00001
00002 #ifndef PR2_OBJECT_MANIPULATION_MSGS_MESSAGE_IMGUIGOAL_H
00003 #define PR2_OBJECT_MANIPULATION_MSGS_MESSAGE_IMGUIGOAL_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 "pr2_object_manipulation_msgs/IMGUIOptions.h"
00018 #include "pr2_object_manipulation_msgs/IMGUICommand.h"
00019
00020 namespace pr2_object_manipulation_msgs
00021 {
00022 template <class ContainerAllocator>
00023 struct IMGUIGoal_ {
00024 typedef IMGUIGoal_<ContainerAllocator> Type;
00025
00026 IMGUIGoal_()
00027 : options()
00028 , command()
00029 {
00030 }
00031
00032 IMGUIGoal_(const ContainerAllocator& _alloc)
00033 : options(_alloc)
00034 , command(_alloc)
00035 {
00036 }
00037
00038 typedef ::pr2_object_manipulation_msgs::IMGUIOptions_<ContainerAllocator> _options_type;
00039 ::pr2_object_manipulation_msgs::IMGUIOptions_<ContainerAllocator> options;
00040
00041 typedef ::pr2_object_manipulation_msgs::IMGUICommand_<ContainerAllocator> _command_type;
00042 ::pr2_object_manipulation_msgs::IMGUICommand_<ContainerAllocator> command;
00043
00044
00045 private:
00046 static const char* __s_getDataType_() { return "pr2_object_manipulation_msgs/IMGUIGoal"; }
00047 public:
00048 ROS_DEPRECATED static const std::string __s_getDataType() { return __s_getDataType_(); }
00049
00050 ROS_DEPRECATED const std::string __getDataType() const { return __s_getDataType_(); }
00051
00052 private:
00053 static const char* __s_getMD5Sum_() { return "e75483c9fb89d8b0a48dfd33d36f2253"; }
00054 public:
00055 ROS_DEPRECATED static const std::string __s_getMD5Sum() { return __s_getMD5Sum_(); }
00056
00057 ROS_DEPRECATED const std::string __getMD5Sum() const { return __s_getMD5Sum_(); }
00058
00059 private:
00060 static const char* __s_getMessageDefinition_() { return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00061 \n\
00062 IMGUIOptions options\n\
00063 IMGUICommand command\n\
00064 \n\
00065 \n\
00066 ================================================================================\n\
00067 MSG: pr2_object_manipulation_msgs/IMGUIOptions\n\
00068 \n\
00069 # collision checking enabled\n\
00070 bool collision_checked\n\
00071 \n\
00072 # 0=call gripper click\n\
00073 # 1=grasp the provided graspable object\n\
00074 int32 grasp_selection\n\
00075 \n\
00076 # 0=right, 1=left arm\n\
00077 int32 arm_selection\n\
00078 \n\
00079 # for RESET commands\n\
00080 # 0=reset collision objects\n\
00081 # 1=reset attached objects\n\
00082 int32 reset_choice\n\
00083 \n\
00084 # for MOVE_ARM commands\n\
00085 # 0=side\n\
00086 # 1=front\n\
00087 # 2=side handoff\n\
00088 int32 arm_action_choice\n\
00089 \n\
00090 # for MOVE_ARM commands\n\
00091 # 0=open-loop\n\
00092 # 1=with planner\n\
00093 int32 arm_planner_choice\n\
00094 \n\
00095 # for MOVE_GRIPPER commands\n\
00096 # opening of gripper (0=closed..100=open)\n\
00097 int32 gripper_slider_position\n\
00098 \n\
00099 # used if grasp_selection == 1\n\
00100 object_manipulation_msgs/GraspableObject selected_object\n\
00101 \n\
00102 # indicates obstacles that can be moved during grasping\n\
00103 # presumably, the operator has marked these in some fashion\n\
00104 object_manipulation_msgs/GraspableObject[] movable_obstacles\n\
00105 \n\
00106 # more options..\n\
00107 IMGUIAdvancedOptions adv_options\n\
00108 \n\
00109 ================================================================================\n\
00110 MSG: object_manipulation_msgs/GraspableObject\n\
00111 # an object that the object_manipulator can work on\n\
00112 \n\
00113 # a graspable object can be represented in multiple ways. This message\n\
00114 # can contain all of them. Which one is actually used is up to the receiver\n\
00115 # of this message. When adding new representations, one must be careful that\n\
00116 # they have reasonable lightweight defaults indicating that that particular\n\
00117 # representation is not available.\n\
00118 \n\
00119 # the tf frame to be used as a reference frame when combining information from\n\
00120 # the different representations below\n\
00121 string reference_frame_id\n\
00122 \n\
00123 # potential recognition results from a database of models\n\
00124 # all poses are relative to the object reference pose\n\
00125 household_objects_database_msgs/DatabaseModelPose[] potential_models\n\
00126 \n\
00127 # the point cloud itself\n\
00128 sensor_msgs/PointCloud cluster\n\
00129 \n\
00130 # a region of a PointCloud2 of interest\n\
00131 object_manipulation_msgs/SceneRegion region\n\
00132 \n\
00133 # the name that this object has in the collision environment\n\
00134 string collision_name\n\
00135 ================================================================================\n\
00136 MSG: household_objects_database_msgs/DatabaseModelPose\n\
00137 # Informs that a specific model from the Model Database has been \n\
00138 # identified at a certain location\n\
00139 \n\
00140 # the database id of the model\n\
00141 int32 model_id\n\
00142 \n\
00143 # the pose that it can be found in\n\
00144 geometry_msgs/PoseStamped pose\n\
00145 \n\
00146 # a measure of the confidence level in this detection result\n\
00147 float32 confidence\n\
00148 \n\
00149 # the name of the object detector that generated this detection result\n\
00150 string detector_name\n\
00151 \n\
00152 ================================================================================\n\
00153 MSG: geometry_msgs/PoseStamped\n\
00154 # A Pose with reference coordinate frame and timestamp\n\
00155 Header header\n\
00156 Pose pose\n\
00157 \n\
00158 ================================================================================\n\
00159 MSG: std_msgs/Header\n\
00160 # Standard metadata for higher-level stamped data types.\n\
00161 # This is generally used to communicate timestamped data \n\
00162 # in a particular coordinate frame.\n\
00163 # \n\
00164 # sequence ID: consecutively increasing ID \n\
00165 uint32 seq\n\
00166 #Two-integer timestamp that is expressed as:\n\
00167 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00168 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00169 # time-handling sugar is provided by the client library\n\
00170 time stamp\n\
00171 #Frame this data is associated with\n\
00172 # 0: no frame\n\
00173 # 1: global frame\n\
00174 string frame_id\n\
00175 \n\
