IMGUIOptions.h
Go to the documentation of this file.
00001 /* Auto-generated by genmsg_cpp for file /home/rosbuild/hudson/workspace/doc-groovy-pr2_object_manipulation/doc_stacks/2014-10-06_11-30-38.833395/pr2_object_manipulation/manipulation/pr2_object_manipulation_msgs/msg/IMGUIOptions.msg */
00002 #ifndef PR2_OBJECT_MANIPULATION_MSGS_MESSAGE_IMGUIOPTIONS_H
00003 #define PR2_OBJECT_MANIPULATION_MSGS_MESSAGE_IMGUIOPTIONS_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 "manipulation_msgs/GraspableObject.h"
00018 #include "manipulation_msgs/GraspableObject.h"
00019 #include "pr2_object_manipulation_msgs/IMGUIAdvancedOptions.h"
00020 
00021 namespace pr2_object_manipulation_msgs
00022 {
00023 template <class ContainerAllocator>
00024 struct IMGUIOptions_ {
00025   typedef IMGUIOptions_<ContainerAllocator> Type;
00026 
00027   IMGUIOptions_()
00028   : collision_checked(false)
00029   , grasp_selection(0)
00030   , arm_selection(0)
00031   , reset_choice(0)
00032   , arm_action_choice(0)
00033   , arm_planner_choice(0)
00034   , gripper_slider_position(0)
00035   , selected_object()
00036   , movable_obstacles()
00037   , adv_options()
00038   {
00039   }
00040 
00041   IMGUIOptions_(const ContainerAllocator& _alloc)
00042   : collision_checked(false)
00043   , grasp_selection(0)
00044   , arm_selection(0)
00045   , reset_choice(0)
00046   , arm_action_choice(0)
00047   , arm_planner_choice(0)
00048   , gripper_slider_position(0)
00049   , selected_object(_alloc)
00050   , movable_obstacles(_alloc)
00051   , adv_options(_alloc)
00052   {
00053   }
00054 
00055   typedef uint8_t _collision_checked_type;
00056   uint8_t collision_checked;
00057 
00058   typedef int32_t _grasp_selection_type;
00059   int32_t grasp_selection;
00060 
00061   typedef int32_t _arm_selection_type;
00062   int32_t arm_selection;
00063 
00064   typedef int32_t _reset_choice_type;
00065   int32_t reset_choice;
00066 
00067   typedef int32_t _arm_action_choice_type;
00068   int32_t arm_action_choice;
00069 
00070   typedef int32_t _arm_planner_choice_type;
00071   int32_t arm_planner_choice;
00072 
00073   typedef int32_t _gripper_slider_position_type;
00074   int32_t gripper_slider_position;
00075 
00076   typedef  ::manipulation_msgs::GraspableObject_<ContainerAllocator>  _selected_object_type;
00077    ::manipulation_msgs::GraspableObject_<ContainerAllocator>  selected_object;
00078 
00079   typedef std::vector< ::manipulation_msgs::GraspableObject_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::manipulation_msgs::GraspableObject_<ContainerAllocator> >::other >  _movable_obstacles_type;
00080   std::vector< ::manipulation_msgs::GraspableObject_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::manipulation_msgs::GraspableObject_<ContainerAllocator> >::other >  movable_obstacles;
00081 
00082   typedef  ::pr2_object_manipulation_msgs::IMGUIAdvancedOptions_<ContainerAllocator>  _adv_options_type;
00083    ::pr2_object_manipulation_msgs::IMGUIAdvancedOptions_<ContainerAllocator>  adv_options;
00084 
00085 
00086   typedef boost::shared_ptr< ::pr2_object_manipulation_msgs::IMGUIOptions_<ContainerAllocator> > Ptr;
00087   typedef boost::shared_ptr< ::pr2_object_manipulation_msgs::IMGUIOptions_<ContainerAllocator>  const> ConstPtr;
00088   boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00089 }; // struct IMGUIOptions
00090 typedef  ::pr2_object_manipulation_msgs::IMGUIOptions_<std::allocator<void> > IMGUIOptions;
00091 
00092 typedef boost::shared_ptr< ::pr2_object_manipulation_msgs::IMGUIOptions> IMGUIOptionsPtr;
00093 typedef boost::shared_ptr< ::pr2_object_manipulation_msgs::IMGUIOptions const> IMGUIOptionsConstPtr;
00094 
00095 
00096 template<typename ContainerAllocator>
00097 std::ostream& operator<<(std::ostream& s, const  ::pr2_object_manipulation_msgs::IMGUIOptions_<ContainerAllocator> & v)
00098 {
00099   ros::message_operations::Printer< ::pr2_object_manipulation_msgs::IMGUIOptions_<ContainerAllocator> >::stream(s, "", v);
00100   return s;}
00101 
00102 } // namespace pr2_object_manipulation_msgs
00103 
00104 namespace ros
