00001
00002 #ifndef PR2_MANIPULATION_CONTROLLERS_MESSAGE_JTTASKCONTROLLERSTATE_H
00003 #define PR2_MANIPULATION_CONTROLLERS_MESSAGE_JTTASKCONTROLLERSTATE_H
00004 #include <string>
00005 #include <vector>
00006 #include <map>
00007 #include <ostream>
00008 #include "ros/serialization.h"
00009 #include "ros/builtin_message_traits.h"
00010 #include "ros/message_operations.h"
00011 #include "ros/time.h"
00012
00013 #include "ros/macros.h"
00014
00015 #include "ros/assert.h"
00016
00017 #include "std_msgs/Header.h"
00018 #include "geometry_msgs/PoseStamped.h"
00019 #include "geometry_msgs/PoseStamped.h"
00020 #include "geometry_msgs/PoseStamped.h"
00021 #include "geometry_msgs/Twist.h"
00022 #include "geometry_msgs/Twist.h"
00023 #include "geometry_msgs/Twist.h"
00024 #include "geometry_msgs/Wrench.h"
00025 #include "std_msgs/Float64MultiArray.h"
00026 #include "std_msgs/Float64MultiArray.h"
00027
00028 namespace pr2_manipulation_controllers
00029 {
00030 template <class ContainerAllocator>
00031 struct JTTaskControllerState_ {
00032 typedef JTTaskControllerState_<ContainerAllocator> Type;
00033
00034 JTTaskControllerState_()
00035 : header()
00036 , x()
00037 , x_desi()
00038 , x_desi_filtered()
00039 , x_err()
00040 , xd()
00041 , xd_desi()
00042 , F()
00043 , tau_pose()
00044 , tau_posture()
00045 , tau()
00046 , J()
00047 , N()
00048 , df(0.0)
00049 , dx(0.0)
00050 , Df(0.0)
00051 , Dx(0.0)
00052 , stiffness(0.0)
00053 , compliance(0.0)
00054 {
00055 }
00056
00057 JTTaskControllerState_(const ContainerAllocator& _alloc)
00058 : header(_alloc)
00059 , x(_alloc)
00060 , x_desi(_alloc)
00061 , x_desi_filtered(_alloc)
00062 , x_err(_alloc)
00063 , xd(_alloc)
00064 , xd_desi(_alloc)
00065 , F(_alloc)
00066 , tau_pose(_alloc)
00067 , tau_posture(_alloc)
00068 , tau(_alloc)
00069 , J(_alloc)
00070 , N(_alloc)
00071 , df(0.0)
00072 , dx(0.0)
00073 , Df(0.0)
00074 , Dx(0.0)
00075 , stiffness(0.0)
00076 , compliance(0.0)
00077 {
00078 }
00079
00080 typedef ::std_msgs::Header_<ContainerAllocator> _header_type;
00081 ::std_msgs::Header_<ContainerAllocator> header;
00082
00083 typedef ::geometry_msgs::PoseStamped_<ContainerAllocator> _x_type;
00084 ::geometry_msgs::PoseStamped_<ContainerAllocator> x;
00085
00086 typedef ::geometry_msgs::PoseStamped_<ContainerAllocator> _x_desi_type;
00087 ::geometry_msgs::PoseStamped_<ContainerAllocator> x_desi;
00088
00089 typedef ::geometry_msgs::PoseStamped_<ContainerAllocator> _x_desi_filtered_type;
00090 ::geometry_msgs::PoseStamped_<ContainerAllocator> x_desi_filtered;
00091
00092 typedef ::geometry_msgs::Twist_<ContainerAllocator> _x_err_type;
00093 ::geometry_msgs::Twist_<ContainerAllocator> x_err;
00094
00095 typedef ::geometry_msgs::Twist_<ContainerAllocator> _xd_type;
00096 ::geometry_msgs::Twist_<ContainerAllocator> xd;
00097
00098 typedef ::geometry_msgs::Twist_<ContainerAllocator> _xd_desi_type;
00099 ::geometry_msgs::Twist_<ContainerAllocator> xd_desi;
00100
00101 typedef ::geometry_msgs::Wrench_<ContainerAllocator> _F_type;
00102 ::geometry_msgs::Wrench_<ContainerAllocator> F;
00103
00104 typedef std::vector<double, typename ContainerAllocator::template rebind<double>::other > _tau_pose_type;
00105 std::vector<double, typename ContainerAllocator::template rebind<double>::other > tau_pose;
00106
00107 typedef std::vector<double, typename ContainerAllocator::template rebind<double>::other > _tau_posture_type;
00108 std::vector<double, typename ContainerAllocator::template rebind<double>::other > tau_posture;
00109
