PreplanHeadScanAction.h
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00001 /* Auto-generated by genmsg_cpp for file /home/rosbuild/hudson/workspace/doc-fuerte-arm_navigation_experimental/doc_stacks/2013-12-12_11-03-06.264841/arm_navigation_experimental/head_monitor_msgs/msg/PreplanHeadScanAction.msg */
00002 #ifndef HEAD_MONITOR_MSGS_MESSAGE_PREPLANHEADSCANACTION_H
00003 #define HEAD_MONITOR_MSGS_MESSAGE_PREPLANHEADSCANACTION_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 "head_monitor_msgs/PreplanHeadScanActionGoal.h"
00018 #include "head_monitor_msgs/PreplanHeadScanActionResult.h"
00019 #include "head_monitor_msgs/PreplanHeadScanActionFeedback.h"
00020 
00021 namespace head_monitor_msgs
00022 {
00023 template <class ContainerAllocator>
00024 struct PreplanHeadScanAction_ {
00025   typedef PreplanHeadScanAction_<ContainerAllocator> Type;
00026 
00027   PreplanHeadScanAction_()
00028   : action_goal()
00029   , action_result()
00030   , action_feedback()
00031   {
00032   }
00033 
00034   PreplanHeadScanAction_(const ContainerAllocator& _alloc)
00035   : action_goal(_alloc)
00036   , action_result(_alloc)
00037   , action_feedback(_alloc)
00038   {
00039   }
00040 
00041   typedef  ::head_monitor_msgs::PreplanHeadScanActionGoal_<ContainerAllocator>  _action_goal_type;
00042    ::head_monitor_msgs::PreplanHeadScanActionGoal_<ContainerAllocator>  action_goal;
00043 
00044   typedef  ::head_monitor_msgs::PreplanHeadScanActionResult_<ContainerAllocator>  _action_result_type;
00045    ::head_monitor_msgs::PreplanHeadScanActionResult_<ContainerAllocator>  action_result;
00046 
00047   typedef  ::head_monitor_msgs::PreplanHeadScanActionFeedback_<ContainerAllocator>  _action_feedback_type;
00048    ::head_monitor_msgs::PreplanHeadScanActionFeedback_<ContainerAllocator>  action_feedback;
00049 
00050 
00051   typedef boost::shared_ptr< ::head_monitor_msgs::PreplanHeadScanAction_<ContainerAllocator> > Ptr;
00052   typedef boost::shared_ptr< ::head_monitor_msgs::PreplanHeadScanAction_<ContainerAllocator>  const> ConstPtr;
00053   boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00054 }; // struct PreplanHeadScanAction
00055 typedef  ::head_monitor_msgs::PreplanHeadScanAction_<std::allocator<void> > PreplanHeadScanAction;
00056 
00057 typedef boost::shared_ptr< ::head_monitor_msgs::PreplanHeadScanAction> PreplanHeadScanActionPtr;
00058 typedef boost::shared_ptr< ::head_monitor_msgs::PreplanHeadScanAction const> PreplanHeadScanActionConstPtr;
00059 
00060 
00061 template<typename ContainerAllocator>
00062 std::ostream& operator<<(std::ostream& s, const  ::head_monitor_msgs::PreplanHeadScanAction_<ContainerAllocator> & v)
00063 {
00064   ros::message_operations::Printer< ::head_monitor_msgs::PreplanHeadScanAction_<ContainerAllocator> >::stream(s, "", v);
00065   return s;}
00066 
00067 } // namespace head_monitor_msgs
00068 
00069 namespace ros
00070 {
00071 namespace message_traits
00072 {
00073 template<class ContainerAllocator> struct IsMessage< ::head_monitor_msgs::PreplanHeadScanAction_<ContainerAllocator> > : public TrueType {};
00074 template<class ContainerAllocator> struct IsMessage< ::head_monitor_msgs::PreplanHeadScanAction_<ContainerAllocator>  const> : public TrueType {};
00075 template<class ContainerAllocator>
00076 struct MD5Sum< ::head_monitor_msgs::PreplanHeadScanAction_<ContainerAllocator> > {
00077   static const char* value() 
00078   {
00079     return "febbaf17638d0245755e50701e422888";
00080   }
00081 
00082   static const char* value(const  ::head_monitor_msgs::PreplanHeadScanAction_<ContainerAllocator> &) { return value(); } 
00083   static const uint64_t static_value1 = 0xfebbaf17638d0245ULL;
00084   static const uint64_t static_value2 = 0x755e50701e422888ULL;
00085 };
00086 
00087 template<class ContainerAllocator>
00088 struct DataType< ::head_monitor_msgs::PreplanHeadScanAction_<ContainerAllocator> > {
00089   static const char* value() 
00090   {
00091     return "head_monitor_msgs/PreplanHeadScanAction";
00092   }
00093 
00094   static const char* value(const  ::head_monitor_msgs::PreplanHeadScanAction_<ContainerAllocator> &) { return value(); } 
00095 };
00096 
00097 template<class ContainerAllocator>
00098 struct Definition< ::head_monitor_msgs::PreplanHeadScanAction_<ContainerAllocator> > {
00099   static const char* value() 
00100   {
00101     return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00102 \n\
00103 PreplanHeadScanActionGoal action_goal\n\
00104 PreplanHeadScanActionResult action_result\n\
