00001
00002 #ifndef OBJECT_MANIPULATION_MSGS_MESSAGE_GRASPPLANNINGGOAL_H
00003 #define OBJECT_MANIPULATION_MSGS_MESSAGE_GRASPPLANNINGGOAL_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/GraspableObject.h"
00018 #include "object_manipulation_msgs/Grasp.h"
00019 #include "object_manipulation_msgs/GraspableObject.h"
00020
00021 namespace object_manipulation_msgs
00022 {
00023 template <class ContainerAllocator>
00024 struct GraspPlanningGoal_ {
00025 typedef GraspPlanningGoal_<ContainerAllocator> Type;
00026
00027 GraspPlanningGoal_()
00028 : arm_name()
00029 , target()
00030 , collision_object_name()
00031 , collision_support_surface_name()
00032 , grasps_to_evaluate()
00033 , movable_obstacles()
00034 {
00035 }
00036
00037 GraspPlanningGoal_(const ContainerAllocator& _alloc)
00038 : arm_name(_alloc)
00039 , target(_alloc)
00040 , collision_object_name(_alloc)
00041 , collision_support_surface_name(_alloc)
00042 , grasps_to_evaluate(_alloc)
00043 , movable_obstacles(_alloc)
00044 {
00045 }
00046
00047 typedef std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > _arm_name_type;
00048 std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > arm_name;
00049
00050 typedef ::object_manipulation_msgs::GraspableObject_<ContainerAllocator> _target_type;
00051 ::object_manipulation_msgs::GraspableObject_<ContainerAllocator> target;
00052
00053 typedef std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > _collision_object_name_type;
00054 std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > collision_object_name;
00055
00056 typedef std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > _collision_support_surface_name_type;
00057 std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > collision_support_surface_name;
00058
00059 typedef std::vector< ::object_manipulation_msgs::Grasp_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::object_manipulation_msgs::Grasp_<ContainerAllocator> >::other > _grasps_to_evaluate_type;
00060 std::vector< ::object_manipulation_msgs::Grasp_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::object_manipulation_msgs::Grasp_<ContainerAllocator> >::other > grasps_to_evaluate;
00061
00062 typedef std::vector< ::object_manipulation_msgs::GraspableObject_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::object_manipulation_msgs::GraspableObject_<ContainerAllocator> >::other > _movable_obstacles_type;
00063 std::vector< ::object_manipulation_msgs::GraspableObject_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::object_manipulation_msgs::GraspableObject_<ContainerAllocator> >::other > movable_obstacles;
00064
00065
00066 ROS_DEPRECATED uint32_t get_grasps_to_evaluate_size() const { return (uint32_t)grasps_to_evaluate.size(); }
00067 ROS_DEPRECATED void set_grasps_to_evaluate_size(uint32_t size) { grasps_to_evaluate.resize((size_t)size); }
00068 ROS_DEPRECATED void get_grasps_to_evaluate_vec(std::vector< ::object_manipulation_msgs::Grasp_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::object_manipulation_msgs::Grasp_<ContainerAllocator> >::other > & vec) const { vec = this->grasps_to_evaluate; }
00069 ROS_DEPRECATED void set_grasps_to_evaluate_vec(const std::vector< ::object_manipulation_msgs::Grasp_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::object_manipulation_msgs::Grasp_<ContainerAllocator> >::other > & vec) { this->grasps_to_evaluate = vec; }
00070 ROS_DEPRECATED uint32_t get_movable_obstacles_size() const { return (uint32_t)movable_obstacles.size(); }
00071 ROS_DEPRECATED void set_movable_obstacles_size(uint32_t size) { movable_obstacles.resize((size_t)size); }
00072 ROS_DEPRECATED void get_movable_obstacles_vec(std::vector< ::object_manipulation_msgs::GraspableObject_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::object_manipulation_msgs::GraspableObject_<ContainerAllocator> >::other > & vec) const { vec = this->movable_obstacles; }
00073 ROS_DEPRECATED void set_movable_obstacles_vec(const std::vector< ::object_manipulation_msgs::GraspableObject_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::object_manipulation_msgs::GraspableObject_<ContainerAllocator> >::other > & vec) { this->movable_obstacles = vec; }
00074 private:
00075 static const char* __s_getDataType_() { return "object_manipulation_msgs/GraspPlanningGoal"; }
00076 public:
00077 ROS_DEPRECATED static const std::string __s_getDataType() { return __s_getDataType_(); }
00078
00079 ROS_DEPRECATED const std::string __getDataType() const { return __s_getDataType_(); }
00080
00081 private:
00082 static const char* __s_getMD5Sum_() { return "5003fdf2225280c9d81c2bce4e645c20"; }
00083 public:
00084 ROS_DEPRECATED static const std::string __s_getMD5Sum() { return __s_getMD5Sum_(); }
00085
00086 ROS_DEPRECATED const std::string __getMD5Sum() const { return __s_getMD5Sum_(); }
00087
00088 private:
00089 static const char* __s_getMessageDefinition_() { return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00090 # Requests that grasp planning be performed on the object to be grasped\n\
00091 # returns a list of grasps to be tested and executed\n\
00092 \n\
00093 # the arm being used\n\
00094 string arm_name\n\
00095 \n\
00096 # the object to be grasped\n\
00097 GraspableObject target\n\
00098 \n\
00099 # the name that the target object has in the collision environment\n\
00100 # can be left empty if no name is available\n\
00101 string collision_object_name\n\
00102 \n\
00103 # the name that the support surface (e.g. table) has in the collision map\n\
00104 # can be left empty if no name is available\n\
00105 string collision_support_surface_name\n\
00106 \n\
00107 # an optional list of grasps to be evaluated by the planner\n\
00108 Grasp[] grasps_to_evaluate\n\
00109 \n\
00110 # an optional list of obstacles that we have semantic information about\n\
00111 # and that can be moved in the course of grasping\n\
00112 GraspableObject[] movable_obstacles\n\
00113 \n\
00114 \n\
00115 ================================================================================\n\
00116 MSG: object_manipulation_msgs/GraspableObject\n\
00117 # an object that the object_manipulator can work on\n\
00118 \n\
00119 # a graspable object can be represented in multiple ways. This message\n\
00120 # can contain all of them. Which one is actually used is up to the receiver\n\
00121 # of this message. When adding new representations, one must be careful that\n\
00122 # they have reasonable lightweight defaults indicating that that particular\n\
00123 # representation is not available.\n\
00124 \n\
00125 # the tf frame to be used as a reference frame when combining information from\n\
00126 # the different representations below\n\
00127 string reference_frame_id\n\
00128 \n\
00129 # potential recognition results from a database of models\n\
00130 # all poses are relative to the object reference pose\n\
00131 household_objects_database_msgs/DatabaseModelPose[] potential_models\n\
00132 \n\
00133 # the point cloud itself\n\
00134 sensor_msgs/PointCloud cluster\n\
00135 \n\
00136 # a region of a PointCloud2 of interest\n\
00137 object_manipulation_msgs/SceneRegion region\n\
00138 \n\
00139 # the name that this object has in the collision environment\n\
00140 string collision_name\n\
00141 ================================================================================\n\
