GraspHandPostureExecutionGoal.h

Go to the documentation of this file.

/* Auto-generated by genmsg_cpp for file /home/rosbuild/hudson/workspace/doc-groovy-object_manipulation/doc_stacks/2014-10-06_02-51-20.607186/object_manipulation/object_manipulation_msgs/msg/GraspHandPostureExecutionGoal.msg */
#ifndef OBJECT_MANIPULATION_MSGS_MESSAGE_GRASPHANDPOSTUREEXECUTIONGOAL_H
#define OBJECT_MANIPULATION_MSGS_MESSAGE_GRASPHANDPOSTUREEXECUTIONGOAL_H
#include <string>
#include <vector>
#include <map>
#include <ostream>
#include "ros/serialization.h"
#include "ros/builtin_message_traits.h"
#include "ros/message_operations.h"
#include "ros/time.h"

#include "ros/macros.h"

#include "ros/assert.h"

#include "manipulation_msgs/Grasp.h"

namespace object_manipulation_msgs
{
template <class ContainerAllocator>
struct GraspHandPostureExecutionGoal_ {
  typedef GraspHandPostureExecutionGoal_<ContainerAllocator> Type;

  GraspHandPostureExecutionGoal_()
  : grasp()
  , goal(0)
  , max_contact_force(0.0)
  {
  }

  GraspHandPostureExecutionGoal_(const ContainerAllocator& _alloc)
  : grasp(_alloc)
  , goal(0)
  , max_contact_force(0.0)
  {
  }

  typedef  ::manipulation_msgs::Grasp_<ContainerAllocator>  _grasp_type;
   ::manipulation_msgs::Grasp_<ContainerAllocator>  grasp;

  typedef int32_t _goal_type;
  int32_t goal;

  typedef float _max_contact_force_type;
  float max_contact_force;

  enum { PRE_GRASP = 1 };
  enum { GRASP = 2 };
  enum { RELEASE = 3 };

  typedef boost::shared_ptr< ::object_manipulation_msgs::GraspHandPostureExecutionGoal_<ContainerAllocator> > Ptr;
  typedef boost::shared_ptr< ::object_manipulation_msgs::GraspHandPostureExecutionGoal_<ContainerAllocator>  const> ConstPtr;
  boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
}; // struct GraspHandPostureExecutionGoal
typedef  ::object_manipulation_msgs::GraspHandPostureExecutionGoal_<std::allocator<void> > GraspHandPostureExecutionGoal;

typedef boost::shared_ptr< ::object_manipulation_msgs::GraspHandPostureExecutionGoal> GraspHandPostureExecutionGoalPtr;
typedef boost::shared_ptr< ::object_manipulation_msgs::GraspHandPostureExecutionGoal const> GraspHandPostureExecutionGoalConstPtr;


template<typename ContainerAllocator>
std::ostream& operator<<(std::ostream& s, const  ::object_manipulation_msgs::GraspHandPostureExecutionGoal_<ContainerAllocator> & v)
{
  ros::message_operations::Printer< ::object_manipulation_msgs::GraspHandPostureExecutionGoal_<ContainerAllocator> >::stream(s, "", v);
  return s;}

} // namespace object_manipulation_msgs

namespace ros
{
namespace message_traits
{
template<class ContainerAllocator> struct IsMessage< ::object_manipulation_msgs::GraspHandPostureExecutionGoal_<ContainerAllocator> > : public TrueType {};
template<class ContainerAllocator> struct IsMessage< ::object_manipulation_msgs::GraspHandPostureExecutionGoal_<ContainerAllocator>  const> : public TrueType {};
template<class ContainerAllocator>
struct MD5Sum< ::object_manipulation_msgs::GraspHandPostureExecutionGoal_<ContainerAllocator> > {
  static const char* value() 
  {
    return "d84b52613849c9277c855c36241b2a5d";
  }

