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00001 /* Auto-generated by genmsg_cpp for file /home/rosbuild/hudson/workspace/doc-electric-arm_navigation_experimental/doc_stacks/2013-03-01_14-08-43.137802/arm_navigation_experimental/head_monitor_msgs/msg/PreplanHeadScanActionGoal.msg */ 00002 #ifndef HEAD_MONITOR_MSGS_MESSAGE_PREPLANHEADSCANACTIONGOAL_H 00003 #define HEAD_MONITOR_MSGS_MESSAGE_PREPLANHEADSCANACTIONGOAL_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 "std_msgs/Header.h" 00018 #include "actionlib_msgs/GoalID.h" 00019 #include "head_monitor_msgs/PreplanHeadScanGoal.h" 00020 00021 namespace head_monitor_msgs 00022 { 00023 template <class ContainerAllocator> 00024 struct PreplanHeadScanActionGoal_ { 00025 typedef PreplanHeadScanActionGoal_<ContainerAllocator> Type; 00026 00027 PreplanHeadScanActionGoal_() 00028 : header() 00029 , goal_id() 00030 , goal() 00031 { 00032 } 00033 00034 PreplanHeadScanActionGoal_(const ContainerAllocator& _alloc) 00035 : header(_alloc) 00036 , goal_id(_alloc) 00037 , goal(_alloc) 00038 { 00039 } 00040 00041 typedef ::std_msgs::Header_<ContainerAllocator> _header_type; 00042 ::std_msgs::Header_<ContainerAllocator> header; 00043 00044 typedef ::actionlib_msgs::GoalID_<ContainerAllocator> _goal_id_type; 00045 ::actionlib_msgs::GoalID_<ContainerAllocator> goal_id; 00046 00047 typedef ::head_monitor_msgs::PreplanHeadScanGoal_<ContainerAllocator> _goal_type; 00048 ::head_monitor_msgs::PreplanHeadScanGoal_<ContainerAllocator> goal; 00049 00050 00051 private: 00052 static const char* __s_getDataType_() { return "head_monitor_msgs/PreplanHeadScanActionGoal"; } 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 "d6d529901f1841831659ba61c8e488bc"; } 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 Header header\n\ 00069 actionlib_msgs/GoalID goal_id\n\ 00070 PreplanHeadScanGoal goal\n\ 00071 \n\ 00072 ================================================================================\n\ 00073 MSG: std_msgs/Header\n\ 00074 # Standard metadata for higher-level stamped data types.\n\ 00075 # This is generally used to communicate timestamped data \n\ 00076 # in a particular coordinate frame.\n\ 00077 # \n\ 00078 # sequence ID: consecutively increasing ID \n\ 00079 uint32 seq\n\ 00080 #Two-integer timestamp that is expressed as:\n\ 00081 # * stamp.secs: seconds (stamp_secs) since epoch\n\ 00082 # * stamp.nsecs: nanoseconds since stamp_secs\n\ 00083 # time-handling sugar is provided by the client library\n\ 00084 time stamp\n\ 00085 #Frame this data is associated with\n\ 00086 # 0: no frame\n\ 00087 # 1: global frame\n\ 00088 string frame_id\n\ 00089 \n\ 00090 ================================================================================\n\ 00091 MSG: actionlib_msgs/GoalID\n\ 00092 # The stamp should store the time at which this goal was requested.\n\ 00093 # It is used by an action server when it tries to preempt all\n\ 00094 # goals that were requested before a certain time\n\ 00095 time stamp\n\ 00096 \n\ 00097 # The id provides a way to associate feedback and\n\ 00098 # result message with specific goal requests. The id\n\ 00099 # specified must be unique.\n\ 00100 string id\n\ 00101 \n\ 00102 \n\ 00103 ================================================================================\n\ 00104 MSG: head_monitor_msgs/PreplanHeadScanGoal\n\ 00105 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\ 00106 # The motion plan request\n\ 00107 string group_name\n\ 00108 string head_monitor_link\n\ 00109 arm_navigation_msgs/MotionPlanRequest motion_plan_request\n\ 00110 \n\ 00111 ================================================================================\n\ 00112 MSG: arm_navigation_msgs/MotionPlanRequest\n\ 00113 # This service contains the definition for a request to the motion\n\ 00114 # planner and the output it provides\n\ 00115 \n\ 00116 # Parameters for the workspace that the planner should work inside\n\ 00117 arm_navigation_msgs/WorkspaceParameters workspace_parameters\n\ 00118 \n\ 00119 # Starting state updates. If certain joints should be considered\n\ 00120 # at positions other than the current ones, these positions