00001
00002 #ifndef TURTLEBOT_BLOCK_MANIPULATION_MESSAGE_PICKANDPLACEACTION_H
00003 #define TURTLEBOT_BLOCK_MANIPULATION_MESSAGE_PICKANDPLACEACTION_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 "turtlebot_block_manipulation/PickAndPlaceActionGoal.h"
00018 #include "turtlebot_block_manipulation/PickAndPlaceActionResult.h"
00019 #include "turtlebot_block_manipulation/PickAndPlaceActionFeedback.h"
00020
00021 namespace turtlebot_block_manipulation
00022 {
00023 template <class ContainerAllocator>
00024 struct PickAndPlaceAction_ {
00025 typedef PickAndPlaceAction_<ContainerAllocator> Type;
00026
00027 PickAndPlaceAction_()
00028 : action_goal()
00029 , action_result()
00030 , action_feedback()
00031 {
00032 }
00033
00034 PickAndPlaceAction_(const ContainerAllocator& _alloc)
00035 : action_goal(_alloc)
00036 , action_result(_alloc)
00037 , action_feedback(_alloc)
00038 {
00039 }
00040
00041 typedef ::turtlebot_block_manipulation::PickAndPlaceActionGoal_<ContainerAllocator> _action_goal_type;
00042 ::turtlebot_block_manipulation::PickAndPlaceActionGoal_<ContainerAllocator> action_goal;
00043
00044 typedef ::turtlebot_block_manipulation::PickAndPlaceActionResult_<ContainerAllocator> _action_result_type;
00045 ::turtlebot_block_manipulation::PickAndPlaceActionResult_<ContainerAllocator> action_result;
00046
00047 typedef ::turtlebot_block_manipulation::PickAndPlaceActionFeedback_<ContainerAllocator> _action_feedback_type;
00048 ::turtlebot_block_manipulation::PickAndPlaceActionFeedback_<ContainerAllocator> action_feedback;
00049
00050
00051 private:
00052 static const char* __s_getDataType_() { return "turtlebot_block_manipulation/PickAndPlaceAction"; }
00053 public:
00054 ROS_DEPRECATED static const std::string __s_getDataType() { return __s_getDataType_(); }
00055
00056 ROS_DEPRECATED const std::string __getDataType() const { return __s_getDataType_(); }
00057
00058 private:
00059 static const char* __s_getMD5Sum_() { return "416f36234b95b54b93474c1c4a28de65"; }
00060 public:
00061 ROS_DEPRECATED static const std::string __s_getMD5Sum() { return __s_getMD5Sum_(); }
00062
00063 ROS_DEPRECATED const std::string __getMD5Sum() const { return __s_getMD5Sum_(); }
00064
00065 private:
00066 static const char* __s_getMessageDefinition_() { return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00067 \n\
00068 PickAndPlaceActionGoal action_goal\n\
00069 PickAndPlaceActionResult action_result\n\
00070 PickAndPlaceActionFeedback action_feedback\n\
00071 \n\
00072 ================================================================================\n\
00073 MSG: turtlebot_block_manipulation/PickAndPlaceActionGoal\n\
00074 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00075 \n\
00076 Header header\n\
00077 actionlib_msgs/GoalID goal_id\n\
00078 PickAndPlaceGoal goal\n\
00079 \n\
00080 ================================================================================\n\
00081 MSG: std_msgs/Header\n\
00082 # Standard metadata for higher-level stamped data types.\n\
00083 # This is generally used to communicate timestamped data \n\
00084 # in a particular coordinate frame.\n\
00085 # \n\
00086 # sequence ID: consecutively increasing ID \n\
00087 uint32 seq\n\
00088 #Two-integer timestamp that is expressed as:\n\
00089 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00090 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00091 # time-handling sugar is provided by the client library\n\
00092 time stamp\n\
00093 #Frame this data is associated with\n\
00094 # 0: no frame\n\
00095 # 1: global frame\n\
00096 string frame_id\n\
00097 \n\
00098 ================================================================================\n\
00099 MSG: actionlib_msgs/GoalID\n\
00100 # The stamp should store the time at which this goal was requested.\n\
00101 # It is used by an action server when it tries to preempt all\n\
00102 # goals that were requested before a certain time\n\
00103 time stamp\n\
00104 \n\
