00001
00002 #ifndef PR2_GRASP_ADJUST_MESSAGE_GRASPADJUSTGOAL_H
00003 #define PR2_GRASP_ADJUST_MESSAGE_GRASPADJUSTGOAL_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 "sensor_msgs/PointCloud2.h"
00018 #include "geometry_msgs/PoseStamped.h"
00019
00020 namespace pr2_grasp_adjust
00021 {
00022 template <class ContainerAllocator>
00023 struct GraspAdjustGoal_ {
00024 typedef GraspAdjustGoal_<ContainerAllocator> Type;
00025
00026 GraspAdjustGoal_()
00027 : cloud()
00028 , pose_stamped()
00029 , use_orientation(false)
00030 , seed_index(0)
00031 , search_mode(0)
00032 {
00033 }
00034
00035 GraspAdjustGoal_(const ContainerAllocator& _alloc)
00036 : cloud(_alloc)
00037 , pose_stamped(_alloc)
00038 , use_orientation(false)
00039 , seed_index(0)
00040 , search_mode(0)
00041 {
00042 }
00043
00044 typedef ::sensor_msgs::PointCloud2_<ContainerAllocator> _cloud_type;
00045 ::sensor_msgs::PointCloud2_<ContainerAllocator> cloud;
00046
00047 typedef ::geometry_msgs::PoseStamped_<ContainerAllocator> _pose_stamped_type;
00048 ::geometry_msgs::PoseStamped_<ContainerAllocator> pose_stamped;
00049
00050 typedef uint8_t _use_orientation_type;
00051 uint8_t use_orientation;
00052
00053 typedef int32_t _seed_index_type;
00054 int32_t seed_index;
00055
00056 typedef uint8_t _search_mode_type;
00057 uint8_t search_mode;
00058
00059 enum { GLOBAL_SEARCH = 0 };
00060 enum { LOCAL_SEARCH = 1 };
00061 enum { SINGLE_POSE = 2 };
00062
00063 private:
00064 static const char* __s_getDataType_() { return "pr2_grasp_adjust/GraspAdjustGoal"; }
00065 public:
00066 ROS_DEPRECATED static const std::string __s_getDataType() { return __s_getDataType_(); }
00067
00068 ROS_DEPRECATED const std::string __getDataType() const { return __s_getDataType_(); }
00069
00070 private:
00071 static const char* __s_getMD5Sum_() { return "060fcd54eb8073631ee72fceac5fcf37"; }
00072 public:
00073 ROS_DEPRECATED static const std::string __s_getMD5Sum() { return __s_getMD5Sum_(); }
00074
00075 ROS_DEPRECATED const std::string __getMD5Sum() const { return __s_getMD5Sum_(); }
00076
00077 private:
00078 static const char* __s_getMessageDefinition_() { return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00079 #goal definition\n\
00080 \n\
00081 sensor_msgs/PointCloud2 cloud\n\
00082 geometry_msgs/PoseStamped pose_stamped\n\
00083 bool use_orientation\n\
00084 int32 seed_index\n\
00085 uint8 search_mode\n\
00086 \n\
00087 int32 GLOBAL_SEARCH = 0\n\
00088 int32 LOCAL_SEARCH = 1\n\
00089 int32 SINGLE_POSE = 2\n\
00090 \n\
00091 \n\
00092 ================================================================================\n\
00093 MSG: sensor_msgs/PointCloud2\n\
00094 # This message holds a collection of N-dimensional points, which may\n\
00095 # contain additional information such as normals, intensity, etc. The\n\
00096 # point data is stored as a binary blob, its layout described by the\n\
00097 # contents of the \"fields\" array.\n\
00098 \n\
00099 # The point cloud data may be organized 2d (image-like) or 1d\n\
00100 # (unordered). Point clouds organized as 2d images may be produced by\n\
00101 # camera depth sensors such as stereo or time-of-flight.\n\
00102 \n\
00103 # Time of sensor data acquisition, and the coordinate frame ID (for 3d\n\
00104 # points).\n\
00105 Header header\n\
00106 \n\
00107 # 2D structure of the point cloud. If the cloud is unordered, height is\n\
00108 # 1 and width is the length of the point cloud.\n\
00109 uint32 height\n\
00110 uint32 width\n\
00111 \n\
00112 # Describes the channels and their layout in the binary data blob.\n\
00113 PointField[] fields\n\
00114 \n\
00115 bool is_bigendian # Is this data bigendian?\n\
00116 uint32 point_step # Length of a point in bytes\n\
00117 uint32 row_step # Length of a row in bytes\n\
00118 uint8[] data # Actual point data, size is (row_step*height)\n\
00119 \n\
00120 bool is_dense # True if there are no invalid points\n\
00121 \n\
00122 ================================================================================\n\
00123 MSG: std_msgs/Header\n\
00124 # Standard metadata for higher-level stamped data types.\n\
