00001
00002 #ifndef ARM_NAVIGATION_MSGS_MESSAGE_PLANNINGSCENE_H
00003 #define ARM_NAVIGATION_MSGS_MESSAGE_PLANNINGSCENE_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/RobotState.h"
00018 #include "geometry_msgs/TransformStamped.h"
00019 #include "arm_navigation_msgs/AllowedCollisionMatrix.h"
00020 #include "arm_navigation_msgs/AllowedContactSpecification.h"
00021 #include "arm_navigation_msgs/LinkPadding.h"
00022 #include "arm_navigation_msgs/CollisionObject.h"
00023 #include "arm_navigation_msgs/AttachedCollisionObject.h"
00024 #include "arm_navigation_msgs/CollisionMap.h"
00025
00026 namespace arm_navigation_msgs
00027 {
00028 template <class ContainerAllocator>
00029 struct PlanningScene_ {
00030 typedef PlanningScene_<ContainerAllocator> Type;
00031
00032 PlanningScene_()
00033 : robot_state()
00034 , fixed_frame_transforms()
00035 , allowed_collision_matrix()
00036 , allowed_contacts()
00037 , link_padding()
00038 , collision_objects()
00039 , attached_collision_objects()
00040 , collision_map()
00041 {
00042 }
00043
00044 PlanningScene_(const ContainerAllocator& _alloc)
00045 : robot_state(_alloc)
00046 , fixed_frame_transforms(_alloc)
00047 , allowed_collision_matrix(_alloc)
00048 , allowed_contacts(_alloc)
00049 , link_padding(_alloc)
00050 , collision_objects(_alloc)
00051 , attached_collision_objects(_alloc)
00052 , collision_map(_alloc)
00053 {
00054 }
00055
00056 typedef ::arm_navigation_msgs::RobotState_<ContainerAllocator> _robot_state_type;
00057 ::arm_navigation_msgs::RobotState_<ContainerAllocator> robot_state;
00058
00059 typedef std::vector< ::geometry_msgs::TransformStamped_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::geometry_msgs::TransformStamped_<ContainerAllocator> >::other > _fixed_frame_transforms_type;
00060 std::vector< ::geometry_msgs::TransformStamped_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::geometry_msgs::TransformStamped_<ContainerAllocator> >::other > fixed_frame_transforms;
00061
00062 typedef ::arm_navigation_msgs::AllowedCollisionMatrix_<ContainerAllocator> _allowed_collision_matrix_type;
00063 ::arm_navigation_msgs::AllowedCollisionMatrix_<ContainerAllocator> allowed_collision_matrix;
00064
00065 typedef std::vector< ::arm_navigation_msgs::AllowedContactSpecification_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::arm_navigation_msgs::AllowedContactSpecification_<ContainerAllocator> >::other > _allowed_contacts_type;
00066 std::vector< ::arm_navigation_msgs::AllowedContactSpecification_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::arm_navigation_msgs::AllowedContactSpecification_<ContainerAllocator> >::other > allowed_contacts;
00067
00068 typedef std::vector< ::arm_navigation_msgs::LinkPadding_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::arm_navigation_msgs::LinkPadding_<ContainerAllocator> >::other > _link_padding_type;
00069 std::vector< ::arm_navigation_msgs::LinkPadding_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::arm_navigation_msgs::LinkPadding_<ContainerAllocator> >::other > link_padding;
00070
00071 typedef std::vector< ::arm_navigation_msgs::CollisionObject_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::arm_navigation_msgs::CollisionObject_<ContainerAllocator> >::other > _collision_objects_type;
00072 std::vector< ::arm_navigation_msgs::CollisionObject_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::arm_navigation_msgs::CollisionObject_<ContainerAllocator> >::other > collision_objects;
00073
00074 typedef std::vector< ::arm_navigation_msgs::AttachedCollisionObject_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::arm_navigation_msgs::AttachedCollisionObject_<ContainerAllocator> >::other > _attached_collision_objects_type;
00075 std::vector< ::arm_navigation_msgs::AttachedCollisionObject_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::arm_navigation_msgs::AttachedCollisionObject_<ContainerAllocator> >::other > attached_collision_objects;
00076
00077 typedef ::arm_navigation_msgs::CollisionMap_<ContainerAllocator> _collision_map_type;
00078 ::arm_navigation_msgs::CollisionMap_<ContainerAllocator> collision_map;
00079
00080
00081 ROS_DEPRECATED uint32_t get_fixed_frame_transforms_size() const { return (uint32_t)fixed_frame_transforms.size(); }
00082 ROS_DEPRECATED void set_fixed_frame_transforms_size(uint32_t size) { fixed_frame_transforms.resize((size_t)size); }
00083 ROS_DEPRECATED void get_fixed_frame_transforms_vec(std::vector< ::geometry_msgs::TransformStamped_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::geometry_msgs::TransformStamped_<ContainerAllocator> >::other > & vec) const { vec = this->fixed_frame_transforms; }
00084 ROS_DEPRECATED void set_fixed_frame_transforms_vec(const std::vector< ::geometry_msgs::TransformStamped_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::geometry_msgs::TransformStamped_<ContainerAllocator> >::other > & vec) { this->fixed_frame_transforms = vec; }
00085 ROS_DEPRECATED uint32_t get_allowed_contacts_size() const { return (uint32_t)allowed_contacts.size(); }
00086 ROS_DEPRECATED void set_allowed_contacts_size(uint32_t size) { allowed_contacts.resize((size_t)size); }
00087 ROS_DEPRECATED void get_allowed_contacts_vec(std::vector< ::arm_navigation_msgs::AllowedContactSpecification_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::arm_navigation_msgs::AllowedContactSpecification_<ContainerAllocator> >::other > & vec) const { vec = this->allowed_contacts; }
