GraspAdjustResult.h
Go to the documentation of this file.
00001 /* Auto-generated by genmsg_cpp for file /home/rosbuild/hudson/workspace/doc-groovy-pr2_object_manipulation/doc_stacks/2013-01-23_13-32-20.905780/pr2_object_manipulation/manipulation/pr2_grasp_adjust/msg/GraspAdjustResult.msg */
00002 #ifndef PR2_GRASP_ADJUST_MESSAGE_GRASPADJUSTRESULT_H
00003 #define PR2_GRASP_ADJUST_MESSAGE_GRASPADJUSTRESULT_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 "object_manipulation_msgs/Grasp.h"
00018 #include "object_manipulation_msgs/GraspPlanningErrorCode.h"
00019 
00020 namespace pr2_grasp_adjust
00021 {
00022 template <class ContainerAllocator>
00023 struct GraspAdjustResult_ {
00024   typedef GraspAdjustResult_<ContainerAllocator> Type;
00025 
00026   GraspAdjustResult_()
00027   : grasps()
00028   , result()
00029   {
00030   }
00031 
00032   GraspAdjustResult_(const ContainerAllocator& _alloc)
00033   : grasps(_alloc)
00034   , result(_alloc)
00035   {
00036   }
00037 
00038   typedef std::vector< ::object_manipulation_msgs::Grasp_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::object_manipulation_msgs::Grasp_<ContainerAllocator> >::other >  _grasps_type;
00039   std::vector< ::object_manipulation_msgs::Grasp_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::object_manipulation_msgs::Grasp_<ContainerAllocator> >::other >  grasps;
00040 
00041   typedef  ::object_manipulation_msgs::GraspPlanningErrorCode_<ContainerAllocator>  _result_type;
00042    ::object_manipulation_msgs::GraspPlanningErrorCode_<ContainerAllocator>  result;
00043 
00044 
00045   typedef boost::shared_ptr< ::pr2_grasp_adjust::GraspAdjustResult_<ContainerAllocator> > Ptr;
00046   typedef boost::shared_ptr< ::pr2_grasp_adjust::GraspAdjustResult_<ContainerAllocator>  const> ConstPtr;
00047   boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00048 }; // struct GraspAdjustResult
00049 typedef  ::pr2_grasp_adjust::GraspAdjustResult_<std::allocator<void> > GraspAdjustResult;
00050 
00051 typedef boost::shared_ptr< ::pr2_grasp_adjust::GraspAdjustResult> GraspAdjustResultPtr;
00052 typedef boost::shared_ptr< ::pr2_grasp_adjust::GraspAdjustResult const> GraspAdjustResultConstPtr;
00053 
00054 
00055 template<typename ContainerAllocator>
00056 std::ostream& operator<<(std::ostream& s, const  ::pr2_grasp_adjust::GraspAdjustResult_<ContainerAllocator> & v)
00057 {
00058   ros::message_operations::Printer< ::pr2_grasp_adjust::GraspAdjustResult_<ContainerAllocator> >::stream(s, "", v);
00059   return s;}
00060 
00061 } // namespace pr2_grasp_adjust
00062 
00063 namespace ros
00064 {
00065 namespace message_traits
00066 {
00067 template<class ContainerAllocator> struct IsMessage< ::pr2_grasp_adjust::GraspAdjustResult_<ContainerAllocator> > : public TrueType {};
00068 template<class ContainerAllocator> struct IsMessage< ::pr2_grasp_adjust::GraspAdjustResult_<ContainerAllocator>  const> : public TrueType {};
00069 template<class ContainerAllocator>
00070 struct MD5Sum< ::pr2_grasp_adjust::GraspAdjustResult_<ContainerAllocator> > {
00071   static const char* value() 
00072   {
00073     return "4b2c78da8eafa798492827fe57d55f30";
00074   }
00075 
00076   static const char* value(const  ::pr2_grasp_adjust::GraspAdjustResult_<ContainerAllocator> &) { return value(); } 
00077   static const uint64_t static_value1 = 0x4b2c78da8eafa798ULL;
00078   static const uint64_t static_value2 = 0x492827fe57d55f30ULL;
00079 };
00080 
00081 template<class ContainerAllocator>
00082 struct DataType< ::pr2_grasp_adjust::GraspAdjustResult_<ContainerAllocator> > {
00083   static const char* value() 
00084   {
00085     return "pr2_grasp_adjust/GraspAdjustResult";
00086   }
00087 
00088   static const char* value(const  ::pr2_grasp_adjust::GraspAdjustResult_<ContainerAllocator> &) { return value(); } 
00089 };
00090 
00091 template<class ContainerAllocator>
00092 struct Definition< ::pr2_grasp_adjust::GraspAdjustResult_<ContainerAllocator> > {
00093   static const char* value() 
00094   {
00095     return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00096 #result definition\n\
00097 \n\
00098 object_manipulation_msgs/Grasp[] grasps\n\
00099 object_manipulation_msgs/GraspPlanningErrorCode result\n\
00100 \n\
00101 \n\