00105 PreplanHeadScanActionFeedback action_feedback\n\
00106 \n\
00107 ================================================================================\n\
00108 MSG: head_monitor_msgs/PreplanHeadScanActionGoal\n\
00109 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00110 \n\
00111 Header header\n\
00112 actionlib_msgs/GoalID goal_id\n\
00113 PreplanHeadScanGoal goal\n\
00114 \n\
00115 ================================================================================\n\
00116 MSG: std_msgs/Header\n\
00117 # Standard metadata for higher-level stamped data types.\n\
00118 # This is generally used to communicate timestamped data \n\
00119 # in a particular coordinate frame.\n\
00120 # \n\
00121 # sequence ID: consecutively increasing ID \n\
00122 uint32 seq\n\
00123 #Two-integer timestamp that is expressed as:\n\
00124 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00125 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00126 # time-handling sugar is provided by the client library\n\
00127 time stamp\n\
00128 #Frame this data is associated with\n\
00129 # 0: no frame\n\
00130 # 1: global frame\n\
00131 string frame_id\n\
00132 \n\
00133 ================================================================================\n\
00134 MSG: actionlib_msgs/GoalID\n\
00135 # The stamp should store the time at which this goal was requested.\n\
00136 # It is used by an action server when it tries to preempt all\n\
00137 # goals that were requested before a certain time\n\
00138 time stamp\n\
00139 \n\
00140 # The id provides a way to associate feedback and\n\
00141 # result message with specific goal requests. The id\n\
00142 # specified must be unique.\n\
00143 string id\n\
00144 \n\
00145 \n\
00146 ================================================================================\n\
00147 MSG: head_monitor_msgs/PreplanHeadScanGoal\n\
00148 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00149 # The motion plan request\n\
00150 string group_name\n\
00151 string head_monitor_link\n\
00152 arm_navigation_msgs/MotionPlanRequest motion_plan_request\n\
00153 \n\
00154 ================================================================================\n\
00155 MSG: arm_navigation_msgs/MotionPlanRequest\n\
00156 # This service contains the definition for a request to the motion\n\
00157 # planner and the output it provides\n\
00158 \n\
00159 # Parameters for the workspace that the planner should work inside\n\
00160 arm_navigation_msgs/WorkspaceParameters workspace_parameters\n\
00161 \n\
00162 # Starting state updates. If certain joints should be considered\n\
00163 # at positions other than the current ones, these positions should\n\
00164 # be set here\n\
00165 arm_navigation_msgs/RobotState start_state\n\
00166 \n\
00167 # The goal state for the model to plan for. The goal is achieved\n\
00168 # if all constraints are satisfied\n\
00169 arm_navigation_msgs/Constraints goal_constraints\n\
00170 \n\
00171 # No state at any point along the path in the produced motion plan will violate these constraints\n\
00172 arm_navigation_msgs/Constraints path_constraints\n\
00173 \n\
00174 # The name of the motion planner to use. If no name is specified,\n\
00175 # a default motion planner will be used\n\
00176 string planner_id\n\
00177 \n\
00178 # The name of the group of joints on which this planner is operating\n\
00179 string group_name\n\
00180 \n\
00181 # The number of times this plan is to be computed. Shortest solution\n\
00182 # will be reported.\n\
00183 int32 num_planning_attempts\n\
00184 \n\
00185 # The maximum amount of time the motion planner is allowed to plan for\n\
00186 duration allowed_planning_time\n\
00187 \n\
00188 # An expected path duration (in seconds) along with an expected discretization of the path allows the planner to determine the discretization of the trajectory that it returns\n\
00189 duration expected_path_duration\n\
00190 duration expected_path_dt\n\
00191 \n\
00192 ================================================================================\n\
00193 MSG: arm_navigation_msgs/WorkspaceParameters\n\
00194 # This message contains a set of parameters useful in\n\
00195 # setting up the workspace for planning\n\
00196 arm_navigation_msgs/Shape  workspace_region_shape\n\
00197 geometry_msgs/PoseStamped    workspace_region_pose\n\
00198 \n\
00199 \n\
00200 ================================================================================\n\
00201 MSG: arm_navigation_msgs/Shape\n\
00202 byte SPHERE=0\n\
00203 byte BOX=1\n\
00204 byte CYLINDER=2\n\
