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00002 #ifndef ARM_NAVIGATION_MSGS_SERVICE_FILTERJOINTTRAJECTORYWITHCONSTRAINTS_H
00003 #define ARM_NAVIGATION_MSGS_SERVICE_FILTERJOINTTRAJECTORYWITHCONSTRAINTS_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 "trajectory_msgs/JointTrajectory.h"
00020 #include "arm_navigation_msgs/JointLimits.h"
00021 #include "arm_navigation_msgs/RobotState.h"
00022 #include "arm_navigation_msgs/Constraints.h"
00023 #include "arm_navigation_msgs/Constraints.h"
00024
00025
00026 #include "trajectory_msgs/JointTrajectory.h"
00027 #include "arm_navigation_msgs/ArmNavigationErrorCodes.h"
00028
00029 namespace arm_navigation_msgs
00030 {
00031 template <class ContainerAllocator>
00032 struct FilterJointTrajectoryWithConstraintsRequest_ {
00033 typedef FilterJointTrajectoryWithConstraintsRequest_<ContainerAllocator> Type;
00034
00035 FilterJointTrajectoryWithConstraintsRequest_()
00036 : trajectory()
00037 , group_name()
00038 , limits()
00039 , start_state()
00040 , path_constraints()
00041 , goal_constraints()
00042 , allowed_time()
00043 {
00044 }
00045
00046 FilterJointTrajectoryWithConstraintsRequest_(const ContainerAllocator& _alloc)
00047 : trajectory(_alloc)
00048 , group_name(_alloc)
00049 , limits(_alloc)
00050 , start_state(_alloc)
00051 , path_constraints(_alloc)
00052 , goal_constraints(_alloc)
00053 , allowed_time()
00054 {
00055 }
00056
00057 typedef ::trajectory_msgs::JointTrajectory_<ContainerAllocator> _trajectory_type;
00058 ::trajectory_msgs::JointTrajectory_<ContainerAllocator> trajectory;
00059
00060 typedef std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > _group_name_type;
00061 std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > group_name;
00062
00063 typedef std::vector< ::arm_navigation_msgs::JointLimits_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::arm_navigation_msgs::JointLimits_<ContainerAllocator> >::other > _limits_type;
00064 std::vector< ::arm_navigation_msgs::JointLimits_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::arm_navigation_msgs::JointLimits_<ContainerAllocator> >::other > limits;
00065
00066 typedef ::arm_navigation_msgs::RobotState_<ContainerAllocator> _start_state_type;
00067 ::arm_navigation_msgs::RobotState_<ContainerAllocator> start_state;
00068
00069 typedef ::arm_navigation_msgs::Constraints_<ContainerAllocator> _path_constraints_type;
00070 ::arm_navigation_msgs::Constraints_<ContainerAllocator> path_constraints;
00071
00072 typedef ::arm_navigation_msgs::Constraints_<ContainerAllocator> _goal_constraints_type;
00073 ::arm_navigation_msgs::Constraints_<ContainerAllocator> goal_constraints;
00074
00075 typedef ros::Duration _allowed_time_type;
00076 ros::Duration allowed_time;
00077
00078
00079 typedef boost::shared_ptr< ::arm_navigation_msgs::FilterJointTrajectoryWithConstraintsRequest_<ContainerAllocator> > Ptr;
00080 typedef boost::shared_ptr< ::arm_navigation_msgs::FilterJointTrajectoryWithConstraintsRequest_<ContainerAllocator> const> ConstPtr;
00081 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00082 };
00083 typedef ::arm_navigation_msgs::FilterJointTrajectoryWithConstraintsRequest_<std::allocator<void> > FilterJointTrajectoryWithConstraintsRequest;
00084
00085 typedef boost::shared_ptr< ::arm_navigation_msgs::FilterJointTrajectoryWithConstraintsRequest> FilterJointTrajectoryWithConstraintsRequestPtr;