00125 # This is generally used to communicate timestamped data \n\
00126 # in a particular coordinate frame.\n\
00127 # \n\
00128 # sequence ID: consecutively increasing ID \n\
00129 uint32 seq\n\
00130 #Two-integer timestamp that is expressed as:\n\
00131 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00132 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00133 # time-handling sugar is provided by the client library\n\
00134 time stamp\n\
00135 #Frame this data is associated with\n\
00136 # 0: no frame\n\
00137 # 1: global frame\n\
00138 string frame_id\n\
00139 \n\
00140 ================================================================================\n\
00141 MSG: sensor_msgs/PointField\n\
00142 # This message holds the description of one point entry in the\n\
00143 # PointCloud2 message format.\n\
00144 uint8 INT8 = 1\n\
00145 uint8 UINT8 = 2\n\
00146 uint8 INT16 = 3\n\
00147 uint8 UINT16 = 4\n\
00148 uint8 INT32 = 5\n\
00149 uint8 UINT32 = 6\n\
00150 uint8 FLOAT32 = 7\n\
00151 uint8 FLOAT64 = 8\n\
00152 \n\
00153 string name # Name of field\n\
00154 uint32 offset # Offset from start of point struct\n\
00155 uint8 datatype # Datatype enumeration, see above\n\
00156 uint32 count # How many elements in the field\n\
00157 \n\
00158 ================================================================================\n\
00159 MSG: geometry_msgs/PoseStamped\n\
00160 # A Pose with reference coordinate frame and timestamp\n\
00161 Header header\n\
00162 Pose pose\n\
00163 \n\
00164 ================================================================================\n\
00165 MSG: geometry_msgs/Pose\n\
00166 # A representation of pose in free space, composed of postion and orientation. \n\
00167 Point position\n\
00168 Quaternion orientation\n\
00169 \n\
00170 ================================================================================\n\
00171 MSG: geometry_msgs/Point\n\
00172 # This contains the position of a point in free space\n\
00173 float64 x\n\
00174 float64 y\n\
00175 float64 z\n\
00176 \n\
00177 ================================================================================\n\
00178 MSG: geometry_msgs/Quaternion\n\
00179 # This represents an orientation in free space in quaternion form.\n\
00180 \n\
00181 float64 x\n\
00182 float64 y\n\
00183 float64 z\n\
00184 float64 w\n\
00185 \n\
00186 "; }
00187 public:
00188 ROS_DEPRECATED static const std::string __s_getMessageDefinition() { return __s_getMessageDefinition_(); }
00189
00190 ROS_DEPRECATED const std::string __getMessageDefinition() const { return __s_getMessageDefinition_(); }
00191
00192 ROS_DEPRECATED virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const
00193 {
00194 ros::serialization::OStream stream(write_ptr, 1000000000);
00195 ros::serialization::serialize(stream, cloud);
00196 ros::serialization::serialize(stream, pose_stamped);
00197 ros::serialization::serialize(stream, use_orientation);
00198 ros::serialization::serialize(stream, seed_index);
00199 ros::serialization::serialize(stream, search_mode);
00200 return stream.getData();
00201 }
00202
00203 ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr)
00204 {
00205 ros::serialization::IStream stream(read_ptr, 1000000000);
00206 ros::serialization::deserialize(stream, cloud);
00207 ros::serialization::deserialize(stream, pose_stamped);
00208 ros::serialization::deserialize(stream, use_orientation);
00209 ros::serialization::deserialize(stream, seed_index);
00210 ros::serialization::deserialize(stream, search_mode);
00211 return stream.getData();
00212 }
00213
00214 ROS_DEPRECATED virtual uint32_t serializationLength() const
00215 {
00216 uint32_t size = 0;
00217 size += ros::serialization::serializationLength(cloud);
00218 size += ros::serialization::serializationLength(pose_stamped);
00219 size += ros::serialization::serializationLength(use_orientation);
00220 size += ros::serialization::serializationLength(seed_index);
00221 size += ros::serialization::serializationLength(search_mode);
00222 return size;
00223 }
00224
00225 typedef boost::shared_ptr< ::pr2_grasp_adjust::GraspAdjustGoal_<ContainerAllocator> > Ptr;
