00001
00002 #ifndef KINEMATICS_MSGS_SERVICE_GETPOSITIONIK_H
00003 #define KINEMATICS_MSGS_SERVICE_GETPOSITIONIK_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 "ros/service_traits.h"
00018
00019 #include "kinematics_msgs/PositionIKRequest.h"
00020
00021
00022 #include "arm_navigation_msgs/RobotState.h"
00023 #include "arm_navigation_msgs/ArmNavigationErrorCodes.h"
00024
00025 namespace kinematics_msgs
00026 {
00027 template <class ContainerAllocator>
00028 struct GetPositionIKRequest_ {
00029 typedef GetPositionIKRequest_<ContainerAllocator> Type;
00030
00031 GetPositionIKRequest_()
00032 : ik_request()
00033 , timeout()
00034 {
00035 }
00036
00037 GetPositionIKRequest_(const ContainerAllocator& _alloc)
00038 : ik_request(_alloc)
00039 , timeout()
00040 {
00041 }
00042
00043 typedef ::kinematics_msgs::PositionIKRequest_<ContainerAllocator> _ik_request_type;
00044 ::kinematics_msgs::PositionIKRequest_<ContainerAllocator> ik_request;
00045
00046 typedef ros::Duration _timeout_type;
00047 ros::Duration timeout;
00048
00049
00050 private:
00051 static const char* __s_getDataType_() { return "kinematics_msgs/GetPositionIKRequest"; }
00052 public:
00053 ROS_DEPRECATED static const std::string __s_getDataType() { return __s_getDataType_(); }
00054
00055 ROS_DEPRECATED const std::string __getDataType() const { return __s_getDataType_(); }
00056
00057 private:
00058 static const char* __s_getMD5Sum_() { return "bf9ee33930d9eaff390b8af4a213ba62"; }
00059 public:
00060 ROS_DEPRECATED static const std::string __s_getMD5Sum() { return __s_getMD5Sum_(); }
00061
00062 ROS_DEPRECATED const std::string __getMD5Sum() const { return __s_getMD5Sum_(); }
00063
00064 private:
00065 static const char* __s_getServerMD5Sum_() { return "6d82fcb918d48c6d8a708bc55e34ace2"; }
00066 public:
00067 ROS_DEPRECATED static const std::string __s_getServerMD5Sum() { return __s_getServerMD5Sum_(); }
00068
00069 ROS_DEPRECATED const std::string __getServerMD5Sum() const { return __s_getServerMD5Sum_(); }
00070
00071 private:
00072 static const char* __s_getMessageDefinition_() { return "\n\
00073 \n\
00074 kinematics_msgs/PositionIKRequest ik_request\n\
00075 \n\
00076 duration timeout\n\
00077 \n\
00078 ================================================================================\n\
00079 MSG: kinematics_msgs/PositionIKRequest\n\
00080 # A Position IK request message\n\
00081 # The name of the link for which we are computing IK\n\
00082 string ik_link_name\n\
00083 \n\
00084 # The (stamped) pose of the link\n\
00085 geometry_msgs/PoseStamped pose_stamped\n\
00086 \n\
00087 # A RobotState consisting of hint/seed positions for the IK computation. \n\
00088 # These may be used to seed the IK search. \n\
00089 # The seed state MUST contain state for all joints to be used by the IK solver\n\
00090 # to compute IK. The list of joints that the IK solver deals with can be found using\n\
00091 # the kinematics_msgs/GetKinematicSolverInfo\n\
00092 arm_navigation_msgs/RobotState ik_seed_state\n\
00093 \n\
00094 # Additional state information can be provided here to specify the starting positions \n\
00095 # of other joints/links on the robot.\n\
00096 arm_navigation_msgs/RobotState robot_state\n\
00097 \n\
00098 ================================================================================\n\
00099 MSG: geometry_msgs/PoseStamped\n\
00100 # A Pose with reference coordinate frame and timestamp\n\
00101 Header header\n\
00102 Pose pose\n\
00103 \n\
00104 ================================================================================\n\
00105 MSG: std_msgs/Header\n\
00106 # Standard metadata for higher-level stamped data types.\n\
00107 # This is generally used to communicate timestamped data \n\
00108 # in a particular coordinate frame.\n\
00109 # \n\
00110 # sequence ID: consecutively increasing ID \n\
00111 uint32 seq\n\
00112 #Two-integer timestamp that is expressed as:\n\
00113 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00114 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00115 # time-handling sugar is provided by the client library\n\
00116 time stamp\n\
00117 #Frame this data is associated with\n\
00118 # 0: no frame\n\
00119 # 1: global frame\n\
00120 string frame_id\n\
00121 \n\
00122 ================================================================================\n\
00123 MSG: geometry_msgs/Pose\n\
00124 # A representation of pose in free space, composed of postion and orientation. \n\
00125 Point position\n\
