00001
00002 #ifndef PR2_PICK_AND_PLACE_SERVICE_MESSAGE_PICKPLACEOBJECT_H
00003 #define PR2_PICK_AND_PLACE_SERVICE_MESSAGE_PICKPLACEOBJECT_H
00004 #include <string>
00005 #include <vector>
00006 #include <map>
00007 #include <ostream>
00008 #include "ros/serialization.h"
00009 #include "ros/builtin_message_traits.h"
00010 #include "ros/message_operations.h"
00011 #include "ros/time.h"
00012
00013 #include "ros/macros.h"
00014
00015 #include "ros/assert.h"
00016
00017 #include "object_manipulation_msgs/GraspableObject.h"
00018 #include "geometry_msgs/PoseStamped.h"
00019
00020 namespace pr2_pick_and_place_service
00021 {
00022 template <class ContainerAllocator>
00023 struct PickPlaceObject_ {
00024 typedef PickPlaceObject_<ContainerAllocator> Type;
00025
00026 PickPlaceObject_()
00027 : objectid(0)
00028 , object()
00029 , pose()
00030 , boundingbox()
00031 {
00032 }
00033
00034 PickPlaceObject_(const ContainerAllocator& _alloc)
00035 : objectid(0)
00036 , object(_alloc)
00037 , pose(_alloc)
00038 , boundingbox(_alloc)
00039 {
00040 }
00041
00042 typedef int32_t _objectid_type;
00043 int32_t objectid;
00044
00045 typedef ::object_manipulation_msgs::GraspableObject_<ContainerAllocator> _object_type;
00046 ::object_manipulation_msgs::GraspableObject_<ContainerAllocator> object;
00047
00048 typedef ::geometry_msgs::PoseStamped_<ContainerAllocator> _pose_type;
00049 ::geometry_msgs::PoseStamped_<ContainerAllocator> pose;
00050
00051 typedef std::vector<double, typename ContainerAllocator::template rebind<double>::other > _boundingbox_type;
00052 std::vector<double, typename ContainerAllocator::template rebind<double>::other > boundingbox;
00053
00054
00055 ROS_DEPRECATED uint32_t get_boundingbox_size() const { return (uint32_t)boundingbox.size(); }
00056 ROS_DEPRECATED void set_boundingbox_size(uint32_t size) { boundingbox.resize((size_t)size); }
00057 ROS_DEPRECATED void get_boundingbox_vec(std::vector<double, typename ContainerAllocator::template rebind<double>::other > & vec) const { vec = this->boundingbox; }
00058 ROS_DEPRECATED void set_boundingbox_vec(const std::vector<double, typename ContainerAllocator::template rebind<double>::other > & vec) { this->boundingbox = vec; }
00059 private:
00060 static const char* __s_getDataType_() { return "pr2_pick_and_place_service/PickPlaceObject"; }
00061 public:
00062 ROS_DEPRECATED static const std::string __s_getDataType() { return __s_getDataType_(); }
00063
00064 ROS_DEPRECATED const std::string __getDataType() const { return __s_getDataType_(); }
00065
00066 private:
00067 static const char* __s_getMD5Sum_() { return "ffd374baae36dd335477c70d55c3f483"; }
00068 public:
00069 ROS_DEPRECATED static const std::string __s_getMD5Sum() { return __s_getMD5Sum_(); }
00070
00071 ROS_DEPRECATED const std::string __getMD5Sum() const { return __s_getMD5Sum_(); }
00072
00073 private:
00074 static const char* __s_getMessageDefinition_() { return "int32 objectid\n\
00075 object_manipulation_msgs/GraspableObject object\n\
00076 geometry_msgs/PoseStamped pose\n\
00077 float64[] boundingbox\n\
00078 \n\
00079 ================================================================================\n\
00080 MSG: object_manipulation_msgs/GraspableObject\n\
00081 # an object that the object_manipulator can work on\n\
00082 \n\
00083 # a graspable object can be represented in multiple ways. This message\n\
00084 # can contain all of them. Which one is actually used is up to the receiver\n\
00085 # of this message. When adding new representations, one must be careful that\n\
00086 # they have reasonable lightweight defaults indicating that that particular\n\
00087 # representation is not available.\n\
00088 \n\
00089 # the tf frame to be used as a reference frame when combining information from\n\
00090 # the different representations below\n\
00091 string reference_frame_id\n\
00092 \n\
00093 # potential recognition results from a database of models\n\
00094 # all poses are relative to the object reference pose\n\
00095 household_objects_database_msgs/DatabaseModelPose[] potential_models\n\
00096 \n\
00097 # the point cloud itself\n\
00098 sensor_msgs/PointCloud cluster\n\
00099 \n\
00100 # a region of a PointCloud2 of interest\n\
00101 object_manipulation_msgs/SceneRegion region\n\
00102 \n\
00103 # the name that this object has in the collision environment\n\
00104 string collision_name\n\
00105 ================================================================================\n\
00106 MSG: household_objects_database_msgs/DatabaseModelPose\n\
00107 # Informs that a specific model from the Model Database has been \n\
00108 # identified at a certain location\n\
00109 \n\
00110 # the database id of the model\n\
00111 int32 model_id\n\
00112 \n\
00113 # the pose that it can be found in\n\
00114 geometry_msgs/PoseStamped pose\n\
00115 \n\
00116 # a measure of the confidence level in this detection result\n\
00117 float32 confidence\n\
00118 \n\
00119 # the name of the object detector that generated this detection result\n\
00120 string detector_name\n\
00121 \n\
00122 ================================================================================\n\
00123 MSG: geometry_msgs/PoseStamped\n\
00124 # A Pose with reference coordinate frame and timestamp\n\
00125 Header header\n\
00126 Pose pose\n\
00127 \n\
00128 ================================================================================\n\
00129 MSG: std_msgs/Header\n\
00130 # Standard metadata for higher-level stamped data types.\n\
00131 # This is generally used to communicate timestamped data \n\
00132 # in a particular coordinate frame.\n\
00133 # \n\
00134 # sequence ID: consecutively increasing ID \n\
00135 uint32 seq\n\
00136 #Two-integer timestamp that is expressed as:\n\
00137 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00138 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00139 # time-handling sugar is provided by the client library\n\
00140 time stamp\n\
