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00002 #ifndef OBJECT_MANIPULATION_MSGS_MESSAGE_GRIPPERTRANSLATION_H
00003 #define OBJECT_MANIPULATION_MSGS_MESSAGE_GRIPPERTRANSLATION_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 "geometry_msgs/Vector3Stamped.h"
00018
00019 namespace object_manipulation_msgs
00020 {
00021 template <class ContainerAllocator>
00022 struct GripperTranslation_ {
00023 typedef GripperTranslation_<ContainerAllocator> Type;
00024
00025 GripperTranslation_()
00026 : direction()
00027 , desired_distance(0.0)
00028 , min_distance(0.0)
00029 {
00030 }
00031
00032 GripperTranslation_(const ContainerAllocator& _alloc)
00033 : direction(_alloc)
00034 , desired_distance(0.0)
00035 , min_distance(0.0)
00036 {
00037 }
00038
00039 typedef ::geometry_msgs::Vector3Stamped_<ContainerAllocator> _direction_type;
00040 ::geometry_msgs::Vector3Stamped_<ContainerAllocator> direction;
00041
00042 typedef float _desired_distance_type;
00043 float desired_distance;
00044
00045 typedef float _min_distance_type;
00046 float min_distance;
00047
00048
00049 typedef boost::shared_ptr< ::object_manipulation_msgs::GripperTranslation_<ContainerAllocator> > Ptr;
00050 typedef boost::shared_ptr< ::object_manipulation_msgs::GripperTranslation_<ContainerAllocator> const> ConstPtr;
00051 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00052 };
00053 typedef ::object_manipulation_msgs::GripperTranslation_<std::allocator<void> > GripperTranslation;
00054
00055 typedef boost::shared_ptr< ::object_manipulation_msgs::GripperTranslation> GripperTranslationPtr;
00056 typedef boost::shared_ptr< ::object_manipulation_msgs::GripperTranslation const> GripperTranslationConstPtr;
00057
00058
00059 template<typename ContainerAllocator>
00060 std::ostream& operator<<(std::ostream& s, const ::object_manipulation_msgs::GripperTranslation_<ContainerAllocator> & v)
00061 {
00062 ros::message_operations::Printer< ::object_manipulation_msgs::GripperTranslation_<ContainerAllocator> >::stream(s, "", v);
00063 return s;}
00064
00065 }
00066
00067 namespace ros
00068 {
00069 namespace message_traits
00070 {
00071 template<class ContainerAllocator> struct IsMessage< ::object_manipulation_msgs::GripperTranslation_<ContainerAllocator> > : public TrueType {};
00072 template<class ContainerAllocator> struct IsMessage< ::object_manipulation_msgs::GripperTranslation_<ContainerAllocator> const> : public TrueType {};
00073 template<class ContainerAllocator>
00074 struct MD5Sum< ::object_manipulation_msgs::GripperTranslation_<ContainerAllocator> > {
00075 static const char* value()
00076 {
00077 return "b53bc0ad0f717cdec3b0e42dec300121";
00078 }
00079
00080 static const char* value(const ::object_manipulation_msgs::GripperTranslation_<ContainerAllocator> &) { return value(); }
00081 static const uint64_t static_value1 = 0xb53bc0ad0f717cdeULL;
00082 static const uint64_t static_value2 = 0xc3b0e42dec300121ULL;
00083 };
00084
00085 template<class ContainerAllocator>
00086 struct DataType< ::object_manipulation_msgs::GripperTranslation_<ContainerAllocator> > {
00087 static const char* value()
00088 {
00089 return "object_manipulation_msgs/GripperTranslation";
00090 }
00091
00092 static const char* value(const ::object_manipulation_msgs::GripperTranslation_<ContainerAllocator> &) { return value(); }
00093 };
00094
00095 template<class ContainerAllocator>
00096 struct Definition< ::object_manipulation_msgs::GripperTranslation_<ContainerAllocator> > {
00097 static const char* value()
00098 {
00099 return "# defines a translation for the gripper, used in pickup or place tasks\n\
00100 # for example for lifting an object off a table or approaching the table for placing\n\
00101 \n\
00102 # the direction of the translation\n\
00103 geometry_msgs/Vector3Stamped direction\n\
00104 \n\
00105 # the desired translation distance\n\
00106 float32 desired_distance\n\
00107 \n\
00108 # the min distance that must be considered feasible before the\n\
00109 # grasp is even attempted\n\
00110 float32 min_distance\n\
00111 ================================================================================\n\
00112 MSG: geometry_msgs/Vector3Stamped\n\
00113 # This represents a Vector3 with reference coordinate frame and timestamp\n\
00114 Header header\n\
00115 Vector3 vector\n\
00116 \n\
00117 ================================================================================\n\
00118 MSG: std_msgs/Header\n\
00119 # Standard metadata for higher-level stamped data types.\n\
00120 # This is generally used to communicate timestamped data \n\
00121 # in a particular coordinate frame.\n\
00122 # \n\
00123 # sequence ID: consecutively increasing ID \n\
00124 uint32 seq\n\
00125 #Two-integer timestamp that is expressed as:\n\
00126 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00127 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00128 # time-handling sugar is provided by the client library\n\
00129 time stamp\n\
00130 #Frame this data is associated with\n\
00131 # 0: no frame\n\
00132 # 1: global frame\n\
00133 string frame_id\n\
00134 \n\
00135 ================================================================================\n\
00136 MSG: geometry_msgs/Vector3\n\
00137 # This represents a vector in free space. \n\
00138 \n\
00139 float64 x\n\
00140 float64 y\n\
00141 float64 z\n\
00142 ";
00143 }
00144
00145 static const char* value(const ::object_manipulation_msgs::GripperTranslation_<ContainerAllocator> &) { return value(); }
00146 };
00147
00148 }
00149 }
00150
00151 namespace ros
00152 {
00153 namespace serialization
00154 {
00155
00156 template<class ContainerAllocator> struct Serializer< ::object_manipulation_msgs::GripperTranslation_<ContainerAllocator> >
00157 {
00158 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00159 {
00160 stream.next(m.direction);
00161 stream.next(m.desired_distance);
00162 stream.next(m.min_distance);
00163 }
00164
00165 ROS_DECLARE_ALLINONE_SERIALIZER;
00166 };
00167 }
00168 }
00169
00170 namespace ros
00171 {
00172 namespace message_operations
00173 {
00174
00175 template<class ContainerAllocator>
00176 struct Printer< ::object_manipulation_msgs::GripperTranslation_<ContainerAllocator> >
00177 {
00178 template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::object_manipulation_msgs::GripperTranslation_<ContainerAllocator> & v)
00179 {
00180 s << indent << "direction: ";
00181 s << std::endl;
00182 Printer< ::geometry_msgs::Vector3Stamped_<ContainerAllocator> >::stream(s, indent + " ", v.direction);
00183 s << indent << "desired_distance: ";
00184 Printer<float>::stream(s, indent + " ", v.desired_distance);
00185 s << indent << "min_distance: ";
00186 Printer<float>::stream(s, indent + " ", v.min_distance);
00187 }
00188 };
00189
00190
00191 }
00192 }
00193
00194 #endif // OBJECT_MANIPULATION_MSGS_MESSAGE_GRIPPERTRANSLATION_H
00195