ReactivePlaceAction.h
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00001 /* Auto-generated by genmsg_cpp for file /home/rosbuild/hudson/workspace/doc-groovy-object_manipulation/doc_stacks/2014-10-06_02-51-20.607186/object_manipulation/object_manipulation_msgs/msg/ReactivePlaceAction.msg */
00002 #ifndef OBJECT_MANIPULATION_MSGS_MESSAGE_REACTIVEPLACEACTION_H
00003 #define OBJECT_MANIPULATION_MSGS_MESSAGE_REACTIVEPLACEACTION_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 "object_manipulation_msgs/ReactivePlaceActionGoal.h"
00018 #include "object_manipulation_msgs/ReactivePlaceActionResult.h"
00019 #include "object_manipulation_msgs/ReactivePlaceActionFeedback.h"
00020 
00021 namespace object_manipulation_msgs
00022 {
00023 template <class ContainerAllocator>
00024 struct ReactivePlaceAction_ {
00025   typedef ReactivePlaceAction_<ContainerAllocator> Type;
00026 
00027   ReactivePlaceAction_()
00028   : action_goal()
00029   , action_result()
00030   , action_feedback()
00031   {
00032   }
00033 
00034   ReactivePlaceAction_(const ContainerAllocator& _alloc)
00035   : action_goal(_alloc)
00036   , action_result(_alloc)
00037   , action_feedback(_alloc)
00038   {
00039   }
00040 
00041   typedef  ::object_manipulation_msgs::ReactivePlaceActionGoal_<ContainerAllocator>  _action_goal_type;
00042    ::object_manipulation_msgs::ReactivePlaceActionGoal_<ContainerAllocator>  action_goal;
00043 
00044   typedef  ::object_manipulation_msgs::ReactivePlaceActionResult_<ContainerAllocator>  _action_result_type;
00045    ::object_manipulation_msgs::ReactivePlaceActionResult_<ContainerAllocator>  action_result;
00046 
00047   typedef  ::object_manipulation_msgs::ReactivePlaceActionFeedback_<ContainerAllocator>  _action_feedback_type;
00048    ::object_manipulation_msgs::ReactivePlaceActionFeedback_<ContainerAllocator>  action_feedback;
00049 
00050 
00051   typedef boost::shared_ptr< ::object_manipulation_msgs::ReactivePlaceAction_<ContainerAllocator> > Ptr;
00052   typedef boost::shared_ptr< ::object_manipulation_msgs::ReactivePlaceAction_<ContainerAllocator>  const> ConstPtr;
00053   boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00054 }; // struct ReactivePlaceAction
00055 typedef  ::object_manipulation_msgs::ReactivePlaceAction_<std::allocator<void> > ReactivePlaceAction;
00056 
00057 typedef boost::shared_ptr< ::object_manipulation_msgs::ReactivePlaceAction> ReactivePlaceActionPtr;
00058 typedef boost::shared_ptr< ::object_manipulation_msgs::ReactivePlaceAction const> ReactivePlaceActionConstPtr;
00059 
00060 
00061 template<typename ContainerAllocator>
00062 std::ostream& operator<<(std::ostream& s, const  ::object_manipulation_msgs::ReactivePlaceAction_<ContainerAllocator> & v)
00063 {
00064   ros::message_operations::Printer< ::object_manipulation_msgs::ReactivePlaceAction_<ContainerAllocator> >::stream(s, "", v);
00065   return s;}
00066 
00067 } // namespace object_manipulation_msgs
00068 
00069 namespace ros
00070 {
00071 namespace message_traits
00072 {
00073 template<class ContainerAllocator> struct IsMessage< ::object_manipulation_msgs::ReactivePlaceAction_<ContainerAllocator> > : public TrueType {};
00074 template<class ContainerAllocator> struct IsMessage< ::object_manipulation_msgs::ReactivePlaceAction_<ContainerAllocator>  const> : public TrueType {};
00075 template<class ContainerAllocator>
00076 struct MD5Sum< ::object_manipulation_msgs::ReactivePlaceAction_<ContainerAllocator> > {
00077   static const char* value() 
00078   {
00079     return "ae0ee2c7f49f2e6b00a5b3a1cc9bde61";
00080   }
00081 
00082   static const char* value(const  ::object_manipulation_msgs::ReactivePlaceAction_<ContainerAllocator> &) { return value(); } 
00083   static const uint64_t static_value1 = 0xae0ee2c7f49f2e6bULL;
00084   static const uint64_t static_value2 = 0x00a5b3a1cc9bde61ULL;
00085 };
00086 
00087 template<class ContainerAllocator>
00088 struct DataType< ::object_manipulation_msgs::ReactivePlaceAction_<ContainerAllocator> > {
00089   static const char* value() 
00090   {
00091     return "object_manipulation_msgs/ReactivePlaceAction";
00092   }
00093 
00094   static const char* value(const  ::object_manipulation_msgs::ReactivePlaceAction_<ContainerAllocator> &) { return value(); } 
00095 };
00096 
00097 template<class ContainerAllocator>
00098 struct Definition< ::object_manipulation_msgs::ReactivePlaceAction_<ContainerAllocator> > {
