00001
00002 #ifndef PR2_GRASP_ADJUST_MESSAGE_GRASPADJUSTACTION_H
00003 #define PR2_GRASP_ADJUST_MESSAGE_GRASPADJUSTACTION_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 "pr2_grasp_adjust/GraspAdjustActionGoal.h"
00018 #include "pr2_grasp_adjust/GraspAdjustActionResult.h"
00019 #include "pr2_grasp_adjust/GraspAdjustActionFeedback.h"
00020
00021 namespace pr2_grasp_adjust
00022 {
00023 template <class ContainerAllocator>
00024 struct GraspAdjustAction_ {
00025 typedef GraspAdjustAction_<ContainerAllocator> Type;
00026
00027 GraspAdjustAction_()
00028 : action_goal()
00029 , action_result()
00030 , action_feedback()
00031 {
00032 }
00033
00034 GraspAdjustAction_(const ContainerAllocator& _alloc)
00035 : action_goal(_alloc)
00036 , action_result(_alloc)
00037 , action_feedback(_alloc)
00038 {
00039 }
00040
00041 typedef ::pr2_grasp_adjust::GraspAdjustActionGoal_<ContainerAllocator> _action_goal_type;
00042 ::pr2_grasp_adjust::GraspAdjustActionGoal_<ContainerAllocator> action_goal;
00043
00044 typedef ::pr2_grasp_adjust::GraspAdjustActionResult_<ContainerAllocator> _action_result_type;
00045 ::pr2_grasp_adjust::GraspAdjustActionResult_<ContainerAllocator> action_result;
00046
00047 typedef ::pr2_grasp_adjust::GraspAdjustActionFeedback_<ContainerAllocator> _action_feedback_type;
00048 ::pr2_grasp_adjust::GraspAdjustActionFeedback_<ContainerAllocator> action_feedback;
00049
00050
00051 typedef boost::shared_ptr< ::pr2_grasp_adjust::GraspAdjustAction_<ContainerAllocator> > Ptr;
00052 typedef boost::shared_ptr< ::pr2_grasp_adjust::GraspAdjustAction_<ContainerAllocator> const> ConstPtr;
00053 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00054 };
00055 typedef ::pr2_grasp_adjust::GraspAdjustAction_<std::allocator<void> > GraspAdjustAction;
00056
00057 typedef boost::shared_ptr< ::pr2_grasp_adjust::GraspAdjustAction> GraspAdjustActionPtr;
00058 typedef boost::shared_ptr< ::pr2_grasp_adjust::GraspAdjustAction const> GraspAdjustActionConstPtr;
00059
00060
00061 template<typename ContainerAllocator>
00062 std::ostream& operator<<(std::ostream& s, const ::pr2_grasp_adjust::GraspAdjustAction_<ContainerAllocator> & v)
00063 {
00064 ros::message_operations::Printer< ::pr2_grasp_adjust::GraspAdjustAction_<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< ::pr2_grasp_adjust::GraspAdjustAction_<ContainerAllocator> > : public TrueType {};
00074 template<class ContainerAllocator> struct IsMessage< ::pr2_grasp_adjust::GraspAdjustAction_<ContainerAllocator> const> : public TrueType {};
00075 template<class ContainerAllocator>
00076 struct MD5Sum< ::pr2_grasp_adjust::GraspAdjustAction_<ContainerAllocator> > {
00077 static const char* value()
00078 {
00079 return "f0e5bb32c517b402aa57198a61487538";
00080 }
00081
00082 static const char* value(const ::pr2_grasp_adjust::GraspAdjustAction_<ContainerAllocator> &) { return value(); }
00083 static const uint64_t static_value1 = 0xf0e5bb32c517b402ULL;
00084 static const uint64_t static_value2 = 0xaa57198a61487538ULL;
00085 };
00086
00087 template<class ContainerAllocator>
00088 struct DataType< ::pr2_grasp_adjust::GraspAdjustAction_<ContainerAllocator> > {
00089 static const char* value()
00090 {
00091 return "pr2_grasp_adjust/GraspAdjustAction";
00092 }
00093
00094 static const char* value(const ::pr2_grasp_adjust::GraspAdjustAction_<ContainerAllocator> &) { return value(); }
00095 };
00096
00097 template<class ContainerAllocator>
00098 struct Definition< ::pr2_grasp_adjust::GraspAdjustAction_<ContainerAllocator> > {
00099 static const char* value()
00100 {
00101 return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00102 \n\
00103 GraspAdjustActionGoal action_goal\n\
00104 GraspAdjustActionResult action_result\n\
00105 GraspAdjustActionFeedback action_feedback\n\
00106 \n\
00107 ================================================================================\n\
