/usr/include/sensor_msgs/MultiDOFJointState.h is in libsensor-msgs-dev 1.12.3-5.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
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// DO NOT EDIT!
#ifndef SENSOR_MSGS_MESSAGE_MULTIDOFJOINTSTATE_H
#define SENSOR_MSGS_MESSAGE_MULTIDOFJOINTSTATE_H
#include <string>
#include <vector>
#include <map>
#include <ros/types.h>
#include <ros/serialization.h>
#include <ros/builtin_message_traits.h>
#include <ros/message_operations.h>
#include <std_msgs/Header.h>
#include <geometry_msgs/Transform.h>
#include <geometry_msgs/Twist.h>
#include <geometry_msgs/Wrench.h>
namespace sensor_msgs
{
template <class ContainerAllocator>
struct MultiDOFJointState_
{
typedef MultiDOFJointState_<ContainerAllocator> Type;
MultiDOFJointState_()
: header()
, joint_names()
, transforms()
, twist()
, wrench() {
}
MultiDOFJointState_(const ContainerAllocator& _alloc)
: header(_alloc)
, joint_names(_alloc)
, transforms(_alloc)
, twist(_alloc)
, wrench(_alloc) {
}
typedef ::std_msgs::Header_<ContainerAllocator> _header_type;
_header_type header;
typedef std::vector<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > , typename ContainerAllocator::template rebind<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > >::other > _joint_names_type;
_joint_names_type joint_names;
typedef std::vector< ::geometry_msgs::Transform_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::geometry_msgs::Transform_<ContainerAllocator> >::other > _transforms_type;
_transforms_type transforms;
typedef std::vector< ::geometry_msgs::Twist_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::geometry_msgs::Twist_<ContainerAllocator> >::other > _twist_type;
_twist_type twist;
typedef std::vector< ::geometry_msgs::Wrench_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::geometry_msgs::Wrench_<ContainerAllocator> >::other > _wrench_type;
_wrench_type wrench;
typedef boost::shared_ptr< ::sensor_msgs::MultiDOFJointState_<ContainerAllocator> > Ptr;
typedef boost::shared_ptr< ::sensor_msgs::MultiDOFJointState_<ContainerAllocator> const> ConstPtr;
}; // struct MultiDOFJointState_
typedef ::sensor_msgs::MultiDOFJointState_<std::allocator<void> > MultiDOFJointState;
typedef boost::shared_ptr< ::sensor_msgs::MultiDOFJointState > MultiDOFJointStatePtr;
typedef boost::shared_ptr< ::sensor_msgs::MultiDOFJointState const> MultiDOFJointStateConstPtr;
// constants requiring out of line definition
template<typename ContainerAllocator>
std::ostream& operator<<(std::ostream& s, const ::sensor_msgs::MultiDOFJointState_<ContainerAllocator> & v)
{
ros::message_operations::Printer< ::sensor_msgs::MultiDOFJointState_<ContainerAllocator> >::stream(s, "", v);
return s;
}
} // namespace sensor_msgs
namespace ros
{
namespace message_traits
{
// BOOLTRAITS {'IsFixedSize': False, 'IsMessage': True, 'HasHeader': True}
// {'std_msgs': ['/usr/share/std_msgs/cmake/../msg'], 'geometry_msgs': ['/build/ros-common-msgs-b5ydaM/ros-common-msgs-1.12.3/geometry_msgs/msg'], 'sensor_msgs': ['/build/ros-common-msgs-b5ydaM/ros-common-msgs-1.12.3/sensor_msgs/msg']}
// !!!!!!!!!!! ['__class__', '__delattr__', '__dict__', '__doc__', '__eq__', '__format__', '__getattribute__', '__hash__', '__init__', '__module__', '__ne__', '__new__', '__reduce__', '__reduce_ex__', '__repr__', '__setattr__', '__sizeof__', '__str__', '__subclasshook__', '__weakref__', '_parsed_fields', 'constants', 'fields', 'full_name', 'has_header', 'header_present', 'names', 'package', 'parsed_fields', 'short_name', 'text', 'types']
template <class ContainerAllocator>
struct IsFixedSize< ::sensor_msgs::MultiDOFJointState_<ContainerAllocator> >
: FalseType
{ };
template <class ContainerAllocator>
struct IsFixedSize< ::sensor_msgs::MultiDOFJointState_<ContainerAllocator> const>
: FalseType
{ };
template <class ContainerAllocator>
struct IsMessage< ::sensor_msgs::MultiDOFJointState_<ContainerAllocator> >
: TrueType
{ };
template <class ContainerAllocator>
struct IsMessage< ::sensor_msgs::MultiDOFJointState_<ContainerAllocator> const>
: TrueType
{ };
template <class ContainerAllocator>
struct HasHeader< ::sensor_msgs::MultiDOFJointState_<ContainerAllocator> >
: TrueType
{ };
template <class ContainerAllocator>
struct HasHeader< ::sensor_msgs::MultiDOFJointState_<ContainerAllocator> const>
: TrueType
{ };
template<class ContainerAllocator>
struct MD5Sum< ::sensor_msgs::MultiDOFJointState_<ContainerAllocator> >
{
static const char* value()
{
return "690f272f0640d2631c305eeb8301e59d";
}
static const char* value(const ::sensor_msgs::MultiDOFJointState_<ContainerAllocator>&) { return value(); }
static const uint64_t static_value1 = 0x690f272f0640d263ULL;
static const uint64_t static_value2 = 0x1c305eeb8301e59dULL;
};
template<class ContainerAllocator>
struct DataType< ::sensor_msgs::MultiDOFJointState_<ContainerAllocator> >
{
static const char* value()
{
return "sensor_msgs/MultiDOFJointState";
}
static const char* value(const ::sensor_msgs::MultiDOFJointState_<ContainerAllocator>&) { return value(); }
};
template<class ContainerAllocator>
struct Definition< ::sensor_msgs::MultiDOFJointState_<ContainerAllocator> >
{
static const char* value()
{
return "# Representation of state for joints with multiple degrees of freedom, \n\
