PickupResult.h

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/* Auto-generated by genmsg_cpp for file /tmp/buildd/ros-diamondback-object-manipulation-0.4.4/debian/ros-diamondback-object-manipulation/opt/ros/diamondback/stacks/object_manipulation/object_manipulation_msgs/msg/PickupResult.msg */
#ifndef OBJECT_MANIPULATION_MSGS_MESSAGE_PICKUPRESULT_H
#define OBJECT_MANIPULATION_MSGS_MESSAGE_PICKUPRESULT_H
#include <string>
#include <vector>
#include <ostream>
#include "ros/serialization.h"
#include "ros/builtin_message_traits.h"
#include "ros/message_operations.h"
#include "ros/message.h"
#include "ros/time.h"

#include "object_manipulation_msgs/ManipulationResult.h"
#include "object_manipulation_msgs/Grasp.h"
#include "object_manipulation_msgs/Grasp.h"
#include "object_manipulation_msgs/GraspResult.h"

namespace object_manipulation_msgs
{
template <class ContainerAllocator>
struct PickupResult_ : public ros::Message
{
  typedef PickupResult_<ContainerAllocator> Type;

  PickupResult_()
  : manipulation_result()
  , grasp()
  , attempted_grasps()
  , attempted_grasp_results()
  {
  }

  PickupResult_(const ContainerAllocator& _alloc)
  : manipulation_result(_alloc)
  , grasp(_alloc)
  , attempted_grasps(_alloc)
  , attempted_grasp_results(_alloc)
  {
  }

  typedef  ::object_manipulation_msgs::ManipulationResult_<ContainerAllocator>  _manipulation_result_type;
   ::object_manipulation_msgs::ManipulationResult_<ContainerAllocator>  manipulation_result;

  typedef  ::object_manipulation_msgs::Grasp_<ContainerAllocator>  _grasp_type;
   ::object_manipulation_msgs::Grasp_<ContainerAllocator>  grasp;

  typedef std::vector< ::object_manipulation_msgs::Grasp_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::object_manipulation_msgs::Grasp_<ContainerAllocator> >::other >  _attempted_grasps_type;
  std::vector< ::object_manipulation_msgs::Grasp_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::object_manipulation_msgs::Grasp_<ContainerAllocator> >::other >  attempted_grasps;

  typedef std::vector< ::object_manipulation_msgs::GraspResult_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::object_manipulation_msgs::GraspResult_<ContainerAllocator> >::other >  _attempted_grasp_results_type;
  std::vector< ::object_manipulation_msgs::GraspResult_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::object_manipulation_msgs::GraspResult_<ContainerAllocator> >::other >  attempted_grasp_results;


  ROS_DEPRECATED uint32_t get_attempted_grasps_size() const { return (uint32_t)attempted_grasps.size(); }
  ROS_DEPRECATED void set_attempted_grasps_size(uint32_t size) { attempted_grasps.resize((size_t)size); }
  ROS_DEPRECATED void get_attempted_grasps_vec(std::vector< ::object_manipulation_msgs::Grasp_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::object_manipulation_msgs::Grasp_<ContainerAllocator> >::other > & vec) const { vec = this->attempted_grasps; }
  ROS_DEPRECATED void set_attempted_grasps_vec(const std::vector< ::object_manipulation_msgs::Grasp_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::object_manipulation_msgs::Grasp_<ContainerAllocator> >::other > & vec) { this->attempted_grasps = vec; }
  ROS_DEPRECATED uint32_t get_attempted_grasp_results_size() const { return (uint32_t)attempted_grasp_results.size(); }
  ROS_DEPRECATED void set_attempted_grasp_results_size(uint32_t size) { attempted_grasp_results.resize((size_t)size); }
  ROS_DEPRECATED void get_attempted_grasp_results_vec(std::vector< ::object_manipulation_msgs::GraspResult_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::object_manipulation_msgs::GraspResult_<ContainerAllocator> >::other > & vec) const { vec = this->attempted_grasp_results; }
  ROS_DEPRECATED void set_attempted_grasp_results_vec(const std::vector< ::object_manipulation_msgs::GraspResult_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::object_manipulation_msgs::GraspResult_<ContainerAllocator> >::other > & vec) { this->attempted_grasp_results = vec; }
private:
  static const char* __s_getDataType_() { return "object_manipulation_msgs/PickupResult"; }
public:
  ROS_DEPRECATED static const std::string __s_getDataType() { return __s_getDataType_(); }