00105 # The id provides a way to associate feedback and\n\
00106 # result message with specific goal requests. The id\n\
00107 # specified must be unique.\n\
00108 string id\n\
00109 \n\
00110 \n\
00111 ================================================================================\n\
00112 MSG: turtlebot_block_manipulation/PickAndPlaceGoal\n\
00113 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00114 #goal definition\n\
00115 string frame\n\
00116 float32 z_up\n\
00117 float32 gripper_open\n\
00118 float32 gripper_closed\n\
00119 geometry_msgs/Pose pickup_pose\n\
00120 geometry_msgs/Pose place_pose\n\
00121 string topic\n\
00122 \n\
00123 ================================================================================\n\
00124 MSG: geometry_msgs/Pose\n\
00125 # A representation of pose in free space, composed of postion and orientation. \n\
00126 Point position\n\
00127 Quaternion orientation\n\
00128 \n\
00129 ================================================================================\n\
00130 MSG: geometry_msgs/Point\n\
00131 # This contains the position of a point in free space\n\
00132 float64 x\n\
00133 float64 y\n\
00134 float64 z\n\
00135 \n\
00136 ================================================================================\n\
00137 MSG: geometry_msgs/Quaternion\n\
00138 # This represents an orientation in free space in quaternion form.\n\
00139 \n\
00140 float64 x\n\
00141 float64 y\n\
00142 float64 z\n\
00143 float64 w\n\
00144 \n\
00145 ================================================================================\n\
00146 MSG: turtlebot_block_manipulation/PickAndPlaceActionResult\n\
00147 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00148 \n\
00149 Header header\n\
00150 actionlib_msgs/GoalStatus status\n\
00151 PickAndPlaceResult result\n\
00152 \n\
00153 ================================================================================\n\
00154 MSG: actionlib_msgs/GoalStatus\n\
00155 GoalID goal_id\n\
00156 uint8 status\n\
00157 uint8 PENDING = 0 # The goal has yet to be processed by the action server\n\
00158 uint8 ACTIVE = 1 # The goal is currently being processed by the action server\n\
00159 uint8 PREEMPTED = 2 # The goal received a cancel request after it started executing\n\
00160 # and has since completed its execution (Terminal State)\n\
00161 uint8 SUCCEEDED = 3 # The goal was achieved successfully by the action server (Terminal State)\n\
00162 uint8 ABORTED = 4 # The goal was aborted during execution by the action server due\n\
00163 # to some failure (Terminal State)\n\
00164 uint8 REJECTED = 5 # The goal was rejected by the action server without being processed,\n\
00165 # because the goal was unattainable or invalid (Terminal State)\n\
00166 uint8 PREEMPTING = 6 # The goal received a cancel request after it started executing\n\
00167 # and has not yet completed execution\n\
00168 uint8 RECALLING = 7 # The goal received a cancel request before it started executing,\n\
00169 # but the action server has not yet confirmed that the goal is canceled\n\
00170 uint8 RECALLED = 8 # The goal received a cancel request before it started executing\n\
00171 # and was successfully cancelled (Terminal State)\n\
00172 uint8 LOST = 9 # An action client can determine that a goal is LOST. This should not be\n\
00173 # sent over the wire by an action server\n\
00174 \n\
00175 #Allow for the user to associate a string with GoalStatus for debugging\n\
00176 string text\n\
00177 \n\
00178 \n\
00179 ================================================================================\n\
00180 MSG: turtlebot_block_manipulation/PickAndPlaceResult\n\
00181 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00182 #result definition\n\
00183 \n\
00184 ================================================================================\n\
00185 MSG: turtlebot_block_manipulation/PickAndPlaceActionFeedback\n\
00186 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00187 \n\
00188 Header header\n\
00189 actionlib_msgs/GoalStatus status\n\
