00001
00002 #ifndef OBJECT_MANIPULATION_MSGS_MESSAGE_REACTIVEPLACEACTIONGOAL_H
00003 #define OBJECT_MANIPULATION_MSGS_MESSAGE_REACTIVEPLACEACTIONGOAL_H
00004 #include <string>
00005 #include <vector>
00006 #include <map>
00007 #include <ostream>
00008 #include "ros/serialization.h"
00009 #include "ros/builtin_message_traits.h"
00010 #include "ros/message_operations.h"
00011 #include "ros/time.h"
00012
00013 #include "ros/macros.h"
00014
00015 #include "ros/assert.h"
00016
00017 #include "std_msgs/Header.h"
00018 #include "actionlib_msgs/GoalID.h"
00019 #include "object_manipulation_msgs/ReactivePlaceGoal.h"
00020
00021 namespace object_manipulation_msgs
00022 {
00023 template <class ContainerAllocator>
00024 struct ReactivePlaceActionGoal_ {
00025 typedef ReactivePlaceActionGoal_<ContainerAllocator> Type;
00026
00027 ReactivePlaceActionGoal_()
00028 : header()
00029 , goal_id()
00030 , goal()
00031 {
00032 }
00033
00034 ReactivePlaceActionGoal_(const ContainerAllocator& _alloc)
00035 : header(_alloc)
00036 , goal_id(_alloc)
00037 , goal(_alloc)
00038 {
00039 }
00040
00041 typedef ::std_msgs::Header_<ContainerAllocator> _header_type;
00042 ::std_msgs::Header_<ContainerAllocator> header;
00043
00044 typedef ::actionlib_msgs::GoalID_<ContainerAllocator> _goal_id_type;
00045 ::actionlib_msgs::GoalID_<ContainerAllocator> goal_id;
00046
00047 typedef ::object_manipulation_msgs::ReactivePlaceGoal_<ContainerAllocator> _goal_type;
00048 ::object_manipulation_msgs::ReactivePlaceGoal_<ContainerAllocator> goal;
00049
00050
00051 private:
00052 static const char* __s_getDataType_() { return "object_manipulation_msgs/ReactivePlaceActionGoal"; }
00053 public:
00054 ROS_DEPRECATED static const std::string __s_getDataType() { return __s_getDataType_(); }
00055
00056 ROS_DEPRECATED const std::string __getDataType() const { return __s_getDataType_(); }
00057
00058 private:
00059 static const char* __s_getMD5Sum_() { return "f70629d4244203e19c14919dbd7fb5d4"; }
00060 public:
00061 ROS_DEPRECATED static const std::string __s_getMD5Sum() { return __s_getMD5Sum_(); }
00062
00063 ROS_DEPRECATED const std::string __getMD5Sum() const { return __s_getMD5Sum_(); }
00064
00065 private:
00066 static const char* __s_getMessageDefinition_() { return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00067 \n\
00068 Header header\n\
00069 actionlib_msgs/GoalID goal_id\n\
00070 ReactivePlaceGoal goal\n\
00071 \n\
00072 ================================================================================\n\
00073 MSG: std_msgs/Header\n\
00074 # Standard metadata for higher-level stamped data types.\n\
00075 # This is generally used to communicate timestamped data \n\
00076 # in a particular coordinate frame.\n\
00077 # \n\
00078 # sequence ID: consecutively increasing ID \n\
00079 uint32 seq\n\
00080 #Two-integer timestamp that is expressed as:\n\
00081 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00082 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00083 # time-handling sugar is provided by the client library\n\
00084 time stamp\n\
00085 #Frame this data is associated with\n\
00086 # 0: no frame\n\
00087 # 1: global frame\n\
00088 string frame_id\n\
00089 \n\
00090 ================================================================================\n\
00091 MSG: actionlib_msgs/GoalID\n\
00092 # The stamp should store the time at which this goal was requested.\n\
00093 # It is used by an action server when it tries to preempt all\n\
00094 # goals that were requested before a certain time\n\
00095 time stamp\n\
00096 \n\
00097 # The id provides a way to associate feedback and\n\
00098 # result message with specific goal requests. The id\n\
00099 # specified must be unique.\n\
00100 string id\n\
00101 \n\
00102 \n\
00103 ================================================================================\n\
00104 MSG: object_manipulation_msgs/ReactivePlaceGoal\n\
00105 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00106 # an action for placing the object using tactile sensor feedback.\n\
00107 # a reactive place starts from the current pose of the gripper and ends\n\
