00001
00002 #ifndef PR2_GRASP_ADJUST_SERVICE_GRASPADJUST_H
00003 #define PR2_GRASP_ADJUST_SERVICE_GRASPADJUST_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 "ros/service_traits.h"
00018
00019 #include "geometry_msgs/PoseStamped.h"
00020 #include "geometry_msgs/Vector3.h"
00021
00022
00023 #include "geometry_msgs/PoseStamped.h"
00024 #include "object_manipulation_msgs/ManipulationResult.h"
00025
00026 namespace pr2_grasp_adjust
00027 {
00028 template <class ContainerAllocator>
00029 struct GraspAdjustRequest_ {
00030 typedef GraspAdjustRequest_<ContainerAllocator> Type;
00031
00032 GraspAdjustRequest_()
00033 : grasp_pose()
00034 , roi_dims()
00035 , search_mode(0)
00036 {
00037 }
00038
00039 GraspAdjustRequest_(const ContainerAllocator& _alloc)
00040 : grasp_pose(_alloc)
00041 , roi_dims(_alloc)
00042 , search_mode(0)
00043 {
00044 }
00045
00046 typedef ::geometry_msgs::PoseStamped_<ContainerAllocator> _grasp_pose_type;
00047 ::geometry_msgs::PoseStamped_<ContainerAllocator> grasp_pose;
00048
00049 typedef ::geometry_msgs::Vector3_<ContainerAllocator> _roi_dims_type;
00050 ::geometry_msgs::Vector3_<ContainerAllocator> roi_dims;
00051
00052 typedef uint8_t _search_mode_type;
00053 uint8_t search_mode;
00054
00055 enum { GLOBAL_SEARCH = 0 };
00056 enum { LOCAL_SEARCH = 1 };
00057 enum { SINGLE_POSE = 2 };
00058
00059 private:
00060 static const char* __s_getDataType_() { return "pr2_grasp_adjust/GraspAdjustRequest"; }
00061 public:
00062 ROS_DEPRECATED static const std::string __s_getDataType() { return __s_getDataType_(); }
00063
00064 ROS_DEPRECATED const std::string __getDataType() const { return __s_getDataType_(); }
00065
00066 private:
00067 static const char* __s_getMD5Sum_() { return "e7ccb113bffaf7f7554b005b509b114a"; }
00068 public:
00069 ROS_DEPRECATED static const std::string __s_getMD5Sum() { return __s_getMD5Sum_(); }
00070
00071 ROS_DEPRECATED const std::string __getMD5Sum() const { return __s_getMD5Sum_(); }
00072
00073 private:
00074 static const char* __s_getServerMD5Sum_() { return "155f94ed302ff095096df9b37ecc7886"; }
00075 public:
00076 ROS_DEPRECATED static const std::string __s_getServerMD5Sum() { return __s_getServerMD5Sum_(); }
00077
00078 ROS_DEPRECATED const std::string __getServerMD5Sum() const { return __s_getServerMD5Sum_(); }
00079
00080 private:
00081 static const char* __s_getMessageDefinition_() { return "geometry_msgs/PoseStamped grasp_pose\n\
00082 geometry_msgs/Vector3 roi_dims\n\
00083 uint8 search_mode\n\
00084 \n\
00085 int32 GLOBAL_SEARCH = 0\n\
00086 int32 LOCAL_SEARCH = 1\n\
00087 int32 SINGLE_POSE = 2\n\
00088 \n\
00089 \n\
00090 ================================================================================\n\
00091 MSG: geometry_msgs/PoseStamped\n\
00092 # A Pose with reference coordinate frame and timestamp\n\
00093 Header header\n\
00094 Pose pose\n\
00095 \n\
00096 ================================================================================\n\
00097 MSG: std_msgs/Header\n\
00098 # Standard metadata for higher-level stamped data types.\n\
00099 # This is generally used to communicate timestamped data \n\
00100 # in a particular coordinate frame.\n\
00101 # \n\
00102 # sequence ID: consecutively increasing ID \n\
00103 uint32 seq\n\
00104 #Two-integer timestamp that is expressed as:\n\
00105 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00106 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00107 # time-handling sugar is provided by the client library\n\
00108 time stamp\n\
00109 #Frame this data is associated with\n\
00110 # 0: no frame\n\
00111 # 1: global frame\n\
00112 string frame_id\n\
00113 \n\
00114 ================================================================================\n\
00115 MSG: geometry_msgs/Pose\n\
