00001
00002 #ifndef OBJECT_MANIPULATION_MSGS_MESSAGE_REACTIVELIFTACTIONGOAL_H
00003 #define OBJECT_MANIPULATION_MSGS_MESSAGE_REACTIVELIFTACTIONGOAL_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/GoalID.h"
00019 #include "object_manipulation_msgs/ReactiveLiftGoal.h"
00020
00021 namespace object_manipulation_msgs
00022 {
00023 template <class ContainerAllocator>
00024 struct ReactiveLiftActionGoal_ {
00025 typedef ReactiveLiftActionGoal_<ContainerAllocator> Type;
00026
00027 ReactiveLiftActionGoal_()
00028 : header()
00029 , goal_id()
00030 , goal()
00031 {
00032 }
00033
00034 ReactiveLiftActionGoal_(const ContainerAllocator& _alloc)
00035 : header(_alloc)
00036 , goal_id(_alloc)
00037 , goal(_alloc)
00038 {
00039 }
00040
00041 typedef ::std_msgs::Header_<ContainerAllocator> _header_type;
00042 ::std_msgs::Header_<ContainerAllocator> header;
00043
00044 typedef ::actionlib_msgs::GoalID_<ContainerAllocator> _goal_id_type;
00045 ::actionlib_msgs::GoalID_<ContainerAllocator> goal_id;
00046
00047 typedef ::object_manipulation_msgs::ReactiveLiftGoal_<ContainerAllocator> _goal_type;
00048 ::object_manipulation_msgs::ReactiveLiftGoal_<ContainerAllocator> goal;
00049
00050
00051 private:
00052 static const char* __s_getDataType_() { return "object_manipulation_msgs/ReactiveLiftActionGoal"; }
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 "a61549c00e5d14801c74498e3f7d5554"; }
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/GoalID goal_id\n\
00070 ReactiveLiftGoal goal\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/GoalID\n\
00092 # The stamp should store the time at which this goal was requested.\n\
00093 # It is used by an action server when it tries to preempt all\n\
00094 # goals that were requested before a certain time\n\
00095 time stamp\n\
00096 \n\
00097 # The id provides a way to associate feedback and\n\
00098 # result message with specific goal requests. The id\n\
00099 # specified must be unique.\n\
00100 string id\n\
00101 \n\
00102 \n\
00103 ================================================================================\n\
00104 MSG: object_manipulation_msgs/ReactiveLiftGoal\n\
00105 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00106 \n\
00107 # the name of the arm being used\n\
00108 string arm_name\n\
00109 \n\
00110 # the object to be grasped\n\
00111 GraspableObject target\n\
00112 \n\
00113 # How the object should be lifted \n\
00114 GripperTranslation lift\n\
00115 \n\
00116 # the joint trajectory to use for the approach (if available)\n\
00117 # this trajectory is expected to start at the current pose of the gripper\n\
00118 # and end at the desired grasp pose\n\
00119 trajectory_msgs/JointTrajectory trajectory\n\
00120 \n\
00121 # the name of the support surface in the collision environment, if any\n\
00122 string collision_support_surface_name\n\
00123 \n\
00124 \n\
00125 ================================================================================\n\
00126 MSG: object_manipulation_msgs/GraspableObject\n\
00127 # an object that the object_manipulator can work on\n\
00128 \n\
00129 # a graspable object can be represented in multiple ways. This message\n\
00130 # can contain all of them. Which one is actually used is up to the receiver\n\
00131 # of this message. When adding new representations, one must be careful that\n\
00132 # they have reasonable lightweight defaults indicating that that particular\n\
00133 # representation is not available.\n\
00134 \n\
00135 # the tf frame to be used as a reference frame when combining information from\n\
00136 # the different representations below\n\
00137 string reference_frame_id\n\
00138 \n\
00139 # potential recognition results from a database of models\n\
00140 # all poses are relative to the object reference pose\n\
00141 household_objects_database_msgs/DatabaseModelPose[] potential_models\n\
00142 \n\
00143 # the point cloud itself\n\
00144 sensor_msgs/PointCloud cluster\n\
00145 \n\
00146 # a region of a PointCloud2 of interest\n\
00147 object_manipulation_msgs/SceneRegion region\n\
00148 \n\
00149 # the name that this object has in the collision environment\n\
00150 string collision_name\n\
00151 ================================================================================\n\
00152 MSG: household_objects_database_msgs/DatabaseModelPose\n\
00153 # Informs that a specific model from the Model Database has been \n\
00154 # identified at a certain location\n\
00155 \n\
00156 # the database id of the model\n\
00157 int32 model_id\n\
00158 \n\
00159 # the pose that it can be found in\n\
00160 geometry_msgs/PoseStamped pose\n\
00161 \n\
00162 # a measure of the confidence level in this detection result\n\
00163 float32 confidence\n\
00164 \n\
00165 # the name of the object detector that generated this detection result\n\
00166 string detector_name\n\
00167 \n\
00168 ================================================================================\n\
00169 MSG: geometry_msgs/PoseStamped\n\
00170 # A Pose with reference coordinate frame and timestamp\n\
00171 Header header\n\
00172 Pose pose\n\
00173 \n\
00174 ================================================================================\n\
00175 MSG: geometry_msgs/Pose\n\
00176 # A representation of pose in free space, composed of postion and orientation. \n\
00177 Point position\n\
00178 Quaternion orientation\n\
00179 \n\
00180 ================================================================================\n\
00181 MSG: geometry_msgs/Point\n\
00182 # This contains the position of a point in free space\n\
00183 float64 x\n\
00184 float64 y\n\
00185 float64 z\n\
00186 \n\
00187 ================================================================================\n\
00188 MSG: geometry_msgs/Quaternion\n\
00189 # This represents an orientation in free space in quaternion form.\n\
00190 \n\
00191 float64 x\n\
00192 float64 y\n\
00193 float64 z\n\
00194 float64 w\n\
00195 \n\
00196 ================================================================================\n\
00197 MSG: sensor_msgs/PointCloud\n\
00198 # This message holds a collection of 3d points, plus optional additional\n\
00199 # information about each point.\n\
00200 \n\
00201 # Time of sensor data acquisition, coordinate frame ID.\n\
00202 Header header\n\
00203 \n\
00204 # Array of 3d points. Each Point32 should be interpreted as a 3d point\n\
