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00001 /* Auto-generated by genmsg_cpp for file /home/rosbuild/hudson/workspace/doc-electric-arm_navigation/doc_stacks/2013-03-01_14-05-03.553953/arm_navigation/arm_navigation_msgs/msg/MotionPlanRequest.msg */ 00002 #ifndef ARM_NAVIGATION_MSGS_MESSAGE_MOTIONPLANREQUEST_H 00003 #define ARM_NAVIGATION_MSGS_MESSAGE_MOTIONPLANREQUEST_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 "arm_navigation_msgs/WorkspaceParameters.h" 00018 #include "arm_navigation_msgs/RobotState.h" 00019 #include "arm_navigation_msgs/Constraints.h" 00020 #include "arm_navigation_msgs/Constraints.h" 00021 00022 namespace arm_navigation_msgs 00023 { 00024 template <class ContainerAllocator> 00025 struct MotionPlanRequest_ { 00026 typedef MotionPlanRequest_<ContainerAllocator> Type; 00027 00028 MotionPlanRequest_() 00029 : workspace_parameters() 00030 , start_state() 00031 , goal_constraints() 00032 , path_constraints() 00033 , planner_id() 00034 , group_name() 00035 , num_planning_attempts(0) 00036 , allowed_planning_time() 00037 , expected_path_duration() 00038 , expected_path_dt() 00039 { 00040 } 00041 00042 MotionPlanRequest_(const ContainerAllocator& _alloc) 00043 : workspace_parameters(_alloc) 00044 , start_state(_alloc) 00045 , goal_constraints(_alloc) 00046 , path_constraints(_alloc) 00047 , planner_id(_alloc) 00048 , group_name(_alloc) 00049 , num_planning_attempts(0) 00050 , allowed_planning_time() 00051 , expected_path_duration() 00052 , expected_path_dt() 00053 { 00054 } 00055 00056 typedef ::arm_navigation_msgs::WorkspaceParameters_<ContainerAllocator> _workspace_parameters_type; 00057 ::arm_navigation_msgs::WorkspaceParameters_<ContainerAllocator> workspace_parameters; 00058 00059 typedef ::arm_navigation_msgs::RobotState_<ContainerAllocator> _start_state_type; 00060 ::arm_navigation_msgs::RobotState_<ContainerAllocator> start_state; 00061 00062 typedef ::arm_navigation_msgs::Constraints_<ContainerAllocator> _goal_constraints_type; 00063 ::arm_navigation_msgs::Constraints_<ContainerAllocator> goal_constraints; 00064 00065 typedef ::arm_navigation_msgs::Constraints_<ContainerAllocator> _path_constraints_type; 00066 ::arm_navigation_msgs::Constraints_<ContainerAllocator> path_constraints; 00067 00068 typedef std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > _planner_id_type; 00069 std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > planner_id; 00070 00071 typedef std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > _group_name_type; 00072 std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > group_name; 00073 00074 typedef int32_t _num_planning_attempts_type; 00075 int32_t num_planning_attempts; 00076 00077 typedef ros::Duration _allowed_planning_time_type; 00078 ros::Duration allowed_planning_time; 00079 00080 typedef ros::Duration _expected_path_duration_type; 00081 ros::Duration expected_path_duration; 00082 00083 typedef ros::Duration _expected_path_dt_type; 00084 ros::Duration expected_path_dt; 00085 00086 00087 private: 00088 static const char* __s_getDataType_() { return "arm_navigation_msgs/MotionPlanRequest"; } 00089 public: 00090 ROS_DEPRECATED static const std::string __s_getDataType() { return __s_getDataType_(); } 00091 00092 ROS_DEPRECATED const std::string __getDataType() const { return __s_getDataType_(); } 00093 00094 private: 00095 static const char* __s_getMD5Sum_() { return "75408e881303c6ad5069bd5df65ecb00"; } 00096 public: 00097 ROS_DEPRECATED static const std::string __s_getMD5Sum() { return __s_getMD5Sum_(); } 00098 00099 ROS_DEPRECATED const std::string __getMD5Sum() const { return __s_getMD5Sum_(); } 00100 00101 private: 00102 static const char* __s_getMessageDefinition_() { return "# This service contains the definition for a request to the motion\n\ 00103 # planner and the output it provides\n\ 00104 \n\ 00105 # Parameters for the workspace that the planner should work inside\n\ 00106 arm_navigation_msgs/WorkspaceParameters workspace_parameters\n\ 00107 \n\ 00108 # Starting state updates. If certain joints should be considered\n\ 00109 # at positions other than the current ones, these positions should\n\ 00110 # be set here\n\ 00111 arm_navigation_msgs/RobotState start_state\n\ 00112 \n\ 00113 # The goal state for the model