00001
00002 #ifndef OBJECT_MANIPULATION_MSGS_MESSAGE_REACTIVEPLACEGOAL_H
00003 #define OBJECT_MANIPULATION_MSGS_MESSAGE_REACTIVEPLACEGOAL_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 "geometry_msgs/PoseStamped.h"
00018 #include "trajectory_msgs/JointTrajectory.h"
00019
00020 namespace object_manipulation_msgs
00021 {
00022 template <class ContainerAllocator>
00023 struct ReactivePlaceGoal_ {
00024 typedef ReactivePlaceGoal_<ContainerAllocator> Type;
00025
00026 ReactivePlaceGoal_()
00027 : arm_name()
00028 , final_place_pose()
00029 , trajectory()
00030 , collision_support_surface_name()
00031 , collision_object_name()
00032 {
00033 }
00034
00035 ReactivePlaceGoal_(const ContainerAllocator& _alloc)
00036 : arm_name(_alloc)
00037 , final_place_pose(_alloc)
00038 , trajectory(_alloc)
00039 , collision_support_surface_name(_alloc)
00040 , collision_object_name(_alloc)
00041 {
00042 }
00043
00044 typedef std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > _arm_name_type;
00045 std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > arm_name;
00046
00047 typedef ::geometry_msgs::PoseStamped_<ContainerAllocator> _final_place_pose_type;
00048 ::geometry_msgs::PoseStamped_<ContainerAllocator> final_place_pose;
00049
00050 typedef ::trajectory_msgs::JointTrajectory_<ContainerAllocator> _trajectory_type;
00051 ::trajectory_msgs::JointTrajectory_<ContainerAllocator> trajectory;
00052
00053 typedef std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > _collision_support_surface_name_type;
00054 std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > collision_support_surface_name;
00055
00056 typedef std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > _collision_object_name_type;
00057 std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > collision_object_name;
00058
00059
00060 private:
00061 static const char* __s_getDataType_() { return "object_manipulation_msgs/ReactivePlaceGoal"; }
00062 public:
00063 ROS_DEPRECATED static const std::string __s_getDataType() { return __s_getDataType_(); }
00064
00065 ROS_DEPRECATED const std::string __getDataType() const { return __s_getDataType_(); }
00066
00067 private:
00068 static const char* __s_getMD5Sum_() { return "c40d270ade3a224752149b298986a70c"; }
00069 public:
00070 ROS_DEPRECATED static const std::string __s_getMD5Sum() { return __s_getMD5Sum_(); }
00071
00072 ROS_DEPRECATED const std::string __getMD5Sum() const { return __s_getMD5Sum_(); }
00073
00074 private:
00075 static const char* __s_getMessageDefinition_() { return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00076 # an action for placing the object using tactile sensor feedback.\n\
00077 # a reactive place starts from the current pose of the gripper and ends\n\
00078 # at a desired place pose, presumably using the touch sensors along the way\n\
00079 \n\
00080 # the name of the arm being used\n\
00081 string arm_name\n\
00082 \n\
00083 # the desired final place pose for the hand\n\
00084 geometry_msgs/PoseStamped final_place_pose\n\
00085 \n\
00086 # the joint trajectory to use for the place (if available)\n\
00087 # this trajectory is expected to start at the current pose of the gripper\n\
00088 # and end at the desired place pose\n\
00089 trajectory_msgs/JointTrajectory trajectory\n\
00090 \n\
00091 # the name of the support surface in the collision environment, if any\n\
00092 string collision_support_surface_name\n\
00093 \n\
00094 # the name in the collision environment of the object being placed, if any\n\
00095 string collision_object_name\n\
00096 \n\
00097 ================================================================================\n\
00098 MSG: geometry_msgs/PoseStamped\n\
00099 # A Pose with reference coordinate frame and timestamp\n\
00100 Header header\n\
00101 Pose pose\n\
00102 \n\
00103 ================================================================================\n\