00116 # A representation of pose in free space, composed of postion and orientation. \n\
00117 Point position\n\
00118 Quaternion orientation\n\
00119 \n\
00120 ================================================================================\n\
00121 MSG: geometry_msgs/Point\n\
00122 # This contains the position of a point in free space\n\
00123 float64 x\n\
00124 float64 y\n\
00125 float64 z\n\
00126 \n\
00127 ================================================================================\n\
00128 MSG: geometry_msgs/Quaternion\n\
00129 # This represents an orientation in free space in quaternion form.\n\
00130 \n\
00131 float64 x\n\
00132 float64 y\n\
00133 float64 z\n\
00134 float64 w\n\
00135 \n\
00136 ================================================================================\n\
00137 MSG: geometry_msgs/Vector3\n\
00138 # This represents a vector in free space. \n\
00139 \n\
00140 float64 x\n\
00141 float64 y\n\
00142 float64 z\n\
00143 "; }
00144 public:
00145 ROS_DEPRECATED static const std::string __s_getMessageDefinition() { return __s_getMessageDefinition_(); }
00146
00147 ROS_DEPRECATED const std::string __getMessageDefinition() const { return __s_getMessageDefinition_(); }
00148
00149 ROS_DEPRECATED virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const
00150 {
00151 ros::serialization::OStream stream(write_ptr, 1000000000);
00152 ros::serialization::serialize(stream, grasp_pose);
00153 ros::serialization::serialize(stream, roi_dims);
00154 ros::serialization::serialize(stream, search_mode);
00155 return stream.getData();
00156 }
00157
00158 ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr)
00159 {
00160 ros::serialization::IStream stream(read_ptr, 1000000000);
00161 ros::serialization::deserialize(stream, grasp_pose);
00162 ros::serialization::deserialize(stream, roi_dims);
00163 ros::serialization::deserialize(stream, search_mode);
00164 return stream.getData();
00165 }
00166
00167 ROS_DEPRECATED virtual uint32_t serializationLength() const
00168 {
00169 uint32_t size = 0;
00170 size += ros::serialization::serializationLength(grasp_pose);
00171 size += ros::serialization::serializationLength(roi_dims);
00172 size += ros::serialization::serializationLength(search_mode);
00173 return size;
00174 }
00175
00176 typedef boost::shared_ptr< ::pr2_grasp_adjust::GraspAdjustRequest_<ContainerAllocator> > Ptr;
00177 typedef boost::shared_ptr< ::pr2_grasp_adjust::GraspAdjustRequest_<ContainerAllocator> const> ConstPtr;
00178 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00179 };
00180 typedef ::pr2_grasp_adjust::GraspAdjustRequest_<std::allocator<void> > GraspAdjustRequest;
00181
00182 typedef boost::shared_ptr< ::pr2_grasp_adjust::GraspAdjustRequest> GraspAdjustRequestPtr;
00183 typedef boost::shared_ptr< ::pr2_grasp_adjust::GraspAdjustRequest const> GraspAdjustRequestConstPtr;
00184
00185
00186 template <class ContainerAllocator>
00187 struct GraspAdjustResponse_ {
00188 typedef GraspAdjustResponse_<ContainerAllocator> Type;
00189
00190 GraspAdjustResponse_()
00191 : grasp_poses()
00192 , pose_scores()
00193 , gripper_openings()
00194 , result()
00195 {
00196 }
00197
00198 GraspAdjustResponse_(const ContainerAllocator& _alloc)
00199 : grasp_poses(_alloc)
00200 , pose_scores(_alloc)
00201 , gripper_openings(_alloc)
00202 , result(_alloc)
00203 {
00204 }
00205
00206 typedef std::vector< ::geometry_msgs::PoseStamped_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::geometry_msgs::PoseStamped_<ContainerAllocator> >::other > _grasp_poses_type;
00207 std::vector< ::geometry_msgs::PoseStamped_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::geometry_msgs::PoseStamped_<ContainerAllocator> >::other > grasp_poses;
00208
00209 typedef std::vector<double, typename ContainerAllocator::template rebind<double>::other > _pose_scores_type;
