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00002 #ifndef OBJECT_MANIPULATION_MSGS_MESSAGE_REACTIVEPLACEACTIONGOAL_H
00003 #define OBJECT_MANIPULATION_MSGS_MESSAGE_REACTIVEPLACEACTIONGOAL_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 "std_msgs/Header.h"
00018 #include "actionlib_msgs/GoalID.h"
00019 #include "object_manipulation_msgs/ReactivePlaceGoal.h"
00020
00021 namespace object_manipulation_msgs
00022 {
00023 template <class ContainerAllocator>
00024 struct ReactivePlaceActionGoal_ {
00025 typedef ReactivePlaceActionGoal_<ContainerAllocator> Type;
00026
00027 ReactivePlaceActionGoal_()
00028 : header()
00029 , goal_id()
00030 , goal()
00031 {
00032 }
00033
00034 ReactivePlaceActionGoal_(const ContainerAllocator& _alloc)
00035 : header(_alloc)
00036 , goal_id(_alloc)
00037 , goal(_alloc)
00038 {
00039 }
00040
00041 typedef ::std_msgs::Header_<ContainerAllocator> _header_type;
00042 ::std_msgs::Header_<ContainerAllocator> header;
00043
00044 typedef ::actionlib_msgs::GoalID_<ContainerAllocator> _goal_id_type;
00045 ::actionlib_msgs::GoalID_<ContainerAllocator> goal_id;
00046
00047 typedef ::object_manipulation_msgs::ReactivePlaceGoal_<ContainerAllocator> _goal_type;
00048 ::object_manipulation_msgs::ReactivePlaceGoal_<ContainerAllocator> goal;
00049
00050
00051 typedef boost::shared_ptr< ::object_manipulation_msgs::ReactivePlaceActionGoal_<ContainerAllocator> > Ptr;
00052 typedef boost::shared_ptr< ::object_manipulation_msgs::ReactivePlaceActionGoal_<ContainerAllocator> const> ConstPtr;
00053 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00054 };
00055 typedef ::object_manipulation_msgs::ReactivePlaceActionGoal_<std::allocator<void> > ReactivePlaceActionGoal;
00056
00057 typedef boost::shared_ptr< ::object_manipulation_msgs::ReactivePlaceActionGoal> ReactivePlaceActionGoalPtr;
00058 typedef boost::shared_ptr< ::object_manipulation_msgs::ReactivePlaceActionGoal const> ReactivePlaceActionGoalConstPtr;
00059
00060
00061 template<typename ContainerAllocator>
00062 std::ostream& operator<<(std::ostream& s, const ::object_manipulation_msgs::ReactivePlaceActionGoal_<ContainerAllocator> & v)
00063 {
00064 ros::message_operations::Printer< ::object_manipulation_msgs::ReactivePlaceActionGoal_<ContainerAllocator> >::stream(s, "", v);
00065 return s;}
00066
00067 }
00068
00069 namespace ros
00070 {
00071 namespace message_traits
00072 {
00073 template<class ContainerAllocator> struct IsMessage< ::object_manipulation_msgs::ReactivePlaceActionGoal_<ContainerAllocator> > : public TrueType {};
00074 template<class ContainerAllocator> struct IsMessage< ::object_manipulation_msgs::ReactivePlaceActionGoal_<ContainerAllocator> const> : public TrueType {};
00075 template<class ContainerAllocator>
00076 struct MD5Sum< ::object_manipulation_msgs::ReactivePlaceActionGoal_<ContainerAllocator> > {
00077 static const char* value()
00078 {
00079 return "f70629d4244203e19c14919dbd7fb5d4";
00080 }
00081
00082 static const char* value(const ::object_manipulation_msgs::ReactivePlaceActionGoal_<ContainerAllocator> &) { return value(); }
00083 static const uint64_t static_value1 = 0xf70629d4244203e1ULL;
00084 static const uint64_t static_value2 = 0x9c14919dbd7fb5d4ULL;
00085 };
00086
00087 template<class ContainerAllocator>
00088 struct DataType< ::object_manipulation_msgs::ReactivePlaceActionGoal_<ContainerAllocator> > {
00089 static const char* value()
00090 {
00091 return "object_manipulation_msgs/ReactivePlaceActionGoal";
00092 }
00093
00094 static const char* value(const ::object_manipulation_msgs::ReactivePlaceActionGoal_<ContainerAllocator> &) { return value(); }
00095 };
00096
00097 template<class ContainerAllocator>
00098 struct Definition< ::object_manipulation_msgs::ReactivePlaceActionGoal_<ContainerAllocator> > {
00099 static const char* value()
00100 {
00101 return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00102 \n\
00103 Header header\n\
00104 actionlib_msgs/GoalID goal_id\n\
00105 ReactivePlaceGoal goal\n\
00106 \n\
00107 ================================================================================\n\
00108 MSG: std_msgs/Header\n\
00109 # Standard metadata for higher-level stamped data types.\n\
00110 # This is generally used to communicate timestamped data \n\
00111 # in a particular coordinate frame.\n\
00112 # \n\
00113 # sequence ID: consecutively increasing ID \n\
00114 uint32 seq\n\
00115 #Two-integer timestamp that is expressed as:\n\
00116 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00117 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00118 # time-handling sugar is provided by the client library\n\
00119 time stamp\n\
00120 #Frame this data is associated with\n\
00121 # 0: no frame\n\
00122 # 1: global frame\n\
00123 string frame_id\n\
00124 \n\
00125 ================================================================================\n\
00126 MSG: actionlib_msgs/GoalID\n\
00127 # The stamp should store the time at which this goal was requested.\n\