00104 MSG: std_msgs/Header\n\
00105 # Standard metadata for higher-level stamped data types.\n\
00106 # This is generally used to communicate timestamped data \n\
00107 # in a particular coordinate frame.\n\
00108 # \n\
00109 # sequence ID: consecutively increasing ID \n\
00110 uint32 seq\n\
00111 #Two-integer timestamp that is expressed as:\n\
00112 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00113 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00114 # time-handling sugar is provided by the client library\n\
00115 time stamp\n\
00116 #Frame this data is associated with\n\
00117 # 0: no frame\n\
00118 # 1: global frame\n\
00119 string frame_id\n\
00120 \n\
00121 ================================================================================\n\
00122 MSG: geometry_msgs/Pose\n\
00123 # A representation of pose in free space, composed of postion and orientation. \n\
00124 Point position\n\
00125 Quaternion orientation\n\
00126 \n\
00127 ================================================================================\n\
00128 MSG: geometry_msgs/Point\n\
00129 # This contains the position of a point in free space\n\
00130 float64 x\n\
00131 float64 y\n\
00132 float64 z\n\
00133 \n\
00134 ================================================================================\n\
00135 MSG: geometry_msgs/Quaternion\n\
00136 # This represents an orientation in free space in quaternion form.\n\
00137 \n\
00138 float64 x\n\
00139 float64 y\n\
00140 float64 z\n\
00141 float64 w\n\
00142 \n\
00143 ================================================================================\n\
00144 MSG: trajectory_msgs/JointTrajectory\n\
00145 Header header\n\
00146 string[] joint_names\n\
00147 JointTrajectoryPoint[] points\n\
00148 ================================================================================\n\
00149 MSG: trajectory_msgs/JointTrajectoryPoint\n\
00150 float64[] positions\n\
00151 float64[] velocities\n\
00152 float64[] accelerations\n\
00153 duration time_from_start\n\
00154 "; }
00155 public:
00156 ROS_DEPRECATED static const std::string __s_getMessageDefinition() { return __s_getMessageDefinition_(); }
00157
00158 ROS_DEPRECATED const std::string __getMessageDefinition() const { return __s_getMessageDefinition_(); }
00159
00160 ROS_DEPRECATED virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const
00161 {
00162 ros::serialization::OStream stream(write_ptr, 1000000000);
00163 ros::serialization::serialize(stream, arm_name);
00164 ros::serialization::serialize(stream, final_place_pose);
00165 ros::serialization::serialize(stream, trajectory);
00166 ros::serialization::serialize(stream, collision_support_surface_name);
00167 ros::serialization::serialize(stream, collision_object_name);
00168 return stream.getData();
00169 }
00170
00171 ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr)
00172 {
00173 ros::serialization::IStream stream(read_ptr, 1000000000);
00174 ros::serialization::deserialize(stream, arm_name);
00175 ros::serialization::deserialize(stream, final_place_pose);
00176 ros::serialization::deserialize(stream, trajectory);
00177 ros::serialization::deserialize(stream, collision_support_surface_name);
00178 ros::serialization::deserialize(stream, collision_object_name);
00179 return stream.getData();
00180 }
00181
00182 ROS_DEPRECATED virtual uint32_t serializationLength() const
00183 {
00184 uint32_t size = 0;
00185 size += ros::serialization::serializationLength(arm_name);
00186 size += ros::serialization::serializationLength(final_place_pose);
00187 size += ros::serialization::serializationLength(trajectory);
00188 size += ros::serialization::serializationLength(collision_support_surface_name);
00189 size += ros::serialization::serializationLength(collision_object_name);
00190 return size;
00191 }
00192
00193 typedef boost::shared_ptr< ::object_manipulation_msgs::ReactivePlaceGoal_<ContainerAllocator> > Ptr;
