00001
00002 #ifndef ARM_NAVIGATION_MSGS_MESSAGE_SYNCPLANNINGSCENEACTION_H
00003 #define ARM_NAVIGATION_MSGS_MESSAGE_SYNCPLANNINGSCENEACTION_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/SyncPlanningSceneActionGoal.h"
00018 #include "arm_navigation_msgs/SyncPlanningSceneActionResult.h"
00019 #include "arm_navigation_msgs/SyncPlanningSceneActionFeedback.h"
00020
00021 namespace arm_navigation_msgs
00022 {
00023 template <class ContainerAllocator>
00024 struct SyncPlanningSceneAction_ {
00025 typedef SyncPlanningSceneAction_<ContainerAllocator> Type;
00026
00027 SyncPlanningSceneAction_()
00028 : action_goal()
00029 , action_result()
00030 , action_feedback()
00031 {
00032 }
00033
00034 SyncPlanningSceneAction_(const ContainerAllocator& _alloc)
00035 : action_goal(_alloc)
00036 , action_result(_alloc)
00037 , action_feedback(_alloc)
00038 {
00039 }
00040
00041 typedef ::arm_navigation_msgs::SyncPlanningSceneActionGoal_<ContainerAllocator> _action_goal_type;
00042 ::arm_navigation_msgs::SyncPlanningSceneActionGoal_<ContainerAllocator> action_goal;
00043
00044 typedef ::arm_navigation_msgs::SyncPlanningSceneActionResult_<ContainerAllocator> _action_result_type;
00045 ::arm_navigation_msgs::SyncPlanningSceneActionResult_<ContainerAllocator> action_result;
00046
00047 typedef ::arm_navigation_msgs::SyncPlanningSceneActionFeedback_<ContainerAllocator> _action_feedback_type;
00048 ::arm_navigation_msgs::SyncPlanningSceneActionFeedback_<ContainerAllocator> action_feedback;
00049
00050
00051 private:
00052 static const char* __s_getDataType_() { return "arm_navigation_msgs/SyncPlanningSceneAction"; }
00053 public:
00054 ROS_DEPRECATED static const std::string __s_getDataType() { return __s_getDataType_(); }
00055
00056 ROS_DEPRECATED const std::string __getDataType() const { return __s_getDataType_(); }
00057
00058 private:
00059 static const char* __s_getMD5Sum_() { return "98a7de8683022cf0184b72a226932f22"; }
00060 public:
00061 ROS_DEPRECATED static const std::string __s_getMD5Sum() { return __s_getMD5Sum_(); }
00062
00063 ROS_DEPRECATED const std::string __getMD5Sum() const { return __s_getMD5Sum_(); }
00064
00065 private:
00066 static const char* __s_getMessageDefinition_() { return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00067 \n\
00068 SyncPlanningSceneActionGoal action_goal\n\
00069 SyncPlanningSceneActionResult action_result\n\
00070 SyncPlanningSceneActionFeedback action_feedback\n\
00071 \n\
00072 ================================================================================\n\
00073 MSG: arm_navigation_msgs/SyncPlanningSceneActionGoal\n\
00074 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00075 \n\
00076 Header header\n\
00077 actionlib_msgs/GoalID goal_id\n\
00078 SyncPlanningSceneGoal goal\n\
00079 \n\
00080 ================================================================================\n\
00081 MSG: std_msgs/Header\n\
00082 # Standard metadata for higher-level stamped data types.\n\
00083 # This is generally used to communicate timestamped data \n\
00084 # in a particular coordinate frame.\n\
00085 # \n\
00086 # sequence ID: consecutively increasing ID \n\
00087 uint32 seq\n\
00088 #Two-integer timestamp that is expressed as:\n\
00089 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00090 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00091 # time-handling sugar is provided by the client library\n\
00092 time stamp\n\
00093 #Frame this data is associated with\n\
00094 # 0: no frame\n\
00095 # 1: global frame\n\
00096 string frame_id\n\
00097 \n\
00098 ================================================================================\n\
00099 MSG: actionlib_msgs/GoalID\n\
00100 # The stamp should store the time at which this goal was requested.\n\
00101 # It is used by an action server when it tries to preempt all\n\
00102 # goals that were requested before a certain time\n\
00103 time stamp\n\
00104 \n\
00105 # The id provides a way to associate feedback and\n\
00106 # result message with specific goal requests. The id\n\
00107 # specified must be unique.\n\
00108 string id\n\
00109 \n\
00110 \n\
00111 ================================================================================\n\
00112 MSG: arm_navigation_msgs/SyncPlanningSceneGoal\n\
00113 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00114 # THIS MESSAGE IS FOR INTERNAL COMMUNICATION BETWEEN\n\
00115 # PLANNING ENVIRONMENT COMPONENTS ONLY\n\
00116 \n\
00117 #Full planning scene\n\
00118 PlanningScene planning_scene\n\
00119 \n\
00120 ================================================================================\n\
00121 MSG: arm_navigation_msgs/PlanningScene\n\
00122 #full robot state\n\
00123 arm_navigation_msgs/RobotState robot_state\n\
00124 \n\
00125 #additional frames for duplicating tf\n\
00126 geometry_msgs/TransformStamped[] fixed_frame_transforms\n\
00127 \n\
00128 #full allowed collision matrix\n\
00129 AllowedCollisionMatrix allowed_collision_matrix\n\
00130 \n\
00131 #allowed contacts\n\
00132 arm_navigation_msgs/AllowedContactSpecification[] allowed_contacts\n\
00133 \n\
00134 #all link paddings\n\
00135 arm_navigation_msgs/LinkPadding[] link_padding\n\
00136 \n\
00137 #collision objects\n\
00138 arm_navigation_msgs/CollisionObject[] collision_objects\n\