should\n\ 00121 # be set here\n\ 00122 arm_navigation_msgs/RobotState start_state\n\ 00123 \n\ 00124 # The goal state for the model to plan for. The goal is achieved\n\ 00125 # if all constraints are satisfied\n\ 00126 arm_navigation_msgs/Constraints goal_constraints\n\ 00127 \n\ 00128 # No state at any point along the path in the produced motion plan will violate these constraints\n\ 00129 arm_navigation_msgs/Constraints path_constraints\n\ 00130 \n\ 00131 # The name of the motion planner to use. If no name is specified,\n\ 00132 # a default motion planner will be used\n\ 00133 string planner_id\n\ 00134 \n\ 00135 # The name of the group of joints on which this planner is operating\n\ 00136 string group_name\n\ 00137 \n\ 00138 # The number of times this plan is to be computed. Shortest solution\n\ 00139 # will be reported.\n\ 00140 int32 num_planning_attempts\n\ 00141 \n\ 00142 # The maximum amount of time the motion planner is allowed to plan for\n\ 00143 duration allowed_planning_time\n\ 00144 \n\ 00145 # An expected path duration (in seconds) along with an expected discretization of the path allows the planner to determine the discretization of the trajectory that it returns\n\ 00146 duration expected_path_duration\n\ 00147 duration expected_path_dt\n\ 00148 \n\ 00149 ================================================================================\n\ 00150 MSG: arm_navigation_msgs/WorkspaceParameters\n\ 00151 # This message contains a set of parameters useful in\n\ 00152 # setting up the workspace for planning\n\ 00153 arm_navigation_msgs/Shape workspace_region_shape\n\ 00154 geometry_msgs/PoseStamped workspace_region_pose\n\ 00155 \n\ 00156 \n\ 00157 ================================================================================\n\ 00158 MSG: arm_navigation_msgs/Shape\n\ 00159 byte SPHERE=0\n\ 00160 byte BOX=1\n\ 00161 byte CYLINDER=2\n\ 00162 byte MESH=3\n\ 00163 \n\ 00164 byte type\n\ 00165 \n\ 00166 \n\ 00167 #### define sphere, box, cylinder ####\n\ 00168 # the origin of each shape is considered at the shape's center\n\ 00169 \n\ 00170 # for sphere\n\ 00171 # radius := dimensions[0]\n\ 00172 \n\ 00173 # for cylinder\n\ 00174 # radius := dimensions[0]\n\ 00175 # length := dimensions[1]\n\ 00176 # the length is along the Z axis\n\ 00177 \n\ 00178 # for box\n\ 00179 # size_x := dimensions[0]\n\ 00180 # size_y := dimensions[1]\n\ 00181 # size_z := dimensions[2]\n\ 00182 float64[] dimensions\n\ 00183 \n\ 00184 \n\ 00185 #### define mesh ####\n\ 00186 \n\ 00187 # list of triangles; triangle k is defined by tre vertices located\n\ 00188 # at indices triangles[3k], triangles[3k+1], triangles[3k+2]\n\ 00189 int32[] triangles\n\ 00190 geometry_msgs/Point[] vertices\n\ 00191 \n\ 00192 ================================================================================\n\ 00193 MSG: geometry_msgs/Point\n\ 00194 # This contains the position of a point in free space\n\ 00195 float64 x\n\ 00196 float64 y\n\ 00197 float64 z\n\ 00198 \n\ 00199 ================================================================================\n\ 00200 MSG: geometry_msgs/PoseStamped\n\ 00201 # A Pose with reference coordinate frame and timestamp\n\ 00202 Header header\n\ 00203 Pose pose\n\ 00204 \n\ 00205 ================================================================================\n\ 00206 MSG: geometry_msgs/Pose\n\ 00207 # A representation of pose in free space, composed of postion and orientation. \n\ 00208 Point position\n\ 00209 Quaternion orientation\n\ 00210 \n\ 00211 ================================================================================\n\ 00212 MSG: geometry_msgs/Quaternion\n\ 00213 # This represents an orientation in free space in quaternion form.