PlaceGoal.h

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/* Auto-generated by genmsg_cpp for file /home/rosbuild/hudson/workspace/doc-fuerte-object_manipulation/doc_stacks/2014-01-02_11-30-37.444899/object_manipulation/object_manipulation_msgs/msg/PlaceGoal.msg */
#ifndef OBJECT_MANIPULATION_MSGS_MESSAGE_PLACEGOAL_H
#define OBJECT_MANIPULATION_MSGS_MESSAGE_PLACEGOAL_H
#include <string>
#include <vector>
#include <map>
#include <ostream>
#include "ros/serialization.h"
#include "ros/builtin_message_traits.h"
#include "ros/message_operations.h"
#include "ros/time.h"

#include "ros/macros.h"

#include "ros/assert.h"

#include "geometry_msgs/PoseStamped.h"
#include "object_manipulation_msgs/Grasp.h"
#include "object_manipulation_msgs/GripperTranslation.h"
#include "arm_navigation_msgs/Constraints.h"
#include "arm_navigation_msgs/OrderedCollisionOperations.h"
#include "arm_navigation_msgs/LinkPadding.h"

namespace object_manipulation_msgs
{
template <class ContainerAllocator>
struct PlaceGoal_ {
  typedef PlaceGoal_<ContainerAllocator> Type;

  PlaceGoal_()
  : arm_name()
  , place_locations()
  , grasp()
  , desired_retreat_distance(0.0)
  , min_retreat_distance(0.0)
  , approach()
  , collision_object_name()
  , collision_support_surface_name()
  , allow_gripper_support_collision(false)
  , use_reactive_place(false)
  , place_padding(0.0)
  , only_perform_feasibility_test(false)
  , path_constraints()
  , additional_collision_operations()
  , additional_link_padding()
  {
  }

  PlaceGoal_(const ContainerAllocator& _alloc)
  : arm_name(_alloc)
  , place_locations(_alloc)
  , grasp(_alloc)
  , desired_retreat_distance(0.0)
  , min_retreat_distance(0.0)
  , approach(_alloc)
  , collision_object_name(_alloc)
  , collision_support_surface_name(_alloc)
  , allow_gripper_support_collision(false)
  , use_reactive_place(false)
  , place_padding(0.0)
  , only_perform_feasibility_test(false)
  , path_constraints(_alloc)
  , additional_collision_operations(_alloc)
  , additional_link_padding(_alloc)
  {
  }

  typedef std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other >  _arm_name_type;
  std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other >  arm_name;

  typedef std::vector< ::geometry_msgs::PoseStamped_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::geometry_msgs::PoseStamped_<ContainerAllocator> >::other >  _place_locations_type;
  std::vector< ::geometry_msgs::PoseStamped_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::geometry_msgs::PoseStamped_<ContainerAllocator> >::other >  place_locations;

  typedef  ::object_manipulation_msgs::Grasp_<ContainerAllocator>  _grasp_type;
   ::object_manipulation_msgs::Grasp_<ContainerAllocator>  grasp;

  typedef float _desired_retreat_distance_type;
  float desired_retreat_distance;

  typedef float _min_retreat_distance_type;
  float min_retreat_distance;

  typedef  ::object_manipulation_msgs::GripperTranslation_<ContainerAllocator>  _approach_type;
   ::object_manipulation_msgs::GripperTranslation_<ContainerAllocator>  approach;

  typedef std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other >  _collision_object_name_type;
  std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other >  collision_object_name;

  typedef std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other >  _collision_support_surface_name_type;
  std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other >  collision_support_surface_name;

  typedef uint8_t _allow_gripper_support_collision_type;
  uint8_t allow_gripper_support_collision;

  typedef uint8_t _use_reactive_place_type;
  uint8_t use_reactive_place;

  typedef double _place_padding_type;
  double place_padding;

  typedef uint8_t _only_perform_feasibility_test_type;
  uint8_t only_perform_feasibility_test;

  typedef  ::arm_navigation_msgs::Constraints_<ContainerAllocator>  _path_constraints_type;
   ::arm_navigation_msgs::Constraints_<ContainerAllocator>  path_constraints;

  typedef  ::arm_navigation_msgs::OrderedCollisionOperations_<ContainerAllocator>  _additional_collision_operations_type;
   ::arm_navigation_msgs::OrderedCollisionOperations_<ContainerAllocator>  additional_collision_operations;

  typedef std::vector< ::arm_navigation_msgs::LinkPadding_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::arm_navigation_msgs::LinkPadding_<ContainerAllocator> >::other >  _additional_link_padding_type;
  std::vector< ::arm_navigation_msgs::LinkPadding_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::arm_navigation_msgs::LinkPadding_<ContainerAllocator> >::other >  additional_link_padding;


  typedef boost::shared_ptr< ::object_manipulation_msgs::PlaceGoal_<ContainerAllocator> > Ptr;
  typedef boost::shared_ptr< ::object_manipulation_msgs::PlaceGoal_<ContainerAllocator>  const> ConstPtr;
  boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
}; // struct PlaceGoal
typedef  ::object_manipulation_msgs::PlaceGoal_<std::allocator<void> > PlaceGoal;

typedef boost::shared_ptr< ::object_manipulation_msgs::PlaceGoal> PlaceGoalPtr;
typedef boost::shared_ptr< ::object_manipulation_msgs::PlaceGoal const> PlaceGoalConstPtr;


template<typename ContainerAllocator>
std::ostream& operator<<(std::ostream& s, const  ::object_manipulation_msgs::PlaceGoal_<ContainerAllocator> & v)
{
  ros::message_operations::Printer< ::object_manipulation_msgs::PlaceGoal_<ContainerAllocator> >::stream(s, "", v);
  return s;}