00176 ================================================================================\n\
00177 MSG: geometry_msgs/Pose\n\
00178 # A representation of pose in free space, composed of postion and orientation. \n\
00179 Point position\n\
00180 Quaternion orientation\n\
00181 \n\
00182 ================================================================================\n\
00183 MSG: geometry_msgs/Point\n\
00184 # This contains the position of a point in free space\n\
00185 float64 x\n\
00186 float64 y\n\
00187 float64 z\n\
00188 \n\
00189 ================================================================================\n\
00190 MSG: geometry_msgs/Quaternion\n\
00191 # This represents an orientation in free space in quaternion form.\n\
00192 \n\
00193 float64 x\n\
00194 float64 y\n\
00195 float64 z\n\
00196 float64 w\n\
00197 \n\
00198 ================================================================================\n\
00199 MSG: sensor_msgs/PointCloud\n\
00200 # This message holds a collection of 3d points, plus optional additional\n\
00201 # information about each point.\n\
00202 \n\
00203 # Time of sensor data acquisition, coordinate frame ID.\n\
00204 Header header\n\
00205 \n\
00206 # Array of 3d points. Each Point32 should be interpreted as a 3d point\n\
00207 # in the frame given in the header.\n\
00208 geometry_msgs/Point32[] points\n\
00209 \n\
00210 # Each channel should have the same number of elements as points array,\n\
00211 # and the data in each channel should correspond 1:1 with each point.\n\
00212 # Channel names in common practice are listed in ChannelFloat32.msg.\n\
00213 ChannelFloat32[] channels\n\
00214 \n\
00215 ================================================================================\n\
00216 MSG: geometry_msgs/Point32\n\
00217 # This contains the position of a point in free space(with 32 bits of precision).\n\
00218 # It is recommeded to use Point wherever possible instead of Point32. \n\
00219 # \n\
00220 # This recommendation is to promote interoperability. \n\
00221 #\n\
00222 # This message is designed to take up less space when sending\n\
00223 # lots of points at once, as in the case of a PointCloud. \n\
00224 \n\
00225 float32 x\n\
00226 float32 y\n\
00227 float32 z\n\
00228 ================================================================================\n\
00229 MSG: sensor_msgs/ChannelFloat32\n\
00230 # This message is used by the PointCloud message to hold optional data\n\
00231 # associated with each point in the cloud. The length of the values\n\
00232 # array should be the same as the length of the points array in the\n\
00233 # PointCloud, and each value should be associated with the corresponding\n\
00234 # point.\n\
00235 \n\
00236 # Channel names in existing practice include:\n\
00237 # \"u\", \"v\" - row and column (respectively) in the left stereo image.\n\
00238 # This is opposite to usual conventions but remains for\n\
00239 # historical reasons. The newer PointCloud2 message has no\n\
00240 # such problem.\n\
00241 # \"rgb\" - For point clouds produced by color stereo cameras. uint8\n\
00242 # (R,G,B) values packed into the least significant 24 bits,\n\
00243 # in order.\n\
00244 # \"intensity\" - laser or pixel intensity.\n\
00245 # \"distance\"\n\
00246 \n\
00247 # The channel name should give semantics of the channel (e.g.\n\
00248 # \"intensity\" instead of \"value\").\n\
00249 string name\n\
00250 \n\
00251 # The values array should be 1-1 with the elements of the associated\n\
00252 # PointCloud.\n\
00253 float32[] values\n\
00254 \n\
00255 ================================================================================\n\
00256 MSG: object_manipulation_msgs/SceneRegion\n\
00257 # Point cloud\n\
00258 sensor_msgs/PointCloud2 cloud\n\
00259 \n\
00260 # Indices for the region of interest\n\
00261 int32[] mask\n\
00262 \n\
00263 # One of the corresponding 2D images, if applicable\n\
00264 sensor_msgs/Image image\n\
00265 \n\
00266 # The disparity image, if applicable\n\
00267 sensor_msgs/Image disparity_image\n\
00268 \n\
00269 # Camera info for the camera that took the image\n\
00270 sensor_msgs/CameraInfo cam_info\n\
00271 \n\
00272 # a 3D region of interest for grasp planning\n\
00273 geometry_msgs/PoseStamped roi_box_pose\n\
00274 geometry_msgs/Vector3 roi_box_dims\n\
00275 \n\
00276 ================================================================================\n\
00277 MSG: sensor_msgs/PointCloud2\n\
00278 # This message holds a collection of N-dimensional points, which may\n\
00279 # contain additional information such as normals, intensity, etc. The\n\
00280 # point data is stored as a binary blob, its layout described by the\n\
00281 # contents of the \"fields\" array.\n\
00282 \n\
00283 # The point cloud data may be organized 2d (image-like) or 1d\n\
00284 # (unordered). Point clouds organized as 2d images may be produced by\n\
00285 # camera depth sensors such as stereo or time-of-flight.\n\
00286 \n\
00287 # Time of sensor data acquisition, and the coordinate frame ID (for 3d\n\
00288 # points).\n\
00289 Header header\n\
00290 \n\
00291 # 2D structure of the point cloud. If the cloud is unordered, height is\n\
00292 # 1 and width is the length of the point cloud.\n\
00293 uint32 height\n\
00294 uint32 width\n\
00295 \n\
00296 # Describes the channels and their layout in the binary data blob.\n\
00297 PointField[] fields\n\
00298 \n\
00299 bool is_bigendian # Is this data bigendian?\n\
00300 uint32 point_step # Length of a point in bytes\n\
00301 uint32 row_step # Length of a row in bytes\n\
00302 uint8[] data # Actual point data, size is (row_step*height)\n\
00303 \n\
00304 bool is_dense # True if there are no invalid points\n\
00305 \n\
00306 ================================================================================\n\
00307 MSG: sensor_msgs/PointField\n\
00308 # This message holds the description of one point entry in the\n\
00309 # PointCloud2 message format.\n\
00310 uint8 INT8 = 1\n\
00311 uint8 UINT8 = 2\n\
00312 uint8 INT16 = 3\n\
00313 uint8 UINT16 = 4\n\
00314 uint8 INT32 = 5\n\
00315 uint8 UINT32 = 6\n\
00316 uint8 FLOAT32 = 7\n\
00317 uint8 FLOAT64 = 8\n\
00318 \n\
00319 string name # Name of field\n\
00320 uint32 offset # Offset from start of point struct\n\
00321 uint8 datatype # Datatype enumeration, see above\n\
