341 lines
11 KiB
C++
341 lines
11 KiB
C++
// Generated by gencpp from file sensor_msgs/MultiDOFJointState.msg
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// DO NOT EDIT!
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#ifndef SENSOR_MSGS_MESSAGE_MULTIDOFJOINTSTATE_H
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#define SENSOR_MSGS_MESSAGE_MULTIDOFJOINTSTATE_H
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#include <string>
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#include <vector>
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#include <memory>
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#include <ros/types.h>
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#include <ros/serialization.h>
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#include <ros/builtin_message_traits.h>
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#include <ros/message_operations.h>
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#include <std_msgs/Header.h>
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#include <geometry_msgs/Transform.h>
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#include <geometry_msgs/Twist.h>
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#include <geometry_msgs/Wrench.h>
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namespace sensor_msgs
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{
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template <class ContainerAllocator>
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struct MultiDOFJointState_
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{
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typedef MultiDOFJointState_<ContainerAllocator> Type;
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MultiDOFJointState_()
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: header()
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, joint_names()
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, transforms()
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, twist()
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, wrench() {
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}
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MultiDOFJointState_(const ContainerAllocator& _alloc)
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: header(_alloc)
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, joint_names(_alloc)
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, transforms(_alloc)
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, twist(_alloc)
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, wrench(_alloc) {
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(void)_alloc;
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}
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typedef ::std_msgs::Header_<ContainerAllocator> _header_type;
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_header_type header;
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typedef std::vector<std::basic_string<char, std::char_traits<char>, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<char>>, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<std::basic_string<char, std::char_traits<char>, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<char>>>> _joint_names_type;
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_joint_names_type joint_names;
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typedef std::vector< ::geometry_msgs::Transform_<ContainerAllocator> , typename std::allocator_traits<ContainerAllocator>::template rebind_alloc< ::geometry_msgs::Transform_<ContainerAllocator> >> _transforms_type;
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_transforms_type transforms;
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typedef std::vector< ::geometry_msgs::Twist_<ContainerAllocator> , typename std::allocator_traits<ContainerAllocator>::template rebind_alloc< ::geometry_msgs::Twist_<ContainerAllocator> >> _twist_type;
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_twist_type twist;
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typedef std::vector< ::geometry_msgs::Wrench_<ContainerAllocator> , typename std::allocator_traits<ContainerAllocator>::template rebind_alloc< ::geometry_msgs::Wrench_<ContainerAllocator> >> _wrench_type;
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_wrench_type wrench;
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typedef boost::shared_ptr< ::sensor_msgs::MultiDOFJointState_<ContainerAllocator> > Ptr;
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typedef boost::shared_ptr< ::sensor_msgs::MultiDOFJointState_<ContainerAllocator> const> ConstPtr;
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}; // struct MultiDOFJointState_
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typedef ::sensor_msgs::MultiDOFJointState_<std::allocator<void> > MultiDOFJointState;
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typedef boost::shared_ptr< ::sensor_msgs::MultiDOFJointState > MultiDOFJointStatePtr;
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typedef boost::shared_ptr< ::sensor_msgs::MultiDOFJointState const> MultiDOFJointStateConstPtr;
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// constants requiring out of line definition
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template<typename ContainerAllocator>
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std::ostream& operator<<(std::ostream& s, const ::sensor_msgs::MultiDOFJointState_<ContainerAllocator> & v)
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{
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ros::message_operations::Printer< ::sensor_msgs::MultiDOFJointState_<ContainerAllocator> >::stream(s, "", v);
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return s;
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}
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template<typename ContainerAllocator1, typename ContainerAllocator2>
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bool operator==(const ::sensor_msgs::MultiDOFJointState_<ContainerAllocator1> & lhs, const ::sensor_msgs::MultiDOFJointState_<ContainerAllocator2> & rhs)
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{
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return lhs.header == rhs.header &&
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lhs.joint_names == rhs.joint_names &&
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lhs.transforms == rhs.transforms &&
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lhs.twist == rhs.twist &&
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lhs.wrench == rhs.wrench;
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}
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template<typename ContainerAllocator1, typename ContainerAllocator2>
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bool operator!=(const ::sensor_msgs::MultiDOFJointState_<ContainerAllocator1> & lhs, const ::sensor_msgs::MultiDOFJointState_<ContainerAllocator2> & rhs)
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{
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return !(lhs == rhs);
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}
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} // namespace sensor_msgs
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namespace ros
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{
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namespace message_traits
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{
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template <class ContainerAllocator>
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struct IsMessage< ::sensor_msgs::MultiDOFJointState_<ContainerAllocator> >
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: TrueType
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{ };
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template <class ContainerAllocator>
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struct IsMessage< ::sensor_msgs::MultiDOFJointState_<ContainerAllocator> const>
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: TrueType
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{ };
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template <class ContainerAllocator>
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struct IsFixedSize< ::sensor_msgs::MultiDOFJointState_<ContainerAllocator> >
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: FalseType