00142 MSG: household_objects_database_msgs/DatabaseModelPose\n\
00143 # Informs that a specific model from the Model Database has been \n\
00144 # identified at a certain location\n\
00145 \n\
00146 # the database id of the model\n\
00147 int32 model_id\n\
00148 \n\
00149 # the pose that it can be found in\n\
00150 geometry_msgs/PoseStamped pose\n\
00151 \n\
00152 # a measure of the confidence level in this detection result\n\
00153 float32 confidence\n\
00154 \n\
00155 # the name of the object detector that generated this detection result\n\
00156 string detector_name\n\
00157 \n\
00158 ================================================================================\n\
00159 MSG: geometry_msgs/PoseStamped\n\
00160 # A Pose with reference coordinate frame and timestamp\n\
00161 Header header\n\
00162 Pose pose\n\
00163 \n\
00164 ================================================================================\n\
00165 MSG: std_msgs/Header\n\
00166 # Standard metadata for higher-level stamped data types.\n\
00167 # This is generally used to communicate timestamped data \n\
00168 # in a particular coordinate frame.\n\
00169 # \n\
00170 # sequence ID: consecutively increasing ID \n\
00171 uint32 seq\n\
00172 #Two-integer timestamp that is expressed as:\n\
00173 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00174 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00175 # time-handling sugar is provided by the client library\n\
00176 time stamp\n\
00177 #Frame this data is associated with\n\
00178 # 0: no frame\n\
00179 # 1: global frame\n\
00180 string frame_id\n\
00181 \n\
00182 ================================================================================\n\
00183 MSG: geometry_msgs/Pose\n\
00184 # A representation of pose in free space, composed of postion and orientation. \n\
00185 Point position\n\
00186 Quaternion orientation\n\
00187 \n\
00188 ================================================================================\n\
00189 MSG: geometry_msgs/Point\n\
00190 # This contains the position of a point in free space\n\
00191 float64 x\n\
00192 float64 y\n\
00193 float64 z\n\
00194 \n\
00195 ================================================================================\n\
00196 MSG: geometry_msgs/Quaternion\n\
00197 # This represents an orientation in free space in quaternion form.\n\
00198 \n\
00199 float64 x\n\
00200 float64 y\n\
00201 float64 z\n\
00202 float64 w\n\
00203 \n\
00204 ================================================================================\n\
00205 MSG: sensor_msgs/PointCloud\n\
00206 # This message holds a collection of 3d points, plus optional additional\n\
00207 # information about each point.\n\
00208 \n\
00209 # Time of sensor data acquisition, coordinate frame ID.\n\
00210 Header header\n\
00211 \n\
00212 # Array of 3d points. Each Point32 should be interpreted as a 3d point\n\
00213 # in the frame given in the header.\n\
00214 geometry_msgs/Point32[] points\n\
00215 \n\
00216 # Each channel should have the same number of elements as points array,\n\
00217 # and the data in each channel should correspond 1:1 with each point.\n\
00218 # Channel names in common practice are listed in ChannelFloat32.msg.\n\
00219 ChannelFloat32[] channels\n\
00220 \n\
00221 ================================================================================\n\
00222 MSG: geometry_msgs/Point32\n\
00223 # This contains the position of a point in free space(with 32 bits of precision).\n\
00224 # It is recommeded to use Point wherever possible instead of Point32. \n\
00225 # \n\
00226 # This recommendation is to promote interoperability. \n\
00227 #\n\
00228 # This message is designed to take up less space when sending\n\
00229 # lots of points at once, as in the case of a PointCloud. \n\
00230 \n\
00231 float32 x\n\
00232 float32 y\n\
00233 float32 z\n\
00234 ================================================================================\n\
00235 MSG: sensor_msgs/ChannelFloat32\n\
00236 # This message is used by the PointCloud message to hold optional data\n\
00237 # associated with each point in the cloud. The length of the values\n\
00238 # array should be the same as the length of the points array in the\n\
00239 # PointCloud, and each value should be associated with the corresponding\n\
00240 # point.\n\
00241 \n\
00242 # Channel names in existing practice include:\n\
00243 # \"u\", \"v\" - row and column (respectively) in the left stereo image.\n\
00244 # This is opposite to usual conventions but remains for\n\
00245 # historical reasons. The newer PointCloud2 message has no\n\
00246 # such problem.\n\
00247 # \"rgb\" - For point clouds produced by color stereo cameras. uint8\n\
00248 # (R,G,B) values packed into the least significant 24 bits,\n\
00249 # in order.\n\
00250 # \"intensity\" - laser or pixel intensity.\n\
00251 # \"distance\"\n\
00252 \n\
00253 # The channel name should give semantics of the channel (e.g.\n\
00254 # \"intensity\" instead of \"value\").\n\
00255 string name\n\
00256 \n\
00257 # The values array should be 1-1 with the elements of the associated\n\
00258 # PointCloud.\n\
00259 float32[] values\n\
00260 \n\
00261 ================================================================================\n\
00262 MSG: object_manipulation_msgs/SceneRegion\n\
00263 # Point cloud\n\
00264 sensor_msgs/PointCloud2 cloud\n\
00265 \n\
00266 # Indices for the region of interest\n\
00267 int32[] mask\n\
00268 \n\
00269 # One of the corresponding 2D images, if applicable\n\
00270 sensor_msgs/Image image\n\
00271 \n\
00272 # The disparity image, if applicable\n\
00273 sensor_msgs/Image disparity_image\n\
00274 \n\
00275 # Camera info for the camera that took the image\n\
00276 sensor_msgs/CameraInfo cam_info\n\
00277 \n\
00278 # a 3D region of interest for grasp planning\n\
00279 geometry_msgs/PoseStamped roi_box_pose\n\
00280 geometry_msgs/Vector3 roi_box_dims\n\
00281 \n\
00282 ================================================================================\n\
00283 MSG: sensor_msgs/PointCloud2\n\
00284 # This message holds a collection of N-dimensional points, which may\n\
00285 # contain additional information such as normals, intensity, etc. The\n\
00286 # point data is stored as a binary blob, its layout described by the\n\
00287 # contents of the \"fields\" array.\n\
00288 \n\
00289 # The point cloud data may be organized 2d (image-like) or 1d\n\
00290 # (unordered). Point clouds organized as 2d images may be produced by\n\
00291 # camera depth sensors such as stereo or time-of-flight.\n\
00292 \n\
00293 # Time of sensor data acquisition, and the coordinate frame ID (for 3d\n\
00294 # points).\n\
00295 Header header\n\
00296 \n\
00297 # 2D structure of the point cloud. If the cloud is unordered, height is\n\
00298 # 1 and width is the length of the point cloud.\n\
00299 uint32 height\n\
00300 uint32 width\n\
00301 \n\
00302 # Describes the channels and their layout in the binary data blob.\n\
00303 PointField[] fields\n\
00304 \n\
00305 bool is_bigendian # Is this data bigendian?\n\
00306 uint32 point_step # Length of a point in bytes\n\
00307 uint32 row_step # Length of a row in bytes\n\
00308 uint8[] data # Actual point data, size is (row_step*height)\n\
00309 \n\
00310 bool is_dense # True if there are no invalid points\n\
00311 \n\
