graspit_ros_planning_msgs: graspit_ros_planning_msgs: VerifyGrasp.h Source File

00001 /* Auto-generated by genmsg_cpp for file /home/rosbuild/hudson/workspace/doc-electric-graspit_simulator/doc_stacks/2013-03-01_15-39-02.698757/graspit_simulator/graspit_ros_planning_msgs/srv/VerifyGrasp.srv */
00002 #ifndef GRASPIT_ROS_PLANNING_MSGS_SERVICE_VERIFYGRASP_H
00003 #define GRASPIT_ROS_PLANNING_MSGS_SERVICE_VERIFYGRASP_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 "ros/service_traits.h"
00018 
00019 #include "geometry_msgs/Pose.h"
00020 
00021 
00022 
00023 namespace graspit_ros_planning_msgs
00024 {
00025 template <class ContainerAllocator>
00026 struct VerifyGraspRequest_ {
00027   typedef VerifyGraspRequest_<ContainerAllocator> Type;
00028 
00029   VerifyGraspRequest_()
00030   : scaled_model_id(0)
00031   , grasp_pose()
00032   , grasp_joint_angle(0.0)
00033   , table_file_name()
00034   {
00035   }
00036 
00037   VerifyGraspRequest_(const ContainerAllocator& _alloc)
00038   : scaled_model_id(0)
00039   , grasp_pose(_alloc)
00040   , grasp_joint_angle(0.0)
00041   , table_file_name(_alloc)
00042   {
00043   }
00044 
00045   typedef int32_t _scaled_model_id_type;
00046   int32_t scaled_model_id;
00047 
00048   typedef  ::geometry_msgs::Pose_<ContainerAllocator>  _grasp_pose_type;
00049    ::geometry_msgs::Pose_<ContainerAllocator>  grasp_pose;
00050 
00051   typedef double _grasp_joint_angle_type;
00052   double grasp_joint_angle;
00053 
00054   typedef std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other >  _table_file_name_type;
00055   std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other >  table_file_name;
00056 
00057 
00058 private:
00059   static const char* __s_getDataType_() { return "graspit_ros_planning_msgs/VerifyGraspRequest"; }
00060 public:
00061   ROS_DEPRECATED static const std::string __s_getDataType() { return __s_getDataType_(); }
00062 
00063   ROS_DEPRECATED const std::string __getDataType() const { return __s_getDataType_(); }
00064 
00065 private:
00066   static const char* __s_getMD5Sum_() { return "3ea5e3d1b2abb601b42af9afe28d351f"; }
00067 public:
00068   ROS_DEPRECATED static const std::string __s_getMD5Sum() { return __s_getMD5Sum_(); }
00069 
00070   ROS_DEPRECATED const std::string __getMD5Sum() const { return __s_getMD5Sum_(); }
00071 
00072 private:
00073   static const char* __s_getServerMD5Sum_() { return "14498cf3d29129af22a365ada2629e17"; }
00074 public:
00075   ROS_DEPRECATED static const std::string __s_getServerMD5Sum() { return __s_getServerMD5Sum_(); }
00076 
00077   ROS_DEPRECATED const std::string __getServerMD5Sum() const { return __s_getServerMD5Sum_(); }
00078 
00079 private:
00080   static const char* __s_getMessageDefinition_() { return "\n\
00081 \n\
00082 \n\
00083 int32 scaled_model_id\n\
00084 \n\
00085 geometry_msgs/Pose grasp_pose\n\
00086 \n\
00087 float64 grasp_joint_angle\n\
00088 \n\
00089 string table_file_name\n\
00090 \n\
00091 \n\
00092 ================================================================================\n\
00093 MSG: geometry_msgs/Pose\n\
00094 # A representation of pose in free space, composed of postion and orientation. \n\
00095 Point position\n\
00096 Quaternion orientation\n\
00097 \n\
00098 ================================================================================\n\
00099 MSG: geometry_msgs/Point\n\
00100 # This contains the position of a point in free space\n\
00101 float64 x\n\
00102 float64 y\n\
