00001
00002 #ifndef COGMAN_MSGS_MESSAGE_ARMHANDACTIONGOAL_H
00003 #define COGMAN_MSGS_MESSAGE_ARMHANDACTIONGOAL_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 "cogman_msgs/ArmHandGoal.h"
00020
00021 namespace cogman_msgs
00022 {
00023 template <class ContainerAllocator>
00024 struct ArmHandActionGoal_ {
00025 typedef ArmHandActionGoal_<ContainerAllocator> Type;
00026
00027 ArmHandActionGoal_()
00028 : header()
00029 , goal_id()
00030 , goal()
00031 {
00032 }
00033
00034 ArmHandActionGoal_(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 ::cogman_msgs::ArmHandGoal_<ContainerAllocator> _goal_type;
00048 ::cogman_msgs::ArmHandGoal_<ContainerAllocator> goal;
00049
00050
00051 private:
00052 static const char* __s_getDataType_() { return "cogman_msgs/ArmHandActionGoal"; }
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 "67892e60a5b18d39d45d5d9aff6688ae"; }
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 ArmHandGoal 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: cogman_msgs/ArmHandGoal\n\
00105 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00106 string command # 'arm_cart_loid', 'arm_cart_pose', 'arm_cart_name', 'arm_joints', 'arm_joint_name', 'reach_primitive', 'hand_primitive', 'lift', 'put_down'\n\
00107 string pose_name # When moving to pre-defined poses, cointains the name\n\
00108 float32[] joint_angles # If command is 'arm_joints', the joint angles\n\
00109 geometry_msgs/Pose end_effector_pose # command=arm_cart_pose: where the arm should go\n\
00110 uint64 end_effector_loid # one lo_id where the arm should go\n\
00111 string hand_primitive # Allowed strings: open open_thumb90 3pinch 2pinch cup_top peace handshake noop. Used when command is 'finger_primitive'\n\
00112 string object_type # If command is 'reach_primitive', it will define how to grasp (orientation ...)\n\
00113 uint64[] obstacle_ids # List of lo_id's corresponding to obstacles\n\
00114 float32 distance # For reach_primitive: distance from grasp point to approach point (m). For 'lift', distance to lift up (m)\n\
00115 float32 supporting_plane # Height of the table (m)\n\
00116 \n\
00117 ================================================================================\n\
00118 MSG: geometry_msgs/Pose\n\
00119 # A representation of pose in free space, composed of postion and orientation. \n\
00120 Point position\n\
00121 Quaternion orientation\n\
00122 \n\
00123 ================================================================================\n\
00124 MSG: geometry_msgs/Point\n\
00125 # This contains the position of a point in free space\n\
00126 float64 x\n\
00127 float64 y\n\
00128 float64 z\n\
00129 \n\
00130 ================================================================================\n\
00131 MSG: geometry_msgs/Quaternion\n\
00132 # This represents an orientation in free space in quaternion form.\n\
00133 \n\
00134 float64 x\n\
00135 float64 y\n\
00136 float64 z\n\
00137 float64 w\n\
00138 \n\
00139 "; }
00140 public:
00141 ROS_DEPRECATED static const std::string __s_getMessageDefinition() { return __s_getMessageDefinition_(); }
00142
00143 ROS_DEPRECATED const std::string __getMessageDefinition() const { return __s_getMessageDefinition_(); }
00144
00145 ROS_DEPRECATED virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const
00146 {
00147 ros::serialization::OStream stream(write_ptr, 1000000000);
00148 ros::serialization::serialize(stream, header);
00149 ros::serialization::serialize(stream, goal_id);
00150 ros::serialization::serialize(stream, goal);
00151 return stream.getData();
00152 }
00153
00154 ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr)
00155 {
00156 ros::serialization::IStream stream(read_ptr, 1000000000);
00157 ros::serialization::deserialize(stream, header);
00158 ros::serialization::deserialize(stream, goal_id);
00159 ros::serialization::deserialize(stream, goal);
00160 return stream.getData();
00161 }
00162