00086 typedef boost::shared_ptr< ::arm_navigation_msgs::FilterJointTrajectoryWithConstraintsRequest const> FilterJointTrajectoryWithConstraintsRequestConstPtr;
00087
00088
00089 template <class ContainerAllocator>
00090 struct FilterJointTrajectoryWithConstraintsResponse_ {
00091 typedef FilterJointTrajectoryWithConstraintsResponse_<ContainerAllocator> Type;
00092
00093 FilterJointTrajectoryWithConstraintsResponse_()
00094 : trajectory()
00095 , error_code()
00096 {
00097 }
00098
00099 FilterJointTrajectoryWithConstraintsResponse_(const ContainerAllocator& _alloc)
00100 : trajectory(_alloc)
00101 , error_code(_alloc)
00102 {
00103 }
00104
00105 typedef ::trajectory_msgs::JointTrajectory_<ContainerAllocator> _trajectory_type;
00106 ::trajectory_msgs::JointTrajectory_<ContainerAllocator> trajectory;
00107
00108 typedef ::arm_navigation_msgs::ArmNavigationErrorCodes_<ContainerAllocator> _error_code_type;
00109 ::arm_navigation_msgs::ArmNavigationErrorCodes_<ContainerAllocator> error_code;
00110
00111
00112 typedef boost::shared_ptr< ::arm_navigation_msgs::FilterJointTrajectoryWithConstraintsResponse_<ContainerAllocator> > Ptr;
00113 typedef boost::shared_ptr< ::arm_navigation_msgs::FilterJointTrajectoryWithConstraintsResponse_<ContainerAllocator> const> ConstPtr;
00114 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00115 };
00116 typedef ::arm_navigation_msgs::FilterJointTrajectoryWithConstraintsResponse_<std::allocator<void> > FilterJointTrajectoryWithConstraintsResponse;
00117
00118 typedef boost::shared_ptr< ::arm_navigation_msgs::FilterJointTrajectoryWithConstraintsResponse> FilterJointTrajectoryWithConstraintsResponsePtr;
00119 typedef boost::shared_ptr< ::arm_navigation_msgs::FilterJointTrajectoryWithConstraintsResponse const> FilterJointTrajectoryWithConstraintsResponseConstPtr;
00120
00121 struct FilterJointTrajectoryWithConstraints
00122 {
00123
00124 typedef FilterJointTrajectoryWithConstraintsRequest Request;
00125 typedef FilterJointTrajectoryWithConstraintsResponse Response;
00126 Request request;
00127 Response response;
00128
00129 typedef Request RequestType;
00130 typedef Response ResponseType;
00131 };
00132 }
00133
00134 namespace ros
00135 {
00136 namespace message_traits
00137 {
00138 template<class ContainerAllocator> struct IsMessage< ::arm_navigation_msgs::FilterJointTrajectoryWithConstraintsRequest_<ContainerAllocator> > : public TrueType {};
00139 template<class ContainerAllocator> struct IsMessage< ::arm_navigation_msgs::FilterJointTrajectoryWithConstraintsRequest_<ContainerAllocator> const> : public TrueType {};
00140 template<class ContainerAllocator>
00141 struct MD5Sum< ::arm_navigation_msgs::FilterJointTrajectoryWithConstraintsRequest_<ContainerAllocator> > {
00142 static const char* value()
00143 {
00144 return "a710f518dceebd50ec8ca1f44b6d32de";
00145 }
00146
00147 static const char* value(const ::arm_navigation_msgs::FilterJointTrajectoryWithConstraintsRequest_<ContainerAllocator> &) { return value(); }
00148 static const uint64_t static_value1 = 0xa710f518dceebd50ULL;
00149 static const uint64_t static_value2 = 0xec8ca1f44b6d32deULL;
00150 };
00151
00152 template<class ContainerAllocator>
00153 struct DataType< ::arm_navigation_msgs::FilterJointTrajectoryWithConstraintsRequest_<ContainerAllocator> > {
00154 static const char* value()
00155 {
00156 return "arm_navigation_msgs/FilterJointTrajectoryWithConstraintsRequest";
00157 }
00158
00159 static const char* value(const ::arm_navigation_msgs::FilterJointTrajectoryWithConstraintsRequest_<ContainerAllocator> &) { return value(); }