00141 #Frame this data is associated with\n\
00142 # 0: no frame\n\
00143 # 1: global frame\n\
00144 string frame_id\n\
00145 \n\
00146 ================================================================================\n\
00147 MSG: geometry_msgs/Pose\n\
00148 # A representation of pose in free space, composed of postion and orientation. \n\
00149 Point position\n\
00150 Quaternion orientation\n\
00151 \n\
00152 ================================================================================\n\
00153 MSG: geometry_msgs/Point\n\
00154 # This contains the position of a point in free space\n\
00155 float64 x\n\
00156 float64 y\n\
00157 float64 z\n\
00158 \n\
00159 ================================================================================\n\
00160 MSG: geometry_msgs/Quaternion\n\
00161 # This represents an orientation in free space in quaternion form.\n\
00162 \n\
00163 float64 x\n\
00164 float64 y\n\
00165 float64 z\n\
00166 float64 w\n\
00167 \n\
00168 ================================================================================\n\
00169 MSG: sensor_msgs/PointCloud\n\
00170 # This message holds a collection of 3d points, plus optional additional\n\
00171 # information about each point.\n\
00172 \n\
00173 # Time of sensor data acquisition, coordinate frame ID.\n\
00174 Header header\n\
00175 \n\
00176 # Array of 3d points. Each Point32 should be interpreted as a 3d point\n\
00177 # in the frame given in the header.\n\
00178 geometry_msgs/Point32[] points\n\
00179 \n\
00180 # Each channel should have the same number of elements as points array,\n\
00181 # and the data in each channel should correspond 1:1 with each point.\n\
00182 # Channel names in common practice are listed in ChannelFloat32.msg.\n\
00183 ChannelFloat32[] channels\n\
00184 \n\
00185 ================================================================================\n\
00186 MSG: geometry_msgs/Point32\n\
00187 # This contains the position of a point in free space(with 32 bits of precision).\n\
00188 # It is recommeded to use Point wherever possible instead of Point32. \n\
00189 # \n\
00190 # This recommendation is to promote interoperability. \n\
00191 #\n\
00192 # This message is designed to take up less space when sending\n\
00193 # lots of points at once, as in the case of a PointCloud. \n\
00194 \n\
00195 float32 x\n\
00196 float32 y\n\
00197 float32 z\n\
00198 ================================================================================\n\
00199 MSG: sensor_msgs/ChannelFloat32\n\
00200 # This message is used by the PointCloud message to hold optional data\n\
00201 # associated with each point in the cloud. The length of the values\n\
00202 # array should be the same as the length of the points array in the\n\
00203 # PointCloud, and each value should be associated with the corresponding\n\
00204 # point.\n\
00205 \n\
00206 # Channel names in existing practice include:\n\
00207 # \"u\", \"v\" - row and column (respectively) in the left stereo image.\n\
00208 # This is opposite to usual conventions but remains for\n\
00209 # historical reasons. The newer PointCloud2 message has no\n\
00210 # such problem.\n\
00211 # \"rgb\" - For point clouds produced by color stereo cameras. uint8\n\
00212 # (R,G,B) values packed into the least significant 24 bits,\n\
00213 # in order.\n\
00214 # \"intensity\" - laser or pixel intensity.\n\
00215 # \"distance\"\n\
00216 \n\
00217 # The channel name should give semantics of the channel (e.g.\n\
00218 # \"intensity\" instead of \"value\").\n\
00219 string name\n\
00220 \n\
00221 # The values array should be 1-1 with the elements of the associated\n\
00222 # PointCloud.\n\
00223 float32[] values\n\
00224 \n\
00225 ================================================================================\n\
00226 MSG: object_manipulation_msgs/SceneRegion\n\
00227 # Point cloud\n\
00228 sensor_msgs/PointCloud2 cloud\n\
00229 \n\
00230 # Indices for the region of interest\n\
00231 int32[] mask\n\
00232 \n\
00233 # One of the corresponding 2D images, if applicable\n\
00234 sensor_msgs/Image image\n\
00235 \n\
00236 # The disparity image, if applicable\n\
00237 sensor_msgs/Image disparity_image\n\
00238 \n\
00239 # Camera info for the camera that took the image\n\
00240 sensor_msgs/CameraInfo cam_info\n\
00241 \n\
00242 # a 3D region of interest for grasp planning\n\
00243 geometry_msgs/PoseStamped roi_box_pose\n\
00244 geometry_msgs/Vector3 roi_box_dims\n\
00245 \n\
00246 ================================================================================\n\
00247 MSG: sensor_msgs/PointCloud2\n\
00248 # This message holds a collection of N-dimensional points, which may\n\
00249 # contain additional information such as normals, intensity, etc. The\n\
00250 # point data is stored as a binary blob, its layout described by the\n\
00251 # contents of the \"fields\" array.\n\
00252 \n\
00253 # The point cloud data may be organized 2d (image-like) or 1d\n\
00254 # (unordered). Point clouds organized as 2d images may be produced by\n\
00255 # camera depth sensors such as stereo or time-of-flight.\n\
00256 \n\
00257 # Time of sensor data acquisition, and the coordinate frame ID (for 3d\n\
00258 # points).\n\
00259 Header header\n\
00260 \n\
00261 # 2D structure of the point cloud. If the cloud is unordered, height is\n\
00262 # 1 and width is the length of the point cloud.\n\
00263 uint32 height\n\
00264 uint32 width\n\
00265 \n\
00266 # Describes the channels and their layout in the binary data blob.\n\
00267 PointField[] fields\n\
00268 \n\
00269 bool is_bigendian # Is this data bigendian?\n\
00270 uint32 point_step # Length of a point in bytes\n\
00271 uint32 row_step # Length of a row in bytes\n\
00272 uint8[] data # Actual point data, size is (row_step*height)\n\
00273 \n\
00274 bool is_dense # True if there are no invalid points\n\
00275 \n\
00276 ================================================================================\n\
00277 MSG: sensor_msgs/PointField\n\