00103 float64 z\n\
00104 \n\
00105 ================================================================================\n\
00106 MSG: geometry_msgs/Quaternion\n\
00107 # This represents an orientation in free space in quaternion form.\n\
00108 \n\
00109 float64 x\n\
00110 float64 y\n\
00111 float64 z\n\
00112 float64 w\n\
00113 \n\
00114 "; }
00115 public:
00116   ROS_DEPRECATED static const std::string __s_getMessageDefinition() { return __s_getMessageDefinition_(); }
00117 
00118   ROS_DEPRECATED const std::string __getMessageDefinition() const { return __s_getMessageDefinition_(); }
00119 
00120   ROS_DEPRECATED virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const
00121   {
00122     ros::serialization::OStream stream(write_ptr, 1000000000);
00123     ros::serialization::serialize(stream, scaled_model_id);
00124     ros::serialization::serialize(stream, grasp_pose);
00125     ros::serialization::serialize(stream, grasp_joint_angle);
00126     ros::serialization::serialize(stream, table_file_name);
00127     return stream.getData();
00128   }
00129 
00130   ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr)
00131   {
00132     ros::serialization::IStream stream(read_ptr, 1000000000);
00133     ros::serialization::deserialize(stream, scaled_model_id);
00134     ros::serialization::deserialize(stream, grasp_pose);
00135     ros::serialization::deserialize(stream, grasp_joint_angle);
00136     ros::serialization::deserialize(stream, table_file_name);
00137     return stream.getData();
00138   }
00139 
00140   ROS_DEPRECATED virtual uint32_t serializationLength() const
00141   {
00142     uint32_t size = 0;
00143     size += ros::serialization::serializationLength(scaled_model_id);
00144     size += ros::serialization::serializationLength(grasp_pose);
00145     size += ros::serialization::serializationLength(grasp_joint_angle);
00146     size += ros::serialization::serializationLength(table_file_name);
00147     return size;
00148   }
00149 
00150   typedef boost::shared_ptr< ::graspit_ros_planning_msgs::VerifyGraspRequest_<ContainerAllocator> > Ptr;
00151   typedef boost::shared_ptr< ::graspit_ros_planning_msgs::VerifyGraspRequest_<ContainerAllocator>  const> ConstPtr;
00152   boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00153 }; // struct VerifyGraspRequest
00154 typedef  ::graspit_ros_planning_msgs::VerifyGraspRequest_<std::allocator<void> > VerifyGraspRequest;
00155 
00156 typedef boost::shared_ptr< ::graspit_ros_planning_msgs::VerifyGraspRequest> VerifyGraspRequestPtr;
00157 typedef boost::shared_ptr< ::graspit_ros_planning_msgs::VerifyGraspRequest const> VerifyGraspRequestConstPtr;
00158 
00159 
00160 template <class ContainerAllocator>
00161 struct VerifyGraspResponse_ {
00162   typedef VerifyGraspResponse_<ContainerAllocator> Type;
00163 
00164   VerifyGraspResponse_()
00165   : hand_environment_collision(false)
00166   , hand_object_collision(false)
00167   , gripper_tabletop_clearance(0.0)
00168   , gripper_object_distance(0.0)
00169   , result(0)
00170   {
00171   }
00172 
00173   VerifyGraspResponse_(const ContainerAllocator& _alloc)
00174   : hand_environment_collision(false)
00175   , hand_object_collision(false)
00176   , gripper_tabletop_clearance(0.0)
00177   , gripper_object_distance(0.0)
00178   , result(0)
00179   {
00180   }
00181 
00182   typedef uint8_t _hand_environment_collision_type;
00183   uint8_t hand_environment_collision;
00184 
00185   typedef uint8_t _hand_object_collision_type;
