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00001 /* Auto-generated by genmsg_cpp for file /home/rosbuild/hudson/workspace/doc-electric-object_manipulation/doc_stacks/2013-03-01_16-13-18.345538/object_manipulation/object_manipulation_msgs/msg/ReactivePlaceGoal.msg */ 00002 #ifndef OBJECT_MANIPULATION_MSGS_MESSAGE_REACTIVEPLACEGOAL_H 00003 #define OBJECT_MANIPULATION_MSGS_MESSAGE_REACTIVEPLACEGOAL_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 "geometry_msgs/PoseStamped.h" 00018 #include "trajectory_msgs/JointTrajectory.h" 00019 00020 namespace object_manipulation_msgs 00021 { 00022 template <class ContainerAllocator> 00023 struct ReactivePlaceGoal_ { 00024 typedef ReactivePlaceGoal_<ContainerAllocator> Type; 00025 00026 ReactivePlaceGoal_() 00027 : arm_name() 00028 , final_place_pose() 00029 , trajectory() 00030 , collision_support_surface_name() 00031 , collision_object_name() 00032 { 00033 } 00034 00035 ReactivePlaceGoal_(const ContainerAllocator& _alloc) 00036 : arm_name(_alloc) 00037 , final_place_pose(_alloc) 00038 , trajectory(_alloc) 00039 , collision_support_surface_name(_alloc) 00040 , collision_object_name(_alloc) 00041 { 00042 } 00043 00044 typedef std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > _arm_name_type; 00045 std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > arm_name; 00046 00047 typedef ::geometry_msgs::PoseStamped_<ContainerAllocator> _final_place_pose_type; 00048 ::geometry_msgs::PoseStamped_<ContainerAllocator> final_place_pose; 00049 00050 typedef ::trajectory_msgs::JointTrajectory_<ContainerAllocator> _trajectory_type; 00051 ::trajectory_msgs::JointTrajectory_<ContainerAllocator> trajectory; 00052 00053 typedef std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > _collision_support_surface_name_type; 00054 std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > collision_support_surface_name; 00055 00056 typedef std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > _collision_object_name_type; 00057 std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > collision_object_name; 00058 00059 00060 private: 00061 static const char* __s_getDataType_() { return "object_manipulation_msgs/ReactivePlaceGoal"; } 00062 public: 00063 ROS_DEPRECATED static const std::string __s_getDataType() { return __s_getDataType_(); } 00064 00065 ROS_DEPRECATED const std::string __getDataType() const { return __s_getDataType_(); } 00066 00067 private: 00068 static const char* __s_getMD5Sum_() { return "c40d270ade3a224752149b298986a70c"; } 00069 public: 00070 ROS_DEPRECATED static const std::string __s_getMD5Sum() { return __s_getMD5Sum_(); } 00071 00072 ROS_DEPRECATED const std::string __getMD5Sum() const { return __s_getMD5Sum_(); } 00073 00074 private: 00075 static const char* __s_getMessageDefinition_() { return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\ 00076 # an action for placing the object using tactile sensor feedback.\n\ 00077 # a reactive place starts from the current pose of the gripper and ends\n\ 00078 # at a desired place pose, presumably using the touch sensors along the way\n\ 00079 \n\ 00080 # the name of the arm being used\n\ 00081 string arm_name\n\ 00082 \n\ 00083 # the desired final place pose for the hand\n\ 00084 geometry_msgs/PoseStamped final_place_pose\n\ 00085 \n\ 00086 # the joint trajectory to use for the place (if available)\n\ 00087 # this trajectory is expected to start at the current pose of the gripper\n\ 00088 # and end at the desired place pose\n\ 00089 trajectory_msgs/JointTrajectory trajectory\n\ 00090 \n\ 00091 # the name of the support surface in the collision environment, if any\n\ 00092 string collision_support_surface_name\n\ 00093 \n\ 00094 # the name in the collision environment of the object being placed, if any\n\ 00095 string collision_object_name\n\ 00096 \n\ 00097 ================================================================================\n\ 00098 MSG: geometry_msgs/PoseStamped\n\ 00099 # A Pose with reference coordinate frame and timestamp\n\ 00100 Header header\n\ 00101 Pose pose\n\ 00102 \n\ 00103 ================================================================================\n\ 00104 MSG: std_msgs/Header\n\ 00105 # Standard metadata for higher-level stamped data types.