00001
00002 #ifndef OBJECT_MANIPULATION_MSGS_MESSAGE_GRASPPLANNINGRESULT_H
00003 #define OBJECT_MANIPULATION_MSGS_MESSAGE_GRASPPLANNINGRESULT_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 "object_manipulation_msgs/Grasp.h"
00018 #include "object_manipulation_msgs/GraspPlanningErrorCode.h"
00019
00020 namespace object_manipulation_msgs
00021 {
00022 template <class ContainerAllocator>
00023 struct GraspPlanningResult_ {
00024 typedef GraspPlanningResult_<ContainerAllocator> Type;
00025
00026 GraspPlanningResult_()
00027 : grasps()
00028 , error_code()
00029 {
00030 }
00031
00032 GraspPlanningResult_(const ContainerAllocator& _alloc)
00033 : grasps(_alloc)
00034 , error_code(_alloc)
00035 {
00036 }
00037
00038 typedef std::vector< ::object_manipulation_msgs::Grasp_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::object_manipulation_msgs::Grasp_<ContainerAllocator> >::other > _grasps_type;
00039 std::vector< ::object_manipulation_msgs::Grasp_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::object_manipulation_msgs::Grasp_<ContainerAllocator> >::other > grasps;
00040
00041 typedef ::object_manipulation_msgs::GraspPlanningErrorCode_<ContainerAllocator> _error_code_type;
00042 ::object_manipulation_msgs::GraspPlanningErrorCode_<ContainerAllocator> error_code;
00043
00044
00045 ROS_DEPRECATED uint32_t get_grasps_size() const { return (uint32_t)grasps.size(); }
00046 ROS_DEPRECATED void set_grasps_size(uint32_t size) { grasps.resize((size_t)size); }
00047 ROS_DEPRECATED void get_grasps_vec(std::vector< ::object_manipulation_msgs::Grasp_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::object_manipulation_msgs::Grasp_<ContainerAllocator> >::other > & vec) const { vec = this->grasps; }
00048 ROS_DEPRECATED void set_grasps_vec(const std::vector< ::object_manipulation_msgs::Grasp_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::object_manipulation_msgs::Grasp_<ContainerAllocator> >::other > & vec) { this->grasps = vec; }
00049 private:
00050 static const char* __s_getDataType_() { return "object_manipulation_msgs/GraspPlanningResult"; }
00051 public:
00052 ROS_DEPRECATED static const std::string __s_getDataType() { return __s_getDataType_(); }
00053
00054 ROS_DEPRECATED const std::string __getDataType() const { return __s_getDataType_(); }
00055
00056 private:
00057 static const char* __s_getMD5Sum_() { return "998e3d06c509abfc46d7fdf96fe1c188"; }
00058 public:
00059 ROS_DEPRECATED static const std::string __s_getMD5Sum() { return __s_getMD5Sum_(); }
00060
00061 ROS_DEPRECATED const std::string __getMD5Sum() const { return __s_getMD5Sum_(); }
00062
00063 private:
00064 static const char* __s_getMessageDefinition_() { return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00065 \n\
00066 # the list of planned grasps\n\
00067 Grasp[] grasps\n\
00068 \n\
00069 # whether an error occurred\n\
00070 GraspPlanningErrorCode error_code\n\
00071 \n\
00072 \n\
00073 ================================================================================\n\
00074 MSG: object_manipulation_msgs/Grasp\n\
00075 \n\
00076 # The internal posture of the hand for the pre-grasp\n\
00077 # only positions are used\n\
00078 sensor_msgs/JointState pre_grasp_posture\n\
00079 \n\
00080 # The internal posture of the hand for the grasp\n\
00081 # positions and efforts are used\n\
00082 sensor_msgs/JointState grasp_posture\n\
00083 \n\
00084 # The position of the end-effector for the grasp relative to a reference frame \n\
00085 # (that is always specified elsewhere, not in this message)\n\
00086 geometry_msgs/Pose grasp_pose\n\
00087 \n\
00088 # The estimated probability of success for this grasp\n\
00089 float64 success_probability\n\
00090 \n\
00091 # Debug flag to indicate that this grasp would be the best in its cluster\n\
00092 bool cluster_rep\n\
00093 \n\
00094 # how far the pre-grasp should ideally be away from the grasp\n\
00095 float32 desired_approach_distance\n\
00096 \n\
00097 # how much distance between pre-grasp and grasp must actually be feasible \n\
00098 # for the grasp not to be rejected\n\
00099 float32 min_approach_distance\n\
00100 \n\
00101 # an optional list of obstacles that we have semantic information about\n\
00102 # and that we expect might move in the course of executing this grasp\n\
00103 # the grasp planner is expected to make sure they move in an OK way; during\n\
00104 # execution, grasp executors will not check for collisions against these objects\n\
00105 GraspableObject[] moved_obstacles\n\
00106 \n\
00107 ================================================================================\n\
00108 MSG: sensor_msgs/JointState\n\
00109 # This is a message that holds data to describe the state of a set of torque controlled joints. \n\
00110 #\n\
00111 # The state of each joint (revolute or prismatic) is defined by:\n\
00112 # * the position of the joint (rad or m),\n\
00113 # * the velocity of the joint (rad/s or m/s) and \n\
00114 # * the effort that is applied in the joint (Nm or N).\n\
00115 #\n\
00116 # Each joint is uniquely identified by its name\n\
00117 # The header specifies the time at which the joint states were recorded. All the joint states\n\
00118 # in one message have to be recorded at the same time.\n\
00119 #\n\
00120 # This message consists of a multiple arrays, one for each part of the joint state. \n\
00121 # The goal is to make each of the fields optional. When e.g. your joints have no\n\
00122 # effort associated with them, you can leave the effort array empty. \n\
00123 #\n\
00124 # All arrays in this message should have the same size, or be empty.\n\
00125 # This is the only way to uniquely associate the joint name with the correct\n\
00126 # states.\n\
00127 \n\
00128 \n\
00129 Header header\n\
00130 \n\
00131 string[] name\n\
00132 float64[] position\n\
00133 float64[] velocity\n\
00134 float64[] effort\n\
00135 \n\
00136 ================================================================================\n\
00137 MSG: std_msgs/Header\n\
00138 # Standard metadata for higher-level stamped data types.\n\
00139 # This is generally used to communicate timestamped data \n\
00140 # in a particular coordinate frame.\n\
00141 # \n\
00142 # sequence ID: consecutively increasing ID \n\
00143 uint32 seq\n\
00144 #Two-integer timestamp that is expressed as:\n\
00145 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00146 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00147 # time-handling sugar is provided by the client library\n\
00148 time stamp\n\
00149 #Frame this data is associated with\n\
00150 # 0: no frame\n\
00151 # 1: global frame\n\
00152 string frame_id\n\
00153 \n\
00154 ================================================================================\n\
