00001
00002 #ifndef PR2_OBJECT_MANIPULATION_MSGS_MESSAGE_GETGRIPPERPOSEACTIONGOAL_H
00003 #define PR2_OBJECT_MANIPULATION_MSGS_MESSAGE_GETGRIPPERPOSEACTIONGOAL_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 "pr2_object_manipulation_msgs/GetGripperPoseGoal.h"
00020
00021 namespace pr2_object_manipulation_msgs
00022 {
00023 template <class ContainerAllocator>
00024 struct GetGripperPoseActionGoal_ {
00025 typedef GetGripperPoseActionGoal_<ContainerAllocator> Type;
00026
00027 GetGripperPoseActionGoal_()
00028 : header()
00029 , goal_id()
00030 , goal()
00031 {
00032 }
00033
00034 GetGripperPoseActionGoal_(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 ::pr2_object_manipulation_msgs::GetGripperPoseGoal_<ContainerAllocator> _goal_type;
00048 ::pr2_object_manipulation_msgs::GetGripperPoseGoal_<ContainerAllocator> goal;
00049
00050
00051 private:
00052 static const char* __s_getDataType_() { return "pr2_object_manipulation_msgs/GetGripperPoseActionGoal"; }
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 "1967a7e9bdf026bfaa86707548b502d9"; }
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 GetGripperPoseGoal 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: pr2_object_manipulation_msgs/GetGripperPoseGoal\n\
00105 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00106 \n\
00107 # for which arm are we requesting a pose\n\
00108 # useful for knowing which arm to initialize from when seed is empty\n\
00109 string arm_name\n\
00110 \n\
00111 # a seed position for the ghosted gripper. If emtpy (quaternion of norm 0)\n\
00112 # the ghosted gripper will be initialized at the current position of the gripper\n\
00113 geometry_msgs/PoseStamped gripper_pose\n\
00114 float32 gripper_opening\n\
00115 \n\
00116 # An object that the gripper is holding. May be empty.\n\
00117 object_manipulation_msgs/GraspableObject object\n\
00118 \n\
00119 # how we are holding the object, if any.\n\
00120 object_manipulation_msgs/Grasp grasp\n\
00121 \n\
00122 \n\
00123 ================================================================================\n\
00124 MSG: geometry_msgs/PoseStamped\n\
00125 # A Pose with reference coordinate frame and timestamp\n\
00126 Header header\n\
00127 Pose pose\n\
00128 \n\
00129 ================================================================================\n\
00130 MSG: geometry_msgs/Pose\n\
00131 # A representation of pose in free space, composed of postion and orientation. \n\
00132 Point position\n\
00133 Quaternion orientation\n\
00134 \n\
00135 ================================================================================\n\
00136 MSG: geometry_msgs/Point\n\
00137 # This contains the position of a point in free space\n\
00138 float64 x\n\
00139 float64 y\n\
00140 float64 z\n\
00141 \n\
00142 ================================================================================\n\
00143 MSG: geometry_msgs/Quaternion\n\
00144 # This represents an orientation in free space in quaternion form.\n\
00145 \n\
00146 float64 x\n\
00147 float64 y\n\
00148 float64 z\n\
00149 float64 w\n\
00150 \n\
00151 ================================================================================\n\
00152 MSG: object_manipulation_msgs/GraspableObject\n\
00153 # an object that the object_manipulator can work on\n\
00154 \n\
00155 # a graspable object can be represented in multiple ways. This message\n\
00156 # can contain all of them. Which one is actually used is up to the receiver\n\
00157 # of this message. When adding new representations, one must be careful that\n\
00158 # they have reasonable lightweight defaults indicating that that particular\n\
00159 # representation is not available.\n\
00160 \n\
00161 # the tf frame to be used as a reference frame when combining information from\n\
00162 # the different representations below\n\
00163 string reference_frame_id\n\
00164 \n\
00165 # potential recognition results from a database of models\n\
00166 # all poses are relative to the object reference pose\n\
00167 household_objects_database_msgs/DatabaseModelPose[] potential_models\n\
00168 \n\
00169 # the point cloud itself\n\
00170 sensor_msgs/PointCloud cluster\n\
00171 \n\
00172 # a region of a PointCloud2 of interest\n\
00173 object_manipulation_msgs/SceneRegion region\n\
00174 \n\
00175 # the name that this object has in the collision environment\n\
00176 string collision_name\n\
00177 ================================================================================\n\
00178 MSG: household_objects_database_msgs/DatabaseModelPose\n\
00179 # Informs that a specific model from the Model Database has been \n\
00180 # identified at a certain location\n\
00181 \n\
00182 # the database id of the model\n\
00183 int32 model_id\n\
00184 \n\
00185 # the pose that it can be found in\n\
00186 geometry_msgs/PoseStamped pose\n\
00187 \n\
00188 # a measure of the confidence level in this detection result\n\
00189 float32 confidence\n\
00190 \n\
00191 # the name of the object detector that generated this detection result\n\
00192 string detector_name\n\
00193 \n\
00194 ================================================================================\n\
00195 MSG: sensor_msgs/PointCloud\n\
00196 # This message holds a collection of 3d points, plus optional additional\n\
00197 # information about each point.\n\
00198 \n\
00199 # Time of sensor data acquisition, coordinate frame ID.\n\
00200 Header header\n\
00201 \n\
00202 # Array of 3d points. Each Point32 should be interpreted as a 3d point\n\
00203 # in the frame given in the header.\n\
00204 geometry_msgs/Point32[] points\n\
00205 \n\
00206 # Each channel should have the same number of elements as points array,\n\
00207 # and the data in each channel should correspond 1:1 with each point.\n\
00208 # Channel names in common practice are listed in ChannelFloat32.msg.\n\
00209 ChannelFloat32[] channels\n\
00210 \n\
00211 ================================================================================\n\
00212 MSG: geometry_msgs/Point32\n\
00213 # This contains the position of a point in free space(with 32 bits of precision).\n\
00214 # It is recommeded to use Point wherever possible instead of Point32. \n\
00215 # \n\
00216 # This recommendation is to promote interoperability. \n\
00217 #\n\
00218 # This message is designed to take up less space when sending\n\
00219 # lots of points at once, as in the case of a PointCloud. \n\
00220 \n\
00221 float32 x\n\
00222 float32 y\n\
00223 float32 z\n\
00224 ================================================================================\n\
00225 MSG: sensor_msgs/ChannelFloat32\n\
00226 # This message is used by the PointCloud message to hold optional data\n\
