00001
00002 #ifndef OBJECT_MANIPULATION_MSGS_MESSAGE_REACTIVEPLACEACTION_H
00003 #define OBJECT_MANIPULATION_MSGS_MESSAGE_REACTIVEPLACEACTION_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/ReactivePlaceActionGoal.h"
00018 #include "object_manipulation_msgs/ReactivePlaceActionResult.h"
00019 #include "object_manipulation_msgs/ReactivePlaceActionFeedback.h"
00020
00021 namespace object_manipulation_msgs
00022 {
00023 template <class ContainerAllocator>
00024 struct ReactivePlaceAction_ {
00025 typedef ReactivePlaceAction_<ContainerAllocator> Type;
00026
00027 ReactivePlaceAction_()
00028 : action_goal()
00029 , action_result()
00030 , action_feedback()
00031 {
00032 }
00033
00034 ReactivePlaceAction_(const ContainerAllocator& _alloc)
00035 : action_goal(_alloc)
00036 , action_result(_alloc)
00037 , action_feedback(_alloc)
00038 {
00039 }
00040
00041 typedef ::object_manipulation_msgs::ReactivePlaceActionGoal_<ContainerAllocator> _action_goal_type;
00042 ::object_manipulation_msgs::ReactivePlaceActionGoal_<ContainerAllocator> action_goal;
00043
00044 typedef ::object_manipulation_msgs::ReactivePlaceActionResult_<ContainerAllocator> _action_result_type;
00045 ::object_manipulation_msgs::ReactivePlaceActionResult_<ContainerAllocator> action_result;
00046
00047 typedef ::object_manipulation_msgs::ReactivePlaceActionFeedback_<ContainerAllocator> _action_feedback_type;
00048 ::object_manipulation_msgs::ReactivePlaceActionFeedback_<ContainerAllocator> action_feedback;
00049
00050
00051 private:
00052 static const char* __s_getDataType_() { return "object_manipulation_msgs/ReactivePlaceAction"; }
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 "ae0ee2c7f49f2e6b00a5b3a1cc9bde61"; }
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 ReactivePlaceActionGoal action_goal\n\
00069 ReactivePlaceActionResult action_result\n\
00070 ReactivePlaceActionFeedback action_feedback\n\
00071 \n\
00072 ================================================================================\n\
00073 MSG: object_manipulation_msgs/ReactivePlaceActionGoal\n\
00074 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00075 \n\
00076 Header header\n\
00077 actionlib_msgs/GoalID goal_id\n\
00078 ReactivePlaceGoal goal\n\
00079 \n\
00080 ================================================================================\n\
00081 MSG: std_msgs/Header\n\
00082 # Standard metadata for higher-level stamped data types.\n\
00083 # This is generally used to communicate timestamped data \n\
00084 # in a particular coordinate frame.\n\
00085 # \n\
00086 # sequence ID: consecutively increasing ID \n\
00087 uint32 seq\n\
00088 #Two-integer timestamp that is expressed as:\n\
00089 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00090 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00091 # time-handling sugar is provided by the client library\n\
00092 time stamp\n\
00093 #Frame this data is associated with\n\
00094 # 0: no frame\n\
00095 # 1: global frame\n\
00096 string frame_id\n\
00097 \n\
00098 ================================================================================\n\
00099 MSG: actionlib_msgs/GoalID\n\
00100 # The stamp should store the time at which this goal was requested.\n\
00101 # It is used by an action server when it tries to preempt all\n\
00102 # goals that were requested before a certain time\n\
00103 time stamp\n\
00104 \n\
00105 # The id provides a way to associate feedback and\n\
00106 # result message with specific goal requests. The id\n\
00107 # specified must be unique.\n\
00108 string id\n\
00109 \n\
00110 \n\
00111 ================================================================================\n\
00112 MSG: object_manipulation_msgs/ReactivePlaceGoal\n\
00113 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00114 # an action for placing the object using tactile sensor feedback.\n\
00115 # a reactive place starts from the current pose of the gripper and ends\n\
00116 # at a desired place pose, presumably using the touch sensors along the way\n\
00117 \n\
00118 # the name of the arm being used\n\