00139 arm_navigation_msgs/AttachedCollisionObject[] attached_collision_objects\n\
00140 \n\
00141 #the collision map\n\
00142 arm_navigation_msgs/CollisionMap collision_map\n\
00143 \n\
00144 ================================================================================\n\
00145 MSG: arm_navigation_msgs/RobotState\n\
00146 # This message contains information about the robot state, i.e. the positions of its joints and links\n\
00147 sensor_msgs/JointState joint_state\n\
00148 arm_navigation_msgs/MultiDOFJointState multi_dof_joint_state\n\
00149 \n\
00150 ================================================================================\n\
00151 MSG: sensor_msgs/JointState\n\
00152 # This is a message that holds data to describe the state of a set of torque controlled joints. \n\
00153 #\n\
00154 # The state of each joint (revolute or prismatic) is defined by:\n\
00155 # * the position of the joint (rad or m),\n\
00156 # * the velocity of the joint (rad/s or m/s) and \n\
00157 # * the effort that is applied in the joint (Nm or N).\n\
00158 #\n\
00159 # Each joint is uniquely identified by its name\n\
00160 # The header specifies the time at which the joint states were recorded. All the joint states\n\
00161 # in one message have to be recorded at the same time.\n\
00162 #\n\
00163 # This message consists of a multiple arrays, one for each part of the joint state. \n\
00164 # The goal is to make each of the fields optional. When e.g. your joints have no\n\
00165 # effort associated with them, you can leave the effort array empty. \n\
00166 #\n\
00167 # All arrays in this message should have the same size, or be empty.\n\
00168 # This is the only way to uniquely associate the joint name with the correct\n\
00169 # states.\n\
00170 \n\
00171 \n\
00172 Header header\n\
00173 \n\
00174 string[] name\n\
00175 float64[] position\n\
00176 float64[] velocity\n\
00177 float64[] effort\n\
00178 \n\
00179 ================================================================================\n\
00180 MSG: arm_navigation_msgs/MultiDOFJointState\n\
00181 #A representation of a multi-dof joint state\n\
00182 time stamp\n\
00183 string[] joint_names\n\
00184 string[] frame_ids\n\
00185 string[] child_frame_ids\n\
00186 geometry_msgs/Pose[] poses\n\
00187 \n\
00188 ================================================================================\n\
00189 MSG: geometry_msgs/Pose\n\
00190 # A representation of pose in free space, composed of postion and orientation. \n\
00191 Point position\n\
00192 Quaternion orientation\n\
00193 \n\
00194 ================================================================================\n\
00195 MSG: geometry_msgs/Point\n\
00196 # This contains the position of a point in free space\n\
00197 float64 x\n\
00198 float64 y\n\
00199 float64 z\n\
00200 \n\
00201 ================================================================================\n\
00202 MSG: geometry_msgs/Quaternion\n\
00203 # This represents an orientation in free space in quaternion form.\n\
00204 \n\
00205 float64 x\n\
00206 float64 y\n\
00207 float64 z\n\
00208 float64 w\n\
00209 \n\
00210 ================================================================================\n\
00211 MSG: geometry_msgs/TransformStamped\n\
00212 # This expresses a transform from coordinate frame header.frame_id\n\
00213 # to the coordinate frame child_frame_id\n\
00214 #\n\
00215 # This message is mostly used by the \n\
00216 # <a href=\"http://www.ros.org/wiki/tf\">tf</a> package. \n\
00217 # See it's documentation for more information.\n\
00218 \n\
00219 Header header\n\
00220 string child_frame_id # the frame id of the child frame\n\
00221 Transform transform\n\
00222 \n\
00223 ================================================================================\n\
00224 MSG: geometry_msgs/Transform\n\
00225 # This represents the transform between two coordinate frames in free space.\n\
00226 \n\
00227 Vector3 translation\n\
00228 Quaternion rotation\n\
00229 \n\
00230 ================================================================================\n\
00231 MSG: geometry_msgs/Vector3\n\
00232 # This represents a vector in free space. \n\
00233 \n\
00234 float64 x\n\
00235 float64 y\n\
00236 float64 z\n\
00237 ================================================================================\n\
00238 MSG: arm_navigation_msgs/AllowedCollisionMatrix\n\
00239 # the list of link names in the matrix\n\
00240 string[] link_names\n\
00241 \n\
00242 # the individual entries in the allowed collision matrix\n\
00243 # symmetric, with same order as link_names\n\
00244 AllowedCollisionEntry[] entries\n\
00245 \n\
00246 ================================================================================\n\
00247 MSG: arm_navigation_msgs/AllowedCollisionEntry\n\
00248 # whether or not collision checking is enabled\n\
00249 bool[] enabled\n\
00250 \n\
00251 ================================================================================\n\
00252 MSG: arm_navigation_msgs/AllowedContactSpecification\n\
00253 # The names of the regions\n\
00254 string name\n\
00255 \n\
00256 # The shape of the region in the environment\n\
00257 arm_navigation_msgs/Shape shape\n\
00258 \n\
00259 # The pose of the space defining the region\n\
00260 geometry_msgs/PoseStamped pose_stamped\n\
00261 \n\
00262 # The set of links that will be allowed to have penetration contact within this region\n\
