00001
00002 #ifndef OBJECT_MANIPULATION_MSGS_MESSAGE_GRASPPLANNINGFEEDBACK_H
00003 #define OBJECT_MANIPULATION_MSGS_MESSAGE_GRASPPLANNINGFEEDBACK_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 "object_manipulation_msgs/Grasp.h"
00018
00019 namespace object_manipulation_msgs
00020 {
00021 template <class ContainerAllocator>
00022 struct GraspPlanningFeedback_ {
00023 typedef GraspPlanningFeedback_<ContainerAllocator> Type;
00024
00025 GraspPlanningFeedback_()
00026 : grasps()
00027 {
00028 }
00029
00030 GraspPlanningFeedback_(const ContainerAllocator& _alloc)
00031 : grasps(_alloc)
00032 {
00033 }
00034
00035 typedef std::vector< ::object_manipulation_msgs::Grasp_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::object_manipulation_msgs::Grasp_<ContainerAllocator> >::other > _grasps_type;
00036 std::vector< ::object_manipulation_msgs::Grasp_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::object_manipulation_msgs::Grasp_<ContainerAllocator> >::other > grasps;
00037
00038
00039 ROS_DEPRECATED uint32_t get_grasps_size() const { return (uint32_t)grasps.size(); }
00040 ROS_DEPRECATED void set_grasps_size(uint32_t size) { grasps.resize((size_t)size); }
00041 ROS_DEPRECATED void get_grasps_vec(std::vector< ::object_manipulation_msgs::Grasp_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::object_manipulation_msgs::Grasp_<ContainerAllocator> >::other > & vec) const { vec = this->grasps; }
00042 ROS_DEPRECATED void set_grasps_vec(const std::vector< ::object_manipulation_msgs::Grasp_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::object_manipulation_msgs::Grasp_<ContainerAllocator> >::other > & vec) { this->grasps = vec; }
00043 private:
00044 static const char* __s_getDataType_() { return "object_manipulation_msgs/GraspPlanningFeedback"; }
00045 public:
00046 ROS_DEPRECATED static const std::string __s_getDataType() { return __s_getDataType_(); }
00047
00048 ROS_DEPRECATED const std::string __getDataType() const { return __s_getDataType_(); }
00049
00050 private:
00051 static const char* __s_getMD5Sum_() { return "7545a4f0b7d645678d5ba66709912a4b"; }
00052 public:
00053 ROS_DEPRECATED static const std::string __s_getMD5Sum() { return __s_getMD5Sum_(); }
00054
00055 ROS_DEPRECATED const std::string __getMD5Sum() const { return __s_getMD5Sum_(); }
00056
00057 private:
00058 static const char* __s_getMessageDefinition_() { return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00059 \n\
00060 # grasps planned so far\n\
00061 Grasp[] grasps\n\
00062 \n\
00063 \n\
00064 \n\
00065 ================================================================================\n\
00066 MSG: object_manipulation_msgs/Grasp\n\
00067 \n\
00068 # The internal posture of the hand for the pre-grasp\n\
00069 # only positions are used\n\
00070 sensor_msgs/JointState pre_grasp_posture\n\
00071 \n\
00072 # The internal posture of the hand for the grasp\n\
00073 # positions and efforts are used\n\
00074 sensor_msgs/JointState grasp_posture\n\
00075 \n\
00076 # The position of the end-effector for the grasp relative to a reference frame \n\
00077 # (that is always specified elsewhere, not in this message)\n\
00078 geometry_msgs/Pose grasp_pose\n\
00079 \n\
00080 # The estimated probability of success for this grasp\n\
00081 float64 success_probability\n\
00082 \n\
00083 # Debug flag to indicate that this grasp would be the best in its cluster\n\
00084 bool cluster_rep\n\
00085 \n\
00086 # how far the pre-grasp should ideally be away from the grasp\n\
00087 float32 desired_approach_distance\n\
00088 \n\
00089 # how much distance between pre-grasp and grasp must actually be feasible \n\
00090 # for the grasp not to be rejected\n\
00091 float32 min_approach_distance\n\
00092 \n\
00093 # an optional list of obstacles that we have semantic information about\n\
00094 # and that we expect might move in the course of executing this grasp\n\
00095 # the grasp planner is expected to make sure they move in an OK way; during\n\
00096 # execution, grasp executors will not check for collisions against these objects\n\
00097 GraspableObject[] moved_obstacles\n\
00098 \n\
00099 ================================================================================\n\
00100 MSG: sensor_msgs/JointState\n\
00101 # This is a message that holds data to describe the state of a set of torque controlled joints. \n\
00102 #\n\
00103 # The state of each joint (revolute or prismatic) is defined by:\n\
00104 # * the position of the joint (rad or m),\n\
00105 # * the velocity of the joint (rad/s or m/s) and \n\
00106 # * the effort that is applied in the joint (Nm or N).\n\
00107 #\n\
00108 # Each joint is uniquely identified by its name\n\
00109 # The header specifies the time at which the joint states were recorded. All the joint states\n\
00110 # in one message have to be recorded at the same time.\n\
00111 #\n\
00112 # This message consists of a multiple arrays, one for each part of the joint state. \n\
00113 # The goal is to make each of the fields optional. When e.g. your joints have no\n\
00114 # effort associated with them, you can leave the effort array empty. \n\
00115 #\n\
00116 # All arrays in this message should have the same size, or be empty.\n\
00117 # This is the only way to uniquely associate the joint name with the correct\n\
00118 # states.\n\
00119 \n\
00120 \n\
00121 Header header\n\
00122 \n\
00123 string[] name\n\
00124 float64[] position\n\
00125 float64[] velocity\n\
00126 float64[] effort\n\
00127 \n\
00128 ================================================================================\n\
00129 MSG: std_msgs/Header\n\
00130 # Standard metadata for higher-level stamped data types.\n\
00131 # This is generally used to communicate timestamped data \n\
00132 # in a particular coordinate frame.\n\
00133 # \n\
00134 # sequence ID: consecutively increasing ID \n\
00135 uint32 seq\n\
00136 #Two-integer timestamp that is expressed as:\n\
00137 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00138 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00139 # time-handling sugar is provided by the client library\n\
00140 time stamp\n\
00141 #Frame this data is associated with\n\
00142 # 0: no frame\n\
00143 # 1: global frame\n\
00144 string frame_id\n\
00145 \n\
00146 ================================================================================\n\
00147 MSG: geometry_msgs/Pose\n\
00148 # A representation of pose in free space, composed of postion and orientation. \n\
00149 Point position\n\
00150 Quaternion orientation\n\