00110 typedef std::vector<double, typename ContainerAllocator::template rebind<double>::other > _tau_type;
00111 std::vector<double, typename ContainerAllocator::template rebind<double>::other > tau;
00112
00113 typedef ::std_msgs::Float64MultiArray_<ContainerAllocator> _J_type;
00114 ::std_msgs::Float64MultiArray_<ContainerAllocator> J;
00115
00116 typedef ::std_msgs::Float64MultiArray_<ContainerAllocator> _N_type;
00117 ::std_msgs::Float64MultiArray_<ContainerAllocator> N;
00118
00119 typedef double _df_type;
00120 double df;
00121
00122 typedef double _dx_type;
00123 double dx;
00124
00125 typedef double _Df_type;
00126 double Df;
00127
00128 typedef double _Dx_type;
00129 double Dx;
00130
00131 typedef double _stiffness_type;
00132 double stiffness;
00133
00134 typedef double _compliance_type;
00135 double compliance;
00136
00137
00138 ROS_DEPRECATED uint32_t get_tau_pose_size() const { return (uint32_t)tau_pose.size(); }
00139 ROS_DEPRECATED void set_tau_pose_size(uint32_t size) { tau_pose.resize((size_t)size); }
00140 ROS_DEPRECATED void get_tau_pose_vec(std::vector<double, typename ContainerAllocator::template rebind<double>::other > & vec) const { vec = this->tau_pose; }
00141 ROS_DEPRECATED void set_tau_pose_vec(const std::vector<double, typename ContainerAllocator::template rebind<double>::other > & vec) { this->tau_pose = vec; }
00142 ROS_DEPRECATED uint32_t get_tau_posture_size() const { return (uint32_t)tau_posture.size(); }
00143 ROS_DEPRECATED void set_tau_posture_size(uint32_t size) { tau_posture.resize((size_t)size); }
00144 ROS_DEPRECATED void get_tau_posture_vec(std::vector<double, typename ContainerAllocator::template rebind<double>::other > & vec) const { vec = this->tau_posture; }
00145 ROS_DEPRECATED void set_tau_posture_vec(const std::vector<double, typename ContainerAllocator::template rebind<double>::other > & vec) { this->tau_posture = vec; }
00146 ROS_DEPRECATED uint32_t get_tau_size() const { return (uint32_t)tau.size(); }
00147 ROS_DEPRECATED void set_tau_size(uint32_t size) { tau.resize((size_t)size); }
00148 ROS_DEPRECATED void get_tau_vec(std::vector<double, typename ContainerAllocator::template rebind<double>::other > & vec) const { vec = this->tau; }
00149 ROS_DEPRECATED void set_tau_vec(const std::vector<double, typename ContainerAllocator::template rebind<double>::other > & vec) { this->tau = vec; }
00150 private:
00151 static const char* __s_getDataType_() { return "pr2_manipulation_controllers/JTTaskControllerState"; }
00152 public:
00153 ROS_DEPRECATED static const std::string __s_getDataType() { return __s_getDataType_(); }
00154
00155 ROS_DEPRECATED const std::string __getDataType() const { return __s_getDataType_(); }
00156
00157 private:
00158 static const char* __s_getMD5Sum_() { return "d654d2c71a8ecc5db9c015c4141c21d0"; }
00159 public:
00160 ROS_DEPRECATED static const std::string __s_getMD5Sum() { return __s_getMD5Sum_(); }
00161
00162 ROS_DEPRECATED const std::string __getMD5Sum() const { return __s_getMD5Sum_(); }
00163
00164 private:
00165 static const char* __s_getMessageDefinition_() { return "Header header\n\
00166 geometry_msgs/PoseStamped x\n\
00167 geometry_msgs/PoseStamped x_desi\n\
00168 geometry_msgs/PoseStamped x_desi_filtered\n\
00169 geometry_msgs/Twist x_err\n\
00170 geometry_msgs/Twist xd\n\
00171 geometry_msgs/Twist xd_desi\n\
00172 geometry_msgs/Wrench F\n\
00173 float64[] tau_pose\n\
00174 float64[] tau_posture\n\
00175 float64[] tau\n\
00176 std_msgs/Float64MultiArray J\n\
00177 std_msgs/Float64MultiArray N\n\
