_ENVIRONMENT_MSGS_SERVICE_SETCONSTRAINTS_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/Constraints.h"
#include "motion_planning_msgs/Constraints.h"


#include "motion_planning_msgs/Constraints.h"
#include "motion_planning_msgs/Constraints.h"
#include "motion_planning_msgs/ArmNavigationErrorCodes.h"

namespace planning_environment_msgs
{
template <class ContainerAllocator>
struct SetConstraintsRequest_ : public ros::Message
{
  typedef SetConstraintsRequest_<ContainerAllocator> Type;

  SetConstraintsRequest_()
  : path_constraints()
  , goal_constraints()
  {
  }

  SetConstraintsRequest_(const ContainerAllocator& _alloc)
  : path_constraints(_alloc)
  , goal_constraints(_alloc)
  {
  }

  typedef  ::motion_planning_msgs::Constraints_<ContainerAllocator>  _path_constraints_type;
   ::motion_planning_msgs::Constraints_<ContainerAllocator>  path_constraints;

  typedef  ::motion_planning_msgs::Constraints_<ContainerAllocator>  _goal_constraints_type;
   ::motion_planning_msgs::Constraints_<ContainerAllocator>  goal_constraints;


private:
  static const char* __s_getDataType_() { return "planning_environment_msgs/SetConstraintsRequest"; }
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 "6d13bc5e83c4c2ef090eae3053dfae3a"; }
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 "60cfcfae4d588cf6b9a94199b57d97db"; }
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\
\n\
\n\
\n\
\n\
motion_planning_msgs/Constraints path_constraints\n\
motion_planning_msgs/Constraints goal_constraints\n\
\n\
\n\
================================================================================\n\
MSG: motion_planning_msgs/Constraints\n\
# This message contains a list of motion planning constraints.\n\
\n\
motion_planning_msgs/JointConstraint[] joint_constraints\n\
motion_planning_msgs/PositionConstraint[] position_constraints\n\
motion_planning_msgs/OrientationConstraint[] orientation_constraints\n\
motion_planning_msgs/VisibilityConstraint[] visibility_constraints\n\
\n\
================================================================================\n\
MSG: motion_planning_msgs/JointConstraint\n\
# Constrain the position of a joint to be within a certain bound\n\
string joint_name\n\
\n\
# the bound to be achieved is [position - tolerance_below, position + tolerance_above]\n\
float64 position\n\
float64 tolerance_above\n\
float64 tolerance_below\n\
\n\
# A weighting factor for this constraint\n\
float64 weight\n\
================================================================================\n\
MSG: motion_planning_msgs/PositionConstraint\n\
# This message contains the definition of a position constraint.\n\
Header header\n\
\n\
# The robot link this constraint refers to\n\
string link_name\n\
\n\
# The offset (in the link frame) for the target point on the link we are planning for\n\
geometry_msgs/Point target_point_offset\n\
\n\
# The nominal/target position for the point we are planning for\n\
geometry_msgs/Point position\n\
\n\
# The shape of the bounded region that constrains the position of the end-effector\n\
# This region is always centered at the position defined above\n\
geometric_shapes_msgs/Shape constraint_region_shape\n\
\n\
# The orientation of the bounded region that constrains the position of the end-effector. \n\
# This allows the specification of non-axis aligned constraints\n\
geometry_msgs/Quaternion constraint_region_orientation\n\
\n\
# Constraint weighting factor - a weight for this constraint\n\
float64 weight\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: 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: geometric_shapes_msgs/Shape\n\
byte SPHERE=0\n\
byte BOX=1\n\
byte CYLINDER=2\n\
byte MESH=3\n\
\n\
byte type\n\
\n\
\n\
#### define sphere, box, cylinder ####\n\
# the origin of each shape is considered at the shape's center\n\
\n\
# for sphere\n\
# radius := dimensions[0]\n\
\n\
# for cylinder\n\
# radius := dimensions[0]\n\
# length := dimensions[1]\n\
# the length is along the Z axis\n\
\n\
# for box\n\
# size_x := dimensions[0]\n\
# size_y := dimensions[1]\n\
# size_z := dimensions[2]\n\
float64[] dimensions\n\
\n\
\n\
#### define mesh ####\n\
\n\
# list of triangles; triangle k is defined by tre vertices located\n\
# at indices triangles[3k], triangles[3k+1], triangles[3k+2]\n\
int32[] triangles\n\
geometry_msgs/Point[] vertices\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\
================================================================================\n\
MSG: motion_planning_msgs/OrientationConstraint\n\
# This message contains the definition of an orientation constraint.\n\
Header header\n\
\n\
# The robot link this constraint refers to\n\
string link_name\n\
\n\
# The type of the constraint\n\
int32 type\n\
int32 LINK_FRAME=0\n\
int32 HEADER_FRAME=1\n\
\n\
# The desired orientation of the robot link specified as a quaternion\n\
geometry_msgs/Quaternion orientation\n\
\n\
# optional RPY error tolerances specified if \n\
float64 absolute_roll_tolerance\n\
float64 absolute_pitch_tolerance\n\
float64 absolute_yaw_tolerance\n\
\n\
# Constraint weighting factor - a weight for this constraint\n\
float64 weight\n\
\n\
================================================================================\n\
MSG: motion_planning_msgs/VisibilityConstraint\n\
# This message contains the definition of a visibility constraint.\n\
Header header\n\
\n\
# The point stamped target that needs to be kept within view of the sensor\n\
geometry_msgs/PointStamped target\n\
\n\
# The local pose of the frame in which visibility is to be maintained\n\
# The frame id should represent the robot link to which the sensor is attached\n\
# The visual axis of the sensor is assumed to be along the X axis of this frame\n\
geometry_msgs/PoseStamped sensor_pose\n\
\n\
# The deviation (in radians) that will be tolerated\n\
# Constraint error will be measured as the solid angle between the \n\
# X axis of the frame defined above and the vector between the origin \n\
# of the frame defined above and the target location\n\
float64 absolute_tolerance\n\
\n\
\n\
================================================================================\n\
MSG: geometry_msgs/PointStamped\n\
# This represents a Point with reference coordinate frame and timestamp\n\
Header header\n\
Point point\n\
\n\
================================================================================\n\
MSG: geometry_msgs/PoseStamped\n\
# A Pose with reference coordinate frame and timestamp\n\
Header header\n\
Pose pose\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\
"; }
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, path_constraints);
    ros::serialization::serialize(stream, goal_constraints);
    return stream.getData();
  }