00151 \n\
00152 ================================================================================\n\
00153 MSG: geometry_msgs/Point\n\
00154 # This contains the position of a point in free space\n\
00155 float64 x\n\
00156 float64 y\n\
00157 float64 z\n\
00158 \n\
00159 ================================================================================\n\
00160 MSG: geometry_msgs/Quaternion\n\
00161 # This represents an orientation in free space in quaternion form.\n\
00162 \n\
00163 float64 x\n\
00164 float64 y\n\
00165 float64 z\n\
00166 float64 w\n\
00167 \n\
00168 ================================================================================\n\
00169 MSG: object_manipulation_msgs/GraspableObject\n\
00170 # an object that the object_manipulator can work on\n\
00171 \n\
00172 # a graspable object can be represented in multiple ways. This message\n\
00173 # can contain all of them. Which one is actually used is up to the receiver\n\
00174 # of this message. When adding new representations, one must be careful that\n\
00175 # they have reasonable lightweight defaults indicating that that particular\n\
00176 # representation is not available.\n\
00177 \n\
00178 # the tf frame to be used as a reference frame when combining information from\n\
00179 # the different representations below\n\
00180 string reference_frame_id\n\
00181 \n\
00182 # potential recognition results from a database of models\n\
00183 # all poses are relative to the object reference pose\n\
00184 household_objects_database_msgs/DatabaseModelPose[] potential_models\n\
00185 \n\
00186 # the point cloud itself\n\
00187 sensor_msgs/PointCloud cluster\n\
00188 \n\
00189 # a region of a PointCloud2 of interest\n\
00190 object_manipulation_msgs/SceneRegion region\n\
00191 \n\
00192 # the name that this object has in the collision environment\n\
00193 string collision_name\n\
00194 ================================================================================\n\
00195 MSG: household_objects_database_msgs/DatabaseModelPose\n\
00196 # Informs that a specific model from the Model Database has been \n\
00197 # identified at a certain location\n\
00198 \n\
00199 # the database id of the model\n\
00200 int32 model_id\n\
00201 \n\
00202 # the pose that it can be found in\n\
00203 geometry_msgs/PoseStamped pose\n\
00204 \n\
00205 # a measure of the confidence level in this detection result\n\
00206 float32 confidence\n\
00207 \n\
00208 # the name of the object detector that generated this detection result\n\
00209 string detector_name\n\
00210 \n\
00211 ================================================================================\n\
00212 MSG: geometry_msgs/PoseStamped\n\
00213 # A Pose with reference coordinate frame and timestamp\n\
00214 Header header\n\
00215 Pose pose\n\
00216 \n\
00217 ================================================================================\n\
00218 MSG: sensor_msgs/PointCloud\n\
00219 # This message holds a collection of 3d points, plus optional additional\n\
00220 # information about each point.\n\
00221 \n\
00222 # Time of sensor data acquisition, coordinate frame ID.\n\
00223 Header header\n\
00224 \n\
00225 # Array of 3d points. Each Point32 should be interpreted as a 3d point\n\
00226 # in the frame given in the header.\n\
00227 geometry_msgs/Point32[] points\n\
00228 \n\
00229 # Each channel should have the same number of elements as points array,\n\
00230 # and the data in each channel should correspond 1:1 with each point.\n\
00231 # Channel names in common practice are listed in ChannelFloat32.msg.\n\
00232 ChannelFloat32[] channels\n\
00233 \n\
00234 ================================================================================\n\
00235 MSG: geometry_msgs/Point32\n\
00236 # This contains the position of a point in free space(with 32 bits of precision).\n\
00237 # It is recommeded to use Point wherever possible instead of Point32. \n\
00238 # \n\
00239 # This recommendation is to promote interoperability. \n\
00240 #\n\
00241 # This message is designed to take up less space when sending\n\
00242 # lots of points at once, as in the case of a PointCloud. \n\
00243 \n\
00244 float32 x\n\
00245 float32 y\n\
00246 float32 z\n\
00247 ================================================================================\n\
00248 MSG: sensor_msgs/ChannelFloat32\n\
00249 # This message is used by the PointCloud message to hold optional data\n\
00250 # associated with each point in the cloud. The length of the values\n\
00251 # array should be the same as the length of the points array in the\n\
00252 # PointCloud, and each value should be associated with the corresponding\n\
00253 # point.\n\
00254 \n\
00255 # Channel names in existing practice include:\n\
00256 # \"u\", \"v\" - row and column (respectively) in the left stereo image.\n\
00257 # This is opposite to usual conventions but remains for\n\
00258 # historical reasons. The newer PointCloud2 message has no\n\
00259 # such problem.\n\
00260 # \"rgb\" - For point clouds produced by color stereo cameras. uint8\n\
00261 # (R,G,B) values packed into the least significant 24 bits,\n\
00262 # in order.\n\
00263 # \"intensity\" - laser or pixel intensity.\n\
00264 # \"distance\"\n\
00265 \n\
00266 # The channel name should give semantics of the channel (e.g.\n\
00267 # \"intensity\" instead of \"value\").\n\
00268 string name\n\
00269 \n\
00270 # The values array should be 1-1 with the elements of the associated\n\
00271 # PointCloud.\n\
00272 float32[] values\n\
00273 \n\
00274 ================================================================================\n\
00275 MSG: object_manipulation_msgs/SceneRegion\n\
00276 # Point cloud\n\
00277 sensor_msgs/PointCloud2 cloud\n\
00278 \n\
00279 # Indices for the region of interest\n\
00280 int32[] mask\n\
00281 \n\
00282 # One of the corresponding 2D images, if applicable\n\
00283 sensor_msgs/Image image\n\
00284 \n\
00285 # The disparity image, if applicable\n\
00286 sensor_msgs/Image disparity_image\n\
00287 \n\
00288 # Camera info for the camera that took the image\n\
00289 sensor_msgs/CameraInfo cam_info\n\
00290 \n\
00291 # a 3D region of interest for grasp planning\n\
00292 geometry_msgs/PoseStamped roi_box_pose\n\
00293 geometry_msgs/Vector3 roi_box_dims\n\
00294 \n\
00295 ================================================================================\n\
00296 MSG: sensor_msgs/PointCloud2\n\
00297 # This message holds a collection of N-dimensional points, which may\n\