00227 # associated with each point in the cloud. The length of the values\n\
00228 # array should be the same as the length of the points array in the\n\
00229 # PointCloud, and each value should be associated with the corresponding\n\
00230 # point.\n\
00231 \n\
00232 # Channel names in existing practice include:\n\
00233 # \"u\", \"v\" - row and column (respectively) in the left stereo image.\n\
00234 # This is opposite to usual conventions but remains for\n\
00235 # historical reasons. The newer PointCloud2 message has no\n\
00236 # such problem.\n\
00237 # \"rgb\" - For point clouds produced by color stereo cameras. uint8\n\
00238 # (R,G,B) values packed into the least significant 24 bits,\n\
00239 # in order.\n\
00240 # \"intensity\" - laser or pixel intensity.\n\
00241 # \"distance\"\n\
00242 \n\
00243 # The channel name should give semantics of the channel (e.g.\n\
00244 # \"intensity\" instead of \"value\").\n\
00245 string name\n\
00246 \n\
00247 # The values array should be 1-1 with the elements of the associated\n\
00248 # PointCloud.\n\
00249 float32[] values\n\
00250 \n\
00251 ================================================================================\n\
00252 MSG: object_manipulation_msgs/SceneRegion\n\
00253 # Point cloud\n\
00254 sensor_msgs/PointCloud2 cloud\n\
00255 \n\
00256 # Indices for the region of interest\n\
00257 int32[] mask\n\
00258 \n\
00259 # One of the corresponding 2D images, if applicable\n\
00260 sensor_msgs/Image image\n\
00261 \n\
00262 # The disparity image, if applicable\n\
00263 sensor_msgs/Image disparity_image\n\
00264 \n\
00265 # Camera info for the camera that took the image\n\
00266 sensor_msgs/CameraInfo cam_info\n\
00267 \n\
00268 # a 3D region of interest for grasp planning\n\
00269 geometry_msgs/PoseStamped roi_box_pose\n\
00270 geometry_msgs/Vector3 roi_box_dims\n\
00271 \n\
00272 ================================================================================\n\
00273 MSG: sensor_msgs/PointCloud2\n\
00274 # This message holds a collection of N-dimensional points, which may\n\
00275 # contain additional information such as normals, intensity, etc. The\n\
00276 # point data is stored as a binary blob, its layout described by the\n\
00277 # contents of the \"fields\" array.\n\
00278 \n\
00279 # The point cloud data may be organized 2d (image-like) or 1d\n\
00280 # (unordered). Point clouds organized as 2d images may be produced by\n\
00281 # camera depth sensors such as stereo or time-of-flight.\n\
00282 \n\
00283 # Time of sensor data acquisition, and the coordinate frame ID (for 3d\n\
00284 # points).\n\
00285 Header header\n\
00286 \n\
00287 # 2D structure of the point cloud. If the cloud is unordered, height is\n\
00288 # 1 and width is the length of the point cloud.\n\
00289 uint32 height\n\
00290 uint32 width\n\
00291 \n\
00292 # Describes the channels and their layout in the binary data blob.\n\
00293 PointField[] fields\n\
00294 \n\
00295 bool is_bigendian # Is this data bigendian?\n\
00296 uint32 point_step # Length of a point in bytes\n\
00297 uint32 row_step # Length of a row in bytes\n\
00298 uint8[] data # Actual point data, size is (row_step*height)\n\
00299 \n\
00300 bool is_dense # True if there are no invalid points\n\
00301 \n\
00302 ================================================================================\n\
00303 MSG: sensor_msgs/PointField\n\
00304 # This message holds the description of one point entry in the\n\
00305 # PointCloud2 message format.\n\
00306 uint8 INT8 = 1\n\
00307 uint8 UINT8 = 2\n\
00308 uint8 INT16 = 3\n\
00309 uint8 UINT16 = 4\n\
00310 uint8 INT32 = 5\n\
00311 uint8 UINT32 = 6\n\
00312 uint8 FLOAT32 = 7\n\
00313 uint8 FLOAT64 = 8\n\
00314 \n\
00315 string name # Name of field\n\
00316 uint32 offset # Offset from start of point struct\n\
00317 uint8 datatype # Datatype enumeration, see above\n\
00318 uint32 count # How many elements in the field\n\
00319 \n\
00320 ================================================================================\n\
00321 MSG: sensor_msgs/Image\n\
00322 # This message contains an uncompressed image\n\
00323 # (0, 0) is at top-left corner of image\n\
00324 #\n\
00325 \n\
00326 Header header # Header timestamp should be acquisition time of image\n\
00327 # Header frame_id should be optical frame of camera\n\
00328 # origin of frame should be optical center of cameara\n\
00329 # +x should point to the right in the image\n\
00330 # +y should point down in the image\n\
00331 # +z should point into to plane of the image\n\
00332 # If the frame_id here and the frame_id of the CameraInfo\n\
00333 # message associated with the image conflict\n\
00334 # the behavior is undefined\n\
00335 \n\
00336 uint32 height # image height, that is, number of rows\n\
00337 uint32 width # image width, that is, number of columns\n\
00338 \n\
00339 # The legal values for encoding are in file src/image_encodings.cpp\n\
00340 # If you want to standardize a new string format, join\n\
00341 # ros-users@lists.sourceforge.net and send an email proposing a new encoding.\n\
00342 \n\
00343 string encoding # Encoding of pixels -- channel meaning, ordering, size\n\
00344 # taken from the list of strings in src/image_encodings.cpp\n\
00345 \n\
00346 uint8 is_bigendian # is this data bigendian?\n\
00347 uint32 step # Full row length in bytes\n\
00348 uint8[] data # actual matrix data, size is (step * rows)\n\
00349 \n\
00350 ================================================================================\n\
00351 MSG: sensor_msgs/CameraInfo\n\
00352 # This message defines meta information for a camera. It should be in a\n\
00353 # camera namespace on topic \"camera_info\" and accompanied by up to five\n\
00354 # image topics named:\n\
00355 #\n\
00356 # image_raw - raw data from the camera driver, possibly Bayer encoded\n\
00357 # image - monochrome, distorted\n\
00358 # image_color - color, distorted\n\
00359 # image_rect - monochrome, rectified\n\
00360 # image_rect_color - color, rectified\n\
00361 #\n\
00362 # The image_pipeline contains packages (image_proc, stereo_image_proc)\n\
00363 # for producing the four processed image topics from image_raw and\n\
00364 # camera_info. The meaning of the camera parameters are described in\n\
00365 # detail at http://www.ros.org/wiki/image_pipeline/CameraInfo.\n\
00366 #\n\
00367 # The image_geometry package provides a user-friendly interface to\n\
00368 # common operations using this meta information. If you want to, e.g.,\n\
00369 # project a 3d point into image coordinates, we strongly recommend\n\
00370 # using image_geometry.\n\
00371 #\n\
00372 # If the camera is uncalibrated, the matrices D, K, R, P should be left\n\