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

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

  typedef boost::shared_ptr< ::planning_environment_msgs::SetConstraintsRequest_<ContainerAllocator> > Ptr;
  typedef boost::shared_ptr< ::planning_environment_msgs::SetConstraintsRequest_<ContainerAllocator>  const> ConstPtr;
}; // struct SetConstraintsRequest
typedef  ::planning_environment_msgs::SetConstraintsRequest_<std::allocator<void> > SetConstraintsRequest;

typedef boost::shared_ptr< ::planning_environment_msgs::SetConstraintsRequest> SetConstraintsRequestPtr;
typedef boost::shared_ptr< ::planning_environment_msgs::SetConstraintsRequest const> SetConstraintsRequestConstPtr;


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

  SetConstraintsResponse_()
  : path_constraints()
  , goal_constraints()
  , error_code()
  {
  }

  SetConstraintsResponse_(const ContainerAllocator& _alloc)
  : path_constraints(_alloc)
  , goal_constraints(_alloc)
  , error_code(_alloc)
  {
  }

  typedef  ::motion_planning_msgs::Constraints_<ContainerAllocator>  _path_constraints_type;
   ::motion_planning_msgs::Constraints_<ContainerAllocator>  path_constraints;

  typedef  ::motion_planning_msgs::Constraints_<ContainerAllocator>  _goal_constraints_type;
   ::motion_planning_msgs::Constraints_<ContainerAllocator>  goal_constraints;

  typedef  ::motion_planning_msgs::ArmNavigationErrorCodes_<ContainerAllocator>  _error_code_type;
   ::motion_planning_msgs::ArmNavigationErrorCodes_<ContainerAllocator>  error_code;


