00001
00002 #ifndef ARM_NAVIGATION_MSGS_MESSAGE_MOTIONPLANREQUEST_H
00003 #define ARM_NAVIGATION_MSGS_MESSAGE_MOTIONPLANREQUEST_H
00004 #include <string>
00005 #include <vector>
00006 #include <map>
00007 #include <ostream>
00008 #include "ros/serialization.h"
00009 #include "ros/builtin_message_traits.h"
00010 #include "ros/message_operations.h"
00011 #include "ros/time.h"
00012
00013 #include "ros/macros.h"
00014
00015 #include "ros/assert.h"
00016
00017 #include "arm_navigation_msgs/WorkspaceParameters.h"
00018 #include "arm_navigation_msgs/RobotState.h"
00019 #include "arm_navigation_msgs/Constraints.h"
00020 #include "arm_navigation_msgs/Constraints.h"
00021
00022 namespace arm_navigation_msgs
00023 {
00024 template <class ContainerAllocator>
00025 struct MotionPlanRequest_ {
00026 typedef MotionPlanRequest_<ContainerAllocator> Type;
00027
00028 MotionPlanRequest_()
00029 : workspace_parameters()
00030 , start_state()
00031 , goal_constraints()
00032 , path_constraints()
00033 , planner_id()
00034 , group_name()
00035 , num_planning_attempts(0)
00036 , allowed_planning_time()
00037 , expected_path_duration()
00038 , expected_path_dt()
00039 {
00040 }
00041
00042 MotionPlanRequest_(const ContainerAllocator& _alloc)
00043 : workspace_parameters(_alloc)
00044 , start_state(_alloc)
00045 , goal_constraints(_alloc)
00046 , path_constraints(_alloc)
00047 , planner_id(_alloc)
00048 , group_name(_alloc)
00049 , num_planning_attempts(0)
00050 , allowed_planning_time()
00051 , expected_path_duration()
00052 , expected_path_dt()
00053 {
00054 }
00055
00056 typedef ::arm_navigation_msgs::WorkspaceParameters_<ContainerAllocator> _workspace_parameters_type;
00057 ::arm_navigation_msgs::WorkspaceParameters_<ContainerAllocator> workspace_parameters;
00058
00059 typedef ::arm_navigation_msgs::RobotState_<ContainerAllocator> _start_state_type;
00060 ::arm_navigation_msgs::RobotState_<ContainerAllocator> start_state;
00061
00062 typedef ::arm_navigation_msgs::Constraints_<ContainerAllocator> _goal_constraints_type;
00063 ::arm_navigation_msgs::Constraints_<ContainerAllocator> goal_constraints;
00064
00065 typedef ::arm_navigation_msgs::Constraints_<ContainerAllocator> _path_constraints_type;
00066 ::arm_navigation_msgs::Constraints_<ContainerAllocator> path_constraints;
00067
00068 typedef std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > _planner_id_type;
00069 std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > planner_id;
00070
00071 typedef std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > _group_name_type;
00072 std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > group_name;
00073
00074 typedef int32_t _num_planning_attempts_type;
00075 int32_t num_planning_attempts;
00076
00077 typedef ros::Duration _allowed_planning_time_type;
00078 ros::Duration allowed_planning_time;
00079
00080 typedef ros::Duration _expected_path_duration_type;
00081 ros::Duration expected_path_duration;
00082
00083 typedef ros::Duration _expected_path_dt_type;
00084 ros::Duration expected_path_dt;
00085
00086
00087 private:
00088 static const char* __s_getDataType_() { return "arm_navigation_msgs/MotionPlanRequest"; }
00089 public:
00090 ROS_DEPRECATED static const std::string __s_getDataType() { return __s_getDataType_(); }
00091
00092 ROS_DEPRECATED const std::string __getDataType() const { return __s_getDataType_(); }
00093
00094 private:
00095 static const char* __s_getMD5Sum_() { return "75408e881303c6ad5069bd5df65ecb00"; }
00096 public:
00097 ROS_DEPRECATED static const std::string __s_getMD5Sum() { return __s_getMD5Sum_(); }
00098
00099 ROS_DEPRECATED const std::string __getMD5Sum() const { return __s_getMD5Sum_(); }
00100
00101 private:
00102 static const char* __s_getMessageDefinition_() { return "# This service contains the definition for a request to the motion\n\
00103 # planner and the output it provides\n\
00104 \n\
00105 # Parameters for the workspace that the planner should work inside\n\
00106 arm_navigation_msgs/WorkspaceParameters workspace_parameters\n\
00107 \n\
00108 # Starting state updates. If certain joints should be considered\n\
00109 # at positions other than the current ones, these positions should\n\
00110 # be set here\n\
00111 arm_navigation_msgs/RobotState start_state\n\
00112 \n\
00113 # The goal state for the model to plan for. The goal is achieved\n\