00186   uint8_t hand_object_collision;
00187 
00188   typedef double _gripper_tabletop_clearance_type;
00189   double gripper_tabletop_clearance;
00190 
00191   typedef double _gripper_object_distance_type;
00192   double gripper_object_distance;
00193 
00194   typedef int32_t _result_type;
00195   int32_t result;
00196 
00197   enum { LOAD_OBJECT_FAILURE = 0 };
00198   enum { LOAD_OBSTACLE_FAILURE = 1 };
00199   enum { LOAD_GRIPPER_FAILURE = 2 };
00200   enum { CHECK_SUCCESS = 3 };
00201 
00202 private:
00203   static const char* __s_getDataType_() { return "graspit_ros_planning_msgs/VerifyGraspResponse"; }
00204 public:
00205   ROS_DEPRECATED static const std::string __s_getDataType() { return __s_getDataType_(); }
00206 
00207   ROS_DEPRECATED const std::string __getDataType() const { return __s_getDataType_(); }
00208 
00209 private:
00210   static const char* __s_getMD5Sum_() { return "264475d04654958284f6216319e478e9"; }
00211 public:
00212   ROS_DEPRECATED static const std::string __s_getMD5Sum() { return __s_getMD5Sum_(); }
00213 
00214   ROS_DEPRECATED const std::string __getMD5Sum() const { return __s_getMD5Sum_(); }
00215 
00216 private:
00217   static const char* __s_getServerMD5Sum_() { return "14498cf3d29129af22a365ada2629e17"; }
00218 public:
00219   ROS_DEPRECATED static const std::string __s_getServerMD5Sum() { return __s_getServerMD5Sum_(); }
00220 
00221   ROS_DEPRECATED const std::string __getServerMD5Sum() const { return __s_getServerMD5Sum_(); }
00222 
00223 private:
00224   static const char* __s_getMessageDefinition_() { return "\n\
00225 bool hand_environment_collision\n\
00226 \n\
00227 bool hand_object_collision\n\
00228 \n\
00229 float64 gripper_tabletop_clearance\n\
00230 \n\
00231 float64 gripper_object_distance\n\
00232 \n\
00233 \n\
00234 int32 LOAD_OBJECT_FAILURE = 0\n\
00235 int32 LOAD_OBSTACLE_FAILURE = 1\n\
00236 int32 LOAD_GRIPPER_FAILURE = 2\n\
00237 int32 CHECK_SUCCESS = 3\n\
00238 int32 result\n\
00239 \n\
00240 \n\
00241 "; }
00242 public:
00243   ROS_DEPRECATED static const std::string __s_getMessageDefinition() { return __s_getMessageDefinition_(); }
00244 
00245   ROS_DEPRECATED const std::string __getMessageDefinition() const { return __s_getMessageDefinition_(); }
00246 
00247   ROS_DEPRECATED virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const
00248   {
00249     ros::serialization::OStream stream(write_ptr, 1000000000);
00250     ros::serialization::serialize(stream, hand_environment_collision);
00251     ros::serialization::serialize(stream, hand_object_collision);
00252     ros::serialization::serialize(stream, gripper_tabletop_clearance);
00253     ros::serialization::serialize(stream, gripper_object_distance);
00254     ros::serialization::serialize(stream, result);
00255     return stream.getData();
00256   }
00257 
00258   ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr)
00259   {
00260     ros::serialization::IStream stream(read_ptr, 1000000000);
00261     ros::serialization::deserialize(stream, hand_environment_collision);
00262     ros::serialization::deserialize(stream, hand_object_collision);
00263     ros::serialization::deserialize(stream, gripper_tabletop_clearance);
00264     ros::serialization::deserialize(stream, gripper_object_distance);
00265     ros::serialization::deserialize(stream, result);
00266     return stream.getData();
00267   }
00268 
00269   ROS_DEPRECATED virtual uint32_t serializationLength() const
00270   {
