00001
00002 #ifndef COGMAN_MSGS_MESSAGE_ARMHANDACTION_H
00003 #define COGMAN_MSGS_MESSAGE_ARMHANDACTION_H
00004 #include <string>
00005 #include <vector>
00006 #include <ostream>
00007 #include "ros/serialization.h"
00008 #include "ros/builtin_message_traits.h"
00009 #include "ros/message_operations.h"
00010 #include "ros/message.h"
00011 #include "ros/time.h"
00012
00013 #include "cogman_msgs/ArmHandActionGoal.h"
00014 #include "cogman_msgs/ArmHandActionResult.h"
00015 #include "cogman_msgs/ArmHandActionFeedback.h"
00016
00017 namespace cogman_msgs
00018 {
00019 template <class ContainerAllocator>
00020 struct ArmHandAction_ : public ros::Message
00021 {
00022 typedef ArmHandAction_<ContainerAllocator> Type;
00023
00024 ArmHandAction_()
00025 : action_goal()
00026 , action_result()
00027 , action_feedback()
00028 {
00029 }
00030
00031 ArmHandAction_(const ContainerAllocator& _alloc)
00032 : action_goal(_alloc)
00033 , action_result(_alloc)
00034 , action_feedback(_alloc)
00035 {
00036 }
00037
00038 typedef ::cogman_msgs::ArmHandActionGoal_<ContainerAllocator> _action_goal_type;
00039 ::cogman_msgs::ArmHandActionGoal_<ContainerAllocator> action_goal;
00040
00041 typedef ::cogman_msgs::ArmHandActionResult_<ContainerAllocator> _action_result_type;
00042 ::cogman_msgs::ArmHandActionResult_<ContainerAllocator> action_result;
00043
00044 typedef ::cogman_msgs::ArmHandActionFeedback_<ContainerAllocator> _action_feedback_type;
00045 ::cogman_msgs::ArmHandActionFeedback_<ContainerAllocator> action_feedback;
00046
00047
00048 private:
00049 static const char* __s_getDataType_() { return "cogman_msgs/ArmHandAction"; }
00050 public:
00051 ROS_DEPRECATED static const std::string __s_getDataType() { return __s_getDataType_(); }
00052
00053 ROS_DEPRECATED const std::string __getDataType() const { return __s_getDataType_(); }
00054
00055 private:
00056 static const char* __s_getMD5Sum_() { return "47caad1eeab6545c2c3e92dff9f336b8"; }
00057 public:
00058 ROS_DEPRECATED static const std::string __s_getMD5Sum() { return __s_getMD5Sum_(); }
00059
00060 ROS_DEPRECATED const std::string __getMD5Sum() const { return __s_getMD5Sum_(); }
00061
00062 private:
00063 static const char* __s_getMessageDefinition_() { return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00064 \n\
00065 ArmHandActionGoal action_goal\n\
00066 ArmHandActionResult action_result\n\
00067 ArmHandActionFeedback action_feedback\n\
00068 \n\
00069 ================================================================================\n\
00070 MSG: cogman_msgs/ArmHandActionGoal\n\
00071 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00072 \n\
00073 Header header\n\
00074 actionlib_msgs/GoalID goal_id\n\
00075 ArmHandGoal goal\n\
00076 \n\
00077 ================================================================================\n\
00078 MSG: std_msgs/Header\n\
00079 # Standard metadata for higher-level stamped data types.\n\
00080 # This is generally used to communicate timestamped data \n\
00081 # in a particular coordinate frame.\n\
00082 # \n\
00083 # sequence ID: consecutively increasing ID \n\
00084 uint32 seq\n\
00085 #Two-integer timestamp that is expressed as:\n\
00086 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00087 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00088 # time-handling sugar is provided by the client library\n\
00089 time stamp\n\
00090 #Frame this data is associated with\n\
00091 # 0: no frame\n\
00092 # 1: global frame\n\
00093 string frame_id\n\
00094 \n\
00095 ================================================================================\n\
00096 MSG: actionlib_msgs/GoalID\n\
00097 # The stamp should store the time at which this goal was requested.\n\
00098 # It is used by an action server when it tries to preempt all\n\
