GraspAdjust.h

Go to the documentation of this file.

/* Auto-generated by genmsg_cpp for file /home/rosbuild/hudson/workspace/doc-groovy-pr2_object_manipulation/doc_stacks/2013-01-23_13-32-20.905780/pr2_object_manipulation/manipulation/pr2_grasp_adjust/srv/GraspAdjust.srv */
#ifndef PR2_GRASP_ADJUST_SERVICE_GRASPADJUST_H
#define PR2_GRASP_ADJUST_SERVICE_GRASPADJUST_H
#include <string>
#include <vector>
#include <map>
#include <ostream>
#include "ros/serialization.h"
#include "ros/builtin_message_traits.h"
#include "ros/message_operations.h"
#include "ros/time.h"

#include "ros/macros.h"

#include "ros/assert.h"

#include "ros/service_traits.h"

#include "geometry_msgs/PoseStamped.h"
#include "geometry_msgs/Vector3.h"


#include "geometry_msgs/PoseStamped.h"
#include "object_manipulation_msgs/ManipulationResult.h"

namespace pr2_grasp_adjust
{
template <class ContainerAllocator>
struct GraspAdjustRequest_ {
  typedef GraspAdjustRequest_<ContainerAllocator> Type;

  GraspAdjustRequest_()
  : grasp_pose()
  , roi_dims()
  , search_mode(0)
  {
  }

  GraspAdjustRequest_(const ContainerAllocator& _alloc)
  : grasp_pose(_alloc)
  , roi_dims(_alloc)
  , search_mode(0)
  {
  }

  typedef  ::geometry_msgs::PoseStamped_<ContainerAllocator>  _grasp_pose_type;
   ::geometry_msgs::PoseStamped_<ContainerAllocator>  grasp_pose;

  typedef  ::geometry_msgs::Vector3_<ContainerAllocator>  _roi_dims_type;
   ::geometry_msgs::Vector3_<ContainerAllocator>  roi_dims;

  typedef uint8_t _search_mode_type;
  uint8_t search_mode;

  enum { GLOBAL_SEARCH = 0 };
  enum { LOCAL_SEARCH = 1 };
  enum { SINGLE_POSE = 2 };

  typedef boost::shared_ptr< ::pr2_grasp_adjust::GraspAdjustRequest_<ContainerAllocator> > Ptr;
  typedef boost::shared_ptr< ::pr2_grasp_adjust::GraspAdjustRequest_<ContainerAllocator>  const> ConstPtr;
  boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
}; // struct GraspAdjustRequest
typedef  ::pr2_grasp_adjust::GraspAdjustRequest_<std::allocator<void> > GraspAdjustRequest;

typedef boost::shared_ptr< ::pr2_grasp_adjust::GraspAdjustRequest> GraspAdjustRequestPtr;
typedef boost::shared_ptr< ::pr2_grasp_adjust::GraspAdjustRequest const> GraspAdjustRequestConstPtr;


template <class ContainerAllocator>
struct GraspAdjustResponse_ {
  typedef GraspAdjustResponse_<ContainerAllocator> Type;

  GraspAdjustResponse_()
  : grasp_poses()
  , pose_scores()
  , gripper_openings()
  , result()
  {
  }

  GraspAdjustResponse_(const ContainerAllocator& _alloc)
  : grasp_poses(_alloc)
  , pose_scores(_alloc)
  , gripper_openings(_alloc)
  , result(_alloc)
  {
  }

  typedef std::vector< ::geometry_msgs::PoseStamped_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::geometry_msgs::PoseStamped_<ContainerAllocator> >::other >  _grasp_poses_type;
  std::vector< ::geometry_msgs::PoseStamped_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::geometry_msgs::PoseStamped_<ContainerAllocator> >::other >  grasp_poses;

  typedef std::vector<double, typename ContainerAllocator::template rebind<double>::other >  _pose_scores_type;
  std::vector<double, typename ContainerAllocator::template rebind<double>::other >  pose_scores;

  typedef std::vector<float, typename ContainerAllocator::template rebind<float>::other >  _gripper_openings_type;
  std::vector<float, typename ContainerAllocator::template rebind<float>::other >  gripper_openings;

  typedef  ::object_manipulation_msgs::ManipulationResult_<ContainerAllocator>  _result_type;
   ::object_manipulation_msgs::ManipulationResult_<ContainerAllocator>  result;


