00001
00002 #ifndef PR2_MANIPULATION_CONTROLLERS_MESSAGE_JINVTELEOPCONTROLLERSTATE_H
00003 #define PR2_MANIPULATION_CONTROLLERS_MESSAGE_JINVTELEOPCONTROLLERSTATE_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 JinvTeleopControllerState_ {
00032 typedef JinvTeleopControllerState_<ContainerAllocator> Type;
00033
00034 JinvTeleopControllerState_()
00035 : header()
00036 , x()
00037 , x_desi()
00038 , x_desi_filtered()
00039 , x_err()
00040 , xd()
00041 , xd_desi()
00042 , F()
00043 , q_proxy()
00044 , qd_pose()
00045 , qd_posture()
00046 , qd_posture_raw()
00047 , qd_desi()
00048 , tau()
00049 , J()
00050 , N()
00051 , df(0.0)
00052 , dx(0.0)
00053 , Df(0.0)
00054 , Dx(0.0)
00055 , stiffness(0.0)
00056 , compliance(0.0)
00057 {
00058 }
00059
00060 JinvTeleopControllerState_(const ContainerAllocator& _alloc)
00061 : header(_alloc)
00062 , x(_alloc)
00063 , x_desi(_alloc)
00064 , x_desi_filtered(_alloc)
00065 , x_err(_alloc)
00066 , xd(_alloc)
00067 , xd_desi(_alloc)
00068 , F(_alloc)
00069 , q_proxy(_alloc)
00070 , qd_pose(_alloc)
00071 , qd_posture(_alloc)
00072 , qd_posture_raw(_alloc)
00073 , qd_desi(_alloc)
00074 , tau(_alloc)
00075 , J(_alloc)
00076 , N(_alloc)
00077 , df(0.0)
00078 , dx(0.0)
00079 , Df(0.0)
00080 , Dx(0.0)
00081 , stiffness(0.0)
00082 , compliance(0.0)
00083 {
00084 }
00085
00086 typedef ::std_msgs::Header_<ContainerAllocator> _header_type;
00087 ::std_msgs::Header_<ContainerAllocator> header;
00088
00089 typedef ::geometry_msgs::PoseStamped_<ContainerAllocator> _x_type;
00090 ::geometry_msgs::PoseStamped_<ContainerAllocator> x;
00091
00092 typedef ::geometry_msgs::PoseStamped_<ContainerAllocator> _x_desi_type;
00093 ::geometry_msgs::PoseStamped_<ContainerAllocator> x_desi;
00094
00095 typedef ::geometry_msgs::PoseStamped_<ContainerAllocator> _x_desi_filtered_type;
00096 ::geometry_msgs::PoseStamped_<ContainerAllocator> x_desi_filtered;
00097
00098 typedef ::geometry_msgs::Twist_<ContainerAllocator> _x_err_type;
00099 ::geometry_msgs::Twist_<ContainerAllocator> x_err;
00100
00101 typedef ::geometry_msgs::Twist_<ContainerAllocator> _xd_type;
00102 ::geometry_msgs::Twist_<ContainerAllocator> xd;
00103
00104 typedef ::geometry_msgs::Twist_<ContainerAllocator> _xd_desi_type;
00105 ::geometry_msgs::Twist_<ContainerAllocator> xd_desi;
00106
00107 typedef ::geometry_msgs::Wrench_<ContainerAllocator> _F_type;
00108 ::geometry_msgs::Wrench_<ContainerAllocator> F;
00109
00110 typedef std::vector<double, typename ContainerAllocator::template rebind<double>::other > _q_proxy_type;
00111 std::vector<double, typename ContainerAllocator::template rebind<double>::other > q_proxy;
00112
00113 typedef std::vector<double, typename ContainerAllocator::template rebind<double>::other > _qd_pose_type;
00114 std::vector<double, typename ContainerAllocator::template rebind<double>::other > qd_pose;
00115
00116 typedef std::vector<double, typename ContainerAllocator::template rebind<double>::other > _qd_posture_type;
00117 std::vector<double, typename ContainerAllocator::template rebind<double>::other > qd_posture;
00118
00119 typedef std::vector<double, typename ContainerAllocator::template rebind<double>::other > _qd_posture_raw_type;
00120 std::vector<double, typename ContainerAllocator::template rebind<double>::other > qd_posture_raw;
00121
00122 typedef std::vector<double, typename ContainerAllocator::template rebind<double>::other > _qd_desi_type;
00123 std::vector<double, typename ContainerAllocator::template rebind<double>::other > qd_desi;
00124
00125 typedef std::vector<double, typename ContainerAllocator::template rebind<double>::other > _tau_type;
00126 std::vector<double, typename ContainerAllocator::template rebind<double>::other > tau;
00127
00128 typedef ::std_msgs::Float64MultiArray_<ContainerAllocator> _J_type;
00129 ::std_msgs::Float64MultiArray_<ContainerAllocator> J;
00130
00131 typedef ::std_msgs::Float64MultiArray_<ContainerAllocator> _N_type;
