SetPlanningSceneDiff.h
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00001 /* Auto-generated by genmsg_cpp for file /home/rosbuild/hudson/workspace/doc-groovy-arm_navigation/doc_stacks/2013-12-02_12-23-34.850326/arm_navigation/arm_navigation_msgs/srv/SetPlanningSceneDiff.srv */
00002 #ifndef ARM_NAVIGATION_MSGS_SERVICE_SETPLANNINGSCENEDIFF_H
00003 #define ARM_NAVIGATION_MSGS_SERVICE_SETPLANNINGSCENEDIFF_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 "ros/service_traits.h"
00018 
00019 #include "arm_navigation_msgs/PlanningScene.h"
00020 #include "arm_navigation_msgs/OrderedCollisionOperations.h"
00021 
00022 
00023 #include "arm_navigation_msgs/PlanningScene.h"
00024 
00025 namespace arm_navigation_msgs
00026 {
00027 template <class ContainerAllocator>
00028 struct SetPlanningSceneDiffRequest_ {
00029   typedef SetPlanningSceneDiffRequest_<ContainerAllocator> Type;
00030 
00031   SetPlanningSceneDiffRequest_()
00032   : planning_scene_diff()
00033   , operations()
00034   {
00035   }
00036 
00037   SetPlanningSceneDiffRequest_(const ContainerAllocator& _alloc)
00038   : planning_scene_diff(_alloc)
00039   , operations(_alloc)
00040   {
00041   }
00042 
00043   typedef  ::arm_navigation_msgs::PlanningScene_<ContainerAllocator>  _planning_scene_diff_type;
00044    ::arm_navigation_msgs::PlanningScene_<ContainerAllocator>  planning_scene_diff;
00045 
00046   typedef  ::arm_navigation_msgs::OrderedCollisionOperations_<ContainerAllocator>  _operations_type;
00047    ::arm_navigation_msgs::OrderedCollisionOperations_<ContainerAllocator>  operations;
00048 
00049 
00050   typedef boost::shared_ptr< ::arm_navigation_msgs::SetPlanningSceneDiffRequest_<ContainerAllocator> > Ptr;
00051   typedef boost::shared_ptr< ::arm_navigation_msgs::SetPlanningSceneDiffRequest_<ContainerAllocator>  const> ConstPtr;
00052   boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00053 }; // struct SetPlanningSceneDiffRequest
00054 typedef  ::arm_navigation_msgs::SetPlanningSceneDiffRequest_<std::allocator<void> > SetPlanningSceneDiffRequest;
00055 
00056 typedef boost::shared_ptr< ::arm_navigation_msgs::SetPlanningSceneDiffRequest> SetPlanningSceneDiffRequestPtr;
00057 typedef boost::shared_ptr< ::arm_navigation_msgs::SetPlanningSceneDiffRequest const> SetPlanningSceneDiffRequestConstPtr;
00058 
00059 
00060 
00061 template <class ContainerAllocator>
00062 struct SetPlanningSceneDiffResponse_ {
00063   typedef SetPlanningSceneDiffResponse_<ContainerAllocator> Type;
00064 
00065   SetPlanningSceneDiffResponse_()
00066   : planning_scene()
00067   {
00068   }
00069 
00070   SetPlanningSceneDiffResponse_(const ContainerAllocator& _alloc)
00071   : planning_scene(_alloc)
00072   {
00073   }
00074 
00075   typedef  ::arm_navigation_msgs::PlanningScene_<ContainerAllocator>  _planning_scene_type;
00076    ::arm_navigation_msgs::PlanningScene_<ContainerAllocator>  planning_scene;
00077 
00078 
00079   typedef boost::shared_ptr< ::arm_navigation_msgs::SetPlanningSceneDiffResponse_<ContainerAllocator> > Ptr;
00080   typedef boost::shared_ptr< ::arm_navigation_msgs::SetPlanningSceneDiffResponse_<ContainerAllocator>  const> ConstPtr;
00081   boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00082 }; // struct SetPlanningSceneDiffResponse
00083 typedef  ::arm_navigation_msgs::SetPlanningSceneDiffResponse_<std::allocator<void> > SetPlanningSceneDiffResponse;
00084 
00085 typedef boost::shared_ptr< ::arm_navigation_msgs::SetPlanningSceneDiffResponse> SetPlanningSceneDiffResponsePtr;
00086 typedef boost::shared_ptr< ::arm_navigation_msgs::SetPlanningSceneDiffResponse const> SetPlanningSceneDiffResponseConstPtr;
00087 
00088 
00089 struct SetPlanningSceneDiff
00090 {
00091 
00092 typedef SetPlanningSceneDiffRequest Request;
00093 typedef SetPlanningSceneDiffResponse Response;
00094 Request request;
00095 Response response;
00096 
00097 typedef Request RequestType;
00098 typedef Response ResponseType;
00099 }; // struct SetPlanningSceneDiff
00100 } // namespace arm_navigation_msgs
00101 
00102 namespace ros
00103 {
00104 namespace message_traits
00105 {
00106 template<class ContainerAllocator> struct IsMessage< ::arm_navigation_msgs::SetPlanningSceneDiffRequest_<ContainerAllocator> > : public TrueType {};
00107 template<class ContainerAllocator> struct IsMessage< ::arm_navigation_msgs::SetPlanningSceneDiffRequest_<ContainerAllocator>  const> : public TrueType {};
00108 template<class ContainerAllocator>
00109 struct MD5Sum< ::arm_navigation_msgs::SetPlanningSceneDiffRequest_<ContainerAllocator> > {
00110   static const char* value() 
00111   {
00112     return "67ad55e9bed9c8f21dfb4b9b1ca8df7d";
00113   }
00114 
00115   static const char* value(const  ::arm_navigation_msgs::SetPlanningSceneDiffRequest_<ContainerAllocator> &) { return value(); } 
