00001
00002 #ifndef OBJECT_MANIPULATION_MSGS_MESSAGE_REACTIVEPLACEGOAL_H
00003 #define OBJECT_MANIPULATION_MSGS_MESSAGE_REACTIVEPLACEGOAL_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/PoseStamped.h"
00018 #include "trajectory_msgs/JointTrajectory.h"
00019
00020 namespace object_manipulation_msgs
00021 {
00022 template <class ContainerAllocator>
00023 struct ReactivePlaceGoal_ {
00024 typedef ReactivePlaceGoal_<ContainerAllocator> Type;
00025
00026 ReactivePlaceGoal_()
00027 : arm_name()
00028 , final_place_pose()
00029 , trajectory()
00030 , collision_support_surface_name()
00031 , collision_object_name()
00032 {
00033 }
00034
00035 ReactivePlaceGoal_(const ContainerAllocator& _alloc)
00036 : arm_name(_alloc)
00037 , final_place_pose(_alloc)
00038 , trajectory(_alloc)
00039 , collision_support_surface_name(_alloc)
00040 , collision_object_name(_alloc)
00041 {
00042 }
00043
00044 typedef std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > _arm_name_type;
00045 std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > arm_name;
00046
00047 typedef ::geometry_msgs::PoseStamped_<ContainerAllocator> _final_place_pose_type;
00048 ::geometry_msgs::PoseStamped_<ContainerAllocator> final_place_pose;
00049
00050 typedef ::trajectory_msgs::JointTrajectory_<ContainerAllocator> _trajectory_type;
00051 ::trajectory_msgs::JointTrajectory_<ContainerAllocator> trajectory;
00052
00053 typedef std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > _collision_support_surface_name_type;
00054 std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > collision_support_surface_name;
00055
00056 typedef std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > _collision_object_name_type;
00057 std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > collision_object_name;
00058
00059
00060 typedef boost::shared_ptr< ::object_manipulation_msgs::ReactivePlaceGoal_<ContainerAllocator> > Ptr;
00061 typedef boost::shared_ptr< ::object_manipulation_msgs::ReactivePlaceGoal_<ContainerAllocator> const> ConstPtr;
00062 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00063 };
00064 typedef ::object_manipulation_msgs::ReactivePlaceGoal_<std::allocator<void> > ReactivePlaceGoal;
00065
00066 typedef boost::shared_ptr< ::object_manipulation_msgs::ReactivePlaceGoal> ReactivePlaceGoalPtr;
00067 typedef boost::shared_ptr< ::object_manipulation_msgs::ReactivePlaceGoal const> ReactivePlaceGoalConstPtr;
00068
00069
00070 template<typename ContainerAllocator>
00071 std::ostream& operator<<(std::ostream& s, const ::object_manipulation_msgs::ReactivePlaceGoal_<ContainerAllocator> & v)
00072 {
00073 ros::message_operations::Printer< ::object_manipulation_msgs::ReactivePlaceGoal_<ContainerAllocator> >::stream(s, "", v);
00074 return s;}
00075
00076 }
00077
00078 namespace ros
00079 {
00080 namespace message_traits
00081 {
00082 template<class ContainerAllocator> struct IsMessage< ::object_manipulation_msgs::ReactivePlaceGoal_<ContainerAllocator> > : public TrueType {};
00083 template<class ContainerAllocator> struct IsMessage< ::object_manipulation_msgs::ReactivePlaceGoal_<ContainerAllocator> const> : public TrueType {};
00084 template<class ContainerAllocator>
00085 struct MD5Sum< ::object_manipulation_msgs::ReactivePlaceGoal_<ContainerAllocator> > {
00086 static const char* value()
00087 {
00088 return "c40d270ade3a224752149b298986a70c";
00089 }
00090
00091 static const char* value(const ::object_manipulation_msgs::ReactivePlaceGoal_<ContainerAllocator> &) { return value(); }
00092 static const uint64_t static_value1 = 0xc40d270ade3a2247ULL;
00093 static const uint64_t static_value2 = 0x52149b298986a70cULL;
00094 };
00095
00096 template<class ContainerAllocator>
00097 struct DataType< ::object_manipulation_msgs::ReactivePlaceGoal_<ContainerAllocator> > {
00098 static const char* value()
00099 {
00100 return "object_manipulation_msgs/ReactivePlaceGoal";
00101 }
00102
00103 static const char* value(const ::object_manipulation_msgs::ReactivePlaceGoal_<ContainerAllocator> &) { return value(); }
00104 };
00105
00106 template<class ContainerAllocator>
00107 struct Definition< ::object_manipulation_msgs::ReactivePlaceGoal_<ContainerAllocator> > {
00108 static const char* value()
00109 {
00110 return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00111 # an action for placing the object using tactile sensor feedback.\n\
00112 # a reactive place starts from the current pose of the gripper and ends\n\
00113 # at a desired place pose, presumably using the touch sensors along the way\n\
00114 \n\
00115 # the name of the arm being used\n\
00116 string arm_name\n\
00117 \n\
00118 # the desired final place pose for the hand\n\
00119 geometry_msgs/PoseStamped final_place_pose\n\
00120 \n\
00121 # the joint trajectory to use for the place (if available)\n\