\n\ 00214 \n\ 00215 float64 x\n\ 00216 float64 y\n\ 00217 float64 z\n\ 00218 float64 w\n\ 00219 \n\ 00220 ================================================================================\n\ 00221 MSG: arm_navigation_msgs/RobotState\n\ 00222 # This message contains information about the robot state, i.e. the positions of its joints and links\n\ 00223 sensor_msgs/JointState joint_state\n\ 00224 arm_navigation_msgs/MultiDOFJointState multi_dof_joint_state\n\ 00225 \n\ 00226 ================================================================================\n\ 00227 MSG: sensor_msgs/JointState\n\ 00228 # This is a message that holds data to describe the state of a set of torque controlled joints. \n\ 00229 #\n\ 00230 # The state of each joint (revolute or prismatic) is defined by:\n\ 00231 # * the position of the joint (rad or m),\n\ 00232 # * the velocity of the joint (rad/s or m/s) and \n\ 00233 # * the effort that is applied in the joint (Nm or N).\n\ 00234 #\n\ 00235 # Each joint is uniquely identified by its name\n\ 00236 # The header specifies the time at which the joint states were recorded. All the joint states\n\ 00237 # in one message have to be recorded at the same time.\n\ 00238 #\n\ 00239 # This message consists of a multiple arrays, one for each part of the joint state. \n\ 00240 # The goal is to make each of the fields optional. When e.g. your joints have no\n\ 00241 # effort associated with them, you can leave the effort array empty. \n\ 00242 #\n\ 00243 # All arrays in this message should have the same size, or be empty.\n\ 00244 # This is the only way to uniquely associate the joint name with the correct\n\ 00245 # states.\n\ 00246 \n\ 00247 \n\ 00248 Header header\n\ 00249 \n\ 00250 string[] name\n\ 00251 float64[] position\n\ 00252 float64[] velocity\n\ 00253 float64[] effort\n\ 00254 \n\ 00255 ================================================================================\n\ 00256 MSG: arm_navigation_msgs/MultiDOFJointState\n\ 00257 #A representation of a multi-dof joint state\n\ 00258 time stamp\n\ 00259 string[] joint_names\n\ 00260 string[] frame_ids\n\ 00261 string[] child_frame_ids\n\ 00262 geometry_msgs/Pose[] poses\n\ 00263 \n\ 00264 ================================================================================\n\ 00265 MSG: arm_navigation_msgs/Constraints\n\ 00266 # This message contains a list of motion planning constraints.\n\ 00267 \n\ 00268 arm_navigation_msgs/JointConstraint[] joint_constraints\n\ 00269 arm_navigation_msgs/PositionConstraint[] position_constraints\n\ 00270 arm_navigation_msgs/OrientationConstraint[] orientation_constraints\n\ 00271 arm_navigation_msgs/VisibilityConstraint[] visibility_constraints\n\ 00272 \n\ 00273 ================================================================================\n\ 00274 MSG: arm_navigation_msgs/JointConstraint\n\ 00275 # Constrain the position of a joint to be within a certain bound\n\ 00276 string joint_name\n\ 00277 \n\ 00278 # the bound to be achieved is [position - tolerance_below, position + tolerance_above]\n\ 00279 float64 position\n\ 00280 float64 tolerance_above\n\ 00281 float64 tolerance_below\n\ 00282 \n\ 00283 # A weighting factor for this constraint\n\ 00284 float64 weight\n\ 00285 ================================================================================\n\ 00286 MSG: arm_navigation_msgs/PositionConstraint\n\ 00287 # This message contains the definition of a position constraint.\n\ 00288 Header header\n\ 00289 \n\ 00290 # The robot link this constraint refers to\n\ 00291 string link_name\n\ 00292 \n\ 00293 # The offset (in the link frame) for the target point on the link we are planning for\n\ 00294 geometry_msgs/Point target_point_offset\n\ 00295 \n\ 00296 # The nominal/target position for the point we are planning for\n\ 00297 geometry_msgs/Point position\n\ 00298 \n\ 00299 # The shape of the bounded region that constrains the position of the end-effector\n\ 00300 # This region is always centered at the position defined above\n\ 00301 arm_navigation_msgs/Shape constraint_region_shape\n\ 00302 \n\ 00303 # The orientation of the bounded region that constrains the position of the end-effector. \n\ 00304 # This allows the specification of non-axis aligned constraints\n\ 00305 geometry_msgs/Quaternion constraint_region_orientation\n\ 00306 \n\ 00307 # Constraint weighting factor - a weight for this constraint\n\ 00308 float64 weight\n\ 00309 \n\ 00310 ================================================================================\n\ 00311 MSG: arm_navigation_msgs/OrientationConstraint\n\ 00312 # This message contains the definition of an orientation constraint.