  typedef boost::shared_ptr< ::pr2_grasp_adjust::GraspAdjustResponse_<ContainerAllocator> > Ptr;
  typedef boost::shared_ptr< ::pr2_grasp_adjust::GraspAdjustResponse_<ContainerAllocator>  const> ConstPtr;
  boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
}; // struct GraspAdjustResponse
typedef  ::pr2_grasp_adjust::GraspAdjustResponse_<std::allocator<void> > GraspAdjustResponse;

typedef boost::shared_ptr< ::pr2_grasp_adjust::GraspAdjustResponse> GraspAdjustResponsePtr;
typedef boost::shared_ptr< ::pr2_grasp_adjust::GraspAdjustResponse const> GraspAdjustResponseConstPtr;

struct GraspAdjust
{

typedef GraspAdjustRequest Request;
typedef GraspAdjustResponse Response;
Request request;
Response response;

typedef Request RequestType;
typedef Response ResponseType;
}; // struct GraspAdjust
} // namespace pr2_grasp_adjust

namespace ros
{
namespace message_traits
{
template<class ContainerAllocator> struct IsMessage< ::pr2_grasp_adjust::GraspAdjustRequest_<ContainerAllocator> > : public TrueType {};
template<class ContainerAllocator> struct IsMessage< ::pr2_grasp_adjust::GraspAdjustRequest_<ContainerAllocator>  const> : public TrueType {};
template<class ContainerAllocator>
struct MD5Sum< ::pr2_grasp_adjust::GraspAdjustRequest_<ContainerAllocator> > {
  static const char* value() 
  {
    return "e7ccb113bffaf7f7554b005b509b114a";
  }

  static const char* value(const  ::pr2_grasp_adjust::GraspAdjustRequest_<ContainerAllocator> &) { return value(); } 
  static const uint64_t static_value1 = 0xe7ccb113bffaf7f7ULL;
  static const uint64_t static_value2 = 0x554b005b509b114aULL;
};

template<class ContainerAllocator>
struct DataType< ::pr2_grasp_adjust::GraspAdjustRequest_<ContainerAllocator> > {
  static const char* value() 
  {
    return "pr2_grasp_adjust/GraspAdjustRequest";
  }

  static const char* value(const  ::pr2_grasp_adjust::GraspAdjustRequest_<ContainerAllocator> &) { return value(); } 
};

template<class ContainerAllocator>
struct Definition< ::pr2_grasp_adjust::GraspAdjustRequest_<ContainerAllocator> > {
  static const char* value() 
  {
    return "geometry_msgs/PoseStamped   grasp_pose\n\
geometry_msgs/Vector3       roi_dims\n\
uint8                       search_mode\n\
\n\
int32 GLOBAL_SEARCH = 0\n\
int32 LOCAL_SEARCH = 1\n\
int32 SINGLE_POSE = 2\n\
\n\
\n\
================================================================================\n\
MSG: geometry_msgs/PoseStamped\n\
# A Pose with reference coordinate frame and timestamp\n\
Header header\n\
Pose pose\n\
\n\
================================================================================\n\
MSG: std_msgs/Header\n\
# Standard metadata for higher-level stamped data types.\n\
# This is generally used to communicate timestamped data \n\
# in a particular coordinate frame.\n\
# \n\
# sequence ID: consecutively increasing ID \n\
uint32 seq\n\
#Two-integer timestamp that is expressed as:\n\
# * stamp.secs: seconds (stamp_secs) since epoch\n\
# * stamp.nsecs: nanoseconds since stamp_secs\n\
# time-handling sugar is provided by the client library\n\
time stamp\n\
#Frame this data is associated with\n\
# 0: no frame\n\
# 1: global frame\n\
string frame_id\n\
\n\
================================================================================\n\
MSG: geometry_msgs/Pose\n\
# A representation of pose in free space, composed of postion and orientation. \n\
Point position\n\
Quaternion orientation\n\
\n\
================================================================================\n\
MSG: geometry_msgs/Point\n\
# This contains the position of a point in free space\n\
float64 x\n\
float64 y\n\
float64 z\n\
\n\
================================================================================\n\
MSG: geometry_msgs/Quaternion\n\
# This represents an orientation in free space in quaternion form.\n\
\n\
float64 x\n\
float64 y\n\
float64 z\n\
float64 w\n\
\n\
================================================================================\n\
MSG: geometry_msgs/Vector3\n\
# This represents a vector in free space. \n\
\n\
float64 x\n\
float64 y\n\
float64 z\n\
";
  }

  static const char* value(const  ::pr2_grasp_adjust::GraspAdjustRequest_<ContainerAllocator> &) { return value(); } 
};

