00001
00002 #ifndef HEAD_MONITOR_MSGS_MESSAGE_PREPLANHEADSCANACTION_H
00003 #define HEAD_MONITOR_MSGS_MESSAGE_PREPLANHEADSCANACTION_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/PreplanHeadScanActionGoal.h"
00018 #include "head_monitor_msgs/PreplanHeadScanActionResult.h"
00019 #include "head_monitor_msgs/PreplanHeadScanActionFeedback.h"
00020
00021 namespace head_monitor_msgs
00022 {
00023 template <class ContainerAllocator>
00024 struct PreplanHeadScanAction_ {
00025 typedef PreplanHeadScanAction_<ContainerAllocator> Type;
00026
00027 PreplanHeadScanAction_()
00028 : action_goal()
00029 , action_result()
00030 , action_feedback()
00031 {
00032 }
00033
00034 PreplanHeadScanAction_(const ContainerAllocator& _alloc)
00035 : action_goal(_alloc)
00036 , action_result(_alloc)
00037 , action_feedback(_alloc)
00038 {
00039 }
00040
00041 typedef ::head_monitor_msgs::PreplanHeadScanActionGoal_<ContainerAllocator> _action_goal_type;
00042 ::head_monitor_msgs::PreplanHeadScanActionGoal_<ContainerAllocator> action_goal;
00043
00044 typedef ::head_monitor_msgs::PreplanHeadScanActionResult_<ContainerAllocator> _action_result_type;
00045 ::head_monitor_msgs::PreplanHeadScanActionResult_<ContainerAllocator> action_result;
00046
00047 typedef ::head_monitor_msgs::PreplanHeadScanActionFeedback_<ContainerAllocator> _action_feedback_type;
00048 ::head_monitor_msgs::PreplanHeadScanActionFeedback_<ContainerAllocator> action_feedback;
00049
00050
00051 private:
00052 static const char* __s_getDataType_() { return "head_monitor_msgs/PreplanHeadScanAction"; }
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 "febbaf17638d0245755e50701e422888"; }
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 PreplanHeadScanActionGoal action_goal\n\
00069 PreplanHeadScanActionResult action_result\n\
00070 PreplanHeadScanActionFeedback action_feedback\n\
00071 \n\
00072 ================================================================================\n\
00073 MSG: head_monitor_msgs/PreplanHeadScanActionGoal\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 PreplanHeadScanGoal 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/PreplanHeadScanGoal\n\
00113 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00114 # The motion plan request\n\
00115 string group_name\n\
00116 string head_monitor_link\n\
00117 arm_navigation_msgs/MotionPlanRequest motion_plan_request\n\
00118 \n\
00119 ================================================================================\n\
00120 MSG: arm_navigation_msgs/MotionPlanRequest\n\
00121 # This service contains the definition for a request to the motion\n\
00122 # planner and the output it provides\n\
00123 \n\
00124 # Parameters for the workspace that the planner should work inside\n\
00125 arm_navigation_msgs/WorkspaceParameters workspace_parameters\n\
00126 \n\
00127 # Starting state updates. If certain joints should be considered\n\
00128 # at positions other than the current ones, these positions should\n\
00129 # be set here\n\
00130 arm_navigation_msgs/RobotState start_state\n\
00131 \n\
00132 # The goal state for the model to plan for. The goal is achieved\n\
00133 # if all constraints are satisfied\n\
00134 arm_navigation_msgs/Constraints goal_constraints\n\
00135 \n\
00136 # No state at any point along the path in the produced motion plan will violate these constraints\n\
00137 arm_navigation_msgs/Constraints path_constraints\n\
00138 \n\
00139 # The name of the motion planner to use. If no name is specified,\n\
00140 # a default motion planner will be used\n\
00141 string planner_id\n\
00142 \n\
00143 # The name of the group of joints on which this planner is operating\n\
00144 string group_name\n\
00145 \n\
00146 # The number of times this plan is to be computed. Shortest solution\n\
00147 # will be reported.\n\
00148 int32 num_planning_attempts\n\
00149 \n\
00150 # The maximum amount of time the motion planner is allowed to plan for\n\
00151 duration allowed_planning_time\n\
00152 \n\
00153 # 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\
00154 duration expected_path_duration\n\
00155 duration expected_path_dt\n\
00156 \n\
00157 ================================================================================\n\
00158 MSG: arm_navigation_msgs/WorkspaceParameters\n\
00159 # This message contains a set of parameters useful in\n\
00160 # setting up the workspace for planning\n\
00161 arm_navigation_msgs/Shape workspace_region_shape\n\
00162 geometry_msgs/PoseStamped workspace_region_pose\n\
00163 \n\
00164 \n\
00165 ================================================================================\n\
00166 MSG: arm_navigation_msgs/Shape\n\