00114 # if all constraints are satisfied\n\
00115 arm_navigation_msgs/Constraints goal_constraints\n\
00116 \n\
00117 # No state at any point along the path in the produced motion plan will violate these constraints\n\
00118 arm_navigation_msgs/Constraints path_constraints\n\
00119 \n\
00120 # The name of the motion planner to use. If no name is specified,\n\
00121 # a default motion planner will be used\n\
00122 string planner_id\n\
00123 \n\
00124 # The name of the group of joints on which this planner is operating\n\
00125 string group_name\n\
00126 \n\
00127 # The number of times this plan is to be computed. Shortest solution\n\
00128 # will be reported.\n\
00129 int32 num_planning_attempts\n\
00130 \n\
00131 # The maximum amount of time the motion planner is allowed to plan for\n\
00132 duration allowed_planning_time\n\
00133 \n\
00134 # An expected path duration (in seconds) along with an expected discretization of the path allows the planner to determine the discretization of the trajectory that it returns\n\
00135 duration expected_path_duration\n\
00136 duration expected_path_dt\n\
00137 \n\
00138 ================================================================================\n\
00139 MSG: arm_navigation_msgs/WorkspaceParameters\n\
00140 # This message contains a set of parameters useful in\n\
00141 # setting up the workspace for planning\n\
00142 arm_navigation_msgs/Shape workspace_region_shape\n\
00143 geometry_msgs/PoseStamped workspace_region_pose\n\
00144 \n\
00145 \n\
00146 ================================================================================\n\
00147 MSG: arm_navigation_msgs/Shape\n\
00148 byte SPHERE=0\n\
00149 byte BOX=1\n\
00150 byte CYLINDER=2\n\
00151 byte MESH=3\n\
00152 \n\
00153 byte type\n\
00154 \n\
00155 \n\
00156 #### define sphere, box, cylinder ####\n\
00157 # the origin of each shape is considered at the shape's center\n\
00158 \n\
00159 # for sphere\n\
00160 # radius := dimensions[0]\n\
00161 \n\
00162 # for cylinder\n\
00163 # radius := dimensions[0]\n\
00164 # length := dimensions[1]\n\
00165 # the length is along the Z axis\n\
00166 \n\
00167 # for box\n\
00168 # size_x := dimensions[0]\n\
00169 # size_y := dimensions[1]\n\
00170 # size_z := dimensions[2]\n\
00171 float64[] dimensions\n\
00172 \n\
00173 \n\
00174 #### define mesh ####\n\
00175 \n\
00176 # list of triangles; triangle k is defined by tre vertices located\n\
00177 # at indices triangles[3k], triangles[3k+1], triangles[3k+2]\n\
00178 int32[] triangles\n\
00179 geometry_msgs/Point[] vertices\n\
00180 \n\
00181 ================================================================================\n\
00182 MSG: geometry_msgs/Point\n\
00183 # This contains the position of a point in free space\n\
00184 float64 x\n\
00185 float64 y\n\
00186 float64 z\n\
00187 \n\
00188 ================================================================================\n\
00189 MSG: geometry_msgs/PoseStamped\n\
00190 # A Pose with reference coordinate frame and timestamp\n\
00191 Header header\n\
00192 Pose pose\n\
00193 \n\
00194 ================================================================================\n\
00195 MSG: std_msgs/Header\n\
00196 # Standard metadata for higher-level stamped data types.\n\
00197 # This is generally used to communicate timestamped data \n\
00198 # in a particular coordinate frame.\n\
00199 # \n\
00200 # sequence ID: consecutively increasing ID \n\
00201 uint32 seq\n\
00202 #Two-integer timestamp that is expressed as:\n\
00203 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00204 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00205 # time-handling sugar is provided by the client library\n\
00206 time stamp\n\
00207 #Frame this data is associated with\n\
00208 # 0: no frame\n\
00209 # 1: global frame\n\
00210 string frame_id\n\
00211 \n\
00212 ================================================================================\n\
00213 MSG: geometry_msgs/Pose\n\
00214 # A representation of pose in free space, composed of postion and orientation. \n\
00215 Point position\n\
00216 Quaternion orientation\n\
00217 \n\
00218 ================================================================================\n\
00219 MSG: geometry_msgs/Quaternion\n\
00220 # This represents an orientation in free space in quaternion form.\n\
00221 \n\
00222 float64 x\n\
00223 float64 y\n\
00224 float64 z\n\