\n\ 00313 Header header\n\ 00314 \n\ 00315 # The robot link this constraint refers to\n\ 00316 string link_name\n\ 00317 \n\ 00318 # The type of the constraint\n\ 00319 int32 type\n\ 00320 int32 LINK_FRAME=0\n\ 00321 int32 HEADER_FRAME=1\n\ 00322 \n\ 00323 # The desired orientation of the robot link specified as a quaternion\n\ 00324 geometry_msgs/Quaternion orientation\n\ 00325 \n\ 00326 # optional RPY error tolerances specified if \n\ 00327 float64 absolute_roll_tolerance\n\ 00328 float64 absolute_pitch_tolerance\n\ 00329 float64 absolute_yaw_tolerance\n\ 00330 \n\ 00331 # Constraint weighting factor - a weight for this constraint\n\ 00332 float64 weight\n\ 00333 \n\ 00334 ================================================================================\n\ 00335 MSG: arm_navigation_msgs/VisibilityConstraint\n\ 00336 # This message contains the definition of a visibility constraint.\n\ 00337 Header header\n\ 00338 \n\ 00339 # The point stamped target that needs to be kept within view of the sensor\n\ 00340 geometry_msgs/PointStamped target\n\ 00341 \n\ 00342 # The local pose of the frame in which visibility is to be maintained\n\ 00343 # The frame id should represent the robot link to which the sensor is attached\n\ 00344 # The visual axis of the sensor is assumed to be along the X axis of this frame\n\ 00345 geometry_msgs/PoseStamped sensor_pose\n\ 00346 \n\ 00347 # The deviation (in radians) that will be tolerated\n\ 00348 # Constraint error will be measured as the solid angle between the \n\ 00349 # X axis of the frame defined above and the vector between the origin \n\ 00350 # of the frame defined above and the target location\n\ 00351 float64 absolute_tolerance\n\ 00352 \n\ 00353 \n\ 00354 ================================================================================\n\ 00355 MSG: geometry_msgs/PointStamped\n\ 00356 # This represents a Point with reference coordinate frame and timestamp\n\ 00357 Header header\n\ 00358 Point point\n\ 00359 \n\ 00360 "; } 00361 public: 00362 ROS_DEPRECATED static const std::string __s_getMessageDefinition() { return __s_getMessageDefinition_(); } 00363 00364 ROS_DEPRECATED const std::string __getMessageDefinition() const { return __s_getMessageDefinition_(); } 00365 00366 ROS_DEPRECATED virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const 00367 { 00368 ros::serialization::OStream stream(write_ptr, 1000000000); 00369 ros::serialization::serialize(stream, header); 00370 ros::serialization::serialize(stream, goal_id); 00371 ros::serialization::serialize(stream, goal); 00372 return stream.getData(); 00373 } 00374 00375 ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr) 00376 { 00377 ros::serialization::IStream stream(read_ptr, 1000000000); 00378 ros::serialization::deserialize(stream, header); 00379 ros::serialization::deserialize(stream, goal_id); 00380 ros::serialization::deserialize(stream, goal); 00381 return stream.getData(); 00382 } 00383 00384 ROS_DEPRECATED virtual uint32_t serializationLength() const 00385 { 00386 uint32_t size = 0; 00387 size += ros::serialization::serializationLength(header); 00388 size += ros::serialization::serializationLength(goal_id); 00389 size += ros::serialization::serializationLength(goal); 00390 return size; 00391 } 00392 00393 typedef boost::shared_ptr< ::head_monitor_msgs::PreplanHeadScanActionGoal_<ContainerAllocator> > Ptr; 00394 typedef boost::shared_ptr< ::head_monitor_msgs::PreplanHeadScanActionGoal_<ContainerAllocator> const> ConstPtr; 00395 boost::shared_ptr<std::map<std::string, std::string> > __connection_header; 00396 }; // struct PreplanHeadScanActionGoal 00397 typedef ::head_monitor_msgs::PreplanHeadScanActionGoal_<std::allocator<void> > PreplanHeadScanActionGoal; 00398 00399 typedef boost::shared_ptr< ::head_monitor_msgs::PreplanHeadScanActionGoal> PreplanHeadScanActionGoalPtr; 00400 typedef boost::shared_ptr< ::head_monitor_msgs::PreplanHeadScanActionGoal const> PreplanHeadScanActionGoalConstPtr; 00401 00402 00403 template<typename ContainerAllocator> 00404 std::ostream& operator<<(std::ostream& s, const ::head_monitor_msgs::PreplanHeadScanActionGoal_<ContainerAllocator> & v) 00405 { 00406 ros::message_operations::Printer< ::head_monitor_msgs::PreplanHeadScanActionGoal_<ContainerAllocator> >::stream(s, "", v); 00407 return s;} 00408 00409 } // namespace head_monitor_msgs 00410 00411 namespace ros 00412 { 00413 namespace message_traits 00414 { 00415 template<class ContainerAllocator> struct IsMessage< ::head_monitor_msgs::PreplanHeadScanActionGoal_<ContainerAllocator> > : public TrueType {}; 00416 template<class ContainerAllocator> struct IsMessage< ::head_monitor_msgs::PreplanHeadScanActionGoal_<ContainerAllocator> const> : public TrueType {}; 00417 template<class ContainerAllocator> 00418 struct MD5Sum< ::head_monitor_msgs::PreplanHeadScanActionGoal_<ContainerAllocator> > { 00419 static const char* value() 00420 { 00421 return "d6d529901f1841831659ba61c8e488bc"; 00422 } 00423 00424 static const char* value(const ::head_monitor_msgs::PreplanHeadScanActionGoal_<ContainerAllocator> &) { return value(); } 00425 static const uint64_t static_value1 = 0xd6d529901f184183ULL; 00426 static const uint64_t static_value2 = 0x1659ba61c8e488bcULL; 00427 }; 00428 00429 template<class ContainerAllocator> 00430 struct DataType< ::head_monitor_msgs::PreplanHeadScanActionGoal_<ContainerAllocator> > { 00431 static const char* value() 00432 { 00433 return "head_monitor_msgs/PreplanHeadScanActionGoal"; 00434 } 00435 00436 static const char* value(const ::head_monitor_msgs::PreplanHeadScanActionGoal_<ContainerAllocator> &) { return value(); } 00437 }; 00438 00439 template<class ContainerAllocator> 00440 struct Definition< ::head_monitor_msgs::PreplanHeadScanActionGoal_<ContainerAllocator> > { 00441 static const char* value() 00442 { 00443 return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\ 00444 \n\ 00445 Header header\n\ 00446 actionlib_msgs/GoalID goal_id\n\ 00447 PreplanHeadScanGoal goal\n\ 00448 \n\ 00449 ================================================================================\n\ 00450 MSG: std_msgs/Header\n\ 00451 # Standard metadata for higher-level stamped data types.\n\ 00452 # This is generally used to communicate timestamped data \n\ 00453 # in a particular coordinate frame.\n\ 00454 # \n\ 00455 # sequence ID: consecutively increasing ID \n\ 00456 uint32 seq\n\ 00457 #Two-integer timestamp that is expressed as:\n\ 00458 # * stamp.secs: seconds (stamp_secs) since epoch\n\ 00459 # * stamp.nsecs: nanoseconds since stamp_secs\n\ 00460 # time-handling sugar is provided by the client library\n\ 00461 time stamp\n\ 00462 #Frame this data is associated with\n\ 00463 # 0: no frame\n\ 00464 # 1: global frame\n\ 00465 string frame_id\n\ 00466 \n\ 00467 ================================================================================\n\ 00468 MSG: actionlib_msgs/GoalID\n\ 00469 # The stamp should store the time at which this goal was requested.\n\ 00470 # It is used by an action server when it tries to preempt all\n\ 00471 # goals that were requested before a certain time\n\ 00472 time stamp\n\ 00473 \n\ 00474 # The id provides a way to associate feedback and\n\ 00475 # result message with specific goal requests. The id\n\ 00476 # specified must be unique.\n\ 00477 string id\n\ 00478 \n\ 00479 \n\ 00480 ================================================================================\n\ 00481 MSG: head_monitor_msgs/PreplanHeadScanGoal\n\ 00482 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\ 00483 # The motion plan request\n\ 00484 string group_name\n\ 00485 string head_monitor_link\n\ 00486 arm_navigation_msgs/MotionPlanRequest motion_plan_request\n\ 00487 \n\ 00488 ================================================================================\n\ 00489 MSG: arm_navigation_msgs/MotionPlanRequest\n\ 00490 # This service contains the definition for a request to the motion\n\ 00491 # planner and the output it provides\n\ 00492 \n\ 00493 # Parameters for the workspace that the planner should work inside\n\ 00494 arm_navigation_msgs/WorkspaceParameters workspace_parameters\n\ 00495 \n\ 00496 # Starting state updates. If certain joints should be considered\n\ 00497 # at positions other than the