00322 uint32 count # How many elements in the field\n\
00323 \n\
00324 ================================================================================\n\
00325 MSG: sensor_msgs/Image\n\
00326 # This message contains an uncompressed image\n\
00327 # (0, 0) is at top-left corner of image\n\
00328 #\n\
00329 \n\
00330 Header header # Header timestamp should be acquisition time of image\n\
00331 # Header frame_id should be optical frame of camera\n\
00332 # origin of frame should be optical center of cameara\n\
00333 # +x should point to the right in the image\n\
00334 # +y should point down in the image\n\
00335 # +z should point into to plane of the image\n\
00336 # If the frame_id here and the frame_id of the CameraInfo\n\
00337 # message associated with the image conflict\n\
00338 # the behavior is undefined\n\
00339 \n\
00340 uint32 height # image height, that is, number of rows\n\
00341 uint32 width # image width, that is, number of columns\n\
00342 \n\
00343 # The legal values for encoding are in file src/image_encodings.cpp\n\
00344 # If you want to standardize a new string format, join\n\
00345 # ros-users@lists.sourceforge.net and send an email proposing a new encoding.\n\
00346 \n\
00347 string encoding # Encoding of pixels -- channel meaning, ordering, size\n\
00348 # taken from the list of strings in src/image_encodings.cpp\n\
00349 \n\
00350 uint8 is_bigendian # is this data bigendian?\n\
00351 uint32 step # Full row length in bytes\n\
00352 uint8[] data # actual matrix data, size is (step * rows)\n\
00353 \n\
00354 ================================================================================\n\
00355 MSG: sensor_msgs/CameraInfo\n\
00356 # This message defines meta information for a camera. It should be in a\n\
00357 # camera namespace on topic \"camera_info\" and accompanied by up to five\n\
00358 # image topics named:\n\
00359 #\n\
00360 # image_raw - raw data from the camera driver, possibly Bayer encoded\n\
00361 # image - monochrome, distorted\n\
00362 # image_color - color, distorted\n\
00363 # image_rect - monochrome, rectified\n\
00364 # image_rect_color - color, rectified\n\
00365 #\n\
00366 # The image_pipeline contains packages (image_proc, stereo_image_proc)\n\
00367 # for producing the four processed image topics from image_raw and\n\
00368 # camera_info. The meaning of the camera parameters are described in\n\
00369 # detail at http://www.ros.org/wiki/image_pipeline/CameraInfo.\n\
00370 #\n\
00371 # The image_geometry package provides a user-friendly interface to\n\
00372 # common operations using this meta information. If you want to, e.g.,\n\
00373 # project a 3d point into image coordinates, we strongly recommend\n\
00374 # using image_geometry.\n\
00375 #\n\
00376 # If the camera is uncalibrated, the matrices D, K, R, P should be left\n\
00377 # zeroed out. In particular, clients may assume that K[0] == 0.0\n\
00378 # indicates an uncalibrated camera.\n\
00379 \n\
00380 #######################################################################\n\
00381 # Image acquisition info #\n\
00382 #######################################################################\n\
00383 \n\
00384 # Time of image acquisition, camera coordinate frame ID\n\
00385 Header header # Header timestamp should be acquisition time of image\n\
00386 # Header frame_id should be optical frame of camera\n\
00387 # origin of frame should be optical center of camera\n\
00388 # +x should point to the right in the image\n\
00389 # +y should point down in the image\n\
00390 # +z should point into the plane of the image\n\
00391 \n\
00392 \n\
00393 #######################################################################\n\
00394 # Calibration Parameters #\n\
00395 #######################################################################\n\
00396 # These are fixed during camera calibration. Their values will be the #\n\
00397 # same in all messages until the camera is recalibrated. Note that #\n\
00398 # self-calibrating systems may \"recalibrate\" frequently. #\n\
00399 # #\n\
00400 # The internal parameters can be used to warp a raw (distorted) image #\n\
00401 # to: #\n\
00402 # 1. An undistorted image (requires D and K) #\n\
00403 # 2. A rectified image (requires D, K, R) #\n\
00404 # The projection matrix P projects 3D points into the rectified image.#\n\
00405 #######################################################################\n\
00406 \n\
00407 # The image dimensions with which the camera was calibrated. Normally\n\
00408 # this will be the full camera resolution in pixels.\n\
00409 uint32 height\n\
00410 uint32 width\n\
00411 \n\
00412 # The distortion model used. Supported models are listed in\n\
00413 # sensor_msgs/distortion_models.h. For most cameras, \"plumb_bob\" - a\n\
00414 # simple model of radial and tangential distortion - is sufficent.\n\
00415 string distortion_model\n\
00416 \n\
00417 # The distortion parameters, size depending on the distortion model.\n\
00418 # For \"plumb_bob\", the 5 parameters are: (k1, k2, t1, t2, k3).\n\
00419 float64[] D\n\
00420 \n\
00421 # Intrinsic camera matrix for the raw (distorted) images.\n\
00422 # [fx 0 cx]\n\
00423 # K = [ 0 fy cy]\n\
00424 # [ 0 0 1]\n\
00425 # Projects 3D points in the camera coordinate frame to 2D pixel\n\
00426 # coordinates using the focal lengths (fx, fy) and principal point\n\
00427 # (cx, cy).\n\
00428 float64[9] K # 3x3 row-major matrix\n\
00429 \n\
00430 # Rectification matrix (stereo cameras only)\n\
00431 # A rotation matrix aligning the camera coordinate system to the ideal\n\
00432 # stereo image plane so that epipolar lines in both stereo images are\n\
00433 # parallel.\n\
00434 float64[9] R # 3x3 row-major matrix\n\
00435 \n\
00436 # Projection/camera matrix\n\
00437 # [fx' 0 cx' Tx]\n\
00438 # P = [ 0 fy' cy' Ty]\n\
00439 # [ 0 0 1 0]\n\
00440 # By convention, this matrix specifies the intrinsic (camera) matrix\n\
00441 # of the processed (rectified) image. That is, the left 3x3 portion\n\
00442 # is the normal camera intrinsic matrix for the rectified image.\n\
00443 # It projects 3D points in the camera coordinate frame to 2D pixel\n\
00444 # coordinates using the focal lengths (fx', fy') and principal point\n\
00445 # (cx', cy') - these may differ from the values in K.\n\