to plan for. The goal is achieved\n\ 00114 # if all constraints are satisfied\n\ 00115 arm_navigation_msgs/Constraints goal_constraints\n\ 00116 \n\ 00117 # No state at any point along the path in the produced motion plan will violate these constraints\n\ 00118 arm_navigation_msgs/Constraints path_constraints\n\ 00119 \n\ 00120 # The name of the motion planner to use. If no name is specified,\n\ 00121 # a default motion planner will be used\n\ 00122 string planner_id\n\ 00123 \n\ 00124 # The name of the group of joints on which this planner is operating\n\ 00125 string group_name\n\ 00126 \n\ 00127 # The number of times this plan is to be computed. Shortest solution\n\ 00128 # will be reported.\n\ 00129 int32 num_planning_attempts\n\ 00130 \n\ 00131 # The maximum amount of time the motion planner is allowed to plan for\n\ 00132 duration allowed_planning_time\n\ 00133 \n\ 00134 # An expected path duration (in seconds) along with an expected discretization of the path allows the planner to determine the discretization of the trajectory that it returns\n\ 00135 duration expected_path_duration\n\ 00136 duration expected_path_dt\n\ 00137 \n\ 00138 ================================================================================\n\ 00139 MSG: arm_navigation_msgs/WorkspaceParameters\n\ 00140 # This message contains a set of parameters useful in\n\ 00141 # setting up the workspace for planning\n\ 00142 arm_navigation_msgs/Shape workspace_region_shape\n\ 00143 geometry_msgs/PoseStamped workspace_region_pose\n\ 00144 \n\ 00145 \n\ 00146 ================================================================================\n\ 00147 MSG: arm_navigation_msgs/Shape\n\ 00148 byte SPHERE=0\n\ 00149 byte BOX=1\n\ 00150 byte CYLINDER=2\n\ 00151 byte MESH=3\n\ 00152 \n\ 00153 byte type\n\ 00154 \n\ 00155 \n\ 00156 #### define sphere, box, cylinder ####\n\ 00157 # the origin of each shape is considered at the shape's center\n\ 00158 \n\ 00159 # for sphere\n\ 00160 # radius := dimensions[0]\n\ 00161 \n\ 00162 # for cylinder\n\ 00163 # radius := dimensions[0]\n\ 00164 # length := dimensions[1]\n\ 00165 # the length is along the Z axis\n\ 00166 \n\ 00167 # for box\n\ 00168 # size_x := dimensions[0]\n\ 00169 # size_y := dimensions[1]\n\ 00170 # size_z := dimensions[2]\n\ 00171 float64[] dimensions\n\ 00172 \n\ 00173 \n\ 00174 #### define mesh ####\n\ 00175 \n\ 00176 # list of triangles; triangle k is defined by tre vertices located\n\ 00177 # at indices triangles[3k], triangles[3k+1], triangles[3k+2]\n\ 00178 int32[] triangles\n\ 00179 geometry_msgs/Point[] vertices\n\ 00180 \n\ 00181 ================================================================================\n\ 00182 MSG: geometry_msgs/Point\n\ 00183 # This contains the position of a point in free space\n\ 00184 float64 x\n\ 00185 float64 y\n\ 00186 float64 z\n\ 00187 \n\ 00188 ================================================================================\n\ 00189 MSG: geometry_msgs/PoseStamped\n\ 00190 # A Pose with reference coordinate frame and timestamp\n\ 00191 Header header\n\ 00192 Pose pose\n\ 00193 \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: geometry_msgs/Pose\n\ 00214 # A representation of pose in free space, composed of postion and orientation. \n\ 00215 Point position\n\ 00216 Quaternion orientation\n\ 00217 \n\ 00218 ================================================================================\n\ 00219 MSG: geometry_msgs/Quaternion\n\ 00220 # This represents an orientation in free space in quaternion form.\n\ 00221 \n\ 00222 float64 x\n\ 00223 float64 y\n\ 00224 float64 z\n\ 00225 float64 w\n\ 00226 \n\ 00227 ================================================================================\n\ 00228 MSG: arm_navigation_msgs/RobotState\n\ 00229 # This message contains information about the robot state, i.e. the positions of its joints and links\n\ 00230 sensor_msgs/JointState joint_state\n\ 00231 arm_navigation_msgs/MultiDOFJointState multi_dof_joint_state\n\ 00232 \n\ 00233 ================================================================================\n\ 00234 MSG: sensor_msgs/JointState\n\ 00235 # This is a message that holds data to describe the state of a set of torque controlled joints. \n\ 00236 #\n\ 00237 # The state of each joint (revolute or prismatic) is defined by:\n\ 00238 # * the position of the joint (rad or m),\n\ 00239 # * the velocity of the joint (rad/s or m/s) and \n\ 00240 # * the effort that is applied in the joint (Nm or N).