} // namespace object_manipulation_msgs

namespace ros
{
namespace message_traits
{
template<class ContainerAllocator> struct IsMessage< ::object_manipulation_msgs::PlaceGoal_<ContainerAllocator> > : public TrueType {};
template<class ContainerAllocator> struct IsMessage< ::object_manipulation_msgs::PlaceGoal_<ContainerAllocator>  const> : public TrueType {};
template<class ContainerAllocator>
struct MD5Sum< ::object_manipulation_msgs::PlaceGoal_<ContainerAllocator> > {
  static const char* value() 
  {
    return "6313a88996ba81ffc91a8fc15ca327b6";
  }

  static const char* value(const  ::object_manipulation_msgs::PlaceGoal_<ContainerAllocator> &) { return value(); } 
  static const uint64_t static_value1 = 0x6313a88996ba81ffULL;
  static const uint64_t static_value2 = 0xc91a8fc15ca327b6ULL;
};

template<class ContainerAllocator>
struct DataType< ::object_manipulation_msgs::PlaceGoal_<ContainerAllocator> > {
  static const char* value() 
  {
    return "object_manipulation_msgs/PlaceGoal";
  }

  static const char* value(const  ::object_manipulation_msgs::PlaceGoal_<ContainerAllocator> &) { return value(); } 
};