00278 # This message holds the description of one point entry in the\n\
00279 # PointCloud2 message format.\n\
00280 uint8 INT8 = 1\n\
00281 uint8 UINT8 = 2\n\
00282 uint8 INT16 = 3\n\
00283 uint8 UINT16 = 4\n\
00284 uint8 INT32 = 5\n\
00285 uint8 UINT32 = 6\n\
00286 uint8 FLOAT32 = 7\n\
00287 uint8 FLOAT64 = 8\n\
00288 \n\
00289 string name # Name of field\n\
00290 uint32 offset # Offset from start of point struct\n\
00291 uint8 datatype # Datatype enumeration, see above\n\
00292 uint32 count # How many elements in the field\n\
00293 \n\
00294 ================================================================================\n\
00295 MSG: sensor_msgs/Image\n\
00296 # This message contains an uncompressed image\n\
00297 # (0, 0) is at top-left corner of image\n\
00298 #\n\
00299 \n\
00300 Header header # Header timestamp should be acquisition time of image\n\
00301 # Header frame_id should be optical frame of camera\n\
00302 # origin of frame should be optical center of cameara\n\
00303 # +x should point to the right in the image\n\
00304 # +y should point down in the image\n\
00305 # +z should point into to plane of the image\n\
00306 # If the frame_id here and the frame_id of the CameraInfo\n\
00307 # message associated with the image conflict\n\
00308 # the behavior is undefined\n\
00309 \n\
00310 uint32 height # image height, that is, number of rows\n\
00311 uint32 width # image width, that is, number of columns\n\
00312 \n\
00313 # The legal values for encoding are in file src/image_encodings.cpp\n\
00314 # If you want to standardize a new string format, join\n\
00315 # ros-users@lists.sourceforge.net and send an email proposing a new encoding.\n\
00316 \n\
00317 string encoding # Encoding of pixels -- channel meaning, ordering, size\n\
00318 # taken from the list of strings in src/image_encodings.cpp\n\
00319 \n\
00320 uint8 is_bigendian # is this data bigendian?\n\
00321 uint32 step # Full row length in bytes\n\
00322 uint8[] data # actual matrix data, size is (step * rows)\n\
00323 \n\
00324 ================================================================================\n\
00325 MSG: sensor_msgs/CameraInfo\n\
00326 # This message defines meta information for a camera. It should be in a\n\
00327 # camera namespace on topic \"camera_info\" and accompanied by up to five\n\
00328 # image topics named:\n\
00329 #\n\
00330 # image_raw - raw data from the camera driver, possibly Bayer encoded\n\
00331 # image - monochrome, distorted\n\
00332 # image_color - color, distorted\n\
00333 # image_rect - monochrome, rectified\n\
00334 # image_rect_color - color, rectified\n\
00335 #\n\
00336 # The image_pipeline contains packages (image_proc, stereo_image_proc)\n\
00337 # for producing the four processed image topics from image_raw and\n\
00338 # camera_info. The meaning of the camera parameters are described in\n\
00339 # detail at http://www.ros.org/wiki/image_pipeline/CameraInfo.\n\
00340 #\n\
00341 # The image_geometry package provides a user-friendly interface to\n\
00342 # common operations using this meta information. If you want to, e.g.,\n\
00343 # project a 3d point into image coordinates, we strongly recommend\n\
00344 # using image_geometry.\n\
00345 #\n\
00346 # If the camera is uncalibrated, the matrices D, K, R, P should be left\n\
00347 # zeroed out. In particular, clients may assume that K[0] == 0.0\n\
00348 # indicates an uncalibrated camera.\n\
00349 \n\
00350 #######################################################################\n\
00351 # Image acquisition info #\n\
00352 #######################################################################\n\
00353 \n\
00354 # Time of image acquisition, camera coordinate frame ID\n\
00355 Header header # Header timestamp should be acquisition time of image\n\
00356 # Header frame_id should be optical frame of camera\n\
00357 # origin of frame should be optical center of camera\n\
00358 # +x should point to the right in the image\n\
00359 # +y should point down in the image\n\
00360 # +z should point into the plane of the image\n\
00361 \n\
00362 \n\
00363 #######################################################################\n\
00364 # Calibration Parameters #\n\
00365 #######################################################################\n\
00366 # These are fixed during camera calibration. Their values will be the #\n\
00367 # same in all messages until the camera is recalibrated. Note that #\n\
00368 # self-calibrating systems may \"recalibrate\" frequently. #\n\
00369 # #\n\
00370 # The internal parameters can be used to warp a raw (distorted) image #\n\
00371 # to: #\n\
00372 # 1. An undistorted image (requires D and K) #\n\
00373 # 2. A rectified image (requires D, K, R) #\n\
00374 # The projection matrix P projects 3D points into the rectified image.#\n\
00375 #######################################################################\n\
00376 \n\
00377 # The image dimensions with which the camera was calibrated. Normally\n\
00378 # this will be the full camera resolution in pixels.\n\
00379 uint32 height\n\
00380 uint32 width\n\
00381 \n\
00382 # The distortion model used. Supported models are listed in\n\
00383 # sensor_msgs/distortion_models.h. For most cameras, \"plumb_bob\" - a\n\
00384 # simple model of radial and tangential distortion - is sufficent.\n\
00385 string distortion_model\n\
00386 \n\
00387 # The distortion parameters, size depending on the distortion model.\n\
00388 # For \"plumb_bob\", the 5 parameters are: (k1, k2, t1, t2, k3).\n\
00389 float64[] D\n\
00390 \n\
00391 # Intrinsic camera matrix for the raw (distorted) images.\n\
00392 # [fx 0 cx]\n\
00393 # K = [ 0 fy cy]\n\
00394 # [ 0 0 1]\n\
00395 # Projects 3D points in the camera coordinate frame to 2D pixel\n\
00396 # coordinates using the focal lengths (fx, fy) and principal point\n\
00397 # (cx, cy).\n\
00398 float64[9] K # 3x3 row-major matrix\n\
00399 \n\
00400 # Rectification matrix (stereo cameras only)\n\
