00001
00002 #ifndef PR2_OBJECT_MANIPULATION_MSGS_MESSAGE_IMGUIACTIONGOAL_H
00003 #define PR2_OBJECT_MANIPULATION_MSGS_MESSAGE_IMGUIACTIONGOAL_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/IMGUIGoal.h"
00020
00021 namespace pr2_object_manipulation_msgs
00022 {
00023 template <class ContainerAllocator>
00024 struct IMGUIActionGoal_ {
00025 typedef IMGUIActionGoal_<ContainerAllocator> Type;
00026
00027 IMGUIActionGoal_()
00028 : header()
00029 , goal_id()
00030 , goal()
00031 {
00032 }
00033
00034 IMGUIActionGoal_(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::IMGUIGoal_<ContainerAllocator> _goal_type;
00048 ::pr2_object_manipulation_msgs::IMGUIGoal_<ContainerAllocator> goal;
00049
00050
00051 private:
00052 static const char* __s_getDataType_() { return "pr2_object_manipulation_msgs/IMGUIActionGoal"; }
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 "cf9343287e12c5555a9b5b0b8826867c"; }
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 IMGUIGoal 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/IMGUIGoal\n\
00105 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00106 \n\
00107 IMGUIOptions options\n\
00108 IMGUICommand command\n\
00109 \n\
00110 \n\
00111 ================================================================================\n\
00112 MSG: pr2_object_manipulation_msgs/IMGUIOptions\n\
00113 \n\
00114 # collision checking enabled\n\
00115 bool collision_checked\n\
00116 \n\
00117 # 0=call gripper click\n\
00118 # 1=grasp the provided graspable object\n\
00119 int32 grasp_selection\n\
00120 \n\
00121 # 0=right, 1=left arm\n\
00122 int32 arm_selection\n\
00123 \n\
00124 # for RESET commands\n\
00125 # 0=reset collision objects\n\
00126 # 1=reset attached objects\n\
00127 int32 reset_choice\n\
00128 \n\
00129 # for MOVE_ARM commands\n\
00130 # 0=side\n\
00131 # 1=front\n\
00132 # 2=side handoff\n\
00133 int32 arm_action_choice\n\
00134 \n\
00135 # for MOVE_ARM commands\n\
00136 # 0=open-loop\n\
00137 # 1=with planner\n\
00138 int32 arm_planner_choice\n\
00139 \n\
00140 # for MOVE_GRIPPER commands\n\
00141 # opening of gripper (0=closed..100=open)\n\
00142 int32 gripper_slider_position\n\
00143 \n\
00144 # used if grasp_selection == 1\n\
00145 object_manipulation_msgs/GraspableObject selected_object\n\
00146 \n\
00147 # indicates obstacles that can be moved during grasping\n\
00148 # presumably, the operator has marked these in some fashion\n\
00149 object_manipulation_msgs/GraspableObject[] movable_obstacles\n\
00150 \n\
00151 # more options..\n\
00152 IMGUIAdvancedOptions adv_options\n\
00153 \n\
00154 ================================================================================\n\
00155 MSG: object_manipulation_msgs/GraspableObject\n\
00156 # an object that the object_manipulator can work on\n\
00157 \n\
00158 # a graspable object can be represented in multiple ways. This message\n\
00159 # can contain all of them. Which one is actually used is up to the receiver\n\
00160 # of this message. When adding new representations, one must be careful that\n\
00161 # they have reasonable lightweight defaults indicating that that particular\n\
00162 # representation is not available.\n\
00163 \n\
00164 # the tf frame to be used as a reference frame when combining information from\n\
00165 # the different representations below\n\
00166 string reference_frame_id\n\
00167 \n\
00168 # potential recognition results from a database of models\n\
00169 # all poses are relative to the object reference pose\n\
00170 household_objects_database_msgs/DatabaseModelPose[] potential_models\n\
00171 \n\
00172 # the point cloud itself\n\
00173 sensor_msgs/PointCloud cluster\n\
00174 \n\
00175 # a region of a PointCloud2 of interest\n\
00176 object_manipulation_msgs/SceneRegion region\n\
00177 \n\
00178 # the name that this object has in the collision environment\n\
00179 string collision_name\n\
00180 ================================================================================\n\
00181 MSG: household_objects_database_msgs/DatabaseModelPose\n\
00182 # Informs that a specific model from the Model Database has been \n\
00183 # identified at a certain location\n\
00184 \n\
00185 # the database id of the model\n\
00186 int32 model_id\n\
00187 \n\
00188 # the pose that it can be found in\n\
00189 geometry_msgs/PoseStamped pose\n\
00190 \n\
00191 # a measure of the confidence level in this detection result\n\
00192 float32 confidence\n\
00193 \n\
00194 # the name of the object detector that generated this detection result\n\
00195 string detector_name\n\
00196 \n\
00197 ================================================================================\n\
00198 MSG: geometry_msgs/PoseStamped\n\
00199 # A Pose with reference coordinate frame and timestamp\n\
00200 Header header\n\
00201 Pose pose\n\
00202 \n\
00203 ================================================================================\n\
00204 MSG: geometry_msgs/Pose\n\
00205 # A representation of pose in free space, composed of postion and orientation. \n\
00206 Point position\n\
00207 Quaternion orientation\n\
00208 \n\
00209 ================================================================================\n\
00210 MSG: geometry_msgs/Point\n\
00211 # This contains the position of a point in free space\n\
00212 float64 x\n\
00213 float64 y\n\
00214 float64 z\n\
00215 \n\
00216 ================================================================================\n\
00217 MSG: geometry_msgs/Quaternion\n\
00218 # This represents an orientation in free space in quaternion form.\n\
00219 \n\
00220 float64 x\n\
00221 float64 y\n\
00222 float64 z\n\
00223 float64 w\n\
00224 \n\
00225 ================================================================================\n\
00226 MSG: sensor_msgs/PointCloud\n\
00227 # This message holds a collection of 3d points, plus optional additional\n\
00228 # information about each point.\n\
00229 \n\
00230 # Time of sensor data acquisition, coordinate frame ID.\n\
00231 Header header\n\
00232 \n\
00233 # Array of 3d points. Each Point32 should be interpreted as a 3d point\n\
00234 # in the frame given in the header.\n\
00235 geometry_msgs/Point32[] points\n\
00236 \n\
00237 # Each channel should have the same number of elements as points array,\n\
00238 # and the data in each channel should correspond 1:1 with each point.\n\