00119 string arm_name\n\
00120 \n\
00121 # the desired final place pose for the hand\n\
00122 geometry_msgs/PoseStamped final_place_pose\n\
00123 \n\
00124 # the joint trajectory to use for the place (if available)\n\
00125 # this trajectory is expected to start at the current pose of the gripper\n\
00126 # and end at the desired place pose\n\
00127 trajectory_msgs/JointTrajectory trajectory\n\
00128 \n\
00129 # the name of the support surface in the collision environment, if any\n\
00130 string collision_support_surface_name\n\
00131 \n\
00132 # the name in the collision environment of the object being placed, if any\n\
00133 string collision_object_name\n\
00134 \n\
00135 ================================================================================\n\
00136 MSG: geometry_msgs/PoseStamped\n\
00137 # A Pose with reference coordinate frame and timestamp\n\
00138 Header header\n\
00139 Pose pose\n\
00140 \n\
00141 ================================================================================\n\
00142 MSG: geometry_msgs/Pose\n\
00143 # A representation of pose in free space, composed of postion and orientation. \n\
00144 Point position\n\
00145 Quaternion orientation\n\
00146 \n\
00147 ================================================================================\n\
00148 MSG: geometry_msgs/Point\n\
00149 # This contains the position of a point in free space\n\
00150 float64 x\n\
00151 float64 y\n\
00152 float64 z\n\
00153 \n\
00154 ================================================================================\n\
00155 MSG: geometry_msgs/Quaternion\n\
00156 # This represents an orientation in free space in quaternion form.\n\
00157 \n\
00158 float64 x\n\
00159 float64 y\n\
00160 float64 z\n\
00161 float64 w\n\
00162 \n\
00163 ================================================================================\n\
00164 MSG: trajectory_msgs/JointTrajectory\n\
00165 Header header\n\
00166 string[] joint_names\n\
00167 JointTrajectoryPoint[] points\n\
00168 ================================================================================\n\
00169 MSG: trajectory_msgs/JointTrajectoryPoint\n\
00170 float64[] positions\n\
00171 float64[] velocities\n\
00172 float64[] accelerations\n\
00173 duration time_from_start\n\
00174 ================================================================================\n\
00175 MSG: object_manipulation_msgs/ReactivePlaceActionResult\n\
00176 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00177 \n\
00178 Header header\n\
00179 actionlib_msgs/GoalStatus status\n\
00180 ReactivePlaceResult result\n\
00181 \n\
00182 ================================================================================\n\
00183 MSG: actionlib_msgs/GoalStatus\n\
00184 GoalID goal_id\n\
00185 uint8 status\n\
00186 uint8 PENDING = 0 # The goal has yet to be processed by the action server\n\
00187 uint8 ACTIVE = 1 # The goal is currently being processed by the action server\n\
00188 uint8 PREEMPTED = 2 # The goal received a cancel request after it started executing\n\
00189 # and has since completed its execution (Terminal State)\n\
00190 uint8 SUCCEEDED = 3 # The goal was achieved successfully by the action server (Terminal State)\n\
00191 uint8 ABORTED = 4 # The goal was aborted during execution by the action server due\n\
00192 # to some failure (Terminal State)\n\
00193 uint8 REJECTED = 5 # The goal was rejected by the action server without being processed,\n\
00194 # because the goal was unattainable or invalid (Terminal State)\n\
00195 uint8 PREEMPTING = 6 # The goal received a cancel request after it started executing\n\
00196 # and has not yet completed execution\n\
00197 uint8 RECALLING = 7 # The goal received a cancel request before it started executing,\n\
00198 # but the action server has not yet confirmed that the goal is canceled\n\
00199 uint8 RECALLED = 8 # The goal received a cancel request before it started executing\n\
00200 # and was successfully cancelled (Terminal State)\n\
00201 uint8 LOST = 9 # An action client can determine that a goal is LOST. This should not be\n\
