00001
00002 #ifndef ARM_NAVIGATION_MSGS_MESSAGE_SYNCPLANNINGSCENEACTIONGOAL_H
00003 #define ARM_NAVIGATION_MSGS_MESSAGE_SYNCPLANNINGSCENEACTIONGOAL_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 "std_msgs/Header.h"
00018 #include "actionlib_msgs/GoalID.h"
00019 #include "arm_navigation_msgs/SyncPlanningSceneGoal.h"
00020
00021 namespace arm_navigation_msgs
00022 {
00023 template <class ContainerAllocator>
00024 struct SyncPlanningSceneActionGoal_ {
00025 typedef SyncPlanningSceneActionGoal_<ContainerAllocator> Type;
00026
00027 SyncPlanningSceneActionGoal_()
00028 : header()
00029 , goal_id()
00030 , goal()
00031 {
00032 }
00033
00034 SyncPlanningSceneActionGoal_(const ContainerAllocator& _alloc)
00035 : header(_alloc)
00036 , goal_id(_alloc)
00037 , goal(_alloc)
00038 {
00039 }
00040
00041 typedef ::std_msgs::Header_<ContainerAllocator> _header_type;
00042 ::std_msgs::Header_<ContainerAllocator> header;
00043
00044 typedef ::actionlib_msgs::GoalID_<ContainerAllocator> _goal_id_type;
00045 ::actionlib_msgs::GoalID_<ContainerAllocator> goal_id;
00046
00047 typedef ::arm_navigation_msgs::SyncPlanningSceneGoal_<ContainerAllocator> _goal_type;
00048 ::arm_navigation_msgs::SyncPlanningSceneGoal_<ContainerAllocator> goal;
00049
00050
00051 private:
00052 static const char* __s_getDataType_() { return "arm_navigation_msgs/SyncPlanningSceneActionGoal"; }
00053 public:
00054 ROS_DEPRECATED static const std::string __s_getDataType() { return __s_getDataType_(); }
00055
00056 ROS_DEPRECATED const std::string __getDataType() const { return __s_getDataType_(); }
00057
00058 private:
00059 static const char* __s_getMD5Sum_() { return "d841beb927266bf620ac574e2b28ec55"; }
00060 public:
00061 ROS_DEPRECATED static const std::string __s_getMD5Sum() { return __s_getMD5Sum_(); }
00062
00063 ROS_DEPRECATED const std::string __getMD5Sum() const { return __s_getMD5Sum_(); }
00064
00065 private:
00066 static const char* __s_getMessageDefinition_() { return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00067 \n\
00068 Header header\n\
00069 actionlib_msgs/GoalID goal_id\n\
00070 SyncPlanningSceneGoal goal\n\
00071 \n\
00072 ================================================================================\n\
00073 MSG: std_msgs/Header\n\
00074 # Standard metadata for higher-level stamped data types.\n\
00075 # This is generally used to communicate timestamped data \n\
00076 # in a particular coordinate frame.\n\
00077 # \n\
00078 # sequence ID: consecutively increasing ID \n\
00079 uint32 seq\n\
00080 #Two-integer timestamp that is expressed as:\n\
00081 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00082 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00083 # time-handling sugar is provided by the client library\n\
00084 time stamp\n\
00085 #Frame this data is associated with\n\
00086 # 0: no frame\n\
00087 # 1: global frame\n\
00088 string frame_id\n\
00089 \n\
00090 ================================================================================\n\
00091 MSG: actionlib_msgs/GoalID\n\
00092 # The stamp should store the time at which this goal was requested.\n\
00093 # It is used by an action server when it tries to preempt all\n\
00094 # goals that were requested before a certain time\n\
00095 time stamp\n\
00096 \n\
00097 # The id provides a way to associate feedback and\n\
00098 # result message with specific goal requests. The id\n\
00099 # specified must be unique.\n\
00100 string id\n\
00101 \n\
00102 \n\
00103 ================================================================================\n\
00104 MSG: arm_navigation_msgs/SyncPlanningSceneGoal\n\
00105 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00106 # THIS MESSAGE IS FOR INTERNAL COMMUNICATION BETWEEN\n\
00107 # PLANNING ENVIRONMENT COMPONENTS ONLY\n\
00108 \n\
00109 #Full planning scene\n\
00110 PlanningScene planning_scene\n\
00111 \n\
00112 ================================================================================\n\
00113 MSG: arm_navigation_msgs/PlanningScene\n\
00114 #full robot state\n\
00115 arm_navigation_msgs/RobotState robot_state\n\
00116 \n\
00117 #additional frames for duplicating tf\n\
00118 geometry_msgs/TransformStamped[] fixed_frame_transforms\n\
00119 \n\
00120 #full allowed collision matrix\n\
00121 AllowedCollisionMatrix allowed_collision_matrix\n\
00122 \n\
00123 #allowed contacts\n\
00124 arm_navigation_msgs/AllowedContactSpecification[] allowed_contacts\n\
00125 \n\
00126 #all link paddings\n\