00163 ROS_DEPRECATED virtual uint32_t serializationLength() const
00164 {
00165 uint32_t size = 0;
00166 size += ros::serialization::serializationLength(header);
00167 size += ros::serialization::serializationLength(goal_id);
00168 size += ros::serialization::serializationLength(goal);
00169 return size;
00170 }
00171
00172 typedef boost::shared_ptr< ::cogman_msgs::ArmHandActionGoal_<ContainerAllocator> > Ptr;
00173 typedef boost::shared_ptr< ::cogman_msgs::ArmHandActionGoal_<ContainerAllocator> const> ConstPtr;
00174 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00175 };
00176 typedef ::cogman_msgs::ArmHandActionGoal_<std::allocator<void> > ArmHandActionGoal;
00177
00178 typedef boost::shared_ptr< ::cogman_msgs::ArmHandActionGoal> ArmHandActionGoalPtr;
00179 typedef boost::shared_ptr< ::cogman_msgs::ArmHandActionGoal const> ArmHandActionGoalConstPtr;
00180
00181
00182 template<typename ContainerAllocator>
00183 std::ostream& operator<<(std::ostream& s, const ::cogman_msgs::ArmHandActionGoal_<ContainerAllocator> & v)
00184 {
00185 ros::message_operations::Printer< ::cogman_msgs::ArmHandActionGoal_<ContainerAllocator> >::stream(s, "", v);
00186 return s;}
00187
00188 }
00189
00190 namespace ros
00191 {
00192 namespace message_traits
00193 {
00194 template<class ContainerAllocator> struct IsMessage< ::cogman_msgs::ArmHandActionGoal_<ContainerAllocator> > : public TrueType {};
00195 template<class ContainerAllocator> struct IsMessage< ::cogman_msgs::ArmHandActionGoal_<ContainerAllocator> const> : public TrueType {};
00196 template<class ContainerAllocator>
00197 struct MD5Sum< ::cogman_msgs::ArmHandActionGoal_<ContainerAllocator> > {
00198 static const char* value()
00199 {
00200 return "67892e60a5b18d39d45d5d9aff6688ae";
00201 }
00202
00203 static const char* value(const ::cogman_msgs::ArmHandActionGoal_<ContainerAllocator> &) { return value(); }
00204 static const uint64_t static_value1 = 0x67892e60a5b18d39ULL;
00205 static const uint64_t static_value2 = 0xd45d5d9aff6688aeULL;
00206 };
00207
00208 template<class ContainerAllocator>
00209 struct DataType< ::cogman_msgs::ArmHandActionGoal_<ContainerAllocator> > {
00210 static const char* value()
00211 {
00212 return "cogman_msgs/ArmHandActionGoal";
00213 }
00214
00215 static const char* value(const ::cogman_msgs::ArmHandActionGoal_<ContainerAllocator> &) { return value(); }
00216 };
00217
00218 template<class ContainerAllocator>
00219 struct Definition< ::cogman_msgs::ArmHandActionGoal_<ContainerAllocator> > {
00220 static const char* value()
00221 {
00222 return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00223 \n\
00224 Header header\n\
00225 actionlib_msgs/GoalID goal_id\n\
00226 ArmHandGoal goal\n\
00227 \n\
00228 ================================================================================\n\
00229 MSG: std_msgs/Header\n\
00230 # Standard metadata for higher-level stamped data types.\n\
00231 # This is generally used to communicate timestamped data \n\
00232 # in a particular coordinate frame.\n\
00233 # \n\
00234 # sequence ID: consecutively increasing ID \n\
00235 uint32 seq\n\
00236 #Two-integer timestamp that is expressed as:\n\
00237 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00238 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00239 # time-handling sugar is provided by the client library\n\
00240 time stamp\n\
00241 #Frame this data is associated with\n\
00242 # 0: no frame\n\
00243 # 1: global frame\n\
00244 string frame_id\n\
00245 \n\
00246 ================================================================================\n\
00247 MSG: actionlib_msgs/GoalID\n\
00248 # The stamp should store the time at which this goal was requested.\n\
00249 # It is used by an action server when it tries to preempt all\n\
00250 # goals that were requested before a certain time\n\
00251 time stamp\n\
00252 \n\
00253 # The id provides a way to associate feedback and\n\
00254 # result message with specific goal requests. The id\n\