00167 byte SPHERE=0\n\
00168 byte BOX=1\n\
00169 byte CYLINDER=2\n\
00170 byte MESH=3\n\
00171 \n\
00172 byte type\n\
00173 \n\
00174 \n\
00175 #### define sphere, box, cylinder ####\n\
00176 # the origin of each shape is considered at the shape's center\n\
00177 \n\
00178 # for sphere\n\
00179 # radius := dimensions[0]\n\
00180 \n\
00181 # for cylinder\n\
00182 # radius := dimensions[0]\n\
00183 # length := dimensions[1]\n\
00184 # the length is along the Z axis\n\
00185 \n\
00186 # for box\n\
00187 # size_x := dimensions[0]\n\
00188 # size_y := dimensions[1]\n\
00189 # size_z := dimensions[2]\n\
00190 float64[] dimensions\n\
00191 \n\
00192 \n\
00193 #### define mesh ####\n\
00194 \n\
00195 # list of triangles; triangle k is defined by tre vertices located\n\
00196 # at indices triangles[3k], triangles[3k+1], triangles[3k+2]\n\
00197 int32[] triangles\n\
00198 geometry_msgs/Point[] vertices\n\
00199 \n\
00200 ================================================================================\n\
00201 MSG: geometry_msgs/Point\n\
00202 # This contains the position of a point in free space\n\
00203 float64 x\n\
00204 float64 y\n\
00205 float64 z\n\
00206 \n\
00207 ================================================================================\n\
00208 MSG: geometry_msgs/PoseStamped\n\
00209 # A Pose with reference coordinate frame and timestamp\n\
00210 Header header\n\
00211 Pose pose\n\
00212 \n\
00213 ================================================================================\n\
00214 MSG: geometry_msgs/Pose\n\
00215 # A representation of pose in free space, composed of postion and orientation. \n\
00216 Point position\n\
00217 Quaternion orientation\n\
00218 \n\
00219 ================================================================================\n\
00220 MSG: geometry_msgs/Quaternion\n\
00221 # This represents an orientation in free space in quaternion form.\n\
00222 \n\
00223 float64 x\n\
00224 float64 y\n\
00225 float64 z\n\
00226 float64 w\n\
00227 \n\
00228 ================================================================================\n\
00229 MSG: arm_navigation_msgs/RobotState\n\
00230 # This message contains information about the robot state, i.e. the positions of its joints and links\n\
00231 sensor_msgs/JointState joint_state\n\
00232 arm_navigation_msgs/MultiDOFJointState multi_dof_joint_state\n\
00233 \n\
00234 ================================================================================\n\
00235 MSG: sensor_msgs/JointState\n\
00236 # This is a message that holds data to describe the state of a set of torque controlled joints. \n\
00237 #\n\
00238 # The state of each joint (revolute or prismatic) is defined by:\n\
00239 # * the position of the joint (rad or m),\n\
00240 # * the velocity of the joint (rad/s or m/s) and \n\
00241 # * the effort that is applied in the joint (Nm or N).\n\
00242 #\n\
00243 # Each joint is uniquely identified by its name\n\
00244 # The header specifies the time at which the joint states were recorded. All the joint states\n\
00245 # in one message have to be recorded at the same time.\n\
00246 #\n\
00247 # This message consists of a multiple arrays, one for each part of the joint state. \n\
00248 # The goal is to make each of the fields optional. When e.g. your joints have no\n\
00249 # effort associated with them, you can leave the effort array empty. \n\
00250 #\n\
00251 # All arrays in this message should have the same size, or be empty.\n\
00252 # This is the only way to uniquely associate the joint name with the correct\n\
00253 # states.\n\
00254 \n\
00255 \n\
00256 Header header\n\
00257 \n\
00258 string[] name\n\
00259 float64[] position\n\
00260 float64[] velocity\n\
00261 float64[] effort\n\
00262 \n\
00263 ================================================================================\n\
00264 MSG: arm_navigation_msgs/MultiDOFJointState\n\
00265 #A representation of a multi-dof joint state\n\
00266 time stamp\n\
00267 string[] joint_names\n\
00268 string[] frame_ids\n\
00269 string[] child_frame_ids\n\
00270 geometry_msgs/Pose[] poses\n\
00271 \n\
00272 ================================================================================\n\
00273 MSG: arm_navigation_msgs/Constraints\n\
00274 # This message contains a list of motion planning constraints.\n\
00275 \n\
00276 arm_navigation_msgs/JointConstraint[] joint_constraints\n\
00277 arm_navigation_msgs/PositionConstraint[] position_constraints\n\
00278 arm_navigation_msgs/OrientationConstraint[] orientation_constraints\n\
00279 arm_navigation_msgs/VisibilityConstraint[] visibility_constraints\n\
00280 \n\
00281 ================================================================================\n\