00373 # zeroed out. In particular, clients may assume that K[0] == 0.0\n\
00374 # indicates an uncalibrated camera.\n\
00375 \n\
00376 #######################################################################\n\
00377 # Image acquisition info #\n\
00378 #######################################################################\n\
00379 \n\
00380 # Time of image acquisition, camera coordinate frame ID\n\
00381 Header header # Header timestamp should be acquisition time of image\n\
00382 # Header frame_id should be optical frame of camera\n\
00383 # origin of frame should be optical center of camera\n\
00384 # +x should point to the right in the image\n\
00385 # +y should point down in the image\n\
00386 # +z should point into the plane of the image\n\
00387 \n\
00388 \n\
00389 #######################################################################\n\
00390 # Calibration Parameters #\n\
00391 #######################################################################\n\
00392 # These are fixed during camera calibration. Their values will be the #\n\
00393 # same in all messages until the camera is recalibrated. Note that #\n\
00394 # self-calibrating systems may \"recalibrate\" frequently. #\n\
00395 # #\n\
00396 # The internal parameters can be used to warp a raw (distorted) image #\n\
00397 # to: #\n\
00398 # 1. An undistorted image (requires D and K) #\n\
00399 # 2. A rectified image (requires D, K, R) #\n\
00400 # The projection matrix P projects 3D points into the rectified image.#\n\
00401 #######################################################################\n\
00402 \n\
00403 # The image dimensions with which the camera was calibrated. Normally\n\
00404 # this will be the full camera resolution in pixels.\n\
00405 uint32 height\n\
00406 uint32 width\n\
00407 \n\
00408 # The distortion model used. Supported models are listed in\n\
00409 # sensor_msgs/distortion_models.h. For most cameras, \"plumb_bob\" - a\n\
00410 # simple model of radial and tangential distortion - is sufficent.\n\
00411 string distortion_model\n\
00412 \n\
00413 # The distortion parameters, size depending on the distortion model.\n\
00414 # For \"plumb_bob\", the 5 parameters are: (k1, k2, t1, t2, k3).\n\
00415 float64[] D\n\
00416 \n\
00417 # Intrinsic camera matrix for the raw (distorted) images.\n\
00418 # [fx 0 cx]\n\
00419 # K = [ 0 fy cy]\n\
00420 # [ 0 0 1]\n\
00421 # Projects 3D points in the camera coordinate frame to 2D pixel\n\
00422 # coordinates using the focal lengths (fx, fy) and principal point\n\
00423 # (cx, cy).\n\
00424 float64[9] K # 3x3 row-major matrix\n\
00425 \n\
00426 # Rectification matrix (stereo cameras only)\n\
00427 # A rotation matrix aligning the camera coordinate system to the ideal\n\
00428 # stereo image plane so that epipolar lines in both stereo images are\n\
00429 # parallel.\n\
00430 float64[9] R # 3x3 row-major matrix\n\
00431 \n\
00432 # Projection/camera matrix\n\
00433 # [fx' 0 cx' Tx]\n\
00434 # P = [ 0 fy' cy' Ty]\n\
00435 # [ 0 0 1 0]\n\
00436 # By convention, this matrix specifies the intrinsic (camera) matrix\n\
00437 # of the processed (rectified) image. That is, the left 3x3 portion\n\
00438 # is the normal camera intrinsic matrix for the rectified image.\n\
00439 # It projects 3D points in the camera coordinate frame to 2D pixel\n\
00440 # coordinates using the focal lengths (fx', fy') and principal point\n\
00441 # (cx', cy') - these may differ from the values in K.\n\
00442 # For monocular cameras, Tx = Ty = 0. Normally, monocular cameras will\n\
00443 # also have R = the identity and P[1:3,1:3] = K.\n\
00444 # For a stereo pair, the fourth column [Tx Ty 0]' is related to the\n\
00445 # position of the optical center of the second camera in the first\n\
00446 # camera's frame. We assume Tz = 0 so both cameras are in the same\n\
00447 # stereo image plane. The first camera always has Tx = Ty = 0. For\n\
00448 # the right (second) camera of a horizontal stereo pair, Ty = 0 and\n\
00449 # Tx = -fx' * B, where B is the baseline between the cameras.\n\
00450 # Given a 3D point [X Y Z]', the projection (x, y) of the point onto\n\
00451 # the rectified image is given by:\n\
00452 # [u v w]' = P * [X Y Z 1]'\n\
00453 # x = u / w\n\
00454 # y = v / w\n\
00455 # This holds for both images of a stereo pair.\n\
00456 float64[12] P # 3x4 row-major matrix\n\
00457 \n\
00458 \n\
00459 #######################################################################\n\
00460 # Operational Parameters #\n\
00461 #######################################################################\n\
00462 # These define the image region actually captured by the camera #\n\
00463 # driver. Although they affect the geometry of the output image, they #\n\
00464 # may be changed freely without recalibrating the camera. #\n\
00465 #######################################################################\n\
00466 \n\
00467 # Binning refers here to any camera setting which combines rectangular\n\
00468 # neighborhoods of pixels into larger \"super-pixels.\" It reduces the\n\
00469 # resolution of the output image to\n\
00470 # (width / binning_x) x (height / binning_y).\n\
00471 # The default values binning_x = binning_y = 0 is considered the same\n\
00472 # as binning_x = binning_y = 1 (no subsampling).\n\
00473 uint32 binning_x\n\
00474 uint32 binning_y\n\
00475 \n\
00476 # Region of interest (subwindow of full camera resolution), given in\n\
00477 # full resolution (unbinned) image coordinates. A particular ROI\n\
00478 # always denotes the same window of pixels on the camera sensor,\n\
00479 # regardless of binning settings.\n\
00480 # The default setting of roi (all values 0) is considered the same as\n\
00481 # full resolution (roi.width = width, roi.height = height).\n\
00482 RegionOfInterest roi\n\
00483 \n\
00484 ================================================================================\n\
00485 MSG: sensor_msgs/RegionOfInterest\n\
00486 # This message is used to specify a region of interest within an image.\n\
00487 #\n\
00488 # When used to specify the ROI setting of the camera when the image was\n\
00489 # taken, the height and width fields should either match the height and\n\
00490 # width fields for the associated image; or height = width = 0\n\
00491 # indicates that the full resolution image was captured.\n\
00492 \n\
00493 uint32 x_offset # Leftmost pixel of the ROI\n\
00494 # (0 if the ROI includes the left edge of the image)\n\
00495 uint32 y_offset # Topmost pixel of the ROI\n\
00496 # (0 if the ROI includes the top edge of the image)\n\
00497 uint32 height # Height of ROI\n\
00498 uint32 width # Width of ROI\n\