00210 std::vector<double, typename ContainerAllocator::template rebind<double>::other > pose_scores;
00211
00212 typedef std::vector<float, typename ContainerAllocator::template rebind<float>::other > _gripper_openings_type;
00213 std::vector<float, typename ContainerAllocator::template rebind<float>::other > gripper_openings;
00214
00215 typedef ::object_manipulation_msgs::ManipulationResult_<ContainerAllocator> _result_type;
00216 ::object_manipulation_msgs::ManipulationResult_<ContainerAllocator> result;
00217
00218
00219 ROS_DEPRECATED uint32_t get_grasp_poses_size() const { return (uint32_t)grasp_poses.size(); }
00220 ROS_DEPRECATED void set_grasp_poses_size(uint32_t size) { grasp_poses.resize((size_t)size); }
00221 ROS_DEPRECATED void get_grasp_poses_vec(std::vector< ::geometry_msgs::PoseStamped_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::geometry_msgs::PoseStamped_<ContainerAllocator> >::other > & vec) const { vec = this->grasp_poses; }
00222 ROS_DEPRECATED void set_grasp_poses_vec(const std::vector< ::geometry_msgs::PoseStamped_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::geometry_msgs::PoseStamped_<ContainerAllocator> >::other > & vec) { this->grasp_poses = vec; }
00223 ROS_DEPRECATED uint32_t get_pose_scores_size() const { return (uint32_t)pose_scores.size(); }
00224 ROS_DEPRECATED void set_pose_scores_size(uint32_t size) { pose_scores.resize((size_t)size); }
00225 ROS_DEPRECATED void get_pose_scores_vec(std::vector<double, typename ContainerAllocator::template rebind<double>::other > & vec) const { vec = this->pose_scores; }
00226 ROS_DEPRECATED void set_pose_scores_vec(const std::vector<double, typename ContainerAllocator::template rebind<double>::other > & vec) { this->pose_scores = vec; }
00227 ROS_DEPRECATED uint32_t get_gripper_openings_size() const { return (uint32_t)gripper_openings.size(); }
00228 ROS_DEPRECATED void set_gripper_openings_size(uint32_t size) { gripper_openings.resize((size_t)size); }
00229 ROS_DEPRECATED void get_gripper_openings_vec(std::vector<float, typename ContainerAllocator::template rebind<float>::other > & vec) const { vec = this->gripper_openings; }
00230 ROS_DEPRECATED void set_gripper_openings_vec(const std::vector<float, typename ContainerAllocator::template rebind<float>::other > & vec) { this->gripper_openings = vec; }
00231 private:
00232 static const char* __s_getDataType_() { return "pr2_grasp_adjust/GraspAdjustResponse"; }
00233 public:
00234 ROS_DEPRECATED static const std::string __s_getDataType() { return __s_getDataType_(); }
00235
00236 ROS_DEPRECATED const std::string __getDataType() const { return __s_getDataType_(); }
00237
00238 private:
00239 static const char* __s_getMD5Sum_() { return "8204d8a3e105f84787abc62e550e0312"; }
00240 public:
00241 ROS_DEPRECATED static const std::string __s_getMD5Sum() { return __s_getMD5Sum_(); }
00242
00243 ROS_DEPRECATED const std::string __getMD5Sum() const { return __s_getMD5Sum_(); }
00244
00245 private:
00246 static const char* __s_getServerMD5Sum_() { return "155f94ed302ff095096df9b37ecc7886"; }
00247 public:
00248 ROS_DEPRECATED static const std::string __s_getServerMD5Sum() { return __s_getServerMD5Sum_(); }
00249
00250 ROS_DEPRECATED const std::string __getServerMD5Sum() const { return __s_getServerMD5Sum_(); }
00251
00252 private:
00253 static const char* __s_getMessageDefinition_() { return "geometry_msgs/PoseStamped[] grasp_poses\n\
00254 float64[] pose_scores\n\
00255 float32[] gripper_openings\n\
00256 \n\
00257 object_manipulation_msgs/ManipulationResult result\n\
00258 \n\
00259 \n\
00260 \n\
00261 ================================================================================\n\
00262 MSG: geometry_msgs/PoseStamped\n\