00205 # in the frame given in the header.\n\
00206 geometry_msgs/Point32[] points\n\
00207 \n\
00208 # Each channel should have the same number of elements as points array,\n\
00209 # and the data in each channel should correspond 1:1 with each point.\n\
00210 # Channel names in common practice are listed in ChannelFloat32.msg.\n\
00211 ChannelFloat32[] channels\n\
00212 \n\
00213 ================================================================================\n\
00214 MSG: geometry_msgs/Point32\n\
00215 # This contains the position of a point in free space(with 32 bits of precision).\n\
00216 # It is recommeded to use Point wherever possible instead of Point32. \n\
00217 # \n\
00218 # This recommendation is to promote interoperability. \n\
00219 #\n\
00220 # This message is designed to take up less space when sending\n\
00221 # lots of points at once, as in the case of a PointCloud. \n\
00222 \n\
00223 float32 x\n\
00224 float32 y\n\
00225 float32 z\n\
00226 ================================================================================\n\
00227 MSG: sensor_msgs/ChannelFloat32\n\
00228 # This message is used by the PointCloud message to hold optional data\n\
00229 # associated with each point in the cloud. The length of the values\n\
00230 # array should be the same as the length of the points array in the\n\
00231 # PointCloud, and each value should be associated with the corresponding\n\
00232 # point.\n\
00233 \n\
00234 # Channel names in existing practice include:\n\
00235 # \"u\", \"v\" - row and column (respectively) in the left stereo image.\n\
00236 # This is opposite to usual conventions but remains for\n\
00237 # historical reasons. The newer PointCloud2 message has no\n\
00238 # such problem.\n\
00239 # \"rgb\" - For point clouds produced by color stereo cameras. uint8\n\
00240 # (R,G,B) values packed into the least significant 24 bits,\n\
00241 # in order.\n\
00242 # \"intensity\" - laser or pixel intensity.\n\
00243 # \"distance\"\n\
00244 \n\
00245 # The channel name should give semantics of the channel (e.g.\n\
00246 # \"intensity\" instead of \"value\").\n\
00247 string name\n\
00248 \n\
00249 # The values array should be 1-1 with the elements of the associated\n\
00250 # PointCloud.\n\
00251 float32[] values\n\
00252 \n\
00253 ================================================================================\n\
00254 MSG: object_manipulation_msgs/SceneRegion\n\
00255 # Point cloud\n\
00256 sensor_msgs/PointCloud2 cloud\n\
00257 \n\
00258 # Indices for the region of interest\n\
00259 int32[] mask\n\
00260 \n\
00261 # One of the corresponding 2D images, if applicable\n\
00262 sensor_msgs/Image image\n\
00263 \n\
00264 # The disparity image, if applicable\n\
00265 sensor_msgs/Image disparity_image\n\
00266 \n\
00267 # Camera info for the camera that took the image\n\
00268 sensor_msgs/CameraInfo cam_info\n\
00269 \n\
00270 # a 3D region of interest for grasp planning\n\
00271 geometry_msgs/PoseStamped roi_box_pose\n\
00272 geometry_msgs/Vector3 roi_box_dims\n\
00273 \n\
00274 ================================================================================\n\
00275 MSG: sensor_msgs/PointCloud2\n\
00276 # This message holds a collection of N-dimensional points, which may\n\
00277 # contain additional information such as normals, intensity, etc. The\n\
00278 # point data is stored as a binary blob, its layout described by the\n\
00279 # contents of the \"fields\" array.\n\
00280 \n\
00281 # The point cloud data may be organized 2d (image-like) or 1d\n\
00282 # (unordered). Point clouds organized as 2d images may be produced by\n\
00283 # camera depth sensors such as stereo or time-of-flight.\n\
00284 \n\
00285 # Time of sensor data acquisition, and the coordinate frame ID (for 3d\n\
00286 # points).\n\
00287 Header header\n\
00288 \n\
00289 # 2D structure of the point cloud. If the cloud is unordered, height is\n\
00290 # 1 and width is the length of the point cloud.\n\
00291 uint32 height\n\
00292 uint32 width\n\
00293 \n\
00294 # Describes the channels and their layout in the binary data blob.\n\
00295 PointField[] fields\n\
00296 \n\
00297 bool is_bigendian # Is this data bigendian?\n\
00298 uint32 point_step # Length of a point in bytes\n\
00299 uint32 row_step # Length of a row in bytes\n\
00300 uint8[] data # Actual point data, size is (row_step*height)\n\
00301 \n\
00302 bool is_dense # True if there are no invalid points\n\
00303 \n\
00304 ================================================================================\n\
00305 MSG: sensor_msgs/PointField\n\
00306 # This message holds the description of one point entry in the\n\
00307 # PointCloud2 message format.\n\
00308 uint8 INT8 = 1\n\
00309 uint8 UINT8 = 2\n\
00310 uint8 INT16 = 3\n\
00311 uint8 UINT16 = 4\n\
00312 uint8 INT32 = 5\n\
00313 uint8 UINT32 = 6\n\
00314 uint8 FLOAT32 = 7\n\
00315 uint8 FLOAT64 = 8\n\
00316 \n\
00317 string name # Name of field\n\
00318 uint32 offset # Offset from start of point struct\n\
00319 uint8 datatype # Datatype enumeration, see above\n\
00320 uint32 count # How many elements in the field\n\
00321 \n\
00322 ================================================================================\n\
00323 MSG: sensor_msgs/Image\n\
00324 # This message contains an uncompressed image\n\
00325 # (0, 0) is at top-left corner of image\n\
00326 #\n\
00327 \n\
00328 Header header # Header timestamp should be acquisition time of image\n\
00329 # Header frame_id should be optical frame of camera\n\
00330 # origin of frame should be optical center of cameara\n\
00331 # +x should point to the right in the image\n\
00332 # +y should point down in the image\n\
00333 # +z should point into to plane of the image\n\
00334 # If the frame_id here and the frame_id of the CameraInfo\n\
00335 # message associated with the image conflict\n\
00336 # the behavior is undefined\n\
00337 \n\
00338 uint32 height # image height, that is, number of rows\n\
00339 uint32 width # image width, that is, number of columns\n\
00340 \n\
00341 # The legal values for encoding are in file src/image_encodings.cpp\n\
00342 # If you want to standardize a new string format, join\n\
00343 # ros-users@lists.sourceforge.net and send an email proposing a new encoding.\n\
00344 \n\
00345 string encoding # Encoding of pixels -- channel meaning, ordering, size\n\
00346 # taken from the list of strings in src/image_encodings.cpp\n\