00108 # at a desired place pose, presumably using the touch sensors along the way\n\
00109 \n\
00110 # the name of the arm being used\n\
00111 string arm_name\n\
00112 \n\
00113 # the desired final place pose for the hand\n\
00114 geometry_msgs/PoseStamped final_place_pose\n\
00115 \n\
00116 # the joint trajectory to use for the place (if available)\n\
00117 # this trajectory is expected to start at the current pose of the gripper\n\
00118 # and end at the desired place pose\n\
00119 trajectory_msgs/JointTrajectory trajectory\n\
00120 \n\
00121 # the name of the support surface in the collision environment, if any\n\
00122 string collision_support_surface_name\n\
00123 \n\
00124 # the name in the collision environment of the object being placed, if any\n\
00125 string collision_object_name\n\
00126 \n\
00127 ================================================================================\n\
00128 MSG: geometry_msgs/PoseStamped\n\
00129 # A Pose with reference coordinate frame and timestamp\n\
00130 Header header\n\
00131 Pose pose\n\
00132 \n\
00133 ================================================================================\n\
00134 MSG: geometry_msgs/Pose\n\
00135 # A representation of pose in free space, composed of postion and orientation. \n\
00136 Point position\n\
00137 Quaternion orientation\n\
00138 \n\
00139 ================================================================================\n\
00140 MSG: geometry_msgs/Point\n\
00141 # This contains the position of a point in free space\n\
00142 float64 x\n\
00143 float64 y\n\
00144 float64 z\n\
00145 \n\
00146 ================================================================================\n\
00147 MSG: geometry_msgs/Quaternion\n\
00148 # This represents an orientation in free space in quaternion form.\n\
00149 \n\
00150 float64 x\n\
00151 float64 y\n\
00152 float64 z\n\
00153 float64 w\n\
00154 \n\
00155 ================================================================================\n\
00156 MSG: trajectory_msgs/JointTrajectory\n\
00157 Header header\n\
00158 string[] joint_names\n\
00159 JointTrajectoryPoint[] points\n\
00160 ================================================================================\n\
00161 MSG: trajectory_msgs/JointTrajectoryPoint\n\
00162 float64[] positions\n\
00163 float64[] velocities\n\
00164 float64[] accelerations\n\
00165 duration time_from_start\n\
00166 "; }
00167 public:
00168 ROS_DEPRECATED static const std::string __s_getMessageDefinition() { return __s_getMessageDefinition_(); }
00169
00170 ROS_DEPRECATED const std::string __getMessageDefinition() const { return __s_getMessageDefinition_(); }
00171
00172 ROS_DEPRECATED virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const
00173 {
00174 ros::serialization::OStream stream(write_ptr, 1000000000);
00175 ros::serialization::serialize(stream, header);
00176 ros::serialization::serialize(stream, goal_id);
00177 ros::serialization::serialize(stream, goal);
00178 return stream.getData();
00179 }
00180
00181 ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr)
00182 {
00183 ros::serialization::IStream stream(read_ptr, 1000000000);
00184 ros::serialization::deserialize(stream, header);
00185 ros::serialization::deserialize(stream, goal_id);
00186 ros::serialization::deserialize(stream, goal);
00187 return stream.getData();
00188 }
00189
00190 ROS_DEPRECATED virtual uint32_t serializationLength() const
00191 {
00192 uint32_t size = 0;
00193 size += ros::serialization::serializationLength(header);
00194 size += ros::serialization::serializationLength(goal_id);
00195 size += ros::serialization::serializationLength(goal);
00196 return size;
00197 }
00198
00199 typedef boost::shared_ptr< ::object_manipulation_msgs::ReactivePlaceActionGoal_<ContainerAllocator> > Ptr;
00200 typedef boost::shared_ptr< ::object_manipulation_msgs::ReactivePlaceActionGoal_<ContainerAllocator> const> ConstPtr;
00201 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00202 };
00203 typedef ::object_manipulation_msgs::ReactivePlaceActionGoal_<std::allocator<void> > ReactivePlaceActionGoal;
00204