00263 # A Pose with reference coordinate frame and timestamp\n\
00264 Header header\n\
00265 Pose pose\n\
00266 \n\
00267 ================================================================================\n\
00268 MSG: std_msgs/Header\n\
00269 # Standard metadata for higher-level stamped data types.\n\
00270 # This is generally used to communicate timestamped data \n\
00271 # in a particular coordinate frame.\n\
00272 # \n\
00273 # sequence ID: consecutively increasing ID \n\
00274 uint32 seq\n\
00275 #Two-integer timestamp that is expressed as:\n\
00276 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00277 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00278 # time-handling sugar is provided by the client library\n\
00279 time stamp\n\
00280 #Frame this data is associated with\n\
00281 # 0: no frame\n\
00282 # 1: global frame\n\
00283 string frame_id\n\
00284 \n\
00285 ================================================================================\n\
00286 MSG: geometry_msgs/Pose\n\
00287 # A representation of pose in free space, composed of postion and orientation. \n\
00288 Point position\n\
00289 Quaternion orientation\n\
00290 \n\
00291 ================================================================================\n\
00292 MSG: geometry_msgs/Point\n\
00293 # This contains the position of a point in free space\n\
00294 float64 x\n\
00295 float64 y\n\
00296 float64 z\n\
00297 \n\
00298 ================================================================================\n\
00299 MSG: geometry_msgs/Quaternion\n\
00300 # This represents an orientation in free space in quaternion form.\n\
00301 \n\
00302 float64 x\n\
00303 float64 y\n\
00304 float64 z\n\
00305 float64 w\n\
00306 \n\
00307 ================================================================================\n\
00308 MSG: object_manipulation_msgs/ManipulationResult\n\
00309 # Result codes for manipulation tasks\n\
00310 \n\
00311 # task completed as expected\n\
00312 # generally means you can proceed as planned\n\
00313 int32 SUCCESS = 1\n\
00314 \n\
00315 # task not possible (e.g. out of reach or obstacles in the way)\n\
00316 # generally means that the world was not disturbed, so you can try another task\n\
00317 int32 UNFEASIBLE = -1\n\
00318 \n\
00319 # task was thought possible, but failed due to unexpected events during execution\n\
00320 # it is likely that the world was disturbed, so you are encouraged to refresh\n\
00321 # your sensed world model before proceeding to another task\n\
00322 int32 FAILED = -2\n\
00323 \n\
00324 # a lower level error prevented task completion (e.g. joint controller not responding)\n\
00325 # generally requires human attention\n\
00326 int32 ERROR = -3\n\
00327 \n\
00328 # means that at some point during execution we ended up in a state that the collision-aware\n\
00329 # arm navigation module will not move out of. The world was likely not disturbed, but you \n\
00330 # probably need a new collision map to move the arm out of the stuck position\n\
00331 int32 ARM_MOVEMENT_PREVENTED = -4\n\
00332 \n\
00333 # specific to grasp actions\n\
00334 # the object was grasped successfully, but the lift attempt could not achieve the minimum lift distance requested\n\
00335 # it is likely that the collision environment will see collisions between the hand/object and the support surface\n\
00336 int32 LIFT_FAILED = -5\n\
00337 \n\
00338 # specific to place actions\n\
00339 # the object was placed successfully, but the retreat attempt could not achieve the minimum retreat distance requested\n\
00340 # it is likely that the collision environment will see collisions between the hand and the object\n\
00341 int32 RETREAT_FAILED = -6\n\
00342 \n\
00343 # indicates that somewhere along the line a human said \"wait, stop, this is bad, go back and do something else\"\n\