00347 \n\
00348 uint8 is_bigendian # is this data bigendian?\n\
00349 uint32 step # Full row length in bytes\n\
00350 uint8[] data # actual matrix data, size is (step * rows)\n\
00351 \n\
00352 ================================================================================\n\
00353 MSG: sensor_msgs/CameraInfo\n\
00354 # This message defines meta information for a camera. It should be in a\n\
00355 # camera namespace on topic \"camera_info\" and accompanied by up to five\n\
00356 # image topics named:\n\
00357 #\n\
00358 # image_raw - raw data from the camera driver, possibly Bayer encoded\n\
00359 # image - monochrome, distorted\n\
00360 # image_color - color, distorted\n\
00361 # image_rect - monochrome, rectified\n\
00362 # image_rect_color - color, rectified\n\
00363 #\n\
00364 # The image_pipeline contains packages (image_proc, stereo_image_proc)\n\
00365 # for producing the four processed image topics from image_raw and\n\
00366 # camera_info. The meaning of the camera parameters are described in\n\
00367 # detail at http://www.ros.org/wiki/image_pipeline/CameraInfo.\n\
00368 #\n\
00369 # The image_geometry package provides a user-friendly interface to\n\
00370 # common operations using this meta information. If you want to, e.g.,\n\
00371 # project a 3d point into image coordinates, we strongly recommend\n\
00372 # using image_geometry.\n\
00373 #\n\
00374 # If the camera is uncalibrated, the matrices D, K, R, P should be left\n\
00375 # zeroed out. In particular, clients may assume that K[0] == 0.0\n\
00376 # indicates an uncalibrated camera.\n\
00377 \n\
00378 #######################################################################\n\
00379 # Image acquisition info #\n\
00380 #######################################################################\n\
00381 \n\
00382 # Time of image acquisition, camera coordinate frame ID\n\
00383 Header header # Header timestamp should be acquisition time of image\n\
00384 # Header frame_id should be optical frame of camera\n\
00385 # origin of frame should be optical center of camera\n\
00386 # +x should point to the right in the image\n\
00387 # +y should point down in the image\n\
00388 # +z should point into the plane of the image\n\
00389 \n\
00390 \n\
00391 #######################################################################\n\
00392 # Calibration Parameters #\n\
00393 #######################################################################\n\
00394 # These are fixed during camera calibration. Their values will be the #\n\
00395 # same in all messages until the camera is recalibrated. Note that #\n\
00396 # self-calibrating systems may \"recalibrate\" frequently. #\n\
00397 # #\n\
00398 # The internal parameters can be used to warp a raw (distorted) image #\n\
00399 # to: #\n\
00400 # 1. An undistorted image (requires D and K) #\n\
00401 # 2. A rectified image (requires D, K, R) #\n\
00402 # The projection matrix P projects 3D points into the rectified image.#\n\
00403 #######################################################################\n\
00404 \n\
00405 # The image dimensions with which the camera was calibrated. Normally\n\
00406 # this will be the full camera resolution in pixels.\n\
00407 uint32 height\n\
00408 uint32 width\n\
00409 \n\
00410 # The distortion model used. Supported models are listed in\n\
00411 # sensor_msgs/distortion_models.h. For most cameras, \"plumb_bob\" - a\n\
00412 # simple model of radial and tangential distortion - is sufficent.\n\
00413 string distortion_model\n\
00414 \n\
00415 # The distortion parameters, size depending on the distortion model.\n\
00416 # For \"plumb_bob\", the 5 parameters are: (k1, k2, t1, t2, k3).\n\
00417 float64[] D\n\
00418 \n\
00419 # Intrinsic camera matrix for the raw (distorted) images.\n\
00420 # [fx 0 cx]\n\
00421 # K = [ 0 fy cy]\n\
00422 # [ 0 0 1]\n\
00423 # Projects 3D points in the camera coordinate frame to 2D pixel\n\
00424 # coordinates using the focal lengths (fx, fy) and principal point\n\
00425 # (cx, cy).\n\
00426 float64[9] K # 3x3 row-major matrix\n\
00427 \n\
00428 # Rectification matrix (stereo cameras only)\n\
00429 # A rotation matrix aligning the camera coordinate system to the ideal\n\
00430 # stereo image plane so that epipolar lines in both stereo images are\n\
00431 # parallel.\n\
00432 float64[9] R # 3x3 row-major matrix\n\
00433 \n\
00434 # Projection/camera matrix\n\
00435 # [fx' 0 cx' Tx]\n\
00436 # P = [ 0 fy' cy' Ty]\n\
00437 # [ 0 0 1 0]\n\
00438 # By convention, this matrix specifies the intrinsic (camera) matrix\n\
00439 # of the processed (rectified) image. That is, the left 3x3 portion\n\
00440 # is the normal camera intrinsic matrix for the rectified image.\n\
00441 # It projects 3D points in the camera coordinate frame to 2D pixel\n\
00442 # coordinates using the focal lengths (fx', fy') and principal point\n\
00443 # (cx', cy') - these may differ from the values in K.\n\
00444 # For monocular cameras, Tx = Ty = 0. Normally, monocular cameras will\n\
00445 # also have R = the identity and P[1:3,1:3] = K.\n\
00446 # For a stereo pair, the fourth column [Tx Ty 0]' is related to the\n\
00447 # position of the optical center of the second camera in the first\n\
00448 # camera's frame. We assume Tz = 0 so both cameras are in the same\n\
00449 # stereo image plane. The first camera always has Tx = Ty = 0. For\n\
00450 # the right (second) camera of a horizontal stereo pair, Ty = 0 and\n\
00451 # Tx = -fx' * B, where B is the baseline between the cameras.\n\
00452 # Given a 3D point [X Y Z]', the projection (x, y) of the point onto\n\
00453 # the rectified image is given by:\n\
00454 # [u v w]' = P * [X Y Z 1]'\n\
00455 # x = u / w\n\
00456 # y = v / w\n\
00457 # This holds for both images of a stereo pair.\n\
00458 float64[12] P # 3x4 row-major matrix\n\
00459 \n\
00460 \n\
00461 #######################################################################\n\
00462 # Operational Parameters #\n\
00463 #######################################################################\n\
00464 # These define the image region actually captured by the camera #\n\
00465 # driver. Although they affect the geometry of the output image, they #\n\
00466 # may be changed freely without recalibrating the camera. #\n\
00467 #######################################################################\n\