00499 \n\
00500 # True if a distinct rectified ROI should be calculated from the \"raw\"\n\
00501 # ROI in this message. Typically this should be False if the full image\n\
00502 # is captured (ROI not used), and True if a subwindow is captured (ROI\n\
00503 # used).\n\
00504 bool do_rectify\n\
00505 \n\
00506 ================================================================================\n\
00507 MSG: geometry_msgs/Vector3\n\
00508 # This represents a vector in free space. \n\
00509 \n\
00510 float64 x\n\
00511 float64 y\n\
00512 float64 z\n\
00513 ================================================================================\n\
00514 MSG: object_manipulation_msgs/Grasp\n\
00515 \n\
00516 # The internal posture of the hand for the pre-grasp\n\
00517 # only positions are used\n\
00518 sensor_msgs/JointState pre_grasp_posture\n\
00519 \n\
00520 # The internal posture of the hand for the grasp\n\
00521 # positions and efforts are used\n\
00522 sensor_msgs/JointState grasp_posture\n\
00523 \n\
00524 # The position of the end-effector for the grasp relative to a reference frame \n\
00525 # (that is always specified elsewhere, not in this message)\n\
00526 geometry_msgs/Pose grasp_pose\n\
00527 \n\
00528 # The estimated probability of success for this grasp\n\
00529 float64 success_probability\n\
00530 \n\
00531 # Debug flag to indicate that this grasp would be the best in its cluster\n\
00532 bool cluster_rep\n\
00533 \n\
00534 # how far the pre-grasp should ideally be away from the grasp\n\
00535 float32 desired_approach_distance\n\
00536 \n\
00537 # how much distance between pre-grasp and grasp must actually be feasible \n\
00538 # for the grasp not to be rejected\n\
00539 float32 min_approach_distance\n\
00540 \n\
00541 # an optional list of obstacles that we have semantic information about\n\
00542 # and that we expect might move in the course of executing this grasp\n\
00543 # the grasp planner is expected to make sure they move in an OK way; during\n\
00544 # execution, grasp executors will not check for collisions against these objects\n\
00545 GraspableObject[] moved_obstacles\n\
00546 \n\
00547 ================================================================================\n\
00548 MSG: sensor_msgs/JointState\n\
00549 # This is a message that holds data to describe the state of a set of torque controlled joints. \n\
00550 #\n\
00551 # The state of each joint (revolute or prismatic) is defined by:\n\
00552 # * the position of the joint (rad or m),\n\
00553 # * the velocity of the joint (rad/s or m/s) and \n\
00554 # * the effort that is applied in the joint (Nm or N).\n\
00555 #\n\
00556 # Each joint is uniquely identified by its name\n\
00557 # The header specifies the time at which the joint states were recorded. All the joint states\n\
00558 # in one message have to be recorded at the same time.\n\
00559 #\n\
00560 # This message consists of a multiple arrays, one for each part of the joint state. \n\
00561 # The goal is to make each of the fields optional. When e.g. your joints have no\n\
00562 # effort associated with them, you can leave the effort array empty. \n\
00563 #\n\
00564 # All arrays in this message should have the same size, or be empty.\n\
00565 # This is the only way to uniquely associate the joint name with the correct\n\
00566 # states.\n\
00567 \n\
00568 \n\
00569 Header header\n\
00570 \n\
00571 string[] name\n\
00572 float64[] position\n\
00573 float64[] velocity\n\
00574 float64[] effort\n\
00575 \n\
00576 "; }
00577 public:
00578 ROS_DEPRECATED static const std::string __s_getMessageDefinition() { return __s_getMessageDefinition_(); }
00579
00580 ROS_DEPRECATED const std::string __getMessageDefinition() const { return __s_getMessageDefinition_(); }
00581
00582 ROS_DEPRECATED virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const
00583 {
00584 ros::serialization::OStream stream(write_ptr, 1000000000);
00585 ros::serialization::serialize(stream, header);
00586 ros::serialization::serialize(stream, goal_id);
00587 ros::serialization::serialize(stream, goal);
00588 return stream.getData();
00589 }
00590
00591 ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr)
00592 {
00593 ros::serialization::IStream stream(read_ptr, 1000000000);
00594 ros::serialization::deserialize(stream, header);
00595 ros::serialization::deserialize(stream, goal_id);
00596 ros::serialization::deserialize(stream, goal);
00597 return stream.getData();
00598 }
00599
00600 ROS_DEPRECATED virtual uint32_t serializationLength() const
00601 {
00602 uint32_t size = 0;
00603 size += ros::serialization::serializationLength(header);
00604 size += ros::serialization::serializationLength(goal_id);
00605 size += ros::serialization::serializationLength(goal);
00606 return size;
00607 }
00608
00609 typedef boost::shared_ptr< ::pr2_object_manipulation_msgs::GetGripperPoseActionGoal_<ContainerAllocator> > Ptr;
00610 typedef boost::shared_ptr< ::pr2_object_manipulation_msgs::GetGripperPoseActionGoal_<ContainerAllocator> const> ConstPtr;
00611 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00612 };
00613 typedef ::pr2_object_manipulation_msgs::GetGripperPoseActionGoal_<std::allocator<void> > GetGripperPoseActionGoal;
00614
00615 typedef boost::shared_ptr< ::pr2_object_manipulation_msgs::GetGripperPoseActionGoal> GetGripperPoseActionGoalPtr;
00616 typedef boost::shared_ptr< ::pr2_object_manipulation_msgs::GetGripperPoseActionGoal const> GetGripperPoseActionGoalConstPtr;
00617
00618
00619 template<typename ContainerAllocator>
00620 std::ostream& operator<<(std::ostream& s, const ::pr2_object_manipulation_msgs::GetGripperPoseActionGoal_<ContainerAllocator> & v)
00621 {
00622 ros::message_operations::Printer< ::pr2_object_manipulation_msgs::GetGripperPoseActionGoal_<ContainerAllocator> >::stream(s, "", v);
00623 return s;}
00624
00625 }
00626
00627 namespace ros
00628 {
00629 namespace message_traits
00630 {
00631 template<class ContainerAllocator> struct IsMessage< ::pr2_object_manipulation_msgs::GetGripperPoseActionGoal_<ContainerAllocator> > : public TrueType {};
00632 template<class ContainerAllocator> struct IsMessage< ::pr2_object_manipulation_msgs::GetGripperPoseActionGoal_<ContainerAllocator> const> : public TrueType {};
00633 template<class ContainerAllocator>
00634 struct MD5Sum< ::pr2_object_manipulation_msgs::GetGripperPoseActionGoal_<ContainerAllocator> > {
00635 static const char* value()
00636 {
00637 return "1967a7e9bdf026bfaa86707548b502d9";
00638 }
00639
00640 static const char* value(const ::pr2_object_manipulation_msgs::GetGripperPoseActionGoal_<ContainerAllocator> &) { return value(); }