00160 };
00161
00162 template<class ContainerAllocator>
00163 struct Definition< ::arm_navigation_msgs::FilterJointTrajectoryWithConstraintsRequest_<ContainerAllocator> > {
00164 static const char* value()
00165 {
00166 return "\n\
00167 trajectory_msgs/JointTrajectory trajectory\n\
00168 \n\
00169 \n\
00170 string group_name\n\
00171 \n\
00172 \n\
00173 \n\
00174 arm_navigation_msgs/JointLimits[] limits\n\
00175 \n\
00176 \n\
00177 \n\
00178 \n\
00179 arm_navigation_msgs/RobotState start_state\n\
00180 \n\
00181 \n\
00182 Constraints path_constraints\n\
00183 \n\
00184 \n\
00185 Constraints goal_constraints\n\
00186 \n\
00187 duration allowed_time\n\
00188 \n\
00189 ================================================================================\n\
00190 MSG: trajectory_msgs/JointTrajectory\n\
00191 Header header\n\
00192 string[] joint_names\n\
00193 JointTrajectoryPoint[] points\n\
00194 ================================================================================\n\
00195 MSG: std_msgs/Header\n\
00196 # Standard metadata for higher-level stamped data types.\n\
00197 # This is generally used to communicate timestamped data \n\
00198 # in a particular coordinate frame.\n\
00199 # \n\
00200 # sequence ID: consecutively increasing ID \n\
00201 uint32 seq\n\
00202 #Two-integer timestamp that is expressed as:\n\
00203 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00204 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00205 # time-handling sugar is provided by the client library\n\
00206 time stamp\n\
00207 #Frame this data is associated with\n\
00208 # 0: no frame\n\
00209 # 1: global frame\n\
00210 string frame_id\n\
00211 \n\
00212 ================================================================================\n\
00213 MSG: trajectory_msgs/JointTrajectoryPoint\n\
00214 float64[] positions\n\
00215 float64[] velocities\n\
00216 float64[] accelerations\n\
00217 duration time_from_start\n\
00218 ================================================================================\n\
00219 MSG: arm_navigation_msgs/JointLimits\n\
00220 # This message contains information about limits of a particular joint (or control dimension)\n\
00221 string joint_name\n\
00222 \n\
00223 # true if the joint has position limits\n\
00224 bool has_position_limits\n\
00225 \n\
00226 # min and max position limits\n\
00227 float64 min_position\n\
00228 float64 max_position\n\
00229 \n\
00230 # true if joint has velocity limits\n\
00231 bool has_velocity_limits\n\
00232 \n\
00233 # max velocity limit\n\
00234 float64 max_velocity\n\
00235 # min_velocity is assumed to be -max_velocity\n\
00236 \n\
00237 # true if joint has acceleration limits\n\
00238 bool has_acceleration_limits\n\
00239 # max acceleration limit\n\
00240 float64 max_acceleration\n\
00241 # min_acceleration is assumed to be -max_acceleration\n\
00242 \n\
00243 ================================================================================\n\
00244 MSG: arm_navigation_msgs/RobotState\n\
00245 # This message contains information about the robot state, i.e. the positions of its joints and links\n\
00246 sensor_msgs/JointState joint_state\n\
00247 arm_navigation_msgs/MultiDOFJointState multi_dof_joint_state\n\
00248 \n\
00249 ================================================================================\n\
00250 MSG: sensor_msgs/JointState\n\
00251 # This is a message that holds data to describe the state of a set of torque controlled joints. \n\