00312 ================================================================================\n\
00313 MSG: sensor_msgs/PointField\n\
00314 # This message holds the description of one point entry in the\n\
00315 # PointCloud2 message format.\n\
00316 uint8 INT8 = 1\n\
00317 uint8 UINT8 = 2\n\
00318 uint8 INT16 = 3\n\
00319 uint8 UINT16 = 4\n\
00320 uint8 INT32 = 5\n\
00321 uint8 UINT32 = 6\n\
00322 uint8 FLOAT32 = 7\n\
00323 uint8 FLOAT64 = 8\n\
00324 \n\
00325 string name # Name of field\n\
00326 uint32 offset # Offset from start of point struct\n\
00327 uint8 datatype # Datatype enumeration, see above\n\
00328 uint32 count # How many elements in the field\n\
00329 \n\
00330 ================================================================================\n\
00331 MSG: sensor_msgs/Image\n\
00332 # This message contains an uncompressed image\n\
00333 # (0, 0) is at top-left corner of image\n\
00334 #\n\
00335 \n\
00336 Header header # Header timestamp should be acquisition time of image\n\
00337 # Header frame_id should be optical frame of camera\n\
00338 # origin of frame should be optical center of cameara\n\
00339 # +x should point to the right in the image\n\
00340 # +y should point down in the image\n\
00341 # +z should point into to plane of the image\n\
00342 # If the frame_id here and the frame_id of the CameraInfo\n\
00343 # message associated with the image conflict\n\
00344 # the behavior is undefined\n\
00345 \n\
00346 uint32 height # image height, that is, number of rows\n\
00347 uint32 width # image width, that is, number of columns\n\
00348 \n\
00349 # The legal values for encoding are in file src/image_encodings.cpp\n\
00350 # If you want to standardize a new string format, join\n\
00351 # ros-users@lists.sourceforge.net and send an email proposing a new encoding.\n\
00352 \n\
00353 string encoding # Encoding of pixels -- channel meaning, ordering, size\n\
00354 # taken from the list of strings in src/image_encodings.cpp\n\
00355 \n\
00356 uint8 is_bigendian # is this data bigendian?\n\
00357 uint32 step # Full row length in bytes\n\
00358 uint8[] data # actual matrix data, size is (step * rows)\n\
00359 \n\
00360 ================================================================================\n\
00361 MSG: sensor_msgs/CameraInfo\n\
00362 # This message defines meta information for a camera. It should be in a\n\
00363 # camera namespace on topic \"camera_info\" and accompanied by up to five\n\
00364 # image topics named:\n\
00365 #\n\
00366 # image_raw - raw data from the camera driver, possibly Bayer encoded\n\
00367 # image - monochrome, distorted\n\
00368 # image_color - color, distorted\n\
00369 # image_rect - monochrome, rectified\n\
00370 # image_rect_color - color, rectified\n\
00371 #\n\
00372 # The image_pipeline contains packages (image_proc, stereo_image_proc)\n\
00373 # for producing the four processed image topics from image_raw and\n\
00374 # camera_info. The meaning of the camera parameters are described in\n\
00375 # detail at http://www.ros.org/wiki/image_pipeline/CameraInfo.\n\
00376 #\n\
00377 # The image_geometry package provides a user-friendly interface to\n\
00378 # common operations using this meta information. If you want to, e.g.,\n\
00379 # project a 3d point into image coordinates, we strongly recommend\n\
00380 # using image_geometry.\n\
00381 #\n\
00382 # If the camera is uncalibrated, the matrices D, K, R, P should be left\n\
00383 # zeroed out. In particular, clients may assume that K[0] == 0.0\n\
00384 # indicates an uncalibrated camera.\n\
00385 \n\
00386 #######################################################################\n\
00387 # Image acquisition info #\n\
00388 #######################################################################\n\
00389 \n\
00390 # Time of image acquisition, camera coordinate frame ID\n\
00391 Header header # Header timestamp should be acquisition time of image\n\
00392 # Header frame_id should be optical frame of camera\n\
00393 # origin of frame should be optical center of camera\n\
00394 # +x should point to the right in the image\n\
00395 # +y should point down in the image\n\
00396 # +z should point into the plane of the image\n\
00397 \n\
00398 \n\
00399 #######################################################################\n\
00400 # Calibration Parameters #\n\
00401 #######################################################################\n\
00402 # These are fixed during camera calibration. Their values will be the #\n\
00403 # same in all messages until the camera is recalibrated. Note that #\n\
00404 # self-calibrating systems may \"recalibrate\" frequently. #\n\
00405 # #\n\
00406 # The internal parameters can be used to warp a raw (distorted) image #\n\
00407 # to: #\n\
00408 # 1. An undistorted image (requires D and K) #\n\
00409 # 2. A rectified image (requires D, K, R) #\n\
00410 # The projection matrix P projects 3D points into the rectified image.#\n\
00411 #######################################################################\n\
00412 \n\
00413 # The image dimensions with which the camera was calibrated. Normally\n\
00414 # this will be the full camera resolution in pixels.\n\
00415 uint32 height\n\
00416 uint32 width\n\
00417 \n\
00418 # The distortion model used. Supported models are listed in\n\
00419 # sensor_msgs/distortion_models.h. For most cameras, \"plumb_bob\" - a\n\
00420 # simple model of radial and tangential distortion - is sufficent.\n\
00421 string distortion_model\n\
00422 \n\
00423 # The distortion parameters, size depending on the distortion model.\n\
00424 # For \"plumb_bob\", the 5 parameters are: (k1, k2, t1, t2, k3).\n\
00425 float64[] D\n\
00426 \n\
00427 # Intrinsic camera matrix for the raw (distorted) images.\n\
00428 # [fx 0 cx]\n\
00429 # K = [ 0 fy cy]\n\
00430 # [ 0 0 1]\n\
00431 # Projects 3D points in the camera coordinate frame to 2D pixel\n\
00432 # coordinates using the focal lengths (fx, fy) and principal point\n\
00433 # (cx, cy).\n\
00434 float64[9] K # 3x3 row-major matrix\n\
00435 \n\
00436 # Rectification matrix (stereo cameras only)\n\
00437 # A rotation matrix aligning the camera coordinate system to the ideal\n\
00438 # stereo image plane so that epipolar lines in both stereo images are\n\
00439 # parallel.\n\
00440 float64[9] R # 3x3 row-major matrix\n\
00441 \n\
00442 # Projection/camera matrix\n\
00443 # [fx' 0 cx' Tx]\n\
00444 # P = [ 0 fy' cy' Ty]\n\
00445 # [ 0 0 1 0]\n\
00446 # By convention, this matrix specifies the intrinsic (camera) matrix\n\
00447 # of the processed (rectified) image. That is, the left 3x3 portion\n\
00448 # is the normal camera intrinsic matrix for the rectified image.\n\
00449 # It projects 3D points in the camera coordinate frame to 2D pixel\n\
00450 # coordinates using the focal lengths (fx', fy') and principal point\n\
00451 # (cx', cy') - these may differ from the values in K.\n\
00452 # For monocular cameras, Tx = Ty = 0. Normally, monocular cameras will\n\
00453 # also have R = the identity and P[1:3,1:3] = K.\n\
00454 # For a stereo pair, the fourth column [Tx Ty 0]' is related to the\n\
00455 # position of the optical center of the second camera in the first\n\
00456 # camera's frame. We assume Tz = 0 so both cameras are in the same\n\
00457 # stereo image plane. The first camera always has Tx = Ty = 0. For\n\