  ROS_DEPRECATED const std::string __getDataType() const { return __s_getDataType_(); }

private:
  static const char* __s_getMD5Sum_() { return "793066b09b7f497fba66b4c2d9e27356"; }
public:
  ROS_DEPRECATED static const std::string __s_getMD5Sum() { return __s_getMD5Sum_(); }

  ROS_DEPRECATED const std::string __getMD5Sum() const { return __s_getMD5Sum_(); }

private:
  static const char* __s_getMessageDefinition_() { return "# The overall result of the pickup attempt\n\
ManipulationResult manipulation_result\n\
\n\
# The performed grasp, if attempt was successful\n\
Grasp grasp\n\
\n\
# the complete list of attempted grasp, in the order in which they have been attempted\n\
# the successful one should be the last one in this list\n\
Grasp[] attempted_grasps\n\
\n\
# the outcomes of the attempted grasps, in the same order as attempted_grasps\n\
GraspResult[] attempted_grasp_results\n\
================================================================================\n\
MSG: object_manipulation_msgs/ManipulationResult\n\
# Result codes for manipulation tasks\n\
\n\
# task completed as expected\n\
# generally means you can proceed as planned\n\
int32 SUCCESS = 1\n\
\n\
# task not possible (e.g. out of reach or obstacles in the way)\n\
# generally means that the world was not disturbed, so you can try another task\n\
int32 UNFEASIBLE = -1\n\
\n\
# task was thought possible, but failed due to unexpected events during execution\n\
# it is likely that the world was disturbed, so you are encouraged to refresh\n\
# your sensed world model before proceeding to another task\n\
int32 FAILED = -2\n\
\n\
# a lower level error prevented task completion (e.g. joint controller not responding)\n\
# generally requires human attention\n\
int32 ERROR = -3\n\
\n\
# means that at some point during execution we ended up in a state that the collision-aware\n\
# arm navigation module will not move out of. The world was likely not disturbed, but you \n\
# probably need a new collision map to move the arm out of the stuck position\n\
int32 ARM_MOVEMENT_PREVENTED = -4\n\
\n\
# specific to grasp actions\n\
# the object was grasped successfully, but the lift attempt could not achieve the minimum lift distance requested\n\
# it is likely that the collision environment will see collisions between the hand/object and the support surface\n\
int32 LIFT_FAILED = -5\n\
\n\
# specific to place actions\n\
# the object was placed successfully, but the retreat attempt could not achieve the minimum retreat distance requested\n\
# it is likely that the collision environment will see collisions between the hand and the object\n\
int32 RETREAT_FAILED = -6\n\
\n\
# indicates that somewhere along the line a human said \"wait, stop, this is bad, go back and do something else\"\n\
int32 CANCELLED = -7\n\
\n\
# the actual value of this error code\n\
int32 value\n\
\n\
================================================================================\n\
MSG: object_manipulation_msgs/Grasp\n\
\n\
# The internal posture of the hand for the pre-grasp\n\
# only positions are used\n\
sensor_msgs/JointState pre_grasp_posture\n\
\n\
# The internal posture of the hand for the grasp\n\
# positions and efforts are used\n\
sensor_msgs/JointState grasp_posture\n\
\n\
# The position of the end-effector for the grasp relative to the object\n\
geometry_msgs/Pose grasp_pose\n\
\n\
# The estimated probability of success for this grasp\n\
float64 success_probability\n\
\n\
# Debug flag to indicate that this grasp would be the best in its cluster\n\
bool cluster_rep\n\
================================================================================\n\
MSG: sensor_msgs/JointState\n\
# This is a message that holds data to describe the state of a set of torque controlled joints. \n\
#\n\