00282 MSG: arm_navigation_msgs/JointConstraint\n\
00283 # Constrain the position of a joint to be within a certain bound\n\
00284 string joint_name\n\
00285 \n\
00286 # the bound to be achieved is [position - tolerance_below, position + tolerance_above]\n\
00287 float64 position\n\
00288 float64 tolerance_above\n\
00289 float64 tolerance_below\n\
00290 \n\
00291 # A weighting factor for this constraint\n\
00292 float64 weight\n\
00293 ================================================================================\n\
00294 MSG: arm_navigation_msgs/PositionConstraint\n\
00295 # This message contains the definition of a position constraint.\n\
00296 Header header\n\
00297 \n\
00298 # The robot link this constraint refers to\n\
00299 string link_name\n\
00300 \n\
00301 # The offset (in the link frame) for the target point on the link we are planning for\n\
00302 geometry_msgs/Point target_point_offset\n\
00303 \n\
00304 # The nominal/target position for the point we are planning for\n\
00305 geometry_msgs/Point position\n\
00306 \n\
00307 # The shape of the bounded region that constrains the position of the end-effector\n\
00308 # This region is always centered at the position defined above\n\
00309 arm_navigation_msgs/Shape constraint_region_shape\n\
00310 \n\
00311 # The orientation of the bounded region that constrains the position of the end-effector. \n\
00312 # This allows the specification of non-axis aligned constraints\n\
00313 geometry_msgs/Quaternion constraint_region_orientation\n\
00314 \n\
00315 # Constraint weighting factor - a weight for this constraint\n\
00316 float64 weight\n\
00317 \n\
00318 ================================================================================\n\
00319 MSG: arm_navigation_msgs/OrientationConstraint\n\
00320 # This message contains the definition of an orientation constraint.\n\
00321 Header header\n\
00322 \n\
00323 # The robot link this constraint refers to\n\
00324 string link_name\n\
00325 \n\
00326 # The type of the constraint\n\
00327 int32 type\n\
00328 int32 LINK_FRAME=0\n\
00329 int32 HEADER_FRAME=1\n\
00330 \n\
00331 # The desired orientation of the robot link specified as a quaternion\n\
00332 geometry_msgs/Quaternion orientation\n\
00333 \n\
00334 # optional RPY error tolerances specified if \n\
00335 float64 absolute_roll_tolerance\n\
00336 float64 absolute_pitch_tolerance\n\
00337 float64 absolute_yaw_tolerance\n\
00338 \n\
00339 # Constraint weighting factor - a weight for this constraint\n\
00340 float64 weight\n\
00341 \n\
00342 ================================================================================\n\
00343 MSG: arm_navigation_msgs/VisibilityConstraint\n\
00344 # This message contains the definition of a visibility constraint.\n\
00345 Header header\n\
00346 \n\
00347 # The point stamped target that needs to be kept within view of the sensor\n\
00348 geometry_msgs/PointStamped target\n\
00349 \n\
00350 # The local pose of the frame in which visibility is to be maintained\n\
00351 # The frame id should represent the robot link to which the sensor is attached\n\
00352 # The visual axis of the sensor is assumed to be along the X axis of this frame\n\
00353 geometry_msgs/PoseStamped sensor_pose\n\
00354 \n\
00355 # The deviation (in radians) that will be tolerated\n\
00356 # Constraint error will be measured as the solid angle between the \n\
00357 # X axis of the frame defined above and the vector between the origin \n\
00358 # of the frame defined above and the target location\n\
00359 float64 absolute_tolerance\n\
00360 \n\
00361 \n\
00362 ================================================================================\n\
00363 MSG: geometry_msgs/PointStamped\n\
00364 # This represents a Point with reference coordinate frame and timestamp\n\
00365 Header header\n\
00366 Point point\n\
00367 \n\
00368 ================================================================================\n\
00369 MSG: head_monitor_msgs/PreplanHeadScanActionResult\n\
00370 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00371 \n\
00372 Header header\n\
00373 actionlib_msgs/GoalStatus status\n\
00374 PreplanHeadScanResult result\n\
00375 \n\
00376 ================================================================================\n\
00377 MSG: actionlib_msgs/GoalStatus\n\
00378 GoalID goal_id\n\
00379 uint8 status\n\
00380 uint8 PENDING = 0 # The goal has yet to be processed by the action server\n\
00381 uint8 ACTIVE = 1 # The goal is currently being processed by the action server\n\
00382 uint8 PREEMPTED = 2 # The goal received a cancel request after it started executing\n\
