00001
00002 #ifndef OBJECT_MANIPULATION_MSGS_MESSAGE_GRASPPLANNINGACTIONRESULT_H
00003 #define OBJECT_MANIPULATION_MSGS_MESSAGE_GRASPPLANNINGACTIONRESULT_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 "std_msgs/Header.h"
00018 #include "actionlib_msgs/GoalStatus.h"
00019 #include "object_manipulation_msgs/GraspPlanningResult.h"
00020
00021 namespace object_manipulation_msgs
00022 {
00023 template <class ContainerAllocator>
00024 struct GraspPlanningActionResult_ {
00025 typedef GraspPlanningActionResult_<ContainerAllocator> Type;
00026
00027 GraspPlanningActionResult_()
00028 : header()
00029 , status()
00030 , result()
00031 {
00032 }
00033
00034 GraspPlanningActionResult_(const ContainerAllocator& _alloc)
00035 : header(_alloc)
00036 , status(_alloc)
00037 , result(_alloc)
00038 {
00039 }
00040
00041 typedef ::std_msgs::Header_<ContainerAllocator> _header_type;
00042 ::std_msgs::Header_<ContainerAllocator> header;
00043
00044 typedef ::actionlib_msgs::GoalStatus_<ContainerAllocator> _status_type;
00045 ::actionlib_msgs::GoalStatus_<ContainerAllocator> status;
00046
00047 typedef ::object_manipulation_msgs::GraspPlanningResult_<ContainerAllocator> _result_type;
00048 ::object_manipulation_msgs::GraspPlanningResult_<ContainerAllocator> result;
00049
00050
00051 private:
00052 static const char* __s_getDataType_() { return "object_manipulation_msgs/GraspPlanningActionResult"; }
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 "079c7691212d2a05ab136adedb1d64d4"; }
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 Header header\n\
00069 actionlib_msgs/GoalStatus status\n\
00070 GraspPlanningResult result\n\
00071 \n\
00072 ================================================================================\n\
00073 MSG: std_msgs/Header\n\
00074 # Standard metadata for higher-level stamped data types.\n\
00075 # This is generally used to communicate timestamped data \n\
00076 # in a particular coordinate frame.\n\
00077 # \n\
00078 # sequence ID: consecutively increasing ID \n\
00079 uint32 seq\n\
00080 #Two-integer timestamp that is expressed as:\n\
00081 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00082 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00083 # time-handling sugar is provided by the client library\n\
00084 time stamp\n\
00085 #Frame this data is associated with\n\
00086 # 0: no frame\n\
00087 # 1: global frame\n\
00088 string frame_id\n\
00089 \n\
00090 ================================================================================\n\
00091 MSG: actionlib_msgs/GoalStatus\n\
00092 GoalID goal_id\n\
00093 uint8 status\n\
00094 uint8 PENDING = 0 # The goal has yet to be processed by the action server\n\
00095 uint8 ACTIVE = 1 # The goal is currently being processed by the action server\n\
00096 uint8 PREEMPTED = 2 # The goal received a cancel request after it started executing\n\
00097 # and has since completed its execution (Terminal State)\n\
00098 uint8 SUCCEEDED = 3 # The goal was achieved successfully by the action server (Terminal State)\n\
00099 uint8 ABORTED = 4 # The goal was aborted during execution by the action server due\n\
00100 # to some failure (Terminal State)\n\
00101 uint8 REJECTED = 5 # The goal was rejected by the action server without being processed,\n\
00102 # because the goal was unattainable or invalid (Terminal State)\n\
00103 uint8 PREEMPTING = 6 # The goal received a cancel request after it started executing\n\
00104 # and has not yet completed execution\n\
00105 uint8 RECALLING = 7 # The goal received a cancel request before it started executing,\n\
00106 # but the action server has not yet confirmed that the goal is canceled\n\
00107 uint8 RECALLED = 8 # The goal received a cancel request before it started executing\n\
00108 # and was successfully cancelled (Terminal State)\n\
00109 uint8 LOST = 9 # An action client can determine that a goal is LOST. This should not be\n\
00110 # sent over the wire by an action server\n\
00111 \n\
00112 #Allow for the user to associate a string with GoalStatus for debugging\n\
00113 string text\n\
00114 \n\
00115 \n\
00116 ================================================================================\n\
00117 MSG: actionlib_msgs/GoalID\n\
00118 # The stamp should store the time at which this goal was requested.\n\
00119 # It is used by an action server when it tries to preempt all\n\
00120 # goals that were requested before a certain time\n\
00121 time stamp\n\
00122 \n\
00123 # The id provides a way to associate feedback and\n\
00124 # result message with specific goal requests. The id\n\
00125 # specified must be unique.\n\
00126 string id\n\
00127 \n\
00128 \n\
00129 ================================================================================\n\
00130 MSG: object_manipulation_msgs/GraspPlanningResult\n\
00131 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00132 \n\
00133 # the list of planned grasps\n\
00134 Grasp[] grasps\n\
00135 \n\
00136 # whether an error occurred\n\
00137 GraspPlanningErrorCode error_code\n\
00138 \n\
00139 \n\
00140 ================================================================================\n\
00141 MSG: object_manipulation_msgs/Grasp\n\
00142 \n\
00143 # The internal posture of the hand for the pre-grasp\n\
00144 # only positions are used\n\
00145 sensor_msgs/JointState pre_grasp_posture\n\
00146 \n\
00147 # The internal posture of the hand for the grasp\n\
00148 # positions and efforts are used\n\
00149 sensor_msgs/JointState grasp_posture\n\
00150 \n\
00151 # The position of the end-effector for the grasp relative to a reference frame \n\
00152 # (that is always specified elsewhere, not in this message)\n\
00153 geometry_msgs/Pose grasp_pose\n\
00154 \n\
00155 # The estimated probability of success for this grasp\n\
00156 float64 success_probability\n\
00157 \n\
00158 # Debug flag to indicate that this grasp would be the best in its cluster\n\
00159 bool cluster_rep\n\
00160 \n\
00161 # how far the pre-grasp should ideally be away from the grasp\n\
00162 float32 desired_approach_distance\n\
00163 \n\
00164 # how much distance between pre-grasp and grasp must actually be feasible \n\
00165 # for the grasp not to be rejected\n\
00166 float32 min_approach_distance\n\
00167 \n\
00168 # an optional list of obstacles that we have semantic information about\n\
00169 # and that we expect might move in the course of executing this grasp\n\
00170 # the grasp planner is expected to make sure they move in an OK way; during\n\
00171 # execution, grasp executors will not check for collisions against these objects\n\
00172 GraspableObject[] moved_obstacles\n\
00173 \n\
00174 ================================================================================\n\
00175 MSG: sensor_msgs/JointState\n\
00176 # This is a message that holds data to describe the state of a set of torque controlled joints. \n\
00177 #\n\
00178 # The state of each joint (revolute or prismatic) is defined by:\n\
00179 # * the position of the joint (rad or m),\n\
00180 # * the velocity of the joint (rad/s or m/s) and \n\
00181 # * the effort that is applied in the joint (Nm or N).\n\
00182 #\n\
00183 # Each joint is uniquely identified by its name\n\
00184 # The header specifies the time at which the joint states were recorded. All the joint states\n\