00298 # contain additional information such as normals, intensity, etc. The\n\
00299 # point data is stored as a binary blob, its layout described by the\n\
00300 # contents of the \"fields\" array.\n\
00301 \n\
00302 # The point cloud data may be organized 2d (image-like) or 1d\n\
00303 # (unordered). Point clouds organized as 2d images may be produced by\n\
00304 # camera depth sensors such as stereo or time-of-flight.\n\
00305 \n\
00306 # Time of sensor data acquisition, and the coordinate frame ID (for 3d\n\
00307 # points).\n\
00308 Header header\n\
00309 \n\
00310 # 2D structure of the point cloud. If the cloud is unordered, height is\n\
00311 # 1 and width is the length of the point cloud.\n\
00312 uint32 height\n\
00313 uint32 width\n\
00314 \n\
00315 # Describes the channels and their layout in the binary data blob.\n\
00316 PointField[] fields\n\
00317 \n\
00318 bool is_bigendian # Is this data bigendian?\n\
00319 uint32 point_step # Length of a point in bytes\n\
00320 uint32 row_step # Length of a row in bytes\n\
00321 uint8[] data # Actual point data, size is (row_step*height)\n\
00322 \n\
00323 bool is_dense # True if there are no invalid points\n\
00324 \n\
00325 ================================================================================\n\
00326 MSG: sensor_msgs/PointField\n\
00327 # This message holds the description of one point entry in the\n\
00328 # PointCloud2 message format.\n\
00329 uint8 INT8 = 1\n\
00330 uint8 UINT8 = 2\n\
00331 uint8 INT16 = 3\n\
00332 uint8 UINT16 = 4\n\
00333 uint8 INT32 = 5\n\
00334 uint8 UINT32 = 6\n\
00335 uint8 FLOAT32 = 7\n\
00336 uint8 FLOAT64 = 8\n\
00337 \n\
00338 string name # Name of field\n\
00339 uint32 offset # Offset from start of point struct\n\
00340 uint8 datatype # Datatype enumeration, see above\n\
00341 uint32 count # How many elements in the field\n\
00342 \n\
00343 ================================================================================\n\
00344 MSG: sensor_msgs/Image\n\
00345 # This message contains an uncompressed image\n\
00346 # (0, 0) is at top-left corner of image\n\
00347 #\n\
00348 \n\
00349 Header header # Header timestamp should be acquisition time of image\n\
00350 # Header frame_id should be optical frame of camera\n\
00351 # origin of frame should be optical center of cameara\n\
00352 # +x should point to the right in the image\n\
00353 # +y should point down in the image\n\
00354 # +z should point into to plane of the image\n\
00355 # If the frame_id here and the frame_id of the CameraInfo\n\
00356 # message associated with the image conflict\n\
00357 # the behavior is undefined\n\
00358 \n\
00359 uint32 height # image height, that is, number of rows\n\
00360 uint32 width # image width, that is, number of columns\n\
00361 \n\
00362 # The legal values for encoding are in file src/image_encodings.cpp\n\
00363 # If you want to standardize a new string format, join\n\
00364 # ros-users@lists.sourceforge.net and send an email proposing a new encoding.\n\
00365 \n\
00366 string encoding # Encoding of pixels -- channel meaning, ordering, size\n\
00367 # taken from the list of strings in src/image_encodings.cpp\n\
00368 \n\
00369 uint8 is_bigendian # is this data bigendian?\n\
00370 uint32 step # Full row length in bytes\n\
00371 uint8[] data # actual matrix data, size is (step * rows)\n\
00372 \n\
00373 ================================================================================\n\
00374 MSG: sensor_msgs/CameraInfo\n\
00375 # This message defines meta information for a camera. It should be in a\n\
00376 # camera namespace on topic \"camera_info\" and accompanied by up to five\n\
00377 # image topics named:\n\
00378 #\n\
00379 # image_raw - raw data from the camera driver, possibly Bayer encoded\n\
00380 # image - monochrome, distorted\n\
00381 # image_color - color, distorted\n\
00382 # image_rect - monochrome, rectified\n\
00383 # image_rect_color - color, rectified\n\
00384 #\n\
00385 # The image_pipeline contains packages (image_proc, stereo_image_proc)\n\
00386 # for producing the four processed image topics from image_raw and\n\
00387 # camera_info. The meaning of the camera parameters are described in\n\
00388 # detail at http://www.ros.org/wiki/image_pipeline/CameraInfo.\n\
00389 #\n\
00390 # The image_geometry package provides a user-friendly interface to\n\
00391 # common operations using this meta information. If you want to, e.g.,\n\
00392 # project a 3d point into image coordinates, we strongly recommend\n\
00393 # using image_geometry.\n\
00394 #\n\
00395 # If the camera is uncalibrated, the matrices D, K, R, P should be left\n\
00396 # zeroed out. In particular, clients may assume that K[0] == 0.0\n\
00397 # indicates an uncalibrated camera.\n\
00398 \n\
00399 #######################################################################\n\
00400 # Image acquisition info #\n\
00401 #######################################################################\n\
00402 \n\
00403 # Time of image acquisition, camera coordinate frame ID\n\
00404 Header header # Header timestamp should be acquisition time of image\n\
00405 # Header frame_id should be optical frame of camera\n\
00406 # origin of frame should be optical center of camera\n\
00407 # +x should point to the right in the image\n\
00408 # +y should point down in the image\n\
00409 # +z should point into the plane of the image\n\
00410 \n\
00411 \n\
00412 #######################################################################\n\
00413 # Calibration Parameters #\n\
00414 #######################################################################\n\
00415 # These are fixed during camera calibration. Their values will be the #\n\
00416 # same in all messages until the camera is recalibrated. Note that #\n\
00417 # self-calibrating systems may \"recalibrate\" frequently. #\n\
00418 # #\n\
00419 # The internal parameters can be used to warp a raw (distorted) image #\n\
00420 # to: #\n\
00421 # 1. An undistorted image (requires D and K) #\n\
00422 # 2. A rectified image (requires D, K, R) #\n\
00423 # The projection matrix P projects 3D points into the rectified image.#\n\
00424 #######################################################################\n\
00425 \n\
00426 # The image dimensions with which the camera was calibrated. Normally\n\
00427 # this will be the full camera resolution in pixels.\n\
00428 uint32 height\n\
00429 uint32 width\n\
00430 \n\
00431 # The distortion model used. Supported models are listed in\n\
00432 # sensor_msgs/distortion_models.h. For most cameras, \"plumb_bob\" - a\n\