00105 {
00106 namespace message_traits
00107 {
00108 template<class ContainerAllocator> struct IsMessage< ::pr2_object_manipulation_msgs::IMGUIOptions_<ContainerAllocator> > : public TrueType {};
00109 template<class ContainerAllocator> struct IsMessage< ::pr2_object_manipulation_msgs::IMGUIOptions_<ContainerAllocator>  const> : public TrueType {};
00110 template<class ContainerAllocator>
00111 struct MD5Sum< ::pr2_object_manipulation_msgs::IMGUIOptions_<ContainerAllocator> > {
00112   static const char* value() 
00113   {
00114     return "85729c8d5ffbe3b0f5d17572352f251c";
00115   }
00116 
00117   static const char* value(const  ::pr2_object_manipulation_msgs::IMGUIOptions_<ContainerAllocator> &) { return value(); } 
00118   static const uint64_t static_value1 = 0x85729c8d5ffbe3b0ULL;
00119   static const uint64_t static_value2 = 0xf5d17572352f251cULL;
00120 };
00121 
00122 template<class ContainerAllocator>
00123 struct DataType< ::pr2_object_manipulation_msgs::IMGUIOptions_<ContainerAllocator> > {
00124   static const char* value() 
00125   {
00126     return "pr2_object_manipulation_msgs/IMGUIOptions";
00127   }
00128 
00129   static const char* value(const  ::pr2_object_manipulation_msgs::IMGUIOptions_<ContainerAllocator> &) { return value(); } 
00130 };
00131 
00132 template<class ContainerAllocator>
00133 struct Definition< ::pr2_object_manipulation_msgs::IMGUIOptions_<ContainerAllocator> > {
00134   static const char* value() 
00135   {
00136     return "\n\
00137 # collision checking enabled\n\
00138 bool collision_checked\n\
00139 \n\
00140 # 0=call gripper click\n\
00141 # 1=grasp the provided graspable object\n\
00142 int32 grasp_selection\n\
00143 \n\
00144 # 0=right, 1=left arm\n\
00145 int32 arm_selection\n\
00146 \n\
00147 # for RESET commands\n\
00148 # 0=reset collision objects\n\
00149 # 1=reset attached objects\n\
00150 int32 reset_choice\n\
00151 \n\
00152 # for MOVE_ARM commands\n\
00153 # 0=side\n\
00154 # 1=front\n\
00155 # 2=side handoff\n\
00156 int32 arm_action_choice\n\
00157 \n\
00158 # for MOVE_ARM commands\n\
00159 # 0=open-loop\n\
00160 # 1=with planner\n\
00161 int32 arm_planner_choice\n\
00162 \n\
00163 # for MOVE_GRIPPER commands\n\
00164 # opening of gripper (0=closed..100=open)\n\
00165 int32 gripper_slider_position\n\
00166 \n\
00167 # used if grasp_selection == 1\n\
00168 manipulation_msgs/GraspableObject selected_object\n\
00169 \n\
00170 # indicates obstacles that can be moved during grasping\n\
00171 # presumably, the operator has marked these in some fashion\n\
00172 manipulation_msgs/GraspableObject[] movable_obstacles\n\
00173 \n\
00174 # more options..\n\
00175 IMGUIAdvancedOptions adv_options\n\
00176 \n\
00177 ================================================================================\n\
00178 MSG: manipulation_msgs/GraspableObject\n\
00179 # an object that the object_manipulator can work on\n\
00180 \n\
00181 # a graspable object can be represented in multiple ways. This message\n\
00182 # can contain all of them. Which one is actually used is up to the receiver\n\
00183 # of this message. When adding new representations, one must be careful that\n\
00184 # they have reasonable lightweight defaults indicating that that particular\n\
00185 # representation is not available.\n\
00186 \n\
00187 # the tf frame to be used as a reference frame when combining information from\n\
00188 # the different representations below\n\
00189 string reference_frame_id\n\
00190 \n\
00191 # potential recognition results from a database of models\n\
00192 # all poses are relative to the object reference pose\n\
00193 household_objects_database_msgs/DatabaseModelPose[] potential_models\n\
00194 \n\
00195 # the point cloud itself\n\
00196 sensor_msgs/PointCloud cluster\n\
00197 \n\
00198 # a region of a PointCloud2 of interest\n\
00199 SceneRegion region\n\
00200 \n\
00201 # the name that this object has in the collision environment\n\
00202 string collision_name\n\
00203 ================================================================================\n\
00204 MSG: household_objects_database_msgs/DatabaseModelPose\n\
