cogman_msgs: cogman_msgs: ArmHandGoal.h Source File

00001 /* Auto-generated by genmsg_cpp for file /home/rosbuild/hudson/workspace/doc-electric-ias_common/doc_stacks/2013-03-01_15-41-55.252100/ias_common/cogman_msgs/msg/ArmHandGoal.msg */
00002 #ifndef COGMAN_MSGS_MESSAGE_ARMHANDGOAL_H
00003 #define COGMAN_MSGS_MESSAGE_ARMHANDGOAL_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 "geometry_msgs/Pose.h"
00018 
00019 namespace cogman_msgs
00020 {
00021 template <class ContainerAllocator>
00022 struct ArmHandGoal_ {
00023   typedef ArmHandGoal_<ContainerAllocator> Type;
00024 
00025   ArmHandGoal_()
00026   : command()
00027   , pose_name()
00028   , joint_angles()
00029   , end_effector_pose()
00030   , end_effector_loid(0)
00031   , hand_primitive()
00032   , object_type()
00033   , obstacle_ids()
00034   , distance(0.0)
00035   , supporting_plane(0.0)
00036   {
00037   }
00038 
00039   ArmHandGoal_(const ContainerAllocator& _alloc)
00040   : command(_alloc)
00041   , pose_name(_alloc)
00042   , joint_angles(_alloc)
00043   , end_effector_pose(_alloc)
00044   , end_effector_loid(0)
00045   , hand_primitive(_alloc)
00046   , object_type(_alloc)
00047   , obstacle_ids(_alloc)
00048   , distance(0.0)
00049   , supporting_plane(0.0)
00050   {
00051   }
00052 
00053   typedef std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other >  _command_type;
00054   std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other >  command;
00055 
00056   typedef std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other >  _pose_name_type;
00057   std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other >  pose_name;
00058 
00059   typedef std::vector<float, typename ContainerAllocator::template rebind<float>::other >  _joint_angles_type;
00060   std::vector<float, typename ContainerAllocator::template rebind<float>::other >  joint_angles;
00061 
00062   typedef  ::geometry_msgs::Pose_<ContainerAllocator>  _end_effector_pose_type;
00063    ::geometry_msgs::Pose_<ContainerAllocator>  end_effector_pose;
00064 
00065   typedef uint64_t _end_effector_loid_type;
00066   uint64_t end_effector_loid;
00067 
00068   typedef std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other >  _hand_primitive_type;
00069   std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other >  hand_primitive;
00070 
00071   typedef std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other >  _object_type_type;
00072   std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other >  object_type;
00073 
00074   typedef std::vector<uint64_t, typename ContainerAllocator::template rebind<uint64_t>::other >  _obstacle_ids_type;
00075   std::vector<uint64_t, typename ContainerAllocator::template rebind<uint64_t>::other >  obstacle_ids;
00076 
00077   typedef float _distance_type;
00078   float distance;
00079 
00080   typedef float _supporting_plane_type;
00081   float supporting_plane;
00082 
00083 
00084   ROS_DEPRECATED uint32_t get_joint_angles_size() const { return (uint32_t)joint_angles.size(); }
00085   ROS_DEPRECATED void set_joint_angles_size(uint32_t size) { joint_angles.resize((size_t)size); }
00086   ROS_DEPRECATED void get_joint_angles_vec(std::vector<float, typename ContainerAllocator::template rebind<float>::other > & vec) const { vec = this->joint_angles; }
00087   ROS_DEPRECATED void set_joint_angles_vec(const std::vector<float, typename ContainerAllocator::template rebind<float>::other > & vec) { this->joint_angles = vec; }
00088   ROS_DEPRECATED uint32_t get_obstacle_ids_size() const { return (uint32_t)obstacle_ids.size(); }
00089   ROS_DEPRECATED void set_obstacle_ids_size(uint32_t size) { obstacle_ids.resize((size_t)size); }
00090   ROS_DEPRECATED void get_obstacle_ids_vec(std::vector<uint64_t, typename ContainerAllocator::template rebind<uint64_t>::other > & vec) const { vec = this->obstacle_ids; }
00091   ROS_DEPRECATED void set_obstacle_ids_vec(const std::vector<uint64_t, typename ContainerAllocator::template rebind<uint64_t>::other > & vec) { this->obstacle_ids = vec; }
00092 private:
00093   static const char* __s_getDataType_() { return "cogman_msgs/ArmHandGoal"; }
00094 public:
00095   ROS_DEPRECATED static const std::string __s_getDataType() { return __s_getDataType_(); }
00096 