00102 ================================================================================\n\
00103 MSG: object_manipulation_msgs/Grasp\n\
00104 \n\
00105 # The internal posture of the hand for the pre-grasp\n\
00106 # only positions are used\n\
00107 sensor_msgs/JointState pre_grasp_posture\n\
00108 \n\
00109 # The internal posture of the hand for the grasp\n\
00110 # positions and efforts are used\n\
00111 sensor_msgs/JointState grasp_posture\n\
00112 \n\
00113 # The position of the end-effector for the grasp relative to a reference frame \n\
00114 # (that is always specified elsewhere, not in this message)\n\
00115 geometry_msgs/Pose grasp_pose\n\
00116 \n\
00117 # The estimated probability of success for this grasp\n\
00118 float64 success_probability\n\
00119 \n\
00120 # Debug flag to indicate that this grasp would be the best in its cluster\n\
00121 bool cluster_rep\n\
00122 \n\
00123 # how far the pre-grasp should ideally be away from the grasp\n\
00124 float32 desired_approach_distance\n\
00125 \n\
00126 # how much distance between pre-grasp and grasp must actually be feasible \n\
00127 # for the grasp not to be rejected\n\
00128 float32 min_approach_distance\n\
00129 \n\
00130 # an optional list of obstacles that we have semantic information about\n\
00131 # and that we expect might move in the course of executing this grasp\n\
00132 # the grasp planner is expected to make sure they move in an OK way; during\n\
00133 # execution, grasp executors will not check for collisions against these objects\n\
00134 GraspableObject[] moved_obstacles\n\
00135 \n\
00136 ================================================================================\n\
00137 MSG: sensor_msgs/JointState\n\
00138 # This is a message that holds data to describe the state of a set of torque controlled joints. \n\
00139 #\n\
00140 # The state of each joint (revolute or prismatic) is defined by:\n\
00141 #  * the position of the joint (rad or m),\n\
00142 #  * the velocity of the joint (rad/s or m/s) and \n\
00143 #  * the effort that is applied in the joint (Nm or N).\n\
00144 #\n\
00145 # Each joint is uniquely identified by its name\n\
00146 # The header specifies the time at which the joint states were recorded. All the joint states\n\
00147 # in one message have to be recorded at the same time.\n\
00148 #\n\
00149 # This message consists of a multiple arrays, one for each part of the joint state. \n\
00150 # The goal is to make each of the fields optional. When e.g. your joints have no\n\
00151 # effort associated with them, you can leave the effort array empty. \n\
00152 #\n\
00153 # All arrays in this message should have the same size, or be empty.\n\
00154 # This is the only way to uniquely associate the joint name with the correct\n\
00155 # states.\n\
00156 \n\
00157 \n\
00158 Header header\n\
00159 \n\
00160 string[] name\n\
00161 float64[] position\n\
00162 float64[] velocity\n\
00163 float64[] effort\n\
00164 \n\
00165 ================================================================================\n\
00166 MSG: std_msgs/Header\n\
00167 # Standard metadata for higher-level stamped data types.\n\
00168 # This is generally used to communicate timestamped data \n\
00169 # in a particular coordinate frame.\n\
00170 # \n\
00171 # sequence ID: consecutively increasing ID \n\
00172 uint32 seq\n\
00173 #Two-integer timestamp that is expressed as:\n\
00174 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00175 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00176 # time-handling sugar is provided by the client library\n\
00177 time stamp\n\
00178 #Frame this data is associated with\n\
00179 # 0: no frame\n\
00180 # 1: global frame\n\
00181 string frame_id\n\
00182 \n\
00183 ================================================================================\n\
00184 MSG: geometry_msgs/Pose\n\
00185 # A representation of pose in free space, composed of postion and orientation. \n\
00186 Point position\n\
00187 Quaternion orientation\n\
00188 \n\
00189 ================================================================================\n\
00190 MSG: geometry_msgs/Point\n\
00191 # This contains the position of a point in free space\n\
00192 float64 x\n\
00193 float64 y\n\
00194 float64 z\n\
00195 \n\
00196 ================================================================================\n\