00088 ROS_DEPRECATED void set_allowed_contacts_vec(const std::vector< ::arm_navigation_msgs::AllowedContactSpecification_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::arm_navigation_msgs::AllowedContactSpecification_<ContainerAllocator> >::other > & vec) { this->allowed_contacts = vec; }
00089 ROS_DEPRECATED uint32_t get_link_padding_size() const { return (uint32_t)link_padding.size(); }
00090 ROS_DEPRECATED void set_link_padding_size(uint32_t size) { link_padding.resize((size_t)size); }
00091 ROS_DEPRECATED void get_link_padding_vec(std::vector< ::arm_navigation_msgs::LinkPadding_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::arm_navigation_msgs::LinkPadding_<ContainerAllocator> >::other > & vec) const { vec = this->link_padding; }
00092 ROS_DEPRECATED void set_link_padding_vec(const std::vector< ::arm_navigation_msgs::LinkPadding_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::arm_navigation_msgs::LinkPadding_<ContainerAllocator> >::other > & vec) { this->link_padding = vec; }
00093 ROS_DEPRECATED uint32_t get_collision_objects_size() const { return (uint32_t)collision_objects.size(); }
00094 ROS_DEPRECATED void set_collision_objects_size(uint32_t size) { collision_objects.resize((size_t)size); }
00095 ROS_DEPRECATED void get_collision_objects_vec(std::vector< ::arm_navigation_msgs::CollisionObject_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::arm_navigation_msgs::CollisionObject_<ContainerAllocator> >::other > & vec) const { vec = this->collision_objects; }
00096 ROS_DEPRECATED void set_collision_objects_vec(const std::vector< ::arm_navigation_msgs::CollisionObject_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::arm_navigation_msgs::CollisionObject_<ContainerAllocator> >::other > & vec) { this->collision_objects = vec; }
00097 ROS_DEPRECATED uint32_t get_attached_collision_objects_size() const { return (uint32_t)attached_collision_objects.size(); }
00098 ROS_DEPRECATED void set_attached_collision_objects_size(uint32_t size) { attached_collision_objects.resize((size_t)size); }
00099 ROS_DEPRECATED void get_attached_collision_objects_vec(std::vector< ::arm_navigation_msgs::AttachedCollisionObject_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::arm_navigation_msgs::AttachedCollisionObject_<ContainerAllocator> >::other > & vec) const { vec = this->attached_collision_objects; }
00100 ROS_DEPRECATED void set_attached_collision_objects_vec(const std::vector< ::arm_navigation_msgs::AttachedCollisionObject_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::arm_navigation_msgs::AttachedCollisionObject_<ContainerAllocator> >::other > & vec) { this->attached_collision_objects = vec; }
00101 private:
00102 static const char* __s_getDataType_() { return "arm_navigation_msgs/PlanningScene"; }
00103 public:
00104 ROS_DEPRECATED static const std::string __s_getDataType() { return __s_getDataType_(); }
00105
00106 ROS_DEPRECATED const std::string __getDataType() const { return __s_getDataType_(); }
00107
00108 private:
00109 static const char* __s_getMD5Sum_() { return "6d1add8ef6efdd62d194ef430abd4b75"; }
00110 public:
00111 ROS_DEPRECATED static const std::string __s_getMD5Sum() { return __s_getMD5Sum_(); }
00112
00113 ROS_DEPRECATED const std::string __getMD5Sum() const { return __s_getMD5Sum_(); }
00114
00115 private:
00116 static const char* __s_getMessageDefinition_() { return "#full robot state\n\
00117 arm_navigation_msgs/RobotState robot_state\n\
00118 \n\
00119 #additional frames for duplicating tf\n\
00120 geometry_msgs/TransformStamped[] fixed_frame_transforms\n\
00121 \n\
00122 #full allowed collision matrix\n\
00123 AllowedCollisionMatrix allowed_collision_matrix\n\
00124 \n\
00125 #allowed contacts\n\
00126 arm_navigation_msgs/AllowedContactSpecification[] allowed_contacts\n\
00127 \n\
00128 #all link paddings\n\
00129 arm_navigation_msgs/LinkPadding[] link_padding\n\
00130 \n\
00131 #collision objects\n\
00132 arm_navigation_msgs/CollisionObject[] collision_objects\n\
00133 arm_navigation_msgs/AttachedCollisionObject[] attached_collision_objects\n\
00134 \n\
00135 #the collision map\n\
00136 arm_navigation_msgs/CollisionMap collision_map\n\
00137 \n\
00138 ================================================================================\n\
00139 MSG: arm_navigation_msgs/RobotState\n\
00140 # This message contains information about the robot state, i.e. the positions of its joints and links\n\
00141 sensor_msgs/JointState joint_state\n\
00142 arm_navigation_msgs/MultiDOFJointState multi_dof_joint_state\n\
00143 \n\
00144 ================================================================================\n\
00145 MSG: sensor_msgs/JointState\n\
00146 # This is a message that holds data to describe the state of a set of torque controlled joints. \n\
00147 #\n\
00148 # The state of each joint (revolute or prismatic) is defined by:\n\
00149 # * the position of the joint (rad or m),\n\
00150 # * the velocity of the joint (rad/s or m/s) and \n\
00151 # * the effort that is applied in the joint (Nm or N).\n\
00152 #\n\
00153 # Each joint is uniquely identified by its name\n\
00154 # The header specifies the time at which the joint states were recorded. All the joint states\n\
00155 # in one message have to be recorded at the same time.\n\