00126 Quaternion orientation\n\
00127 \n\
00128 ================================================================================\n\
00129 MSG: geometry_msgs/Point\n\
00130 # This contains the position of a point in free space\n\
00131 float64 x\n\
00132 float64 y\n\
00133 float64 z\n\
00134 \n\
00135 ================================================================================\n\
00136 MSG: geometry_msgs/Quaternion\n\
00137 # This represents an orientation in free space in quaternion form.\n\
00138 \n\
00139 float64 x\n\
00140 float64 y\n\
00141 float64 z\n\
00142 float64 w\n\
00143 \n\
00144 ================================================================================\n\
00145 MSG: arm_navigation_msgs/RobotState\n\
00146 # This message contains information about the robot state, i.e. the positions of its joints and links\n\
00147 sensor_msgs/JointState joint_state\n\
00148 arm_navigation_msgs/MultiDOFJointState multi_dof_joint_state\n\
00149 \n\
00150 ================================================================================\n\
00151 MSG: sensor_msgs/JointState\n\
00152 # This is a message that holds data to describe the state of a set of torque controlled joints. \n\
00153 #\n\
00154 # The state of each joint (revolute or prismatic) is defined by:\n\
00155 # * the position of the joint (rad or m),\n\
00156 # * the velocity of the joint (rad/s or m/s) and \n\
00157 # * the effort that is applied in the joint (Nm or N).\n\
00158 #\n\
00159 # Each joint is uniquely identified by its name\n\
00160 # The header specifies the time at which the joint states were recorded. All the joint states\n\
00161 # in one message have to be recorded at the same time.\n\
00162 #\n\
00163 # This message consists of a multiple arrays, one for each part of the joint state. \n\
00164 # The goal is to make each of the fields optional. When e.g. your joints have no\n\
00165 # effort associated with them, you can leave the effort array empty. \n\
00166 #\n\
00167 # All arrays in this message should have the same size, or be empty.\n\
00168 # This is the only way to uniquely associate the joint name with the correct\n\
00169 # states.\n\
00170 \n\
00171 \n\
00172 Header header\n\
00173 \n\
00174 string[] name\n\
00175 float64[] position\n\
00176 float64[] velocity\n\
00177 float64[] effort\n\
00178 \n\
00179 ================================================================================\n\
00180 MSG: arm_navigation_msgs/MultiDOFJointState\n\
00181 #A representation of a multi-dof joint state\n\
00182 time stamp\n\
00183 string[] joint_names\n\
00184 string[] frame_ids\n\
00185 string[] child_frame_ids\n\
00186 geometry_msgs/Pose[] poses\n\
00187 \n\
00188 "; }
00189 public:
00190 ROS_DEPRECATED static const std::string __s_getMessageDefinition() { return __s_getMessageDefinition_(); }
00191
00192 ROS_DEPRECATED const std::string __getMessageDefinition() const { return __s_getMessageDefinition_(); }
00193
00194 ROS_DEPRECATED virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const
00195 {
00196 ros::serialization::OStream stream(write_ptr, 1000000000);
00197 ros::serialization::serialize(stream, ik_request);
00198 ros::serialization::serialize(stream, timeout);
00199 return stream.getData();
00200 }
00201
00202 ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr)
00203 {
00204 ros::serialization::IStream stream(read_ptr, 1000000000);
00205 ros::serialization::deserialize(stream, ik_request);
00206 ros::serialization::deserialize(stream, timeout);
00207 return stream.getData();
00208 }
00209
00210 ROS_DEPRECATED virtual uint32_t serializationLength() const
00211 {
00212 uint32_t size = 0;
00213 size += ros::serialization::serializationLength(ik_request);
00214 size += ros::serialization::serializationLength(timeout);
00215 return size;
00216 }
00217
00218 typedef boost::shared_ptr< ::kinematics_msgs::GetPositionIKRequest_<ContainerAllocator> > Ptr;
00219 typedef boost::shared_ptr< ::kinematics_msgs::GetPositionIKRequest_<ContainerAllocator> const> ConstPtr;
00220 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00221 };
00222 typedef ::kinematics_msgs::GetPositionIKRequest_<std::allocator<void> > GetPositionIKRequest;
00223
00224 typedef boost::shared_ptr< ::kinematics_msgs::GetPositionIKRequest> GetPositionIKRequestPtr;
00225 typedef boost::shared_ptr< ::kinematics_msgs::GetPositionIKRequest const> GetPositionIKRequestConstPtr;
00226
00227
00228 template <class ContainerAllocator>
00229 struct GetPositionIKResponse_ {