00225 float64 w\n\
00226 \n\
00227 ================================================================================\n\
00228 MSG: arm_navigation_msgs/RobotState\n\
00229 # This message contains information about the robot state, i.e. the positions of its joints and links\n\
00230 sensor_msgs/JointState joint_state\n\
00231 arm_navigation_msgs/MultiDOFJointState multi_dof_joint_state\n\
00232 \n\
00233 ================================================================================\n\
00234 MSG: sensor_msgs/JointState\n\
00235 # This is a message that holds data to describe the state of a set of torque controlled joints. \n\
00236 #\n\
00237 # The state of each joint (revolute or prismatic) is defined by:\n\
00238 # * the position of the joint (rad or m),\n\
00239 # * the velocity of the joint (rad/s or m/s) and \n\
00240 # * the effort that is applied in the joint (Nm or N).\n\
00241 #\n\
00242 # Each joint is uniquely identified by its name\n\
00243 # The header specifies the time at which the joint states were recorded. All the joint states\n\
00244 # in one message have to be recorded at the same time.\n\
00245 #\n\
00246 # This message consists of a multiple arrays, one for each part of the joint state. \n\
00247 # The goal is to make each of the fields optional. When e.g. your joints have no\n\
00248 # effort associated with them, you can leave the effort array empty. \n\
00249 #\n\
00250 # All arrays in this message should have the same size, or be empty.\n\
00251 # This is the only way to uniquely associate the joint name with the correct\n\
00252 # states.\n\
00253 \n\
00254 \n\
00255 Header header\n\
00256 \n\
00257 string[] name\n\
00258 float64[] position\n\
00259 float64[] velocity\n\
00260 float64[] effort\n\
00261 \n\
00262 ================================================================================\n\
00263 MSG: arm_navigation_msgs/MultiDOFJointState\n\
00264 #A representation of a multi-dof joint state\n\
00265 time stamp\n\
00266 string[] joint_names\n\
00267 string[] frame_ids\n\
00268 string[] child_frame_ids\n\
00269 geometry_msgs/Pose[] poses\n\
00270 \n\
00271 ================================================================================\n\
00272 MSG: arm_navigation_msgs/Constraints\n\
00273 # This message contains a list of motion planning constraints.\n\
00274 \n\
00275 arm_navigation_msgs/JointConstraint[] joint_constraints\n\
00276 arm_navigation_msgs/PositionConstraint[] position_constraints\n\
00277 arm_navigation_msgs/OrientationConstraint[] orientation_constraints\n\
00278 arm_navigation_msgs/VisibilityConstraint[] visibility_constraints\n\
00279 \n\
00280 ================================================================================\n\
00281 MSG: arm_navigation_msgs/JointConstraint\n\
00282 # Constrain the position of a joint to be within a certain bound\n\
00283 string joint_name\n\
00284 \n\
00285 # the bound to be achieved is [position - tolerance_below, position + tolerance_above]\n\
00286 float64 position\n\
00287 float64 tolerance_above\n\
00288 float64 tolerance_below\n\
00289 \n\
00290 # A weighting factor for this constraint\n\
00291 float64 weight\n\
00292 ================================================================================\n\
00293 MSG: arm_navigation_msgs/PositionConstraint\n\
00294 # This message contains the definition of a position constraint.\n\
00295 Header header\n\
00296 \n\
00297 # The robot link this constraint refers to\n\
00298 string link_name\n\
00299 \n\
00300 # The offset (in the link frame) for the target point on the link we are planning for\n\
00301 geometry_msgs/Point target_point_offset\n\
00302 \n\
00303 # The nominal/target position for the point we are planning for\n\
00304 geometry_msgs/Point position\n\
00305 \n\
00306 # The shape of the bounded region that constrains the position of the end-effector\n\
00307 # This region is always centered at the position defined above\n\
00308 arm_navigation_msgs/Shape constraint_region_shape\n\
00309 \n\
00310 # The orientation of the bounded region that constrains the position of the end-effector. \n\
00311 # This allows the specification of non-axis aligned constraints\n\
00312 geometry_msgs/Quaternion constraint_region_orientation\n\
00313 \n\
00314 # Constraint weighting factor - a weight for this constraint\n\
00315 float64 weight\n\
00316 \n\
