PreplanHeadScanGoal.h
Go to the documentation of this file.
00001 /* Auto-generated by genmsg_cpp for file /home/rosbuild/hudson/workspace/doc-fuerte-arm_navigation_experimental/doc_stacks/2013-12-12_11-03-06.264841/arm_navigation_experimental/head_monitor_msgs/msg/PreplanHeadScanGoal.msg */
00002 #ifndef HEAD_MONITOR_MSGS_MESSAGE_PREPLANHEADSCANGOAL_H
00003 #define HEAD_MONITOR_MSGS_MESSAGE_PREPLANHEADSCANGOAL_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 "arm_navigation_msgs/MotionPlanRequest.h"
00018 
00019 namespace head_monitor_msgs
00020 {
00021 template <class ContainerAllocator>
00022 struct PreplanHeadScanGoal_ {
00023   typedef PreplanHeadScanGoal_<ContainerAllocator> Type;
00024 
00025   PreplanHeadScanGoal_()
00026   : group_name()
00027   , head_monitor_link()
00028   , motion_plan_request()
00029   {
00030   }
00031 
00032   PreplanHeadScanGoal_(const ContainerAllocator& _alloc)
00033   : group_name(_alloc)
00034   , head_monitor_link(_alloc)
00035   , motion_plan_request(_alloc)
00036   {
00037   }
00038 
00039   typedef std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other >  _group_name_type;
00040   std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other >  group_name;
00041 
00042   typedef std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other >  _head_monitor_link_type;
00043   std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other >  head_monitor_link;
00044 
00045   typedef  ::arm_navigation_msgs::MotionPlanRequest_<ContainerAllocator>  _motion_plan_request_type;
00046    ::arm_navigation_msgs::MotionPlanRequest_<ContainerAllocator>  motion_plan_request;
00047 
00048 
00049   typedef boost::shared_ptr< ::head_monitor_msgs::PreplanHeadScanGoal_<ContainerAllocator> > Ptr;
00050   typedef boost::shared_ptr< ::head_monitor_msgs::PreplanHeadScanGoal_<ContainerAllocator>  const> ConstPtr;
00051   boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00052 }; // struct PreplanHeadScanGoal
00053 typedef  ::head_monitor_msgs::PreplanHeadScanGoal_<std::allocator<void> > PreplanHeadScanGoal;
00054 
00055 typedef boost::shared_ptr< ::head_monitor_msgs::PreplanHeadScanGoal> PreplanHeadScanGoalPtr;
00056 typedef boost::shared_ptr< ::head_monitor_msgs::PreplanHeadScanGoal const> PreplanHeadScanGoalConstPtr;
00057 
00058 
00059 template<typename ContainerAllocator>
00060 std::ostream& operator<<(std::ostream& s, const  ::head_monitor_msgs::PreplanHeadScanGoal_<ContainerAllocator> & v)
00061 {
00062   ros::message_operations::Printer< ::head_monitor_msgs::PreplanHeadScanGoal_<ContainerAllocator> >::stream(s, "", v);
00063   return s;}
00064 
00065 } // namespace head_monitor_msgs
00066 
00067 namespace ros
00068 {
00069 namespace message_traits
00070 {
00071 template<class ContainerAllocator> struct IsMessage< ::head_monitor_msgs::PreplanHeadScanGoal_<ContainerAllocator> > : public TrueType {};
00072 template<class ContainerAllocator> struct IsMessage< ::head_monitor_msgs::PreplanHeadScanGoal_<ContainerAllocator>  const> : public TrueType {};
00073 template<class ContainerAllocator>
00074 struct MD5Sum< ::head_monitor_msgs::PreplanHeadScanGoal_<ContainerAllocator> > {
00075   static const char* value() 
00076   {
00077     return "565652fd52e32966cc5c599108653bf9";
00078   }
00079 
00080   static const char* value(const  ::head_monitor_msgs::PreplanHeadScanGoal_<ContainerAllocator> &) { return value(); } 
00081   static const uint64_t static_value1 = 0x565652fd52e32966ULL;
00082   static const uint64_t static_value2 = 0xcc5c599108653bf9ULL;
00083 };
00084 
00085 template<class ContainerAllocator>
00086 struct DataType< ::head_monitor_msgs::PreplanHeadScanGoal_<ContainerAllocator> > {
00087   static const char* value() 
00088   {
00089     return "head_monitor_msgs/PreplanHeadScanGoal";
00090   }
00091 
00092   static const char* value(const  ::head_monitor_msgs::PreplanHeadScanGoal_<ContainerAllocator> &) { return value(); } 
00093 };
00094 
00095 template<class ContainerAllocator>
00096 struct Definition< ::head_monitor_msgs::PreplanHeadScanGoal_<ContainerAllocator> > {
00097   static const char* value() 
00098   {
00099     return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00100 # The motion plan request\n\
00101 string group_name\n\
00102 string head_monitor_link\n\
00103 arm_navigation_msgs/MotionPlanRequest motion_plan_request\n\
00104 \n\
00105 ================================================================================\n\