00226 typedef boost::shared_ptr< ::pr2_grasp_adjust::GraspAdjustGoal_<ContainerAllocator> const> ConstPtr;
00227 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00228 };
00229 typedef ::pr2_grasp_adjust::GraspAdjustGoal_<std::allocator<void> > GraspAdjustGoal;
00230
00231 typedef boost::shared_ptr< ::pr2_grasp_adjust::GraspAdjustGoal> GraspAdjustGoalPtr;
00232 typedef boost::shared_ptr< ::pr2_grasp_adjust::GraspAdjustGoal const> GraspAdjustGoalConstPtr;
00233
00234
00235 template<typename ContainerAllocator>
00236 std::ostream& operator<<(std::ostream& s, const ::pr2_grasp_adjust::GraspAdjustGoal_<ContainerAllocator> & v)
00237 {
00238 ros::message_operations::Printer< ::pr2_grasp_adjust::GraspAdjustGoal_<ContainerAllocator> >::stream(s, "", v);
00239 return s;}
00240
00241 }
00242
00243 namespace ros
00244 {
00245 namespace message_traits
00246 {
00247 template<class ContainerAllocator> struct IsMessage< ::pr2_grasp_adjust::GraspAdjustGoal_<ContainerAllocator> > : public TrueType {};
00248 template<class ContainerAllocator> struct IsMessage< ::pr2_grasp_adjust::GraspAdjustGoal_<ContainerAllocator> const> : public TrueType {};
00249 template<class ContainerAllocator>
00250 struct MD5Sum< ::pr2_grasp_adjust::GraspAdjustGoal_<ContainerAllocator> > {
00251 static const char* value()
00252 {
00253 return "060fcd54eb8073631ee72fceac5fcf37";
00254 }
00255
00256 static const char* value(const ::pr2_grasp_adjust::GraspAdjustGoal_<ContainerAllocator> &) { return value(); }
00257 static const uint64_t static_value1 = 0x060fcd54eb807363ULL;
00258 static const uint64_t static_value2 = 0x1ee72fceac5fcf37ULL;
00259 };
00260
00261 template<class ContainerAllocator>
00262 struct DataType< ::pr2_grasp_adjust::GraspAdjustGoal_<ContainerAllocator> > {
00263 static const char* value()
00264 {
00265 return "pr2_grasp_adjust/GraspAdjustGoal";
00266 }
00267
00268 static const char* value(const ::pr2_grasp_adjust::GraspAdjustGoal_<ContainerAllocator> &) { return value(); }
00269 };
00270
00271 template<class ContainerAllocator>
00272 struct Definition< ::pr2_grasp_adjust::GraspAdjustGoal_<ContainerAllocator> > {
00273 static const char* value()
00274 {
00275 return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00276 #goal definition\n\
00277 \n\
00278 sensor_msgs/PointCloud2 cloud\n\
00279 geometry_msgs/PoseStamped pose_stamped\n\
00280 bool use_orientation\n\
00281 int32 seed_index\n\
00282 uint8 search_mode\n\
00283 \n\
00284 int32 GLOBAL_SEARCH = 0\n\
00285 int32 LOCAL_SEARCH = 1\n\
00286 int32 SINGLE_POSE = 2\n\
00287 \n\
00288 \n\
00289 ================================================================================\n\
00290 MSG: sensor_msgs/PointCloud2\n\
00291 # This message holds a collection of N-dimensional points, which may\n\
00292 # contain additional information such as normals, intensity, etc. The\n\
00293 # point data is stored as a binary blob, its layout described by the\n\
00294 # contents of the \"fields\" array.\n\
00295 \n\
00296 # The point cloud data may be organized 2d (image-like) or 1d\n\
00297 # (unordered). Point clouds organized as 2d images may be produced by\n\
00298 # camera depth sensors such as stereo or time-of-flight.\n\
00299 \n\
00300 # Time of sensor data acquisition, and the coordinate frame ID (for 3d\n\
00301 # points).\n\
00302 Header header\n\
00303 \n\
00304 # 2D structure of the point cloud. If the cloud is unordered, height is\n\
00305 # 1 and width is the length of the point cloud.\n\
00306 uint32 height\n\
00307 uint32 width\n\
00308 \n\
00309 # Describes the channels and their layout in the binary data blob.\n\
00310 PointField[] fields\n\
00311 \n\
00312 bool is_bigendian # Is this data bigendian?\n\
00313 uint32 point_step # Length of a point in bytes\n\
00314 uint32 row_step # Length of a row in bytes\n\
00315 uint8[] data # Actual point data, size is (row_step*height)\n\
00316 \n\
00317 bool is_dense # True if there are no invalid points\n\
00318 \n\
00319 ================================================================================\n\
00320 MSG: std_msgs/Header\n\
00321 # Standard metadata for higher-level stamped data types.\n\