00383 # and has since completed its execution (Terminal State)\n\
00384 uint8 SUCCEEDED = 3 # The goal was achieved successfully by the action server (Terminal State)\n\
00385 uint8 ABORTED = 4 # The goal was aborted during execution by the action server due\n\
00386 # to some failure (Terminal State)\n\
00387 uint8 REJECTED = 5 # The goal was rejected by the action server without being processed,\n\
00388 # because the goal was unattainable or invalid (Terminal State)\n\
00389 uint8 PREEMPTING = 6 # The goal received a cancel request after it started executing\n\
00390 # and has not yet completed execution\n\
00391 uint8 RECALLING = 7 # The goal received a cancel request before it started executing,\n\
00392 # but the action server has not yet confirmed that the goal is canceled\n\
00393 uint8 RECALLED = 8 # The goal received a cancel request before it started executing\n\
00394 # and was successfully cancelled (Terminal State)\n\
00395 uint8 LOST = 9 # An action client can determine that a goal is LOST. This should not be\n\
00396 # sent over the wire by an action server\n\
00397 \n\
00398 #Allow for the user to associate a string with GoalStatus for debugging\n\
00399 string text\n\
00400 \n\
00401 \n\
00402 ================================================================================\n\
00403 MSG: head_monitor_msgs/PreplanHeadScanResult\n\
00404 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00405 \n\
00406 ================================================================================\n\
00407 MSG: head_monitor_msgs/PreplanHeadScanActionFeedback\n\
00408 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00409 \n\
00410 Header header\n\
00411 actionlib_msgs/GoalStatus status\n\
00412 PreplanHeadScanFeedback feedback\n\
00413 \n\
00414 ================================================================================\n\
00415 MSG: head_monitor_msgs/PreplanHeadScanFeedback\n\
00416 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00417 \n\
00418 \n\
00419 "; }
00420 public:
00421 ROS_DEPRECATED static const std::string __s_getMessageDefinition() { return __s_getMessageDefinition_(); }
00422
00423 ROS_DEPRECATED const std::string __getMessageDefinition() const { return __s_getMessageDefinition_(); }
00424
00425 ROS_DEPRECATED virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const
00426 {
00427 ros::serialization::OStream stream(write_ptr, 1000000000);
00428 ros::serialization::serialize(stream, action_goal);
00429 ros::serialization::serialize(stream, action_result);
00430 ros::serialization::serialize(stream, action_feedback);
00431 return stream.getData();
00432 }
00433
00434 ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr)
00435 {
00436 ros::serialization::IStream stream(read_ptr, 1000000000);
00437 ros::serialization::deserialize(stream, action_goal);
00438 ros::serialization::deserialize(stream, action_result);
00439 ros::serialization::deserialize(stream, action_feedback);
00440 return stream.getData();
00441 }
00442
00443 ROS_DEPRECATED virtual uint32_t serializationLength() const
00444 {
00445 uint32_t size = 0;
00446 size += ros::serialization::serializationLength(action_goal);
00447 size += ros::serialization::serializationLength(action_result);
00448 size += ros::serialization::serializationLength(action_feedback);
00449 return size;
00450 }
00451
00452 typedef boost::shared_ptr< ::head_monitor_msgs::PreplanHeadScanAction_<ContainerAllocator> > Ptr;
00453 typedef boost::shared_ptr< ::head_monitor_msgs::PreplanHeadScanAction_<ContainerAllocator> const> ConstPtr;
00454 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00455 };
00456 typedef ::head_monitor_msgs::PreplanHeadScanAction_<std::allocator<void> > PreplanHeadScanAction;
00457
00458 typedef boost::shared_ptr< ::head_monitor_msgs::PreplanHeadScanAction> PreplanHeadScanActionPtr;
00459 typedef boost::shared_ptr< ::head_monitor_msgs::PreplanHeadScanAction const> PreplanHeadScanActionConstPtr;
00460
00461
00462 template<typename ContainerAllocator>
00463 std::ostream& operator<<(std::ostream& s, const ::head_monitor_msgs::PreplanHeadScanAction_<ContainerAllocator> & v)
00464 {
00465 ros::message_operations::Printer< ::head_monitor_msgs::PreplanHeadScanAction_<ContainerAllocator> >::stream(s, "", v);
00466 return s;}
00467
00468 }
00469
00470 namespace ros
00471 {
00472 namespace message_traits
00473 {
00474 template<class ContainerAllocator> struct IsMessage< ::head_monitor_msgs::PreplanHeadScanAction_<ContainerAllocator> > : public TrueType {};
00475 template<class ContainerAllocator> struct IsMessage< ::head_monitor_msgs::PreplanHeadScanAction_<ContainerAllocator> const> : public TrueType {};