00641 static const uint64_t static_value1 = 0x1967a7e9bdf026bfULL;
00642 static const uint64_t static_value2 = 0xaa86707548b502d9ULL;
00643 };
00644
00645 template<class ContainerAllocator>
00646 struct DataType< ::pr2_object_manipulation_msgs::GetGripperPoseActionGoal_<ContainerAllocator> > {
00647 static const char* value()
00648 {
00649 return "pr2_object_manipulation_msgs/GetGripperPoseActionGoal";
00650 }
00651
00652 static const char* value(const ::pr2_object_manipulation_msgs::GetGripperPoseActionGoal_<ContainerAllocator> &) { return value(); }
00653 };
00654
00655 template<class ContainerAllocator>
00656 struct Definition< ::pr2_object_manipulation_msgs::GetGripperPoseActionGoal_<ContainerAllocator> > {
00657 static const char* value()
00658 {
00659 return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00660 \n\
00661 Header header\n\
00662 actionlib_msgs/GoalID goal_id\n\
00663 GetGripperPoseGoal goal\n\
00664 \n\
00665 ================================================================================\n\
00666 MSG: std_msgs/Header\n\
00667 # Standard metadata for higher-level stamped data types.\n\
00668 # This is generally used to communicate timestamped data \n\
00669 # in a particular coordinate frame.\n\
00670 # \n\
00671 # sequence ID: consecutively increasing ID \n\
00672 uint32 seq\n\
00673 #Two-integer timestamp that is expressed as:\n\
00674 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00675 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00676 # time-handling sugar is provided by the client library\n\
00677 time stamp\n\
00678 #Frame this data is associated with\n\
00679 # 0: no frame\n\
00680 # 1: global frame\n\
00681 string frame_id\n\
00682 \n\
00683 ================================================================================\n\
00684 MSG: actionlib_msgs/GoalID\n\
00685 # The stamp should store the time at which this goal was requested.\n\
00686 # It is used by an action server when it tries to preempt all\n\
00687 # goals that were requested before a certain time\n\
00688 time stamp\n\
00689 \n\
00690 # The id provides a way to associate feedback and\n\
00691 # result message with specific goal requests. The id\n\
00692 # specified must be unique.\n\
00693 string id\n\
00694 \n\
00695 \n\
00696 ================================================================================\n\
00697 MSG: pr2_object_manipulation_msgs/GetGripperPoseGoal\n\
00698 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00699 \n\
00700 # for which arm are we requesting a pose\n\
00701 # useful for knowing which arm to initialize from when seed is empty\n\
00702 string arm_name\n\
00703 \n\
00704 # a seed position for the ghosted gripper. If emtpy (quaternion of norm 0)\n\
00705 # the ghosted gripper will be initialized at the current position of the gripper\n\
00706 geometry_msgs/PoseStamped gripper_pose\n\
00707 float32 gripper_opening\n\
00708 \n\
00709 # An object that the gripper is holding. May be empty.\n\
00710 object_manipulation_msgs/GraspableObject object\n\
00711 \n\
00712 # how we are holding the object, if any.\n\
00713 object_manipulation_msgs/Grasp grasp\n\
00714 \n\
00715 \n\
00716 ================================================================================\n\
00717 MSG: geometry_msgs/PoseStamped\n\
00718 # A Pose with reference coordinate frame and timestamp\n\
00719 Header header\n\
00720 Pose pose\n\
00721 \n\
00722 ================================================================================\n\
00723 MSG: geometry_msgs/Pose\n\
00724 # A representation of pose in free space, composed of postion and orientation. \n\
00725 Point position\n\
00726 Quaternion orientation\n\
00727 \n\
00728 ================================================================================\n\
00729 MSG: geometry_msgs/Point\n\
00730 # This contains the position of a point in free space\n\
00731 float64 x\n\
00732 float64 y\n\
00733 float64 z\n\
00734 \n\
00735 ================================================================================\n\
00736 MSG: geometry_msgs/Quaternion\n\
00737 # This represents an orientation in free space in quaternion form.\n\
00738 \n\
00739 float64 x\n\
00740 float64 y\n\
00741 float64 z\n\
00742 float64 w\n\
00743 \n\
00744 ================================================================================\n\
00745 MSG: object_manipulation_msgs/GraspableObject\n\
00746 # an object that the object_manipulator can work on\n\
00747 \n\
00748 # a graspable object can be represented in multiple ways. This message\n\
00749 # can contain all of them. Which one is actually used is up to the receiver\n\
00750 # of this message. When adding new representations, one must be careful that\n\
00751 # they have reasonable lightweight defaults indicating that that particular\n\
00752 # representation is not available.\n\
00753 \n\
00754 # the tf frame to be used as a reference frame when combining information from\n\
00755 # the different representations below\n\
00756 string reference_frame_id\n\
00757 \n\
00758 # potential recognition results from a database of models\n\
00759 # all poses are relative to the object reference pose\n\
00760 household_objects_database_msgs/DatabaseModelPose[] potential_models\n\
00761 \n\
00762 # the point cloud itself\n\
00763 sensor_msgs/PointCloud cluster\n\
00764 \n\
00765 # a region of a PointCloud2 of interest\n\
00766 object_manipulation_msgs/SceneRegion region\n\
00767 \n\
00768 # the name that this object has in the collision environment\n\
00769 string collision_name\n\
00770 ================================================================================\n\
00771 MSG: household_objects_database_msgs/DatabaseModelPose\n\
00772 # Informs that a specific model from the Model Database has been \n\
00773 # identified at a certain location\n\
00774 \n\
00775 # the database id of the model\n\
00776 int32 model_id\n\
00777 \n\
00778 # the pose that it can be found in\n\
00779 geometry_msgs/PoseStamped pose\n\
00780 \n\
00781 # a measure of the confidence level in this detection result\n\
00782 float32 confidence\n\
00783 \n\
00784 # the name of the object detector that generated this detection result\n\
00785 string detector_name\n\
00786 \n\
00787 ================================================================================\n\
00788 MSG: sensor_msgs/PointCloud\n\
00789 # This message holds a collection of 3d points, plus optional additional\n\
00790 # information about each point.\n\
00791 \n\
00792 # Time of sensor data acquisition, coordinate frame ID.\n\
00793 Header header\n\
00794 \n\
00795 # Array of 3d points. Each Point32 should be interpreted as a 3d point\n\