00155 MSG: geometry_msgs/Pose\n\
00156 # A representation of pose in free space, composed of postion and orientation. \n\
00157 Point position\n\
00158 Quaternion orientation\n\
00159 \n\
00160 ================================================================================\n\
00161 MSG: geometry_msgs/Point\n\
00162 # This contains the position of a point in free space\n\
00163 float64 x\n\
00164 float64 y\n\
00165 float64 z\n\
00166 \n\
00167 ================================================================================\n\
00168 MSG: geometry_msgs/Quaternion\n\
00169 # This represents an orientation in free space in quaternion form.\n\
00170 \n\
00171 float64 x\n\
00172 float64 y\n\
00173 float64 z\n\
00174 float64 w\n\
00175 \n\
00176 ================================================================================\n\
00177 MSG: object_manipulation_msgs/GraspableObject\n\
00178 # an object that the object_manipulator can work on\n\
00179 \n\
00180 # a graspable object can be represented in multiple ways. This message\n\
00181 # can contain all of them. Which one is actually used is up to the receiver\n\
00182 # of this message. When adding new representations, one must be careful that\n\
00183 # they have reasonable lightweight defaults indicating that that particular\n\
00184 # representation is not available.\n\
00185 \n\
00186 # the tf frame to be used as a reference frame when combining information from\n\
00187 # the different representations below\n\
00188 string reference_frame_id\n\
00189 \n\
00190 # potential recognition results from a database of models\n\
00191 # all poses are relative to the object reference pose\n\
00192 household_objects_database_msgs/DatabaseModelPose[] potential_models\n\
00193 \n\
00194 # the point cloud itself\n\
00195 sensor_msgs/PointCloud cluster\n\
00196 \n\
00197 # a region of a PointCloud2 of interest\n\
00198 object_manipulation_msgs/SceneRegion region\n\
00199 \n\
00200 # the name that this object has in the collision environment\n\
00201 string collision_name\n\
00202 ================================================================================\n\
00203 MSG: household_objects_database_msgs/DatabaseModelPose\n\
00204 # Informs that a specific model from the Model Database has been \n\
00205 # identified at a certain location\n\
00206 \n\
00207 # the database id of the model\n\
00208 int32 model_id\n\
00209 \n\
00210 # the pose that it can be found in\n\
00211 geometry_msgs/PoseStamped pose\n\
00212 \n\
00213 # a measure of the confidence level in this detection result\n\
00214 float32 confidence\n\
00215 \n\
00216 # the name of the object detector that generated this detection result\n\
00217 string detector_name\n\
00218 \n\
00219 ================================================================================\n\
00220 MSG: geometry_msgs/PoseStamped\n\
00221 # A Pose with reference coordinate frame and timestamp\n\
00222 Header header\n\
00223 Pose pose\n\
00224 \n\
00225 ================================================================================\n\
00226 MSG: sensor_msgs/PointCloud\n\
00227 # This message holds a collection of 3d points, plus optional additional\n\
00228 # information about each point.\n\
00229 \n\
00230 # Time of sensor data acquisition, coordinate frame ID.\n\
00231 Header header\n\
00232 \n\
00233 # Array of 3d points. Each Point32 should be interpreted as a 3d point\n\
00234 # in the frame given in the header.\n\
00235 geometry_msgs/Point32[] points\n\
00236 \n\
00237 # Each channel should have the same number of elements as points array,\n\
00238 # and the data in each channel should correspond 1:1 with each point.\n\
00239 # Channel names in common practice are listed in ChannelFloat32.msg.\n\
00240 ChannelFloat32[] channels\n\
00241 \n\
00242 ================================================================================\n\
00243 MSG: geometry_msgs/Point32\n\
00244 # This contains the position of a point in free space(with 32 bits of precision).\n\
00245 # It is recommeded to use Point wherever possible instead of Point32. \n\
00246 # \n\
00247 # This recommendation is to promote interoperability. \n\
00248 #\n\
00249 # This message is designed to take up less space when sending\n\
00250 # lots of points at once, as in the case of a PointCloud. \n\
00251 \n\
00252 float32 x\n\
00253 float32 y\n\
00254 float32 z\n\
00255 ================================================================================\n\
00256 MSG: sensor_msgs/ChannelFloat32\n\
00257 # This message is used by the PointCloud message to hold optional data\n\
00258 # associated with each point in the cloud. The length of the values\n\
00259 # array should be the same as the length of the points array in the\n\
00260 # PointCloud, and each value should be associated with the corresponding\n\
00261 # point.\n\
00262 \n\
00263 # Channel names in existing practice include:\n\
00264 # \"u\", \"v\" - row and column (respectively) in the left stereo image.\n\
00265 # This is opposite to usual conventions but remains for\n\
00266 # historical reasons. The newer PointCloud2 message has no\n\
00267 # such problem.\n\
00268 # \"rgb\" - For point clouds produced by color stereo cameras. uint8\n\
00269 # (R,G,B) values packed into the least significant 24 bits,\n\
00270 # in order.\n\
00271 # \"intensity\" - laser or pixel intensity.\n\
00272 # \"distance\"\n\
00273 \n\
00274 # The channel name should give semantics of the channel (e.g.\n\
00275 # \"intensity\" instead of \"value\").\n\
00276 string name\n\
00277 \n\
00278 # The values array should be 1-1 with the elements of the associated\n\
00279 # PointCloud.\n\
00280 float32[] values\n\
00281 \n\
00282 ================================================================================\n\
00283 MSG: object_manipulation_msgs/SceneRegion\n\
00284 # Point cloud\n\
00285 sensor_msgs/PointCloud2 cloud\n\
00286 \n\
00287 # Indices for the region of interest\n\
00288 int32[] mask\n\
00289 \n\
00290 # One of the corresponding 2D images, if applicable\n\
00291 sensor_msgs/Image image\n\
00292 \n\
00293 # The disparity image, if applicable\n\
00294 sensor_msgs/Image disparity_image\n\
00295 \n\
00296 # Camera info for the camera that took the image\n\
00297 sensor_msgs/CameraInfo cam_info\n\
00298 \n\
00299 # a 3D region of interest for grasp planning\n\
00300 geometry_msgs/PoseStamped roi_box_pose\n\
00301 geometry_msgs/Vector3 roi_box_dims\n\
00302 \n\
00303 ================================================================================\n\
00304 MSG: sensor_msgs/PointCloud2\n\
00305 # This message holds a collection of N-dimensional points, which may\n\
00306 # contain additional information such as normals, intensity, etc. The\n\