00252 #\n\
00253 # The state of each joint (revolute or prismatic) is defined by:\n\
00254 # * the position of the joint (rad or m),\n\
00255 # * the velocity of the joint (rad/s or m/s) and \n\
00256 # * the effort that is applied in the joint (Nm or N).\n\
00257 #\n\
00258 # Each joint is uniquely identified by its name\n\
00259 # The header specifies the time at which the joint states were recorded. All the joint states\n\
00260 # in one message have to be recorded at the same time.\n\
00261 #\n\
00262 # This message consists of a multiple arrays, one for each part of the joint state. \n\
00263 # The goal is to make each of the fields optional. When e.g. your joints have no\n\
00264 # effort associated with them, you can leave the effort array empty. \n\
00265 #\n\
00266 # All arrays in this message should have the same size, or be empty.\n\
00267 # This is the only way to uniquely associate the joint name with the correct\n\
00268 # states.\n\
00269 \n\
00270 \n\
00271 Header header\n\
00272 \n\
00273 string[] name\n\
00274 float64[] position\n\
00275 float64[] velocity\n\
00276 float64[] effort\n\
00277 \n\
00278 ================================================================================\n\
00279 MSG: arm_navigation_msgs/MultiDOFJointState\n\
00280 #A representation of a multi-dof joint state\n\
00281 time stamp\n\
00282 string[] joint_names\n\
00283 string[] frame_ids\n\
00284 string[] child_frame_ids\n\
00285 geometry_msgs/Pose[] poses\n\
00286 \n\
00287 ================================================================================\n\
00288 MSG: geometry_msgs/Pose\n\
00289 # A representation of pose in free space, composed of postion and orientation. \n\
00290 Point position\n\
00291 Quaternion orientation\n\
00292 \n\
00293 ================================================================================\n\
00294 MSG: geometry_msgs/Point\n\
00295 # This contains the position of a point in free space\n\
00296 float64 x\n\
00297 float64 y\n\
00298 float64 z\n\
00299 \n\
00300 ================================================================================\n\
00301 MSG: geometry_msgs/Quaternion\n\
00302 # This represents an orientation in free space in quaternion form.\n\
00303 \n\
00304 float64 x\n\
00305 float64 y\n\
00306 float64 z\n\
00307 float64 w\n\
00308 \n\
00309 ================================================================================\n\
00310 MSG: arm_navigation_msgs/Constraints\n\
00311 # This message contains a list of motion planning constraints.\n\
00312 \n\
00313 arm_navigation_msgs/JointConstraint[] joint_constraints\n\
00314 arm_navigation_msgs/PositionConstraint[] position_constraints\n\
00315 arm_navigation_msgs/OrientationConstraint[] orientation_constraints\n\
00316 arm_navigation_msgs/VisibilityConstraint[] visibility_constraints\n\
00317 \n\
00318 ================================================================================\n\
00319 MSG: arm_navigation_msgs/JointConstraint\n\
00320 # Constrain the position of a joint to be within a certain bound\n\
00321 string joint_name\n\
00322 \n\
00323 # the bound to be achieved is [position - tolerance_below, position + tolerance_above]\n\
00324 float64 position\n\
00325 float64 tolerance_above\n\
00326 float64 tolerance_below\n\
00327 \n\
00328 # A weighting factor for this constraint\n\
00329 float64 weight\n\
00330 ================================================================================\n\