00263 string[] link_names\n\
00264 \n\
00265 # The maximum penetration depth allowed for every link\n\
00266 float64 penetration_depth\n\
00267 \n\
00268 ================================================================================\n\
00269 MSG: arm_navigation_msgs/Shape\n\
00270 byte SPHERE=0\n\
00271 byte BOX=1\n\
00272 byte CYLINDER=2\n\
00273 byte MESH=3\n\
00274 \n\
00275 byte type\n\
00276 \n\
00277 \n\
00278 #### define sphere, box, cylinder ####\n\
00279 # the origin of each shape is considered at the shape's center\n\
00280 \n\
00281 # for sphere\n\
00282 # radius := dimensions[0]\n\
00283 \n\
00284 # for cylinder\n\
00285 # radius := dimensions[0]\n\
00286 # length := dimensions[1]\n\
00287 # the length is along the Z axis\n\
00288 \n\
00289 # for box\n\
00290 # size_x := dimensions[0]\n\
00291 # size_y := dimensions[1]\n\
00292 # size_z := dimensions[2]\n\
00293 float64[] dimensions\n\
00294 \n\
00295 \n\
00296 #### define mesh ####\n\
00297 \n\
00298 # list of triangles; triangle k is defined by tre vertices located\n\
00299 # at indices triangles[3k], triangles[3k+1], triangles[3k+2]\n\
00300 int32[] triangles\n\
00301 geometry_msgs/Point[] vertices\n\
00302 \n\
00303 ================================================================================\n\
00304 MSG: geometry_msgs/PoseStamped\n\
00305 # A Pose with reference coordinate frame and timestamp\n\
00306 Header header\n\
00307 Pose pose\n\
00308 \n\
00309 ================================================================================\n\
00310 MSG: arm_navigation_msgs/LinkPadding\n\
00311 #name for the link\n\
00312 string link_name\n\
00313 \n\
00314 # padding to apply to the link\n\
00315 float64 padding\n\
00316 \n\
00317 ================================================================================\n\
00318 MSG: arm_navigation_msgs/CollisionObject\n\
00319 # a header, used for interpreting the poses\n\
00320 Header header\n\
00321 \n\
00322 # the id of the object\n\
00323 string id\n\
00324 \n\
00325 # The padding used for filtering points near the object.\n\
00326 # This does not affect collision checking for the object. \n\
00327 # Set to negative to get zero padding.\n\
00328 float32 padding\n\
00329 \n\
00330 #This contains what is to be done with the object\n\
00331 CollisionObjectOperation operation\n\
00332 \n\
00333 #the shapes associated with the object\n\
00334 arm_navigation_msgs/Shape[] shapes\n\
00335 \n\
00336 #the poses associated with the shapes - will be transformed using the header\n\
00337 geometry_msgs/Pose[] poses\n\
00338 \n\
00339 ================================================================================\n\
00340 MSG: arm_navigation_msgs/CollisionObjectOperation\n\
00341 #Puts the object into the environment\n\
00342 #or updates the object if already added\n\
00343 byte ADD=0\n\
00344 \n\
00345 #Removes the object from the environment entirely\n\
00346 byte REMOVE=1\n\
00347 \n\
00348 #Only valid within the context of a CollisionAttachedObject message\n\
00349 #Will be ignored if sent with an CollisionObject message\n\
00350 #Takes an attached object, detaches from the attached link\n\
00351 #But adds back in as regular object\n\
00352 byte DETACH_AND_ADD_AS_OBJECT=2\n\
00353 \n\
00354 #Only valid within the context of a CollisionAttachedObject message\n\
00355 #Will be ignored if sent with an CollisionObject message\n\
00356 #Takes current object in the environment and removes it as\n\
00357 #a regular object\n\
00358 byte ATTACH_AND_REMOVE_AS_OBJECT=3\n\
00359 \n\
00360 # Byte code for operation\n\
00361 byte operation\n\
00362 \n\
00363 ================================================================================\n\
00364 MSG: arm_navigation_msgs/AttachedCollisionObject\n\
00365 # The CollisionObject will be attached with a fixed joint to this link\n\
00366 # If link name is set to REMOVE_ALL_ATTACHED_OBJECTS and object.operation \n\
00367 # is set to REMOVE will remove all attached bodies attached to any object\n\
00368 string link_name\n\
00369 \n\
00370 #Reserved for indicating that all attached objects should be removed\n\
00371 string REMOVE_ALL_ATTACHED_OBJECTS = \"all\"\n\
00372 \n\
00373 #This contains the actual shapes and poses for the CollisionObject\n\
00374 #to be attached to the link\n\
00375 #If action is remove and no object.id is set, all objects\n\
00376 #attached to the link indicated by link_name will be removed\n\
00377 CollisionObject object\n\
00378 \n\
00379 # The set of links that the attached objects are allowed to touch\n\
00380 # by default - the link_name is included by default\n\
00381 string[] touch_links\n\
00382 \n\
00383 ================================================================================\n\
00384 MSG: arm_navigation_msgs/CollisionMap\n\
00385 #header for interpreting box positions\n\
00386 Header header\n\
00387 \n\
00388 #boxes for use in collision testing\n\
00389 OrientedBoundingBox[] boxes\n\
00390 \n\
00391 ================================================================================\n\
00392 MSG: arm_navigation_msgs/OrientedBoundingBox\n\
00393 #the center of the box\n\
00394 geometry_msgs/Point32 center\n\
00395 \n\
00396 #the extents of the box, assuming the center is at the point\n\
00397 geometry_msgs/Point32 extents\n\