00108 MSG: pr2_grasp_adjust/GraspAdjustActionGoal\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 GraspAdjustGoal 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: pr2_grasp_adjust/GraspAdjustGoal\n\
00148 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00149 #goal definition\n\
00150 \n\
00151 sensor_msgs/PointCloud2 cloud\n\
00152 geometry_msgs/PoseStamped pose_stamped\n\
00153 bool use_orientation\n\
00154 int32 seed_index\n\
00155 uint8 search_mode\n\
00156 \n\
00157 int32 GLOBAL_SEARCH = 0\n\
00158 int32 LOCAL_SEARCH = 1\n\
00159 int32 SINGLE_POSE = 2\n\
00160 \n\
00161 \n\
00162 ================================================================================\n\
00163 MSG: sensor_msgs/PointCloud2\n\
00164 # This message holds a collection of N-dimensional points, which may\n\
00165 # contain additional information such as normals, intensity, etc. The\n\
00166 # point data is stored as a binary blob, its layout described by the\n\
00167 # contents of the \"fields\" array.\n\
00168 \n\
00169 # The point cloud data may be organized 2d (image-like) or 1d\n\
00170 # (unordered). Point clouds organized as 2d images may be produced by\n\
00171 # camera depth sensors such as stereo or time-of-flight.\n\
00172 \n\
00173 # Time of sensor data acquisition, and the coordinate frame ID (for 3d\n\
00174 # points).\n\
00175 Header header\n\
00176 \n\
00177 # 2D structure of the point cloud. If the cloud is unordered, height is\n\
00178 # 1 and width is the length of the point cloud.\n\
00179 uint32 height\n\
00180 uint32 width\n\
00181 \n\
00182 # Describes the channels and their layout in the binary data blob.\n\
00183 PointField[] fields\n\
00184 \n\
00185 bool is_bigendian # Is this data bigendian?\n\
00186 uint32 point_step # Length of a point in bytes\n\
00187 uint32 row_step # Length of a row in bytes\n\
00188 uint8[] data # Actual point data, size is (row_step*height)\n\
00189 \n\
00190 bool is_dense # True if there are no invalid points\n\
00191 \n\
00192 ================================================================================\n\
00193 MSG: sensor_msgs/PointField\n\
00194 # This message holds the description of one point entry in the\n\
00195 # PointCloud2 message format.\n\
00196 uint8 INT8 = 1\n\
00197 uint8 UINT8 = 2\n\
00198 uint8 INT16 = 3\n\
00199 uint8 UINT16 = 4\n\
00200 uint8 INT32 = 5\n\
00201 uint8 UINT32 = 6\n\
00202 uint8 FLOAT32 = 7\n\
00203 uint8 FLOAT64 = 8\n\
00204 \n\
00205 string name # Name of field\n\
00206 uint32 offset # Offset from start of point struct\n\
00207 uint8 datatype # Datatype enumeration, see above\n\
00208 uint32 count # How many elements in the field\n\
00209 \n\
00210 ================================================================================\n\
00211 MSG: geometry_msgs/PoseStamped\n\
00212 # A Pose with reference coordinate frame and timestamp\n\
00213 Header header\n\
00214 Pose pose\n\
00215 \n\
00216 ================================================================================\n\
00217 MSG: geometry_msgs/Pose\n\
00218 # A representation of pose in free space, composed of postion and orientation. \n\
00219 Point position\n\
00220 Quaternion orientation\n\
00221 \n\
00222 ================================================================================\n\
00223 MSG: geometry_msgs/Point\n\
00224 # This contains the position of a point in free space\n\
00225 float64 x\n\
00226 float64 y\n\
00227 float64 z\n\
00228 \n\
00229 ================================================================================\n\
00230 MSG: geometry_msgs/Quaternion\n\
00231 # This represents an orientation in free space in quaternion form.\n\
00232 \n\
00233 float64 x\n\
00234 float64 y\n\
00235 float64 z\n\
00236 float64 w\n\
00237 \n\
00238 ================================================================================\n\
00239 MSG: pr2_grasp_adjust/GraspAdjustActionResult\n\