00230 typedef GetPositionIKResponse_<ContainerAllocator> Type;
00231
00232 GetPositionIKResponse_()
00233 : solution()
00234 , error_code()
00235 {
00236 }
00237
00238 GetPositionIKResponse_(const ContainerAllocator& _alloc)
00239 : solution(_alloc)
00240 , error_code(_alloc)
00241 {
00242 }
00243
00244 typedef ::arm_navigation_msgs::RobotState_<ContainerAllocator> _solution_type;
00245 ::arm_navigation_msgs::RobotState_<ContainerAllocator> solution;
00246
00247 typedef ::arm_navigation_msgs::ArmNavigationErrorCodes_<ContainerAllocator> _error_code_type;
00248 ::arm_navigation_msgs::ArmNavigationErrorCodes_<ContainerAllocator> error_code;
00249
00250
00251 private:
00252 static const char* __s_getDataType_() { return "kinematics_msgs/GetPositionIKResponse"; }
00253 public:
00254 ROS_DEPRECATED static const std::string __s_getDataType() { return __s_getDataType_(); }
00255
00256 ROS_DEPRECATED const std::string __getDataType() const { return __s_getDataType_(); }
00257
00258 private:
00259 static const char* __s_getMD5Sum_() { return "5a8bbc4eb2775fe00cbd09858fd3dc65"; }
00260 public:
00261 ROS_DEPRECATED static const std::string __s_getMD5Sum() { return __s_getMD5Sum_(); }
00262
00263 ROS_DEPRECATED const std::string __getMD5Sum() const { return __s_getMD5Sum_(); }
00264
00265 private:
00266 static const char* __s_getServerMD5Sum_() { return "6d82fcb918d48c6d8a708bc55e34ace2"; }
00267 public:
00268 ROS_DEPRECATED static const std::string __s_getServerMD5Sum() { return __s_getServerMD5Sum_(); }
00269
00270 ROS_DEPRECATED const std::string __getServerMD5Sum() const { return __s_getServerMD5Sum_(); }
00271
00272 private:
00273 static const char* __s_getMessageDefinition_() { return "\n\
00274 \n\
00275 arm_navigation_msgs/RobotState solution\n\
00276 \n\
00277 arm_navigation_msgs/ArmNavigationErrorCodes error_code\n\
00278 \n\
00279 \n\
00280 \n\
00281 ================================================================================\n\
00282 MSG: arm_navigation_msgs/RobotState\n\
00283 # This message contains information about the robot state, i.e. the positions of its joints and links\n\
00284 sensor_msgs/JointState joint_state\n\
00285 arm_navigation_msgs/MultiDOFJointState multi_dof_joint_state\n\
00286 \n\
00287 ================================================================================\n\
00288 MSG: sensor_msgs/JointState\n\
00289 # This is a message that holds data to describe the state of a set of torque controlled joints. \n\
00290 #\n\
00291 # The state of each joint (revolute or prismatic) is defined by:\n\
00292 # * the position of the joint (rad or m),\n\
00293 # * the velocity of the joint (rad/s or m/s) and \n\
00294 # * the effort that is applied in the joint (Nm or N).\n\
00295 #\n\
00296 # Each joint is uniquely identified by its name\n\
00297 # The header specifies the time at which the joint states were recorded. All the joint states\n\
00298 # in one message have to be recorded at the same time.\n\
00299 #\n\
00300 # This message consists of a multiple arrays, one for each part of the joint state. \n\
00301 # The goal is to make each of the fields optional. When e.g. your joints have no\n\
00302 # effort associated with them, you can leave the effort array empty. \n\
00303 #\n\
00304 # All arrays in this message should have the same size, or be empty.\n\
00305 # This is the only way to uniquely associate the joint name with the correct\n\
00306 # states.\n\
00307 \n\
00308 \n\
00309 Header header\n\
00310 \n\
00311 string[] name\n\
00312 float64[] position\n\
00313 float64[] velocity\n\
00314 float64[] effort\n\
00315 \n\
00316 ================================================================================\n\
00317 MSG: std_msgs/Header\n\
00318 # Standard metadata for higher-level stamped data types.\n\
00319 # This is generally used to communicate timestamped data \n\
00320 # in a particular coordinate frame.\n\
00321 # \n\
00322 # sequence ID: consecutively increasing ID \n\
00323 uint32 seq\n\
00324 #Two-integer timestamp that is expressed as:\n\
00325 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00326 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00327 # time-handling sugar is provided by the client library\n\
00328 time stamp\n\
00329 #Frame this data is associated with\n\
00330 # 0: no frame\n\
00331 # 1: global frame\n\
00332 string frame_id\n\
00333 \n\
00334 ================================================================================\n\
00335 MSG: arm_navigation_msgs/MultiDOFJointState\n\