00127 arm_navigation_msgs/LinkPadding[] link_padding\n\
00128 \n\
00129 #collision objects\n\
00130 arm_navigation_msgs/CollisionObject[] collision_objects\n\
00131 arm_navigation_msgs/AttachedCollisionObject[] attached_collision_objects\n\
00132 \n\
00133 #the collision map\n\
00134 arm_navigation_msgs/CollisionMap collision_map\n\
00135 \n\
00136 ================================================================================\n\
00137 MSG: arm_navigation_msgs/RobotState\n\
00138 # This message contains information about the robot state, i.e. the positions of its joints and links\n\
00139 sensor_msgs/JointState joint_state\n\
00140 arm_navigation_msgs/MultiDOFJointState multi_dof_joint_state\n\
00141 \n\
00142 ================================================================================\n\
00143 MSG: sensor_msgs/JointState\n\
00144 # This is a message that holds data to describe the state of a set of torque controlled joints. \n\
00145 #\n\
00146 # The state of each joint (revolute or prismatic) is defined by:\n\
00147 # * the position of the joint (rad or m),\n\
00148 # * the velocity of the joint (rad/s or m/s) and \n\
00149 # * the effort that is applied in the joint (Nm or N).\n\
00150 #\n\
00151 # Each joint is uniquely identified by its name\n\
00152 # The header specifies the time at which the joint states were recorded. All the joint states\n\
00153 # in one message have to be recorded at the same time.\n\
00154 #\n\
00155 # This message consists of a multiple arrays, one for each part of the joint state. \n\
00156 # The goal is to make each of the fields optional. When e.g. your joints have no\n\
00157 # effort associated with them, you can leave the effort array empty. \n\
00158 #\n\
00159 # All arrays in this message should have the same size, or be empty.\n\
00160 # This is the only way to uniquely associate the joint name with the correct\n\
00161 # states.\n\
00162 \n\
00163 \n\
00164 Header header\n\
00165 \n\
00166 string[] name\n\
00167 float64[] position\n\
00168 float64[] velocity\n\
00169 float64[] effort\n\
00170 \n\
00171 ================================================================================\n\
00172 MSG: arm_navigation_msgs/MultiDOFJointState\n\
00173 #A representation of a multi-dof joint state\n\
00174 time stamp\n\
00175 string[] joint_names\n\
00176 string[] frame_ids\n\
00177 string[] child_frame_ids\n\
00178 geometry_msgs/Pose[] poses\n\
00179 \n\
00180 ================================================================================\n\
00181 MSG: geometry_msgs/Pose\n\
00182 # A representation of pose in free space, composed of postion and orientation. \n\
00183 Point position\n\
00184 Quaternion orientation\n\
00185 \n\
00186 ================================================================================\n\
00187 MSG: geometry_msgs/Point\n\
00188 # This contains the position of a point in free space\n\
00189 float64 x\n\
00190 float64 y\n\
00191 float64 z\n\
00192 \n\
00193 ================================================================================\n\
00194 MSG: geometry_msgs/Quaternion\n\
00195 # This represents an orientation in free space in quaternion form.\n\
00196 \n\
00197 float64 x\n\
00198 float64 y\n\
00199 float64 z\n\
00200 float64 w\n\
00201 \n\
00202 ================================================================================\n\
00203 MSG: geometry_msgs/TransformStamped\n\
00204 # This expresses a transform from coordinate frame header.frame_id\n\
00205 # to the coordinate frame child_frame_id\n\
00206 #\n\
00207 # This message is mostly used by the \n\
00208 # <a href=\"http://www.ros.org/wiki/tf\">tf</a> package. \n\
00209 # See it's documentation for more information.\n\
00210 \n\
00211 Header header\n\
00212 string child_frame_id # the frame id of the child frame\n\
00213 Transform transform\n\
00214 \n\
00215 ================================================================================\n\
00216 MSG: geometry_msgs/Transform\n\
00217 # This represents the transform between two coordinate frames in free space.\n\
00218 \n\
00219 Vector3 translation\n\
00220 Quaternion rotation\n\
00221 \n\
00222 ================================================================================\n\
00223 MSG: geometry_msgs/Vector3\n\
00224 # This represents a vector in free space. \n\
00225 \n\
00226 float64 x\n\
00227 float64 y\n\
00228 float64 z\n\
00229 ================================================================================\n\
00230 MSG: arm_navigation_msgs/AllowedCollisionMatrix\n\