00122 # this trajectory is expected to start at the current pose of the gripper\n\
00123 # and end at the desired place pose\n\
00124 trajectory_msgs/JointTrajectory trajectory\n\
00125 \n\
00126 # the name of the support surface in the collision environment, if any\n\
00127 string collision_support_surface_name\n\
00128 \n\
00129 # the name in the collision environment of the object being placed, if any\n\
00130 string collision_object_name\n\
00131 \n\
00132 ================================================================================\n\
00133 MSG: geometry_msgs/PoseStamped\n\
00134 # A Pose with reference coordinate frame and timestamp\n\
00135 Header header\n\
00136 Pose pose\n\
00137 \n\
00138 ================================================================================\n\
00139 MSG: std_msgs/Header\n\
00140 # Standard metadata for higher-level stamped data types.\n\
00141 # This is generally used to communicate timestamped data \n\
00142 # in a particular coordinate frame.\n\
00143 # \n\
00144 # sequence ID: consecutively increasing ID \n\
00145 uint32 seq\n\
00146 #Two-integer timestamp that is expressed as:\n\
00147 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00148 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00149 # time-handling sugar is provided by the client library\n\
00150 time stamp\n\
00151 #Frame this data is associated with\n\
00152 # 0: no frame\n\
00153 # 1: global frame\n\
00154 string frame_id\n\
00155 \n\
00156 ================================================================================\n\
00157 MSG: geometry_msgs/Pose\n\
00158 # A representation of pose in free space, composed of postion and orientation. \n\
00159 Point position\n\
00160 Quaternion orientation\n\
00161 \n\
00162 ================================================================================\n\
00163 MSG: geometry_msgs/Point\n\
00164 # This contains the position of a point in free space\n\
00165 float64 x\n\
00166 float64 y\n\
00167 float64 z\n\
00168 \n\
00169 ================================================================================\n\
00170 MSG: geometry_msgs/Quaternion\n\
00171 # This represents an orientation in free space in quaternion form.\n\
00172 \n\
00173 float64 x\n\
00174 float64 y\n\
00175 float64 z\n\
00176 float64 w\n\
00177 \n\
00178 ================================================================================\n\
00179 MSG: trajectory_msgs/JointTrajectory\n\
00180 Header header\n\
00181 string[] joint_names\n\
00182 JointTrajectoryPoint[] points\n\
00183 ================================================================================\n\
00184 MSG: trajectory_msgs/JointTrajectoryPoint\n\
00185 float64[] positions\n\
00186 float64[] velocities\n\
00187 float64[] accelerations\n\
00188 duration time_from_start\n\
00189 ";
00190 }
00191
00192 static const char* value(const ::object_manipulation_msgs::ReactivePlaceGoal_<ContainerAllocator> &) { return value(); }
00193 };
00194
00195 }
00196 }
00197
00198 namespace ros
00199 {
00200 namespace serialization
00201 {
00202
00203 template<class ContainerAllocator> struct Serializer< ::object_manipulation_msgs::ReactivePlaceGoal_<ContainerAllocator> >
00204 {
00205 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00206 {
00207 stream.next(m.arm_name);
00208 stream.next(m.final_place_pose);
00209 stream.next(m.trajectory);
00210 stream.next(m.collision_support_surface_name);
00211 stream.next(m.collision_object_name);
00212 }
00213
00214 ROS_DECLARE_ALLINONE_SERIALIZER;
00215 };
00216 }
00217 }
00218
00219 namespace ros
00220 {
00221 namespace message_operations
00222 {
00223
00224 template<class ContainerAllocator>
00225 struct Printer< ::object_manipulation_msgs::ReactivePlaceGoal_<ContainerAllocator> >
00226 {
00227 template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::object_manipulation_msgs::ReactivePlaceGoal_<ContainerAllocator> & v)
00228 {
00229 s << indent << "arm_name: ";
00230 Printer<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > >::stream(s, indent + " ", v.arm_name);
00231 s << indent << "final_place_pose: ";
00232 s << std::endl;
00233 Printer< ::geometry_msgs::PoseStamped_<ContainerAllocator> >::stream(s, indent + " ", v.final_place_pose);
00234 s << indent << "trajectory: ";
00235 s << std::endl;
00236 Printer< ::trajectory_msgs::JointTrajectory_<ContainerAllocator> >::stream(s, indent + " ", v.trajectory);
00237 s << indent << "collision_support_surface_name: ";
00238 Printer<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > >::stream(s, indent + " ", v.collision_support_surface_name);
00239 s << indent << "collision_object_name: ";
00240 Printer<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > >::stream(s, indent + " ", v.collision_object_name);
00241 }
00242 };
00243
00244
00245 }
00246 }
00247
00248 #endif // OBJECT_MANIPULATION_MSGS_MESSAGE_REACTIVEPLACEGOAL_H
00249