00433 # simple model of radial and tangential distortion - is sufficent.\n\
00434 string distortion_model\n\
00435 \n\
00436 # The distortion parameters, size depending on the distortion model.\n\
00437 # For \"plumb_bob\", the 5 parameters are: (k1, k2, t1, t2, k3).\n\
00438 float64[] D\n\
00439 \n\
00440 # Intrinsic camera matrix for the raw (distorted) images.\n\
00441 # [fx 0 cx]\n\
00442 # K = [ 0 fy cy]\n\
00443 # [ 0 0 1]\n\
00444 # Projects 3D points in the camera coordinate frame to 2D pixel\n\
00445 # coordinates using the focal lengths (fx, fy) and principal point\n\
00446 # (cx, cy).\n\
00447 float64[9] K # 3x3 row-major matrix\n\
00448 \n\
00449 # Rectification matrix (stereo cameras only)\n\
00450 # A rotation matrix aligning the camera coordinate system to the ideal\n\
00451 # stereo image plane so that epipolar lines in both stereo images are\n\
00452 # parallel.\n\
00453 float64[9] R # 3x3 row-major matrix\n\
00454 \n\
00455 # Projection/camera matrix\n\
00456 # [fx' 0 cx' Tx]\n\
00457 # P = [ 0 fy' cy' Ty]\n\
00458 # [ 0 0 1 0]\n\
00459 # By convention, this matrix specifies the intrinsic (camera) matrix\n\
00460 # of the processed (rectified) image. That is, the left 3x3 portion\n\
00461 # is the normal camera intrinsic matrix for the rectified image.\n\
00462 # It projects 3D points in the camera coordinate frame to 2D pixel\n\
00463 # coordinates using the focal lengths (fx', fy') and principal point\n\
00464 # (cx', cy') - these may differ from the values in K.\n\
00465 # For monocular cameras, Tx = Ty = 0. Normally, monocular cameras will\n\
00466 # also have R = the identity and P[1:3,1:3] = K.\n\
00467 # For a stereo pair, the fourth column [Tx Ty 0]' is related to the\n\
00468 # position of the optical center of the second camera in the first\n\
00469 # camera's frame. We assume Tz = 0 so both cameras are in the same\n\
00470 # stereo image plane. The first camera always has Tx = Ty = 0. For\n\
00471 # the right (second) camera of a horizontal stereo pair, Ty = 0 and\n\
00472 # Tx = -fx' * B, where B is the baseline between the cameras.\n\
00473 # Given a 3D point [X Y Z]', the projection (x, y) of the point onto\n\
00474 # the rectified image is given by:\n\
00475 # [u v w]' = P * [X Y Z 1]'\n\
00476 # x = u / w\n\
00477 # y = v / w\n\
00478 # This holds for both images of a stereo pair.\n\
00479 float64[12] P # 3x4 row-major matrix\n\
00480 \n\
00481 \n\
00482 #######################################################################\n\
00483 # Operational Parameters #\n\
00484 #######################################################################\n\
00485 # These define the image region actually captured by the camera #\n\
00486 # driver. Although they affect the geometry of the output image, they #\n\
00487 # may be changed freely without recalibrating the camera. #\n\
00488 #######################################################################\n\
00489 \n\
00490 # Binning refers here to any camera setting which combines rectangular\n\
00491 # neighborhoods of pixels into larger \"super-pixels.\" It reduces the\n\
00492 # resolution of the output image to\n\
00493 # (width / binning_x) x (height / binning_y).\n\
00494 # The default values binning_x = binning_y = 0 is considered the same\n\
00495 # as binning_x = binning_y = 1 (no subsampling).\n\
00496 uint32 binning_x\n\
00497 uint32 binning_y\n\
00498 \n\
00499 # Region of interest (subwindow of full camera resolution), given in\n\
00500 # full resolution (unbinned) image coordinates. A particular ROI\n\
00501 # always denotes the same window of pixels on the camera sensor,\n\
00502 # regardless of binning settings.\n\
00503 # The default setting of roi (all values 0) is considered the same as\n\
00504 # full resolution (roi.width = width, roi.height = height).\n\
00505 RegionOfInterest roi\n\
00506 \n\
00507 ================================================================================\n\
00508 MSG: sensor_msgs/RegionOfInterest\n\
00509 # This message is used to specify a region of interest within an image.\n\
00510 #\n\
00511 # When used to specify the ROI setting of the camera when the image was\n\
00512 # taken, the height and width fields should either match the height and\n\
00513 # width fields for the associated image; or height = width = 0\n\
00514 # indicates that the full resolution image was captured.\n\
00515 \n\
00516 uint32 x_offset # Leftmost pixel of the ROI\n\
00517 # (0 if the ROI includes the left edge of the image)\n\
00518 uint32 y_offset # Topmost pixel of the ROI\n\
00519 # (0 if the ROI includes the top edge of the image)\n\
00520 uint32 height # Height of ROI\n\
00521 uint32 width # Width of ROI\n\
00522 \n\
00523 # True if a distinct rectified ROI should be calculated from the \"raw\"\n\
00524 # ROI in this message. Typically this should be False if the full image\n\
00525 # is captured (ROI not used), and True if a subwindow is captured (ROI\n\
00526 # used).\n\
00527 bool do_rectify\n\
00528 \n\
00529 ================================================================================\n\
00530 MSG: geometry_msgs/Vector3\n\
00531 # This represents a vector in free space. \n\
00532 \n\
00533 float64 x\n\
00534 float64 y\n\
00535 float64 z\n\
00536 "; }
00537 public:
00538 ROS_DEPRECATED static const std::string __s_getMessageDefinition() { return __s_getMessageDefinition_(); }
00539
00540 ROS_DEPRECATED const std::string __getMessageDefinition() const { return __s_getMessageDefinition_(); }
00541
00542 ROS_DEPRECATED virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const
00543 {
00544 ros::serialization::OStream stream(write_ptr, 1000000000);
00545 ros::serialization::serialize(stream, grasps);
00546 return stream.getData();
00547 }
00548
00549 ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr)
00550 {
00551 ros::serialization::IStream stream(read_ptr, 1000000000);
00552 ros::serialization::deserialize(stream, grasps);
00553 return stream.getData();
00554 }
00555
00556 ROS_DEPRECATED virtual uint32_t serializationLength() const
00557 {
00558 uint32_t size = 0;
00559 size += ros::serialization::serializationLength(grasps);
00560 return size;
00561 }
00562
00563 typedef boost::shared_ptr< ::object_manipulation_msgs::GraspPlanningFeedback_<ContainerAllocator> > Ptr;
00564 typedef boost::shared_ptr< ::object_manipulation_msgs::GraspPlanningFeedback_<ContainerAllocator> const> ConstPtr;
00565 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00566 };