private:
  static const char* __s_getDataType_() { return "planning_environment_msgs/SetConstraintsResponse"; }
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 "02fb232aac2c27a28d6a5482c3fbefef"; }
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 "60cfcfae4d588cf6b9a94199b57d97db"; }
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\
\n\
motion_planning_msgs/Constraints path_constraints\n\
motion_planning_msgs/Constraints goal_constraints\n\
\n\
motion_planning_msgs/ArmNavigationErrorCodes error_code\n\
\n\
================================================================================\n\
MSG: motion_planning_msgs/Constraints\n\
# This message contains a list of motion planning constraints.\n\
\n\
motion_planning_msgs/JointConstraint[] joint_constraints\n\
motion_planning_msgs/PositionConstraint[] position_constraints\n\
motion_planning_msgs/OrientationConstraint[] orientation_constraints\n\
motion_planning_msgs/VisibilityConstraint[] visibility_constraints\n\
\n\
================================================================================\n\
MSG: motion_planning_msgs/JointConstraint\n\
# Constrain the position of a joint to be within a certain bound\n\
string joint_name\n\
\n\
# the bound to be achieved is [position - tolerance_below, position + tolerance_above]\n\
float64 position\n\
float64 tolerance_above\n\
float64 tolerance_below\n\
\n\
# A weighting factor for this constraint\n\
float64 weight\n\
================================================================================\n\
MSG: motion_planning_msgs/PositionConstraint\n\
# This message contains the definition of a position constraint.\n\
Header header\n\
\n\
# The robot link this constraint refers to\n\
string link_name\n\
\n\
# The offset (in the link frame) for the target point on the link we are planning for\n\
geometry_msgs/Point target_point_offset\n\
\n\
# The nominal/target position for the point we are planning for\n\
geometry_msgs/Point position\n\
\n\
# The shape of the bounded region that constrains the position of the end-effector\n\
# This region is always centered at the position defined above\n\
geometric_shapes_msgs/Shape constraint_region_shape\n\
\n\
# The orientation of the bounded region that constrains the position of the end-effector. \n\
# This allows the specification of non-axis aligned constraints\n\
geometry_msgs/Quaternion constraint_region_orientation\n\
\n\
# Constraint weighting factor - a weight for this constraint\n\
float64 weight\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: 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: geometric_shapes_msgs/Shape\n\
byte SPHERE=0\n\
byte BOX=1\n\
byte CYLINDER=2\n\
byte MESH=3\n\
\n\
byte type\n\
\n\
\n\
#### define sphere, box, cylinder ####\n\
# the origin of each shape is considered at the shape's center\n\
\n\
# for sphere\n\
# radius := dimensions[0]\n\
\n\
# for cylinder\n\
# radius := dimensions[0]\n\
# length := dimensions[1]\n\
# the length is along the Z axis\n\
\n\
# for box\n\
# size_x := dimensions[0]\n\
# size_y := dimensions[1]\n\
# size_z := dimensions[2]\n\
float64[] dimensions\n\
\n\
\n\
#### define mesh ####\n\
\n\
# list of triangles; triangle k is defined by tre vertices located\n\
# at indices triangles[3k], triangles[3k+1], triangles[3k+2]\n\
int32[] triangles\n\
geometry_msgs/Point[] vertices\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\
================================================================================\n\
MSG: motion_planning_msgs/OrientationConstraint\n\
# This message contains the definition of an orientation constraint.\n\
Header header\n\
\n\
# The robot link this constraint refers to\n\
string link_name\n\
\n\
# The type of the constraint\n\
int32 type\n\