00205 # Informs that a specific model from the Model Database has been \n\
00206 # identified at a certain location\n\
00207 \n\
00208 # the database id of the model\n\
00209 int32 model_id\n\
00210 \n\
00211 # if the object was recognized by the ORK pipeline, its type will be in here\n\
00212 # if this is not empty, then the string in here will be converted to a household_objects_database id\n\
00213 # leave this empty if providing an id in the model_id field\n\
00214 object_recognition_msgs/ObjectType type\n\
00215 \n\
00216 # the pose that it can be found in\n\
00217 geometry_msgs/PoseStamped pose\n\
00218 \n\
00219 # a measure of the confidence level in this detection result\n\
00220 float32 confidence\n\
00221 \n\
00222 # the name of the object detector that generated this detection result\n\
00223 string detector_name\n\
00224 \n\
00225 ================================================================================\n\
00226 MSG: object_recognition_msgs/ObjectType\n\
00227 ################################################## OBJECT ID #########################################################\n\
00228 \n\
00229 # Contains information about the type of a found object. Those two sets of parameters together uniquely define an\n\
00230 # object\n\
00231 \n\
00232 # The key of the found object: the unique identifier in the given db\n\
00233 string key\n\
00234 \n\
00235 # The db parameters stored as a JSON/compressed YAML string. An object id does not make sense without the corresponding\n\
00236 # database. E.g., in object_recognition, it can look like: \"{'type':'CouchDB', 'root':'http://localhost'}\"\n\
00237 # There is no conventional format for those parameters and it's nice to keep that flexibility.\n\
00238 # The object_recognition_core as a generic DB type that can read those fields\n\
00239 # Current examples:\n\
00240 # For CouchDB:\n\
00241 #   type: 'CouchDB'\n\
00242 #   root: 'http://localhost:5984'\n\
00243 #   collection: 'object_recognition'\n\
00244 # For SQL household database:\n\
00245 #   type: 'SqlHousehold'\n\
00246 #   host: 'wgs36'\n\
00247 #   port: 5432\n\
00248 #   user: 'willow'\n\
00249 #   password: 'willow'\n\
00250 #   name: 'household_objects'\n\
00251 #   module: 'tabletop'\n\
00252 string db\n\
00253 \n\
00254 ================================================================================\n\
00255 MSG: geometry_msgs/PoseStamped\n\
00256 # A Pose with reference coordinate frame and timestamp\n\
00257 Header header\n\
00258 Pose pose\n\
00259 \n\
00260 ================================================================================\n\
00261 MSG: std_msgs/Header\n\
00262 # Standard metadata for higher-level stamped data types.\n\
00263 # This is generally used to communicate timestamped data \n\
00264 # in a particular coordinate frame.\n\
00265 # \n\
00266 # sequence ID: consecutively increasing ID \n\
00267 uint32 seq\n\
00268 #Two-integer timestamp that is expressed as:\n\
00269 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00270 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00271 # time-handling sugar is provided by the client library\n\
00272 time stamp\n\
00273 #Frame this data is associated with\n\
00274 # 0: no frame\n\
00275 # 1: global frame\n\
00276 string frame_id\n\
00277 \n\
00278 ================================================================================\n\
00279 MSG: geometry_msgs/Pose\n\
00280 # A representation of pose in free space, composed of postion and orientation. \n\
00281 Point position\n\
00282 Quaternion orientation\n\
00283 \n\
00284 ================================================================================\n\
00285 MSG: geometry_msgs/Point\n\
00286 # This contains the position of a point in free space\n\
00287 float64 x\n\
00288 float64 y\n\
00289 float64 z\n\
00290 \n\
00291 ================================================================================\n\
00292 MSG: geometry_msgs/Quaternion\n\
00293 # This represents an orientation in free space in quaternion form.\n\
00294 \n\
00295 float64 x\n\
00296 float64 y\n\
