PlaceAction.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/PlaceAction.msg */
#ifndef OBJECT_MANIPULATION_MSGS_MESSAGE_PLACEACTION_H
#define OBJECT_MANIPULATION_MSGS_MESSAGE_PLACEACTION_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/PlaceActionGoal.h"
#include "object_manipulation_msgs/PlaceActionResult.h"
#include "object_manipulation_msgs/PlaceActionFeedback.h"

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

  PlaceAction_()
  : action_goal()
  , action_result()
  , action_feedback()
  {
  }

  PlaceAction_(const ContainerAllocator& _alloc)
  : action_goal(_alloc)
  , action_result(_alloc)
  , action_feedback(_alloc)
  {
  }

  typedef  ::object_manipulation_msgs::PlaceActionGoal_<ContainerAllocator>  _action_goal_type;
   ::object_manipulation_msgs::PlaceActionGoal_<ContainerAllocator>  action_goal;

  typedef  ::object_manipulation_msgs::PlaceActionResult_<ContainerAllocator>  _action_result_type;
   ::object_manipulation_msgs::PlaceActionResult_<ContainerAllocator>  action_result;

  typedef  ::object_manipulation_msgs::PlaceActionFeedback_<ContainerAllocator>  _action_feedback_type;
   ::object_manipulation_msgs::PlaceActionFeedback_<ContainerAllocator>  action_feedback;