00116   static const uint64_t static_value1 = 0x67ad55e9bed9c8f2ULL;
00117   static const uint64_t static_value2 = 0x1dfb4b9b1ca8df7dULL;
00118 };
00119 
00120 template<class ContainerAllocator>
00121 struct DataType< ::arm_navigation_msgs::SetPlanningSceneDiffRequest_<ContainerAllocator> > {
00122   static const char* value() 
00123   {
00124     return "arm_navigation_msgs/SetPlanningSceneDiffRequest";
00125   }
00126 
00127   static const char* value(const  ::arm_navigation_msgs::SetPlanningSceneDiffRequest_<ContainerAllocator> &) { return value(); } 
00128 };
00129 
00130 template<class ContainerAllocator>
00131 struct Definition< ::arm_navigation_msgs::SetPlanningSceneDiffRequest_<ContainerAllocator> > {
00132   static const char* value() 
00133   {
00134     return "\n\
00135 \n\
00136 \n\
00137 PlanningScene planning_scene_diff\n\
00138 \n\
00139 \n\
00140 arm_navigation_msgs/OrderedCollisionOperations operations\n\
00141 \n\
00142 ================================================================================\n\
00143 MSG: arm_navigation_msgs/PlanningScene\n\
00144 #full robot state\n\
00145 arm_navigation_msgs/RobotState robot_state\n\
00146 \n\
00147 #additional frames for duplicating tf\n\
00148 geometry_msgs/TransformStamped[] fixed_frame_transforms\n\
00149 \n\
00150 #full allowed collision matrix\n\
00151 AllowedCollisionMatrix allowed_collision_matrix\n\
00152 \n\
00153 #allowed contacts\n\
00154 arm_navigation_msgs/AllowedContactSpecification[] allowed_contacts\n\
00155 \n\
00156 #all link paddings\n\
00157 arm_navigation_msgs/LinkPadding[] link_padding\n\
00158 \n\
00159 #collision objects\n\
00160 arm_navigation_msgs/CollisionObject[] collision_objects\n\
00161 arm_navigation_msgs/AttachedCollisionObject[] attached_collision_objects\n\
00162 \n\
00163 #the collision map\n\
00164 arm_navigation_msgs/CollisionMap collision_map\n\
00165 \n\
00166 ================================================================================\n\
00167 MSG: arm_navigation_msgs/RobotState\n\
00168 # This message contains information about the robot state, i.e. the positions of its joints and links\n\
00169 sensor_msgs/JointState joint_state\n\
00170 arm_navigation_msgs/MultiDOFJointState multi_dof_joint_state\n\
00171 \n\
00172 ================================================================================\n\
00173 MSG: sensor_msgs/JointState\n\
00174 # This is a message that holds data to describe the state of a set of torque controlled joints. \n\
00175 #\n\
00176 # The state of each joint (revolute or prismatic) is defined by:\n\
00177 #  * the position of the joint (rad or m),\n\
00178 #  * the velocity of the joint (rad/s or m/s) and \n\
00179 #  * the effort that is applied in the joint (Nm or N).\n\
00180 #\n\
00181 # Each joint is uniquely identified by its name\n\
00182 # The header specifies the time at which the joint states were recorded. All the joint states\n\
00183 # in one message have to be recorded at the same time.\n\
00184 #\n\
00185 # This message consists of a multiple arrays, one for each part of the joint state. \n\
00186 # The goal is to make each of the fields optional. When e.g. your joints have no\n\
00187 # effort associated with them, you can leave the effort array empty. \n\
00188 #\n\
00189 # All arrays in this message should have the same size, or be empty.\n\
00190 # This is the only way to uniquely associate the joint name with the correct\n\
00191 # states.\n\
00192 \n\
00193 \n\
00194 Header header\n\
00195 \n\
00196 string[] name\n\
00197 float64[] position\n\
00198 float64[] velocity\n\
00199 float64[] effort\n\
00200 \n\
00201 ================================================================================\n\
00202 MSG: std_msgs/Header\n\
00203 # Standard metadata for higher-level stamped data types.\n\
00204 # This is generally used to communicate timestamped data \n\
00205 # in a particular coordinate frame.\n\
00206 # \n\
00207 # sequence ID: consecutively increasing ID \n\
00208 uint32 seq\n\
00209 #Two-integer timestamp that is expressed as:\n\
00210 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00211 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00212 # time-handling sugar is provided by the client library\n\
00213 time stamp\n\
00214 #Frame this data is associated with\n\
00215 # 0: no frame\n\
00216 # 1: global frame\n\
00217 string frame_id\n\
00218 \n\
00219 ================================================================================\n\
00220 MSG: arm_navigation_msgs/MultiDOFJointState\n\
00221 #A representation of a multi-dof joint state\n\
00222 time stamp\n\
00223 string[] joint_names\n\
00224 string[] frame_ids\n\
00225 string[] child_frame_ids\n\
00226 geometry_msgs/Pose[] poses\n\
00227 \n\
00228 ================================================================================\n\
00229 MSG: geometry_msgs/Pose\n\