current ones, these positions should\n\ 00498 # be set here\n\ 00499 arm_navigation_msgs/RobotState start_state\n\ 00500 \n\ 00501 # The goal state for the model to plan for. The goal is achieved\n\ 00502 # if all constraints are satisfied\n\ 00503 arm_navigation_msgs/Constraints goal_constraints\n\ 00504 \n\ 00505 # No state at any point along the path in the produced motion plan will violate these constraints\n\ 00506 arm_navigation_msgs/Constraints path_constraints\n\ 00507 \n\ 00508 # The name of the motion planner to use. If no name is specified,\n\ 00509 # a default motion planner will be used\n\ 00510 string planner_id\n\ 00511 \n\ 00512 # The name of the group of joints on which this planner is operating\n\ 00513 string group_name\n\ 00514 \n\ 00515 # The number of times this plan is to be computed. Shortest solution\n\ 00516 # will be reported.\n\ 00517 int32 num_planning_attempts\n\ 00518 \n\ 00519 # The maximum amount of time the motion planner is allowed to plan for\n\ 00520 duration allowed_planning_time\n\ 00521 \n\ 00522 # An expected path duration (in seconds) along with an expected discretization of the path allows the planner to determine the discretization of the trajectory that it returns\n\ 00523 duration expected_path_duration\n\ 00524 duration expected_path_dt\n\ 00525 \n\ 00526 ================================================================================\n\ 00527 MSG: arm_navigation_msgs/WorkspaceParameters\n\ 00528 # This message contains a set of parameters useful in\n\ 00529 # setting up the workspace for planning\n\ 00530 arm_navigation_msgs/Shape workspace_region_shape\n\ 00531 geometry_msgs/PoseStamped workspace_region_pose\n\ 00532 \n\ 00533 \n\ 00534 ================================================================================\n\ 00535 MSG: arm_navigation_msgs/Shape\n\ 00536 byte SPHERE=0\n\ 00537 byte BOX=1\n\ 00538 byte CYLINDER=2\n\ 00539 byte MESH=3\n\ 00540 \n\ 00541 byte type\n\ 00542 \n\ 00543 \n\ 00544 #### define sphere, box, cylinder ####\n\ 00545 # the origin of each shape is considered at the shape's center\n\ 00546 \n\ 00547 # for sphere\n\ 00548 # radius := dimensions[0]\n\ 00549 \n\ 00550 # for cylinder\n\ 00551 # radius := dimensions[0]\n\ 00552 # length := dimensions[1]\n\ 00553 # the length is along the Z axis\n\ 00554 \n\ 00555 # for box\n\ 00556 # size_x := dimensions[0]\n\ 00557 # size_y := dimensions[1]\n\ 00558 # size_z := dimensions[2]\n\ 00559 float64[] dimensions\n\ 00560 \n\ 00561 \n\ 00562 #### define mesh ####\n\ 00563 \n\ 00564 # list of triangles; triangle k is defined by tre vertices located\n\ 00565 # at indices triangles[3k], triangles[3k+1], triangles[3k+2]\n\ 00566 int32[] triangles\n\ 00567 geometry_msgs/Point[] vertices\n\ 00568 \n\ 00569 ================================================================================\n\ 00570 MSG: geometry_msgs/Point\n\ 00571 # This contains the position of a point in free space\n\ 00572 float64 x\n\ 00573 float64 y\n\ 00574 float64 z\n\ 00575 \n\ 00576 ================================================================================\n\ 00577 MSG: geometry_msgs/PoseStamped\n\ 00578 # A Pose with reference coordinate frame and timestamp\n\ 00579 Header header\n\ 00580 Pose pose\n\ 00581 \n\ 00582 ================================================================================\n\ 00583 MSG: geometry_msgs/Pose\n\ 00584 # A representation of pose in free space, composed of postion and orientation. \n\ 00585 Point position\n\ 00586 Quaternion orientation\n\ 00587 \n\ 00588 ================================================================================\n\ 00589 MSG: geometry_msgs/Quaternion\n\ 00590 # This represents an orientation in free space in quaternion form.