# following the structure of JointState.\n\
#\n\
# It is assumed that a joint in a system corresponds to a transform that gets applied \n\
# along the kinematic chain. For example, a planar joint (as in URDF) is 3DOF (x, y, yaw)\n\
# and those 3DOF can be expressed as a transformation matrix, and that transformation\n\
# matrix can be converted back to (x, y, yaw)\n\
#\n\
# Each joint is uniquely identified by its name\n\
# The header specifies the time at which the joint states were recorded. All the joint states\n\
# in one message have to be recorded at the same time.\n\
#\n\
# This message consists of a multiple arrays, one for each part of the joint state. \n\
# The goal is to make each of the fields optional. When e.g. your joints have no\n\
# wrench associated with them, you can leave the wrench array empty. \n\
#\n\
# All arrays in this message should have the same size, or be empty.\n\
# This is the only way to uniquely associate the joint name with the correct\n\
# states.\n\
\n\
Header header\n\
\n\
string[] joint_names\n\
geometry_msgs/Transform[] transforms\n\
geometry_msgs/Twist[] twist\n\
geometry_msgs/Wrench[] wrench\n\
\n\
================================================================================\n\
MSG: std_msgs/Header\n\
# Standard metadata for higher-level stamped data types.\n\
# This is generally used to communicate timestamped data \n\
# in a particular coordinate frame.\n\
# \n\
# sequence ID: consecutively increasing ID \n\
uint32 seq\n\
#Two-integer timestamp that is expressed as:\n\
# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')\n\
# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')\n\
# time-handling sugar is provided by the client library\n\
time stamp\n\
#Frame this data is associated with\n\
# 0: no frame\n\
# 1: global frame\n\
string frame_id\n\
\n\
================================================================================\n\
MSG: geometry_msgs/Transform\n\
# This represents the transform between two coordinate frames in free space.\n\
\n\
Vector3 translation\n\
Quaternion rotation\n\
\n\
================================================================================\n\
MSG: geometry_msgs/Vector3\n\
# This represents a vector in free space. \n\
\n\
float64 x\n\
float64 y\n\
float64 z\n\
================================================================================\n\
MSG: geometry_msgs/Quaternion\n\
# This represents an orientation in free space in quaternion form.\n\
\n\
float64 x\n\
float64 y\n\
float64 z\n\
float64 w\n\
\n\
================================================================================\n\
MSG: geometry_msgs/Twist\n\
# This expresses velocity in free space broken into its linear and angular parts.\n\
Vector3 linear\n\
Vector3 angular\n\
\n\
================================================================================\n\
MSG: geometry_msgs/Wrench\n\
# This represents force in free space, separated into\n\
# its linear and angular parts.\n\
Vector3 force\n\
Vector3 torque\n\
";
}
static const char* value(const ::sensor_msgs::MultiDOFJointState_<ContainerAllocator>&) { return value(); }
};
} // namespace message_traits
} // namespace ros
namespace ros
{
namespace serialization
{
template<class ContainerAllocator> struct Serializer< ::sensor_msgs::MultiDOFJointState_<ContainerAllocator> >
{
template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
{
stream.next(m.header);
stream.next(m.joint_names);
stream.next(m.transforms);
stream.next(m.twist);
stream.next(m.wrench);
}
ROS_DECLARE_ALLINONE_SERIALIZER;
}; // struct MultiDOFJointState_
} // namespace serialization
} // namespace ros
namespace ros
{
namespace message_operations
{
template<class ContainerAllocator>
struct Printer< ::sensor_msgs::MultiDOFJointState_<ContainerAllocator> >
{
template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::sensor_msgs::MultiDOFJointState_<ContainerAllocator>& v)
{
s << indent << "header: ";
s << std::endl;
Printer< ::std_msgs::Header_<ContainerAllocator> >::stream(s, indent + " ", v.header);
s << indent << "joint_names[]" << std::endl;
for (size_t i = 0; i < v.joint_names.size(); ++i)
{
s << indent << " joint_names[" << i << "]: ";
Printer<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > >::stream(s, indent + " ", v.joint_names[i]);
}
s << indent << "transforms[]" << std::endl;
for (size_t i = 0; i < v.transforms.size(); ++i)
{
s << indent << " transforms[" << i << "]: ";
s << std::endl;
s << indent;
Printer< ::geometry_msgs::Transform_<ContainerAllocator> >::stream(s, indent + " ", v.transforms[i]);
}
s << indent << "twist[]" << std::endl;
for (size_t i = 0; i < v.twist.size(); ++i)
{
s << indent << " twist[" << i << "]: ";
s << std::endl;
s << indent;
Printer< ::geometry_msgs::Twist_<ContainerAllocator> >::stream(s, indent + " ", v.twist[i]);
}
s << indent << "wrench[]" << std::endl;
for (size_t i = 0; i < v.wrench.size(); ++i)
{
s << indent << " wrench[" << i << "]: ";
s << std::endl;
s << indent;
Printer< ::geometry_msgs::Wrench_<ContainerAllocator> >::stream(s, indent + " ", v.wrench[i]);
}
}
};
} // namespace message_operations
} // namespace ros
#endif // SENSOR_MSGS_MESSAGE_MULTIDOFJOINTSTATE_H
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