00099 # goals that were requested before a certain time\n\
00100 time stamp\n\
00101 \n\
00102 # The id provides a way to associate feedback and\n\
00103 # result message with specific goal requests. The id\n\
00104 # specified must be unique.\n\
00105 string id\n\
00106 \n\
00107 \n\
00108 ================================================================================\n\
00109 MSG: cogman_msgs/ArmHandGoal\n\
00110 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00111 string command # 'arm_cart_loid', 'arm_cart_pose', 'arm_cart_name', 'arm_joints', 'arm_joint_name', 'reach_primitive', 'hand_primitive', 'lift', 'put_down'\n\
00112 string pose_name # When moving to pre-defined poses, cointains the name\n\
00113 float32[] joint_angles # If command is 'arm_joints', the joint angles\n\
00114 geometry_msgs/Pose end_effector_pose # command=arm_cart_pose: where the arm should go\n\
00115 uint64 end_effector_loid # one lo_id where the arm should go\n\
00116 string hand_primitive # Allowed strings: open open_thumb90 3pinch 2pinch cup_top peace handshake noop. Used when command is 'finger_primitive'\n\
00117 string object_type # If command is 'reach_primitive', it will define how to grasp (orientation ...)\n\
00118 uint64[] obstacle_ids # List of lo_id's corresponding to obstacles\n\
00119 float32 distance # For reach_primitive: distance from grasp point to approach point (m). For 'lift', distance to lift up (m)\n\
00120 float32 supporting_plane # Height of the table (m)\n\
00121 \n\
00122 ================================================================================\n\
00123 MSG: geometry_msgs/Pose\n\
00124 # A representation of pose in free space, composed of postion and orientation. \n\
00125 Point position\n\
00126 Quaternion orientation\n\
00127 \n\
00128 ================================================================================\n\
00129 MSG: geometry_msgs/Point\n\
00130 # This contains the position of a point in free space\n\
00131 float64 x\n\
00132 float64 y\n\
00133 float64 z\n\
00134 \n\
00135 ================================================================================\n\
00136 MSG: geometry_msgs/Quaternion\n\
00137 # This represents an orientation in free space in quaternion form.\n\
00138 \n\
00139 float64 x\n\
00140 float64 y\n\
00141 float64 z\n\
00142 float64 w\n\
00143 \n\
00144 ================================================================================\n\
00145 MSG: cogman_msgs/ArmHandActionResult\n\
00146 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00147 \n\
00148 Header header\n\
00149 actionlib_msgs/GoalStatus status\n\
00150 ArmHandResult result\n\
00151 \n\
00152 ================================================================================\n\
00153 MSG: actionlib_msgs/GoalStatus\n\
00154 GoalID goal_id\n\
00155 uint8 status\n\
00156 uint8 PENDING = 0 # The goal has yet to be processed by the action server\n\
00157 uint8 ACTIVE = 1 # The goal is currently being processed by the action server\n\
00158 uint8 PREEMPTED = 2 # The goal received a cancel request after it started executing\n\
00159 # and has since completed its execution (Terminal State)\n\
00160 uint8 SUCCEEDED = 3 # The goal was achieved successfully by the action server (Terminal State)\n\
00161 uint8 ABORTED = 4 # The goal was aborted during execution by the action server due\n\
00162 # to some failure (Terminal State)\n\
00163 uint8 REJECTED = 5 # The goal was rejected by the action server without being processed,\n\
00164 # because the goal was unattainable or invalid (Terminal State)\n\
00165 uint8 PREEMPTING = 6 # The goal received a cancel request after it started executing\n\
00166 # and has not yet completed execution\n\
00167 uint8 RECALLING = 7 # The goal received a cancel request before it started executing,\n\