00194 typedef boost::shared_ptr< ::object_manipulation_msgs::ReactivePlaceGoal_<ContainerAllocator> const> ConstPtr;
00195 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00196 };
00197 typedef ::object_manipulation_msgs::ReactivePlaceGoal_<std::allocator<void> > ReactivePlaceGoal;
00198
00199 typedef boost::shared_ptr< ::object_manipulation_msgs::ReactivePlaceGoal> ReactivePlaceGoalPtr;
00200 typedef boost::shared_ptr< ::object_manipulation_msgs::ReactivePlaceGoal const> ReactivePlaceGoalConstPtr;
00201
00202
00203 template<typename ContainerAllocator>
00204 std::ostream& operator<<(std::ostream& s, const ::object_manipulation_msgs::ReactivePlaceGoal_<ContainerAllocator> & v)
00205 {
00206 ros::message_operations::Printer< ::object_manipulation_msgs::ReactivePlaceGoal_<ContainerAllocator> >::stream(s, "", v);
00207 return s;}
00208
00209 }
00210
00211 namespace ros
00212 {
00213 namespace message_traits
00214 {
00215 template<class ContainerAllocator> struct IsMessage< ::object_manipulation_msgs::ReactivePlaceGoal_<ContainerAllocator> > : public TrueType {};
00216 template<class ContainerAllocator> struct IsMessage< ::object_manipulation_msgs::ReactivePlaceGoal_<ContainerAllocator> const> : public TrueType {};
00217 template<class ContainerAllocator>
00218 struct MD5Sum< ::object_manipulation_msgs::ReactivePlaceGoal_<ContainerAllocator> > {
00219 static const char* value()
00220 {
00221 return "c40d270ade3a224752149b298986a70c";
00222 }
00223
00224 static const char* value(const ::object_manipulation_msgs::ReactivePlaceGoal_<ContainerAllocator> &) { return value(); }
00225 static const uint64_t static_value1 = 0xc40d270ade3a2247ULL;
00226 static const uint64_t static_value2 = 0x52149b298986a70cULL;
00227 };
00228
00229 template<class ContainerAllocator>
00230 struct DataType< ::object_manipulation_msgs::ReactivePlaceGoal_<ContainerAllocator> > {
00231 static const char* value()
00232 {
00233 return "object_manipulation_msgs/ReactivePlaceGoal";
00234 }
00235
00236 static const char* value(const ::object_manipulation_msgs::ReactivePlaceGoal_<ContainerAllocator> &) { return value(); }
00237 };
00238
00239 template<class ContainerAllocator>
00240 struct Definition< ::object_manipulation_msgs::ReactivePlaceGoal_<ContainerAllocator> > {
00241 static const char* value()
00242 {
00243 return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00244 # an action for placing the object using tactile sensor feedback.\n\
00245 # a reactive place starts from the current pose of the gripper and ends\n\
00246 # at a desired place pose, presumably using the touch sensors along the way\n\
00247 \n\
00248 # the name of the arm being used\n\
00249 string arm_name\n\
00250 \n\
00251 # the desired final place pose for the hand\n\
00252 geometry_msgs/PoseStamped final_place_pose\n\
00253 \n\
00254 # the joint trajectory to use for the place (if available)\n\
00255 # this trajectory is expected to start at the current pose of the gripper\n\
00256 # and end at the desired place pose\n\
00257 trajectory_msgs/JointTrajectory trajectory\n\
00258 \n\
00259 # the name of the support surface in the collision environment, if any\n\
00260 string collision_support_surface_name\n\
00261 \n\
00262 # the name in the collision environment of the object being placed, if any\n\
00263 string collision_object_name\n\
00264 \n\
00265 ================================================================================\n\
00266 MSG: geometry_msgs/PoseStamped\n\
00267 # A Pose with reference coordinate frame and timestamp\n\
00268 Header header\n\
00269 Pose pose\n\
00270 \n\
00271 ================================================================================\n\
00272 MSG: std_msgs/Header\n\
00273 # Standard metadata for higher-level stamped data types.\n\
00274 # This is generally used to communicate timestamped data \n\
00275 # in a particular coordinate frame.\n\