00185 # in one message have to be recorded at the same time.\n\
00186 #\n\
00187 # This message consists of a multiple arrays, one for each part of the joint state. \n\
00188 # The goal is to make each of the fields optional. When e.g. your joints have no\n\
00189 # effort associated with them, you can leave the effort array empty. \n\
00190 #\n\
00191 # All arrays in this message should have the same size, or be empty.\n\
00192 # This is the only way to uniquely associate the joint name with the correct\n\
00193 # states.\n\
00194 \n\
00195 \n\
00196 Header header\n\
00197 \n\
00198 string[] name\n\
00199 float64[] position\n\
00200 float64[] velocity\n\
00201 float64[] effort\n\
00202 \n\
00203 ================================================================================\n\
00204 MSG: geometry_msgs/Pose\n\
00205 # A representation of pose in free space, composed of postion and orientation. \n\
00206 Point position\n\
00207 Quaternion orientation\n\
00208 \n\
00209 ================================================================================\n\
00210 MSG: geometry_msgs/Point\n\
00211 # This contains the position of a point in free space\n\
00212 float64 x\n\
00213 float64 y\n\
00214 float64 z\n\
00215 \n\
00216 ================================================================================\n\
00217 MSG: geometry_msgs/Quaternion\n\
00218 # This represents an orientation in free space in quaternion form.\n\
00219 \n\
00220 float64 x\n\
00221 float64 y\n\
00222 float64 z\n\
00223 float64 w\n\
00224 \n\
00225 ================================================================================\n\
00226 MSG: object_manipulation_msgs/GraspableObject\n\
00227 # an object that the object_manipulator can work on\n\
00228 \n\
00229 # a graspable object can be represented in multiple ways. This message\n\
00230 # can contain all of them. Which one is actually used is up to the receiver\n\
00231 # of this message. When adding new representations, one must be careful that\n\
00232 # they have reasonable lightweight defaults indicating that that particular\n\
00233 # representation is not available.\n\
00234 \n\
00235 # the tf frame to be used as a reference frame when combining information from\n\
00236 # the different representations below\n\
00237 string reference_frame_id\n\
00238 \n\
00239 # potential recognition results from a database of models\n\
00240 # all poses are relative to the object reference pose\n\
00241 household_objects_database_msgs/DatabaseModelPose[] potential_models\n\
00242 \n\
00243 # the point cloud itself\n\
00244 sensor_msgs/PointCloud cluster\n\
00245 \n\
00246 # a region of a PointCloud2 of interest\n\
00247 object_manipulation_msgs/SceneRegion region\n\
00248 \n\
00249 # the name that this object has in the collision environment\n\
00250 string collision_name\n\
00251 ================================================================================\n\
00252 MSG: household_objects_database_msgs/DatabaseModelPose\n\
00253 # Informs that a specific model from the Model Database has been \n\
00254 # identified at a certain location\n\
00255 \n\
00256 # the database id of the model\n\
00257 int32 model_id\n\
00258 \n\
00259 # the pose that it can be found in\n\
00260 geometry_msgs/PoseStamped pose\n\
00261 \n\
00262 # a measure of the confidence level in this detection result\n\
00263 float32 confidence\n\
00264 \n\
00265 # the name of the object detector that generated this detection result\n\
00266 string detector_name\n\
00267 \n\
00268 ================================================================================\n\
00269 MSG: geometry_msgs/PoseStamped\n\
00270 # A Pose with reference coordinate frame and timestamp\n\
00271 Header header\n\
00272 Pose pose\n\
00273 \n\
00274 ================================================================================\n\
00275 MSG: sensor_msgs/PointCloud\n\
00276 # This message holds a collection of 3d points, plus optional additional\n\
00277 # information about each point.\n\
00278 \n\
00279 # Time of sensor data acquisition, coordinate frame ID.\n\
00280 Header header\n\
00281 \n\
00282 # Array of 3d points. Each Point32 should be interpreted as a 3d point\n\
00283 # in the frame given in the header.\n\
00284 geometry_msgs/Point32[] points\n\
00285 \n\
00286 # Each channel should have the same number of elements as points array,\n\
00287 # and the data in each channel should correspond 1:1 with each point.\n\
00288 # Channel names in common practice are listed in ChannelFloat32.msg.\n\
00289 ChannelFloat32[] channels\n\
00290 \n\
00291 ================================================================================\n\
00292 MSG: geometry_msgs/Point32\n\
00293 # This contains the position of a point in free space(with 32 bits of precision).\n\
00294 # It is recommeded to use Point wherever possible instead of Point32. \n\
00295 # \n\
00296 # This recommendation is to promote interoperability. \n\
00297 #\n\
00298 # This message is designed to take up less space when sending\n\
00299 # lots of points at once, as in the case of a PointCloud. \n\
00300 \n\
00301 float32 x\n\
00302 float32 y\n\
00303 float32 z\n\
00304 ================================================================================\n\
00305 MSG: sensor_msgs/ChannelFloat32\n\
00306 # This message is used by the PointCloud message to hold optional data\n\
00307 # associated with each point in the cloud. The length of the values\n\
00308 # array should be the same as the length of the points array in the\n\
00309 # PointCloud, and each value should be associated with the corresponding\n\
00310 # point.\n\
00311 \n\
00312 # Channel names in existing practice include:\n\
00313 # \"u\", \"v\" - row and column (respectively) in the left stereo image.\n\
00314 # This is opposite to usual conventions but remains for\n\
00315 # historical reasons. The newer PointCloud2 message has no\n\
00316 # such problem.\n\
00317 # \"rgb\" - For point clouds produced by color stereo cameras. uint8\n\
00318 # (R,G,B) values packed into the least significant 24 bits,\n\
00319 # in order.\n\
00320 # \"intensity\" - laser or pixel intensity.\n\
00321 # \"distance\"\n\
00322 \n\
00323 # The channel name should give semantics of the channel (e.g.\n\
00324 # \"intensity\" instead of \"value\").\n\
00325 string name\n\
00326 \n\
00327 # The values array should be 1-1 with the elements of the associated\n\
00328 # PointCloud.\n\
00329 float32[] values\n\
00330 \n\
00331 ================================================================================\n\
00332 MSG: object_manipulation_msgs/SceneRegion\n\
00333 # Point cloud\n\
00334 sensor_msgs/PointCloud2 cloud\n\
00335 \n\
00336 # Indices for the region of interest\n\
00337 int32[] mask\n\
00338 \n\
00339 # One of the corresponding 2D images, if applicable\n\
00340 sensor_msgs/Image image\n\
00341 \n\
00342 # The disparity image, if applicable\n\
00343 sensor_msgs/Image disparity_image\n\
00344 \n\
00345 # Camera info for the camera that took the image\n\
00346 sensor_msgs/CameraInfo cam_info\n\
00347 \n\
00348 # a 3D region of interest for grasp planning\n\
00349 geometry_msgs/PoseStamped roi_box_pose\n\
00350 geometry_msgs/Vector3 roi_box_dims\n\
00351 \n\
00352 ================================================================================\n\