00230 # A representation of pose in free space, composed of postion and orientation. \n\
00231 Point position\n\
00232 Quaternion orientation\n\
00233 \n\
00234 ================================================================================\n\
00235 MSG: geometry_msgs/Point\n\
00236 # This contains the position of a point in free space\n\
00237 float64 x\n\
00238 float64 y\n\
00239 float64 z\n\
00240 \n\
00241 ================================================================================\n\
00242 MSG: geometry_msgs/Quaternion\n\
00243 # This represents an orientation in free space in quaternion form.\n\
00244 \n\
00245 float64 x\n\
00246 float64 y\n\
00247 float64 z\n\
00248 float64 w\n\
00249 \n\
00250 ================================================================================\n\
00251 MSG: geometry_msgs/TransformStamped\n\
00252 # This expresses a transform from coordinate frame header.frame_id\n\
00253 # to the coordinate frame child_frame_id\n\
00254 #\n\
00255 # This message is mostly used by the \n\
00256 # <a href=\"http://www.ros.org/wiki/tf\">tf</a> package. \n\
00257 # See its documentation for more information.\n\
00258 \n\
00259 Header header\n\
00260 string child_frame_id # the frame id of the child frame\n\
00261 Transform transform\n\
00262 \n\
00263 ================================================================================\n\
00264 MSG: geometry_msgs/Transform\n\
00265 # This represents the transform between two coordinate frames in free space.\n\
00266 \n\
00267 Vector3 translation\n\
00268 Quaternion rotation\n\
00269 \n\
00270 ================================================================================\n\
00271 MSG: geometry_msgs/Vector3\n\
00272 # This represents a vector in free space. \n\
00273 \n\
00274 float64 x\n\
00275 float64 y\n\
00276 float64 z\n\
00277 ================================================================================\n\
00278 MSG: arm_navigation_msgs/AllowedCollisionMatrix\n\
00279 # the list of link names in the matrix\n\
00280 string[] link_names\n\
00281 \n\
00282 # the individual entries in the allowed collision matrix\n\
00283 # symmetric, with same order as link_names\n\
00284 AllowedCollisionEntry[] entries\n\
00285 \n\
00286 ================================================================================\n\
00287 MSG: arm_navigation_msgs/AllowedCollisionEntry\n\
00288 # whether or not collision checking is enabled\n\
00289 bool[] enabled\n\
00290 \n\
00291 ================================================================================\n\
00292 MSG: arm_navigation_msgs/AllowedContactSpecification\n\
00293 # The names of the regions\n\
00294 string name\n\
00295 \n\
00296 # The shape of the region in the environment\n\
00297 arm_navigation_msgs/Shape shape\n\
00298 \n\
00299 # The pose of the space defining the region\n\
00300 geometry_msgs/PoseStamped pose_stamped\n\
00301 \n\
00302 # The set of links that will be allowed to have penetration contact within this region\n\
00303 string[] link_names\n\
00304 \n\
00305 # The maximum penetration depth allowed for every link\n\
00306 float64 penetration_depth\n\
00307 \n\
00308 ================================================================================\n\
00309 MSG: arm_navigation_msgs/Shape\n\
00310 byte SPHERE=0\n\
00311 byte BOX=1\n\
00312 byte CYLINDER=2\n\
00313 byte MESH=3\n\
00314 \n\
00315 byte type\n\
00316 \n\
00317 \n\
00318 #### define sphere, box, cylinder ####\n\
00319 # the origin of each shape is considered at the shape's center\n\
00320 \n\
00321 # for sphere\n\
00322 # radius := dimensions[0]\n\
00323 \n\
00324 # for cylinder\n\
00325 # radius := dimensions[0]\n\
00326 # length := dimensions[1]\n\
00327 # the length is along the Z axis\n\
00328 \n\
00329 # for box\n\
00330 # size_x := dimensions[0]\n\
00331 # size_y := dimensions[1]\n\
00332 # size_z := dimensions[2]\n\
00333 float64[] dimensions\n\
00334 \n\
00335 \n\
00336 #### define mesh ####\n\
00337 \n\
00338 # list of triangles; triangle k is defined by tre vertices located\n\
00339 # at indices triangles[3k], triangles[3k+1], triangles[3k+2]\n\
00340 int32[] triangles\n\
00341 geometry_msgs/Point[] vertices\n\
00342 \n\
00343 ================================================================================\n\
00344 MSG: geometry_msgs/PoseStamped\n\
00345 # A Pose with reference coordinate frame and timestamp\n\
00346 Header header\n\
00347 Pose pose\n\
00348 \n\
00349 ================================================================================\n\
00350 MSG: arm_navigation_msgs/LinkPadding\n\
00351 #name for the link\n\
00352 string link_name\n\
00353 \n\
00354 # padding to apply to the link\n\
00355 float64 padding\n\
00356 \n\
00357 ================================================================================\n\