\n\ 00106 # This is generally used to communicate timestamped data \n\ 00107 # in a particular coordinate frame.\n\ 00108 # \n\ 00109 # sequence ID: consecutively increasing ID \n\ 00110 uint32 seq\n\ 00111 #Two-integer timestamp that is expressed as:\n\ 00112 # * stamp.secs: seconds (stamp_secs) since epoch\n\ 00113 # * stamp.nsecs: nanoseconds since stamp_secs\n\ 00114 # time-handling sugar is provided by the client library\n\ 00115 time stamp\n\ 00116 #Frame this data is associated with\n\ 00117 # 0: no frame\n\ 00118 # 1: global frame\n\ 00119 string frame_id\n\ 00120 \n\ 00121 ================================================================================\n\ 00122 MSG: geometry_msgs/Pose\n\ 00123 # A representation of pose in free space, composed of postion and orientation. \n\ 00124 Point position\n\ 00125 Quaternion orientation\n\ 00126 \n\ 00127 ================================================================================\n\ 00128 MSG: geometry_msgs/Point\n\ 00129 # This contains the position of a point in free space\n\ 00130 float64 x\n\ 00131 float64 y\n\ 00132 float64 z\n\ 00133 \n\ 00134 ================================================================================\n\ 00135 MSG: geometry_msgs/Quaternion\n\ 00136 # This represents an orientation in free space in quaternion form.\n\ 00137 \n\ 00138 float64 x\n\ 00139 float64 y\n\ 00140 float64 z\n\ 00141 float64 w\n\ 00142 \n\ 00143 ================================================================================\n\ 00144 MSG: trajectory_msgs/JointTrajectory\n\ 00145 Header header\n\ 00146 string[] joint_names\n\ 00147 JointTrajectoryPoint[] points\n\ 00148 ================================================================================\n\ 00149 MSG: trajectory_msgs/JointTrajectoryPoint\n\ 00150 float64[] positions\n\ 00151 float64[] velocities\n\ 00152 float64[] accelerations\n\ 00153 duration time_from_start\n\ 00154 "; } 00155 public: 00156 ROS_DEPRECATED static const std::string __s_getMessageDefinition() { return __s_getMessageDefinition_(); } 00157 00158 ROS_DEPRECATED const std::string __getMessageDefinition() const { return __s_getMessageDefinition_(); } 00159 00160 ROS_DEPRECATED virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const 00161 { 00162 ros::serialization::OStream stream(write_ptr, 1000000000); 00163 ros::serialization::serialize(stream, arm_name); 00164 ros::serialization::serialize(stream, final_place_pose); 00165 ros::serialization::serialize(stream, trajectory); 00166 ros::serialization::serialize(stream, collision_support_surface_name); 00167 ros::serialization::serialize(stream, collision_object_name); 00168 return stream.getData(); 00169 } 00170 00171 ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr) 00172 { 00173 ros::serialization::IStream stream(read_ptr, 1000000000); 00174 ros::serialization::deserialize(stream, arm_name); 00175 ros::serialization::deserialize(stream, final_place_pose); 00176 ros::serialization::deserialize(stream, trajectory); 00177 ros::serialization::deserialize(stream, collision_support_surface_name); 00178 ros::serialization::deserialize(stream, collision_object_name); 00179 return stream.getData(); 00180 } 00181 00182 ROS_DEPRECATED virtual uint32_t serializationLength() const 00183 { 00184 uint32_t size = 0; 00185 size += ros::serialization::serializationLength(arm_name); 00186 size += ros::serialization::serializationLength(final_place_pose); 00187 size += ros::serialization::serializationLength(trajectory); 00188 size += ros::serialization::serializationLength(collision_support_surface_name); 00189 size += ros::serialization::serializationLength(collision_object_name); 00190 return size; 00191 } 00192 00193 typedef boost::shared_ptr< ::object_manipulation_msgs::ReactivePlaceGoal_<ContainerAllocator> > Ptr; 