00106 MSG: arm_navigation_msgs/MotionPlanRequest\n\
00107 # This service contains the definition for a request to the motion\n\
00108 # planner and the output it provides\n\
00109 \n\
00110 # Parameters for the workspace that the planner should work inside\n\
00111 arm_navigation_msgs/WorkspaceParameters workspace_parameters\n\
00112 \n\
00113 # Starting state updates. If certain joints should be considered\n\
00114 # at positions other than the current ones, these positions should\n\
00115 # be set here\n\
00116 arm_navigation_msgs/RobotState start_state\n\
00117 \n\
00118 # The goal state for the model to plan for. The goal is achieved\n\
00119 # if all constraints are satisfied\n\
00120 arm_navigation_msgs/Constraints goal_constraints\n\
00121 \n\
00122 # No state at any point along the path in the produced motion plan will violate these constraints\n\
00123 arm_navigation_msgs/Constraints path_constraints\n\
00124 \n\
00125 # The name of the motion planner to use. If no name is specified,\n\
00126 # a default motion planner will be used\n\
00127 string planner_id\n\
00128 \n\
00129 # The name of the group of joints on which this planner is operating\n\
00130 string group_name\n\
00131 \n\
00132 # The number of times this plan is to be computed. Shortest solution\n\
00133 # will be reported.\n\
00134 int32 num_planning_attempts\n\
00135 \n\
00136 # The maximum amount of time the motion planner is allowed to plan for\n\
00137 duration allowed_planning_time\n\
00138 \n\
00139 # 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\
00140 duration expected_path_duration\n\
00141 duration expected_path_dt\n\
00142 \n\
00143 ================================================================================\n\
00144 MSG: arm_navigation_msgs/WorkspaceParameters\n\
00145 # This message contains a set of parameters useful in\n\
00146 # setting up the workspace for planning\n\
00147 arm_navigation_msgs/Shape  workspace_region_shape\n\
00148 geometry_msgs/PoseStamped    workspace_region_pose\n\
00149 \n\
00150 \n\
00151 ================================================================================\n\
00152 MSG: arm_navigation_msgs/Shape\n\
00153 byte SPHERE=0\n\
00154 byte BOX=1\n\
00155 byte CYLINDER=2\n\
00156 byte MESH=3\n\
00157 \n\
00158 byte type\n\
00159 \n\
00160 \n\
00161 #### define sphere, box, cylinder ####\n\
00162 # the origin of each shape is considered at the shape's center\n\
00163 \n\
00164 # for sphere\n\
00165 # radius := dimensions[0]\n\
00166 \n\
00167 # for cylinder\n\
00168 # radius := dimensions[0]\n\
00169 # length := dimensions[1]\n\
00170 # the length is along the Z axis\n\
00171 \n\
00172 # for box\n\
00173 # size_x := dimensions[0]\n\
00174 # size_y := dimensions[1]\n\
00175 # size_z := dimensions[2]\n\
00176 float64[] dimensions\n\
00177 \n\
00178 \n\
00179 #### define mesh ####\n\
00180 \n\
00181 # list of triangles; triangle k is defined by tre vertices located\n\
00182 # at indices triangles[3k], triangles[3k+1], triangles[3k+2]\n\
00183 int32[] triangles\n\
00184 geometry_msgs/Point[] vertices\n\
00185 \n\
00186 ================================================================================\n\
00187 MSG: geometry_msgs/Point\n\
00188 # This contains the position of a point in free space\n\
00189 float64 x\n\
00190 float64 y\n\
00191 float64 z\n\
00192 \n\
00193 ================================================================================\n\
00194 MSG: geometry_msgs/PoseStamped\n\
00195 # A Pose with reference coordinate frame and timestamp\n\
00196 Header header\n\
00197 Pose pose\n\
00198 \n\
00199 ================================================================================\n\
00200 MSG: std_msgs/Header\n\
00201 # Standard metadata for higher-level stamped data types.\n\
00202 # This is generally used to communicate timestamped data \n\
00203 # in a particular coordinate frame.\n\
00204 # \n\
00205 # sequence ID: consecutively increasing ID \n\
00206 uint32 seq\n\
00207 #Two-integer timestamp that is expressed as:\n\
00208 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00209 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00210 # time-handling sugar is provided by the client library\n\
00211 time stamp\n\
00212 #Frame this data is associated with\n\
00213 # 0: no frame\n\
00214 # 1: global frame\n\
00215 string frame_id\n\
00216 \n\
00217 ================================================================================\n\
00218 MSG: geometry_msgs/Pose\n\