00331 MSG: arm_navigation_msgs/PositionConstraint\n\
00332 # This message contains the definition of a position constraint.\n\
00333 Header header\n\
00334 \n\
00335 # The robot link this constraint refers to\n\
00336 string link_name\n\
00337 \n\
00338 # The offset (in the link frame) for the target point on the link we are planning for\n\
00339 geometry_msgs/Point target_point_offset\n\
00340 \n\
00341 # The nominal/target position for the point we are planning for\n\
00342 geometry_msgs/Point position\n\
00343 \n\
00344 # The shape of the bounded region that constrains the position of the end-effector\n\
00345 # This region is always centered at the position defined above\n\
00346 arm_navigation_msgs/Shape constraint_region_shape\n\
00347 \n\
00348 # The orientation of the bounded region that constrains the position of the end-effector. \n\
00349 # This allows the specification of non-axis aligned constraints\n\
00350 geometry_msgs/Quaternion constraint_region_orientation\n\
00351 \n\
00352 # Constraint weighting factor - a weight for this constraint\n\
00353 float64 weight\n\
00354 \n\
00355 ================================================================================\n\
00356 MSG: arm_navigation_msgs/Shape\n\
00357 byte SPHERE=0\n\
00358 byte BOX=1\n\
00359 byte CYLINDER=2\n\
00360 byte MESH=3\n\
00361 \n\
00362 byte type\n\
00363 \n\
00364 \n\
00365 #### define sphere, box, cylinder ####\n\
00366 # the origin of each shape is considered at the shape's center\n\
00367 \n\
00368 # for sphere\n\
00369 # radius := dimensions[0]\n\
00370 \n\
00371 # for cylinder\n\
00372 # radius := dimensions[0]\n\
00373 # length := dimensions[1]\n\
00374 # the length is along the Z axis\n\
00375 \n\
00376 # for box\n\
00377 # size_x := dimensions[0]\n\
00378 # size_y := dimensions[1]\n\
00379 # size_z := dimensions[2]\n\
00380 float64[] dimensions\n\
00381 \n\
00382 \n\
00383 #### define mesh ####\n\
00384 \n\
00385 # list of triangles; triangle k is defined by tre vertices located\n\
00386 # at indices triangles[3k], triangles[3k+1], triangles[3k+2]\n\
00387 int32[] triangles\n\
00388 geometry_msgs/Point[] vertices\n\
00389 \n\
00390 ================================================================================\n\
00391 MSG: arm_navigation_msgs/OrientationConstraint\n\
00392 # This message contains the definition of an orientation constraint.\n\
00393 Header header\n\
00394 \n\
00395 # The robot link this constraint refers to\n\
00396 string link_name\n\
00397 \n\
00398 # The type of the constraint\n\
00399 int32 type\n\
00400 int32 LINK_FRAME=0\n\
00401 int32 HEADER_FRAME=1\n\
00402 \n\
00403 # The desired orientation of the robot link specified as a quaternion\n\
00404 geometry_msgs/Quaternion orientation\n\
00405 \n\
00406 # optional RPY error tolerances specified if \n\
00407 float64 absolute_roll_tolerance\n\
00408 float64 absolute_pitch_tolerance\n\
00409 float64 absolute_yaw_tolerance\n\
00410 \n\
00411 # Constraint weighting factor - a weight for this constraint\n\
00412 float64 weight\n\
00413 \n\
00414 ================================================================================\n\
00415 MSG: arm_navigation_msgs/VisibilityConstraint\n\
00416 # This message contains the definition of a visibility constraint.\n\
00417 Header header\n\
00418 \n\
00419 # The point stamped target that needs to be kept within view of the sensor\n\
00420 geometry_msgs/PointStamped target\n\