00317 ================================================================================\n\
00318 MSG: arm_navigation_msgs/OrientationConstraint\n\
00319 # This message contains the definition of an orientation constraint.\n\
00320 Header header\n\
00321 \n\
00322 # The robot link this constraint refers to\n\
00323 string link_name\n\
00324 \n\
00325 # The type of the constraint\n\
00326 int32 type\n\
00327 int32 LINK_FRAME=0\n\
00328 int32 HEADER_FRAME=1\n\
00329 \n\
00330 # The desired orientation of the robot link specified as a quaternion\n\
00331 geometry_msgs/Quaternion orientation\n\
00332 \n\
00333 # optional RPY error tolerances specified if \n\
00334 float64 absolute_roll_tolerance\n\
00335 float64 absolute_pitch_tolerance\n\
00336 float64 absolute_yaw_tolerance\n\
00337 \n\
00338 # Constraint weighting factor - a weight for this constraint\n\
00339 float64 weight\n\
00340 \n\
00341 ================================================================================\n\
00342 MSG: arm_navigation_msgs/VisibilityConstraint\n\
00343 # This message contains the definition of a visibility constraint.\n\
00344 Header header\n\
00345 \n\
00346 # The point stamped target that needs to be kept within view of the sensor\n\
00347 geometry_msgs/PointStamped target\n\
00348 \n\
00349 # The local pose of the frame in which visibility is to be maintained\n\
00350 # The frame id should represent the robot link to which the sensor is attached\n\
00351 # The visual axis of the sensor is assumed to be along the X axis of this frame\n\
00352 geometry_msgs/PoseStamped sensor_pose\n\
00353 \n\
00354 # The deviation (in radians) that will be tolerated\n\
00355 # Constraint error will be measured as the solid angle between the \n\
00356 # X axis of the frame defined above and the vector between the origin \n\
00357 # of the frame defined above and the target location\n\
00358 float64 absolute_tolerance\n\
00359 \n\
00360 \n\
00361 ================================================================================\n\
00362 MSG: geometry_msgs/PointStamped\n\
00363 # This represents a Point with reference coordinate frame and timestamp\n\
00364 Header header\n\
00365 Point point\n\
00366 \n\
00367 "; }
00368 public:
00369 ROS_DEPRECATED static const std::string __s_getMessageDefinition() { return __s_getMessageDefinition_(); }
00370
00371 ROS_DEPRECATED const std::string __getMessageDefinition() const { return __s_getMessageDefinition_(); }
00372
00373 ROS_DEPRECATED virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const
00374 {
00375 ros::serialization::OStream stream(write_ptr, 1000000000);
00376 ros::serialization::serialize(stream, workspace_parameters);
00377 ros::serialization::serialize(stream, start_state);
00378 ros::serialization::serialize(stream, goal_constraints);
00379 ros::serialization::serialize(stream, path_constraints);
00380 ros::serialization::serialize(stream, planner_id);
00381 ros::serialization::serialize(stream, group_name);
00382 ros::serialization::serialize(stream, num_planning_attempts);
00383 ros::serialization::serialize(stream, allowed_planning_time);
00384 ros::serialization::serialize(stream, expected_path_duration);
00385 ros::serialization::serialize(stream, expected_path_dt);
00386 return stream.getData();
00387 }
00388
00389 ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr)
00390 {
00391 ros::serialization::IStream stream(read_ptr, 1000000000);
00392 ros::serialization::deserialize(stream, workspace_parameters);
00393 ros::serialization::deserialize(stream, start_state);
00394 ros::serialization::deserialize(stream, goal_constraints);
00395 ros::serialization::deserialize(stream, path_constraints);
00396 ros::serialization::deserialize(stream, planner_id);
00397 ros::serialization::deserialize(stream, group_name);
00398 ros::serialization::deserialize(stream, num_planning_attempts);
00399 ros::serialization::deserialize(stream, allowed_planning_time);
00400 ros::serialization::deserialize(stream, expected_path_duration);
00401 ros::serialization::deserialize(stream, expected_path_dt);
00402 return stream.getData();
00403 }
00404
00405 ROS_DEPRECATED virtual uint32_t serializationLength() const
00406 {
00407 uint32_t size = 0;
00408 size += ros::serialization::serializationLength(workspace_parameters);
00409 size += ros::serialization::serializationLength(start_state);
