GraspStatus.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/srv/GraspStatus.srv */
#ifndef OBJECT_MANIPULATION_MSGS_SERVICE_GRASPSTATUS_H
#define OBJECT_MANIPULATION_MSGS_SERVICE_GRASPSTATUS_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 "ros/service_traits.h"

#include "manipulation_msgs/Grasp.h"



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

  GraspStatusRequest_()
  : grasp()
  {
  }

  GraspStatusRequest_(const ContainerAllocator& _alloc)
  : grasp(_alloc)
  {
  }

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


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

typedef boost::shared_ptr< ::object_manipulation_msgs::GraspStatusRequest> GraspStatusRequestPtr;
typedef boost::shared_ptr< ::object_manipulation_msgs::GraspStatusRequest const> GraspStatusRequestConstPtr;



template <class ContainerAllocator>
struct GraspStatusResponse_ {
  typedef GraspStatusResponse_<ContainerAllocator> Type;

  GraspStatusResponse_()
  : is_hand_occupied(false)
  {
  }

  GraspStatusResponse_(const ContainerAllocator& _alloc)
  : is_hand_occupied(false)
  {
  }

  typedef uint8_t _is_hand_occupied_type;
  uint8_t is_hand_occupied;


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

typedef boost::shared_ptr< ::object_manipulation_msgs::GraspStatusResponse> GraspStatusResponsePtr;
typedef boost::shared_ptr< ::object_manipulation_msgs::GraspStatusResponse const> GraspStatusResponseConstPtr;


struct GraspStatus
{

typedef GraspStatusRequest Request;
typedef GraspStatusResponse Response;
Request request;
Response response;

typedef Request RequestType;
typedef Response ResponseType;
}; // struct GraspStatus
} // namespace object_manipulation_msgs

namespace ros
{
namespace message_traits
{
template<class ContainerAllocator> struct IsMessage< ::object_manipulation_msgs::GraspStatusRequest_<ContainerAllocator> > : public TrueType {};
template<class ContainerAllocator> struct IsMessage< ::object_manipulation_msgs::GraspStatusRequest_<ContainerAllocator>  const> : public TrueType {};
template<class ContainerAllocator>
struct MD5Sum< ::object_manipulation_msgs::GraspStatusRequest_<ContainerAllocator> > {
  static const char* value() 
  {
    return "f314600c2017321af8942b1fa93ec508";
  }

  static const char* value(const  ::object_manipulation_msgs::GraspStatusRequest_<ContainerAllocator> &) { return value(); } 
  static const uint64_t static_value1 = 0xf314600c2017321aULL;
  static const uint64_t static_value2 = 0xf8942b1fa93ec508ULL;
};

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

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

template<class ContainerAllocator>
struct Definition< ::object_manipulation_msgs::GraspStatusRequest_<ContainerAllocator> > {
  static const char* value() 
  {
    return "\n\
\n\
\n\
\n\
\n\
\n\
\n\
\n\
manipulation_msgs/Grasp grasp\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::GraspStatusRequest_<ContainerAllocator> &) { return value(); } 
};

} // namespace message_traits
} // namespace ros


namespace ros
{
namespace message_traits
{
template<class ContainerAllocator> struct IsMessage< ::object_manipulation_msgs::GraspStatusResponse_<ContainerAllocator> > : public TrueType {};
template<class ContainerAllocator> struct IsMessage< ::object_manipulation_msgs::GraspStatusResponse_<ContainerAllocator>  const> : public TrueType {};
template<class ContainerAllocator>
struct MD5Sum< ::object_manipulation_msgs::GraspStatusResponse_<ContainerAllocator> > {
  static const char* value() 
  {
    return "d58cf7836f039d8e002583af45001d6d";
  }

  static const char* value(const  ::object_manipulation_msgs::GraspStatusResponse_<ContainerAllocator> &) { return value(); } 
  static const uint64_t static_value1 = 0xd58cf7836f039d8eULL;
  static const uint64_t static_value2 = 0x002583af45001d6dULL;
};

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

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

template<class ContainerAllocator>
struct Definition< ::object_manipulation_msgs::GraspStatusResponse_<ContainerAllocator> > {
  static const char* value() 
  {
    return "\n\
bool is_hand_occupied\n\
\n\
\n\
";
  }

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

template<class ContainerAllocator> struct IsFixedSize< ::object_manipulation_msgs::GraspStatusResponse_<ContainerAllocator> > : public TrueType {};
} // namespace message_traits
} // namespace ros

namespace ros
{
namespace serialization
{

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

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


namespace ros
{
namespace serialization
{

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

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

namespace ros
{
namespace service_traits
{
template<>
struct MD5Sum<object_manipulation_msgs::GraspStatus> {
  static const char* value() 
  {
    return "a1d64d6ffb0a9974f11521917c6feaa9";
  }

  static const char* value(const object_manipulation_msgs::GraspStatus&) { return value(); } 
};

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

  static const char* value(const object_manipulation_msgs::GraspStatus&) { return value(); } 
};

template<class ContainerAllocator>
struct MD5Sum<object_manipulation_msgs::GraspStatusRequest_<ContainerAllocator> > {
  static const char* value() 
  {
    return "a1d64d6ffb0a9974f11521917c6feaa9";
  }

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

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

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

template<class ContainerAllocator>
struct MD5Sum<object_manipulation_msgs::GraspStatusResponse_<ContainerAllocator> > {
  static const char* value() 
  {
    return "a1d64d6ffb0a9974f11521917c6feaa9";
  }

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

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

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

} // namespace service_traits
} // namespace ros

#endif // OBJECT_MANIPULATION_MSGS_SERVICE_GRASPSTATUS_H