PlaceGoal.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/PlaceGoal.msg */
#ifndef OBJECT_MANIPULATION_MSGS_MESSAGE_PLACEGOAL_H
#define OBJECT_MANIPULATION_MSGS_MESSAGE_PLACEGOAL_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 "geometry_msgs/PoseStamped.h"
#include "object_manipulation_msgs/Grasp.h"
#include "object_manipulation_msgs/GripperTranslation.h"
#include "motion_planning_msgs/Constraints.h"
#include "motion_planning_msgs/OrderedCollisionOperations.h"
#include "motion_planning_msgs/LinkPadding.h"

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

  PlaceGoal_()
  : arm_name()
  , place_locations()
  , grasp()
  , desired_retreat_distance(0.0)
  , min_retreat_distance(0.0)
  , approach()
  , collision_object_name()
  , collision_support_surface_name()
  , allow_gripper_support_collision(false)
  , use_reactive_place(false)
  , place_padding(0.0)
  , path_constraints()
  , additional_collision_operations()
  , additional_link_padding()
  {
  }

  PlaceGoal_(const ContainerAllocator& _alloc)
  : arm_name(_alloc)
  , place_locations(_alloc)
  , grasp(_alloc)
  , desired_retreat_distance(0.0)
  , min_retreat_distance(0.0)
  , approach(_alloc)
  , collision_object_name(_alloc)
  , collision_support_surface_name(_alloc)
  , allow_gripper_support_collision(false)
  , use_reactive_place(false)
  , place_padding(0.0)
  , path_constraints(_alloc)
  , additional_collision_operations(_alloc)
  , additional_link_padding(_alloc)
  {
  }

  typedef std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other >  _arm_name_type;
  std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other >  arm_name;

  typedef std::vector< ::geometry_msgs::PoseStamped_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::geometry_msgs::PoseStamped_<ContainerAllocator> >::other >  _place_locations_type;
  std::vector< ::geometry_msgs::PoseStamped_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::geometry_msgs::PoseStamped_<ContainerAllocator> >::other >  place_locations;

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

  typedef float _desired_retreat_distance_type;
  float desired_retreat_distance;

  typedef float _min_retreat_distance_type;
  float min_retreat_distance;

  typedef  ::object_manipulation_msgs::GripperTranslation_<ContainerAllocator>  _approach_type;
   ::object_manipulation_msgs::GripperTranslation_<ContainerAllocator>  approach;

  typedef std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other >  _collision_object_name_type;
  std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other >  collision_object_name;

  typedef std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other >  _collision_support_surface_name_type;
  std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other >  collision_support_surface_name;

  typedef uint8_t _allow_gripper_support_collision_type;
  uint8_t allow_gripper_support_collision;

  typedef uint8_t _use_reactive_place_type;
  uint8_t use_reactive_place;

  typedef double _place_padding_type;
  double place_padding;

  typedef  ::motion_planning_msgs::Constraints_<ContainerAllocator>  _path_constraints_type;
   ::motion_planning_msgs::Constraints_<ContainerAllocator>  path_constraints;

  typedef  ::motion_planning_msgs::OrderedCollisionOperations_<ContainerAllocator>  _additional_collision_operations_type;
   ::motion_planning_msgs::OrderedCollisionOperations_<ContainerAllocator>  additional_collision_operations;

  typedef std::vector< ::motion_planning_msgs::LinkPadding_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::motion_planning_msgs::LinkPadding_<ContainerAllocator> >::other >  _additional_link_padding_type;
  std::vector< ::motion_planning_msgs::LinkPadding_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::motion_planning_msgs::LinkPadding_<ContainerAllocator> >::other >  additional_link_padding;