00336 #A representation of a multi-dof joint state\n\
00337 time stamp\n\
00338 string[] joint_names\n\
00339 string[] frame_ids\n\
00340 string[] child_frame_ids\n\
00341 geometry_msgs/Pose[] poses\n\
00342 \n\
00343 ================================================================================\n\
00344 MSG: geometry_msgs/Pose\n\
00345 # A representation of pose in free space, composed of postion and orientation. \n\
00346 Point position\n\
00347 Quaternion orientation\n\
00348 \n\
00349 ================================================================================\n\
00350 MSG: geometry_msgs/Point\n\
00351 # This contains the position of a point in free space\n\
00352 float64 x\n\
00353 float64 y\n\
00354 float64 z\n\
00355 \n\
00356 ================================================================================\n\
00357 MSG: geometry_msgs/Quaternion\n\
00358 # This represents an orientation in free space in quaternion form.\n\
00359 \n\
00360 float64 x\n\
00361 float64 y\n\
00362 float64 z\n\
00363 float64 w\n\
00364 \n\
00365 ================================================================================\n\
00366 MSG: arm_navigation_msgs/ArmNavigationErrorCodes\n\
00367 int32 val\n\
00368 \n\
00369 # overall behavior\n\
00370 int32 PLANNING_FAILED=-1\n\
00371 int32 SUCCESS=1\n\
00372 int32 TIMED_OUT=-2\n\
00373 \n\
00374 # start state errors\n\
00375 int32 START_STATE_IN_COLLISION=-3\n\
00376 int32 START_STATE_VIOLATES_PATH_CONSTRAINTS=-4\n\
00377 \n\
00378 # goal errors\n\
00379 int32 GOAL_IN_COLLISION=-5\n\
00380 int32 GOAL_VIOLATES_PATH_CONSTRAINTS=-6\n\
00381 \n\
00382 # robot state\n\
00383 int32 INVALID_ROBOT_STATE=-7\n\
00384 int32 INCOMPLETE_ROBOT_STATE=-8\n\
00385 \n\
00386 # planning request errors\n\
00387 int32 INVALID_PLANNER_ID=-9\n\
00388 int32 INVALID_NUM_PLANNING_ATTEMPTS=-10\n\
00389 int32 INVALID_ALLOWED_PLANNING_TIME=-11\n\
00390 int32 INVALID_GROUP_NAME=-12\n\
00391 int32 INVALID_GOAL_JOINT_CONSTRAINTS=-13\n\
00392 int32 INVALID_GOAL_POSITION_CONSTRAINTS=-14\n\
00393 int32 INVALID_GOAL_ORIENTATION_CONSTRAINTS=-15\n\
00394 int32 INVALID_PATH_JOINT_CONSTRAINTS=-16\n\
00395 int32 INVALID_PATH_POSITION_CONSTRAINTS=-17\n\
00396 int32 INVALID_PATH_ORIENTATION_CONSTRAINTS=-18\n\
00397 \n\
00398 # state/trajectory monitor errors\n\
00399 int32 INVALID_TRAJECTORY=-19\n\
00400 int32 INVALID_INDEX=-20\n\
00401 int32 JOINT_LIMITS_VIOLATED=-21\n\
00402 int32 PATH_CONSTRAINTS_VIOLATED=-22\n\
00403 int32 COLLISION_CONSTRAINTS_VIOLATED=-23\n\
00404 int32 GOAL_CONSTRAINTS_VIOLATED=-24\n\
00405 int32 JOINTS_NOT_MOVING=-25\n\
00406 int32 TRAJECTORY_CONTROLLER_FAILED=-26\n\
00407 \n\
00408 # system errors\n\
00409 int32 FRAME_TRANSFORM_FAILURE=-27\n\
00410 int32 COLLISION_CHECKING_UNAVAILABLE=-28\n\
00411 int32 ROBOT_STATE_STALE=-29\n\
00412 int32 SENSOR_INFO_STALE=-30\n\
00413 \n\
00414 # kinematics errors\n\
00415 int32 NO_IK_SOLUTION=-31\n\
00416 int32 INVALID_LINK_NAME=-32\n\
00417 int32 IK_LINK_IN_COLLISION=-33\n\
00418 int32 NO_FK_SOLUTION=-34\n\
00419 int32 KINEMATICS_STATE_IN_COLLISION=-35\n\
00420 \n\
00421 # general errors\n\
00422 int32 INVALID_TIMEOUT=-36\n\
00423 \n\
00424 \n\
00425 "; }
00426 public:
00427 ROS_DEPRECATED static const std::string __s_getMessageDefinition() { return __s_getMessageDefinition_(); }
00428
00429 ROS_DEPRECATED const std::string __getMessageDefinition() const { return __s_getMessageDefinition_(); }
00430
00431 ROS_DEPRECATED virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const
00432 {
00433 ros::serialization::OStream stream(write_ptr, 1000000000);
00434 ros::serialization::serialize(stream, solution);
00435 ros::serialization::serialize(stream, error_code);
00436 return stream.getData();
00437 }
00438
00439 ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr)
00440 {
00441 ros::serialization::IStream stream(read_ptr, 1000000000);
00442 ros::serialization::deserialize(stream, solution);
00443 ros::serialization::deserialize(stream, error_code);
00444 return stream.getData();
00445 }
00446
00447 ROS_DEPRECATED virtual uint32_t serializationLength() const
00448 {
00449 uint32_t size = 0;
00450 size += ros::serialization::serializationLength(solution);
00451 size += ros::serialization::serializationLength(error_code);
00452 return size;
00453 }
00454
00455 typedef boost::shared_ptr< ::kinematics_msgs::GetPositionIKResponse_<ContainerAllocator> > Ptr;
00456 typedef boost::shared_ptr< ::kinematics_msgs::GetPositionIKResponse_<ContainerAllocator> const> ConstPtr;