00240 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00241 \n\
00242 Header header\n\
00243 actionlib_msgs/GoalStatus status\n\
00244 GraspAdjustResult result\n\
00245 \n\
00246 ================================================================================\n\
00247 MSG: actionlib_msgs/GoalStatus\n\
00248 GoalID goal_id\n\
00249 uint8 status\n\
00250 uint8 PENDING = 0 # The goal has yet to be processed by the action server\n\
00251 uint8 ACTIVE = 1 # The goal is currently being processed by the action server\n\
00252 uint8 PREEMPTED = 2 # The goal received a cancel request after it started executing\n\
00253 # and has since completed its execution (Terminal State)\n\
00254 uint8 SUCCEEDED = 3 # The goal was achieved successfully by the action server (Terminal State)\n\
00255 uint8 ABORTED = 4 # The goal was aborted during execution by the action server due\n\
00256 # to some failure (Terminal State)\n\
00257 uint8 REJECTED = 5 # The goal was rejected by the action server without being processed,\n\
00258 # because the goal was unattainable or invalid (Terminal State)\n\
00259 uint8 PREEMPTING = 6 # The goal received a cancel request after it started executing\n\
00260 # and has not yet completed execution\n\
00261 uint8 RECALLING = 7 # The goal received a cancel request before it started executing,\n\
00262 # but the action server has not yet confirmed that the goal is canceled\n\
00263 uint8 RECALLED = 8 # The goal received a cancel request before it started executing\n\
00264 # and was successfully cancelled (Terminal State)\n\
00265 uint8 LOST = 9 # An action client can determine that a goal is LOST. This should not be\n\
00266 # sent over the wire by an action server\n\
00267 \n\
00268 #Allow for the user to associate a string with GoalStatus for debugging\n\
00269 string text\n\
00270 \n\
00271 \n\
00272 ================================================================================\n\
00273 MSG: pr2_grasp_adjust/GraspAdjustResult\n\
00274 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00275 #result definition\n\
00276 \n\
00277 object_manipulation_msgs/Grasp[] grasps\n\
00278 object_manipulation_msgs/GraspPlanningErrorCode result\n\
00279 \n\
00280 \n\
00281 ================================================================================\n\
00282 MSG: object_manipulation_msgs/Grasp\n\
00283 \n\
00284 # The internal posture of the hand for the pre-grasp\n\
00285 # only positions are used\n\
00286 sensor_msgs/JointState pre_grasp_posture\n\
00287 \n\
00288 # The internal posture of the hand for the grasp\n\
00289 # positions and efforts are used\n\
00290 sensor_msgs/JointState grasp_posture\n\
00291 \n\
00292 # The position of the end-effector for the grasp relative to a reference frame \n\
00293 # (that is always specified elsewhere, not in this message)\n\
00294 geometry_msgs/Pose grasp_pose\n\
00295 \n\
00296 # The estimated probability of success for this grasp\n\
00297 float64 success_probability\n\
00298 \n\
00299 # Debug flag to indicate that this grasp would be the best in its cluster\n\
00300 bool cluster_rep\n\
00301 \n\
00302 # how far the pre-grasp should ideally be away from the grasp\n\
00303 float32 desired_approach_distance\n\
00304 \n\
00305 # how much distance between pre-grasp and grasp must actually be feasible \n\
00306 # for the grasp not to be rejected\n\
00307 float32 min_approach_distance\n\
00308 \n\
00309 # an optional list of obstacles that we have semantic information about\n\
00310 # and that we expect might move in the course of executing this grasp\n\
00311 # the grasp planner is expected to make sure they move in an OK way; during\n\
00312 # execution, grasp executors will not check for collisions against these objects\n\
00313 GraspableObject[] moved_obstacles\n\
00314 \n\
00315 ================================================================================\n\