00468 \n\
00469 # Binning refers here to any camera setting which combines rectangular\n\
00470 # neighborhoods of pixels into larger \"super-pixels.\" It reduces the\n\
00471 # resolution of the output image to\n\
00472 # (width / binning_x) x (height / binning_y).\n\
00473 # The default values binning_x = binning_y = 0 is considered the same\n\
00474 # as binning_x = binning_y = 1 (no subsampling).\n\
00475 uint32 binning_x\n\
00476 uint32 binning_y\n\
00477 \n\
00478 # Region of interest (subwindow of full camera resolution), given in\n\
00479 # full resolution (unbinned) image coordinates. A particular ROI\n\
00480 # always denotes the same window of pixels on the camera sensor,\n\
00481 # regardless of binning settings.\n\
00482 # The default setting of roi (all values 0) is considered the same as\n\
00483 # full resolution (roi.width = width, roi.height = height).\n\
00484 RegionOfInterest roi\n\
00485 \n\
00486 ================================================================================\n\
00487 MSG: sensor_msgs/RegionOfInterest\n\
00488 # This message is used to specify a region of interest within an image.\n\
00489 #\n\
00490 # When used to specify the ROI setting of the camera when the image was\n\
00491 # taken, the height and width fields should either match the height and\n\
00492 # width fields for the associated image; or height = width = 0\n\
00493 # indicates that the full resolution image was captured.\n\
00494 \n\
00495 uint32 x_offset # Leftmost pixel of the ROI\n\
00496 # (0 if the ROI includes the left edge of the image)\n\
00497 uint32 y_offset # Topmost pixel of the ROI\n\
00498 # (0 if the ROI includes the top edge of the image)\n\
00499 uint32 height # Height of ROI\n\
00500 uint32 width # Width of ROI\n\
00501 \n\
00502 # True if a distinct rectified ROI should be calculated from the \"raw\"\n\
00503 # ROI in this message. Typically this should be False if the full image\n\
00504 # is captured (ROI not used), and True if a subwindow is captured (ROI\n\
00505 # used).\n\
00506 bool do_rectify\n\
00507 \n\
00508 ================================================================================\n\
00509 MSG: geometry_msgs/Vector3\n\
00510 # This represents a vector in free space. \n\
00511 \n\
00512 float64 x\n\
00513 float64 y\n\
00514 float64 z\n\
00515 ================================================================================\n\
00516 MSG: object_manipulation_msgs/GripperTranslation\n\
00517 # defines a translation for the gripper, used in pickup or place tasks\n\
00518 # for example for lifting an object off a table or approaching the table for placing\n\
00519 \n\
00520 # the direction of the translation\n\
00521 geometry_msgs/Vector3Stamped direction\n\
00522 \n\
00523 # the desired translation distance\n\
00524 float32 desired_distance\n\
00525 \n\
00526 # the min distance that must be considered feasible before the\n\
00527 # grasp is even attempted\n\
00528 float32 min_distance\n\
00529 ================================================================================\n\
00530 MSG: geometry_msgs/Vector3Stamped\n\
00531 # This represents a Vector3 with reference coordinate frame and timestamp\n\
00532 Header header\n\
00533 Vector3 vector\n\
00534 \n\
00535 ================================================================================\n\
00536 MSG: trajectory_msgs/JointTrajectory\n\
00537 Header header\n\
00538 string[] joint_names\n\
00539 JointTrajectoryPoint[] points\n\
00540 ================================================================================\n\
00541 MSG: trajectory_msgs/JointTrajectoryPoint\n\
00542 float64[] positions\n\
00543 float64[] velocities\n\
00544 float64[] accelerations\n\
00545 duration time_from_start\n\
00546 "; }
00547 public:
00548 ROS_DEPRECATED static const std::string __s_getMessageDefinition() { return __s_getMessageDefinition_(); }
00549
00550 ROS_DEPRECATED const std::string __getMessageDefinition() const { return __s_getMessageDefinition_(); }
00551
00552 ROS_DEPRECATED virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const
00553 {
00554 ros::serialization::OStream stream(write_ptr, 1000000000);
00555 ros::serialization::serialize(stream, header);
00556 ros::serialization::serialize(stream, goal_id);
00557 ros::serialization::serialize(stream, goal);
00558 return stream.getData();
00559 }
00560
00561 ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr)
00562 {
00563 ros::serialization::IStream stream(read_ptr, 1000000000);
00564 ros::serialization::deserialize(stream, header);
00565 ros::serialization::deserialize(stream, goal_id);
00566 ros::serialization::deserialize(stream, goal);
00567 return stream.getData();
00568 }
00569
00570 ROS_DEPRECATED virtual uint32_t serializationLength() const
00571 {
00572 uint32_t size = 0;
00573 size += ros::serialization::serializationLength(header);
00574 size += ros::serialization::serializationLength(goal_id);
00575 size += ros::serialization::serializationLength(goal);
00576 return size;
00577 }
00578
00579 typedef boost::shared_ptr< ::object_manipulation_msgs::ReactiveLiftActionGoal_<ContainerAllocator> > Ptr;
00580 typedef boost::shared_ptr< ::object_manipulation_msgs::ReactiveLiftActionGoal_<ContainerAllocator> const> ConstPtr;
00581 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00582 };
00583 typedef ::object_manipulation_msgs::ReactiveLiftActionGoal_<std::allocator<void> > ReactiveLiftActionGoal;
00584
00585 typedef boost::shared_ptr< ::object_manipulation_msgs::ReactiveLiftActionGoal> ReactiveLiftActionGoalPtr;
00586 typedef boost::shared_ptr< ::object_manipulation_msgs::ReactiveLiftActionGoal const> ReactiveLiftActionGoalConstPtr;
00587
00588
00589 template<typename ContainerAllocator>
00590 std::ostream& operator<<(std::ostream& s, const ::object_manipulation_msgs::ReactiveLiftActionGoal_<ContainerAllocator> & v)
00591 {
00592 ros::message_operations::Printer< ::object_manipulation_msgs::ReactiveLiftActionGoal_<ContainerAllocator> >::stream(s, "", v);
00593 return s;}
00594
00595 }
00596
00597 namespace ros
00598 {
00599 namespace message_traits
00600 {
00601 template<class ContainerAllocator> struct IsMessage< ::object_manipulation_msgs::ReactiveLiftActionGoal_<ContainerAllocator> > : public TrueType {};
00602 template<class ContainerAllocator> struct IsMessage< ::object_manipulation_msgs::ReactiveLiftActionGoal_<ContainerAllocator> const> : public TrueType {};
