ReactivePlaceAction.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/ReactivePlaceAction.msg */
#ifndef OBJECT_MANIPULATION_MSGS_MESSAGE_REACTIVEPLACEACTION_H
#define OBJECT_MANIPULATION_MSGS_MESSAGE_REACTIVEPLACEACTION_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 "object_manipulation_msgs/ReactivePlaceActionGoal.h"
#include "object_manipulation_msgs/ReactivePlaceActionResult.h"
#include "object_manipulation_msgs/ReactivePlaceActionFeedback.h"

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

  ReactivePlaceAction_()
  : action_goal()
  , action_result()
  , action_feedback()
  {
  }

  ReactivePlaceAction_(const ContainerAllocator& _alloc)
  : action_goal(_alloc)
  , action_result(_alloc)
  , action_feedback(_alloc)
  {
  }

  typedef  ::object_manipulation_msgs::ReactivePlaceActionGoal_<ContainerAllocator>  _action_goal_type;
   ::object_manipulation_msgs::ReactivePlaceActionGoal_<ContainerAllocator>  action_goal;

  typedef  ::object_manipulation_msgs::ReactivePlaceActionResult_<ContainerAllocator>  _action_result_type;
   ::object_manipulation_msgs::ReactivePlaceActionResult_<ContainerAllocator>  action_result;

  typedef  ::object_manipulation_msgs::ReactivePlaceActionFeedback_<ContainerAllocator>  _action_feedback_type;
   ::object_manipulation_msgs::ReactivePlaceActionFeedback_<ContainerAllocator>  action_feedback;


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

typedef boost::shared_ptr< ::object_manipulation_msgs::ReactivePlaceAction> ReactivePlaceActionPtr;
typedef boost::shared_ptr< ::object_manipulation_msgs::ReactivePlaceAction const> ReactivePlaceActionConstPtr;


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

} // namespace object_manipulation_msgs

namespace ros
{
namespace message_traits
{
template<class ContainerAllocator> struct IsMessage< ::object_manipulation_msgs::ReactivePlaceAction_<ContainerAllocator> > : public TrueType {};
template<class ContainerAllocator> struct IsMessage< ::object_manipulation_msgs::ReactivePlaceAction_<ContainerAllocator>  const> : public TrueType {};
template<class ContainerAllocator>
struct MD5Sum< ::object_manipulation_msgs::ReactivePlaceAction_<ContainerAllocator> > {
  static const char* value() 
  {
    return "ae0ee2c7f49f2e6b00a5b3a1cc9bde61";
  }

  static const char* value(const  ::object_manipulation_msgs::ReactivePlaceAction_<ContainerAllocator> &) { return value(); } 
  static const uint64_t static_value1 = 0xae0ee2c7f49f2e6bULL;
  static const uint64_t static_value2 = 0x00a5b3a1cc9bde61ULL;
};