00410 size += ros::serialization::serializationLength(goal_constraints);
00411 size += ros::serialization::serializationLength(path_constraints);
00412 size += ros::serialization::serializationLength(planner_id);
00413 size += ros::serialization::serializationLength(group_name);
00414 size += ros::serialization::serializationLength(num_planning_attempts);
00415 size += ros::serialization::serializationLength(allowed_planning_time);
00416 size += ros::serialization::serializationLength(expected_path_duration);
00417 size += ros::serialization::serializationLength(expected_path_dt);
00418 return size;
00419 }
00420
00421 typedef boost::shared_ptr< ::arm_navigation_msgs::MotionPlanRequest_<ContainerAllocator> > Ptr;
00422 typedef boost::shared_ptr< ::arm_navigation_msgs::MotionPlanRequest_<ContainerAllocator> const> ConstPtr;
00423 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00424 };
00425 typedef ::arm_navigation_msgs::MotionPlanRequest_<std::allocator<void> > MotionPlanRequest;
00426
00427 typedef boost::shared_ptr< ::arm_navigation_msgs::MotionPlanRequest> MotionPlanRequestPtr;
00428 typedef boost::shared_ptr< ::arm_navigation_msgs::MotionPlanRequest const> MotionPlanRequestConstPtr;
00429
00430
00431 template<typename ContainerAllocator>
00432 std::ostream& operator<<(std::ostream& s, const ::arm_navigation_msgs::MotionPlanRequest_<ContainerAllocator> & v)
00433 {
00434 ros::message_operations::Printer< ::arm_navigation_msgs::MotionPlanRequest_<ContainerAllocator> >::stream(s, "", v);
00435 return s;}
00436
00437 }
00438
00439 namespace ros
00440 {
00441 namespace message_traits
00442 {
00443 template<class ContainerAllocator> struct IsMessage< ::arm_navigation_msgs::MotionPlanRequest_<ContainerAllocator> > : public TrueType {};
00444 template<class ContainerAllocator> struct IsMessage< ::arm_navigation_msgs::MotionPlanRequest_<ContainerAllocator> const> : public TrueType {};
00445 template<class ContainerAllocator>
00446 struct MD5Sum< ::arm_navigation_msgs::MotionPlanRequest_<ContainerAllocator> > {
00447 static const char* value()
00448 {
00449 return "75408e881303c6ad5069bd5df65ecb00";
00450 }
00451
00452 static const char* value(const ::arm_navigation_msgs::MotionPlanRequest_<ContainerAllocator> &) { return value(); }
00453 static const uint64_t static_value1 = 0x75408e881303c6adULL;
00454 static const uint64_t static_value2 = 0x5069bd5df65ecb00ULL;
00455 };
00456
00457 template<class ContainerAllocator>
00458 struct DataType< ::arm_navigation_msgs::MotionPlanRequest_<ContainerAllocator> > {
00459 static const char* value()
00460 {
00461 return "arm_navigation_msgs/MotionPlanRequest";
00462 }
00463
00464 static const char* value(const ::arm_navigation_msgs::MotionPlanRequest_<ContainerAllocator> &) { return value(); }
00465 };
00466
00467 template<class ContainerAllocator>
00468 struct Definition< ::arm_navigation_msgs::MotionPlanRequest_<ContainerAllocator> > {
00469 static const char* value()
00470 {
00471 return "# This service contains the definition for a request to the motion\n\
00472 # planner and the output it provides\n\
00473 \n\
00474 # Parameters for the workspace that the planner should work inside\n\
00475 arm_navigation_msgs/WorkspaceParameters workspace_parameters\n\
00476 \n\
00477 # Starting state updates. If certain joints should be considered\n\
00478 # at positions other than the current ones, these positions should\n\
00479 # be set here\n\
00480 arm_navigation_msgs/RobotState start_state\n\
00481 \n\
00482 # The goal state for the model to plan for. The goal is achieved\n\
00483 # if all constraints are satisfied\n\
00484 arm_navigation_msgs/Constraints goal_constraints\n\
00485 \n\
00486 # No state at any point along the path in the produced motion plan will violate these constraints\n\
00487 arm_navigation_msgs/Constraints path_constraints\n\
00488 \n\
00489 # The name of the motion planner to use. If no name is specified,\n\
00490 # a default motion planner will be used\n\
00491 string planner_id\n\
00492 \n\
00493 # The name of the group of joints on which this planner is operating\n\
00494 string group_name\n\
00495 \n\
00496 # The number of times this plan is to be computed. Shortest solution\n\
00497 # will be reported.\n\
00498 int32 num_planning_attempts\n\
00499 \n\
00500 # The maximum amount of time the motion planner is allowed to plan for\n\