00178 \n\
00179 # Environmental stiffness\n\
00180 float64 df\n\
00181 float64 dx\n\
00182 float64 Df\n\
00183 float64 Dx\n\
00184 float64 stiffness\n\
00185 float64 compliance\n\
00186 ================================================================================\n\
00187 MSG: std_msgs/Header\n\
00188 # Standard metadata for higher-level stamped data types.\n\
00189 # This is generally used to communicate timestamped data \n\
00190 # in a particular coordinate frame.\n\
00191 # \n\
00192 # sequence ID: consecutively increasing ID \n\
00193 uint32 seq\n\
00194 #Two-integer timestamp that is expressed as:\n\
00195 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00196 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00197 # time-handling sugar is provided by the client library\n\
00198 time stamp\n\
00199 #Frame this data is associated with\n\
00200 # 0: no frame\n\
00201 # 1: global frame\n\
00202 string frame_id\n\
00203 \n\
00204 ================================================================================\n\
00205 MSG: geometry_msgs/PoseStamped\n\
00206 # A Pose with reference coordinate frame and timestamp\n\
00207 Header header\n\
00208 Pose pose\n\
00209 \n\
00210 ================================================================================\n\
00211 MSG: geometry_msgs/Pose\n\
00212 # A representation of pose in free space, composed of postion and orientation. \n\
00213 Point position\n\
00214 Quaternion orientation\n\
00215 \n\
00216 ================================================================================\n\
00217 MSG: geometry_msgs/Point\n\
00218 # This contains the position of a point in free space\n\
00219 float64 x\n\
00220 float64 y\n\
00221 float64 z\n\
00222 \n\
00223 ================================================================================\n\
00224 MSG: geometry_msgs/Quaternion\n\
00225 # This represents an orientation in free space in quaternion form.\n\
00226 \n\
00227 float64 x\n\
00228 float64 y\n\
00229 float64 z\n\
00230 float64 w\n\
00231 \n\
00232 ================================================================================\n\
00233 MSG: geometry_msgs/Twist\n\
00234 # This expresses velocity in free space broken into it's linear and angular parts. \n\
00235 Vector3 linear\n\
00236 Vector3 angular\n\
00237 \n\
00238 ================================================================================\n\
00239 MSG: geometry_msgs/Vector3\n\
00240 # This represents a vector in free space. \n\
00241 \n\
00242 float64 x\n\
00243 float64 y\n\
00244 float64 z\n\
00245 ================================================================================\n\
00246 MSG: geometry_msgs/Wrench\n\
00247 # This represents force in free space, seperated into \n\
00248 # it's linear and angular parts. \n\
00249 Vector3 force\n\
00250 Vector3 torque\n\
00251 \n\
00252 ================================================================================\n\
00253 MSG: std_msgs/Float64MultiArray\n\
00254 # Please look at the MultiArrayLayout message definition for\n\
00255 # documentation on all multiarrays.\n\
00256 \n\
00257 MultiArrayLayout layout # specification of data layout\n\
00258 float64[] data # array of data\n\
00259 \n\
00260 \n\
00261 ================================================================================\n\
00262 MSG: std_msgs/MultiArrayLayout\n\
00263 # The multiarray declares a generic multi-dimensional array of a\n\
00264 # particular data type. Dimensions are ordered from outer most\n\
00265 # to inner most.\n\
00266 \n\