00446 # For monocular cameras, Tx = Ty = 0. Normally, monocular cameras will\n\
00447 # also have R = the identity and P[1:3,1:3] = K.\n\
00448 # For a stereo pair, the fourth column [Tx Ty 0]' is related to the\n\
00449 # position of the optical center of the second camera in the first\n\
00450 # camera's frame. We assume Tz = 0 so both cameras are in the same\n\
00451 # stereo image plane. The first camera always has Tx = Ty = 0. For\n\
00452 # the right (second) camera of a horizontal stereo pair, Ty = 0 and\n\
00453 # Tx = -fx' * B, where B is the baseline between the cameras.\n\
00454 # Given a 3D point [X Y Z]', the projection (x, y) of the point onto\n\
00455 # the rectified image is given by:\n\
00456 # [u v w]' = P * [X Y Z 1]'\n\
00457 # x = u / w\n\
00458 # y = v / w\n\
00459 # This holds for both images of a stereo pair.\n\
00460 float64[12] P # 3x4 row-major matrix\n\
00461 \n\
00462 \n\
00463 #######################################################################\n\
00464 # Operational Parameters #\n\
00465 #######################################################################\n\
00466 # These define the image region actually captured by the camera #\n\
00467 # driver. Although they affect the geometry of the output image, they #\n\
00468 # may be changed freely without recalibrating the camera. #\n\
00469 #######################################################################\n\
00470 \n\
00471 # Binning refers here to any camera setting which combines rectangular\n\
00472 # neighborhoods of pixels into larger \"super-pixels.\" It reduces the\n\
00473 # resolution of the output image to\n\
00474 # (width / binning_x) x (height / binning_y).\n\
00475 # The default values binning_x = binning_y = 0 is considered the same\n\
00476 # as binning_x = binning_y = 1 (no subsampling).\n\
00477 uint32 binning_x\n\
00478 uint32 binning_y\n\
00479 \n\
00480 # Region of interest (subwindow of full camera resolution), given in\n\
00481 # full resolution (unbinned) image coordinates. A particular ROI\n\
00482 # always denotes the same window of pixels on the camera sensor,\n\
00483 # regardless of binning settings.\n\
00484 # The default setting of roi (all values 0) is considered the same as\n\
00485 # full resolution (roi.width = width, roi.height = height).\n\
00486 RegionOfInterest roi\n\
00487 \n\
00488 ================================================================================\n\
00489 MSG: sensor_msgs/RegionOfInterest\n\
00490 # This message is used to specify a region of interest within an image.\n\
00491 #\n\
00492 # When used to specify the ROI setting of the camera when the image was\n\
00493 # taken, the height and width fields should either match the height and\n\
00494 # width fields for the associated image; or height = width = 0\n\
00495 # indicates that the full resolution image was captured.\n\
00496 \n\
00497 uint32 x_offset # Leftmost pixel of the ROI\n\
00498 # (0 if the ROI includes the left edge of the image)\n\
00499 uint32 y_offset # Topmost pixel of the ROI\n\
00500 # (0 if the ROI includes the top edge of the image)\n\
00501 uint32 height # Height of ROI\n\
00502 uint32 width # Width of ROI\n\
00503 \n\
00504 # True if a distinct rectified ROI should be calculated from the \"raw\"\n\
00505 # ROI in this message. Typically this should be False if the full image\n\
00506 # is captured (ROI not used), and True if a subwindow is captured (ROI\n\
00507 # used).\n\
00508 bool do_rectify\n\
00509 \n\
00510 ================================================================================\n\
00511 MSG: geometry_msgs/Vector3\n\
00512 # This represents a vector in free space. \n\
00513 \n\
00514 float64 x\n\
00515 float64 y\n\
00516 float64 z\n\
00517 ================================================================================\n\
00518 MSG: pr2_object_manipulation_msgs/IMGUIAdvancedOptions\n\
00519 \n\
00520 bool reactive_grasping\n\
00521 bool reactive_force \n\
00522 bool reactive_place\n\
00523 int32 lift_steps\n\
00524 int32 retreat_steps\n\
00525 int32 lift_direction_choice\n\
00526 int32 desired_approach\n\
00527 int32 min_approach\n\
00528 float32 max_contact_force\n\
00529 \n\
00530 ================================================================================\n\
00531 MSG: pr2_object_manipulation_msgs/IMGUICommand\n\
00532 \n\
00533 int32 PICKUP = 0\n\
00534 int32 PLACE = 1\n\
00535 int32 PLANNED_MOVE = 2\n\
00536 int32 RESET = 3\n\
00537 int32 MOVE_ARM = 4\n\
00538 int32 LOOK_AT_TABLE = 5\n\
00539 int32 MODEL_OBJECT = 6\n\
00540 int32 MOVE_GRIPPER = 7\n\
00541 int32 SCRIPTED_ACTION = 8\n\
00542 int32 STOP_NAV = 9\n\
00543 \n\
00544 int32 command\n\
00545 string script_name\n\
00546 string script_group_name\n\
00547 \n\
00548 "; }
00549 public:
00550 ROS_DEPRECATED static const std::string __s_getMessageDefinition() { return __s_getMessageDefinition_(); }
00551
00552 ROS_DEPRECATED const std::string __getMessageDefinition() const { return __s_getMessageDefinition_(); }
00553
00554 ROS_DEPRECATED virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const
00555 {
00556 ros::serialization::OStream stream(write_ptr, 1000000000);
00557 ros::serialization::serialize(stream, options);
00558 ros::serialization::serialize(stream, command);
00559 return stream.getData();
00560 }
00561
00562 ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr)
00563 {
00564 ros::serialization::IStream stream(read_ptr, 1000000000);
00565 ros::serialization::deserialize(stream, options);
00566 ros::serialization::deserialize(stream, command);
00567 return stream.getData();
00568 }
00569
00570 ROS_DEPRECATED virtual uint32_t serializationLength() const
00571 {
00572 uint32_t size = 0;
00573 size += ros::serialization::serializationLength(options);
00574 size += ros::serialization::serializationLength(command);
00575 return size;
00576 }
00577
00578 typedef boost::shared_ptr< ::pr2_object_manipulation_msgs::IMGUIGoal_<ContainerAllocator> > Ptr;
00579 typedef boost::shared_ptr< ::pr2_object_manipulation_msgs::IMGUIGoal_<ContainerAllocator> const> ConstPtr;
00580 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00581 };
00582 typedef ::pr2_object_manipulation_msgs::IMGUIGoal_<std::allocator<void> > IMGUIGoal;
00583
00584 typedef boost::shared_ptr< ::pr2_object_manipulation_msgs::IMGUIGoal> IMGUIGoalPtr;