00239 # Channel names in common practice are listed in ChannelFloat32.msg.\n\
00240 ChannelFloat32[] channels\n\
00241 \n\
00242 ================================================================================\n\
00243 MSG: geometry_msgs/Point32\n\
00244 # This contains the position of a point in free space(with 32 bits of precision).\n\
00245 # It is recommeded to use Point wherever possible instead of Point32. \n\
00246 # \n\
00247 # This recommendation is to promote interoperability. \n\
00248 #\n\
00249 # This message is designed to take up less space when sending\n\
00250 # lots of points at once, as in the case of a PointCloud. \n\
00251 \n\
00252 float32 x\n\
00253 float32 y\n\
00254 float32 z\n\
00255 ================================================================================\n\
00256 MSG: sensor_msgs/ChannelFloat32\n\
00257 # This message is used by the PointCloud message to hold optional data\n\
00258 # associated with each point in the cloud. The length of the values\n\
00259 # array should be the same as the length of the points array in the\n\
00260 # PointCloud, and each value should be associated with the corresponding\n\
00261 # point.\n\
00262 \n\
00263 # Channel names in existing practice include:\n\
00264 # \"u\", \"v\" - row and column (respectively) in the left stereo image.\n\
00265 # This is opposite to usual conventions but remains for\n\
00266 # historical reasons. The newer PointCloud2 message has no\n\
00267 # such problem.\n\
00268 # \"rgb\" - For point clouds produced by color stereo cameras. uint8\n\
00269 # (R,G,B) values packed into the least significant 24 bits,\n\
00270 # in order.\n\
00271 # \"intensity\" - laser or pixel intensity.\n\
00272 # \"distance\"\n\
00273 \n\
00274 # The channel name should give semantics of the channel (e.g.\n\
00275 # \"intensity\" instead of \"value\").\n\
00276 string name\n\
00277 \n\
00278 # The values array should be 1-1 with the elements of the associated\n\
00279 # PointCloud.\n\
00280 float32[] values\n\
00281 \n\
00282 ================================================================================\n\
00283 MSG: object_manipulation_msgs/SceneRegion\n\
00284 # Point cloud\n\
00285 sensor_msgs/PointCloud2 cloud\n\
00286 \n\
00287 # Indices for the region of interest\n\
00288 int32[] mask\n\
00289 \n\
00290 # One of the corresponding 2D images, if applicable\n\
00291 sensor_msgs/Image image\n\
00292 \n\
00293 # The disparity image, if applicable\n\
00294 sensor_msgs/Image disparity_image\n\
00295 \n\
00296 # Camera info for the camera that took the image\n\
00297 sensor_msgs/CameraInfo cam_info\n\
00298 \n\
00299 # a 3D region of interest for grasp planning\n\
00300 geometry_msgs/PoseStamped roi_box_pose\n\
00301 geometry_msgs/Vector3 roi_box_dims\n\
00302 \n\
00303 ================================================================================\n\
00304 MSG: sensor_msgs/PointCloud2\n\
00305 # This message holds a collection of N-dimensional points, which may\n\
00306 # contain additional information such as normals, intensity, etc. The\n\
00307 # point data is stored as a binary blob, its layout described by the\n\
00308 # contents of the \"fields\" array.\n\
00309 \n\
00310 # The point cloud data may be organized 2d (image-like) or 1d\n\
00311 # (unordered). Point clouds organized as 2d images may be produced by\n\
00312 # camera depth sensors such as stereo or time-of-flight.\n\
00313 \n\
00314 # Time of sensor data acquisition, and the coordinate frame ID (for 3d\n\
00315 # points).\n\
00316 Header header\n\
00317 \n\
00318 # 2D structure of the point cloud. If the cloud is unordered, height is\n\
00319 # 1 and width is the length of the point cloud.\n\
00320 uint32 height\n\
00321 uint32 width\n\
00322 \n\
00323 # Describes the channels and their layout in the binary data blob.\n\
00324 PointField[] fields\n\
00325 \n\
00326 bool is_bigendian # Is this data bigendian?\n\
00327 uint32 point_step # Length of a point in bytes\n\
00328 uint32 row_step # Length of a row in bytes\n\
00329 uint8[] data # Actual point data, size is (row_step*height)\n\
00330 \n\
00331 bool is_dense # True if there are no invalid points\n\
00332 \n\
00333 ================================================================================\n\
00334 MSG: sensor_msgs/PointField\n\
00335 # This message holds the description of one point entry in the\n\
00336 # PointCloud2 message format.\n\
00337 uint8 INT8 = 1\n\
00338 uint8 UINT8 = 2\n\
00339 uint8 INT16 = 3\n\
00340 uint8 UINT16 = 4\n\
00341 uint8 INT32 = 5\n\
00342 uint8 UINT32 = 6\n\
00343 uint8 FLOAT32 = 7\n\
00344 uint8 FLOAT64 = 8\n\
00345 \n\
00346 string name # Name of field\n\
00347 uint32 offset # Offset from start of point struct\n\
00348 uint8 datatype # Datatype enumeration, see above\n\
00349 uint32 count # How many elements in the field\n\
00350 \n\
00351 ================================================================================\n\
00352 MSG: sensor_msgs/Image\n\
00353 # This message contains an uncompressed image\n\
00354 # (0, 0) is at top-left corner of image\n\
00355 #\n\
00356 \n\
00357 Header header # Header timestamp should be acquisition time of image\n\
00358 # Header frame_id should be optical frame of camera\n\
00359 # origin of frame should be optical center of cameara\n\
00360 # +x should point to the right in the image\n\
00361 # +y should point down in the image\n\
00362 # +z should point into to plane of the image\n\
00363 # If the frame_id here and the frame_id of the CameraInfo\n\
00364 # message associated with the image conflict\n\
00365 # the behavior is undefined\n\
00366 \n\
00367 uint32 height # image height, that is, number of rows\n\
00368 uint32 width # image width, that is, number of columns\n\
00369 \n\
00370 # The legal values for encoding are in file src/image_encodings.cpp\n\
00371 # If you want to standardize a new string format, join\n\
00372 # ros-users@lists.sourceforge.net and send an email proposing a new encoding.\n\
00373 \n\
00374 string encoding # Encoding of pixels -- channel meaning, ordering, size\n\
00375 # taken from the list of strings in src/image_encodings.cpp\n\
00376 \n\
00377 uint8 is_bigendian # is this data bigendian?\n\
00378 uint32 step # Full row length in bytes\n\
00379 uint8[] data # actual matrix data, size is (step * rows)\n\