00190 PickAndPlaceFeedback feedback\n\
00191 \n\
00192 ================================================================================\n\
00193 MSG: turtlebot_block_manipulation/PickAndPlaceFeedback\n\
00194 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00195 #feedback\n\
00196 \n\
00197 \n\
00198 "; }
00199 public:
00200 ROS_DEPRECATED static const std::string __s_getMessageDefinition() { return __s_getMessageDefinition_(); }
00201
00202 ROS_DEPRECATED const std::string __getMessageDefinition() const { return __s_getMessageDefinition_(); }
00203
00204 ROS_DEPRECATED virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const
00205 {
00206 ros::serialization::OStream stream(write_ptr, 1000000000);
00207 ros::serialization::serialize(stream, action_goal);
00208 ros::serialization::serialize(stream, action_result);
00209 ros::serialization::serialize(stream, action_feedback);
00210 return stream.getData();
00211 }
00212
00213 ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr)
00214 {
00215 ros::serialization::IStream stream(read_ptr, 1000000000);
00216 ros::serialization::deserialize(stream, action_goal);
00217 ros::serialization::deserialize(stream, action_result);
00218 ros::serialization::deserialize(stream, action_feedback);
00219 return stream.getData();
00220 }
00221
00222 ROS_DEPRECATED virtual uint32_t serializationLength() const
00223 {
00224 uint32_t size = 0;
00225 size += ros::serialization::serializationLength(action_goal);
00226 size += ros::serialization::serializationLength(action_result);
00227 size += ros::serialization::serializationLength(action_feedback);
00228 return size;
00229 }
00230
00231 typedef boost::shared_ptr< ::turtlebot_block_manipulation::PickAndPlaceAction_<ContainerAllocator> > Ptr;
00232 typedef boost::shared_ptr< ::turtlebot_block_manipulation::PickAndPlaceAction_<ContainerAllocator> const> ConstPtr;
00233 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00234 };
00235 typedef ::turtlebot_block_manipulation::PickAndPlaceAction_<std::allocator<void> > PickAndPlaceAction;
00236
00237 typedef boost::shared_ptr< ::turtlebot_block_manipulation::PickAndPlaceAction> PickAndPlaceActionPtr;
00238 typedef boost::shared_ptr< ::turtlebot_block_manipulation::PickAndPlaceAction const> PickAndPlaceActionConstPtr;
00239
00240
00241 template<typename ContainerAllocator>
00242 std::ostream& operator<<(std::ostream& s, const ::turtlebot_block_manipulation::PickAndPlaceAction_<ContainerAllocator> & v)
00243 {
00244 ros::message_operations::Printer< ::turtlebot_block_manipulation::PickAndPlaceAction_<ContainerAllocator> >::stream(s, "", v);
00245 return s;}
00246
00247 }
00248
00249 namespace ros
00250 {
00251 namespace message_traits
00252 {
00253 template<class ContainerAllocator> struct IsMessage< ::turtlebot_block_manipulation::PickAndPlaceAction_<ContainerAllocator> > : public TrueType {};
00254 template<class ContainerAllocator> struct IsMessage< ::turtlebot_block_manipulation::PickAndPlaceAction_<ContainerAllocator> const> : public TrueType {};
00255 template<class ContainerAllocator>
00256 struct MD5Sum< ::turtlebot_block_manipulation::PickAndPlaceAction_<ContainerAllocator> > {
00257 static const char* value()
00258 {
00259 return "416f36234b95b54b93474c1c4a28de65";
00260 }
00261
00262 static const char* value(const ::turtlebot_block_manipulation::PickAndPlaceAction_<ContainerAllocator> &) { return value(); }
00263 static const uint64_t static_value1 = 0x416f36234b95b54bULL;
00264 static const uint64_t static_value2 = 0x93474c1c4a28de65ULL;
00265 };
00266
00267 template<class ContainerAllocator>
00268 struct DataType< ::turtlebot_block_manipulation::PickAndPlaceAction_<ContainerAllocator> > {
00269 static const char* value()
00270 {
00271 return "turtlebot_block_manipulation/PickAndPlaceAction";
00272 }
00273
00274 static const char* value(const ::turtlebot_block_manipulation::PickAndPlaceAction_<ContainerAllocator> &) { return value(); }
00275 };
00276