00401 # A rotation matrix aligning the camera coordinate system to the ideal\n\
00402 # stereo image plane so that epipolar lines in both stereo images are\n\
00403 # parallel.\n\
00404 float64[9] R # 3x3 row-major matrix\n\
00405 \n\
00406 # Projection/camera matrix\n\
00407 # [fx' 0 cx' Tx]\n\
00408 # P = [ 0 fy' cy' Ty]\n\
00409 # [ 0 0 1 0]\n\
00410 # By convention, this matrix specifies the intrinsic (camera) matrix\n\
00411 # of the processed (rectified) image. That is, the left 3x3 portion\n\
00412 # is the normal camera intrinsic matrix for the rectified image.\n\
00413 # It projects 3D points in the camera coordinate frame to 2D pixel\n\
00414 # coordinates using the focal lengths (fx', fy') and principal point\n\
00415 # (cx', cy') - these may differ from the values in K.\n\
00416 # For monocular cameras, Tx = Ty = 0. Normally, monocular cameras will\n\
00417 # also have R = the identity and P[1:3,1:3] = K.\n\
00418 # For a stereo pair, the fourth column [Tx Ty 0]' is related to the\n\
00419 # position of the optical center of the second camera in the first\n\
00420 # camera's frame. We assume Tz = 0 so both cameras are in the same\n\
00421 # stereo image plane. The first camera always has Tx = Ty = 0. For\n\
00422 # the right (second) camera of a horizontal stereo pair, Ty = 0 and\n\
00423 # Tx = -fx' * B, where B is the baseline between the cameras.\n\
00424 # Given a 3D point [X Y Z]', the projection (x, y) of the point onto\n\
00425 # the rectified image is given by:\n\
00426 # [u v w]' = P * [X Y Z 1]'\n\
00427 # x = u / w\n\
00428 # y = v / w\n\
00429 # This holds for both images of a stereo pair.\n\
00430 float64[12] P # 3x4 row-major matrix\n\
00431 \n\
00432 \n\
00433 #######################################################################\n\
00434 # Operational Parameters #\n\
00435 #######################################################################\n\
00436 # These define the image region actually captured by the camera #\n\
00437 # driver. Although they affect the geometry of the output image, they #\n\
00438 # may be changed freely without recalibrating the camera. #\n\
00439 #######################################################################\n\
00440 \n\
00441 # Binning refers here to any camera setting which combines rectangular\n\
00442 # neighborhoods of pixels into larger \"super-pixels.\" It reduces the\n\
00443 # resolution of the output image to\n\
00444 # (width / binning_x) x (height / binning_y).\n\
00445 # The default values binning_x = binning_y = 0 is considered the same\n\
00446 # as binning_x = binning_y = 1 (no subsampling).\n\
00447 uint32 binning_x\n\
00448 uint32 binning_y\n\
00449 \n\
00450 # Region of interest (subwindow of full camera resolution), given in\n\
00451 # full resolution (unbinned) image coordinates. A particular ROI\n\
00452 # always denotes the same window of pixels on the camera sensor,\n\
00453 # regardless of binning settings.\n\
00454 # The default setting of roi (all values 0) is considered the same as\n\
00455 # full resolution (roi.width = width, roi.height = height).\n\
00456 RegionOfInterest roi\n\
00457 \n\
00458 ================================================================================\n\
00459 MSG: sensor_msgs/RegionOfInterest\n\
00460 # This message is used to specify a region of interest within an image.\n\
00461 #\n\
00462 # When used to specify the ROI setting of the camera when the image was\n\
00463 # taken, the height and width fields should either match the height and\n\
00464 # width fields for the associated image; or height = width = 0\n\
00465 # indicates that the full resolution image was captured.\n\
00466 \n\
00467 uint32 x_offset # Leftmost pixel of the ROI\n\
00468 # (0 if the ROI includes the left edge of the image)\n\
00469 uint32 y_offset # Topmost pixel of the ROI\n\
00470 # (0 if the ROI includes the top edge of the image)\n\
00471 uint32 height # Height of ROI\n\
00472 uint32 width # Width of ROI\n\
00473 \n\
00474 # True if a distinct rectified ROI should be calculated from the \"raw\"\n\
00475 # ROI in this message. Typically this should be False if the full image\n\
00476 # is captured (ROI not used), and True if a subwindow is captured (ROI\n\
00477 # used).\n\
00478 bool do_rectify\n\
00479 \n\
00480 ================================================================================\n\
00481 MSG: geometry_msgs/Vector3\n\
00482 # This represents a vector in free space. \n\
00483 \n\
00484 float64 x\n\
00485 float64 y\n\
00486 float64 z\n\
00487 "; }
00488 public:
00489 ROS_DEPRECATED static const std::string __s_getMessageDefinition() { return __s_getMessageDefinition_(); }
00490
00491 ROS_DEPRECATED const std::string __getMessageDefinition() const { return __s_getMessageDefinition_(); }
00492
00493 ROS_DEPRECATED virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const
00494 {
00495 ros::serialization::OStream stream(write_ptr, 1000000000);
00496 ros::serialization::serialize(stream, objectid);
00497 ros::serialization::serialize(stream, object);
00498 ros::serialization::serialize(stream, pose);
00499 ros::serialization::serialize(stream, boundingbox);
00500 return stream.getData();
00501 }
00502
00503 ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr)
00504 {
00505 ros::serialization::IStream stream(read_ptr, 1000000000);
00506 ros::serialization::deserialize(stream, objectid);
00507 ros::serialization::deserialize(stream, object);
00508 ros::serialization::deserialize(stream, pose);
00509 ros::serialization::deserialize(stream, boundingbox);
00510 return stream.getData();
00511 }
00512
00513 ROS_DEPRECATED virtual uint32_t serializationLength() const
00514 {
00515 uint32_t size = 0;
00516 size += ros::serialization::serializationLength(objectid);
00517 size += ros::serialization::serializationLength(object);
00518 size += ros::serialization::serializationLength(pose);