00132 ::std_msgs::Float64MultiArray_<ContainerAllocator> N;
00133
00134 typedef double _df_type;
00135 double df;
00136
00137 typedef double _dx_type;
00138 double dx;
00139
00140 typedef double _Df_type;
00141 double Df;
00142
00143 typedef double _Dx_type;
00144 double Dx;
00145
00146 typedef double _stiffness_type;
00147 double stiffness;
00148
00149 typedef double _compliance_type;
00150 double compliance;
00151
00152
00153 ROS_DEPRECATED uint32_t get_q_proxy_size() const { return (uint32_t)q_proxy.size(); }
00154 ROS_DEPRECATED void set_q_proxy_size(uint32_t size) { q_proxy.resize((size_t)size); }
00155 ROS_DEPRECATED void get_q_proxy_vec(std::vector<double, typename ContainerAllocator::template rebind<double>::other > & vec) const { vec = this->q_proxy; }
00156 ROS_DEPRECATED void set_q_proxy_vec(const std::vector<double, typename ContainerAllocator::template rebind<double>::other > & vec) { this->q_proxy = vec; }
00157 ROS_DEPRECATED uint32_t get_qd_pose_size() const { return (uint32_t)qd_pose.size(); }
00158 ROS_DEPRECATED void set_qd_pose_size(uint32_t size) { qd_pose.resize((size_t)size); }
00159 ROS_DEPRECATED void get_qd_pose_vec(std::vector<double, typename ContainerAllocator::template rebind<double>::other > & vec) const { vec = this->qd_pose; }
00160 ROS_DEPRECATED void set_qd_pose_vec(const std::vector<double, typename ContainerAllocator::template rebind<double>::other > & vec) { this->qd_pose = vec; }
00161 ROS_DEPRECATED uint32_t get_qd_posture_size() const { return (uint32_t)qd_posture.size(); }
00162 ROS_DEPRECATED void set_qd_posture_size(uint32_t size) { qd_posture.resize((size_t)size); }
00163 ROS_DEPRECATED void get_qd_posture_vec(std::vector<double, typename ContainerAllocator::template rebind<double>::other > & vec) const { vec = this->qd_posture; }
00164 ROS_DEPRECATED void set_qd_posture_vec(const std::vector<double, typename ContainerAllocator::template rebind<double>::other > & vec) { this->qd_posture = vec; }
00165 ROS_DEPRECATED uint32_t get_qd_posture_raw_size() const { return (uint32_t)qd_posture_raw.size(); }
00166 ROS_DEPRECATED void set_qd_posture_raw_size(uint32_t size) { qd_posture_raw.resize((size_t)size); }
00167 ROS_DEPRECATED void get_qd_posture_raw_vec(std::vector<double, typename ContainerAllocator::template rebind<double>::other > & vec) const { vec = this->qd_posture_raw; }
00168 ROS_DEPRECATED void set_qd_posture_raw_vec(const std::vector<double, typename ContainerAllocator::template rebind<double>::other > & vec) { this->qd_posture_raw = vec; }
00169 ROS_DEPRECATED uint32_t get_qd_desi_size() const { return (uint32_t)qd_desi.size(); }
00170 ROS_DEPRECATED void set_qd_desi_size(uint32_t size) { qd_desi.resize((size_t)size); }
00171 ROS_DEPRECATED void get_qd_desi_vec(std::vector<double, typename ContainerAllocator::template rebind<double>::other > & vec) const { vec = this->qd_desi; }
00172 ROS_DEPRECATED void set_qd_desi_vec(const std::vector<double, typename ContainerAllocator::template rebind<double>::other > & vec) { this->qd_desi = vec; }
00173 ROS_DEPRECATED uint32_t get_tau_size() const { return (uint32_t)tau.size(); }
00174 ROS_DEPRECATED void set_tau_size(uint32_t size) { tau.resize((size_t)size); }
00175 ROS_DEPRECATED void get_tau_vec(std::vector<double, typename ContainerAllocator::template rebind<double>::other > & vec) const { vec = this->tau; }
00176 ROS_DEPRECATED void set_tau_vec(const std::vector<double, typename ContainerAllocator::template rebind<double>::other > & vec) { this->tau = vec; }
00177 private:
00178 static const char* __s_getDataType_() { return "pr2_manipulation_controllers/JinvTeleopControllerState"; }
00179 public:
00180 ROS_DEPRECATED static const std::string __s_getDataType() { return __s_getDataType_(); }
00181
00182 ROS_DEPRECATED const std::string __getDataType() const { return __s_getDataType_(); }
00183
00184 private:
