00001
00002 #ifndef HEAD_MONITOR_MSGS_MESSAGE_HEADMONITORACTION_H
00003 #define HEAD_MONITOR_MSGS_MESSAGE_HEADMONITORACTION_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 "head_monitor_msgs/HeadMonitorActionGoal.h"
00018 #include "head_monitor_msgs/HeadMonitorActionResult.h"
00019 #include "head_monitor_msgs/HeadMonitorActionFeedback.h"
00020
00021 namespace head_monitor_msgs
00022 {
00023 template <class ContainerAllocator>
00024 struct HeadMonitorAction_ {
00025 typedef HeadMonitorAction_<ContainerAllocator> Type;
00026
00027 HeadMonitorAction_()
00028 : action_goal()
00029 , action_result()
00030 , action_feedback()
00031 {
00032 }
00033
00034 HeadMonitorAction_(const ContainerAllocator& _alloc)
00035 : action_goal(_alloc)
00036 , action_result(_alloc)
00037 , action_feedback(_alloc)
00038 {
00039 }
00040
00041 typedef ::head_monitor_msgs::HeadMonitorActionGoal_<ContainerAllocator> _action_goal_type;
00042 ::head_monitor_msgs::HeadMonitorActionGoal_<ContainerAllocator> action_goal;
00043
00044 typedef ::head_monitor_msgs::HeadMonitorActionResult_<ContainerAllocator> _action_result_type;
00045 ::head_monitor_msgs::HeadMonitorActionResult_<ContainerAllocator> action_result;
00046
00047 typedef ::head_monitor_msgs::HeadMonitorActionFeedback_<ContainerAllocator> _action_feedback_type;
00048 ::head_monitor_msgs::HeadMonitorActionFeedback_<ContainerAllocator> action_feedback;
00049
00050
00051 private:
00052 static const char* __s_getDataType_() { return "head_monitor_msgs/HeadMonitorAction"; }
00053 public:
00054 ROS_DEPRECATED static const std::string __s_getDataType() { return __s_getDataType_(); }
00055
00056 ROS_DEPRECATED const std::string __getDataType() const { return __s_getDataType_(); }
00057
00058 private:
00059 static const char* __s_getMD5Sum_() { return "09344416f769d6f374dfa93a50a9bea8"; }
00060 public:
00061 ROS_DEPRECATED static const std::string __s_getMD5Sum() { return __s_getMD5Sum_(); }
00062
00063 ROS_DEPRECATED const std::string __getMD5Sum() const { return __s_getMD5Sum_(); }
00064
00065 private:
00066 static const char* __s_getMessageDefinition_() { return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00067 \n\
00068 HeadMonitorActionGoal action_goal\n\
00069 HeadMonitorActionResult action_result\n\
00070 HeadMonitorActionFeedback action_feedback\n\
00071 \n\
00072 ================================================================================\n\
00073 MSG: head_monitor_msgs/HeadMonitorActionGoal\n\
00074 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00075 \n\
00076 Header header\n\
00077 actionlib_msgs/GoalID goal_id\n\
00078 HeadMonitorGoal goal\n\
00079 \n\
00080 ================================================================================\n\
00081 MSG: std_msgs/Header\n\
00082 # Standard metadata for higher-level stamped data types.\n\
00083 # This is generally used to communicate timestamped data \n\
00084 # in a particular coordinate frame.\n\
00085 # \n\
00086 # sequence ID: consecutively increasing ID \n\
00087 uint32 seq\n\
00088 #Two-integer timestamp that is expressed as:\n\
00089 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00090 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00091 # time-handling sugar is provided by the client library\n\
00092 time stamp\n\
00093 #Frame this data is associated with\n\
00094 # 0: no frame\n\
00095 # 1: global frame\n\
00096 string frame_id\n\
00097 \n\
00098 ================================================================================\n\
00099 MSG: actionlib_msgs/GoalID\n\
00100 # The stamp should store the time at which this goal was requested.\n\
00101 # It is used by an action server when it tries to preempt all\n\
00102 # goals that were requested before a certain time\n\
00103 time stamp\n\
00104 \n\
00105 # The id provides a way to associate feedback and\n\
00106 # result message with specific goal requests. The id\n\
00107 # specified must be unique.\n\
00108 string id\n\
00109 \n\
00110 \n\
00111 ================================================================================\n\
00112 MSG: head_monitor_msgs/HeadMonitorGoal\n\
00113 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00114 string group_name\n\
00115 trajectory_msgs/JointTrajectory joint_trajectory\n\
00116 \n\
00117 #goal definition\n\
00118 duration time_offset\n\
00119 string target_link\n\
00120 \n\