00380 \n\
00381 ================================================================================\n\
00382 MSG: sensor_msgs/CameraInfo\n\
00383 # This message defines meta information for a camera. It should be in a\n\
00384 # camera namespace on topic \"camera_info\" and accompanied by up to five\n\
00385 # image topics named:\n\
00386 #\n\
00387 # image_raw - raw data from the camera driver, possibly Bayer encoded\n\
00388 # image - monochrome, distorted\n\
00389 # image_color - color, distorted\n\
00390 # image_rect - monochrome, rectified\n\
00391 # image_rect_color - color, rectified\n\
00392 #\n\
00393 # The image_pipeline contains packages (image_proc, stereo_image_proc)\n\
00394 # for producing the four processed image topics from image_raw and\n\
00395 # camera_info. The meaning of the camera parameters are described in\n\
00396 # detail at http://www.ros.org/wiki/image_pipeline/CameraInfo.\n\
00397 #\n\
00398 # The image_geometry package provides a user-friendly interface to\n\
00399 # common operations using this meta information. If you want to, e.g.,\n\
00400 # project a 3d point into image coordinates, we strongly recommend\n\
00401 # using image_geometry.\n\
00402 #\n\
00403 # If the camera is uncalibrated, the matrices D, K, R, P should be left\n\
00404 # zeroed out. In particular, clients may assume that K[0] == 0.0\n\
00405 # indicates an uncalibrated camera.\n\
00406 \n\
00407 #######################################################################\n\
00408 # Image acquisition info #\n\
00409 #######################################################################\n\
00410 \n\
00411 # Time of image acquisition, camera coordinate frame ID\n\
00412 Header header # Header timestamp should be acquisition time of image\n\
00413 # Header frame_id should be optical frame of camera\n\
00414 # origin of frame should be optical center of camera\n\
00415 # +x should point to the right in the image\n\
00416 # +y should point down in the image\n\
00417 # +z should point into the plane of the image\n\
00418 \n\
00419 \n\
00420 #######################################################################\n\
00421 # Calibration Parameters #\n\
00422 #######################################################################\n\
00423 # These are fixed during camera calibration. Their values will be the #\n\
00424 # same in all messages until the camera is recalibrated. Note that #\n\
00425 # self-calibrating systems may \"recalibrate\" frequently. #\n\
00426 # #\n\
00427 # The internal parameters can be used to warp a raw (distorted) image #\n\
00428 # to: #\n\
00429 # 1. An undistorted image (requires D and K) #\n\
00430 # 2. A rectified image (requires D, K, R) #\n\
00431 # The projection matrix P projects 3D points into the rectified image.#\n\
00432 #######################################################################\n\
00433 \n\
00434 # The image dimensions with which the camera was calibrated. Normally\n\
00435 # this will be the full camera resolution in pixels.\n\
00436 uint32 height\n\
00437 uint32 width\n\
00438 \n\
00439 # The distortion model used. Supported models are listed in\n\
00440 # sensor_msgs/distortion_models.h. For most cameras, \"plumb_bob\" - a\n\
00441 # simple model of radial and tangential distortion - is sufficent.\n\
00442 string distortion_model\n\
00443 \n\
00444 # The distortion parameters, size depending on the distortion model.\n\
00445 # For \"plumb_bob\", the 5 parameters are: (k1, k2, t1, t2, k3).\n\
00446 float64[] D\n\
00447 \n\
00448 # Intrinsic camera matrix for the raw (distorted) images.\n\
00449 # [fx 0 cx]\n\
00450 # K = [ 0 fy cy]\n\
00451 # [ 0 0 1]\n\
00452 # Projects 3D points in the camera coordinate frame to 2D pixel\n\
00453 # coordinates using the focal lengths (fx, fy) and principal point\n\
00454 # (cx, cy).\n\
00455 float64[9] K # 3x3 row-major matrix\n\
00456 \n\
00457 # Rectification matrix (stereo cameras only)\n\
00458 # A rotation matrix aligning the camera coordinate system to the ideal\n\
00459 # stereo image plane so that epipolar lines in both stereo images are\n\
00460 # parallel.\n\
00461 float64[9] R # 3x3 row-major matrix\n\
00462 \n\
00463 # Projection/camera matrix\n\
00464 # [fx' 0 cx' Tx]\n\
00465 # P = [ 0 fy' cy' Ty]\n\
00466 # [ 0 0 1 0]\n\
00467 # By convention, this matrix specifies the intrinsic (camera) matrix\n\
00468 # of the processed (rectified) image. That is, the left 3x3 portion\n\
00469 # is the normal camera intrinsic matrix for the rectified image.\n\
00470 # It projects 3D points in the camera coordinate frame to 2D pixel\n\
00471 # coordinates using the focal lengths (fx', fy') and principal point\n\
00472 # (cx', cy') - these may differ from the values in K.\n\
00473 # For monocular cameras, Tx = Ty = 0. Normally, monocular cameras will\n\
00474 # also have R = the identity and P[1:3,1:3] = K.\n\
00475 # For a stereo pair, the fourth column [Tx Ty 0]' is related to the\n\
00476 # position of the optical center of the second camera in the first\n\
00477 # camera's frame. We assume Tz = 0 so both cameras are in the same\n\
00478 # stereo image plane. The first camera always has Tx = Ty = 0. For\n\
00479 # the right (second) camera of a horizontal stereo pair, Ty = 0 and\n\
00480 # Tx = -fx' * B, where B is the baseline between the cameras.\n\
00481 # Given a 3D point [X Y Z]', the projection (x, y) of the point onto\n\
00482 # the rectified image is given by:\n\
00483 # [u v w]' = P * [X Y Z 1]'\n\
00484 # x = u / w\n\
00485 # y = v / w\n\
00486 # This holds for both images of a stereo pair.\n\
00487 float64[12] P # 3x4 row-major matrix\n\
00488 \n\
00489 \n\
00490 #######################################################################\n\
00491 # Operational Parameters #\n\
00492 #######################################################################\n\
00493 # These define the image region actually captured by the camera #\n\
00494 # driver. Although they affect the geometry of the output image, they #\n\
00495 # may be changed freely without recalibrating the camera. #\n\
00496 #######################################################################\n\
00497 \n\
00498 # Binning refers here to any camera setting which combines rectangular\n\
00499 # neighborhoods of pixels into larger \"super-pixels.\" It reduces the\n\