00168 # but the action server has not yet confirmed that the goal is canceled\n\
00169 uint8 RECALLED = 8 # The goal received a cancel request before it started executing\n\
00170 # and was successfully cancelled (Terminal State)\n\
00171 uint8 LOST = 9 # An action client can determine that a goal is LOST. This should not be\n\
00172 # sent over the wire by an action server\n\
00173 \n\
00174 #Allow for the user to associate a string with GoalStatus for debugging\n\
00175 string text\n\
00176 \n\
00177 \n\
00178 ================================================================================\n\
00179 MSG: cogman_msgs/ArmHandResult\n\
00180 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00181 \n\
00182 #result\n\
00183 float32 distance_to_goal\n\
00184 string situation #Allowed: grasped slipped released unreachable ik_deadlock need_to_move_base\n\
00185 vision_msgs/system_error error #Description of error\n\
00186 uint64[] better_base_ids #List of lo_id's where we could grasp better\n\
00187 \n\
00188 ================================================================================\n\
00189 MSG: vision_msgs/system_error\n\
00190 uint64 MANIPULATION_POSE_UNREACHABLE = 64\n\
00191 uint64 GRASP_FAILED = 128 # Grasp into the void\n\
00192 uint64 OBJECT_NOT_FOUND = 256\n\
00193 uint64 VISION_PRIMITIVE_FAILED = 512\n\
00194 uint64 CONTRADICTING_TACTILE_FEEDBACK = 1024 # Collide without expecting it\n\
00195 uint64 CONTRADICTING_VISION_RESULTS = 2048\n\
00196 uint64 GRASP_FAILED_AND_CRASHED = 4096 # Throwing something out of the way\n\
00197 uint64 JLO_ERROR = 8192 # Could not get position\n\
00198 uint64 VECTOR_FIELD_CANT_REACH = 16384 # The arm got stuck along the way, did not reach the final grasping pose\n\
00199 \n\
00200 uint64 error_id # One of the error constants defined above\n\
00201 string node_name # The node causing this error\n\
00202 string error_description # Further information about the error\n\
00203 \n\
00204 ================================================================================\n\
00205 MSG: cogman_msgs/ArmHandActionFeedback\n\
00206 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00207 \n\
00208 Header header\n\
00209 actionlib_msgs/GoalStatus status\n\
00210 ArmHandFeedback feedback\n\
00211 \n\
00212 ================================================================================\n\
00213 MSG: cogman_msgs/ArmHandFeedback\n\
00214 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00215 #feedback\n\
00216 float32 distance_to_goal\n\
00217 \n\
00218 \n\
00219 \n\
00220 "; }
00221 public:
00222 ROS_DEPRECATED static const std::string __s_getMessageDefinition() { return __s_getMessageDefinition_(); }
00223
00224 ROS_DEPRECATED const std::string __getMessageDefinition() const { return __s_getMessageDefinition_(); }
00225
00226 ROS_DEPRECATED virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const
00227 {
00228 ros::serialization::OStream stream(write_ptr, 1000000000);
00229 ros::serialization::serialize(stream, action_goal);
00230 ros::serialization::serialize(stream, action_result);
00231 ros::serialization::serialize(stream, action_feedback);
00232 return stream.getData();
00233 }
00234
00235 ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr)
00236 {
00237 ros::serialization::IStream stream(read_ptr, 1000000000);
00238 ros::serialization::deserialize(stream, action_goal);
00239 ros::serialization::deserialize(stream, action_result);
00240 ros::serialization::deserialize(stream, action_feedback);
00241 return stream.getData();
00242 }
00243
00244 ROS_DEPRECATED virtual uint32_t serializationLength() const
00245 {
00246 uint32_t size = 0;
00247 size += ros::serialization::serializationLength(action_goal);
00248 size += ros::serialization::serializationLength(action_result);