00796 # in the frame given in the header.\n\
00797 geometry_msgs/Point32[] points\n\
00798 \n\
00799 # Each channel should have the same number of elements as points array,\n\
00800 # and the data in each channel should correspond 1:1 with each point.\n\
00801 # Channel names in common practice are listed in ChannelFloat32.msg.\n\
00802 ChannelFloat32[] channels\n\
00803 \n\
00804 ================================================================================\n\
00805 MSG: geometry_msgs/Point32\n\
00806 # This contains the position of a point in free space(with 32 bits of precision).\n\
00807 # It is recommeded to use Point wherever possible instead of Point32. \n\
00808 # \n\
00809 # This recommendation is to promote interoperability. \n\
00810 #\n\
00811 # This message is designed to take up less space when sending\n\
00812 # lots of points at once, as in the case of a PointCloud. \n\
00813 \n\
00814 float32 x\n\
00815 float32 y\n\
00816 float32 z\n\
00817 ================================================================================\n\
00818 MSG: sensor_msgs/ChannelFloat32\n\
00819 # This message is used by the PointCloud message to hold optional data\n\
00820 # associated with each point in the cloud. The length of the values\n\
00821 # array should be the same as the length of the points array in the\n\
00822 # PointCloud, and each value should be associated with the corresponding\n\
00823 # point.\n\
00824 \n\
00825 # Channel names in existing practice include:\n\
00826 # \"u\", \"v\" - row and column (respectively) in the left stereo image.\n\
00827 # This is opposite to usual conventions but remains for\n\
00828 # historical reasons. The newer PointCloud2 message has no\n\
00829 # such problem.\n\
00830 # \"rgb\" - For point clouds produced by color stereo cameras. uint8\n\
00831 # (R,G,B) values packed into the least significant 24 bits,\n\
00832 # in order.\n\
00833 # \"intensity\" - laser or pixel intensity.\n\
00834 # \"distance\"\n\
00835 \n\
00836 # The channel name should give semantics of the channel (e.g.\n\
00837 # \"intensity\" instead of \"value\").\n\
00838 string name\n\
00839 \n\
00840 # The values array should be 1-1 with the elements of the associated\n\
00841 # PointCloud.\n\
00842 float32[] values\n\
00843 \n\
00844 ================================================================================\n\
00845 MSG: object_manipulation_msgs/SceneRegion\n\
00846 # Point cloud\n\
00847 sensor_msgs/PointCloud2 cloud\n\
00848 \n\
00849 # Indices for the region of interest\n\
00850 int32[] mask\n\
00851 \n\
00852 # One of the corresponding 2D images, if applicable\n\
00853 sensor_msgs/Image image\n\
00854 \n\
00855 # The disparity image, if applicable\n\
00856 sensor_msgs/Image disparity_image\n\
00857 \n\
00858 # Camera info for the camera that took the image\n\
00859 sensor_msgs/CameraInfo cam_info\n\
00860 \n\
00861 # a 3D region of interest for grasp planning\n\
00862 geometry_msgs/PoseStamped roi_box_pose\n\
00863 geometry_msgs/Vector3 roi_box_dims\n\
00864 \n\
00865 ================================================================================\n\
00866 MSG: sensor_msgs/PointCloud2\n\
00867 # This message holds a collection of N-dimensional points, which may\n\
00868 # contain additional information such as normals, intensity, etc. The\n\
00869 # point data is stored as a binary blob, its layout described by the\n\
00870 # contents of the \"fields\" array.\n\
00871 \n\
00872 # The point cloud data may be organized 2d (image-like) or 1d\n\
00873 # (unordered). Point clouds organized as 2d images may be produced by\n\
00874 # camera depth sensors such as stereo or time-of-flight.\n\
00875 \n\
00876 # Time of sensor data acquisition, and the coordinate frame ID (for 3d\n\
00877 # points).\n\
00878 Header header\n\
00879 \n\
00880 # 2D structure of the point cloud. If the cloud is unordered, height is\n\
00881 # 1 and width is the length of the point cloud.\n\
00882 uint32 height\n\
00883 uint32 width\n\
00884 \n\
00885 # Describes the channels and their layout in the binary data blob.\n\
00886 PointField[] fields\n\
00887 \n\
00888 bool is_bigendian # Is this data bigendian?\n\
00889 uint32 point_step # Length of a point in bytes\n\
00890 uint32 row_step # Length of a row in bytes\n\
00891 uint8[] data # Actual point data, size is (row_step*height)\n\
00892 \n\
00893 bool is_dense # True if there are no invalid points\n\
00894 \n\
00895 ================================================================================\n\
00896 MSG: sensor_msgs/PointField\n\
00897 # This message holds the description of one point entry in the\n\
00898 # PointCloud2 message format.\n\
00899 uint8 INT8 = 1\n\
00900 uint8 UINT8 = 2\n\
00901 uint8 INT16 = 3\n\
00902 uint8 UINT16 = 4\n\
00903 uint8 INT32 = 5\n\
00904 uint8 UINT32 = 6\n\
00905 uint8 FLOAT32 = 7\n\
00906 uint8 FLOAT64 = 8\n\
00907 \n\
00908 string name # Name of field\n\
00909 uint32 offset # Offset from start of point struct\n\
00910 uint8 datatype # Datatype enumeration, see above\n\
00911 uint32 count # How many elements in the field\n\
00912 \n\
00913 ================================================================================\n\
00914 MSG: sensor_msgs/Image\n\
00915 # This message contains an uncompressed image\n\
00916 # (0, 0) is at top-left corner of image\n\
00917 #\n\
00918 \n\
00919 Header header # Header timestamp should be acquisition time of image\n\
00920 # Header frame_id should be optical frame of camera\n\
00921 # origin of frame should be optical center of cameara\n\
00922 # +x should point to the right in the image\n\
00923 # +y should point down in the image\n\
00924 # +z should point into to plane of the image\n\
00925 # If the frame_id here and the frame_id of the CameraInfo\n\
00926 # message associated with the image conflict\n\
00927 # the behavior is undefined\n\
00928 \n\
00929 uint32 height # image height, that is, number of rows\n\
00930 uint32 width # image width, that is, number of columns\n\
00931 \n\
00932 # The legal values for encoding are in file src/image_encodings.cpp\n\
00933 # If you want to standardize a new string format, join\n\
00934 # ros-users@lists.sourceforge.net and send an email proposing a new encoding.\n\
00935 \n\
00936 string encoding # Encoding of pixels -- channel meaning, ordering, size\n\
00937 # taken from the list of strings in src/image_encodings.cpp\n\
00938 \n\
00939 uint8 is_bigendian # is this data bigendian?\n\
00940 uint32 step # Full row length in bytes\n\
00941 uint8[] data # actual matrix data, size is (step * rows)\n\
00942 \n\
00943 ================================================================================\n\