00585 typedef boost::shared_ptr< ::pr2_object_manipulation_msgs::IMGUIGoal const> IMGUIGoalConstPtr;
00586
00587
00588 template<typename ContainerAllocator>
00589 std::ostream& operator<<(std::ostream& s, const ::pr2_object_manipulation_msgs::IMGUIGoal_<ContainerAllocator> & v)
00590 {
00591 ros::message_operations::Printer< ::pr2_object_manipulation_msgs::IMGUIGoal_<ContainerAllocator> >::stream(s, "", v);
00592 return s;}
00593
00594 }
00595
00596 namespace ros
00597 {
00598 namespace message_traits
00599 {
00600 template<class ContainerAllocator> struct IsMessage< ::pr2_object_manipulation_msgs::IMGUIGoal_<ContainerAllocator> > : public TrueType {};
00601 template<class ContainerAllocator> struct IsMessage< ::pr2_object_manipulation_msgs::IMGUIGoal_<ContainerAllocator> const> : public TrueType {};
00602 template<class ContainerAllocator>
00603 struct MD5Sum< ::pr2_object_manipulation_msgs::IMGUIGoal_<ContainerAllocator> > {
00604 static const char* value()
00605 {
00606 return "e75483c9fb89d8b0a48dfd33d36f2253";
00607 }
00608
00609 static const char* value(const ::pr2_object_manipulation_msgs::IMGUIGoal_<ContainerAllocator> &) { return value(); }
00610 static const uint64_t static_value1 = 0xe75483c9fb89d8b0ULL;
00611 static const uint64_t static_value2 = 0xa48dfd33d36f2253ULL;
00612 };
00613
00614 template<class ContainerAllocator>
00615 struct DataType< ::pr2_object_manipulation_msgs::IMGUIGoal_<ContainerAllocator> > {
00616 static const char* value()
00617 {
00618 return "pr2_object_manipulation_msgs/IMGUIGoal";
00619 }
00620
00621 static const char* value(const ::pr2_object_manipulation_msgs::IMGUIGoal_<ContainerAllocator> &) { return value(); }
00622 };
00623
00624 template<class ContainerAllocator>
00625 struct Definition< ::pr2_object_manipulation_msgs::IMGUIGoal_<ContainerAllocator> > {
00626 static const char* value()
00627 {
00628 return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00629 \n\
00630 IMGUIOptions options\n\
00631 IMGUICommand command\n\
00632 \n\
00633 \n\
00634 ================================================================================\n\
00635 MSG: pr2_object_manipulation_msgs/IMGUIOptions\n\
00636 \n\
00637 # collision checking enabled\n\
00638 bool collision_checked\n\
00639 \n\
00640 # 0=call gripper click\n\
00641 # 1=grasp the provided graspable object\n\
00642 int32 grasp_selection\n\
00643 \n\
00644 # 0=right, 1=left arm\n\
00645 int32 arm_selection\n\
00646 \n\
00647 # for RESET commands\n\
00648 # 0=reset collision objects\n\
00649 # 1=reset attached objects\n\
00650 int32 reset_choice\n\
00651 \n\
00652 # for MOVE_ARM commands\n\
00653 # 0=side\n\
00654 # 1=front\n\
00655 # 2=side handoff\n\
00656 int32 arm_action_choice\n\
00657 \n\
00658 # for MOVE_ARM commands\n\
00659 # 0=open-loop\n\
00660 # 1=with planner\n\
00661 int32 arm_planner_choice\n\
00662 \n\
00663 # for MOVE_GRIPPER commands\n\
00664 # opening of gripper (0=closed..100=open)\n\
00665 int32 gripper_slider_position\n\
00666 \n\
00667 # used if grasp_selection == 1\n\
00668 object_manipulation_msgs/GraspableObject selected_object\n\
00669 \n\
00670 # indicates obstacles that can be moved during grasping\n\
00671 # presumably, the operator has marked these in some fashion\n\
00672 object_manipulation_msgs/GraspableObject[] movable_obstacles\n\
00673 \n\
00674 # more options..\n\
00675 IMGUIAdvancedOptions adv_options\n\
00676 \n\
00677 ================================================================================\n\
00678 MSG: object_manipulation_msgs/GraspableObject\n\
00679 # an object that the object_manipulator can work on\n\
00680 \n\
00681 # a graspable object can be represented in multiple ways. This message\n\
00682 # can contain all of them. Which one is actually used is up to the receiver\n\
00683 # of this message. When adding new representations, one must be careful that\n\
00684 # they have reasonable lightweight defaults indicating that that particular\n\
00685 # representation is not available.\n\
00686 \n\
00687 # the tf frame to be used as a reference frame when combining information from\n\
00688 # the different representations below\n\
00689 string reference_frame_id\n\
00690 \n\
00691 # potential recognition results from a database of models\n\
00692 # all poses are relative to the object reference pose\n\
00693 household_objects_database_msgs/DatabaseModelPose[] potential_models\n\
00694 \n\
00695 # the point cloud itself\n\
00696 sensor_msgs/PointCloud cluster\n\
00697 \n\
00698 # a region of a PointCloud2 of interest\n\
00699 object_manipulation_msgs/SceneRegion region\n\
00700 \n\
00701 # the name that this object has in the collision environment\n\
00702 string collision_name\n\
00703 ================================================================================\n\
00704 MSG: household_objects_database_msgs/DatabaseModelPose\n\
00705 # Informs that a specific model from the Model Database has been \n\
00706 # identified at a certain location\n\
00707 \n\
00708 # the database id of the model\n\
00709 int32 model_id\n\
00710 \n\
00711 # the pose that it can be found in\n\
00712 geometry_msgs/PoseStamped pose\n\
00713 \n\
00714 # a measure of the confidence level in this detection result\n\
00715 float32 confidence\n\
00716 \n\
00717 # the name of the object detector that generated this detection result\n\
00718 string detector_name\n\
00719 \n\
00720 ================================================================================\n\
00721 MSG: geometry_msgs/PoseStamped\n\
00722 # A Pose with reference coordinate frame and timestamp\n\
00723 Header header\n\
00724 Pose pose\n\
00725 \n\
00726 ================================================================================\n\
00727 MSG: std_msgs/Header\n\
00728 # Standard metadata for higher-level stamped data types.\n\
00729 # This is generally used to communicate timestamped data \n\
00730 # in a particular coordinate frame.\n\
00731 # \n\
00732 # sequence ID: consecutively increasing ID \n\
00733 uint32 seq\n\
00734 #Two-integer timestamp that is expressed as:\n\
00735 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00736 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00737 # time-handling sugar is provided by the client library\n\
00738 time stamp\n\