00219 # A representation of pose in free space, composed of postion and orientation. \n\
00220 Point position\n\
00221 Quaternion orientation\n\
00222 \n\
00223 ================================================================================\n\
00224 MSG: geometry_msgs/Quaternion\n\
00225 # This represents an orientation in free space in quaternion form.\n\
00226 \n\
00227 float64 x\n\
00228 float64 y\n\
00229 float64 z\n\
00230 float64 w\n\
00231 \n\
00232 ================================================================================\n\
00233 MSG: arm_navigation_msgs/RobotState\n\
00234 # This message contains information about the robot state, i.e. the positions of its joints and links\n\
00235 sensor_msgs/JointState joint_state\n\
00236 arm_navigation_msgs/MultiDOFJointState multi_dof_joint_state\n\
00237 \n\
00238 ================================================================================\n\
00239 MSG: sensor_msgs/JointState\n\
00240 # This is a message that holds data to describe the state of a set of torque controlled joints. \n\
00241 #\n\
00242 # The state of each joint (revolute or prismatic) is defined by:\n\
00243 #  * the position of the joint (rad or m),\n\
00244 #  * the velocity of the joint (rad/s or m/s) and \n\
00245 #  * the effort that is applied in the joint (Nm or N).\n\
00246 #\n\
00247 # Each joint is uniquely identified by its name\n\
00248 # The header specifies the time at which the joint states were recorded. All the joint states\n\
00249 # in one message have to be recorded at the same time.\n\
00250 #\n\
00251 # This message consists of a multiple arrays, one for each part of the joint state. \n\
00252 # The goal is to make each of the fields optional. When e.g. your joints have no\n\
00253 # effort associated with them, you can leave the effort array empty. \n\
00254 #\n\
00255 # All arrays in this message should have the same size, or be empty.\n\
00256 # This is the only way to uniquely associate the joint name with the correct\n\
00257 # states.\n\
00258 \n\
00259 \n\
00260 Header header\n\
00261 \n\
00262 string[] name\n\
00263 float64[] position\n\
00264 float64[] velocity\n\
00265 float64[] effort\n\
00266 \n\
00267 ================================================================================\n\
00268 MSG: arm_navigation_msgs/MultiDOFJointState\n\
00269 #A representation of a multi-dof joint state\n\
00270 time stamp\n\
00271 string[] joint_names\n\
00272 string[] frame_ids\n\
00273 string[] child_frame_ids\n\
00274 geometry_msgs/Pose[] poses\n\
00275 \n\
00276 ================================================================================\n\
00277 MSG: arm_navigation_msgs/Constraints\n\
00278 # This message contains a list of motion planning constraints.\n\
00279 \n\
00280 arm_navigation_msgs/JointConstraint[] joint_constraints\n\
00281 arm_navigation_msgs/PositionConstraint[] position_constraints\n\
00282 arm_navigation_msgs/OrientationConstraint[] orientation_constraints\n\
00283 arm_navigation_msgs/VisibilityConstraint[] visibility_constraints\n\
00284 \n\
00285 ================================================================================\n\
00286 MSG: arm_navigation_msgs/JointConstraint\n\
00287 # Constrain the position of a joint to be within a certain bound\n\
00288 string joint_name\n\
00289 \n\
00290 # the bound to be achieved is [position - tolerance_below, position + tolerance_above]\n\
00291 float64 position\n\
00292 float64 tolerance_above\n\
00293 float64 tolerance_below\n\
00294 \n\
00295 # A weighting factor for this constraint\n\
00296 float64 weight\n\
00297 ================================================================================\n\
00298 MSG: arm_navigation_msgs/PositionConstraint\n\
00299 # This message contains the definition of a position constraint.\n\
00300 Header header\n\
00301 \n\
00302 # The robot link this constraint refers to\n\
00303 string link_name\n\
00304 \n\
00305 # The offset (in the link frame) for the target point on the link we are planning for\n\
00306 geometry_msgs/Point target_point_offset\n\
00307 \n\
00308 # The nominal/target position for the point we are planning for\n\
00309 geometry_msgs/Point position\n\
00310 \n\
00311 # The shape of the bounded region that constrains the position of the end-effector\n\
00312 # This region is always centered at the position defined above\n\
00313 arm_navigation_msgs/Shape constraint_region_shape\n\
00314 \n\
00315 # The orientation of the bounded region that constrains the position of the end-effector. \n\