00603 template<class ContainerAllocator>
00604 struct MD5Sum< ::object_manipulation_msgs::ReactiveLiftActionGoal_<ContainerAllocator> > {
00605 static const char* value()
00606 {
00607 return "a61549c00e5d14801c74498e3f7d5554";
00608 }
00609
00610 static const char* value(const ::object_manipulation_msgs::ReactiveLiftActionGoal_<ContainerAllocator> &) { return value(); }
00611 static const uint64_t static_value1 = 0xa61549c00e5d1480ULL;
00612 static const uint64_t static_value2 = 0x1c74498e3f7d5554ULL;
00613 };
00614
00615 template<class ContainerAllocator>
00616 struct DataType< ::object_manipulation_msgs::ReactiveLiftActionGoal_<ContainerAllocator> > {
00617 static const char* value()
00618 {
00619 return "object_manipulation_msgs/ReactiveLiftActionGoal";
00620 }
00621
00622 static const char* value(const ::object_manipulation_msgs::ReactiveLiftActionGoal_<ContainerAllocator> &) { return value(); }
00623 };
00624
00625 template<class ContainerAllocator>
00626 struct Definition< ::object_manipulation_msgs::ReactiveLiftActionGoal_<ContainerAllocator> > {
00627 static const char* value()
00628 {
00629 return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00630 \n\
00631 Header header\n\
00632 actionlib_msgs/GoalID goal_id\n\
00633 ReactiveLiftGoal goal\n\
00634 \n\
00635 ================================================================================\n\
00636 MSG: std_msgs/Header\n\
00637 # Standard metadata for higher-level stamped data types.\n\
00638 # This is generally used to communicate timestamped data \n\
00639 # in a particular coordinate frame.\n\
00640 # \n\
00641 # sequence ID: consecutively increasing ID \n\
00642 uint32 seq\n\
00643 #Two-integer timestamp that is expressed as:\n\
00644 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00645 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00646 # time-handling sugar is provided by the client library\n\
00647 time stamp\n\
00648 #Frame this data is associated with\n\
00649 # 0: no frame\n\
00650 # 1: global frame\n\
00651 string frame_id\n\
00652 \n\
00653 ================================================================================\n\
00654 MSG: actionlib_msgs/GoalID\n\
00655 # The stamp should store the time at which this goal was requested.\n\
00656 # It is used by an action server when it tries to preempt all\n\
00657 # goals that were requested before a certain time\n\
00658 time stamp\n\
00659 \n\
00660 # The id provides a way to associate feedback and\n\
00661 # result message with specific goal requests. The id\n\
00662 # specified must be unique.\n\
00663 string id\n\
00664 \n\
00665 \n\
00666 ================================================================================\n\
00667 MSG: object_manipulation_msgs/ReactiveLiftGoal\n\
00668 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00669 \n\
00670 # the name of the arm being used\n\
00671 string arm_name\n\
00672 \n\
00673 # the object to be grasped\n\
00674 GraspableObject target\n\
00675 \n\
00676 # How the object should be lifted \n\
00677 GripperTranslation lift\n\
00678 \n\
00679 # the joint trajectory to use for the approach (if available)\n\
00680 # this trajectory is expected to start at the current pose of the gripper\n\
00681 # and end at the desired grasp pose\n\
00682 trajectory_msgs/JointTrajectory trajectory\n\
00683 \n\
00684 # the name of the support surface in the collision environment, if any\n\
00685 string collision_support_surface_name\n\
00686 \n\
00687 \n\
00688 ================================================================================\n\
00689 MSG: object_manipulation_msgs/GraspableObject\n\
00690 # an object that the object_manipulator can work on\n\
00691 \n\
00692 # a graspable object can be represented in multiple ways. This message\n\
00693 # can contain all of them. Which one is actually used is up to the receiver\n\
00694 # of this message. When adding new representations, one must be careful that\n\
00695 # they have reasonable lightweight defaults indicating that that particular\n\
00696 # representation is not available.\n\
00697 \n\
00698 # the tf frame to be used as a reference frame when combining information from\n\
00699 # the different representations below\n\
00700 string reference_frame_id\n\
00701 \n\
00702 # potential recognition results from a database of models\n\
00703 # all poses are relative to the object reference pose\n\
00704 household_objects_database_msgs/DatabaseModelPose[] potential_models\n\
00705 \n\
00706 # the point cloud itself\n\
00707 sensor_msgs/PointCloud cluster\n\
00708 \n\
00709 # a region of a PointCloud2 of interest\n\
00710 object_manipulation_msgs/SceneRegion region\n\
00711 \n\
00712 # the name that this object has in the collision environment\n\
00713 string collision_name\n\
00714 ================================================================================\n\
00715 MSG: household_objects_database_msgs/DatabaseModelPose\n\
00716 # Informs that a specific model from the Model Database has been \n\
00717 # identified at a certain location\n\
00718 \n\
00719 # the database id of the model\n\
00720 int32 model_id\n\
00721 \n\
00722 # the pose that it can be found in\n\
00723 geometry_msgs/PoseStamped pose\n\
00724 \n\
00725 # a measure of the confidence level in this detection result\n\
00726 float32 confidence\n\
00727 \n\
00728 # the name of the object detector that generated this detection result\n\
00729 string detector_name\n\
00730 \n\
00731 ================================================================================\n\
00732 MSG: geometry_msgs/PoseStamped\n\
00733 # A Pose with reference coordinate frame and timestamp\n\
00734 Header header\n\
00735 Pose pose\n\
00736 \n\
00737 ================================================================================\n\
00738 MSG: geometry_msgs/Pose\n\
00739 # A representation of pose in free space, composed of postion and orientation. \n\
00740 Point position\n\
00741 Quaternion orientation\n\
00742 \n\
00743 ================================================================================\n\
00744 MSG: geometry_msgs/Point\n\
00745 # This contains the position of a point in free space\n\
00746 float64 x\n\
00747 float64 y\n\
00748 float64 z\n\
00749 \n\
00750 ================================================================================\n\