00128 # It is used by an action server when it tries to preempt all\n\
00129 # goals that were requested before a certain time\n\
00130 time stamp\n\
00131 \n\
00132 # The id provides a way to associate feedback and\n\
00133 # result message with specific goal requests. The id\n\
00134 # specified must be unique.\n\
00135 string id\n\
00136 \n\
00137 \n\
00138 ================================================================================\n\
00139 MSG: object_manipulation_msgs/ReactivePlaceGoal\n\
00140 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00141 # an action for placing the object using tactile sensor feedback.\n\
00142 # a reactive place starts from the current pose of the gripper and ends\n\
00143 # at a desired place pose, presumably using the touch sensors along the way\n\
00144 \n\
00145 # the name of the arm being used\n\
00146 string arm_name\n\
00147 \n\
00148 # the desired final place pose for the hand\n\
00149 geometry_msgs/PoseStamped final_place_pose\n\
00150 \n\
00151 # the joint trajectory to use for the place (if available)\n\
00152 # this trajectory is expected to start at the current pose of the gripper\n\
00153 # and end at the desired place pose\n\
00154 trajectory_msgs/JointTrajectory trajectory\n\
00155 \n\
00156 # the name of the support surface in the collision environment, if any\n\
00157 string collision_support_surface_name\n\
00158 \n\
00159 # the name in the collision environment of the object being placed, if any\n\
00160 string collision_object_name\n\
00161 \n\
00162 ================================================================================\n\
00163 MSG: geometry_msgs/PoseStamped\n\
00164 # A Pose with reference coordinate frame and timestamp\n\
00165 Header header\n\
00166 Pose pose\n\
00167 \n\
00168 ================================================================================\n\
00169 MSG: geometry_msgs/Pose\n\
00170 # A representation of pose in free space, composed of postion and orientation. \n\
00171 Point position\n\
00172 Quaternion orientation\n\
00173 \n\
00174 ================================================================================\n\
00175 MSG: geometry_msgs/Point\n\
00176 # This contains the position of a point in free space\n\
00177 float64 x\n\
00178 float64 y\n\
00179 float64 z\n\
00180 \n\
00181 ================================================================================\n\
00182 MSG: geometry_msgs/Quaternion\n\
00183 # This represents an orientation in free space in quaternion form.\n\
00184 \n\
00185 float64 x\n\
00186 float64 y\n\
00187 float64 z\n\
00188 float64 w\n\
00189 \n\
00190 ================================================================================\n\
00191 MSG: trajectory_msgs/JointTrajectory\n\
00192 Header header\n\
00193 string[] joint_names\n\
00194 JointTrajectoryPoint[] points\n\
00195 ================================================================================\n\
00196 MSG: trajectory_msgs/JointTrajectoryPoint\n\
00197 float64[] positions\n\
00198 float64[] velocities\n\
00199 float64[] accelerations\n\
00200 duration time_from_start\n\
00201 ";
00202 }
00203
00204 static const char* value(const ::object_manipulation_msgs::ReactivePlaceActionGoal_<ContainerAllocator> &) { return value(); }
00205 };
00206
00207 template<class ContainerAllocator> struct HasHeader< ::object_manipulation_msgs::ReactivePlaceActionGoal_<ContainerAllocator> > : public TrueType {};
00208 template<class ContainerAllocator> struct HasHeader< const ::object_manipulation_msgs::ReactivePlaceActionGoal_<ContainerAllocator> > : public TrueType {};
00209 }
00210 }
00211
00212 namespace ros
00213 {
00214 namespace serialization
00215 {
00216
00217 template<class ContainerAllocator> struct Serializer< ::object_manipulation_msgs::ReactivePlaceActionGoal_<ContainerAllocator> >
00218 {
00219 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00220 {
00221 stream.next(m.header);
00222 stream.next(m.goal_id);
00223 stream.next(m.goal);
00224 }
00225
00226 ROS_DECLARE_ALLINONE_SERIALIZER;
00227 };
00228 }
00229 }
00230
00231 namespace ros
00232 {
00233 namespace message_operations
00234 {
00235
00236 template<class ContainerAllocator>
00237 struct Printer< ::object_manipulation_msgs::ReactivePlaceActionGoal_<ContainerAllocator> >
00238 {
00239 template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::object_manipulation_msgs::ReactivePlaceActionGoal_<ContainerAllocator> & v)
00240 {
00241 s << indent << "header: ";
00242 s << std::endl;
00243 Printer< ::std_msgs::Header_<ContainerAllocator> >::stream(s, indent + " ", v.header);
00244 s << indent << "goal_id: ";
00245 s << std::endl;
00246 Printer< ::actionlib_msgs::GoalID_<ContainerAllocator> >::stream(s, indent + " ", v.goal_id);
00247 s << indent << "goal: ";
00248 s << std::endl;
00249 Printer< ::object_manipulation_msgs::ReactivePlaceGoal_<ContainerAllocator> >::stream(s, indent + " ", v.goal);
00250 }
00251 };
00252
00253
00254 }
00255 }
00256
00257 #endif // OBJECT_MANIPULATION_MSGS_MESSAGE_REACTIVEPLACEACTIONGOAL_H
00258