00249 size += ros::serialization::serializationLength(action_feedback);
00250 return size;
00251 }
00252
00253 typedef boost::shared_ptr< ::cogman_msgs::ArmHandAction_<ContainerAllocator> > Ptr;
00254 typedef boost::shared_ptr< ::cogman_msgs::ArmHandAction_<ContainerAllocator> const> ConstPtr;
00255 };
00256 typedef ::cogman_msgs::ArmHandAction_<std::allocator<void> > ArmHandAction;
00257
00258 typedef boost::shared_ptr< ::cogman_msgs::ArmHandAction> ArmHandActionPtr;
00259 typedef boost::shared_ptr< ::cogman_msgs::ArmHandAction const> ArmHandActionConstPtr;
00260
00261
00262 template<typename ContainerAllocator>
00263 std::ostream& operator<<(std::ostream& s, const ::cogman_msgs::ArmHandAction_<ContainerAllocator> & v)
00264 {
00265 ros::message_operations::Printer< ::cogman_msgs::ArmHandAction_<ContainerAllocator> >::stream(s, "", v);
00266 return s;}
00267
00268 }
00269
00270 namespace ros
00271 {
00272 namespace message_traits
00273 {
00274 template<class ContainerAllocator>
00275 struct MD5Sum< ::cogman_msgs::ArmHandAction_<ContainerAllocator> > {
00276 static const char* value()
00277 {
00278 return "47caad1eeab6545c2c3e92dff9f336b8";
00279 }
00280
00281 static const char* value(const ::cogman_msgs::ArmHandAction_<ContainerAllocator> &) { return value(); }
00282 static const uint64_t static_value1 = 0x47caad1eeab6545cULL;
00283 static const uint64_t static_value2 = 0x2c3e92dff9f336b8ULL;
00284 };
00285
00286 template<class ContainerAllocator>
00287 struct DataType< ::cogman_msgs::ArmHandAction_<ContainerAllocator> > {
00288 static const char* value()
00289 {
00290 return "cogman_msgs/ArmHandAction";
00291 }
00292
00293 static const char* value(const ::cogman_msgs::ArmHandAction_<ContainerAllocator> &) { return value(); }
00294 };
00295
00296 template<class ContainerAllocator>
00297 struct Definition< ::cogman_msgs::ArmHandAction_<ContainerAllocator> > {
00298 static const char* value()
00299 {
00300 return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00301 \n\
00302 ArmHandActionGoal action_goal\n\
00303 ArmHandActionResult action_result\n\
00304 ArmHandActionFeedback action_feedback\n\
00305 \n\
00306 ================================================================================\n\
00307 MSG: cogman_msgs/ArmHandActionGoal\n\
00308 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00309 \n\
00310 Header header\n\
00311 actionlib_msgs/GoalID goal_id\n\
00312 ArmHandGoal goal\n\
00313 \n\
00314 ================================================================================\n\
00315 MSG: std_msgs/Header\n\
00316 # Standard metadata for higher-level stamped data types.\n\
00317 # This is generally used to communicate timestamped data \n\
00318 # in a particular coordinate frame.\n\
00319 # \n\
00320 # sequence ID: consecutively increasing ID \n\
00321 uint32 seq\n\
00322 #Two-integer timestamp that is expressed as:\n\
00323 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00324 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00325 # time-handling sugar is provided by the client library\n\
00326 time stamp\n\
00327 #Frame this data is associated with\n\
00328 # 0: no frame\n\
00329 # 1: global frame\n\
00330 string frame_id\n\
00331 \n\
00332 ================================================================================\n\
00333 MSG: actionlib_msgs/GoalID\n\
00334 # The stamp should store the time at which this goal was requested.\n\
00335 # It is used by an action server when it tries to preempt all\n\
00336 # goals that were requested before a certain time\n\
00337 time stamp\n\
00338 \n\
00339 # The id provides a way to associate feedback and\n\
00340 # result message with specific goal requests. The id\n\
00341 # specified must be unique.\n\
00342 string id\n\
00343 \n\
00344 \n\
00345 ================================================================================\n\