private:
  static const char* __s_getDataType_() { return "object_manipulation_msgs/PlaceAction"; }
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 "d5c16c2b58aadc6ea5259b4706a7c7bd"; }
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 "\n\
PlaceActionGoal action_goal\n\
PlaceActionResult action_result\n\
PlaceActionFeedback action_feedback\n\
\n\
================================================================================\n\
MSG: object_manipulation_msgs/PlaceActionGoal\n\
\n\
Header header\n\
actionlib_msgs/GoalID goal_id\n\
PlaceGoal goal\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: actionlib_msgs/GoalID\n\
# The stamp should store the time at which this goal was requested.\n\
# It is used by an action server when it tries to preempt all\n\
# goals that were requested before a certain time\n\
time stamp\n\
\n\
# The id provides a way to associate feedback and\n\
# result message with specific goal requests. The id\n\
# specified must be unique.\n\
string id\n\
\n\
\n\
================================================================================\n\
MSG: object_manipulation_msgs/PlaceGoal\n\
\n\
# An action for placing an object\n\
\n\
# which arm to be used for grasping\n\
string arm_name\n\
\n\
# a list of possible desired poses of the object once it's been placed\n\
geometry_msgs/PoseStamped[] place_locations\n\
\n\
# the grasp that has been executed on this object\n\
Grasp grasp\n\
\n\
# how far the retreat should ideally be away from the place location\n\
float32 desired_retreat_distance\n\
\n\
# the min distance between the retreat and the place location that must actually be feasible \n\
# for the place not to be rejected\n\
float32 min_retreat_distance\n\
\n\
# how the place location should be approached\n\
# the frame_id that this lift is specified in MUST be either the robot_frame \n\
# or the gripper_frame specified in your hand description file\n\
GripperTranslation approach\n\
\n\
# the name that the target object has in the collision map\n\
# can be left empty if no name is available\n\
string collision_object_name\n\
\n\
# the name that the support surface (e.g. table) has in the collision map\n\
# can be left empty if no name is available\n\
string collision_support_surface_name\n\
\n\
# whether collisions between the gripper and the support surface should be acceptable\n\
# during move from pre-place to place and during retreat. Collisions when moving to the\n\
# pre-place location are still not allowed even if this is set to true.\n\
bool allow_gripper_support_collision\n\
\n\
# whether reactive placing based on tactile sensors should be used\n\
bool use_reactive_place\n\
\n\
# how much the object should be padded by when deciding if the grasp\n\
# location is freasible or not\n\
float64 place_padding\n\
\n\
# OPTIONAL (These will not have to be filled out most of the time)\n\
# constraints to be imposed on every point in the motion of the arm\n\
motion_planning_msgs/Constraints path_constraints\n\
\n\
# OPTIONAL (These will not have to be filled out most of the time)\n\
# additional collision operations to be used for every arm movement performed\n\
# during placing. Note that these will be added on top of (and thus overide) other \n\
# collision operations that the grasping pipeline deems necessary. Should be used\n\
# with care and only if special behaviors are desired.\n\
motion_planning_msgs/OrderedCollisionOperations additional_collision_operations\n\
\n\
# OPTIONAL (These will not have to be filled out most of the time)\n\
# additional link paddings to be used for every arm movement performed\n\
# during placing. Note that these will be added on top of (and thus overide) other \n\
# link paddings that the grasping pipeline deems necessary. Should be used\n\
# with care and only if special behaviors are desired.\n\
motion_planning_msgs/LinkPadding[] additional_link_padding\n\
\n\
================================================================================\n\
MSG: geometry_msgs/PoseStamped\n\
# A Pose with reference coordinate frame and timestamp\n\
Header header\n\
Pose pose\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/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: object_manipulation_msgs/GripperTranslation\n\
# defines a translation for the gripper, used in pickup or place tasks\n\
# for example for lifting an object off a table or approaching the table for placing\n\
\n\
# the direction of the translation\n\
geometry_msgs/Vector3Stamped direction\n\
\n\
# the desired translation distance\n\
float32 desired_distance\n\
\n\
# the min distance that must be considered feasible before the\n\
# grasp is even attempted\n\
float32 min_distance\n\
================================================================================\n\
MSG: geometry_msgs/Vector3Stamped\n\
# This represents a Vector3 with reference coordinate frame and timestamp\n\
Header header\n\
Vector3 vector\n\
\n\
================================================================================\n\