00121 ================================================================================\n\
00122 MSG: trajectory_msgs/JointTrajectory\n\
00123 Header header\n\
00124 string[] joint_names\n\
00125 JointTrajectoryPoint[] points\n\
00126 ================================================================================\n\
00127 MSG: trajectory_msgs/JointTrajectoryPoint\n\
00128 float64[] positions\n\
00129 float64[] velocities\n\
00130 float64[] accelerations\n\
00131 duration time_from_start\n\
00132 ================================================================================\n\
00133 MSG: head_monitor_msgs/HeadMonitorActionResult\n\
00134 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00135 \n\
00136 Header header\n\
00137 actionlib_msgs/GoalStatus status\n\
00138 HeadMonitorResult result\n\
00139 \n\
00140 ================================================================================\n\
00141 MSG: actionlib_msgs/GoalStatus\n\
00142 GoalID goal_id\n\
00143 uint8 status\n\
00144 uint8 PENDING = 0 # The goal has yet to be processed by the action server\n\
00145 uint8 ACTIVE = 1 # The goal is currently being processed by the action server\n\
00146 uint8 PREEMPTED = 2 # The goal received a cancel request after it started executing\n\
00147 # and has since completed its execution (Terminal State)\n\
00148 uint8 SUCCEEDED = 3 # The goal was achieved successfully by the action server (Terminal State)\n\
00149 uint8 ABORTED = 4 # The goal was aborted during execution by the action server due\n\
00150 # to some failure (Terminal State)\n\
00151 uint8 REJECTED = 5 # The goal was rejected by the action server without being processed,\n\
00152 # because the goal was unattainable or invalid (Terminal State)\n\
00153 uint8 PREEMPTING = 6 # The goal received a cancel request after it started executing\n\
00154 # and has not yet completed execution\n\
00155 uint8 RECALLING = 7 # The goal received a cancel request before it started executing,\n\
00156 # but the action server has not yet confirmed that the goal is canceled\n\
00157 uint8 RECALLED = 8 # The goal received a cancel request before it started executing\n\
00158 # and was successfully cancelled (Terminal State)\n\
00159 uint8 LOST = 9 # An action client can determine that a goal is LOST. This should not be\n\
00160 # sent over the wire by an action server\n\
00161 \n\
00162 #Allow for the user to associate a string with GoalStatus for debugging\n\
00163 string text\n\
00164 \n\
00165 \n\
00166 ================================================================================\n\
00167 MSG: head_monitor_msgs/HeadMonitorResult\n\
00168 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00169 trajectory_msgs/JointTrajectory actual_trajectory\n\
00170 arm_navigation_msgs/ArmNavigationErrorCodes error_code\n\
00171 \n\
00172 ================================================================================\n\
00173 MSG: arm_navigation_msgs/ArmNavigationErrorCodes\n\
00174 int32 val\n\
00175 \n\
00176 # overall behavior\n\
00177 int32 PLANNING_FAILED=-1\n\
00178 int32 SUCCESS=1\n\
00179 int32 TIMED_OUT=-2\n\
00180 \n\
00181 # start state errors\n\
00182 int32 START_STATE_IN_COLLISION=-3\n\
00183 int32 START_STATE_VIOLATES_PATH_CONSTRAINTS=-4\n\
00184 \n\
00185 # goal errors\n\
00186 int32 GOAL_IN_COLLISION=-5\n\
00187 int32 GOAL_VIOLATES_PATH_CONSTRAINTS=-6\n\
00188 \n\
00189 # robot state\n\
00190 int32 INVALID_ROBOT_STATE=-7\n\
00191 int32 INCOMPLETE_ROBOT_STATE=-8\n\
00192 \n\
00193 # planning request errors\n\
00194 int32 INVALID_PLANNER_ID=-9\n\
00195 int32 INVALID_NUM_PLANNING_ATTEMPTS=-10\n\
00196 int32 INVALID_ALLOWED_PLANNING_TIME=-11\n\
00197 int32 INVALID_GROUP_NAME=-12\n\
00198 int32 INVALID_GOAL_JOINT_CONSTRAINTS=-13\n\
00199 int32 INVALID_GOAL_POSITION_CONSTRAINTS=-14\n\
00200 int32 INVALID_GOAL_ORIENTATION_CONSTRAINTS=-15\n\
00201 int32 INVALID_PATH_JOINT_CONSTRAINTS=-16\n\
00202 int32 INVALID_PATH_POSITION_CONSTRAINTS=-17\n\
00203 int32 INVALID_PATH_ORIENTATION_CONSTRAINTS=-18\n\
00204 \n\
00205 # state/trajectory monitor errors\n\
00206 int32 INVALID_TRAJECTORY=-19\n\
00207 int32 INVALID_INDEX=-20\n\
00208 int32 JOINT_LIMITS_VIOLATED=-21\n\
00209 int32 PATH_CONSTRAINTS_VIOLATED=-22\n\
00210 int32 COLLISION_CONSTRAINTS_VIOLATED=-23\n\
00211 int32 GOAL_CONSTRAINTS_VIOLATED=-24\n\
00212 int32 JOINTS_NOT_MOVING=-25\n\
00213 int32 TRAJECTORY_CONTROLLER_FAILED=-26\n\