00457 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00458 };
00459 typedef ::kinematics_msgs::GetPositionIKResponse_<std::allocator<void> > GetPositionIKResponse;
00460
00461 typedef boost::shared_ptr< ::kinematics_msgs::GetPositionIKResponse> GetPositionIKResponsePtr;
00462 typedef boost::shared_ptr< ::kinematics_msgs::GetPositionIKResponse const> GetPositionIKResponseConstPtr;
00463
00464 struct GetPositionIK
00465 {
00466
00467 typedef GetPositionIKRequest Request;
00468 typedef GetPositionIKResponse Response;
00469 Request request;
00470 Response response;
00471
00472 typedef Request RequestType;
00473 typedef Response ResponseType;
00474 };
00475 }
00476
00477 namespace ros
00478 {
00479 namespace message_traits
00480 {
00481 template<class ContainerAllocator> struct IsMessage< ::kinematics_msgs::GetPositionIKRequest_<ContainerAllocator> > : public TrueType {};
00482 template<class ContainerAllocator> struct IsMessage< ::kinematics_msgs::GetPositionIKRequest_<ContainerAllocator> const> : public TrueType {};
00483 template<class ContainerAllocator>
00484 struct MD5Sum< ::kinematics_msgs::GetPositionIKRequest_<ContainerAllocator> > {
00485 static const char* value()
00486 {
00487 return "bf9ee33930d9eaff390b8af4a213ba62";
00488 }
00489
00490 static const char* value(const ::kinematics_msgs::GetPositionIKRequest_<ContainerAllocator> &) { return value(); }
00491 static const uint64_t static_value1 = 0xbf9ee33930d9eaffULL;
00492 static const uint64_t static_value2 = 0x390b8af4a213ba62ULL;
00493 };
00494
00495 template<class ContainerAllocator>
00496 struct DataType< ::kinematics_msgs::GetPositionIKRequest_<ContainerAllocator> > {
00497 static const char* value()
00498 {
00499 return "kinematics_msgs/GetPositionIKRequest";
00500 }
00501
00502 static const char* value(const ::kinematics_msgs::GetPositionIKRequest_<ContainerAllocator> &) { return value(); }
00503 };
00504
00505 template<class ContainerAllocator>
00506 struct Definition< ::kinematics_msgs::GetPositionIKRequest_<ContainerAllocator> > {
00507 static const char* value()
00508 {
00509 return "\n\
00510 \n\
00511 kinematics_msgs/PositionIKRequest ik_request\n\
00512 \n\
00513 duration timeout\n\
00514 \n\
00515 ================================================================================\n\
00516 MSG: kinematics_msgs/PositionIKRequest\n\
00517 # A Position IK request message\n\
00518 # The name of the link for which we are computing IK\n\
00519 string ik_link_name\n\
00520 \n\
00521 # The (stamped) pose of the link\n\
00522 geometry_msgs/PoseStamped pose_stamped\n\
00523 \n\
00524 # A RobotState consisting of hint/seed positions for the IK computation. \n\
00525 # These may be used to seed the IK search. \n\
00526 # The seed state MUST contain state for all joints to be used by the IK solver\n\
00527 # to compute IK. The list of joints that the IK solver deals with can be found using\n\
00528 # the kinematics_msgs/GetKinematicSolverInfo\n\
00529 arm_navigation_msgs/RobotState ik_seed_state\n\
00530 \n\
00531 # Additional state information can be provided here to specify the starting positions \n\
00532 # of other joints/links on the robot.\n\
00533 arm_navigation_msgs/RobotState robot_state\n\
00534 \n\
00535 ================================================================================\n\
00536 MSG: geometry_msgs/PoseStamped\n\
00537 # A Pose with reference coordinate frame and timestamp\n\
00538 Header header\n\
00539 Pose pose\n\
00540 \n\
00541 ================================================================================\n\
00542 MSG: std_msgs/Header\n\
00543 # Standard metadata for higher-level stamped data types.\n\
00544 # This is generally used to communicate timestamped data \n\
00545 # in a particular coordinate frame.\n\
00546 # \n\
00547 # sequence ID: consecutively increasing ID \n\
00548 uint32 seq\n\
00549 #Two-integer timestamp that is expressed as:\n\
00550 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00551 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00552 # time-handling sugar is provided by the client library\n\
00553 time stamp\n\
00554 #Frame this data is associated with\n\
00555 # 0: no frame\n\
00556 # 1: global frame\n\
00557 string frame_id\n\
00558 \n\
00559 ================================================================================\n\
00560 MSG: geometry_msgs/Pose\n\
00561 # A representation of pose in free space, composed of postion and orientation. \n\