00202 # sent over the wire by an action server\n\
00203 \n\
00204 #Allow for the user to associate a string with GoalStatus for debugging\n\
00205 string text\n\
00206 \n\
00207 \n\
00208 ================================================================================\n\
00209 MSG: object_manipulation_msgs/ReactivePlaceResult\n\
00210 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00211 \n\
00212 # the result of the reactive place attempt\n\
00213 \n\
00214 ManipulationResult manipulation_result\n\
00215 \n\
00216 \n\
00217 ================================================================================\n\
00218 MSG: object_manipulation_msgs/ManipulationResult\n\
00219 # Result codes for manipulation tasks\n\
00220 \n\
00221 # task completed as expected\n\
00222 # generally means you can proceed as planned\n\
00223 int32 SUCCESS = 1\n\
00224 \n\
00225 # task not possible (e.g. out of reach or obstacles in the way)\n\
00226 # generally means that the world was not disturbed, so you can try another task\n\
00227 int32 UNFEASIBLE = -1\n\
00228 \n\
00229 # task was thought possible, but failed due to unexpected events during execution\n\
00230 # it is likely that the world was disturbed, so you are encouraged to refresh\n\
00231 # your sensed world model before proceeding to another task\n\
00232 int32 FAILED = -2\n\
00233 \n\
00234 # a lower level error prevented task completion (e.g. joint controller not responding)\n\
00235 # generally requires human attention\n\
00236 int32 ERROR = -3\n\
00237 \n\
00238 # means that at some point during execution we ended up in a state that the collision-aware\n\
00239 # arm navigation module will not move out of. The world was likely not disturbed, but you \n\
00240 # probably need a new collision map to move the arm out of the stuck position\n\
00241 int32 ARM_MOVEMENT_PREVENTED = -4\n\
00242 \n\
00243 # specific to grasp actions\n\
00244 # the object was grasped successfully, but the lift attempt could not achieve the minimum lift distance requested\n\
00245 # it is likely that the collision environment will see collisions between the hand/object and the support surface\n\
00246 int32 LIFT_FAILED = -5\n\
00247 \n\
00248 # specific to place actions\n\
00249 # the object was placed successfully, but the retreat attempt could not achieve the minimum retreat distance requested\n\
00250 # it is likely that the collision environment will see collisions between the hand and the object\n\
00251 int32 RETREAT_FAILED = -6\n\
00252 \n\
00253 # indicates that somewhere along the line a human said \"wait, stop, this is bad, go back and do something else\"\n\
00254 int32 CANCELLED = -7\n\
00255 \n\
00256 # the actual value of this error code\n\
00257 int32 value\n\
00258 \n\
00259 ================================================================================\n\
00260 MSG: object_manipulation_msgs/ReactivePlaceActionFeedback\n\
00261 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00262 \n\
00263 Header header\n\
00264 actionlib_msgs/GoalStatus status\n\
00265 ReactivePlaceFeedback feedback\n\
00266 \n\
00267 ================================================================================\n\
00268 MSG: object_manipulation_msgs/ReactivePlaceFeedback\n\
00269 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00270 \n\
00271 # which phase the place is in\n\
00272 \n\
00273 ManipulationPhase manipulation_phase\n\
00274 \n\
00275 \n\
00276 ================================================================================\n\
00277 MSG: object_manipulation_msgs/ManipulationPhase\n\
00278 int32 CHECKING_FEASIBILITY = 0\n\
00279 int32 MOVING_TO_PREGRASP = 1\n\
00280 int32 MOVING_TO_GRASP = 2\n\
00281 int32 CLOSING = 3 \n\
00282 int32 ADJUSTING_GRASP = 4\n\
00283 int32 LIFTING = 5\n\
00284 int32 MOVING_WITH_OBJECT = 6\n\
00285 int32 MOVING_TO_PLACE = 7\n\
00286 int32 PLACING = 8\n\
00287 int32 OPENING = 9\n\
00288 int32 RETREATING = 10\n\
00289 int32 MOVING_WITHOUT_OBJECT = 11\n\
00290 int32 SHAKING = 12\n\
00291 int32 SUCCEEDED = 13\n\
00292 int32 FAILED = 14\n\