# The state of each joint (revolute or prismatic) is defined by:\n\
#  * the position of the joint (rad or m),\n\
#  * the velocity of the joint (rad/s or m/s) and \n\
#  * the effort that is applied in the joint (Nm or N).\n\
#\n\
# Each joint is uniquely identified by its name\n\
# The header specifies the time at which the joint states were recorded. All the joint states\n\
# in one message have to be recorded at the same time.\n\
#\n\
# This message consists of a multiple arrays, one for each part of the joint state. \n\
# The goal is to make each of the fields optional. When e.g. your joints have no\n\
# effort associated with them, you can leave the effort array empty. \n\
#\n\
# All arrays in this message should have the same size, or be empty.\n\
# This is the only way to uniquely associate the joint name with the correct\n\
# states.\n\
\n\
\n\
Header header\n\
\n\
string[] name\n\
float64[] position\n\
float64[] velocity\n\
float64[] effort\n\
\n\
================================================================================\n\
MSG: std_msgs/Header\n\
# Standard metadata for higher-level stamped data types.\n\
# This is generally used to communicate timestamped data \n\
# in a particular coordinate frame.\n\
# \n\
# sequence ID: consecutively increasing ID \n\
uint32 seq\n\
#Two-integer timestamp that is expressed as:\n\
# * stamp.secs: seconds (stamp_secs) since epoch\n\
# * stamp.nsecs: nanoseconds since stamp_secs\n\
# time-handling sugar is provided by the client library\n\
time stamp\n\
#Frame this data is associated with\n\
# 0: no frame\n\
# 1: global frame\n\
string frame_id\n\
\n\
================================================================================\n\
MSG: geometry_msgs/Pose\n\
# A representation of pose in free space, composed of postion and orientation. \n\
Point position\n\
Quaternion orientation\n\
\n\
================================================================================\n\
MSG: geometry_msgs/Point\n\
# This contains the position of a point in free space\n\
float64 x\n\
float64 y\n\
float64 z\n\
\n\
================================================================================\n\
MSG: geometry_msgs/Quaternion\n\
# This represents an orientation in free space in quaternion form.\n\
\n\
float64 x\n\
float64 y\n\
float64 z\n\
float64 w\n\
\n\
================================================================================\n\
MSG: object_manipulation_msgs/GraspResult\n\
int32 SUCCESS = 1\n\
int32 GRASP_OUT_OF_REACH = 2\n\
int32 GRASP_IN_COLLISION = 3\n\
int32 GRASP_UNFEASIBLE = 4\n\
int32 PREGRASP_OUT_OF_REACH = 5\n\
int32 PREGRASP_IN_COLLISION = 6\n\
int32 PREGRASP_UNFEASIBLE = 7\n\
int32 LIFT_OUT_OF_REACH = 8\n\
int32 LIFT_IN_COLLISION = 9\n\
int32 LIFT_UNFEASIBLE = 10\n\
int32 MOVE_ARM_FAILED = 11\n\
int32 GRASP_FAILED = 12\n\
int32 LIFT_FAILED = 13\n\
int32 RETREAT_FAILED = 14\n\
int32 result_code\n\
\n\
# whether the state of the world was disturbed by this attempt. generally, this flag\n\
# shows if another task can be attempted, or a new sensed world model is recommeded\n\
# before proceeding\n\
bool continuation_possible\n\
\n\
"; }
public:
  ROS_DEPRECATED static const std::string __s_getMessageDefinition() { return __s_getMessageDefinition_(); }

  ROS_DEPRECATED const std::string __getMessageDefinition() const { return __s_getMessageDefinition_(); }

  ROS_DEPRECATED virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const
  {
    ros::serialization::OStream stream(write_ptr, 1000000000);
    ros::serialization::serialize(stream, manipulation_result);
    ros::serialization::serialize(stream, grasp);
    ros::serialization::serialize(stream, attempted_grasps);
    ros::serialization::serialize(stream, attempted_grasp_results);
    return stream.getData();
  }

  ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr)
  {
    ros::serialization::IStream stream(read_ptr, 1000000000);
    ros::serialization::deserialize(stream, manipulation_result);
    ros::serialization::deserialize(stream, grasp);
    ros::serialization::deserialize(stream, attempted_grasps);
    ros::serialization::deserialize(stream, attempted_grasp_results);
    return stream.getData();
  }

  ROS_DEPRECATED virtual uint32_t serializationLength() const
  {
    uint32_t size = 0;
    size += ros::serialization::serializationLength(manipulation_result);
    size += ros::serialization::serializationLength(grasp);
    size += ros::serialization::serializationLength(attempted_grasps);
    size += ros::serialization::serializationLength(attempted_grasp_results);
    return size;
  }

  typedef boost::shared_ptr< ::object_manipulation_msgs::PickupResult_<ContainerAllocator> > Ptr;
  typedef boost::shared_ptr< ::object_manipulation_msgs::PickupResult_<ContainerAllocator>  const> ConstPtr;
}; // struct PickupResult
typedef  ::object_manipulation_msgs::PickupResult_<std::allocator<void> > PickupResult;

typedef boost::shared_ptr< ::object_manipulation_msgs::PickupResult> PickupResultPtr;
typedef boost::shared_ptr< ::object_manipulation_msgs::PickupResult const> PickupResultConstPtr;


template<typename ContainerAllocator>
std::ostream& operator<<(std::ostream& s, const  ::object_manipulation_msgs::PickupResult_<ContainerAllocator> & v)
{
  ros::message_operations::Printer< ::object_manipulation_msgs::PickupResult_<ContainerAllocator> >::stream(s, "", v);
  return s;}

} // namespace object_manipulation_msgs

namespace ros
{
namespace message_traits
{
template<class ContainerAllocator>
struct MD5Sum< ::object_manipulation_msgs::PickupResult_<ContainerAllocator> > {
  static const char* value() 
  {
    return "793066b09b7f497fba66b4c2d9e27356";
  }

  static const char* value(const  ::object_manipulation_msgs::PickupResult_<ContainerAllocator> &) { return value(); } 
  static const uint64_t static_value1 = 0x793066b09b7f497fULL;
  static const uint64_t static_value2 = 0xba66b4c2d9e27356ULL;
};

template<class ContainerAllocator>
struct DataType< ::object_manipulation_msgs::PickupResult_<ContainerAllocator> > {
  static const char* value() 
  {
    return "object_manipulation_msgs/PickupResult";
  }

  static const char* value(const  ::object_manipulation_msgs::PickupResult_<ContainerAllocator> &) { return value(); } 
};