\n\ 00241 #\n\ 00242 # Each joint is uniquely identified by its name\n\ 00243 # The header specifies the time at which the joint states were recorded. All the joint states\n\ 00244 # in one message have to be recorded at the same time.\n\ 00245 #\n\ 00246 # This message consists of a multiple arrays, one for each part of the joint state. \n\ 00247 # The goal is to make each of the fields optional. When e.g. your joints have no\n\ 00248 # effort associated with them, you can leave the effort array empty. \n\ 00249 #\n\ 00250 # All arrays in this message should have the same size, or be empty.\n\ 00251 # This is the only way to uniquely associate the joint name with the correct\n\ 00252 # states.\n\ 00253 \n\ 00254 \n\ 00255 Header header\n\ 00256 \n\ 00257 string[] name\n\ 00258 float64[] position\n\ 00259 float64[] velocity\n\ 00260 float64[] effort\n\ 00261 \n\ 00262 ================================================================================\n\ 00263 MSG: arm_navigation_msgs/MultiDOFJointState\n\ 00264 #A representation of a multi-dof joint state\n\ 00265 time stamp\n\ 00266 string[] joint_names\n\ 00267 string[] frame_ids\n\ 00268 string[] child_frame_ids\n\ 00269 geometry_msgs/Pose[] poses\n\ 00270 \n\ 00271 ================================================================================\n\ 00272 MSG: arm_navigation_msgs/Constraints\n\ 00273 # This message contains a list of motion planning constraints.\n\ 00274 \n\ 00275 arm_navigation_msgs/JointConstraint[] joint_constraints\n\ 00276 arm_navigation_msgs/PositionConstraint[] position_constraints\n\ 00277 arm_navigation_msgs/OrientationConstraint[] orientation_constraints\n\ 00278 arm_navigation_msgs/VisibilityConstraint[] visibility_constraints\n\ 00279 \n\ 00280 ================================================================================\n\ 00281 MSG: arm_navigation_msgs/JointConstraint\n\ 00282 # Constrain the position of a joint to be within a certain bound\n\ 00283 string joint_name\n\ 00284 \n\ 00285 # the bound to be achieved is [position - tolerance_below, position + tolerance_above]\n\ 00286 float64 position\n\ 00287 float64 tolerance_above\n\ 00288 float64 tolerance_below\n\ 00289 \n\ 00290 # A weighting factor for this constraint\n\ 00291 float64 weight\n\ 00292 ================================================================================\n\ 00293 MSG: arm_navigation_msgs/PositionConstraint\n\ 00294 # This message contains the definition of a position constraint.\n\ 00295 Header header\n\ 00296 \n\ 00297 # The robot link this constraint refers to\n\ 00298 string link_name\n\ 00299 \n\ 00300 # The offset (in the link frame) for the target point on the link we are planning for\n\ 00301 geometry_msgs/Point target_point_offset\n\ 00302 \n\ 00303 # The nominal/target position for the point we are planning for\n\ 00304 geometry_msgs/Point position\n\ 00305 \n\ 00306 # The shape of the bounded region that constrains the position of the end-effector\n\ 00307 # This region is always centered at the position defined above\n\ 00308 arm_navigation_msgs/Shape constraint_region_shape\n\ 00309 \n\ 00310 # The orientation of the bounded region that constrains the position of the end-effector. \n\ 00311 # This allows the specification of non-axis aligned constraints\n\ 00312 geometry_msgs/Quaternion constraint_region_orientation\n\ 00313 \n\ 00314 # Constraint weighting factor - a weight for this constraint\n\ 00315 float64 weight\n\ 00316 \n\ 00317 ================================================================================\n\ 00318 MSG: arm_navigation_msgs/OrientationConstraint\n\ 00319 # This message contains the definition of an orientation constraint.