MSG: geometry_msgs/Vector3\n\
# This represents a vector in free space. \n\
\n\
float64 x\n\
float64 y\n\
float64 z\n\
================================================================================\n\
MSG: motion_planning_msgs/Constraints\n\
# This message contains a list of motion planning constraints.\n\
\n\
motion_planning_msgs/JointConstraint[] joint_constraints\n\
motion_planning_msgs/PositionConstraint[] position_constraints\n\
motion_planning_msgs/OrientationConstraint[] orientation_constraints\n\
motion_planning_msgs/VisibilityConstraint[] visibility_constraints\n\
\n\
================================================================================\n\
MSG: motion_planning_msgs/JointConstraint\n\
# Constrain the position of a joint to be within a certain bound\n\
string joint_name\n\
\n\
# the bound to be achieved is [position - tolerance_below, position + tolerance_above]\n\
float64 position\n\
float64 tolerance_above\n\
float64 tolerance_below\n\
\n\
# A weighting factor for this constraint\n\
float64 weight\n\
================================================================================\n\
MSG: motion_planning_msgs/PositionConstraint\n\
# This message contains the definition of a position constraint.\n\
Header header\n\
\n\
# The robot link this constraint refers to\n\
string link_name\n\
\n\
# The offset (in the link frame) for the target point on the link we are planning for\n\
geometry_msgs/Point target_point_offset\n\
\n\
# The nominal/target position for the point we are planning for\n\
geometry_msgs/Point position\n\
\n\
# The shape of the bounded region that constrains the position of the end-effector\n\
# This region is always centered at the position defined above\n\
geometric_shapes_msgs/Shape constraint_region_shape\n\
\n\
# The orientation of the bounded region that constrains the position of the end-effector. \n\
# This allows the specification of non-axis aligned constraints\n\
geometry_msgs/Quaternion constraint_region_orientation\n\
\n\
# Constraint weighting factor - a weight for this constraint\n\
float64 weight\n\
================================================================================\n\
MSG: geometric_shapes_msgs/Shape\n\
byte SPHERE=0\n\
byte BOX=1\n\
byte CYLINDER=2\n\
byte MESH=3\n\
\n\
byte type\n\
\n\
\n\
#### define sphere, box, cylinder ####\n\
# the origin of each shape is considered at the shape's center\n\
\n\
# for sphere\n\
# radius := dimensions[0]\n\
\n\
# for cylinder\n\
# radius := dimensions[0]\n\
# length := dimensions[1]\n\
# the length is along the Z axis\n\
\n\
# for box\n\
# size_x := dimensions[0]\n\
# size_y := dimensions[1]\n\
# size_z := dimensions[2]\n\
float64[] dimensions\n\
\n\
\n\
#### define mesh ####\n\
\n\
# list of triangles; triangle k is defined by tre vertices located\n\
# at indices triangles[3k], triangles[3k+1], triangles[3k+2]\n\
int32[] triangles\n\
geometry_msgs/Point[] vertices\n\
\n\
================================================================================\n\
MSG: motion_planning_msgs/OrientationConstraint\n\
# This message contains the definition of an orientation constraint.\n\
Header header\n\
\n\
# The robot link this constraint refers to\n\
string link_name\n\
\n\
# The type of the constraint\n\
int32 type\n\
int32 LINK_FRAME=0\n\
int32 HEADER_FRAME=1\n\
\n\
# The desired orientation of the robot link specified as a quaternion\n\
geometry_msgs/Quaternion orientation\n\
\n\
# optional RPY error tolerances specified if \n\
float64 absolute_roll_tolerance\n\
float64 absolute_pitch_tolerance\n\
float64 absolute_yaw_tolerance\n\
\n\
# Constraint weighting factor - a weight for this constraint\n\
float64 weight\n\
\n\
================================================================================\n\
MSG: motion_planning_msgs/VisibilityConstraint\n\
# This message contains the definition of a visibility constraint.\n\
Header header\n\
\n\
# The point stamped target that needs to be kept within view of the sensor\n\
geometry_msgs/PointStamped target\n\
\n\
# The local pose of the frame in which visibility is to be maintained\n\
# The frame id should represent the robot link to which the sensor is attached\n\
# The visual axis of the sensor is assumed to be along the X axis of this frame\n\
geometry_msgs/PoseStamped sensor_pose\n\
\n\
# The deviation (in radians) that will be tolerated\n\
# Constraint error will be measured as the solid angle between the \n\
# X axis of the frame defined above and the vector between the origin \n\
# of the frame defined above and the target location\n\
float64 absolute_tolerance\n\
\n\
\n\
================================================================================\n\
MSG: geometry_msgs/PointStamped\n\
# This represents a Point with reference coordinate frame and timestamp\n\
Header header\n\
Point point\n\
\n\
================================================================================\n\
MSG: motion_planning_msgs/OrderedCollisionOperations\n\
# A set of collision operations that will be performed in the order they are specified\n\
CollisionOperation[] collision_operations\n\