template<class ContainerAllocator>
struct Definition< ::object_manipulation_msgs::PickupResult_<ContainerAllocator> > {
  static const char* value() 
  {
    return "# The overall result of the pickup attempt\n\
ManipulationResult manipulation_result\n\
\n\
# The performed grasp, if attempt was successful\n\
Grasp grasp\n\
\n\
# the complete list of attempted grasp, in the order in which they have been attempted\n\
# the successful one should be the last one in this list\n\
Grasp[] attempted_grasps\n\
\n\
# the outcomes of the attempted grasps, in the same order as attempted_grasps\n\
GraspResult[] attempted_grasp_results\n\
================================================================================\n\
MSG: object_manipulation_msgs/ManipulationResult\n\
# Result codes for manipulation tasks\n\
\n\
# task completed as expected\n\
# generally means you can proceed as planned\n\
int32 SUCCESS = 1\n\
\n\
# task not possible (e.g. out of reach or obstacles in the way)\n\
# generally means that the world was not disturbed, so you can try another task\n\
int32 UNFEASIBLE = -1\n\
\n\
# task was thought possible, but failed due to unexpected events during execution\n\
# it is likely that the world was disturbed, so you are encouraged to refresh\n\
# your sensed world model before proceeding to another task\n\
int32 FAILED = -2\n\
\n\
# a lower level error prevented task completion (e.g. joint controller not responding)\n\
# generally requires human attention\n\
int32 ERROR = -3\n\
\n\
# means that at some point during execution we ended up in a state that the collision-aware\n\
# arm navigation module will not move out of. The world was likely not disturbed, but you \n\
# probably need a new collision map to move the arm out of the stuck position\n\
int32 ARM_MOVEMENT_PREVENTED = -4\n\
\n\
# specific to grasp actions\n\
# the object was grasped successfully, but the lift attempt could not achieve the minimum lift distance requested\n\
# it is likely that the collision environment will see collisions between the hand/object and the support surface\n\
int32 LIFT_FAILED = -5\n\
\n\
# specific to place actions\n\
# the object was placed successfully, but the retreat attempt could not achieve the minimum retreat distance requested\n\
# it is likely that the collision environment will see collisions between the hand and the object\n\
int32 RETREAT_FAILED = -6\n\
\n\
# indicates that somewhere along the line a human said \"wait, stop, this is bad, go back and do something else\"\n\
int32 CANCELLED = -7\n\
\n\
# the actual value of this error code\n\
int32 value\n\
\n\
================================================================================\n\
MSG: object_manipulation_msgs/Grasp\n\
\n\
# The internal posture of the hand for the pre-grasp\n\
# only positions are used\n\
sensor_msgs/JointState pre_grasp_posture\n\
\n\
# The internal posture of the hand for the grasp\n\
# positions and efforts are used\n\
sensor_msgs/JointState grasp_posture\n\
\n\
# The position of the end-effector for the grasp relative to the object\n\
geometry_msgs/Pose grasp_pose\n\
\n\
# The estimated probability of success for this grasp\n\
float64 success_probability\n\
\n\
# Debug flag to indicate that this grasp would be the best in its cluster\n\
bool cluster_rep\n\
================================================================================\n\
MSG: sensor_msgs/JointState\n\
# This is a message that holds data to describe the state of a set of torque controlled joints. \n\
#\n\
# The state of each joint (revolute or prismatic) is defined by:\n\
#  * the position of the joint (rad or m),\n\
#  * the velocity of the joint (rad/s or m/s) and \n\
#  * the effort that is applied in the joint (Nm or N).\n\
#\n\
# Each joint is uniquely identified by its name\n\
# The header specifies the time at which the joint states were recorded. All the joint states\n\
# in one message have to be recorded at the same time.\n\
#\n\
# This message consists of a multiple arrays, one for each part of the joint state. \n\
# The goal is to make each of the fields optional. When e.g. your joints have no\n\
# effort associated with them, you can leave the effort array empty. \n\
#\n\
# All arrays in this message should have the same size, or be empty.\n\
# This is the only way to uniquely associate the joint name with the correct\n\
# states.\n\
\n\
\n\
Header header\n\
\n\
string[] name\n\
float64[] position\n\
float64[] velocity\n\
float64[] effort\n\
\n\
================================================================================\n\
MSG: std_msgs/Header\n\
# Standard metadata for higher-level stamped data types.\n\
# This is generally used to communicate timestamped data \n\
# in a particular coordinate frame.\n\
# \n\
# sequence ID: consecutively increasing ID \n\
uint32 seq\n\
#Two-integer timestamp that is expressed as:\n\
# * stamp.secs: seconds (stamp_secs) since epoch\n\
# * stamp.nsecs: nanoseconds since stamp_secs\n\
# time-handling sugar is provided by the client library\n\
time stamp\n\
#Frame this data is associated with\n\
# 0: no frame\n\
# 1: global frame\n\
string frame_id\n\
\n\
================================================================================\n\
MSG: geometry_msgs/Pose\n\
# A representation of pose in free space, composed of postion and orientation. \n\
Point position\n\
Quaternion orientation\n\
\n\
================================================================================\n\
MSG: geometry_msgs/Point\n\
# This contains the position of a point in free space\n\
float64 x\n\
float64 y\n\
float64 z\n\
\n\
================================================================================\n\
MSG: geometry_msgs/Quaternion\n\
# This represents an orientation in free space in quaternion form.\n\
\n\
float64 x\n\
float64 y\n\
float64 z\n\
float64 w\n\
\n\
================================================================================\n\
MSG: object_manipulation_msgs/GraspResult\n\
int32 SUCCESS = 1\n\
int32 GRASP_OUT_OF_REACH = 2\n\
int32 GRASP_IN_COLLISION = 3\n\
int32 GRASP_UNFEASIBLE = 4\n\
int32 PREGRASP_OUT_OF_REACH = 5\n\
int32 PREGRASP_IN_COLLISION = 6\n\
int32 PREGRASP_UNFEASIBLE = 7\n\
int32 LIFT_OUT_OF_REACH = 8\n\
int32 LIFT_IN_COLLISION = 9\n\
int32 LIFT_UNFEASIBLE = 10\n\
int32 MOVE_ARM_FAILED = 11\n\
int32 GRASP_FAILED = 12\n\
int32 LIFT_FAILED = 13\n\
int32 RETREAT_FAILED = 14\n\
int32 result_code\n\
\n\
# whether the state of the world was disturbed by this attempt. generally, this flag\n\
# shows if another task can be attempted, or a new sensed world model is recommeded\n\
# before proceeding\n\
bool continuation_possible\n\
\n\
";
  }