\n\ 00320 Header header\n\ 00321 \n\ 00322 # The robot link this constraint refers to\n\ 00323 string link_name\n\ 00324 \n\ 00325 # The type of the constraint\n\ 00326 int32 type\n\ 00327 int32 LINK_FRAME=0\n\ 00328 int32 HEADER_FRAME=1\n\ 00329 \n\ 00330 # The desired orientation of the robot link specified as a quaternion\n\ 00331 geometry_msgs/Quaternion orientation\n\ 00332 \n\ 00333 # optional RPY error tolerances specified if \n\ 00334 float64 absolute_roll_tolerance\n\ 00335 float64 absolute_pitch_tolerance\n\ 00336 float64 absolute_yaw_tolerance\n\ 00337 \n\ 00338 # Constraint weighting factor - a weight for this constraint\n\ 00339 float64 weight\n\ 00340 \n\ 00341 ================================================================================\n\ 00342 MSG: arm_navigation_msgs/VisibilityConstraint\n\ 00343 # This message contains the definition of a visibility constraint.\n\ 00344 Header header\n\ 00345 \n\ 00346 # The point stamped target that needs to be kept within view of the sensor\n\ 00347 geometry_msgs/PointStamped target\n\ 00348 \n\ 00349 # The local pose of the frame in which visibility is to be maintained\n\ 00350 # The frame id should represent the robot link to which the sensor is attached\n\ 00351 # The visual axis of the sensor is assumed to be along the X axis of this frame\n\ 00352 geometry_msgs/PoseStamped sensor_pose\n\ 00353 \n\ 00354 # The deviation (in radians) that will be tolerated\n\ 00355 # Constraint error will be measured as the solid angle between the \n\ 00356 # X axis of the frame defined above and the vector between the origin \n\ 00357 # of the frame defined above and the target location\n\ 00358 float64 absolute_tolerance\n\ 00359 \n\ 00360 \n\ 00361 ================================================================================\n\ 00362 MSG: geometry_msgs/PointStamped\n\ 00363 # This represents a Point with reference coordinate frame and timestamp\n\ 00364 Header header\n\ 00365 Point point\n\ 00366 \n\ 00367 "; } 00368 public: 00369 ROS_DEPRECATED static const std::string __s_getMessageDefinition() { return __s_getMessageDefinition_(); } 00370 00371 ROS_DEPRECATED const std::string __getMessageDefinition() const { return __s_getMessageDefinition_(); } 00372 00373 ROS_DEPRECATED virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const 00374 { 00375 ros::serialization::OStream stream(write_ptr, 1000000000); 00376 ros::serialization::serialize(stream, workspace_parameters); 00377 ros::serialization::serialize(stream, start_state); 00378 ros::serialization::serialize(stream, goal_constraints); 00379 ros::serialization::serialize(stream, path_constraints); 00380 ros::serialization::serialize(stream, planner_id); 00381 ros::serialization::serialize(stream, group_name); 00382 ros::serialization::serialize(stream, num_planning_attempts); 00383 ros::serialization::serialize(stream, allowed_planning_time); 00384 ros::serialization::serialize(stream, expected_path_duration); 00385 ros::serialization::serialize(stream, expected_path_dt); 00386 return stream.getData(); 00387 } 00388 00389 ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr) 00390 { 00391 ros::serialization::IStream stream(read_ptr, 1000000000); 00392 ros::serialization::deserialize(stream, workspace_parameters); 00393 ros::serialization::deserialize(stream, start_state); 00394 ros::serialization::deserialize(stream, goal_constraints); 00395 ros::serialization::deserialize(stream, path_constraints); 00396 ros::serialization::deserialize(stream, planner_id); 00397 ros::serialization::deserialize(stream, group_name); 00398 ros::serialization::deserialize(stream, num_planning_attempts); 00399 ros::serialization::deserialize(stream, allowed_planning_time); 00400 ros::serialization::deserialize(stream, expected_path_duration); 00401 ros::serialization::deserialize(stream, expected_path_dt); 00402 return stream.getData(); 00403 } 00404 00405 ROS_DEPRECATED virtual uint32_t serializationLength() const 00406 { 00407 uint32_t size = 0; 00408 size += ros::serialization::serializationLength(workspace_parameters); 00409 size += ros::serialization::serializationLength(start_state); 00410 size += ros::serialization::serializationLength(goal_constraints); 00411 size += ros::serialization::serializationLength(path_constraints); 00412 size += ros::serialization::serializationLength(planner_id); 00413 size += ros::serialization::serializationLength(group_name); 00414 size += ros::serialization::serializationLength(num_planning_attempts); 00415 size += ros::serialization::serializationLength(allowed_planning_time); 00416 size += ros::serialization::serializationLength(expected_path_duration); 00417 size += ros::serialization::serializationLength(expected_path_dt); 00418 return size; 00419 } 00420 00421 typedef boost::shared_ptr< ::arm_navigation_msgs::MotionPlanRequest_<ContainerAllocator> > Ptr; 00422 typedef boost::shared_ptr< ::arm_navigation_msgs::MotionPlanRequest_<ContainerAllocator> const> ConstPtr; 00423 boost::shared_ptr<std::map<std::string, std::string> > __connection_header; 00424 }; // struct MotionPlanRequest 00425 typedef ::arm_navigation_msgs::MotionPlanRequest_<std::allocator<void> > MotionPlanRequest; 00426 00427 typedef boost::shared_ptr< ::arm_navigation_msgs::MotionPlanRequest> MotionPlanRequestPtr; 00428 typedef boost::shared_ptr< ::arm_navigation_msgs::MotionPlanRequest const> MotionPlanRequestConstPtr; 00429 00430 00431 template<typename ContainerAllocator> 00432 std::ostream& operator<<(std::ostream& s, const ::arm_navigation_msgs::MotionPlanRequest_<ContainerAllocator> & v) 00433 { 00434 ros::message_operations::Printer< ::arm_navigation_msgs::MotionPlanRequest_<ContainerAllocator> >::stream(s, "", v); 00435 return s;} 00436 00437 } // namespace arm_navigation_msgs 00438 00439 namespace ros 00440 { 00441 namespace message_traits 00442 { 00443 template<class ContainerAllocator> struct IsMessage< ::arm_navigation_msgs::MotionPlanRequest_<ContainerAllocator> > : public TrueType {}; 00444 template<class ContainerAllocator> struct IsMessage< ::arm_navigation_msgs::MotionPlanRequest_<ContainerAllocator> const> : public TrueType {}; 00445 template<class ContainerAllocator> 00446 struct MD5Sum< ::arm_navigation_msgs::MotionPlanRequest_<ContainerAllocator> > { 00447 static const char* value() 00448 { 00449 return "75408e881303c6ad5069bd5df65ecb00"; 00450 } 00451 00452 static const char* value(const ::arm_navigation_msgs::MotionPlanRequest_<ContainerAllocator> &) { return value(); } 00453 static const uint64_t static_value1 = 0x75408e881303c6adULL; 00454 static const uint64_t static_value2 = 0x5069bd5df65ecb00ULL; 00455 }; 00456 00457 template<class ContainerAllocator> 00458 struct DataType< ::arm_navigation_msgs::MotionPlanRequest_<ContainerAllocator> > { 00459 static const char* value() 00460 { 00461 return "arm_navigation_msgs/MotionPlanRequest"; 00462 } 00463 00464 static const char* value(const ::arm_navigation_msgs::MotionPlanRequest_<ContainerAllocator> &) { return value(); } 00465 }; 00466 00467 template<class ContainerAllocator> 00468 struct Definition< ::arm_navigation_msgs::MotionPlanRequest_<ContainerAllocator> > { 00469 static const char* value() 00470 { 00471 return "# This service contains the definition for a request to the motion\n\ 00472 # planner and the output it provides\n\ 00473 \n\ 00474 # Parameters for the workspace that the planner should work inside\n\ 00475 arm_navigation_msgs/WorkspaceParameters workspace_parameters\n\ 00476 \n\ 00477 # Starting state updates. If certain joints should be considered\n\ 00478 # at positions other than the current ones, these positions should\n\ 00479 # be set here\n\ 00480 arm_navigation_msgs/RobotState start_state\n\ 00481 \n\ 00482 # The goal state for the model to plan for. The goal is achieved\n\ 00483 # if all constraints are satisfied\n\ 00484 arm_navigation_msgs/Constraints goal_constraints\n\ 00485 \n\ 00486 # No state at any point along the path in the produced motion plan will violate these constraints\n\ 00487 arm_navigation_msgs/Constraints path_constraints\n\ 00488 \n\ 00489 # The name of the motion planner to use. If no name is specified,\n\ 00490 # a default motion planner will be used\n\ 00491 string planner_id\n\ 00492 \n\ 00493 # The name of the group of joints on which this planner is operating\n\ 00494 string group_name\n\ 00495 \n\ 00496 # The number of times this plan is to be computed. Shortest solution\n\ 00497 # will be reported.