template<class ContainerAllocator>
struct Definition< ::object_manipulation_msgs::PlaceGoal_<ContainerAllocator> > {
  static const char* value() 
  {
    return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
# An action for placing an object\n\
\n\
# which arm to be used for grasping\n\
string arm_name\n\
\n\
# a list of possible transformations for placing the object\n\
geometry_msgs/PoseStamped[] place_locations\n\
\n\
# the grasp that has been executed on this object\n\
Grasp grasp\n\
\n\
# Note that, in general place_location is intended to show where you want the object\n\
# to go in the world, while grasp is meant to show how the object is grasped\n\
# (where the hand is relative to the object).\n\
\n\
# Ultimately, what matters is where the hand goes when you place the object; this\n\
# is computed internally by simply multiplying the two transforms above.\n\
\n\
# If you already know where you want the hand to go in the world when placing, feel\n\
# free to put that in the place_location, and make the transform in grasp equal to\n\
# identity.\n\
\n\
# how far the retreat should ideally be away from the place location\n\
float32 desired_retreat_distance\n\
\n\
# the min distance between the retreat and the place location that must actually be feasible \n\
# for the place not to be rejected\n\
float32 min_retreat_distance\n\
\n\
# how the place location should be approached\n\
# the frame_id that this lift is specified in MUST be either the robot_frame \n\
# or the gripper_frame specified in your hand description file\n\
GripperTranslation approach\n\
\n\
# the name that the target object has in the collision map\n\
# can be left empty if no name is available\n\
string collision_object_name\n\
\n\
# the name that the support surface (e.g. table) has in the collision map\n\
# can be left empty if no name is available\n\
string collision_support_surface_name\n\
\n\
# whether collisions between the gripper and the support surface should be acceptable\n\
# during move from pre-place to place and during retreat. Collisions when moving to the\n\
# pre-place location are still not allowed even if this is set to true.\n\
bool allow_gripper_support_collision\n\
\n\
# whether reactive placing based on tactile sensors should be used\n\
bool use_reactive_place\n\
\n\
# how much the object should be padded by when deciding if the grasp\n\
# location is freasible or not\n\
float64 place_padding\n\
\n\
# set this to true if you only want to query the manipulation pipeline as to what \n\
# place locations it thinks are feasible, without actually executing them. If this is set to \n\
# true, the atempted_location_results field of the result will be populated, but no arm \n\
# movement will be attempted\n\
bool only_perform_feasibility_test\n\
\n\
# OPTIONAL (These will not have to be filled out most of the time)\n\
# constraints to be imposed on every point in the motion of the arm\n\
arm_navigation_msgs/Constraints path_constraints\n\
\n\
# OPTIONAL (These will not have to be filled out most of the time)\n\
# additional collision operations to be used for every arm movement performed\n\
# during placing. Note that these will be added on top of (and thus overide) other \n\
# collision operations that the grasping pipeline deems necessary. Should be used\n\
# with care and only if special behaviors are desired.\n\
arm_navigation_msgs/OrderedCollisionOperations additional_collision_operations\n\
\n\
# OPTIONAL (These will not have to be filled out most of the time)\n\
# additional link paddings to be used for every arm movement performed\n\
# during placing. Note that these will be added on top of (and thus overide) other \n\
# link paddings that the grasping pipeline deems necessary. Should be used\n\
# with care and only if special behaviors are desired.\n\
arm_navigation_msgs/LinkPadding[] additional_link_padding\n\
\n\
\n\
================================================================================\n\
MSG: geometry_msgs/PoseStamped\n\
# A Pose with reference coordinate frame and timestamp\n\
Header header\n\
Pose pose\n\
\n\
================================================================================\n\
MSG: std_msgs/Header\n\
# Standard metadata for higher-level stamped data types.\n\
# This is generally used to communicate timestamped data \n\
# in a particular coordinate frame.\n\
# \n\
# sequence ID: consecutively increasing ID \n\
uint32 seq\n\
#Two-integer timestamp that is expressed as:\n\
# * stamp.secs: seconds (stamp_secs) since epoch\n\
# * stamp.nsecs: nanoseconds since stamp_secs\n\
# time-handling sugar is provided by the client library\n\
time stamp\n\
#Frame this data is associated with\n\
# 0: no frame\n\
# 1: global frame\n\
string frame_id\n\
\n\
================================================================================\n\
MSG: geometry_msgs/Pose\n\
# A representation of pose in free space, composed of postion and orientation. \n\
Point position\n\
Quaternion orientation\n\
\n\
================================================================================\n\
MSG: geometry_msgs/Point\n\
# This contains the position of a point in free space\n\
float64 x\n\
float64 y\n\
float64 z\n\
\n\
================================================================================\n\
MSG: geometry_msgs/Quaternion\n\
# This represents an orientation in free space in quaternion form.\n\
\n\
float64 x\n\
float64 y\n\
float64 z\n\
float64 w\n\
\n\
================================================================================\n\
MSG: object_manipulation_msgs/Grasp\n\
\n\
# The internal posture of the hand for the pre-grasp\n\
# only positions are used\n\
sensor_msgs/JointState pre_grasp_posture\n\
\n\
# The internal posture of the hand for the grasp\n\
# positions and efforts are used\n\
sensor_msgs/JointState grasp_posture\n\
\n\
# The position of the end-effector for the grasp relative to a reference frame \n\
# (that is always specified elsewhere, not in this message)\n\
geometry_msgs/Pose grasp_pose\n\
\n\
# The estimated probability of success for this grasp\n\
float64 success_probability\n\
\n\
# Debug flag to indicate that this grasp would be the best in its cluster\n\
bool cluster_rep\n\