================================================================================\n\
MSG: motion_planning_msgs/CollisionOperation\n\
# A definition of a collision operation\n\
# E.g. (\"gripper\",COLLISION_SET_ALL,ENABLE) will enable collisions \n\
# between the gripper and all objects in the collision space\n\
\n\
string object1\n\
string object2\n\
string COLLISION_SET_ALL=\"all\"\n\
string COLLISION_SET_OBJECTS=\"objects\"\n\
string COLLISION_SET_ATTACHED_OBJECTS=\"attached\"\n\
\n\
# The penetration distance to which collisions are allowed. This is 0.0 by default.\n\
float64 penetration_distance\n\
\n\
# Flag that determines whether collisions will be enabled or disabled for the pair of objects specified above\n\
int32 operation\n\
int32 DISABLE=0\n\
int32 ENABLE=1\n\
\n\
================================================================================\n\
MSG: motion_planning_msgs/LinkPadding\n\
#name for the link\n\
string link_name\n\
\n\
# padding to apply to the link\n\
float64 padding\n\
\n\
================================================================================\n\
MSG: object_manipulation_msgs/PlaceActionResult\n\
\n\
Header header\n\
actionlib_msgs/GoalStatus status\n\
PlaceResult result\n\
\n\
================================================================================\n\
MSG: actionlib_msgs/GoalStatus\n\
GoalID goal_id\n\
uint8 status\n\
uint8 PENDING         = 0   # The goal has yet to be processed by the action server\n\
uint8 ACTIVE          = 1   # The goal is currently being processed by the action server\n\
uint8 PREEMPTED       = 2   # The goal received a cancel request after it started executing\n\
                            #   and has since completed its execution (Terminal State)\n\
uint8 SUCCEEDED       = 3   # The goal was achieved successfully by the action server (Terminal State)\n\
uint8 ABORTED         = 4   # The goal was aborted during execution by the action server due\n\
                            #    to some failure (Terminal State)\n\
uint8 REJECTED        = 5   # The goal was rejected by the action server without being processed,\n\
                            #    because the goal was unattainable or invalid (Terminal State)\n\
uint8 PREEMPTING      = 6   # The goal received a cancel request after it started executing\n\
                            #    and has not yet completed execution\n\
uint8 RECALLING       = 7   # The goal received a cancel request before it started executing,\n\
                            #    but the action server has not yet confirmed that the goal is canceled\n\
uint8 RECALLED        = 8   # The goal received a cancel request before it started executing\n\
                            #    and was successfully cancelled (Terminal State)\n\
uint8 LOST            = 9   # An action client can determine that a goal is LOST. This should not be\n\
                            #    sent over the wire by an action server\n\
\n\
#Allow for the user to associate a string with GoalStatus for debugging\n\
string text\n\
\n\
\n\
================================================================================\n\
MSG: object_manipulation_msgs/PlaceResult\n\
# The result of the pickup attempt\n\
ManipulationResult manipulation_result\n\
\n\
# The successful place location, if any\n\
geometry_msgs/PoseStamped place_location\n\
\n\
# the list of attempted locations, in the order in which they were attempted\n\
# the successful one should be the last one in this list\n\
geometry_msgs/PoseStamped[] attempted_locations\n\
\n\
# the outcomes of the attempted locations, in the same order as attempted_locations\n\
PlaceLocationResult[] attempted_location_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/PlaceLocationResult\n\
int32 SUCCESS = 1\n\
int32 PLACE_OUT_OF_REACH = 2\n\
int32 PLACE_IN_COLLISION = 3\n\
int32 PLACE_UNFEASIBLE = 4\n\
int32 PREPLACE_OUT_OF_REACH = 5\n\
int32 PREPLACE_IN_COLLISION = 6\n\
int32 PREPLACE_UNFEASIBLE = 7\n\
int32 RETREAT_OUT_OF_REACH = 8\n\
int32 RETREAT_IN_COLLISION = 9\n\
int32 RETREAT_UNFEASIBLE = 10\n\
int32 MOVE_ARM_FAILED = 11\n\
int32 PLACE_FAILED = 12\n\
int32 RETREAT_FAILED = 13\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\
================================================================================\n\
MSG: object_manipulation_msgs/PlaceActionFeedback\n\
\n\
Header header\n\
actionlib_msgs/GoalStatus status\n\
PlaceFeedback feedback\n\
\n\
================================================================================\n\
MSG: object_manipulation_msgs/PlaceFeedback\n\
# The number of the place location currently being attempted\n\
int32 current_location\n\
\n\
# The total number of locations that will be attempted\n\
int32 total_locations\n\
\n\
\n\
\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, action_goal);
    ros::serialization::serialize(stream, action_result);
    ros::serialization::serialize(stream, action_feedback);
    return stream.getData();
  }

  ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr)
  {
    ros::serialization::IStream stream(read_ptr, 1000000000);
    ros::serialization::deserialize(stream, action_goal);
    ros::serialization::deserialize(stream, action_result);
    ros::serialization::deserialize(stream, action_feedback);
    return stream.getData();
  }

  ROS_DEPRECATED virtual uint32_t serializationLength() const
  {
    uint32_t size = 0;
    size += ros::serialization::serializationLength(action_goal);
    size += ros::serialization::serializationLength(action_result);
    size += ros::serialization::serializationLength(action_feedback);
    return size;
  }

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

typedef boost::shared_ptr< ::object_manipulation_msgs::PlaceAction> PlaceActionPtr;
typedef boost::shared_ptr< ::object_manipulation_msgs::PlaceAction const> PlaceActionConstPtr;


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

} // namespace object_manipulation_msgs

namespace ros
{
namespace message_traits
{
template<class ContainerAllocator>
struct MD5Sum< ::object_manipulation_msgs::PlaceAction_<ContainerAllocator> > {
  static const char* value() 
  {
    return "d5c16c2b58aadc6ea5259b4706a7c7bd";
  }

  static const char* value(const  ::object_manipulation_msgs::PlaceAction_<ContainerAllocator> &) { return value(); } 
  static const uint64_t static_value1 = 0xd5c16c2b58aadc6eULL;
  static const uint64_t static_value2 = 0xa5259b4706a7c7bdULL;
};