00297 float64 z\n\
00298 float64 w\n\
00299 \n\
00300 ================================================================================\n\
00301 MSG: sensor_msgs/PointCloud\n\
00302 # This message holds a collection of 3d points, plus optional additional\n\
00303 # information about each point.\n\
00304 \n\
00305 # Time of sensor data acquisition, coordinate frame ID.\n\
00306 Header header\n\
00307 \n\
00308 # Array of 3d points. Each Point32 should be interpreted as a 3d point\n\
00309 # in the frame given in the header.\n\
00310 geometry_msgs/Point32[] points\n\
00311 \n\
00312 # Each channel should have the same number of elements as points array,\n\
00313 # and the data in each channel should correspond 1:1 with each point.\n\
00314 # Channel names in common practice are listed in ChannelFloat32.msg.\n\
00315 ChannelFloat32[] channels\n\
00316 \n\
00317 ================================================================================\n\
00318 MSG: geometry_msgs/Point32\n\
00319 # This contains the position of a point in free space(with 32 bits of precision).\n\
00320 # It is recommeded to use Point wherever possible instead of Point32.  \n\
00321 # \n\
00322 # This recommendation is to promote interoperability.  \n\
00323 #\n\
00324 # This message is designed to take up less space when sending\n\
00325 # lots of points at once, as in the case of a PointCloud.  \n\
00326 \n\
00327 float32 x\n\
00328 float32 y\n\
00329 float32 z\n\
00330 ================================================================================\n\
00331 MSG: sensor_msgs/ChannelFloat32\n\
00332 # This message is used by the PointCloud message to hold optional data\n\
00333 # associated with each point in the cloud. The length of the values\n\
00334 # array should be the same as the length of the points array in the\n\
00335 # PointCloud, and each value should be associated with the corresponding\n\
00336 # point.\n\
00337 \n\
00338 # Channel names in existing practice include:\n\
00339 #   \"u\", \"v\" - row and column (respectively) in the left stereo image.\n\
00340 #              This is opposite to usual conventions but remains for\n\
00341 #              historical reasons. The newer PointCloud2 message has no\n\
00342 #              such problem.\n\
00343 #   \"rgb\" - For point clouds produced by color stereo cameras. uint8\n\
00344 #           (R,G,B) values packed into the least significant 24 bits,\n\
00345 #           in order.\n\
00346 #   \"intensity\" - laser or pixel intensity.\n\
00347 #   \"distance\"\n\
00348 \n\
00349 # The channel name should give semantics of the channel (e.g.\n\
00350 # \"intensity\" instead of \"value\").\n\
00351 string name\n\
00352 \n\
00353 # The values array should be 1-1 with the elements of the associated\n\
00354 # PointCloud.\n\
00355 float32[] values\n\
00356 \n\
00357 ================================================================================\n\
00358 MSG: manipulation_msgs/SceneRegion\n\
00359 # Point cloud\n\
00360 sensor_msgs/PointCloud2 cloud\n\
00361 \n\
00362 # Indices for the region of interest\n\
00363 int32[] mask\n\
00364 \n\
00365 # One of the corresponding 2D images, if applicable\n\
00366 sensor_msgs/Image image\n\
00367 \n\
00368 # The disparity image, if applicable\n\
00369 sensor_msgs/Image disparity_image\n\
00370 \n\
00371 # Camera info for the camera that took the image\n\
00372 sensor_msgs/CameraInfo cam_info\n\
00373 \n\
00374 # a 3D region of interest for grasp planning\n\
00375 geometry_msgs/PoseStamped  roi_box_pose\n\
00376 geometry_msgs/Vector3      roi_box_dims\n\
00377 \n\
00378 ================================================================================\n\
00379 MSG: sensor_msgs/PointCloud2\n\
00380 # This message holds a collection of N-dimensional points, which may\n\
00381 # contain additional information such as normals, intensity, etc. The\n\
00382 # point data is stored as a binary blob, its layout described by the\n\
00383 # contents of the \"fields\" array.\n\
00384 \n\
00385 # The point cloud data may be organized 2d (image-like) or 1d\n\