\n\
# how far the pre-grasp should ideally be away from the grasp\n\
float32 desired_approach_distance\n\
\n\
# how much distance between pre-grasp and grasp must actually be feasible \n\
# for the grasp not to be rejected\n\
float32 min_approach_distance\n\
\n\
# an optional list of obstacles that we have semantic information about\n\
# and that we expect might move in the course of executing this grasp\n\
# the grasp planner is expected to make sure they move in an OK way; during\n\
# execution, grasp executors will not check for collisions against these objects\n\
GraspableObject[] moved_obstacles\n\
\n\
================================================================================\n\
MSG: sensor_msgs/JointState\n\
# This is a message that holds data to describe the state of a set of torque controlled joints. \n\
#\n\
# The state of each joint (revolute or prismatic) is defined by:\n\
#  * the position of the joint (rad or m),\n\
#  * the velocity of the joint (rad/s or m/s) and \n\
#  * the effort that is applied in the joint (Nm or N).\n\
#\n\
# Each joint is uniquely identified by its name\n\
# The header specifies the time at which the joint states were recorded. All the joint states\n\
# in one message have to be recorded at the same time.\n\
#\n\
# This message consists of a multiple arrays, one for each part of the joint state. \n\
# The goal is to make each of the fields optional. When e.g. your joints have no\n\
# effort associated with them, you can leave the effort array empty. \n\
#\n\
# All arrays in this message should have the same size, or be empty.\n\
# This is the only way to uniquely associate the joint name with the correct\n\
# states.\n\
\n\
\n\
Header header\n\
\n\
string[] name\n\
float64[] position\n\
float64[] velocity\n\
float64[] effort\n\
\n\
================================================================================\n\
MSG: object_manipulation_msgs/GraspableObject\n\
# an object that the object_manipulator can work on\n\
\n\
# a graspable object can be represented in multiple ways. This message\n\
# can contain all of them. Which one is actually used is up to the receiver\n\
# of this message. When adding new representations, one must be careful that\n\
# they have reasonable lightweight defaults indicating that that particular\n\
# representation is not available.\n\
\n\
# the tf frame to be used as a reference frame when combining information from\n\
# the different representations below\n\
string reference_frame_id\n\
\n\
# potential recognition results from a database of models\n\
# all poses are relative to the object reference pose\n\
household_objects_database_msgs/DatabaseModelPose[] potential_models\n\
\n\
# the point cloud itself\n\
sensor_msgs/PointCloud cluster\n\
\n\
# a region of a PointCloud2 of interest\n\
object_manipulation_msgs/SceneRegion region\n\
\n\
# the name that this object has in the collision environment\n\
string collision_name\n\
================================================================================\n\
MSG: household_objects_database_msgs/DatabaseModelPose\n\
# Informs that a specific model from the Model Database has been \n\
# identified at a certain location\n\
\n\
# the database id of the model\n\
int32 model_id\n\
\n\
# the pose that it can be found in\n\
geometry_msgs/PoseStamped pose\n\
\n\
# a measure of the confidence level in this detection result\n\
float32 confidence\n\
\n\
# the name of the object detector that generated this detection result\n\
string detector_name\n\
\n\
================================================================================\n\
MSG: sensor_msgs/PointCloud\n\
# This message holds a collection of 3d points, plus optional additional\n\
# information about each point.\n\
\n\
# Time of sensor data acquisition, coordinate frame ID.\n\
Header header\n\
\n\
# Array of 3d points. Each Point32 should be interpreted as a 3d point\n\
# in the frame given in the header.\n\
geometry_msgs/Point32[] points\n\
\n\
# Each channel should have the same number of elements as points array,\n\
# and the data in each channel should correspond 1:1 with each point.\n\
# Channel names in common practice are listed in ChannelFloat32.msg.\n\
ChannelFloat32[] channels\n\
\n\
================================================================================\n\
MSG: geometry_msgs/Point32\n\
# This contains the position of a point in free space(with 32 bits of precision).\n\
# It is recommeded to use Point wherever possible instead of Point32.  \n\
# \n\
# This recommendation is to promote interoperability.  \n\
#\n\
# This message is designed to take up less space when sending\n\
# lots of points at once, as in the case of a PointCloud.  \n\
\n\
float32 x\n\
float32 y\n\
float32 z\n\
================================================================================\n\
MSG: sensor_msgs/ChannelFloat32\n\
# This message is used by the PointCloud message to hold optional data\n\
# associated with each point in the cloud. The length of the values\n\
# array should be the same as the length of the points array in the\n\
# PointCloud, and each value should be associated with the corresponding\n\
# point.\n\
\n\
# Channel names in existing practice include:\n\
#   \"u\", \"v\" - row and column (respectively) in the left stereo image.\n\
#              This is opposite to usual conventions but remains for\n\
#              historical reasons. The newer PointCloud2 message has no\n\
#              such problem.\n\
#   \"rgb\" - For point clouds produced by color stereo cameras. uint8\n\
#           (R,G,B) values packed into the least significant 24 bits,\n\
#           in order.\n\
#   \"intensity\" - laser or pixel intensity.\n\
#   \"distance\"\n\
\n\
# The channel name should give semantics of the channel (e.g.\n\
# \"intensity\" instead of \"value\").\n\
string name\n\
\n\
# The values array should be 1-1 with the elements of the associated\n\
# PointCloud.\n\
float32[] values\n\
\n\
================================================================================\n\
MSG: object_manipulation_msgs/SceneRegion\n\
# Point cloud\n\
sensor_msgs/PointCloud2 cloud\n\
\n\
# Indices for the region of interest\n\
int32[] mask\n\