00316 MSG: sensor_msgs/JointState\n\
00317 # This is a message that holds data to describe the state of a set of torque controlled joints. \n\
00318 #\n\
00319 # The state of each joint (revolute or prismatic) is defined by:\n\
00320 # * the position of the joint (rad or m),\n\
00321 # * the velocity of the joint (rad/s or m/s) and \n\
00322 # * the effort that is applied in the joint (Nm or N).\n\
00323 #\n\
00324 # Each joint is uniquely identified by its name\n\
00325 # The header specifies the time at which the joint states were recorded. All the joint states\n\
00326 # in one message have to be recorded at the same time.\n\
00327 #\n\
00328 # This message consists of a multiple arrays, one for each part of the joint state. \n\
00329 # The goal is to make each of the fields optional. When e.g. your joints have no\n\
00330 # effort associated with them, you can leave the effort array empty. \n\
00331 #\n\
00332 # All arrays in this message should have the same size, or be empty.\n\
00333 # This is the only way to uniquely associate the joint name with the correct\n\
00334 # states.\n\
00335 \n\
00336 \n\
00337 Header header\n\
00338 \n\
00339 string[] name\n\
00340 float64[] position\n\
00341 float64[] velocity\n\
00342 float64[] effort\n\
00343 \n\
00344 ================================================================================\n\
00345 MSG: object_manipulation_msgs/GraspableObject\n\
00346 # an object that the object_manipulator can work on\n\
00347 \n\
00348 # a graspable object can be represented in multiple ways. This message\n\
00349 # can contain all of them. Which one is actually used is up to the receiver\n\
00350 # of this message. When adding new representations, one must be careful that\n\
00351 # they have reasonable lightweight defaults indicating that that particular\n\
00352 # representation is not available.\n\
00353 \n\
00354 # the tf frame to be used as a reference frame when combining information from\n\
00355 # the different representations below\n\
00356 string reference_frame_id\n\
00357 \n\
00358 # potential recognition results from a database of models\n\
00359 # all poses are relative to the object reference pose\n\
00360 household_objects_database_msgs/DatabaseModelPose[] potential_models\n\
00361 \n\
00362 # the point cloud itself\n\
00363 sensor_msgs/PointCloud cluster\n\
00364 \n\
00365 # a region of a PointCloud2 of interest\n\
00366 object_manipulation_msgs/SceneRegion region\n\
00367 \n\
00368 # the name that this object has in the collision environment\n\
00369 string collision_name\n\
00370 ================================================================================\n\
00371 MSG: household_objects_database_msgs/DatabaseModelPose\n\
00372 # Informs that a specific model from the Model Database has been \n\
00373 # identified at a certain location\n\
00374 \n\
00375 # the database id of the model\n\
00376 int32 model_id\n\
00377 \n\
00378 # the pose that it can be found in\n\
00379 geometry_msgs/PoseStamped pose\n\
00380 \n\
00381 # a measure of the confidence level in this detection result\n\
00382 float32 confidence\n\
00383 \n\
00384 # the name of the object detector that generated this detection result\n\
00385 string detector_name\n\
00386 \n\
00387 ================================================================================\n\
00388 MSG: sensor_msgs/PointCloud\n\
00389 # This message holds a collection of 3d points, plus optional additional\n\
00390 # information about each point.\n\
00391 \n\
00392 # Time of sensor data acquisition, coordinate frame ID.\n\
00393 Header header\n\
00394 \n\
00395 # Array of 3d points. Each Point32 should be interpreted as a 3d point\n\
00396 # in the frame given in the header.\n\
00397 geometry_msgs/Point32[] points\n\
00398 \n\
00399 # Each channel should have the same number of elements as points array,\n\
