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00002 #ifndef LWR_IMPEDANCE_CONTROLLER_MESSAGE_CARTIMPTRAJECTORYPOINT_H
00003 #define LWR_IMPEDANCE_CONTROLLER_MESSAGE_CARTIMPTRAJECTORYPOINT_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 "geometry_msgs/Pose.h"
00018 #include "lwr_impedance_controller/CartesianImpedance.h"
00019 #include "geometry_msgs/Wrench.h"
00020 #include "geometry_msgs/Twist.h"
00021
00022 namespace lwr_impedance_controller
00023 {
00024 template <class ContainerAllocator>
00025 struct CartImpTrajectoryPoint_ {
00026 typedef CartImpTrajectoryPoint_<ContainerAllocator> Type;
00027
00028 CartImpTrajectoryPoint_()
00029 : pose()
00030 , impedance()
00031 , wrench()
00032 , velocity()
00033 , time_from_start()
00034 {
00035 }
00036
00037 CartImpTrajectoryPoint_(const ContainerAllocator& _alloc)
00038 : pose(_alloc)
00039 , impedance(_alloc)
00040 , wrench(_alloc)
00041 , velocity(_alloc)
00042 , time_from_start()
00043 {
00044 }
00045
00046 typedef ::geometry_msgs::Pose_<ContainerAllocator> _pose_type;
00047 ::geometry_msgs::Pose_<ContainerAllocator> pose;
00048
00049 typedef ::lwr_impedance_controller::CartesianImpedance_<ContainerAllocator> _impedance_type;
00050 ::lwr_impedance_controller::CartesianImpedance_<ContainerAllocator> impedance;
00051
00052 typedef ::geometry_msgs::Wrench_<ContainerAllocator> _wrench_type;
00053 ::geometry_msgs::Wrench_<ContainerAllocator> wrench;
00054
00055 typedef ::geometry_msgs::Twist_<ContainerAllocator> _velocity_type;
00056 ::geometry_msgs::Twist_<ContainerAllocator> velocity;
00057
00058 typedef ros::Duration _time_from_start_type;
00059 ros::Duration time_from_start;
00060
00061
00062 typedef boost::shared_ptr< ::lwr_impedance_controller::CartImpTrajectoryPoint_<ContainerAllocator> > Ptr;
00063 typedef boost::shared_ptr< ::lwr_impedance_controller::CartImpTrajectoryPoint_<ContainerAllocator> const> ConstPtr;
00064 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00065 };
00066 typedef ::lwr_impedance_controller::CartImpTrajectoryPoint_<std::allocator<void> > CartImpTrajectoryPoint;
00067
00068 typedef boost::shared_ptr< ::lwr_impedance_controller::CartImpTrajectoryPoint> CartImpTrajectoryPointPtr;
00069 typedef boost::shared_ptr< ::lwr_impedance_controller::CartImpTrajectoryPoint const> CartImpTrajectoryPointConstPtr;
00070
00071
00072 template<typename ContainerAllocator>
00073 std::ostream& operator<<(std::ostream& s, const ::lwr_impedance_controller::CartImpTrajectoryPoint_<ContainerAllocator> & v)
00074 {
00075 ros::message_operations::Printer< ::lwr_impedance_controller::CartImpTrajectoryPoint_<ContainerAllocator> >::stream(s, "", v);
00076 return s;}
00077
00078 }
00079
00080 namespace ros
00081 {
00082 namespace message_traits
00083 {
00084 template<class ContainerAllocator> struct IsMessage< ::lwr_impedance_controller::CartImpTrajectoryPoint_<ContainerAllocator> > : public TrueType {};
00085 template<class ContainerAllocator> struct IsMessage< ::lwr_impedance_controller::CartImpTrajectoryPoint_<ContainerAllocator> const> : public TrueType {};
00086 template<class ContainerAllocator>
00087 struct MD5Sum< ::lwr_impedance_controller::CartImpTrajectoryPoint_<ContainerAllocator> > {
00088 static const char* value()
00089 {
00090 return "e50c14d9f0e04d3a544573bcc6e7bb7c";
00091 }
00092
00093 static const char* value(const ::lwr_impedance_controller::CartImpTrajectoryPoint_<ContainerAllocator> &) { return value(); }
00094 static const uint64_t static_value1 = 0xe50c14d9f0e04d3aULL;
00095 static const uint64_t static_value2 = 0x544573bcc6e7bb7cULL;
00096 };
00097
00098 template<class ContainerAllocator>
00099 struct DataType< ::lwr_impedance_controller::CartImpTrajectoryPoint_<ContainerAllocator> > {
00100 static const char* value()
00101 {
00102 return "lwr_impedance_controller/CartImpTrajectoryPoint";
00103 }
00104
00105 static const char* value(const ::lwr_impedance_controller::CartImpTrajectoryPoint_<ContainerAllocator> &) { return value(); }
00106 };
00107
00108 template<class ContainerAllocator>
00109 struct Definition< ::lwr_impedance_controller::CartImpTrajectoryPoint_<ContainerAllocator> > {
00110 static const char* value()
00111 {