\n\
# One of the corresponding 2D images, if applicable\n\
sensor_msgs/Image image\n\
\n\
# The disparity image, if applicable\n\
sensor_msgs/Image disparity_image\n\
\n\
# Camera info for the camera that took the image\n\
sensor_msgs/CameraInfo cam_info\n\
\n\
# a 3D region of interest for grasp planning\n\
geometry_msgs/PoseStamped  roi_box_pose\n\
geometry_msgs/Vector3      roi_box_dims\n\
\n\
================================================================================\n\
MSG: sensor_msgs/PointCloud2\n\
# This message holds a collection of N-dimensional points, which may\n\
# contain additional information such as normals, intensity, etc. The\n\
# point data is stored as a binary blob, its layout described by the\n\
# contents of the \"fields\" array.\n\
\n\
# The point cloud data may be organized 2d (image-like) or 1d\n\
# (unordered). Point clouds organized as 2d images may be produced by\n\
# camera depth sensors such as stereo or time-of-flight.\n\
\n\
# Time of sensor data acquisition, and the coordinate frame ID (for 3d\n\
# points).\n\
Header header\n\
\n\
# 2D structure of the point cloud. If the cloud is unordered, height is\n\
# 1 and width is the length of the point cloud.\n\
uint32 height\n\
uint32 width\n\
\n\
# Describes the channels and their layout in the binary data blob.\n\
PointField[] fields\n\
\n\
bool    is_bigendian # Is this data bigendian?\n\
uint32  point_step   # Length of a point in bytes\n\
uint32  row_step     # Length of a row in bytes\n\
uint8[] data         # Actual point data, size is (row_step*height)\n\
\n\
bool is_dense        # True if there are no invalid points\n\
\n\
================================================================================\n\
MSG: sensor_msgs/PointField\n\
# This message holds the description of one point entry in the\n\
# PointCloud2 message format.\n\
uint8 INT8    = 1\n\
uint8 UINT8   = 2\n\
uint8 INT16   = 3\n\
uint8 UINT16  = 4\n\
uint8 INT32   = 5\n\
uint8 UINT32  = 6\n\
uint8 FLOAT32 = 7\n\
uint8 FLOAT64 = 8\n\
\n\
string name      # Name of field\n\
uint32 offset    # Offset from start of point struct\n\
uint8  datatype  # Datatype enumeration, see above\n\
uint32 count     # How many elements in the field\n\
\n\
================================================================================\n\
MSG: sensor_msgs/Image\n\
# This message contains an uncompressed image\n\
# (0, 0) is at top-left corner of image\n\
#\n\
\n\
Header header        # Header timestamp should be acquisition time of image\n\
                     # Header frame_id should be optical frame of camera\n\
                     # origin of frame should be optical center of cameara\n\
                     # +x should point to the right in the image\n\
                     # +y should point down in the image\n\
                     # +z should point into to plane of the image\n\
                     # If the frame_id here and the frame_id of the CameraInfo\n\
                     # message associated with the image conflict\n\
                     # the behavior is undefined\n\
\n\
uint32 height         # image height, that is, number of rows\n\
uint32 width          # image width, that is, number of columns\n\
\n\
# The legal values for encoding are in file src/image_encodings.cpp\n\
# If you want to standardize a new string format, join\n\
# ros-users@lists.sourceforge.net and send an email proposing a new encoding.\n\
\n\
string encoding       # Encoding of pixels -- channel meaning, ordering, size\n\
                      # taken from the list of strings in src/image_encodings.cpp\n\
\n\
uint8 is_bigendian    # is this data bigendian?\n\
uint32 step           # Full row length in bytes\n\
uint8[] data          # actual matrix data, size is (step * rows)\n\
\n\
================================================================================\n\
MSG: sensor_msgs/CameraInfo\n\
# This message defines meta information for a camera. It should be in a\n\
# camera namespace on topic \"camera_info\" and accompanied by up to five\n\
# image topics named:\n\
#\n\
#   image_raw - raw data from the camera driver, possibly Bayer encoded\n\
#   image            - monochrome, distorted\n\
#   image_color      - color, distorted\n\
#   image_rect       - monochrome, rectified\n\
#   image_rect_color - color, rectified\n\
#\n\
# The image_pipeline contains packages (image_proc, stereo_image_proc)\n\
# for producing the four processed image topics from image_raw and\n\
# camera_info. The meaning of the camera parameters are described in\n\
# detail at http://www.ros.org/wiki/image_pipeline/CameraInfo.\n\
#\n\
# The image_geometry package provides a user-friendly interface to\n\
# common operations using this meta information. If you want to, e.g.,\n\
# project a 3d point into image coordinates, we strongly recommend\n\
# using image_geometry.\n\
#\n\
# If the camera is uncalibrated, the matrices D, K, R, P should be left\n\
# zeroed out. In particular, clients may assume that K[0] == 0.0\n\
# indicates an uncalibrated camera.\n\
\n\
#######################################################################\n\
#                     Image acquisition info                          #\n\
#######################################################################\n\
\n\
# Time of image acquisition, camera coordinate frame ID\n\
Header header    # Header timestamp should be acquisition time of image\n\
                 # Header frame_id should be optical frame of camera\n\
                 # origin of frame should be optical center of camera\n\
                 # +x should point to the right in the image\n\
                 # +y should point down in the image\n\
                 # +z should point into the plane of the image\n\
\n\
\n\
#######################################################################\n\
#                      Calibration Parameters                         #\n\
#######################################################################\n\