00500 # resolution of the output image to\n\
00501 # (width / binning_x) x (height / binning_y).\n\
00502 # The default values binning_x = binning_y = 0 is considered the same\n\
00503 # as binning_x = binning_y = 1 (no subsampling).\n\
00504 uint32 binning_x\n\
00505 uint32 binning_y\n\
00506 \n\
00507 # Region of interest (subwindow of full camera resolution), given in\n\
00508 # full resolution (unbinned) image coordinates. A particular ROI\n\
00509 # always denotes the same window of pixels on the camera sensor,\n\
00510 # regardless of binning settings.\n\
00511 # The default setting of roi (all values 0) is considered the same as\n\
00512 # full resolution (roi.width = width, roi.height = height).\n\
00513 RegionOfInterest roi\n\
00514 \n\
00515 ================================================================================\n\
00516 MSG: sensor_msgs/RegionOfInterest\n\
00517 # This message is used to specify a region of interest within an image.\n\
00518 #\n\
00519 # When used to specify the ROI setting of the camera when the image was\n\
00520 # taken, the height and width fields should either match the height and\n\
00521 # width fields for the associated image; or height = width = 0\n\
00522 # indicates that the full resolution image was captured.\n\
00523 \n\
00524 uint32 x_offset # Leftmost pixel of the ROI\n\
00525 # (0 if the ROI includes the left edge of the image)\n\
00526 uint32 y_offset # Topmost pixel of the ROI\n\
00527 # (0 if the ROI includes the top edge of the image)\n\
00528 uint32 height # Height of ROI\n\
00529 uint32 width # Width of ROI\n\
00530 \n\
00531 # True if a distinct rectified ROI should be calculated from the \"raw\"\n\
00532 # ROI in this message. Typically this should be False if the full image\n\
00533 # is captured (ROI not used), and True if a subwindow is captured (ROI\n\
00534 # used).\n\
00535 bool do_rectify\n\
00536 \n\
00537 ================================================================================\n\
00538 MSG: geometry_msgs/Vector3\n\
00539 # This represents a vector in free space. \n\
00540 \n\
00541 float64 x\n\
00542 float64 y\n\
00543 float64 z\n\
00544 ================================================================================\n\
00545 MSG: pr2_object_manipulation_msgs/IMGUIAdvancedOptions\n\
00546 \n\
00547 bool reactive_grasping\n\
00548 bool reactive_force \n\
00549 bool reactive_place\n\
00550 int32 lift_steps\n\
00551 int32 retreat_steps\n\
00552 int32 lift_direction_choice\n\
00553 int32 desired_approach\n\
00554 int32 min_approach\n\
00555 float32 max_contact_force\n\
00556 \n\
00557 ================================================================================\n\
00558 MSG: pr2_object_manipulation_msgs/IMGUICommand\n\
00559 \n\
00560 int32 PICKUP = 0\n\
00561 int32 PLACE = 1\n\
00562 int32 PLANNED_MOVE = 2\n\
00563 int32 RESET = 3\n\
00564 int32 MOVE_ARM = 4\n\
00565 int32 LOOK_AT_TABLE = 5\n\
00566 int32 MODEL_OBJECT = 6\n\
00567 int32 MOVE_GRIPPER = 7\n\
00568 int32 SCRIPTED_ACTION = 8\n\
00569 int32 STOP_NAV = 9\n\
00570 \n\
00571 int32 command\n\
00572 string script_name\n\
00573 string script_group_name\n\
00574 \n\
00575 "; }
00576 public:
00577 ROS_DEPRECATED static const std::string __s_getMessageDefinition() { return __s_getMessageDefinition_(); }
00578
00579 ROS_DEPRECATED const std::string __getMessageDefinition() const { return __s_getMessageDefinition_(); }
00580
00581 ROS_DEPRECATED virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const
00582 {
00583 ros::serialization::OStream stream(write_ptr, 1000000000);
00584 ros::serialization::serialize(stream, header);
00585 ros::serialization::serialize(stream, goal_id);
00586 ros::serialization::serialize(stream, goal);
00587 return stream.getData();
00588 }
00589
00590 ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr)
00591 {
00592 ros::serialization::IStream stream(read_ptr, 1000000000);
00593 ros::serialization::deserialize(stream, header);
00594 ros::serialization::deserialize(stream, goal_id);
00595 ros::serialization::deserialize(stream, goal);
00596 return stream.getData();
00597 }
00598
00599 ROS_DEPRECATED virtual uint32_t serializationLength() const
00600 {
00601 uint32_t size = 0;
00602 size += ros::serialization::serializationLength(header);
00603 size += ros::serialization::serializationLength(goal_id);
00604 size += ros::serialization::serializationLength(goal);
00605 return size;
00606 }
00607
00608 typedef boost::shared_ptr< ::pr2_object_manipulation_msgs::IMGUIActionGoal_<ContainerAllocator> > Ptr;
00609 typedef boost::shared_ptr< ::pr2_object_manipulation_msgs::IMGUIActionGoal_<ContainerAllocator> const> ConstPtr;
00610 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00611 };
00612 typedef ::pr2_object_manipulation_msgs::IMGUIActionGoal_<std::allocator<void> > IMGUIActionGoal;
00613
00614 typedef boost::shared_ptr< ::pr2_object_manipulation_msgs::IMGUIActionGoal> IMGUIActionGoalPtr;
00615 typedef boost::shared_ptr< ::pr2_object_manipulation_msgs::IMGUIActionGoal const> IMGUIActionGoalConstPtr;
00616
00617
00618 template<typename ContainerAllocator>
00619 std::ostream& operator<<(std::ostream& s, const ::pr2_object_manipulation_msgs::IMGUIActionGoal_<ContainerAllocator> & v)
00620 {
00621 ros::message_operations::Printer< ::pr2_object_manipulation_msgs::IMGUIActionGoal_<ContainerAllocator> >::stream(s, "", v);
00622 return s;}
00623
00624 }
00625
00626 namespace ros
00627 {
00628 namespace message_traits
00629 {
00630 template<class ContainerAllocator> struct IsMessage< ::pr2_object_manipulation_msgs::IMGUIActionGoal_<ContainerAllocator> > : public TrueType {};
00631 template<class ContainerAllocator> struct IsMessage< ::pr2_object_manipulation_msgs::IMGUIActionGoal_<ContainerAllocator> const> : public TrueType {};
00632 template<class ContainerAllocator>
00633 struct MD5Sum< ::pr2_object_manipulation_msgs::IMGUIActionGoal_<ContainerAllocator> > {
00634 static const char* value()
00635 {
00636 return "cf9343287e12c5555a9b5b0b8826867c";
00637 }
00638
00639 static const char* value(const ::pr2_object_manipulation_msgs::IMGUIActionGoal_<ContainerAllocator> &) { return value(); }
00640 static const uint64_t static_value1 = 0xcf9343287e12c555ULL;
00641 static const uint64_t static_value2 = 0x5a9b5b0b8826867cULL;