00316 # This allows the specification of non-axis aligned constraints\n\
00317 geometry_msgs/Quaternion constraint_region_orientation\n\
00318 \n\
00319 # Constraint weighting factor - a weight for this constraint\n\
00320 float64 weight\n\
00321 \n\
00322 ================================================================================\n\
00323 MSG: arm_navigation_msgs/OrientationConstraint\n\
00324 # This message contains the definition of an orientation constraint.\n\
00325 Header header\n\
00326 \n\
00327 # The robot link this constraint refers to\n\
00328 string link_name\n\
00329 \n\
00330 # The type of the constraint\n\
00331 int32 type\n\
00332 int32 LINK_FRAME=0\n\
00333 int32 HEADER_FRAME=1\n\
00334 \n\
00335 # The desired orientation of the robot link specified as a quaternion\n\
00336 geometry_msgs/Quaternion orientation\n\
00337 \n\
00338 # optional RPY error tolerances specified if \n\
00339 float64 absolute_roll_tolerance\n\
00340 float64 absolute_pitch_tolerance\n\
00341 float64 absolute_yaw_tolerance\n\
00342 \n\
00343 # Constraint weighting factor - a weight for this constraint\n\
00344 float64 weight\n\
00345 \n\
00346 ================================================================================\n\
00347 MSG: arm_navigation_msgs/VisibilityConstraint\n\
00348 # This message contains the definition of a visibility constraint.\n\
00349 Header header\n\
00350 \n\
00351 # The point stamped target that needs to be kept within view of the sensor\n\
00352 geometry_msgs/PointStamped target\n\
00353 \n\
00354 # The local pose of the frame in which visibility is to be maintained\n\
00355 # The frame id should represent the robot link to which the sensor is attached\n\
00356 # The visual axis of the sensor is assumed to be along the X axis of this frame\n\
00357 geometry_msgs/PoseStamped sensor_pose\n\
00358 \n\
00359 # The deviation (in radians) that will be tolerated\n\
00360 # Constraint error will be measured as the solid angle between the \n\
00361 # X axis of the frame defined above and the vector between the origin \n\
00362 # of the frame defined above and the target location\n\
00363 float64 absolute_tolerance\n\
00364 \n\
00365 \n\
00366 ================================================================================\n\
00367 MSG: geometry_msgs/PointStamped\n\
00368 # This represents a Point with reference coordinate frame and timestamp\n\
00369 Header header\n\
00370 Point point\n\
00371 \n\
00372 ";
00373   }
00374 
00375   static const char* value(const  ::head_monitor_msgs::PreplanHeadScanGoal_<ContainerAllocator> &) { return value(); } 
00376 };
00377 
00378 } // namespace message_traits
00379 } // namespace ros
00380 
00381 namespace ros
00382 {
00383 namespace serialization
00384 {
00385 
00386 template<class ContainerAllocator> struct Serializer< ::head_monitor_msgs::PreplanHeadScanGoal_<ContainerAllocator> >
00387 {
00388   template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00389   {
00390     stream.next(m.group_name);
00391     stream.next(m.head_monitor_link);
00392     stream.next(m.motion_plan_request);
00393   }
00394 
00395   ROS_DECLARE_ALLINONE_SERIALIZER;
00396 }; // struct PreplanHeadScanGoal_
00397 } // namespace serialization
00398 } // namespace ros
00399 
00400 namespace ros
00401 {
00402 namespace message_operations
00403 {
00404 
00405 template<class ContainerAllocator>
00406 struct Printer< ::head_monitor_msgs::PreplanHeadScanGoal_<ContainerAllocator> >
00407 {
00408   template<typename Stream> static void stream(Stream& s, const std::string& indent, const  ::head_monitor_msgs::PreplanHeadScanGoal_<ContainerAllocator> & v) 
00409   {
00410     s << indent << "group_name: ";
00411     Printer<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > >::stream(s, indent + "  ", v.group_name);
00412     s << indent << "head_monitor_link: ";
00413     Printer<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > >::stream(s, indent + "  ", v.head_monitor_link);
00414     s << indent << "motion_plan_request: ";
00415 s << std::endl;
00416     Printer< ::arm_navigation_msgs::MotionPlanRequest_<ContainerAllocator> >::stream(s, indent + "  ", v.motion_plan_request);
00417   }
00418 };
00419 
00420 
00421 } // namespace message_operations
00422 } // namespace ros
00423 
00424 #endif // HEAD_MONITOR_MSGS_MESSAGE_PREPLANHEADSCANGOAL_H
00425 


head_monitor_msgs
Author(s): Gil Jones
autogenerated on Thu Dec 12 2013 11:07:24