00751 MSG: geometry_msgs/Quaternion\n\
00752 # This represents an orientation in free space in quaternion form.\n\
00753 \n\
00754 float64 x\n\
00755 float64 y\n\
00756 float64 z\n\
00757 float64 w\n\
00758 \n\
00759 ================================================================================\n\
00760 MSG: sensor_msgs/PointCloud\n\
00761 # This message holds a collection of 3d points, plus optional additional\n\
00762 # information about each point.\n\
00763 \n\
00764 # Time of sensor data acquisition, coordinate frame ID.\n\
00765 Header header\n\
00766 \n\
00767 # Array of 3d points. Each Point32 should be interpreted as a 3d point\n\
00768 # in the frame given in the header.\n\
00769 geometry_msgs/Point32[] points\n\
00770 \n\
00771 # Each channel should have the same number of elements as points array,\n\
00772 # and the data in each channel should correspond 1:1 with each point.\n\
00773 # Channel names in common practice are listed in ChannelFloat32.msg.\n\
00774 ChannelFloat32[] channels\n\
00775 \n\
00776 ================================================================================\n\
00777 MSG: geometry_msgs/Point32\n\
00778 # This contains the position of a point in free space(with 32 bits of precision).\n\
00779 # It is recommeded to use Point wherever possible instead of Point32. \n\
00780 # \n\
00781 # This recommendation is to promote interoperability. \n\
00782 #\n\
00783 # This message is designed to take up less space when sending\n\
00784 # lots of points at once, as in the case of a PointCloud. \n\
00785 \n\
00786 float32 x\n\
00787 float32 y\n\
00788 float32 z\n\
00789 ================================================================================\n\
00790 MSG: sensor_msgs/ChannelFloat32\n\
00791 # This message is used by the PointCloud message to hold optional data\n\
00792 # associated with each point in the cloud. The length of the values\n\
00793 # array should be the same as the length of the points array in the\n\
00794 # PointCloud, and each value should be associated with the corresponding\n\
00795 # point.\n\
00796 \n\
00797 # Channel names in existing practice include:\n\
00798 # \"u\", \"v\" - row and column (respectively) in the left stereo image.\n\
00799 # This is opposite to usual conventions but remains for\n\
00800 # historical reasons. The newer PointCloud2 message has no\n\
00801 # such problem.\n\
00802 # \"rgb\" - For point clouds produced by color stereo cameras. uint8\n\
00803 # (R,G,B) values packed into the least significant 24 bits,\n\
00804 # in order.\n\
00805 # \"intensity\" - laser or pixel intensity.\n\
00806 # \"distance\"\n\
00807 \n\
00808 # The channel name should give semantics of the channel (e.g.\n\
00809 # \"intensity\" instead of \"value\").\n\
00810 string name\n\
00811 \n\
00812 # The values array should be 1-1 with the elements of the associated\n\
00813 # PointCloud.\n\
00814 float32[] values\n\
00815 \n\
00816 ================================================================================\n\
00817 MSG: object_manipulation_msgs/SceneRegion\n\
00818 # Point cloud\n\
00819 sensor_msgs/PointCloud2 cloud\n\
00820 \n\
00821 # Indices for the region of interest\n\
00822 int32[] mask\n\
00823 \n\
00824 # One of the corresponding 2D images, if applicable\n\
00825 sensor_msgs/Image image\n\
00826 \n\
00827 # The disparity image, if applicable\n\
00828 sensor_msgs/Image disparity_image\n\
00829 \n\
00830 # Camera info for the camera that took the image\n\
00831 sensor_msgs/CameraInfo cam_info\n\
00832 \n\
00833 # a 3D region of interest for grasp planning\n\
00834 geometry_msgs/PoseStamped roi_box_pose\n\
00835 geometry_msgs/Vector3 roi_box_dims\n\
00836 \n\
00837 ================================================================================\n\
00838 MSG: sensor_msgs/PointCloud2\n\
00839 # This message holds a collection of N-dimensional points, which may\n\
00840 # contain additional information such as normals, intensity, etc. The\n\
00841 # point data is stored as a binary blob, its layout described by the\n\
00842 # contents of the \"fields\" array.\n\
00843 \n\
00844 # The point cloud data may be organized 2d (image-like) or 1d\n\
00845 # (unordered). Point clouds organized as 2d images may be produced by\n\
00846 # camera depth sensors such as stereo or time-of-flight.\n\
00847 \n\
00848 # Time of sensor data acquisition, and the coordinate frame ID (for 3d\n\
00849 # points).\n\
00850 Header header\n\
00851 \n\
00852 # 2D structure of the point cloud. If the cloud is unordered, height is\n\
00853 # 1 and width is the length of the point cloud.\n\
00854 uint32 height\n\
00855 uint32 width\n\
00856 \n\
00857 # Describes the channels and their layout in the binary data blob.\n\
00858 PointField[] fields\n\
00859 \n\
00860 bool is_bigendian # Is this data bigendian?\n\
00861 uint32 point_step # Length of a point in bytes\n\
00862 uint32 row_step # Length of a row in bytes\n\
00863 uint8[] data # Actual point data, size is (row_step*height)\n\
00864 \n\
00865 bool is_dense # True if there are no invalid points\n\
00866 \n\
00867 ================================================================================\n\
00868 MSG: sensor_msgs/PointField\n\
00869 # This message holds the description of one point entry in the\n\
00870 # PointCloud2 message format.\n\
00871 uint8 INT8 = 1\n\
00872 uint8 UINT8 = 2\n\
00873 uint8 INT16 = 3\n\
00874 uint8 UINT16 = 4\n\
00875 uint8 INT32 = 5\n\
00876 uint8 UINT32 = 6\n\
00877 uint8 FLOAT32 = 7\n\
00878 uint8 FLOAT64 = 8\n\
00879 \n\
00880 string name # Name of field\n\
00881 uint32 offset # Offset from start of point struct\n\
00882 uint8 datatype # Datatype enumeration, see above\n\
00883 uint32 count # How many elements in the field\n\
00884 \n\
00885 ================================================================================\n\
00886 MSG: sensor_msgs/Image\n\
00887 # This message contains an uncompressed image\n\
00888 # (0, 0) is at top-left corner of image\n\
00889 #\n\
00890 \n\
00891 Header header # Header timestamp should be acquisition time of image\n\
00892 # Header frame_id should be optical frame of camera\n\
00893 # origin of frame should be optical center of cameara\n\
00894 # +x should point to the right in the image\n\
00895 # +y should point down in the image\n\
00896 # +z should point into to plane of the image\n\