00386 # (unordered). Point clouds organized as 2d images may be produced by\n\
00387 # camera depth sensors such as stereo or time-of-flight.\n\
00388 \n\
00389 # Time of sensor data acquisition, and the coordinate frame ID (for 3d\n\
00390 # points).\n\
00391 Header header\n\
00392 \n\
00393 # 2D structure of the point cloud. If the cloud is unordered, height is\n\
00394 # 1 and width is the length of the point cloud.\n\
00395 uint32 height\n\
00396 uint32 width\n\
00397 \n\
00398 # Describes the channels and their layout in the binary data blob.\n\
00399 PointField[] fields\n\
00400 \n\
00401 bool    is_bigendian # Is this data bigendian?\n\
00402 uint32  point_step   # Length of a point in bytes\n\
00403 uint32  row_step     # Length of a row in bytes\n\
00404 uint8[] data         # Actual point data, size is (row_step*height)\n\
00405 \n\
00406 bool is_dense        # True if there are no invalid points\n\
00407 \n\
00408 ================================================================================\n\
00409 MSG: sensor_msgs/PointField\n\
00410 # This message holds the description of one point entry in the\n\
00411 # PointCloud2 message format.\n\
00412 uint8 INT8    = 1\n\
00413 uint8 UINT8   = 2\n\
00414 uint8 INT16   = 3\n\
00415 uint8 UINT16  = 4\n\
00416 uint8 INT32   = 5\n\
00417 uint8 UINT32  = 6\n\
00418 uint8 FLOAT32 = 7\n\
00419 uint8 FLOAT64 = 8\n\
00420 \n\
00421 string name      # Name of field\n\
00422 uint32 offset    # Offset from start of point struct\n\
00423 uint8  datatype  # Datatype enumeration, see above\n\
00424 uint32 count     # How many elements in the field\n\
00425 \n\
00426 ================================================================================\n\
00427 MSG: sensor_msgs/Image\n\
00428 # This message contains an uncompressed image\n\
00429 # (0, 0) is at top-left corner of image\n\
00430 #\n\
00431 \n\
00432 Header header        # Header timestamp should be acquisition time of image\n\
00433                      # Header frame_id should be optical frame of camera\n\
00434                      # origin of frame should be optical center of cameara\n\
00435                      # +x should point to the right in the image\n\
00436                      # +y should point down in the image\n\
00437                      # +z should point into to plane of the image\n\
00438                      # If the frame_id here and the frame_id of the CameraInfo\n\
00439                      # message associated with the image conflict\n\
00440                      # the behavior is undefined\n\
00441 \n\
00442 uint32 height         # image height, that is, number of rows\n\
00443 uint32 width          # image width, that is, number of columns\n\
00444 \n\
00445 # The legal values for encoding are in file src/image_encodings.cpp\n\
00446 # If you want to standardize a new string format, join\n\
00447 # ros-users@lists.sourceforge.net and send an email proposing a new encoding.\n\
00448 \n\
00449 string encoding       # Encoding of pixels -- channel meaning, ordering, size\n\
00450                       # taken from the list of strings in include/sensor_msgs/image_encodings.h\n\
00451 \n\
00452 uint8 is_bigendian    # is this data bigendian?\n\
00453 uint32 step           # Full row length in bytes\n\
00454 uint8[] data          # actual matrix data, size is (step * rows)\n\
00455 \n\
00456 ================================================================================\n\
00457 MSG: sensor_msgs/CameraInfo\n\
00458 # This message defines meta information for a camera. It should be in a\n\
00459 # camera namespace on topic \"camera_info\" and accompanied by up to five\n\
00460 # image topics named:\n\
00461 #\n\
00462 #   image_raw - raw data from the camera driver, possibly Bayer encoded\n\
00463 #   image            - monochrome, distorted\n\
00464 #   image_color      - color, distorted\n\
00465 #   image_rect       - monochrome, rectified\n\
00466 #   image_rect_color - color, rectified\n\
00467 #\n\
00468 # The image_pipeline contains packages (image_proc, stereo_image_proc)\n\