00421 \n\
00422 # The local pose of the frame in which visibility is to be maintained\n\
00423 # The frame id should represent the robot link to which the sensor is attached\n\
00424 # The visual axis of the sensor is assumed to be along the X axis of this frame\n\
00425 geometry_msgs/PoseStamped sensor_pose\n\
00426 \n\
00427 # The deviation (in radians) that will be tolerated\n\
00428 # Constraint error will be measured as the solid angle between the \n\
00429 # X axis of the frame defined above and the vector between the origin \n\
00430 # of the frame defined above and the target location\n\
00431 float64 absolute_tolerance\n\
00432 \n\
00433 \n\
00434 ================================================================================\n\
00435 MSG: geometry_msgs/PointStamped\n\
00436 # This represents a Point with reference coordinate frame and timestamp\n\
00437 Header header\n\
00438 Point point\n\
00439 \n\
00440 ================================================================================\n\
00441 MSG: geometry_msgs/PoseStamped\n\
00442 # A Pose with reference coordinate frame and timestamp\n\
00443 Header header\n\
00444 Pose pose\n\
00445 \n\
00446 ";
00447 }
00448
00449 static const char* value(const ::arm_navigation_msgs::FilterJointTrajectoryWithConstraintsRequest_<ContainerAllocator> &) { return value(); }
00450 };
00451
00452 }
00453 }
00454
00455
00456 namespace ros
00457 {
00458 namespace message_traits
00459 {
00460 template<class ContainerAllocator> struct IsMessage< ::arm_navigation_msgs::FilterJointTrajectoryWithConstraintsResponse_<ContainerAllocator> > : public TrueType {};
00461 template<class ContainerAllocator> struct IsMessage< ::arm_navigation_msgs::FilterJointTrajectoryWithConstraintsResponse_<ContainerAllocator> const> : public TrueType {};
00462 template<class ContainerAllocator>
00463 struct MD5Sum< ::arm_navigation_msgs::FilterJointTrajectoryWithConstraintsResponse_<ContainerAllocator> > {
00464 static const char* value()
00465 {
00466 return "5b4da90f4032f9ac3da9abfb05f766cc";
00467 }
00468
00469 static const char* value(const ::arm_navigation_msgs::FilterJointTrajectoryWithConstraintsResponse_<ContainerAllocator> &) { return value(); }
00470 static const uint64_t static_value1 = 0x5b4da90f4032f9acULL;
00471 static const uint64_t static_value2 = 0x3da9abfb05f766ccULL;
00472 };
00473
00474 template<class ContainerAllocator>
00475 struct DataType< ::arm_navigation_msgs::FilterJointTrajectoryWithConstraintsResponse_<ContainerAllocator> > {
00476 static const char* value()
00477 {
00478 return "arm_navigation_msgs/FilterJointTrajectoryWithConstraintsResponse";
00479 }
00480
00481 static const char* value(const ::arm_navigation_msgs::FilterJointTrajectoryWithConstraintsResponse_<ContainerAllocator> &) { return value(); }
00482 };
00483
00484 template<class ContainerAllocator>
00485 struct Definition< ::arm_navigation_msgs::FilterJointTrajectoryWithConstraintsResponse_<ContainerAllocator> > {
00486 static const char* value()
00487 {
00488 return "trajectory_msgs/JointTrajectory trajectory\n\
00489 ArmNavigationErrorCodes error_code\n\
00490 \n\
00491 \n\
00492 ================================================================================\n\
00493 MSG: trajectory_msgs/JointTrajectory\n\
00494 Header header\n\
00495 string[] joint_names\n\
00496 JointTrajectoryPoint[] points\n\
00497 ================================================================================\n\