00099   static const char* value() 
00100   {
00101     return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00102 \n\
00103 ReactivePlaceActionGoal action_goal\n\
00104 ReactivePlaceActionResult action_result\n\
00105 ReactivePlaceActionFeedback action_feedback\n\
00106 \n\
00107 ================================================================================\n\
00108 MSG: object_manipulation_msgs/ReactivePlaceActionGoal\n\
00109 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00110 \n\
00111 Header header\n\
00112 actionlib_msgs/GoalID goal_id\n\
00113 ReactivePlaceGoal goal\n\
00114 \n\
00115 ================================================================================\n\
00116 MSG: std_msgs/Header\n\
00117 # Standard metadata for higher-level stamped data types.\n\
00118 # This is generally used to communicate timestamped data \n\
00119 # in a particular coordinate frame.\n\
00120 # \n\
00121 # sequence ID: consecutively increasing ID \n\
00122 uint32 seq\n\
00123 #Two-integer timestamp that is expressed as:\n\
00124 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00125 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00126 # time-handling sugar is provided by the client library\n\
00127 time stamp\n\
00128 #Frame this data is associated with\n\
00129 # 0: no frame\n\
00130 # 1: global frame\n\
00131 string frame_id\n\
00132 \n\
00133 ================================================================================\n\
00134 MSG: actionlib_msgs/GoalID\n\
00135 # The stamp should store the time at which this goal was requested.\n\
00136 # It is used by an action server when it tries to preempt all\n\
00137 # goals that were requested before a certain time\n\
00138 time stamp\n\
00139 \n\
00140 # The id provides a way to associate feedback and\n\
00141 # result message with specific goal requests. The id\n\
00142 # specified must be unique.\n\
00143 string id\n\
00144 \n\
00145 \n\
00146 ================================================================================\n\
00147 MSG: object_manipulation_msgs/ReactivePlaceGoal\n\
00148 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00149 # an action for placing the object using tactile sensor feedback.\n\
00150 # a reactive place starts from the current pose of the gripper and ends\n\
00151 # at a desired place pose, presumably using the touch sensors along the way\n\
00152 \n\
00153 # the name of the arm being used\n\
00154 string arm_name\n\
00155 \n\
00156 # the desired final place pose for the hand\n\
00157 geometry_msgs/PoseStamped final_place_pose\n\
00158 \n\
00159 # the joint trajectory to use for the place (if available)\n\
00160 # this trajectory is expected to start at the current pose of the gripper\n\
00161 # and end at the desired place pose\n\
00162 trajectory_msgs/JointTrajectory trajectory\n\
00163 \n\
00164 # the name of the support surface in the collision environment, if any\n\
00165 string collision_support_surface_name\n\
00166 \n\
00167 # the name in the collision environment of the object being placed, if any\n\
00168 string collision_object_name\n\
00169 \n\
00170 ================================================================================\n\
00171 MSG: geometry_msgs/PoseStamped\n\
00172 # A Pose with reference coordinate frame and timestamp\n\
00173 Header header\n\
00174 Pose pose\n\
00175 \n\
00176 ================================================================================\n\
00177 MSG: geometry_msgs/Pose\n\
00178 # A representation of pose in free space, composed of postion and orientation. \n\
00179 Point position\n\
00180 Quaternion orientation\n\
00181 \n\
00182 ================================================================================\n\
00183 MSG: geometry_msgs/Point\n\
00184 # This contains the position of a point in free space\n\
00185 float64 x\n\
00186 float64 y\n\
00187 float64 z\n\
00188 \n\
00189 ================================================================================\n\
00190 MSG: geometry_msgs/Quaternion\n\
00191 # This represents an orientation in free space in quaternion form.\n\
00192 \n\
00193 float64 x\n\
00194 float64 y\n\
00195 float64 z\n\
00196 float64 w\n\
00197 \n\
00198 ================================================================================\n\
00199 MSG: trajectory_msgs/JointTrajectory\n\