00307 # point data is stored as a binary blob, its layout described by the\n\
00308 # contents of the \"fields\" array.\n\
00309 \n\
00310 # The point cloud data may be organized 2d (image-like) or 1d\n\
00311 # (unordered). Point clouds organized as 2d images may be produced by\n\
00312 # camera depth sensors such as stereo or time-of-flight.\n\
00313 \n\
00314 # Time of sensor data acquisition, and the coordinate frame ID (for 3d\n\
00315 # points).\n\
00316 Header header\n\
00317 \n\
00318 # 2D structure of the point cloud. If the cloud is unordered, height is\n\
00319 # 1 and width is the length of the point cloud.\n\
00320 uint32 height\n\
00321 uint32 width\n\
00322 \n\
00323 # Describes the channels and their layout in the binary data blob.\n\
00324 PointField[] fields\n\
00325 \n\
00326 bool is_bigendian # Is this data bigendian?\n\
00327 uint32 point_step # Length of a point in bytes\n\
00328 uint32 row_step # Length of a row in bytes\n\
00329 uint8[] data # Actual point data, size is (row_step*height)\n\
00330 \n\
00331 bool is_dense # True if there are no invalid points\n\
00332 \n\
00333 ================================================================================\n\
00334 MSG: sensor_msgs/PointField\n\
00335 # This message holds the description of one point entry in the\n\
00336 # PointCloud2 message format.\n\
00337 uint8 INT8 = 1\n\
00338 uint8 UINT8 = 2\n\
00339 uint8 INT16 = 3\n\
00340 uint8 UINT16 = 4\n\
00341 uint8 INT32 = 5\n\
00342 uint8 UINT32 = 6\n\
00343 uint8 FLOAT32 = 7\n\
00344 uint8 FLOAT64 = 8\n\
00345 \n\
00346 string name # Name of field\n\
00347 uint32 offset # Offset from start of point struct\n\
00348 uint8 datatype # Datatype enumeration, see above\n\
00349 uint32 count # How many elements in the field\n\
00350 \n\
00351 ================================================================================\n\
00352 MSG: sensor_msgs/Image\n\
00353 # This message contains an uncompressed image\n\
00354 # (0, 0) is at top-left corner of image\n\
00355 #\n\
00356 \n\
00357 Header header # Header timestamp should be acquisition time of image\n\
00358 # Header frame_id should be optical frame of camera\n\
00359 # origin of frame should be optical center of cameara\n\
00360 # +x should point to the right in the image\n\
00361 # +y should point down in the image\n\
00362 # +z should point into to plane of the image\n\
00363 # If the frame_id here and the frame_id of the CameraInfo\n\
00364 # message associated with the image conflict\n\
00365 # the behavior is undefined\n\
00366 \n\
00367 uint32 height # image height, that is, number of rows\n\
00368 uint32 width # image width, that is, number of columns\n\
00369 \n\
00370 # The legal values for encoding are in file src/image_encodings.cpp\n\
00371 # If you want to standardize a new string format, join\n\
00372 # ros-users@lists.sourceforge.net and send an email proposing a new encoding.\n\
00373 \n\
00374 string encoding # Encoding of pixels -- channel meaning, ordering, size\n\
00375 # taken from the list of strings in src/image_encodings.cpp\n\
00376 \n\
00377 uint8 is_bigendian # is this data bigendian?\n\
00378 uint32 step # Full row length in bytes\n\
00379 uint8[] data # actual matrix data, size is (step * rows)\n\
00380 \n\
00381 ================================================================================\n\
00382 MSG: sensor_msgs/CameraInfo\n\
00383 # This message defines meta information for a camera. It should be in a\n\
00384 # camera namespace on topic \"camera_info\" and accompanied by up to five\n\
00385 # image topics named:\n\
00386 #\n\
00387 # image_raw - raw data from the camera driver, possibly Bayer encoded\n\
00388 # image - monochrome, distorted\n\
00389 # image_color - color, distorted\n\
00390 # image_rect - monochrome, rectified\n\
00391 # image_rect_color - color, rectified\n\
00392 #\n\
00393 # The image_pipeline contains packages (image_proc, stereo_image_proc)\n\
00394 # for producing the four processed image topics from image_raw and\n\
00395 # camera_info. The meaning of the camera parameters are described in\n\
00396 # detail at http://www.ros.org/wiki/image_pipeline/CameraInfo.\n\
00397 #\n\
00398 # The image_geometry package provides a user-friendly interface to\n\
00399 # common operations using this meta information. If you want to, e.g.,\n\
00400 # project a 3d point into image coordinates, we strongly recommend\n\
00401 # using image_geometry.\n\
00402 #\n\
00403 # If the camera is uncalibrated, the matrices D, K, R, P should be left\n\
00404 # zeroed out. In particular, clients may assume that K[0] == 0.0\n\
00405 # indicates an uncalibrated camera.\n\
00406 \n\
00407 #######################################################################\n\
00408 # Image acquisition info #\n\
00409 #######################################################################\n\
00410 \n\
00411 # Time of image acquisition, camera coordinate frame ID\n\
00412 Header header # Header timestamp should be acquisition time of image\n\
00413 # Header frame_id should be optical frame of camera\n\
00414 # origin of frame should be optical center of camera\n\
00415 # +x should point to the right in the image\n\
00416 # +y should point down in the image\n\
00417 # +z should point into the plane of the image\n\
00418 \n\
00419 \n\
00420 #######################################################################\n\
00421 # Calibration Parameters #\n\
00422 #######################################################################\n\
00423 # These are fixed during camera calibration. Their values will be the #\n\
00424 # same in all messages until the camera is recalibrated. Note that #\n\
00425 # self-calibrating systems may \"recalibrate\" frequently. #\n\
00426 # #\n\
00427 # The internal parameters can be used to warp a raw (distorted) image #\n\
00428 # to: #\n\
00429 # 1. An undistorted image (requires D and K) #\n\
00430 # 2. A rectified image (requires D, K, R) #\n\
00431 # The projection matrix P projects 3D points into the rectified image.#\n\
00432 #######################################################################\n\
00433 \n\
00434 # The image dimensions with which the camera was calibrated. Normally\n\
00435 # this will be the full camera resolution in pixels.\n\
00436 uint32 height\n\
00437 uint32 width\n\
00438 \n\
00439 # The distortion model used. Supported models are listed in\n\
00440 # sensor_msgs/distortion_models.h. For most cameras, \"plumb_bob\" - a\n\
00441 # simple model of radial and tangential distortion - is sufficent.\n\
00442 string distortion_model\n\
00443 \n\
00444 # The distortion parameters, size depending on the distortion model.\n\
00445 # For \"plumb_bob\", the 5 parameters are: (k1, k2, t1, t2, k3).\n\