00469 # for producing the four processed image topics from image_raw and\n\
00470 # camera_info. The meaning of the camera parameters are described in\n\
00471 # detail at http://www.ros.org/wiki/image_pipeline/CameraInfo.\n\
00472 #\n\
00473 # The image_geometry package provides a user-friendly interface to\n\
00474 # common operations using this meta information. If you want to, e.g.,\n\
00475 # project a 3d point into image coordinates, we strongly recommend\n\
00476 # using image_geometry.\n\
00477 #\n\
00478 # If the camera is uncalibrated, the matrices D, K, R, P should be left\n\
00479 # zeroed out. In particular, clients may assume that K[0] == 0.0\n\
00480 # indicates an uncalibrated camera.\n\
00481 \n\
00482 #######################################################################\n\
00483 #                     Image acquisition info                          #\n\
00484 #######################################################################\n\
00485 \n\
00486 # Time of image acquisition, camera coordinate frame ID\n\
00487 Header header    # Header timestamp should be acquisition time of image\n\
00488                  # Header frame_id should be optical frame of camera\n\
00489                  # origin of frame should be optical center of camera\n\
00490                  # +x should point to the right in the image\n\
00491                  # +y should point down in the image\n\
00492                  # +z should point into the plane of the image\n\
00493 \n\
00494 \n\
00495 #######################################################################\n\
00496 #                      Calibration Parameters                         #\n\
00497 #######################################################################\n\
00498 # These are fixed during camera calibration. Their values will be the #\n\
00499 # same in all messages until the camera is recalibrated. Note that    #\n\
00500 # self-calibrating systems may \"recalibrate\" frequently.              #\n\
00501 #                                                                     #\n\
00502 # The internal parameters can be used to warp a raw (distorted) image #\n\
00503 # to:                                                                 #\n\
00504 #   1. An undistorted image (requires D and K)                        #\n\
00505 #   2. A rectified image (requires D, K, R)                           #\n\
00506 # The projection matrix P projects 3D points into the rectified image.#\n\
00507 #######################################################################\n\
00508 \n\
00509 # The image dimensions with which the camera was calibrated. Normally\n\
00510 # this will be the full camera resolution in pixels.\n\
00511 uint32 height\n\
00512 uint32 width\n\
00513 \n\
00514 # The distortion model used. Supported models are listed in\n\
00515 # sensor_msgs/distortion_models.h. For most cameras, \"plumb_bob\" - a\n\
00516 # simple model of radial and tangential distortion - is sufficent.\n\
00517 string distortion_model\n\
00518 \n\
00519 # The distortion parameters, size depending on the distortion model.\n\
00520 # For \"plumb_bob\", the 5 parameters are: (k1, k2, t1, t2, k3).\n\
00521 float64[] D\n\
00522 \n\
00523 # Intrinsic camera matrix for the raw (distorted) images.\n\
00524 #     [fx  0 cx]\n\
00525 # K = [ 0 fy cy]\n\
00526 #     [ 0  0  1]\n\
00527 # Projects 3D points in the camera coordinate frame to 2D pixel\n\
00528 # coordinates using the focal lengths (fx, fy) and principal point\n\
00529 # (cx, cy).\n\
00530 float64[9]  K # 3x3 row-major matrix\n\
00531 \n\
00532 # Rectification matrix (stereo cameras only)\n\
00533 # A rotation matrix aligning the camera coordinate system to the ideal\n\
00534 # stereo image plane so that epipolar lines in both stereo images are\n\
00535 # parallel.\n\
00536 float64[9]  R # 3x3 row-major matrix\n\
00537 \n\
00538 # Projection/camera matrix\n\
00539 #     [fx'  0  cx' Tx]\n\
00540 # P = [ 0  fy' cy' Ty]\n\
00541 #     [ 0   0   1   0]\n\
00542 # By convention, this matrix specifies the intrinsic (camera) matrix\n\
00543 #  of the processed (rectified) image. That is, the left 3x3 portion\n\