00255 # specified must be unique.\n\
00256 string id\n\
00257 \n\
00258 \n\
00259 ================================================================================\n\
00260 MSG: cogman_msgs/ArmHandGoal\n\
00261 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00262 string command # 'arm_cart_loid', 'arm_cart_pose', 'arm_cart_name', 'arm_joints', 'arm_joint_name', 'reach_primitive', 'hand_primitive', 'lift', 'put_down'\n\
00263 string pose_name # When moving to pre-defined poses, cointains the name\n\
00264 float32[] joint_angles # If command is 'arm_joints', the joint angles\n\
00265 geometry_msgs/Pose end_effector_pose # command=arm_cart_pose: where the arm should go\n\
00266 uint64 end_effector_loid # one lo_id where the arm should go\n\
00267 string hand_primitive # Allowed strings: open open_thumb90 3pinch 2pinch cup_top peace handshake noop. Used when command is 'finger_primitive'\n\
00268 string object_type # If command is 'reach_primitive', it will define how to grasp (orientation ...)\n\
00269 uint64[] obstacle_ids # List of lo_id's corresponding to obstacles\n\
00270 float32 distance # For reach_primitive: distance from grasp point to approach point (m). For 'lift', distance to lift up (m)\n\
00271 float32 supporting_plane # Height of the table (m)\n\
00272 \n\
00273 ================================================================================\n\
00274 MSG: geometry_msgs/Pose\n\
00275 # A representation of pose in free space, composed of postion and orientation. \n\
00276 Point position\n\
00277 Quaternion orientation\n\
00278 \n\
00279 ================================================================================\n\
00280 MSG: geometry_msgs/Point\n\
00281 # This contains the position of a point in free space\n\
00282 float64 x\n\
00283 float64 y\n\
00284 float64 z\n\
00285 \n\
00286 ================================================================================\n\
00287 MSG: geometry_msgs/Quaternion\n\
00288 # This represents an orientation in free space in quaternion form.\n\
00289 \n\
00290 float64 x\n\
00291 float64 y\n\
00292 float64 z\n\
00293 float64 w\n\
00294 \n\
00295 ";
00296 }
00297
00298 static const char* value(const ::cogman_msgs::ArmHandActionGoal_<ContainerAllocator> &) { return value(); }
00299 };
00300
00301 template<class ContainerAllocator> struct HasHeader< ::cogman_msgs::ArmHandActionGoal_<ContainerAllocator> > : public TrueType {};
00302 template<class ContainerAllocator> struct HasHeader< const ::cogman_msgs::ArmHandActionGoal_<ContainerAllocator> > : public TrueType {};
00303 }
00304 }
00305
00306 namespace ros
00307 {
00308 namespace serialization
00309 {
00310
00311 template<class ContainerAllocator> struct Serializer< ::cogman_msgs::ArmHandActionGoal_<ContainerAllocator> >
00312 {
00313 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00314 {
00315 stream.next(m.header);
00316 stream.next(m.goal_id);
00317 stream.next(m.goal);
00318 }
00319
00320 ROS_DECLARE_ALLINONE_SERIALIZER;
00321 };
00322 }
00323 }
00324
00325 namespace ros
00326 {
00327 namespace message_operations
00328 {
00329
00330 template<class ContainerAllocator>
00331 struct Printer< ::cogman_msgs::ArmHandActionGoal_<ContainerAllocator> >
00332 {
00333 template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::cogman_msgs::ArmHandActionGoal_<ContainerAllocator> & v)
00334 {
00335 s << indent << "header: ";
00336 s << std::endl;
00337 Printer< ::std_msgs::Header_<ContainerAllocator> >::stream(s, indent + " ", v.header);
00338 s << indent << "goal_id: ";
00339 s << std::endl;
00340 Printer< ::actionlib_msgs::GoalID_<ContainerAllocator> >::stream(s, indent + " ", v.goal_id);
00341 s << indent << "goal: ";
00342 s << std::endl;
00343 Printer< ::cogman_msgs::ArmHandGoal_<ContainerAllocator> >::stream(s, indent + " ", v.goal);
00344 }
00345 };
00346
00347
00348 }
00349 }
00350
00351 #endif // COGMAN_MSGS_MESSAGE_ARMHANDACTIONGOAL_H
00352