00739 #Frame this data is associated with\n\
00740 # 0: no frame\n\
00741 # 1: global frame\n\
00742 string frame_id\n\
00743 \n\
00744 ================================================================================\n\
00745 MSG: geometry_msgs/Pose\n\
00746 # A representation of pose in free space, composed of postion and orientation. \n\
00747 Point position\n\
00748 Quaternion orientation\n\
00749 \n\
00750 ================================================================================\n\
00751 MSG: geometry_msgs/Point\n\
00752 # This contains the position of a point in free space\n\
00753 float64 x\n\
00754 float64 y\n\
00755 float64 z\n\
00756 \n\
00757 ================================================================================\n\
00758 MSG: geometry_msgs/Quaternion\n\
00759 # This represents an orientation in free space in quaternion form.\n\
00760 \n\
00761 float64 x\n\
00762 float64 y\n\
00763 float64 z\n\
00764 float64 w\n\
00765 \n\
00766 ================================================================================\n\
00767 MSG: sensor_msgs/PointCloud\n\
00768 # This message holds a collection of 3d points, plus optional additional\n\
00769 # information about each point.\n\
00770 \n\
00771 # Time of sensor data acquisition, coordinate frame ID.\n\
00772 Header header\n\
00773 \n\
00774 # Array of 3d points. Each Point32 should be interpreted as a 3d point\n\
00775 # in the frame given in the header.\n\
00776 geometry_msgs/Point32[] points\n\
00777 \n\
00778 # Each channel should have the same number of elements as points array,\n\
00779 # and the data in each channel should correspond 1:1 with each point.\n\
00780 # Channel names in common practice are listed in ChannelFloat32.msg.\n\
00781 ChannelFloat32[] channels\n\
00782 \n\
00783 ================================================================================\n\
00784 MSG: geometry_msgs/Point32\n\
00785 # This contains the position of a point in free space(with 32 bits of precision).\n\
00786 # It is recommeded to use Point wherever possible instead of Point32. \n\
00787 # \n\
00788 # This recommendation is to promote interoperability. \n\
00789 #\n\
00790 # This message is designed to take up less space when sending\n\
00791 # lots of points at once, as in the case of a PointCloud. \n\
00792 \n\
00793 float32 x\n\
00794 float32 y\n\
00795 float32 z\n\
00796 ================================================================================\n\
00797 MSG: sensor_msgs/ChannelFloat32\n\
00798 # This message is used by the PointCloud message to hold optional data\n\
00799 # associated with each point in the cloud. The length of the values\n\
00800 # array should be the same as the length of the points array in the\n\
00801 # PointCloud, and each value should be associated with the corresponding\n\
00802 # point.\n\
00803 \n\
00804 # Channel names in existing practice include:\n\
00805 # \"u\", \"v\" - row and column (respectively) in the left stereo image.\n\
00806 # This is opposite to usual conventions but remains for\n\
00807 # historical reasons. The newer PointCloud2 message has no\n\
00808 # such problem.\n\
00809 # \"rgb\" - For point clouds produced by color stereo cameras. uint8\n\
00810 # (R,G,B) values packed into the least significant 24 bits,\n\
00811 # in order.\n\
00812 # \"intensity\" - laser or pixel intensity.\n\
00813 # \"distance\"\n\
00814 \n\
00815 # The channel name should give semantics of the channel (e.g.\n\
00816 # \"intensity\" instead of \"value\").\n\
00817 string name\n\
00818 \n\
00819 # The values array should be 1-1 with the elements of the associated\n\
00820 # PointCloud.\n\
00821 float32[] values\n\
00822 \n\
00823 ================================================================================\n\
00824 MSG: object_manipulation_msgs/SceneRegion\n\
00825 # Point cloud\n\
00826 sensor_msgs/PointCloud2 cloud\n\
00827 \n\
00828 # Indices for the region of interest\n\
00829 int32[] mask\n\
00830 \n\
00831 # One of the corresponding 2D images, if applicable\n\
00832 sensor_msgs/Image image\n\
00833 \n\
00834 # The disparity image, if applicable\n\
00835 sensor_msgs/Image disparity_image\n\
00836 \n\
00837 # Camera info for the camera that took the image\n\
00838 sensor_msgs/CameraInfo cam_info\n\
00839 \n\
00840 # a 3D region of interest for grasp planning\n\
00841 geometry_msgs/PoseStamped roi_box_pose\n\
00842 geometry_msgs/Vector3 roi_box_dims\n\
00843 \n\
00844 ================================================================================\n\
00845 MSG: sensor_msgs/PointCloud2\n\
00846 # This message holds a collection of N-dimensional points, which may\n\
00847 # contain additional information such as normals, intensity, etc. The\n\
00848 # point data is stored as a binary blob, its layout described by the\n\
00849 # contents of the \"fields\" array.\n\
00850 \n\
00851 # The point cloud data may be organized 2d (image-like) or 1d\n\
00852 # (unordered). Point clouds organized as 2d images may be produced by\n\
00853 # camera depth sensors such as stereo or time-of-flight.\n\
00854 \n\
00855 # Time of sensor data acquisition, and the coordinate frame ID (for 3d\n\
00856 # points).\n\
00857 Header header\n\
00858 \n\
00859 # 2D structure of the point cloud. If the cloud is unordered, height is\n\
00860 # 1 and width is the length of the point cloud.\n\
00861 uint32 height\n\
00862 uint32 width\n\
00863 \n\
00864 # Describes the channels and their layout in the binary data blob.\n\
00865 PointField[] fields\n\
00866 \n\
00867 bool is_bigendian # Is this data bigendian?\n\
00868 uint32 point_step # Length of a point in bytes\n\
00869 uint32 row_step # Length of a row in bytes\n\
00870 uint8[] data # Actual point data, size is (row_step*height)\n\
00871 \n\
00872 bool is_dense # True if there are no invalid points\n\
00873 \n\
00874 ================================================================================\n\
00875 MSG: sensor_msgs/PointField\n\
00876 # This message holds the description of one point entry in the\n\
00877 # PointCloud2 message format.\n\
00878 uint8 INT8 = 1\n\
00879 uint8 UINT8 = 2\n\
00880 uint8 INT16 = 3\n\
00881 uint8 UINT16 = 4\n\
00882 uint8 INT32 = 5\n\
00883 uint8 UINT32 = 6\n\
00884 uint8 FLOAT32 = 7\n\
00885 uint8 FLOAT64 = 8\n\
00886 \n\