00358 MSG: arm_navigation_msgs/CollisionObject\n\
00359 # a header, used for interpreting the poses\n\
00360 Header header\n\
00361 \n\
00362 # the id of the object\n\
00363 string id\n\
00364 \n\
00365 # The padding used for filtering points near the object.\n\
00366 # This does not affect collision checking for the object.  \n\
00367 # Set to negative to get zero padding.\n\
00368 float32 padding\n\
00369 \n\
00370 #This contains what is to be done with the object\n\
00371 CollisionObjectOperation operation\n\
00372 \n\
00373 #the shapes associated with the object\n\
00374 arm_navigation_msgs/Shape[] shapes\n\
00375 \n\
00376 #the poses associated with the shapes - will be transformed using the header\n\
00377 geometry_msgs/Pose[] poses\n\
00378 \n\
00379 ================================================================================\n\
00380 MSG: arm_navigation_msgs/CollisionObjectOperation\n\
00381 #Puts the object into the environment\n\
00382 #or updates the object if already added\n\
00383 byte ADD=0\n\
00384 \n\
00385 #Removes the object from the environment entirely\n\
00386 byte REMOVE=1\n\
00387 \n\
00388 #Only valid within the context of a CollisionAttachedObject message\n\
00389 #Will be ignored if sent with an CollisionObject message\n\
00390 #Takes an attached object, detaches from the attached link\n\
00391 #But adds back in as regular object\n\
00392 byte DETACH_AND_ADD_AS_OBJECT=2\n\
00393 \n\
00394 #Only valid within the context of a CollisionAttachedObject message\n\
00395 #Will be ignored if sent with an CollisionObject message\n\
00396 #Takes current object in the environment and removes it as\n\
00397 #a regular object\n\
00398 byte ATTACH_AND_REMOVE_AS_OBJECT=3\n\
00399 \n\
00400 # Byte code for operation\n\
00401 byte operation\n\
00402 \n\
00403 ================================================================================\n\
00404 MSG: arm_navigation_msgs/AttachedCollisionObject\n\
00405 # The CollisionObject will be attached with a fixed joint to this link\n\
00406 # If link name is set to REMOVE_ALL_ATTACHED_OBJECTS and object.operation \n\
00407 # is set to REMOVE will remove all attached bodies attached to any object\n\
00408 string link_name\n\
00409 \n\
00410 #Reserved for indicating that all attached objects should be removed\n\
00411 string REMOVE_ALL_ATTACHED_OBJECTS = \"all\"\n\
00412 \n\
00413 #This contains the actual shapes and poses for the CollisionObject\n\
00414 #to be attached to the link\n\
00415 #If action is remove and no object.id is set, all objects\n\
00416 #attached to the link indicated by link_name will be removed\n\
00417 CollisionObject object\n\
00418 \n\
00419 # The set of links that the attached objects are allowed to touch\n\
00420 # by default - the link_name is included by default\n\
00421 string[] touch_links\n\
00422 \n\
00423 ================================================================================\n\
00424 MSG: arm_navigation_msgs/CollisionMap\n\
00425 #header for interpreting box positions\n\
00426 Header header\n\
00427 \n\
00428 #boxes for use in collision testing\n\
00429 OrientedBoundingBox[] boxes\n\
00430 \n\
00431 ================================================================================\n\
00432 MSG: arm_navigation_msgs/OrientedBoundingBox\n\
00433 #the center of the box\n\
00434 geometry_msgs/Point32 center\n\
00435 \n\
00436 #the extents of the box, assuming the center is at the point\n\
00437 geometry_msgs/Point32 extents\n\
00438 \n\
00439 #the axis of the box\n\
00440 geometry_msgs/Point32 axis\n\
00441 \n\
00442 #the angle of rotation around the axis\n\
00443 float32 angle\n\
00444 \n\
00445 ================================================================================\n\
00446 MSG: geometry_msgs/Point32\n\
00447 # This contains the position of a point in free space(with 32 bits of precision).\n\
00448 # It is recommeded to use Point wherever possible instead of Point32.  \n\
00449 # \n\
00450 # This recommendation is to promote interoperability.  \n\
00451 #\n\
00452 # This message is designed to take up less space when sending\n\
00453 # lots of points at once, as in the case of a PointCloud.  \n\
00454 \n\
00455 float32 x\n\
00456 float32 y\n\
00457 float32 z\n\
00458 ================================================================================\n\
00459 MSG: arm_navigation_msgs/OrderedCollisionOperations\n\
00460 # A set of collision operations that will be performed in the order they are specified\n\
00461 CollisionOperation[] collision_operations\n\
00462 ================================================================================\n\
00463 MSG: arm_navigation_msgs/CollisionOperation\n\
00464 # A definition of a collision operation\n\
00465 # E.g. (\"gripper\",COLLISION_SET_ALL,ENABLE) will enable collisions \n\
00466 # between the gripper and all objects in the collision space\n\