00446 float64[] D\n\
00447 \n\
00448 # Intrinsic camera matrix for the raw (distorted) images.\n\
00449 # [fx 0 cx]\n\
00450 # K = [ 0 fy cy]\n\
00451 # [ 0 0 1]\n\
00452 # Projects 3D points in the camera coordinate frame to 2D pixel\n\
00453 # coordinates using the focal lengths (fx, fy) and principal point\n\
00454 # (cx, cy).\n\
00455 float64[9] K # 3x3 row-major matrix\n\
00456 \n\
00457 # Rectification matrix (stereo cameras only)\n\
00458 # A rotation matrix aligning the camera coordinate system to the ideal\n\
00459 # stereo image plane so that epipolar lines in both stereo images are\n\
00460 # parallel.\n\
00461 float64[9] R # 3x3 row-major matrix\n\
00462 \n\
00463 # Projection/camera matrix\n\
00464 # [fx' 0 cx' Tx]\n\
00465 # P = [ 0 fy' cy' Ty]\n\
00466 # [ 0 0 1 0]\n\
00467 # By convention, this matrix specifies the intrinsic (camera) matrix\n\
00468 # of the processed (rectified) image. That is, the left 3x3 portion\n\
00469 # is the normal camera intrinsic matrix for the rectified image.\n\
00470 # It projects 3D points in the camera coordinate frame to 2D pixel\n\
00471 # coordinates using the focal lengths (fx', fy') and principal point\n\
00472 # (cx', cy') - these may differ from the values in K.\n\
00473 # For monocular cameras, Tx = Ty = 0. Normally, monocular cameras will\n\
00474 # also have R = the identity and P[1:3,1:3] = K.\n\
00475 # For a stereo pair, the fourth column [Tx Ty 0]' is related to the\n\
00476 # position of the optical center of the second camera in the first\n\
00477 # camera's frame. We assume Tz = 0 so both cameras are in the same\n\
00478 # stereo image plane. The first camera always has Tx = Ty = 0. For\n\
00479 # the right (second) camera of a horizontal stereo pair, Ty = 0 and\n\
00480 # Tx = -fx' * B, where B is the baseline between the cameras.\n\
00481 # Given a 3D point [X Y Z]', the projection (x, y) of the point onto\n\
00482 # the rectified image is given by:\n\
00483 # [u v w]' = P * [X Y Z 1]'\n\
00484 # x = u / w\n\
00485 # y = v / w\n\
00486 # This holds for both images of a stereo pair.\n\
00487 float64[12] P # 3x4 row-major matrix\n\
00488 \n\
00489 \n\
00490 #######################################################################\n\
00491 # Operational Parameters #\n\
00492 #######################################################################\n\
00493 # These define the image region actually captured by the camera #\n\
00494 # driver. Although they affect the geometry of the output image, they #\n\
00495 # may be changed freely without recalibrating the camera. #\n\
00496 #######################################################################\n\
00497 \n\
00498 # Binning refers here to any camera setting which combines rectangular\n\
00499 # neighborhoods of pixels into larger \"super-pixels.\" It reduces the\n\
00500 # resolution of the output image to\n\
00501 # (width / binning_x) x (height / binning_y).\n\
00502 # The default values binning_x = binning_y = 0 is considered the same\n\
00503 # as binning_x = binning_y = 1 (no subsampling).\n\
00504 uint32 binning_x\n\
00505 uint32 binning_y\n\
00506 \n\
00507 # Region of interest (subwindow of full camera resolution), given in\n\
00508 # full resolution (unbinned) image coordinates. A particular ROI\n\
00509 # always denotes the same window of pixels on the camera sensor,\n\
00510 # regardless of binning settings.\n\
00511 # The default setting of roi (all values 0) is considered the same as\n\
00512 # full resolution (roi.width = width, roi.height = height).\n\
00513 RegionOfInterest roi\n\
00514 \n\
00515 ================================================================================\n\
00516 MSG: sensor_msgs/RegionOfInterest\n\
00517 # This message is used to specify a region of interest within an image.\n\
00518 #\n\
00519 # When used to specify the ROI setting of the camera when the image was\n\
00520 # taken, the height and width fields should either match the height and\n\
00521 # width fields for the associated image; or height = width = 0\n\
00522 # indicates that the full resolution image was captured.\n\
00523 \n\
00524 uint32 x_offset # Leftmost pixel of the ROI\n\
00525 # (0 if the ROI includes the left edge of the image)\n\
00526 uint32 y_offset # Topmost pixel of the ROI\n\
00527 # (0 if the ROI includes the top edge of the image)\n\
00528 uint32 height # Height of ROI\n\
00529 uint32 width # Width of ROI\n\
00530 \n\
00531 # True if a distinct rectified ROI should be calculated from the \"raw\"\n\
00532 # ROI in this message. Typically this should be False if the full image\n\
00533 # is captured (ROI not used), and True if a subwindow is captured (ROI\n\
00534 # used).\n\
00535 bool do_rectify\n\
00536 \n\
00537 ================================================================================\n\
00538 MSG: geometry_msgs/Vector3\n\
00539 # This represents a vector in free space. \n\
00540 \n\
00541 float64 x\n\
00542 float64 y\n\
00543 float64 z\n\
00544 ================================================================================\n\
00545 MSG: object_manipulation_msgs/GraspPlanningErrorCode\n\
00546 # Error codes for grasp and place planning\n\
00547 \n\
00548 # plan completed as expected\n\
00549 int32 SUCCESS = 0\n\
00550 \n\
00551 # tf error encountered while transforming\n\
00552 int32 TF_ERROR = 1 \n\
00553 \n\
00554 # some other error\n\
00555 int32 OTHER_ERROR = 2\n\
00556 \n\
00557 # the actual value of this error code\n\
00558 int32 value\n\
00559 "; }
00560 public:
00561 ROS_DEPRECATED static const std::string __s_getMessageDefinition() { return __s_getMessageDefinition_(); }
00562
00563 ROS_DEPRECATED const std::string __getMessageDefinition() const { return __s_getMessageDefinition_(); }
00564
00565 ROS_DEPRECATED virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const
00566 {
00567 ros::serialization::OStream stream(write_ptr, 1000000000);
00568 ros::serialization::serialize(stream, grasps);
00569 ros::serialization::serialize(stream, error_code);
00570 return stream.getData();
00571 }
00572
00573 ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr)
00574 {
00575 ros::serialization::IStream stream(read_ptr, 1000000000);
00576 ros::serialization::deserialize(stream, grasps);
00577 ros::serialization::deserialize(stream, error_code);
00578 return stream.getData();
00579 }
00580
00581 ROS_DEPRECATED virtual uint32_t serializationLength() const
00582 {
00583 uint32_t size = 0;
00584 size += ros::serialization::serializationLength(grasps);
00585 size += ros::serialization::serializationLength(error_code);
00586 return size;
00587 }
00588
00589 typedef boost::shared_ptr< ::object_manipulation_msgs::GraspPlanningResult_<ContainerAllocator> > Ptr;