00231 # the list of link names in the matrix\n\
00232 string[] link_names\n\
00233 \n\
00234 # the individual entries in the allowed collision matrix\n\
00235 # symmetric, with same order as link_names\n\
00236 AllowedCollisionEntry[] entries\n\
00237 \n\
00238 ================================================================================\n\
00239 MSG: arm_navigation_msgs/AllowedCollisionEntry\n\
00240 # whether or not collision checking is enabled\n\
00241 bool[] enabled\n\
00242 \n\
00243 ================================================================================\n\
00244 MSG: arm_navigation_msgs/AllowedContactSpecification\n\
00245 # The names of the regions\n\
00246 string name\n\
00247 \n\
00248 # The shape of the region in the environment\n\
00249 arm_navigation_msgs/Shape shape\n\
00250 \n\
00251 # The pose of the space defining the region\n\
00252 geometry_msgs/PoseStamped pose_stamped\n\
00253 \n\
00254 # The set of links that will be allowed to have penetration contact within this region\n\
00255 string[] link_names\n\
00256 \n\
00257 # The maximum penetration depth allowed for every link\n\
00258 float64 penetration_depth\n\
00259 \n\
00260 ================================================================================\n\
00261 MSG: arm_navigation_msgs/Shape\n\
00262 byte SPHERE=0\n\
00263 byte BOX=1\n\
00264 byte CYLINDER=2\n\
00265 byte MESH=3\n\
00266 \n\
00267 byte type\n\
00268 \n\
00269 \n\
00270 #### define sphere, box, cylinder ####\n\
00271 # the origin of each shape is considered at the shape's center\n\
00272 \n\
00273 # for sphere\n\
00274 # radius := dimensions[0]\n\
00275 \n\
00276 # for cylinder\n\
00277 # radius := dimensions[0]\n\
00278 # length := dimensions[1]\n\
00279 # the length is along the Z axis\n\
00280 \n\
00281 # for box\n\
00282 # size_x := dimensions[0]\n\
00283 # size_y := dimensions[1]\n\
00284 # size_z := dimensions[2]\n\
00285 float64[] dimensions\n\
00286 \n\
00287 \n\
00288 #### define mesh ####\n\
00289 \n\
00290 # list of triangles; triangle k is defined by tre vertices located\n\
00291 # at indices triangles[3k], triangles[3k+1], triangles[3k+2]\n\
00292 int32[] triangles\n\
00293 geometry_msgs/Point[] vertices\n\
00294 \n\
00295 ================================================================================\n\
00296 MSG: geometry_msgs/PoseStamped\n\
00297 # A Pose with reference coordinate frame and timestamp\n\
00298 Header header\n\
00299 Pose pose\n\
00300 \n\
00301 ================================================================================\n\
00302 MSG: arm_navigation_msgs/LinkPadding\n\
00303 #name for the link\n\
00304 string link_name\n\
00305 \n\
00306 # padding to apply to the link\n\
00307 float64 padding\n\
00308 \n\
00309 ================================================================================\n\
00310 MSG: arm_navigation_msgs/CollisionObject\n\
00311 # a header, used for interpreting the poses\n\
00312 Header header\n\
00313 \n\
00314 # the id of the object\n\
00315 string id\n\
00316 \n\
00317 # The padding used for filtering points near the object.\n\
00318 # This does not affect collision checking for the object. \n\
00319 # Set to negative to get zero padding.\n\
00320 float32 padding\n\
00321 \n\
00322 #This contains what is to be done with the object\n\
00323 CollisionObjectOperation operation\n\
00324 \n\
00325 #the shapes associated with the object\n\
00326 arm_navigation_msgs/Shape[] shapes\n\
00327 \n\
00328 #the poses associated with the shapes - will be transformed using the header\n\
00329 geometry_msgs/Pose[] poses\n\
00330 \n\
00331 ================================================================================\n\
00332 MSG: arm_navigation_msgs/CollisionObjectOperation\n\
00333 #Puts the object into the environment\n\
00334 #or updates the object if already added\n\
00335 byte ADD=0\n\
00336 \n\
00337 #Removes the object from the environment entirely\n\
00338 byte REMOVE=1\n\
00339 \n\
00340 #Only valid within the context of a CollisionAttachedObject message\n\
00341 #Will be ignored if sent with an CollisionObject message\n\
00342 #Takes an attached object, detaches from the attached link\n\
00343 #But adds back in as regular object\n\
00344 byte DETACH_AND_ADD_AS_OBJECT=2\n\
00345 \n\
00346 #Only valid within the context of a CollisionAttachedObject message\n\
00347 #Will be ignored if sent with an CollisionObject message\n\
00348 #Takes current object in the environment and removes it as\n\