00205 byte MESH=3\n\
00206 \n\
00207 byte type\n\
00208 \n\
00209 \n\
00210 #### define sphere, box, cylinder ####\n\
00211 # the origin of each shape is considered at the shape's center\n\
00212 \n\
00213 # for sphere\n\
00214 # radius := dimensions[0]\n\
00215 \n\
00216 # for cylinder\n\
00217 # radius := dimensions[0]\n\
00218 # length := dimensions[1]\n\
00219 # the length is along the Z axis\n\
00220 \n\
00221 # for box\n\
00222 # size_x := dimensions[0]\n\
00223 # size_y := dimensions[1]\n\
00224 # size_z := dimensions[2]\n\
00225 float64[] dimensions\n\
00226 \n\
00227 \n\
00228 #### define mesh ####\n\
00229 \n\
00230 # list of triangles; triangle k is defined by tre vertices located\n\
00231 # at indices triangles[3k], triangles[3k+1], triangles[3k+2]\n\
00232 int32[] triangles\n\
00233 geometry_msgs/Point[] vertices\n\
00234 \n\
00235 ================================================================================\n\
00236 MSG: geometry_msgs/Point\n\
00237 # This contains the position of a point in free space\n\
00238 float64 x\n\
00239 float64 y\n\
00240 float64 z\n\
00241 \n\
00242 ================================================================================\n\
00243 MSG: geometry_msgs/PoseStamped\n\
00244 # A Pose with reference coordinate frame and timestamp\n\
00245 Header header\n\
00246 Pose pose\n\
00247 \n\
00248 ================================================================================\n\
00249 MSG: geometry_msgs/Pose\n\
00250 # A representation of pose in free space, composed of postion and orientation. \n\
00251 Point position\n\
00252 Quaternion orientation\n\
00253 \n\
00254 ================================================================================\n\
00255 MSG: geometry_msgs/Quaternion\n\
00256 # This represents an orientation in free space in quaternion form.\n\
00257 \n\
00258 float64 x\n\
00259 float64 y\n\
00260 float64 z\n\
00261 float64 w\n\
00262 \n\
00263 ================================================================================\n\
00264 MSG: arm_navigation_msgs/RobotState\n\
00265 # This message contains information about the robot state, i.e. the positions of its joints and links\n\
00266 sensor_msgs/JointState joint_state\n\
00267 arm_navigation_msgs/MultiDOFJointState multi_dof_joint_state\n\
00268 \n\
00269 ================================================================================\n\
00270 MSG: sensor_msgs/JointState\n\
00271 # This is a message that holds data to describe the state of a set of torque controlled joints. \n\
00272 #\n\
00273 # The state of each joint (revolute or prismatic) is defined by:\n\
00274 #  * the position of the joint (rad or m),\n\
00275 #  * the velocity of the joint (rad/s or m/s) and \n\
00276 #  * the effort that is applied in the joint (Nm or N).\n\
00277 #\n\
00278 # Each joint is uniquely identified by its name\n\
00279 # The header specifies the time at which the joint states were recorded. All the joint states\n\
00280 # in one message have to be recorded at the same time.\n\
00281 #\n\
00282 # This message consists of a multiple arrays, one for each part of the joint state. \n\
00283 # The goal is to make each of the fields optional. When e.g. your joints have no\n\
00284 # effort associated with them, you can leave the effort array empty. \n\
00285 #\n\
00286 # All arrays in this message should have the same size, or be empty.\n\
00287 # This is the only way to uniquely associate the joint name with the correct\n\
00288 # states.\n\
00289 \n\
00290 \n\
00291 Header header\n\
00292 \n\
00293 string[] name\n\
00294 float64[] position\n\
00295 float64[] velocity\n\
00296 float64[] effort\n\
00297 \n\
00298 ================================================================================\n\
00299 MSG: arm_navigation_msgs/MultiDOFJointState\n\
00300 #A representation of a multi-dof joint state\n\
00301 time stamp\n\
00302 string[] joint_names\n\
00303 string[] frame_ids\n\
00304 string[] child_frame_ids\n\
00305 geometry_msgs/Pose[] poses\n\
00306 \n\
00307 ================================================================================\n\
00308 MSG: arm_navigation_msgs/Constraints\n\
00309 # This message contains a list of motion planning constraints.\n\
00310 \n\
00311 arm_navigation_msgs/JointConstraint[] joint_constraints\n\
00312 arm_navigation_msgs/PositionConstraint[] position_constraints\n\
00313 arm_navigation_msgs/OrientationConstraint[] orientation_constraints\n\
00314 arm_navigation_msgs/VisibilityConstraint[] visibility_constraints\n\
00315 \n\