00197 MSG: geometry_msgs/Quaternion\n\
00198 # This represents an orientation in free space in quaternion form.\n\
00199 \n\
00200 float64 x\n\
00201 float64 y\n\
00202 float64 z\n\
00203 float64 w\n\
00204 \n\
00205 ================================================================================\n\
00206 MSG: object_manipulation_msgs/GraspableObject\n\
00207 # an object that the object_manipulator can work on\n\
00208 \n\
00209 # a graspable object can be represented in multiple ways. This message\n\
00210 # can contain all of them. Which one is actually used is up to the receiver\n\
00211 # of this message. When adding new representations, one must be careful that\n\
00212 # they have reasonable lightweight defaults indicating that that particular\n\
00213 # representation is not available.\n\
00214 \n\
00215 # the tf frame to be used as a reference frame when combining information from\n\
00216 # the different representations below\n\
00217 string reference_frame_id\n\
00218 \n\
00219 # potential recognition results from a database of models\n\
00220 # all poses are relative to the object reference pose\n\
00221 household_objects_database_msgs/DatabaseModelPose[] potential_models\n\
00222 \n\
00223 # the point cloud itself\n\
00224 sensor_msgs/PointCloud cluster\n\
00225 \n\
00226 # a region of a PointCloud2 of interest\n\
00227 object_manipulation_msgs/SceneRegion region\n\
00228 \n\
00229 # the name that this object has in the collision environment\n\
00230 string collision_name\n\
00231 ================================================================================\n\
00232 MSG: household_objects_database_msgs/DatabaseModelPose\n\
00233 # Informs that a specific model from the Model Database has been \n\
00234 # identified at a certain location\n\
00235 \n\
00236 # the database id of the model\n\
00237 int32 model_id\n\
00238 \n\
00239 # the pose that it can be found in\n\
00240 geometry_msgs/PoseStamped pose\n\
00241 \n\
00242 # a measure of the confidence level in this detection result\n\
00243 float32 confidence\n\
00244 \n\
00245 # the name of the object detector that generated this detection result\n\
00246 string detector_name\n\
00247 \n\
00248 ================================================================================\n\
00249 MSG: geometry_msgs/PoseStamped\n\
00250 # A Pose with reference coordinate frame and timestamp\n\
00251 Header header\n\
00252 Pose pose\n\
00253 \n\
00254 ================================================================================\n\
00255 MSG: sensor_msgs/PointCloud\n\
00256 # This message holds a collection of 3d points, plus optional additional\n\
00257 # information about each point.\n\
00258 \n\
00259 # Time of sensor data acquisition, coordinate frame ID.\n\
00260 Header header\n\
00261 \n\
00262 # Array of 3d points. Each Point32 should be interpreted as a 3d point\n\
00263 # in the frame given in the header.\n\
00264 geometry_msgs/Point32[] points\n\
00265 \n\
00266 # Each channel should have the same number of elements as points array,\n\
00267 # and the data in each channel should correspond 1:1 with each point.\n\
00268 # Channel names in common practice are listed in ChannelFloat32.msg.\n\
00269 ChannelFloat32[] channels\n\
00270 \n\
00271 ================================================================================\n\
00272 MSG: geometry_msgs/Point32\n\
00273 # This contains the position of a point in free space(with 32 bits of precision).\n\
00274 # It is recommeded to use Point wherever possible instead of Point32.  \n\
00275 # \n\
00276 # This recommendation is to promote interoperability.  \n\
00277 #\n\
00278 # This message is designed to take up less space when sending\n\
00279 # lots of points at once, as in the case of a PointCloud.  \n\
00280 \n\
00281 float32 x\n\
00282 float32 y\n\
00283 float32 z\n\
00284 ================================================================================\n\
00285 MSG: sensor_msgs/ChannelFloat32\n\
00286 # This message is used by the PointCloud message to hold optional data\n\
00287 # associated with each point in the cloud. The length of the values\n\
00288 # array should be the same as the length of the points array in the\n\
00289 # PointCloud, and each value should be associated with the corresponding\n\