00398 \n\
00399 #the axis of the box\n\
00400 geometry_msgs/Point32 axis\n\
00401 \n\
00402 #the angle of rotation around the axis\n\
00403 float32 angle\n\
00404 \n\
00405 ================================================================================\n\
00406 MSG: geometry_msgs/Point32\n\
00407 # This contains the position of a point in free space(with 32 bits of precision).\n\
00408 # It is recommeded to use Point wherever possible instead of Point32. \n\
00409 # \n\
00410 # This recommendation is to promote interoperability. \n\
00411 #\n\
00412 # This message is designed to take up less space when sending\n\
00413 # lots of points at once, as in the case of a PointCloud. \n\
00414 \n\
00415 float32 x\n\
00416 float32 y\n\
00417 float32 z\n\
00418 ================================================================================\n\
00419 MSG: arm_navigation_msgs/SyncPlanningSceneActionResult\n\
00420 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00421 \n\
00422 Header header\n\
00423 actionlib_msgs/GoalStatus status\n\
00424 SyncPlanningSceneResult result\n\
00425 \n\
00426 ================================================================================\n\
00427 MSG: actionlib_msgs/GoalStatus\n\
00428 GoalID goal_id\n\
00429 uint8 status\n\
00430 uint8 PENDING = 0 # The goal has yet to be processed by the action server\n\
00431 uint8 ACTIVE = 1 # The goal is currently being processed by the action server\n\
00432 uint8 PREEMPTED = 2 # The goal received a cancel request after it started executing\n\
00433 # and has since completed its execution (Terminal State)\n\
00434 uint8 SUCCEEDED = 3 # The goal was achieved successfully by the action server (Terminal State)\n\
00435 uint8 ABORTED = 4 # The goal was aborted during execution by the action server due\n\
00436 # to some failure (Terminal State)\n\
00437 uint8 REJECTED = 5 # The goal was rejected by the action server without being processed,\n\
00438 # because the goal was unattainable or invalid (Terminal State)\n\
00439 uint8 PREEMPTING = 6 # The goal received a cancel request after it started executing\n\
00440 # and has not yet completed execution\n\
00441 uint8 RECALLING = 7 # The goal received a cancel request before it started executing,\n\
00442 # but the action server has not yet confirmed that the goal is canceled\n\
00443 uint8 RECALLED = 8 # The goal received a cancel request before it started executing\n\
00444 # and was successfully cancelled (Terminal State)\n\
00445 uint8 LOST = 9 # An action client can determine that a goal is LOST. This should not be\n\
00446 # sent over the wire by an action server\n\
00447 \n\
00448 #Allow for the user to associate a string with GoalStatus for debugging\n\
00449 string text\n\
00450 \n\
00451 \n\
00452 ================================================================================\n\
00453 MSG: arm_navigation_msgs/SyncPlanningSceneResult\n\
00454 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00455 bool ok\n\
00456 \n\
00457 ================================================================================\n\
00458 MSG: arm_navigation_msgs/SyncPlanningSceneActionFeedback\n\
00459 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00460 \n\
00461 Header header\n\
00462 actionlib_msgs/GoalStatus status\n\
00463 SyncPlanningSceneFeedback feedback\n\
00464 \n\
00465 ================================================================================\n\
00466 MSG: arm_navigation_msgs/SyncPlanningSceneFeedback\n\
00467 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00468 bool client_processing\n\
00469 bool ready\n\
00470 \n\
00471 \n\
00472 \n\
00473 "; }
00474 public:
00475 ROS_DEPRECATED static const std::string __s_getMessageDefinition() { return __s_getMessageDefinition_(); }
00476
00477 ROS_DEPRECATED const std::string __getMessageDefinition() const { return __s_getMessageDefinition_(); }
00478
00479 ROS_DEPRECATED virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const
00480 {
00481 ros::serialization::OStream stream(write_ptr, 1000000000);
00482 ros::serialization::serialize(stream, action_goal);
00483 ros::serialization::serialize(stream, action_result);
00484 ros::serialization::serialize(stream, action_feedback);
00485 return stream.getData();
00486 }
00487
00488 ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr)
00489 {
00490 ros::serialization::IStream stream(read_ptr, 1000000000);
00491 ros::serialization::deserialize(stream, action_goal);
00492 ros::serialization::deserialize(stream, action_result);
00493 ros::serialization::deserialize(stream, action_feedback);
00494 return stream.getData();
00495 }
00496
00497 ROS_DEPRECATED virtual uint32_t serializationLength() const
00498 {
00499 uint32_t size = 0;
00500 size += ros::serialization::serializationLength(action_goal);
00501 size += ros::serialization::serializationLength(action_result);
00502 size += ros::serialization::serializationLength(action_feedback);
00503 return size;
00504 }
00505
00506 typedef boost::shared_ptr< ::arm_navigation_msgs::SyncPlanningSceneAction_<ContainerAllocator> > Ptr;
00507 typedef boost::shared_ptr< ::arm_navigation_msgs::SyncPlanningSceneAction_<ContainerAllocator> const> ConstPtr;
00508 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00509 };