00097   ROS_DEPRECATED const std::string __getDataType() const { return __s_getDataType_(); }
00098 
00099 private:
00100   static const char* __s_getMD5Sum_() { return "3a564cf8a4d7611dab9e91da15079bfc"; }
00101 public:
00102   ROS_DEPRECATED static const std::string __s_getMD5Sum() { return __s_getMD5Sum_(); }
00103 
00104   ROS_DEPRECATED const std::string __getMD5Sum() const { return __s_getMD5Sum_(); }
00105 
00106 private:
00107   static const char* __s_getMessageDefinition_() { return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00108 string command              # 'arm_cart_loid', 'arm_cart_pose', 'arm_cart_name', 'arm_joints', 'arm_joint_name', 'reach_primitive', 'hand_primitive', 'lift', 'put_down'\n\
00109 string pose_name            # When moving to pre-defined poses, cointains the name\n\
00110 float32[] joint_angles      # If command is 'arm_joints', the joint angles\n\
00111 geometry_msgs/Pose end_effector_pose  # command=arm_cart_pose: where the arm should go\n\
00112 uint64 end_effector_loid    # one lo_id where the arm should go\n\
00113 string hand_primitive       # Allowed strings: open open_thumb90 3pinch 2pinch cup_top peace handshake noop. Used when command is 'finger_primitive'\n\
00114 string object_type          # If command is 'reach_primitive', it will define how to grasp (orientation ...)\n\
00115 uint64[] obstacle_ids       # List of lo_id's corresponding to obstacles\n\
00116 float32 distance            # For reach_primitive: distance from grasp point to approach point (m). For 'lift', distance to lift up (m)\n\
00117 float32 supporting_plane    # Height of the table (m)\n\
00118 \n\
00119 ================================================================================\n\
00120 MSG: geometry_msgs/Pose\n\
00121 # A representation of pose in free space, composed of postion and orientation. \n\
00122 Point position\n\
00123 Quaternion orientation\n\
00124 \n\
00125 ================================================================================\n\
00126 MSG: geometry_msgs/Point\n\
00127 # This contains the position of a point in free space\n\
00128 float64 x\n\
00129 float64 y\n\
00130 float64 z\n\
00131 \n\
00132 ================================================================================\n\
00133 MSG: geometry_msgs/Quaternion\n\
00134 # This represents an orientation in free space in quaternion form.\n\
00135 \n\
00136 float64 x\n\
00137 float64 y\n\
00138 float64 z\n\
00139 float64 w\n\
00140 \n\
00141 "; }
00142 public:
00143   ROS_DEPRECATED static const std::string __s_getMessageDefinition() { return __s_getMessageDefinition_(); }
00144 
00145   ROS_DEPRECATED const std::string __getMessageDefinition() const { return __s_getMessageDefinition_(); }
00146 
00147   ROS_DEPRECATED virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const
00148   {
00149     ros::serialization::OStream stream(write_ptr, 1000000000);
00150     ros::serialization::serialize(stream, command);
00151     ros::serialization::serialize(stream, pose_name);
00152     ros::serialization::serialize(stream, joint_angles);
00153     ros::serialization::serialize(stream, end_effector_pose);
00154     ros::serialization::serialize(stream, end_effector_loid);
00155     ros::serialization::serialize(stream, hand_primitive);
00156     ros::serialization::serialize(stream, object_type);
00157     ros::serialization::serialize(stream, obstacle_ids);
00158     ros::serialization::serialize(stream, distance);
00159     ros::serialization::serialize(stream, supporting_plane);
00160     return stream.getData();
00161   }
00162 
00163   ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr)
00164   {
00165     ros::serialization::IStream stream(read_ptr, 1000000000);
00166     ros::serialization::deserialize(stream, command);
00167     ros::serialization::deserialize(stream, pose_name);
00168     ros::serialization::deserialize(stream, joint_angles);
00169     ros::serialization::deserialize(stream, end_effector_pose);
00170     ros::serialization::deserialize(stream, end_effector_loid);
00171     ros::serialization::deserialize(stream, hand_primitive);
00172     ros::serialization::deserialize(stream, object_type);
00173     ros::serialization::deserialize(stream, obstacle_ids);