00194 typedef boost::shared_ptr< ::object_manipulation_msgs::ReactivePlaceGoal_<ContainerAllocator> const> ConstPtr; 00195 boost::shared_ptr<std::map<std::string, std::string> > __connection_header; 00196 }; // struct ReactivePlaceGoal 00197 typedef ::object_manipulation_msgs::ReactivePlaceGoal_<std::allocator<void> > ReactivePlaceGoal; 00198 00199 typedef boost::shared_ptr< ::object_manipulation_msgs::ReactivePlaceGoal> ReactivePlaceGoalPtr; 00200 typedef boost::shared_ptr< ::object_manipulation_msgs::ReactivePlaceGoal const> ReactivePlaceGoalConstPtr; 00201 00202 00203 template<typename ContainerAllocator> 00204 std::ostream& operator<<(std::ostream& s, const ::object_manipulation_msgs::ReactivePlaceGoal_<ContainerAllocator> & v) 00205 { 00206 ros::message_operations::Printer< ::object_manipulation_msgs::ReactivePlaceGoal_<ContainerAllocator> >::stream(s, "", v); 00207 return s;} 00208 00209 } // namespace object_manipulation_msgs 00210 00211 namespace ros 00212 { 00213 namespace message_traits 00214 { 00215 template<class ContainerAllocator> struct IsMessage< ::object_manipulation_msgs::ReactivePlaceGoal_<ContainerAllocator> > : public TrueType {}; 00216 template<class ContainerAllocator> struct IsMessage< ::object_manipulation_msgs::ReactivePlaceGoal_<ContainerAllocator> const> : public TrueType {}; 00217 template<class ContainerAllocator> 00218 struct MD5Sum< ::object_manipulation_msgs::ReactivePlaceGoal_<ContainerAllocator> > { 00219 static const char* value() 00220 { 00221 return "c40d270ade3a224752149b298986a70c"; 00222 } 00223 00224 static const char* value(const ::object_manipulation_msgs::ReactivePlaceGoal_<ContainerAllocator> &) { return value(); } 00225 static const uint64_t static_value1 = 0xc40d270ade3a2247ULL; 00226 static const uint64_t static_value2 = 0x52149b298986a70cULL; 00227 }; 00228 00229 template<class ContainerAllocator> 00230 struct DataType< ::object_manipulation_msgs::ReactivePlaceGoal_<ContainerAllocator> > { 00231 static const char* value() 00232 { 00233 return "object_manipulation_msgs/ReactivePlaceGoal"; 00234 } 00235 00236 static const char* value(const ::object_manipulation_msgs::ReactivePlaceGoal_<ContainerAllocator> &) { return value(); } 00237 }; 00238 00239 template<class ContainerAllocator> 00240 struct Definition< ::object_manipulation_msgs::ReactivePlaceGoal_<ContainerAllocator> > { 00241 static const char* value() 00242 { 00243 return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\ 00244 # an action for placing the object using tactile sensor feedback.\n\ 00245 # a reactive place starts from the current pose of the gripper and ends\n\ 00246 # at a desired place pose, presumably using the touch sensors along the way\n\ 00247 \n\ 00248 # the name of the arm being used\n\ 00249 string arm_name\n\ 00250 \n\ 00251 # the desired final place pose for the hand\n\ 00252 geometry_msgs/PoseStamped final_place_pose\n\ 00253 \n\ 00254 # the joint trajectory to use for the place (if available)\n\ 00255 # this trajectory is expected to start at the current pose of the gripper\n\ 00256 # and end at the desired place pose\n\ 00257 trajectory_msgs/JointTrajectory trajectory\n\ 00258 \n\ 00259 # the name of the support surface in the collision environment, if any\n\ 00260 string collision_support_surface_name\n\ 00261 \n\ 00262 # the name in the collision environment of the object being placed, if any\n\ 00263 string collision_object_name\n\ 00264 \n\ 00265 ================================================================================\n\ 00266 MSG: geometry_msgs/PoseStamped\n\ 00267 # A Pose with reference coordinate frame and timestamp\n\ 00268 Header header\n\ 00269 Pose pose\n\ 00270 \n\ 00271 ================================================================================\n\ 00272 MSG: std_msgs/Header\n\ 00273 # Standard metadata for higher-level stamped data types.\n\ 00274 # This is generally used to communicate timestamped data \n\ 00275 # in a particular coordinate frame.