00290 # point.\n\
00291 \n\
00292 # Channel names in existing practice include:\n\
00293 #   \"u\", \"v\" - row and column (respectively) in the left stereo image.\n\
00294 #              This is opposite to usual conventions but remains for\n\
00295 #              historical reasons. The newer PointCloud2 message has no\n\
00296 #              such problem.\n\
00297 #   \"rgb\" - For point clouds produced by color stereo cameras. uint8\n\
00298 #           (R,G,B) values packed into the least significant 24 bits,\n\
00299 #           in order.\n\
00300 #   \"intensity\" - laser or pixel intensity.\n\
00301 #   \"distance\"\n\
00302 \n\
00303 # The channel name should give semantics of the channel (e.g.\n\
00304 # \"intensity\" instead of \"value\").\n\
00305 string name\n\
00306 \n\
00307 # The values array should be 1-1 with the elements of the associated\n\
00308 # PointCloud.\n\
00309 float32[] values\n\
00310 \n\
00311 ================================================================================\n\
00312 MSG: object_manipulation_msgs/SceneRegion\n\
00313 # Point cloud\n\
00314 sensor_msgs/PointCloud2 cloud\n\
00315 \n\
00316 # Indices for the region of interest\n\
00317 int32[] mask\n\
00318 \n\
00319 # One of the corresponding 2D images, if applicable\n\
00320 sensor_msgs/Image image\n\
00321 \n\
00322 # The disparity image, if applicable\n\
00323 sensor_msgs/Image disparity_image\n\
00324 \n\
00325 # Camera info for the camera that took the image\n\
00326 sensor_msgs/CameraInfo cam_info\n\
00327 \n\
00328 # a 3D region of interest for grasp planning\n\
00329 geometry_msgs/PoseStamped  roi_box_pose\n\
00330 geometry_msgs/Vector3      roi_box_dims\n\
00331 \n\
00332 ================================================================================\n\
00333 MSG: sensor_msgs/PointCloud2\n\
00334 # This message holds a collection of N-dimensional points, which may\n\
00335 # contain additional information such as normals, intensity, etc. The\n\
00336 # point data is stored as a binary blob, its layout described by the\n\
00337 # contents of the \"fields\" array.\n\
00338 \n\
00339 # The point cloud data may be organized 2d (image-like) or 1d\n\
00340 # (unordered). Point clouds organized as 2d images may be produced by\n\
00341 # camera depth sensors such as stereo or time-of-flight.\n\
00342 \n\
00343 # Time of sensor data acquisition, and the coordinate frame ID (for 3d\n\
00344 # points).\n\
00345 Header header\n\
00346 \n\
00347 # 2D structure of the point cloud. If the cloud is unordered, height is\n\
00348 # 1 and width is the length of the point cloud.\n\
00349 uint32 height\n\
00350 uint32 width\n\
00351 \n\
00352 # Describes the channels and their layout in the binary data blob.\n\
00353 PointField[] fields\n\
00354 \n\
00355 bool    is_bigendian # Is this data bigendian?\n\
00356 uint32  point_step   # Length of a point in bytes\n\
00357 uint32  row_step     # Length of a row in bytes\n\
00358 uint8[] data         # Actual point data, size is (row_step*height)\n\
00359 \n\
00360 bool is_dense        # True if there are no invalid points\n\
00361 \n\
00362 ================================================================================\n\
00363 MSG: sensor_msgs/PointField\n\
00364 # This message holds the description of one point entry in the\n\
00365 # PointCloud2 message format.\n\
00366 uint8 INT8    = 1\n\
00367 uint8 UINT8   = 2\n\
00368 uint8 INT16   = 3\n\
00369 uint8 UINT16  = 4\n\
00370 uint8 INT32   = 5\n\
00371 uint8 UINT32  = 6\n\
00372 uint8 FLOAT32 = 7\n\
00373 uint8 FLOAT64 = 8\n\
00374 \n\
00375 string name      # Name of field\n\
00376 uint32 offset    # Offset from start of point struct\n\
00377 uint8  datatype  # Datatype enumeration, see above\n\
00378 uint32 count     # How many elements in the field\n\
00379 \n\
00380 ================================================================================\n\
00381 MSG: sensor_msgs/Image\n\
00382 # This message contains an uncompressed image\n\
00383 # (0, 0) is at top-left corner of image\n\
00384 #\n\
00385 \n\
00386 Header header        # Header timestamp should be acquisition time of image\n\
00387                      # Header frame_id should be optical frame of camera\n\