00185 static const char* __s_getMD5Sum_() { return "1456444fe71f72390283aef7aca2934d"; }
00186 public:
00187 ROS_DEPRECATED static const std::string __s_getMD5Sum() { return __s_getMD5Sum_(); }
00188
00189 ROS_DEPRECATED const std::string __getMD5Sum() const { return __s_getMD5Sum_(); }
00190
00191 private:
00192 static const char* __s_getMessageDefinition_() { return "Header header\n\
00193 geometry_msgs/PoseStamped x\n\
00194 geometry_msgs/PoseStamped x_desi\n\
00195 geometry_msgs/PoseStamped x_desi_filtered\n\
00196 geometry_msgs/Twist x_err\n\
00197 geometry_msgs/Twist xd\n\
00198 geometry_msgs/Twist xd_desi\n\
00199 geometry_msgs/Wrench F\n\
00200 float64[] q_proxy\n\
00201 float64[] qd_pose\n\
00202 float64[] qd_posture\n\
00203 float64[] qd_posture_raw\n\
00204 float64[] qd_desi\n\
00205 float64[] tau\n\
00206 std_msgs/Float64MultiArray J\n\
00207 std_msgs/Float64MultiArray N\n\
00208 \n\
00209 # Environmental stiffness\n\
00210 float64 df\n\
00211 float64 dx\n\
00212 float64 Df\n\
00213 float64 Dx\n\
00214 float64 stiffness\n\
00215 float64 compliance\n\
00216 \n\
00217 ================================================================================\n\
00218 MSG: std_msgs/Header\n\
00219 # Standard metadata for higher-level stamped data types.\n\
00220 # This is generally used to communicate timestamped data \n\
00221 # in a particular coordinate frame.\n\
00222 # \n\
00223 # sequence ID: consecutively increasing ID \n\
00224 uint32 seq\n\
00225 #Two-integer timestamp that is expressed as:\n\
00226 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00227 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00228 # time-handling sugar is provided by the client library\n\
00229 time stamp\n\
00230 #Frame this data is associated with\n\
00231 # 0: no frame\n\
00232 # 1: global frame\n\
00233 string frame_id\n\
00234 \n\
00235 ================================================================================\n\
00236 MSG: geometry_msgs/PoseStamped\n\
00237 # A Pose with reference coordinate frame and timestamp\n\
00238 Header header\n\
00239 Pose pose\n\
00240 \n\
00241 ================================================================================\n\
00242 MSG: geometry_msgs/Pose\n\
00243 # A representation of pose in free space, composed of postion and orientation. \n\
00244 Point position\n\
00245 Quaternion orientation\n\
00246 \n\
00247 ================================================================================\n\
00248 MSG: geometry_msgs/Point\n\
00249 # This contains the position of a point in free space\n\
00250 float64 x\n\
00251 float64 y\n\
00252 float64 z\n\
00253 \n\
00254 ================================================================================\n\
00255 MSG: geometry_msgs/Quaternion\n\
00256 # This represents an orientation in free space in quaternion form.\n\
00257 \n\
00258 float64 x\n\
00259 float64 y\n\
00260 float64 z\n\
00261 float64 w\n\
00262 \n\
00263 ================================================================================\n\
00264 MSG: geometry_msgs/Twist\n\
00265 # This expresses velocity in free space broken into it's linear and angular parts. \n\
00266 Vector3 linear\n\
00267 Vector3 angular\n\
00268 \n\
00269 ================================================================================\n\
00270 MSG: geometry_msgs/Vector3\n\
00271 # This represents a vector in free space. \n\
00272 \n\
00273 float64 x\n\
00274 float64 y\n\
00275 float64 z\n\
00276 ================================================================================\n\
00277 MSG: geometry_msgs/Wrench\n\
00278 # This represents force in free space, seperated into \n\
00279 # it's linear and angular parts. \n\
00280 Vector3 force\n\
00281 Vector3 torque\n\
00282 \n\
00283 ================================================================================\n\
00284 MSG: std_msgs/Float64MultiArray\n\
00285 # Please look at the MultiArrayLayout message definition for\n\