00349 #a regular object\n\
00350 byte ATTACH_AND_REMOVE_AS_OBJECT=3\n\
00351 \n\
00352 # Byte code for operation\n\
00353 byte operation\n\
00354 \n\
00355 ================================================================================\n\
00356 MSG: arm_navigation_msgs/AttachedCollisionObject\n\
00357 # The CollisionObject will be attached with a fixed joint to this link\n\
00358 # If link name is set to REMOVE_ALL_ATTACHED_OBJECTS and object.operation \n\
00359 # is set to REMOVE will remove all attached bodies attached to any object\n\
00360 string link_name\n\
00361 \n\
00362 #Reserved for indicating that all attached objects should be removed\n\
00363 string REMOVE_ALL_ATTACHED_OBJECTS = \"all\"\n\
00364 \n\
00365 #This contains the actual shapes and poses for the CollisionObject\n\
00366 #to be attached to the link\n\
00367 #If action is remove and no object.id is set, all objects\n\
00368 #attached to the link indicated by link_name will be removed\n\
00369 CollisionObject object\n\
00370 \n\
00371 # The set of links that the attached objects are allowed to touch\n\
00372 # by default - the link_name is included by default\n\
00373 string[] touch_links\n\
00374 \n\
00375 ================================================================================\n\
00376 MSG: arm_navigation_msgs/CollisionMap\n\
00377 #header for interpreting box positions\n\
00378 Header header\n\
00379 \n\
00380 #boxes for use in collision testing\n\
00381 OrientedBoundingBox[] boxes\n\
00382 \n\
00383 ================================================================================\n\
00384 MSG: arm_navigation_msgs/OrientedBoundingBox\n\
00385 #the center of the box\n\
00386 geometry_msgs/Point32 center\n\
00387 \n\
00388 #the extents of the box, assuming the center is at the point\n\
00389 geometry_msgs/Point32 extents\n\
00390 \n\
00391 #the axis of the box\n\
00392 geometry_msgs/Point32 axis\n\
00393 \n\
00394 #the angle of rotation around the axis\n\
00395 float32 angle\n\
00396 \n\
00397 ================================================================================\n\
00398 MSG: geometry_msgs/Point32\n\
00399 # This contains the position of a point in free space(with 32 bits of precision).\n\
00400 # It is recommeded to use Point wherever possible instead of Point32. \n\
00401 # \n\
00402 # This recommendation is to promote interoperability. \n\
00403 #\n\
00404 # This message is designed to take up less space when sending\n\
00405 # lots of points at once, as in the case of a PointCloud. \n\
00406 \n\
00407 float32 x\n\
00408 float32 y\n\
00409 float32 z\n\
00410 "; }
00411 public:
00412 ROS_DEPRECATED static const std::string __s_getMessageDefinition() { return __s_getMessageDefinition_(); }
00413
00414 ROS_DEPRECATED const std::string __getMessageDefinition() const { return __s_getMessageDefinition_(); }
00415
00416 ROS_DEPRECATED virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const
00417 {
00418 ros::serialization::OStream stream(write_ptr, 1000000000);
00419 ros::serialization::serialize(stream, header);
00420 ros::serialization::serialize(stream, goal_id);
00421 ros::serialization::serialize(stream, goal);
00422 return stream.getData();
00423 }
00424
00425 ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr)
00426 {
00427 ros::serialization::IStream stream(read_ptr, 1000000000);
00428 ros::serialization::deserialize(stream, header);
00429 ros::serialization::deserialize(stream, goal_id);
00430 ros::serialization::deserialize(stream, goal);
00431 return stream.getData();
00432 }
00433
00434 ROS_DEPRECATED virtual uint32_t serializationLength() const
00435 {
00436 uint32_t size = 0;
00437 size += ros::serialization::serializationLength(header);
00438 size += ros::serialization::serializationLength(goal_id);
00439 size += ros::serialization::serializationLength(goal);
00440 return size;
00441 }
00442
00443 typedef boost::shared_ptr< ::arm_navigation_msgs::SyncPlanningSceneActionGoal_<ContainerAllocator> > Ptr;
00444 typedef boost::shared_ptr< ::arm_navigation_msgs::SyncPlanningSceneActionGoal_<ContainerAllocator> const> ConstPtr;
00445 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00446 };
00447 typedef ::arm_navigation_msgs::SyncPlanningSceneActionGoal_<std::allocator<void> > SyncPlanningSceneActionGoal;
00448
00449 typedef boost::shared_ptr< ::arm_navigation_msgs::SyncPlanningSceneActionGoal> SyncPlanningSceneActionGoalPtr;
00450 typedef boost::shared_ptr< ::arm_navigation_msgs::SyncPlanningSceneActionGoal const> SyncPlanningSceneActionGoalConstPtr;