00346 MSG: cogman_msgs/ArmHandGoal\n\
00347 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00348 string command # 'arm_cart_loid', 'arm_cart_pose', 'arm_cart_name', 'arm_joints', 'arm_joint_name', 'reach_primitive', 'hand_primitive', 'lift', 'put_down'\n\
00349 string pose_name # When moving to pre-defined poses, cointains the name\n\
00350 float32[] joint_angles # If command is 'arm_joints', the joint angles\n\
00351 geometry_msgs/Pose end_effector_pose # command=arm_cart_pose: where the arm should go\n\
00352 uint64 end_effector_loid # one lo_id where the arm should go\n\
00353 string hand_primitive # Allowed strings: open open_thumb90 3pinch 2pinch cup_top peace handshake noop. Used when command is 'finger_primitive'\n\
00354 string object_type # If command is 'reach_primitive', it will define how to grasp (orientation ...)\n\
00355 uint64[] obstacle_ids # List of lo_id's corresponding to obstacles\n\
00356 float32 distance # For reach_primitive: distance from grasp point to approach point (m). For 'lift', distance to lift up (m)\n\
00357 float32 supporting_plane # Height of the table (m)\n\
00358 \n\
00359 ================================================================================\n\
00360 MSG: geometry_msgs/Pose\n\
00361 # A representation of pose in free space, composed of postion and orientation. \n\
00362 Point position\n\
00363 Quaternion orientation\n\
00364 \n\
00365 ================================================================================\n\
00366 MSG: geometry_msgs/Point\n\
00367 # This contains the position of a point in free space\n\
00368 float64 x\n\
00369 float64 y\n\
00370 float64 z\n\
00371 \n\
00372 ================================================================================\n\
00373 MSG: geometry_msgs/Quaternion\n\
00374 # This represents an orientation in free space in quaternion form.\n\
00375 \n\
00376 float64 x\n\
00377 float64 y\n\
00378 float64 z\n\
00379 float64 w\n\
00380 \n\
00381 ================================================================================\n\
00382 MSG: cogman_msgs/ArmHandActionResult\n\
00383 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00384 \n\
00385 Header header\n\
00386 actionlib_msgs/GoalStatus status\n\
00387 ArmHandResult result\n\
00388 \n\
00389 ================================================================================\n\
00390 MSG: actionlib_msgs/GoalStatus\n\
00391 GoalID goal_id\n\
00392 uint8 status\n\
00393 uint8 PENDING = 0 # The goal has yet to be processed by the action server\n\
00394 uint8 ACTIVE = 1 # The goal is currently being processed by the action server\n\
00395 uint8 PREEMPTED = 2 # The goal received a cancel request after it started executing\n\
00396 # and has since completed its execution (Terminal State)\n\
00397 uint8 SUCCEEDED = 3 # The goal was achieved successfully by the action server (Terminal State)\n\
00398 uint8 ABORTED = 4 # The goal was aborted during execution by the action server due\n\
00399 # to some failure (Terminal State)\n\
00400 uint8 REJECTED = 5 # The goal was rejected by the action server without being processed,\n\
00401 # because the goal was unattainable or invalid (Terminal State)\n\
00402 uint8 PREEMPTING = 6 # The goal received a cancel request after it started executing\n\
00403 # and has not yet completed execution\n\
00404 uint8 RECALLING = 7 # The goal received a cancel request before it started executing,\n\
00405 # but the action server has not yet confirmed that the goal is canceled\n\
00406 uint8 RECALLED = 8 # The goal received a cancel request before it started executing\n\
00407 # and was successfully cancelled (Terminal State)\n\
00408 uint8 LOST = 9 # An action client can determine that a goal is LOST. This should not be\n\