00286 # documentation on all multiarrays.\n\
00287 \n\
00288 MultiArrayLayout layout # specification of data layout\n\
00289 float64[] data # array of data\n\
00290 \n\
00291 \n\
00292 ================================================================================\n\
00293 MSG: std_msgs/MultiArrayLayout\n\
00294 # The multiarray declares a generic multi-dimensional array of a\n\
00295 # particular data type. Dimensions are ordered from outer most\n\
00296 # to inner most.\n\
00297 \n\
00298 MultiArrayDimension[] dim # Array of dimension properties\n\
00299 uint32 data_offset # padding bytes at front of data\n\
00300 \n\
00301 # Accessors should ALWAYS be written in terms of dimension stride\n\
00302 # and specified outer-most dimension first.\n\
00303 # \n\
00304 # multiarray(i,j,k) = data[data_offset + dim_stride[1]*i + dim_stride[2]*j + k]\n\
00305 #\n\
00306 # A standard, 3-channel 640x480 image with interleaved color channels\n\
00307 # would be specified as:\n\
00308 #\n\
00309 # dim[0].label = \"height\"\n\
00310 # dim[0].size = 480\n\
00311 # dim[0].stride = 3*640*480 = 921600 (note dim[0] stride is just size of image)\n\
00312 # dim[1].label = \"width\"\n\
00313 # dim[1].size = 640\n\
00314 # dim[1].stride = 3*640 = 1920\n\
00315 # dim[2].label = \"channel\"\n\
00316 # dim[2].size = 3\n\
00317 # dim[2].stride = 3\n\
00318 #\n\
00319 # multiarray(i,j,k) refers to the ith row, jth column, and kth channel.\n\
00320 ================================================================================\n\
00321 MSG: std_msgs/MultiArrayDimension\n\
00322 string label # label of given dimension\n\
00323 uint32 size # size of given dimension (in type units)\n\
00324 uint32 stride # stride of given dimension\n\
00325 "; }
00326 public:
00327 ROS_DEPRECATED static const std::string __s_getMessageDefinition() { return __s_getMessageDefinition_(); }
00328
00329 ROS_DEPRECATED const std::string __getMessageDefinition() const { return __s_getMessageDefinition_(); }
00330
00331 ROS_DEPRECATED virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const
00332 {
00333 ros::serialization::OStream stream(write_ptr, 1000000000);
00334 ros::serialization::serialize(stream, header);
00335 ros::serialization::serialize(stream, x);
00336 ros::serialization::serialize(stream, x_desi);
00337 ros::serialization::serialize(stream, x_desi_filtered);
00338 ros::serialization::serialize(stream, x_err);
00339 ros::serialization::serialize(stream, xd);
00340 ros::serialization::serialize(stream, xd_desi);
00341 ros::serialization::serialize(stream, F);
00342 ros::serialization::serialize(stream, q_proxy);
00343 ros::serialization::serialize(stream, qd_pose);
00344 ros::serialization::serialize(stream, qd_posture);
00345 ros::serialization::serialize(stream, qd_posture_raw);
00346 ros::serialization::serialize(stream, qd_desi);
00347 ros::serialization::serialize(stream, tau);
00348 ros::serialization::serialize(stream, J);
00349 ros::serialization::serialize(stream, N);
00350 ros::serialization::serialize(stream, df);
00351 ros::serialization::serialize(stream, dx);
00352 ros::serialization::serialize(stream, Df);
00353 ros::serialization::serialize(stream, Dx);
00354 ros::serialization::serialize(stream, stiffness);
00355 ros::serialization::serialize(stream, compliance);
00356 return stream.getData();
00357 }
00358
00359 ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr)
00360 {
00361 ros::serialization::IStream stream(read_ptr, 1000000000);
00362 ros::serialization::deserialize(stream, header);
00363 ros::serialization::deserialize(stream, x);
00364 ros::serialization::deserialize(stream, x_desi);
00365 ros::serialization::deserialize(stream, x_desi_filtered);
00366 ros::serialization::deserialize(stream, x_err);
00367 ros::serialization::deserialize(stream, xd);
00368 ros::serialization::deserialize(stream, xd_desi);
00369 ros::serialization::deserialize(stream, F);
00370 ros::serialization::deserialize(stream, q_proxy);