  static const char* value(const  ::object_manipulation_msgs::GraspHandPostureExecutionGoal_<ContainerAllocator> &) { return value(); } 
  static const uint64_t static_value1 = 0xd84b52613849c927ULL;
  static const uint64_t static_value2 = 0x7c855c36241b2a5dULL;
};

template<class ContainerAllocator>
struct DataType< ::object_manipulation_msgs::GraspHandPostureExecutionGoal_<ContainerAllocator> > {
  static const char* value() 
  {
    return "object_manipulation_msgs/GraspHandPostureExecutionGoal";
  }

  static const char* value(const  ::object_manipulation_msgs::GraspHandPostureExecutionGoal_<ContainerAllocator> &) { return value(); } 
};

template<class ContainerAllocator>
struct Definition< ::object_manipulation_msgs::GraspHandPostureExecutionGoal_<ContainerAllocator> > {
  static const char* value() 
  {
    return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
# an action for requesting the finger posture part of grasp be physically carried out by a hand\n\
# the name of the arm being used is not in here, as this will be sent to a specific action server\n\
# for each arm\n\
\n\
# the grasp to be executed\n\
manipulation_msgs/Grasp grasp\n\
\n\
# the goal of this action\n\
# requests that the hand be set in the pre-grasp posture\n\
int32 PRE_GRASP=1\n\
# requests that the hand execute the actual grasp\n\
int32 GRASP=2\n\
# requests that the hand open to release the object\n\
int32 RELEASE=3\n\
int32 goal\n\
\n\
# the max contact force to use (<=0 if no desired max)\n\
float32 max_contact_force\n\
\n\
\n\
================================================================================\n\
MSG: manipulation_msgs/Grasp\n\
# A name for this grasp\n\
string id\n\
\n\
# The internal posture of the hand for the pre-grasp\n\
# only positions are used\n\
sensor_msgs/JointState pre_grasp_posture\n\
\n\
# The internal posture of the hand for the grasp\n\
# positions and efforts are used\n\
sensor_msgs/JointState grasp_posture\n\
\n\
# The position of the end-effector for the grasp relative to a reference frame \n\
# (that is always specified elsewhere, not in this message)\n\
geometry_msgs/PoseStamped grasp_pose\n\
\n\
# The estimated probability of success for this grasp, or some other\n\
# measure of how \"good\" it is.\n\
float64 grasp_quality\n\
\n\
# The approach motion\n\
GripperTranslation approach\n\
\n\
# The retreat motion\n\
GripperTranslation retreat\n\
\n\
# the maximum contact force to use while grasping (<=0 to disable)\n\
float32 max_contact_force\n\
\n\
# an optional list of obstacles that we have semantic information about\n\
# and that can be touched/pushed/moved in the course of grasping\n\
string[] allowed_touch_objects\n\
\n\
================================================================================\n\
MSG: sensor_msgs/JointState\n\
# This is a message that holds data to describe the state of a set of torque controlled joints. \n\
#\n\
# The state of each joint (revolute or prismatic) is defined by:\n\
#  * the position of the joint (rad or m),\n\
#  * the velocity of the joint (rad/s or m/s) and \n\
#  * the effort that is applied in the joint (Nm or N).\n\
#\n\
# Each joint is uniquely identified by its name\n\
# The header specifies the time at which the joint states were recorded. All the joint states\n\
# in one message have to be recorded at the same time.\n\
#\n\
# This message consists of a multiple arrays, one for each part of the joint state. \n\
# The goal is to make each of the fields optional. When e.g. your joints have no\n\
# effort associated with them, you can leave the effort array empty. \n\
#\n\
# All arrays in this message should have the same size, or be empty.\n\
# This is the only way to uniquely associate the joint name with the correct\n\
# states.\n\
\n\
\n\
Header header\n\
\n\
string[] name\n\
float64[] position\n\
float64[] velocity\n\
float64[] effort\n\
\n\
================================================================================\n\
MSG: std_msgs/Header\n\
# Standard metadata for higher-level stamped data types.\n\
# This is generally used to communicate timestamped data \n\
# in a particular coordinate frame.\n\
# \n\
# sequence ID: consecutively increasing ID \n\
uint32 seq\n\
#Two-integer timestamp that is expressed as:\n\
# * stamp.secs: seconds (stamp_secs) since epoch\n\
# * stamp.nsecs: nanoseconds since stamp_secs\n\
# time-handling sugar is provided by the client library\n\
time stamp\n\
#Frame this data is associated with\n\
# 0: no frame\n\
# 1: global frame\n\
string frame_id\n\
\n\
================================================================================\n\
MSG: geometry_msgs/PoseStamped\n\
# A Pose with reference coordinate frame and timestamp\n\
Header header\n\
Pose pose\n\
\n\
================================================================================\n\
MSG: geometry_msgs/Pose\n\
# A representation of pose in free space, composed of postion and orientation. \n\
Point position\n\
Quaternion orientation\n\
\n\
================================================================================\n\
MSG: geometry_msgs/Point\n\
# This contains the position of a point in free space\n\
float64 x\n\
float64 y\n\
float64 z\n\
\n\
================================================================================\n\
MSG: geometry_msgs/Quaternion\n\
# This represents an orientation in free space in quaternion form.\n\
\n\
float64 x\n\
float64 y\n\
float64 z\n\
float64 w\n\
\n\
================================================================================\n\
MSG: manipulation_msgs/GripperTranslation\n\
# defines a translation for the gripper, used in pickup or place tasks\n\
# for example for lifting an object off a table or approaching the table for placing\n\
\n\
# the direction of the translation\n\
geometry_msgs/Vector3Stamped direction\n\
\n\
# the desired translation distance\n\
float32 desired_distance\n\
\n\
# the min distance that must be considered feasible before the\n\
# grasp is even attempted\n\
float32 min_distance\n\
\n\
================================================================================\n\
MSG: geometry_msgs/Vector3Stamped\n\
# This represents a Vector3 with reference coordinate frame and timestamp\n\
Header header\n\
Vector3 vector\n\
\n\
================================================================================\n\
MSG: geometry_msgs/Vector3\n\
# This represents a vector in free space. \n\
\n\
float64 x\n\
float64 y\n\
float64 z\n\
";
  }