00590 typedef boost::shared_ptr< ::object_manipulation_msgs::GraspPlanningResult_<ContainerAllocator> const> ConstPtr;
00591 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00592 };
00593 typedef ::object_manipulation_msgs::GraspPlanningResult_<std::allocator<void> > GraspPlanningResult;
00594
00595 typedef boost::shared_ptr< ::object_manipulation_msgs::GraspPlanningResult> GraspPlanningResultPtr;
00596 typedef boost::shared_ptr< ::object_manipulation_msgs::GraspPlanningResult const> GraspPlanningResultConstPtr;
00597
00598
00599 template<typename ContainerAllocator>
00600 std::ostream& operator<<(std::ostream& s, const ::object_manipulation_msgs::GraspPlanningResult_<ContainerAllocator> & v)
00601 {
00602 ros::message_operations::Printer< ::object_manipulation_msgs::GraspPlanningResult_<ContainerAllocator> >::stream(s, "", v);
00603 return s;}
00604
00605 }
00606
00607 namespace ros
00608 {
00609 namespace message_traits
00610 {
00611 template<class ContainerAllocator> struct IsMessage< ::object_manipulation_msgs::GraspPlanningResult_<ContainerAllocator> > : public TrueType {};
00612 template<class ContainerAllocator> struct IsMessage< ::object_manipulation_msgs::GraspPlanningResult_<ContainerAllocator> const> : public TrueType {};
00613 template<class ContainerAllocator>
00614 struct MD5Sum< ::object_manipulation_msgs::GraspPlanningResult_<ContainerAllocator> > {
00615 static const char* value()
00616 {
00617 return "998e3d06c509abfc46d7fdf96fe1c188";
00618 }
00619
00620 static const char* value(const ::object_manipulation_msgs::GraspPlanningResult_<ContainerAllocator> &) { return value(); }
00621 static const uint64_t static_value1 = 0x998e3d06c509abfcULL;
00622 static const uint64_t static_value2 = 0x46d7fdf96fe1c188ULL;
00623 };
00624
00625 template<class ContainerAllocator>
00626 struct DataType< ::object_manipulation_msgs::GraspPlanningResult_<ContainerAllocator> > {
00627 static const char* value()
00628 {
00629 return "object_manipulation_msgs/GraspPlanningResult";
00630 }
00631
00632 static const char* value(const ::object_manipulation_msgs::GraspPlanningResult_<ContainerAllocator> &) { return value(); }
00633 };
00634
00635 template<class ContainerAllocator>
00636 struct Definition< ::object_manipulation_msgs::GraspPlanningResult_<ContainerAllocator> > {
00637 static const char* value()
00638 {
00639 return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00640 \n\
00641 # the list of planned grasps\n\
00642 Grasp[] grasps\n\
00643 \n\
00644 # whether an error occurred\n\
00645 GraspPlanningErrorCode error_code\n\
00646 \n\
00647 \n\
00648 ================================================================================\n\
00649 MSG: object_manipulation_msgs/Grasp\n\
00650 \n\
00651 # The internal posture of the hand for the pre-grasp\n\
00652 # only positions are used\n\
00653 sensor_msgs/JointState pre_grasp_posture\n\
00654 \n\
00655 # The internal posture of the hand for the grasp\n\
00656 # positions and efforts are used\n\
00657 sensor_msgs/JointState grasp_posture\n\
00658 \n\
00659 # The position of the end-effector for the grasp relative to a reference frame \n\
00660 # (that is always specified elsewhere, not in this message)\n\
00661 geometry_msgs/Pose grasp_pose\n\
00662 \n\
00663 # The estimated probability of success for this grasp\n\
00664 float64 success_probability\n\
00665 \n\
00666 # Debug flag to indicate that this grasp would be the best in its cluster\n\
00667 bool cluster_rep\n\
00668 \n\
00669 # how far the pre-grasp should ideally be away from the grasp\n\
00670 float32 desired_approach_distance\n\
00671 \n\
00672 # how much distance between pre-grasp and grasp must actually be feasible \n\
00673 # for the grasp not to be rejected\n\
00674 float32 min_approach_distance\n\
00675 \n\
00676 # an optional list of obstacles that we have semantic information about\n\
00677 # and that we expect might move in the course of executing this grasp\n\
00678 # the grasp planner is expected to make sure they move in an OK way; during\n\
00679 # execution, grasp executors will not check for collisions against these objects\n\
00680 GraspableObject[] moved_obstacles\n\
00681 \n\
00682 ================================================================================\n\
00683 MSG: sensor_msgs/JointState\n\
00684 # This is a message that holds data to describe the state of a set of torque controlled joints. \n\
00685 #\n\
00686 # The state of each joint (revolute or prismatic) is defined by:\n\
00687 # * the position of the joint (rad or m),\n\
00688 # * the velocity of the joint (rad/s or m/s) and \n\
00689 # * the effort that is applied in the joint (Nm or N).\n\
00690 #\n\
00691 # Each joint is uniquely identified by its name\n\
00692 # The header specifies the time at which the joint states were recorded. All the joint states\n\
00693 # in one message have to be recorded at the same time.\n\
00694 #\n\
00695 # This message consists of a multiple arrays, one for each part of the joint state. \n\
00696 # The goal is to make each of the fields optional. When e.g. your joints have no\n\
00697 # effort associated with them, you can leave the effort array empty. \n\
00698 #\n\
00699 # All arrays in this message should have the same size, or be empty.\n\
00700 # This is the only way to uniquely associate the joint name with the correct\n\
00701 # states.\n\
00702 \n\
00703 \n\
00704 Header header\n\
00705 \n\
00706 string[] name\n\
00707 float64[] position\n\
00708 float64[] velocity\n\
00709 float64[] effort\n\
00710 \n\
00711 ================================================================================\n\
00712 MSG: std_msgs/Header\n\
00713 # Standard metadata for higher-level stamped data types.\n\
00714 # This is generally used to communicate timestamped data \n\
00715 # in a particular coordinate frame.\n\
00716 # \n\
00717 # sequence ID: consecutively increasing ID \n\
00718 uint32 seq\n\
00719 #Two-integer timestamp that is expressed as:\n\
00720 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00721 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00722 # time-handling sugar is provided by the client library\n\
00723 time stamp\n\
00724 #Frame this data is associated with\n\
00725 # 0: no frame\n\
00726 # 1: global frame\n\
00727 string frame_id\n\
00728 \n\
00729 ================================================================================\n\
00730 MSG: geometry_msgs/Pose\n\
00731 # A representation of pose in free space, composed of postion and orientation. \n\
00732 Point position\n\
00733 Quaternion orientation\n\
00734 \n\
00735 ================================================================================\n\
00736 MSG: geometry_msgs/Point\n\
00737 # This contains the position of a point in free space\n\