00944 MSG: sensor_msgs/CameraInfo\n\
00945 # This message defines meta information for a camera. It should be in a\n\
00946 # camera namespace on topic \"camera_info\" and accompanied by up to five\n\
00947 # image topics named:\n\
00948 #\n\
00949 # image_raw - raw data from the camera driver, possibly Bayer encoded\n\
00950 # image - monochrome, distorted\n\
00951 # image_color - color, distorted\n\
00952 # image_rect - monochrome, rectified\n\
00953 # image_rect_color - color, rectified\n\
00954 #\n\
00955 # The image_pipeline contains packages (image_proc, stereo_image_proc)\n\
00956 # for producing the four processed image topics from image_raw and\n\
00957 # camera_info. The meaning of the camera parameters are described in\n\
00958 # detail at http://www.ros.org/wiki/image_pipeline/CameraInfo.\n\
00959 #\n\
00960 # The image_geometry package provides a user-friendly interface to\n\
00961 # common operations using this meta information. If you want to, e.g.,\n\
00962 # project a 3d point into image coordinates, we strongly recommend\n\
00963 # using image_geometry.\n\
00964 #\n\
00965 # If the camera is uncalibrated, the matrices D, K, R, P should be left\n\
00966 # zeroed out. In particular, clients may assume that K[0] == 0.0\n\
00967 # indicates an uncalibrated camera.\n\
00968 \n\
00969 #######################################################################\n\
00970 # Image acquisition info #\n\
00971 #######################################################################\n\
00972 \n\
00973 # Time of image acquisition, camera coordinate frame ID\n\
00974 Header header # Header timestamp should be acquisition time of image\n\
00975 # Header frame_id should be optical frame of camera\n\
00976 # origin of frame should be optical center of camera\n\
00977 # +x should point to the right in the image\n\
00978 # +y should point down in the image\n\
00979 # +z should point into the plane of the image\n\
00980 \n\
00981 \n\
00982 #######################################################################\n\
00983 # Calibration Parameters #\n\
00984 #######################################################################\n\
00985 # These are fixed during camera calibration. Their values will be the #\n\
00986 # same in all messages until the camera is recalibrated. Note that #\n\
00987 # self-calibrating systems may \"recalibrate\" frequently. #\n\
00988 # #\n\
00989 # The internal parameters can be used to warp a raw (distorted) image #\n\
00990 # to: #\n\
00991 # 1. An undistorted image (requires D and K) #\n\
00992 # 2. A rectified image (requires D, K, R) #\n\
00993 # The projection matrix P projects 3D points into the rectified image.#\n\
00994 #######################################################################\n\
00995 \n\
00996 # The image dimensions with which the camera was calibrated. Normally\n\
00997 # this will be the full camera resolution in pixels.\n\
00998 uint32 height\n\
00999 uint32 width\n\
01000 \n\
01001 # The distortion model used. Supported models are listed in\n\
01002 # sensor_msgs/distortion_models.h. For most cameras, \"plumb_bob\" - a\n\
01003 # simple model of radial and tangential distortion - is sufficent.\n\
01004 string distortion_model\n\
01005 \n\
01006 # The distortion parameters, size depending on the distortion model.\n\
01007 # For \"plumb_bob\", the 5 parameters are: (k1, k2, t1, t2, k3).\n\
01008 float64[] D\n\
01009 \n\
01010 # Intrinsic camera matrix for the raw (distorted) images.\n\
01011 # [fx 0 cx]\n\
01012 # K = [ 0 fy cy]\n\
01013 # [ 0 0 1]\n\
01014 # Projects 3D points in the camera coordinate frame to 2D pixel\n\
01015 # coordinates using the focal lengths (fx, fy) and principal point\n\
01016 # (cx, cy).\n\
01017 float64[9] K # 3x3 row-major matrix\n\
01018 \n\
01019 # Rectification matrix (stereo cameras only)\n\
01020 # A rotation matrix aligning the camera coordinate system to the ideal\n\
01021 # stereo image plane so that epipolar lines in both stereo images are\n\
01022 # parallel.\n\
01023 float64[9] R # 3x3 row-major matrix\n\
01024 \n\
01025 # Projection/camera matrix\n\
01026 # [fx' 0 cx' Tx]\n\
01027 # P = [ 0 fy' cy' Ty]\n\
01028 # [ 0 0 1 0]\n\
01029 # By convention, this matrix specifies the intrinsic (camera) matrix\n\
01030 # of the processed (rectified) image. That is, the left 3x3 portion\n\
01031 # is the normal camera intrinsic matrix for the rectified image.\n\
01032 # It projects 3D points in the camera coordinate frame to 2D pixel\n\
01033 # coordinates using the focal lengths (fx', fy') and principal point\n\
01034 # (cx', cy') - these may differ from the values in K.\n\
01035 # For monocular cameras, Tx = Ty = 0. Normally, monocular cameras will\n\
01036 # also have R = the identity and P[1:3,1:3] = K.\n\
01037 # For a stereo pair, the fourth column [Tx Ty 0]' is related to the\n\
01038 # position of the optical center of the second camera in the first\n\
01039 # camera's frame. We assume Tz = 0 so both cameras are in the same\n\
01040 # stereo image plane. The first camera always has Tx = Ty = 0. For\n\
01041 # the right (second) camera of a horizontal stereo pair, Ty = 0 and\n\
01042 # Tx = -fx' * B, where B is the baseline between the cameras.\n\
01043 # Given a 3D point [X Y Z]', the projection (x, y) of the point onto\n\
01044 # the rectified image is given by:\n\
01045 # [u v w]' = P * [X Y Z 1]'\n\
01046 # x = u / w\n\
01047 # y = v / w\n\
01048 # This holds for both images of a stereo pair.\n\
01049 float64[12] P # 3x4 row-major matrix\n\
01050 \n\
01051 \n\
01052 #######################################################################\n\
01053 # Operational Parameters #\n\
01054 #######################################################################\n\
01055 # These define the image region actually captured by the camera #\n\
01056 # driver. Although they affect the geometry of the output image, they #\n\
01057 # may be changed freely without recalibrating the camera. #\n\
01058 #######################################################################\n\
01059 \n\
01060 # Binning refers here to any camera setting which combines rectangular\n\
01061 # neighborhoods of pixels into larger \"super-pixels.\" It reduces the\n\
01062 # resolution of the output image to\n\
01063 # (width / binning_x) x (height / binning_y).\n\
01064 # The default values binning_x = binning_y = 0 is considered the same\n\
01065 # as binning_x = binning_y = 1 (no subsampling).\n\
01066 uint32 binning_x\n\
01067 uint32 binning_y\n\
01068 \n\
01069 # Region of interest (subwindow of full camera resolution), given in\n\
01070 # full resolution (unbinned) image coordinates. A particular ROI\n\