00200 Header header\n\
00201 string[] joint_names\n\
00202 JointTrajectoryPoint[] points\n\
00203 ================================================================================\n\
00204 MSG: trajectory_msgs/JointTrajectoryPoint\n\
00205 float64[] positions\n\
00206 float64[] velocities\n\
00207 float64[] accelerations\n\
00208 duration time_from_start\n\
00209 ================================================================================\n\
00210 MSG: object_manipulation_msgs/ReactivePlaceActionResult\n\
00211 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00212 \n\
00213 Header header\n\
00214 actionlib_msgs/GoalStatus status\n\
00215 ReactivePlaceResult result\n\
00216 \n\
00217 ================================================================================\n\
00218 MSG: actionlib_msgs/GoalStatus\n\
00219 GoalID goal_id\n\
00220 uint8 status\n\
00221 uint8 PENDING         = 0   # The goal has yet to be processed by the action server\n\
00222 uint8 ACTIVE          = 1   # The goal is currently being processed by the action server\n\
00223 uint8 PREEMPTED       = 2   # The goal received a cancel request after it started executing\n\
00224                             #   and has since completed its execution (Terminal State)\n\
00225 uint8 SUCCEEDED       = 3   # The goal was achieved successfully by the action server (Terminal State)\n\
00226 uint8 ABORTED         = 4   # The goal was aborted during execution by the action server due\n\
00227                             #    to some failure (Terminal State)\n\
00228 uint8 REJECTED        = 5   # The goal was rejected by the action server without being processed,\n\
00229                             #    because the goal was unattainable or invalid (Terminal State)\n\
00230 uint8 PREEMPTING      = 6   # The goal received a cancel request after it started executing\n\
00231                             #    and has not yet completed execution\n\
00232 uint8 RECALLING       = 7   # The goal received a cancel request before it started executing,\n\
00233                             #    but the action server has not yet confirmed that the goal is canceled\n\
00234 uint8 RECALLED        = 8   # The goal received a cancel request before it started executing\n\
00235                             #    and was successfully cancelled (Terminal State)\n\
00236 uint8 LOST            = 9   # An action client can determine that a goal is LOST. This should not be\n\
00237                             #    sent over the wire by an action server\n\
00238 \n\
00239 #Allow for the user to associate a string with GoalStatus for debugging\n\
00240 string text\n\
00241 \n\
00242 \n\
00243 ================================================================================\n\
00244 MSG: object_manipulation_msgs/ReactivePlaceResult\n\
00245 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00246 \n\
00247 # the result of the reactive place attempt\n\
00248 \n\
00249 ManipulationResult manipulation_result\n\
00250 \n\
00251 \n\
00252 ================================================================================\n\
00253 MSG: object_manipulation_msgs/ManipulationResult\n\
00254 # Result codes for manipulation tasks\n\
00255 \n\
00256 # task completed as expected\n\
00257 # generally means you can proceed as planned\n\
00258 int32 SUCCESS = 1\n\
00259 \n\
00260 # task not possible (e.g. out of reach or obstacles in the way)\n\
00261 # generally means that the world was not disturbed, so you can try another task\n\
00262 int32 UNFEASIBLE = -1\n\
00263 \n\
00264 # task was thought possible, but failed due to unexpected events during execution\n\
00265 # it is likely that the world was disturbed, so you are encouraged to refresh\n\
00266 # your sensed world model before proceeding to another task\n\
00267 int32 FAILED = -2\n\
00268 \n\
00269 # a lower level error prevented task completion (e.g. joint controller not responding)\n\
00270 # generally requires human attention\n\
00271 int32 ERROR = -3\n\
00272 \n\
00273 # means that at some point during execution we ended up in a state that the collision-aware\n\
00274 # arm navigation module will not move out of. The world was likely not disturbed, but you \n\
00275 # probably need a new collision map to move the arm out of the stuck position\n\
00276 int32 ARM_MOVEMENT_PREVENTED = -4\n\
00277 \n\
00278 # specific to grasp actions\n\