00519 size += ros::serialization::serializationLength(boundingbox);
00520 return size;
00521 }
00522
00523 typedef boost::shared_ptr< ::pr2_pick_and_place_service::PickPlaceObject_<ContainerAllocator> > Ptr;
00524 typedef boost::shared_ptr< ::pr2_pick_and_place_service::PickPlaceObject_<ContainerAllocator> const> ConstPtr;
00525 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00526 };
00527 typedef ::pr2_pick_and_place_service::PickPlaceObject_<std::allocator<void> > PickPlaceObject;
00528
00529 typedef boost::shared_ptr< ::pr2_pick_and_place_service::PickPlaceObject> PickPlaceObjectPtr;
00530 typedef boost::shared_ptr< ::pr2_pick_and_place_service::PickPlaceObject const> PickPlaceObjectConstPtr;
00531
00532
00533 template<typename ContainerAllocator>
00534 std::ostream& operator<<(std::ostream& s, const ::pr2_pick_and_place_service::PickPlaceObject_<ContainerAllocator> & v)
00535 {
00536 ros::message_operations::Printer< ::pr2_pick_and_place_service::PickPlaceObject_<ContainerAllocator> >::stream(s, "", v);
00537 return s;}
00538
00539 }
00540
00541 namespace ros
00542 {
00543 namespace message_traits
00544 {
00545 template<class ContainerAllocator> struct IsMessage< ::pr2_pick_and_place_service::PickPlaceObject_<ContainerAllocator> > : public TrueType {};
00546 template<class ContainerAllocator> struct IsMessage< ::pr2_pick_and_place_service::PickPlaceObject_<ContainerAllocator> const> : public TrueType {};
00547 template<class ContainerAllocator>
00548 struct MD5Sum< ::pr2_pick_and_place_service::PickPlaceObject_<ContainerAllocator> > {
00549 static const char* value()
00550 {
00551 return "ffd374baae36dd335477c70d55c3f483";
00552 }
00553
00554 static const char* value(const ::pr2_pick_and_place_service::PickPlaceObject_<ContainerAllocator> &) { return value(); }
00555 static const uint64_t static_value1 = 0xffd374baae36dd33ULL;
00556 static const uint64_t static_value2 = 0x5477c70d55c3f483ULL;
00557 };
00558
00559 template<class ContainerAllocator>
00560 struct DataType< ::pr2_pick_and_place_service::PickPlaceObject_<ContainerAllocator> > {
00561 static const char* value()
00562 {
00563 return "pr2_pick_and_place_service/PickPlaceObject";
00564 }
00565
00566 static const char* value(const ::pr2_pick_and_place_service::PickPlaceObject_<ContainerAllocator> &) { return value(); }
00567 };
00568
00569 template<class ContainerAllocator>
00570 struct Definition< ::pr2_pick_and_place_service::PickPlaceObject_<ContainerAllocator> > {
00571 static const char* value()
00572 {
00573 return "int32 objectid\n\
00574 object_manipulation_msgs/GraspableObject object\n\
00575 geometry_msgs/PoseStamped pose\n\
00576 float64[] boundingbox\n\
00577 \n\
00578 ================================================================================\n\
00579 MSG: object_manipulation_msgs/GraspableObject\n\
00580 # an object that the object_manipulator can work on\n\
00581 \n\
00582 # a graspable object can be represented in multiple ways. This message\n\
00583 # can contain all of them. Which one is actually used is up to the receiver\n\
00584 # of this message. When adding new representations, one must be careful that\n\
00585 # they have reasonable lightweight defaults indicating that that particular\n\
00586 # representation is not available.\n\
00587 \n\
00588 # the tf frame to be used as a reference frame when combining information from\n\
00589 # the different representations below\n\
00590 string reference_frame_id\n\
00591 \n\
00592 # potential recognition results from a database of models\n\
00593 # all poses are relative to the object reference pose\n\
00594 household_objects_database_msgs/DatabaseModelPose[] potential_models\n\
00595 \n\
00596 # the point cloud itself\n\
00597 sensor_msgs/PointCloud cluster\n\
00598 \n\
00599 # a region of a PointCloud2 of interest\n\
00600 object_manipulation_msgs/SceneRegion region\n\
00601 \n\
00602 # the name that this object has in the collision environment\n\
00603 string collision_name\n\
00604 ================================================================================\n\
00605 MSG: household_objects_database_msgs/DatabaseModelPose\n\
00606 # Informs that a specific model from the Model Database has been \n\
00607 # identified at a certain location\n\
00608 \n\
00609 # the database id of the model\n\
00610 int32 model_id\n\
00611 \n\
00612 # the pose that it can be found in\n\
00613 geometry_msgs/PoseStamped pose\n\
00614 \n\
00615 # a measure of the confidence level in this detection result\n\
00616 float32 confidence\n\
00617 \n\
00618 # the name of the object detector that generated this detection result\n\
00619 string detector_name\n\
00620 \n\
00621 ================================================================================\n\
00622 MSG: geometry_msgs/PoseStamped\n\
00623 # A Pose with reference coordinate frame and timestamp\n\
00624 Header header\n\
00625 Pose pose\n\
00626 \n\
00627 ================================================================================\n\
00628 MSG: std_msgs/Header\n\
00629 # Standard metadata for higher-level stamped data types.\n\
00630 # This is generally used to communicate timestamped data \n\
00631 # in a particular coordinate frame.\n\
00632 # \n\
00633 # sequence ID: consecutively increasing ID \n\
00634 uint32 seq\n\
00635 #Two-integer timestamp that is expressed as:\n\
00636 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00637 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00638 # time-handling sugar is provided by the client library\n\
00639 time stamp\n\
00640 #Frame this data is associated with\n\
00641 # 0: no frame\n\
00642 # 1: global frame\n\
00643 string frame_id\n\
00644 \n\
00645 ================================================================================\n\
00646 MSG: geometry_msgs/Pose\n\
00647 # A representation of pose in free space, composed of postion and orientation. \n\
00648 Point position\n\
00649 Quaternion orientation\n\
00650 \n\