00458 # the right (second) camera of a horizontal stereo pair, Ty = 0 and\n\
00459 # Tx = -fx' * B, where B is the baseline between the cameras.\n\
00460 # Given a 3D point [X Y Z]', the projection (x, y) of the point onto\n\
00461 # the rectified image is given by:\n\
00462 # [u v w]' = P * [X Y Z 1]'\n\
00463 # x = u / w\n\
00464 # y = v / w\n\
00465 # This holds for both images of a stereo pair.\n\
00466 float64[12] P # 3x4 row-major matrix\n\
00467 \n\
00468 \n\
00469 #######################################################################\n\
00470 # Operational Parameters #\n\
00471 #######################################################################\n\
00472 # These define the image region actually captured by the camera #\n\
00473 # driver. Although they affect the geometry of the output image, they #\n\
00474 # may be changed freely without recalibrating the camera. #\n\
00475 #######################################################################\n\
00476 \n\
00477 # Binning refers here to any camera setting which combines rectangular\n\
00478 # neighborhoods of pixels into larger \"super-pixels.\" It reduces the\n\
00479 # resolution of the output image to\n\
00480 # (width / binning_x) x (height / binning_y).\n\
00481 # The default values binning_x = binning_y = 0 is considered the same\n\
00482 # as binning_x = binning_y = 1 (no subsampling).\n\
00483 uint32 binning_x\n\
00484 uint32 binning_y\n\
00485 \n\
00486 # Region of interest (subwindow of full camera resolution), given in\n\
00487 # full resolution (unbinned) image coordinates. A particular ROI\n\
00488 # always denotes the same window of pixels on the camera sensor,\n\
00489 # regardless of binning settings.\n\
00490 # The default setting of roi (all values 0) is considered the same as\n\
00491 # full resolution (roi.width = width, roi.height = height).\n\
00492 RegionOfInterest roi\n\
00493 \n\
00494 ================================================================================\n\
00495 MSG: sensor_msgs/RegionOfInterest\n\
00496 # This message is used to specify a region of interest within an image.\n\
00497 #\n\
00498 # When used to specify the ROI setting of the camera when the image was\n\
00499 # taken, the height and width fields should either match the height and\n\
00500 # width fields for the associated image; or height = width = 0\n\
00501 # indicates that the full resolution image was captured.\n\
00502 \n\
00503 uint32 x_offset # Leftmost pixel of the ROI\n\
00504 # (0 if the ROI includes the left edge of the image)\n\
00505 uint32 y_offset # Topmost pixel of the ROI\n\
00506 # (0 if the ROI includes the top edge of the image)\n\
00507 uint32 height # Height of ROI\n\
00508 uint32 width # Width of ROI\n\
00509 \n\
00510 # True if a distinct rectified ROI should be calculated from the \"raw\"\n\
00511 # ROI in this message. Typically this should be False if the full image\n\
00512 # is captured (ROI not used), and True if a subwindow is captured (ROI\n\
00513 # used).\n\
00514 bool do_rectify\n\
00515 \n\
00516 ================================================================================\n\
00517 MSG: geometry_msgs/Vector3\n\
00518 # This represents a vector in free space. \n\
00519 \n\
00520 float64 x\n\
00521 float64 y\n\
00522 float64 z\n\
00523 ================================================================================\n\
00524 MSG: object_manipulation_msgs/Grasp\n\
00525 \n\
00526 # The internal posture of the hand for the pre-grasp\n\
00527 # only positions are used\n\
00528 sensor_msgs/JointState pre_grasp_posture\n\
00529 \n\
00530 # The internal posture of the hand for the grasp\n\
00531 # positions and efforts are used\n\
00532 sensor_msgs/JointState grasp_posture\n\
00533 \n\
00534 # The position of the end-effector for the grasp relative to a reference frame \n\
00535 # (that is always specified elsewhere, not in this message)\n\
00536 geometry_msgs/Pose grasp_pose\n\
00537 \n\
00538 # The estimated probability of success for this grasp\n\
00539 float64 success_probability\n\
00540 \n\
00541 # Debug flag to indicate that this grasp would be the best in its cluster\n\
00542 bool cluster_rep\n\
00543 \n\
00544 # how far the pre-grasp should ideally be away from the grasp\n\
00545 float32 desired_approach_distance\n\
00546 \n\
00547 # how much distance between pre-grasp and grasp must actually be feasible \n\
00548 # for the grasp not to be rejected\n\
00549 float32 min_approach_distance\n\
00550 \n\
00551 # an optional list of obstacles that we have semantic information about\n\
00552 # and that we expect might move in the course of executing this grasp\n\
00553 # the grasp planner is expected to make sure they move in an OK way; during\n\
00554 # execution, grasp executors will not check for collisions against these objects\n\
00555 GraspableObject[] moved_obstacles\n\
00556 \n\
00557 ================================================================================\n\
00558 MSG: sensor_msgs/JointState\n\
00559 # This is a message that holds data to describe the state of a set of torque controlled joints. \n\
00560 #\n\
00561 # The state of each joint (revolute or prismatic) is defined by:\n\
00562 # * the position of the joint (rad or m),\n\
00563 # * the velocity of the joint (rad/s or m/s) and \n\
00564 # * the effort that is applied in the joint (Nm or N).\n\
00565 #\n\
00566 # Each joint is uniquely identified by its name\n\
00567 # The header specifies the time at which the joint states were recorded. All the joint states\n\
00568 # in one message have to be recorded at the same time.\n\
00569 #\n\
00570 # This message consists of a multiple arrays, one for each part of the joint state. \n\
00571 # The goal is to make each of the fields optional. When e.g. your joints have no\n\
00572 # effort associated with them, you can leave the effort array empty. \n\
00573 #\n\
00574 # All arrays in this message should have the same size, or be empty.\n\
00575 # This is the only way to uniquely associate the joint name with the correct\n\
00576 # states.\n\
00577 \n\
00578 \n\
00579 Header header\n\
00580 \n\
00581 string[] name\n\
00582 float64[] position\n\
00583 float64[] velocity\n\
00584 float64[] effort\n\
00585 \n\
00586 "; }
00587 public:
00588 ROS_DEPRECATED static const std::string __s_getMessageDefinition() { return __s_getMessageDefinition_(); }
00589
00590 ROS_DEPRECATED const std::string __getMessageDefinition() const { return __s_getMessageDefinition_(); }
00591
00592 ROS_DEPRECATED virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const
00593 {
00594 ros::serialization::OStream stream(write_ptr, 1000000000);
00595 ros::serialization::serialize(stream, arm_name);
00596 ros::serialization::serialize(stream, target);
00597 ros::serialization::serialize(stream, collision_object_name);
00598 ros::serialization::serialize(stream, collision_support_surface_name);
00599 ros::serialization::serialize(stream, grasps_to_evaluate);
00600 ros::serialization::serialize(stream, movable_obstacles);
00601 return stream.getData();
00602 }
00603
00604 ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr)
00605 {
00606 ros::serialization::IStream stream(read_ptr, 1000000000);
00607 ros::serialization::deserialize(stream, arm_name);
00608 ros::serialization::deserialize(stream, target);