00322 # This is generally used to communicate timestamped data \n\
00323 # in a particular coordinate frame.\n\
00324 # \n\
00325 # sequence ID: consecutively increasing ID \n\
00326 uint32 seq\n\
00327 #Two-integer timestamp that is expressed as:\n\
00328 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00329 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00330 # time-handling sugar is provided by the client library\n\
00331 time stamp\n\
00332 #Frame this data is associated with\n\
00333 # 0: no frame\n\
00334 # 1: global frame\n\
00335 string frame_id\n\
00336 \n\
00337 ================================================================================\n\
00338 MSG: sensor_msgs/PointField\n\
00339 # This message holds the description of one point entry in the\n\
00340 # PointCloud2 message format.\n\
00341 uint8 INT8 = 1\n\
00342 uint8 UINT8 = 2\n\
00343 uint8 INT16 = 3\n\
00344 uint8 UINT16 = 4\n\
00345 uint8 INT32 = 5\n\
00346 uint8 UINT32 = 6\n\
00347 uint8 FLOAT32 = 7\n\
00348 uint8 FLOAT64 = 8\n\
00349 \n\
00350 string name # Name of field\n\
00351 uint32 offset # Offset from start of point struct\n\
00352 uint8 datatype # Datatype enumeration, see above\n\
00353 uint32 count # How many elements in the field\n\
00354 \n\
00355 ================================================================================\n\
00356 MSG: geometry_msgs/PoseStamped\n\
00357 # A Pose with reference coordinate frame and timestamp\n\
00358 Header header\n\
00359 Pose pose\n\
00360 \n\
00361 ================================================================================\n\
00362 MSG: geometry_msgs/Pose\n\
00363 # A representation of pose in free space, composed of postion and orientation. \n\
00364 Point position\n\
00365 Quaternion orientation\n\
00366 \n\
00367 ================================================================================\n\
00368 MSG: geometry_msgs/Point\n\
00369 # This contains the position of a point in free space\n\
00370 float64 x\n\
00371 float64 y\n\
00372 float64 z\n\
00373 \n\
00374 ================================================================================\n\
00375 MSG: geometry_msgs/Quaternion\n\
00376 # This represents an orientation in free space in quaternion form.\n\
00377 \n\
00378 float64 x\n\
00379 float64 y\n\
00380 float64 z\n\
00381 float64 w\n\
00382 \n\
00383 ";
00384 }
00385
00386 static const char* value(const ::pr2_grasp_adjust::GraspAdjustGoal_<ContainerAllocator> &) { return value(); }
00387 };
00388
00389 }
00390 }
00391
00392 namespace ros
00393 {
00394 namespace serialization
00395 {
00396
00397 template<class ContainerAllocator> struct Serializer< ::pr2_grasp_adjust::GraspAdjustGoal_<ContainerAllocator> >
00398 {
00399 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00400 {
00401 stream.next(m.cloud);
00402 stream.next(m.pose_stamped);
00403 stream.next(m.use_orientation);
00404 stream.next(m.seed_index);
00405 stream.next(m.search_mode);
00406 }
00407
00408 ROS_DECLARE_ALLINONE_SERIALIZER;
00409 };
00410 }
00411 }
00412
00413 namespace ros
00414 {
00415 namespace message_operations
00416 {
00417
00418 template<class ContainerAllocator>
00419 struct Printer< ::pr2_grasp_adjust::GraspAdjustGoal_<ContainerAllocator> >
00420 {
00421 template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::pr2_grasp_adjust::GraspAdjustGoal_<ContainerAllocator> & v)
00422 {
00423 s << indent << "cloud: ";
00424 s << std::endl;
00425 Printer< ::sensor_msgs::PointCloud2_<ContainerAllocator> >::stream(s, indent + " ", v.cloud);
00426 s << indent << "pose_stamped: ";
00427 s << std::endl;
00428 Printer< ::geometry_msgs::PoseStamped_<ContainerAllocator> >::stream(s, indent + " ", v.pose_stamped);
00429 s << indent << "use_orientation: ";
00430 Printer<uint8_t>::stream(s, indent + " ", v.use_orientation);
00431 s << indent << "seed_index: ";
00432 Printer<int32_t>::stream(s, indent + " ", v.seed_index);
00433 s << indent << "search_mode: ";
00434 Printer<uint8_t>::stream(s, indent + " ", v.search_mode);
00435 }
00436 };
00437
00438
00439 }
00440 }
00441
00442 #endif // PR2_GRASP_ADJUST_MESSAGE_GRASPADJUSTGOAL_H
00443