00371 ros::serialization::deserialize(stream, qd_pose);
00372 ros::serialization::deserialize(stream, qd_posture);
00373 ros::serialization::deserialize(stream, qd_posture_raw);
00374 ros::serialization::deserialize(stream, qd_desi);
00375 ros::serialization::deserialize(stream, tau);
00376 ros::serialization::deserialize(stream, J);
00377 ros::serialization::deserialize(stream, N);
00378 ros::serialization::deserialize(stream, df);
00379 ros::serialization::deserialize(stream, dx);
00380 ros::serialization::deserialize(stream, Df);
00381 ros::serialization::deserialize(stream, Dx);
00382 ros::serialization::deserialize(stream, stiffness);
00383 ros::serialization::deserialize(stream, compliance);
00384 return stream.getData();
00385 }
00386
00387 ROS_DEPRECATED virtual uint32_t serializationLength() const
00388 {
00389 uint32_t size = 0;
00390 size += ros::serialization::serializationLength(header);
00391 size += ros::serialization::serializationLength(x);
00392 size += ros::serialization::serializationLength(x_desi);
00393 size += ros::serialization::serializationLength(x_desi_filtered);
00394 size += ros::serialization::serializationLength(x_err);
00395 size += ros::serialization::serializationLength(xd);
00396 size += ros::serialization::serializationLength(xd_desi);
00397 size += ros::serialization::serializationLength(F);
00398 size += ros::serialization::serializationLength(q_proxy);
00399 size += ros::serialization::serializationLength(qd_pose);
00400 size += ros::serialization::serializationLength(qd_posture);
00401 size += ros::serialization::serializationLength(qd_posture_raw);
00402 size += ros::serialization::serializationLength(qd_desi);
00403 size += ros::serialization::serializationLength(tau);
00404 size += ros::serialization::serializationLength(J);
00405 size += ros::serialization::serializationLength(N);
00406 size += ros::serialization::serializationLength(df);
00407 size += ros::serialization::serializationLength(dx);
00408 size += ros::serialization::serializationLength(Df);
00409 size += ros::serialization::serializationLength(Dx);
00410 size += ros::serialization::serializationLength(stiffness);
00411 size += ros::serialization::serializationLength(compliance);
00412 return size;
00413 }
00414
00415 typedef boost::shared_ptr< ::pr2_manipulation_controllers::JinvTeleopControllerState_<ContainerAllocator> > Ptr;
00416 typedef boost::shared_ptr< ::pr2_manipulation_controllers::JinvTeleopControllerState_<ContainerAllocator> const> ConstPtr;
00417 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00418 };
00419 typedef ::pr2_manipulation_controllers::JinvTeleopControllerState_<std::allocator<void> > JinvTeleopControllerState;
00420
00421 typedef boost::shared_ptr< ::pr2_manipulation_controllers::JinvTeleopControllerState> JinvTeleopControllerStatePtr;
00422 typedef boost::shared_ptr< ::pr2_manipulation_controllers::JinvTeleopControllerState const> JinvTeleopControllerStateConstPtr;
00423
00424
00425 template<typename ContainerAllocator>
00426 std::ostream& operator<<(std::ostream& s, const ::pr2_manipulation_controllers::JinvTeleopControllerState_<ContainerAllocator> & v)
00427 {
00428 ros::message_operations::Printer< ::pr2_manipulation_controllers::JinvTeleopControllerState_<ContainerAllocator> >::stream(s, "", v);
00429 return s;}
00430
00431 }
00432
00433 namespace ros
00434 {
00435 namespace message_traits
00436 {
00437 template<class ContainerAllocator> struct IsMessage< ::pr2_manipulation_controllers::JinvTeleopControllerState_<ContainerAllocator> > : public TrueType {};
00438 template<class ContainerAllocator> struct IsMessage< ::pr2_manipulation_controllers::JinvTeleopControllerState_<ContainerAllocator> const> : public TrueType {};
00439 template<class ContainerAllocator>
00440 struct MD5Sum< ::pr2_manipulation_controllers::JinvTeleopControllerState_<ContainerAllocator> > {
00441 static const char* value()