00887 string name # Name of field\n\
00888 uint32 offset # Offset from start of point struct\n\
00889 uint8 datatype # Datatype enumeration, see above\n\
00890 uint32 count # How many elements in the field\n\
00891 \n\
00892 ================================================================================\n\
00893 MSG: sensor_msgs/Image\n\
00894 # This message contains an uncompressed image\n\
00895 # (0, 0) is at top-left corner of image\n\
00896 #\n\
00897 \n\
00898 Header header # Header timestamp should be acquisition time of image\n\
00899 # Header frame_id should be optical frame of camera\n\
00900 # origin of frame should be optical center of cameara\n\
00901 # +x should point to the right in the image\n\
00902 # +y should point down in the image\n\
00903 # +z should point into to plane of the image\n\
00904 # If the frame_id here and the frame_id of the CameraInfo\n\
00905 # message associated with the image conflict\n\
00906 # the behavior is undefined\n\
00907 \n\
00908 uint32 height # image height, that is, number of rows\n\
00909 uint32 width # image width, that is, number of columns\n\
00910 \n\
00911 # The legal values for encoding are in file src/image_encodings.cpp\n\
00912 # If you want to standardize a new string format, join\n\
00913 # ros-users@lists.sourceforge.net and send an email proposing a new encoding.\n\
00914 \n\
00915 string encoding # Encoding of pixels -- channel meaning, ordering, size\n\
00916 # taken from the list of strings in src/image_encodings.cpp\n\
00917 \n\
00918 uint8 is_bigendian # is this data bigendian?\n\
00919 uint32 step # Full row length in bytes\n\
00920 uint8[] data # actual matrix data, size is (step * rows)\n\
00921 \n\
00922 ================================================================================\n\
00923 MSG: sensor_msgs/CameraInfo\n\
00924 # This message defines meta information for a camera. It should be in a\n\
00925 # camera namespace on topic \"camera_info\" and accompanied by up to five\n\
00926 # image topics named:\n\
00927 #\n\
00928 # image_raw - raw data from the camera driver, possibly Bayer encoded\n\
00929 # image - monochrome, distorted\n\
00930 # image_color - color, distorted\n\
00931 # image_rect - monochrome, rectified\n\
00932 # image_rect_color - color, rectified\n\
00933 #\n\
00934 # The image_pipeline contains packages (image_proc, stereo_image_proc)\n\
00935 # for producing the four processed image topics from image_raw and\n\
00936 # camera_info. The meaning of the camera parameters are described in\n\
00937 # detail at http://www.ros.org/wiki/image_pipeline/CameraInfo.\n\
00938 #\n\
00939 # The image_geometry package provides a user-friendly interface to\n\
00940 # common operations using this meta information. If you want to, e.g.,\n\
00941 # project a 3d point into image coordinates, we strongly recommend\n\
00942 # using image_geometry.\n\
00943 #\n\
00944 # If the camera is uncalibrated, the matrices D, K, R, P should be left\n\
00945 # zeroed out. In particular, clients may assume that K[0] == 0.0\n\
00946 # indicates an uncalibrated camera.\n\
00947 \n\
00948 #######################################################################\n\
00949 # Image acquisition info #\n\
00950 #######################################################################\n\
00951 \n\
00952 # Time of image acquisition, camera coordinate frame ID\n\
00953 Header header # Header timestamp should be acquisition time of image\n\
00954 # Header frame_id should be optical frame of camera\n\
00955 # origin of frame should be optical center of camera\n\
00956 # +x should point to the right in the image\n\
00957 # +y should point down in the image\n\
00958 # +z should point into the plane of the image\n\
00959 \n\
00960 \n\
00961 #######################################################################\n\
00962 # Calibration Parameters #\n\
00963 #######################################################################\n\
00964 # These are fixed during camera calibration. Their values will be the #\n\
00965 # same in all messages until the camera is recalibrated. Note that #\n\
00966 # self-calibrating systems may \"recalibrate\" frequently. #\n\
00967 # #\n\
00968 # The internal parameters can be used to warp a raw (distorted) image #\n\
00969 # to: #\n\
00970 # 1. An undistorted image (requires D and K) #\n\
00971 # 2. A rectified image (requires D, K, R) #\n\
00972 # The projection matrix P projects 3D points into the rectified image.#\n\
00973 #######################################################################\n\
00974 \n\
00975 # The image dimensions with which the camera was calibrated. Normally\n\
00976 # this will be the full camera resolution in pixels.\n\
00977 uint32 height\n\
00978 uint32 width\n\
00979 \n\
00980 # The distortion model used. Supported models are listed in\n\
00981 # sensor_msgs/distortion_models.h. For most cameras, \"plumb_bob\" - a\n\
00982 # simple model of radial and tangential distortion - is sufficent.\n\
00983 string distortion_model\n\
00984 \n\
00985 # The distortion parameters, size depending on the distortion model.\n\
00986 # For \"plumb_bob\", the 5 parameters are: (k1, k2, t1, t2, k3).\n\
00987 float64[] D\n\
00988 \n\
00989 # Intrinsic camera matrix for the raw (distorted) images.\n\
00990 # [fx 0 cx]\n\
00991 # K = [ 0 fy cy]\n\
00992 # [ 0 0 1]\n\
00993 # Projects 3D points in the camera coordinate frame to 2D pixel\n\
00994 # coordinates using the focal lengths (fx, fy) and principal point\n\
00995 # (cx, cy).\n\
00996 float64[9] K # 3x3 row-major matrix\n\
00997 \n\
00998 # Rectification matrix (stereo cameras only)\n\
00999 # A rotation matrix aligning the camera coordinate system to the ideal\n\
01000 # stereo image plane so that epipolar lines in both stereo images are\n\
01001 # parallel.\n\
01002 float64[9] R # 3x3 row-major matrix\n\
01003 \n\
01004 # Projection/camera matrix\n\
01005 # [fx' 0 cx' Tx]\n\
01006 # P = [ 0 fy' cy' Ty]\n\
01007 # [ 0 0 1 0]\n\
01008 # By convention, this matrix specifies the intrinsic (camera) matrix\n\
01009 # of the processed (rectified) image. That is, the left 3x3 portion\n\
01010 # is the normal camera intrinsic matrix for the rectified image.\n\
01011 # It projects 3D points in the camera coordinate frame to 2D pixel\n\