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

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

template<class ContainerAllocator>
struct Definition< ::object_manipulation_msgs::PlaceAction_<ContainerAllocator> > {
  static const char* value() 
  {
    return "\n\
PlaceActionGoal action_goal\n\
PlaceActionResult action_result\n\
PlaceActionFeedback action_feedback\n\
\n\
================================================================================\n\
MSG: object_manipulation_msgs/PlaceActionGoal\n\
\n\
Header header\n\
actionlib_msgs/GoalID goal_id\n\
PlaceGoal goal\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: actionlib_msgs/GoalID\n\
# The stamp should store the time at which this goal was requested.\n\
# It is used by an action server when it tries to preempt all\n\
# goals that were requested before a certain time\n\
time stamp\n\
\n\
# The id provides a way to associate feedback and\n\
# result message with specific goal requests. The id\n\
# specified must be unique.\n\
string id\n\
\n\
\n\
================================================================================\n\
MSG: object_manipulation_msgs/PlaceGoal\n\
\n\
# An action for placing an object\n\
\n\
# which arm to be used for grasping\n\
string arm_name\n\
\n\
# a list of possible desired poses of the object once it's been placed\n\
geometry_msgs/PoseStamped[] place_locations\n\
\n\
# the grasp that has been executed on this object\n\
Grasp grasp\n\
\n\
# how far the retreat should ideally be away from the place location\n\
float32 desired_retreat_distance\n\
\n\
# the min distance between the retreat and the place location that must actually be feasible \n\
# for the place not to be rejected\n\
float32 min_retreat_distance\n\
\n\
# how the place location should be approached\n\
# the frame_id that this lift is specified in MUST be either the robot_frame \n\
# or the gripper_frame specified in your hand description file\n\
GripperTranslation approach\n\
\n\
# the name that the target object has in the collision map\n\
# can be left empty if no name is available\n\
string collision_object_name\n\
\n\
# the name that the support surface (e.g. table) has in the collision map\n\
# can be left empty if no name is available\n\
string collision_support_surface_name\n\
\n\
# whether collisions between the gripper and the support surface should be acceptable\n\
# during move from pre-place to place and during retreat. Collisions when moving to the\n\
# pre-place location are still not allowed even if this is set to true.\n\
bool allow_gripper_support_collision\n\
\n\
# whether reactive placing based on tactile sensors should be used\n\
bool use_reactive_place\n\
\n\
# how much the object should be padded by when deciding if the grasp\n\
# location is freasible or not\n\
float64 place_padding\n\
\n\
# OPTIONAL (These will not have to be filled out most of the time)\n\
# constraints to be imposed on every point in the motion of the arm\n\
motion_planning_msgs/Constraints path_constraints\n\
\n\
# OPTIONAL (These will not have to be filled out most of the time)\n\
# additional collision operations to be used for every arm movement performed\n\
# during placing. Note that these will be added on top of (and thus overide) other \n\
# collision operations that the grasping pipeline deems necessary. Should be used\n\
# with care and only if special behaviors are desired.\n\
motion_planning_msgs/OrderedCollisionOperations additional_collision_operations\n\
\n\
# OPTIONAL (These will not have to be filled out most of the time)\n\
# additional link paddings to be used for every arm movement performed\n\
# during placing. Note that these will be added on top of (and thus overide) other \n\
# link paddings that the grasping pipeline deems necessary. Should be used\n\
# with care and only if special behaviors are desired.\n\
motion_planning_msgs/LinkPadding[] additional_link_padding\n\
\n\
================================================================================\n\
MSG: geometry_msgs/PoseStamped\n\
# A Pose with reference coordinate frame and timestamp\n\
Header header\n\
Pose pose\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/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: object_manipulation_msgs/GripperTranslation\n\
# defines a translation for the gripper, used in pickup or place tasks\n\
# for example for lifting an object off a table or approaching the table for placing\n\
\n\
# the direction of the translation\n\
geometry_msgs/Vector3Stamped direction\n\
\n\
# the desired translation distance\n\
float32 desired_distance\n\
\n\
# the min distance that must be considered feasible before the\n\
# grasp is even attempted\n\
float32 min_distance\n\
================================================================================\n\
MSG: geometry_msgs/Vector3Stamped\n\
# This represents a Vector3 with reference coordinate frame and timestamp\n\
Header header\n\
Vector3 vector\n\
\n\
================================================================================\n\
MSG: geometry_msgs/Vector3\n\
# This represents a vector in free space. \n\
\n\
float64 x\n\
float64 y\n\
float64 z\n\
================================================================================\n\
MSG: motion_planning_msgs/Constraints\n\
# This message contains a list of motion planning constraints.\n\
\n\
motion_planning_msgs/JointConstraint[] joint_constraints\n\
motion_planning_msgs/PositionConstraint[] position_constraints\n\
motion_planning_msgs/OrientationConstraint[] orientation_constraints\n\
motion_planning_msgs/VisibilityConstraint[] visibility_constraints\n\
\n\
================================================================================\n\
MSG: motion_planning_msgs/JointConstraint\n\
# Constrain the position of a joint to be within a certain bound\n\
string joint_name\n\
\n\
# the bound to be achieved is [position - tolerance_below, position + tolerance_above]\n\
float64 position\n\
float64 tolerance_above\n\
float64 tolerance_below\n\
\n\
# A weighting factor for this constraint\n\
float64 weight\n\
================================================================================\n\
MSG: motion_planning_msgs/PositionConstraint\n\
# This message contains the definition of a position constraint.\n\
Header header\n\
\n\
# The robot link this constraint refers to\n\
string link_name\n\
\n\
# The offset (in the link frame) for the target point on the link we are planning for\n\
geometry_msgs/Point target_point_offset\n\
\n\
# The nominal/target position for the point we are planning for\n\
geometry_msgs/Point position\n\
\n\
# The shape of the bounded region that constrains the position of the end-effector\n\
# This region is always centered at the position defined above\n\
geometric_shapes_msgs/Shape constraint_region_shape\n\
\n\
# The orientation of the bounded region that constrains the position of the end-effector. \n\
# This allows the specification of non-axis aligned constraints\n\
geometry_msgs/Quaternion constraint_region_orientation\n\
\n\
# Constraint weighting factor - a weight for this constraint\n\
float64 weight\n\
================================================================================\n\
MSG: geometric_shapes_msgs/Shape\n\
byte SPHERE=0\n\
byte BOX=1\n\
byte CYLINDER=2\n\
byte MESH=3\n\
\n\
byte type\n\
\n\
\n\
#### define sphere, box, cylinder ####\n\
# the origin of each shape is considered at the shape's center\n\
\n\