00353 MSG: sensor_msgs/PointCloud2\n\
00354 # This message holds a collection of N-dimensional points, which may\n\
00355 # contain additional information such as normals, intensity, etc. The\n\
00356 # point data is stored as a binary blob, its layout described by the\n\
00357 # contents of the \"fields\" array.\n\
00358 \n\
00359 # The point cloud data may be organized 2d (image-like) or 1d\n\
00360 # (unordered). Point clouds organized as 2d images may be produced by\n\
00361 # camera depth sensors such as stereo or time-of-flight.\n\
00362 \n\
00363 # Time of sensor data acquisition, and the coordinate frame ID (for 3d\n\
00364 # points).\n\
00365 Header header\n\
00366 \n\
00367 # 2D structure of the point cloud. If the cloud is unordered, height is\n\
00368 # 1 and width is the length of the point cloud.\n\
00369 uint32 height\n\
00370 uint32 width\n\
00371 \n\
00372 # Describes the channels and their layout in the binary data blob.\n\
00373 PointField[] fields\n\
00374 \n\
00375 bool is_bigendian # Is this data bigendian?\n\
00376 uint32 point_step # Length of a point in bytes\n\
00377 uint32 row_step # Length of a row in bytes\n\
00378 uint8[] data # Actual point data, size is (row_step*height)\n\
00379 \n\
00380 bool is_dense # True if there are no invalid points\n\
00381 \n\
00382 ================================================================================\n\
00383 MSG: sensor_msgs/PointField\n\
00384 # This message holds the description of one point entry in the\n\
00385 # PointCloud2 message format.\n\
00386 uint8 INT8 = 1\n\
00387 uint8 UINT8 = 2\n\
00388 uint8 INT16 = 3\n\
00389 uint8 UINT16 = 4\n\
00390 uint8 INT32 = 5\n\
00391 uint8 UINT32 = 6\n\
00392 uint8 FLOAT32 = 7\n\
00393 uint8 FLOAT64 = 8\n\
00394 \n\
00395 string name # Name of field\n\
00396 uint32 offset # Offset from start of point struct\n\
00397 uint8 datatype # Datatype enumeration, see above\n\
00398 uint32 count # How many elements in the field\n\
00399 \n\
00400 ================================================================================\n\
00401 MSG: sensor_msgs/Image\n\
00402 # This message contains an uncompressed image\n\
00403 # (0, 0) is at top-left corner of image\n\
00404 #\n\
00405 \n\
00406 Header header # Header timestamp should be acquisition time of image\n\
00407 # Header frame_id should be optical frame of camera\n\
00408 # origin of frame should be optical center of cameara\n\
00409 # +x should point to the right in the image\n\
00410 # +y should point down in the image\n\
00411 # +z should point into to plane of the image\n\
00412 # If the frame_id here and the frame_id of the CameraInfo\n\
00413 # message associated with the image conflict\n\
00414 # the behavior is undefined\n\
00415 \n\
00416 uint32 height # image height, that is, number of rows\n\
00417 uint32 width # image width, that is, number of columns\n\
00418 \n\
00419 # The legal values for encoding are in file src/image_encodings.cpp\n\
00420 # If you want to standardize a new string format, join\n\
00421 # ros-users@lists.sourceforge.net and send an email proposing a new encoding.\n\
00422 \n\
00423 string encoding # Encoding of pixels -- channel meaning, ordering, size\n\
00424 # taken from the list of strings in src/image_encodings.cpp\n\
00425 \n\
00426 uint8 is_bigendian # is this data bigendian?\n\
00427 uint32 step # Full row length in bytes\n\
00428 uint8[] data # actual matrix data, size is (step * rows)\n\
00429 \n\
00430 ================================================================================\n\
00431 MSG: sensor_msgs/CameraInfo\n\
00432 # This message defines meta information for a camera. It should be in a\n\
00433 # camera namespace on topic \"camera_info\" and accompanied by up to five\n\
00434 # image topics named:\n\
00435 #\n\
00436 # image_raw - raw data from the camera driver, possibly Bayer encoded\n\
00437 # image - monochrome, distorted\n\
00438 # image_color - color, distorted\n\
00439 # image_rect - monochrome, rectified\n\
00440 # image_rect_color - color, rectified\n\
00441 #\n\
00442 # The image_pipeline contains packages (image_proc, stereo_image_proc)\n\
00443 # for producing the four processed image topics from image_raw and\n\
00444 # camera_info. The meaning of the camera parameters are described in\n\
00445 # detail at http://www.ros.org/wiki/image_pipeline/CameraInfo.\n\
00446 #\n\
00447 # The image_geometry package provides a user-friendly interface to\n\
00448 # common operations using this meta information. If you want to, e.g.,\n\
00449 # project a 3d point into image coordinates, we strongly recommend\n\
00450 # using image_geometry.\n\
00451 #\n\
00452 # If the camera is uncalibrated, the matrices D, K, R, P should be left\n\
00453 # zeroed out. In particular, clients may assume that K[0] == 0.0\n\
00454 # indicates an uncalibrated camera.\n\
00455 \n\
00456 #######################################################################\n\
00457 # Image acquisition info #\n\
00458 #######################################################################\n\
00459 \n\
00460 # Time of image acquisition, camera coordinate frame ID\n\
00461 Header header # Header timestamp should be acquisition time of image\n\
00462 # Header frame_id should be optical frame of camera\n\
00463 # origin of frame should be optical center of camera\n\
00464 # +x should point to the right in the image\n\
00465 # +y should point down in the image\n\
00466 # +z should point into the plane of the image\n\
00467 \n\
00468 \n\
00469 #######################################################################\n\
00470 # Calibration Parameters #\n\
00471 #######################################################################\n\
00472 # These are fixed during camera calibration. Their values will be the #\n\
00473 # same in all messages until the camera is recalibrated. Note that #\n\
00474 # self-calibrating systems may \"recalibrate\" frequently. #\n\
00475 # #\n\
00476 # The internal parameters can be used to warp a raw (distorted) image #\n\
00477 # to: #\n\
00478 # 1. An undistorted image (requires D and K) #\n\
00479 # 2. A rectified image (requires D, K, R) #\n\
00480 # The projection matrix P projects 3D points into the rectified image.#\n\
00481 #######################################################################\n\
00482 \n\
00483 # The image dimensions with which the camera was calibrated. Normally\n\
00484 # this will be the full camera resolution in pixels.\n\
00485 uint32 height\n\
00486 uint32 width\n\
00487 \n\
00488 # The distortion model used. Supported models are listed in\n\
00489 # sensor_msgs/distortion_models.h. For most cameras, \"plumb_bob\" - a\n\
00490 # simple model of radial and tangential distortion - is sufficent.\n\
00491 string distortion_model\n\
00492 \n\
00493 # The distortion parameters, size depending on the distortion model.\n\
00494 # For \"plumb_bob\", the 5 parameters are: (k1, k2, t1, t2, k3).\n\
00495 float64[] D\n\
00496 \n\
00497 # Intrinsic camera matrix for the raw (distorted) images.\n\
00498 # [fx 0 cx]\n\
00499 # K = [ 0 fy cy]\n\
00500 # [ 0 0 1]\n\
00501 # Projects 3D points in the camera coordinate frame to 2D pixel\n\
00502 # coordinates using the focal lengths (fx, fy) and principal point\n\
00503 # (cx, cy).\n\
00504 float64[9] K # 3x3 row-major matrix\n\