00276 # \n\
00277 # sequence ID: consecutively increasing ID \n\
00278 uint32 seq\n\
00279 #Two-integer timestamp that is expressed as:\n\
00280 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00281 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00282 # time-handling sugar is provided by the client library\n\
00283 time stamp\n\
00284 #Frame this data is associated with\n\
00285 # 0: no frame\n\
00286 # 1: global frame\n\
00287 string frame_id\n\
00288 \n\
00289 ================================================================================\n\
00290 MSG: geometry_msgs/Pose\n\
00291 # A representation of pose in free space, composed of postion and orientation. \n\
00292 Point position\n\
00293 Quaternion orientation\n\
00294 \n\
00295 ================================================================================\n\
00296 MSG: geometry_msgs/Point\n\
00297 # This contains the position of a point in free space\n\
00298 float64 x\n\
00299 float64 y\n\
00300 float64 z\n\
00301 \n\
00302 ================================================================================\n\
00303 MSG: geometry_msgs/Quaternion\n\
00304 # This represents an orientation in free space in quaternion form.\n\
00305 \n\
00306 float64 x\n\
00307 float64 y\n\
00308 float64 z\n\
00309 float64 w\n\
00310 \n\
00311 ================================================================================\n\
00312 MSG: trajectory_msgs/JointTrajectory\n\
00313 Header header\n\
00314 string[] joint_names\n\
00315 JointTrajectoryPoint[] points\n\
00316 ================================================================================\n\
00317 MSG: trajectory_msgs/JointTrajectoryPoint\n\
00318 float64[] positions\n\
00319 float64[] velocities\n\
00320 float64[] accelerations\n\
00321 duration time_from_start\n\
00322 ";
00323 }
00324
00325 static const char* value(const ::object_manipulation_msgs::ReactivePlaceGoal_<ContainerAllocator> &) { return value(); }
00326 };
00327
00328 }
00329 }
00330
00331 namespace ros
00332 {
00333 namespace serialization
00334 {
00335
00336 template<class ContainerAllocator> struct Serializer< ::object_manipulation_msgs::ReactivePlaceGoal_<ContainerAllocator> >
00337 {
00338 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00339 {
00340 stream.next(m.arm_name);
00341 stream.next(m.final_place_pose);
00342 stream.next(m.trajectory);
00343 stream.next(m.collision_support_surface_name);
00344 stream.next(m.collision_object_name);
00345 }
00346
00347 ROS_DECLARE_ALLINONE_SERIALIZER;
00348 };
00349 }
00350 }
00351
00352 namespace ros
00353 {
00354 namespace message_operations
00355 {
00356
00357 template<class ContainerAllocator>
00358 struct Printer< ::object_manipulation_msgs::ReactivePlaceGoal_<ContainerAllocator> >
00359 {
00360 template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::object_manipulation_msgs::ReactivePlaceGoal_<ContainerAllocator> & v)
00361 {
00362 s << indent << "arm_name: ";
00363 Printer<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > >::stream(s, indent + " ", v.arm_name);
00364 s << indent << "final_place_pose: ";
00365 s << std::endl;
00366 Printer< ::geometry_msgs::PoseStamped_<ContainerAllocator> >::stream(s, indent + " ", v.final_place_pose);
00367 s << indent << "trajectory: ";
00368 s << std::endl;
00369 Printer< ::trajectory_msgs::JointTrajectory_<ContainerAllocator> >::stream(s, indent + " ", v.trajectory);
00370 s << indent << "collision_support_surface_name: ";
00371 Printer<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > >::stream(s, indent + " ", v.collision_support_surface_name);
00372 s << indent << "collision_object_name: ";
00373 Printer<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > >::stream(s, indent + " ", v.collision_object_name);
00374 }
00375 };
00376
00377
00378 }
00379 }
00380
00381 #endif // OBJECT_MANIPULATION_MSGS_MESSAGE_REACTIVEPLACEGOAL_H
00382