01071 # always denotes the same window of pixels on the camera sensor,\n\
01072 # regardless of binning settings.\n\
01073 # The default setting of roi (all values 0) is considered the same as\n\
01074 # full resolution (roi.width = width, roi.height = height).\n\
01075 RegionOfInterest roi\n\
01076 \n\
01077 ================================================================================\n\
01078 MSG: sensor_msgs/RegionOfInterest\n\
01079 # This message is used to specify a region of interest within an image.\n\
01080 #\n\
01081 # When used to specify the ROI setting of the camera when the image was\n\
01082 # taken, the height and width fields should either match the height and\n\
01083 # width fields for the associated image; or height = width = 0\n\
01084 # indicates that the full resolution image was captured.\n\
01085 \n\
01086 uint32 x_offset # Leftmost pixel of the ROI\n\
01087 # (0 if the ROI includes the left edge of the image)\n\
01088 uint32 y_offset # Topmost pixel of the ROI\n\
01089 # (0 if the ROI includes the top edge of the image)\n\
01090 uint32 height # Height of ROI\n\
01091 uint32 width # Width of ROI\n\
01092 \n\
01093 # True if a distinct rectified ROI should be calculated from the \"raw\"\n\
01094 # ROI in this message. Typically this should be False if the full image\n\
01095 # is captured (ROI not used), and True if a subwindow is captured (ROI\n\
01096 # used).\n\
01097 bool do_rectify\n\
01098 \n\
01099 ================================================================================\n\
01100 MSG: geometry_msgs/Vector3\n\
01101 # This represents a vector in free space. \n\
01102 \n\
01103 float64 x\n\
01104 float64 y\n\
01105 float64 z\n\
01106 ================================================================================\n\
01107 MSG: object_manipulation_msgs/Grasp\n\
01108 \n\
01109 # The internal posture of the hand for the pre-grasp\n\
01110 # only positions are used\n\
01111 sensor_msgs/JointState pre_grasp_posture\n\
01112 \n\
01113 # The internal posture of the hand for the grasp\n\
01114 # positions and efforts are used\n\
01115 sensor_msgs/JointState grasp_posture\n\
01116 \n\
01117 # The position of the end-effector for the grasp relative to a reference frame \n\
01118 # (that is always specified elsewhere, not in this message)\n\
01119 geometry_msgs/Pose grasp_pose\n\
01120 \n\
01121 # The estimated probability of success for this grasp\n\
01122 float64 success_probability\n\
01123 \n\
01124 # Debug flag to indicate that this grasp would be the best in its cluster\n\
01125 bool cluster_rep\n\
01126 \n\
01127 # how far the pre-grasp should ideally be away from the grasp\n\
01128 float32 desired_approach_distance\n\
01129 \n\
01130 # how much distance between pre-grasp and grasp must actually be feasible \n\
01131 # for the grasp not to be rejected\n\
01132 float32 min_approach_distance\n\
01133 \n\
01134 # an optional list of obstacles that we have semantic information about\n\
01135 # and that we expect might move in the course of executing this grasp\n\
01136 # the grasp planner is expected to make sure they move in an OK way; during\n\
01137 # execution, grasp executors will not check for collisions against these objects\n\
01138 GraspableObject[] moved_obstacles\n\
01139 \n\
01140 ================================================================================\n\
01141 MSG: sensor_msgs/JointState\n\
01142 # This is a message that holds data to describe the state of a set of torque controlled joints. \n\
01143 #\n\
01144 # The state of each joint (revolute or prismatic) is defined by:\n\
01145 # * the position of the joint (rad or m),\n\
01146 # * the velocity of the joint (rad/s or m/s) and \n\
01147 # * the effort that is applied in the joint (Nm or N).\n\
01148 #\n\
01149 # Each joint is uniquely identified by its name\n\
01150 # The header specifies the time at which the joint states were recorded. All the joint states\n\
01151 # in one message have to be recorded at the same time.\n\
01152 #\n\
01153 # This message consists of a multiple arrays, one for each part of the joint state. \n\
01154 # The goal is to make each of the fields optional. When e.g. your joints have no\n\
01155 # effort associated with them, you can leave the effort array empty. \n\
01156 #\n\
01157 # All arrays in this message should have the same size, or be empty.\n\
01158 # This is the only way to uniquely associate the joint name with the correct\n\
01159 # states.\n\
01160 \n\
01161 \n\
01162 Header header\n\
01163 \n\
01164 string[] name\n\
01165 float64[] position\n\
01166 float64[] velocity\n\
01167 float64[] effort\n\
01168 \n\
01169 ";
01170 }
01171
01172 static const char* value(const ::pr2_object_manipulation_msgs::GetGripperPoseActionGoal_<ContainerAllocator> &) { return value(); }
01173 };
01174
01175 template<class ContainerAllocator> struct HasHeader< ::pr2_object_manipulation_msgs::GetGripperPoseActionGoal_<ContainerAllocator> > : public TrueType {};
01176 template<class ContainerAllocator> struct HasHeader< const ::pr2_object_manipulation_msgs::GetGripperPoseActionGoal_<ContainerAllocator> > : public TrueType {};
01177 }
01178 }
01179
01180 namespace ros
01181 {
01182 namespace serialization
01183 {
01184
01185 template<class ContainerAllocator> struct Serializer< ::pr2_object_manipulation_msgs::GetGripperPoseActionGoal_<ContainerAllocator> >
01186 {
01187 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
01188 {
01189 stream.next(m.header);
01190 stream.next(m.goal_id);
01191 stream.next(m.goal);
01192 }
01193
01194 ROS_DECLARE_ALLINONE_SERIALIZER;
01195 };
01196 }
01197 }
01198
01199 namespace ros
01200 {
01201 namespace message_operations
01202 {
01203
01204 template<class ContainerAllocator>
01205 struct Printer< ::pr2_object_manipulation_msgs::GetGripperPoseActionGoal_<ContainerAllocator> >
01206 {
01207 template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::pr2_object_manipulation_msgs::GetGripperPoseActionGoal_<ContainerAllocator> & v)
01208 {
01209 s << indent << "header: ";
01210 s << std::endl;
01211 Printer< ::std_msgs::Header_<ContainerAllocator> >::stream(s, indent + " ", v.header);
01212 s << indent << "goal_id: ";
01213 s << std::endl;
01214 Printer< ::actionlib_msgs::GoalID_<ContainerAllocator> >::stream(s, indent + " ", v.goal_id);
01215 s << indent << "goal: ";
01216 s << std::endl;
01217 Printer< ::pr2_object_manipulation_msgs::GetGripperPoseGoal_<ContainerAllocator> >::stream(s, indent + " ", v.goal);
01218 }
01219 };
01220
01221
01222 }
01223 }
01224
01225 #endif // PR2_OBJECT_MANIPULATION_MSGS_MESSAGE_GETGRIPPERPOSEACTIONGOAL_H
01226