00267 MultiArrayDimension[] dim # Array of dimension properties\n\
00268 uint32 data_offset # padding bytes at front of data\n\
00269 \n\
00270 # Accessors should ALWAYS be written in terms of dimension stride\n\
00271 # and specified outer-most dimension first.\n\
00272 # \n\
00273 # multiarray(i,j,k) = data[data_offset + dim_stride[1]*i + dim_stride[2]*j + k]\n\
00274 #\n\
00275 # A standard, 3-channel 640x480 image with interleaved color channels\n\
00276 # would be specified as:\n\
00277 #\n\
00278 # dim[0].label = \"height\"\n\
00279 # dim[0].size = 480\n\
00280 # dim[0].stride = 3*640*480 = 921600 (note dim[0] stride is just size of image)\n\
00281 # dim[1].label = \"width\"\n\
00282 # dim[1].size = 640\n\
00283 # dim[1].stride = 3*640 = 1920\n\
00284 # dim[2].label = \"channel\"\n\
00285 # dim[2].size = 3\n\
00286 # dim[2].stride = 3\n\
00287 #\n\
00288 # multiarray(i,j,k) refers to the ith row, jth column, and kth channel.\n\
00289 ================================================================================\n\
00290 MSG: std_msgs/MultiArrayDimension\n\
00291 string label # label of given dimension\n\
00292 uint32 size # size of given dimension (in type units)\n\
00293 uint32 stride # stride of given dimension\n\
00294 "; }
00295 public:
00296 ROS_DEPRECATED static const std::string __s_getMessageDefinition() { return __s_getMessageDefinition_(); }
00297
00298 ROS_DEPRECATED const std::string __getMessageDefinition() const { return __s_getMessageDefinition_(); }
00299
00300 ROS_DEPRECATED virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const
00301 {
00302 ros::serialization::OStream stream(write_ptr, 1000000000);
00303 ros::serialization::serialize(stream, header);
00304 ros::serialization::serialize(stream, x);
00305 ros::serialization::serialize(stream, x_desi);
00306 ros::serialization::serialize(stream, x_desi_filtered);
00307 ros::serialization::serialize(stream, x_err);
00308 ros::serialization::serialize(stream, xd);
00309 ros::serialization::serialize(stream, xd_desi);
00310 ros::serialization::serialize(stream, F);
00311 ros::serialization::serialize(stream, tau_pose);
00312 ros::serialization::serialize(stream, tau_posture);
00313 ros::serialization::serialize(stream, tau);
00314 ros::serialization::serialize(stream, J);
00315 ros::serialization::serialize(stream, N);
00316 ros::serialization::serialize(stream, df);
00317 ros::serialization::serialize(stream, dx);
00318 ros::serialization::serialize(stream, Df);
00319 ros::serialization::serialize(stream, Dx);
00320 ros::serialization::serialize(stream, stiffness);
00321 ros::serialization::serialize(stream, compliance);
00322 return stream.getData();
00323 }
00324
00325 ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr)
00326 {
00327 ros::serialization::IStream stream(read_ptr, 1000000000);
00328 ros::serialization::deserialize(stream, header);
00329 ros::serialization::deserialize(stream, x);
00330 ros::serialization::deserialize(stream, x_desi);
00331 ros::serialization::deserialize(stream, x_desi_filtered);
00332 ros::serialization::deserialize(stream, x_err);
00333 ros::serialization::deserialize(stream, xd);
00334 ros::serialization::deserialize(stream, xd_desi);
00335 ros::serialization::deserialize(stream, F);
00336 ros::serialization::deserialize(stream, tau_pose);
00337 ros::serialization::deserialize(stream, tau_posture);
00338 ros::serialization::deserialize(stream, tau);
00339 ros::serialization::deserialize(stream, J);
00340 ros::serialization::deserialize(stream, N);