00293 int32 ABORTED = 15\n\
00294 int32 HOLDING_OBJECT = 16\n\
00295 \n\
00296 int32 phase\n\
00297 "; }
00298 public:
00299 ROS_DEPRECATED static const std::string __s_getMessageDefinition() { return __s_getMessageDefinition_(); }
00300
00301 ROS_DEPRECATED const std::string __getMessageDefinition() const { return __s_getMessageDefinition_(); }
00302
00303 ROS_DEPRECATED virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const
00304 {
00305 ros::serialization::OStream stream(write_ptr, 1000000000);
00306 ros::serialization::serialize(stream, action_goal);
00307 ros::serialization::serialize(stream, action_result);
00308 ros::serialization::serialize(stream, action_feedback);
00309 return stream.getData();
00310 }
00311
00312 ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr)
00313 {
00314 ros::serialization::IStream stream(read_ptr, 1000000000);
00315 ros::serialization::deserialize(stream, action_goal);
00316 ros::serialization::deserialize(stream, action_result);
00317 ros::serialization::deserialize(stream, action_feedback);
00318 return stream.getData();
00319 }
00320
00321 ROS_DEPRECATED virtual uint32_t serializationLength() const
00322 {
00323 uint32_t size = 0;
00324 size += ros::serialization::serializationLength(action_goal);
00325 size += ros::serialization::serializationLength(action_result);
00326 size += ros::serialization::serializationLength(action_feedback);
00327 return size;
00328 }
00329
00330 typedef boost::shared_ptr< ::object_manipulation_msgs::ReactivePlaceAction_<ContainerAllocator> > Ptr;
00331 typedef boost::shared_ptr< ::object_manipulation_msgs::ReactivePlaceAction_<ContainerAllocator> const> ConstPtr;
00332 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00333 };
00334 typedef ::object_manipulation_msgs::ReactivePlaceAction_<std::allocator<void> > ReactivePlaceAction;
00335
00336 typedef boost::shared_ptr< ::object_manipulation_msgs::ReactivePlaceAction> ReactivePlaceActionPtr;
00337 typedef boost::shared_ptr< ::object_manipulation_msgs::ReactivePlaceAction const> ReactivePlaceActionConstPtr;
00338
00339
00340 template<typename ContainerAllocator>
00341 std::ostream& operator<<(std::ostream& s, const ::object_manipulation_msgs::ReactivePlaceAction_<ContainerAllocator> & v)
00342 {
00343 ros::message_operations::Printer< ::object_manipulation_msgs::ReactivePlaceAction_<ContainerAllocator> >::stream(s, "", v);
00344 return s;}
00345
00346 }
00347
00348 namespace ros
00349 {
00350 namespace message_traits
00351 {
00352 template<class ContainerAllocator> struct IsMessage< ::object_manipulation_msgs::ReactivePlaceAction_<ContainerAllocator> > : public TrueType {};
00353 template<class ContainerAllocator> struct IsMessage< ::object_manipulation_msgs::ReactivePlaceAction_<ContainerAllocator> const> : public TrueType {};
00354 template<class ContainerAllocator>
00355 struct MD5Sum< ::object_manipulation_msgs::ReactivePlaceAction_<ContainerAllocator> > {
00356 static const char* value()
00357 {
00358 return "ae0ee2c7f49f2e6b00a5b3a1cc9bde61";
00359 }
00360
00361 static const char* value(const ::object_manipulation_msgs::ReactivePlaceAction_<ContainerAllocator> &) { return value(); }
00362 static const uint64_t static_value1 = 0xae0ee2c7f49f2e6bULL;
00363 static const uint64_t static_value2 = 0x00a5b3a1cc9bde61ULL;
00364 };
00365
00366 template<class ContainerAllocator>
00367 struct DataType< ::object_manipulation_msgs::ReactivePlaceAction_<ContainerAllocator> > {
00368 static const char* value()
00369 {
00370 return "object_manipulation_msgs/ReactivePlaceAction";
00371 }
00372
00373 static const char* value(const ::object_manipulation_msgs::ReactivePlaceAction_<ContainerAllocator> &) { return value(); }
00374 };
00375
00376 template<class ContainerAllocator>
00377 struct Definition< ::object_manipulation_msgs::ReactivePlaceAction_<ContainerAllocator> > {
00378 static const char* value()
00379 {
00380 return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00381 \n\
00382 ReactivePlaceActionGoal action_goal\n\
00383 ReactivePlaceActionResult action_result\n\