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

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

template<class ContainerAllocator>
struct Definition< ::object_manipulation_msgs::ReactivePlaceAction_<ContainerAllocator> > {
  static const char* value() 
  {
    return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
\n\
ReactivePlaceActionGoal action_goal\n\
ReactivePlaceActionResult action_result\n\
ReactivePlaceActionFeedback action_feedback\n\
\n\
================================================================================\n\
MSG: object_manipulation_msgs/ReactivePlaceActionGoal\n\
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
\n\
Header header\n\
actionlib_msgs/GoalID goal_id\n\
ReactivePlaceGoal goal\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: actionlib_msgs/GoalID\n\
# The stamp should store the time at which this goal was requested.\n\
# It is used by an action server when it tries to preempt all\n\
# goals that were requested before a certain time\n\
time stamp\n\
\n\
# The id provides a way to associate feedback and\n\
# result message with specific goal requests. The id\n\
# specified must be unique.\n\
string id\n\
\n\
\n\
================================================================================\n\
MSG: object_manipulation_msgs/ReactivePlaceGoal\n\
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
# an action for placing the object using tactile sensor feedback.\n\
# a reactive place starts from the current pose of the gripper and ends\n\
# at a desired place pose, presumably using the touch sensors along the way\n\
\n\
# the name of the arm being used\n\
string arm_name\n\
\n\
# the desired final place pose for the hand\n\
geometry_msgs/PoseStamped final_place_pose\n\
\n\
# the joint trajectory to use for the place (if available)\n\
# this trajectory is expected to start at the current pose of the gripper\n\
# and end at the desired place pose\n\
trajectory_msgs/JointTrajectory trajectory\n\
\n\
# the name of the support surface in the collision environment, if any\n\
string collision_support_surface_name\n\
\n\
# the name in the collision environment of the object being placed, if any\n\
string collision_object_name\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: trajectory_msgs/JointTrajectory\n\
Header header\n\
string[] joint_names\n\
JointTrajectoryPoint[] points\n\
================================================================================\n\
MSG: trajectory_msgs/JointTrajectoryPoint\n\
float64[] positions\n\
float64[] velocities\n\
float64[] accelerations\n\
duration time_from_start\n\
================================================================================\n\
MSG: object_manipulation_msgs/ReactivePlaceActionResult\n\
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
\n\
Header header\n\
actionlib_msgs/GoalStatus status\n\
ReactivePlaceResult result\n\
\n\
================================================================================\n\
MSG: actionlib_msgs/GoalStatus\n\
GoalID goal_id\n\
uint8 status\n\
uint8 PENDING         = 0   # The goal has yet to be processed by the action server\n\
uint8 ACTIVE          = 1   # The goal is currently being processed by the action server\n\
uint8 PREEMPTED       = 2   # The goal received a cancel request after it started executing\n\
                            #   and has since completed its execution (Terminal State)\n\
uint8 SUCCEEDED       = 3   # The goal was achieved successfully by the action server (Terminal State)\n\
uint8 ABORTED         = 4   # The goal was aborted during execution by the action server due\n\
                            #    to some failure (Terminal State)\n\
uint8 REJECTED        = 5   # The goal was rejected by the action server without being processed,\n\
                            #    because the goal was unattainable or invalid (Terminal State)\n\
uint8 PREEMPTING      = 6   # The goal received a cancel request after it started executing\n\
                            #    and has not yet completed execution\n\
uint8 RECALLING       = 7   # The goal received a cancel request before it started executing,\n\
                            #    but the action server has not yet confirmed that the goal is canceled\n\
uint8 RECALLED        = 8   # The goal received a cancel request before it started executing\n\
                            #    and was successfully cancelled (Terminal State)\n\
uint8 LOST            = 9   # An action client can determine that a goal is LOST. This should not be\n\
                            #    sent over the wire by an action server\n\
\n\
#Allow for the user to associate a string with GoalStatus for debugging\n\
string text\n\
\n\
\n\
================================================================================\n\
MSG: object_manipulation_msgs/ReactivePlaceResult\n\
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
\n\
# the result of the reactive place attempt\n\
\n\
ManipulationResult manipulation_result\n\
\n\
\n\
================================================================================\n\
MSG: object_manipulation_msgs/ManipulationResult\n\
# Result codes for manipulation tasks\n\
\n\
# task completed as expected\n\
# generally means you can proceed as planned\n\
int32 SUCCESS = 1\n\
\n\
# task not possible (e.g. out of reach or obstacles in the way)\n\
# generally means that the world was not disturbed, so you can try another task\n\
int32 UNFEASIBLE = -1\n\
\n\
# task was thought possible, but failed due to unexpected events during execution\n\
# it is likely that the world was disturbed, so you are encouraged to refresh\n\
# your sensed world model before proceeding to another task\n\
int32 FAILED = -2\n\
\n\
# a lower level error prevented task completion (e.g. joint controller not responding)\n\
# generally requires human attention\n\
int32 ERROR = -3\n\
\n\
# means that at some point during execution we ended up in a state that the collision-aware\n\
# arm navigation module will not move out of. The world was likely not disturbed, but you \n\
# probably need a new collision map to move the arm out of the stuck position\n\
int32 ARM_MOVEMENT_PREVENTED = -4\n\
\n\
# specific to grasp actions\n\
# the object was grasped successfully, but the lift attempt could not achieve the minimum lift distance requested\n\
# it is likely that the collision environment will see collisions between the hand/object and the support surface\n\
int32 LIFT_FAILED = -5\n\
\n\
# specific to place actions\n\
# the object was placed successfully, but the retreat attempt could not achieve the minimum retreat distance requested\n\
# it is likely that the collision environment will see collisions between the hand and the object\n\
int32 RETREAT_FAILED = -6\n\
\n\
# indicates that somewhere along the line a human said \"wait, stop, this is bad, go back and do something else\"\n\
int32 CANCELLED = -7\n\
\n\
# the actual value of this error code\n\
int32 value\n\
\n\
================================================================================\n\
MSG: object_manipulation_msgs/ReactivePlaceActionFeedback\n\
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
\n\
Header header\n\
actionlib_msgs/GoalStatus status\n\
ReactivePlaceFeedback feedback\n\
\n\
================================================================================\n\
MSG: object_manipulation_msgs/ReactivePlaceFeedback\n\
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
\n\
# which phase the place is in\n\
\n\
ManipulationPhase manipulation_phase\n\
\n\
\n\
================================================================================\n\
MSG: object_manipulation_msgs/ManipulationPhase\n\
int32 CHECKING_FEASIBILITY = 0\n\
int32 MOVING_TO_PREGRASP = 1\n\
int32 MOVING_TO_GRASP = 2\n\
int32 CLOSING = 3 \n\
int32 ADJUSTING_GRASP = 4\n\
int32 LIFTING = 5\n\
int32 MOVING_WITH_OBJECT = 6\n\
int32 MOVING_TO_PLACE = 7\n\
int32 PLACING = 8\n\
int32 OPENING = 9\n\
int32 RETREATING = 10\n\
int32 MOVING_WITHOUT_OBJECT = 11\n\
int32 SHAKING = 12\n\
int32 SUCCEEDED = 13\n\
int32 FAILED = 14\n\
int32 ABORTED = 15\n\
int32 HOLDING_OBJECT = 16\n\
\n\
int32 phase\n\
";
  }

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

} // namespace message_traits
} // namespace ros

namespace ros
{
namespace serialization
{

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

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

namespace ros
{
namespace message_operations
{

template<class ContainerAllocator>
struct Printer< ::object_manipulation_msgs::ReactivePlaceAction_<ContainerAllocator> >
{
  template<typename Stream> static void stream(Stream& s, const std::string& indent, const  ::object_manipulation_msgs::ReactivePlaceAction_<ContainerAllocator> & v) 
  {
    s << indent << "action_goal: ";
s << std::endl;
    Printer< ::object_manipulation_msgs::ReactivePlaceActionGoal_<ContainerAllocator> >::stream(s, indent + "  ", v.action_goal);
    s << indent << "action_result: ";
s << std::endl;
    Printer< ::object_manipulation_msgs::ReactivePlaceActionResult_<ContainerAllocator> >::stream(s, indent + "  ", v.action_result);
    s << indent << "action_feedback: ";
s << std::endl;
    Printer< ::object_manipulation_msgs::ReactivePlaceActionFeedback_<ContainerAllocator> >::stream(s, indent + "  ", v.action_feedback);
  }
};


} // namespace message_operations
} // namespace ros

#endif // OBJECT_MANIPULATION_MSGS_MESSAGE_REACTIVEPLACEACTION_H