00214 \n\
00215 # system errors\n\
00216 int32 FRAME_TRANSFORM_FAILURE=-27\n\
00217 int32 COLLISION_CHECKING_UNAVAILABLE=-28\n\
00218 int32 ROBOT_STATE_STALE=-29\n\
00219 int32 SENSOR_INFO_STALE=-30\n\
00220 \n\
00221 # kinematics errors\n\
00222 int32 NO_IK_SOLUTION=-31\n\
00223 int32 INVALID_LINK_NAME=-32\n\
00224 int32 IK_LINK_IN_COLLISION=-33\n\
00225 int32 NO_FK_SOLUTION=-34\n\
00226 int32 KINEMATICS_STATE_IN_COLLISION=-35\n\
00227 \n\
00228 # general errors\n\
00229 int32 INVALID_TIMEOUT=-36\n\
00230 \n\
00231 \n\
00232 ================================================================================\n\
00233 MSG: head_monitor_msgs/HeadMonitorActionFeedback\n\
00234 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00235 \n\
00236 Header header\n\
00237 actionlib_msgs/GoalStatus status\n\
00238 HeadMonitorFeedback feedback\n\
00239 \n\
00240 ================================================================================\n\
00241 MSG: head_monitor_msgs/HeadMonitorFeedback\n\
00242 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00243 arm_navigation_msgs/RobotState current_state\n\
00244 arm_navigation_msgs/RobotState paused_trajectory_state\n\
00245 arm_navigation_msgs/CollisionObject paused_collision_map\n\
00246 \n\
00247 \n\
00248 \n\
00249 ================================================================================\n\
00250 MSG: arm_navigation_msgs/RobotState\n\
00251 # This message contains information about the robot state, i.e. the positions of its joints and links\n\
00252 sensor_msgs/JointState joint_state\n\
00253 arm_navigation_msgs/MultiDOFJointState multi_dof_joint_state\n\
00254 \n\
00255 ================================================================================\n\
00256 MSG: sensor_msgs/JointState\n\
00257 # This is a message that holds data to describe the state of a set of torque controlled joints. \n\
00258 #\n\
00259 # The state of each joint (revolute or prismatic) is defined by:\n\
00260 # * the position of the joint (rad or m),\n\
00261 # * the velocity of the joint (rad/s or m/s) and \n\
00262 # * the effort that is applied in the joint (Nm or N).\n\
00263 #\n\
00264 # Each joint is uniquely identified by its name\n\
00265 # The header specifies the time at which the joint states were recorded. All the joint states\n\
00266 # in one message have to be recorded at the same time.\n\
00267 #\n\
00268 # This message consists of a multiple arrays, one for each part of the joint state. \n\
00269 # The goal is to make each of the fields optional. When e.g. your joints have no\n\
00270 # effort associated with them, you can leave the effort array empty. \n\
00271 #\n\
00272 # All arrays in this message should have the same size, or be empty.\n\
00273 # This is the only way to uniquely associate the joint name with the correct\n\
00274 # states.\n\
00275 \n\
00276 \n\
00277 Header header\n\
00278 \n\
00279 string[] name\n\
00280 float64[] position\n\
00281 float64[] velocity\n\
00282 float64[] effort\n\
00283 \n\
00284 ================================================================================\n\
00285 MSG: arm_navigation_msgs/MultiDOFJointState\n\
00286 #A representation of a multi-dof joint state\n\
00287 time stamp\n\
00288 string[] joint_names\n\
00289 string[] frame_ids\n\
00290 string[] child_frame_ids\n\
00291 geometry_msgs/Pose[] poses\n\
00292 \n\
00293 ================================================================================\n\
00294 MSG: geometry_msgs/Pose\n\
00295 # A representation of pose in free space, composed of postion and orientation. \n\
00296 Point position\n\
00297 Quaternion orientation\n\
00298 \n\
00299 ================================================================================\n\
00300 MSG: geometry_msgs/Point\n\
00301 # This contains the position of a point in free space\n\
00302 float64 x\n\
00303 float64 y\n\
00304 float64 z\n\
00305 \n\
00306 ================================================================================\n\
00307 MSG: geometry_msgs/Quaternion\n\
00308 # This represents an orientation in free space in quaternion form.\n\
00309 \n\
00310 float64 x\n\
00311 float64 y\n\
00312 float64 z\n\
00313 float64 w\n\
00314 \n\
00315 ================================================================================\n\
00316 MSG: arm_navigation_msgs/CollisionObject\n\
00317 # a header, used for interpreting the poses\n\