00476 template<class ContainerAllocator>
00477 struct MD5Sum< ::head_monitor_msgs::PreplanHeadScanAction_<ContainerAllocator> > {
00478 static const char* value()
00479 {
00480 return "febbaf17638d0245755e50701e422888";
00481 }
00482
00483 static const char* value(const ::head_monitor_msgs::PreplanHeadScanAction_<ContainerAllocator> &) { return value(); }
00484 static const uint64_t static_value1 = 0xfebbaf17638d0245ULL;
00485 static const uint64_t static_value2 = 0x755e50701e422888ULL;
00486 };
00487
00488 template<class ContainerAllocator>
00489 struct DataType< ::head_monitor_msgs::PreplanHeadScanAction_<ContainerAllocator> > {
00490 static const char* value()
00491 {
00492 return "head_monitor_msgs/PreplanHeadScanAction";
00493 }
00494
00495 static const char* value(const ::head_monitor_msgs::PreplanHeadScanAction_<ContainerAllocator> &) { return value(); }
00496 };
00497
00498 template<class ContainerAllocator>
00499 struct Definition< ::head_monitor_msgs::PreplanHeadScanAction_<ContainerAllocator> > {
00500 static const char* value()
00501 {
00502 return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00503 \n\
00504 PreplanHeadScanActionGoal action_goal\n\
00505 PreplanHeadScanActionResult action_result\n\
00506 PreplanHeadScanActionFeedback action_feedback\n\
00507 \n\
00508 ================================================================================\n\
00509 MSG: head_monitor_msgs/PreplanHeadScanActionGoal\n\
00510 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00511 \n\
00512 Header header\n\
00513 actionlib_msgs/GoalID goal_id\n\
00514 PreplanHeadScanGoal goal\n\
00515 \n\
00516 ================================================================================\n\
00517 MSG: std_msgs/Header\n\
00518 # Standard metadata for higher-level stamped data types.\n\
00519 # This is generally used to communicate timestamped data \n\
00520 # in a particular coordinate frame.\n\
00521 # \n\
00522 # sequence ID: consecutively increasing ID \n\
00523 uint32 seq\n\
00524 #Two-integer timestamp that is expressed as:\n\
00525 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00526 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00527 # time-handling sugar is provided by the client library\n\
00528 time stamp\n\
00529 #Frame this data is associated with\n\
00530 # 0: no frame\n\
00531 # 1: global frame\n\
00532 string frame_id\n\
00533 \n\
00534 ================================================================================\n\
00535 MSG: actionlib_msgs/GoalID\n\
00536 # The stamp should store the time at which this goal was requested.\n\
00537 # It is used by an action server when it tries to preempt all\n\
00538 # goals that were requested before a certain time\n\
00539 time stamp\n\
00540 \n\
00541 # The id provides a way to associate feedback and\n\
00542 # result message with specific goal requests. The id\n\
00543 # specified must be unique.\n\
00544 string id\n\
00545 \n\
00546 \n\
00547 ================================================================================\n\
00548 MSG: head_monitor_msgs/PreplanHeadScanGoal\n\
00549 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00550 # The motion plan request\n\
00551 string group_name\n\
00552 string head_monitor_link\n\
00553 arm_navigation_msgs/MotionPlanRequest motion_plan_request\n\
00554 \n\
00555 ================================================================================\n\
00556 MSG: arm_navigation_msgs/MotionPlanRequest\n\
00557 # This service contains the definition for a request to the motion\n\
00558 # planner and the output it provides\n\
00559 \n\
00560 # Parameters for the workspace that the planner should work inside\n\
00561 arm_navigation_msgs/WorkspaceParameters workspace_parameters\n\
00562 \n\
00563 # Starting state updates. If certain joints should be considered\n\
00564 # at positions other than the current ones, these positions should\n\
00565 # be set here\n\
00566 arm_navigation_msgs/RobotState start_state\n\
00567 \n\
00568 # The goal state for the model to plan for. The goal is achieved\n\
00569 # if all constraints are satisfied\n\
00570 arm_navigation_msgs/Constraints goal_constraints\n\
00571 \n\
00572 # No state at any point along the path in the produced motion plan will violate these constraints\n\
00573 arm_navigation_msgs/Constraints path_constraints\n\
00574 \n\
00575 # The name of the motion planner to use. If no name is specified,\n\
00576 # a default motion planner will be used\n\
00577 string planner_id\n\
00578 \n\
00579 # The name of the group of joints on which this planner is operating\n\
00580 string group_name\n\
00581 \n\