\n\ 00498 int32 num_planning_attempts\n\ 00499 \n\ 00500 # The maximum amount of time the motion planner is allowed to plan for\n\ 00501 duration allowed_planning_time\n\ 00502 \n\ 00503 # An expected path duration (in seconds) along with an expected discretization of the path allows the planner to determine the discretization of the trajectory that it returns\n\ 00504 duration expected_path_duration\n\ 00505 duration expected_path_dt\n\ 00506 \n\ 00507 ================================================================================\n\ 00508 MSG: arm_navigation_msgs/WorkspaceParameters\n\ 00509 # This message contains a set of parameters useful in\n\ 00510 # setting up the workspace for planning\n\ 00511 arm_navigation_msgs/Shape workspace_region_shape\n\ 00512 geometry_msgs/PoseStamped workspace_region_pose\n\ 00513 \n\ 00514 \n\ 00515 ================================================================================\n\ 00516 MSG: arm_navigation_msgs/Shape\n\ 00517 byte SPHERE=0\n\ 00518 byte BOX=1\n\ 00519 byte CYLINDER=2\n\ 00520 byte MESH=3\n\ 00521 \n\ 00522 byte type\n\ 00523 \n\ 00524 \n\ 00525 #### define sphere, box, cylinder ####\n\ 00526 # the origin of each shape is considered at the shape's center\n\ 00527 \n\ 00528 # for sphere\n\ 00529 # radius := dimensions[0]\n\ 00530 \n\ 00531 # for cylinder\n\ 00532 # radius := dimensions[0]\n\ 00533 # length := dimensions[1]\n\ 00534 # the length is along the Z axis\n\ 00535 \n\ 00536 # for box\n\ 00537 # size_x := dimensions[0]\n\ 00538 # size_y := dimensions[1]\n\ 00539 # size_z := dimensions[2]\n\ 00540 float64[] dimensions\n\ 00541 \n\ 00542 \n\ 00543 #### define mesh ####\n\ 00544 \n\ 00545 # list of triangles; triangle k is defined by tre vertices located\n\ 00546 # at indices triangles[3k], triangles[3k+1], triangles[3k+2]\n\ 00547 int32[] triangles\n\ 00548 geometry_msgs/Point[] vertices\n\ 00549 \n\ 00550 ================================================================================\n\ 00551 MSG: geometry_msgs/Point\n\ 00552 # This contains the position of a point in free space\n\ 00553 float64 x\n\ 00554 float64 y\n\ 00555 float64 z\n\ 00556 \n\ 00557 ================================================================================\n\ 00558 MSG: geometry_msgs/PoseStamped\n\ 00559 # A Pose with reference coordinate frame and timestamp\n\ 00560 Header header\n\ 00561 Pose pose\n\ 00562 \n\ 00563 ================================================================================\n\ 00564 MSG: std_msgs/Header\n\ 00565 # Standard metadata for higher-level stamped data types.\n\ 00566 # This is generally used to communicate timestamped data \n\ 00567 # in a particular coordinate frame.\n\ 00568 # \n\ 00569 # sequence ID: consecutively increasing ID \n\ 00570 uint32 seq\n\ 00571 #Two-integer timestamp that is expressed as:\n\ 00572 # * stamp.secs: seconds (stamp_secs) since epoch\n\ 00573 # * stamp.nsecs: nanoseconds since stamp_secs\n\ 00574 # time-handling sugar is provided by the client library\n\ 00575 time stamp\n\ 00576 #Frame this data is associated with\n\ 00577 # 0: no frame\n\ 00578 # 1: global frame\n\ 00579 string frame_id\n\ 00580 \n\ 00581 ================================================================================\n\ 00582 MSG: geometry_msgs/Pose\n\ 00583 # A representation of pose in free space, composed of postion and orientation. \n\ 00584 Point position\n\ 00585 Quaternion orientation\n\ 00586 \n\ 00587 ================================================================================\n\ 00588 MSG: geometry_msgs/Quaternion\n\ 00589 # This represents an orientation in free space in quaternion form.\n\ 00590 \n\ 00591 float64 x\n\ 00592 float64 y\n\ 00593 float64 z\n\ 00594 float64 w\n\ 00595 \n\ 00596 ================================================================================\n\ 00597 MSG: arm_navigation_msgs/RobotState\n\ 00598 # This message contains information about the robot state, i.e. the positions of its joints and links\n\ 00599 sensor_msgs/JointState joint_state\n\ 00600 arm_navigation_msgs/MultiDOFJointState multi_dof_joint_state\n\ 00601 \n\ 00602 ================================================================================\n\ 00603 MSG: sensor_msgs/JointState\n\ 00604 # This is a message that holds data to describe the state of a set of torque controlled joints. \n\ 00605 #\n\ 00606 # The state of each joint (revolute or prismatic) is defined by:\n\ 00607 # * the position of the joint (rad or m),\n\ 00608 # * the velocity of the joint (rad/s or m/s) and \n\ 00609 # * the effort that is applied in the joint (Nm or N).\n\ 00610 #\n\ 00611 # Each joint is uniquely identified by its name\n\ 00612 # The header specifies the time at which the joint states were recorded. All the joint states\n\ 00613 # in one message have to be recorded at the same time.