00467 \n\
00468 string object1\n\
00469 string object2\n\
00470 string COLLISION_SET_ALL=\"all\"\n\
00471 string COLLISION_SET_OBJECTS=\"objects\"\n\
00472 string COLLISION_SET_ATTACHED_OBJECTS=\"attached\"\n\
00473 \n\
00474 # The penetration distance to which collisions are allowed. This is 0.0 by default.\n\
00475 float64 penetration_distance\n\
00476 \n\
00477 # Flag that determines whether collisions will be enabled or disabled for the pair of objects specified above\n\
00478 int32 operation\n\
00479 int32 DISABLE=0\n\
00480 int32 ENABLE=1\n\
00481 \n\
00482 ";
00483   }
00484 
00485   static const char* value(const  ::arm_navigation_msgs::SetPlanningSceneDiffRequest_<ContainerAllocator> &) { return value(); } 
00486 };
00487 
00488 } // namespace message_traits
00489 } // namespace ros
00490 
00491 
00492 namespace ros
00493 {
00494 namespace message_traits
00495 {
00496 template<class ContainerAllocator> struct IsMessage< ::arm_navigation_msgs::SetPlanningSceneDiffResponse_<ContainerAllocator> > : public TrueType {};
00497 template<class ContainerAllocator> struct IsMessage< ::arm_navigation_msgs::SetPlanningSceneDiffResponse_<ContainerAllocator>  const> : public TrueType {};
00498 template<class ContainerAllocator>
00499 struct MD5Sum< ::arm_navigation_msgs::SetPlanningSceneDiffResponse_<ContainerAllocator> > {
00500   static const char* value() 
00501   {
00502     return "285525c9abe002fbafa99af84a14b4cb";
00503   }
00504 
00505   static const char* value(const  ::arm_navigation_msgs::SetPlanningSceneDiffResponse_<ContainerAllocator> &) { return value(); } 
00506   static const uint64_t static_value1 = 0x285525c9abe002fbULL;
00507   static const uint64_t static_value2 = 0xafa99af84a14b4cbULL;
00508 };
00509 
00510 template<class ContainerAllocator>
00511 struct DataType< ::arm_navigation_msgs::SetPlanningSceneDiffResponse_<ContainerAllocator> > {
00512   static const char* value() 
00513   {
00514     return "arm_navigation_msgs/SetPlanningSceneDiffResponse";
00515   }
00516 
00517   static const char* value(const  ::arm_navigation_msgs::SetPlanningSceneDiffResponse_<ContainerAllocator> &) { return value(); } 
00518 };
00519 
00520 template<class ContainerAllocator>
00521 struct Definition< ::arm_navigation_msgs::SetPlanningSceneDiffResponse_<ContainerAllocator> > {
00522   static const char* value() 
00523   {
00524     return "\n\
00525 \n\
00526 PlanningScene planning_scene\n\
00527 \n\
00528 \n\
00529 \n\
00530 \n\
00531 \n\
00532 ================================================================================\n\
00533 MSG: arm_navigation_msgs/PlanningScene\n\
00534 #full robot state\n\
00535 arm_navigation_msgs/RobotState robot_state\n\
00536 \n\
00537 #additional frames for duplicating tf\n\
00538 geometry_msgs/TransformStamped[] fixed_frame_transforms\n\
00539 \n\
00540 #full allowed collision matrix\n\
00541 AllowedCollisionMatrix allowed_collision_matrix\n\
00542 \n\
00543 #allowed contacts\n\
00544 arm_navigation_msgs/AllowedContactSpecification[] allowed_contacts\n\
00545 \n\
00546 #all link paddings\n\
00547 arm_navigation_msgs/LinkPadding[] link_padding\n\
00548 \n\
00549 #collision objects\n\
00550 arm_navigation_msgs/CollisionObject[] collision_objects\n\
00551 arm_navigation_msgs/AttachedCollisionObject[] attached_collision_objects\n\
00552 \n\
00553 #the collision map\n\
00554 arm_navigation_msgs/CollisionMap collision_map\n\
00555 \n\
00556 ================================================================================\n\
00557 MSG: arm_navigation_msgs/RobotState\n\
00558 # This message contains information about the robot state, i.e. the positions of its joints and links\n\
00559 sensor_msgs/JointState joint_state\n\
00560 arm_navigation_msgs/MultiDOFJointState multi_dof_joint_state\n\
00561 \n\
00562 ================================================================================\n\
00563 MSG: sensor_msgs/JointState\n\
00564 # This is a message that holds data to describe the state of a set of torque controlled joints. \n\
00565 #\n\
00566 # The state of each joint (revolute or prismatic) is defined by:\n\
00567 #  * the position of the joint (rad or m),\n\
00568 #  * the velocity of the joint (rad/s or m/s) and \n\
00569 #  * the effort that is applied in the joint (Nm or N).\n\
00570 #\n\
00571 # Each joint is uniquely identified by its name\n\
00572 # The header specifies the time at which the joint states were recorded. All the joint states\n\
00573 # in one message have to be recorded at the same time.\n\
00574 #\n\
00575 # This message consists of a multiple arrays, one for each part of the joint state. \n\
00576 # The goal is to make each of the fields optional. When e.g. your joints have no\n\
00577 # effort associated with them, you can leave the effort array empty. \n\
00578 #\n\