00271     uint32_t size = 0;
00272     size += ros::serialization::serializationLength(hand_environment_collision);
00273     size += ros::serialization::serializationLength(hand_object_collision);
00274     size += ros::serialization::serializationLength(gripper_tabletop_clearance);
00275     size += ros::serialization::serializationLength(gripper_object_distance);
00276     size += ros::serialization::serializationLength(result);
00277     return size;
00278   }
00279 
00280   typedef boost::shared_ptr< ::graspit_ros_planning_msgs::VerifyGraspResponse_<ContainerAllocator> > Ptr;
00281   typedef boost::shared_ptr< ::graspit_ros_planning_msgs::VerifyGraspResponse_<ContainerAllocator>  const> ConstPtr;
00282   boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00283 }; // struct VerifyGraspResponse
00284 typedef  ::graspit_ros_planning_msgs::VerifyGraspResponse_<std::allocator<void> > VerifyGraspResponse;
00285 
00286 typedef boost::shared_ptr< ::graspit_ros_planning_msgs::VerifyGraspResponse> VerifyGraspResponsePtr;
00287 typedef boost::shared_ptr< ::graspit_ros_planning_msgs::VerifyGraspResponse const> VerifyGraspResponseConstPtr;
00288 
00289 struct VerifyGrasp
00290 {
00291 
00292 typedef VerifyGraspRequest Request;
00293 typedef VerifyGraspResponse Response;
00294 Request request;
00295 Response response;
00296 
00297 typedef Request RequestType;
00298 typedef Response ResponseType;
00299 }; // struct VerifyGrasp
00300 } // namespace graspit_ros_planning_msgs
00301 
00302 namespace ros
00303 {
00304 namespace message_traits
00305 {
00306 template<class ContainerAllocator> struct IsMessage< ::graspit_ros_planning_msgs::VerifyGraspRequest_<ContainerAllocator> > : public TrueType {};
00307 template<class ContainerAllocator> struct IsMessage< ::graspit_ros_planning_msgs::VerifyGraspRequest_<ContainerAllocator>  const> : public TrueType {};
00308 template<class ContainerAllocator>
00309 struct MD5Sum< ::graspit_ros_planning_msgs::VerifyGraspRequest_<ContainerAllocator> > {
00310   static const char* value() 
00311   {
00312     return "3ea5e3d1b2abb601b42af9afe28d351f";
00313   }
00314 
00315   static const char* value(const  ::graspit_ros_planning_msgs::VerifyGraspRequest_<ContainerAllocator> &) { return value(); } 
00316   static const uint64_t static_value1 = 0x3ea5e3d1b2abb601ULL;
00317   static const uint64_t static_value2 = 0xb42af9afe28d351fULL;
00318 };
00319 
00320 template<class ContainerAllocator>
00321 struct DataType< ::graspit_ros_planning_msgs::VerifyGraspRequest_<ContainerAllocator> > {
00322   static const char* value() 
00323   {
00324     return "graspit_ros_planning_msgs/VerifyGraspRequest";
00325   }
00326 
00327   static const char* value(const  ::graspit_ros_planning_msgs::VerifyGraspRequest_<ContainerAllocator> &) { return value(); } 
00328 };
00329 
00330 template<class ContainerAllocator>
00331 struct Definition< ::graspit_ros_planning_msgs::VerifyGraspRequest_<ContainerAllocator> > {
00332   static const char* value() 
00333   {
00334     return "\n\
00335 \n\
00336 \n\
00337 int32 scaled_model_id\n\
00338 \n\
00339 geometry_msgs/Pose grasp_pose\n\
00340 \n\
00341 float64 grasp_joint_angle\n\
00342 \n\
00343 string table_file_name\n\
00344 \n\
00345 \n\
00346 ================================================================================\n\
00347 MSG: geometry_msgs/Pose\n\
00348 # A representation of pose in free space, composed of postion and orientation. \n\
00349 Point position\n\