00341 ros::serialization::deserialize(stream, df);
00342 ros::serialization::deserialize(stream, dx);
00343 ros::serialization::deserialize(stream, Df);
00344 ros::serialization::deserialize(stream, Dx);
00345 ros::serialization::deserialize(stream, stiffness);
00346 ros::serialization::deserialize(stream, compliance);
00347 return stream.getData();
00348 }
00349
00350 ROS_DEPRECATED virtual uint32_t serializationLength() const
00351 {
00352 uint32_t size = 0;
00353 size += ros::serialization::serializationLength(header);
00354 size += ros::serialization::serializationLength(x);
00355 size += ros::serialization::serializationLength(x_desi);
00356 size += ros::serialization::serializationLength(x_desi_filtered);
00357 size += ros::serialization::serializationLength(x_err);
00358 size += ros::serialization::serializationLength(xd);
00359 size += ros::serialization::serializationLength(xd_desi);
00360 size += ros::serialization::serializationLength(F);
00361 size += ros::serialization::serializationLength(tau_pose);
00362 size += ros::serialization::serializationLength(tau_posture);
00363 size += ros::serialization::serializationLength(tau);
00364 size += ros::serialization::serializationLength(J);
00365 size += ros::serialization::serializationLength(N);
00366 size += ros::serialization::serializationLength(df);
00367 size += ros::serialization::serializationLength(dx);
00368 size += ros::serialization::serializationLength(Df);
00369 size += ros::serialization::serializationLength(Dx);
00370 size += ros::serialization::serializationLength(stiffness);
00371 size += ros::serialization::serializationLength(compliance);
00372 return size;
00373 }
00374
00375 typedef boost::shared_ptr< ::pr2_manipulation_controllers::JTTaskControllerState_<ContainerAllocator> > Ptr;
00376 typedef boost::shared_ptr< ::pr2_manipulation_controllers::JTTaskControllerState_<ContainerAllocator> const> ConstPtr;
00377 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00378 };
00379 typedef ::pr2_manipulation_controllers::JTTaskControllerState_<std::allocator<void> > JTTaskControllerState;
00380
00381 typedef boost::shared_ptr< ::pr2_manipulation_controllers::JTTaskControllerState> JTTaskControllerStatePtr;
00382 typedef boost::shared_ptr< ::pr2_manipulation_controllers::JTTaskControllerState const> JTTaskControllerStateConstPtr;
00383
00384
00385 template<typename ContainerAllocator>
00386 std::ostream& operator<<(std::ostream& s, const ::pr2_manipulation_controllers::JTTaskControllerState_<ContainerAllocator> & v)
00387 {
00388 ros::message_operations::Printer< ::pr2_manipulation_controllers::JTTaskControllerState_<ContainerAllocator> >::stream(s, "", v);
00389 return s;}
00390
00391 }
00392
00393 namespace ros
00394 {
00395 namespace message_traits
00396 {
00397 template<class ContainerAllocator> struct IsMessage< ::pr2_manipulation_controllers::JTTaskControllerState_<ContainerAllocator> > : public TrueType {};
00398 template<class ContainerAllocator> struct IsMessage< ::pr2_manipulation_controllers::JTTaskControllerState_<ContainerAllocator> const> : public TrueType {};
00399 template<class ContainerAllocator>
00400 struct MD5Sum< ::pr2_manipulation_controllers::JTTaskControllerState_<ContainerAllocator> > {
00401 static const char* value()
00402 {
00403 return "d654d2c71a8ecc5db9c015c4141c21d0";
00404 }
00405
00406 static const char* value(const ::pr2_manipulation_controllers::JTTaskControllerState_<ContainerAllocator> &) { return value(); }
00407 static const uint64_t static_value1 = 0xd654d2c71a8ecc5dULL;