int32 LINK_FRAME=0\n\
int32 HEADER_FRAME=1\n\
\n\
# The desired orientation of the robot link specified as a quaternion\n\
geometry_msgs/Quaternion orientation\n\
\n\
# optional RPY error tolerances specified if \n\
float64 absolute_roll_tolerance\n\
float64 absolute_pitch_tolerance\n\
float64 absolute_yaw_tolerance\n\
\n\
# Constraint weighting factor - a weight for this constraint\n\
float64 weight\n\
\n\
================================================================================\n\
MSG: motion_planning_msgs/VisibilityConstraint\n\
# This message contains the definition of a visibility constraint.\n\
Header header\n\
\n\
# The point stamped target that needs to be kept within view of the sensor\n\
geometry_msgs/PointStamped target\n\
\n\
# The local pose of the frame in which visibility is to be maintained\n\
# The frame id should represent the robot link to which the sensor is attached\n\
# The visual axis of the sensor is assumed to be along the X axis of this frame\n\
geometry_msgs/PoseStamped sensor_pose\n\
\n\
# The deviation (in radians) that will be tolerated\n\
# Constraint error will be measured as the solid angle between the \n\
# X axis of the frame defined above and the vector between the origin \n\
# of the frame defined above and the target location\n\
float64 absolute_tolerance\n\
\n\
\n\
================================================================================\n\
MSG: geometry_msgs/PointStamped\n\
# This represents a Point with reference coordinate frame and timestamp\n\
Header header\n\
Point point\n\
\n\
================================================================================\n\
MSG: geometry_msgs/PoseStamped\n\
# A Pose with reference coordinate frame and timestamp\n\
Header header\n\
Pose pose\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: motion_planning_msgs/ArmNavigationErrorCodes\n\
int32 val\n\
\n\
# overall behavior\n\
int32 PLANNING_FAILED=-1\n\
int32 SUCCESS=1\n\
int32 TIMED_OUT=-2\n\
\n\
# start state errors\n\
int32 START_STATE_IN_COLLISION=-3\n\
int32 START_STATE_VIOLATES_PATH_CONSTRAINTS=-4\n\
\n\
# goal errors\n\
int32 GOAL_IN_COLLISION=-5\n\
int32 GOAL_VIOLATES_PATH_CONSTRAINTS=-6\n\
\n\
# robot state\n\
int32 INVALID_ROBOT_STATE=-7\n\
int32 INCOMPLETE_ROBOT_STATE=-8\n\
\n\
# planning request errors\n\
int32 INVALID_PLANNER_ID=-9\n\
int32 INVALID_NUM_PLANNING_ATTEMPTS=-10\n\
int32 INVALID_ALLOWED_PLANNING_TIME=-11\n\
int32 INVALID_GROUP_NAME=-12\n\
int32 INVALID_GOAL_JOINT_CONSTRAINTS=-13\n\
int32 INVALID_GOAL_POSITION_CONSTRAINTS=-14\n\
int32 INVALID_GOAL_ORIENTATION_CONSTRAINTS=-15\n\
int32 INVALID_PATH_JOINT_CONSTRAINTS=-16\n\
int32 INVALID_PATH_POSITION_CONSTRAINTS=-17\n\
int32 INVALID_PATH_ORIENTATION_CONSTRAINTS=-18\n\
\n\
# state/trajectory monitor errors\n\
int32 INVALID_TRAJECTORY=-19\n\
int32 INVALID_INDEX=-20\n\
int32 JOINT_LIMITS_VIOLATED=-21\n\
int32 PATH_CONSTRAINTS_VIOLATED=-22\n\
int32 COLLISION_CONSTRAINTS_VIOLATED=-23\n\
int32 GOAL_CONSTRAINTS_VIOLATED=-24\n\
int32 JOINTS_NOT_MOVING=-25\n\
int32 TRAJECTORY_CONTROLLER_FAILED=-26\n\
\n\
# system errors\n\
int32 FRAME_TRANSFORM_FAILURE=-27\n\
int32 COLLISION_CHECKING_UNAVAILABLE=-28\n\
int32 ROBOT_STATE_STALE=-29\n\
int32 SENSOR_INFO_STALE=-30\n\
\n\
# kinematics errors\n\
int32 NO_IK_SOLUTION=-31\n\
int32 INVALID_LINK_NAME=-32\n\
int32 IK_LINK_IN_COLLISION=-33\n\
int32 NO_FK_SOLUTION=-34\n\
int32 KINEMATICS_STATE_IN_COLLISION=-35\n\
\n\
# general errors\n\
int32 INVALID_TIMEOUT=-36\n\
\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, path_constraints);
    ros::serialization::serialize(stream, goal_constraints);
    ros::serialization::serialize(stream, error_code);
    return stream.getData();
  }