00501 duration allowed_planning_time\n\
00502 \n\
00503 # An expected path duration (in seconds) along with an expected discretization of the path allows the planner to determine the discretization of the trajectory that it returns\n\
00504 duration expected_path_duration\n\
00505 duration expected_path_dt\n\
00506 \n\
00507 ================================================================================\n\
00508 MSG: arm_navigation_msgs/WorkspaceParameters\n\
00509 # This message contains a set of parameters useful in\n\
00510 # setting up the workspace for planning\n\
00511 arm_navigation_msgs/Shape workspace_region_shape\n\
00512 geometry_msgs/PoseStamped workspace_region_pose\n\
00513 \n\
00514 \n\
00515 ================================================================================\n\
00516 MSG: arm_navigation_msgs/Shape\n\
00517 byte SPHERE=0\n\
00518 byte BOX=1\n\
00519 byte CYLINDER=2\n\
00520 byte MESH=3\n\
00521 \n\
00522 byte type\n\
00523 \n\
00524 \n\
00525 #### define sphere, box, cylinder ####\n\
00526 # the origin of each shape is considered at the shape's center\n\
00527 \n\
00528 # for sphere\n\
00529 # radius := dimensions[0]\n\
00530 \n\
00531 # for cylinder\n\
00532 # radius := dimensions[0]\n\
00533 # length := dimensions[1]\n\
00534 # the length is along the Z axis\n\
00535 \n\
00536 # for box\n\
00537 # size_x := dimensions[0]\n\
00538 # size_y := dimensions[1]\n\
00539 # size_z := dimensions[2]\n\
00540 float64[] dimensions\n\
00541 \n\
00542 \n\
00543 #### define mesh ####\n\
00544 \n\
00545 # list of triangles; triangle k is defined by tre vertices located\n\
00546 # at indices triangles[3k], triangles[3k+1], triangles[3k+2]\n\
00547 int32[] triangles\n\
00548 geometry_msgs/Point[] vertices\n\
00549 \n\
00550 ================================================================================\n\
00551 MSG: geometry_msgs/Point\n\
00552 # This contains the position of a point in free space\n\
00553 float64 x\n\
00554 float64 y\n\
00555 float64 z\n\
00556 \n\
00557 ================================================================================\n\
00558 MSG: geometry_msgs/PoseStamped\n\
00559 # A Pose with reference coordinate frame and timestamp\n\
00560 Header header\n\
00561 Pose pose\n\
00562 \n\
00563 ================================================================================\n\
00564 MSG: std_msgs/Header\n\
00565 # Standard metadata for higher-level stamped data types.\n\
00566 # This is generally used to communicate timestamped data \n\
00567 # in a particular coordinate frame.\n\
00568 # \n\
00569 # sequence ID: consecutively increasing ID \n\
00570 uint32 seq\n\
00571 #Two-integer timestamp that is expressed as:\n\
00572 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00573 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00574 # time-handling sugar is provided by the client library\n\
00575 time stamp\n\
00576 #Frame this data is associated with\n\
00577 # 0: no frame\n\
00578 # 1: global frame\n\
00579 string frame_id\n\
00580 \n\
00581 ================================================================================\n\
00582 MSG: geometry_msgs/Pose\n\
00583 # A representation of pose in free space, composed of postion and orientation. \n\
00584 Point position\n\
00585 Quaternion orientation\n\
00586 \n\
00587 ================================================================================\n\
00588 MSG: geometry_msgs/Quaternion\n\
00589 # This represents an orientation in free space in quaternion form.\n\
00590 \n\
00591 float64 x\n\
00592 float64 y\n\
00593 float64 z\n\
00594 float64 w\n\
00595 \n\
00596 ================================================================================\n\
00597 MSG: arm_navigation_msgs/RobotState\n\
00598 # This message contains information about the robot state, i.e. the positions of its joints and links\n\
00599 sensor_msgs/JointState joint_state\n\
00600 arm_navigation_msgs/MultiDOFJointState multi_dof_joint_state\n\
00601 \n\
00602 ================================================================================\n\
00603 MSG: sensor_msgs/JointState\n\
00604 # This is a message that holds data to describe the state of a set of torque controlled joints. \n\
00605 #\n\
00606 # The state of each joint (revolute or prismatic) is defined by:\n\
00607 # * the position of the joint (rad or m),\n\