} // namespace message_traits
} // namespace ros


namespace ros
{
namespace message_traits
{
template<class ContainerAllocator> struct IsMessage< ::pr2_grasp_adjust::GraspAdjustResponse_<ContainerAllocator> > : public TrueType {};
template<class ContainerAllocator> struct IsMessage< ::pr2_grasp_adjust::GraspAdjustResponse_<ContainerAllocator>  const> : public TrueType {};
template<class ContainerAllocator>
struct MD5Sum< ::pr2_grasp_adjust::GraspAdjustResponse_<ContainerAllocator> > {
  static const char* value() 
  {
    return "8204d8a3e105f84787abc62e550e0312";
  }

  static const char* value(const  ::pr2_grasp_adjust::GraspAdjustResponse_<ContainerAllocator> &) { return value(); } 
  static const uint64_t static_value1 = 0x8204d8a3e105f847ULL;
  static const uint64_t static_value2 = 0x87abc62e550e0312ULL;
};

template<class ContainerAllocator>
struct DataType< ::pr2_grasp_adjust::GraspAdjustResponse_<ContainerAllocator> > {
  static const char* value() 
  {
    return "pr2_grasp_adjust/GraspAdjustResponse";
  }

  static const char* value(const  ::pr2_grasp_adjust::GraspAdjustResponse_<ContainerAllocator> &) { return value(); } 
};

template<class ContainerAllocator>
struct Definition< ::pr2_grasp_adjust::GraspAdjustResponse_<ContainerAllocator> > {
  static const char* value() 
  {
    return "geometry_msgs/PoseStamped[]  grasp_poses\n\
float64[]  pose_scores\n\
float32[]  gripper_openings\n\
\n\
object_manipulation_msgs/ManipulationResult result\n\
\n\
\n\
\n\
================================================================================\n\
MSG: geometry_msgs/PoseStamped\n\
# A Pose with reference coordinate frame and timestamp\n\
Header header\n\
Pose pose\n\
\n\
================================================================================\n\
MSG: std_msgs/Header\n\
# Standard metadata for higher-level stamped data types.\n\
# This is generally used to communicate timestamped data \n\
# in a particular coordinate frame.\n\
# \n\
# sequence ID: consecutively increasing ID \n\
uint32 seq\n\
#Two-integer timestamp that is expressed as:\n\
# * stamp.secs: seconds (stamp_secs) since epoch\n\
# * stamp.nsecs: nanoseconds since stamp_secs\n\
# time-handling sugar is provided by the client library\n\
time stamp\n\
#Frame this data is associated with\n\
# 0: no frame\n\
# 1: global frame\n\
string frame_id\n\
\n\
================================================================================\n\
MSG: geometry_msgs/Pose\n\
# A representation of pose in free space, composed of postion and orientation. \n\
Point position\n\
Quaternion orientation\n\
\n\
================================================================================\n\
MSG: geometry_msgs/Point\n\
# This contains the position of a point in free space\n\
float64 x\n\
float64 y\n\
float64 z\n\
\n\
================================================================================\n\
MSG: geometry_msgs/Quaternion\n\
# This represents an orientation in free space in quaternion form.\n\
\n\
float64 x\n\
float64 y\n\
float64 z\n\
float64 w\n\
\n\
================================================================================\n\
MSG: object_manipulation_msgs/ManipulationResult\n\
# Result codes for manipulation tasks\n\
\n\
# task completed as expected\n\
# generally means you can proceed as planned\n\
int32 SUCCESS = 1\n\
\n\
# task not possible (e.g. out of reach or obstacles in the way)\n\
# generally means that the world was not disturbed, so you can try another task\n\
int32 UNFEASIBLE = -1\n\
\n\
# task was thought possible, but failed due to unexpected events during execution\n\
# it is likely that the world was disturbed, so you are encouraged to refresh\n\
# your sensed world model before proceeding to another task\n\
int32 FAILED = -2\n\
\n\
# a lower level error prevented task completion (e.g. joint controller not responding)\n\
# generally requires human attention\n\
int32 ERROR = -3\n\
\n\
# means that at some point during execution we ended up in a state that the collision-aware\n\
# arm navigation module will not move out of. The world was likely not disturbed, but you \n\
# probably need a new collision map to move the arm out of the stuck position\n\
int32 ARM_MOVEMENT_PREVENTED = -4\n\
\n\
# specific to grasp actions\n\
# the object was grasped successfully, but the lift attempt could not achieve the minimum lift distance requested\n\
# it is likely that the collision environment will see collisions between the hand/object and the support surface\n\
int32 LIFT_FAILED = -5\n\
\n\
# specific to place actions\n\
# the object was placed successfully, but the retreat attempt could not achieve the minimum retreat distance requested\n\
# it is likely that the collision environment will see collisions between the hand and the object\n\
int32 RETREAT_FAILED = -6\n\
\n\
# indicates that somewhere along the line a human said \"wait, stop, this is bad, go back and do something else\"\n\
int32 CANCELLED = -7\n\
\n\
# the actual value of this error code\n\
int32 value\n\
\n\
";
  }