00156 #\n\
00157 # This message consists of a multiple arrays, one for each part of the joint state. \n\
00158 # The goal is to make each of the fields optional. When e.g. your joints have no\n\
00159 # effort associated with them, you can leave the effort array empty. \n\
00160 #\n\
00161 # All arrays in this message should have the same size, or be empty.\n\
00162 # This is the only way to uniquely associate the joint name with the correct\n\
00163 # states.\n\
00164 \n\
00165 \n\
00166 Header header\n\
00167 \n\
00168 string[] name\n\
00169 float64[] position\n\
00170 float64[] velocity\n\
00171 float64[] effort\n\
00172 \n\
00173 ================================================================================\n\
00174 MSG: std_msgs/Header\n\
00175 # Standard metadata for higher-level stamped data types.\n\
00176 # This is generally used to communicate timestamped data \n\
00177 # in a particular coordinate frame.\n\
00178 # \n\
00179 # sequence ID: consecutively increasing ID \n\
00180 uint32 seq\n\
00181 #Two-integer timestamp that is expressed as:\n\
00182 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00183 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00184 # time-handling sugar is provided by the client library\n\
00185 time stamp\n\
00186 #Frame this data is associated with\n\
00187 # 0: no frame\n\
00188 # 1: global frame\n\
00189 string frame_id\n\
00190 \n\
00191 ================================================================================\n\
00192 MSG: arm_navigation_msgs/MultiDOFJointState\n\
00193 #A representation of a multi-dof joint state\n\
00194 time stamp\n\
00195 string[] joint_names\n\
00196 string[] frame_ids\n\
00197 string[] child_frame_ids\n\
00198 geometry_msgs/Pose[] poses\n\
00199 \n\
00200 ================================================================================\n\
00201 MSG: geometry_msgs/Pose\n\
00202 # A representation of pose in free space, composed of postion and orientation. \n\
00203 Point position\n\
00204 Quaternion orientation\n\
00205 \n\
00206 ================================================================================\n\
00207 MSG: geometry_msgs/Point\n\
00208 # This contains the position of a point in free space\n\
00209 float64 x\n\
00210 float64 y\n\
00211 float64 z\n\
00212 \n\
00213 ================================================================================\n\
00214 MSG: geometry_msgs/Quaternion\n\
00215 # This represents an orientation in free space in quaternion form.\n\
00216 \n\
00217 float64 x\n\
00218 float64 y\n\
00219 float64 z\n\
00220 float64 w\n\
00221 \n\
00222 ================================================================================\n\
00223 MSG: geometry_msgs/TransformStamped\n\
00224 # This expresses a transform from coordinate frame header.frame_id\n\
00225 # to the coordinate frame child_frame_id\n\
00226 #\n\
00227 # This message is mostly used by the \n\
00228 # <a href=\"http://www.ros.org/wiki/tf\">tf</a> package. \n\
00229 # See it's documentation for more information.\n\
00230 \n\
00231 Header header\n\
00232 string child_frame_id # the frame id of the child frame\n\
00233 Transform transform\n\
00234 \n\
00235 ================================================================================\n\
00236 MSG: geometry_msgs/Transform\n\
00237 # This represents the transform between two coordinate frames in free space.\n\
00238 \n\
00239 Vector3 translation\n\
00240 Quaternion rotation\n\
00241 \n\
00242 ================================================================================\n\
00243 MSG: geometry_msgs/Vector3\n\
00244 # This represents a vector in free space. \n\
00245 \n\
00246 float64 x\n\
00247 float64 y\n\
00248 float64 z\n\
00249 ================================================================================\n\
00250 MSG: arm_navigation_msgs/AllowedCollisionMatrix\n\
00251 # the list of link names in the matrix\n\
00252 string[] link_names\n\
00253 \n\
00254 # the individual entries in the allowed collision matrix\n\
00255 # symmetric, with same order as link_names\n\
00256 AllowedCollisionEntry[] entries\n\
00257 \n\
00258 ================================================================================\n\
00259 MSG: arm_navigation_msgs/AllowedCollisionEntry\n\
00260 # whether or not collision checking is enabled\n\
00261 bool[] enabled\n\
00262 \n\
00263 ================================================================================\n\
00264 MSG: arm_navigation_msgs/AllowedContactSpecification\n\
00265 # The names of the regions\n\
00266 string name\n\
00267 \n\
00268 # The shape of the region in the environment\n\
00269 arm_navigation_msgs/Shape shape\n\
00270 \n\
00271 # The pose of the space defining the region\n\
00272 geometry_msgs/PoseStamped pose_stamped\n\
00273 \n\
00274 # The set of links that will be allowed to have penetration contact within this region\n\
00275 string[] link_names\n\
00276 \n\
00277 # The maximum penetration depth allowed for every link\n\
00278 float64 penetration_depth\n\
00279 \n\
00280 ================================================================================\n\
00281 MSG: arm_navigation_msgs/Shape\n\
00282 byte SPHERE=0\n\
00283 byte BOX=1\n\
00284 byte CYLINDER=2\n\
00285 byte MESH=3\n\
00286 \n\
00287 byte type\n\
00288 \n\
00289 \n\
00290 #### define sphere, box, cylinder ####\n\