00609 ros::serialization::deserialize(stream, collision_object_name);
00610 ros::serialization::deserialize(stream, collision_support_surface_name);
00611 ros::serialization::deserialize(stream, grasps_to_evaluate);
00612 ros::serialization::deserialize(stream, movable_obstacles);
00613 return stream.getData();
00614 }
00615
00616 ROS_DEPRECATED virtual uint32_t serializationLength() const
00617 {
00618 uint32_t size = 0;
00619 size += ros::serialization::serializationLength(arm_name);
00620 size += ros::serialization::serializationLength(target);
00621 size += ros::serialization::serializationLength(collision_object_name);
00622 size += ros::serialization::serializationLength(collision_support_surface_name);
00623 size += ros::serialization::serializationLength(grasps_to_evaluate);
00624 size += ros::serialization::serializationLength(movable_obstacles);
00625 return size;
00626 }
00627
00628 typedef boost::shared_ptr< ::object_manipulation_msgs::GraspPlanningGoal_<ContainerAllocator> > Ptr;
00629 typedef boost::shared_ptr< ::object_manipulation_msgs::GraspPlanningGoal_<ContainerAllocator> const> ConstPtr;
00630 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00631 };
00632 typedef ::object_manipulation_msgs::GraspPlanningGoal_<std::allocator<void> > GraspPlanningGoal;
00633
00634 typedef boost::shared_ptr< ::object_manipulation_msgs::GraspPlanningGoal> GraspPlanningGoalPtr;
00635 typedef boost::shared_ptr< ::object_manipulation_msgs::GraspPlanningGoal const> GraspPlanningGoalConstPtr;
00636
00637
00638 template<typename ContainerAllocator>
00639 std::ostream& operator<<(std::ostream& s, const ::object_manipulation_msgs::GraspPlanningGoal_<ContainerAllocator> & v)
00640 {
00641 ros::message_operations::Printer< ::object_manipulation_msgs::GraspPlanningGoal_<ContainerAllocator> >::stream(s, "", v);
00642 return s;}
00643
00644 }
00645
00646 namespace ros
00647 {
00648 namespace message_traits
00649 {
00650 template<class ContainerAllocator> struct IsMessage< ::object_manipulation_msgs::GraspPlanningGoal_<ContainerAllocator> > : public TrueType {};
00651 template<class ContainerAllocator> struct IsMessage< ::object_manipulation_msgs::GraspPlanningGoal_<ContainerAllocator> const> : public TrueType {};
00652 template<class ContainerAllocator>
00653 struct MD5Sum< ::object_manipulation_msgs::GraspPlanningGoal_<ContainerAllocator> > {
00654 static const char* value()
00655 {
00656 return "5003fdf2225280c9d81c2bce4e645c20";
00657 }
00658
00659 static const char* value(const ::object_manipulation_msgs::GraspPlanningGoal_<ContainerAllocator> &) { return value(); }
00660 static const uint64_t static_value1 = 0x5003fdf2225280c9ULL;
00661 static const uint64_t static_value2 = 0xd81c2bce4e645c20ULL;
00662 };
00663
00664 template<class ContainerAllocator>
00665 struct DataType< ::object_manipulation_msgs::GraspPlanningGoal_<ContainerAllocator> > {
00666 static const char* value()
00667 {
00668 return "object_manipulation_msgs/GraspPlanningGoal";
00669 }
00670
00671 static const char* value(const ::object_manipulation_msgs::GraspPlanningGoal_<ContainerAllocator> &) { return value(); }
00672 };
00673
00674 template<class ContainerAllocator>
00675 struct Definition< ::object_manipulation_msgs::GraspPlanningGoal_<ContainerAllocator> > {
00676 static const char* value()
00677 {
00678 return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00679 # Requests that grasp planning be performed on the object to be grasped\n\
00680 # returns a list of grasps to be tested and executed\n\
00681 \n\
00682 # the arm being used\n\
00683 string arm_name\n\
00684 \n\
00685 # the object to be grasped\n\
00686 GraspableObject target\n\
00687 \n\
00688 # the name that the target object has in the collision environment\n\
00689 # can be left empty if no name is available\n\
00690 string collision_object_name\n\
00691 \n\
00692 # the name that the support surface (e.g. table) has in the collision map\n\
00693 # can be left empty if no name is available\n\
00694 string collision_support_surface_name\n\
00695 \n\
00696 # an optional list of grasps to be evaluated by the planner\n\
00697 Grasp[] grasps_to_evaluate\n\
00698 \n\
00699 # an optional list of obstacles that we have semantic information about\n\
00700 # and that can be moved in the course of grasping\n\
00701 GraspableObject[] movable_obstacles\n\
00702 \n\
00703 \n\
00704 ================================================================================\n\
00705 MSG: object_manipulation_msgs/GraspableObject\n\
00706 # an object that the object_manipulator can work on\n\
00707 \n\
00708 # a graspable object can be represented in multiple ways. This message\n\
00709 # can contain all of them. Which one is actually used is up to the receiver\n\
00710 # of this message. When adding new representations, one must be careful that\n\
00711 # they have reasonable lightweight defaults indicating that that particular\n\
00712 # representation is not available.\n\
00713 \n\
00714 # the tf frame to be used as a reference frame when combining information from\n\
00715 # the different representations below\n\
00716 string reference_frame_id\n\
00717 \n\
00718 # potential recognition results from a database of models\n\
00719 # all poses are relative to the object reference pose\n\
00720 household_objects_database_msgs/DatabaseModelPose[] potential_models\n\
00721 \n\
00722 # the point cloud itself\n\
00723 sensor_msgs/PointCloud cluster\n\
00724 \n\
00725 # a region of a PointCloud2 of interest\n\
00726 object_manipulation_msgs/SceneRegion region\n\
00727 \n\
00728 # the name that this object has in the collision environment\n\
00729 string collision_name\n\
00730 ================================================================================\n\
00731 MSG: household_objects_database_msgs/DatabaseModelPose\n\
00732 # Informs that a specific model from the Model Database has been \n\
00733 # identified at a certain location\n\
00734 \n\
00735 # the database id of the model\n\
00736 int32 model_id\n\
00737 \n\
00738 # the pose that it can be found in\n\
00739 geometry_msgs/PoseStamped pose\n\
00740 \n\
00741 # a measure of the confidence level in this detection result\n\
00742 float32 confidence\n\
00743 \n\
00744 # the name of the object detector that generated this detection result\n\
00745 string detector_name\n\
00746 \n\
00747 ================================================================================\n\
00748 MSG: geometry_msgs/PoseStamped\n\
00749 # A Pose with reference coordinate frame and timestamp\n\
00750 Header header\n\
00751 Pose pose\n\
00752 \n\
00753 ================================================================================\n\
00754 MSG: std_msgs/Header\n\
00755 # Standard metadata for higher-level stamped data types.\n\
00756 # This is generally used to communicate timestamped data \n\
00757 # in a particular coordinate frame.\n\
00758 # \n\
00759 # sequence ID: consecutively increasing ID \n\
00760 uint32 seq\n\
00761 #Two-integer timestamp that is expressed as:\n\
00762 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00763 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00764 # time-handling sugar is provided by the client library\n\
00765 time stamp\n\
00766 #Frame this data is associated with\n\
00767 # 0: no frame\n\
00768 # 1: global frame\n\