00400 # and the data in each channel should correspond 1:1 with each point.\n\
00401 # Channel names in common practice are listed in ChannelFloat32.msg.\n\
00402 ChannelFloat32[] channels\n\
00403 \n\
00404 ================================================================================\n\
00405 MSG: geometry_msgs/Point32\n\
00406 # This contains the position of a point in free space(with 32 bits of precision).\n\
00407 # It is recommeded to use Point wherever possible instead of Point32. \n\
00408 # \n\
00409 # This recommendation is to promote interoperability. \n\
00410 #\n\
00411 # This message is designed to take up less space when sending\n\
00412 # lots of points at once, as in the case of a PointCloud. \n\
00413 \n\
00414 float32 x\n\
00415 float32 y\n\
00416 float32 z\n\
00417 ================================================================================\n\
00418 MSG: sensor_msgs/ChannelFloat32\n\
00419 # This message is used by the PointCloud message to hold optional data\n\
00420 # associated with each point in the cloud. The length of the values\n\
00421 # array should be the same as the length of the points array in the\n\
00422 # PointCloud, and each value should be associated with the corresponding\n\
00423 # point.\n\
00424 \n\
00425 # Channel names in existing practice include:\n\
00426 # \"u\", \"v\" - row and column (respectively) in the left stereo image.\n\
00427 # This is opposite to usual conventions but remains for\n\
00428 # historical reasons. The newer PointCloud2 message has no\n\
00429 # such problem.\n\
00430 # \"rgb\" - For point clouds produced by color stereo cameras. uint8\n\
00431 # (R,G,B) values packed into the least significant 24 bits,\n\
00432 # in order.\n\
00433 # \"intensity\" - laser or pixel intensity.\n\
00434 # \"distance\"\n\
00435 \n\
00436 # The channel name should give semantics of the channel (e.g.\n\
00437 # \"intensity\" instead of \"value\").\n\
00438 string name\n\
00439 \n\
00440 # The values array should be 1-1 with the elements of the associated\n\
00441 # PointCloud.\n\
00442 float32[] values\n\
00443 \n\
00444 ================================================================================\n\
00445 MSG: object_manipulation_msgs/SceneRegion\n\
00446 # Point cloud\n\
00447 sensor_msgs/PointCloud2 cloud\n\
00448 \n\
00449 # Indices for the region of interest\n\
00450 int32[] mask\n\
00451 \n\
00452 # One of the corresponding 2D images, if applicable\n\
00453 sensor_msgs/Image image\n\
00454 \n\
00455 # The disparity image, if applicable\n\
00456 sensor_msgs/Image disparity_image\n\
00457 \n\
00458 # Camera info for the camera that took the image\n\
00459 sensor_msgs/CameraInfo cam_info\n\
00460 \n\
00461 # a 3D region of interest for grasp planning\n\
00462 geometry_msgs/PoseStamped roi_box_pose\n\
00463 geometry_msgs/Vector3 roi_box_dims\n\
00464 \n\
00465 ================================================================================\n\
00466 MSG: sensor_msgs/Image\n\
00467 # This message contains an uncompressed image\n\
00468 # (0, 0) is at top-left corner of image\n\
00469 #\n\
00470 \n\
00471 Header header # Header timestamp should be acquisition time of image\n\
00472 # Header frame_id should be optical frame of camera\n\
00473 # origin of frame should be optical center of cameara\n\
00474 # +x should point to the right in the image\n\
00475 # +y should point down in the image\n\
00476 # +z should point into to plane of the image\n\
00477 # If the frame_id here and the frame_id of the CameraInfo\n\
00478 # message associated with the image conflict\n\
00479 # the behavior is undefined\n\
00480 \n\
00481 uint32 height # image height, that is, number of rows\n\
00482 uint32 width # image width, that is, number of columns\n\
00483 \n\
00484 # The legal values for encoding are in file src/image_encodings.cpp\n\
00485 # If you want to standardize a new string format, join\n\