  static const char* value(const  ::object_manipulation_msgs::GraspHandPostureExecutionGoal_<ContainerAllocator> &) { return value(); } 
};

} // namespace message_traits
} // namespace ros

namespace ros
{
namespace serialization
{

template<class ContainerAllocator> struct Serializer< ::object_manipulation_msgs::GraspHandPostureExecutionGoal_<ContainerAllocator> >
{
  template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
  {
    stream.next(m.grasp);
    stream.next(m.goal);
    stream.next(m.max_contact_force);
  }

  ROS_DECLARE_ALLINONE_SERIALIZER;
}; // struct GraspHandPostureExecutionGoal_
} // namespace serialization
} // namespace ros

namespace ros
{
namespace message_operations
{

template<class ContainerAllocator>
struct Printer< ::object_manipulation_msgs::GraspHandPostureExecutionGoal_<ContainerAllocator> >
{
  template<typename Stream> static void stream(Stream& s, const std::string& indent, const  ::object_manipulation_msgs::GraspHandPostureExecutionGoal_<ContainerAllocator> & v) 
  {
    s << indent << "grasp: ";
s << std::endl;
    Printer< ::manipulation_msgs::Grasp_<ContainerAllocator> >::stream(s, indent + "  ", v.grasp);
    s << indent << "goal: ";
    Printer<int32_t>::stream(s, indent + "  ", v.goal);
    s << indent << "max_contact_force: ";
    Printer<float>::stream(s, indent + "  ", v.max_contact_force);
  }
};


} // namespace message_operations
} // namespace ros

#endif // OBJECT_MANIPULATION_MSGS_MESSAGE_GRASPHANDPOSTUREEXECUTIONGOAL_H