00318 Header header\n\
00319 \n\
00320 # the id of the object\n\
00321 string id\n\
00322 \n\
00323 # The padding used for filtering points near the object.\n\
00324 # This does not affect collision checking for the object. \n\
00325 # Set to negative to get zero padding.\n\
00326 float32 padding\n\
00327 \n\
00328 #This contains what is to be done with the object\n\
00329 CollisionObjectOperation operation\n\
00330 \n\
00331 #the shapes associated with the object\n\
00332 arm_navigation_msgs/Shape[] shapes\n\
00333 \n\
00334 #the poses associated with the shapes - will be transformed using the header\n\
00335 geometry_msgs/Pose[] poses\n\
00336 \n\
00337 ================================================================================\n\
00338 MSG: arm_navigation_msgs/CollisionObjectOperation\n\
00339 #Puts the object into the environment\n\
00340 #or updates the object if already added\n\
00341 byte ADD=0\n\
00342 \n\
00343 #Removes the object from the environment entirely\n\
00344 byte REMOVE=1\n\
00345 \n\
00346 #Only valid within the context of a CollisionAttachedObject message\n\
00347 #Will be ignored if sent with an CollisionObject message\n\
00348 #Takes an attached object, detaches from the attached link\n\
00349 #But adds back in as regular object\n\
00350 byte DETACH_AND_ADD_AS_OBJECT=2\n\
00351 \n\
00352 #Only valid within the context of a CollisionAttachedObject message\n\
00353 #Will be ignored if sent with an CollisionObject message\n\
00354 #Takes current object in the environment and removes it as\n\
00355 #a regular object\n\
00356 byte ATTACH_AND_REMOVE_AS_OBJECT=3\n\
00357 \n\
00358 # Byte code for operation\n\
00359 byte operation\n\
00360 \n\
00361 ================================================================================\n\
00362 MSG: arm_navigation_msgs/Shape\n\
00363 byte SPHERE=0\n\
00364 byte BOX=1\n\
00365 byte CYLINDER=2\n\
00366 byte MESH=3\n\
00367 \n\
00368 byte type\n\
00369 \n\
00370 \n\
00371 #### define sphere, box, cylinder ####\n\
00372 # the origin of each shape is considered at the shape's center\n\
00373 \n\
00374 # for sphere\n\
00375 # radius := dimensions[0]\n\
00376 \n\
00377 # for cylinder\n\
00378 # radius := dimensions[0]\n\
00379 # length := dimensions[1]\n\
00380 # the length is along the Z axis\n\
00381 \n\
00382 # for box\n\
00383 # size_x := dimensions[0]\n\
00384 # size_y := dimensions[1]\n\
00385 # size_z := dimensions[2]\n\
00386 float64[] dimensions\n\
00387 \n\
00388 \n\
00389 #### define mesh ####\n\
00390 \n\
00391 # list of triangles; triangle k is defined by tre vertices located\n\
00392 # at indices triangles[3k], triangles[3k+1], triangles[3k+2]\n\
00393 int32[] triangles\n\
00394 geometry_msgs/Point[] vertices\n\
00395 \n\
00396 "; }
00397 public:
00398 ROS_DEPRECATED static const std::string __s_getMessageDefinition() { return __s_getMessageDefinition_(); }
00399
00400 ROS_DEPRECATED const std::string __getMessageDefinition() const { return __s_getMessageDefinition_(); }
00401
00402 ROS_DEPRECATED virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const
00403 {
00404 ros::serialization::OStream stream(write_ptr, 1000000000);
00405 ros::serialization::serialize(stream, action_goal);
00406 ros::serialization::serialize(stream, action_result);
00407 ros::serialization::serialize(stream, action_feedback);
00408 return stream.getData();
00409 }
00410
00411 ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr)
00412 {
00413 ros::serialization::IStream stream(read_ptr, 1000000000);
00414 ros::serialization::deserialize(stream, action_goal);
00415 ros::serialization::deserialize(stream, action_result);
00416 ros::serialization::deserialize(stream, action_feedback);
00417 return stream.getData();
00418 }
00419
00420 ROS_DEPRECATED virtual uint32_t serializationLength() const
00421 {
00422 uint32_t size = 0;
00423 size += ros::serialization::serializationLength(action_goal);
00424 size += ros::serialization::serializationLength(action_result);
00425 size += ros::serialization::serializationLength(action_feedback);
00426 return size;
00427 }
00428
00429 typedef boost::shared_ptr< ::head_monitor_msgs::HeadMonitorAction_<ContainerAllocator> > Ptr;
00430 typedef boost::shared_ptr< ::head_monitor_msgs::HeadMonitorAction_<ContainerAllocator> const> ConstPtr;
00431 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00432 };