00579 # All arrays in this message should have the same size, or be empty.\n\
00580 # This is the only way to uniquely associate the joint name with the correct\n\
00581 # states.\n\
00582 \n\
00583 \n\
00584 Header header\n\
00585 \n\
00586 string[] name\n\
00587 float64[] position\n\
00588 float64[] velocity\n\
00589 float64[] effort\n\
00590 \n\
00591 ================================================================================\n\
00592 MSG: std_msgs/Header\n\
00593 # Standard metadata for higher-level stamped data types.\n\
00594 # This is generally used to communicate timestamped data \n\
00595 # in a particular coordinate frame.\n\
00596 # \n\
00597 # sequence ID: consecutively increasing ID \n\
00598 uint32 seq\n\
00599 #Two-integer timestamp that is expressed as:\n\
00600 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00601 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00602 # time-handling sugar is provided by the client library\n\
00603 time stamp\n\
00604 #Frame this data is associated with\n\
00605 # 0: no frame\n\
00606 # 1: global frame\n\
00607 string frame_id\n\
00608 \n\
00609 ================================================================================\n\
00610 MSG: arm_navigation_msgs/MultiDOFJointState\n\
00611 #A representation of a multi-dof joint state\n\
00612 time stamp\n\
00613 string[] joint_names\n\
00614 string[] frame_ids\n\
00615 string[] child_frame_ids\n\
00616 geometry_msgs/Pose[] poses\n\
00617 \n\
00618 ================================================================================\n\
00619 MSG: geometry_msgs/Pose\n\
00620 # A representation of pose in free space, composed of postion and orientation. \n\
00621 Point position\n\
00622 Quaternion orientation\n\
00623 \n\
00624 ================================================================================\n\
00625 MSG: geometry_msgs/Point\n\
00626 # This contains the position of a point in free space\n\
00627 float64 x\n\
00628 float64 y\n\
00629 float64 z\n\
00630 \n\
00631 ================================================================================\n\
00632 MSG: geometry_msgs/Quaternion\n\
00633 # This represents an orientation in free space in quaternion form.\n\
00634 \n\
00635 float64 x\n\
00636 float64 y\n\
00637 float64 z\n\
00638 float64 w\n\
00639 \n\
00640 ================================================================================\n\
00641 MSG: geometry_msgs/TransformStamped\n\
00642 # This expresses a transform from coordinate frame header.frame_id\n\
00643 # to the coordinate frame child_frame_id\n\
00644 #\n\
00645 # This message is mostly used by the \n\
00646 # <a href=\"http://www.ros.org/wiki/tf\">tf</a> package. \n\
00647 # See its documentation for more information.\n\
00648 \n\
00649 Header header\n\
00650 string child_frame_id # the frame id of the child frame\n\
00651 Transform transform\n\
00652 \n\
00653 ================================================================================\n\
00654 MSG: geometry_msgs/Transform\n\
00655 # This represents the transform between two coordinate frames in free space.\n\
00656 \n\
00657 Vector3 translation\n\
00658 Quaternion rotation\n\
00659 \n\
00660 ================================================================================\n\
00661 MSG: geometry_msgs/Vector3\n\
00662 # This represents a vector in free space. \n\
00663 \n\
00664 float64 x\n\
00665 float64 y\n\
00666 float64 z\n\
00667 ================================================================================\n\
00668 MSG: arm_navigation_msgs/AllowedCollisionMatrix\n\
00669 # the list of link names in the matrix\n\
00670 string[] link_names\n\
00671 \n\
00672 # the individual entries in the allowed collision matrix\n\
00673 # symmetric, with same order as link_names\n\
00674 AllowedCollisionEntry[] entries\n\
00675 \n\
00676 ================================================================================\n\
00677 MSG: arm_navigation_msgs/AllowedCollisionEntry\n\
00678 # whether or not collision checking is enabled\n\
00679 bool[] enabled\n\
00680 \n\
00681 ================================================================================\n\
00682 MSG: arm_navigation_msgs/AllowedContactSpecification\n\
00683 # The names of the regions\n\
00684 string name\n\
00685 \n\
00686 # The shape of the region in the environment\n\
00687 arm_navigation_msgs/Shape shape\n\
00688 \n\
00689 # The pose of the space defining the region\n\
00690 geometry_msgs/PoseStamped pose_stamped\n\
00691 \n\
00692 # The set of links that will be allowed to have penetration contact within this region\n\
00693 string[] link_names\n\
00694 \n\
00695 # The maximum penetration depth allowed for every link\n\
00696 float64 penetration_depth\n\
00697 \n\
00698 ================================================================================\n\