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

  ROS_DEPRECATED virtual uint32_t serializationLength() const
  {
    uint32_t size = 0;
    size += ros::serialization::serializationLength(path_constraints);
    size += ros::serialization::serializationLength(goal_constraints);
    size += ros::serialization::serializationLength(error_code);
    return size;
  }

  typedef boost::shared_ptr< ::planning_environment_msgs::SetConstraintsResponse_<ContainerAllocator> > Ptr;
  typedef boost::shared_ptr< ::planning_environment_msgs::SetConstraintsResponse_<ContainerAllocator>  const> ConstPtr;
}; // struct SetConstraintsResponse
typedef  ::planning_environment_msgs::SetConstraintsResponse_<std::allocator<void> > SetConstraintsResponse;

typedef boost::shared_ptr< ::planning_environment_msgs::SetConstraintsResponse> SetConstraintsResponsePtr;
typedef boost::shared_ptr< ::planning_environment_msgs::SetConstraintsResponse const> SetConstraintsResponseConstPtr;

struct SetConstraints
{

typedef SetConstraintsRequest Request;
typedef SetConstraintsResponse Response;
Request request;
Response response;

typedef Request RequestType;
typedef Response ResponseType;
}; // struct SetConstraints
} // namespace planning_environment_msgs

namespace ros
{
namespace message_traits
{
template<class ContainerAllocator>
struct MD5Sum< ::planning_environment_msgs::SetConstraintsRequest_<ContainerAllocator> > {
  static const char* value() 
  {
    return "6d13bc5e83c4c2ef090eae3053dfae3a";
  }

  static const char* value(const  ::planning_environment_msgs::SetConstraintsRequest_<ContainerAllocator> &) { return value(); } 
  static const uint64_t static_value1 = 0x6d13bc5e83c4c2efULL;
  static const uint64_t static_value2 = 0x090eae3053dfae3aULL;
};

template<class ContainerAllocator>
struct DataType< ::planning_environment_msgs::SetConstraintsRequest_<ContainerAllocator> > {
  static const char* value() 
  {
    return "planning_environment_msgs/SetConstraintsRequest";
  }

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

template<class ContainerAllocator>
struct Definition< ::planning_environment_msgs::SetConstraintsRequest_<ContainerAllocator> > {
  static const char* value() 
  {
    return "\n\
\n\
\n\
\n\
\n\
\n\
motion_planning_msgs/Constraints path_constraints\n\
motion_planning_msgs/Constraints goal_constraints\n\
\n\
\n\
================================================================================\n\
MSG: motion_planning_msgs/Constraints\n\
# This message contains a list of motion planning constraints.\n\
\n\
motion_planning_msgs/JointConstraint[] joint_constraints\n\
motion_planning_msgs/PositionConstraint[] position_constraints\n\
motion_planning_msgs/OrientationConstraint[] orientation_constraints\n\
motion_planning_msgs/VisibilityConstraint[] visibility_constraints\n\
\n\
================================================================================\n\
MSG: motion_planning_msgs/JointConstraint\n\
# Constrain the position of a joint to be within a certain bound\n\
string joint_name\n\
\n\
# the bound to be achieved is [position - tolerance_below, position + tolerance_above]\n\
float64 position\n\
float64 tolerance_above\n\
float64 tolerance_below\n\
\n\
# A weighting factor for this constraint\n\
float64 weight\n\
================================================================================\n\
MSG: motion_planning_msgs/PositionConstraint\n\
# This message contains the definition of a position constraint.\n\
Header header\n\
\n\
# The robot link this constraint refers to\n\
string link_name\n\
\n\
# The offset (in the link frame) for the target point on the link we are planning for\n\
geometry_msgs/Point target_point_offset\n\
\n\
# The nominal/target position for the point we are planning for\n\
geometry_msgs/Point position\n\
\n\
# The shape of the bounded region that constrains the position of the end-effector\n\
# This region is always centered at the position defined above\n\
geometric_shapes_msgs/Shape constraint_region_shape\n\
\n\
# The orientation of the bounded region that constrains the position of the end-effector. \n\
# This allows the specification of non-axis aligned constraints\n\
geometry_msgs/Quaternion constraint_region_orientation\n\
\n\
# Constraint weighting factor - a weight for this constraint\n\
float64 weight\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: 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: geometric_shapes_msgs/Shape\n\
byte SPHERE=0\n\
byte BOX=1\n\
byte CYLINDER=2\n\
byte MESH=3\n\
\n\
byte type\n\
\n\
\n\
#### define sphere, box, cylinder ####\n\
# the origin of each shape is considered at the shape's center\n\
\n\
# for sphere\n\
# radius := dimensions[0]\n\
\n\
# for cylinder\n\
# radius := dimensions[0]\n\
# length := dimensions[1]\n\
# the length is along the Z axis\n\
\n\
# for box\n\
# size_x := dimensions[0]\n\
# size_y := dimensions[1]\n\
# size_z := dimensions[2]\n\
float64[] dimensions\n\
\n\
\n\
#### define mesh ####\n\
\n\
# list of triangles; triangle k is defined by tre vertices located\n\
# at indices triangles[3k], triangles[3k+1], triangles[3k+2]\n\
int32[] triangles\n\
geometry_msgs/Point[] vertices\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\
================================================================================\n\
MSG: motion_planning_msgs/OrientationConstraint\n\
# This message contains the definition of an orientation constraint.\n\
Header header\n\
\n\
# The robot link this constraint refers to\n\
string link_name\n\
\n\
# The type of the constraint\n\
int32 type\n\
int32 LINK_FRAME=0\n\
int32 HEADER_FRAME=1\n\
\n\
# The desired orientation of the robot link specified as a quaternion\n\
geometry_msgs/Quaternion orientation\n\
\n\
# optional RPY error tolerances specified if \n\
float64 absolute_roll_tolerance\n\
float64 absolute_pitch_tolerance\n\
float64 absolute_yaw_tolerance\n\
\n\
# Constraint weighting factor - a weight for this constraint\n\
float64 weight\n\
\n\
================================================================================\n\
MSG: motion_planning_msgs/VisibilityConstraint\n\
# This message contains the definition of a visibility constraint.\n\
Header header\n\
\n\
# The point stamped target that needs to be kept within view of the sensor\n\
geometry_msgs/PointStamped target\n\
\n\
# The local pose of the frame in which visibility is to be maintained\n\
# The frame id should represent the robot link to which the sensor is attached\n\
# The visual axis of the sensor is assumed to be along the X axis of this frame\n\
geometry_msgs/PoseStamped sensor_pose\n\
\n\
# The deviation (in radians) that will be tolerated\n\
# Constraint error will be measured as the solid angle between the \n\
# X axis of the frame defined above and the vector between the origin \n\
# of the frame defined above and the target location\n\
float64 absolute_tolerance\n\
\n\
\n\
================================================================================\n\
MSG: geometry_msgs/PointStamped\n\
# This represents a Point with reference coordinate frame and timestamp\n\
Header header\n\
Point point\n\
\n\
================================================================================\n\
MSG: geometry_msgs/PoseStamped\n\
# A Pose with reference coordinate frame and timestamp\n\
Header header\n\
Pose pose\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\
";
  }