00388                      # origin of frame should be optical center of cameara\n\
00389                      # +x should point to the right in the image\n\
00390                      # +y should point down in the image\n\
00391                      # +z should point into to plane of the image\n\
00392                      # If the frame_id here and the frame_id of the CameraInfo\n\
00393                      # message associated with the image conflict\n\
00394                      # the behavior is undefined\n\
00395 \n\
00396 uint32 height         # image height, that is, number of rows\n\
00397 uint32 width          # image width, that is, number of columns\n\
00398 \n\
00399 # The legal values for encoding are in file src/image_encodings.cpp\n\
00400 # If you want to standardize a new string format, join\n\
00401 # ros-users@lists.sourceforge.net and send an email proposing a new encoding.\n\
00402 \n\
00403 string encoding       # Encoding of pixels -- channel meaning, ordering, size\n\
00404                       # taken from the list of strings in include/sensor_msgs/image_encodings.h\n\
00405 \n\
00406 uint8 is_bigendian    # is this data bigendian?\n\
00407 uint32 step           # Full row length in bytes\n\
00408 uint8[] data          # actual matrix data, size is (step * rows)\n\
00409 \n\
00410 ================================================================================\n\
00411 MSG: sensor_msgs/CameraInfo\n\
00412 # This message defines meta information for a camera. It should be in a\n\
00413 # camera namespace on topic \"camera_info\" and accompanied by up to five\n\
00414 # image topics named:\n\
00415 #\n\
00416 #   image_raw - raw data from the camera driver, possibly Bayer encoded\n\
00417 #   image            - monochrome, distorted\n\
00418 #   image_color      - color, distorted\n\
00419 #   image_rect       - monochrome, rectified\n\
00420 #   image_rect_color - color, rectified\n\
00421 #\n\
00422 # The image_pipeline contains packages (image_proc, stereo_image_proc)\n\
00423 # for producing the four processed image topics from image_raw and\n\
00424 # camera_info. The meaning of the camera parameters are described in\n\
00425 # detail at http://www.ros.org/wiki/image_pipeline/CameraInfo.\n\
00426 #\n\
00427 # The image_geometry package provides a user-friendly interface to\n\
00428 # common operations using this meta information. If you want to, e.g.,\n\
00429 # project a 3d point into image coordinates, we strongly recommend\n\
00430 # using image_geometry.\n\
00431 #\n\
00432 # If the camera is uncalibrated, the matrices D, K, R, P should be left\n\
00433 # zeroed out. In particular, clients may assume that K[0] == 0.0\n\
00434 # indicates an uncalibrated camera.\n\
00435 \n\
00436 #######################################################################\n\
00437 #                     Image acquisition info                          #\n\
00438 #######################################################################\n\
00439 \n\
00440 # Time of image acquisition, camera coordinate frame ID\n\
00441 Header header    # Header timestamp should be acquisition time of image\n\
00442                  # Header frame_id should be optical frame of camera\n\
00443                  # origin of frame should be optical center of camera\n\
00444                  # +x should point to the right in the image\n\
00445                  # +y should point down in the image\n\
00446                  # +z should point into the plane of the image\n\
00447 \n\
00448 \n\
00449 #######################################################################\n\
00450 #                      Calibration Parameters                         #\n\
00451 #######################################################################\n\
00452 # These are fixed during camera calibration. Their values will be the #\n\
00453 # same in all messages until the camera is recalibrated. Note that    #\n\
00454 # self-calibrating systems may \"recalibrate\" frequently.              #\n\
00455 #                                                                     #\n\
00456 # The internal parameters can be used to warp a raw (distorted) image #\n\
00457 # to:                                                                 #\n\
00458 #   1. An undistorted image (requires D and K)                        #\n\