00408 static const uint64_t static_value2 = 0xb9c015c4141c21d0ULL;
00409 };
00410
00411 template<class ContainerAllocator>
00412 struct DataType< ::pr2_manipulation_controllers::JTTaskControllerState_<ContainerAllocator> > {
00413 static const char* value()
00414 {
00415 return "pr2_manipulation_controllers/JTTaskControllerState";
00416 }
00417
00418 static const char* value(const ::pr2_manipulation_controllers::JTTaskControllerState_<ContainerAllocator> &) { return value(); }
00419 };
00420
00421 template<class ContainerAllocator>
00422 struct Definition< ::pr2_manipulation_controllers::JTTaskControllerState_<ContainerAllocator> > {
00423 static const char* value()
00424 {
00425 return "Header header\n\
00426 geometry_msgs/PoseStamped x\n\
00427 geometry_msgs/PoseStamped x_desi\n\
00428 geometry_msgs/PoseStamped x_desi_filtered\n\
00429 geometry_msgs/Twist x_err\n\
00430 geometry_msgs/Twist xd\n\
00431 geometry_msgs/Twist xd_desi\n\
00432 geometry_msgs/Wrench F\n\
00433 float64[] tau_pose\n\
00434 float64[] tau_posture\n\
00435 float64[] tau\n\
00436 std_msgs/Float64MultiArray J\n\
00437 std_msgs/Float64MultiArray N\n\
00438 \n\
00439 # Environmental stiffness\n\
00440 float64 df\n\
00441 float64 dx\n\
00442 float64 Df\n\
00443 float64 Dx\n\
00444 float64 stiffness\n\
00445 float64 compliance\n\
00446 ================================================================================\n\
00447 MSG: std_msgs/Header\n\
00448 # Standard metadata for higher-level stamped data types.\n\
00449 # This is generally used to communicate timestamped data \n\
00450 # in a particular coordinate frame.\n\
00451 # \n\
00452 # sequence ID: consecutively increasing ID \n\
00453 uint32 seq\n\
00454 #Two-integer timestamp that is expressed as:\n\
00455 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00456 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00457 # time-handling sugar is provided by the client library\n\
00458 time stamp\n\
00459 #Frame this data is associated with\n\
00460 # 0: no frame\n\
00461 # 1: global frame\n\
00462 string frame_id\n\
00463 \n\
00464 ================================================================================\n\
00465 MSG: geometry_msgs/PoseStamped\n\
00466 # A Pose with reference coordinate frame and timestamp\n\
00467 Header header\n\
00468 Pose pose\n\
00469 \n\
00470 ================================================================================\n\
00471 MSG: geometry_msgs/Pose\n\
00472 # A representation of pose in free space, composed of postion and orientation. \n\
00473 Point position\n\
00474 Quaternion orientation\n\
00475 \n\
00476 ================================================================================\n\
00477 MSG: geometry_msgs/Point\n\
00478 # This contains the position of a point in free space\n\
00479 float64 x\n\
00480 float64 y\n\
00481 float64 z\n\
00482 \n\
00483 ================================================================================\n\
00484 MSG: geometry_msgs/Quaternion\n\
00485 # This represents an orientation in free space in quaternion form.\n\
00486 \n\
00487 float64 x\n\
00488 float64 y\n\
00489 float64 z\n\
00490 float64 w\n\
00491 \n\
00492 ================================================================================\n\
00493 MSG: geometry_msgs/Twist\n\
00494 # This expresses velocity in free space broken into it's linear and angular parts. \n\
00495 Vector3 linear\n\
00496 Vector3 angular\n\
00497 \n\
00498 ================================================================================\n\