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{ };
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template <class ContainerAllocator>
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struct IsFixedSize< ::sensor_msgs::MultiDOFJointState_<ContainerAllocator> const>
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: FalseType
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{ };
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template <class ContainerAllocator>
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struct HasHeader< ::sensor_msgs::MultiDOFJointState_<ContainerAllocator> >
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: TrueType
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{ };
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template <class ContainerAllocator>
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struct HasHeader< ::sensor_msgs::MultiDOFJointState_<ContainerAllocator> const>
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: TrueType
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{ };
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template<class ContainerAllocator>
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struct MD5Sum< ::sensor_msgs::MultiDOFJointState_<ContainerAllocator> >
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{
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static const char* value()
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{
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return "690f272f0640d2631c305eeb8301e59d";
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}
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static const char* value(const ::sensor_msgs::MultiDOFJointState_<ContainerAllocator>&) { return value(); }
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static const uint64_t static_value1 = 0x690f272f0640d263ULL;
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static const uint64_t static_value2 = 0x1c305eeb8301e59dULL;
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};
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template<class ContainerAllocator>
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struct DataType< ::sensor_msgs::MultiDOFJointState_<ContainerAllocator> >
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{
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static const char* value()
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{
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return "sensor_msgs/MultiDOFJointState";
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}
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static const char* value(const ::sensor_msgs::MultiDOFJointState_<ContainerAllocator>&) { return value(); }
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};
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template<class ContainerAllocator>
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struct Definition< ::sensor_msgs::MultiDOFJointState_<ContainerAllocator> >
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{
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static const char* value()
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{
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return "# Representation of state for joints with multiple degrees of freedom, \n"
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"# following the structure of JointState.\n"
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"#\n"
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"# It is assumed that a joint in a system corresponds to a transform that gets applied \n"
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"# along the kinematic chain. For example, a planar joint (as in URDF) is 3DOF (x, y, yaw)\n"
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"# and those 3DOF can be expressed as a transformation matrix, and that transformation\n"
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"# matrix can be converted back to (x, y, yaw)\n"
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"#\n"
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"# Each joint is uniquely identified by its name\n"
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"# The header specifies the time at which the joint states were recorded. All the joint states\n"
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"# in one message have to be recorded at the same time.\n"
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"#\n"
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"# This message consists of a multiple arrays, one for each part of the joint state. \n"
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"# The goal is to make each of the fields optional. When e.g. your joints have no\n"
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"# wrench associated with them, you can leave the wrench array empty. \n"
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"#\n"
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"# All arrays in this message should have the same size, or be empty.\n"
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"# This is the only way to uniquely associate the joint name with the correct\n"
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"# states.\n"
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"\n"
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"Header header\n"
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"\n"
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"string[] joint_names\n"
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"geometry_msgs/Transform[] transforms\n"
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"geometry_msgs/Twist[] twist\n"
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"geometry_msgs/Wrench[] wrench\n"
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"\n"
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"================================================================================\n"
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"MSG: std_msgs/Header\n"
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"# Standard metadata for higher-level stamped data types.\n"
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"# This is generally used to communicate timestamped data \n"
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"# in a particular coordinate frame.\n"
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"# \n"
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"# sequence ID: consecutively increasing ID \n"
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"uint32 seq\n"
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"#Two-integer timestamp that is expressed as:\n"
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"# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')\n"
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"# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')\n"
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"# time-handling sugar is provided by the client library\n"
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"time stamp\n"
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"#Frame this data is associated with\n"
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"string frame_id\n"
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"\n"
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"================================================================================\n"
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"MSG: geometry_msgs/Transform\n"
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"# This represents the transform between two coordinate frames in free space.\n"
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"\n"
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"Vector3 translation\n"
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"Quaternion rotation\n"
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"\n"
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"================================================================================\n"
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"MSG: geometry_msgs/Vector3\n"
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"# This represents a vector in free space. \n"
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"# It is only meant to represent a direction. Therefore, it does not\n"