00642 };
00643
00644 template<class ContainerAllocator>
00645 struct DataType< ::pr2_object_manipulation_msgs::IMGUIActionGoal_<ContainerAllocator> > {
00646 static const char* value()
00647 {
00648 return "pr2_object_manipulation_msgs/IMGUIActionGoal";
00649 }
00650
00651 static const char* value(const ::pr2_object_manipulation_msgs::IMGUIActionGoal_<ContainerAllocator> &) { return value(); }
00652 };
00653
00654 template<class ContainerAllocator>
00655 struct Definition< ::pr2_object_manipulation_msgs::IMGUIActionGoal_<ContainerAllocator> > {
00656 static const char* value()
00657 {
00658 return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00659 \n\
00660 Header header\n\
00661 actionlib_msgs/GoalID goal_id\n\
00662 IMGUIGoal goal\n\
00663 \n\
00664 ================================================================================\n\
00665 MSG: std_msgs/Header\n\
00666 # Standard metadata for higher-level stamped data types.\n\
00667 # This is generally used to communicate timestamped data \n\
00668 # in a particular coordinate frame.\n\
00669 # \n\
00670 # sequence ID: consecutively increasing ID \n\
00671 uint32 seq\n\
00672 #Two-integer timestamp that is expressed as:\n\
00673 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00674 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00675 # time-handling sugar is provided by the client library\n\
00676 time stamp\n\
00677 #Frame this data is associated with\n\
00678 # 0: no frame\n\
00679 # 1: global frame\n\
00680 string frame_id\n\
00681 \n\
00682 ================================================================================\n\
00683 MSG: actionlib_msgs/GoalID\n\
00684 # The stamp should store the time at which this goal was requested.\n\
00685 # It is used by an action server when it tries to preempt all\n\
00686 # goals that were requested before a certain time\n\
00687 time stamp\n\
00688 \n\
00689 # The id provides a way to associate feedback and\n\
00690 # result message with specific goal requests. The id\n\
00691 # specified must be unique.\n\
00692 string id\n\
00693 \n\
00694 \n\
00695 ================================================================================\n\
00696 MSG: pr2_object_manipulation_msgs/IMGUIGoal\n\
00697 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00698 \n\
00699 IMGUIOptions options\n\
00700 IMGUICommand command\n\
00701 \n\
00702 \n\
00703 ================================================================================\n\
00704 MSG: pr2_object_manipulation_msgs/IMGUIOptions\n\
00705 \n\
00706 # collision checking enabled\n\
00707 bool collision_checked\n\
00708 \n\
00709 # 0=call gripper click\n\
00710 # 1=grasp the provided graspable object\n\
00711 int32 grasp_selection\n\
00712 \n\
00713 # 0=right, 1=left arm\n\
00714 int32 arm_selection\n\
00715 \n\
00716 # for RESET commands\n\
00717 # 0=reset collision objects\n\
00718 # 1=reset attached objects\n\
00719 int32 reset_choice\n\
00720 \n\
00721 # for MOVE_ARM commands\n\
00722 # 0=side\n\
00723 # 1=front\n\
00724 # 2=side handoff\n\
00725 int32 arm_action_choice\n\
00726 \n\
00727 # for MOVE_ARM commands\n\
00728 # 0=open-loop\n\
00729 # 1=with planner\n\
00730 int32 arm_planner_choice\n\
00731 \n\
00732 # for MOVE_GRIPPER commands\n\
00733 # opening of gripper (0=closed..100=open)\n\
00734 int32 gripper_slider_position\n\
00735 \n\
00736 # used if grasp_selection == 1\n\
00737 object_manipulation_msgs/GraspableObject selected_object\n\
00738 \n\
00739 # indicates obstacles that can be moved during grasping\n\
00740 # presumably, the operator has marked these in some fashion\n\
00741 object_manipulation_msgs/GraspableObject[] movable_obstacles\n\
00742 \n\
00743 # more options..\n\
00744 IMGUIAdvancedOptions adv_options\n\
00745 \n\
00746 ================================================================================\n\
00747 MSG: object_manipulation_msgs/GraspableObject\n\
00748 # an object that the object_manipulator can work on\n\
00749 \n\
00750 # a graspable object can be represented in multiple ways. This message\n\
00751 # can contain all of them. Which one is actually used is up to the receiver\n\
00752 # of this message. When adding new representations, one must be careful that\n\
00753 # they have reasonable lightweight defaults indicating that that particular\n\
00754 # representation is not available.\n\
00755 \n\
00756 # the tf frame to be used as a reference frame when combining information from\n\
00757 # the different representations below\n\
00758 string reference_frame_id\n\
00759 \n\
00760 # potential recognition results from a database of models\n\
00761 # all poses are relative to the object reference pose\n\
00762 household_objects_database_msgs/DatabaseModelPose[] potential_models\n\
00763 \n\
00764 # the point cloud itself\n\
00765 sensor_msgs/PointCloud cluster\n\
00766 \n\
00767 # a region of a PointCloud2 of interest\n\
00768 object_manipulation_msgs/SceneRegion region\n\
00769 \n\
00770 # the name that this object has in the collision environment\n\
00771 string collision_name\n\
00772 ================================================================================\n\
00773 MSG: household_objects_database_msgs/DatabaseModelPose\n\
00774 # Informs that a specific model from the Model Database has been \n\
00775 # identified at a certain location\n\
00776 \n\
00777 # the database id of the model\n\
00778 int32 model_id\n\
00779 \n\
00780 # the pose that it can be found in\n\
00781 geometry_msgs/PoseStamped pose\n\
00782 \n\
00783 # a measure of the confidence level in this detection result\n\
00784 float32 confidence\n\
00785 \n\
00786 # the name of the object detector that generated this detection result\n\
00787 string detector_name\n\
00788 \n\
00789 ================================================================================\n\
00790 MSG: geometry_msgs/PoseStamped\n\
00791 # A Pose with reference coordinate frame and timestamp\n\
00792 Header header\n\
00793 Pose pose\n\
00794 \n\
00795 ================================================================================\n\
00796 MSG: geometry_msgs/Pose\n\
00797 # A representation of pose in free space, composed of postion and orientation. \n\
00798 Point position\n\
00799 Quaternion orientation\n\
00800 \n\