00510 typedef ::arm_navigation_msgs::SyncPlanningSceneAction_<std::allocator<void> > SyncPlanningSceneAction;
00511
00512 typedef boost::shared_ptr< ::arm_navigation_msgs::SyncPlanningSceneAction> SyncPlanningSceneActionPtr;
00513 typedef boost::shared_ptr< ::arm_navigation_msgs::SyncPlanningSceneAction const> SyncPlanningSceneActionConstPtr;
00514
00515
00516 template<typename ContainerAllocator>
00517 std::ostream& operator<<(std::ostream& s, const ::arm_navigation_msgs::SyncPlanningSceneAction_<ContainerAllocator> & v)
00518 {
00519 ros::message_operations::Printer< ::arm_navigation_msgs::SyncPlanningSceneAction_<ContainerAllocator> >::stream(s, "", v);
00520 return s;}
00521
00522 }
00523
00524 namespace ros
00525 {
00526 namespace message_traits
00527 {
00528 template<class ContainerAllocator> struct IsMessage< ::arm_navigation_msgs::SyncPlanningSceneAction_<ContainerAllocator> > : public TrueType {};
00529 template<class ContainerAllocator> struct IsMessage< ::arm_navigation_msgs::SyncPlanningSceneAction_<ContainerAllocator> const> : public TrueType {};
00530 template<class ContainerAllocator>
00531 struct MD5Sum< ::arm_navigation_msgs::SyncPlanningSceneAction_<ContainerAllocator> > {
00532 static const char* value()
00533 {
00534 return "98a7de8683022cf0184b72a226932f22";
00535 }
00536
00537 static const char* value(const ::arm_navigation_msgs::SyncPlanningSceneAction_<ContainerAllocator> &) { return value(); }
00538 static const uint64_t static_value1 = 0x98a7de8683022cf0ULL;
00539 static const uint64_t static_value2 = 0x184b72a226932f22ULL;
00540 };
00541
00542 template<class ContainerAllocator>
00543 struct DataType< ::arm_navigation_msgs::SyncPlanningSceneAction_<ContainerAllocator> > {
00544 static const char* value()
00545 {
00546 return "arm_navigation_msgs/SyncPlanningSceneAction";
00547 }
00548
00549 static const char* value(const ::arm_navigation_msgs::SyncPlanningSceneAction_<ContainerAllocator> &) { return value(); }
00550 };
00551
00552 template<class ContainerAllocator>
00553 struct Definition< ::arm_navigation_msgs::SyncPlanningSceneAction_<ContainerAllocator> > {
00554 static const char* value()
00555 {
00556 return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00557 \n\
00558 SyncPlanningSceneActionGoal action_goal\n\
00559 SyncPlanningSceneActionResult action_result\n\
00560 SyncPlanningSceneActionFeedback action_feedback\n\
00561 \n\
00562 ================================================================================\n\
00563 MSG: arm_navigation_msgs/SyncPlanningSceneActionGoal\n\
00564 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00565 \n\
00566 Header header\n\
00567 actionlib_msgs/GoalID goal_id\n\
00568 SyncPlanningSceneGoal goal\n\
00569 \n\
00570 ================================================================================\n\
00571 MSG: std_msgs/Header\n\
00572 # Standard metadata for higher-level stamped data types.\n\
00573 # This is generally used to communicate timestamped data \n\
00574 # in a particular coordinate frame.\n\
00575 # \n\
00576 # sequence ID: consecutively increasing ID \n\
00577 uint32 seq\n\
00578 #Two-integer timestamp that is expressed as:\n\
00579 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00580 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00581 # time-handling sugar is provided by the client library\n\
00582 time stamp\n\
00583 #Frame this data is associated with\n\
00584 # 0: no frame\n\
00585 # 1: global frame\n\
00586 string frame_id\n\
00587 \n\
00588 ================================================================================\n\
00589 MSG: actionlib_msgs/GoalID\n\
00590 # The stamp should store the time at which this goal was requested.\n\
00591 # It is used by an action server when it tries to preempt all\n\
00592 # goals that were requested before a certain time\n\
00593 time stamp\n\
00594 \n\
00595 # The id provides a way to associate feedback and\n\
00596 # result message with specific goal requests. The id\n\
00597 # specified must be unique.\n\
00598 string id\n\
00599 \n\
00600 \n\
00601 ================================================================================\n\
00602 MSG: arm_navigation_msgs/SyncPlanningSceneGoal\n\
00603 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00604 # THIS MESSAGE IS FOR INTERNAL COMMUNICATION BETWEEN\n\
00605 # PLANNING ENVIRONMENT COMPONENTS ONLY\n\
00606 \n\
00607 #Full planning scene\n\
00608 PlanningScene planning_scene\n\
00609 \n\
00610 ================================================================================\n\
00611 MSG: arm_navigation_msgs/PlanningScene\n\
00612 #full robot state\n\
00613 arm_navigation_msgs/RobotState robot_state\n\
00614 \n\
00615 #additional frames for duplicating tf\n\
00616 geometry_msgs/TransformStamped[] fixed_frame_transforms\n\
00617 \n\
00618 #full allowed collision matrix\n\
00619 AllowedCollisionMatrix allowed_collision_matrix\n\
00620 \n\
00621 #allowed contacts\n\
00622 arm_navigation_msgs/AllowedContactSpecification[] allowed_contacts\n\
00623 \n\
00624 #all link paddings\n\
00625 arm_navigation_msgs/LinkPadding[] link_padding\n\
00626 \n\
00627 #collision objects\n\
00628 arm_navigation_msgs/CollisionObject[] collision_objects\n\
00629 arm_navigation_msgs/AttachedCollisionObject[] attached_collision_objects\n\
00630 \n\
00631 #the collision map\n\