# These are fixed during camera calibration. Their values will be the #\n\
# same in all messages until the camera is recalibrated. Note that    #\n\
# self-calibrating systems may \"recalibrate\" frequently.              #\n\
#                                                                     #\n\
# The internal parameters can be used to warp a raw (distorted) image #\n\
# to:                                                                 #\n\
#   1. An undistorted image (requires D and K)                        #\n\
#   2. A rectified image (requires D, K, R)                           #\n\
# The projection matrix P projects 3D points into the rectified image.#\n\
#######################################################################\n\
\n\
# The image dimensions with which the camera was calibrated. Normally\n\
# this will be the full camera resolution in pixels.\n\
uint32 height\n\
uint32 width\n\
\n\
# The distortion model used. Supported models are listed in\n\
# sensor_msgs/distortion_models.h. For most cameras, \"plumb_bob\" - a\n\
# simple model of radial and tangential distortion - is sufficent.\n\
string distortion_model\n\
\n\
# The distortion parameters, size depending on the distortion model.\n\
# For \"plumb_bob\", the 5 parameters are: (k1, k2, t1, t2, k3).\n\
float64[] D\n\
\n\
# Intrinsic camera matrix for the raw (distorted) images.\n\
#     [fx  0 cx]\n\
# K = [ 0 fy cy]\n\
#     [ 0  0  1]\n\
# Projects 3D points in the camera coordinate frame to 2D pixel\n\
# coordinates using the focal lengths (fx, fy) and principal point\n\
# (cx, cy).\n\
float64[9]  K # 3x3 row-major matrix\n\
\n\
# Rectification matrix (stereo cameras only)\n\
# A rotation matrix aligning the camera coordinate system to the ideal\n\
# stereo image plane so that epipolar lines in both stereo images are\n\
# parallel.\n\
float64[9]  R # 3x3 row-major matrix\n\
\n\
# Projection/camera matrix\n\
#     [fx'  0  cx' Tx]\n\
# P = [ 0  fy' cy' Ty]\n\
#     [ 0   0   1   0]\n\
# By convention, this matrix specifies the intrinsic (camera) matrix\n\
#  of the processed (rectified) image. That is, the left 3x3 portion\n\
#  is the normal camera intrinsic matrix for the rectified image.\n\
# It projects 3D points in the camera coordinate frame to 2D pixel\n\
#  coordinates using the focal lengths (fx', fy') and principal point\n\
#  (cx', cy') - these may differ from the values in K.\n\
# For monocular cameras, Tx = Ty = 0. Normally, monocular cameras will\n\
#  also have R = the identity and P[1:3,1:3] = K.\n\
# For a stereo pair, the fourth column [Tx Ty 0]' is related to the\n\
#  position of the optical center of the second camera in the first\n\
#  camera's frame. We assume Tz = 0 so both cameras are in the same\n\
#  stereo image plane. The first camera always has Tx = Ty = 0. For\n\
#  the right (second) camera of a horizontal stereo pair, Ty = 0 and\n\
#  Tx = -fx' * B, where B is the baseline between the cameras.\n\
# Given a 3D point [X Y Z]', the projection (x, y) of the point onto\n\
#  the rectified image is given by:\n\
#  [u v w]' = P * [X Y Z 1]'\n\
#         x = u / w\n\
#         y = v / w\n\
#  This holds for both images of a stereo pair.\n\
float64[12] P # 3x4 row-major matrix\n\
\n\
\n\
#######################################################################\n\
#                      Operational Parameters                         #\n\
#######################################################################\n\
# These define the image region actually captured by the camera       #\n\
# driver. Although they affect the geometry of the output image, they #\n\
# may be changed freely without recalibrating the camera.             #\n\
#######################################################################\n\
\n\
# Binning refers here to any camera setting which combines rectangular\n\
#  neighborhoods of pixels into larger \"super-pixels.\" It reduces the\n\
#  resolution of the output image to\n\
#  (width / binning_x) x (height / binning_y).\n\
# The default values binning_x = binning_y = 0 is considered the same\n\
#  as binning_x = binning_y = 1 (no subsampling).\n\
uint32 binning_x\n\
uint32 binning_y\n\
\n\
# Region of interest (subwindow of full camera resolution), given in\n\
#  full resolution (unbinned) image coordinates. A particular ROI\n\
#  always denotes the same window of pixels on the camera sensor,\n\
#  regardless of binning settings.\n\
# The default setting of roi (all values 0) is considered the same as\n\
#  full resolution (roi.width = width, roi.height = height).\n\
RegionOfInterest roi\n\
\n\
================================================================================\n\
MSG: sensor_msgs/RegionOfInterest\n\
# This message is used to specify a region of interest within an image.\n\
#\n\
# When used to specify the ROI setting of the camera when the image was\n\
# taken, the height and width fields should either match the height and\n\
# width fields for the associated image; or height = width = 0\n\
# indicates that the full resolution image was captured.\n\
\n\
uint32 x_offset  # Leftmost pixel of the ROI\n\
                 # (0 if the ROI includes the left edge of the image)\n\
uint32 y_offset  # Topmost pixel of the ROI\n\
                 # (0 if the ROI includes the top edge of the image)\n\
uint32 height    # Height of ROI\n\
uint32 width     # Width of ROI\n\
\n\
# True if a distinct rectified ROI should be calculated from the \"raw\"\n\
# ROI in this message. Typically this should be False if the full image\n\
# is captured (ROI not used), and True if a subwindow is captured (ROI\n\
# used).\n\
bool do_rectify\n\
\n\
================================================================================\n\
MSG: geometry_msgs/Vector3\n\
# This represents a vector in free space. \n\
\n\
float64 x\n\
float64 y\n\
float64 z\n\
================================================================================\n\
MSG: object_manipulation_msgs/GripperTranslation\n\
# defines a translation for the gripper, used in pickup or place tasks\n\
# for example for lifting an object off a table or approaching the table for placing\n\
\n\
# the direction of the translation\n\
geometry_msgs/Vector3Stamped direction\n\
\n\
# the desired translation distance\n\
float32 desired_distance\n\
\n\
# the min distance that must be considered feasible before the\n\
# grasp is even attempted\n\
float32 min_distance\n\