00505 \n\
00506 # Rectification matrix (stereo cameras only)\n\
00507 # A rotation matrix aligning the camera coordinate system to the ideal\n\
00508 # stereo image plane so that epipolar lines in both stereo images are\n\
00509 # parallel.\n\
00510 float64[9] R # 3x3 row-major matrix\n\
00511 \n\
00512 # Projection/camera matrix\n\
00513 # [fx' 0 cx' Tx]\n\
00514 # P = [ 0 fy' cy' Ty]\n\
00515 # [ 0 0 1 0]\n\
00516 # By convention, this matrix specifies the intrinsic (camera) matrix\n\
00517 # of the processed (rectified) image. That is, the left 3x3 portion\n\
00518 # is the normal camera intrinsic matrix for the rectified image.\n\
00519 # It projects 3D points in the camera coordinate frame to 2D pixel\n\
00520 # coordinates using the focal lengths (fx', fy') and principal point\n\
00521 # (cx', cy') - these may differ from the values in K.\n\
00522 # For monocular cameras, Tx = Ty = 0. Normally, monocular cameras will\n\
00523 # also have R = the identity and P[1:3,1:3] = K.\n\
00524 # For a stereo pair, the fourth column [Tx Ty 0]' is related to the\n\
00525 # position of the optical center of the second camera in the first\n\
00526 # camera's frame. We assume Tz = 0 so both cameras are in the same\n\
00527 # stereo image plane. The first camera always has Tx = Ty = 0. For\n\
00528 # the right (second) camera of a horizontal stereo pair, Ty = 0 and\n\
00529 # Tx = -fx' * B, where B is the baseline between the cameras.\n\
00530 # Given a 3D point [X Y Z]', the projection (x, y) of the point onto\n\
00531 # the rectified image is given by:\n\
00532 # [u v w]' = P * [X Y Z 1]'\n\
00533 # x = u / w\n\
00534 # y = v / w\n\
00535 # This holds for both images of a stereo pair.\n\
00536 float64[12] P # 3x4 row-major matrix\n\
00537 \n\
00538 \n\
00539 #######################################################################\n\
00540 # Operational Parameters #\n\
00541 #######################################################################\n\
00542 # These define the image region actually captured by the camera #\n\
00543 # driver. Although they affect the geometry of the output image, they #\n\
00544 # may be changed freely without recalibrating the camera. #\n\
00545 #######################################################################\n\
00546 \n\
00547 # Binning refers here to any camera setting which combines rectangular\n\
00548 # neighborhoods of pixels into larger \"super-pixels.\" It reduces the\n\
00549 # resolution of the output image to\n\
00550 # (width / binning_x) x (height / binning_y).\n\
00551 # The default values binning_x = binning_y = 0 is considered the same\n\
00552 # as binning_x = binning_y = 1 (no subsampling).\n\
00553 uint32 binning_x\n\
00554 uint32 binning_y\n\
00555 \n\
00556 # Region of interest (subwindow of full camera resolution), given in\n\
00557 # full resolution (unbinned) image coordinates. A particular ROI\n\
00558 # always denotes the same window of pixels on the camera sensor,\n\
00559 # regardless of binning settings.\n\
00560 # The default setting of roi (all values 0) is considered the same as\n\
00561 # full resolution (roi.width = width, roi.height = height).\n\
00562 RegionOfInterest roi\n\
00563 \n\
00564 ================================================================================\n\
00565 MSG: sensor_msgs/RegionOfInterest\n\
00566 # This message is used to specify a region of interest within an image.\n\
00567 #\n\
00568 # When used to specify the ROI setting of the camera when the image was\n\
00569 # taken, the height and width fields should either match the height and\n\
00570 # width fields for the associated image; or height = width = 0\n\
00571 # indicates that the full resolution image was captured.\n\
00572 \n\
00573 uint32 x_offset # Leftmost pixel of the ROI\n\
00574 # (0 if the ROI includes the left edge of the image)\n\
00575 uint32 y_offset # Topmost pixel of the ROI\n\
00576 # (0 if the ROI includes the top edge of the image)\n\
00577 uint32 height # Height of ROI\n\
00578 uint32 width # Width of ROI\n\
00579 \n\
00580 # True if a distinct rectified ROI should be calculated from the \"raw\"\n\
00581 # ROI in this message. Typically this should be False if the full image\n\
00582 # is captured (ROI not used), and True if a subwindow is captured (ROI\n\
00583 # used).\n\
00584 bool do_rectify\n\
00585 \n\
00586 ================================================================================\n\
00587 MSG: geometry_msgs/Vector3\n\
00588 # This represents a vector in free space. \n\
00589 \n\
00590 float64 x\n\
00591 float64 y\n\
00592 float64 z\n\
00593 ================================================================================\n\
00594 MSG: object_manipulation_msgs/GraspPlanningErrorCode\n\
00595 # Error codes for grasp and place planning\n\
00596 \n\
00597 # plan completed as expected\n\
00598 int32 SUCCESS = 0\n\
00599 \n\
00600 # tf error encountered while transforming\n\
00601 int32 TF_ERROR = 1 \n\
00602 \n\
00603 # some other error\n\
00604 int32 OTHER_ERROR = 2\n\
00605 \n\
00606 # the actual value of this error code\n\
00607 int32 value\n\
00608 "; }
00609 public:
00610 ROS_DEPRECATED static const std::string __s_getMessageDefinition() { return __s_getMessageDefinition_(); }
00611
00612 ROS_DEPRECATED const std::string __getMessageDefinition() const { return __s_getMessageDefinition_(); }
00613
00614 ROS_DEPRECATED virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const
00615 {
00616 ros::serialization::OStream stream(write_ptr, 1000000000);
00617 ros::serialization::serialize(stream, header);
00618 ros::serialization::serialize(stream, status);
00619 ros::serialization::serialize(stream, result);
00620 return stream.getData();
00621 }
00622
00623 ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr)
00624 {
00625 ros::serialization::IStream stream(read_ptr, 1000000000);
00626 ros::serialization::deserialize(stream, header);
00627 ros::serialization::deserialize(stream, status);
00628 ros::serialization::deserialize(stream, result);
00629 return stream.getData();
00630 }
00631
00632 ROS_DEPRECATED virtual uint32_t serializationLength() const
00633 {
00634 uint32_t size = 0;
00635 size += ros::serialization::serializationLength(header);
00636 size += ros::serialization::serializationLength(status);
00637 size += ros::serialization::serializationLength(result);
00638 return size;
00639 }
00640
00641 typedef boost::shared_ptr< ::object_manipulation_msgs::GraspPlanningActionResult_<ContainerAllocator> > Ptr;
00642 typedef boost::shared_ptr< ::object_manipulation_msgs::GraspPlanningActionResult_<ContainerAllocator> const> ConstPtr;
00643 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00644 };
00645 typedef ::object_manipulation_msgs::GraspPlanningActionResult_<std::allocator<void> > GraspPlanningActionResult;
00646
00647 typedef boost::shared_ptr< ::object_manipulation_msgs::GraspPlanningActionResult> GraspPlanningActionResultPtr;
00648 typedef boost::shared_ptr< ::object_manipulation_msgs::GraspPlanningActionResult const> GraspPlanningActionResultConstPtr;
00649
00650
00651 template<typename ContainerAllocator>
00652 std::ostream& operator<<(std::ostream& s, const ::object_manipulation_msgs::GraspPlanningActionResult_<ContainerAllocator> & v)
00653 {