00632 arm_navigation_msgs/CollisionMap collision_map\n\
00633 \n\
00634 ================================================================================\n\
00635 MSG: arm_navigation_msgs/RobotState\n\
00636 # This message contains information about the robot state, i.e. the positions of its joints and links\n\
00637 sensor_msgs/JointState joint_state\n\
00638 arm_navigation_msgs/MultiDOFJointState multi_dof_joint_state\n\
00639 \n\
00640 ================================================================================\n\
00641 MSG: sensor_msgs/JointState\n\
00642 # This is a message that holds data to describe the state of a set of torque controlled joints. \n\
00643 #\n\
00644 # The state of each joint (revolute or prismatic) is defined by:\n\
00645 # * the position of the joint (rad or m),\n\
00646 # * the velocity of the joint (rad/s or m/s) and \n\
00647 # * the effort that is applied in the joint (Nm or N).\n\
00648 #\n\
00649 # Each joint is uniquely identified by its name\n\
00650 # The header specifies the time at which the joint states were recorded. All the joint states\n\
00651 # in one message have to be recorded at the same time.\n\
00652 #\n\
00653 # This message consists of a multiple arrays, one for each part of the joint state. \n\
00654 # The goal is to make each of the fields optional. When e.g. your joints have no\n\
00655 # effort associated with them, you can leave the effort array empty. \n\
00656 #\n\
00657 # All arrays in this message should have the same size, or be empty.\n\
00658 # This is the only way to uniquely associate the joint name with the correct\n\
00659 # states.\n\
00660 \n\
00661 \n\
00662 Header header\n\
00663 \n\
00664 string[] name\n\
00665 float64[] position\n\
00666 float64[] velocity\n\
00667 float64[] effort\n\
00668 \n\
00669 ================================================================================\n\
00670 MSG: arm_navigation_msgs/MultiDOFJointState\n\
00671 #A representation of a multi-dof joint state\n\
00672 time stamp\n\
00673 string[] joint_names\n\
00674 string[] frame_ids\n\
00675 string[] child_frame_ids\n\
00676 geometry_msgs/Pose[] poses\n\
00677 \n\
00678 ================================================================================\n\
00679 MSG: geometry_msgs/Pose\n\
00680 # A representation of pose in free space, composed of postion and orientation. \n\
00681 Point position\n\
00682 Quaternion orientation\n\
00683 \n\
00684 ================================================================================\n\
00685 MSG: geometry_msgs/Point\n\
00686 # This contains the position of a point in free space\n\
00687 float64 x\n\
00688 float64 y\n\
00689 float64 z\n\
00690 \n\
00691 ================================================================================\n\
00692 MSG: geometry_msgs/Quaternion\n\
00693 # This represents an orientation in free space in quaternion form.\n\
00694 \n\
00695 float64 x\n\
00696 float64 y\n\
00697 float64 z\n\
00698 float64 w\n\
00699 \n\
00700 ================================================================================\n\
00701 MSG: geometry_msgs/TransformStamped\n\
00702 # This expresses a transform from coordinate frame header.frame_id\n\
00703 # to the coordinate frame child_frame_id\n\
00704 #\n\
00705 # This message is mostly used by the \n\
00706 # <a href=\"http://www.ros.org/wiki/tf\">tf</a> package. \n\
00707 # See it's documentation for more information.\n\
00708 \n\
00709 Header header\n\
00710 string child_frame_id # the frame id of the child frame\n\
00711 Transform transform\n\
00712 \n\
00713 ================================================================================\n\
00714 MSG: geometry_msgs/Transform\n\
00715 # This represents the transform between two coordinate frames in free space.\n\
00716 \n\
00717 Vector3 translation\n\
00718 Quaternion rotation\n\
00719 \n\
00720 ================================================================================\n\
00721 MSG: geometry_msgs/Vector3\n\
00722 # This represents a vector in free space. \n\
00723 \n\
00724 float64 x\n\
00725 float64 y\n\
00726 float64 z\n\
00727 ================================================================================\n\
00728 MSG: arm_navigation_msgs/AllowedCollisionMatrix\n\
00729 # the list of link names in the matrix\n\
00730 string[] link_names\n\
00731 \n\
00732 # the individual entries in the allowed collision matrix\n\
00733 # symmetric, with same order as link_names\n\
00734 AllowedCollisionEntry[] entries\n\
00735 \n\
00736 ================================================================================\n\
00737 MSG: arm_navigation_msgs/AllowedCollisionEntry\n\
00738 # whether or not collision checking is enabled\n\
00739 bool[] enabled\n\
00740 \n\
00741 ================================================================================\n\
00742 MSG: arm_navigation_msgs/AllowedContactSpecification\n\
00743 # The names of the regions\n\
00744 string name\n\
00745 \n\
00746 # The shape of the region in the environment\n\
00747 arm_navigation_msgs/Shape shape\n\
00748 \n\
00749 # The pose of the space defining the region\n\
00750 geometry_msgs/PoseStamped pose_stamped\n\
00751 \n\
00752 # The set of links that will be allowed to have penetration contact within this region\n\
00753 string[] link_names\n\