00801 ================================================================================\n\
00802 MSG: geometry_msgs/Point\n\
00803 # This contains the position of a point in free space\n\
00804 float64 x\n\
00805 float64 y\n\
00806 float64 z\n\
00807 \n\
00808 ================================================================================\n\
00809 MSG: geometry_msgs/Quaternion\n\
00810 # This represents an orientation in free space in quaternion form.\n\
00811 \n\
00812 float64 x\n\
00813 float64 y\n\
00814 float64 z\n\
00815 float64 w\n\
00816 \n\
00817 ================================================================================\n\
00818 MSG: sensor_msgs/PointCloud\n\
00819 # This message holds a collection of 3d points, plus optional additional\n\
00820 # information about each point.\n\
00821 \n\
00822 # Time of sensor data acquisition, coordinate frame ID.\n\
00823 Header header\n\
00824 \n\
00825 # Array of 3d points. Each Point32 should be interpreted as a 3d point\n\
00826 # in the frame given in the header.\n\
00827 geometry_msgs/Point32[] points\n\
00828 \n\
00829 # Each channel should have the same number of elements as points array,\n\
00830 # and the data in each channel should correspond 1:1 with each point.\n\
00831 # Channel names in common practice are listed in ChannelFloat32.msg.\n\
00832 ChannelFloat32[] channels\n\
00833 \n\
00834 ================================================================================\n\
00835 MSG: geometry_msgs/Point32\n\
00836 # This contains the position of a point in free space(with 32 bits of precision).\n\
00837 # It is recommeded to use Point wherever possible instead of Point32. \n\
00838 # \n\
00839 # This recommendation is to promote interoperability. \n\
00840 #\n\
00841 # This message is designed to take up less space when sending\n\
00842 # lots of points at once, as in the case of a PointCloud. \n\
00843 \n\
00844 float32 x\n\
00845 float32 y\n\
00846 float32 z\n\
00847 ================================================================================\n\
00848 MSG: sensor_msgs/ChannelFloat32\n\
00849 # This message is used by the PointCloud message to hold optional data\n\
00850 # associated with each point in the cloud. The length of the values\n\
00851 # array should be the same as the length of the points array in the\n\
00852 # PointCloud, and each value should be associated with the corresponding\n\
00853 # point.\n\
00854 \n\
00855 # Channel names in existing practice include:\n\
00856 # \"u\", \"v\" - row and column (respectively) in the left stereo image.\n\
00857 # This is opposite to usual conventions but remains for\n\
00858 # historical reasons. The newer PointCloud2 message has no\n\
00859 # such problem.\n\
00860 # \"rgb\" - For point clouds produced by color stereo cameras. uint8\n\
00861 # (R,G,B) values packed into the least significant 24 bits,\n\
00862 # in order.\n\
00863 # \"intensity\" - laser or pixel intensity.\n\
00864 # \"distance\"\n\
00865 \n\
00866 # The channel name should give semantics of the channel (e.g.\n\
00867 # \"intensity\" instead of \"value\").\n\
00868 string name\n\
00869 \n\
00870 # The values array should be 1-1 with the elements of the associated\n\
00871 # PointCloud.\n\
00872 float32[] values\n\
00873 \n\
00874 ================================================================================\n\
00875 MSG: object_manipulation_msgs/SceneRegion\n\
00876 # Point cloud\n\
00877 sensor_msgs/PointCloud2 cloud\n\
00878 \n\
00879 # Indices for the region of interest\n\
00880 int32[] mask\n\
00881 \n\
00882 # One of the corresponding 2D images, if applicable\n\
00883 sensor_msgs/Image image\n\
00884 \n\
00885 # The disparity image, if applicable\n\
00886 sensor_msgs/Image disparity_image\n\
00887 \n\
00888 # Camera info for the camera that took the image\n\
00889 sensor_msgs/CameraInfo cam_info\n\
00890 \n\
00891 # a 3D region of interest for grasp planning\n\
00892 geometry_msgs/PoseStamped roi_box_pose\n\
00893 geometry_msgs/Vector3 roi_box_dims\n\
00894 \n\
00895 ================================================================================\n\
00896 MSG: sensor_msgs/PointCloud2\n\
00897 # This message holds a collection of N-dimensional points, which may\n\
00898 # contain additional information such as normals, intensity, etc. The\n\
00899 # point data is stored as a binary blob, its layout described by the\n\
00900 # contents of the \"fields\" array.\n\
00901 \n\
00902 # The point cloud data may be organized 2d (image-like) or 1d\n\
00903 # (unordered). Point clouds organized as 2d images may be produced by\n\
00904 # camera depth sensors such as stereo or time-of-flight.\n\
00905 \n\
00906 # Time of sensor data acquisition, and the coordinate frame ID (for 3d\n\
00907 # points).\n\
00908 Header header\n\
00909 \n\
00910 # 2D structure of the point cloud. If the cloud is unordered, height is\n\
00911 # 1 and width is the length of the point cloud.\n\
00912 uint32 height\n\
00913 uint32 width\n\
00914 \n\
00915 # Describes the channels and their layout in the binary data blob.\n\
00916 PointField[] fields\n\
00917 \n\
00918 bool is_bigendian # Is this data bigendian?\n\
00919 uint32 point_step # Length of a point in bytes\n\
00920 uint32 row_step # Length of a row in bytes\n\
00921 uint8[] data # Actual point data, size is (row_step*height)\n\
00922 \n\
00923 bool is_dense # True if there are no invalid points\n\
00924 \n\
00925 ================================================================================\n\
00926 MSG: sensor_msgs/PointField\n\
00927 # This message holds the description of one point entry in the\n\
00928 # PointCloud2 message format.\n\
00929 uint8 INT8 = 1\n\
00930 uint8 UINT8 = 2\n\
00931 uint8 INT16 = 3\n\
00932 uint8 UINT16 = 4\n\
00933 uint8 INT32 = 5\n\
00934 uint8 UINT32 = 6\n\
00935 uint8 FLOAT32 = 7\n\
00936 uint8 FLOAT64 = 8\n\
00937 \n\
00938 string name # Name of field\n\
00939 uint32 offset # Offset from start of point struct\n\
00940 uint8 datatype # Datatype enumeration, see above\n\
00941 uint32 count # How many elements in the field\n\
00942 \n\
00943 ================================================================================\n\
00944 MSG: sensor_msgs/Image\n\
00945 # This message contains an uncompressed image\n\
00946 # (0, 0) is at top-left corner of image\n\
00947 #\n\