00608 # * the velocity of the joint (rad/s or m/s) and \n\
00609 # * the effort that is applied in the joint (Nm or N).\n\
00610 #\n\
00611 # Each joint is uniquely identified by its name\n\
00612 # The header specifies the time at which the joint states were recorded. All the joint states\n\
00613 # in one message have to be recorded at the same time.\n\
00614 #\n\
00615 # This message consists of a multiple arrays, one for each part of the joint state. \n\
00616 # The goal is to make each of the fields optional. When e.g. your joints have no\n\
00617 # effort associated with them, you can leave the effort array empty. \n\
00618 #\n\
00619 # All arrays in this message should have the same size, or be empty.\n\
00620 # This is the only way to uniquely associate the joint name with the correct\n\
00621 # states.\n\
00622 \n\
00623 \n\
00624 Header header\n\
00625 \n\
00626 string[] name\n\
00627 float64[] position\n\
00628 float64[] velocity\n\
00629 float64[] effort\n\
00630 \n\
00631 ================================================================================\n\
00632 MSG: arm_navigation_msgs/MultiDOFJointState\n\
00633 #A representation of a multi-dof joint state\n\
00634 time stamp\n\
00635 string[] joint_names\n\
00636 string[] frame_ids\n\
00637 string[] child_frame_ids\n\
00638 geometry_msgs/Pose[] poses\n\
00639 \n\
00640 ================================================================================\n\
00641 MSG: arm_navigation_msgs/Constraints\n\
00642 # This message contains a list of motion planning constraints.\n\
00643 \n\
00644 arm_navigation_msgs/JointConstraint[] joint_constraints\n\
00645 arm_navigation_msgs/PositionConstraint[] position_constraints\n\
00646 arm_navigation_msgs/OrientationConstraint[] orientation_constraints\n\
00647 arm_navigation_msgs/VisibilityConstraint[] visibility_constraints\n\
00648 \n\
00649 ================================================================================\n\
00650 MSG: arm_navigation_msgs/JointConstraint\n\
00651 # Constrain the position of a joint to be within a certain bound\n\
00652 string joint_name\n\
00653 \n\
00654 # the bound to be achieved is [position - tolerance_below, position + tolerance_above]\n\
00655 float64 position\n\
00656 float64 tolerance_above\n\
00657 float64 tolerance_below\n\
00658 \n\
00659 # A weighting factor for this constraint\n\
00660 float64 weight\n\
00661 ================================================================================\n\
00662 MSG: arm_navigation_msgs/PositionConstraint\n\
00663 # This message contains the definition of a position constraint.\n\
00664 Header header\n\
00665 \n\
00666 # The robot link this constraint refers to\n\
00667 string link_name\n\
00668 \n\
00669 # The offset (in the link frame) for the target point on the link we are planning for\n\
00670 geometry_msgs/Point target_point_offset\n\
00671 \n\
00672 # The nominal/target position for the point we are planning for\n\
00673 geometry_msgs/Point position\n\
00674 \n\
00675 # The shape of the bounded region that constrains the position of the end-effector\n\
00676 # This region is always centered at the position defined above\n\
00677 arm_navigation_msgs/Shape constraint_region_shape\n\
00678 \n\
00679 # The orientation of the bounded region that constrains the position of the end-effector. \n\
00680 # This allows the specification of non-axis aligned constraints\n\
00681 geometry_msgs/Quaternion constraint_region_orientation\n\
00682 \n\
00683 # Constraint weighting factor - a weight for this constraint\n\
00684 float64 weight\n\
00685 \n\
00686 ================================================================================\n\
00687 MSG: arm_navigation_msgs/OrientationConstraint\n\
00688 # This message contains the definition of an orientation constraint.\n\
00689 Header header\n\
00690 \n\
00691 # The robot link this constraint refers to\n\
00692 string link_name\n\
00693 \n\
00694 # The type of the constraint\n\
00695 int32 type\n\
00696 int32 LINK_FRAME=0\n\
00697 int32 HEADER_FRAME=1\n\
00698 \n\
00699 # The desired orientation of the robot link specified as a quaternion\n\
00700 geometry_msgs/Quaternion orientation\n\
00701 \n\
00702 # optional RPY error tolerances specified if \n\
00703 float64 absolute_roll_tolerance\n\
00704 float64 absolute_pitch_tolerance\n\
00705 float64 absolute_yaw_tolerance\n\