00384 ReactivePlaceActionFeedback action_feedback\n\
00385 \n\
00386 ================================================================================\n\
00387 MSG: object_manipulation_msgs/ReactivePlaceActionGoal\n\
00388 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00389 \n\
00390 Header header\n\
00391 actionlib_msgs/GoalID goal_id\n\
00392 ReactivePlaceGoal goal\n\
00393 \n\
00394 ================================================================================\n\
00395 MSG: std_msgs/Header\n\
00396 # Standard metadata for higher-level stamped data types.\n\
00397 # This is generally used to communicate timestamped data \n\
00398 # in a particular coordinate frame.\n\
00399 # \n\
00400 # sequence ID: consecutively increasing ID \n\
00401 uint32 seq\n\
00402 #Two-integer timestamp that is expressed as:\n\
00403 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00404 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00405 # time-handling sugar is provided by the client library\n\
00406 time stamp\n\
00407 #Frame this data is associated with\n\
00408 # 0: no frame\n\
00409 # 1: global frame\n\
00410 string frame_id\n\
00411 \n\
00412 ================================================================================\n\
00413 MSG: actionlib_msgs/GoalID\n\
00414 # The stamp should store the time at which this goal was requested.\n\
00415 # It is used by an action server when it tries to preempt all\n\
00416 # goals that were requested before a certain time\n\
00417 time stamp\n\
00418 \n\
00419 # The id provides a way to associate feedback and\n\
00420 # result message with specific goal requests. The id\n\
00421 # specified must be unique.\n\
00422 string id\n\
00423 \n\
00424 \n\
00425 ================================================================================\n\
00426 MSG: object_manipulation_msgs/ReactivePlaceGoal\n\
00427 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00428 # an action for placing the object using tactile sensor feedback.\n\
00429 # a reactive place starts from the current pose of the gripper and ends\n\
00430 # at a desired place pose, presumably using the touch sensors along the way\n\
00431 \n\
00432 # the name of the arm being used\n\
00433 string arm_name\n\
00434 \n\
00435 # the desired final place pose for the hand\n\
00436 geometry_msgs/PoseStamped final_place_pose\n\
00437 \n\
00438 # the joint trajectory to use for the place (if available)\n\
00439 # this trajectory is expected to start at the current pose of the gripper\n\
00440 # and end at the desired place pose\n\
00441 trajectory_msgs/JointTrajectory trajectory\n\
00442 \n\
00443 # the name of the support surface in the collision environment, if any\n\
00444 string collision_support_surface_name\n\
00445 \n\
00446 # the name in the collision environment of the object being placed, if any\n\
00447 string collision_object_name\n\
00448 \n\
00449 ================================================================================\n\
00450 MSG: geometry_msgs/PoseStamped\n\
00451 # A Pose with reference coordinate frame and timestamp\n\
00452 Header header\n\
00453 Pose pose\n\
00454 \n\
00455 ================================================================================\n\
00456 MSG: geometry_msgs/Pose\n\
00457 # A representation of pose in free space, composed of postion and orientation. \n\
00458 Point position\n\
00459 Quaternion orientation\n\
00460 \n\
00461 ================================================================================\n\
00462 MSG: geometry_msgs/Point\n\
00463 # This contains the position of a point in free space\n\
00464 float64 x\n\
00465 float64 y\n\
00466 float64 z\n\
00467 \n\
00468 ================================================================================\n\
00469 MSG: geometry_msgs/Quaternion\n\
00470 # This represents an orientation in free space in quaternion form.\n\
00471 \n\
00472 float64 x\n\
00473 float64 y\n\
00474 float64 z\n\
00475 float64 w\n\
00476 \n\
00477 ================================================================================\n\