00205 typedef boost::shared_ptr< ::object_manipulation_msgs::ReactivePlaceActionGoal> ReactivePlaceActionGoalPtr;
00206 typedef boost::shared_ptr< ::object_manipulation_msgs::ReactivePlaceActionGoal const> ReactivePlaceActionGoalConstPtr;
00207
00208
00209 template<typename ContainerAllocator>
00210 std::ostream& operator<<(std::ostream& s, const ::object_manipulation_msgs::ReactivePlaceActionGoal_<ContainerAllocator> & v)
00211 {
00212 ros::message_operations::Printer< ::object_manipulation_msgs::ReactivePlaceActionGoal_<ContainerAllocator> >::stream(s, "", v);
00213 return s;}
00214
00215 }
00216
00217 namespace ros
00218 {
00219 namespace message_traits
00220 {
00221 template<class ContainerAllocator> struct IsMessage< ::object_manipulation_msgs::ReactivePlaceActionGoal_<ContainerAllocator> > : public TrueType {};
00222 template<class ContainerAllocator> struct IsMessage< ::object_manipulation_msgs::ReactivePlaceActionGoal_<ContainerAllocator> const> : public TrueType {};
00223 template<class ContainerAllocator>
00224 struct MD5Sum< ::object_manipulation_msgs::ReactivePlaceActionGoal_<ContainerAllocator> > {
00225 static const char* value()
00226 {
00227 return "f70629d4244203e19c14919dbd7fb5d4";
00228 }
00229
00230 static const char* value(const ::object_manipulation_msgs::ReactivePlaceActionGoal_<ContainerAllocator> &) { return value(); }
00231 static const uint64_t static_value1 = 0xf70629d4244203e1ULL;
00232 static const uint64_t static_value2 = 0x9c14919dbd7fb5d4ULL;
00233 };
00234
00235 template<class ContainerAllocator>
00236 struct DataType< ::object_manipulation_msgs::ReactivePlaceActionGoal_<ContainerAllocator> > {
00237 static const char* value()
00238 {
00239 return "object_manipulation_msgs/ReactivePlaceActionGoal";
00240 }
00241
00242 static const char* value(const ::object_manipulation_msgs::ReactivePlaceActionGoal_<ContainerAllocator> &) { return value(); }
00243 };
00244
00245 template<class ContainerAllocator>
00246 struct Definition< ::object_manipulation_msgs::ReactivePlaceActionGoal_<ContainerAllocator> > {
00247 static const char* value()
00248 {
00249 return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00250 \n\
00251 Header header\n\
00252 actionlib_msgs/GoalID goal_id\n\
00253 ReactivePlaceGoal goal\n\
00254 \n\
00255 ================================================================================\n\
00256 MSG: std_msgs/Header\n\
00257 # Standard metadata for higher-level stamped data types.\n\
00258 # This is generally used to communicate timestamped data \n\
00259 # in a particular coordinate frame.\n\
00260 # \n\
00261 # sequence ID: consecutively increasing ID \n\
00262 uint32 seq\n\
00263 #Two-integer timestamp that is expressed as:\n\
00264 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00265 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00266 # time-handling sugar is provided by the client library\n\
00267 time stamp\n\
00268 #Frame this data is associated with\n\
00269 # 0: no frame\n\
00270 # 1: global frame\n\
00271 string frame_id\n\
00272 \n\
00273 ================================================================================\n\
00274 MSG: actionlib_msgs/GoalID\n\
00275 # The stamp should store the time at which this goal was requested.\n\
00276 # It is used by an action server when it tries to preempt all\n\
00277 # goals that were requested before a certain time\n\
00278 time stamp\n\
00279 \n\
00280 # The id provides a way to associate feedback and\n\
00281 # result message with specific goal requests. The id\n\
00282 # specified must be unique.\n\
00283 string id\n\
00284 \n\
00285 \n\
00286 ================================================================================\n\
00287 MSG: object_manipulation_msgs/ReactivePlaceGoal\n\
00288 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00289 # an action for placing the object using tactile sensor feedback.\n\
00290 # a reactive place starts from the current pose of the gripper and ends\n\
00291 # at a desired place pose, presumably using the touch sensors along the way\n\
00292 \n\
00293 # the name of the arm being used\n\
00294 string arm_name\n\
00295 \n\
00296 # the desired final place pose for the hand\n\