00582 # The number of times this plan is to be computed. Shortest solution\n\
00583 # will be reported.\n\
00584 int32 num_planning_attempts\n\
00585 \n\
00586 # The maximum amount of time the motion planner is allowed to plan for\n\
00587 duration allowed_planning_time\n\
00588 \n\
00589 # 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\
00590 duration expected_path_duration\n\
00591 duration expected_path_dt\n\
00592 \n\
00593 ================================================================================\n\
00594 MSG: arm_navigation_msgs/WorkspaceParameters\n\
00595 # This message contains a set of parameters useful in\n\
00596 # setting up the workspace for planning\n\
00597 arm_navigation_msgs/Shape workspace_region_shape\n\
00598 geometry_msgs/PoseStamped workspace_region_pose\n\
00599 \n\
00600 \n\
00601 ================================================================================\n\
00602 MSG: arm_navigation_msgs/Shape\n\
00603 byte SPHERE=0\n\
00604 byte BOX=1\n\
00605 byte CYLINDER=2\n\
00606 byte MESH=3\n\
00607 \n\
00608 byte type\n\
00609 \n\
00610 \n\
00611 #### define sphere, box, cylinder ####\n\
00612 # the origin of each shape is considered at the shape's center\n\
00613 \n\
00614 # for sphere\n\
00615 # radius := dimensions[0]\n\
00616 \n\
00617 # for cylinder\n\
00618 # radius := dimensions[0]\n\
00619 # length := dimensions[1]\n\
00620 # the length is along the Z axis\n\
00621 \n\
00622 # for box\n\
00623 # size_x := dimensions[0]\n\
00624 # size_y := dimensions[1]\n\
00625 # size_z := dimensions[2]\n\
00626 float64[] dimensions\n\
00627 \n\
00628 \n\
00629 #### define mesh ####\n\
00630 \n\
00631 # list of triangles; triangle k is defined by tre vertices located\n\
00632 # at indices triangles[3k], triangles[3k+1], triangles[3k+2]\n\
00633 int32[] triangles\n\
00634 geometry_msgs/Point[] vertices\n\
00635 \n\
00636 ================================================================================\n\
00637 MSG: geometry_msgs/Point\n\
00638 # This contains the position of a point in free space\n\
00639 float64 x\n\
00640 float64 y\n\
00641 float64 z\n\
00642 \n\
00643 ================================================================================\n\
00644 MSG: geometry_msgs/PoseStamped\n\
00645 # A Pose with reference coordinate frame and timestamp\n\
00646 Header header\n\
00647 Pose pose\n\
00648 \n\
00649 ================================================================================\n\
00650 MSG: geometry_msgs/Pose\n\
00651 # A representation of pose in free space, composed of postion and orientation. \n\
00652 Point position\n\
00653 Quaternion orientation\n\
00654 \n\
00655 ================================================================================\n\
00656 MSG: geometry_msgs/Quaternion\n\
00657 # This represents an orientation in free space in quaternion form.\n\
00658 \n\
00659 float64 x\n\
00660 float64 y\n\
00661 float64 z\n\
00662 float64 w\n\
00663 \n\
00664 ================================================================================\n\
00665 MSG: arm_navigation_msgs/RobotState\n\
00666 # This message contains information about the robot state, i.e. the positions of its joints and links\n\
00667 sensor_msgs/JointState joint_state\n\
00668 arm_navigation_msgs/MultiDOFJointState multi_dof_joint_state\n\
00669 \n\
00670 ================================================================================\n\
00671 MSG: sensor_msgs/JointState\n\
00672 # This is a message that holds data to describe the state of a set of torque controlled joints. \n\
00673 #\n\
00674 # The state of each joint (revolute or prismatic) is defined by:\n\
00675 # * the position of the joint (rad or m),\n\
00676 # * the velocity of the joint (rad/s or m/s) and \n\
00677 # * the effort that is applied in the joint (Nm or N).\n\
00678 #\n\
00679 # Each joint is uniquely identified by its name\n\
00680 # The header specifies the time at which the joint states were recorded. All the joint states\n\
00681 # in one message have to be recorded at the same time.\n\
00682 #\n\
00683 # This message consists of a multiple arrays, one for each part of the joint state. \n\
00684 # The goal is to make each of the fields optional. When e.g. your joints have no\n\
00685 # effort associated with them, you can leave the effort array empty. \n\
00686 #\n\
00687 # All arrays in this message should have the same size, or be empty.\n\
00688 # This is the only way to uniquely associate the joint name with the correct\n\
00689 # states.\n\
00690 \n\
00691 \n\
00692 Header header\n\
00693 \n\
00694 string[] name\n\
00695 float64[] position\n\
00696 float64[] velocity\n\