00433 typedef ::head_monitor_msgs::HeadMonitorAction_<std::allocator<void> > HeadMonitorAction;
00434
00435 typedef boost::shared_ptr< ::head_monitor_msgs::HeadMonitorAction> HeadMonitorActionPtr;
00436 typedef boost::shared_ptr< ::head_monitor_msgs::HeadMonitorAction const> HeadMonitorActionConstPtr;
00437
00438
00439 template<typename ContainerAllocator>
00440 std::ostream& operator<<(std::ostream& s, const ::head_monitor_msgs::HeadMonitorAction_<ContainerAllocator> & v)
00441 {
00442 ros::message_operations::Printer< ::head_monitor_msgs::HeadMonitorAction_<ContainerAllocator> >::stream(s, "", v);
00443 return s;}
00444
00445 }
00446
00447 namespace ros
00448 {
00449 namespace message_traits
00450 {
00451 template<class ContainerAllocator> struct IsMessage< ::head_monitor_msgs::HeadMonitorAction_<ContainerAllocator> > : public TrueType {};
00452 template<class ContainerAllocator> struct IsMessage< ::head_monitor_msgs::HeadMonitorAction_<ContainerAllocator> const> : public TrueType {};
00453 template<class ContainerAllocator>
00454 struct MD5Sum< ::head_monitor_msgs::HeadMonitorAction_<ContainerAllocator> > {
00455 static const char* value()
00456 {
00457 return "09344416f769d6f374dfa93a50a9bea8";
00458 }
00459
00460 static const char* value(const ::head_monitor_msgs::HeadMonitorAction_<ContainerAllocator> &) { return value(); }
00461 static const uint64_t static_value1 = 0x09344416f769d6f3ULL;
00462 static const uint64_t static_value2 = 0x74dfa93a50a9bea8ULL;
00463 };
00464
00465 template<class ContainerAllocator>
00466 struct DataType< ::head_monitor_msgs::HeadMonitorAction_<ContainerAllocator> > {
00467 static const char* value()
00468 {
00469 return "head_monitor_msgs/HeadMonitorAction";
00470 }
00471
00472 static const char* value(const ::head_monitor_msgs::HeadMonitorAction_<ContainerAllocator> &) { return value(); }
00473 };
00474
00475 template<class ContainerAllocator>
00476 struct Definition< ::head_monitor_msgs::HeadMonitorAction_<ContainerAllocator> > {
00477 static const char* value()
00478 {
00479 return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00480 \n\
00481 HeadMonitorActionGoal action_goal\n\
00482 HeadMonitorActionResult action_result\n\
00483 HeadMonitorActionFeedback action_feedback\n\
00484 \n\
00485 ================================================================================\n\
00486 MSG: head_monitor_msgs/HeadMonitorActionGoal\n\
00487 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00488 \n\
00489 Header header\n\
00490 actionlib_msgs/GoalID goal_id\n\
00491 HeadMonitorGoal goal\n\
00492 \n\
00493 ================================================================================\n\
00494 MSG: std_msgs/Header\n\
00495 # Standard metadata for higher-level stamped data types.\n\
00496 # This is generally used to communicate timestamped data \n\
00497 # in a particular coordinate frame.\n\
00498 # \n\
00499 # sequence ID: consecutively increasing ID \n\
00500 uint32 seq\n\
00501 #Two-integer timestamp that is expressed as:\n\
00502 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00503 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00504 # time-handling sugar is provided by the client library\n\
00505 time stamp\n\
00506 #Frame this data is associated with\n\
00507 # 0: no frame\n\
00508 # 1: global frame\n\
00509 string frame_id\n\
00510 \n\
00511 ================================================================================\n\
00512 MSG: actionlib_msgs/GoalID\n\
00513 # The stamp should store the time at which this goal was requested.\n\
00514 # It is used by an action server when it tries to preempt all\n\
00515 # goals that were requested before a certain time\n\
00516 time stamp\n\
00517 \n\
00518 # The id provides a way to associate feedback and\n\
00519 # result message with specific goal requests. The id\n\
00520 # specified must be unique.\n\
00521 string id\n\
00522 \n\
00523 \n\
00524 ================================================================================\n\
00525 MSG: head_monitor_msgs/HeadMonitorGoal\n\
00526 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00527 string group_name\n\
00528 trajectory_msgs/JointTrajectory joint_trajectory\n\
00529 \n\
00530 #goal definition\n\
00531 duration time_offset\n\
00532 string target_link\n\
00533 \n\
00534 ================================================================================\n\