00654 ros::message_operations::Printer< ::object_manipulation_msgs::GraspPlanningActionResult_<ContainerAllocator> >::stream(s, "", v);
00655 return s;}
00656
00657 }
00658
00659 namespace ros
00660 {
00661 namespace message_traits
00662 {
00663 template<class ContainerAllocator> struct IsMessage< ::object_manipulation_msgs::GraspPlanningActionResult_<ContainerAllocator> > : public TrueType {};
00664 template<class ContainerAllocator> struct IsMessage< ::object_manipulation_msgs::GraspPlanningActionResult_<ContainerAllocator> const> : public TrueType {};
00665 template<class ContainerAllocator>
00666 struct MD5Sum< ::object_manipulation_msgs::GraspPlanningActionResult_<ContainerAllocator> > {
00667 static const char* value()
00668 {
00669 return "079c7691212d2a05ab136adedb1d64d4";
00670 }
00671
00672 static const char* value(const ::object_manipulation_msgs::GraspPlanningActionResult_<ContainerAllocator> &) { return value(); }
00673 static const uint64_t static_value1 = 0x079c7691212d2a05ULL;
00674 static const uint64_t static_value2 = 0xab136adedb1d64d4ULL;
00675 };
00676
00677 template<class ContainerAllocator>
00678 struct DataType< ::object_manipulation_msgs::GraspPlanningActionResult_<ContainerAllocator> > {
00679 static const char* value()
00680 {
00681 return "object_manipulation_msgs/GraspPlanningActionResult";
00682 }
00683
00684 static const char* value(const ::object_manipulation_msgs::GraspPlanningActionResult_<ContainerAllocator> &) { return value(); }
00685 };
00686
00687 template<class ContainerAllocator>
00688 struct Definition< ::object_manipulation_msgs::GraspPlanningActionResult_<ContainerAllocator> > {
00689 static const char* value()
00690 {
00691 return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00692 \n\
00693 Header header\n\
00694 actionlib_msgs/GoalStatus status\n\
00695 GraspPlanningResult result\n\
00696 \n\
00697 ================================================================================\n\
00698 MSG: std_msgs/Header\n\
00699 # Standard metadata for higher-level stamped data types.\n\
00700 # This is generally used to communicate timestamped data \n\
00701 # in a particular coordinate frame.\n\
00702 # \n\
00703 # sequence ID: consecutively increasing ID \n\
00704 uint32 seq\n\
00705 #Two-integer timestamp that is expressed as:\n\
00706 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00707 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00708 # time-handling sugar is provided by the client library\n\
00709 time stamp\n\
00710 #Frame this data is associated with\n\
00711 # 0: no frame\n\
00712 # 1: global frame\n\
00713 string frame_id\n\
00714 \n\
00715 ================================================================================\n\
00716 MSG: actionlib_msgs/GoalStatus\n\
00717 GoalID goal_id\n\
00718 uint8 status\n\
00719 uint8 PENDING = 0 # The goal has yet to be processed by the action server\n\
00720 uint8 ACTIVE = 1 # The goal is currently being processed by the action server\n\
00721 uint8 PREEMPTED = 2 # The goal received a cancel request after it started executing\n\
00722 # and has since completed its execution (Terminal State)\n\
00723 uint8 SUCCEEDED = 3 # The goal was achieved successfully by the action server (Terminal State)\n\
00724 uint8 ABORTED = 4 # The goal was aborted during execution by the action server due\n\
00725 # to some failure (Terminal State)\n\
00726 uint8 REJECTED = 5 # The goal was rejected by the action server without being processed,\n\
00727 # because the goal was unattainable or invalid (Terminal State)\n\
00728 uint8 PREEMPTING = 6 # The goal received a cancel request after it started executing\n\
00729 # and has not yet completed execution\n\
00730 uint8 RECALLING = 7 # The goal received a cancel request before it started executing,\n\
00731 # but the action server has not yet confirmed that the goal is canceled\n\
00732 uint8 RECALLED = 8 # The goal received a cancel request before it started executing\n\
00733 # and was successfully cancelled (Terminal State)\n\
00734 uint8 LOST = 9 # An action client can determine that a goal is LOST. This should not be\n\
00735 # sent over the wire by an action server\n\
00736 \n\
00737 #Allow for the user to associate a string with GoalStatus for debugging\n\
00738 string text\n\
00739 \n\
00740 \n\
00741 ================================================================================\n\
00742 MSG: actionlib_msgs/GoalID\n\
00743 # The stamp should store the time at which this goal was requested.\n\
00744 # It is used by an action server when it tries to preempt all\n\
00745 # goals that were requested before a certain time\n\
00746 time stamp\n\
00747 \n\
00748 # The id provides a way to associate feedback and\n\
00749 # result message with specific goal requests. The id\n\
00750 # specified must be unique.\n\
00751 string id\n\
00752 \n\
00753 \n\
00754 ================================================================================\n\
00755 MSG: object_manipulation_msgs/GraspPlanningResult\n\
00756 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00757 \n\
00758 # the list of planned grasps\n\
00759 Grasp[] grasps\n\
00760 \n\
00761 # whether an error occurred\n\
00762 GraspPlanningErrorCode error_code\n\
00763 \n\
00764 \n\
00765 ================================================================================\n\
00766 MSG: object_manipulation_msgs/Grasp\n\
00767 \n\
00768 # The internal posture of the hand for the pre-grasp\n\
00769 # only positions are used\n\
00770 sensor_msgs/JointState pre_grasp_posture\n\
00771 \n\
00772 # The internal posture of the hand for the grasp\n\
00773 # positions and efforts are used\n\
00774 sensor_msgs/JointState grasp_posture\n\
00775 \n\
00776 # The position of the end-effector for the grasp relative to a reference frame \n\
00777 # (that is always specified elsewhere, not in this message)\n\
00778 geometry_msgs/Pose grasp_pose\n\
00779 \n\
00780 # The estimated probability of success for this grasp\n\
00781 float64 success_probability\n\
00782 \n\
00783 # Debug flag to indicate that this grasp would be the best in its cluster\n\
00784 bool cluster_rep\n\
00785 \n\
00786 # how far the pre-grasp should ideally be away from the grasp\n\
00787 float32 desired_approach_distance\n\
00788 \n\
00789 # how much distance between pre-grasp and grasp must actually be feasible \n\
00790 # for the grasp not to be rejected\n\
00791 float32 min_approach_distance\n\
00792 \n\
00793 # an optional list of obstacles that we have semantic information about\n\
00794 # and that we expect might move in the course of executing this grasp\n\
00795 # the grasp planner is expected to make sure they move in an OK way; during\n\
00796 # execution, grasp executors will not check for collisions against these objects\n\
00797 GraspableObject[] moved_obstacles\n\
00798 \n\
00799 ================================================================================\n\
00800 MSG: sensor_msgs/JointState\n\
00801 # This is a message that holds data to describe the state of a set of torque controlled joints. \n\
00802 #\n\
00803 # The state of each joint (revolute or prismatic) is defined by:\n\
00804 # * the position of the joint (rad or m),\n\
00805 # * the velocity of the joint (rad/s or m/s) and \n\
00806 # * the effort that is applied in the joint (Nm or N).\n\