00697 float64[] effort\n\
00698 \n\
00699 ================================================================================\n\
00700 MSG: arm_navigation_msgs/MultiDOFJointState\n\
00701 #A representation of a multi-dof joint state\n\
00702 time stamp\n\
00703 string[] joint_names\n\
00704 string[] frame_ids\n\
00705 string[] child_frame_ids\n\
00706 geometry_msgs/Pose[] poses\n\
00707 \n\
00708 ================================================================================\n\
00709 MSG: arm_navigation_msgs/Constraints\n\
00710 # This message contains a list of motion planning constraints.\n\
00711 \n\
00712 arm_navigation_msgs/JointConstraint[] joint_constraints\n\
00713 arm_navigation_msgs/PositionConstraint[] position_constraints\n\
00714 arm_navigation_msgs/OrientationConstraint[] orientation_constraints\n\
00715 arm_navigation_msgs/VisibilityConstraint[] visibility_constraints\n\
00716 \n\
00717 ================================================================================\n\
00718 MSG: arm_navigation_msgs/JointConstraint\n\
00719 # Constrain the position of a joint to be within a certain bound\n\
00720 string joint_name\n\
00721 \n\
00722 # the bound to be achieved is [position - tolerance_below, position + tolerance_above]\n\
00723 float64 position\n\
00724 float64 tolerance_above\n\
00725 float64 tolerance_below\n\
00726 \n\
00727 # A weighting factor for this constraint\n\
00728 float64 weight\n\
00729 ================================================================================\n\
00730 MSG: arm_navigation_msgs/PositionConstraint\n\
00731 # This message contains the definition of a position constraint.\n\
00732 Header header\n\
00733 \n\
00734 # The robot link this constraint refers to\n\
00735 string link_name\n\
00736 \n\
00737 # The offset (in the link frame) for the target point on the link we are planning for\n\
00738 geometry_msgs/Point target_point_offset\n\
00739 \n\
00740 # The nominal/target position for the point we are planning for\n\
00741 geometry_msgs/Point position\n\
00742 \n\
00743 # The shape of the bounded region that constrains the position of the end-effector\n\
00744 # This region is always centered at the position defined above\n\
00745 arm_navigation_msgs/Shape constraint_region_shape\n\
00746 \n\
00747 # The orientation of the bounded region that constrains the position of the end-effector. \n\
00748 # This allows the specification of non-axis aligned constraints\n\
00749 geometry_msgs/Quaternion constraint_region_orientation\n\
00750 \n\
00751 # Constraint weighting factor - a weight for this constraint\n\
00752 float64 weight\n\
00753 \n\
00754 ================================================================================\n\
00755 MSG: arm_navigation_msgs/OrientationConstraint\n\
00756 # This message contains the definition of an orientation constraint.\n\
00757 Header header\n\
00758 \n\
00759 # The robot link this constraint refers to\n\
00760 string link_name\n\
00761 \n\
00762 # The type of the constraint\n\
00763 int32 type\n\
00764 int32 LINK_FRAME=0\n\
00765 int32 HEADER_FRAME=1\n\
00766 \n\
00767 # The desired orientation of the robot link specified as a quaternion\n\
00768 geometry_msgs/Quaternion orientation\n\
00769 \n\
00770 # optional RPY error tolerances specified if \n\
00771 float64 absolute_roll_tolerance\n\
00772 float64 absolute_pitch_tolerance\n\
00773 float64 absolute_yaw_tolerance\n\
00774 \n\
00775 # Constraint weighting factor - a weight for this constraint\n\
00776 float64 weight\n\
00777 \n\
00778 ================================================================================\n\
00779 MSG: arm_navigation_msgs/VisibilityConstraint\n\
00780 # This message contains the definition of a visibility constraint.\n\
00781 Header header\n\
00782 \n\
00783 # The point stamped target that needs to be kept within view of the sensor\n\
00784 geometry_msgs/PointStamped target\n\
00785 \n\
00786 # The local pose of the frame in which visibility is to be maintained\n\
00787 # The frame id should represent the robot link to which the sensor is attached\n\
00788 # The visual axis of the sensor is assumed to be along the X axis of this frame\n\
00789 geometry_msgs/PoseStamped sensor_pose\n\
00790 \n\
00791 # The deviation (in radians) that will be tolerated\n\
00792 # Constraint error will be measured as the solid angle between the \n\
00793 # X axis of the frame defined above and the vector between the origin \n\
00794 # of the frame defined above and the target location\n\
00795 float64 absolute_tolerance\n\
00796 \n\
00797 \n\
00798 ================================================================================\n\