00499 MSG: geometry_msgs/Vector3\n\
00500 # This represents a vector in free space. \n\
00501 \n\
00502 float64 x\n\
00503 float64 y\n\
00504 float64 z\n\
00505 ================================================================================\n\
00506 MSG: geometry_msgs/Wrench\n\
00507 # This represents force in free space, seperated into \n\
00508 # it's linear and angular parts. \n\
00509 Vector3 force\n\
00510 Vector3 torque\n\
00511 \n\
00512 ================================================================================\n\
00513 MSG: std_msgs/Float64MultiArray\n\
00514 # Please look at the MultiArrayLayout message definition for\n\
00515 # documentation on all multiarrays.\n\
00516 \n\
00517 MultiArrayLayout layout # specification of data layout\n\
00518 float64[] data # array of data\n\
00519 \n\
00520 \n\
00521 ================================================================================\n\
00522 MSG: std_msgs/MultiArrayLayout\n\
00523 # The multiarray declares a generic multi-dimensional array of a\n\
00524 # particular data type. Dimensions are ordered from outer most\n\
00525 # to inner most.\n\
00526 \n\
00527 MultiArrayDimension[] dim # Array of dimension properties\n\
00528 uint32 data_offset # padding bytes at front of data\n\
00529 \n\
00530 # Accessors should ALWAYS be written in terms of dimension stride\n\
00531 # and specified outer-most dimension first.\n\
00532 # \n\
00533 # multiarray(i,j,k) = data[data_offset + dim_stride[1]*i + dim_stride[2]*j + k]\n\
00534 #\n\
00535 # A standard, 3-channel 640x480 image with interleaved color channels\n\
00536 # would be specified as:\n\
00537 #\n\
00538 # dim[0].label = \"height\"\n\
00539 # dim[0].size = 480\n\
00540 # dim[0].stride = 3*640*480 = 921600 (note dim[0] stride is just size of image)\n\
00541 # dim[1].label = \"width\"\n\
00542 # dim[1].size = 640\n\
00543 # dim[1].stride = 3*640 = 1920\n\
00544 # dim[2].label = \"channel\"\n\
00545 # dim[2].size = 3\n\
00546 # dim[2].stride = 3\n\
00547 #\n\
00548 # multiarray(i,j,k) refers to the ith row, jth column, and kth channel.\n\
00549 ================================================================================\n\
00550 MSG: std_msgs/MultiArrayDimension\n\
00551 string label # label of given dimension\n\
00552 uint32 size # size of given dimension (in type units)\n\
00553 uint32 stride # stride of given dimension\n\
00554 ";
00555 }
00556
00557 static const char* value(const ::pr2_manipulation_controllers::JTTaskControllerState_<ContainerAllocator> &) { return value(); }
00558 };
00559
00560 template<class ContainerAllocator> struct HasHeader< ::pr2_manipulation_controllers::JTTaskControllerState_<ContainerAllocator> > : public TrueType {};
00561 template<class ContainerAllocator> struct HasHeader< const ::pr2_manipulation_controllers::JTTaskControllerState_<ContainerAllocator> > : public TrueType {};
00562 }
00563 }
00564
00565 namespace ros
00566 {
00567 namespace serialization
00568 {
00569
00570 template<class ContainerAllocator> struct Serializer< ::pr2_manipulation_controllers::JTTaskControllerState_<ContainerAllocator> >
00571 {
00572 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00573 {
00574 stream.next(m.header);
00575 stream.next(m.x);
00576 stream.next(m.x_desi);
00577 stream.next(m.x_desi_filtered);
00578 stream.next(m.x_err);
00579 stream.next(m.xd);
00580 stream.next(m.xd_desi);
00581 stream.next(m.F);
00582 stream.next(m.tau_pose);
00583 stream.next(m.tau_posture);
00584 stream.next(m.tau);