00277 template<class ContainerAllocator>
00278 struct Definition< ::turtlebot_block_manipulation::PickAndPlaceAction_<ContainerAllocator> > {
00279 static const char* value()
00280 {
00281 return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00282 \n\
00283 PickAndPlaceActionGoal action_goal\n\
00284 PickAndPlaceActionResult action_result\n\
00285 PickAndPlaceActionFeedback action_feedback\n\
00286 \n\
00287 ================================================================================\n\
00288 MSG: turtlebot_block_manipulation/PickAndPlaceActionGoal\n\
00289 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00290 \n\
00291 Header header\n\
00292 actionlib_msgs/GoalID goal_id\n\
00293 PickAndPlaceGoal goal\n\
00294 \n\
00295 ================================================================================\n\
00296 MSG: std_msgs/Header\n\
00297 # Standard metadata for higher-level stamped data types.\n\
00298 # This is generally used to communicate timestamped data \n\
00299 # in a particular coordinate frame.\n\
00300 # \n\
00301 # sequence ID: consecutively increasing ID \n\
00302 uint32 seq\n\
00303 #Two-integer timestamp that is expressed as:\n\
00304 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00305 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00306 # time-handling sugar is provided by the client library\n\
00307 time stamp\n\
00308 #Frame this data is associated with\n\
00309 # 0: no frame\n\
00310 # 1: global frame\n\
00311 string frame_id\n\
00312 \n\
00313 ================================================================================\n\
00314 MSG: actionlib_msgs/GoalID\n\
00315 # The stamp should store the time at which this goal was requested.\n\
00316 # It is used by an action server when it tries to preempt all\n\
00317 # goals that were requested before a certain time\n\
00318 time stamp\n\
00319 \n\
00320 # The id provides a way to associate feedback and\n\
00321 # result message with specific goal requests. The id\n\
00322 # specified must be unique.\n\
00323 string id\n\
00324 \n\
00325 \n\
00326 ================================================================================\n\
00327 MSG: turtlebot_block_manipulation/PickAndPlaceGoal\n\
00328 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00329 #goal definition\n\
00330 string frame\n\
00331 float32 z_up\n\
00332 float32 gripper_open\n\
00333 float32 gripper_closed\n\
00334 geometry_msgs/Pose pickup_pose\n\
00335 geometry_msgs/Pose place_pose\n\
00336 string topic\n\
00337 \n\
00338 ================================================================================\n\
00339 MSG: geometry_msgs/Pose\n\
00340 # A representation of pose in free space, composed of postion and orientation. \n\
00341 Point position\n\
00342 Quaternion orientation\n\
00343 \n\
00344 ================================================================================\n\
00345 MSG: geometry_msgs/Point\n\
00346 # This contains the position of a point in free space\n\
00347 float64 x\n\
00348 float64 y\n\
00349 float64 z\n\
00350 \n\
00351 ================================================================================\n\
00352 MSG: geometry_msgs/Quaternion\n\
00353 # This represents an orientation in free space in quaternion form.\n\
00354 \n\
00355 float64 x\n\
00356 float64 y\n\
00357 float64 z\n\
00358 float64 w\n\
00359 \n\
00360 ================================================================================\n\
00361 MSG: turtlebot_block_manipulation/PickAndPlaceActionResult\n\
00362 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00363 \n\
00364 Header header\n\
00365 actionlib_msgs/GoalStatus status\n\
00366 PickAndPlaceResult result\n\
00367 \n\
00368 ================================================================================\n\
00369 MSG: actionlib_msgs/GoalStatus\n\
00370 GoalID goal_id\n\
00371 uint8 status\n\
00372 uint8 PENDING = 0 # The goal has yet to be processed by the action server\n\