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"# make sense to apply a translation to it (e.g., when applying a \n"
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"# generic rigid transformation to a Vector3, tf2 will only apply the\n"
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"# rotation). If you want your data to be translatable too, use the\n"
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"# geometry_msgs/Point message instead.\n"
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"\n"
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"float64 x\n"
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"float64 y\n"
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"float64 z\n"
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"================================================================================\n"
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"MSG: geometry_msgs/Quaternion\n"
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"# This represents an orientation in free space in quaternion form.\n"
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"\n"
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"float64 x\n"
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"float64 y\n"
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"float64 z\n"
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"float64 w\n"
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"\n"
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"================================================================================\n"
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"MSG: geometry_msgs/Twist\n"
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"# This expresses velocity in free space broken into its linear and angular parts.\n"
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"Vector3 linear\n"
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"Vector3 angular\n"
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"\n"
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"================================================================================\n"
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"MSG: geometry_msgs/Wrench\n"
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"# This represents force in free space, separated into\n"
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"# its linear and angular parts.\n"
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"Vector3 force\n"
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"Vector3 torque\n"
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;
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}
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static const char* value(const ::sensor_msgs::MultiDOFJointState_<ContainerAllocator>&) { return value(); }
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};
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} // namespace message_traits
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} // namespace ros
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namespace ros
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{
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namespace serialization
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{
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template<class ContainerAllocator> struct Serializer< ::sensor_msgs::MultiDOFJointState_<ContainerAllocator> >
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{
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template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
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{
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stream.next(m.header);
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stream.next(m.joint_names);
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stream.next(m.transforms);
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stream.next(m.twist);
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stream.next(m.wrench);
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}
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ROS_DECLARE_ALLINONE_SERIALIZER
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}; // struct MultiDOFJointState_
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} // namespace serialization
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} // namespace ros
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namespace ros
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{
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namespace message_operations
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{
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template<class ContainerAllocator>
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struct Printer< ::sensor_msgs::MultiDOFJointState_<ContainerAllocator> >
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{
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template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::sensor_msgs::MultiDOFJointState_<ContainerAllocator>& v)
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{
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s << indent << "header: ";
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s << std::endl;
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Printer< ::std_msgs::Header_<ContainerAllocator> >::stream(s, indent + " ", v.header);
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s << indent << "joint_names[]" << std::endl;
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for (size_t i = 0; i < v.joint_names.size(); ++i)
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{
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s << indent << " joint_names[" << i << "]: ";
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Printer<std::basic_string<char, std::char_traits<char>, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<char>>>::stream(s, indent + " ", v.joint_names[i]);
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}
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s << indent << "transforms[]" << std::endl;
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for (size_t i = 0; i < v.transforms.size(); ++i)
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{
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s << indent << " transforms[" << i << "]: ";
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s << std::endl;
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s << indent;
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Printer< ::geometry_msgs::Transform_<ContainerAllocator> >::stream(s, indent + " ", v.transforms[i]);
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}
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s << indent << "twist[]" << std::endl;
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for (size_t i = 0; i < v.twist.size(); ++i)
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{
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s << indent << " twist[" << i << "]: ";
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s << std::endl;
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s << indent;
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Printer< ::geometry_msgs::Twist_<ContainerAllocator> >::stream(s, indent + " ", v.twist[i]);
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}
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s << indent << "wrench[]" << std::endl;
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for (size_t i = 0; i < v.wrench.size(); ++i)
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{
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s << indent << " wrench[" << i << "]: ";
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s << std::endl;
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s << indent;
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Printer< ::geometry_msgs::Wrench_<ContainerAllocator> >::stream(s, indent + " ", v.wrench[i]);
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}
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}
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};
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} // namespace message_operations
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} // namespace ros
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#endif // SENSOR_MSGS_MESSAGE_MULTIDOFJOINTSTATE_H
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