\n\ 00614 #\n\ 00615 # This message consists of a multiple arrays, one for each part of the joint state. \n\ 00616 # The goal is to make each of the fields optional. When e.g. your joints have no\n\ 00617 # effort associated with them, you can leave the effort array empty. \n\ 00618 #\n\ 00619 # All arrays in this message should have the same size, or be empty.\n\ 00620 # This is the only way to uniquely associate the joint name with the correct\n\ 00621 # states.\n\ 00622 \n\ 00623 \n\ 00624 Header header\n\ 00625 \n\ 00626 string[] name\n\ 00627 float64[] position\n\ 00628 float64[] velocity\n\ 00629 float64[] effort\n\ 00630 \n\ 00631 ================================================================================\n\ 00632 MSG: arm_navigation_msgs/MultiDOFJointState\n\ 00633 #A representation of a multi-dof joint state\n\ 00634 time stamp\n\ 00635 string[] joint_names\n\ 00636 string[] frame_ids\n\ 00637 string[] child_frame_ids\n\ 00638 geometry_msgs/Pose[] poses\n\ 00639 \n\ 00640 ================================================================================\n\ 00641 MSG: arm_navigation_msgs/Constraints\n\ 00642 # This message contains a list of motion planning constraints.\n\ 00643 \n\ 00644 arm_navigation_msgs/JointConstraint[] joint_constraints\n\ 00645 arm_navigation_msgs/PositionConstraint[] position_constraints\n\ 00646 arm_navigation_msgs/OrientationConstraint[] orientation_constraints\n\ 00647 arm_navigation_msgs/VisibilityConstraint[] visibility_constraints\n\ 00648 \n\ 00649 ================================================================================\n\ 00650 MSG: arm_navigation_msgs/JointConstraint\n\ 00651 # Constrain the position of a joint to be within a certain bound\n\ 00652 string joint_name\n\ 00653 \n\ 00654 # the bound to be achieved is [position - tolerance_below, position + tolerance_above]\n\ 00655 float64 position\n\ 00656 float64 tolerance_above\n\ 00657 float64 tolerance_below\n\ 00658 \n\ 00659 # A weighting factor for this constraint\n\ 00660 float64 weight\n\ 00661 ================================================================================\n\ 00662 MSG: arm_navigation_msgs/PositionConstraint\n\ 00663 # This message contains the definition of a position constraint.\n\ 00664 Header header\n\ 00665 \n\ 00666 # The robot link this constraint refers to\n\ 00667 string link_name\n\ 00668 \n\ 00669 # The offset (in the link frame) for the target point on the link we are planning for\n\ 00670 geometry_msgs/Point target_point_offset\n\ 00671 \n\ 00672 # The nominal/target position for the point we are planning for\n\ 00673 geometry_msgs/Point position\n\ 00674 \n\ 00675 # The shape of the bounded region that constrains the position of the end-effector\n\ 00676 # This region is always centered at the position defined above\n\ 00677 arm_navigation_msgs/Shape constraint_region_shape\n\ 00678 \n\ 00679 # The orientation of the bounded region that constrains the position of the end-effector. \n\ 00680 # This allows the specification of non-axis aligned constraints\n\ 00681 geometry_msgs/Quaternion constraint_region_orientation\n\ 00682 \n\ 00683 # Constraint weighting factor - a weight for this constraint\n\ 00684 float64 weight\n\ 00685 \n\ 00686 ================================================================================\n\ 00687 MSG: arm_navigation_msgs/OrientationConstraint\n\ 00688 # This message contains the definition of an orientation constraint.\n\ 00689 Header header\n\ 00690 \n\ 00691 # The robot link this constraint refers to\n\ 00692 string link_name\n\ 00693 \n\ 00694 # The type of the constraint\n\ 00695 int32 type\n\ 00696 int32 LINK_FRAME=0\n\ 00697 int32 HEADER_FRAME=1\n\ 00698 \n\ 00699 # The desired orientation of the robot link specified as a quaternion\n\ 00700 geometry_msgs/Quaternion orientation\n\ 00701 \n\ 00702 # optional RPY error tolerances specified if \n\ 00703 float64 absolute_roll_tolerance\n\ 00704 float64 absolute_pitch_tolerance\n\ 00705 float64 absolute_yaw_tolerance\n\ 00706 \n\ 00707 # Constraint weighting factor - a weight for this constraint\n\ 00708 float64 weight\n\ 00709 \n\ 00710 ================================================================================\n\ 00711 MSG: arm_navigation_msgs/VisibilityConstraint\n\ 00712 # This message contains the definition of a visibility constraint.