\n\ 00276 # \n\ 00277 # sequence ID: consecutively increasing ID \n\ 00278 uint32 seq\n\ 00279 #Two-integer timestamp that is expressed as:\n\ 00280 # * stamp.secs: seconds (stamp_secs) since epoch\n\ 00281 # * stamp.nsecs: nanoseconds since stamp_secs\n\ 00282 # time-handling sugar is provided by the client library\n\ 00283 time stamp\n\ 00284 #Frame this data is associated with\n\ 00285 # 0: no frame\n\ 00286 # 1: global frame\n\ 00287 string frame_id\n\ 00288 \n\ 00289 ================================================================================\n\ 00290 MSG: geometry_msgs/Pose\n\ 00291 # A representation of pose in free space, composed of postion and orientation. \n\ 00292 Point position\n\ 00293 Quaternion orientation\n\ 00294 \n\ 00295 ================================================================================\n\ 00296 MSG: geometry_msgs/Point\n\ 00297 # This contains the position of a point in free space\n\ 00298 float64 x\n\ 00299 float64 y\n\ 00300 float64 z\n\ 00301 \n\ 00302 ================================================================================\n\ 00303 MSG: geometry_msgs/Quaternion\n\ 00304 # This represents an orientation in free space in quaternion form.\n\ 00305 \n\ 00306 float64 x\n\ 00307 float64 y\n\ 00308 float64 z\n\ 00309 float64 w\n\ 00310 \n\ 00311 ================================================================================\n\ 00312 MSG: trajectory_msgs/JointTrajectory\n\ 00313 Header header\n\ 00314 string[] joint_names\n\ 00315 JointTrajectoryPoint[] points\n\ 00316 ================================================================================\n\ 00317 MSG: trajectory_msgs/JointTrajectoryPoint\n\ 00318 float64[] positions\n\ 00319 float64[] velocities\n\ 00320 float64[] accelerations\n\ 00321 duration time_from_start\n\ 00322 "; 00323 } 00324 00325 static const char* value(const ::object_manipulation_msgs::ReactivePlaceGoal_<ContainerAllocator> &) { return value(); } 00326 }; 00327 00328 } // namespace message_traits 00329 } // namespace ros 00330 00331 namespace ros 00332 { 00333 namespace serialization 00334 { 00335 00336 template<class ContainerAllocator> struct Serializer< ::object_manipulation_msgs::ReactivePlaceGoal_<ContainerAllocator> > 00337 { 00338 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m) 00339 { 00340 stream.next(m.arm_name); 00341 stream.next(m.final_place_pose); 00342 stream.next(m.trajectory); 00343 stream.next(m.collision_support_surface_name); 00344 stream.next(m.collision_object_name); 00345 } 00346 00347 ROS_DECLARE_ALLINONE_SERIALIZER; 00348 }; // struct ReactivePlaceGoal_ 00349 } // namespace serialization 00350 } // namespace ros 00351 00352 namespace ros 00353 { 00354 namespace message_operations 00355 { 00356 00357 template<class ContainerAllocator> 00358 struct Printer< ::object_manipulation_msgs::ReactivePlaceGoal_<ContainerAllocator> > 00359 { 00360 template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::object_manipulation_msgs::ReactivePlaceGoal_<ContainerAllocator> & v) 00361 { 00362 s << indent << "arm_name: "; 00363 Printer<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > >::stream(s, indent + " ", v.arm_name); 00364 s << indent << "final_place_pose: "; 00365 s << std::endl; 00366 Printer< ::geometry_msgs::PoseStamped_<ContainerAllocator> >::stream(s, indent + " ", v.final_place_pose); 00367 s << indent << "trajectory: "; 00368 s << std::endl; 00369 Printer< ::trajectory_msgs::JointTrajectory_<ContainerAllocator> >::stream(s, indent + " ", v.trajectory); 00370 s << indent << "collision_support_surface_name: "; 00371 Printer<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > >::stream(s, indent + " ", v.collision_support_surface_name); 00372 s << indent << "collision_object_name: "; 00373 Printer<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > >::stream(s, indent + " ", v.collision_object_name); 00374 } 00375 }; 00376 00377 00378 } // namespace message_operations 00379 } // namespace ros 00380 00381 #endif // OBJECT_MANIPULATION_MSGS_MESSAGE_REACTIVEPLACEGOAL_H 00382