  ROS_DEPRECATED uint32_t get_place_locations_size() const { return (uint32_t)place_locations.size(); }
  ROS_DEPRECATED void set_place_locations_size(uint32_t size) { place_locations.resize((size_t)size); }
  ROS_DEPRECATED void get_place_locations_vec(std::vector< ::geometry_msgs::PoseStamped_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::geometry_msgs::PoseStamped_<ContainerAllocator> >::other > & vec) const { vec = this->place_locations; }
  ROS_DEPRECATED void set_place_locations_vec(const std::vector< ::geometry_msgs::PoseStamped_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::geometry_msgs::PoseStamped_<ContainerAllocator> >::other > & vec) { this->place_locations = vec; }
  ROS_DEPRECATED uint32_t get_additional_link_padding_size() const { return (uint32_t)additional_link_padding.size(); }
  ROS_DEPRECATED void set_additional_link_padding_size(uint32_t size) { additional_link_padding.resize((size_t)size); }
  ROS_DEPRECATED void get_additional_link_padding_vec(std::vector< ::motion_planning_msgs::LinkPadding_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::motion_planning_msgs::LinkPadding_<ContainerAllocator> >::other > & vec) const { vec = this->additional_link_padding; }
  ROS_DEPRECATED void set_additional_link_padding_vec(const std::vector< ::motion_planning_msgs::LinkPadding_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::motion_planning_msgs::LinkPadding_<ContainerAllocator> >::other > & vec) { this->additional_link_padding = vec; }
private:
  static const char* __s_getDataType_() { return "object_manipulation_msgs/PlaceGoal"; }
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 "82feafa522a7074652d42edb22b56d8e"; }
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\
# 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: 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/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\
"; }
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, arm_name);
    ros::serialization::serialize(stream, place_locations);
    ros::serialization::serialize(stream, grasp);
    ros::serialization::serialize(stream, desired_retreat_distance);
    ros::serialization::serialize(stream, min_retreat_distance);
    ros::serialization::serialize(stream, approach);
    ros::serialization::serialize(stream, collision_object_name);
    ros::serialization::serialize(stream, collision_support_surface_name);
    ros::serialization::serialize(stream, allow_gripper_support_collision);
    ros::serialization::serialize(stream, use_reactive_place);
    ros::serialization::serialize(stream, place_padding);
    ros::serialization::serialize(stream, path_constraints);
    ros::serialization::serialize(stream, additional_collision_operations);
    ros::serialization::serialize(stream, additional_link_padding);
    return stream.getData();
  }

  ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr)
  {
    ros::serialization::IStream stream(read_ptr, 1000000000);
    ros::serialization::deserialize(stream, arm_name);
    ros::serialization::deserialize(stream, place_locations);
    ros::serialization::deserialize(stream, grasp);
    ros::serialization::deserialize(stream, desired_retreat_distance);
    ros::serialization::deserialize(stream, min_retreat_distance);
    ros::serialization::deserialize(stream, approach);
    ros::serialization::deserialize(stream, collision_object_name);
    ros::serialization::deserialize(stream, collision_support_surface_name);
    ros::serialization::deserialize(stream, allow_gripper_support_collision);
    ros::serialization::deserialize(stream, use_reactive_place);
    ros::serialization::deserialize(stream, place_padding);
    ros::serialization::deserialize(stream, path_constraints);
    ros::serialization::deserialize(stream, additional_collision_operations);
    ros::serialization::deserialize(stream, additional_link_padding);
    return stream.getData();
  }

  ROS_DEPRECATED virtual uint32_t serializationLength() const
  {
    uint32_t size = 0;
    size += ros::serialization::serializationLength(arm_name);
    size += ros::serialization::serializationLength(place_locations);
    size += ros::serialization::serializationLength(grasp);
    size += ros::serialization::serializationLength(desired_retreat_distance);
    size += ros::serialization::serializationLength(min_retreat_distance);
    size += ros::serialization::serializationLength(approach);
    size += ros::serialization::serializationLength(collision_object_name);
    size += ros::serialization::serializationLength(collision_support_surface_name);
    size += ros::serialization::serializationLength(allow_gripper_support_collision);
    size += ros::serialization::serializationLength(use_reactive_place);
    size += ros::serialization::serializationLength(place_padding);
    size += ros::serialization::serializationLength(path_constraints);
    size += ros::serialization::serializationLength(additional_collision_operations);
    size += ros::serialization::serializationLength(additional_link_padding);
    return size;
  }

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

typedef boost::shared_ptr< ::object_manipulation_msgs::PlaceGoal> PlaceGoalPtr;
typedef boost::shared_ptr< ::object_manipulation_msgs::PlaceGoal const> PlaceGoalConstPtr;


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

} // namespace object_manipulation_msgs

namespace ros
{
namespace message_traits
{
template<class ContainerAllocator>
struct MD5Sum< ::object_manipulation_msgs::PlaceGoal_<ContainerAllocator> > {
  static const char* value() 
  {
    return "82feafa522a7074652d42edb22b56d8e";
  }

  static const char* value(const  ::object_manipulation_msgs::PlaceGoal_<ContainerAllocator> &) { return value(); } 
  static const uint64_t static_value1 = 0x82feafa522a70746ULL;
  static const uint64_t static_value2 = 0x52d42edb22b56d8eULL;
};