00897 # If the frame_id here and the frame_id of the CameraInfo\n\
00898 # message associated with the image conflict\n\
00899 # the behavior is undefined\n\
00900 \n\
00901 uint32 height # image height, that is, number of rows\n\
00902 uint32 width # image width, that is, number of columns\n\
00903 \n\
00904 # The legal values for encoding are in file src/image_encodings.cpp\n\
00905 # If you want to standardize a new string format, join\n\
00906 # ros-users@lists.sourceforge.net and send an email proposing a new encoding.\n\
00907 \n\
00908 string encoding # Encoding of pixels -- channel meaning, ordering, size\n\
00909 # taken from the list of strings in src/image_encodings.cpp\n\
00910 \n\
00911 uint8 is_bigendian # is this data bigendian?\n\
00912 uint32 step # Full row length in bytes\n\
00913 uint8[] data # actual matrix data, size is (step * rows)\n\
00914 \n\
00915 ================================================================================\n\
00916 MSG: sensor_msgs/CameraInfo\n\
00917 # This message defines meta information for a camera. It should be in a\n\
00918 # camera namespace on topic \"camera_info\" and accompanied by up to five\n\
00919 # image topics named:\n\
00920 #\n\
00921 # image_raw - raw data from the camera driver, possibly Bayer encoded\n\
00922 # image - monochrome, distorted\n\
00923 # image_color - color, distorted\n\
00924 # image_rect - monochrome, rectified\n\
00925 # image_rect_color - color, rectified\n\
00926 #\n\
00927 # The image_pipeline contains packages (image_proc, stereo_image_proc)\n\
00928 # for producing the four processed image topics from image_raw and\n\
00929 # camera_info. The meaning of the camera parameters are described in\n\
00930 # detail at http://www.ros.org/wiki/image_pipeline/CameraInfo.\n\
00931 #\n\
00932 # The image_geometry package provides a user-friendly interface to\n\
00933 # common operations using this meta information. If you want to, e.g.,\n\
00934 # project a 3d point into image coordinates, we strongly recommend\n\
00935 # using image_geometry.\n\
00936 #\n\
00937 # If the camera is uncalibrated, the matrices D, K, R, P should be left\n\
00938 # zeroed out. In particular, clients may assume that K[0] == 0.0\n\
00939 # indicates an uncalibrated camera.\n\
00940 \n\
00941 #######################################################################\n\
00942 # Image acquisition info #\n\
00943 #######################################################################\n\
00944 \n\
00945 # Time of image acquisition, camera coordinate frame ID\n\
00946 Header header # Header timestamp should be acquisition time of image\n\
00947 # Header frame_id should be optical frame of camera\n\
00948 # origin of frame should be optical center of camera\n\
00949 # +x should point to the right in the image\n\
00950 # +y should point down in the image\n\
00951 # +z should point into the plane of the image\n\
00952 \n\
00953 \n\
00954 #######################################################################\n\
00955 # Calibration Parameters #\n\
00956 #######################################################################\n\
00957 # These are fixed during camera calibration. Their values will be the #\n\
00958 # same in all messages until the camera is recalibrated. Note that #\n\
00959 # self-calibrating systems may \"recalibrate\" frequently. #\n\
00960 # #\n\
00961 # The internal parameters can be used to warp a raw (distorted) image #\n\
00962 # to: #\n\
00963 # 1. An undistorted image (requires D and K) #\n\
00964 # 2. A rectified image (requires D, K, R) #\n\
00965 # The projection matrix P projects 3D points into the rectified image.#\n\
00966 #######################################################################\n\
00967 \n\
00968 # The image dimensions with which the camera was calibrated. Normally\n\
00969 # this will be the full camera resolution in pixels.\n\
00970 uint32 height\n\
00971 uint32 width\n\
00972 \n\
00973 # The distortion model used. Supported models are listed in\n\
00974 # sensor_msgs/distortion_models.h. For most cameras, \"plumb_bob\" - a\n\
00975 # simple model of radial and tangential distortion - is sufficent.\n\
00976 string distortion_model\n\
00977 \n\
00978 # The distortion parameters, size depending on the distortion model.\n\
00979 # For \"plumb_bob\", the 5 parameters are: (k1, k2, t1, t2, k3).\n\
00980 float64[] D\n\
00981 \n\
00982 # Intrinsic camera matrix for the raw (distorted) images.\n\
00983 # [fx 0 cx]\n\
00984 # K = [ 0 fy cy]\n\
00985 # [ 0 0 1]\n\
00986 # Projects 3D points in the camera coordinate frame to 2D pixel\n\
00987 # coordinates using the focal lengths (fx, fy) and principal point\n\
00988 # (cx, cy).\n\
00989 float64[9] K # 3x3 row-major matrix\n\
00990 \n\
00991 # Rectification matrix (stereo cameras only)\n\
00992 # A rotation matrix aligning the camera coordinate system to the ideal\n\
00993 # stereo image plane so that epipolar lines in both stereo images are\n\
00994 # parallel.\n\
00995 float64[9] R # 3x3 row-major matrix\n\
00996 \n\
00997 # Projection/camera matrix\n\
00998 # [fx' 0 cx' Tx]\n\
00999 # P = [ 0 fy' cy' Ty]\n\
01000 # [ 0 0 1 0]\n\
01001 # By convention, this matrix specifies the intrinsic (camera) matrix\n\
01002 # of the processed (rectified) image. That is, the left 3x3 portion\n\
01003 # is the normal camera intrinsic matrix for the rectified image.\n\
01004 # It projects 3D points in the camera coordinate frame to 2D pixel\n\
01005 # coordinates using the focal lengths (fx', fy') and principal point\n\
01006 # (cx', cy') - these may differ from the values in K.\n\
01007 # For monocular cameras, Tx = Ty = 0. Normally, monocular cameras will\n\
01008 # also have R = the identity and P[1:3,1:3] = K.\n\
01009 # For a stereo pair, the fourth column [Tx Ty 0]' is related to the\n\
01010 # position of the optical center of the second camera in the first\n\
01011 # camera's frame. We assume Tz = 0 so both cameras are in the same\n\
01012 # stereo image plane. The first camera always has Tx = Ty = 0. For\n\
01013 # the right (second) camera of a horizontal stereo pair, Ty = 0 and\n\
01014 # Tx = -fx' * B, where B is the baseline between the cameras.\n\
01015 # Given a 3D point [X Y Z]', the projection (x, y) of the point onto\n\
01016 # the rectified image is given by:\n\
01017 # [u v w]' = P * [X Y Z 1]'\n\