00291 # the origin of each shape is considered at the shape's center\n\
00292 \n\
00293 # for sphere\n\
00294 # radius := dimensions[0]\n\
00295 \n\
00296 # for cylinder\n\
00297 # radius := dimensions[0]\n\
00298 # length := dimensions[1]\n\
00299 # the length is along the Z axis\n\
00300 \n\
00301 # for box\n\
00302 # size_x := dimensions[0]\n\
00303 # size_y := dimensions[1]\n\
00304 # size_z := dimensions[2]\n\
00305 float64[] dimensions\n\
00306 \n\
00307 \n\
00308 #### define mesh ####\n\
00309 \n\
00310 # list of triangles; triangle k is defined by tre vertices located\n\
00311 # at indices triangles[3k], triangles[3k+1], triangles[3k+2]\n\
00312 int32[] triangles\n\
00313 geometry_msgs/Point[] vertices\n\
00314 \n\
00315 ================================================================================\n\
00316 MSG: geometry_msgs/PoseStamped\n\
00317 # A Pose with reference coordinate frame and timestamp\n\
00318 Header header\n\
00319 Pose pose\n\
00320 \n\
00321 ================================================================================\n\
00322 MSG: arm_navigation_msgs/LinkPadding\n\
00323 #name for the link\n\
00324 string link_name\n\
00325 \n\
00326 # padding to apply to the link\n\
00327 float64 padding\n\
00328 \n\
00329 ================================================================================\n\
00330 MSG: arm_navigation_msgs/CollisionObject\n\
00331 # a header, used for interpreting the poses\n\
00332 Header header\n\
00333 \n\
00334 # the id of the object\n\
00335 string id\n\
00336 \n\
00337 # The padding used for filtering points near the object.\n\
00338 # This does not affect collision checking for the object. \n\
00339 # Set to negative to get zero padding.\n\
00340 float32 padding\n\
00341 \n\
00342 #This contains what is to be done with the object\n\
00343 CollisionObjectOperation operation\n\
00344 \n\
00345 #the shapes associated with the object\n\
00346 arm_navigation_msgs/Shape[] shapes\n\
00347 \n\
00348 #the poses associated with the shapes - will be transformed using the header\n\
00349 geometry_msgs/Pose[] poses\n\
00350 \n\
00351 ================================================================================\n\
00352 MSG: arm_navigation_msgs/CollisionObjectOperation\n\
00353 #Puts the object into the environment\n\
00354 #or updates the object if already added\n\
00355 byte ADD=0\n\
00356 \n\
00357 #Removes the object from the environment entirely\n\
00358 byte REMOVE=1\n\
00359 \n\
00360 #Only valid within the context of a CollisionAttachedObject message\n\
00361 #Will be ignored if sent with an CollisionObject message\n\
00362 #Takes an attached object, detaches from the attached link\n\
00363 #But adds back in as regular object\n\
00364 byte DETACH_AND_ADD_AS_OBJECT=2\n\
00365 \n\
00366 #Only valid within the context of a CollisionAttachedObject message\n\
00367 #Will be ignored if sent with an CollisionObject message\n\
00368 #Takes current object in the environment and removes it as\n\
00369 #a regular object\n\
00370 byte ATTACH_AND_REMOVE_AS_OBJECT=3\n\
00371 \n\
00372 # Byte code for operation\n\
00373 byte operation\n\
00374 \n\
00375 ================================================================================\n\
00376 MSG: arm_navigation_msgs/AttachedCollisionObject\n\
00377 # The CollisionObject will be attached with a fixed joint to this link\n\
00378 # If link name is set to REMOVE_ALL_ATTACHED_OBJECTS and object.operation \n\
00379 # is set to REMOVE will remove all attached bodies attached to any object\n\
00380 string link_name\n\
00381 \n\
00382 #Reserved for indicating that all attached objects should be removed\n\
00383 string REMOVE_ALL_ATTACHED_OBJECTS = \"all\"\n\
00384 \n\
00385 #This contains the actual shapes and poses for the CollisionObject\n\
00386 #to be attached to the link\n\
00387 #If action is remove and no object.id is set, all objects\n\
00388 #attached to the link indicated by link_name will be removed\n\
00389 CollisionObject object\n\
00390 \n\
00391 # The set of links that the attached objects are allowed to touch\n\
00392 # by default - the link_name is included by default\n\
00393 string[] touch_links\n\
00394 \n\
00395 ================================================================================\n\
00396 MSG: arm_navigation_msgs/CollisionMap\n\
00397 #header for interpreting box positions\n\
00398 Header header\n\
00399 \n\
00400 #boxes for use in collision testing\n\
00401 OrientedBoundingBox[] boxes\n\
00402 \n\
00403 ================================================================================\n\
00404 MSG: arm_navigation_msgs/OrientedBoundingBox\n\
00405 #the center of the box\n\
00406 geometry_msgs/Point32 center\n\
00407 \n\
00408 #the extents of the box, assuming the center is at the point\n\
00409 geometry_msgs/Point32 extents\n\
00410 \n\
00411 #the axis of the box\n\
00412 geometry_msgs/Point32 axis\n\
00413 \n\
00414 #the angle of rotation around the axis\n\
00415 float32 angle\n\
00416 \n\
00417 ================================================================================\n\
00418 MSG: geometry_msgs/Point32\n\
00419 # This contains the position of a point in free space(with 32 bits of precision).\n\
00420 # It is recommeded to use Point wherever possible instead of Point32. \n\
00421 # \n\
00422 # This recommendation is to promote interoperability. \n\
00423 #\n\