00651 ================================================================================\n\
00652 MSG: geometry_msgs/Point\n\
00653 # This contains the position of a point in free space\n\
00654 float64 x\n\
00655 float64 y\n\
00656 float64 z\n\
00657 \n\
00658 ================================================================================\n\
00659 MSG: geometry_msgs/Quaternion\n\
00660 # This represents an orientation in free space in quaternion form.\n\
00661 \n\
00662 float64 x\n\
00663 float64 y\n\
00664 float64 z\n\
00665 float64 w\n\
00666 \n\
00667 ================================================================================\n\
00668 MSG: sensor_msgs/PointCloud\n\
00669 # This message holds a collection of 3d points, plus optional additional\n\
00670 # information about each point.\n\
00671 \n\
00672 # Time of sensor data acquisition, coordinate frame ID.\n\
00673 Header header\n\
00674 \n\
00675 # Array of 3d points. Each Point32 should be interpreted as a 3d point\n\
00676 # in the frame given in the header.\n\
00677 geometry_msgs/Point32[] points\n\
00678 \n\
00679 # Each channel should have the same number of elements as points array,\n\
00680 # and the data in each channel should correspond 1:1 with each point.\n\
00681 # Channel names in common practice are listed in ChannelFloat32.msg.\n\
00682 ChannelFloat32[] channels\n\
00683 \n\
00684 ================================================================================\n\
00685 MSG: geometry_msgs/Point32\n\
00686 # This contains the position of a point in free space(with 32 bits of precision).\n\
00687 # It is recommeded to use Point wherever possible instead of Point32. \n\
00688 # \n\
00689 # This recommendation is to promote interoperability. \n\
00690 #\n\
00691 # This message is designed to take up less space when sending\n\
00692 # lots of points at once, as in the case of a PointCloud. \n\
00693 \n\
00694 float32 x\n\
00695 float32 y\n\
00696 float32 z\n\
00697 ================================================================================\n\
00698 MSG: sensor_msgs/ChannelFloat32\n\
00699 # This message is used by the PointCloud message to hold optional data\n\
00700 # associated with each point in the cloud. The length of the values\n\
00701 # array should be the same as the length of the points array in the\n\
00702 # PointCloud, and each value should be associated with the corresponding\n\
00703 # point.\n\
00704 \n\
00705 # Channel names in existing practice include:\n\
00706 # \"u\", \"v\" - row and column (respectively) in the left stereo image.\n\
00707 # This is opposite to usual conventions but remains for\n\
00708 # historical reasons. The newer PointCloud2 message has no\n\
00709 # such problem.\n\
00710 # \"rgb\" - For point clouds produced by color stereo cameras. uint8\n\
00711 # (R,G,B) values packed into the least significant 24 bits,\n\
00712 # in order.\n\
00713 # \"intensity\" - laser or pixel intensity.\n\
00714 # \"distance\"\n\
00715 \n\
00716 # The channel name should give semantics of the channel (e.g.\n\
00717 # \"intensity\" instead of \"value\").\n\
00718 string name\n\
00719 \n\
00720 # The values array should be 1-1 with the elements of the associated\n\
00721 # PointCloud.\n\
00722 float32[] values\n\
00723 \n\
00724 ================================================================================\n\
00725 MSG: object_manipulation_msgs/SceneRegion\n\
00726 # Point cloud\n\
00727 sensor_msgs/PointCloud2 cloud\n\
00728 \n\
00729 # Indices for the region of interest\n\
00730 int32[] mask\n\
00731 \n\
00732 # One of the corresponding 2D images, if applicable\n\
00733 sensor_msgs/Image image\n\
00734 \n\
00735 # The disparity image, if applicable\n\
00736 sensor_msgs/Image disparity_image\n\
00737 \n\
00738 # Camera info for the camera that took the image\n\
00739 sensor_msgs/CameraInfo cam_info\n\
00740 \n\
00741 # a 3D region of interest for grasp planning\n\
00742 geometry_msgs/PoseStamped roi_box_pose\n\
00743 geometry_msgs/Vector3 roi_box_dims\n\
00744 \n\
00745 ================================================================================\n\
00746 MSG: sensor_msgs/PointCloud2\n\
00747 # This message holds a collection of N-dimensional points, which may\n\
00748 # contain additional information such as normals, intensity, etc. The\n\
00749 # point data is stored as a binary blob, its layout described by the\n\
00750 # contents of the \"fields\" array.\n\
00751 \n\
00752 # The point cloud data may be organized 2d (image-like) or 1d\n\
00753 # (unordered). Point clouds organized as 2d images may be produced by\n\
00754 # camera depth sensors such as stereo or time-of-flight.\n\
00755 \n\
00756 # Time of sensor data acquisition, and the coordinate frame ID (for 3d\n\
00757 # points).\n\
00758 Header header\n\
00759 \n\
00760 # 2D structure of the point cloud. If the cloud is unordered, height is\n\
00761 # 1 and width is the length of the point cloud.\n\
00762 uint32 height\n\
00763 uint32 width\n\
00764 \n\
00765 # Describes the channels and their layout in the binary data blob.\n\
00766 PointField[] fields\n\
00767 \n\
00768 bool is_bigendian # Is this data bigendian?\n\
00769 uint32 point_step # Length of a point in bytes\n\
00770 uint32 row_step # Length of a row in bytes\n\
00771 uint8[] data # Actual point data, size is (row_step*height)\n\
00772 \n\
00773 bool is_dense # True if there are no invalid points\n\
00774 \n\
00775 ================================================================================\n\
00776 MSG: sensor_msgs/PointField\n\
00777 # This message holds the description of one point entry in the\n\
00778 # PointCloud2 message format.\n\
00779 uint8 INT8 = 1\n\
00780 uint8 UINT8 = 2\n\
00781 uint8 INT16 = 3\n\
00782 uint8 UINT16 = 4\n\
00783 uint8 INT32 = 5\n\
00784 uint8 UINT32 = 6\n\
00785 uint8 FLOAT32 = 7\n\
00786 uint8 FLOAT64 = 8\n\
00787 \n\
00788 string name # Name of field\n\
00789 uint32 offset # Offset from start of point struct\n\