\n\ 00591 \n\ 00592 float64 x\n\ 00593 float64 y\n\ 00594 float64 z\n\ 00595 float64 w\n\ 00596 \n\ 00597 ================================================================================\n\ 00598 MSG: arm_navigation_msgs/RobotState\n\ 00599 # This message contains information about the robot state, i.e. the positions of its joints and links\n\ 00600 sensor_msgs/JointState joint_state\n\ 00601 arm_navigation_msgs/MultiDOFJointState multi_dof_joint_state\n\ 00602 \n\ 00603 ================================================================================\n\ 00604 MSG: sensor_msgs/JointState\n\ 00605 # This is a message that holds data to describe the state of a set of torque controlled joints. \n\ 00606 #\n\ 00607 # The state of each joint (revolute or prismatic) is defined by:\n\ 00608 # * the position of the joint (rad or m),\n\ 00609 # * the velocity of the joint (rad/s or m/s) and \n\ 00610 # * the effort that is applied in the joint (Nm or N).\n\ 00611 #\n\ 00612 # Each joint is uniquely identified by its name\n\ 00613 # The header specifies the time at which the joint states were recorded. All the joint states\n\ 00614 # in one message have to be recorded at the same time.\n\ 00615 #\n\ 00616 # This message consists of a multiple arrays, one for each part of the joint state. \n\ 00617 # The goal is to make each of the fields optional. When e.g. your joints have no\n\ 00618 # effort associated with them, you can leave the effort array empty. \n\ 00619 #\n\ 00620 # All arrays in this message should have the same size, or be empty.\n\ 00621 # This is the only way to uniquely associate the joint name with the correct\n\ 00622 # states.\n\ 00623 \n\ 00624 \n\ 00625 Header header\n\ 00626 \n\ 00627 string[] name\n\ 00628 float64[] position\n\ 00629 float64[] velocity\n\ 00630 float64[] effort\n\ 00631 \n\ 00632 ================================================================================\n\ 00633 MSG: arm_navigation_msgs/MultiDOFJointState\n\ 00634 #A representation of a multi-dof joint state\n\ 00635 time stamp\n\ 00636 string[] joint_names\n\ 00637 string[] frame_ids\n\ 00638 string[] child_frame_ids\n\ 00639 geometry_msgs/Pose[] poses\n\ 00640 \n\ 00641 ================================================================================\n\ 00642 MSG: arm_navigation_msgs/Constraints\n\ 00643 # This message contains a list of motion planning constraints.\n\ 00644 \n\ 00645 arm_navigation_msgs/JointConstraint[] joint_constraints\n\ 00646 arm_navigation_msgs/PositionConstraint[] position_constraints\n\ 00647 arm_navigation_msgs/OrientationConstraint[] orientation_constraints\n\ 00648 arm_navigation_msgs/VisibilityConstraint[] visibility_constraints\n\ 00649 \n\ 00650 ================================================================================\n\ 00651 MSG: arm_navigation_msgs/JointConstraint\n\ 00652 # Constrain the position of a joint to be within a certain bound\n\ 00653 string joint_name\n\ 00654 \n\ 00655 # the bound to be achieved is [position - tolerance_below, position + tolerance_above]\n\ 00656 float64 position\n\ 00657 float64 tolerance_above\n\ 00658 float64 tolerance_below\n\ 00659 \n\ 00660 # A weighting factor for this constraint\n\ 00661 float64 weight\n\ 00662 ================================================================================\n\ 00663 MSG: arm_navigation_msgs/PositionConstraint\n\ 00664 # This message contains the definition of a position constraint.\n\ 00665 Header header\n\ 00666 \n\ 00667 # The robot link this constraint refers to\n\ 00668 string link_name\n\ 00669 \n\ 00670 # The offset (in the link frame) for the target point on the link we are planning for\n\ 00671 geometry_msgs/Point target_point_offset\n\ 00672 \n\ 00673 # The nominal/target position for the point we are planning for\n\ 00674 geometry_msgs/Point position\n\ 00675 \n\ 00676 # The shape of the bounded region that constrains the position of the end-effector\n\ 00677 # This region is always centered at the position defined above\n\ 00678 arm_navigation_msgs/Shape constraint_region_shape\n\ 00679 \n\ 00680 # The orientation of the bounded region that constrains the position of the end-effector. \n\ 00681 # This allows the specification of non-axis aligned constraints\n\ 00682 geometry_msgs/Quaternion constraint_region_orientation\n\ 00683 \n\ 00684 # Constraint weighting factor - a weight for this constraint\n\ 00685 float64 weight\n\ 00686 \n\ 00687 ================================================================================\n\ 00688 MSG: arm_navigation_msgs/OrientationConstraint\n\ 00689 # This message contains the definition of an orientation constraint.