00567 typedef ::object_manipulation_msgs::GraspPlanningFeedback_<std::allocator<void> > GraspPlanningFeedback;
00568
00569 typedef boost::shared_ptr< ::object_manipulation_msgs::GraspPlanningFeedback> GraspPlanningFeedbackPtr;
00570 typedef boost::shared_ptr< ::object_manipulation_msgs::GraspPlanningFeedback const> GraspPlanningFeedbackConstPtr;
00571
00572
00573 template<typename ContainerAllocator>
00574 std::ostream& operator<<(std::ostream& s, const ::object_manipulation_msgs::GraspPlanningFeedback_<ContainerAllocator> & v)
00575 {
00576 ros::message_operations::Printer< ::object_manipulation_msgs::GraspPlanningFeedback_<ContainerAllocator> >::stream(s, "", v);
00577 return s;}
00578
00579 }
00580
00581 namespace ros
00582 {
00583 namespace message_traits
00584 {
00585 template<class ContainerAllocator> struct IsMessage< ::object_manipulation_msgs::GraspPlanningFeedback_<ContainerAllocator> > : public TrueType {};
00586 template<class ContainerAllocator> struct IsMessage< ::object_manipulation_msgs::GraspPlanningFeedback_<ContainerAllocator> const> : public TrueType {};
00587 template<class ContainerAllocator>
00588 struct MD5Sum< ::object_manipulation_msgs::GraspPlanningFeedback_<ContainerAllocator> > {
00589 static const char* value()
00590 {
00591 return "7545a4f0b7d645678d5ba66709912a4b";
00592 }
00593
00594 static const char* value(const ::object_manipulation_msgs::GraspPlanningFeedback_<ContainerAllocator> &) { return value(); }
00595 static const uint64_t static_value1 = 0x7545a4f0b7d64567ULL;
00596 static const uint64_t static_value2 = 0x8d5ba66709912a4bULL;
00597 };
00598
00599 template<class ContainerAllocator>
00600 struct DataType< ::object_manipulation_msgs::GraspPlanningFeedback_<ContainerAllocator> > {
00601 static const char* value()
00602 {
00603 return "object_manipulation_msgs/GraspPlanningFeedback";
00604 }
00605
00606 static const char* value(const ::object_manipulation_msgs::GraspPlanningFeedback_<ContainerAllocator> &) { return value(); }
00607 };
00608
00609 template<class ContainerAllocator>
00610 struct Definition< ::object_manipulation_msgs::GraspPlanningFeedback_<ContainerAllocator> > {
00611 static const char* value()
00612 {
00613 return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00614 \n\
00615 # grasps planned so far\n\
00616 Grasp[] grasps\n\
00617 \n\
00618 \n\
00619 \n\
00620 ================================================================================\n\
00621 MSG: object_manipulation_msgs/Grasp\n\
00622 \n\
00623 # The internal posture of the hand for the pre-grasp\n\
00624 # only positions are used\n\
00625 sensor_msgs/JointState pre_grasp_posture\n\
00626 \n\
00627 # The internal posture of the hand for the grasp\n\
00628 # positions and efforts are used\n\
00629 sensor_msgs/JointState grasp_posture\n\
00630 \n\
00631 # The position of the end-effector for the grasp relative to a reference frame \n\
00632 # (that is always specified elsewhere, not in this message)\n\
00633 geometry_msgs/Pose grasp_pose\n\
00634 \n\
00635 # The estimated probability of success for this grasp\n\
00636 float64 success_probability\n\
00637 \n\
00638 # Debug flag to indicate that this grasp would be the best in its cluster\n\
00639 bool cluster_rep\n\
00640 \n\
00641 # how far the pre-grasp should ideally be away from the grasp\n\
00642 float32 desired_approach_distance\n\
00643 \n\
00644 # how much distance between pre-grasp and grasp must actually be feasible \n\
00645 # for the grasp not to be rejected\n\
00646 float32 min_approach_distance\n\
00647 \n\
00648 # an optional list of obstacles that we have semantic information about\n\
00649 # and that we expect might move in the course of executing this grasp\n\
00650 # the grasp planner is expected to make sure they move in an OK way; during\n\
00651 # execution, grasp executors will not check for collisions against these objects\n\
00652 GraspableObject[] moved_obstacles\n\
00653 \n\
00654 ================================================================================\n\
00655 MSG: sensor_msgs/JointState\n\
00656 # This is a message that holds data to describe the state of a set of torque controlled joints. \n\
00657 #\n\
00658 # The state of each joint (revolute or prismatic) is defined by:\n\
00659 # * the position of the joint (rad or m),\n\
00660 # * the velocity of the joint (rad/s or m/s) and \n\
00661 # * the effort that is applied in the joint (Nm or N).\n\
00662 #\n\
00663 # Each joint is uniquely identified by its name\n\
00664 # The header specifies the time at which the joint states were recorded. All the joint states\n\
00665 # in one message have to be recorded at the same time.\n\
00666 #\n\
00667 # This message consists of a multiple arrays, one for each part of the joint state. \n\
00668 # The goal is to make each of the fields optional. When e.g. your joints have no\n\
00669 # effort associated with them, you can leave the effort array empty. \n\
00670 #\n\
00671 # All arrays in this message should have the same size, or be empty.\n\
00672 # This is the only way to uniquely associate the joint name with the correct\n\
00673 # states.\n\
00674 \n\
00675 \n\
00676 Header header\n\
00677 \n\
00678 string[] name\n\
00679 float64[] position\n\
00680 float64[] velocity\n\
00681 float64[] effort\n\
00682 \n\
00683 ================================================================================\n\
00684 MSG: std_msgs/Header\n\
00685 # Standard metadata for higher-level stamped data types.\n\
00686 # This is generally used to communicate timestamped data \n\
00687 # in a particular coordinate frame.\n\
00688 # \n\
00689 # sequence ID: consecutively increasing ID \n\
00690 uint32 seq\n\
00691 #Two-integer timestamp that is expressed as:\n\
00692 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00693 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00694 # time-handling sugar is provided by the client library\n\
00695 time stamp\n\
00696 #Frame this data is associated with\n\
00697 # 0: no frame\n\
00698 # 1: global frame\n\
00699 string frame_id\n\
00700 \n\
00701 ================================================================================\n\
00702 MSG: geometry_msgs/Pose\n\
00703 # A representation of pose in free space, composed of postion and orientation. \n\
00704 Point position\n\
00705 Quaternion orientation\n\
00706 \n\
00707 ================================================================================\n\
00708 MSG: geometry_msgs/Point\n\