00486 # ros-users@lists.sourceforge.net and send an email proposing a new encoding.\n\
00487 \n\
00488 string encoding # Encoding of pixels -- channel meaning, ordering, size\n\
00489 # taken from the list of strings in include/sensor_msgs/image_encodings.h\n\
00490 \n\
00491 uint8 is_bigendian # is this data bigendian?\n\
00492 uint32 step # Full row length in bytes\n\
00493 uint8[] data # actual matrix data, size is (step * rows)\n\
00494 \n\
00495 ================================================================================\n\
00496 MSG: sensor_msgs/CameraInfo\n\
00497 # This message defines meta information for a camera. It should be in a\n\
00498 # camera namespace on topic \"camera_info\" and accompanied by up to five\n\
00499 # image topics named:\n\
00500 #\n\
00501 # image_raw - raw data from the camera driver, possibly Bayer encoded\n\
00502 # image - monochrome, distorted\n\
00503 # image_color - color, distorted\n\
00504 # image_rect - monochrome, rectified\n\
00505 # image_rect_color - color, rectified\n\
00506 #\n\
00507 # The image_pipeline contains packages (image_proc, stereo_image_proc)\n\
00508 # for producing the four processed image topics from image_raw and\n\
00509 # camera_info. The meaning of the camera parameters are described in\n\
00510 # detail at http://www.ros.org/wiki/image_pipeline/CameraInfo.\n\
00511 #\n\
00512 # The image_geometry package provides a user-friendly interface to\n\
00513 # common operations using this meta information. If you want to, e.g.,\n\
00514 # project a 3d point into image coordinates, we strongly recommend\n\
00515 # using image_geometry.\n\
00516 #\n\
00517 # If the camera is uncalibrated, the matrices D, K, R, P should be left\n\
00518 # zeroed out. In particular, clients may assume that K[0] == 0.0\n\
00519 # indicates an uncalibrated camera.\n\
00520 \n\
00521 #######################################################################\n\
00522 # Image acquisition info #\n\
00523 #######################################################################\n\
00524 \n\
00525 # Time of image acquisition, camera coordinate frame ID\n\
00526 Header header # Header timestamp should be acquisition time of image\n\
00527 # Header frame_id should be optical frame of camera\n\
00528 # origin of frame should be optical center of camera\n\
00529 # +x should point to the right in the image\n\
00530 # +y should point down in the image\n\
00531 # +z should point into the plane of the image\n\
00532 \n\
00533 \n\
00534 #######################################################################\n\
00535 # Calibration Parameters #\n\
00536 #######################################################################\n\
00537 # These are fixed during camera calibration. Their values will be the #\n\
00538 # same in all messages until the camera is recalibrated. Note that #\n\
00539 # self-calibrating systems may \"recalibrate\" frequently. #\n\
00540 # #\n\
00541 # The internal parameters can be used to warp a raw (distorted) image #\n\
00542 # to: #\n\
00543 # 1. An undistorted image (requires D and K) #\n\
00544 # 2. A rectified image (requires D, K, R) #\n\
00545 # The projection matrix P projects 3D points into the rectified image.#\n\
00546 #######################################################################\n\
00547 \n\
00548 # The image dimensions with which the camera was calibrated. Normally\n\
00549 # this will be the full camera resolution in pixels.\n\
00550 uint32 height\n\
00551 uint32 width\n\
00552 \n\
00553 # The distortion model used. Supported models are listed in\n\
00554 # sensor_msgs/distortion_models.h. For most cameras, \"plumb_bob\" - a\n\
00555 # simple model of radial and tangential distortion - is sufficent.\n\
00556 string distortion_model\n\
00557 \n\
00558 # The distortion parameters, size depending on the distortion model.\n\