00807 #\n\
00808 # Each joint is uniquely identified by its name\n\
00809 # The header specifies the time at which the joint states were recorded. All the joint states\n\
00810 # in one message have to be recorded at the same time.\n\
00811 #\n\
00812 # This message consists of a multiple arrays, one for each part of the joint state. \n\
00813 # The goal is to make each of the fields optional. When e.g. your joints have no\n\
00814 # effort associated with them, you can leave the effort array empty. \n\
00815 #\n\
00816 # All arrays in this message should have the same size, or be empty.\n\
00817 # This is the only way to uniquely associate the joint name with the correct\n\
00818 # states.\n\
00819 \n\
00820 \n\
00821 Header header\n\
00822 \n\
00823 string[] name\n\
00824 float64[] position\n\
00825 float64[] velocity\n\
00826 float64[] effort\n\
00827 \n\
00828 ================================================================================\n\
00829 MSG: geometry_msgs/Pose\n\
00830 # A representation of pose in free space, composed of postion and orientation. \n\
00831 Point position\n\
00832 Quaternion orientation\n\
00833 \n\
00834 ================================================================================\n\
00835 MSG: geometry_msgs/Point\n\
00836 # This contains the position of a point in free space\n\
00837 float64 x\n\
00838 float64 y\n\
00839 float64 z\n\
00840 \n\
00841 ================================================================================\n\
00842 MSG: geometry_msgs/Quaternion\n\
00843 # This represents an orientation in free space in quaternion form.\n\
00844 \n\
00845 float64 x\n\
00846 float64 y\n\
00847 float64 z\n\
00848 float64 w\n\
00849 \n\
00850 ================================================================================\n\
00851 MSG: object_manipulation_msgs/GraspableObject\n\
00852 # an object that the object_manipulator can work on\n\
00853 \n\
00854 # a graspable object can be represented in multiple ways. This message\n\
00855 # can contain all of them. Which one is actually used is up to the receiver\n\
00856 # of this message. When adding new representations, one must be careful that\n\
00857 # they have reasonable lightweight defaults indicating that that particular\n\
00858 # representation is not available.\n\
00859 \n\
00860 # the tf frame to be used as a reference frame when combining information from\n\
00861 # the different representations below\n\
00862 string reference_frame_id\n\
00863 \n\
00864 # potential recognition results from a database of models\n\
00865 # all poses are relative to the object reference pose\n\
00866 household_objects_database_msgs/DatabaseModelPose[] potential_models\n\
00867 \n\
00868 # the point cloud itself\n\
00869 sensor_msgs/PointCloud cluster\n\
00870 \n\
00871 # a region of a PointCloud2 of interest\n\
00872 object_manipulation_msgs/SceneRegion region\n\
00873 \n\
00874 # the name that this object has in the collision environment\n\
00875 string collision_name\n\
00876 ================================================================================\n\
00877 MSG: household_objects_database_msgs/DatabaseModelPose\n\
00878 # Informs that a specific model from the Model Database has been \n\
00879 # identified at a certain location\n\
00880 \n\
00881 # the database id of the model\n\
00882 int32 model_id\n\
00883 \n\
00884 # the pose that it can be found in\n\
00885 geometry_msgs/PoseStamped pose\n\
00886 \n\
00887 # a measure of the confidence level in this detection result\n\
00888 float32 confidence\n\
00889 \n\
00890 # the name of the object detector that generated this detection result\n\
00891 string detector_name\n\
00892 \n\
00893 ================================================================================\n\
00894 MSG: geometry_msgs/PoseStamped\n\
00895 # A Pose with reference coordinate frame and timestamp\n\
00896 Header header\n\
00897 Pose pose\n\
00898 \n\
00899 ================================================================================\n\
00900 MSG: sensor_msgs/PointCloud\n\
00901 # This message holds a collection of 3d points, plus optional additional\n\
00902 # information about each point.\n\
00903 \n\
00904 # Time of sensor data acquisition, coordinate frame ID.\n\
00905 Header header\n\
00906 \n\
00907 # Array of 3d points. Each Point32 should be interpreted as a 3d point\n\
00908 # in the frame given in the header.\n\
00909 geometry_msgs/Point32[] points\n\
00910 \n\
00911 # Each channel should have the same number of elements as points array,\n\
00912 # and the data in each channel should correspond 1:1 with each point.\n\
00913 # Channel names in common practice are listed in ChannelFloat32.msg.\n\
00914 ChannelFloat32[] channels\n\
00915 \n\
00916 ================================================================================\n\
00917 MSG: geometry_msgs/Point32\n\
00918 # This contains the position of a point in free space(with 32 bits of precision).\n\
00919 # It is recommeded to use Point wherever possible instead of Point32. \n\
00920 # \n\
00921 # This recommendation is to promote interoperability. \n\
00922 #\n\
00923 # This message is designed to take up less space when sending\n\
00924 # lots of points at once, as in the case of a PointCloud. \n\
00925 \n\
00926 float32 x\n\
00927 float32 y\n\
00928 float32 z\n\
00929 ================================================================================\n\
00930 MSG: sensor_msgs/ChannelFloat32\n\
00931 # This message is used by the PointCloud message to hold optional data\n\
00932 # associated with each point in the cloud. The length of the values\n\
00933 # array should be the same as the length of the points array in the\n\
00934 # PointCloud, and each value should be associated with the corresponding\n\
00935 # point.\n\
00936 \n\
00937 # Channel names in existing practice include:\n\
00938 # \"u\", \"v\" - row and column (respectively) in the left stereo image.\n\
00939 # This is opposite to usual conventions but remains for\n\
00940 # historical reasons. The newer PointCloud2 message has no\n\
00941 # such problem.\n\
00942 # \"rgb\" - For point clouds produced by color stereo cameras. uint8\n\
00943 # (R,G,B) values packed into the least significant 24 bits,\n\
00944 # in order.\n\
00945 # \"intensity\" - laser or pixel intensity.\n\
00946 # \"distance\"\n\
00947 \n\
00948 # The channel name should give semantics of the channel (e.g.\n\
00949 # \"intensity\" instead of \"value\").\n\
00950 string name\n\
00951 \n\
00952 # The values array should be 1-1 with the elements of the associated\n\
00953 # PointCloud.\n\
00954 float32[] values\n\
00955 \n\
00956 ================================================================================\n\
00957 MSG: object_manipulation_msgs/SceneRegion\n\
00958 # Point cloud\n\
00959 sensor_msgs/PointCloud2 cloud\n\
00960 \n\
00961 # Indices for the region of interest\n\
00962 int32[] mask\n\
00963 \n\
00964 # One of the corresponding 2D images, if applicable\n\
00965 sensor_msgs/Image image\n\
00966 \n\
00967 # The disparity image, if applicable\n\
00968 sensor_msgs/Image disparity_image\n\
00969 \n\
00970 # Camera info for the camera that took the image\n\
00971 sensor_msgs/CameraInfo cam_info\n\
00972 \n\
00973 # a 3D region of interest for grasp planning\n\