00112 return "geometry_msgs/Pose pose\n\
00113 lwr_impedance_controller/CartesianImpedance impedance\n\
00114 geometry_msgs/Wrench wrench\n\
00115 geometry_msgs/Twist velocity\n\
00116 duration time_from_start\n\
00117 \n\
00118 ================================================================================\n\
00119 MSG: geometry_msgs/Pose\n\
00120 # A representation of pose in free space, composed of postion and orientation. \n\
00121 Point position\n\
00122 Quaternion orientation\n\
00123 \n\
00124 ================================================================================\n\
00125 MSG: geometry_msgs/Point\n\
00126 # This contains the position of a point in free space\n\
00127 float64 x\n\
00128 float64 y\n\
00129 float64 z\n\
00130 \n\
00131 ================================================================================\n\
00132 MSG: geometry_msgs/Quaternion\n\
00133 # This represents an orientation in free space in quaternion form.\n\
00134 \n\
00135 float64 x\n\
00136 float64 y\n\
00137 float64 z\n\
00138 float64 w\n\
00139 \n\
00140 ================================================================================\n\
00141 MSG: lwr_impedance_controller/CartesianImpedance\n\
00142 geometry_msgs/Wrench stiffness\n\
00143 geometry_msgs/Wrench damping\n\
00144 \n\
00145 ================================================================================\n\
00146 MSG: geometry_msgs/Wrench\n\
00147 # This represents force in free space, seperated into \n\
00148 # it's linear and angular parts. \n\
00149 Vector3 force\n\
00150 Vector3 torque\n\
00151 \n\
00152 ================================================================================\n\
00153 MSG: geometry_msgs/Vector3\n\
00154 # This represents a vector in free space. \n\
00155 \n\
00156 float64 x\n\
00157 float64 y\n\
00158 float64 z\n\
00159 ================================================================================\n\
00160 MSG: geometry_msgs/Twist\n\
00161 # This expresses velocity in free space broken into it's linear and angular parts. \n\
00162 Vector3 linear\n\
00163 Vector3 angular\n\
00164 \n\
00165 ";
00166 }
00167
00168 static const char* value(const ::lwr_impedance_controller::CartImpTrajectoryPoint_<ContainerAllocator> &) { return value(); }
00169 };
00170
00171 template<class ContainerAllocator> struct IsFixedSize< ::lwr_impedance_controller::CartImpTrajectoryPoint_<ContainerAllocator> > : public TrueType {};
00172 }
00173 }
00174
00175 namespace ros
00176 {
00177 namespace serialization
00178 {
00179
00180 template<class ContainerAllocator> struct Serializer< ::lwr_impedance_controller::CartImpTrajectoryPoint_<ContainerAllocator> >
00181 {
00182 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00183 {
00184 stream.next(m.pose);
00185 stream.next(m.impedance);
00186 stream.next(m.wrench);
00187 stream.next(m.velocity);
00188 stream.next(m.time_from_start);
00189 }
00190
00191 ROS_DECLARE_ALLINONE_SERIALIZER;
00192 };
00193 }
00194 }
00195
00196 namespace ros
00197 {
00198 namespace message_operations
00199 {
00200
00201 template<class ContainerAllocator>
00202 struct Printer< ::lwr_impedance_controller::CartImpTrajectoryPoint_<ContainerAllocator> >
00203 {
00204 template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::lwr_impedance_controller::CartImpTrajectoryPoint_<ContainerAllocator> & v)
00205 {
00206 s << indent << "pose: ";
00207 s << std::endl;
00208 Printer< ::geometry_msgs::Pose_<ContainerAllocator> >::stream(s, indent + " ", v.pose);
00209 s << indent << "impedance: ";
00210 s << std::endl;
00211 Printer< ::lwr_impedance_controller::CartesianImpedance_<ContainerAllocator> >::stream(s, indent + " ", v.impedance);
00212 s << indent << "wrench: ";
00213 s << std::endl;
00214 Printer< ::geometry_msgs::Wrench_<ContainerAllocator> >::stream(s, indent + " ", v.wrench);
00215 s << indent << "velocity: ";
00216 s << std::endl;
00217 Printer< ::geometry_msgs::Twist_<ContainerAllocator> >::stream(s, indent + " ", v.velocity);
00218 s << indent << "time_from_start: ";
00219 Printer<ros::Duration>::stream(s, indent + " ", v.time_from_start);
00220 }
00221 };
00222
00223
00224 }
00225 }
00226
00227 #endif // LWR_IMPEDANCE_CONTROLLER_MESSAGE_CARTIMPTRAJECTORYPOINT_H
00228