00699 MSG: arm_navigation_msgs/Shape\n\
00700 byte SPHERE=0\n\
00701 byte BOX=1\n\
00702 byte CYLINDER=2\n\
00703 byte MESH=3\n\
00704 \n\
00705 byte type\n\
00706 \n\
00707 \n\
00708 #### define sphere, box, cylinder ####\n\
00709 # the origin of each shape is considered at the shape's center\n\
00710 \n\
00711 # for sphere\n\
00712 # radius := dimensions[0]\n\
00713 \n\
00714 # for cylinder\n\
00715 # radius := dimensions[0]\n\
00716 # length := dimensions[1]\n\
00717 # the length is along the Z axis\n\
00718 \n\
00719 # for box\n\
00720 # size_x := dimensions[0]\n\
00721 # size_y := dimensions[1]\n\
00722 # size_z := dimensions[2]\n\
00723 float64[] dimensions\n\
00724 \n\
00725 \n\
00726 #### define mesh ####\n\
00727 \n\
00728 # list of triangles; triangle k is defined by tre vertices located\n\
00729 # at indices triangles[3k], triangles[3k+1], triangles[3k+2]\n\
00730 int32[] triangles\n\
00731 geometry_msgs/Point[] vertices\n\
00732 \n\
00733 ================================================================================\n\
00734 MSG: geometry_msgs/PoseStamped\n\
00735 # A Pose with reference coordinate frame and timestamp\n\
00736 Header header\n\
00737 Pose pose\n\
00738 \n\
00739 ================================================================================\n\
00740 MSG: arm_navigation_msgs/LinkPadding\n\
00741 #name for the link\n\
00742 string link_name\n\
00743 \n\
00744 # padding to apply to the link\n\
00745 float64 padding\n\
00746 \n\
00747 ================================================================================\n\
00748 MSG: arm_navigation_msgs/CollisionObject\n\
00749 # a header, used for interpreting the poses\n\
00750 Header header\n\
00751 \n\
00752 # the id of the object\n\
00753 string id\n\
00754 \n\
00755 # The padding used for filtering points near the object.\n\
00756 # This does not affect collision checking for the object.  \n\
00757 # Set to negative to get zero padding.\n\
00758 float32 padding\n\
00759 \n\
00760 #This contains what is to be done with the object\n\
00761 CollisionObjectOperation operation\n\
00762 \n\
00763 #the shapes associated with the object\n\
00764 arm_navigation_msgs/Shape[] shapes\n\
00765 \n\
00766 #the poses associated with the shapes - will be transformed using the header\n\
00767 geometry_msgs/Pose[] poses\n\
00768 \n\
00769 ================================================================================\n\
00770 MSG: arm_navigation_msgs/CollisionObjectOperation\n\
00771 #Puts the object into the environment\n\
00772 #or updates the object if already added\n\
00773 byte ADD=0\n\
00774 \n\
00775 #Removes the object from the environment entirely\n\
00776 byte REMOVE=1\n\
00777 \n\
00778 #Only valid within the context of a CollisionAttachedObject message\n\
00779 #Will be ignored if sent with an CollisionObject message\n\
00780 #Takes an attached object, detaches from the attached link\n\
00781 #But adds back in as regular object\n\
00782 byte DETACH_AND_ADD_AS_OBJECT=2\n\
00783 \n\
00784 #Only valid within the context of a CollisionAttachedObject message\n\
00785 #Will be ignored if sent with an CollisionObject message\n\
00786 #Takes current object in the environment and removes it as\n\
00787 #a regular object\n\
00788 byte ATTACH_AND_REMOVE_AS_OBJECT=3\n\
00789 \n\
00790 # Byte code for operation\n\
00791 byte operation\n\
00792 \n\
00793 ================================================================================\n\
00794 MSG: arm_navigation_msgs/AttachedCollisionObject\n\
00795 # The CollisionObject will be attached with a fixed joint to this link\n\
00796 # If link name is set to REMOVE_ALL_ATTACHED_OBJECTS and object.operation \n\
00797 # is set to REMOVE will remove all attached bodies attached to any object\n\
00798 string link_name\n\
00799 \n\
00800 #Reserved for indicating that all attached objects should be removed\n\
00801 string REMOVE_ALL_ATTACHED_OBJECTS = \"all\"\n\
00802 \n\
00803 #This contains the actual shapes and poses for the CollisionObject\n\
00804 #to be attached to the link\n\
00805 #If action is remove and no object.id is set, all objects\n\
00806 #attached to the link indicated by link_name will be removed\n\
00807 CollisionObject object\n\
00808 \n\
00809 # The set of links that the attached objects are allowed to touch\n\
00810 # by default - the link_name is included by default\n\
00811 string[] touch_links\n\
00812 \n\
00813 ================================================================================\n\
00814 MSG: arm_navigation_msgs/CollisionMap\n\
00815 #header for interpreting box positions\n\
00816 Header header\n\
00817 \n\
00818 #boxes for use in collision testing\n\
00819 OrientedBoundingBox[] boxes\n\
00820 \n\
00821 ================================================================================\n\
00822 MSG: arm_navigation_msgs/OrientedBoundingBox\n\