01018 # x = u / w\n\
01019 # y = v / w\n\
01020 # This holds for both images of a stereo pair.\n\
01021 float64[12] P # 3x4 row-major matrix\n\
01022 \n\
01023 \n\
01024 #######################################################################\n\
01025 # Operational Parameters #\n\
01026 #######################################################################\n\
01027 # These define the image region actually captured by the camera #\n\
01028 # driver. Although they affect the geometry of the output image, they #\n\
01029 # may be changed freely without recalibrating the camera. #\n\
01030 #######################################################################\n\
01031 \n\
01032 # Binning refers here to any camera setting which combines rectangular\n\
01033 # neighborhoods of pixels into larger \"super-pixels.\" It reduces the\n\
01034 # resolution of the output image to\n\
01035 # (width / binning_x) x (height / binning_y).\n\
01036 # The default values binning_x = binning_y = 0 is considered the same\n\
01037 # as binning_x = binning_y = 1 (no subsampling).\n\
01038 uint32 binning_x\n\
01039 uint32 binning_y\n\
01040 \n\
01041 # Region of interest (subwindow of full camera resolution), given in\n\
01042 # full resolution (unbinned) image coordinates. A particular ROI\n\
01043 # always denotes the same window of pixels on the camera sensor,\n\
01044 # regardless of binning settings.\n\
01045 # The default setting of roi (all values 0) is considered the same as\n\
01046 # full resolution (roi.width = width, roi.height = height).\n\
01047 RegionOfInterest roi\n\
01048 \n\
01049 ================================================================================\n\
01050 MSG: sensor_msgs/RegionOfInterest\n\
01051 # This message is used to specify a region of interest within an image.\n\
01052 #\n\
01053 # When used to specify the ROI setting of the camera when the image was\n\
01054 # taken, the height and width fields should either match the height and\n\
01055 # width fields for the associated image; or height = width = 0\n\
01056 # indicates that the full resolution image was captured.\n\
01057 \n\
01058 uint32 x_offset # Leftmost pixel of the ROI\n\
01059 # (0 if the ROI includes the left edge of the image)\n\
01060 uint32 y_offset # Topmost pixel of the ROI\n\
01061 # (0 if the ROI includes the top edge of the image)\n\
01062 uint32 height # Height of ROI\n\
01063 uint32 width # Width of ROI\n\
01064 \n\
01065 # True if a distinct rectified ROI should be calculated from the \"raw\"\n\
01066 # ROI in this message. Typically this should be False if the full image\n\
01067 # is captured (ROI not used), and True if a subwindow is captured (ROI\n\
01068 # used).\n\
01069 bool do_rectify\n\
01070 \n\
01071 ================================================================================\n\
01072 MSG: geometry_msgs/Vector3\n\
01073 # This represents a vector in free space. \n\
01074 \n\
01075 float64 x\n\
01076 float64 y\n\
01077 float64 z\n\
01078 ================================================================================\n\
01079 MSG: object_manipulation_msgs/GripperTranslation\n\
01080 # defines a translation for the gripper, used in pickup or place tasks\n\
01081 # for example for lifting an object off a table or approaching the table for placing\n\
01082 \n\
01083 # the direction of the translation\n\
01084 geometry_msgs/Vector3Stamped direction\n\
01085 \n\
01086 # the desired translation distance\n\
01087 float32 desired_distance\n\
01088 \n\
01089 # the min distance that must be considered feasible before the\n\
01090 # grasp is even attempted\n\
01091 float32 min_distance\n\
01092 ================================================================================\n\
01093 MSG: geometry_msgs/Vector3Stamped\n\
01094 # This represents a Vector3 with reference coordinate frame and timestamp\n\
01095 Header header\n\
01096 Vector3 vector\n\
01097 \n\
01098 ================================================================================\n\
01099 MSG: trajectory_msgs/JointTrajectory\n\
01100 Header header\n\
01101 string[] joint_names\n\
01102 JointTrajectoryPoint[] points\n\
01103 ================================================================================\n\
01104 MSG: trajectory_msgs/JointTrajectoryPoint\n\
01105 float64[] positions\n\
01106 float64[] velocities\n\
01107 float64[] accelerations\n\
01108 duration time_from_start\n\
01109 ";
01110 }
01111
01112 static const char* value(const ::object_manipulation_msgs::ReactiveLiftActionGoal_<ContainerAllocator> &) { return value(); }
01113 };
01114
01115 template<class ContainerAllocator> struct HasHeader< ::object_manipulation_msgs::ReactiveLiftActionGoal_<ContainerAllocator> > : public TrueType {};
01116 template<class ContainerAllocator> struct HasHeader< const ::object_manipulation_msgs::ReactiveLiftActionGoal_<ContainerAllocator> > : public TrueType {};
01117 }
01118 }
01119
01120 namespace ros
01121 {
01122 namespace serialization
01123 {
01124
01125 template<class ContainerAllocator> struct Serializer< ::object_manipulation_msgs::ReactiveLiftActionGoal_<ContainerAllocator> >
01126 {
01127 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
01128 {
01129 stream.next(m.header);
01130 stream.next(m.goal_id);
01131 stream.next(m.goal);
01132 }
01133
01134 ROS_DECLARE_ALLINONE_SERIALIZER;
01135 };
01136 }
01137 }
01138
01139 namespace ros
01140 {
01141 namespace message_operations
01142 {
01143
01144 template<class ContainerAllocator>
01145 struct Printer< ::object_manipulation_msgs::ReactiveLiftActionGoal_<ContainerAllocator> >
01146 {
01147 template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::object_manipulation_msgs::ReactiveLiftActionGoal_<ContainerAllocator> & v)
01148 {
01149 s << indent << "header: ";
01150 s << std::endl;
01151 Printer< ::std_msgs::Header_<ContainerAllocator> >::stream(s, indent + " ", v.header);
01152 s << indent << "goal_id: ";
01153 s << std::endl;
01154 Printer< ::actionlib_msgs::GoalID_<ContainerAllocator> >::stream(s, indent + " ", v.goal_id);
01155 s << indent << "goal: ";
01156 s << std::endl;
01157 Printer< ::object_manipulation_msgs::ReactiveLiftGoal_<ContainerAllocator> >::stream(s, indent + " ", v.goal);
01158 }
01159 };
01160
01161
01162 }
01163 }
01164
01165 #endif // OBJECT_MANIPULATION_MSGS_MESSAGE_REACTIVELIFTACTIONGOAL_H
01166