00174     ros::serialization::deserialize(stream, distance);
00175     ros::serialization::deserialize(stream, supporting_plane);
00176     return stream.getData();
00177   }
00178 
00179   ROS_DEPRECATED virtual uint32_t serializationLength() const
00180   {
00181     uint32_t size = 0;
00182     size += ros::serialization::serializationLength(command);
00183     size += ros::serialization::serializationLength(pose_name);
00184     size += ros::serialization::serializationLength(joint_angles);
00185     size += ros::serialization::serializationLength(end_effector_pose);
00186     size += ros::serialization::serializationLength(end_effector_loid);
00187     size += ros::serialization::serializationLength(hand_primitive);
00188     size += ros::serialization::serializationLength(object_type);
00189     size += ros::serialization::serializationLength(obstacle_ids);
00190     size += ros::serialization::serializationLength(distance);
00191     size += ros::serialization::serializationLength(supporting_plane);
00192     return size;
00193   }
00194 
00195   typedef boost::shared_ptr< ::cogman_msgs::ArmHandGoal_<ContainerAllocator> > Ptr;
00196   typedef boost::shared_ptr< ::cogman_msgs::ArmHandGoal_<ContainerAllocator>  const> ConstPtr;
00197   boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00198 }; // struct ArmHandGoal
00199 typedef  ::cogman_msgs::ArmHandGoal_<std::allocator<void> > ArmHandGoal;
00200 
00201 typedef boost::shared_ptr< ::cogman_msgs::ArmHandGoal> ArmHandGoalPtr;
00202 typedef boost::shared_ptr< ::cogman_msgs::ArmHandGoal const> ArmHandGoalConstPtr;
00203 
00204 
00205 template<typename ContainerAllocator>
00206 std::ostream& operator<<(std::ostream& s, const  ::cogman_msgs::ArmHandGoal_<ContainerAllocator> & v)
00207 {
00208   ros::message_operations::Printer< ::cogman_msgs::ArmHandGoal_<ContainerAllocator> >::stream(s, "", v);
00209   return s;}
00210 
00211 } // namespace cogman_msgs
00212 
00213 namespace ros
00214 {
00215 namespace message_traits
00216 {
00217 template<class ContainerAllocator> struct IsMessage< ::cogman_msgs::ArmHandGoal_<ContainerAllocator> > : public TrueType {};
00218 template<class ContainerAllocator> struct IsMessage< ::cogman_msgs::ArmHandGoal_<ContainerAllocator>  const> : public TrueType {};
00219 template<class ContainerAllocator>
00220 struct MD5Sum< ::cogman_msgs::ArmHandGoal_<ContainerAllocator> > {
00221   static const char* value() 
00222   {
00223     return "3a564cf8a4d7611dab9e91da15079bfc";
00224   }
00225 
00226   static const char* value(const  ::cogman_msgs::ArmHandGoal_<ContainerAllocator> &) { return value(); } 
00227   static const uint64_t static_value1 = 0x3a564cf8a4d7611dULL;
00228   static const uint64_t static_value2 = 0xab9e91da15079bfcULL;
00229 };
00230 
00231 template<class ContainerAllocator>
00232 struct DataType< ::cogman_msgs::ArmHandGoal_<ContainerAllocator> > {
00233   static const char* value() 
00234   {
00235     return "cogman_msgs/ArmHandGoal";
00236   }
00237 
00238   static const char* value(const  ::cogman_msgs::ArmHandGoal_<ContainerAllocator> &) { return value(); } 
00239 };
00240 
00241 template<class ContainerAllocator>
00242 struct Definition< ::cogman_msgs::ArmHandGoal_<ContainerAllocator> > {
00243   static const char* value() 
00244   {
00245     return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00246 string command              # 'arm_cart_loid', 'arm_cart_pose', 'arm_cart_name', 'arm_joints', 'arm_joint_name', 'reach_primitive', 'hand_primitive', 'lift', 'put_down'\n\
00247 string pose_name            # When moving to pre-defined poses, cointains the name\n\
00248 float32[] joint_angles      # If command is 'arm_joints', the joint angles\n\
00249 geometry_msgs/Pose end_effector_pose  # command=arm_cart_pose: where the arm should go\n\
00250 uint64 end_effector_loid    # one lo_id where the arm should go\n\
00251 string hand_primitive       # Allowed strings: open open_thumb90 3pinch 2pinch cup_top peace handshake noop. Used when command is 'finger_primitive'\n\
00252 string object_type          # If command is 'reach_primitive', it will define how to grasp (orientation ...)\n\
00253 uint64[] obstacle_ids       # List of lo_id's corresponding to obstacles\n\