00451
00452
00453 template<typename ContainerAllocator>
00454 std::ostream& operator<<(std::ostream& s, const ::arm_navigation_msgs::SyncPlanningSceneActionGoal_<ContainerAllocator> & v)
00455 {
00456 ros::message_operations::Printer< ::arm_navigation_msgs::SyncPlanningSceneActionGoal_<ContainerAllocator> >::stream(s, "", v);
00457 return s;}
00458
00459 }
00460
00461 namespace ros
00462 {
00463 namespace message_traits
00464 {
00465 template<class ContainerAllocator> struct IsMessage< ::arm_navigation_msgs::SyncPlanningSceneActionGoal_<ContainerAllocator> > : public TrueType {};
00466 template<class ContainerAllocator> struct IsMessage< ::arm_navigation_msgs::SyncPlanningSceneActionGoal_<ContainerAllocator> const> : public TrueType {};
00467 template<class ContainerAllocator>
00468 struct MD5Sum< ::arm_navigation_msgs::SyncPlanningSceneActionGoal_<ContainerAllocator> > {
00469 static const char* value()
00470 {
00471 return "d841beb927266bf620ac574e2b28ec55";
00472 }
00473
00474 static const char* value(const ::arm_navigation_msgs::SyncPlanningSceneActionGoal_<ContainerAllocator> &) { return value(); }
00475 static const uint64_t static_value1 = 0xd841beb927266bf6ULL;
00476 static const uint64_t static_value2 = 0x20ac574e2b28ec55ULL;
00477 };
00478
00479 template<class ContainerAllocator>
00480 struct DataType< ::arm_navigation_msgs::SyncPlanningSceneActionGoal_<ContainerAllocator> > {
00481 static const char* value()
00482 {
00483 return "arm_navigation_msgs/SyncPlanningSceneActionGoal";
00484 }
00485
00486 static const char* value(const ::arm_navigation_msgs::SyncPlanningSceneActionGoal_<ContainerAllocator> &) { return value(); }
00487 };
00488
00489 template<class ContainerAllocator>
00490 struct Definition< ::arm_navigation_msgs::SyncPlanningSceneActionGoal_<ContainerAllocator> > {
00491 static const char* value()
00492 {
00493 return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00494 \n\
00495 Header header\n\
00496 actionlib_msgs/GoalID goal_id\n\
00497 SyncPlanningSceneGoal goal\n\
00498 \n\
00499 ================================================================================\n\
00500 MSG: std_msgs/Header\n\
00501 # Standard metadata for higher-level stamped data types.\n\
00502 # This is generally used to communicate timestamped data \n\
00503 # in a particular coordinate frame.\n\
00504 # \n\
00505 # sequence ID: consecutively increasing ID \n\
00506 uint32 seq\n\
00507 #Two-integer timestamp that is expressed as:\n\
00508 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00509 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00510 # time-handling sugar is provided by the client library\n\
00511 time stamp\n\
00512 #Frame this data is associated with\n\
00513 # 0: no frame\n\
00514 # 1: global frame\n\
00515 string frame_id\n\
00516 \n\
00517 ================================================================================\n\
00518 MSG: actionlib_msgs/GoalID\n\
00519 # The stamp should store the time at which this goal was requested.\n\
00520 # It is used by an action server when it tries to preempt all\n\
00521 # goals that were requested before a certain time\n\
00522 time stamp\n\
00523 \n\
00524 # The id provides a way to associate feedback and\n\
00525 # result message with specific goal requests. The id\n\
00526 # specified must be unique.\n\
00527 string id\n\
00528 \n\
00529 \n\
00530 ================================================================================\n\
00531 MSG: arm_navigation_msgs/SyncPlanningSceneGoal\n\
00532 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00533 # THIS MESSAGE IS FOR INTERNAL COMMUNICATION BETWEEN\n\
00534 # PLANNING ENVIRONMENT COMPONENTS ONLY\n\
00535 \n\
00536 #Full planning scene\n\
00537 PlanningScene planning_scene\n\
00538 \n\
00539 ================================================================================\n\
00540 MSG: arm_navigation_msgs/PlanningScene\n\
00541 #full robot state\n\
00542 arm_navigation_msgs/RobotState robot_state\n\
00543 \n\
00544 #additional frames for duplicating tf\n\
00545 geometry_msgs/TransformStamped[] fixed_frame_transforms\n\
00546 \n\
00547 #full allowed collision matrix\n\
00548 AllowedCollisionMatrix allowed_collision_matrix\n\
00549 \n\
00550 #allowed contacts\n\
00551 arm_navigation_msgs/AllowedContactSpecification[] allowed_contacts\n\
00552 \n\
00553 #all link paddings\n\
00554 arm_navigation_msgs/LinkPadding[] link_padding\n\