================================================================================\n\
MSG: geometry_msgs/Vector3Stamped\n\
# This represents a Vector3 with reference coordinate frame and timestamp\n\
Header header\n\
Vector3 vector\n\
\n\
================================================================================\n\
MSG: arm_navigation_msgs/Constraints\n\
# This message contains a list of motion planning constraints.\n\
\n\
arm_navigation_msgs/JointConstraint[] joint_constraints\n\
arm_navigation_msgs/PositionConstraint[] position_constraints\n\
arm_navigation_msgs/OrientationConstraint[] orientation_constraints\n\
arm_navigation_msgs/VisibilityConstraint[] visibility_constraints\n\
\n\
================================================================================\n\
MSG: arm_navigation_msgs/JointConstraint\n\
# Constrain the position of a joint to be within a certain bound\n\
string joint_name\n\
\n\
# the bound to be achieved is [position - tolerance_below, position + tolerance_above]\n\
float64 position\n\
float64 tolerance_above\n\
float64 tolerance_below\n\
\n\
# A weighting factor for this constraint\n\
float64 weight\n\
================================================================================\n\
MSG: arm_navigation_msgs/PositionConstraint\n\
# This message contains the definition of a position constraint.\n\
Header header\n\
\n\
# The robot link this constraint refers to\n\
string link_name\n\
\n\
# The offset (in the link frame) for the target point on the link we are planning for\n\
geometry_msgs/Point target_point_offset\n\
\n\
# The nominal/target position for the point we are planning for\n\
geometry_msgs/Point position\n\
\n\
# The shape of the bounded region that constrains the position of the end-effector\n\
# This region is always centered at the position defined above\n\
arm_navigation_msgs/Shape constraint_region_shape\n\
\n\
# The orientation of the bounded region that constrains the position of the end-effector. \n\
# This allows the specification of non-axis aligned constraints\n\
geometry_msgs/Quaternion constraint_region_orientation\n\
\n\
# Constraint weighting factor - a weight for this constraint\n\
float64 weight\n\
\n\
================================================================================\n\
MSG: arm_navigation_msgs/Shape\n\
byte SPHERE=0\n\
byte BOX=1\n\
byte CYLINDER=2\n\
byte MESH=3\n\
\n\
byte type\n\
\n\
\n\
#### define sphere, box, cylinder ####\n\
# the origin of each shape is considered at the shape's center\n\
\n\
# for sphere\n\
# radius := dimensions[0]\n\
\n\
# for cylinder\n\
# radius := dimensions[0]\n\
# length := dimensions[1]\n\
# the length is along the Z axis\n\
\n\
# for box\n\
# size_x := dimensions[0]\n\
# size_y := dimensions[1]\n\
# size_z := dimensions[2]\n\
float64[] dimensions\n\
\n\
\n\
#### define mesh ####\n\
\n\
# list of triangles; triangle k is defined by tre vertices located\n\
# at indices triangles[3k], triangles[3k+1], triangles[3k+2]\n\
int32[] triangles\n\
geometry_msgs/Point[] vertices\n\
\n\
================================================================================\n\
MSG: arm_navigation_msgs/OrientationConstraint\n\
# This message contains the definition of an orientation constraint.\n\
Header header\n\
\n\
# The robot link this constraint refers to\n\
string link_name\n\
\n\
# The type of the constraint\n\
int32 type\n\
int32 LINK_FRAME=0\n\
int32 HEADER_FRAME=1\n\
\n\
# The desired orientation of the robot link specified as a quaternion\n\
geometry_msgs/Quaternion orientation\n\
\n\
# optional RPY error tolerances specified if \n\
float64 absolute_roll_tolerance\n\
float64 absolute_pitch_tolerance\n\
float64 absolute_yaw_tolerance\n\
\n\
# Constraint weighting factor - a weight for this constraint\n\
float64 weight\n\
\n\
================================================================================\n\
MSG: arm_navigation_msgs/VisibilityConstraint\n\
# This message contains the definition of a visibility constraint.\n\
Header header\n\
\n\
# The point stamped target that needs to be kept within view of the sensor\n\
geometry_msgs/PointStamped target\n\
\n\
# The local pose of the frame in which visibility is to be maintained\n\
# The frame id should represent the robot link to which the sensor is attached\n\
# The visual axis of the sensor is assumed to be along the X axis of this frame\n\
geometry_msgs/PoseStamped sensor_pose\n\
\n\
# The deviation (in radians) that will be tolerated\n\
# Constraint error will be measured as the solid angle between the \n\
# X axis of the frame defined above and the vector between the origin \n\
# of the frame defined above and the target location\n\
float64 absolute_tolerance\n\
\n\
\n\
================================================================================\n\
MSG: geometry_msgs/PointStamped\n\
# This represents a Point with reference coordinate frame and timestamp\n\
Header header\n\
Point point\n\
\n\
================================================================================\n\
MSG: arm_navigation_msgs/OrderedCollisionOperations\n\
# A set of collision operations that will be performed in the order they are specified\n\
CollisionOperation[] collision_operations\n\
================================================================================\n\
MSG: arm_navigation_msgs/CollisionOperation\n\
# A definition of a collision operation\n\
# E.g. (\"gripper\",COLLISION_SET_ALL,ENABLE) will enable collisions \n\
# between the gripper and all objects in the collision space\n\
\n\
string object1\n\
string object2\n\
string COLLISION_SET_ALL=\"all\"\n\
string COLLISION_SET_OBJECTS=\"objects\"\n\
string COLLISION_SET_ATTACHED_OBJECTS=\"attached\"\n\
\n\
# The penetration distance to which collisions are allowed. This is 0.0 by default.\n\
float64 penetration_distance\n\
\n\
# Flag that determines whether collisions will be enabled or disabled for the pair of objects specified above\n\
int32 operation\n\
int32 DISABLE=0\n\
int32 ENABLE=1\n\
\n\
================================================================================\n\
MSG: arm_navigation_msgs/LinkPadding\n\
#name for the link\n\
string link_name\n\
\n\
# padding to apply to the link\n\
float64 padding\n\
\n\
";
  }