00562 Point position\n\
00563 Quaternion orientation\n\
00564 \n\
00565 ================================================================================\n\
00566 MSG: geometry_msgs/Point\n\
00567 # This contains the position of a point in free space\n\
00568 float64 x\n\
00569 float64 y\n\
00570 float64 z\n\
00571 \n\
00572 ================================================================================\n\
00573 MSG: geometry_msgs/Quaternion\n\
00574 # This represents an orientation in free space in quaternion form.\n\
00575 \n\
00576 float64 x\n\
00577 float64 y\n\
00578 float64 z\n\
00579 float64 w\n\
00580 \n\
00581 ================================================================================\n\
00582 MSG: arm_navigation_msgs/RobotState\n\
00583 # This message contains information about the robot state, i.e. the positions of its joints and links\n\
00584 sensor_msgs/JointState joint_state\n\
00585 arm_navigation_msgs/MultiDOFJointState multi_dof_joint_state\n\
00586 \n\
00587 ================================================================================\n\
00588 MSG: sensor_msgs/JointState\n\
00589 # This is a message that holds data to describe the state of a set of torque controlled joints. \n\
00590 #\n\
00591 # The state of each joint (revolute or prismatic) is defined by:\n\
00592 # * the position of the joint (rad or m),\n\
00593 # * the velocity of the joint (rad/s or m/s) and \n\
00594 # * the effort that is applied in the joint (Nm or N).\n\
00595 #\n\
00596 # Each joint is uniquely identified by its name\n\
00597 # The header specifies the time at which the joint states were recorded. All the joint states\n\
00598 # in one message have to be recorded at the same time.\n\
00599 #\n\
00600 # This message consists of a multiple arrays, one for each part of the joint state. \n\
00601 # The goal is to make each of the fields optional. When e.g. your joints have no\n\
00602 # effort associated with them, you can leave the effort array empty. \n\
00603 #\n\
00604 # All arrays in this message should have the same size, or be empty.\n\
00605 # This is the only way to uniquely associate the joint name with the correct\n\
00606 # states.\n\
00607 \n\
00608 \n\
00609 Header header\n\
00610 \n\
00611 string[] name\n\
00612 float64[] position\n\
00613 float64[] velocity\n\
00614 float64[] effort\n\
00615 \n\
00616 ================================================================================\n\
00617 MSG: arm_navigation_msgs/MultiDOFJointState\n\
00618 #A representation of a multi-dof joint state\n\
00619 time stamp\n\
00620 string[] joint_names\n\
00621 string[] frame_ids\n\
00622 string[] child_frame_ids\n\
00623 geometry_msgs/Pose[] poses\n\
00624 \n\
00625 ";
00626 }
00627
00628 static const char* value(const ::kinematics_msgs::GetPositionIKRequest_<ContainerAllocator> &) { return value(); }
00629 };
00630
00631 }
00632 }
00633
00634
00635 namespace ros
00636 {
00637 namespace message_traits
00638 {
00639 template<class ContainerAllocator> struct IsMessage< ::kinematics_msgs::GetPositionIKResponse_<ContainerAllocator> > : public TrueType {};
00640 template<class ContainerAllocator> struct IsMessage< ::kinematics_msgs::GetPositionIKResponse_<ContainerAllocator> const> : public TrueType {};
00641 template<class ContainerAllocator>
00642 struct MD5Sum< ::kinematics_msgs::GetPositionIKResponse_<ContainerAllocator> > {
00643 static const char* value()
00644 {
00645 return "5a8bbc4eb2775fe00cbd09858fd3dc65";
00646 }
00647
00648 static const char* value(const ::kinematics_msgs::GetPositionIKResponse_<ContainerAllocator> &) { return value(); }
00649 static const uint64_t static_value1 = 0x5a8bbc4eb2775fe0ULL;
00650 static const uint64_t static_value2 = 0x0cbd09858fd3dc65ULL;
00651 };
00652
00653 template<class ContainerAllocator>
00654 struct DataType< ::kinematics_msgs::GetPositionIKResponse_<ContainerAllocator> > {
00655 static const char* value()
00656 {
00657 return "kinematics_msgs/GetPositionIKResponse";
00658 }
00659
00660 static const char* value(const ::kinematics_msgs::GetPositionIKResponse_<ContainerAllocator> &) { return value(); }
00661 };
00662
00663 template<class ContainerAllocator>
00664 struct Definition< ::kinematics_msgs::GetPositionIKResponse_<ContainerAllocator> > {
00665 static const char* value()
00666 {
00667 return "\n\
00668 \n\
00669 arm_navigation_msgs/RobotState solution\n\
00670 \n\
00671 arm_navigation_msgs/ArmNavigationErrorCodes error_code\n\
00672 \n\
00673 \n\
00674 \n\