00974 geometry_msgs/PoseStamped roi_box_pose\n\
00975 geometry_msgs/Vector3 roi_box_dims\n\
00976 \n\
00977 ================================================================================\n\
00978 MSG: sensor_msgs/PointCloud2\n\
00979 # This message holds a collection of N-dimensional points, which may\n\
00980 # contain additional information such as normals, intensity, etc. The\n\
00981 # point data is stored as a binary blob, its layout described by the\n\
00982 # contents of the \"fields\" array.\n\
00983 \n\
00984 # The point cloud data may be organized 2d (image-like) or 1d\n\
00985 # (unordered). Point clouds organized as 2d images may be produced by\n\
00986 # camera depth sensors such as stereo or time-of-flight.\n\
00987 \n\
00988 # Time of sensor data acquisition, and the coordinate frame ID (for 3d\n\
00989 # points).\n\
00990 Header header\n\
00991 \n\
00992 # 2D structure of the point cloud. If the cloud is unordered, height is\n\
00993 # 1 and width is the length of the point cloud.\n\
00994 uint32 height\n\
00995 uint32 width\n\
00996 \n\
00997 # Describes the channels and their layout in the binary data blob.\n\
00998 PointField[] fields\n\
00999 \n\
01000 bool is_bigendian # Is this data bigendian?\n\
01001 uint32 point_step # Length of a point in bytes\n\
01002 uint32 row_step # Length of a row in bytes\n\
01003 uint8[] data # Actual point data, size is (row_step*height)\n\
01004 \n\
01005 bool is_dense # True if there are no invalid points\n\
01006 \n\
01007 ================================================================================\n\
01008 MSG: sensor_msgs/PointField\n\
01009 # This message holds the description of one point entry in the\n\
01010 # PointCloud2 message format.\n\
01011 uint8 INT8 = 1\n\
01012 uint8 UINT8 = 2\n\
01013 uint8 INT16 = 3\n\
01014 uint8 UINT16 = 4\n\
01015 uint8 INT32 = 5\n\
01016 uint8 UINT32 = 6\n\
01017 uint8 FLOAT32 = 7\n\
01018 uint8 FLOAT64 = 8\n\
01019 \n\
01020 string name # Name of field\n\
01021 uint32 offset # Offset from start of point struct\n\
01022 uint8 datatype # Datatype enumeration, see above\n\
01023 uint32 count # How many elements in the field\n\
01024 \n\
01025 ================================================================================\n\
01026 MSG: sensor_msgs/Image\n\
01027 # This message contains an uncompressed image\n\
01028 # (0, 0) is at top-left corner of image\n\
01029 #\n\
01030 \n\
01031 Header header # Header timestamp should be acquisition time of image\n\
01032 # Header frame_id should be optical frame of camera\n\
01033 # origin of frame should be optical center of cameara\n\
01034 # +x should point to the right in the image\n\
01035 # +y should point down in the image\n\
01036 # +z should point into to plane of the image\n\
01037 # If the frame_id here and the frame_id of the CameraInfo\n\
01038 # message associated with the image conflict\n\
01039 # the behavior is undefined\n\
01040 \n\
01041 uint32 height # image height, that is, number of rows\n\
01042 uint32 width # image width, that is, number of columns\n\
01043 \n\
01044 # The legal values for encoding are in file src/image_encodings.cpp\n\
01045 # If you want to standardize a new string format, join\n\
01046 # ros-users@lists.sourceforge.net and send an email proposing a new encoding.\n\
01047 \n\
01048 string encoding # Encoding of pixels -- channel meaning, ordering, size\n\
01049 # taken from the list of strings in src/image_encodings.cpp\n\
01050 \n\
01051 uint8 is_bigendian # is this data bigendian?\n\
01052 uint32 step # Full row length in bytes\n\
01053 uint8[] data # actual matrix data, size is (step * rows)\n\
01054 \n\
01055 ================================================================================\n\
01056 MSG: sensor_msgs/CameraInfo\n\
01057 # This message defines meta information for a camera. It should be in a\n\
01058 # camera namespace on topic \"camera_info\" and accompanied by up to five\n\
01059 # image topics named:\n\
01060 #\n\
01061 # image_raw - raw data from the camera driver, possibly Bayer encoded\n\
01062 # image - monochrome, distorted\n\
01063 # image_color - color, distorted\n\
01064 # image_rect - monochrome, rectified\n\
01065 # image_rect_color - color, rectified\n\
01066 #\n\
01067 # The image_pipeline contains packages (image_proc, stereo_image_proc)\n\
01068 # for producing the four processed image topics from image_raw and\n\
01069 # camera_info. The meaning of the camera parameters are described in\n\
01070 # detail at http://www.ros.org/wiki/image_pipeline/CameraInfo.\n\
01071 #\n\
01072 # The image_geometry package provides a user-friendly interface to\n\
01073 # common operations using this meta information. If you want to, e.g.,\n\
01074 # project a 3d point into image coordinates, we strongly recommend\n\
01075 # using image_geometry.\n\
01076 #\n\
01077 # If the camera is uncalibrated, the matrices D, K, R, P should be left\n\
01078 # zeroed out. In particular, clients may assume that K[0] == 0.0\n\
01079 # indicates an uncalibrated camera.\n\
01080 \n\
01081 #######################################################################\n\
01082 # Image acquisition info #\n\
01083 #######################################################################\n\
01084 \n\
01085 # Time of image acquisition, camera coordinate frame ID\n\
01086 Header header # Header timestamp should be acquisition time of image\n\
01087 # Header frame_id should be optical frame of camera\n\
01088 # origin of frame should be optical center of camera\n\
01089 # +x should point to the right in the image\n\
01090 # +y should point down in the image\n\
01091 # +z should point into the plane of the image\n\
01092 \n\
01093 \n\
01094 #######################################################################\n\
01095 # Calibration Parameters #\n\
01096 #######################################################################\n\
01097 # These are fixed during camera calibration. Their values will be the #\n\
01098 # same in all messages until the camera is recalibrated. Note that #\n\
01099 # self-calibrating systems may \"recalibrate\" frequently. #\n\
01100 # #\n\
01101 # The internal parameters can be used to warp a raw (distorted) image #\n\
01102 # to: #\n\
01103 # 1. An undistorted image (requires D and K) #\n\
01104 # 2. A rectified image (requires D, K, R) #\n\
01105 # The projection matrix P projects 3D points into the rectified image.#\n\
01106 #######################################################################\n\
01107 \n\
01108 # The image dimensions with which the camera was calibrated. Normally\n\
01109 # this will be the full camera resolution in pixels.\n\
01110 uint32 height\n\
01111 uint32 width\n\
01112 \n\
01113 # The distortion model used. Supported models are listed in\n\
01114 # sensor_msgs/distortion_models.h. For most cameras, \"plumb_bob\" - a\n\
01115 # simple model of radial and tangential distortion - is sufficent.\n\
01116 string distortion_model\n\
01117 \n\
01118 # The distortion parameters, size depending on the distortion model.\n\
01119 # For \"plumb_bob\", the 5 parameters are: (k1, k2, t1, t2, k3).\n\
01120 float64[] D\n\
01121 \n\
01122 # Intrinsic camera matrix for the raw (distorted) images.\n\
01123 # [fx 0 cx]\n\
01124 # K = [ 0 fy cy]\n\