00738 float64 x\n\
00739 float64 y\n\
00740 float64 z\n\
00741 \n\
00742 ================================================================================\n\
00743 MSG: geometry_msgs/Quaternion\n\
00744 # This represents an orientation in free space in quaternion form.\n\
00745 \n\
00746 float64 x\n\
00747 float64 y\n\
00748 float64 z\n\
00749 float64 w\n\
00750 \n\
00751 ================================================================================\n\
00752 MSG: object_manipulation_msgs/GraspableObject\n\
00753 # an object that the object_manipulator can work on\n\
00754 \n\
00755 # a graspable object can be represented in multiple ways. This message\n\
00756 # can contain all of them. Which one is actually used is up to the receiver\n\
00757 # of this message. When adding new representations, one must be careful that\n\
00758 # they have reasonable lightweight defaults indicating that that particular\n\
00759 # representation is not available.\n\
00760 \n\
00761 # the tf frame to be used as a reference frame when combining information from\n\
00762 # the different representations below\n\
00763 string reference_frame_id\n\
00764 \n\
00765 # potential recognition results from a database of models\n\
00766 # all poses are relative to the object reference pose\n\
00767 household_objects_database_msgs/DatabaseModelPose[] potential_models\n\
00768 \n\
00769 # the point cloud itself\n\
00770 sensor_msgs/PointCloud cluster\n\
00771 \n\
00772 # a region of a PointCloud2 of interest\n\
00773 object_manipulation_msgs/SceneRegion region\n\
00774 \n\
00775 # the name that this object has in the collision environment\n\
00776 string collision_name\n\
00777 ================================================================================\n\
00778 MSG: household_objects_database_msgs/DatabaseModelPose\n\
00779 # Informs that a specific model from the Model Database has been \n\
00780 # identified at a certain location\n\
00781 \n\
00782 # the database id of the model\n\
00783 int32 model_id\n\
00784 \n\
00785 # the pose that it can be found in\n\
00786 geometry_msgs/PoseStamped pose\n\
00787 \n\
00788 # a measure of the confidence level in this detection result\n\
00789 float32 confidence\n\
00790 \n\
00791 # the name of the object detector that generated this detection result\n\
00792 string detector_name\n\
00793 \n\
00794 ================================================================================\n\
00795 MSG: geometry_msgs/PoseStamped\n\
00796 # A Pose with reference coordinate frame and timestamp\n\
00797 Header header\n\
00798 Pose pose\n\
00799 \n\
00800 ================================================================================\n\
00801 MSG: sensor_msgs/PointCloud\n\
00802 # This message holds a collection of 3d points, plus optional additional\n\
00803 # information about each point.\n\
00804 \n\
00805 # Time of sensor data acquisition, coordinate frame ID.\n\
00806 Header header\n\
00807 \n\
00808 # Array of 3d points. Each Point32 should be interpreted as a 3d point\n\
00809 # in the frame given in the header.\n\
00810 geometry_msgs/Point32[] points\n\
00811 \n\
00812 # Each channel should have the same number of elements as points array,\n\
00813 # and the data in each channel should correspond 1:1 with each point.\n\
00814 # Channel names in common practice are listed in ChannelFloat32.msg.\n\
00815 ChannelFloat32[] channels\n\
00816 \n\
00817 ================================================================================\n\
00818 MSG: geometry_msgs/Point32\n\
00819 # This contains the position of a point in free space(with 32 bits of precision).\n\
00820 # It is recommeded to use Point wherever possible instead of Point32. \n\
00821 # \n\
00822 # This recommendation is to promote interoperability. \n\
00823 #\n\
00824 # This message is designed to take up less space when sending\n\
00825 # lots of points at once, as in the case of a PointCloud. \n\
00826 \n\
00827 float32 x\n\
00828 float32 y\n\
00829 float32 z\n\
00830 ================================================================================\n\
00831 MSG: sensor_msgs/ChannelFloat32\n\
00832 # This message is used by the PointCloud message to hold optional data\n\
00833 # associated with each point in the cloud. The length of the values\n\
00834 # array should be the same as the length of the points array in the\n\
00835 # PointCloud, and each value should be associated with the corresponding\n\
00836 # point.\n\
00837 \n\
00838 # Channel names in existing practice include:\n\
00839 # \"u\", \"v\" - row and column (respectively) in the left stereo image.\n\
00840 # This is opposite to usual conventions but remains for\n\
00841 # historical reasons. The newer PointCloud2 message has no\n\
00842 # such problem.\n\
00843 # \"rgb\" - For point clouds produced by color stereo cameras. uint8\n\
00844 # (R,G,B) values packed into the least significant 24 bits,\n\
00845 # in order.\n\
00846 # \"intensity\" - laser or pixel intensity.\n\
00847 # \"distance\"\n\
00848 \n\
00849 # The channel name should give semantics of the channel (e.g.\n\
00850 # \"intensity\" instead of \"value\").\n\
00851 string name\n\
00852 \n\
00853 # The values array should be 1-1 with the elements of the associated\n\
00854 # PointCloud.\n\
00855 float32[] values\n\
00856 \n\
00857 ================================================================================\n\
00858 MSG: object_manipulation_msgs/SceneRegion\n\
00859 # Point cloud\n\
00860 sensor_msgs/PointCloud2 cloud\n\
00861 \n\
00862 # Indices for the region of interest\n\
00863 int32[] mask\n\
00864 \n\
00865 # One of the corresponding 2D images, if applicable\n\
00866 sensor_msgs/Image image\n\
00867 \n\
00868 # The disparity image, if applicable\n\
00869 sensor_msgs/Image disparity_image\n\
00870 \n\
00871 # Camera info for the camera that took the image\n\
00872 sensor_msgs/CameraInfo cam_info\n\
00873 \n\
00874 # a 3D region of interest for grasp planning\n\
00875 geometry_msgs/PoseStamped roi_box_pose\n\
00876 geometry_msgs/Vector3 roi_box_dims\n\
00877 \n\
00878 ================================================================================\n\
00879 MSG: sensor_msgs/PointCloud2\n\
00880 # This message holds a collection of N-dimensional points, which may\n\
00881 # contain additional information such as normals, intensity, etc. The\n\
00882 # point data is stored as a binary blob, its layout described by the\n\
00883 # contents of the \"fields\" array.\n\
00884 \n\
00885 # The point cloud data may be organized 2d (image-like) or 1d\n\
00886 # (unordered). Point clouds organized as 2d images may be produced by\n\
00887 # camera depth sensors such as stereo or time-of-flight.\n\
00888 \n\