00544 #  is the normal camera intrinsic matrix for the rectified image.\n\
00545 # It projects 3D points in the camera coordinate frame to 2D pixel\n\
00546 #  coordinates using the focal lengths (fx', fy') and principal point\n\
00547 #  (cx', cy') - these may differ from the values in K.\n\
00548 # For monocular cameras, Tx = Ty = 0. Normally, monocular cameras will\n\
00549 #  also have R = the identity and P[1:3,1:3] = K.\n\
00550 # For a stereo pair, the fourth column [Tx Ty 0]' is related to the\n\
00551 #  position of the optical center of the second camera in the first\n\
00552 #  camera's frame. We assume Tz = 0 so both cameras are in the same\n\
00553 #  stereo image plane. The first camera always has Tx = Ty = 0. For\n\
00554 #  the right (second) camera of a horizontal stereo pair, Ty = 0 and\n\
00555 #  Tx = -fx' * B, where B is the baseline between the cameras.\n\
00556 # Given a 3D point [X Y Z]', the projection (x, y) of the point onto\n\
00557 #  the rectified image is given by:\n\
00558 #  [u v w]' = P * [X Y Z 1]'\n\
00559 #         x = u / w\n\
00560 #         y = v / w\n\
00561 #  This holds for both images of a stereo pair.\n\
00562 float64[12] P # 3x4 row-major matrix\n\
00563 \n\
00564 \n\
00565 #######################################################################\n\
00566 #                      Operational Parameters                         #\n\
00567 #######################################################################\n\
00568 # These define the image region actually captured by the camera       #\n\
00569 # driver. Although they affect the geometry of the output image, they #\n\
00570 # may be changed freely without recalibrating the camera.             #\n\
00571 #######################################################################\n\
00572 \n\
00573 # Binning refers here to any camera setting which combines rectangular\n\
00574 #  neighborhoods of pixels into larger \"super-pixels.\" It reduces the\n\
00575 #  resolution of the output image to\n\
00576 #  (width / binning_x) x (height / binning_y).\n\
00577 # The default values binning_x = binning_y = 0 is considered the same\n\
00578 #  as binning_x = binning_y = 1 (no subsampling).\n\
00579 uint32 binning_x\n\
00580 uint32 binning_y\n\
00581 \n\
00582 # Region of interest (subwindow of full camera resolution), given in\n\
00583 #  full resolution (unbinned) image coordinates. A particular ROI\n\
00584 #  always denotes the same window of pixels on the camera sensor,\n\
00585 #  regardless of binning settings.\n\
00586 # The default setting of roi (all values 0) is considered the same as\n\
00587 #  full resolution (roi.width = width, roi.height = height).\n\
00588 RegionOfInterest roi\n\
00589 \n\
00590 ================================================================================\n\
00591 MSG: sensor_msgs/RegionOfInterest\n\
00592 # This message is used to specify a region of interest within an image.\n\
00593 #\n\
00594 # When used to specify the ROI setting of the camera when the image was\n\
00595 # taken, the height and width fields should either match the height and\n\
00596 # width fields for the associated image; or height = width = 0\n\
00597 # indicates that the full resolution image was captured.\n\
00598 \n\
00599 uint32 x_offset  # Leftmost pixel of the ROI\n\
00600                  # (0 if the ROI includes the left edge of the image)\n\
00601 uint32 y_offset  # Topmost pixel of the ROI\n\
00602                  # (0 if the ROI includes the top edge of the image)\n\
00603 uint32 height    # Height of ROI\n\
00604 uint32 width     # Width of ROI\n\
00605 \n\
00606 # True if a distinct rectified ROI should be calculated from the \"raw\"\n\
00607 # ROI in this message. Typically this should be False if the full image\n\
00608 # is captured (ROI not used), and True if a subwindow is captured (ROI\n\
00609 # used).\n\
00610 bool do_rectify\n\
00611 \n\
00612 ================================================================================\n\
00613 MSG: geometry_msgs/Vector3\n\