00344 int32 CANCELLED = -7\n\
00345 \n\
00346 # the actual value of this error code\n\
00347 int32 value\n\
00348 \n\
00349 "; }
00350 public:
00351 ROS_DEPRECATED static const std::string __s_getMessageDefinition() { return __s_getMessageDefinition_(); }
00352
00353 ROS_DEPRECATED const std::string __getMessageDefinition() const { return __s_getMessageDefinition_(); }
00354
00355 ROS_DEPRECATED virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const
00356 {
00357 ros::serialization::OStream stream(write_ptr, 1000000000);
00358 ros::serialization::serialize(stream, grasp_poses);
00359 ros::serialization::serialize(stream, pose_scores);
00360 ros::serialization::serialize(stream, gripper_openings);
00361 ros::serialization::serialize(stream, result);
00362 return stream.getData();
00363 }
00364
00365 ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr)
00366 {
00367 ros::serialization::IStream stream(read_ptr, 1000000000);
00368 ros::serialization::deserialize(stream, grasp_poses);
00369 ros::serialization::deserialize(stream, pose_scores);
00370 ros::serialization::deserialize(stream, gripper_openings);
00371 ros::serialization::deserialize(stream, result);
00372 return stream.getData();
00373 }
00374
00375 ROS_DEPRECATED virtual uint32_t serializationLength() const
00376 {
00377 uint32_t size = 0;
00378 size += ros::serialization::serializationLength(grasp_poses);
00379 size += ros::serialization::serializationLength(pose_scores);
00380 size += ros::serialization::serializationLength(gripper_openings);
00381 size += ros::serialization::serializationLength(result);
00382 return size;
00383 }
00384
00385 typedef boost::shared_ptr< ::pr2_grasp_adjust::GraspAdjustResponse_<ContainerAllocator> > Ptr;
00386 typedef boost::shared_ptr< ::pr2_grasp_adjust::GraspAdjustResponse_<ContainerAllocator> const> ConstPtr;
00387 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00388 };
00389 typedef ::pr2_grasp_adjust::GraspAdjustResponse_<std::allocator<void> > GraspAdjustResponse;
00390
00391 typedef boost::shared_ptr< ::pr2_grasp_adjust::GraspAdjustResponse> GraspAdjustResponsePtr;
00392 typedef boost::shared_ptr< ::pr2_grasp_adjust::GraspAdjustResponse const> GraspAdjustResponseConstPtr;
00393
00394 struct GraspAdjust
00395 {
00396
00397 typedef GraspAdjustRequest Request;
00398 typedef GraspAdjustResponse Response;
00399 Request request;
00400 Response response;
00401
00402 typedef Request RequestType;
00403 typedef Response ResponseType;
00404 };
00405 }
00406
00407 namespace ros
00408 {
00409 namespace message_traits
00410 {
00411 template<class ContainerAllocator> struct IsMessage< ::pr2_grasp_adjust::GraspAdjustRequest_<ContainerAllocator> > : public TrueType {};
00412 template<class ContainerAllocator> struct IsMessage< ::pr2_grasp_adjust::GraspAdjustRequest_<ContainerAllocator> const> : public TrueType {};
00413 template<class ContainerAllocator>
00414 struct MD5Sum< ::pr2_grasp_adjust::GraspAdjustRequest_<ContainerAllocator> > {
00415 static const char* value()
00416 {
00417 return "e7ccb113bffaf7f7554b005b509b114a";
00418 }
00419
00420 static const char* value(const ::pr2_grasp_adjust::GraspAdjustRequest_<ContainerAllocator> &) { return value(); }
00421 static const uint64_t static_value1 = 0xe7ccb113bffaf7f7ULL;
00422 static const uint64_t static_value2 = 0x554b005b509b114aULL;
00423 };
00424
00425 template<class ContainerAllocator>
00426 struct DataType< ::pr2_grasp_adjust::GraspAdjustRequest_<ContainerAllocator> > {
00427 static const char* value()
00428 {
00429 return "pr2_grasp_adjust/GraspAdjustRequest";
00430 }
00431
00432 static const char* value(const ::pr2_grasp_adjust::GraspAdjustRequest_<ContainerAllocator> &) { return value(); }
00433 };