  static const char* value(const  ::object_manipulation_msgs::PlaceGoal_<ContainerAllocator> &) { return value(); } 
};

} // namespace message_traits
} // namespace ros

namespace ros
{
namespace serialization
{

template<class ContainerAllocator> struct Serializer< ::object_manipulation_msgs::PlaceGoal_<ContainerAllocator> >
{
  template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
  {
    stream.next(m.arm_name);
    stream.next(m.place_locations);
    stream.next(m.grasp);
    stream.next(m.desired_retreat_distance);
    stream.next(m.min_retreat_distance);
    stream.next(m.approach);
    stream.next(m.collision_object_name);
    stream.next(m.collision_support_surface_name);
    stream.next(m.allow_gripper_support_collision);
    stream.next(m.use_reactive_place);
    stream.next(m.place_padding);
    stream.next(m.only_perform_feasibility_test);
    stream.next(m.path_constraints);
    stream.next(m.additional_collision_operations);
    stream.next(m.additional_link_padding);
  }

  ROS_DECLARE_ALLINONE_SERIALIZER;
}; // struct PlaceGoal_
} // namespace serialization
} // namespace ros

namespace ros
{
namespace message_operations
{

template<class ContainerAllocator>
struct Printer< ::object_manipulation_msgs::PlaceGoal_<ContainerAllocator> >
{
  template<typename Stream> static void stream(Stream& s, const std::string& indent, const  ::object_manipulation_msgs::PlaceGoal_<ContainerAllocator> & v) 
  {
    s << indent << "arm_name: ";
    Printer<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > >::stream(s, indent + "  ", v.arm_name);
    s << indent << "place_locations[]" << std::endl;
    for (size_t i = 0; i < v.place_locations.size(); ++i)
    {
      s << indent << "  place_locations[" << i << "]: ";
      s << std::endl;
      s << indent;
      Printer< ::geometry_msgs::PoseStamped_<ContainerAllocator> >::stream(s, indent + "    ", v.place_locations[i]);
    }
    s << indent << "grasp: ";
s << std::endl;
    Printer< ::object_manipulation_msgs::Grasp_<ContainerAllocator> >::stream(s, indent + "  ", v.grasp);
    s << indent << "desired_retreat_distance: ";
    Printer<float>::stream(s, indent + "  ", v.desired_retreat_distance);
    s << indent << "min_retreat_distance: ";
    Printer<float>::stream(s, indent + "  ", v.min_retreat_distance);
    s << indent << "approach: ";
s << std::endl;
    Printer< ::object_manipulation_msgs::GripperTranslation_<ContainerAllocator> >::stream(s, indent + "  ", v.approach);
    s << indent << "collision_object_name: ";
    Printer<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > >::stream(s, indent + "  ", v.collision_object_name);
    s << indent << "collision_support_surface_name: ";
    Printer<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > >::stream(s, indent + "  ", v.collision_support_surface_name);
    s << indent << "allow_gripper_support_collision: ";
    Printer<uint8_t>::stream(s, indent + "  ", v.allow_gripper_support_collision);
    s << indent << "use_reactive_place: ";
    Printer<uint8_t>::stream(s, indent + "  ", v.use_reactive_place);
    s << indent << "place_padding: ";
    Printer<double>::stream(s, indent + "  ", v.place_padding);
    s << indent << "only_perform_feasibility_test: ";
    Printer<uint8_t>::stream(s, indent + "  ", v.only_perform_feasibility_test);
    s << indent << "path_constraints: ";
s << std::endl;
    Printer< ::arm_navigation_msgs::Constraints_<ContainerAllocator> >::stream(s, indent + "  ", v.path_constraints);
    s << indent << "additional_collision_operations: ";
s << std::endl;
    Printer< ::arm_navigation_msgs::OrderedCollisionOperations_<ContainerAllocator> >::stream(s, indent + "  ", v.additional_collision_operations);
    s << indent << "additional_link_padding[]" << std::endl;
    for (size_t i = 0; i < v.additional_link_padding.size(); ++i)
    {
      s << indent << "  additional_link_padding[" << i << "]: ";
      s << std::endl;
      s << indent;
      Printer< ::arm_navigation_msgs::LinkPadding_<ContainerAllocator> >::stream(s, indent + "    ", v.additional_link_padding[i]);
    }
  }
};


} // namespace message_operations
} // namespace ros

#endif // OBJECT_MANIPULATION_MSGS_MESSAGE_PLACEGOAL_H