00498 MSG: std_msgs/Header\n\
00499 # Standard metadata for higher-level stamped data types.\n\
00500 # This is generally used to communicate timestamped data \n\
00501 # in a particular coordinate frame.\n\
00502 # \n\
00503 # sequence ID: consecutively increasing ID \n\
00504 uint32 seq\n\
00505 #Two-integer timestamp that is expressed as:\n\
00506 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00507 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00508 # time-handling sugar is provided by the client library\n\
00509 time stamp\n\
00510 #Frame this data is associated with\n\
00511 # 0: no frame\n\
00512 # 1: global frame\n\
00513 string frame_id\n\
00514 \n\
00515 ================================================================================\n\
00516 MSG: trajectory_msgs/JointTrajectoryPoint\n\
00517 float64[] positions\n\
00518 float64[] velocities\n\
00519 float64[] accelerations\n\
00520 duration time_from_start\n\
00521 ================================================================================\n\
00522 MSG: arm_navigation_msgs/ArmNavigationErrorCodes\n\
00523 int32 val\n\
00524 \n\
00525 # overall behavior\n\
00526 int32 PLANNING_FAILED=-1\n\
00527 int32 SUCCESS=1\n\
00528 int32 TIMED_OUT=-2\n\
00529 \n\
00530 # start state errors\n\
00531 int32 START_STATE_IN_COLLISION=-3\n\
00532 int32 START_STATE_VIOLATES_PATH_CONSTRAINTS=-4\n\
00533 \n\
00534 # goal errors\n\
00535 int32 GOAL_IN_COLLISION=-5\n\
00536 int32 GOAL_VIOLATES_PATH_CONSTRAINTS=-6\n\
00537 \n\
00538 # robot state\n\
00539 int32 INVALID_ROBOT_STATE=-7\n\
00540 int32 INCOMPLETE_ROBOT_STATE=-8\n\
00541 \n\
00542 # planning request errors\n\
00543 int32 INVALID_PLANNER_ID=-9\n\
00544 int32 INVALID_NUM_PLANNING_ATTEMPTS=-10\n\
00545 int32 INVALID_ALLOWED_PLANNING_TIME=-11\n\
00546 int32 INVALID_GROUP_NAME=-12\n\
00547 int32 INVALID_GOAL_JOINT_CONSTRAINTS=-13\n\
00548 int32 INVALID_GOAL_POSITION_CONSTRAINTS=-14\n\
00549 int32 INVALID_GOAL_ORIENTATION_CONSTRAINTS=-15\n\
00550 int32 INVALID_PATH_JOINT_CONSTRAINTS=-16\n\
00551 int32 INVALID_PATH_POSITION_CONSTRAINTS=-17\n\
00552 int32 INVALID_PATH_ORIENTATION_CONSTRAINTS=-18\n\
00553 \n\
00554 # state/trajectory monitor errors\n\
00555 int32 INVALID_TRAJECTORY=-19\n\
00556 int32 INVALID_INDEX=-20\n\
00557 int32 JOINT_LIMITS_VIOLATED=-21\n\
00558 int32 PATH_CONSTRAINTS_VIOLATED=-22\n\
00559 int32 COLLISION_CONSTRAINTS_VIOLATED=-23\n\
00560 int32 GOAL_CONSTRAINTS_VIOLATED=-24\n\
00561 int32 JOINTS_NOT_MOVING=-25\n\
00562 int32 TRAJECTORY_CONTROLLER_FAILED=-26\n\
00563 \n\
00564 # system errors\n\
00565 int32 FRAME_TRANSFORM_FAILURE=-27\n\
00566 int32 COLLISION_CHECKING_UNAVAILABLE=-28\n\
00567 int32 ROBOT_STATE_STALE=-29\n\
00568 int32 SENSOR_INFO_STALE=-30\n\
00569 \n\
00570 # kinematics errors\n\
00571 int32 NO_IK_SOLUTION=-31\n\
00572 int32 INVALID_LINK_NAME=-32\n\
00573 int32 IK_LINK_IN_COLLISION=-33\n\
00574 int32 NO_FK_SOLUTION=-34\n\
00575 int32 KINEMATICS_STATE_IN_COLLISION=-35\n\
00576 \n\
00577 # general errors\n\
00578 int32 INVALID_TIMEOUT=-36\n\
00579 \n\
00580 \n\
00581 ";
00582 }
00583
00584 static const char* value(const ::arm_navigation_msgs::FilterJointTrajectoryWithConstraintsResponse_<ContainerAllocator> &) { return value(); }
00585 };
00586
00587 }
00588 }
00589
00590 namespace ros
00591 {
00592 namespace serialization
00593 {
00594
00595 template<class ContainerAllocator> struct Serializer< ::arm_navigation_msgs::FilterJointTrajectoryWithConstraintsRequest_<ContainerAllocator> >