01125 # [ 0 0 1]\n\
01126 # Projects 3D points in the camera coordinate frame to 2D pixel\n\
01127 # coordinates using the focal lengths (fx, fy) and principal point\n\
01128 # (cx, cy).\n\
01129 float64[9] K # 3x3 row-major matrix\n\
01130 \n\
01131 # Rectification matrix (stereo cameras only)\n\
01132 # A rotation matrix aligning the camera coordinate system to the ideal\n\
01133 # stereo image plane so that epipolar lines in both stereo images are\n\
01134 # parallel.\n\
01135 float64[9] R # 3x3 row-major matrix\n\
01136 \n\
01137 # Projection/camera matrix\n\
01138 # [fx' 0 cx' Tx]\n\
01139 # P = [ 0 fy' cy' Ty]\n\
01140 # [ 0 0 1 0]\n\
01141 # By convention, this matrix specifies the intrinsic (camera) matrix\n\
01142 # of the processed (rectified) image. That is, the left 3x3 portion\n\
01143 # is the normal camera intrinsic matrix for the rectified image.\n\
01144 # It projects 3D points in the camera coordinate frame to 2D pixel\n\
01145 # coordinates using the focal lengths (fx', fy') and principal point\n\
01146 # (cx', cy') - these may differ from the values in K.\n\
01147 # For monocular cameras, Tx = Ty = 0. Normally, monocular cameras will\n\
01148 # also have R = the identity and P[1:3,1:3] = K.\n\
01149 # For a stereo pair, the fourth column [Tx Ty 0]' is related to the\n\
01150 # position of the optical center of the second camera in the first\n\
01151 # camera's frame. We assume Tz = 0 so both cameras are in the same\n\
01152 # stereo image plane. The first camera always has Tx = Ty = 0. For\n\
01153 # the right (second) camera of a horizontal stereo pair, Ty = 0 and\n\
01154 # Tx = -fx' * B, where B is the baseline between the cameras.\n\
01155 # Given a 3D point [X Y Z]', the projection (x, y) of the point onto\n\
01156 # the rectified image is given by:\n\
01157 # [u v w]' = P * [X Y Z 1]'\n\
01158 # x = u / w\n\
01159 # y = v / w\n\
01160 # This holds for both images of a stereo pair.\n\
01161 float64[12] P # 3x4 row-major matrix\n\
01162 \n\
01163 \n\
01164 #######################################################################\n\
01165 # Operational Parameters #\n\
01166 #######################################################################\n\
01167 # These define the image region actually captured by the camera #\n\
01168 # driver. Although they affect the geometry of the output image, they #\n\
01169 # may be changed freely without recalibrating the camera. #\n\
01170 #######################################################################\n\
01171 \n\
01172 # Binning refers here to any camera setting which combines rectangular\n\
01173 # neighborhoods of pixels into larger \"super-pixels.\" It reduces the\n\
01174 # resolution of the output image to\n\
01175 # (width / binning_x) x (height / binning_y).\n\
01176 # The default values binning_x = binning_y = 0 is considered the same\n\
01177 # as binning_x = binning_y = 1 (no subsampling).\n\
01178 uint32 binning_x\n\
01179 uint32 binning_y\n\
01180 \n\
01181 # Region of interest (subwindow of full camera resolution), given in\n\
01182 # full resolution (unbinned) image coordinates. A particular ROI\n\
01183 # always denotes the same window of pixels on the camera sensor,\n\
01184 # regardless of binning settings.\n\
01185 # The default setting of roi (all values 0) is considered the same as\n\
01186 # full resolution (roi.width = width, roi.height = height).\n\
01187 RegionOfInterest roi\n\
01188 \n\
01189 ================================================================================\n\
01190 MSG: sensor_msgs/RegionOfInterest\n\
01191 # This message is used to specify a region of interest within an image.\n\
01192 #\n\
01193 # When used to specify the ROI setting of the camera when the image was\n\
01194 # taken, the height and width fields should either match the height and\n\
01195 # width fields for the associated image; or height = width = 0\n\
01196 # indicates that the full resolution image was captured.\n\
01197 \n\
01198 uint32 x_offset # Leftmost pixel of the ROI\n\
01199 # (0 if the ROI includes the left edge of the image)\n\
01200 uint32 y_offset # Topmost pixel of the ROI\n\
01201 # (0 if the ROI includes the top edge of the image)\n\
01202 uint32 height # Height of ROI\n\
01203 uint32 width # Width of ROI\n\
01204 \n\
01205 # True if a distinct rectified ROI should be calculated from the \"raw\"\n\
01206 # ROI in this message. Typically this should be False if the full image\n\
01207 # is captured (ROI not used), and True if a subwindow is captured (ROI\n\
01208 # used).\n\
01209 bool do_rectify\n\
01210 \n\
01211 ================================================================================\n\
01212 MSG: geometry_msgs/Vector3\n\
01213 # This represents a vector in free space. \n\
01214 \n\
01215 float64 x\n\
01216 float64 y\n\
01217 float64 z\n\
01218 ================================================================================\n\
01219 MSG: object_manipulation_msgs/GraspPlanningErrorCode\n\
01220 # Error codes for grasp and place planning\n\
01221 \n\
01222 # plan completed as expected\n\
01223 int32 SUCCESS = 0\n\
01224 \n\
01225 # tf error encountered while transforming\n\
01226 int32 TF_ERROR = 1 \n\
01227 \n\
01228 # some other error\n\
01229 int32 OTHER_ERROR = 2\n\
01230 \n\
01231 # the actual value of this error code\n\
01232 int32 value\n\
01233 ";
01234 }
01235
01236 static const char* value(const ::object_manipulation_msgs::GraspPlanningActionResult_<ContainerAllocator> &) { return value(); }
01237 };
01238
01239 template<class ContainerAllocator> struct HasHeader< ::object_manipulation_msgs::GraspPlanningActionResult_<ContainerAllocator> > : public TrueType {};
01240 template<class ContainerAllocator> struct HasHeader< const ::object_manipulation_msgs::GraspPlanningActionResult_<ContainerAllocator> > : public TrueType {};
01241 }
01242 }
01243
01244 namespace ros
01245 {
01246 namespace serialization
01247 {
01248
01249 template<class ContainerAllocator> struct Serializer< ::object_manipulation_msgs::GraspPlanningActionResult_<ContainerAllocator> >
01250 {
01251 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
01252 {
01253 stream.next(m.header);
01254 stream.next(m.status);
01255 stream.next(m.result);
01256 }
01257
01258 ROS_DECLARE_ALLINONE_SERIALIZER;
01259 };
01260 }
01261 }
01262
01263 namespace ros
01264 {
01265 namespace message_operations
01266 {
01267
01268 template<class ContainerAllocator>
01269 struct Printer< ::object_manipulation_msgs::GraspPlanningActionResult_<ContainerAllocator> >
01270 {
01271 template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::object_manipulation_msgs::GraspPlanningActionResult_<ContainerAllocator> & v)
01272 {
01273 s << indent << "header: ";
01274 s << std::endl;
01275 Printer< ::std_msgs::Header_<ContainerAllocator> >::stream(s, indent + " ", v.header);
01276 s << indent << "status: ";
01277 s << std::endl;
01278 Printer< ::actionlib_msgs::GoalStatus_<ContainerAllocator> >::stream(s, indent + " ", v.status);
01279 s << indent << "result: ";
01280 s << std::endl;
01281 Printer< ::object_manipulation_msgs::GraspPlanningResult_<ContainerAllocator> >::stream(s, indent + " ", v.result);
01282 }
01283 };
01284
01285
01286 }
01287 }
01288
01289 #endif // OBJECT_MANIPULATION_MSGS_MESSAGE_GRASPPLANNINGACTIONRESULT_H
01290