00297 geometry_msgs/PoseStamped final_place_pose\n\
00298 \n\
00299 # the joint trajectory to use for the place (if available)\n\
00300 # this trajectory is expected to start at the current pose of the gripper\n\
00301 # and end at the desired place pose\n\
00302 trajectory_msgs/JointTrajectory trajectory\n\
00303 \n\
00304 # the name of the support surface in the collision environment, if any\n\
00305 string collision_support_surface_name\n\
00306 \n\
00307 # the name in the collision environment of the object being placed, if any\n\
00308 string collision_object_name\n\
00309 \n\
00310 ================================================================================\n\
00311 MSG: geometry_msgs/PoseStamped\n\
00312 # A Pose with reference coordinate frame and timestamp\n\
00313 Header header\n\
00314 Pose pose\n\
00315 \n\
00316 ================================================================================\n\
00317 MSG: geometry_msgs/Pose\n\
00318 # A representation of pose in free space, composed of postion and orientation. \n\
00319 Point position\n\
00320 Quaternion orientation\n\
00321 \n\
00322 ================================================================================\n\
00323 MSG: geometry_msgs/Point\n\
00324 # This contains the position of a point in free space\n\
00325 float64 x\n\
00326 float64 y\n\
00327 float64 z\n\
00328 \n\
00329 ================================================================================\n\
00330 MSG: geometry_msgs/Quaternion\n\
00331 # This represents an orientation in free space in quaternion form.\n\
00332 \n\
00333 float64 x\n\
00334 float64 y\n\
00335 float64 z\n\
00336 float64 w\n\
00337 \n\
00338 ================================================================================\n\
00339 MSG: trajectory_msgs/JointTrajectory\n\
00340 Header header\n\
00341 string[] joint_names\n\
00342 JointTrajectoryPoint[] points\n\
00343 ================================================================================\n\
00344 MSG: trajectory_msgs/JointTrajectoryPoint\n\
00345 float64[] positions\n\
00346 float64[] velocities\n\
00347 float64[] accelerations\n\
00348 duration time_from_start\n\
00349 ";
00350 }
00351
00352 static const char* value(const ::object_manipulation_msgs::ReactivePlaceActionGoal_<ContainerAllocator> &) { return value(); }
00353 };
00354
00355 template<class ContainerAllocator> struct HasHeader< ::object_manipulation_msgs::ReactivePlaceActionGoal_<ContainerAllocator> > : public TrueType {};
00356 template<class ContainerAllocator> struct HasHeader< const ::object_manipulation_msgs::ReactivePlaceActionGoal_<ContainerAllocator> > : public TrueType {};
00357 }
00358 }
00359
00360 namespace ros
00361 {
00362 namespace serialization
00363 {
00364
00365 template<class ContainerAllocator> struct Serializer< ::object_manipulation_msgs::ReactivePlaceActionGoal_<ContainerAllocator> >
00366 {
00367 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00368 {
00369 stream.next(m.header);
00370 stream.next(m.goal_id);
00371 stream.next(m.goal);
00372 }
00373
00374 ROS_DECLARE_ALLINONE_SERIALIZER;
00375 };
00376 }
00377 }
00378
00379 namespace ros
00380 {
00381 namespace message_operations
00382 {
00383
00384 template<class ContainerAllocator>
00385 struct Printer< ::object_manipulation_msgs::ReactivePlaceActionGoal_<ContainerAllocator> >
00386 {
00387 template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::object_manipulation_msgs::ReactivePlaceActionGoal_<ContainerAllocator> & v)
00388 {
00389 s << indent << "header: ";
00390 s << std::endl;
00391 Printer< ::std_msgs::Header_<ContainerAllocator> >::stream(s, indent + " ", v.header);
00392 s << indent << "goal_id: ";
00393 s << std::endl;
00394 Printer< ::actionlib_msgs::GoalID_<ContainerAllocator> >::stream(s, indent + " ", v.goal_id);
00395 s << indent << "goal: ";
00396 s << std::endl;
00397 Printer< ::object_manipulation_msgs::ReactivePlaceGoal_<ContainerAllocator> >::stream(s, indent + " ", v.goal);
00398 }
00399 };
00400
00401
00402 }
00403 }
00404
00405 #endif // OBJECT_MANIPULATION_MSGS_MESSAGE_REACTIVEPLACEACTIONGOAL_H
00406