00614 # This represents a vector in free space. \n\
00615 \n\
00616 float64 x\n\
00617 float64 y\n\
00618 float64 z\n\
00619 ================================================================================\n\
00620 MSG: pr2_object_manipulation_msgs/IMGUIAdvancedOptions\n\
00621         \n\
00622 bool reactive_grasping\n\
00623 bool reactive_force     \n\
00624 bool reactive_place\n\
00625 int32 lift_steps\n\
00626 int32 retreat_steps\n\
00627 int32 lift_direction_choice\n\
00628 int32 desired_approach\n\
00629 int32 min_approach\n\
00630 float32 max_contact_force\n\
00631 bool find_alternatives\n\
00632 bool always_plan_grasps\n\
00633 bool cycle_gripper_opening\n\
00634 \n\
00635 ";
00636   }
00637 
00638   static const char* value(const  ::pr2_object_manipulation_msgs::IMGUIOptions_<ContainerAllocator> &) { return value(); } 
00639 };
00640 
00641 } // namespace message_traits
00642 } // namespace ros
00643 
00644 namespace ros
00645 {
00646 namespace serialization
00647 {
00648 
00649 template<class ContainerAllocator> struct Serializer< ::pr2_object_manipulation_msgs::IMGUIOptions_<ContainerAllocator> >
00650 {
00651   template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00652   {
00653     stream.next(m.collision_checked);
00654     stream.next(m.grasp_selection);
00655     stream.next(m.arm_selection);
00656     stream.next(m.reset_choice);
00657     stream.next(m.arm_action_choice);
00658     stream.next(m.arm_planner_choice);
00659     stream.next(m.gripper_slider_position);
00660     stream.next(m.selected_object);
00661     stream.next(m.movable_obstacles);
00662     stream.next(m.adv_options);
00663   }
00664 
00665   ROS_DECLARE_ALLINONE_SERIALIZER;
00666 }; // struct IMGUIOptions_
00667 } // namespace serialization
00668 } // namespace ros
00669 
00670 namespace ros
00671 {
00672 namespace message_operations
00673 {
00674 
00675 template<class ContainerAllocator>
00676 struct Printer< ::pr2_object_manipulation_msgs::IMGUIOptions_<ContainerAllocator> >
00677 {
00678   template<typename Stream> static void stream(Stream& s, const std::string& indent, const  ::pr2_object_manipulation_msgs::IMGUIOptions_<ContainerAllocator> & v) 
00679   {
00680     s << indent << "collision_checked: ";
00681     Printer<uint8_t>::stream(s, indent + "  ", v.collision_checked);
00682     s << indent << "grasp_selection: ";
00683     Printer<int32_t>::stream(s, indent + "  ", v.grasp_selection);
00684     s << indent << "arm_selection: ";
00685     Printer<int32_t>::stream(s, indent + "  ", v.arm_selection);
00686     s << indent << "reset_choice: ";
00687     Printer<int32_t>::stream(s, indent + "  ", v.reset_choice);
00688     s << indent << "arm_action_choice: ";
00689     Printer<int32_t>::stream(s, indent + "  ", v.arm_action_choice);
00690     s << indent << "arm_planner_choice: ";
00691     Printer<int32_t>::stream(s, indent + "  ", v.arm_planner_choice);
00692     s << indent << "gripper_slider_position: ";
00693     Printer<int32_t>::stream(s, indent + "  ", v.gripper_slider_position);
00694     s << indent << "selected_object: ";
00695 s << std::endl;
00696     Printer< ::manipulation_msgs::GraspableObject_<ContainerAllocator> >::stream(s, indent + "  ", v.selected_object);
00697     s << indent << "movable_obstacles[]" << std::endl;
00698     for (size_t i = 0; i < v.movable_obstacles.size(); ++i)
00699     {
00700       s << indent << "  movable_obstacles[" << i << "]: ";
00701       s << std::endl;
00702       s << indent;
00703       Printer< ::manipulation_msgs::GraspableObject_<ContainerAllocator> >::stream(s, indent + "    ", v.movable_obstacles[i]);
00704     }
00705     s << indent << "adv_options: ";
00706 s << std::endl;
00707     Printer< ::pr2_object_manipulation_msgs::IMGUIAdvancedOptions_<ContainerAllocator> >::stream(s, indent + "  ", v.adv_options);
00708   }
00709 };
00710 
00711 
00712 } // namespace message_operations
00713 } // namespace ros
00714 
00715 #endif // PR2_OBJECT_MANIPULATION_MSGS_MESSAGE_IMGUIOPTIONS_H
00716 


pr2_object_manipulation_msgs
Author(s): Matei Ciocarlie
autogenerated on Mon Oct 6 2014 11:55:21