00799 MSG: geometry_msgs/PointStamped\n\
00800 # This represents a Point with reference coordinate frame and timestamp\n\
00801 Header header\n\
00802 Point point\n\
00803 \n\
00804 ================================================================================\n\
00805 MSG: head_monitor_msgs/PreplanHeadScanActionResult\n\
00806 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00807 \n\
00808 Header header\n\
00809 actionlib_msgs/GoalStatus status\n\
00810 PreplanHeadScanResult result\n\
00811 \n\
00812 ================================================================================\n\
00813 MSG: actionlib_msgs/GoalStatus\n\
00814 GoalID goal_id\n\
00815 uint8 status\n\
00816 uint8 PENDING = 0 # The goal has yet to be processed by the action server\n\
00817 uint8 ACTIVE = 1 # The goal is currently being processed by the action server\n\
00818 uint8 PREEMPTED = 2 # The goal received a cancel request after it started executing\n\
00819 # and has since completed its execution (Terminal State)\n\
00820 uint8 SUCCEEDED = 3 # The goal was achieved successfully by the action server (Terminal State)\n\
00821 uint8 ABORTED = 4 # The goal was aborted during execution by the action server due\n\
00822 # to some failure (Terminal State)\n\
00823 uint8 REJECTED = 5 # The goal was rejected by the action server without being processed,\n\
00824 # because the goal was unattainable or invalid (Terminal State)\n\
00825 uint8 PREEMPTING = 6 # The goal received a cancel request after it started executing\n\
00826 # and has not yet completed execution\n\
00827 uint8 RECALLING = 7 # The goal received a cancel request before it started executing,\n\
00828 # but the action server has not yet confirmed that the goal is canceled\n\
00829 uint8 RECALLED = 8 # The goal received a cancel request before it started executing\n\
00830 # and was successfully cancelled (Terminal State)\n\
00831 uint8 LOST = 9 # An action client can determine that a goal is LOST. This should not be\n\
00832 # sent over the wire by an action server\n\
00833 \n\
00834 #Allow for the user to associate a string with GoalStatus for debugging\n\
00835 string text\n\
00836 \n\
00837 \n\
00838 ================================================================================\n\
00839 MSG: head_monitor_msgs/PreplanHeadScanResult\n\
00840 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00841 \n\
00842 ================================================================================\n\
00843 MSG: head_monitor_msgs/PreplanHeadScanActionFeedback\n\
00844 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00845 \n\
00846 Header header\n\
00847 actionlib_msgs/GoalStatus status\n\
00848 PreplanHeadScanFeedback feedback\n\
00849 \n\
00850 ================================================================================\n\
00851 MSG: head_monitor_msgs/PreplanHeadScanFeedback\n\
00852 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00853 \n\
00854 \n\
00855 ";
00856 }
00857
00858 static const char* value(const ::head_monitor_msgs::PreplanHeadScanAction_<ContainerAllocator> &) { return value(); }
00859 };
00860
00861 }
00862 }
00863
00864 namespace ros
00865 {
00866 namespace serialization
00867 {
00868
00869 template<class ContainerAllocator> struct Serializer< ::head_monitor_msgs::PreplanHeadScanAction_<ContainerAllocator> >
00870 {
00871 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00872 {
00873 stream.next(m.action_goal);
00874 stream.next(m.action_result);
00875 stream.next(m.action_feedback);
00876 }
00877
00878 ROS_DECLARE_ALLINONE_SERIALIZER;
00879 };
00880 }
00881 }
00882
00883 namespace ros
00884 {
00885 namespace message_operations
00886 {
00887
00888 template<class ContainerAllocator>
00889 struct Printer< ::head_monitor_msgs::PreplanHeadScanAction_<ContainerAllocator> >
00890 {
00891 template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::head_monitor_msgs::PreplanHeadScanAction_<ContainerAllocator> & v)
00892 {
00893 s << indent << "action_goal: ";
00894 s << std::endl;
00895 Printer< ::head_monitor_msgs::PreplanHeadScanActionGoal_<ContainerAllocator> >::stream(s, indent + " ", v.action_goal);
00896 s << indent << "action_result: ";
00897 s << std::endl;
00898 Printer< ::head_monitor_msgs::PreplanHeadScanActionResult_<ContainerAllocator> >::stream(s, indent + " ", v.action_result);
00899 s << indent << "action_feedback: ";
00900 s << std::endl;
00901 Printer< ::head_monitor_msgs::PreplanHeadScanActionFeedback_<ContainerAllocator> >::stream(s, indent + " ", v.action_feedback);
00902 }
00903 };
00904
00905
00906 }
00907 }
00908
00909 #endif // HEAD_MONITOR_MSGS_MESSAGE_PREPLANHEADSCANACTION_H
00910