00675 ================================================================================\n\
00676 MSG: arm_navigation_msgs/RobotState\n\
00677 # This message contains information about the robot state, i.e. the positions of its joints and links\n\
00678 sensor_msgs/JointState joint_state\n\
00679 arm_navigation_msgs/MultiDOFJointState multi_dof_joint_state\n\
00680 \n\
00681 ================================================================================\n\
00682 MSG: sensor_msgs/JointState\n\
00683 # This is a message that holds data to describe the state of a set of torque controlled joints. \n\
00684 #\n\
00685 # The state of each joint (revolute or prismatic) is defined by:\n\
00686 # * the position of the joint (rad or m),\n\
00687 # * the velocity of the joint (rad/s or m/s) and \n\
00688 # * the effort that is applied in the joint (Nm or N).\n\
00689 #\n\
00690 # Each joint is uniquely identified by its name\n\
00691 # The header specifies the time at which the joint states were recorded. All the joint states\n\
00692 # in one message have to be recorded at the same time.\n\
00693 #\n\
00694 # This message consists of a multiple arrays, one for each part of the joint state. \n\
00695 # The goal is to make each of the fields optional. When e.g. your joints have no\n\
00696 # effort associated with them, you can leave the effort array empty. \n\
00697 #\n\
00698 # All arrays in this message should have the same size, or be empty.\n\
00699 # This is the only way to uniquely associate the joint name with the correct\n\
00700 # states.\n\
00701 \n\
00702 \n\
00703 Header header\n\
00704 \n\
00705 string[] name\n\
00706 float64[] position\n\
00707 float64[] velocity\n\
00708 float64[] effort\n\
00709 \n\
00710 ================================================================================\n\
00711 MSG: std_msgs/Header\n\
00712 # Standard metadata for higher-level stamped data types.\n\
00713 # This is generally used to communicate timestamped data \n\
00714 # in a particular coordinate frame.\n\
00715 # \n\
00716 # sequence ID: consecutively increasing ID \n\
00717 uint32 seq\n\
00718 #Two-integer timestamp that is expressed as:\n\
00719 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00720 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00721 # time-handling sugar is provided by the client library\n\
00722 time stamp\n\
00723 #Frame this data is associated with\n\
00724 # 0: no frame\n\
00725 # 1: global frame\n\
00726 string frame_id\n\
00727 \n\
00728 ================================================================================\n\
00729 MSG: arm_navigation_msgs/MultiDOFJointState\n\
00730 #A representation of a multi-dof joint state\n\
00731 time stamp\n\
00732 string[] joint_names\n\
00733 string[] frame_ids\n\
00734 string[] child_frame_ids\n\
00735 geometry_msgs/Pose[] poses\n\
00736 \n\
00737 ================================================================================\n\
00738 MSG: geometry_msgs/Pose\n\
00739 # A representation of pose in free space, composed of postion and orientation. \n\
00740 Point position\n\
00741 Quaternion orientation\n\
00742 \n\
00743 ================================================================================\n\
00744 MSG: geometry_msgs/Point\n\
00745 # This contains the position of a point in free space\n\
00746 float64 x\n\
00747 float64 y\n\
00748 float64 z\n\
00749 \n\
00750 ================================================================================\n\
00751 MSG: geometry_msgs/Quaternion\n\
00752 # This represents an orientation in free space in quaternion form.\n\
00753 \n\
00754 float64 x\n\
00755 float64 y\n\
00756 float64 z\n\
00757 float64 w\n\
00758 \n\
00759 ================================================================================\n\
00760 MSG: arm_navigation_msgs/ArmNavigationErrorCodes\n\
00761 int32 val\n\
00762 \n\
00763 # overall behavior\n\
00764 int32 PLANNING_FAILED=-1\n\
00765 int32 SUCCESS=1\n\
00766 int32 TIMED_OUT=-2\n\
00767 \n\
00768 # start state errors\n\
00769 int32 START_STATE_IN_COLLISION=-3\n\
00770 int32 START_STATE_VIOLATES_PATH_CONSTRAINTS=-4\n\
00771 \n\
00772 # goal errors\n\
00773 int32 GOAL_IN_COLLISION=-5\n\
00774 int32 GOAL_VIOLATES_PATH_CONSTRAINTS=-6\n\
00775 \n\
00776 # robot state\n\
00777 int32 INVALID_ROBOT_STATE=-7\n\
00778 int32 INCOMPLETE_ROBOT_STATE=-8\n\
00779 \n\
00780 # planning request errors\n\
00781 int32 INVALID_PLANNER_ID=-9\n\
00782 int32 INVALID_NUM_PLANNING_ATTEMPTS=-10\n\