00459 #   2. A rectified image (requires D, K, R)                           #\n\
00460 # The projection matrix P projects 3D points into the rectified image.#\n\
00461 #######################################################################\n\
00462 \n\
00463 # The image dimensions with which the camera was calibrated. Normally\n\
00464 # this will be the full camera resolution in pixels.\n\
00465 uint32 height\n\
00466 uint32 width\n\
00467 \n\
00468 # The distortion model used. Supported models are listed in\n\
00469 # sensor_msgs/distortion_models.h. For most cameras, \"plumb_bob\" - a\n\
00470 # simple model of radial and tangential distortion - is sufficent.\n\
00471 string distortion_model\n\
00472 \n\
00473 # The distortion parameters, size depending on the distortion model.\n\
00474 # For \"plumb_bob\", the 5 parameters are: (k1, k2, t1, t2, k3).\n\
00475 float64[] D\n\
00476 \n\
00477 # Intrinsic camera matrix for the raw (distorted) images.\n\
00478 #     [fx  0 cx]\n\
00479 # K = [ 0 fy cy]\n\
00480 #     [ 0  0  1]\n\
00481 # Projects 3D points in the camera coordinate frame to 2D pixel\n\
00482 # coordinates using the focal lengths (fx, fy) and principal point\n\
00483 # (cx, cy).\n\
00484 float64[9]  K # 3x3 row-major matrix\n\
00485 \n\
00486 # Rectification matrix (stereo cameras only)\n\
00487 # A rotation matrix aligning the camera coordinate system to the ideal\n\
00488 # stereo image plane so that epipolar lines in both stereo images are\n\
00489 # parallel.\n\
00490 float64[9]  R # 3x3 row-major matrix\n\
00491 \n\
00492 # Projection/camera matrix\n\
00493 #     [fx'  0  cx' Tx]\n\
00494 # P = [ 0  fy' cy' Ty]\n\
00495 #     [ 0   0   1   0]\n\
00496 # By convention, this matrix specifies the intrinsic (camera) matrix\n\
00497 #  of the processed (rectified) image. That is, the left 3x3 portion\n\
00498 #  is the normal camera intrinsic matrix for the rectified image.\n\
00499 # It projects 3D points in the camera coordinate frame to 2D pixel\n\
00500 #  coordinates using the focal lengths (fx', fy') and principal point\n\
00501 #  (cx', cy') - these may differ from the values in K.\n\
00502 # For monocular cameras, Tx = Ty = 0. Normally, monocular cameras will\n\
00503 #  also have R = the identity and P[1:3,1:3] = K.\n\
00504 # For a stereo pair, the fourth column [Tx Ty 0]' is related to the\n\
00505 #  position of the optical center of the second camera in the first\n\
00506 #  camera's frame. We assume Tz = 0 so both cameras are in the same\n\
00507 #  stereo image plane. The first camera always has Tx = Ty = 0. For\n\
00508 #  the right (second) camera of a horizontal stereo pair, Ty = 0 and\n\
00509 #  Tx = -fx' * B, where B is the baseline between the cameras.\n\
00510 # Given a 3D point [X Y Z]', the projection (x, y) of the point onto\n\
00511 #  the rectified image is given by:\n\
00512 #  [u v w]' = P * [X Y Z 1]'\n\
00513 #         x = u / w\n\
00514 #         y = v / w\n\
00515 #  This holds for both images of a stereo pair.\n\
00516 float64[12] P # 3x4 row-major matrix\n\
00517 \n\
00518 \n\
00519 #######################################################################\n\
00520 #                      Operational Parameters                         #\n\
00521 #######################################################################\n\
00522 # These define the image region actually captured by the camera       #\n\
00523 # driver. Although they affect the geometry of the output image, they #\n\
00524 # may be changed freely without recalibrating the camera.             #\n\
00525 #######################################################################\n\
00526 \n\
00527 # Binning refers here to any camera setting which combines rectangular\n\
00528 #  neighborhoods of pixels into larger \"super-pixels.\" It reduces the\n\
00529 #  resolution of the output image to\n\
00530 #  (width / binning_x) x (height / binning_y).\n\
00531 # The default values binning_x = binning_y = 0 is considered the same\n\
00532 #  as binning_x = binning_y = 1 (no subsampling).\n\
00533 uint32 binning_x\n\
00534 uint32 binning_y\n\
00535 \n\
00536 # Region of interest (subwindow of full camera resolution), given in\n\
00537 #  full resolution (unbinned) image coordinates. A particular ROI\n\