00535 MSG: trajectory_msgs/JointTrajectory\n\
00536 Header header\n\
00537 string[] joint_names\n\
00538 JointTrajectoryPoint[] points\n\
00539 ================================================================================\n\
00540 MSG: trajectory_msgs/JointTrajectoryPoint\n\
00541 float64[] positions\n\
00542 float64[] velocities\n\
00543 float64[] accelerations\n\
00544 duration time_from_start\n\
00545 ================================================================================\n\
00546 MSG: head_monitor_msgs/HeadMonitorActionResult\n\
00547 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00548 \n\
00549 Header header\n\
00550 actionlib_msgs/GoalStatus status\n\
00551 HeadMonitorResult result\n\
00552 \n\
00553 ================================================================================\n\
00554 MSG: actionlib_msgs/GoalStatus\n\
00555 GoalID goal_id\n\
00556 uint8 status\n\
00557 uint8 PENDING = 0 # The goal has yet to be processed by the action server\n\
00558 uint8 ACTIVE = 1 # The goal is currently being processed by the action server\n\
00559 uint8 PREEMPTED = 2 # The goal received a cancel request after it started executing\n\
00560 # and has since completed its execution (Terminal State)\n\
00561 uint8 SUCCEEDED = 3 # The goal was achieved successfully by the action server (Terminal State)\n\
00562 uint8 ABORTED = 4 # The goal was aborted during execution by the action server due\n\
00563 # to some failure (Terminal State)\n\
00564 uint8 REJECTED = 5 # The goal was rejected by the action server without being processed,\n\
00565 # because the goal was unattainable or invalid (Terminal State)\n\
00566 uint8 PREEMPTING = 6 # The goal received a cancel request after it started executing\n\
00567 # and has not yet completed execution\n\
00568 uint8 RECALLING = 7 # The goal received a cancel request before it started executing,\n\
00569 # but the action server has not yet confirmed that the goal is canceled\n\
00570 uint8 RECALLED = 8 # The goal received a cancel request before it started executing\n\
00571 # and was successfully cancelled (Terminal State)\n\
00572 uint8 LOST = 9 # An action client can determine that a goal is LOST. This should not be\n\
00573 # sent over the wire by an action server\n\
00574 \n\
00575 #Allow for the user to associate a string with GoalStatus for debugging\n\
00576 string text\n\
00577 \n\
00578 \n\
00579 ================================================================================\n\
00580 MSG: head_monitor_msgs/HeadMonitorResult\n\
00581 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00582 trajectory_msgs/JointTrajectory actual_trajectory\n\
00583 arm_navigation_msgs/ArmNavigationErrorCodes error_code\n\
00584 \n\
00585 ================================================================================\n\
00586 MSG: arm_navigation_msgs/ArmNavigationErrorCodes\n\
00587 int32 val\n\
00588 \n\
00589 # overall behavior\n\
00590 int32 PLANNING_FAILED=-1\n\
00591 int32 SUCCESS=1\n\
00592 int32 TIMED_OUT=-2\n\
00593 \n\
00594 # start state errors\n\
00595 int32 START_STATE_IN_COLLISION=-3\n\
00596 int32 START_STATE_VIOLATES_PATH_CONSTRAINTS=-4\n\
00597 \n\
00598 # goal errors\n\
00599 int32 GOAL_IN_COLLISION=-5\n\
00600 int32 GOAL_VIOLATES_PATH_CONSTRAINTS=-6\n\
00601 \n\
00602 # robot state\n\
00603 int32 INVALID_ROBOT_STATE=-7\n\
00604 int32 INCOMPLETE_ROBOT_STATE=-8\n\
00605 \n\
00606 # planning request errors\n\
00607 int32 INVALID_PLANNER_ID=-9\n\
00608 int32 INVALID_NUM_PLANNING_ATTEMPTS=-10\n\
00609 int32 INVALID_ALLOWED_PLANNING_TIME=-11\n\
00610 int32 INVALID_GROUP_NAME=-12\n\
00611 int32 INVALID_GOAL_JOINT_CONSTRAINTS=-13\n\
00612 int32 INVALID_GOAL_POSITION_CONSTRAINTS=-14\n\
00613 int32 INVALID_GOAL_ORIENTATION_CONSTRAINTS=-15\n\
00614 int32 INVALID_PATH_JOINT_CONSTRAINTS=-16\n\
00615 int32 INVALID_PATH_POSITION_CONSTRAINTS=-17\n\
00616 int32 INVALID_PATH_ORIENTATION_CONSTRAINTS=-18\n\
00617 \n\
00618 # state/trajectory monitor errors\n\
00619 int32 INVALID_TRAJECTORY=-19\n\
00620 int32 INVALID_INDEX=-20\n\
00621 int32 JOINT_LIMITS_VIOLATED=-21\n\
00622 int32 PATH_CONSTRAINTS_VIOLATED=-22\n\
00623 int32 COLLISION_CONSTRAINTS_VIOLATED=-23\n\
00624 int32 GOAL_CONSTRAINTS_VIOLATED=-24\n\
00625 int32 JOINTS_NOT_MOVING=-25\n\
00626 int32 TRAJECTORY_CONTROLLER_FAILED=-26\n\
00627 \n\
00628 # system errors\n\