00559 # For \"plumb_bob\", the 5 parameters are: (k1, k2, t1, t2, k3).\n\
00560 float64[] D\n\
00561 \n\
00562 # Intrinsic camera matrix for the raw (distorted) images.\n\
00563 # [fx 0 cx]\n\
00564 # K = [ 0 fy cy]\n\
00565 # [ 0 0 1]\n\
00566 # Projects 3D points in the camera coordinate frame to 2D pixel\n\
00567 # coordinates using the focal lengths (fx, fy) and principal point\n\
00568 # (cx, cy).\n\
00569 float64[9] K # 3x3 row-major matrix\n\
00570 \n\
00571 # Rectification matrix (stereo cameras only)\n\
00572 # A rotation matrix aligning the camera coordinate system to the ideal\n\
00573 # stereo image plane so that epipolar lines in both stereo images are\n\
00574 # parallel.\n\
00575 float64[9] R # 3x3 row-major matrix\n\
00576 \n\
00577 # Projection/camera matrix\n\
00578 # [fx' 0 cx' Tx]\n\
00579 # P = [ 0 fy' cy' Ty]\n\
00580 # [ 0 0 1 0]\n\
00581 # By convention, this matrix specifies the intrinsic (camera) matrix\n\
00582 # of the processed (rectified) image. That is, the left 3x3 portion\n\
00583 # is the normal camera intrinsic matrix for the rectified image.\n\
00584 # It projects 3D points in the camera coordinate frame to 2D pixel\n\
00585 # coordinates using the focal lengths (fx', fy') and principal point\n\
00586 # (cx', cy') - these may differ from the values in K.\n\
00587 # For monocular cameras, Tx = Ty = 0. Normally, monocular cameras will\n\
00588 # also have R = the identity and P[1:3,1:3] = K.\n\
00589 # For a stereo pair, the fourth column [Tx Ty 0]' is related to the\n\
00590 # position of the optical center of the second camera in the first\n\
00591 # camera's frame. We assume Tz = 0 so both cameras are in the same\n\
00592 # stereo image plane. The first camera always has Tx = Ty = 0. For\n\
00593 # the right (second) camera of a horizontal stereo pair, Ty = 0 and\n\
00594 # Tx = -fx' * B, where B is the baseline between the cameras.\n\
00595 # Given a 3D point [X Y Z]', the projection (x, y) of the point onto\n\
00596 # the rectified image is given by:\n\
00597 # [u v w]' = P * [X Y Z 1]'\n\
00598 # x = u / w\n\
00599 # y = v / w\n\
00600 # This holds for both images of a stereo pair.\n\
00601 float64[12] P # 3x4 row-major matrix\n\
00602 \n\
00603 \n\
00604 #######################################################################\n\
00605 # Operational Parameters #\n\
00606 #######################################################################\n\
00607 # These define the image region actually captured by the camera #\n\
00608 # driver. Although they affect the geometry of the output image, they #\n\
00609 # may be changed freely without recalibrating the camera. #\n\
00610 #######################################################################\n\
00611 \n\
00612 # Binning refers here to any camera setting which combines rectangular\n\
00613 # neighborhoods of pixels into larger \"super-pixels.\" It reduces the\n\
00614 # resolution of the output image to\n\
00615 # (width / binning_x) x (height / binning_y).\n\
00616 # The default values binning_x = binning_y = 0 is considered the same\n\
00617 # as binning_x = binning_y = 1 (no subsampling).\n\
00618 uint32 binning_x\n\
00619 uint32 binning_y\n\
00620 \n\
00621 # Region of interest (subwindow of full camera resolution), given in\n\
00622 # full resolution (unbinned) image coordinates. A particular ROI\n\
00623 # always denotes the same window of pixels on the camera sensor,\n\
00624 # regardless of binning settings.\n\
00625 # The default setting of roi (all values 0) is considered the same as\n\
00626 # full resolution (roi.width = width, roi.height = height).\n\
00627 RegionOfInterest roi\n\
00628 \n\
00629 ================================================================================\n\
00630 MSG: sensor_msgs/RegionOfInterest\n\
00631 # This message is used to specify a region of interest within an image.\n\
00632 #\n\