00823 #the center of the box\n\
00824 geometry_msgs/Point32 center\n\
00825 \n\
00826 #the extents of the box, assuming the center is at the point\n\
00827 geometry_msgs/Point32 extents\n\
00828 \n\
00829 #the axis of the box\n\
00830 geometry_msgs/Point32 axis\n\
00831 \n\
00832 #the angle of rotation around the axis\n\
00833 float32 angle\n\
00834 \n\
00835 ================================================================================\n\
00836 MSG: geometry_msgs/Point32\n\
00837 # This contains the position of a point in free space(with 32 bits of precision).\n\
00838 # It is recommeded to use Point wherever possible instead of Point32.  \n\
00839 # \n\
00840 # This recommendation is to promote interoperability.  \n\
00841 #\n\
00842 # This message is designed to take up less space when sending\n\
00843 # lots of points at once, as in the case of a PointCloud.  \n\
00844 \n\
00845 float32 x\n\
00846 float32 y\n\
00847 float32 z\n\
00848 ";
00849   }
00850 
00851   static const char* value(const  ::arm_navigation_msgs::SetPlanningSceneDiffResponse_<ContainerAllocator> &) { return value(); } 
00852 };
00853 
00854 } // namespace message_traits
00855 } // namespace ros
00856 
00857 namespace ros
00858 {
00859 namespace serialization
00860 {
00861 
00862 template<class ContainerAllocator> struct Serializer< ::arm_navigation_msgs::SetPlanningSceneDiffRequest_<ContainerAllocator> >
00863 {
00864   template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00865   {
00866     stream.next(m.planning_scene_diff);
00867     stream.next(m.operations);
00868   }
00869 
00870   ROS_DECLARE_ALLINONE_SERIALIZER;
00871 }; // struct SetPlanningSceneDiffRequest_
00872 } // namespace serialization
00873 } // namespace ros
00874 
00875 
00876 namespace ros
00877 {
00878 namespace serialization
00879 {
00880 
00881 template<class ContainerAllocator> struct Serializer< ::arm_navigation_msgs::SetPlanningSceneDiffResponse_<ContainerAllocator> >
00882 {
00883   template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00884   {
00885     stream.next(m.planning_scene);
00886   }
00887 
00888   ROS_DECLARE_ALLINONE_SERIALIZER;
00889 }; // struct SetPlanningSceneDiffResponse_
00890 } // namespace serialization
00891 } // namespace ros
00892 
00893 namespace ros
00894 {
00895 namespace service_traits
00896 {
00897 template<>
00898 struct MD5Sum<arm_navigation_msgs::SetPlanningSceneDiff> {
00899   static const char* value() 
00900   {
00901     return "0a7b07718e4e5c5d35740c730509a151";
00902   }
00903 
00904   static const char* value(const arm_navigation_msgs::SetPlanningSceneDiff&) { return value(); } 
00905 };
00906 
00907 template<>
00908 struct DataType<arm_navigation_msgs::SetPlanningSceneDiff> {
00909   static const char* value() 
00910   {
00911     return "arm_navigation_msgs/SetPlanningSceneDiff";
00912   }
00913 
00914   static const char* value(const arm_navigation_msgs::SetPlanningSceneDiff&) { return value(); } 
00915 };
00916 
00917 template<class ContainerAllocator>
00918 struct MD5Sum<arm_navigation_msgs::SetPlanningSceneDiffRequest_<ContainerAllocator> > {
00919   static const char* value() 
00920   {
00921     return "0a7b07718e4e5c5d35740c730509a151";
00922   }
00923 
00924   static const char* value(const arm_navigation_msgs::SetPlanningSceneDiffRequest_<ContainerAllocator> &) { return value(); } 
00925 };
00926 
00927 template<class ContainerAllocator>
00928 struct DataType<arm_navigation_msgs::SetPlanningSceneDiffRequest_<ContainerAllocator> > {
00929   static const char* value() 
00930   {
00931     return "arm_navigation_msgs/SetPlanningSceneDiff";
00932   }
00933 
00934   static const char* value(const arm_navigation_msgs::SetPlanningSceneDiffRequest_<ContainerAllocator> &) { return value(); } 
00935 };
00936 
00937 template<class ContainerAllocator>
00938 struct MD5Sum<arm_navigation_msgs::SetPlanningSceneDiffResponse_<ContainerAllocator> > {
00939   static const char* value() 
00940   {
00941     return "0a7b07718e4e5c5d35740c730509a151";
00942   }
00943 
00944   static const char* value(const arm_navigation_msgs::SetPlanningSceneDiffResponse_<ContainerAllocator> &) { return value(); } 
00945 };
00946 
00947 template<class ContainerAllocator>
00948 struct DataType<arm_navigation_msgs::SetPlanningSceneDiffResponse_<ContainerAllocator> > {
00949   static const char* value() 
00950   {
00951     return "arm_navigation_msgs/SetPlanningSceneDiff";
00952   }
00953 
00954   static const char* value(const arm_navigation_msgs::SetPlanningSceneDiffResponse_<ContainerAllocator> &) { return value(); } 
00955 };
00956 
00957 } // namespace service_traits
00958 } // namespace ros
00959 
00960 #endif // ARM_NAVIGATION_MSGS_SERVICE_SETPLANNINGSCENEDIFF_H
00961 


arm_navigation_msgs
Author(s): Gil Jones
autogenerated on Mon Dec 2 2013 12:31:51