00585 stream.next(m.J);
00586 stream.next(m.N);
00587 stream.next(m.df);
00588 stream.next(m.dx);
00589 stream.next(m.Df);
00590 stream.next(m.Dx);
00591 stream.next(m.stiffness);
00592 stream.next(m.compliance);
00593 }
00594
00595 ROS_DECLARE_ALLINONE_SERIALIZER;
00596 };
00597 }
00598 }
00599
00600 namespace ros
00601 {
00602 namespace message_operations
00603 {
00604
00605 template<class ContainerAllocator>
00606 struct Printer< ::pr2_manipulation_controllers::JTTaskControllerState_<ContainerAllocator> >
00607 {
00608 template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::pr2_manipulation_controllers::JTTaskControllerState_<ContainerAllocator> & v)
00609 {
00610 s << indent << "header: ";
00611 s << std::endl;
00612 Printer< ::std_msgs::Header_<ContainerAllocator> >::stream(s, indent + " ", v.header);
00613 s << indent << "x: ";
00614 s << std::endl;
00615 Printer< ::geometry_msgs::PoseStamped_<ContainerAllocator> >::stream(s, indent + " ", v.x);
00616 s << indent << "x_desi: ";
00617 s << std::endl;
00618 Printer< ::geometry_msgs::PoseStamped_<ContainerAllocator> >::stream(s, indent + " ", v.x_desi);
00619 s << indent << "x_desi_filtered: ";
00620 s << std::endl;
00621 Printer< ::geometry_msgs::PoseStamped_<ContainerAllocator> >::stream(s, indent + " ", v.x_desi_filtered);
00622 s << indent << "x_err: ";
00623 s << std::endl;
00624 Printer< ::geometry_msgs::Twist_<ContainerAllocator> >::stream(s, indent + " ", v.x_err);
00625 s << indent << "xd: ";
00626 s << std::endl;
00627 Printer< ::geometry_msgs::Twist_<ContainerAllocator> >::stream(s, indent + " ", v.xd);
00628 s << indent << "xd_desi: ";
00629 s << std::endl;
00630 Printer< ::geometry_msgs::Twist_<ContainerAllocator> >::stream(s, indent + " ", v.xd_desi);
00631 s << indent << "F: ";
00632 s << std::endl;
00633 Printer< ::geometry_msgs::Wrench_<ContainerAllocator> >::stream(s, indent + " ", v.F);
00634 s << indent << "tau_pose[]" << std::endl;
00635 for (size_t i = 0; i < v.tau_pose.size(); ++i)
00636 {
00637 s << indent << " tau_pose[" << i << "]: ";
00638 Printer<double>::stream(s, indent + " ", v.tau_pose[i]);
00639 }
00640 s << indent << "tau_posture[]" << std::endl;
00641 for (size_t i = 0; i < v.tau_posture.size(); ++i)
00642 {
00643 s << indent << " tau_posture[" << i << "]: ";
00644 Printer<double>::stream(s, indent + " ", v.tau_posture[i]);
00645 }
00646 s << indent << "tau[]" << std::endl;
00647 for (size_t i = 0; i < v.tau.size(); ++i)
00648 {
00649 s << indent << " tau[" << i << "]: ";
00650 Printer<double>::stream(s, indent + " ", v.tau[i]);
00651 }
00652 s << indent << "J: ";
00653 s << std::endl;
00654 Printer< ::std_msgs::Float64MultiArray_<ContainerAllocator> >::stream(s, indent + " ", v.J);
00655 s << indent << "N: ";
00656 s << std::endl;
00657 Printer< ::std_msgs::Float64MultiArray_<ContainerAllocator> >::stream(s, indent + " ", v.N);
00658 s << indent << "df: ";
00659 Printer<double>::stream(s, indent + " ", v.df);
00660 s << indent << "dx: ";
00661 Printer<double>::stream(s, indent + " ", v.dx);
00662 s << indent << "Df: ";
00663 Printer<double>::stream(s, indent + " ", v.Df);
00664 s << indent << "Dx: ";
00665 Printer<double>::stream(s, indent + " ", v.Dx);
00666 s << indent << "stiffness: ";
00667 Printer<double>::stream(s, indent + " ", v.stiffness);
00668 s << indent << "compliance: ";
00669 Printer<double>::stream(s, indent + " ", v.compliance);
00670 }
00671 };
00672
00673
00674 }
00675 }
00676
00677 #endif // PR2_MANIPULATION_CONTROLLERS_MESSAGE_JTTASKCONTROLLERSTATE_H
00678