00754 \n\
00755 # The maximum penetration depth allowed for every link\n\
00756 float64 penetration_depth\n\
00757 \n\
00758 ================================================================================\n\
00759 MSG: arm_navigation_msgs/Shape\n\
00760 byte SPHERE=0\n\
00761 byte BOX=1\n\
00762 byte CYLINDER=2\n\
00763 byte MESH=3\n\
00764 \n\
00765 byte type\n\
00766 \n\
00767 \n\
00768 #### define sphere, box, cylinder ####\n\
00769 # the origin of each shape is considered at the shape's center\n\
00770 \n\
00771 # for sphere\n\
00772 # radius := dimensions[0]\n\
00773 \n\
00774 # for cylinder\n\
00775 # radius := dimensions[0]\n\
00776 # length := dimensions[1]\n\
00777 # the length is along the Z axis\n\
00778 \n\
00779 # for box\n\
00780 # size_x := dimensions[0]\n\
00781 # size_y := dimensions[1]\n\
00782 # size_z := dimensions[2]\n\
00783 float64[] dimensions\n\
00784 \n\
00785 \n\
00786 #### define mesh ####\n\
00787 \n\
00788 # list of triangles; triangle k is defined by tre vertices located\n\
00789 # at indices triangles[3k], triangles[3k+1], triangles[3k+2]\n\
00790 int32[] triangles\n\
00791 geometry_msgs/Point[] vertices\n\
00792 \n\
00793 ================================================================================\n\
00794 MSG: geometry_msgs/PoseStamped\n\
00795 # A Pose with reference coordinate frame and timestamp\n\
00796 Header header\n\
00797 Pose pose\n\
00798 \n\
00799 ================================================================================\n\
00800 MSG: arm_navigation_msgs/LinkPadding\n\
00801 #name for the link\n\
00802 string link_name\n\
00803 \n\
00804 # padding to apply to the link\n\
00805 float64 padding\n\
00806 \n\
00807 ================================================================================\n\
00808 MSG: arm_navigation_msgs/CollisionObject\n\
00809 # a header, used for interpreting the poses\n\
00810 Header header\n\
00811 \n\
00812 # the id of the object\n\
00813 string id\n\
00814 \n\
00815 # The padding used for filtering points near the object.\n\
00816 # This does not affect collision checking for the object. \n\
00817 # Set to negative to get zero padding.\n\
00818 float32 padding\n\
00819 \n\
00820 #This contains what is to be done with the object\n\
00821 CollisionObjectOperation operation\n\
00822 \n\
00823 #the shapes associated with the object\n\
00824 arm_navigation_msgs/Shape[] shapes\n\
00825 \n\
00826 #the poses associated with the shapes - will be transformed using the header\n\
00827 geometry_msgs/Pose[] poses\n\
00828 \n\
00829 ================================================================================\n\
00830 MSG: arm_navigation_msgs/CollisionObjectOperation\n\
00831 #Puts the object into the environment\n\
00832 #or updates the object if already added\n\
00833 byte ADD=0\n\
00834 \n\
00835 #Removes the object from the environment entirely\n\
00836 byte REMOVE=1\n\
00837 \n\
00838 #Only valid within the context of a CollisionAttachedObject message\n\
00839 #Will be ignored if sent with an CollisionObject message\n\
00840 #Takes an attached object, detaches from the attached link\n\
00841 #But adds back in as regular object\n\
00842 byte DETACH_AND_ADD_AS_OBJECT=2\n\
00843 \n\
00844 #Only valid within the context of a CollisionAttachedObject message\n\
00845 #Will be ignored if sent with an CollisionObject message\n\
00846 #Takes current object in the environment and removes it as\n\
00847 #a regular object\n\
00848 byte ATTACH_AND_REMOVE_AS_OBJECT=3\n\
00849 \n\
00850 # Byte code for operation\n\
00851 byte operation\n\
00852 \n\
00853 ================================================================================\n\
00854 MSG: arm_navigation_msgs/AttachedCollisionObject\n\
00855 # The CollisionObject will be attached with a fixed joint to this link\n\
00856 # If link name is set to REMOVE_ALL_ATTACHED_OBJECTS and object.operation \n\
00857 # is set to REMOVE will remove all attached bodies attached to any object\n\
00858 string link_name\n\
00859 \n\
00860 #Reserved for indicating that all attached objects should be removed\n\
00861 string REMOVE_ALL_ATTACHED_OBJECTS = \"all\"\n\
00862 \n\
00863 #This contains the actual shapes and poses for the CollisionObject\n\
00864 #to be attached to the link\n\
00865 #If action is remove and no object.id is set, all objects\n\
00866 #attached to the link indicated by link_name will be removed\n\
00867 CollisionObject object\n\
00868 \n\
00869 # The set of links that the attached objects are allowed to touch\n\
00870 # by default - the link_name is included by default\n\
00871 string[] touch_links\n\
00872 \n\
00873 ================================================================================\n\
00874 MSG: arm_navigation_msgs/CollisionMap\n\
00875 #header for interpreting box positions\n\
00876 Header header\n\
00877 \n\
00878 #boxes for use in collision testing\n\
00879 OrientedBoundingBox[] boxes\n\
00880 \n\
00881 ================================================================================\n\
00882 MSG: arm_navigation_msgs/OrientedBoundingBox\n\
00883 #the center of the box\n\
00884 geometry_msgs/Point32 center\n\
00885 \n\
00886 #the extents of the box, assuming the center is at the point\n\
00887 geometry_msgs/Point32 extents\n\
00888 \n\
00889 #the axis of the box\n\
