// generated from rosidl_generator_c/resource/idl__struct.h.em
// with input from interface_protocol:msg/JointMotionPlanRequest.idl
// generated code does not contain a copyright notice

#ifndef INTERFACE_PROTOCOL__MSG__DETAIL__JOINT_MOTION_PLAN_REQUEST__STRUCT_H_
#define INTERFACE_PROTOCOL__MSG__DETAIL__JOINT_MOTION_PLAN_REQUEST__STRUCT_H_

#ifdef __cplusplus
extern "C"
{
#endif

#include <stdbool.h>
#include <stddef.h>
#include <stdint.h>


// Constants defined in the message

/// Constant 'REQUEST_PLAN_EXECUTE'.
/**
  * Plan and execute
 */
enum
{
  interface_protocol__msg__JointMotionPlanRequest__REQUEST_PLAN_EXECUTE = 0
};

/// Constant 'REQUEST_CANCEL'.
/**
  * Cancel specified request_id
 */
enum
{
  interface_protocol__msg__JointMotionPlanRequest__REQUEST_CANCEL = 1
};

/// Constant 'REQUEST_RESET'.
/**
  * Reset to default pose
 */
enum
{
  interface_protocol__msg__JointMotionPlanRequest__REQUEST_RESET = 2
};

// Include directives for member types
// Member 'joint_indices'
// Member 'target_positions'
// Member 'target_velocities'
// Member 'stiffness'
// Member 'damping'
#include "rosidl_runtime_c/primitives_sequence.h"

/// Struct defined in msg/JointMotionPlanRequest in the package interface_protocol.
/**
  * Motion plan request message (via topic)
  * request_type constants
 */
typedef struct interface_protocol__msg__JointMotionPlanRequest
{
  int32_t request_id;
  uint8_t request_type;
  /// Motion target (consistent with JointMotion.action)
  bool use_gravity_compensation;
  /// Empty array means reset to default
  rosidl_runtime_c__int32__Sequence joint_indices;
  /// Target joint positions (rad)
  rosidl_runtime_c__double__Sequence target_positions;
  /// Target joint velocities (empty for auto-planning)
  rosidl_runtime_c__double__Sequence target_velocities;
  /// Expected execution time (s)
  double execution_time;
  /// Optional, empty array for default
  rosidl_runtime_c__double__Sequence stiffness;
  /// Optional, empty array for default
  rosidl_runtime_c__double__Sequence damping;
} interface_protocol__msg__JointMotionPlanRequest;

// Struct for a sequence of interface_protocol__msg__JointMotionPlanRequest.
typedef struct interface_protocol__msg__JointMotionPlanRequest__Sequence
{
  interface_protocol__msg__JointMotionPlanRequest * data;
  /// The number of valid items in data
  size_t size;
  /// The number of allocated items in data
  size_t capacity;
} interface_protocol__msg__JointMotionPlanRequest__Sequence;

#ifdef __cplusplus
}
#endif

#endif  // INTERFACE_PROTOCOL__MSG__DETAIL__JOINT_MOTION_PLAN_REQUEST__STRUCT_H_