00629 int32 FRAME_TRANSFORM_FAILURE=-27\n\
00630 int32 COLLISION_CHECKING_UNAVAILABLE=-28\n\
00631 int32 ROBOT_STATE_STALE=-29\n\
00632 int32 SENSOR_INFO_STALE=-30\n\
00633 \n\
00634 # kinematics errors\n\
00635 int32 NO_IK_SOLUTION=-31\n\
00636 int32 INVALID_LINK_NAME=-32\n\
00637 int32 IK_LINK_IN_COLLISION=-33\n\
00638 int32 NO_FK_SOLUTION=-34\n\
00639 int32 KINEMATICS_STATE_IN_COLLISION=-35\n\
00640 \n\
00641 # general errors\n\
00642 int32 INVALID_TIMEOUT=-36\n\
00643 \n\
00644 \n\
00645 ================================================================================\n\
00646 MSG: head_monitor_msgs/HeadMonitorActionFeedback\n\
00647 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00648 \n\
00649 Header header\n\
00650 actionlib_msgs/GoalStatus status\n\
00651 HeadMonitorFeedback feedback\n\
00652 \n\
00653 ================================================================================\n\
00654 MSG: head_monitor_msgs/HeadMonitorFeedback\n\
00655 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00656 arm_navigation_msgs/RobotState current_state\n\
00657 arm_navigation_msgs/RobotState paused_trajectory_state\n\
00658 arm_navigation_msgs/CollisionObject paused_collision_map\n\
00659 \n\
00660 \n\
00661 \n\
00662 ================================================================================\n\
00663 MSG: arm_navigation_msgs/RobotState\n\
00664 # This message contains information about the robot state, i.e. the positions of its joints and links\n\
00665 sensor_msgs/JointState joint_state\n\
00666 arm_navigation_msgs/MultiDOFJointState multi_dof_joint_state\n\
00667 \n\
00668 ================================================================================\n\
00669 MSG: sensor_msgs/JointState\n\
00670 # This is a message that holds data to describe the state of a set of torque controlled joints. \n\
00671 #\n\
00672 # The state of each joint (revolute or prismatic) is defined by:\n\
00673 # * the position of the joint (rad or m),\n\
00674 # * the velocity of the joint (rad/s or m/s) and \n\
00675 # * the effort that is applied in the joint (Nm or N).\n\
00676 #\n\
00677 # Each joint is uniquely identified by its name\n\
00678 # The header specifies the time at which the joint states were recorded. All the joint states\n\
00679 # in one message have to be recorded at the same time.\n\
00680 #\n\
00681 # This message consists of a multiple arrays, one for each part of the joint state. \n\
00682 # The goal is to make each of the fields optional. When e.g. your joints have no\n\
00683 # effort associated with them, you can leave the effort array empty. \n\
00684 #\n\
00685 # All arrays in this message should have the same size, or be empty.\n\
00686 # This is the only way to uniquely associate the joint name with the correct\n\
00687 # states.\n\
00688 \n\
00689 \n\
00690 Header header\n\
00691 \n\
00692 string[] name\n\
00693 float64[] position\n\
00694 float64[] velocity\n\
00695 float64[] effort\n\
00696 \n\
00697 ================================================================================\n\
00698 MSG: arm_navigation_msgs/MultiDOFJointState\n\
00699 #A representation of a multi-dof joint state\n\
00700 time stamp\n\
00701 string[] joint_names\n\
00702 string[] frame_ids\n\
00703 string[] child_frame_ids\n\
00704 geometry_msgs/Pose[] poses\n\
00705 \n\
00706 ================================================================================\n\
00707 MSG: geometry_msgs/Pose\n\
00708 # A representation of pose in free space, composed of postion and orientation. \n\
00709 Point position\n\
00710 Quaternion orientation\n\
00711 \n\
00712 ================================================================================\n\
00713 MSG: geometry_msgs/Point\n\
00714 # This contains the position of a point in free space\n\
00715 float64 x\n\
00716 float64 y\n\
00717 float64 z\n\
00718 \n\
00719 ================================================================================\n\
00720 MSG: geometry_msgs/Quaternion\n\
00721 # This represents an orientation in free space in quaternion form.\n\
00722 \n\
00723 float64 x\n\
00724 float64 y\n\
00725 float64 z\n\
00726 float64 w\n\
00727 \n\
00728 ================================================================================\n\
00729 MSG: arm_navigation_msgs/CollisionObject\n\
00730 # a header, used for interpreting the poses\n\
00731 Header header\n\
00732 \n\