00769 string frame_id\n\
00770 \n\
00771 ================================================================================\n\
00772 MSG: geometry_msgs/Pose\n\
00773 # A representation of pose in free space, composed of postion and orientation. \n\
00774 Point position\n\
00775 Quaternion orientation\n\
00776 \n\
00777 ================================================================================\n\
00778 MSG: geometry_msgs/Point\n\
00779 # This contains the position of a point in free space\n\
00780 float64 x\n\
00781 float64 y\n\
00782 float64 z\n\
00783 \n\
00784 ================================================================================\n\
00785 MSG: geometry_msgs/Quaternion\n\
00786 # This represents an orientation in free space in quaternion form.\n\
00787 \n\
00788 float64 x\n\
00789 float64 y\n\
00790 float64 z\n\
00791 float64 w\n\
00792 \n\
00793 ================================================================================\n\
00794 MSG: sensor_msgs/PointCloud\n\
00795 # This message holds a collection of 3d points, plus optional additional\n\
00796 # information about each point.\n\
00797 \n\
00798 # Time of sensor data acquisition, coordinate frame ID.\n\
00799 Header header\n\
00800 \n\
00801 # Array of 3d points. Each Point32 should be interpreted as a 3d point\n\
00802 # in the frame given in the header.\n\
00803 geometry_msgs/Point32[] points\n\
00804 \n\
00805 # Each channel should have the same number of elements as points array,\n\
00806 # and the data in each channel should correspond 1:1 with each point.\n\
00807 # Channel names in common practice are listed in ChannelFloat32.msg.\n\
00808 ChannelFloat32[] channels\n\
00809 \n\
00810 ================================================================================\n\
00811 MSG: geometry_msgs/Point32\n\
00812 # This contains the position of a point in free space(with 32 bits of precision).\n\
00813 # It is recommeded to use Point wherever possible instead of Point32. \n\
00814 # \n\
00815 # This recommendation is to promote interoperability. \n\
00816 #\n\
00817 # This message is designed to take up less space when sending\n\
00818 # lots of points at once, as in the case of a PointCloud. \n\
00819 \n\
00820 float32 x\n\
00821 float32 y\n\
00822 float32 z\n\
00823 ================================================================================\n\
00824 MSG: sensor_msgs/ChannelFloat32\n\
00825 # This message is used by the PointCloud message to hold optional data\n\
00826 # associated with each point in the cloud. The length of the values\n\
00827 # array should be the same as the length of the points array in the\n\
00828 # PointCloud, and each value should be associated with the corresponding\n\
00829 # point.\n\
00830 \n\
00831 # Channel names in existing practice include:\n\
00832 # \"u\", \"v\" - row and column (respectively) in the left stereo image.\n\
00833 # This is opposite to usual conventions but remains for\n\
00834 # historical reasons. The newer PointCloud2 message has no\n\
00835 # such problem.\n\
00836 # \"rgb\" - For point clouds produced by color stereo cameras. uint8\n\
00837 # (R,G,B) values packed into the least significant 24 bits,\n\
00838 # in order.\n\
00839 # \"intensity\" - laser or pixel intensity.\n\
00840 # \"distance\"\n\
00841 \n\
00842 # The channel name should give semantics of the channel (e.g.\n\
00843 # \"intensity\" instead of \"value\").\n\
00844 string name\n\
00845 \n\
00846 # The values array should be 1-1 with the elements of the associated\n\
00847 # PointCloud.\n\
00848 float32[] values\n\
00849 \n\
00850 ================================================================================\n\
00851 MSG: object_manipulation_msgs/SceneRegion\n\
00852 # Point cloud\n\
00853 sensor_msgs/PointCloud2 cloud\n\
00854 \n\
00855 # Indices for the region of interest\n\
00856 int32[] mask\n\
00857 \n\
00858 # One of the corresponding 2D images, if applicable\n\
00859 sensor_msgs/Image image\n\
00860 \n\
00861 # The disparity image, if applicable\n\
00862 sensor_msgs/Image disparity_image\n\
00863 \n\
00864 # Camera info for the camera that took the image\n\
00865 sensor_msgs/CameraInfo cam_info\n\
00866 \n\
00867 # a 3D region of interest for grasp planning\n\
00868 geometry_msgs/PoseStamped roi_box_pose\n\
00869 geometry_msgs/Vector3 roi_box_dims\n\
00870 \n\
00871 ================================================================================\n\
00872 MSG: sensor_msgs/PointCloud2\n\
00873 # This message holds a collection of N-dimensional points, which may\n\
00874 # contain additional information such as normals, intensity, etc. The\n\
00875 # point data is stored as a binary blob, its layout described by the\n\
00876 # contents of the \"fields\" array.\n\
00877 \n\
00878 # The point cloud data may be organized 2d (image-like) or 1d\n\
00879 # (unordered). Point clouds organized as 2d images may be produced by\n\
00880 # camera depth sensors such as stereo or time-of-flight.\n\
00881 \n\
00882 # Time of sensor data acquisition, and the coordinate frame ID (for 3d\n\
00883 # points).\n\
00884 Header header\n\
00885 \n\
00886 # 2D structure of the point cloud. If the cloud is unordered, height is\n\
00887 # 1 and width is the length of the point cloud.\n\
00888 uint32 height\n\
00889 uint32 width\n\
00890 \n\
00891 # Describes the channels and their layout in the binary data blob.\n\
00892 PointField[] fields\n\
00893 \n\
00894 bool is_bigendian # Is this data bigendian?\n\
00895 uint32 point_step # Length of a point in bytes\n\
00896 uint32 row_step # Length of a row in bytes\n\
00897 uint8[] data # Actual point data, size is (row_step*height)\n\
00898 \n\
00899 bool is_dense # True if there are no invalid points\n\
00900 \n\
00901 ================================================================================\n\
00902 MSG: sensor_msgs/PointField\n\
00903 # This message holds the description of one point entry in the\n\
00904 # PointCloud2 message format.\n\
00905 uint8 INT8 = 1\n\
00906 uint8 UINT8 = 2\n\
00907 uint8 INT16 = 3\n\
00908 uint8 UINT16 = 4\n\
00909 uint8 INT32 = 5\n\
00910 uint8 UINT32 = 6\n\
00911 uint8 FLOAT32 = 7\n\
00912 uint8 FLOAT64 = 8\n\
00913 \n\
00914 string name # Name of field\n\
00915 uint32 offset # Offset from start of point struct\n\
00916 uint8 datatype # Datatype enumeration, see above\n\
00917 uint32 count # How many elements in the field\n\
00918 \n\
00919 ================================================================================\n\
00920 MSG: sensor_msgs/Image\n\
00921 # This message contains an uncompressed image\n\
00922 # (0, 0) is at top-left corner of image\n\
00923 #\n\
00924 \n\
00925 Header header # Header timestamp should be acquisition time of image\n\
00926 # Header frame_id should be optical frame of camera\n\
00927 # origin of frame should be optical center of cameara\n\
00928 # +x should point to the right in the image\n\
00929 # +y should point down in the image\n\
00930 # +z should point into to plane of the image\n\
00931 # If the frame_id here and the frame_id of the CameraInfo\n\
00932 # message associated with the image conflict\n\
00933 # the behavior is undefined\n\
00934 \n\
00935 uint32 height # image height, that is, number of rows\n\
00936 uint32 width # image width, that is, number of columns\n\
00937 \n\