00889 # Time of sensor data acquisition, and the coordinate frame ID (for 3d\n\
00890 # points).\n\
00891 Header header\n\
00892 \n\
00893 # 2D structure of the point cloud. If the cloud is unordered, height is\n\
00894 # 1 and width is the length of the point cloud.\n\
00895 uint32 height\n\
00896 uint32 width\n\
00897 \n\
00898 # Describes the channels and their layout in the binary data blob.\n\
00899 PointField[] fields\n\
00900 \n\
00901 bool is_bigendian # Is this data bigendian?\n\
00902 uint32 point_step # Length of a point in bytes\n\
00903 uint32 row_step # Length of a row in bytes\n\
00904 uint8[] data # Actual point data, size is (row_step*height)\n\
00905 \n\
00906 bool is_dense # True if there are no invalid points\n\
00907 \n\
00908 ================================================================================\n\
00909 MSG: sensor_msgs/PointField\n\
00910 # This message holds the description of one point entry in the\n\
00911 # PointCloud2 message format.\n\
00912 uint8 INT8 = 1\n\
00913 uint8 UINT8 = 2\n\
00914 uint8 INT16 = 3\n\
00915 uint8 UINT16 = 4\n\
00916 uint8 INT32 = 5\n\
00917 uint8 UINT32 = 6\n\
00918 uint8 FLOAT32 = 7\n\
00919 uint8 FLOAT64 = 8\n\
00920 \n\
00921 string name # Name of field\n\
00922 uint32 offset # Offset from start of point struct\n\
00923 uint8 datatype # Datatype enumeration, see above\n\
00924 uint32 count # How many elements in the field\n\
00925 \n\
00926 ================================================================================\n\
00927 MSG: sensor_msgs/Image\n\
00928 # This message contains an uncompressed image\n\
00929 # (0, 0) is at top-left corner of image\n\
00930 #\n\
00931 \n\
00932 Header header # Header timestamp should be acquisition time of image\n\
00933 # Header frame_id should be optical frame of camera\n\
00934 # origin of frame should be optical center of cameara\n\
00935 # +x should point to the right in the image\n\
00936 # +y should point down in the image\n\
00937 # +z should point into to plane of the image\n\
00938 # If the frame_id here and the frame_id of the CameraInfo\n\
00939 # message associated with the image conflict\n\
00940 # the behavior is undefined\n\
00941 \n\
00942 uint32 height # image height, that is, number of rows\n\
00943 uint32 width # image width, that is, number of columns\n\
00944 \n\
00945 # The legal values for encoding are in file src/image_encodings.cpp\n\
00946 # If you want to standardize a new string format, join\n\
00947 # ros-users@lists.sourceforge.net and send an email proposing a new encoding.\n\
00948 \n\
00949 string encoding # Encoding of pixels -- channel meaning, ordering, size\n\
00950 # taken from the list of strings in src/image_encodings.cpp\n\
00951 \n\
00952 uint8 is_bigendian # is this data bigendian?\n\
00953 uint32 step # Full row length in bytes\n\
00954 uint8[] data # actual matrix data, size is (step * rows)\n\
00955 \n\
00956 ================================================================================\n\
00957 MSG: sensor_msgs/CameraInfo\n\
00958 # This message defines meta information for a camera. It should be in a\n\
00959 # camera namespace on topic \"camera_info\" and accompanied by up to five\n\
00960 # image topics named:\n\
00961 #\n\
00962 # image_raw - raw data from the camera driver, possibly Bayer encoded\n\
00963 # image - monochrome, distorted\n\
00964 # image_color - color, distorted\n\
00965 # image_rect - monochrome, rectified\n\
00966 # image_rect_color - color, rectified\n\
00967 #\n\
00968 # The image_pipeline contains packages (image_proc, stereo_image_proc)\n\
00969 # for producing the four processed image topics from image_raw and\n\
00970 # camera_info. The meaning of the camera parameters are described in\n\
00971 # detail at http://www.ros.org/wiki/image_pipeline/CameraInfo.\n\
00972 #\n\
00973 # The image_geometry package provides a user-friendly interface to\n\
00974 # common operations using this meta information. If you want to, e.g.,\n\
00975 # project a 3d point into image coordinates, we strongly recommend\n\
00976 # using image_geometry.\n\
00977 #\n\
00978 # If the camera is uncalibrated, the matrices D, K, R, P should be left\n\
00979 # zeroed out. In particular, clients may assume that K[0] == 0.0\n\
00980 # indicates an uncalibrated camera.\n\
00981 \n\
00982 #######################################################################\n\
00983 # Image acquisition info #\n\
00984 #######################################################################\n\
00985 \n\
00986 # Time of image acquisition, camera coordinate frame ID\n\
00987 Header header # Header timestamp should be acquisition time of image\n\
00988 # Header frame_id should be optical frame of camera\n\
00989 # origin of frame should be optical center of camera\n\
00990 # +x should point to the right in the image\n\
00991 # +y should point down in the image\n\
00992 # +z should point into the plane of the image\n\
00993 \n\
00994 \n\
00995 #######################################################################\n\
00996 # Calibration Parameters #\n\
00997 #######################################################################\n\
00998 # These are fixed during camera calibration. Their values will be the #\n\
00999 # same in all messages until the camera is recalibrated. Note that #\n\
01000 # self-calibrating systems may \"recalibrate\" frequently. #\n\
01001 # #\n\
01002 # The internal parameters can be used to warp a raw (distorted) image #\n\
01003 # to: #\n\
01004 # 1. An undistorted image (requires D and K) #\n\
01005 # 2. A rectified image (requires D, K, R) #\n\
01006 # The projection matrix P projects 3D points into the rectified image.#\n\
01007 #######################################################################\n\
01008 \n\
01009 # The image dimensions with which the camera was calibrated. Normally\n\
01010 # this will be the full camera resolution in pixels.\n\
01011 uint32 height\n\
01012 uint32 width\n\
01013 \n\
01014 # The distortion model used. Supported models are listed in\n\
01015 # sensor_msgs/distortion_models.h. For most cameras, \"plumb_bob\" - a\n\
01016 # simple model of radial and tangential distortion - is sufficent.\n\
01017 string distortion_model\n\
01018 \n\
01019 # The distortion parameters, size depending on the distortion model.\n\
01020 # For \"plumb_bob\", the 5 parameters are: (k1, k2, t1, t2, k3).\n\
01021 float64[] D\n\
01022 \n\
01023 # Intrinsic camera matrix for the raw (distorted) images.\n\
01024 # [fx 0 cx]\n\
01025 # K = [ 0 fy cy]\n\
01026 # [ 0 0 1]\n\
01027 # Projects 3D points in the camera coordinate frame to 2D pixel\n\
01028 # coordinates using the focal lengths (fx, fy) and principal point\n\
01029 # (cx, cy).\n\
01030 float64[9] K # 3x3 row-major matrix\n\