00596 {
00597 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00598 {
00599 stream.next(m.trajectory);
00600 stream.next(m.group_name);
00601 stream.next(m.limits);
00602 stream.next(m.start_state);
00603 stream.next(m.path_constraints);
00604 stream.next(m.goal_constraints);
00605 stream.next(m.allowed_time);
00606 }
00607
00608 ROS_DECLARE_ALLINONE_SERIALIZER;
00609 };
00610 }
00611 }
00612
00613
00614 namespace ros
00615 {
00616 namespace serialization
00617 {
00618
00619 template<class ContainerAllocator> struct Serializer< ::arm_navigation_msgs::FilterJointTrajectoryWithConstraintsResponse_<ContainerAllocator> >
00620 {
00621 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00622 {
00623 stream.next(m.trajectory);
00624 stream.next(m.error_code);
00625 }
00626
00627 ROS_DECLARE_ALLINONE_SERIALIZER;
00628 };
00629 }
00630 }
00631
00632 namespace ros
00633 {
00634 namespace service_traits
00635 {
00636 template<>
00637 struct MD5Sum<arm_navigation_msgs::FilterJointTrajectoryWithConstraints> {
00638 static const char* value()
00639 {
00640 return "8da2437f9cfc1409ce927ce38e556772";
00641 }
00642
00643 static const char* value(const arm_navigation_msgs::FilterJointTrajectoryWithConstraints&) { return value(); }
00644 };
00645
00646 template<>
00647 struct DataType<arm_navigation_msgs::FilterJointTrajectoryWithConstraints> {
00648 static const char* value()
00649 {
00650 return "arm_navigation_msgs/FilterJointTrajectoryWithConstraints";
00651 }
00652
00653 static const char* value(const arm_navigation_msgs::FilterJointTrajectoryWithConstraints&) { return value(); }
00654 };
00655
00656 template<class ContainerAllocator>
00657 struct MD5Sum<arm_navigation_msgs::FilterJointTrajectoryWithConstraintsRequest_<ContainerAllocator> > {
00658 static const char* value()
00659 {
00660 return "8da2437f9cfc1409ce927ce38e556772";
00661 }
00662
00663 static const char* value(const arm_navigation_msgs::FilterJointTrajectoryWithConstraintsRequest_<ContainerAllocator> &) { return value(); }
00664 };
00665
00666 template<class ContainerAllocator>
00667 struct DataType<arm_navigation_msgs::FilterJointTrajectoryWithConstraintsRequest_<ContainerAllocator> > {
00668 static const char* value()
00669 {
00670 return "arm_navigation_msgs/FilterJointTrajectoryWithConstraints";
00671 }
00672
00673 static const char* value(const arm_navigation_msgs::FilterJointTrajectoryWithConstraintsRequest_<ContainerAllocator> &) { return value(); }
00674 };
00675
00676 template<class ContainerAllocator>
00677 struct MD5Sum<arm_navigation_msgs::FilterJointTrajectoryWithConstraintsResponse_<ContainerAllocator> > {
00678 static const char* value()
00679 {
00680 return "8da2437f9cfc1409ce927ce38e556772";
00681 }
00682
00683 static const char* value(const arm_navigation_msgs::FilterJointTrajectoryWithConstraintsResponse_<ContainerAllocator> &) { return value(); }
00684 };
00685
00686 template<class ContainerAllocator>
00687 struct DataType<arm_navigation_msgs::FilterJointTrajectoryWithConstraintsResponse_<ContainerAllocator> > {
00688 static const char* value()
00689 {
00690 return "arm_navigation_msgs/FilterJointTrajectoryWithConstraints";
00691 }
00692
00693 static const char* value(const arm_navigation_msgs::FilterJointTrajectoryWithConstraintsResponse_<ContainerAllocator> &) { return value(); }
00694 };
00695
00696 }
00697 }
00698
00699 #endif // ARM_NAVIGATION_MSGS_SERVICE_FILTERJOINTTRAJECTORYWITHCONSTRAINTS_H
00700