00424 # This message is designed to take up less space when sending\n\
00425 # lots of points at once, as in the case of a PointCloud. \n\
00426 \n\
00427 float32 x\n\
00428 float32 y\n\
00429 float32 z\n\
00430 "; }
00431 public:
00432 ROS_DEPRECATED static const std::string __s_getMessageDefinition() { return __s_getMessageDefinition_(); }
00433
00434 ROS_DEPRECATED const std::string __getMessageDefinition() const { return __s_getMessageDefinition_(); }
00435
00436 ROS_DEPRECATED virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const
00437 {
00438 ros::serialization::OStream stream(write_ptr, 1000000000);
00439 ros::serialization::serialize(stream, robot_state);
00440 ros::serialization::serialize(stream, fixed_frame_transforms);
00441 ros::serialization::serialize(stream, allowed_collision_matrix);
00442 ros::serialization::serialize(stream, allowed_contacts);
00443 ros::serialization::serialize(stream, link_padding);
00444 ros::serialization::serialize(stream, collision_objects);
00445 ros::serialization::serialize(stream, attached_collision_objects);
00446 ros::serialization::serialize(stream, collision_map);
00447 return stream.getData();
00448 }
00449
00450 ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr)
00451 {
00452 ros::serialization::IStream stream(read_ptr, 1000000000);
00453 ros::serialization::deserialize(stream, robot_state);
00454 ros::serialization::deserialize(stream, fixed_frame_transforms);
00455 ros::serialization::deserialize(stream, allowed_collision_matrix);
00456 ros::serialization::deserialize(stream, allowed_contacts);
00457 ros::serialization::deserialize(stream, link_padding);
00458 ros::serialization::deserialize(stream, collision_objects);
00459 ros::serialization::deserialize(stream, attached_collision_objects);
00460 ros::serialization::deserialize(stream, collision_map);
00461 return stream.getData();
00462 }
00463
00464 ROS_DEPRECATED virtual uint32_t serializationLength() const
00465 {
00466 uint32_t size = 0;
00467 size += ros::serialization::serializationLength(robot_state);
00468 size += ros::serialization::serializationLength(fixed_frame_transforms);
00469 size += ros::serialization::serializationLength(allowed_collision_matrix);
00470 size += ros::serialization::serializationLength(allowed_contacts);
00471 size += ros::serialization::serializationLength(link_padding);
00472 size += ros::serialization::serializationLength(collision_objects);
00473 size += ros::serialization::serializationLength(attached_collision_objects);
00474 size += ros::serialization::serializationLength(collision_map);
00475 return size;
00476 }
00477
00478 typedef boost::shared_ptr< ::arm_navigation_msgs::PlanningScene_<ContainerAllocator> > Ptr;
00479 typedef boost::shared_ptr< ::arm_navigation_msgs::PlanningScene_<ContainerAllocator> const> ConstPtr;
00480 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00481 };
00482 typedef ::arm_navigation_msgs::PlanningScene_<std::allocator<void> > PlanningScene;
00483
00484 typedef boost::shared_ptr< ::arm_navigation_msgs::PlanningScene> PlanningScenePtr;
00485 typedef boost::shared_ptr< ::arm_navigation_msgs::PlanningScene const> PlanningSceneConstPtr;
00486
00487
00488 template<typename ContainerAllocator>
00489 std::ostream& operator<<(std::ostream& s, const ::arm_navigation_msgs::PlanningScene_<ContainerAllocator> & v)
00490 {
00491 ros::message_operations::Printer< ::arm_navigation_msgs::PlanningScene_<ContainerAllocator> >::stream(s, "", v);
00492 return s;}
00493
00494 }
00495
00496 namespace ros
00497 {
00498 namespace message_traits
00499 {
00500 template<class ContainerAllocator> struct IsMessage< ::arm_navigation_msgs::PlanningScene_<ContainerAllocator> > : public TrueType {};
00501 template<class ContainerAllocator> struct IsMessage< ::arm_navigation_msgs::PlanningScene_<ContainerAllocator> const> : public TrueType {};
00502 template<class ContainerAllocator>
00503 struct MD5Sum< ::arm_navigation_msgs::PlanningScene_<ContainerAllocator> > {
00504 static const char* value()
00505 {
00506 return "6d1add8ef6efdd62d194ef430abd4b75";
00507 }
00508
00509 static const char* value(const ::arm_navigation_msgs::PlanningScene_<ContainerAllocator> &) { return value(); }
00510 static const uint64_t static_value1 = 0x6d1add8ef6efdd62ULL;
00511 static const uint64_t static_value2 = 0xd194ef430abd4b75ULL;
00512 };
00513
00514 template<class ContainerAllocator>
00515 struct DataType< ::arm_navigation_msgs::PlanningScene_<ContainerAllocator> > {
00516 static const char* value()
00517 {
00518 return "arm_navigation_msgs/PlanningScene";
00519 }
00520
00521 static const char* value(const ::arm_navigation_msgs::PlanningScene_<ContainerAllocator> &) { return value(); }
00522 };
00523
00524 template<class ContainerAllocator>
00525 struct Definition< ::arm_navigation_msgs::PlanningScene_<ContainerAllocator> > {
00526 static const char* value()
00527 {
00528 return "#full robot state\n\
00529 arm_navigation_msgs/RobotState robot_state\n\
00530 \n\
00531 #additional frames for duplicating tf\n\
00532 geometry_msgs/TransformStamped[] fixed_frame_transforms\n\
00533 \n\
00534 #full allowed collision matrix\n\
00535 AllowedCollisionMatrix allowed_collision_matrix\n\
00536 \n\
00537 #allowed contacts\n\
00538 arm_navigation_msgs/AllowedContactSpecification[] allowed_contacts\n\
00539 \n\
00540 #all link paddings\n\