01012 # coordinates using the focal lengths (fx', fy') and principal point\n\
01013 # (cx', cy') - these may differ from the values in K.\n\
01014 # For monocular cameras, Tx = Ty = 0. Normally, monocular cameras will\n\
01015 # also have R = the identity and P[1:3,1:3] = K.\n\
01016 # For a stereo pair, the fourth column [Tx Ty 0]' is related to the\n\
01017 # position of the optical center of the second camera in the first\n\
01018 # camera's frame. We assume Tz = 0 so both cameras are in the same\n\
01019 # stereo image plane. The first camera always has Tx = Ty = 0. For\n\
01020 # the right (second) camera of a horizontal stereo pair, Ty = 0 and\n\
01021 # Tx = -fx' * B, where B is the baseline between the cameras.\n\
01022 # Given a 3D point [X Y Z]', the projection (x, y) of the point onto\n\
01023 # the rectified image is given by:\n\
01024 # [u v w]' = P * [X Y Z 1]'\n\
01025 # x = u / w\n\
01026 # y = v / w\n\
01027 # This holds for both images of a stereo pair.\n\
01028 float64[12] P # 3x4 row-major matrix\n\
01029 \n\
01030 \n\
01031 #######################################################################\n\
01032 # Operational Parameters #\n\
01033 #######################################################################\n\
01034 # These define the image region actually captured by the camera #\n\
01035 # driver. Although they affect the geometry of the output image, they #\n\
01036 # may be changed freely without recalibrating the camera. #\n\
01037 #######################################################################\n\
01038 \n\
01039 # Binning refers here to any camera setting which combines rectangular\n\
01040 # neighborhoods of pixels into larger \"super-pixels.\" It reduces the\n\
01041 # resolution of the output image to\n\
01042 # (width / binning_x) x (height / binning_y).\n\
01043 # The default values binning_x = binning_y = 0 is considered the same\n\
01044 # as binning_x = binning_y = 1 (no subsampling).\n\
01045 uint32 binning_x\n\
01046 uint32 binning_y\n\
01047 \n\
01048 # Region of interest (subwindow of full camera resolution), given in\n\
01049 # full resolution (unbinned) image coordinates. A particular ROI\n\
01050 # always denotes the same window of pixels on the camera sensor,\n\
01051 # regardless of binning settings.\n\
01052 # The default setting of roi (all values 0) is considered the same as\n\
01053 # full resolution (roi.width = width, roi.height = height).\n\
01054 RegionOfInterest roi\n\
01055 \n\
01056 ================================================================================\n\
01057 MSG: sensor_msgs/RegionOfInterest\n\
01058 # This message is used to specify a region of interest within an image.\n\
01059 #\n\
01060 # When used to specify the ROI setting of the camera when the image was\n\
01061 # taken, the height and width fields should either match the height and\n\
01062 # width fields for the associated image; or height = width = 0\n\
01063 # indicates that the full resolution image was captured.\n\
01064 \n\
01065 uint32 x_offset # Leftmost pixel of the ROI\n\
01066 # (0 if the ROI includes the left edge of the image)\n\
01067 uint32 y_offset # Topmost pixel of the ROI\n\
01068 # (0 if the ROI includes the top edge of the image)\n\
01069 uint32 height # Height of ROI\n\
01070 uint32 width # Width of ROI\n\
01071 \n\
01072 # True if a distinct rectified ROI should be calculated from the \"raw\"\n\
01073 # ROI in this message. Typically this should be False if the full image\n\
01074 # is captured (ROI not used), and True if a subwindow is captured (ROI\n\
01075 # used).\n\
01076 bool do_rectify\n\
01077 \n\
01078 ================================================================================\n\
01079 MSG: geometry_msgs/Vector3\n\
01080 # This represents a vector in free space. \n\
01081 \n\
01082 float64 x\n\
01083 float64 y\n\
01084 float64 z\n\
01085 ================================================================================\n\
01086 MSG: pr2_object_manipulation_msgs/IMGUIAdvancedOptions\n\
01087 \n\
01088 bool reactive_grasping\n\
01089 bool reactive_force \n\
01090 bool reactive_place\n\
01091 int32 lift_steps\n\
01092 int32 retreat_steps\n\
01093 int32 lift_direction_choice\n\
01094 int32 desired_approach\n\
01095 int32 min_approach\n\
01096 float32 max_contact_force\n\
01097 \n\
01098 ================================================================================\n\
01099 MSG: pr2_object_manipulation_msgs/IMGUICommand\n\
01100 \n\
01101 int32 PICKUP = 0\n\
01102 int32 PLACE = 1\n\
01103 int32 PLANNED_MOVE = 2\n\
01104 int32 RESET = 3\n\
01105 int32 MOVE_ARM = 4\n\
01106 int32 LOOK_AT_TABLE = 5\n\
01107 int32 MODEL_OBJECT = 6\n\
01108 int32 MOVE_GRIPPER = 7\n\
01109 int32 SCRIPTED_ACTION = 8\n\
01110 int32 STOP_NAV = 9\n\
01111 \n\
01112 int32 command\n\
01113 string script_name\n\
01114 string script_group_name\n\
01115 \n\
01116 ";
01117 }
01118
01119 static const char* value(const ::pr2_object_manipulation_msgs::IMGUIGoal_<ContainerAllocator> &) { return value(); }
01120 };
01121
01122 }
01123 }
01124
01125 namespace ros
01126 {
01127 namespace serialization
01128 {
01129
01130 template<class ContainerAllocator> struct Serializer< ::pr2_object_manipulation_msgs::IMGUIGoal_<ContainerAllocator> >
01131 {
01132 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
01133 {
01134 stream.next(m.options);
01135 stream.next(m.command);
01136 }
01137
01138 ROS_DECLARE_ALLINONE_SERIALIZER;
01139 };
01140 }
01141 }
01142
01143 namespace ros
01144 {
01145 namespace message_operations
01146 {
01147
01148 template<class ContainerAllocator>
01149 struct Printer< ::pr2_object_manipulation_msgs::IMGUIGoal_<ContainerAllocator> >
01150 {
01151 template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::pr2_object_manipulation_msgs::IMGUIGoal_<ContainerAllocator> & v)
01152 {
01153 s << indent << "options: ";
01154 s << std::endl;
01155 Printer< ::pr2_object_manipulation_msgs::IMGUIOptions_<ContainerAllocator> >::stream(s, indent + " ", v.options);
01156 s << indent << "command: ";
01157 s << std::endl;
01158 Printer< ::pr2_object_manipulation_msgs::IMGUICommand_<ContainerAllocator> >::stream(s, indent + " ", v.command);
01159 }
01160 };
01161
01162
01163 }
01164 }
01165
01166 #endif // PR2_OBJECT_MANIPULATION_MSGS_MESSAGE_IMGUIGOAL_H
01167