\n\ 00690 Header header\n\ 00691 \n\ 00692 # The robot link this constraint refers to\n\ 00693 string link_name\n\ 00694 \n\ 00695 # The type of the constraint\n\ 00696 int32 type\n\ 00697 int32 LINK_FRAME=0\n\ 00698 int32 HEADER_FRAME=1\n\ 00699 \n\ 00700 # The desired orientation of the robot link specified as a quaternion\n\ 00701 geometry_msgs/Quaternion orientation\n\ 00702 \n\ 00703 # optional RPY error tolerances specified if \n\ 00704 float64 absolute_roll_tolerance\n\ 00705 float64 absolute_pitch_tolerance\n\ 00706 float64 absolute_yaw_tolerance\n\ 00707 \n\ 00708 # Constraint weighting factor - a weight for this constraint\n\ 00709 float64 weight\n\ 00710 \n\ 00711 ================================================================================\n\ 00712 MSG: arm_navigation_msgs/VisibilityConstraint\n\ 00713 # This message contains the definition of a visibility constraint.\n\ 00714 Header header\n\ 00715 \n\ 00716 # The point stamped target that needs to be kept within view of the sensor\n\ 00717 geometry_msgs/PointStamped target\n\ 00718 \n\ 00719 # The local pose of the frame in which visibility is to be maintained\n\ 00720 # The frame id should represent the robot link to which the sensor is attached\n\ 00721 # The visual axis of the sensor is assumed to be along the X axis of this frame\n\ 00722 geometry_msgs/PoseStamped sensor_pose\n\ 00723 \n\ 00724 # The deviation (in radians) that will be tolerated\n\ 00725 # Constraint error will be measured as the solid angle between the \n\ 00726 # X axis of the frame defined above and the vector between the origin \n\ 00727 # of the frame defined above and the target location\n\ 00728 float64 absolute_tolerance\n\ 00729 \n\ 00730 \n\ 00731 ================================================================================\n\ 00732 MSG: geometry_msgs/PointStamped\n\ 00733 # This represents a Point with reference coordinate frame and timestamp\n\ 00734 Header header\n\ 00735 Point point\n\ 00736 \n\ 00737 "; 00738 } 00739 00740 static const char* value(const ::head_monitor_msgs::PreplanHeadScanActionGoal_<ContainerAllocator> &) { return value(); } 00741 }; 00742 00743 template<class ContainerAllocator> struct HasHeader< ::head_monitor_msgs::PreplanHeadScanActionGoal_<ContainerAllocator> > : public TrueType {}; 00744 template<class ContainerAllocator> struct HasHeader< const ::head_monitor_msgs::PreplanHeadScanActionGoal_<ContainerAllocator> > : public TrueType {}; 00745 } // namespace message_traits 00746 } // namespace ros 00747 00748 namespace ros 00749 { 00750 namespace serialization 00751 { 00752 00753 template<class ContainerAllocator> struct Serializer< ::head_monitor_msgs::PreplanHeadScanActionGoal_<ContainerAllocator> > 00754 { 00755 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m) 00756 { 00757 stream.next(m.header); 00758 stream.next(m.goal_id); 00759 stream.next(m.goal); 00760 } 00761 00762 ROS_DECLARE_ALLINONE_SERIALIZER; 00763 }; // struct PreplanHeadScanActionGoal_ 00764 } // namespace serialization 00765 } // namespace ros 00766 00767 namespace ros 00768 { 00769 namespace message_operations 00770 { 00771 00772 template<class ContainerAllocator> 00773 struct Printer< ::head_monitor_msgs::PreplanHeadScanActionGoal_<ContainerAllocator> > 00774 { 00775 template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::head_monitor_msgs::PreplanHeadScanActionGoal_<ContainerAllocator> & v) 00776 { 00777 s << indent << "header: "; 00778 s << std::endl; 00779 Printer< ::std_msgs::Header_<ContainerAllocator> >::stream(s, indent + " ", v.header); 00780 s << indent << "goal_id: "; 00781 s << std::endl; 00782 Printer< ::actionlib_msgs::GoalID_<ContainerAllocator> >::stream(s, indent + " ", v.goal_id); 00783 s << indent << "goal: "; 00784 s << std::endl; 00785 Printer< ::head_monitor_msgs::PreplanHeadScanGoal_<ContainerAllocator> >::stream(s, indent + " ", v.goal); 00786 } 00787 }; 00788 00789 00790 } // namespace message_operations 00791 } // namespace ros 00792 00793 #endif // HEAD_MONITOR_MSGS_MESSAGE_PREPLANHEADSCANACTIONGOAL_H 00794