00790 uint8 datatype # Datatype enumeration, see above\n\
00791 uint32 count # How many elements in the field\n\
00792 \n\
00793 ================================================================================\n\
00794 MSG: sensor_msgs/Image\n\
00795 # This message contains an uncompressed image\n\
00796 # (0, 0) is at top-left corner of image\n\
00797 #\n\
00798 \n\
00799 Header header # Header timestamp should be acquisition time of image\n\
00800 # Header frame_id should be optical frame of camera\n\
00801 # origin of frame should be optical center of cameara\n\
00802 # +x should point to the right in the image\n\
00803 # +y should point down in the image\n\
00804 # +z should point into to plane of the image\n\
00805 # If the frame_id here and the frame_id of the CameraInfo\n\
00806 # message associated with the image conflict\n\
00807 # the behavior is undefined\n\
00808 \n\
00809 uint32 height # image height, that is, number of rows\n\
00810 uint32 width # image width, that is, number of columns\n\
00811 \n\
00812 # The legal values for encoding are in file src/image_encodings.cpp\n\
00813 # If you want to standardize a new string format, join\n\
00814 # ros-users@lists.sourceforge.net and send an email proposing a new encoding.\n\
00815 \n\
00816 string encoding # Encoding of pixels -- channel meaning, ordering, size\n\
00817 # taken from the list of strings in src/image_encodings.cpp\n\
00818 \n\
00819 uint8 is_bigendian # is this data bigendian?\n\
00820 uint32 step # Full row length in bytes\n\
00821 uint8[] data # actual matrix data, size is (step * rows)\n\
00822 \n\
00823 ================================================================================\n\
00824 MSG: sensor_msgs/CameraInfo\n\
00825 # This message defines meta information for a camera. It should be in a\n\
00826 # camera namespace on topic \"camera_info\" and accompanied by up to five\n\
00827 # image topics named:\n\
00828 #\n\
00829 # image_raw - raw data from the camera driver, possibly Bayer encoded\n\
00830 # image - monochrome, distorted\n\
00831 # image_color - color, distorted\n\
00832 # image_rect - monochrome, rectified\n\
00833 # image_rect_color - color, rectified\n\
00834 #\n\
00835 # The image_pipeline contains packages (image_proc, stereo_image_proc)\n\
00836 # for producing the four processed image topics from image_raw and\n\
00837 # camera_info. The meaning of the camera parameters are described in\n\
00838 # detail at http://www.ros.org/wiki/image_pipeline/CameraInfo.\n\
00839 #\n\
00840 # The image_geometry package provides a user-friendly interface to\n\
00841 # common operations using this meta information. If you want to, e.g.,\n\
00842 # project a 3d point into image coordinates, we strongly recommend\n\
00843 # using image_geometry.\n\
00844 #\n\
00845 # If the camera is uncalibrated, the matrices D, K, R, P should be left\n\
00846 # zeroed out. In particular, clients may assume that K[0] == 0.0\n\
00847 # indicates an uncalibrated camera.\n\
00848 \n\
00849 #######################################################################\n\
00850 # Image acquisition info #\n\
00851 #######################################################################\n\
00852 \n\
00853 # Time of image acquisition, camera coordinate frame ID\n\
00854 Header header # Header timestamp should be acquisition time of image\n\
00855 # Header frame_id should be optical frame of camera\n\
00856 # origin of frame should be optical center of camera\n\
00857 # +x should point to the right in the image\n\
00858 # +y should point down in the image\n\
00859 # +z should point into the plane of the image\n\
00860 \n\
00861 \n\
00862 #######################################################################\n\
00863 # Calibration Parameters #\n\
00864 #######################################################################\n\
00865 # These are fixed during camera calibration. Their values will be the #\n\
00866 # same in all messages until the camera is recalibrated. Note that #\n\
00867 # self-calibrating systems may \"recalibrate\" frequently. #\n\
00868 # #\n\
00869 # The internal parameters can be used to warp a raw (distorted) image #\n\
00870 # to: #\n\
00871 # 1. An undistorted image (requires D and K) #\n\
00872 # 2. A rectified image (requires D, K, R) #\n\
00873 # The projection matrix P projects 3D points into the rectified image.#\n\
00874 #######################################################################\n\
00875 \n\
00876 # The image dimensions with which the camera was calibrated. Normally\n\
00877 # this will be the full camera resolution in pixels.\n\
00878 uint32 height\n\
00879 uint32 width\n\
00880 \n\
00881 # The distortion model used. Supported models are listed in\n\
00882 # sensor_msgs/distortion_models.h. For most cameras, \"plumb_bob\" - a\n\
00883 # simple model of radial and tangential distortion - is sufficent.\n\
00884 string distortion_model\n\
00885 \n\
00886 # The distortion parameters, size depending on the distortion model.\n\
00887 # For \"plumb_bob\", the 5 parameters are: (k1, k2, t1, t2, k3).\n\
00888 float64[] D\n\
00889 \n\
00890 # Intrinsic camera matrix for the raw (distorted) images.\n\
00891 # [fx 0 cx]\n\
00892 # K = [ 0 fy cy]\n\
00893 # [ 0 0 1]\n\
00894 # Projects 3D points in the camera coordinate frame to 2D pixel\n\
00895 # coordinates using the focal lengths (fx, fy) and principal point\n\
00896 # (cx, cy).\n\
00897 float64[9] K # 3x3 row-major matrix\n\
00898 \n\
00899 # Rectification matrix (stereo cameras only)\n\
00900 # A rotation matrix aligning the camera coordinate system to the ideal\n\
00901 # stereo image plane so that epipolar lines in both stereo images are\n\
00902 # parallel.\n\
00903 float64[9] R # 3x3 row-major matrix\n\
00904 \n\
00905 # Projection/camera matrix\n\
00906 # [fx' 0 cx' Tx]\n\
00907 # P = [ 0 fy' cy' Ty]\n\
00908 # [ 0 0 1 0]\n\
00909 # By convention, this matrix specifies the intrinsic (camera) matrix\n\