00938 # The legal values for encoding are in file src/image_encodings.cpp\n\
00939 # If you want to standardize a new string format, join\n\
00940 # ros-users@lists.sourceforge.net and send an email proposing a new encoding.\n\
00941 \n\
00942 string encoding # Encoding of pixels -- channel meaning, ordering, size\n\
00943 # taken from the list of strings in src/image_encodings.cpp\n\
00944 \n\
00945 uint8 is_bigendian # is this data bigendian?\n\
00946 uint32 step # Full row length in bytes\n\
00947 uint8[] data # actual matrix data, size is (step * rows)\n\
00948 \n\
00949 ================================================================================\n\
00950 MSG: sensor_msgs/CameraInfo\n\
00951 # This message defines meta information for a camera. It should be in a\n\
00952 # camera namespace on topic \"camera_info\" and accompanied by up to five\n\
00953 # image topics named:\n\
00954 #\n\
00955 # image_raw - raw data from the camera driver, possibly Bayer encoded\n\
00956 # image - monochrome, distorted\n\
00957 # image_color - color, distorted\n\
00958 # image_rect - monochrome, rectified\n\
00959 # image_rect_color - color, rectified\n\
00960 #\n\
00961 # The image_pipeline contains packages (image_proc, stereo_image_proc)\n\
00962 # for producing the four processed image topics from image_raw and\n\
00963 # camera_info. The meaning of the camera parameters are described in\n\
00964 # detail at http://www.ros.org/wiki/image_pipeline/CameraInfo.\n\
00965 #\n\
00966 # The image_geometry package provides a user-friendly interface to\n\
00967 # common operations using this meta information. If you want to, e.g.,\n\
00968 # project a 3d point into image coordinates, we strongly recommend\n\
00969 # using image_geometry.\n\
00970 #\n\
00971 # If the camera is uncalibrated, the matrices D, K, R, P should be left\n\
00972 # zeroed out. In particular, clients may assume that K[0] == 0.0\n\
00973 # indicates an uncalibrated camera.\n\
00974 \n\
00975 #######################################################################\n\
00976 # Image acquisition info #\n\
00977 #######################################################################\n\
00978 \n\
00979 # Time of image acquisition, camera coordinate frame ID\n\
00980 Header header # Header timestamp should be acquisition time of image\n\
00981 # Header frame_id should be optical frame of camera\n\
00982 # origin of frame should be optical center of camera\n\
00983 # +x should point to the right in the image\n\
00984 # +y should point down in the image\n\
00985 # +z should point into the plane of the image\n\
00986 \n\
00987 \n\
00988 #######################################################################\n\
00989 # Calibration Parameters #\n\
00990 #######################################################################\n\
00991 # These are fixed during camera calibration. Their values will be the #\n\
00992 # same in all messages until the camera is recalibrated. Note that #\n\
00993 # self-calibrating systems may \"recalibrate\" frequently. #\n\
00994 # #\n\
00995 # The internal parameters can be used to warp a raw (distorted) image #\n\
00996 # to: #\n\
00997 # 1. An undistorted image (requires D and K) #\n\
00998 # 2. A rectified image (requires D, K, R) #\n\
00999 # The projection matrix P projects 3D points into the rectified image.#\n\
01000 #######################################################################\n\
01001 \n\
01002 # The image dimensions with which the camera was calibrated. Normally\n\
01003 # this will be the full camera resolution in pixels.\n\
01004 uint32 height\n\
01005 uint32 width\n\
01006 \n\
01007 # The distortion model used. Supported models are listed in\n\
01008 # sensor_msgs/distortion_models.h. For most cameras, \"plumb_bob\" - a\n\
01009 # simple model of radial and tangential distortion - is sufficent.\n\
01010 string distortion_model\n\
01011 \n\
01012 # The distortion parameters, size depending on the distortion model.\n\
01013 # For \"plumb_bob\", the 5 parameters are: (k1, k2, t1, t2, k3).\n\
01014 float64[] D\n\
01015 \n\
01016 # Intrinsic camera matrix for the raw (distorted) images.\n\
01017 # [fx 0 cx]\n\
01018 # K = [ 0 fy cy]\n\
01019 # [ 0 0 1]\n\
01020 # Projects 3D points in the camera coordinate frame to 2D pixel\n\
01021 # coordinates using the focal lengths (fx, fy) and principal point\n\
01022 # (cx, cy).\n\
01023 float64[9] K # 3x3 row-major matrix\n\
01024 \n\
01025 # Rectification matrix (stereo cameras only)\n\
01026 # A rotation matrix aligning the camera coordinate system to the ideal\n\
01027 # stereo image plane so that epipolar lines in both stereo images are\n\
01028 # parallel.\n\
01029 float64[9] R # 3x3 row-major matrix\n\
01030 \n\
01031 # Projection/camera matrix\n\
01032 # [fx' 0 cx' Tx]\n\
01033 # P = [ 0 fy' cy' Ty]\n\
01034 # [ 0 0 1 0]\n\
01035 # By convention, this matrix specifies the intrinsic (camera) matrix\n\
01036 # of the processed (rectified) image. That is, the left 3x3 portion\n\
01037 # is the normal camera intrinsic matrix for the rectified image.\n\
01038 # It projects 3D points in the camera coordinate frame to 2D pixel\n\
01039 # coordinates using the focal lengths (fx', fy') and principal point\n\
01040 # (cx', cy') - these may differ from the values in K.\n\
01041 # For monocular cameras, Tx = Ty = 0. Normally, monocular cameras will\n\
01042 # also have R = the identity and P[1:3,1:3] = K.\n\
01043 # For a stereo pair, the fourth column [Tx Ty 0]' is related to the\n\
01044 # position of the optical center of the second camera in the first\n\
01045 # camera's frame. We assume Tz = 0 so both cameras are in the same\n\
01046 # stereo image plane. The first camera always has Tx = Ty = 0. For\n\
01047 # the right (second) camera of a horizontal stereo pair, Ty = 0 and\n\
01048 # Tx = -fx' * B, where B is the baseline between the cameras.\n\
01049 # Given a 3D point [X Y Z]', the projection (x, y) of the point onto\n\
01050 # the rectified image is given by:\n\
01051 # [u v w]' = P * [X Y Z 1]'\n\
01052 # x = u / w\n\
01053 # y = v / w\n\
01054 # This holds for both images of a stereo pair.\n\
01055 float64[12] P # 3x4 row-major matrix\n\
01056 \n\
01057 \n\
01058 #######################################################################\n\
01059 # Operational Parameters #\n\
01060 #######################################################################\n\
01061 # These define the image region actually captured by the camera #\n\
01062 # driver. Although they affect the geometry of the output image, they #\n\
01063 # may be changed freely without recalibrating the camera. #\n\
01064 #######################################################################\n\
01065 \n\
01066 # Binning refers here to any camera setting which combines rectangular\n\
01067 # neighborhoods of pixels into larger \"super-pixels.\" It reduces the\n\
01068 # resolution of the output image to\n\
01069 # (width / binning_x) x (height / binning_y).\n\
01070 # The default values binning_x = binning_y = 0 is considered the same\n\
01071 # as binning_x = binning_y = 1 (no subsampling).\n\
01072 uint32 binning_x\n\
01073 uint32 binning_y\n\
01074 \n\
01075 # Region of interest (subwindow of full camera resolution), given in\n\
01076 # full resolution (unbinned) image coordinates. A particular ROI\n\