00709 # This contains the position of a point in free space\n\
00710 float64 x\n\
00711 float64 y\n\
00712 float64 z\n\
00713 \n\
00714 ================================================================================\n\
00715 MSG: geometry_msgs/Quaternion\n\
00716 # This represents an orientation in free space in quaternion form.\n\
00717 \n\
00718 float64 x\n\
00719 float64 y\n\
00720 float64 z\n\
00721 float64 w\n\
00722 \n\
00723 ================================================================================\n\
00724 MSG: object_manipulation_msgs/GraspableObject\n\
00725 # an object that the object_manipulator can work on\n\
00726 \n\
00727 # a graspable object can be represented in multiple ways. This message\n\
00728 # can contain all of them. Which one is actually used is up to the receiver\n\
00729 # of this message. When adding new representations, one must be careful that\n\
00730 # they have reasonable lightweight defaults indicating that that particular\n\
00731 # representation is not available.\n\
00732 \n\
00733 # the tf frame to be used as a reference frame when combining information from\n\
00734 # the different representations below\n\
00735 string reference_frame_id\n\
00736 \n\
00737 # potential recognition results from a database of models\n\
00738 # all poses are relative to the object reference pose\n\
00739 household_objects_database_msgs/DatabaseModelPose[] potential_models\n\
00740 \n\
00741 # the point cloud itself\n\
00742 sensor_msgs/PointCloud cluster\n\
00743 \n\
00744 # a region of a PointCloud2 of interest\n\
00745 object_manipulation_msgs/SceneRegion region\n\
00746 \n\
00747 # the name that this object has in the collision environment\n\
00748 string collision_name\n\
00749 ================================================================================\n\
00750 MSG: household_objects_database_msgs/DatabaseModelPose\n\
00751 # Informs that a specific model from the Model Database has been \n\
00752 # identified at a certain location\n\
00753 \n\
00754 # the database id of the model\n\
00755 int32 model_id\n\
00756 \n\
00757 # the pose that it can be found in\n\
00758 geometry_msgs/PoseStamped pose\n\
00759 \n\
00760 # a measure of the confidence level in this detection result\n\
00761 float32 confidence\n\
00762 \n\
00763 # the name of the object detector that generated this detection result\n\
00764 string detector_name\n\
00765 \n\
00766 ================================================================================\n\
00767 MSG: geometry_msgs/PoseStamped\n\
00768 # A Pose with reference coordinate frame and timestamp\n\
00769 Header header\n\
00770 Pose pose\n\
00771 \n\
00772 ================================================================================\n\
00773 MSG: sensor_msgs/PointCloud\n\
00774 # This message holds a collection of 3d points, plus optional additional\n\
00775 # information about each point.\n\
00776 \n\
00777 # Time of sensor data acquisition, coordinate frame ID.\n\
00778 Header header\n\
00779 \n\
00780 # Array of 3d points. Each Point32 should be interpreted as a 3d point\n\
00781 # in the frame given in the header.\n\
00782 geometry_msgs/Point32[] points\n\
00783 \n\
00784 # Each channel should have the same number of elements as points array,\n\
00785 # and the data in each channel should correspond 1:1 with each point.\n\
00786 # Channel names in common practice are listed in ChannelFloat32.msg.\n\
00787 ChannelFloat32[] channels\n\
00788 \n\
00789 ================================================================================\n\
00790 MSG: geometry_msgs/Point32\n\
00791 # This contains the position of a point in free space(with 32 bits of precision).\n\
00792 # It is recommeded to use Point wherever possible instead of Point32. \n\
00793 # \n\
00794 # This recommendation is to promote interoperability. \n\
00795 #\n\
00796 # This message is designed to take up less space when sending\n\
00797 # lots of points at once, as in the case of a PointCloud. \n\
00798 \n\
00799 float32 x\n\
00800 float32 y\n\
00801 float32 z\n\
00802 ================================================================================\n\
00803 MSG: sensor_msgs/ChannelFloat32\n\
00804 # This message is used by the PointCloud message to hold optional data\n\
00805 # associated with each point in the cloud. The length of the values\n\
00806 # array should be the same as the length of the points array in the\n\
00807 # PointCloud, and each value should be associated with the corresponding\n\
00808 # point.\n\
00809 \n\
00810 # Channel names in existing practice include:\n\
00811 # \"u\", \"v\" - row and column (respectively) in the left stereo image.\n\
00812 # This is opposite to usual conventions but remains for\n\
00813 # historical reasons. The newer PointCloud2 message has no\n\
00814 # such problem.\n\
00815 # \"rgb\" - For point clouds produced by color stereo cameras. uint8\n\
00816 # (R,G,B) values packed into the least significant 24 bits,\n\
00817 # in order.\n\
00818 # \"intensity\" - laser or pixel intensity.\n\
00819 # \"distance\"\n\
00820 \n\
00821 # The channel name should give semantics of the channel (e.g.\n\
00822 # \"intensity\" instead of \"value\").\n\
00823 string name\n\
00824 \n\
00825 # The values array should be 1-1 with the elements of the associated\n\
00826 # PointCloud.\n\
00827 float32[] values\n\
00828 \n\
00829 ================================================================================\n\
00830 MSG: object_manipulation_msgs/SceneRegion\n\
00831 # Point cloud\n\
00832 sensor_msgs/PointCloud2 cloud\n\
00833 \n\
00834 # Indices for the region of interest\n\
00835 int32[] mask\n\
00836 \n\
00837 # One of the corresponding 2D images, if applicable\n\
00838 sensor_msgs/Image image\n\
00839 \n\
00840 # The disparity image, if applicable\n\
00841 sensor_msgs/Image disparity_image\n\
00842 \n\
00843 # Camera info for the camera that took the image\n\
00844 sensor_msgs/CameraInfo cam_info\n\
00845 \n\
00846 # a 3D region of interest for grasp planning\n\
00847 geometry_msgs/PoseStamped roi_box_pose\n\
00848 geometry_msgs/Vector3 roi_box_dims\n\
00849 \n\
00850 ================================================================================\n\
00851 MSG: sensor_msgs/PointCloud2\n\
00852 # This message holds a collection of N-dimensional points, which may\n\
00853 # contain additional information such as normals, intensity, etc. The\n\
00854 # point data is stored as a binary blob, its layout described by the\n\
00855 # contents of the \"fields\" array.\n\