00373 uint8 ACTIVE = 1 # The goal is currently being processed by the action server\n\
00374 uint8 PREEMPTED = 2 # The goal received a cancel request after it started executing\n\
00375 # and has since completed its execution (Terminal State)\n\
00376 uint8 SUCCEEDED = 3 # The goal was achieved successfully by the action server (Terminal State)\n\
00377 uint8 ABORTED = 4 # The goal was aborted during execution by the action server due\n\
00378 # to some failure (Terminal State)\n\
00379 uint8 REJECTED = 5 # The goal was rejected by the action server without being processed,\n\
00380 # because the goal was unattainable or invalid (Terminal State)\n\
00381 uint8 PREEMPTING = 6 # The goal received a cancel request after it started executing\n\
00382 # and has not yet completed execution\n\
00383 uint8 RECALLING = 7 # The goal received a cancel request before it started executing,\n\
00384 # but the action server has not yet confirmed that the goal is canceled\n\
00385 uint8 RECALLED = 8 # The goal received a cancel request before it started executing\n\
00386 # and was successfully cancelled (Terminal State)\n\
00387 uint8 LOST = 9 # An action client can determine that a goal is LOST. This should not be\n\
00388 # sent over the wire by an action server\n\
00389 \n\
00390 #Allow for the user to associate a string with GoalStatus for debugging\n\
00391 string text\n\
00392 \n\
00393 \n\
00394 ================================================================================\n\
00395 MSG: turtlebot_block_manipulation/PickAndPlaceResult\n\
00396 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00397 #result definition\n\
00398 \n\
00399 ================================================================================\n\
00400 MSG: turtlebot_block_manipulation/PickAndPlaceActionFeedback\n\
00401 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00402 \n\
00403 Header header\n\
00404 actionlib_msgs/GoalStatus status\n\
00405 PickAndPlaceFeedback feedback\n\
00406 \n\
00407 ================================================================================\n\
00408 MSG: turtlebot_block_manipulation/PickAndPlaceFeedback\n\
00409 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00410 #feedback\n\
00411 \n\
00412 \n\
00413 ";
00414 }
00415
00416 static const char* value(const ::turtlebot_block_manipulation::PickAndPlaceAction_<ContainerAllocator> &) { return value(); }
00417 };
00418
00419 }
00420 }
00421
00422 namespace ros
00423 {
00424 namespace serialization
00425 {
00426
00427 template<class ContainerAllocator> struct Serializer< ::turtlebot_block_manipulation::PickAndPlaceAction_<ContainerAllocator> >
00428 {
00429 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00430 {
00431 stream.next(m.action_goal);
00432 stream.next(m.action_result);
00433 stream.next(m.action_feedback);
00434 }
00435
00436 ROS_DECLARE_ALLINONE_SERIALIZER;
00437 };
00438 }
00439 }
00440
00441 namespace ros
00442 {
00443 namespace message_operations
00444 {
00445
00446 template<class ContainerAllocator>
00447 struct Printer< ::turtlebot_block_manipulation::PickAndPlaceAction_<ContainerAllocator> >
00448 {
00449 template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::turtlebot_block_manipulation::PickAndPlaceAction_<ContainerAllocator> & v)
00450 {
00451 s << indent << "action_goal: ";
00452 s << std::endl;
00453 Printer< ::turtlebot_block_manipulation::PickAndPlaceActionGoal_<ContainerAllocator> >::stream(s, indent + " ", v.action_goal);
00454 s << indent << "action_result: ";
00455 s << std::endl;
00456 Printer< ::turtlebot_block_manipulation::PickAndPlaceActionResult_<ContainerAllocator> >::stream(s, indent + " ", v.action_result);
00457 s << indent << "action_feedback: ";
00458 s << std::endl;
00459 Printer< ::turtlebot_block_manipulation::PickAndPlaceActionFeedback_<ContainerAllocator> >::stream(s, indent + " ", v.action_feedback);
00460 }
00461 };
00462
00463
00464 }
00465 }
00466
00467 #endif // TURTLEBOT_BLOCK_MANIPULATION_MESSAGE_PICKANDPLACEACTION_H
00468