# for sphere\n\
# radius := dimensions[0]\n\
\n\
# for cylinder\n\
# radius := dimensions[0]\n\
# length := dimensions[1]\n\
# the length is along the Z axis\n\
\n\
# for box\n\
# size_x := dimensions[0]\n\
# size_y := dimensions[1]\n\
# size_z := dimensions[2]\n\
float64[] dimensions\n\
\n\
\n\
#### define mesh ####\n\
\n\
# list of triangles; triangle k is defined by tre vertices located\n\
# at indices triangles[3k], triangles[3k+1], triangles[3k+2]\n\
int32[] triangles\n\
geometry_msgs/Point[] vertices\n\
\n\
================================================================================\n\
MSG: motion_planning_msgs/OrientationConstraint\n\
# This message contains the definition of an orientation constraint.\n\
Header header\n\
\n\
# The robot link this constraint refers to\n\
string link_name\n\
\n\
# The type of the constraint\n\
int32 type\n\
int32 LINK_FRAME=0\n\
int32 HEADER_FRAME=1\n\
\n\
# The desired orientation of the robot link specified as a quaternion\n\
geometry_msgs/Quaternion orientation\n\
\n\
# optional RPY error tolerances specified if \n\
float64 absolute_roll_tolerance\n\
float64 absolute_pitch_tolerance\n\
float64 absolute_yaw_tolerance\n\
\n\
# Constraint weighting factor - a weight for this constraint\n\
float64 weight\n\
\n\
================================================================================\n\
MSG: motion_planning_msgs/VisibilityConstraint\n\
# This message contains the definition of a visibility constraint.\n\
Header header\n\
\n\
# The point stamped target that needs to be kept within view of the sensor\n\
geometry_msgs/PointStamped target\n\
\n\
# The local pose of the frame in which visibility is to be maintained\n\
# The frame id should represent the robot link to which the sensor is attached\n\
# The visual axis of the sensor is assumed to be along the X axis of this frame\n\
geometry_msgs/PoseStamped sensor_pose\n\
\n\
# The deviation (in radians) that will be tolerated\n\
# Constraint error will be measured as the solid angle between the \n\
# X axis of the frame defined above and the vector between the origin \n\
# of the frame defined above and the target location\n\
float64 absolute_tolerance\n\
\n\
\n\
================================================================================\n\
MSG: geometry_msgs/PointStamped\n\
# This represents a Point with reference coordinate frame and timestamp\n\
Header header\n\
Point point\n\
\n\
================================================================================\n\
MSG: motion_planning_msgs/OrderedCollisionOperations\n\
# A set of collision operations that will be performed in the order they are specified\n\
CollisionOperation[] collision_operations\n\
================================================================================\n\
MSG: motion_planning_msgs/CollisionOperation\n\
# A definition of a collision operation\n\
# E.g. (\"gripper\",COLLISION_SET_ALL,ENABLE) will enable collisions \n\
# between the gripper and all objects in the collision space\n\
\n\
string object1\n\
string object2\n\
string COLLISION_SET_ALL=\"all\"\n\
string COLLISION_SET_OBJECTS=\"objects\"\n\
string COLLISION_SET_ATTACHED_OBJECTS=\"attached\"\n\
\n\
# The penetration distance to which collisions are allowed. This is 0.0 by default.\n\
float64 penetration_distance\n\
\n\
# Flag that determines whether collisions will be enabled or disabled for the pair of objects specified above\n\
int32 operation\n\
int32 DISABLE=0\n\
int32 ENABLE=1\n\
\n\
================================================================================\n\
MSG: motion_planning_msgs/LinkPadding\n\
#name for the link\n\
string link_name\n\
\n\
# padding to apply to the link\n\
float64 padding\n\
\n\
================================================================================\n\
MSG: object_manipulation_msgs/PlaceActionResult\n\
\n\
Header header\n\
actionlib_msgs/GoalStatus status\n\
PlaceResult result\n\
\n\
================================================================================\n\
MSG: actionlib_msgs/GoalStatus\n\
GoalID goal_id\n\
uint8 status\n\
uint8 PENDING         = 0   # The goal has yet to be processed by the action server\n\
uint8 ACTIVE          = 1   # The goal is currently being processed by the action server\n\
uint8 PREEMPTED       = 2   # The goal received a cancel request after it started executing\n\
                            #   and has since completed its execution (Terminal State)\n\
uint8 SUCCEEDED       = 3   # The goal was achieved successfully by the action server (Terminal State)\n\
uint8 ABORTED         = 4   # The goal was aborted during execution by the action server due\n\
                            #    to some failure (Terminal State)\n\
uint8 REJECTED        = 5   # The goal was rejected by the action server without being processed,\n\
                            #    because the goal was unattainable or invalid (Terminal State)\n\
uint8 PREEMPTING      = 6   # The goal received a cancel request after it started executing\n\
                            #    and has not yet completed execution\n\
uint8 RECALLING       = 7   # The goal received a cancel request before it started executing,\n\
                            #    but the action server has not yet confirmed that the goal is canceled\n\
uint8 RECALLED        = 8   # The goal received a cancel request before it started executing\n\
                            #    and was successfully cancelled (Terminal State)\n\
uint8 LOST            = 9   # An action client can determine that a goal is LOST. This should not be\n\
                            #    sent over the wire by an action server\n\
\n\
#Allow for the user to associate a string with GoalStatus for debugging\n\
string text\n\
\n\
\n\
================================================================================\n\
MSG: object_manipulation_msgs/PlaceResult\n\
# The result of the pickup attempt\n\
ManipulationResult manipulation_result\n\
\n\
# The successful place location, if any\n\
geometry_msgs/PoseStamped place_location\n\
\n\
# the list of attempted locations, in the order in which they were attempted\n\
# the successful one should be the last one in this list\n\
geometry_msgs/PoseStamped[] attempted_locations\n\
\n\
# the outcomes of the attempted locations, in the same order as attempted_locations\n\
PlaceLocationResult[] attempted_location_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/PlaceLocationResult\n\
int32 SUCCESS = 1\n\
int32 PLACE_OUT_OF_REACH = 2\n\
int32 PLACE_IN_COLLISION = 3\n\
int32 PLACE_UNFEASIBLE = 4\n\
int32 PREPLACE_OUT_OF_REACH = 5\n\
int32 PREPLACE_IN_COLLISION = 6\n\
int32 PREPLACE_UNFEASIBLE = 7\n\
int32 RETREAT_OUT_OF_REACH = 8\n\
int32 RETREAT_IN_COLLISION = 9\n\
int32 RETREAT_UNFEASIBLE = 10\n\
int32 MOVE_ARM_FAILED = 11\n\
int32 PLACE_FAILED = 12\n\
int32 RETREAT_FAILED = 13\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\
================================================================================\n\
MSG: object_manipulation_msgs/PlaceActionFeedback\n\
\n\
Header header\n\
actionlib_msgs/GoalStatus status\n\
PlaceFeedback feedback\n\
\n\
================================================================================\n\
MSG: object_manipulation_msgs/PlaceFeedback\n\
# The number of the place location currently being attempted\n\
int32 current_location\n\
\n\
# The total number of locations that will be attempted\n\
int32 total_locations\n\
\n\
\n\
\n\
\n\
";
  }