00910 # of the processed (rectified) image. That is, the left 3x3 portion\n\
00911 # is the normal camera intrinsic matrix for the rectified image.\n\
00912 # It projects 3D points in the camera coordinate frame to 2D pixel\n\
00913 # coordinates using the focal lengths (fx', fy') and principal point\n\
00914 # (cx', cy') - these may differ from the values in K.\n\
00915 # For monocular cameras, Tx = Ty = 0. Normally, monocular cameras will\n\
00916 # also have R = the identity and P[1:3,1:3] = K.\n\
00917 # For a stereo pair, the fourth column [Tx Ty 0]' is related to the\n\
00918 # position of the optical center of the second camera in the first\n\
00919 # camera's frame. We assume Tz = 0 so both cameras are in the same\n\
00920 # stereo image plane. The first camera always has Tx = Ty = 0. For\n\
00921 # the right (second) camera of a horizontal stereo pair, Ty = 0 and\n\
00922 # Tx = -fx' * B, where B is the baseline between the cameras.\n\
00923 # Given a 3D point [X Y Z]', the projection (x, y) of the point onto\n\
00924 # the rectified image is given by:\n\
00925 # [u v w]' = P * [X Y Z 1]'\n\
00926 # x = u / w\n\
00927 # y = v / w\n\
00928 # This holds for both images of a stereo pair.\n\
00929 float64[12] P # 3x4 row-major matrix\n\
00930 \n\
00931 \n\
00932 #######################################################################\n\
00933 # Operational Parameters #\n\
00934 #######################################################################\n\
00935 # These define the image region actually captured by the camera #\n\
00936 # driver. Although they affect the geometry of the output image, they #\n\
00937 # may be changed freely without recalibrating the camera. #\n\
00938 #######################################################################\n\
00939 \n\
00940 # Binning refers here to any camera setting which combines rectangular\n\
00941 # neighborhoods of pixels into larger \"super-pixels.\" It reduces the\n\
00942 # resolution of the output image to\n\
00943 # (width / binning_x) x (height / binning_y).\n\
00944 # The default values binning_x = binning_y = 0 is considered the same\n\
00945 # as binning_x = binning_y = 1 (no subsampling).\n\
00946 uint32 binning_x\n\
00947 uint32 binning_y\n\
00948 \n\
00949 # Region of interest (subwindow of full camera resolution), given in\n\
00950 # full resolution (unbinned) image coordinates. A particular ROI\n\
00951 # always denotes the same window of pixels on the camera sensor,\n\
00952 # regardless of binning settings.\n\
00953 # The default setting of roi (all values 0) is considered the same as\n\
00954 # full resolution (roi.width = width, roi.height = height).\n\
00955 RegionOfInterest roi\n\
00956 \n\
00957 ================================================================================\n\
00958 MSG: sensor_msgs/RegionOfInterest\n\
00959 # This message is used to specify a region of interest within an image.\n\
00960 #\n\
00961 # When used to specify the ROI setting of the camera when the image was\n\
00962 # taken, the height and width fields should either match the height and\n\
00963 # width fields for the associated image; or height = width = 0\n\
00964 # indicates that the full resolution image was captured.\n\
00965 \n\
00966 uint32 x_offset # Leftmost pixel of the ROI\n\
00967 # (0 if the ROI includes the left edge of the image)\n\
00968 uint32 y_offset # Topmost pixel of the ROI\n\
00969 # (0 if the ROI includes the top edge of the image)\n\
00970 uint32 height # Height of ROI\n\
00971 uint32 width # Width of ROI\n\
00972 \n\
00973 # True if a distinct rectified ROI should be calculated from the \"raw\"\n\
00974 # ROI in this message. Typically this should be False if the full image\n\
00975 # is captured (ROI not used), and True if a subwindow is captured (ROI\n\
00976 # used).\n\
00977 bool do_rectify\n\
00978 \n\
00979 ================================================================================\n\
00980 MSG: geometry_msgs/Vector3\n\
00981 # This represents a vector in free space. \n\
00982 \n\
00983 float64 x\n\
00984 float64 y\n\
00985 float64 z\n\
00986 ";
00987 }
00988
00989 static const char* value(const ::pr2_pick_and_place_service::PickPlaceObject_<ContainerAllocator> &) { return value(); }
00990 };
00991
00992 }
00993 }
00994
00995 namespace ros
00996 {
00997 namespace serialization
00998 {
00999
01000 template<class ContainerAllocator> struct Serializer< ::pr2_pick_and_place_service::PickPlaceObject_<ContainerAllocator> >
01001 {
01002 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
01003 {
01004 stream.next(m.objectid);
01005 stream.next(m.object);
01006 stream.next(m.pose);
01007 stream.next(m.boundingbox);
01008 }
01009
01010 ROS_DECLARE_ALLINONE_SERIALIZER;
01011 };
01012 }
01013 }
01014
01015 namespace ros
01016 {
01017 namespace message_operations
01018 {
01019
01020 template<class ContainerAllocator>
01021 struct Printer< ::pr2_pick_and_place_service::PickPlaceObject_<ContainerAllocator> >
01022 {
01023 template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::pr2_pick_and_place_service::PickPlaceObject_<ContainerAllocator> & v)
01024 {
01025 s << indent << "objectid: ";
01026 Printer<int32_t>::stream(s, indent + " ", v.objectid);
01027 s << indent << "object: ";
01028 s << std::endl;
01029 Printer< ::object_manipulation_msgs::GraspableObject_<ContainerAllocator> >::stream(s, indent + " ", v.object);
01030 s << indent << "pose: ";
01031 s << std::endl;
01032 Printer< ::geometry_msgs::PoseStamped_<ContainerAllocator> >::stream(s, indent + " ", v.pose);
01033 s << indent << "boundingbox[]" << std::endl;
01034 for (size_t i = 0; i < v.boundingbox.size(); ++i)
01035 {
01036 s << indent << " boundingbox[" << i << "]: ";
01037 Printer<double>::stream(s, indent + " ", v.boundingbox[i]);
01038 }
01039 }
01040 };
01041
01042
01043 }
01044 }
01045
01046 #endif // PR2_PICK_AND_PLACE_SERVICE_MESSAGE_PICKPLACEOBJECT_H
01047