00316 ================================================================================\n\
00317 MSG: arm_navigation_msgs/JointConstraint\n\
00318 # Constrain the position of a joint to be within a certain bound\n\
00319 string joint_name\n\
00320 \n\
00321 # the bound to be achieved is [position - tolerance_below, position + tolerance_above]\n\
00322 float64 position\n\
00323 float64 tolerance_above\n\
00324 float64 tolerance_below\n\
00325 \n\
00326 # A weighting factor for this constraint\n\
00327 float64 weight\n\
00328 ================================================================================\n\
00329 MSG: arm_navigation_msgs/PositionConstraint\n\
00330 # This message contains the definition of a position constraint.\n\
00331 Header header\n\
00332 \n\
00333 # The robot link this constraint refers to\n\
00334 string link_name\n\
00335 \n\
00336 # The offset (in the link frame) for the target point on the link we are planning for\n\
00337 geometry_msgs/Point target_point_offset\n\
00338 \n\
00339 # The nominal/target position for the point we are planning for\n\
00340 geometry_msgs/Point position\n\
00341 \n\
00342 # The shape of the bounded region that constrains the position of the end-effector\n\
00343 # This region is always centered at the position defined above\n\
00344 arm_navigation_msgs/Shape constraint_region_shape\n\
00345 \n\
00346 # The orientation of the bounded region that constrains the position of the end-effector. \n\
00347 # This allows the specification of non-axis aligned constraints\n\
00348 geometry_msgs/Quaternion constraint_region_orientation\n\
00349 \n\
00350 # Constraint weighting factor - a weight for this constraint\n\
00351 float64 weight\n\
00352 \n\
00353 ================================================================================\n\
00354 MSG: arm_navigation_msgs/OrientationConstraint\n\
00355 # This message contains the definition of an orientation constraint.\n\
00356 Header header\n\
00357 \n\
00358 # The robot link this constraint refers to\n\
00359 string link_name\n\
00360 \n\
00361 # The type of the constraint\n\
00362 int32 type\n\
00363 int32 LINK_FRAME=0\n\
00364 int32 HEADER_FRAME=1\n\
00365 \n\
00366 # The desired orientation of the robot link specified as a quaternion\n\
00367 geometry_msgs/Quaternion orientation\n\
00368 \n\
00369 # optional RPY error tolerances specified if \n\
00370 float64 absolute_roll_tolerance\n\
00371 float64 absolute_pitch_tolerance\n\
00372 float64 absolute_yaw_tolerance\n\
00373 \n\
00374 # Constraint weighting factor - a weight for this constraint\n\
00375 float64 weight\n\
00376 \n\
00377 ================================================================================\n\
00378 MSG: arm_navigation_msgs/VisibilityConstraint\n\
00379 # This message contains the definition of a visibility constraint.\n\
00380 Header header\n\
00381 \n\
00382 # The point stamped target that needs to be kept within view of the sensor\n\
00383 geometry_msgs/PointStamped target\n\
00384 \n\
00385 # The local pose of the frame in which visibility is to be maintained\n\
00386 # The frame id should represent the robot link to which the sensor is attached\n\
00387 # The visual axis of the sensor is assumed to be along the X axis of this frame\n\
00388 geometry_msgs/PoseStamped sensor_pose\n\
00389 \n\
00390 # The deviation (in radians) that will be tolerated\n\
00391 # Constraint error will be measured as the solid angle between the \n\
00392 # X axis of the frame defined above and the vector between the origin \n\
00393 # of the frame defined above and the target location\n\
00394 float64 absolute_tolerance\n\
00395 \n\
00396 \n\
00397 ================================================================================\n\
00398 MSG: geometry_msgs/PointStamped\n\
00399 # This represents a Point with reference coordinate frame and timestamp\n\
00400 Header header\n\
00401 Point point\n\
00402 \n\
00403 ================================================================================\n\
00404 MSG: head_monitor_msgs/PreplanHeadScanActionResult\n\
00405 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00406 \n\
00407 Header header\n\
00408 actionlib_msgs/GoalStatus status\n\
00409 PreplanHeadScanResult result\n\
00410 \n\
00411 ================================================================================\n\
00412 MSG: actionlib_msgs/GoalStatus\n\
00413 GoalID goal_id\n\
00414 uint8 status\n\
00415 uint8 PENDING         = 0   # The goal has yet to be processed by the action server\n\