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

} // namespace message_traits
} // namespace ros

namespace ros
{
namespace serialization
{

template<class ContainerAllocator> struct Serializer< ::object_manipulation_msgs::PlaceAction_<ContainerAllocator> >
{
  template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
  {
    stream.next(m.action_goal);
    stream.next(m.action_result);
    stream.next(m.action_feedback);
  }

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

namespace ros
{
namespace message_operations
{

template<class ContainerAllocator>
struct Printer< ::object_manipulation_msgs::PlaceAction_<ContainerAllocator> >
{
  template<typename Stream> static void stream(Stream& s, const std::string& indent, const  ::object_manipulation_msgs::PlaceAction_<ContainerAllocator> & v) 
  {
    s << indent << "action_goal: ";
s << std::endl;
    Printer< ::object_manipulation_msgs::PlaceActionGoal_<ContainerAllocator> >::stream(s, indent + "  ", v.action_goal);
    s << indent << "action_result: ";
s << std::endl;
    Printer< ::object_manipulation_msgs::PlaceActionResult_<ContainerAllocator> >::stream(s, indent + "  ", v.action_result);
    s << indent << "action_feedback: ";
s << std::endl;
    Printer< ::object_manipulation_msgs::PlaceActionFeedback_<ContainerAllocator> >::stream(s, indent + "  ", v.action_feedback);
  }
};


} // namespace message_operations
} // namespace ros

#endif // OBJECT_MANIPULATION_MSGS_MESSAGE_PLACEACTION_H

---

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