00783 int32 INVALID_ALLOWED_PLANNING_TIME=-11\n\
00784 int32 INVALID_GROUP_NAME=-12\n\
00785 int32 INVALID_GOAL_JOINT_CONSTRAINTS=-13\n\
00786 int32 INVALID_GOAL_POSITION_CONSTRAINTS=-14\n\
00787 int32 INVALID_GOAL_ORIENTATION_CONSTRAINTS=-15\n\
00788 int32 INVALID_PATH_JOINT_CONSTRAINTS=-16\n\
00789 int32 INVALID_PATH_POSITION_CONSTRAINTS=-17\n\
00790 int32 INVALID_PATH_ORIENTATION_CONSTRAINTS=-18\n\
00791 \n\
00792 # state/trajectory monitor errors\n\
00793 int32 INVALID_TRAJECTORY=-19\n\
00794 int32 INVALID_INDEX=-20\n\
00795 int32 JOINT_LIMITS_VIOLATED=-21\n\
00796 int32 PATH_CONSTRAINTS_VIOLATED=-22\n\
00797 int32 COLLISION_CONSTRAINTS_VIOLATED=-23\n\
00798 int32 GOAL_CONSTRAINTS_VIOLATED=-24\n\
00799 int32 JOINTS_NOT_MOVING=-25\n\
00800 int32 TRAJECTORY_CONTROLLER_FAILED=-26\n\
00801 \n\
00802 # system errors\n\
00803 int32 FRAME_TRANSFORM_FAILURE=-27\n\
00804 int32 COLLISION_CHECKING_UNAVAILABLE=-28\n\
00805 int32 ROBOT_STATE_STALE=-29\n\
00806 int32 SENSOR_INFO_STALE=-30\n\
00807 \n\
00808 # kinematics errors\n\
00809 int32 NO_IK_SOLUTION=-31\n\
00810 int32 INVALID_LINK_NAME=-32\n\
00811 int32 IK_LINK_IN_COLLISION=-33\n\
00812 int32 NO_FK_SOLUTION=-34\n\
00813 int32 KINEMATICS_STATE_IN_COLLISION=-35\n\
00814 \n\
00815 # general errors\n\
00816 int32 INVALID_TIMEOUT=-36\n\
00817 \n\
00818 \n\
00819 ";
00820 }
00821
00822 static const char* value(const ::kinematics_msgs::GetPositionIKResponse_<ContainerAllocator> &) { return value(); }
00823 };
00824
00825 }
00826 }
00827
00828 namespace ros
00829 {
00830 namespace serialization
00831 {
00832
00833 template<class ContainerAllocator> struct Serializer< ::kinematics_msgs::GetPositionIKRequest_<ContainerAllocator> >
00834 {
00835 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00836 {
00837 stream.next(m.ik_request);
00838 stream.next(m.timeout);
00839 }
00840
00841 ROS_DECLARE_ALLINONE_SERIALIZER;
00842 };
00843 }
00844 }
00845
00846
00847 namespace ros
00848 {
00849 namespace serialization
00850 {
00851
00852 template<class ContainerAllocator> struct Serializer< ::kinematics_msgs::GetPositionIKResponse_<ContainerAllocator> >
00853 {
00854 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00855 {
00856 stream.next(m.solution);
00857 stream.next(m.error_code);
00858 }
00859
00860 ROS_DECLARE_ALLINONE_SERIALIZER;
00861 };
00862 }
00863 }
00864
00865 namespace ros
00866 {
00867 namespace service_traits
00868 {
00869 template<>
00870 struct MD5Sum<kinematics_msgs::GetPositionIK> {
00871 static const char* value()
00872 {
00873 return "6d82fcb918d48c6d8a708bc55e34ace2";
00874 }
00875
00876 static const char* value(const kinematics_msgs::GetPositionIK&) { return value(); }
00877 };
00878
00879 template<>
00880 struct DataType<kinematics_msgs::GetPositionIK> {
00881 static const char* value()
00882 {
00883 return "kinematics_msgs/GetPositionIK";
00884 }
00885
00886 static const char* value(const kinematics_msgs::GetPositionIK&) { return value(); }
00887 };
00888
00889 template<class ContainerAllocator>
00890 struct MD5Sum<kinematics_msgs::GetPositionIKRequest_<ContainerAllocator> > {
00891 static const char* value()
00892 {
00893 return "6d82fcb918d48c6d8a708bc55e34ace2";
00894 }
00895
00896 static const char* value(const kinematics_msgs::GetPositionIKRequest_<ContainerAllocator> &) { return value(); }
00897 };
00898
00899 template<class ContainerAllocator>
00900 struct DataType<kinematics_msgs::GetPositionIKRequest_<ContainerAllocator> > {
00901 static const char* value()
00902 {
00903 return "kinematics_msgs/GetPositionIK";
00904 }
00905
00906 static const char* value(const kinematics_msgs::GetPositionIKRequest_<ContainerAllocator> &) { return value(); }
00907 };
00908
00909 template<class ContainerAllocator>
00910 struct MD5Sum<kinematics_msgs::GetPositionIKResponse_<ContainerAllocator> > {
00911 static const char* value()
00912 {
00913 return "6d82fcb918d48c6d8a708bc55e34ace2";
00914 }
00915
00916 static const char* value(const kinematics_msgs::GetPositionIKResponse_<ContainerAllocator> &) { return value(); }
00917 };
00918
00919 template<class ContainerAllocator>
00920 struct DataType<kinematics_msgs::GetPositionIKResponse_<ContainerAllocator> > {
00921 static const char* value()
00922 {
00923 return "kinematics_msgs/GetPositionIK";
00924 }
00925
00926 static const char* value(const kinematics_msgs::GetPositionIKResponse_<ContainerAllocator> &) { return value(); }
00927 };
00928
00929 }
00930 }
00931
00932 #endif // KINEMATICS_MSGS_SERVICE_GETPOSITIONIK_H
00933