01077 # always denotes the same window of pixels on the camera sensor,\n\
01078 # regardless of binning settings.\n\
01079 # The default setting of roi (all values 0) is considered the same as\n\
01080 # full resolution (roi.width = width, roi.height = height).\n\
01081 RegionOfInterest roi\n\
01082 \n\
01083 ================================================================================\n\
01084 MSG: sensor_msgs/RegionOfInterest\n\
01085 # This message is used to specify a region of interest within an image.\n\
01086 #\n\
01087 # When used to specify the ROI setting of the camera when the image was\n\
01088 # taken, the height and width fields should either match the height and\n\
01089 # width fields for the associated image; or height = width = 0\n\
01090 # indicates that the full resolution image was captured.\n\
01091 \n\
01092 uint32 x_offset # Leftmost pixel of the ROI\n\
01093 # (0 if the ROI includes the left edge of the image)\n\
01094 uint32 y_offset # Topmost pixel of the ROI\n\
01095 # (0 if the ROI includes the top edge of the image)\n\
01096 uint32 height # Height of ROI\n\
01097 uint32 width # Width of ROI\n\
01098 \n\
01099 # True if a distinct rectified ROI should be calculated from the \"raw\"\n\
01100 # ROI in this message. Typically this should be False if the full image\n\
01101 # is captured (ROI not used), and True if a subwindow is captured (ROI\n\
01102 # used).\n\
01103 bool do_rectify\n\
01104 \n\
01105 ================================================================================\n\
01106 MSG: geometry_msgs/Vector3\n\
01107 # This represents a vector in free space. \n\
01108 \n\
01109 float64 x\n\
01110 float64 y\n\
01111 float64 z\n\
01112 ================================================================================\n\
01113 MSG: object_manipulation_msgs/Grasp\n\
01114 \n\
01115 # The internal posture of the hand for the pre-grasp\n\
01116 # only positions are used\n\
01117 sensor_msgs/JointState pre_grasp_posture\n\
01118 \n\
01119 # The internal posture of the hand for the grasp\n\
01120 # positions and efforts are used\n\
01121 sensor_msgs/JointState grasp_posture\n\
01122 \n\
01123 # The position of the end-effector for the grasp relative to a reference frame \n\
01124 # (that is always specified elsewhere, not in this message)\n\
01125 geometry_msgs/Pose grasp_pose\n\
01126 \n\
01127 # The estimated probability of success for this grasp\n\
01128 float64 success_probability\n\
01129 \n\
01130 # Debug flag to indicate that this grasp would be the best in its cluster\n\
01131 bool cluster_rep\n\
01132 \n\
01133 # how far the pre-grasp should ideally be away from the grasp\n\
01134 float32 desired_approach_distance\n\
01135 \n\
01136 # how much distance between pre-grasp and grasp must actually be feasible \n\
01137 # for the grasp not to be rejected\n\
01138 float32 min_approach_distance\n\
01139 \n\
01140 # an optional list of obstacles that we have semantic information about\n\
01141 # and that we expect might move in the course of executing this grasp\n\
01142 # the grasp planner is expected to make sure they move in an OK way; during\n\
01143 # execution, grasp executors will not check for collisions against these objects\n\
01144 GraspableObject[] moved_obstacles\n\
01145 \n\
01146 ================================================================================\n\
01147 MSG: sensor_msgs/JointState\n\
01148 # This is a message that holds data to describe the state of a set of torque controlled joints. \n\
01149 #\n\
01150 # The state of each joint (revolute or prismatic) is defined by:\n\
01151 # * the position of the joint (rad or m),\n\
01152 # * the velocity of the joint (rad/s or m/s) and \n\
01153 # * the effort that is applied in the joint (Nm or N).\n\
01154 #\n\
01155 # Each joint is uniquely identified by its name\n\
01156 # The header specifies the time at which the joint states were recorded. All the joint states\n\
01157 # in one message have to be recorded at the same time.\n\
01158 #\n\
01159 # This message consists of a multiple arrays, one for each part of the joint state. \n\
01160 # The goal is to make each of the fields optional. When e.g. your joints have no\n\
01161 # effort associated with them, you can leave the effort array empty. \n\
01162 #\n\
01163 # All arrays in this message should have the same size, or be empty.\n\
01164 # This is the only way to uniquely associate the joint name with the correct\n\
01165 # states.\n\
01166 \n\
01167 \n\
01168 Header header\n\
01169 \n\
01170 string[] name\n\
01171 float64[] position\n\
01172 float64[] velocity\n\
01173 float64[] effort\n\
01174 \n\
01175 ";
01176 }
01177
01178 static const char* value(const ::object_manipulation_msgs::GraspPlanningGoal_<ContainerAllocator> &) { return value(); }
01179 };
01180
01181 }
01182 }
01183
01184 namespace ros
01185 {
01186 namespace serialization
01187 {
01188
01189 template<class ContainerAllocator> struct Serializer< ::object_manipulation_msgs::GraspPlanningGoal_<ContainerAllocator> >
01190 {
01191 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
01192 {
01193 stream.next(m.arm_name);
01194 stream.next(m.target);
01195 stream.next(m.collision_object_name);
01196 stream.next(m.collision_support_surface_name);
01197 stream.next(m.grasps_to_evaluate);
01198 stream.next(m.movable_obstacles);
01199 }
01200
01201 ROS_DECLARE_ALLINONE_SERIALIZER;
01202 };
01203 }
01204 }
01205
01206 namespace ros
01207 {
01208 namespace message_operations
01209 {
01210
01211 template<class ContainerAllocator>
01212 struct Printer< ::object_manipulation_msgs::GraspPlanningGoal_<ContainerAllocator> >
01213 {
01214 template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::object_manipulation_msgs::GraspPlanningGoal_<ContainerAllocator> & v)
01215 {
01216 s << indent << "arm_name: ";
01217 Printer<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > >::stream(s, indent + " ", v.arm_name);
01218 s << indent << "target: ";
01219 s << std::endl;
01220 Printer< ::object_manipulation_msgs::GraspableObject_<ContainerAllocator> >::stream(s, indent + " ", v.target);
01221 s << indent << "collision_object_name: ";
01222 Printer<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > >::stream(s, indent + " ", v.collision_object_name);
01223 s << indent << "collision_support_surface_name: ";
01224 Printer<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > >::stream(s, indent + " ", v.collision_support_surface_name);
01225 s << indent << "grasps_to_evaluate[]" << std::endl;
01226 for (size_t i = 0; i < v.grasps_to_evaluate.size(); ++i)
01227 {
01228 s << indent << " grasps_to_evaluate[" << i << "]: ";
01229 s << std::endl;
01230 s << indent;
01231 Printer< ::object_manipulation_msgs::Grasp_<ContainerAllocator> >::stream(s, indent + " ", v.grasps_to_evaluate[i]);
01232 }
01233 s << indent << "movable_obstacles[]" << std::endl;
01234 for (size_t i = 0; i < v.movable_obstacles.size(); ++i)
01235 {
01236 s << indent << " movable_obstacles[" << i << "]: ";
01237 s << std::endl;
01238 s << indent;
01239 Printer< ::object_manipulation_msgs::GraspableObject_<ContainerAllocator> >::stream(s, indent + " ", v.movable_obstacles[i]);
01240 }
01241 }
01242 };
01243
01244
01245 }
01246 }
01247
01248 #endif // OBJECT_MANIPULATION_MSGS_MESSAGE_GRASPPLANNINGGOAL_H
01249