00442 {
00443 return "1456444fe71f72390283aef7aca2934d";
00444 }
00445
00446 static const char* value(const ::pr2_manipulation_controllers::JinvTeleopControllerState_<ContainerAllocator> &) { return value(); }
00447 static const uint64_t static_value1 = 0x1456444fe71f7239ULL;
00448 static const uint64_t static_value2 = 0x0283aef7aca2934dULL;
00449 };
00450
00451 template<class ContainerAllocator>
00452 struct DataType< ::pr2_manipulation_controllers::JinvTeleopControllerState_<ContainerAllocator> > {
00453 static const char* value()
00454 {
00455 return "pr2_manipulation_controllers/JinvTeleopControllerState";
00456 }
00457
00458 static const char* value(const ::pr2_manipulation_controllers::JinvTeleopControllerState_<ContainerAllocator> &) { return value(); }
00459 };
00460
00461 template<class ContainerAllocator>
00462 struct Definition< ::pr2_manipulation_controllers::JinvTeleopControllerState_<ContainerAllocator> > {
00463 static const char* value()
00464 {
00465 return "Header header\n\
00466 geometry_msgs/PoseStamped x\n\
00467 geometry_msgs/PoseStamped x_desi\n\
00468 geometry_msgs/PoseStamped x_desi_filtered\n\
00469 geometry_msgs/Twist x_err\n\
00470 geometry_msgs/Twist xd\n\
00471 geometry_msgs/Twist xd_desi\n\
00472 geometry_msgs/Wrench F\n\
00473 float64[] q_proxy\n\
00474 float64[] qd_pose\n\
00475 float64[] qd_posture\n\
00476 float64[] qd_posture_raw\n\
00477 float64[] qd_desi\n\
00478 float64[] tau\n\
00479 std_msgs/Float64MultiArray J\n\
00480 std_msgs/Float64MultiArray N\n\
00481 \n\
00482 # Environmental stiffness\n\
00483 float64 df\n\
00484 float64 dx\n\
00485 float64 Df\n\
00486 float64 Dx\n\
00487 float64 stiffness\n\
00488 float64 compliance\n\
00489 \n\
00490 ================================================================================\n\
00491 MSG: std_msgs/Header\n\
00492 # Standard metadata for higher-level stamped data types.\n\
00493 # This is generally used to communicate timestamped data \n\
00494 # in a particular coordinate frame.\n\
00495 # \n\
00496 # sequence ID: consecutively increasing ID \n\
00497 uint32 seq\n\
00498 #Two-integer timestamp that is expressed as:\n\
00499 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00500 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00501 # time-handling sugar is provided by the client library\n\
00502 time stamp\n\
00503 #Frame this data is associated with\n\
00504 # 0: no frame\n\
00505 # 1: global frame\n\
00506 string frame_id\n\
00507 \n\
00508 ================================================================================\n\
00509 MSG: geometry_msgs/PoseStamped\n\
00510 # A Pose with reference coordinate frame and timestamp\n\
00511 Header header\n\
00512 Pose pose\n\
00513 \n\
00514 ================================================================================\n\
00515 MSG: geometry_msgs/Pose\n\
00516 # A representation of pose in free space, composed of postion and orientation. \n\
00517 Point position\n\
00518 Quaternion orientation\n\
00519 \n\
00520 ================================================================================\n\
00521 MSG: geometry_msgs/Point\n\
00522 # This contains the position of a point in free space\n\
00523 float64 x\n\
00524 float64 y\n\
00525 float64 z\n\
00526 \n\
00527 ================================================================================\n\
00528 MSG: geometry_msgs/Quaternion\n\
00529 # This represents an orientation in free space in quaternion form.\n\
00530 \n\
00531 float64 x\n\
00532 float64 y\n\
00533 float64 z\n\
00534 float64 w\n\
00535 \n\
00536 ================================================================================\n\
00537 MSG: geometry_msgs/Twist\n\
00538 # This expresses velocity in free space broken into it's linear and angular parts. \n\
00539 Vector3 linear\n\
00540 Vector3 angular\n\
00541 \n\
00542 ================================================================================\n\