00434
00435 template<class ContainerAllocator>
00436 struct Definition< ::pr2_grasp_adjust::GraspAdjustRequest_<ContainerAllocator> > {
00437 static const char* value()
00438 {
00439 return "geometry_msgs/PoseStamped grasp_pose\n\
00440 geometry_msgs/Vector3 roi_dims\n\
00441 uint8 search_mode\n\
00442 \n\
00443 int32 GLOBAL_SEARCH = 0\n\
00444 int32 LOCAL_SEARCH = 1\n\
00445 int32 SINGLE_POSE = 2\n\
00446 \n\
00447 \n\
00448 ================================================================================\n\
00449 MSG: geometry_msgs/PoseStamped\n\
00450 # A Pose with reference coordinate frame and timestamp\n\
00451 Header header\n\
00452 Pose pose\n\
00453 \n\
00454 ================================================================================\n\
00455 MSG: std_msgs/Header\n\
00456 # Standard metadata for higher-level stamped data types.\n\
00457 # This is generally used to communicate timestamped data \n\
00458 # in a particular coordinate frame.\n\
00459 # \n\
00460 # sequence ID: consecutively increasing ID \n\
00461 uint32 seq\n\
00462 #Two-integer timestamp that is expressed as:\n\
00463 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00464 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00465 # time-handling sugar is provided by the client library\n\
00466 time stamp\n\
00467 #Frame this data is associated with\n\
00468 # 0: no frame\n\
00469 # 1: global frame\n\
00470 string frame_id\n\
00471 \n\
00472 ================================================================================\n\
00473 MSG: geometry_msgs/Pose\n\
00474 # A representation of pose in free space, composed of postion and orientation. \n\
00475 Point position\n\
00476 Quaternion orientation\n\
00477 \n\
00478 ================================================================================\n\
00479 MSG: geometry_msgs/Point\n\
00480 # This contains the position of a point in free space\n\
00481 float64 x\n\
00482 float64 y\n\
00483 float64 z\n\
00484 \n\
00485 ================================================================================\n\
00486 MSG: geometry_msgs/Quaternion\n\
00487 # This represents an orientation in free space in quaternion form.\n\
00488 \n\
00489 float64 x\n\
00490 float64 y\n\
00491 float64 z\n\
00492 float64 w\n\
00493 \n\
00494 ================================================================================\n\
00495 MSG: geometry_msgs/Vector3\n\
00496 # This represents a vector in free space. \n\
00497 \n\
00498 float64 x\n\
00499 float64 y\n\
00500 float64 z\n\
00501 ";
00502 }
00503
00504 static const char* value(const ::pr2_grasp_adjust::GraspAdjustRequest_<ContainerAllocator> &) { return value(); }
00505 };
00506
00507 }
00508 }
00509
00510
00511 namespace ros
00512 {
00513 namespace message_traits
00514 {
00515 template<class ContainerAllocator> struct IsMessage< ::pr2_grasp_adjust::GraspAdjustResponse_<ContainerAllocator> > : public TrueType {};
00516 template<class ContainerAllocator> struct IsMessage< ::pr2_grasp_adjust::GraspAdjustResponse_<ContainerAllocator> const> : public TrueType {};
00517 template<class ContainerAllocator>
00518 struct MD5Sum< ::pr2_grasp_adjust::GraspAdjustResponse_<ContainerAllocator> > {
00519 static const char* value()
00520 {
00521 return "8204d8a3e105f84787abc62e550e0312";
00522 }
00523
00524 static const char* value(const ::pr2_grasp_adjust::GraspAdjustResponse_<ContainerAllocator> &) { return value(); }
00525 static const uint64_t static_value1 = 0x8204d8a3e105f847ULL;
00526 static const uint64_t static_value2 = 0x87abc62e550e0312ULL;
00527 };
00528
00529 template<class ContainerAllocator>
00530 struct DataType< ::pr2_grasp_adjust::GraspAdjustResponse_<ContainerAllocator> > {
00531 static const char* value()
00532 {
00533 return "pr2_grasp_adjust/GraspAdjustResponse";