00409 # sent over the wire by an action server\n\
00410 \n\
00411 #Allow for the user to associate a string with GoalStatus for debugging\n\
00412 string text\n\
00413 \n\
00414 \n\
00415 ================================================================================\n\
00416 MSG: cogman_msgs/ArmHandResult\n\
00417 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00418 \n\
00419 #result\n\
00420 float32 distance_to_goal\n\
00421 string situation #Allowed: grasped slipped released unreachable ik_deadlock need_to_move_base\n\
00422 vision_msgs/system_error error #Description of error\n\
00423 uint64[] better_base_ids #List of lo_id's where we could grasp better\n\
00424 \n\
00425 ================================================================================\n\
00426 MSG: vision_msgs/system_error\n\
00427 uint64 MANIPULATION_POSE_UNREACHABLE = 64\n\
00428 uint64 GRASP_FAILED = 128 # Grasp into the void\n\
00429 uint64 OBJECT_NOT_FOUND = 256\n\
00430 uint64 VISION_PRIMITIVE_FAILED = 512\n\
00431 uint64 CONTRADICTING_TACTILE_FEEDBACK = 1024 # Collide without expecting it\n\
00432 uint64 CONTRADICTING_VISION_RESULTS = 2048\n\
00433 uint64 GRASP_FAILED_AND_CRASHED = 4096 # Throwing something out of the way\n\
00434 uint64 JLO_ERROR = 8192 # Could not get position\n\
00435 uint64 VECTOR_FIELD_CANT_REACH = 16384 # The arm got stuck along the way, did not reach the final grasping pose\n\
00436 \n\
00437 uint64 error_id # One of the error constants defined above\n\
00438 string node_name # The node causing this error\n\
00439 string error_description # Further information about the error\n\
00440 \n\
00441 ================================================================================\n\
00442 MSG: cogman_msgs/ArmHandActionFeedback\n\
00443 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00444 \n\
00445 Header header\n\
00446 actionlib_msgs/GoalStatus status\n\
00447 ArmHandFeedback feedback\n\
00448 \n\
00449 ================================================================================\n\
00450 MSG: cogman_msgs/ArmHandFeedback\n\
00451 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00452 #feedback\n\
00453 float32 distance_to_goal\n\
00454 \n\
00455 \n\
00456 \n\
00457 ";
00458 }
00459
00460 static const char* value(const ::cogman_msgs::ArmHandAction_<ContainerAllocator> &) { return value(); }
00461 };
00462
00463 }
00464 }
00465
00466 namespace ros
00467 {
00468 namespace serialization
00469 {
00470
00471 template<class ContainerAllocator> struct Serializer< ::cogman_msgs::ArmHandAction_<ContainerAllocator> >
00472 {
00473 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00474 {
00475 stream.next(m.action_goal);
00476 stream.next(m.action_result);
00477 stream.next(m.action_feedback);
00478 }
00479
00480 ROS_DECLARE_ALLINONE_SERIALIZER;
00481 };
00482 }
00483 }
00484
00485 namespace ros
00486 {
00487 namespace message_operations
00488 {
00489
00490 template<class ContainerAllocator>
00491 struct Printer< ::cogman_msgs::ArmHandAction_<ContainerAllocator> >
00492 {
00493 template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::cogman_msgs::ArmHandAction_<ContainerAllocator> & v)
00494 {
00495 s << indent << "action_goal: ";
00496 s << std::endl;
00497 Printer< ::cogman_msgs::ArmHandActionGoal_<ContainerAllocator> >::stream(s, indent + " ", v.action_goal);
00498 s << indent << "action_result: ";
00499 s << std::endl;
00500 Printer< ::cogman_msgs::ArmHandActionResult_<ContainerAllocator> >::stream(s, indent + " ", v.action_result);
00501 s << indent << "action_feedback: ";
00502 s << std::endl;
00503 Printer< ::cogman_msgs::ArmHandActionFeedback_<ContainerAllocator> >::stream(s, indent + " ", v.action_feedback);
00504 }
00505 };
00506
00507
00508 }
00509 }
00510
00511 #endif // COGMAN_MSGS_MESSAGE_ARMHANDACTION_H
00512