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

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

template<class ContainerAllocator>
struct Definition< ::object_manipulation_msgs::PlaceGoal_<ContainerAllocator> > {
  static const char* value() 
  {
    return "\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: 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/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\
";
  }

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

} // namespace message_traits
} // namespace ros

namespace ros
{
namespace serialization
{

template<class ContainerAllocator> struct Serializer< ::object_manipulation_msgs::PlaceGoal_<ContainerAllocator> >
{
  template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
  {
    stream.next(m.arm_name);
    stream.next(m.place_locations);
    stream.next(m.grasp);
    stream.next(m.desired_retreat_distance);
    stream.next(m.min_retreat_distance);
    stream.next(m.approach);
    stream.next(m.collision_object_name);
    stream.next(m.collision_support_surface_name);
    stream.next(m.allow_gripper_support_collision);
    stream.next(m.use_reactive_place);
    stream.next(m.place_padding);
    stream.next(m.path_constraints);
    stream.next(m.additional_collision_operations);
    stream.next(m.additional_link_padding);
  }

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

namespace ros
{
namespace message_operations
{

template<class ContainerAllocator>
struct Printer< ::object_manipulation_msgs::PlaceGoal_<ContainerAllocator> >
{
  template<typename Stream> static void stream(Stream& s, const std::string& indent, const  ::object_manipulation_msgs::PlaceGoal_<ContainerAllocator> & v) 
  {
    s << indent << "arm_name: ";
    Printer<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > >::stream(s, indent + "  ", v.arm_name);
    s << indent << "place_locations[]" << std::endl;
    for (size_t i = 0; i < v.place_locations.size(); ++i)
    {
      s << indent << "  place_locations[" << i << "]: ";
      s << std::endl;
      s << indent;
      Printer< ::geometry_msgs::PoseStamped_<ContainerAllocator> >::stream(s, indent + "    ", v.place_locations[i]);
    }
    s << indent << "grasp: ";
s << std::endl;
    Printer< ::object_manipulation_msgs::Grasp_<ContainerAllocator> >::stream(s, indent + "  ", v.grasp);
    s << indent << "desired_retreat_distance: ";
    Printer<float>::stream(s, indent + "  ", v.desired_retreat_distance);
    s << indent << "min_retreat_distance: ";
    Printer<float>::stream(s, indent + "  ", v.min_retreat_distance);
    s << indent << "approach: ";
s << std::endl;
    Printer< ::object_manipulation_msgs::GripperTranslation_<ContainerAllocator> >::stream(s, indent + "  ", v.approach);
    s << indent << "collision_object_name: ";
    Printer<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > >::stream(s, indent + "  ", v.collision_object_name);
    s << indent << "collision_support_surface_name: ";
    Printer<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > >::stream(s, indent + "  ", v.collision_support_surface_name);
    s << indent << "allow_gripper_support_collision: ";
    Printer<uint8_t>::stream(s, indent + "  ", v.allow_gripper_support_collision);
    s << indent << "use_reactive_place: ";
    Printer<uint8_t>::stream(s, indent + "  ", v.use_reactive_place);
    s << indent << "place_padding: ";
    Printer<double>::stream(s, indent + "  ", v.place_padding);
    s << indent << "path_constraints: ";
s << std::endl;
    Printer< ::motion_planning_msgs::Constraints_<ContainerAllocator> >::stream(s, indent + "  ", v.path_constraints);
    s << indent << "additional_collision_operations: ";
s << std::endl;
    Printer< ::motion_planning_msgs::OrderedCollisionOperations_<ContainerAllocator> >::stream(s, indent + "  ", v.additional_collision_operations);
    s << indent << "additional_link_padding[]" << std::endl;
    for (size_t i = 0; i < v.additional_link_padding.size(); ++i)
    {
      s << indent << "  additional_link_padding[" << i << "]: ";
      s << std::endl;
      s << indent;
      Printer< ::motion_planning_msgs::LinkPadding_<ContainerAllocator> >::stream(s, indent + "    ", v.additional_link_padding[i]);
    }
  }
};


} // namespace message_operations
} // namespace ros

#endif // OBJECT_MANIPULATION_MSGS_MESSAGE_PLACEGOAL_H

---

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