00555 \n\
00556 #collision objects\n\
00557 arm_navigation_msgs/CollisionObject[] collision_objects\n\
00558 arm_navigation_msgs/AttachedCollisionObject[] attached_collision_objects\n\
00559 \n\
00560 #the collision map\n\
00561 arm_navigation_msgs/CollisionMap collision_map\n\
00562 \n\
00563 ================================================================================\n\
00564 MSG: arm_navigation_msgs/RobotState\n\
00565 # This message contains information about the robot state, i.e. the positions of its joints and links\n\
00566 sensor_msgs/JointState joint_state\n\
00567 arm_navigation_msgs/MultiDOFJointState multi_dof_joint_state\n\
00568 \n\
00569 ================================================================================\n\
00570 MSG: sensor_msgs/JointState\n\
00571 # This is a message that holds data to describe the state of a set of torque controlled joints. \n\
00572 #\n\
00573 # The state of each joint (revolute or prismatic) is defined by:\n\
00574 # * the position of the joint (rad or m),\n\
00575 # * the velocity of the joint (rad/s or m/s) and \n\
00576 # * the effort that is applied in the joint (Nm or N).\n\
00577 #\n\
00578 # Each joint is uniquely identified by its name\n\
00579 # The header specifies the time at which the joint states were recorded. All the joint states\n\
00580 # in one message have to be recorded at the same time.\n\
00581 #\n\
00582 # This message consists of a multiple arrays, one for each part of the joint state. \n\
00583 # The goal is to make each of the fields optional. When e.g. your joints have no\n\
00584 # effort associated with them, you can leave the effort array empty. \n\
00585 #\n\
00586 # All arrays in this message should have the same size, or be empty.\n\
00587 # This is the only way to uniquely associate the joint name with the correct\n\
00588 # states.\n\
00589 \n\
00590 \n\
00591 Header header\n\
00592 \n\
00593 string[] name\n\
00594 float64[] position\n\
00595 float64[] velocity\n\
00596 float64[] effort\n\
00597 \n\
00598 ================================================================================\n\
00599 MSG: arm_navigation_msgs/MultiDOFJointState\n\
00600 #A representation of a multi-dof joint state\n\
00601 time stamp\n\
00602 string[] joint_names\n\
00603 string[] frame_ids\n\
00604 string[] child_frame_ids\n\
00605 geometry_msgs/Pose[] poses\n\
00606 \n\
00607 ================================================================================\n\
00608 MSG: geometry_msgs/Pose\n\
00609 # A representation of pose in free space, composed of postion and orientation. \n\
00610 Point position\n\
00611 Quaternion orientation\n\
00612 \n\
00613 ================================================================================\n\
00614 MSG: geometry_msgs/Point\n\
00615 # This contains the position of a point in free space\n\
00616 float64 x\n\
00617 float64 y\n\
00618 float64 z\n\
00619 \n\
00620 ================================================================================\n\
00621 MSG: geometry_msgs/Quaternion\n\
00622 # This represents an orientation in free space in quaternion form.\n\
00623 \n\
00624 float64 x\n\
00625 float64 y\n\
00626 float64 z\n\
00627 float64 w\n\
00628 \n\
00629 ================================================================================\n\
00630 MSG: geometry_msgs/TransformStamped\n\
00631 # This expresses a transform from coordinate frame header.frame_id\n\
00632 # to the coordinate frame child_frame_id\n\
00633 #\n\
00634 # This message is mostly used by the \n\
00635 # <a href=\"http://www.ros.org/wiki/tf\">tf</a> package. \n\
00636 # See it's documentation for more information.\n\
00637 \n\
00638 Header header\n\
00639 string child_frame_id # the frame id of the child frame\n\
00640 Transform transform\n\
00641 \n\
00642 ================================================================================\n\
00643 MSG: geometry_msgs/Transform\n\
00644 # This represents the transform between two coordinate frames in free space.\n\
00645 \n\
00646 Vector3 translation\n\
00647 Quaternion rotation\n\
00648 \n\
00649 ================================================================================\n\
00650 MSG: geometry_msgs/Vector3\n\
00651 # This represents a vector in free space. \n\
00652 \n\
00653 float64 x\n\
00654 float64 y\n\
00655 float64 z\n\
00656 ================================================================================\n\
00657 MSG: arm_navigation_msgs/AllowedCollisionMatrix\n\