00890 geometry_msgs/Point32 axis\n\
00891 \n\
00892 #the angle of rotation around the axis\n\
00893 float32 angle\n\
00894 \n\
00895 ================================================================================\n\
00896 MSG: geometry_msgs/Point32\n\
00897 # This contains the position of a point in free space(with 32 bits of precision).\n\
00898 # It is recommeded to use Point wherever possible instead of Point32. \n\
00899 # \n\
00900 # This recommendation is to promote interoperability. \n\
00901 #\n\
00902 # This message is designed to take up less space when sending\n\
00903 # lots of points at once, as in the case of a PointCloud. \n\
00904 \n\
00905 float32 x\n\
00906 float32 y\n\
00907 float32 z\n\
00908 ================================================================================\n\
00909 MSG: arm_navigation_msgs/SyncPlanningSceneActionResult\n\
00910 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00911 \n\
00912 Header header\n\
00913 actionlib_msgs/GoalStatus status\n\
00914 SyncPlanningSceneResult result\n\
00915 \n\
00916 ================================================================================\n\
00917 MSG: actionlib_msgs/GoalStatus\n\
00918 GoalID goal_id\n\
00919 uint8 status\n\
00920 uint8 PENDING = 0 # The goal has yet to be processed by the action server\n\
00921 uint8 ACTIVE = 1 # The goal is currently being processed by the action server\n\
00922 uint8 PREEMPTED = 2 # The goal received a cancel request after it started executing\n\
00923 # and has since completed its execution (Terminal State)\n\
00924 uint8 SUCCEEDED = 3 # The goal was achieved successfully by the action server (Terminal State)\n\
00925 uint8 ABORTED = 4 # The goal was aborted during execution by the action server due\n\
00926 # to some failure (Terminal State)\n\
00927 uint8 REJECTED = 5 # The goal was rejected by the action server without being processed,\n\
00928 # because the goal was unattainable or invalid (Terminal State)\n\
00929 uint8 PREEMPTING = 6 # The goal received a cancel request after it started executing\n\
00930 # and has not yet completed execution\n\
00931 uint8 RECALLING = 7 # The goal received a cancel request before it started executing,\n\
00932 # but the action server has not yet confirmed that the goal is canceled\n\
00933 uint8 RECALLED = 8 # The goal received a cancel request before it started executing\n\
00934 # and was successfully cancelled (Terminal State)\n\
00935 uint8 LOST = 9 # An action client can determine that a goal is LOST. This should not be\n\
00936 # sent over the wire by an action server\n\
00937 \n\
00938 #Allow for the user to associate a string with GoalStatus for debugging\n\
00939 string text\n\
00940 \n\
00941 \n\
00942 ================================================================================\n\
00943 MSG: arm_navigation_msgs/SyncPlanningSceneResult\n\
00944 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00945 bool ok\n\
00946 \n\
00947 ================================================================================\n\
00948 MSG: arm_navigation_msgs/SyncPlanningSceneActionFeedback\n\
00949 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00950 \n\
00951 Header header\n\
00952 actionlib_msgs/GoalStatus status\n\
00953 SyncPlanningSceneFeedback feedback\n\
00954 \n\
00955 ================================================================================\n\
00956 MSG: arm_navigation_msgs/SyncPlanningSceneFeedback\n\
00957 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00958 bool client_processing\n\
00959 bool ready\n\
00960 \n\
00961 \n\
00962 \n\
00963 ";
00964 }
00965
00966 static const char* value(const ::arm_navigation_msgs::SyncPlanningSceneAction_<ContainerAllocator> &) { return value(); }
00967 };
00968
00969 }
00970 }
00971
00972 namespace ros
00973 {
00974 namespace serialization
00975 {
00976
00977 template<class ContainerAllocator> struct Serializer< ::arm_navigation_msgs::SyncPlanningSceneAction_<ContainerAllocator> >
00978 {
00979 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00980 {
00981 stream.next(m.action_goal);
00982 stream.next(m.action_result);
00983 stream.next(m.action_feedback);
00984 }
00985
00986 ROS_DECLARE_ALLINONE_SERIALIZER;
00987 };
00988 }
00989 }
00990
00991 namespace ros
00992 {
00993 namespace message_operations
00994 {
00995
00996 template<class ContainerAllocator>
00997 struct Printer< ::arm_navigation_msgs::SyncPlanningSceneAction_<ContainerAllocator> >
00998 {
00999 template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::arm_navigation_msgs::SyncPlanningSceneAction_<ContainerAllocator> & v)
01000 {
01001 s << indent << "action_goal: ";
01002 s << std::endl;
01003 Printer< ::arm_navigation_msgs::SyncPlanningSceneActionGoal_<ContainerAllocator> >::stream(s, indent + " ", v.action_goal);
01004 s << indent << "action_result: ";
01005 s << std::endl;
01006 Printer< ::arm_navigation_msgs::SyncPlanningSceneActionResult_<ContainerAllocator> >::stream(s, indent + " ", v.action_result);
01007 s << indent << "action_feedback: ";
01008 s << std::endl;
01009 Printer< ::arm_navigation_msgs::SyncPlanningSceneActionFeedback_<ContainerAllocator> >::stream(s, indent + " ", v.action_feedback);
01010 }
01011 };
01012
01013
01014 }
01015 }
01016
01017 #endif // ARM_NAVIGATION_MSGS_MESSAGE_SYNCPLANNINGSCENEACTION_H
01018