00856 \n\
00857 # The point cloud data may be organized 2d (image-like) or 1d\n\
00858 # (unordered). Point clouds organized as 2d images may be produced by\n\
00859 # camera depth sensors such as stereo or time-of-flight.\n\
00860 \n\
00861 # Time of sensor data acquisition, and the coordinate frame ID (for 3d\n\
00862 # points).\n\
00863 Header header\n\
00864 \n\
00865 # 2D structure of the point cloud. If the cloud is unordered, height is\n\
00866 # 1 and width is the length of the point cloud.\n\
00867 uint32 height\n\
00868 uint32 width\n\
00869 \n\
00870 # Describes the channels and their layout in the binary data blob.\n\
00871 PointField[] fields\n\
00872 \n\
00873 bool is_bigendian # Is this data bigendian?\n\
00874 uint32 point_step # Length of a point in bytes\n\
00875 uint32 row_step # Length of a row in bytes\n\
00876 uint8[] data # Actual point data, size is (row_step*height)\n\
00877 \n\
00878 bool is_dense # True if there are no invalid points\n\
00879 \n\
00880 ================================================================================\n\
00881 MSG: sensor_msgs/PointField\n\
00882 # This message holds the description of one point entry in the\n\
00883 # PointCloud2 message format.\n\
00884 uint8 INT8 = 1\n\
00885 uint8 UINT8 = 2\n\
00886 uint8 INT16 = 3\n\
00887 uint8 UINT16 = 4\n\
00888 uint8 INT32 = 5\n\
00889 uint8 UINT32 = 6\n\
00890 uint8 FLOAT32 = 7\n\
00891 uint8 FLOAT64 = 8\n\
00892 \n\
00893 string name # Name of field\n\
00894 uint32 offset # Offset from start of point struct\n\
00895 uint8 datatype # Datatype enumeration, see above\n\
00896 uint32 count # How many elements in the field\n\
00897 \n\
00898 ================================================================================\n\
00899 MSG: sensor_msgs/Image\n\
00900 # This message contains an uncompressed image\n\
00901 # (0, 0) is at top-left corner of image\n\
00902 #\n\
00903 \n\
00904 Header header # Header timestamp should be acquisition time of image\n\
00905 # Header frame_id should be optical frame of camera\n\
00906 # origin of frame should be optical center of cameara\n\
00907 # +x should point to the right in the image\n\
00908 # +y should point down in the image\n\
00909 # +z should point into to plane of the image\n\
00910 # If the frame_id here and the frame_id of the CameraInfo\n\
00911 # message associated with the image conflict\n\
00912 # the behavior is undefined\n\
00913 \n\
00914 uint32 height # image height, that is, number of rows\n\
00915 uint32 width # image width, that is, number of columns\n\
00916 \n\
00917 # The legal values for encoding are in file src/image_encodings.cpp\n\
00918 # If you want to standardize a new string format, join\n\
00919 # ros-users@lists.sourceforge.net and send an email proposing a new encoding.\n\
00920 \n\
00921 string encoding # Encoding of pixels -- channel meaning, ordering, size\n\
00922 # taken from the list of strings in src/image_encodings.cpp\n\
00923 \n\
00924 uint8 is_bigendian # is this data bigendian?\n\
00925 uint32 step # Full row length in bytes\n\
00926 uint8[] data # actual matrix data, size is (step * rows)\n\
00927 \n\
00928 ================================================================================\n\
00929 MSG: sensor_msgs/CameraInfo\n\
00930 # This message defines meta information for a camera. It should be in a\n\
00931 # camera namespace on topic \"camera_info\" and accompanied by up to five\n\
00932 # image topics named:\n\
00933 #\n\
00934 # image_raw - raw data from the camera driver, possibly Bayer encoded\n\
00935 # image - monochrome, distorted\n\
00936 # image_color - color, distorted\n\
00937 # image_rect - monochrome, rectified\n\
00938 # image_rect_color - color, rectified\n\
00939 #\n\
00940 # The image_pipeline contains packages (image_proc, stereo_image_proc)\n\
00941 # for producing the four processed image topics from image_raw and\n\
00942 # camera_info. The meaning of the camera parameters are described in\n\
00943 # detail at http://www.ros.org/wiki/image_pipeline/CameraInfo.\n\
00944 #\n\
00945 # The image_geometry package provides a user-friendly interface to\n\
00946 # common operations using this meta information. If you want to, e.g.,\n\
00947 # project a 3d point into image coordinates, we strongly recommend\n\
00948 # using image_geometry.\n\
00949 #\n\
00950 # If the camera is uncalibrated, the matrices D, K, R, P should be left\n\
00951 # zeroed out. In particular, clients may assume that K[0] == 0.0\n\
00952 # indicates an uncalibrated camera.\n\
00953 \n\
00954 #######################################################################\n\
00955 # Image acquisition info #\n\
00956 #######################################################################\n\
00957 \n\
00958 # Time of image acquisition, camera coordinate frame ID\n\
00959 Header header # Header timestamp should be acquisition time of image\n\
00960 # Header frame_id should be optical frame of camera\n\
00961 # origin of frame should be optical center of camera\n\
00962 # +x should point to the right in the image\n\
00963 # +y should point down in the image\n\
00964 # +z should point into the plane of the image\n\
00965 \n\
00966 \n\
00967 #######################################################################\n\
00968 # Calibration Parameters #\n\
00969 #######################################################################\n\
00970 # These are fixed during camera calibration. Their values will be the #\n\
00971 # same in all messages until the camera is recalibrated. Note that #\n\
00972 # self-calibrating systems may \"recalibrate\" frequently. #\n\
00973 # #\n\
00974 # The internal parameters can be used to warp a raw (distorted) image #\n\
00975 # to: #\n\
00976 # 1. An undistorted image (requires D and K) #\n\
00977 # 2. A rectified image (requires D, K, R) #\n\
00978 # The projection matrix P projects 3D points into the rectified image.#\n\
00979 #######################################################################\n\
00980 \n\
00981 # The image dimensions with which the camera was calibrated. Normally\n\
00982 # this will be the full camera resolution in pixels.\n\
00983 uint32 height\n\
00984 uint32 width\n\
00985 \n\
00986 # The distortion model used. Supported models are listed in\n\
00987 # sensor_msgs/distortion_models.h. For most cameras, \"plumb_bob\" - a\n\
00988 # simple model of radial and tangential distortion - is sufficent.\n\
00989 string distortion_model\n\
00990 \n\