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

} // namespace message_traits
} // namespace ros


namespace ros
{
namespace message_traits
{
template<class ContainerAllocator>
struct MD5Sum< ::planning_environment_msgs::SetConstraintsResponse_<ContainerAllocator> > {
  static const char* value() 
  {
    return "02fb232aac2c27a28d6a5482c3fbefef";
  }

  static const char* value(const  ::planning_environment_msgs::SetConstraintsResponse_<ContainerAllocator> &) { return value(); } 
  static const uint64_t static_value1 = 0x02fb232aac2c27a2ULL;
  static const uint64_t static_value2 = 0x8d6a5482c3fbefefULL;
};

template<class ContainerAllocator>
struct DataType< ::planning_environment_msgs::SetConstraintsResponse_<ContainerAllocator> > {
  static const char* value() 
  {
    return "planning_environment_msgs/SetConstraintsResponse";
  }

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

template<class ContainerAllocator>
struct Definition< ::planning_environment_msgs::SetConstraintsResponse_<ContainerAllocator> > {
  static const char* value() 
  {
    return "\n\
\n\
\n\
motion_planning_msgs/Constraints path_constraints\n\
motion_planning_msgs/Constraints goal_constraints\n\
\n\
motion_planning_msgs/ArmNavigationErrorCodes error_code\n\
\n\
================================================================================\n\
MSG: motion_planning_msgs/Constraints\n\
# This message contains a list of motion planning constraints.\n\
\n\
motion_planning_msgs/JointConstraint[] joint_constraints\n\
motion_planning_msgs/PositionConstraint[] position_constraints\n\
motion_planning_msgs/OrientationConstraint[] orientation_constraints\n\
motion_planning_msgs/VisibilityConstraint[] visibility_constraints\n\
\n\
================================================================================\n\
MSG: motion_planning_msgs/JointConstraint\n\
# Constrain the position of a joint to be within a certain bound\n\
string joint_name\n\
\n\
# the bound to be achieved is [position - tolerance_below, position + tolerance_above]\n\
float64 position\n\
float64 tolerance_above\n\
float64 tolerance_below\n\
\n\
# A weighting factor for this constraint\n\
float64 weight\n\
================================================================================\n\
MSG: motion_planning_msgs/PositionConstraint\n\
# This message contains the definition of a position constraint.\n\
Header header\n\
\n\
# The robot link this constraint refers to\n\
string link_name\n\
\n\
# The offset (in the link frame) for the target point on the link we are planning for\n\
geometry_msgs/Point target_point_offset\n\
\n\
# The nominal/target position for the point we are planning for\n\
geometry_msgs/Point position\n\
\n\
# The shape of the bounded region that constrains the position of the end-effector\n\
# This region is always centered at the position defined above\n\
geometric_shapes_msgs/Shape constraint_region_shape\n\
\n\
# The orientation of the bounded region that constrains the position of the end-effector. \n\
# This allows the specification of non-axis aligned constraints\n\
geometry_msgs/Quaternion constraint_region_orientation\n\
\n\
# Constraint weighting factor - a weight for this constraint\n\
float64 weight\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: 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: geometric_shapes_msgs/Shape\n\
byte SPHERE=0\n\
byte BOX=1\n\
byte CYLINDER=2\n\
byte MESH=3\n\
\n\
byte type\n\
\n\
\n\
#### define sphere, box, cylinder ####\n\
# the origin of each shape is considered at the shape's center\n\
\n\
# for sphere\n\
# radius := dimensions[0]\n\
\n\
# for cylinder\n\
# radius := dimensions[0]\n\
# length := dimensions[1]\n\
# the length is along the Z axis\n\
\n\
# for box\n\
# size_x := dimensions[0]\n\
# size_y := dimensions[1]\n\
# size_z := dimensions[2]\n\
float64[] dimensions\n\
\n\
\n\
#### define mesh ####\n\
\n\
# list of triangles; triangle k is defined by tre vertices located\n\
# at indices triangles[3k], triangles[3k+1], triangles[3k+2]\n\
int32[] triangles\n\