00534 }
00535
00536 static const char* value(const ::pr2_grasp_adjust::GraspAdjustResponse_<ContainerAllocator> &) { return value(); }
00537 };
00538
00539 template<class ContainerAllocator>
00540 struct Definition< ::pr2_grasp_adjust::GraspAdjustResponse_<ContainerAllocator> > {
00541 static const char* value()
00542 {
00543 return "geometry_msgs/PoseStamped[] grasp_poses\n\
00544 float64[] pose_scores\n\
00545 float32[] gripper_openings\n\
00546 \n\
00547 object_manipulation_msgs/ManipulationResult result\n\
00548 \n\
00549 \n\
00550 \n\
00551 ================================================================================\n\
00552 MSG: geometry_msgs/PoseStamped\n\
00553 # A Pose with reference coordinate frame and timestamp\n\
00554 Header header\n\
00555 Pose pose\n\
00556 \n\
00557 ================================================================================\n\
00558 MSG: std_msgs/Header\n\
00559 # Standard metadata for higher-level stamped data types.\n\
00560 # This is generally used to communicate timestamped data \n\
00561 # in a particular coordinate frame.\n\
00562 # \n\
00563 # sequence ID: consecutively increasing ID \n\
00564 uint32 seq\n\
00565 #Two-integer timestamp that is expressed as:\n\
00566 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00567 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00568 # time-handling sugar is provided by the client library\n\
00569 time stamp\n\
00570 #Frame this data is associated with\n\
00571 # 0: no frame\n\
00572 # 1: global frame\n\
00573 string frame_id\n\
00574 \n\
00575 ================================================================================\n\
00576 MSG: geometry_msgs/Pose\n\
00577 # A representation of pose in free space, composed of postion and orientation. \n\
00578 Point position\n\
00579 Quaternion orientation\n\
00580 \n\
00581 ================================================================================\n\
00582 MSG: geometry_msgs/Point\n\
00583 # This contains the position of a point in free space\n\
00584 float64 x\n\
00585 float64 y\n\
00586 float64 z\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: object_manipulation_msgs/ManipulationResult\n\
00599 # Result codes for manipulation tasks\n\
00600 \n\
00601 # task completed as expected\n\
00602 # generally means you can proceed as planned\n\
00603 int32 SUCCESS = 1\n\
00604 \n\
00605 # task not possible (e.g. out of reach or obstacles in the way)\n\
00606 # generally means that the world was not disturbed, so you can try another task\n\
00607 int32 UNFEASIBLE = -1\n\
00608 \n\
00609 # task was thought possible, but failed due to unexpected events during execution\n\
00610 # it is likely that the world was disturbed, so you are encouraged to refresh\n\
00611 # your sensed world model before proceeding to another task\n\
00612 int32 FAILED = -2\n\
00613 \n\
00614 # a lower level error prevented task completion (e.g. joint controller not responding)\n\
00615 # generally requires human attention\n\
00616 int32 ERROR = -3\n\
00617 \n\
00618 # means that at some point during execution we ended up in a state that the collision-aware\n\
00619 # arm navigation module will not move out of. The world was likely not disturbed, but you \n\
00620 # probably need a new collision map to move the arm out of the stuck position\n\
00621 int32 ARM_MOVEMENT_PREVENTED = -4\n\
00622 \n\
00623 # specific to grasp actions\n\
00624 # the object was grasped successfully, but the lift attempt could not achieve the minimum lift distance requested\n\
00625 # it is likely that the collision environment will see collisions between the hand/object and the support surface\n\
00626 int32 LIFT_FAILED = -5\n\
00627 \n\
00628 # specific to place actions\n\