00543 MSG: geometry_msgs/Vector3\n\
00544 # This represents a vector in free space. \n\
00545 \n\
00546 float64 x\n\
00547 float64 y\n\
00548 float64 z\n\
00549 ================================================================================\n\
00550 MSG: geometry_msgs/Wrench\n\
00551 # This represents force in free space, seperated into \n\
00552 # it's linear and angular parts. \n\
00553 Vector3 force\n\
00554 Vector3 torque\n\
00555 \n\
00556 ================================================================================\n\
00557 MSG: std_msgs/Float64MultiArray\n\
00558 # Please look at the MultiArrayLayout message definition for\n\
00559 # documentation on all multiarrays.\n\
00560 \n\
00561 MultiArrayLayout layout # specification of data layout\n\
00562 float64[] data # array of data\n\
00563 \n\
00564 \n\
00565 ================================================================================\n\
00566 MSG: std_msgs/MultiArrayLayout\n\
00567 # The multiarray declares a generic multi-dimensional array of a\n\
00568 # particular data type. Dimensions are ordered from outer most\n\
00569 # to inner most.\n\
00570 \n\
00571 MultiArrayDimension[] dim # Array of dimension properties\n\
00572 uint32 data_offset # padding bytes at front of data\n\
00573 \n\
00574 # Accessors should ALWAYS be written in terms of dimension stride\n\
00575 # and specified outer-most dimension first.\n\
00576 # \n\
00577 # multiarray(i,j,k) = data[data_offset + dim_stride[1]*i + dim_stride[2]*j + k]\n\
00578 #\n\
00579 # A standard, 3-channel 640x480 image with interleaved color channels\n\
00580 # would be specified as:\n\
00581 #\n\
00582 # dim[0].label = \"height\"\n\
00583 # dim[0].size = 480\n\
00584 # dim[0].stride = 3*640*480 = 921600 (note dim[0] stride is just size of image)\n\
00585 # dim[1].label = \"width\"\n\
00586 # dim[1].size = 640\n\
00587 # dim[1].stride = 3*640 = 1920\n\
00588 # dim[2].label = \"channel\"\n\
00589 # dim[2].size = 3\n\
00590 # dim[2].stride = 3\n\
00591 #\n\
00592 # multiarray(i,j,k) refers to the ith row, jth column, and kth channel.\n\
00593 ================================================================================\n\
00594 MSG: std_msgs/MultiArrayDimension\n\
00595 string label # label of given dimension\n\
00596 uint32 size # size of given dimension (in type units)\n\
00597 uint32 stride # stride of given dimension\n\
00598 ";
00599 }
00600
00601 static const char* value(const ::pr2_manipulation_controllers::JinvTeleopControllerState_<ContainerAllocator> &) { return value(); }
00602 };
00603
00604 template<class ContainerAllocator> struct HasHeader< ::pr2_manipulation_controllers::JinvTeleopControllerState_<ContainerAllocator> > : public TrueType {};
00605 template<class ContainerAllocator> struct HasHeader< const ::pr2_manipulation_controllers::JinvTeleopControllerState_<ContainerAllocator> > : public TrueType {};
00606 }
00607 }
00608
00609 namespace ros
00610 {
00611 namespace serialization
00612 {
00613
00614 template<class ContainerAllocator> struct Serializer< ::pr2_manipulation_controllers::JinvTeleopControllerState_<ContainerAllocator> >
00615 {
00616 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00617 {
00618 stream.next(m.header);
00619 stream.next(m.x);
00620 stream.next(m.x_desi);
00621 stream.next(m.x_desi_filtered);
00622 stream.next(m.x_err);
00623 stream.next(m.xd);
00624 stream.next(m.xd_desi);
00625 stream.next(m.F);
00626 stream.next(m.q_proxy);
00627 stream.next(m.qd_pose);
00628 stream.next(m.qd_posture);
00629 stream.next(m.qd_posture_raw);
00630 stream.next(m.qd_desi);
00631 stream.next(m.tau);
00632 stream.next(m.J);
00633 stream.next(m.N);
00634 stream.next(m.df);
00635 stream.next(m.dx);
00636 stream.next(m.Df);
00637 stream.next(m.Dx);
00638 stream.next(m.stiffness);
00639 stream.next(m.compliance);
00640 }
00641
00642 ROS_DECLARE_ALLINONE_SERIALIZER;
00643 };
00644 }
00645 }
00646
00647 namespace ros