00541 arm_navigation_msgs/LinkPadding[] link_padding\n\
00542 \n\
00543 #collision objects\n\
00544 arm_navigation_msgs/CollisionObject[] collision_objects\n\
00545 arm_navigation_msgs/AttachedCollisionObject[] attached_collision_objects\n\
00546 \n\
00547 #the collision map\n\
00548 arm_navigation_msgs/CollisionMap collision_map\n\
00549 \n\
00550 ================================================================================\n\
00551 MSG: arm_navigation_msgs/RobotState\n\
00552 # This message contains information about the robot state, i.e. the positions of its joints and links\n\
00553 sensor_msgs/JointState joint_state\n\
00554 arm_navigation_msgs/MultiDOFJointState multi_dof_joint_state\n\
00555 \n\
00556 ================================================================================\n\
00557 MSG: sensor_msgs/JointState\n\
00558 # This is a message that holds data to describe the state of a set of torque controlled joints. \n\
00559 #\n\
00560 # The state of each joint (revolute or prismatic) is defined by:\n\
00561 # * the position of the joint (rad or m),\n\
00562 # * the velocity of the joint (rad/s or m/s) and \n\
00563 # * the effort that is applied in the joint (Nm or N).\n\
00564 #\n\
00565 # Each joint is uniquely identified by its name\n\
00566 # The header specifies the time at which the joint states were recorded. All the joint states\n\
00567 # in one message have to be recorded at the same time.\n\
00568 #\n\
00569 # This message consists of a multiple arrays, one for each part of the joint state. \n\
00570 # The goal is to make each of the fields optional. When e.g. your joints have no\n\
00571 # effort associated with them, you can leave the effort array empty. \n\
00572 #\n\
00573 # All arrays in this message should have the same size, or be empty.\n\
00574 # This is the only way to uniquely associate the joint name with the correct\n\
00575 # states.\n\
00576 \n\
00577 \n\
00578 Header header\n\
00579 \n\
00580 string[] name\n\
00581 float64[] position\n\
00582 float64[] velocity\n\
00583 float64[] effort\n\
00584 \n\
00585 ================================================================================\n\
00586 MSG: std_msgs/Header\n\
00587 # Standard metadata for higher-level stamped data types.\n\
00588 # This is generally used to communicate timestamped data \n\
00589 # in a particular coordinate frame.\n\
00590 # \n\
00591 # sequence ID: consecutively increasing ID \n\
00592 uint32 seq\n\
00593 #Two-integer timestamp that is expressed as:\n\
00594 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00595 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00596 # time-handling sugar is provided by the client library\n\
00597 time stamp\n\
00598 #Frame this data is associated with\n\
00599 # 0: no frame\n\
00600 # 1: global frame\n\
00601 string frame_id\n\
00602 \n\
00603 ================================================================================\n\
00604 MSG: arm_navigation_msgs/MultiDOFJointState\n\
00605 #A representation of a multi-dof joint state\n\
00606 time stamp\n\
00607 string[] joint_names\n\
00608 string[] frame_ids\n\
00609 string[] child_frame_ids\n\
00610 geometry_msgs/Pose[] poses\n\
00611 \n\
00612 ================================================================================\n\
00613 MSG: geometry_msgs/Pose\n\
00614 # A representation of pose in free space, composed of postion and orientation. \n\
00615 Point position\n\
00616 Quaternion orientation\n\
00617 \n\
00618 ================================================================================\n\
00619 MSG: geometry_msgs/Point\n\
00620 # This contains the position of a point in free space\n\
00621 float64 x\n\
00622 float64 y\n\
00623 float64 z\n\
00624 \n\
00625 ================================================================================\n\
00626 MSG: geometry_msgs/Quaternion\n\
00627 # This represents an orientation in free space in quaternion form.\n\
00628 \n\
00629 float64 x\n\
00630 float64 y\n\
00631 float64 z\n\
00632 float64 w\n\
00633 \n\
00634 ================================================================================\n\
00635 MSG: geometry_msgs/TransformStamped\n\
00636 # This expresses a transform from coordinate frame header.frame_id\n\
00637 # to the coordinate frame child_frame_id\n\
00638 #\n\
00639 # This message is mostly used by the \n\
00640 # <a href=\"http://www.ros.org/wiki/tf\">tf</a> package. \n\
00641 # See it's documentation for more information.\n\
00642 \n\
00643 Header header\n\
00644 string child_frame_id # the frame id of the child frame\n\
00645 Transform transform\n\
00646 \n\
00647 ================================================================================\n\
00648 MSG: geometry_msgs/Transform\n\
00649 # This represents the transform between two coordinate frames in free space.\n\
00650 \n\
00651 Vector3 translation\n\
00652 Quaternion rotation\n\
00653 \n\
00654 ================================================================================\n\
00655 MSG: geometry_msgs/Vector3\n\
00656 # This represents a vector in free space. \n\
00657 \n\
00658 float64 x\n\
00659 float64 y\n\
00660 float64 z\n\
00661 ================================================================================\n\
00662 MSG: arm_navigation_msgs/AllowedCollisionMatrix\n\
00663 # the list of link names in the matrix\n\
00664 string[] link_names\n\