00416 uint8 ACTIVE          = 1   # The goal is currently being processed by the action server\n\
00417 uint8 PREEMPTED       = 2   # The goal received a cancel request after it started executing\n\
00418                             #   and has since completed its execution (Terminal State)\n\
00419 uint8 SUCCEEDED       = 3   # The goal was achieved successfully by the action server (Terminal State)\n\
00420 uint8 ABORTED         = 4   # The goal was aborted during execution by the action server due\n\
00421                             #    to some failure (Terminal State)\n\
00422 uint8 REJECTED        = 5   # The goal was rejected by the action server without being processed,\n\
00423                             #    because the goal was unattainable or invalid (Terminal State)\n\
00424 uint8 PREEMPTING      = 6   # The goal received a cancel request after it started executing\n\
00425                             #    and has not yet completed execution\n\
00426 uint8 RECALLING       = 7   # The goal received a cancel request before it started executing,\n\
00427                             #    but the action server has not yet confirmed that the goal is canceled\n\
00428 uint8 RECALLED        = 8   # The goal received a cancel request before it started executing\n\
00429                             #    and was successfully cancelled (Terminal State)\n\
00430 uint8 LOST            = 9   # An action client can determine that a goal is LOST. This should not be\n\
00431                             #    sent over the wire by an action server\n\
00432 \n\
00433 #Allow for the user to associate a string with GoalStatus for debugging\n\
00434 string text\n\
00435 \n\
00436 \n\
00437 ================================================================================\n\
00438 MSG: head_monitor_msgs/PreplanHeadScanResult\n\
00439 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00440 \n\
00441 ================================================================================\n\
00442 MSG: head_monitor_msgs/PreplanHeadScanActionFeedback\n\
00443 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00444 \n\
00445 Header header\n\
00446 actionlib_msgs/GoalStatus status\n\
00447 PreplanHeadScanFeedback feedback\n\
00448 \n\
00449 ================================================================================\n\
00450 MSG: head_monitor_msgs/PreplanHeadScanFeedback\n\
00451 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00452 \n\
00453 \n\
00454 ";
00455   }
00456 
00457   static const char* value(const  ::head_monitor_msgs::PreplanHeadScanAction_<ContainerAllocator> &) { return value(); } 
00458 };
00459 
00460 } // namespace message_traits
00461 } // namespace ros
00462 
00463 namespace ros
00464 {
00465 namespace serialization
00466 {
00467 
00468 template<class ContainerAllocator> struct Serializer< ::head_monitor_msgs::PreplanHeadScanAction_<ContainerAllocator> >
00469 {
00470   template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00471   {
00472     stream.next(m.action_goal);
00473     stream.next(m.action_result);
00474     stream.next(m.action_feedback);
00475   }
00476 
00477   ROS_DECLARE_ALLINONE_SERIALIZER;
00478 }; // struct PreplanHeadScanAction_
00479 } // namespace serialization
00480 } // namespace ros
00481 
00482 namespace ros
00483 {
00484 namespace message_operations
00485 {
00486 
00487 template<class ContainerAllocator>
00488 struct Printer< ::head_monitor_msgs::PreplanHeadScanAction_<ContainerAllocator> >
00489 {
00490   template<typename Stream> static void stream(Stream& s, const std::string& indent, const  ::head_monitor_msgs::PreplanHeadScanAction_<ContainerAllocator> & v) 
00491   {
00492     s << indent << "action_goal: ";
00493 s << std::endl;
00494     Printer< ::head_monitor_msgs::PreplanHeadScanActionGoal_<ContainerAllocator> >::stream(s, indent + "  ", v.action_goal);
00495     s << indent << "action_result: ";
00496 s << std::endl;
00497     Printer< ::head_monitor_msgs::PreplanHeadScanActionResult_<ContainerAllocator> >::stream(s, indent + "  ", v.action_result);
00498     s << indent << "action_feedback: ";
00499 s << std::endl;
00500     Printer< ::head_monitor_msgs::PreplanHeadScanActionFeedback_<ContainerAllocator> >::stream(s, indent + "  ", v.action_feedback);
00501   }
00502 };
00503 
00504 
00505 } // namespace message_operations
00506 } // namespace ros
00507 
00508 #endif // HEAD_MONITOR_MSGS_MESSAGE_PREPLANHEADSCANACTION_H
00509 


head_monitor_msgs
Author(s): Gil Jones
autogenerated on Thu Dec 12 2013 11:07:24