00648 {
00649 namespace message_operations
00650 {
00651
00652 template<class ContainerAllocator>
00653 struct Printer< ::pr2_manipulation_controllers::JinvTeleopControllerState_<ContainerAllocator> >
00654 {
00655 template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::pr2_manipulation_controllers::JinvTeleopControllerState_<ContainerAllocator> & v)
00656 {
00657 s << indent << "header: ";
00658 s << std::endl;
00659 Printer< ::std_msgs::Header_<ContainerAllocator> >::stream(s, indent + " ", v.header);
00660 s << indent << "x: ";
00661 s << std::endl;
00662 Printer< ::geometry_msgs::PoseStamped_<ContainerAllocator> >::stream(s, indent + " ", v.x);
00663 s << indent << "x_desi: ";
00664 s << std::endl;
00665 Printer< ::geometry_msgs::PoseStamped_<ContainerAllocator> >::stream(s, indent + " ", v.x_desi);
00666 s << indent << "x_desi_filtered: ";
00667 s << std::endl;
00668 Printer< ::geometry_msgs::PoseStamped_<ContainerAllocator> >::stream(s, indent + " ", v.x_desi_filtered);
00669 s << indent << "x_err: ";
00670 s << std::endl;
00671 Printer< ::geometry_msgs::Twist_<ContainerAllocator> >::stream(s, indent + " ", v.x_err);
00672 s << indent << "xd: ";
00673 s << std::endl;
00674 Printer< ::geometry_msgs::Twist_<ContainerAllocator> >::stream(s, indent + " ", v.xd);
00675 s << indent << "xd_desi: ";
00676 s << std::endl;
00677 Printer< ::geometry_msgs::Twist_<ContainerAllocator> >::stream(s, indent + " ", v.xd_desi);
00678 s << indent << "F: ";
00679 s << std::endl;
00680 Printer< ::geometry_msgs::Wrench_<ContainerAllocator> >::stream(s, indent + " ", v.F);
00681 s << indent << "q_proxy[]" << std::endl;
00682 for (size_t i = 0; i < v.q_proxy.size(); ++i)
00683 {
00684 s << indent << " q_proxy[" << i << "]: ";
00685 Printer<double>::stream(s, indent + " ", v.q_proxy[i]);
00686 }
00687 s << indent << "qd_pose[]" << std::endl;
00688 for (size_t i = 0; i < v.qd_pose.size(); ++i)
00689 {
00690 s << indent << " qd_pose[" << i << "]: ";
00691 Printer<double>::stream(s, indent + " ", v.qd_pose[i]);
00692 }
00693 s << indent << "qd_posture[]" << std::endl;
00694 for (size_t i = 0; i < v.qd_posture.size(); ++i)
00695 {
00696 s << indent << " qd_posture[" << i << "]: ";
00697 Printer<double>::stream(s, indent + " ", v.qd_posture[i]);
00698 }
00699 s << indent << "qd_posture_raw[]" << std::endl;
00700 for (size_t i = 0; i < v.qd_posture_raw.size(); ++i)
00701 {
00702 s << indent << " qd_posture_raw[" << i << "]: ";
00703 Printer<double>::stream(s, indent + " ", v.qd_posture_raw[i]);
00704 }
00705 s << indent << "qd_desi[]" << std::endl;
00706 for (size_t i = 0; i < v.qd_desi.size(); ++i)
00707 {
00708 s << indent << " qd_desi[" << i << "]: ";
00709 Printer<double>::stream(s, indent + " ", v.qd_desi[i]);
00710 }
00711 s << indent << "tau[]" << std::endl;
00712 for (size_t i = 0; i < v.tau.size(); ++i)
00713 {
00714 s << indent << " tau[" << i << "]: ";
00715 Printer<double>::stream(s, indent + " ", v.tau[i]);
00716 }
00717 s << indent << "J: ";
00718 s << std::endl;
00719 Printer< ::std_msgs::Float64MultiArray_<ContainerAllocator> >::stream(s, indent + " ", v.J);
00720 s << indent << "N: ";
00721 s << std::endl;
00722 Printer< ::std_msgs::Float64MultiArray_<ContainerAllocator> >::stream(s, indent + " ", v.N);
00723 s << indent << "df: ";
00724 Printer<double>::stream(s, indent + " ", v.df);
00725 s << indent << "dx: ";
00726 Printer<double>::stream(s, indent + " ", v.dx);
00727 s << indent << "Df: ";
00728 Printer<double>::stream(s, indent + " ", v.Df);
00729 s << indent << "Dx: ";
00730 Printer<double>::stream(s, indent + " ", v.Dx);
00731 s << indent << "stiffness: ";
00732 Printer<double>::stream(s, indent + " ", v.stiffness);
00733 s << indent << "compliance: ";
00734 Printer<double>::stream(s, indent + " ", v.compliance);
00735 }
00736 };
00737
00738
00739 }
00740 }
00741
00742 #endif // PR2_MANIPULATION_CONTROLLERS_MESSAGE_JINVTELEOPCONTROLLERSTATE_H
00743