00948 \n\
00949 Header header # Header timestamp should be acquisition time of image\n\
00950 # Header frame_id should be optical frame of camera\n\
00951 # origin of frame should be optical center of cameara\n\
00952 # +x should point to the right in the image\n\
00953 # +y should point down in the image\n\
00954 # +z should point into to plane of the image\n\
00955 # If the frame_id here and the frame_id of the CameraInfo\n\
00956 # message associated with the image conflict\n\
00957 # the behavior is undefined\n\
00958 \n\
00959 uint32 height # image height, that is, number of rows\n\
00960 uint32 width # image width, that is, number of columns\n\
00961 \n\
00962 # The legal values for encoding are in file src/image_encodings.cpp\n\
00963 # If you want to standardize a new string format, join\n\
00964 # ros-users@lists.sourceforge.net and send an email proposing a new encoding.\n\
00965 \n\
00966 string encoding # Encoding of pixels -- channel meaning, ordering, size\n\
00967 # taken from the list of strings in src/image_encodings.cpp\n\
00968 \n\
00969 uint8 is_bigendian # is this data bigendian?\n\
00970 uint32 step # Full row length in bytes\n\
00971 uint8[] data # actual matrix data, size is (step * rows)\n\
00972 \n\
00973 ================================================================================\n\
00974 MSG: sensor_msgs/CameraInfo\n\
00975 # This message defines meta information for a camera. It should be in a\n\
00976 # camera namespace on topic \"camera_info\" and accompanied by up to five\n\
00977 # image topics named:\n\
00978 #\n\
00979 # image_raw - raw data from the camera driver, possibly Bayer encoded\n\
00980 # image - monochrome, distorted\n\
00981 # image_color - color, distorted\n\
00982 # image_rect - monochrome, rectified\n\
00983 # image_rect_color - color, rectified\n\
00984 #\n\
00985 # The image_pipeline contains packages (image_proc, stereo_image_proc)\n\
00986 # for producing the four processed image topics from image_raw and\n\
00987 # camera_info. The meaning of the camera parameters are described in\n\
00988 # detail at http://www.ros.org/wiki/image_pipeline/CameraInfo.\n\
00989 #\n\
00990 # The image_geometry package provides a user-friendly interface to\n\
00991 # common operations using this meta information. If you want to, e.g.,\n\
00992 # project a 3d point into image coordinates, we strongly recommend\n\
00993 # using image_geometry.\n\
00994 #\n\
00995 # If the camera is uncalibrated, the matrices D, K, R, P should be left\n\
00996 # zeroed out. In particular, clients may assume that K[0] == 0.0\n\
00997 # indicates an uncalibrated camera.\n\
00998 \n\
00999 #######################################################################\n\
01000 # Image acquisition info #\n\
01001 #######################################################################\n\
01002 \n\
01003 # Time of image acquisition, camera coordinate frame ID\n\
01004 Header header # Header timestamp should be acquisition time of image\n\
01005 # Header frame_id should be optical frame of camera\n\
01006 # origin of frame should be optical center of camera\n\
01007 # +x should point to the right in the image\n\
01008 # +y should point down in the image\n\
01009 # +z should point into the plane of the image\n\
01010 \n\
01011 \n\
01012 #######################################################################\n\
01013 # Calibration Parameters #\n\
01014 #######################################################################\n\
01015 # These are fixed during camera calibration. Their values will be the #\n\
01016 # same in all messages until the camera is recalibrated. Note that #\n\
01017 # self-calibrating systems may \"recalibrate\" frequently. #\n\
01018 # #\n\
01019 # The internal parameters can be used to warp a raw (distorted) image #\n\
01020 # to: #\n\
01021 # 1. An undistorted image (requires D and K) #\n\
01022 # 2. A rectified image (requires D, K, R) #\n\
01023 # The projection matrix P projects 3D points into the rectified image.#\n\
01024 #######################################################################\n\
01025 \n\
01026 # The image dimensions with which the camera was calibrated. Normally\n\
01027 # this will be the full camera resolution in pixels.\n\
01028 uint32 height\n\
01029 uint32 width\n\
01030 \n\
01031 # The distortion model used. Supported models are listed in\n\
01032 # sensor_msgs/distortion_models.h. For most cameras, \"plumb_bob\" - a\n\
01033 # simple model of radial and tangential distortion - is sufficent.\n\
01034 string distortion_model\n\
01035 \n\
01036 # The distortion parameters, size depending on the distortion model.\n\
01037 # For \"plumb_bob\", the 5 parameters are: (k1, k2, t1, t2, k3).\n\
01038 float64[] D\n\
01039 \n\
01040 # Intrinsic camera matrix for the raw (distorted) images.\n\
01041 # [fx 0 cx]\n\
01042 # K = [ 0 fy cy]\n\
01043 # [ 0 0 1]\n\
01044 # Projects 3D points in the camera coordinate frame to 2D pixel\n\
01045 # coordinates using the focal lengths (fx, fy) and principal point\n\
01046 # (cx, cy).\n\
01047 float64[9] K # 3x3 row-major matrix\n\
01048 \n\
01049 # Rectification matrix (stereo cameras only)\n\
01050 # A rotation matrix aligning the camera coordinate system to the ideal\n\
01051 # stereo image plane so that epipolar lines in both stereo images are\n\
01052 # parallel.\n\
01053 float64[9] R # 3x3 row-major matrix\n\
01054 \n\
01055 # Projection/camera matrix\n\
01056 # [fx' 0 cx' Tx]\n\
01057 # P = [ 0 fy' cy' Ty]\n\
01058 # [ 0 0 1 0]\n\
01059 # By convention, this matrix specifies the intrinsic (camera) matrix\n\
01060 # of the processed (rectified) image. That is, the left 3x3 portion\n\
01061 # is the normal camera intrinsic matrix for the rectified image.\n\
01062 # It projects 3D points in the camera coordinate frame to 2D pixel\n\
01063 # coordinates using the focal lengths (fx', fy') and principal point\n\
01064 # (cx', cy') - these may differ from the values in K.\n\
01065 # For monocular cameras, Tx = Ty = 0. Normally, monocular cameras will\n\
01066 # also have R = the identity and P[1:3,1:3] = K.\n\
01067 # For a stereo pair, the fourth column [Tx Ty 0]' is related to the\n\
01068 # position of the optical center of the second camera in the first\n\
01069 # camera's frame. We assume Tz = 0 so both cameras are in the same\n\