geometry_msgs/Point[] vertices\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\
================================================================================\n\
MSG: motion_planning_msgs/OrientationConstraint\n\
# This message contains the definition of an orientation constraint.\n\
Header header\n\
\n\
# The robot link this constraint refers to\n\
string link_name\n\
\n\
# The type of the constraint\n\
int32 type\n\
int32 LINK_FRAME=0\n\
int32 HEADER_FRAME=1\n\
\n\
# The desired orientation of the robot link specified as a quaternion\n\
geometry_msgs/Quaternion orientation\n\
\n\
# optional RPY error tolerances specified if \n\
float64 absolute_roll_tolerance\n\
float64 absolute_pitch_tolerance\n\
float64 absolute_yaw_tolerance\n\
\n\
# Constraint weighting factor - a weight for this constraint\n\
float64 weight\n\
\n\
================================================================================\n\
MSG: motion_planning_msgs/VisibilityConstraint\n\
# This message contains the definition of a visibility constraint.\n\
Header header\n\
\n\
# The point stamped target that needs to be kept within view of the sensor\n\
geometry_msgs/PointStamped target\n\
\n\
# The local pose of the frame in which visibility is to be maintained\n\
# The frame id should represent the robot link to which the sensor is attached\n\
# The visual axis of the sensor is assumed to be along the X axis of this frame\n\
geometry_msgs/PoseStamped sensor_pose\n\
\n\
# The deviation (in radians) that will be tolerated\n\
# Constraint error will be measured as the solid angle between the \n\
# X axis of the frame defined above and the vector between the origin \n\
# of the frame defined above and the target location\n\
float64 absolute_tolerance\n\
\n\
\n\
================================================================================\n\
MSG: geometry_msgs/PointStamped\n\
# This represents a Point with reference coordinate frame and timestamp\n\
Header header\n\
Point point\n\
\n\
================================================================================\n\
MSG: geometry_msgs/PoseStamped\n\
# A Pose with reference coordinate frame and timestamp\n\
Header header\n\
Pose pose\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: motion_planning_msgs/ArmNavigationErrorCodes\n\
int32 val\n\
\n\
# overall behavior\n\
int32 PLANNING_FAILED=-1\n\
int32 SUCCESS=1\n\
int32 TIMED_OUT=-2\n\
\n\
# start state errors\n\
int32 START_STATE_IN_COLLISION=-3\n\
int32 START_STATE_VIOLATES_PATH_CONSTRAINTS=-4\n\
\n\
# goal errors\n\
int32 GOAL_IN_COLLISION=-5\n\
int32 GOAL_VIOLATES_PATH_CONSTRAINTS=-6\n\
\n\
# robot state\n\
int32 INVALID_ROBOT_STATE=-7\n\
int32 INCOMPLETE_ROBOT_STATE=-8\n\
\n\
# planning request errors\n\
int32 INVALID_PLANNER_ID=-9\n\
int32 INVALID_NUM_PLANNING_ATTEMPTS=-10\n\
int32 INVALID_ALLOWED_PLANNING_TIME=-11\n\
int32 INVALID_GROUP_NAME=-12\n\
int32 INVALID_GOAL_JOINT_CONSTRAINTS=-13\n\
int32 INVALID_GOAL_POSITION_CONSTRAINTS=-14\n\
int32 INVALID_GOAL_ORIENTATION_CONSTRAINTS=-15\n\
int32 INVALID_PATH_JOINT_CONSTRAINTS=-16\n\
int32 INVALID_PATH_POSITION_CONSTRAINTS=-17\n\
int32 INVALID_PATH_ORIENTATION_CONSTRAINTS=-18\n\
\n\
# state/trajectory monitor errors\n\
int32 INVALID_TRAJECTORY=-19\n\
int32 INVALID_INDEX=-20\n\
int32 JOINT_LIMITS_VIOLATED=-21\n\
int32 PATH_CONSTRAINTS_VIOLATED=-22\n\
int32 COLLISION_CONSTRAINTS_VIOLATED=-23\n\
int32 GOAL_CONSTRAINTS_VIOLATED=-24\n\
int32 JOINTS_NOT_MOVING=-25\n\
int32 TRAJECTORY_CONTROLLER_FAILED=-26\n\
\n\
# system errors\n\
int32 FRAME_TRANSFORM_FAILURE=-27\n\
int32 COLLISION_CHECKING_UNAVAILABLE=-28\n\
int32 ROBOT_STATE_STALE=-29\n\
int32 SENSOR_INFO_STALE=-30\n\
\n\
# kinematics errors\n\
int32 NO_IK_SOLUTION=-31\n\
int32 INVALID_LINK_NAME=-32\n\
int32 IK_LINK_IN_COLLISION=-33\n\
int32 NO_FK_SOLUTION=-34\n\
int32 KINEMATICS_STATE_IN_COLLISION=-35\n\
\n\
# general errors\n\
int32 INVALID_TIMEOUT=-36\n\
\n\
\n\
";
  }