00733 # the id of the object\n\
00734 string id\n\
00735 \n\
00736 # The padding used for filtering points near the object.\n\
00737 # This does not affect collision checking for the object. \n\
00738 # Set to negative to get zero padding.\n\
00739 float32 padding\n\
00740 \n\
00741 #This contains what is to be done with the object\n\
00742 CollisionObjectOperation operation\n\
00743 \n\
00744 #the shapes associated with the object\n\
00745 arm_navigation_msgs/Shape[] shapes\n\
00746 \n\
00747 #the poses associated with the shapes - will be transformed using the header\n\
00748 geometry_msgs/Pose[] poses\n\
00749 \n\
00750 ================================================================================\n\
00751 MSG: arm_navigation_msgs/CollisionObjectOperation\n\
00752 #Puts the object into the environment\n\
00753 #or updates the object if already added\n\
00754 byte ADD=0\n\
00755 \n\
00756 #Removes the object from the environment entirely\n\
00757 byte REMOVE=1\n\
00758 \n\
00759 #Only valid within the context of a CollisionAttachedObject message\n\
00760 #Will be ignored if sent with an CollisionObject message\n\
00761 #Takes an attached object, detaches from the attached link\n\
00762 #But adds back in as regular object\n\
00763 byte DETACH_AND_ADD_AS_OBJECT=2\n\
00764 \n\
00765 #Only valid within the context of a CollisionAttachedObject message\n\
00766 #Will be ignored if sent with an CollisionObject message\n\
00767 #Takes current object in the environment and removes it as\n\
00768 #a regular object\n\
00769 byte ATTACH_AND_REMOVE_AS_OBJECT=3\n\
00770 \n\
00771 # Byte code for operation\n\
00772 byte operation\n\
00773 \n\
00774 ================================================================================\n\
00775 MSG: arm_navigation_msgs/Shape\n\
00776 byte SPHERE=0\n\
00777 byte BOX=1\n\
00778 byte CYLINDER=2\n\
00779 byte MESH=3\n\
00780 \n\
00781 byte type\n\
00782 \n\
00783 \n\
00784 #### define sphere, box, cylinder ####\n\
00785 # the origin of each shape is considered at the shape's center\n\
00786 \n\
00787 # for sphere\n\
00788 # radius := dimensions[0]\n\
00789 \n\
00790 # for cylinder\n\
00791 # radius := dimensions[0]\n\
00792 # length := dimensions[1]\n\
00793 # the length is along the Z axis\n\
00794 \n\
00795 # for box\n\
00796 # size_x := dimensions[0]\n\
00797 # size_y := dimensions[1]\n\
00798 # size_z := dimensions[2]\n\
00799 float64[] dimensions\n\
00800 \n\
00801 \n\
00802 #### define mesh ####\n\
00803 \n\
00804 # list of triangles; triangle k is defined by tre vertices located\n\
00805 # at indices triangles[3k], triangles[3k+1], triangles[3k+2]\n\
00806 int32[] triangles\n\
00807 geometry_msgs/Point[] vertices\n\
00808 \n\
00809 ";
00810 }
00811
00812 static const char* value(const ::head_monitor_msgs::HeadMonitorAction_<ContainerAllocator> &) { return value(); }
00813 };
00814
00815 }
00816 }
00817
00818 namespace ros
00819 {
00820 namespace serialization
00821 {
00822
00823 template<class ContainerAllocator> struct Serializer< ::head_monitor_msgs::HeadMonitorAction_<ContainerAllocator> >
00824 {
00825 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00826 {
00827 stream.next(m.action_goal);
00828 stream.next(m.action_result);
00829 stream.next(m.action_feedback);
00830 }
00831
00832 ROS_DECLARE_ALLINONE_SERIALIZER;
00833 };
00834 }
00835 }
00836
00837 namespace ros
00838 {
00839 namespace message_operations
00840 {
00841
00842 template<class ContainerAllocator>
00843 struct Printer< ::head_monitor_msgs::HeadMonitorAction_<ContainerAllocator> >
00844 {
00845 template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::head_monitor_msgs::HeadMonitorAction_<ContainerAllocator> & v)
00846 {
00847 s << indent << "action_goal: ";
00848 s << std::endl;
00849 Printer< ::head_monitor_msgs::HeadMonitorActionGoal_<ContainerAllocator> >::stream(s, indent + " ", v.action_goal);
00850 s << indent << "action_result: ";
00851 s << std::endl;
00852 Printer< ::head_monitor_msgs::HeadMonitorActionResult_<ContainerAllocator> >::stream(s, indent + " ", v.action_result);
00853 s << indent << "action_feedback: ";
00854 s << std::endl;
00855 Printer< ::head_monitor_msgs::HeadMonitorActionFeedback_<ContainerAllocator> >::stream(s, indent + " ", v.action_feedback);
00856 }
00857 };
00858
00859
00860 }
00861 }
00862
00863 #endif // HEAD_MONITOR_MSGS_MESSAGE_HEADMONITORACTION_H
00864