00665 \n\
00666 # the individual entries in the allowed collision matrix\n\
00667 # symmetric, with same order as link_names\n\
00668 AllowedCollisionEntry[] entries\n\
00669 \n\
00670 ================================================================================\n\
00671 MSG: arm_navigation_msgs/AllowedCollisionEntry\n\
00672 # whether or not collision checking is enabled\n\
00673 bool[] enabled\n\
00674 \n\
00675 ================================================================================\n\
00676 MSG: arm_navigation_msgs/AllowedContactSpecification\n\
00677 # The names of the regions\n\
00678 string name\n\
00679 \n\
00680 # The shape of the region in the environment\n\
00681 arm_navigation_msgs/Shape shape\n\
00682 \n\
00683 # The pose of the space defining the region\n\
00684 geometry_msgs/PoseStamped pose_stamped\n\
00685 \n\
00686 # The set of links that will be allowed to have penetration contact within this region\n\
00687 string[] link_names\n\
00688 \n\
00689 # The maximum penetration depth allowed for every link\n\
00690 float64 penetration_depth\n\
00691 \n\
00692 ================================================================================\n\
00693 MSG: arm_navigation_msgs/Shape\n\
00694 byte SPHERE=0\n\
00695 byte BOX=1\n\
00696 byte CYLINDER=2\n\
00697 byte MESH=3\n\
00698 \n\
00699 byte type\n\
00700 \n\
00701 \n\
00702 #### define sphere, box, cylinder ####\n\
00703 # the origin of each shape is considered at the shape's center\n\
00704 \n\
00705 # for sphere\n\
00706 # radius := dimensions[0]\n\
00707 \n\
00708 # for cylinder\n\
00709 # radius := dimensions[0]\n\
00710 # length := dimensions[1]\n\
00711 # the length is along the Z axis\n\
00712 \n\
00713 # for box\n\
00714 # size_x := dimensions[0]\n\
00715 # size_y := dimensions[1]\n\
00716 # size_z := dimensions[2]\n\
00717 float64[] dimensions\n\
00718 \n\
00719 \n\
00720 #### define mesh ####\n\
00721 \n\
00722 # list of triangles; triangle k is defined by tre vertices located\n\
00723 # at indices triangles[3k], triangles[3k+1], triangles[3k+2]\n\
00724 int32[] triangles\n\
00725 geometry_msgs/Point[] vertices\n\
00726 \n\
00727 ================================================================================\n\
00728 MSG: geometry_msgs/PoseStamped\n\
00729 # A Pose with reference coordinate frame and timestamp\n\
00730 Header header\n\
00731 Pose pose\n\
00732 \n\
00733 ================================================================================\n\
00734 MSG: arm_navigation_msgs/LinkPadding\n\
00735 #name for the link\n\
00736 string link_name\n\
00737 \n\
00738 # padding to apply to the link\n\
00739 float64 padding\n\
00740 \n\
00741 ================================================================================\n\
00742 MSG: arm_navigation_msgs/CollisionObject\n\
00743 # a header, used for interpreting the poses\n\
00744 Header header\n\
00745 \n\
00746 # the id of the object\n\
00747 string id\n\
00748 \n\
00749 # The padding used for filtering points near the object.\n\
00750 # This does not affect collision checking for the object. \n\
00751 # Set to negative to get zero padding.\n\
00752 float32 padding\n\
00753 \n\
00754 #This contains what is to be done with the object\n\
00755 CollisionObjectOperation operation\n\
00756 \n\
00757 #the shapes associated with the object\n\
00758 arm_navigation_msgs/Shape[] shapes\n\
00759 \n\
00760 #the poses associated with the shapes - will be transformed using the header\n\
00761 geometry_msgs/Pose[] poses\n\
00762 \n\
00763 ================================================================================\n\
00764 MSG: arm_navigation_msgs/CollisionObjectOperation\n\
00765 #Puts the object into the environment\n\
00766 #or updates the object if already added\n\
00767 byte ADD=0\n\
00768 \n\
00769 #Removes the object from the environment entirely\n\
00770 byte REMOVE=1\n\
00771 \n\
00772 #Only valid within the context of a CollisionAttachedObject message\n\
00773 #Will be ignored if sent with an CollisionObject message\n\
00774 #Takes an attached object, detaches from the attached link\n\
00775 #But adds back in as regular object\n\
00776 byte DETACH_AND_ADD_AS_OBJECT=2\n\
00777 \n\
00778 #Only valid within the context of a CollisionAttachedObject message\n\
00779 #Will be ignored if sent with an CollisionObject message\n\
00780 #Takes current object in the environment and removes it as\n\
00781 #a regular object\n\
00782 byte ATTACH_AND_REMOVE_AS_OBJECT=3\n\
00783 \n\
00784 # Byte code for operation\n\
00785 byte operation\n\
00786 \n\
00787 ================================================================================\n\
00788 MSG: arm_navigation_msgs/AttachedCollisionObject\n\
00789 # The CollisionObject will be attached with a fixed joint to this link\n\
00790 # If link name is set to REMOVE_ALL_ATTACHED_OBJECTS and object.operation \n\
00791 # is set to REMOVE will remove all attached bodies attached to any object\n\
00792 string link_name\n\
00793 \n\
00794 #Reserved for indicating that all attached objects should be removed\n\
00795 string REMOVE_ALL_ATTACHED_OBJECTS = \"all\"\n\
00796 \n\
00797 #This contains the actual shapes and poses for the CollisionObject\n\
00798 #to be attached to the link\n\
00799 #If action is remove and no object.id is set, all objects\n\
00800 #attached to the link indicated by link_name will be removed\n\