00254 float32 distance            # For reach_primitive: distance from grasp point to approach point (m). For 'lift', distance to lift up (m)\n\
00255 float32 supporting_plane    # Height of the table (m)\n\
00256 \n\
00257 ================================================================================\n\
00258 MSG: geometry_msgs/Pose\n\
00259 # A representation of pose in free space, composed of postion and orientation. \n\
00260 Point position\n\
00261 Quaternion orientation\n\
00262 \n\
00263 ================================================================================\n\
00264 MSG: geometry_msgs/Point\n\
00265 # This contains the position of a point in free space\n\
00266 float64 x\n\
00267 float64 y\n\
00268 float64 z\n\
00269 \n\
00270 ================================================================================\n\
00271 MSG: geometry_msgs/Quaternion\n\
00272 # This represents an orientation in free space in quaternion form.\n\
00273 \n\
00274 float64 x\n\
00275 float64 y\n\
00276 float64 z\n\
00277 float64 w\n\
00278 \n\
00279 ";
00280   }
00281 
00282   static const char* value(const  ::cogman_msgs::ArmHandGoal_<ContainerAllocator> &) { return value(); } 
00283 };
00284 
00285 } // namespace message_traits
00286 } // namespace ros
00287 
00288 namespace ros
00289 {
00290 namespace serialization
00291 {
00292 
00293 template<class ContainerAllocator> struct Serializer< ::cogman_msgs::ArmHandGoal_<ContainerAllocator> >
00294 {
00295   template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00296   {
00297     stream.next(m.command);
00298     stream.next(m.pose_name);
00299     stream.next(m.joint_angles);
00300     stream.next(m.end_effector_pose);
00301     stream.next(m.end_effector_loid);
00302     stream.next(m.hand_primitive);
00303     stream.next(m.object_type);
00304     stream.next(m.obstacle_ids);
00305     stream.next(m.distance);
00306     stream.next(m.supporting_plane);
00307   }
00308 
00309   ROS_DECLARE_ALLINONE_SERIALIZER;
00310 }; // struct ArmHandGoal_
00311 } // namespace serialization
00312 } // namespace ros
00313 
00314 namespace ros
00315 {
00316 namespace message_operations
00317 {
00318 
00319 template<class ContainerAllocator>
00320 struct Printer< ::cogman_msgs::ArmHandGoal_<ContainerAllocator> >
00321 {
00322   template<typename Stream> static void stream(Stream& s, const std::string& indent, const  ::cogman_msgs::ArmHandGoal_<ContainerAllocator> & v) 
00323   {
00324     s << indent << "command: ";
00325     Printer<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > >::stream(s, indent + "  ", v.command);
00326     s << indent << "pose_name: ";
00327     Printer<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > >::stream(s, indent + "  ", v.pose_name);
00328     s << indent << "joint_angles[]" << std::endl;
00329     for (size_t i = 0; i < v.joint_angles.size(); ++i)
00330     {
00331       s << indent << "  joint_angles[" << i << "]: ";
00332       Printer<float>::stream(s, indent + "  ", v.joint_angles[i]);
00333     }
00334     s << indent << "end_effector_pose: ";
00335 s << std::endl;
00336     Printer< ::geometry_msgs::Pose_<ContainerAllocator> >::stream(s, indent + "  ", v.end_effector_pose);
00337     s << indent << "end_effector_loid: ";
00338     Printer<uint64_t>::stream(s, indent + "  ", v.end_effector_loid);
00339     s << indent << "hand_primitive: ";
00340     Printer<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > >::stream(s, indent + "  ", v.hand_primitive);
00341     s << indent << "object_type: ";
00342     Printer<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > >::stream(s, indent + "  ", v.object_type);
00343     s << indent << "obstacle_ids[]" << std::endl;
00344     for (size_t i = 0; i < v.obstacle_ids.size(); ++i)
00345     {
00346       s << indent << "  obstacle_ids[" << i << "]: ";
00347       Printer<uint64_t>::stream(s, indent + "  ", v.obstacle_ids[i]);
00348     }
00349     s << indent << "distance: ";
00350     Printer<float>::stream(s, indent + "  ", v.distance);
00351     s << indent << "supporting_plane: ";
00352     Printer<float>::stream(s, indent + "  ", v.supporting_plane);
00353   }
00354 };
00355 
00356 
00357 } // namespace message_operations
00358 } // namespace ros
00359 
00360 #endif // COGMAN_MSGS_MESSAGE_ARMHANDGOAL_H
00361