  static const char* value(const  ::pr2_grasp_adjust::GraspAdjustResponse_<ContainerAllocator> &) { return value(); } 
};

} // namespace message_traits
} // namespace ros

namespace ros
{
namespace serialization
{

template<class ContainerAllocator> struct Serializer< ::pr2_grasp_adjust::GraspAdjustRequest_<ContainerAllocator> >
{
  template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
  {
    stream.next(m.grasp_pose);
    stream.next(m.roi_dims);
    stream.next(m.search_mode);
  }

  ROS_DECLARE_ALLINONE_SERIALIZER;
}; // struct GraspAdjustRequest_
} // namespace serialization
} // namespace ros


namespace ros
{
namespace serialization
{

template<class ContainerAllocator> struct Serializer< ::pr2_grasp_adjust::GraspAdjustResponse_<ContainerAllocator> >
{
  template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
  {
    stream.next(m.grasp_poses);
    stream.next(m.pose_scores);
    stream.next(m.gripper_openings);
    stream.next(m.result);
  }

  ROS_DECLARE_ALLINONE_SERIALIZER;
}; // struct GraspAdjustResponse_
} // namespace serialization
} // namespace ros

namespace ros
{
namespace service_traits
{
template<>
struct MD5Sum<pr2_grasp_adjust::GraspAdjust> {
  static const char* value() 
  {
    return "155f94ed302ff095096df9b37ecc7886";
  }

  static const char* value(const pr2_grasp_adjust::GraspAdjust&) { return value(); } 
};

template<>
struct DataType<pr2_grasp_adjust::GraspAdjust> {
  static const char* value() 
  {
    return "pr2_grasp_adjust/GraspAdjust";
  }

  static const char* value(const pr2_grasp_adjust::GraspAdjust&) { return value(); } 
};

template<class ContainerAllocator>
struct MD5Sum<pr2_grasp_adjust::GraspAdjustRequest_<ContainerAllocator> > {
  static const char* value() 
  {
    return "155f94ed302ff095096df9b37ecc7886";
  }

  static const char* value(const pr2_grasp_adjust::GraspAdjustRequest_<ContainerAllocator> &) { return value(); } 
};

template<class ContainerAllocator>
struct DataType<pr2_grasp_adjust::GraspAdjustRequest_<ContainerAllocator> > {
  static const char* value() 
  {
    return "pr2_grasp_adjust/GraspAdjust";
  }

  static const char* value(const pr2_grasp_adjust::GraspAdjustRequest_<ContainerAllocator> &) { return value(); } 
};

template<class ContainerAllocator>
struct MD5Sum<pr2_grasp_adjust::GraspAdjustResponse_<ContainerAllocator> > {
  static const char* value() 
  {
    return "155f94ed302ff095096df9b37ecc7886";
  }

  static const char* value(const pr2_grasp_adjust::GraspAdjustResponse_<ContainerAllocator> &) { return value(); } 
};

template<class ContainerAllocator>
struct DataType<pr2_grasp_adjust::GraspAdjustResponse_<ContainerAllocator> > {
  static const char* value() 
  {
    return "pr2_grasp_adjust/GraspAdjust";
  }

  static const char* value(const pr2_grasp_adjust::GraspAdjustResponse_<ContainerAllocator> &) { return value(); } 
};

} // namespace service_traits
} // namespace ros

#endif // PR2_GRASP_ADJUST_SERVICE_GRASPADJUST_H