00478 MSG: trajectory_msgs/JointTrajectory\n\
00479 Header header\n\
00480 string[] joint_names\n\
00481 JointTrajectoryPoint[] points\n\
00482 ================================================================================\n\
00483 MSG: trajectory_msgs/JointTrajectoryPoint\n\
00484 float64[] positions\n\
00485 float64[] velocities\n\
00486 float64[] accelerations\n\
00487 duration time_from_start\n\
00488 ================================================================================\n\
00489 MSG: object_manipulation_msgs/ReactivePlaceActionResult\n\
00490 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00491 \n\
00492 Header header\n\
00493 actionlib_msgs/GoalStatus status\n\
00494 ReactivePlaceResult result\n\
00495 \n\
00496 ================================================================================\n\
00497 MSG: actionlib_msgs/GoalStatus\n\
00498 GoalID goal_id\n\
00499 uint8 status\n\
00500 uint8 PENDING = 0 # The goal has yet to be processed by the action server\n\
00501 uint8 ACTIVE = 1 # The goal is currently being processed by the action server\n\
00502 uint8 PREEMPTED = 2 # The goal received a cancel request after it started executing\n\
00503 # and has since completed its execution (Terminal State)\n\
00504 uint8 SUCCEEDED = 3 # The goal was achieved successfully by the action server (Terminal State)\n\
00505 uint8 ABORTED = 4 # The goal was aborted during execution by the action server due\n\
00506 # to some failure (Terminal State)\n\
00507 uint8 REJECTED = 5 # The goal was rejected by the action server without being processed,\n\
00508 # because the goal was unattainable or invalid (Terminal State)\n\
00509 uint8 PREEMPTING = 6 # The goal received a cancel request after it started executing\n\
00510 # and has not yet completed execution\n\
00511 uint8 RECALLING = 7 # The goal received a cancel request before it started executing,\n\
00512 # but the action server has not yet confirmed that the goal is canceled\n\
00513 uint8 RECALLED = 8 # The goal received a cancel request before it started executing\n\
00514 # and was successfully cancelled (Terminal State)\n\
00515 uint8 LOST = 9 # An action client can determine that a goal is LOST. This should not be\n\
00516 # sent over the wire by an action server\n\
00517 \n\
00518 #Allow for the user to associate a string with GoalStatus for debugging\n\
00519 string text\n\
00520 \n\
00521 \n\
00522 ================================================================================\n\
00523 MSG: object_manipulation_msgs/ReactivePlaceResult\n\
00524 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00525 \n\
00526 # the result of the reactive place attempt\n\
00527 \n\
00528 ManipulationResult manipulation_result\n\
00529 \n\
00530 \n\
00531 ================================================================================\n\
00532 MSG: object_manipulation_msgs/ManipulationResult\n\
00533 # Result codes for manipulation tasks\n\
00534 \n\
00535 # task completed as expected\n\
00536 # generally means you can proceed as planned\n\
00537 int32 SUCCESS = 1\n\
00538 \n\
00539 # task not possible (e.g. out of reach or obstacles in the way)\n\
00540 # generally means that the world was not disturbed, so you can try another task\n\
00541 int32 UNFEASIBLE = -1\n\
00542 \n\
00543 # task was thought possible, but failed due to unexpected events during execution\n\
00544 # it is likely that the world was disturbed, so you are encouraged to refresh\n\
00545 # your sensed world model before proceeding to another task\n\
00546 int32 FAILED = -2\n\
00547 \n\
00548 # a lower level error prevented task completion (e.g. joint controller not responding)\n\
00549 # generally requires human attention\n\
00550 int32 ERROR = -3\n\
00551 \n\
00552 # means that at some point during execution we ended up in a state that the collision-aware\n\
00553 # arm navigation module will not move out of. The world was likely not disturbed, but you \n\
00554 # probably need a new collision map to move the arm out of the stuck position\n\