00538 #  always denotes the same window of pixels on the camera sensor,\n\
00539 #  regardless of binning settings.\n\
00540 # The default setting of roi (all values 0) is considered the same as\n\
00541 #  full resolution (roi.width = width, roi.height = height).\n\
00542 RegionOfInterest roi\n\
00543 \n\
00544 ================================================================================\n\
00545 MSG: sensor_msgs/RegionOfInterest\n\
00546 # This message is used to specify a region of interest within an image.\n\
00547 #\n\
00548 # When used to specify the ROI setting of the camera when the image was\n\
00549 # taken, the height and width fields should either match the height and\n\
00550 # width fields for the associated image; or height = width = 0\n\
00551 # indicates that the full resolution image was captured.\n\
00552 \n\
00553 uint32 x_offset  # Leftmost pixel of the ROI\n\
00554                  # (0 if the ROI includes the left edge of the image)\n\
00555 uint32 y_offset  # Topmost pixel of the ROI\n\
00556                  # (0 if the ROI includes the top edge of the image)\n\
00557 uint32 height    # Height of ROI\n\
00558 uint32 width     # Width of ROI\n\
00559 \n\
00560 # True if a distinct rectified ROI should be calculated from the \"raw\"\n\
00561 # ROI in this message. Typically this should be False if the full image\n\
00562 # is captured (ROI not used), and True if a subwindow is captured (ROI\n\
00563 # used).\n\
00564 bool do_rectify\n\
00565 \n\
00566 ================================================================================\n\
00567 MSG: geometry_msgs/Vector3\n\
00568 # This represents a vector in free space. \n\
00569 \n\
00570 float64 x\n\
00571 float64 y\n\
00572 float64 z\n\
00573 ================================================================================\n\
00574 MSG: object_manipulation_msgs/GraspPlanningErrorCode\n\
00575 # Error codes for grasp and place planning\n\
00576 \n\
00577 # plan completed as expected\n\
00578 int32 SUCCESS = 0\n\
00579 \n\
00580 # tf error encountered while transforming\n\
00581 int32 TF_ERROR = 1 \n\
00582 \n\
00583 # some other error\n\
00584 int32 OTHER_ERROR = 2\n\
00585 \n\
00586 # the actual value of this error code\n\
00587 int32 value\n\
00588 ";
00589   }
00590 
00591   static const char* value(const  ::pr2_grasp_adjust::GraspAdjustResult_<ContainerAllocator> &) { return value(); } 
00592 };
00593 
00594 } // namespace message_traits
00595 } // namespace ros
00596 
00597 namespace ros
00598 {
00599 namespace serialization
00600 {
00601 
00602 template<class ContainerAllocator> struct Serializer< ::pr2_grasp_adjust::GraspAdjustResult_<ContainerAllocator> >
00603 {
00604   template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00605   {
00606     stream.next(m.grasps);
00607     stream.next(m.result);
00608   }
00609 
00610   ROS_DECLARE_ALLINONE_SERIALIZER;
00611 }; // struct GraspAdjustResult_
00612 } // namespace serialization
00613 } // namespace ros
00614 
00615 namespace ros
00616 {
00617 namespace message_operations
00618 {
00619 
00620 template<class ContainerAllocator>
00621 struct Printer< ::pr2_grasp_adjust::GraspAdjustResult_<ContainerAllocator> >
00622 {
00623   template<typename Stream> static void stream(Stream& s, const std::string& indent, const  ::pr2_grasp_adjust::GraspAdjustResult_<ContainerAllocator> & v) 
00624   {
00625     s << indent << "grasps[]" << std::endl;
00626     for (size_t i = 0; i < v.grasps.size(); ++i)
00627     {
00628       s << indent << "  grasps[" << i << "]: ";
00629       s << std::endl;
00630       s << indent;
00631       Printer< ::object_manipulation_msgs::Grasp_<ContainerAllocator> >::stream(s, indent + "    ", v.grasps[i]);
00632     }
00633     s << indent << "result: ";
00634 s << std::endl;
00635     Printer< ::object_manipulation_msgs::GraspPlanningErrorCode_<ContainerAllocator> >::stream(s, indent + "  ", v.result);
00636   }
00637 };
00638 
00639 
00640 } // namespace message_operations
00641 } // namespace ros
00642 
00643 #endif // PR2_GRASP_ADJUST_MESSAGE_GRASPADJUSTRESULT_H
00644 
 All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Properties Friends


pr2_grasp_adjust
Author(s): Adam Leeper
autogenerated on Wed Jan 23 2013 15:27:54