00706 \n\
00707 # Constraint weighting factor - a weight for this constraint\n\
00708 float64 weight\n\
00709 \n\
00710 ================================================================================\n\
00711 MSG: arm_navigation_msgs/VisibilityConstraint\n\
00712 # This message contains the definition of a visibility constraint.\n\
00713 Header header\n\
00714 \n\
00715 # The point stamped target that needs to be kept within view of the sensor\n\
00716 geometry_msgs/PointStamped target\n\
00717 \n\
00718 # The local pose of the frame in which visibility is to be maintained\n\
00719 # The frame id should represent the robot link to which the sensor is attached\n\
00720 # The visual axis of the sensor is assumed to be along the X axis of this frame\n\
00721 geometry_msgs/PoseStamped sensor_pose\n\
00722 \n\
00723 # The deviation (in radians) that will be tolerated\n\
00724 # Constraint error will be measured as the solid angle between the \n\
00725 # X axis of the frame defined above and the vector between the origin \n\
00726 # of the frame defined above and the target location\n\
00727 float64 absolute_tolerance\n\
00728 \n\
00729 \n\
00730 ================================================================================\n\
00731 MSG: geometry_msgs/PointStamped\n\
00732 # This represents a Point with reference coordinate frame and timestamp\n\
00733 Header header\n\
00734 Point point\n\
00735 \n\
00736 ";
00737 }
00738
00739 static const char* value(const ::arm_navigation_msgs::MotionPlanRequest_<ContainerAllocator> &) { return value(); }
00740 };
00741
00742 }
00743 }
00744
00745 namespace ros
00746 {
00747 namespace serialization
00748 {
00749
00750 template<class ContainerAllocator> struct Serializer< ::arm_navigation_msgs::MotionPlanRequest_<ContainerAllocator> >
00751 {
00752 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00753 {
00754 stream.next(m.workspace_parameters);
00755 stream.next(m.start_state);
00756 stream.next(m.goal_constraints);
00757 stream.next(m.path_constraints);
00758 stream.next(m.planner_id);
00759 stream.next(m.group_name);
00760 stream.next(m.num_planning_attempts);
00761 stream.next(m.allowed_planning_time);
00762 stream.next(m.expected_path_duration);
00763 stream.next(m.expected_path_dt);
00764 }
00765
00766 ROS_DECLARE_ALLINONE_SERIALIZER;
00767 };
00768 }
00769 }
00770
00771 namespace ros
00772 {
00773 namespace message_operations
00774 {
00775
00776 template<class ContainerAllocator>
00777 struct Printer< ::arm_navigation_msgs::MotionPlanRequest_<ContainerAllocator> >
00778 {
00779 template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::arm_navigation_msgs::MotionPlanRequest_<ContainerAllocator> & v)
00780 {
00781 s << indent << "workspace_parameters: ";
00782 s << std::endl;
00783 Printer< ::arm_navigation_msgs::WorkspaceParameters_<ContainerAllocator> >::stream(s, indent + " ", v.workspace_parameters);
00784 s << indent << "start_state: ";
00785 s << std::endl;
00786 Printer< ::arm_navigation_msgs::RobotState_<ContainerAllocator> >::stream(s, indent + " ", v.start_state);
00787 s << indent << "goal_constraints: ";
00788 s << std::endl;
00789 Printer< ::arm_navigation_msgs::Constraints_<ContainerAllocator> >::stream(s, indent + " ", v.goal_constraints);
00790 s << indent << "path_constraints: ";
00791 s << std::endl;
00792 Printer< ::arm_navigation_msgs::Constraints_<ContainerAllocator> >::stream(s, indent + " ", v.path_constraints);
00793 s << indent << "planner_id: ";
00794 Printer<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > >::stream(s, indent + " ", v.planner_id);
00795 s << indent << "group_name: ";
00796 Printer<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > >::stream(s, indent + " ", v.group_name);
00797 s << indent << "num_planning_attempts: ";
00798 Printer<int32_t>::stream(s, indent + " ", v.num_planning_attempts);
00799 s << indent << "allowed_planning_time: ";
00800 Printer<ros::Duration>::stream(s, indent + " ", v.allowed_planning_time);
00801 s << indent << "expected_path_duration: ";
00802 Printer<ros::Duration>::stream(s, indent + " ", v.expected_path_duration);
00803 s << indent << "expected_path_dt: ";
00804 Printer<ros::Duration>::stream(s, indent + " ", v.expected_path_dt);
00805 }
00806 };
00807
00808
00809 }
00810 }
00811
00812 #endif // ARM_NAVIGATION_MSGS_MESSAGE_MOTIONPLANREQUEST_H
00813