  static const char* value(const  ::object_manipulation_msgs::PickupResult_<ContainerAllocator> &) { return value(); } 
};

} // namespace message_traits
} // namespace ros

namespace ros
{
namespace serialization
{

template<class ContainerAllocator> struct Serializer< ::object_manipulation_msgs::PickupResult_<ContainerAllocator> >
{
  template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
  {
    stream.next(m.manipulation_result);
    stream.next(m.grasp);
    stream.next(m.attempted_grasps);
    stream.next(m.attempted_grasp_results);
  }

  ROS_DECLARE_ALLINONE_SERIALIZER;
}; // struct PickupResult_
} // namespace serialization
} // namespace ros

namespace ros
{
namespace message_operations
{

template<class ContainerAllocator>
struct Printer< ::object_manipulation_msgs::PickupResult_<ContainerAllocator> >
{
  template<typename Stream> static void stream(Stream& s, const std::string& indent, const  ::object_manipulation_msgs::PickupResult_<ContainerAllocator> & v) 
  {
    s << indent << "manipulation_result: ";
s << std::endl;
    Printer< ::object_manipulation_msgs::ManipulationResult_<ContainerAllocator> >::stream(s, indent + "  ", v.manipulation_result);
    s << indent << "grasp: ";
s << std::endl;
    Printer< ::object_manipulation_msgs::Grasp_<ContainerAllocator> >::stream(s, indent + "  ", v.grasp);
    s << indent << "attempted_grasps[]" << std::endl;
    for (size_t i = 0; i < v.attempted_grasps.size(); ++i)
    {
      s << indent << "  attempted_grasps[" << i << "]: ";
      s << std::endl;
      s << indent;
      Printer< ::object_manipulation_msgs::Grasp_<ContainerAllocator> >::stream(s, indent + "    ", v.attempted_grasps[i]);
    }
    s << indent << "attempted_grasp_results[]" << std::endl;
    for (size_t i = 0; i < v.attempted_grasp_results.size(); ++i)
    {
      s << indent << "  attempted_grasp_results[" << i << "]: ";
      s << std::endl;
      s << indent;
      Printer< ::object_manipulation_msgs::GraspResult_<ContainerAllocator> >::stream(s, indent + "    ", v.attempted_grasp_results[i]);
    }
  }
};


} // namespace message_operations
} // namespace ros

#endif // OBJECT_MANIPULATION_MSGS_MESSAGE_PICKUPRESULT_H

---

object_manipulation_msgs
Author(s): Matei Ciocarlie
autogenerated on Fri Jan 11 09:35:09 2013