01070 # stereo image plane. The first camera always has Tx = Ty = 0. For\n\
01071 # the right (second) camera of a horizontal stereo pair, Ty = 0 and\n\
01072 # Tx = -fx' * B, where B is the baseline between the cameras.\n\
01073 # Given a 3D point [X Y Z]', the projection (x, y) of the point onto\n\
01074 # the rectified image is given by:\n\
01075 # [u v w]' = P * [X Y Z 1]'\n\
01076 # x = u / w\n\
01077 # y = v / w\n\
01078 # This holds for both images of a stereo pair.\n\
01079 float64[12] P # 3x4 row-major matrix\n\
01080 \n\
01081 \n\
01082 #######################################################################\n\
01083 # Operational Parameters #\n\
01084 #######################################################################\n\
01085 # These define the image region actually captured by the camera #\n\
01086 # driver. Although they affect the geometry of the output image, they #\n\
01087 # may be changed freely without recalibrating the camera. #\n\
01088 #######################################################################\n\
01089 \n\
01090 # Binning refers here to any camera setting which combines rectangular\n\
01091 # neighborhoods of pixels into larger \"super-pixels.\" It reduces the\n\
01092 # resolution of the output image to\n\
01093 # (width / binning_x) x (height / binning_y).\n\
01094 # The default values binning_x = binning_y = 0 is considered the same\n\
01095 # as binning_x = binning_y = 1 (no subsampling).\n\
01096 uint32 binning_x\n\
01097 uint32 binning_y\n\
01098 \n\
01099 # Region of interest (subwindow of full camera resolution), given in\n\
01100 # full resolution (unbinned) image coordinates. A particular ROI\n\
01101 # always denotes the same window of pixels on the camera sensor,\n\
01102 # regardless of binning settings.\n\
01103 # The default setting of roi (all values 0) is considered the same as\n\
01104 # full resolution (roi.width = width, roi.height = height).\n\
01105 RegionOfInterest roi\n\
01106 \n\
01107 ================================================================================\n\
01108 MSG: sensor_msgs/RegionOfInterest\n\
01109 # This message is used to specify a region of interest within an image.\n\
01110 #\n\
01111 # When used to specify the ROI setting of the camera when the image was\n\
01112 # taken, the height and width fields should either match the height and\n\
01113 # width fields for the associated image; or height = width = 0\n\
01114 # indicates that the full resolution image was captured.\n\
01115 \n\
01116 uint32 x_offset # Leftmost pixel of the ROI\n\
01117 # (0 if the ROI includes the left edge of the image)\n\
01118 uint32 y_offset # Topmost pixel of the ROI\n\
01119 # (0 if the ROI includes the top edge of the image)\n\
01120 uint32 height # Height of ROI\n\
01121 uint32 width # Width of ROI\n\
01122 \n\
01123 # True if a distinct rectified ROI should be calculated from the \"raw\"\n\
01124 # ROI in this message. Typically this should be False if the full image\n\
01125 # is captured (ROI not used), and True if a subwindow is captured (ROI\n\
01126 # used).\n\
01127 bool do_rectify\n\
01128 \n\
01129 ================================================================================\n\
01130 MSG: geometry_msgs/Vector3\n\
01131 # This represents a vector in free space. \n\
01132 \n\
01133 float64 x\n\
01134 float64 y\n\
01135 float64 z\n\
01136 ================================================================================\n\
01137 MSG: pr2_object_manipulation_msgs/IMGUIAdvancedOptions\n\
01138 \n\
01139 bool reactive_grasping\n\
01140 bool reactive_force \n\
01141 bool reactive_place\n\
01142 int32 lift_steps\n\
01143 int32 retreat_steps\n\
01144 int32 lift_direction_choice\n\
01145 int32 desired_approach\n\
01146 int32 min_approach\n\
01147 float32 max_contact_force\n\
01148 \n\
01149 ================================================================================\n\
01150 MSG: pr2_object_manipulation_msgs/IMGUICommand\n\
01151 \n\
01152 int32 PICKUP = 0\n\
01153 int32 PLACE = 1\n\
01154 int32 PLANNED_MOVE = 2\n\
01155 int32 RESET = 3\n\
01156 int32 MOVE_ARM = 4\n\
01157 int32 LOOK_AT_TABLE = 5\n\
01158 int32 MODEL_OBJECT = 6\n\
01159 int32 MOVE_GRIPPER = 7\n\
01160 int32 SCRIPTED_ACTION = 8\n\
01161 int32 STOP_NAV = 9\n\
01162 \n\
01163 int32 command\n\
01164 string script_name\n\
01165 string script_group_name\n\
01166 \n\
01167 ";
01168 }
01169
01170 static const char* value(const ::pr2_object_manipulation_msgs::IMGUIActionGoal_<ContainerAllocator> &) { return value(); }
01171 };
01172
01173 template<class ContainerAllocator> struct HasHeader< ::pr2_object_manipulation_msgs::IMGUIActionGoal_<ContainerAllocator> > : public TrueType {};
01174 template<class ContainerAllocator> struct HasHeader< const ::pr2_object_manipulation_msgs::IMGUIActionGoal_<ContainerAllocator> > : public TrueType {};
01175 }
01176 }
01177
01178 namespace ros
01179 {
01180 namespace serialization
01181 {
01182
01183 template<class ContainerAllocator> struct Serializer< ::pr2_object_manipulation_msgs::IMGUIActionGoal_<ContainerAllocator> >
01184 {
01185 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
01186 {
01187 stream.next(m.header);
01188 stream.next(m.goal_id);
01189 stream.next(m.goal);
01190 }
01191
01192 ROS_DECLARE_ALLINONE_SERIALIZER;
01193 };
01194 }
01195 }
01196
01197 namespace ros
01198 {
01199 namespace message_operations
01200 {
01201
01202 template<class ContainerAllocator>
01203 struct Printer< ::pr2_object_manipulation_msgs::IMGUIActionGoal_<ContainerAllocator> >
01204 {
01205 template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::pr2_object_manipulation_msgs::IMGUIActionGoal_<ContainerAllocator> & v)
01206 {
01207 s << indent << "header: ";
01208 s << std::endl;
01209 Printer< ::std_msgs::Header_<ContainerAllocator> >::stream(s, indent + " ", v.header);
01210 s << indent << "goal_id: ";
01211 s << std::endl;
01212 Printer< ::actionlib_msgs::GoalID_<ContainerAllocator> >::stream(s, indent + " ", v.goal_id);
01213 s << indent << "goal: ";
01214 s << std::endl;
01215 Printer< ::pr2_object_manipulation_msgs::IMGUIGoal_<ContainerAllocator> >::stream(s, indent + " ", v.goal);
01216 }
01217 };
01218
01219
01220 }
01221 }
01222
01223 #endif // PR2_OBJECT_MANIPULATION_MSGS_MESSAGE_IMGUIACTIONGOAL_H
01224