00279 # the object was grasped successfully, but the lift attempt could not achieve the minimum lift distance requested\n\
00280 # it is likely that the collision environment will see collisions between the hand/object and the support surface\n\
00281 int32 LIFT_FAILED = -5\n\
00282 \n\
00283 # specific to place actions\n\
00284 # the object was placed successfully, but the retreat attempt could not achieve the minimum retreat distance requested\n\
00285 # it is likely that the collision environment will see collisions between the hand and the object\n\
00286 int32 RETREAT_FAILED = -6\n\
00287 \n\
00288 # indicates that somewhere along the line a human said \"wait, stop, this is bad, go back and do something else\"\n\
00289 int32 CANCELLED = -7\n\
00290 \n\
00291 # the actual value of this error code\n\
00292 int32 value\n\
00293 \n\
00294 ================================================================================\n\
00295 MSG: object_manipulation_msgs/ReactivePlaceActionFeedback\n\
00296 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00297 \n\
00298 Header header\n\
00299 actionlib_msgs/GoalStatus status\n\
00300 ReactivePlaceFeedback feedback\n\
00301 \n\
00302 ================================================================================\n\
00303 MSG: object_manipulation_msgs/ReactivePlaceFeedback\n\
00304 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00305 \n\
00306 # which phase the place is in\n\
00307 \n\
00308 ManipulationPhase manipulation_phase\n\
00309 \n\
00310 \n\
00311 ================================================================================\n\
00312 MSG: object_manipulation_msgs/ManipulationPhase\n\
00313 int32 CHECKING_FEASIBILITY = 0\n\
00314 int32 MOVING_TO_PREGRASP = 1\n\
00315 int32 MOVING_TO_GRASP = 2\n\
00316 int32 CLOSING = 3 \n\
00317 int32 ADJUSTING_GRASP = 4\n\
00318 int32 LIFTING = 5\n\
00319 int32 MOVING_WITH_OBJECT = 6\n\
00320 int32 MOVING_TO_PLACE = 7\n\
00321 int32 PLACING = 8\n\
00322 int32 OPENING = 9\n\
00323 int32 RETREATING = 10\n\
00324 int32 MOVING_WITHOUT_OBJECT = 11\n\
00325 int32 SHAKING = 12\n\
00326 int32 SUCCEEDED = 13\n\
00327 int32 FAILED = 14\n\
00328 int32 ABORTED = 15\n\
00329 int32 HOLDING_OBJECT = 16\n\
00330 \n\
00331 int32 phase\n\
00332 ";
00333   }
00334 
00335   static const char* value(const  ::object_manipulation_msgs::ReactivePlaceAction_<ContainerAllocator> &) { return value(); } 
00336 };
00337 
00338 } // namespace message_traits
00339 } // namespace ros
00340 
00341 namespace ros
00342 {
00343 namespace serialization
00344 {
00345 
00346 template<class ContainerAllocator> struct Serializer< ::object_manipulation_msgs::ReactivePlaceAction_<ContainerAllocator> >
00347 {
00348   template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00349   {
00350     stream.next(m.action_goal);
00351     stream.next(m.action_result);
00352     stream.next(m.action_feedback);
00353   }
00354 
00355   ROS_DECLARE_ALLINONE_SERIALIZER;
00356 }; // struct ReactivePlaceAction_
00357 } // namespace serialization
00358 } // namespace ros
00359 
00360 namespace ros
00361 {
00362 namespace message_operations
00363 {
00364 
00365 template<class ContainerAllocator>
00366 struct Printer< ::object_manipulation_msgs::ReactivePlaceAction_<ContainerAllocator> >
00367 {
00368   template<typename Stream> static void stream(Stream& s, const std::string& indent, const  ::object_manipulation_msgs::ReactivePlaceAction_<ContainerAllocator> & v) 
00369   {
00370     s << indent << "action_goal: ";
00371 s << std::endl;
00372     Printer< ::object_manipulation_msgs::ReactivePlaceActionGoal_<ContainerAllocator> >::stream(s, indent + "  ", v.action_goal);
00373     s << indent << "action_result: ";
00374 s << std::endl;
00375     Printer< ::object_manipulation_msgs::ReactivePlaceActionResult_<ContainerAllocator> >::stream(s, indent + "  ", v.action_result);
00376     s << indent << "action_feedback: ";
00377 s << std::endl;
00378     Printer< ::object_manipulation_msgs::ReactivePlaceActionFeedback_<ContainerAllocator> >::stream(s, indent + "  ", v.action_feedback);
00379   }
00380 };
00381 
00382 
00383 } // namespace message_operations
00384 } // namespace ros
00385 
00386 #endif // OBJECT_MANIPULATION_MSGS_MESSAGE_REACTIVEPLACEACTION_H
00387 


object_manipulation_msgs
Author(s): Matei Ciocarlie
autogenerated on Mon Oct 6 2014 02:58:12