00555 int32 ARM_MOVEMENT_PREVENTED = -4\n\
00556 \n\
00557 # specific to grasp actions\n\
00558 # the object was grasped successfully, but the lift attempt could not achieve the minimum lift distance requested\n\
00559 # it is likely that the collision environment will see collisions between the hand/object and the support surface\n\
00560 int32 LIFT_FAILED = -5\n\
00561 \n\
00562 # specific to place actions\n\
00563 # the object was placed successfully, but the retreat attempt could not achieve the minimum retreat distance requested\n\
00564 # it is likely that the collision environment will see collisions between the hand and the object\n\
00565 int32 RETREAT_FAILED = -6\n\
00566 \n\
00567 # indicates that somewhere along the line a human said \"wait, stop, this is bad, go back and do something else\"\n\
00568 int32 CANCELLED = -7\n\
00569 \n\
00570 # the actual value of this error code\n\
00571 int32 value\n\
00572 \n\
00573 ================================================================================\n\
00574 MSG: object_manipulation_msgs/ReactivePlaceActionFeedback\n\
00575 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00576 \n\
00577 Header header\n\
00578 actionlib_msgs/GoalStatus status\n\
00579 ReactivePlaceFeedback feedback\n\
00580 \n\
00581 ================================================================================\n\
00582 MSG: object_manipulation_msgs/ReactivePlaceFeedback\n\
00583 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00584 \n\
00585 # which phase the place is in\n\
00586 \n\
00587 ManipulationPhase manipulation_phase\n\
00588 \n\
00589 \n\
00590 ================================================================================\n\
00591 MSG: object_manipulation_msgs/ManipulationPhase\n\
00592 int32 CHECKING_FEASIBILITY = 0\n\
00593 int32 MOVING_TO_PREGRASP = 1\n\
00594 int32 MOVING_TO_GRASP = 2\n\
00595 int32 CLOSING = 3 \n\
00596 int32 ADJUSTING_GRASP = 4\n\
00597 int32 LIFTING = 5\n\
00598 int32 MOVING_WITH_OBJECT = 6\n\
00599 int32 MOVING_TO_PLACE = 7\n\
00600 int32 PLACING = 8\n\
00601 int32 OPENING = 9\n\
00602 int32 RETREATING = 10\n\
00603 int32 MOVING_WITHOUT_OBJECT = 11\n\
00604 int32 SHAKING = 12\n\
00605 int32 SUCCEEDED = 13\n\
00606 int32 FAILED = 14\n\
00607 int32 ABORTED = 15\n\
00608 int32 HOLDING_OBJECT = 16\n\
00609 \n\
00610 int32 phase\n\
00611 ";
00612 }
00613
00614 static const char* value(const ::object_manipulation_msgs::ReactivePlaceAction_<ContainerAllocator> &) { return value(); }
00615 };
00616
00617 }
00618 }
00619
00620 namespace ros
00621 {
00622 namespace serialization
00623 {
00624
00625 template<class ContainerAllocator> struct Serializer< ::object_manipulation_msgs::ReactivePlaceAction_<ContainerAllocator> >
00626 {
00627 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00628 {
00629 stream.next(m.action_goal);
00630 stream.next(m.action_result);
00631 stream.next(m.action_feedback);
00632 }
00633
00634 ROS_DECLARE_ALLINONE_SERIALIZER;
00635 };
00636 }
00637 }
00638
00639 namespace ros
00640 {
00641 namespace message_operations
00642 {
00643
00644 template<class ContainerAllocator>
00645 struct Printer< ::object_manipulation_msgs::ReactivePlaceAction_<ContainerAllocator> >
00646 {
00647 template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::object_manipulation_msgs::ReactivePlaceAction_<ContainerAllocator> & v)
00648 {
00649 s << indent << "action_goal: ";
00650 s << std::endl;
00651 Printer< ::object_manipulation_msgs::ReactivePlaceActionGoal_<ContainerAllocator> >::stream(s, indent + " ", v.action_goal);
00652 s << indent << "action_result: ";
00653 s << std::endl;
00654 Printer< ::object_manipulation_msgs::ReactivePlaceActionResult_<ContainerAllocator> >::stream(s, indent + " ", v.action_result);
00655 s << indent << "action_feedback: ";
00656 s << std::endl;
00657 Printer< ::object_manipulation_msgs::ReactivePlaceActionFeedback_<ContainerAllocator> >::stream(s, indent + " ", v.action_feedback);
00658 }
00659 };
00660
00661
00662 }
00663 }
00664
00665 #endif // OBJECT_MANIPULATION_MSGS_MESSAGE_REACTIVEPLACEACTION_H
00666