00629 # the object was placed successfully, but the retreat attempt could not achieve the minimum retreat distance requested\n\
00630 # it is likely that the collision environment will see collisions between the hand and the object\n\
00631 int32 RETREAT_FAILED = -6\n\
00632 \n\
00633 # indicates that somewhere along the line a human said \"wait, stop, this is bad, go back and do something else\"\n\
00634 int32 CANCELLED = -7\n\
00635 \n\
00636 # the actual value of this error code\n\
00637 int32 value\n\
00638 \n\
00639 ";
00640 }
00641
00642 static const char* value(const ::pr2_grasp_adjust::GraspAdjustResponse_<ContainerAllocator> &) { return value(); }
00643 };
00644
00645 }
00646 }
00647
00648 namespace ros
00649 {
00650 namespace serialization
00651 {
00652
00653 template<class ContainerAllocator> struct Serializer< ::pr2_grasp_adjust::GraspAdjustRequest_<ContainerAllocator> >
00654 {
00655 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00656 {
00657 stream.next(m.grasp_pose);
00658 stream.next(m.roi_dims);
00659 stream.next(m.search_mode);
00660 }
00661
00662 ROS_DECLARE_ALLINONE_SERIALIZER;
00663 };
00664 }
00665 }
00666
00667
00668 namespace ros
00669 {
00670 namespace serialization
00671 {
00672
00673 template<class ContainerAllocator> struct Serializer< ::pr2_grasp_adjust::GraspAdjustResponse_<ContainerAllocator> >
00674 {
00675 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00676 {
00677 stream.next(m.grasp_poses);
00678 stream.next(m.pose_scores);
00679 stream.next(m.gripper_openings);
00680 stream.next(m.result);
00681 }
00682
00683 ROS_DECLARE_ALLINONE_SERIALIZER;
00684 };
00685 }
00686 }
00687
00688 namespace ros
00689 {
00690 namespace service_traits
00691 {
00692 template<>
00693 struct MD5Sum<pr2_grasp_adjust::GraspAdjust> {
00694 static const char* value()
00695 {
00696 return "155f94ed302ff095096df9b37ecc7886";
00697 }
00698
00699 static const char* value(const pr2_grasp_adjust::GraspAdjust&) { return value(); }
00700 };
00701
00702 template<>
00703 struct DataType<pr2_grasp_adjust::GraspAdjust> {
00704 static const char* value()
00705 {
00706 return "pr2_grasp_adjust/GraspAdjust";
00707 }
00708
00709 static const char* value(const pr2_grasp_adjust::GraspAdjust&) { return value(); }
00710 };
00711
00712 template<class ContainerAllocator>
00713 struct MD5Sum<pr2_grasp_adjust::GraspAdjustRequest_<ContainerAllocator> > {
00714 static const char* value()
00715 {
00716 return "155f94ed302ff095096df9b37ecc7886";
00717 }
00718
00719 static const char* value(const pr2_grasp_adjust::GraspAdjustRequest_<ContainerAllocator> &) { return value(); }
00720 };
00721
00722 template<class ContainerAllocator>
00723 struct DataType<pr2_grasp_adjust::GraspAdjustRequest_<ContainerAllocator> > {
00724 static const char* value()
00725 {
00726 return "pr2_grasp_adjust/GraspAdjust";
00727 }
00728
00729 static const char* value(const pr2_grasp_adjust::GraspAdjustRequest_<ContainerAllocator> &) { return value(); }
00730 };
00731
00732 template<class ContainerAllocator>
00733 struct MD5Sum<pr2_grasp_adjust::GraspAdjustResponse_<ContainerAllocator> > {
00734 static const char* value()
00735 {
00736 return "155f94ed302ff095096df9b37ecc7886";
00737 }
00738
00739 static const char* value(const pr2_grasp_adjust::GraspAdjustResponse_<ContainerAllocator> &) { return value(); }
00740 };
00741
00742 template<class ContainerAllocator>
00743 struct DataType<pr2_grasp_adjust::GraspAdjustResponse_<ContainerAllocator> > {
00744 static const char* value()
00745 {
00746 return "pr2_grasp_adjust/GraspAdjust";
00747 }
00748
00749 static const char* value(const pr2_grasp_adjust::GraspAdjustResponse_<ContainerAllocator> &) { return value(); }
00750 };
00751
00752 }
00753 }
00754
00755 #endif // PR2_GRASP_ADJUST_SERVICE_GRASPADJUST_H
00756