00658 # the list of link names in the matrix\n\
00659 string[] link_names\n\
00660 \n\
00661 # the individual entries in the allowed collision matrix\n\
00662 # symmetric, with same order as link_names\n\
00663 AllowedCollisionEntry[] entries\n\
00664 \n\
00665 ================================================================================\n\
00666 MSG: arm_navigation_msgs/AllowedCollisionEntry\n\
00667 # whether or not collision checking is enabled\n\
00668 bool[] enabled\n\
00669 \n\
00670 ================================================================================\n\
00671 MSG: arm_navigation_msgs/AllowedContactSpecification\n\
00672 # The names of the regions\n\
00673 string name\n\
00674 \n\
00675 # The shape of the region in the environment\n\
00676 arm_navigation_msgs/Shape shape\n\
00677 \n\
00678 # The pose of the space defining the region\n\
00679 geometry_msgs/PoseStamped pose_stamped\n\
00680 \n\
00681 # The set of links that will be allowed to have penetration contact within this region\n\
00682 string[] link_names\n\
00683 \n\
00684 # The maximum penetration depth allowed for every link\n\
00685 float64 penetration_depth\n\
00686 \n\
00687 ================================================================================\n\
00688 MSG: arm_navigation_msgs/Shape\n\
00689 byte SPHERE=0\n\
00690 byte BOX=1\n\
00691 byte CYLINDER=2\n\
00692 byte MESH=3\n\
00693 \n\
00694 byte type\n\
00695 \n\
00696 \n\
00697 #### define sphere, box, cylinder ####\n\
00698 # the origin of each shape is considered at the shape's center\n\
00699 \n\
00700 # for sphere\n\
00701 # radius := dimensions[0]\n\
00702 \n\
00703 # for cylinder\n\
00704 # radius := dimensions[0]\n\
00705 # length := dimensions[1]\n\
00706 # the length is along the Z axis\n\
00707 \n\
00708 # for box\n\
00709 # size_x := dimensions[0]\n\
00710 # size_y := dimensions[1]\n\
00711 # size_z := dimensions[2]\n\
00712 float64[] dimensions\n\
00713 \n\
00714 \n\
00715 #### define mesh ####\n\
00716 \n\
00717 # list of triangles; triangle k is defined by tre vertices located\n\
00718 # at indices triangles[3k], triangles[3k+1], triangles[3k+2]\n\
00719 int32[] triangles\n\
00720 geometry_msgs/Point[] vertices\n\
00721 \n\
00722 ================================================================================\n\
00723 MSG: geometry_msgs/PoseStamped\n\
00724 # A Pose with reference coordinate frame and timestamp\n\
00725 Header header\n\
00726 Pose pose\n\
00727 \n\
00728 ================================================================================\n\
00729 MSG: arm_navigation_msgs/LinkPadding\n\
00730 #name for the link\n\
00731 string link_name\n\
00732 \n\
00733 # padding to apply to the link\n\
00734 float64 padding\n\
00735 \n\
00736 ================================================================================\n\
00737 MSG: arm_navigation_msgs/CollisionObject\n\
00738 # a header, used for interpreting the poses\n\
00739 Header header\n\
00740 \n\
00741 # the id of the object\n\
00742 string id\n\
00743 \n\
00744 # The padding used for filtering points near the object.\n\
00745 # This does not affect collision checking for the object. \n\
00746 # Set to negative to get zero padding.\n\
00747 float32 padding\n\
00748 \n\
00749 #This contains what is to be done with the object\n\
00750 CollisionObjectOperation operation\n\
00751 \n\
00752 #the shapes associated with the object\n\
00753 arm_navigation_msgs/Shape[] shapes\n\
00754 \n\
00755 #the poses associated with the shapes - will be transformed using the header\n\
00756 geometry_msgs/Pose[] poses\n\
00757 \n\
00758 ================================================================================\n\
00759 MSG: arm_navigation_msgs/CollisionObjectOperation\n\
00760 #Puts the object into the environment\n\
00761 #or updates the object if already added\n\
00762 byte ADD=0\n\
00763 \n\
00764 #Removes the object from the environment entirely\n\
00765 byte REMOVE=1\n\
00766 \n\
00767 #Only valid within the context of a CollisionAttachedObject message\n\
00768 #Will be ignored if sent with an CollisionObject message\n\
00769 #Takes an attached object, detaches from the attached link\n\
00770 #But adds back in as regular object\n\
00771 byte DETACH_AND_ADD_AS_OBJECT=2\n\
00772 \n\
00773 #Only valid within the context of a CollisionAttachedObject message\n\
00774 #Will be ignored if sent with an CollisionObject message\n\
00775 #Takes current object in the environment and removes it as\n\
00776 #a regular object\n\