01031 \n\
01032 # Rectification matrix (stereo cameras only)\n\
01033 # A rotation matrix aligning the camera coordinate system to the ideal\n\
01034 # stereo image plane so that epipolar lines in both stereo images are\n\
01035 # parallel.\n\
01036 float64[9] R # 3x3 row-major matrix\n\
01037 \n\
01038 # Projection/camera matrix\n\
01039 # [fx' 0 cx' Tx]\n\
01040 # P = [ 0 fy' cy' Ty]\n\
01041 # [ 0 0 1 0]\n\
01042 # By convention, this matrix specifies the intrinsic (camera) matrix\n\
01043 # of the processed (rectified) image. That is, the left 3x3 portion\n\
01044 # is the normal camera intrinsic matrix for the rectified image.\n\
01045 # It projects 3D points in the camera coordinate frame to 2D pixel\n\
01046 # coordinates using the focal lengths (fx', fy') and principal point\n\
01047 # (cx', cy') - these may differ from the values in K.\n\
01048 # For monocular cameras, Tx = Ty = 0. Normally, monocular cameras will\n\
01049 # also have R = the identity and P[1:3,1:3] = K.\n\
01050 # For a stereo pair, the fourth column [Tx Ty 0]' is related to the\n\
01051 # position of the optical center of the second camera in the first\n\
01052 # camera's frame. We assume Tz = 0 so both cameras are in the same\n\
01053 # stereo image plane. The first camera always has Tx = Ty = 0. For\n\
01054 # the right (second) camera of a horizontal stereo pair, Ty = 0 and\n\
01055 # Tx = -fx' * B, where B is the baseline between the cameras.\n\
01056 # Given a 3D point [X Y Z]', the projection (x, y) of the point onto\n\
01057 # the rectified image is given by:\n\
01058 # [u v w]' = P * [X Y Z 1]'\n\
01059 # x = u / w\n\
01060 # y = v / w\n\
01061 # This holds for both images of a stereo pair.\n\
01062 float64[12] P # 3x4 row-major matrix\n\
01063 \n\
01064 \n\
01065 #######################################################################\n\
01066 # Operational Parameters #\n\
01067 #######################################################################\n\
01068 # These define the image region actually captured by the camera #\n\
01069 # driver. Although they affect the geometry of the output image, they #\n\
01070 # may be changed freely without recalibrating the camera. #\n\
01071 #######################################################################\n\
01072 \n\
01073 # Binning refers here to any camera setting which combines rectangular\n\
01074 # neighborhoods of pixels into larger \"super-pixels.\" It reduces the\n\
01075 # resolution of the output image to\n\
01076 # (width / binning_x) x (height / binning_y).\n\
01077 # The default values binning_x = binning_y = 0 is considered the same\n\
01078 # as binning_x = binning_y = 1 (no subsampling).\n\
01079 uint32 binning_x\n\
01080 uint32 binning_y\n\
01081 \n\
01082 # Region of interest (subwindow of full camera resolution), given in\n\
01083 # full resolution (unbinned) image coordinates. A particular ROI\n\
01084 # always denotes the same window of pixels on the camera sensor,\n\
01085 # regardless of binning settings.\n\
01086 # The default setting of roi (all values 0) is considered the same as\n\
01087 # full resolution (roi.width = width, roi.height = height).\n\
01088 RegionOfInterest roi\n\
01089 \n\
01090 ================================================================================\n\
01091 MSG: sensor_msgs/RegionOfInterest\n\
01092 # This message is used to specify a region of interest within an image.\n\
01093 #\n\
01094 # When used to specify the ROI setting of the camera when the image was\n\
01095 # taken, the height and width fields should either match the height and\n\
01096 # width fields for the associated image; or height = width = 0\n\
01097 # indicates that the full resolution image was captured.\n\
01098 \n\
01099 uint32 x_offset # Leftmost pixel of the ROI\n\
01100 # (0 if the ROI includes the left edge of the image)\n\
01101 uint32 y_offset # Topmost pixel of the ROI\n\
01102 # (0 if the ROI includes the top edge of the image)\n\
01103 uint32 height # Height of ROI\n\
01104 uint32 width # Width of ROI\n\
01105 \n\
01106 # True if a distinct rectified ROI should be calculated from the \"raw\"\n\
01107 # ROI in this message. Typically this should be False if the full image\n\
01108 # is captured (ROI not used), and True if a subwindow is captured (ROI\n\
01109 # used).\n\
01110 bool do_rectify\n\
01111 \n\
01112 ================================================================================\n\
01113 MSG: geometry_msgs/Vector3\n\
01114 # This represents a vector in free space. \n\
01115 \n\
01116 float64 x\n\
01117 float64 y\n\
01118 float64 z\n\
01119 ================================================================================\n\
01120 MSG: object_manipulation_msgs/GraspPlanningErrorCode\n\
01121 # Error codes for grasp and place planning\n\
01122 \n\
01123 # plan completed as expected\n\
01124 int32 SUCCESS = 0\n\
01125 \n\
01126 # tf error encountered while transforming\n\
01127 int32 TF_ERROR = 1 \n\
01128 \n\
01129 # some other error\n\
01130 int32 OTHER_ERROR = 2\n\
01131 \n\
01132 # the actual value of this error code\n\
01133 int32 value\n\
01134 ";
01135 }
01136
01137 static const char* value(const ::object_manipulation_msgs::GraspPlanningResult_<ContainerAllocator> &) { return value(); }
01138 };
01139
01140 }
01141 }
01142
01143 namespace ros
01144 {
01145 namespace serialization
01146 {
01147
01148 template<class ContainerAllocator> struct Serializer< ::object_manipulation_msgs::GraspPlanningResult_<ContainerAllocator> >
01149 {
01150 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
01151 {
01152 stream.next(m.grasps);
01153 stream.next(m.error_code);
01154 }
01155
01156 ROS_DECLARE_ALLINONE_SERIALIZER;
01157 };
01158 }
01159 }
01160
01161 namespace ros
01162 {
01163 namespace message_operations
01164 {
01165
01166 template<class ContainerAllocator>
01167 struct Printer< ::object_manipulation_msgs::GraspPlanningResult_<ContainerAllocator> >
01168 {
01169 template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::object_manipulation_msgs::GraspPlanningResult_<ContainerAllocator> & v)
01170 {
01171 s << indent << "grasps[]" << std::endl;
01172 for (size_t i = 0; i < v.grasps.size(); ++i)
01173 {
01174 s << indent << " grasps[" << i << "]: ";
01175 s << std::endl;
01176 s << indent;
01177 Printer< ::object_manipulation_msgs::Grasp_<ContainerAllocator> >::stream(s, indent + " ", v.grasps[i]);
01178 }
01179 s << indent << "error_code: ";
01180 s << std::endl;
01181 Printer< ::object_manipulation_msgs::GraspPlanningErrorCode_<ContainerAllocator> >::stream(s, indent + " ", v.error_code);
01182 }
01183 };
01184
01185
01186 }
01187 }
01188
01189 #endif // OBJECT_MANIPULATION_MSGS_MESSAGE_GRASPPLANNINGRESULT_H
01190