00991 # The distortion parameters, size depending on the distortion model.\n\
00992 # For \"plumb_bob\", the 5 parameters are: (k1, k2, t1, t2, k3).\n\
00993 float64[] D\n\
00994 \n\
00995 # Intrinsic camera matrix for the raw (distorted) images.\n\
00996 # [fx 0 cx]\n\
00997 # K = [ 0 fy cy]\n\
00998 # [ 0 0 1]\n\
00999 # Projects 3D points in the camera coordinate frame to 2D pixel\n\
01000 # coordinates using the focal lengths (fx, fy) and principal point\n\
01001 # (cx, cy).\n\
01002 float64[9] K # 3x3 row-major matrix\n\
01003 \n\
01004 # Rectification matrix (stereo cameras only)\n\
01005 # A rotation matrix aligning the camera coordinate system to the ideal\n\
01006 # stereo image plane so that epipolar lines in both stereo images are\n\
01007 # parallel.\n\
01008 float64[9] R # 3x3 row-major matrix\n\
01009 \n\
01010 # Projection/camera matrix\n\
01011 # [fx' 0 cx' Tx]\n\
01012 # P = [ 0 fy' cy' Ty]\n\
01013 # [ 0 0 1 0]\n\
01014 # By convention, this matrix specifies the intrinsic (camera) matrix\n\
01015 # of the processed (rectified) image. That is, the left 3x3 portion\n\
01016 # is the normal camera intrinsic matrix for the rectified image.\n\
01017 # It projects 3D points in the camera coordinate frame to 2D pixel\n\
01018 # coordinates using the focal lengths (fx', fy') and principal point\n\
01019 # (cx', cy') - these may differ from the values in K.\n\
01020 # For monocular cameras, Tx = Ty = 0. Normally, monocular cameras will\n\
01021 # also have R = the identity and P[1:3,1:3] = K.\n\
01022 # For a stereo pair, the fourth column [Tx Ty 0]' is related to the\n\
01023 # position of the optical center of the second camera in the first\n\
01024 # camera's frame. We assume Tz = 0 so both cameras are in the same\n\
01025 # stereo image plane. The first camera always has Tx = Ty = 0. For\n\
01026 # the right (second) camera of a horizontal stereo pair, Ty = 0 and\n\
01027 # Tx = -fx' * B, where B is the baseline between the cameras.\n\
01028 # Given a 3D point [X Y Z]', the projection (x, y) of the point onto\n\
01029 # the rectified image is given by:\n\
01030 # [u v w]' = P * [X Y Z 1]'\n\
01031 # x = u / w\n\
01032 # y = v / w\n\
01033 # This holds for both images of a stereo pair.\n\
01034 float64[12] P # 3x4 row-major matrix\n\
01035 \n\
01036 \n\
01037 #######################################################################\n\
01038 # Operational Parameters #\n\
01039 #######################################################################\n\
01040 # These define the image region actually captured by the camera #\n\
01041 # driver. Although they affect the geometry of the output image, they #\n\
01042 # may be changed freely without recalibrating the camera. #\n\
01043 #######################################################################\n\
01044 \n\
01045 # Binning refers here to any camera setting which combines rectangular\n\
01046 # neighborhoods of pixels into larger \"super-pixels.\" It reduces the\n\
01047 # resolution of the output image to\n\
01048 # (width / binning_x) x (height / binning_y).\n\
01049 # The default values binning_x = binning_y = 0 is considered the same\n\
01050 # as binning_x = binning_y = 1 (no subsampling).\n\
01051 uint32 binning_x\n\
01052 uint32 binning_y\n\
01053 \n\
01054 # Region of interest (subwindow of full camera resolution), given in\n\
01055 # full resolution (unbinned) image coordinates. A particular ROI\n\
01056 # always denotes the same window of pixels on the camera sensor,\n\
01057 # regardless of binning settings.\n\
01058 # The default setting of roi (all values 0) is considered the same as\n\
01059 # full resolution (roi.width = width, roi.height = height).\n\
01060 RegionOfInterest roi\n\
01061 \n\
01062 ================================================================================\n\
01063 MSG: sensor_msgs/RegionOfInterest\n\
01064 # This message is used to specify a region of interest within an image.\n\
01065 #\n\
01066 # When used to specify the ROI setting of the camera when the image was\n\
01067 # taken, the height and width fields should either match the height and\n\
01068 # width fields for the associated image; or height = width = 0\n\
01069 # indicates that the full resolution image was captured.\n\
01070 \n\
01071 uint32 x_offset # Leftmost pixel of the ROI\n\
01072 # (0 if the ROI includes the left edge of the image)\n\
01073 uint32 y_offset # Topmost pixel of the ROI\n\
01074 # (0 if the ROI includes the top edge of the image)\n\
01075 uint32 height # Height of ROI\n\
01076 uint32 width # Width of ROI\n\
01077 \n\
01078 # True if a distinct rectified ROI should be calculated from the \"raw\"\n\
01079 # ROI in this message. Typically this should be False if the full image\n\
01080 # is captured (ROI not used), and True if a subwindow is captured (ROI\n\
01081 # used).\n\
01082 bool do_rectify\n\
01083 \n\
01084 ================================================================================\n\
01085 MSG: geometry_msgs/Vector3\n\
01086 # This represents a vector in free space. \n\
01087 \n\
01088 float64 x\n\
01089 float64 y\n\
01090 float64 z\n\
01091 ";
01092 }
01093
01094 static const char* value(const ::object_manipulation_msgs::GraspPlanningFeedback_<ContainerAllocator> &) { return value(); }
01095 };
01096
01097 }
01098 }
01099
01100 namespace ros
01101 {
01102 namespace serialization
01103 {
01104
01105 template<class ContainerAllocator> struct Serializer< ::object_manipulation_msgs::GraspPlanningFeedback_<ContainerAllocator> >
01106 {
01107 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
01108 {
01109 stream.next(m.grasps);
01110 }
01111
01112 ROS_DECLARE_ALLINONE_SERIALIZER;
01113 };
01114 }
01115 }
01116
01117 namespace ros
01118 {
01119 namespace message_operations
01120 {
01121
01122 template<class ContainerAllocator>
01123 struct Printer< ::object_manipulation_msgs::GraspPlanningFeedback_<ContainerAllocator> >
01124 {
01125 template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::object_manipulation_msgs::GraspPlanningFeedback_<ContainerAllocator> & v)
01126 {
01127 s << indent << "grasps[]" << std::endl;
01128 for (size_t i = 0; i < v.grasps.size(); ++i)
01129 {
01130 s << indent << " grasps[" << i << "]: ";
01131 s << std::endl;
01132 s << indent;
01133 Printer< ::object_manipulation_msgs::Grasp_<ContainerAllocator> >::stream(s, indent + " ", v.grasps[i]);
01134 }
01135 }
01136 };
01137
01138
01139 }
01140 }
01141
01142 #endif // OBJECT_MANIPULATION_MSGS_MESSAGE_GRASPPLANNINGFEEDBACK_H
01143