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

} // namespace message_traits
} // namespace ros

namespace ros
{
namespace serialization
{

template<class ContainerAllocator> struct Serializer< ::planning_environment_msgs::SetConstraintsRequest_<ContainerAllocator> >
{
  template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
  {
    stream.next(m.path_constraints);
    stream.next(m.goal_constraints);
  }

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


namespace ros
{
namespace serialization
{

template<class ContainerAllocator> struct Serializer< ::planning_environment_msgs::SetConstraintsResponse_<ContainerAllocator> >
{
  template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
  {
    stream.next(m.path_constraints);
    stream.next(m.goal_constraints);
    stream.next(m.error_code);
  }

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

namespace ros
{
namespace service_traits
{
template<>
struct MD5Sum<planning_environment_msgs::SetConstraints> {
  static const char* value() 
  {
    return "60cfcfae4d588cf6b9a94199b57d97db";
  }

  static const char* value(const planning_environment_msgs::SetConstraints&) { return value(); } 
};

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

  static const char* value(const planning_environment_msgs::SetConstraints&) { return value(); } 
};

template<class ContainerAllocator>
struct MD5Sum<planning_environment_msgs::SetConstraintsRequest_<ContainerAllocator> > {
  static const char* value() 
  {
    return "60cfcfae4d588cf6b9a94199b57d97db";
  }

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

template<class ContainerAllocator>
struct DataType<planning_environment_msgs::SetConstraintsRequest_<ContainerAllocator> > {
  static const char* value() 
  {
    return "planning_environment_msgs/SetConstraints";
  }

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

template<class ContainerAllocator>
struct MD5Sum<planning_environment_msgs::SetConstraintsResponse_<ContainerAllocator> > {
  static const char* value() 
  {
    return "60cfcfae4d588cf6b9a94199b57d97db";
  }

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

template<class ContainerAllocator>
struct DataType<planning_environment_msgs::SetConstraintsResponse_<ContainerAllocator> > {
  static const char* value() 
  {
    return "planning_environment_msgs/SetConstraints";
  }

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

} // namespace service_traits
} // namespace ros

#endif // PLANNING_ENVIRONMENT_MSGS_SERVICE_SETCONSTRAINTS_H

---

planning_environment_msgs
Author(s): Sachin Chitta
autogenerated on Fri Jan 11 09:38:42 2013