\n\ 00713 Header header\n\ 00714 \n\ 00715 # The point stamped target that needs to be kept within view of the sensor\n\ 00716 geometry_msgs/PointStamped target\n\ 00717 \n\ 00718 # The local pose of the frame in which visibility is to be maintained\n\ 00719 # The frame id should represent the robot link to which the sensor is attached\n\ 00720 # The visual axis of the sensor is assumed to be along the X axis of this frame\n\ 00721 geometry_msgs/PoseStamped sensor_pose\n\ 00722 \n\ 00723 # The deviation (in radians) that will be tolerated\n\ 00724 # Constraint error will be measured as the solid angle between the \n\ 00725 # X axis of the frame defined above and the vector between the origin \n\ 00726 # of the frame defined above and the target location\n\ 00727 float64 absolute_tolerance\n\ 00728 \n\ 00729 \n\ 00730 ================================================================================\n\ 00731 MSG: geometry_msgs/PointStamped\n\ 00732 # This represents a Point with reference coordinate frame and timestamp\n\ 00733 Header header\n\ 00734 Point point\n\ 00735 \n\ 00736 "; 00737 } 00738 00739 static const char* value(const ::arm_navigation_msgs::MotionPlanRequest_<ContainerAllocator> &) { return value(); } 00740 }; 00741 00742 } // namespace message_traits 00743 } // namespace ros 00744 00745 namespace ros 00746 { 00747 namespace serialization 00748 { 00749 00750 template<class ContainerAllocator> struct Serializer< ::arm_navigation_msgs::MotionPlanRequest_<ContainerAllocator> > 00751 { 00752 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m) 00753 { 00754 stream.next(m.workspace_parameters); 00755 stream.next(m.start_state); 00756 stream.next(m.goal_constraints); 00757 stream.next(m.path_constraints); 00758 stream.next(m.planner_id); 00759 stream.next(m.group_name); 00760 stream.next(m.num_planning_attempts); 00761 stream.next(m.allowed_planning_time); 00762 stream.next(m.expected_path_duration); 00763 stream.next(m.expected_path_dt); 00764 } 00765 00766 ROS_DECLARE_ALLINONE_SERIALIZER; 00767 }; // struct MotionPlanRequest_ 00768 } // namespace serialization 00769 } // namespace ros 00770 00771 namespace ros 00772 { 00773 namespace message_operations 00774 { 00775 00776 template<class ContainerAllocator> 00777 struct Printer< ::arm_navigation_msgs::MotionPlanRequest_<ContainerAllocator> > 00778 { 00779 template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::arm_navigation_msgs::MotionPlanRequest_<ContainerAllocator> & v) 00780 { 00781 s << indent << "workspace_parameters: "; 00782 s << std::endl; 00783 Printer< ::arm_navigation_msgs::WorkspaceParameters_<ContainerAllocator> >::stream(s, indent + " ", v.workspace_parameters); 00784 s << indent << "start_state: "; 00785 s << std::endl; 00786 Printer< ::arm_navigation_msgs::RobotState_<ContainerAllocator> >::stream(s, indent + " ", v.start_state); 00787 s << indent << "goal_constraints: "; 00788 s << std::endl; 00789 Printer< ::arm_navigation_msgs::Constraints_<ContainerAllocator> >::stream(s, indent + " ", v.goal_constraints); 00790 s << indent << "path_constraints: "; 00791 s << std::endl; 00792 Printer< ::arm_navigation_msgs::Constraints_<ContainerAllocator> >::stream(s, indent + " ", v.path_constraints); 00793 s << indent << "planner_id: "; 00794 Printer<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > >::stream(s, indent + " ", v.planner_id); 00795 s << indent << "group_name: "; 00796 Printer<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > >::stream(s, indent + " ", v.group_name); 00797 s << indent << "num_planning_attempts: "; 00798 Printer<int32_t>::stream(s, indent + " ", v.num_planning_attempts); 00799 s << indent << "allowed_planning_time: "; 00800 Printer<ros::Duration>::stream(s, indent + " ", v.allowed_planning_time); 00801 s << indent << "expected_path_duration: "; 00802 Printer<ros::Duration>::stream(s, indent + " ", v.expected_path_duration); 00803 s << indent << "expected_path_dt: "; 00804 Printer<ros::Duration>::stream(s, indent + " ", v.expected_path_dt); 00805 } 00806 }; 00807 00808 00809 } // namespace message_operations 00810 } // namespace ros 00811 00812 #endif // ARM_NAVIGATION_MSGS_MESSAGE_MOTIONPLANREQUEST_H 00813