00350 Quaternion orientation\n\
00351 \n\
00352 ================================================================================\n\
00353 MSG: geometry_msgs/Point\n\
00354 # This contains the position of a point in free space\n\
00355 float64 x\n\
00356 float64 y\n\
00357 float64 z\n\
00358 \n\
00359 ================================================================================\n\
00360 MSG: geometry_msgs/Quaternion\n\
00361 # This represents an orientation in free space in quaternion form.\n\
00362 \n\
00363 float64 x\n\
00364 float64 y\n\
00365 float64 z\n\
00366 float64 w\n\
00367 \n\
00368 ";
00369   }
00370 
00371   static const char* value(const  ::graspit_ros_planning_msgs::VerifyGraspRequest_<ContainerAllocator> &) { return value(); } 
00372 };
00373 
00374 } // namespace message_traits
00375 } // namespace ros
00376 
00377 
00378 namespace ros
00379 {
00380 namespace message_traits
00381 {
00382 template<class ContainerAllocator> struct IsMessage< ::graspit_ros_planning_msgs::VerifyGraspResponse_<ContainerAllocator> > : public TrueType {};
00383 template<class ContainerAllocator> struct IsMessage< ::graspit_ros_planning_msgs::VerifyGraspResponse_<ContainerAllocator>  const> : public TrueType {};
00384 template<class ContainerAllocator>
00385 struct MD5Sum< ::graspit_ros_planning_msgs::VerifyGraspResponse_<ContainerAllocator> > {
00386   static const char* value() 
00387   {
00388     return "264475d04654958284f6216319e478e9";
00389   }
00390 
00391   static const char* value(const  ::graspit_ros_planning_msgs::VerifyGraspResponse_<ContainerAllocator> &) { return value(); } 
00392   static const uint64_t static_value1 = 0x264475d046549582ULL;
00393   static const uint64_t static_value2 = 0x84f6216319e478e9ULL;
00394 };
00395 
00396 template<class ContainerAllocator>
00397 struct DataType< ::graspit_ros_planning_msgs::VerifyGraspResponse_<ContainerAllocator> > {
00398   static const char* value() 
00399   {
00400     return "graspit_ros_planning_msgs/VerifyGraspResponse";
00401   }
00402 
00403   static const char* value(const  ::graspit_ros_planning_msgs::VerifyGraspResponse_<ContainerAllocator> &) { return value(); } 
00404 };
00405 
00406 template<class ContainerAllocator>
00407 struct Definition< ::graspit_ros_planning_msgs::VerifyGraspResponse_<ContainerAllocator> > {
00408   static const char* value() 
00409   {
00410     return "\n\
00411 bool hand_environment_collision\n\
00412 \n\
00413 bool hand_object_collision\n\
00414 \n\
00415 float64 gripper_tabletop_clearance\n\
00416 \n\
00417 float64 gripper_object_distance\n\
00418 \n\
00419 \n\
00420 int32 LOAD_OBJECT_FAILURE = 0\n\
00421 int32 LOAD_OBSTACLE_FAILURE = 1\n\
00422 int32 LOAD_GRIPPER_FAILURE = 2\n\
00423 int32 CHECK_SUCCESS = 3\n\
00424 int32 result\n\
00425 \n\
00426 \n\
00427 ";
00428   }
00429 
00430   static const char* value(const  ::graspit_ros_planning_msgs::VerifyGraspResponse_<ContainerAllocator> &) { return value(); } 
00431 };
00432 
00433 template<class ContainerAllocator> struct IsFixedSize< ::graspit_ros_planning_msgs::VerifyGraspResponse_<ContainerAllocator> > : public TrueType {};
00434 } // namespace message_traits
00435 } // namespace ros
00436 
00437 namespace ros
00438 {
00439 namespace serialization
00440 {
00441 
00442 template<class ContainerAllocator> struct Serializer< ::graspit_ros_planning_msgs::VerifyGraspRequest_<ContainerAllocator> >
00443 {
00444   template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00445   {