00777 byte ATTACH_AND_REMOVE_AS_OBJECT=3\n\
00778 \n\
00779 # Byte code for operation\n\
00780 byte operation\n\
00781 \n\
00782 ================================================================================\n\
00783 MSG: arm_navigation_msgs/AttachedCollisionObject\n\
00784 # The CollisionObject will be attached with a fixed joint to this link\n\
00785 # If link name is set to REMOVE_ALL_ATTACHED_OBJECTS and object.operation \n\
00786 # is set to REMOVE will remove all attached bodies attached to any object\n\
00787 string link_name\n\
00788 \n\
00789 #Reserved for indicating that all attached objects should be removed\n\
00790 string REMOVE_ALL_ATTACHED_OBJECTS = \"all\"\n\
00791 \n\
00792 #This contains the actual shapes and poses for the CollisionObject\n\
00793 #to be attached to the link\n\
00794 #If action is remove and no object.id is set, all objects\n\
00795 #attached to the link indicated by link_name will be removed\n\
00796 CollisionObject object\n\
00797 \n\
00798 # The set of links that the attached objects are allowed to touch\n\
00799 # by default - the link_name is included by default\n\
00800 string[] touch_links\n\
00801 \n\
00802 ================================================================================\n\
00803 MSG: arm_navigation_msgs/CollisionMap\n\
00804 #header for interpreting box positions\n\
00805 Header header\n\
00806 \n\
00807 #boxes for use in collision testing\n\
00808 OrientedBoundingBox[] boxes\n\
00809 \n\
00810 ================================================================================\n\
00811 MSG: arm_navigation_msgs/OrientedBoundingBox\n\
00812 #the center of the box\n\
00813 geometry_msgs/Point32 center\n\
00814 \n\
00815 #the extents of the box, assuming the center is at the point\n\
00816 geometry_msgs/Point32 extents\n\
00817 \n\
00818 #the axis of the box\n\
00819 geometry_msgs/Point32 axis\n\
00820 \n\
00821 #the angle of rotation around the axis\n\
00822 float32 angle\n\
00823 \n\
00824 ================================================================================\n\
00825 MSG: geometry_msgs/Point32\n\
00826 # This contains the position of a point in free space(with 32 bits of precision).\n\
00827 # It is recommeded to use Point wherever possible instead of Point32. \n\
00828 # \n\
00829 # This recommendation is to promote interoperability. \n\
00830 #\n\
00831 # This message is designed to take up less space when sending\n\
00832 # lots of points at once, as in the case of a PointCloud. \n\
00833 \n\
00834 float32 x\n\
00835 float32 y\n\
00836 float32 z\n\
00837 ";
00838 }
00839
00840 static const char* value(const ::arm_navigation_msgs::SyncPlanningSceneActionGoal_<ContainerAllocator> &) { return value(); }
00841 };
00842
00843 template<class ContainerAllocator> struct HasHeader< ::arm_navigation_msgs::SyncPlanningSceneActionGoal_<ContainerAllocator> > : public TrueType {};
00844 template<class ContainerAllocator> struct HasHeader< const ::arm_navigation_msgs::SyncPlanningSceneActionGoal_<ContainerAllocator> > : public TrueType {};
00845 }
00846 }
00847
00848 namespace ros
00849 {
00850 namespace serialization
00851 {
00852
00853 template<class ContainerAllocator> struct Serializer< ::arm_navigation_msgs::SyncPlanningSceneActionGoal_<ContainerAllocator> >
00854 {
00855 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00856 {
00857 stream.next(m.header);
00858 stream.next(m.goal_id);
00859 stream.next(m.goal);
00860 }
00861
00862 ROS_DECLARE_ALLINONE_SERIALIZER;
00863 };
00864 }
00865 }
00866
00867 namespace ros
00868 {
00869 namespace message_operations
00870 {
00871
00872 template<class ContainerAllocator>
00873 struct Printer< ::arm_navigation_msgs::SyncPlanningSceneActionGoal_<ContainerAllocator> >
00874 {
00875 template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::arm_navigation_msgs::SyncPlanningSceneActionGoal_<ContainerAllocator> & v)
00876 {
00877 s << indent << "header: ";
00878 s << std::endl;
00879 Printer< ::std_msgs::Header_<ContainerAllocator> >::stream(s, indent + " ", v.header);
00880 s << indent << "goal_id: ";
00881 s << std::endl;
00882 Printer< ::actionlib_msgs::GoalID_<ContainerAllocator> >::stream(s, indent + " ", v.goal_id);
00883 s << indent << "goal: ";
00884 s << std::endl;
00885 Printer< ::arm_navigation_msgs::SyncPlanningSceneGoal_<ContainerAllocator> >::stream(s, indent + " ", v.goal);
00886 }
00887 };
00888
00889
00890 }
00891 }
00892
00893 #endif // ARM_NAVIGATION_MSGS_MESSAGE_SYNCPLANNINGSCENEACTIONGOAL_H
00894