00801 CollisionObject object\n\
00802 \n\
00803 # The set of links that the attached objects are allowed to touch\n\
00804 # by default - the link_name is included by default\n\
00805 string[] touch_links\n\
00806 \n\
00807 ================================================================================\n\
00808 MSG: arm_navigation_msgs/CollisionMap\n\
00809 #header for interpreting box positions\n\
00810 Header header\n\
00811 \n\
00812 #boxes for use in collision testing\n\
00813 OrientedBoundingBox[] boxes\n\
00814 \n\
00815 ================================================================================\n\
00816 MSG: arm_navigation_msgs/OrientedBoundingBox\n\
00817 #the center of the box\n\
00818 geometry_msgs/Point32 center\n\
00819 \n\
00820 #the extents of the box, assuming the center is at the point\n\
00821 geometry_msgs/Point32 extents\n\
00822 \n\
00823 #the axis of the box\n\
00824 geometry_msgs/Point32 axis\n\
00825 \n\
00826 #the angle of rotation around the axis\n\
00827 float32 angle\n\
00828 \n\
00829 ================================================================================\n\
00830 MSG: geometry_msgs/Point32\n\
00831 # This contains the position of a point in free space(with 32 bits of precision).\n\
00832 # It is recommeded to use Point wherever possible instead of Point32. \n\
00833 # \n\
00834 # This recommendation is to promote interoperability. \n\
00835 #\n\
00836 # This message is designed to take up less space when sending\n\
00837 # lots of points at once, as in the case of a PointCloud. \n\
00838 \n\
00839 float32 x\n\
00840 float32 y\n\
00841 float32 z\n\
00842 ";
00843 }
00844
00845 static const char* value(const ::arm_navigation_msgs::PlanningScene_<ContainerAllocator> &) { return value(); }
00846 };
00847
00848 }
00849 }
00850
00851 namespace ros
00852 {
00853 namespace serialization
00854 {
00855
00856 template<class ContainerAllocator> struct Serializer< ::arm_navigation_msgs::PlanningScene_<ContainerAllocator> >
00857 {
00858 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00859 {
00860 stream.next(m.robot_state);
00861 stream.next(m.fixed_frame_transforms);
00862 stream.next(m.allowed_collision_matrix);
00863 stream.next(m.allowed_contacts);
00864 stream.next(m.link_padding);
00865 stream.next(m.collision_objects);
00866 stream.next(m.attached_collision_objects);
00867 stream.next(m.collision_map);
00868 }
00869
00870 ROS_DECLARE_ALLINONE_SERIALIZER;
00871 };
00872 }
00873 }
00874
00875 namespace ros
00876 {
00877 namespace message_operations
00878 {
00879
00880 template<class ContainerAllocator>
00881 struct Printer< ::arm_navigation_msgs::PlanningScene_<ContainerAllocator> >
00882 {
00883 template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::arm_navigation_msgs::PlanningScene_<ContainerAllocator> & v)
00884 {
00885 s << indent << "robot_state: ";
00886 s << std::endl;
00887 Printer< ::arm_navigation_msgs::RobotState_<ContainerAllocator> >::stream(s, indent + " ", v.robot_state);
00888 s << indent << "fixed_frame_transforms[]" << std::endl;
00889 for (size_t i = 0; i < v.fixed_frame_transforms.size(); ++i)
00890 {
00891 s << indent << " fixed_frame_transforms[" << i << "]: ";
00892 s << std::endl;
00893 s << indent;
00894 Printer< ::geometry_msgs::TransformStamped_<ContainerAllocator> >::stream(s, indent + " ", v.fixed_frame_transforms[i]);
00895 }
00896 s << indent << "allowed_collision_matrix: ";
00897 s << std::endl;
00898 Printer< ::arm_navigation_msgs::AllowedCollisionMatrix_<ContainerAllocator> >::stream(s, indent + " ", v.allowed_collision_matrix);
00899 s << indent << "allowed_contacts[]" << std::endl;
00900 for (size_t i = 0; i < v.allowed_contacts.size(); ++i)
00901 {
00902 s << indent << " allowed_contacts[" << i << "]: ";
00903 s << std::endl;
00904 s << indent;
00905 Printer< ::arm_navigation_msgs::AllowedContactSpecification_<ContainerAllocator> >::stream(s, indent + " ", v.allowed_contacts[i]);
00906 }
00907 s << indent << "link_padding[]" << std::endl;
00908 for (size_t i = 0; i < v.link_padding.size(); ++i)
00909 {
00910 s << indent << " link_padding[" << i << "]: ";
00911 s << std::endl;
00912 s << indent;
00913 Printer< ::arm_navigation_msgs::LinkPadding_<ContainerAllocator> >::stream(s, indent + " ", v.link_padding[i]);
00914 }
00915 s << indent << "collision_objects[]" << std::endl;
00916 for (size_t i = 0; i < v.collision_objects.size(); ++i)
00917 {
00918 s << indent << " collision_objects[" << i << "]: ";
00919 s << std::endl;
00920 s << indent;
00921 Printer< ::arm_navigation_msgs::CollisionObject_<ContainerAllocator> >::stream(s, indent + " ", v.collision_objects[i]);
00922 }
00923 s << indent << "attached_collision_objects[]" << std::endl;
00924 for (size_t i = 0; i < v.attached_collision_objects.size(); ++i)
00925 {
00926 s << indent << " attached_collision_objects[" << i << "]: ";
00927 s << std::endl;
00928 s << indent;
00929 Printer< ::arm_navigation_msgs::AttachedCollisionObject_<ContainerAllocator> >::stream(s, indent + " ", v.attached_collision_objects[i]);
00930 }
00931 s << indent << "collision_map: ";
00932 s << std::endl;
00933 Printer< ::arm_navigation_msgs::CollisionMap_<ContainerAllocator> >::stream(s, indent + " ", v.collision_map);
00934 }
00935 };
00936
00937
00938 }
00939 }
00940
00941 #endif // ARM_NAVIGATION_MSGS_MESSAGE_PLANNINGSCENE_H
00942