00633 # When used to specify the ROI setting of the camera when the image was\n\
00634 # taken, the height and width fields should either match the height and\n\
00635 # width fields for the associated image; or height = width = 0\n\
00636 # indicates that the full resolution image was captured.\n\
00637 \n\
00638 uint32 x_offset # Leftmost pixel of the ROI\n\
00639 # (0 if the ROI includes the left edge of the image)\n\
00640 uint32 y_offset # Topmost pixel of the ROI\n\
00641 # (0 if the ROI includes the top edge of the image)\n\
00642 uint32 height # Height of ROI\n\
00643 uint32 width # Width of ROI\n\
00644 \n\
00645 # True if a distinct rectified ROI should be calculated from the \"raw\"\n\
00646 # ROI in this message. Typically this should be False if the full image\n\
00647 # is captured (ROI not used), and True if a subwindow is captured (ROI\n\
00648 # used).\n\
00649 bool do_rectify\n\
00650 \n\
00651 ================================================================================\n\
00652 MSG: geometry_msgs/Vector3\n\
00653 # This represents a vector in free space. \n\
00654 \n\
00655 float64 x\n\
00656 float64 y\n\
00657 float64 z\n\
00658 ================================================================================\n\
00659 MSG: object_manipulation_msgs/GraspPlanningErrorCode\n\
00660 # Error codes for grasp and place planning\n\
00661 \n\
00662 # plan completed as expected\n\
00663 int32 SUCCESS = 0\n\
00664 \n\
00665 # tf error encountered while transforming\n\
00666 int32 TF_ERROR = 1 \n\
00667 \n\
00668 # some other error\n\
00669 int32 OTHER_ERROR = 2\n\
00670 \n\
00671 # the actual value of this error code\n\
00672 int32 value\n\
00673 ================================================================================\n\
00674 MSG: pr2_grasp_adjust/GraspAdjustActionFeedback\n\
00675 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00676 \n\
00677 Header header\n\
00678 actionlib_msgs/GoalStatus status\n\
00679 GraspAdjustFeedback feedback\n\
00680 \n\
00681 ================================================================================\n\
00682 MSG: pr2_grasp_adjust/GraspAdjustFeedback\n\
00683 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00684 #feedback\n\
00685 \n\
00686 \n\
00687 \n\
00688 ";
00689 }
00690
00691 static const char* value(const ::pr2_grasp_adjust::GraspAdjustAction_<ContainerAllocator> &) { return value(); }
00692 };
00693
00694 }
00695 }
00696
00697 namespace ros
00698 {
00699 namespace serialization
00700 {
00701
00702 template<class ContainerAllocator> struct Serializer< ::pr2_grasp_adjust::GraspAdjustAction_<ContainerAllocator> >
00703 {
00704 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00705 {
00706 stream.next(m.action_goal);
00707 stream.next(m.action_result);
00708 stream.next(m.action_feedback);
00709 }
00710
00711 ROS_DECLARE_ALLINONE_SERIALIZER;
00712 };
00713 }
00714 }
00715
00716 namespace ros
00717 {
00718 namespace message_operations
00719 {
00720
00721 template<class ContainerAllocator>
00722 struct Printer< ::pr2_grasp_adjust::GraspAdjustAction_<ContainerAllocator> >
00723 {
00724 template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::pr2_grasp_adjust::GraspAdjustAction_<ContainerAllocator> & v)
00725 {
00726 s << indent << "action_goal: ";
00727 s << std::endl;
00728 Printer< ::pr2_grasp_adjust::GraspAdjustActionGoal_<ContainerAllocator> >::stream(s, indent + " ", v.action_goal);
00729 s << indent << "action_result: ";
00730 s << std::endl;
00731 Printer< ::pr2_grasp_adjust::GraspAdjustActionResult_<ContainerAllocator> >::stream(s, indent + " ", v.action_result);
00732 s << indent << "action_feedback: ";
00733 s << std::endl;
00734 Printer< ::pr2_grasp_adjust::GraspAdjustActionFeedback_<ContainerAllocator> >::stream(s, indent + " ", v.action_feedback);
00735 }
00736 };
00737
00738
00739 }
00740 }
00741
00742 #endif // PR2_GRASP_ADJUST_MESSAGE_GRASPADJUSTACTION_H
00743