00446     stream.next(m.scaled_model_id);
00447     stream.next(m.grasp_pose);
00448     stream.next(m.grasp_joint_angle);
00449     stream.next(m.table_file_name);
00450   }
00451 
00452   ROS_DECLARE_ALLINONE_SERIALIZER;
00453 }; // struct VerifyGraspRequest_
00454 } // namespace serialization
00455 } // namespace ros
00456 
00457 
00458 namespace ros
00459 {
00460 namespace serialization
00461 {
00462 
00463 template<class ContainerAllocator> struct Serializer< ::graspit_ros_planning_msgs::VerifyGraspResponse_<ContainerAllocator> >
00464 {
00465   template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00466   {
00467     stream.next(m.hand_environment_collision);
00468     stream.next(m.hand_object_collision);
00469     stream.next(m.gripper_tabletop_clearance);
00470     stream.next(m.gripper_object_distance);
00471     stream.next(m.result);
00472   }
00473 
00474   ROS_DECLARE_ALLINONE_SERIALIZER;
00475 }; // struct VerifyGraspResponse_
00476 } // namespace serialization
00477 } // namespace ros
00478 
00479 namespace ros
00480 {
00481 namespace service_traits
00482 {
00483 template<>
00484 struct MD5Sum<graspit_ros_planning_msgs::VerifyGrasp> {
00485   static const char* value() 
00486   {
00487     return "14498cf3d29129af22a365ada2629e17";
00488   }
00489 
00490   static const char* value(const graspit_ros_planning_msgs::VerifyGrasp&) { return value(); } 
00491 };
00492 
00493 template<>
00494 struct DataType<graspit_ros_planning_msgs::VerifyGrasp> {
00495   static const char* value() 
00496   {
00497     return "graspit_ros_planning_msgs/VerifyGrasp";
00498   }
00499 
00500   static const char* value(const graspit_ros_planning_msgs::VerifyGrasp&) { return value(); } 
00501 };
00502 
00503 template<class ContainerAllocator>
00504 struct MD5Sum<graspit_ros_planning_msgs::VerifyGraspRequest_<ContainerAllocator> > {
00505   static const char* value() 
00506   {
00507     return "14498cf3d29129af22a365ada2629e17";
00508   }
00509 
00510   static const char* value(const graspit_ros_planning_msgs::VerifyGraspRequest_<ContainerAllocator> &) { return value(); } 
00511 };
00512 
00513 template<class ContainerAllocator>
00514 struct DataType<graspit_ros_planning_msgs::VerifyGraspRequest_<ContainerAllocator> > {
00515   static const char* value() 
00516   {
00517     return "graspit_ros_planning_msgs/VerifyGrasp";
00518   }
00519 
00520   static const char* value(const graspit_ros_planning_msgs::VerifyGraspRequest_<ContainerAllocator> &) { return value(); } 
00521 };
00522 
00523 template<class ContainerAllocator>
00524 struct MD5Sum<graspit_ros_planning_msgs::VerifyGraspResponse_<ContainerAllocator> > {
00525   static const char* value() 
00526   {
00527     return "14498cf3d29129af22a365ada2629e17";
00528   }
00529 
00530   static const char* value(const graspit_ros_planning_msgs::VerifyGraspResponse_<ContainerAllocator> &) { return value(); } 
00531 };
00532 
00533 template<class ContainerAllocator>
00534 struct DataType<graspit_ros_planning_msgs::VerifyGraspResponse_<ContainerAllocator> > {
00535   static const char* value() 
00536   {
00537     return "graspit_ros_planning_msgs/VerifyGrasp";
00538   }
00539 
00540   static const char* value(const graspit_ros_planning_msgs::VerifyGraspResponse_<ContainerAllocator> &) { return value(); } 
00541 };
00542 
00543 } // namespace service_traits
00544 } // namespace ros
00545 
00546 #endif // GRASPIT_ROS_PLANNING_MSGS_SERVICE_VERIFYGRASP_H
00547