00001
00002 #ifndef PR2_GRIPPER_SENSOR_MSGS_MESSAGE_PR2GRIPPERFINDCONTACTCOMMAND_H
00003 #define PR2_GRIPPER_SENSOR_MSGS_MESSAGE_PR2GRIPPERFINDCONTACTCOMMAND_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
00018 namespace pr2_gripper_sensor_msgs
00019 {
00020 template <class ContainerAllocator>
00021 struct PR2GripperFindContactCommand_ {
00022 typedef PR2GripperFindContactCommand_<ContainerAllocator> Type;
00023
00024 PR2GripperFindContactCommand_()
00025 : zero_fingertip_sensors(false)
00026 , contact_conditions(0)
00027 {
00028 }
00029
00030 PR2GripperFindContactCommand_(const ContainerAllocator& _alloc)
00031 : zero_fingertip_sensors(false)
00032 , contact_conditions(0)
00033 {
00034 }
00035
00036 typedef uint8_t _zero_fingertip_sensors_type;
00037 uint8_t zero_fingertip_sensors;
00038
00039 typedef int8_t _contact_conditions_type;
00040 int8_t contact_conditions;
00041
00042 enum { BOTH = 0 };
00043 enum { LEFT = 1 };
00044 enum { RIGHT = 2 };
00045 enum { EITHER = 3 };
00046
00047 private:
00048 static const char* __s_getDataType_() { return "pr2_gripper_sensor_msgs/PR2GripperFindContactCommand"; }
00049 public:
00050 ROS_DEPRECATED static const std::string __s_getDataType() { return __s_getDataType_(); }
00051
00052 ROS_DEPRECATED const std::string __getDataType() const { return __s_getDataType_(); }
00053
00054 private:
00055 static const char* __s_getMD5Sum_() { return "4a38a1a8e495aae86921ef2b292ec260"; }
00056 public:
00057 ROS_DEPRECATED static const std::string __s_getMD5Sum() { return __s_getMD5Sum_(); }
00058
00059 ROS_DEPRECATED const std::string __getMD5Sum() const { return __s_getMD5Sum_(); }
00060
00061 private:
00062 static const char* __s_getMessageDefinition_() { return "# set true if you want to calibrate the fingertip sensors on the start\n\
00063 # of the find_contact action. While this is not necessary (and\n\
00064 # the default value will not calibrate the sensors) for best \n\
00065 # performance it is recommended that you set this to true each time \n\
00066 # you are calling find_contact and are confident the fingertips are \n\
00067 # not touching anything\n\
00068 # NOTE: SHOULD ONLY BE TRUE WHEN BOTH FINGERS ARE TOUCHING NOTHING\n\
00069 bool zero_fingertip_sensors\n\
00070 \n\
00071 # the finger contact conditions that determine what our goal is\n\
00072 # Leaving this field blank will result in the robot closing until\n\
00073 # contact on BOTH fingers is achieved\n\
00074 int8 contact_conditions\n\
00075 \n\
00076 # predefined values for the above contact_conditions variable\n\
00077 int8 BOTH = 0 # both fingers must make contact\n\
00078 int8 LEFT = 1 # just the left finger \n\
00079 int8 RIGHT = 2 # just the right finger\n\
00080 int8 EITHER = 3 # either finger, we don't care which\n\
00081 \n\
00082 "; }
00083 public:
00084 ROS_DEPRECATED static const std::string __s_getMessageDefinition() { return __s_getMessageDefinition_(); }
00085
00086 ROS_DEPRECATED const std::string __getMessageDefinition() const { return __s_getMessageDefinition_(); }
00087
00088 ROS_DEPRECATED virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const
00089 {
00090 ros::serialization::OStream stream(write_ptr, 1000000000);
00091 ros::serialization::serialize(stream, zero_fingertip_sensors);
00092 ros::serialization::serialize(stream, contact_conditions);
00093 return stream.getData();
00094 }
00095
00096 ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr)
00097 {
00098 ros::serialization::IStream stream(read_ptr, 1000000000);
00099 ros::serialization::deserialize(stream, zero_fingertip_sensors);
00100 ros::serialization::deserialize(stream, contact_conditions);
00101 return stream.getData();
00102 }
00103
00104 ROS_DEPRECATED virtual uint32_t serializationLength() const
00105 {
00106 uint32_t size = 0;
00107 size += ros::serialization::serializationLength(zero_fingertip_sensors);
00108 size += ros::serialization::serializationLength(contact_conditions);
00109 return size;
00110 }
00111
00112 typedef boost::shared_ptr< ::pr2_gripper_sensor_msgs::PR2GripperFindContactCommand_<ContainerAllocator> > Ptr;
00113 typedef boost::shared_ptr< ::pr2_gripper_sensor_msgs::PR2GripperFindContactCommand_<ContainerAllocator> const> ConstPtr;
00114 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00115 };
00116 typedef ::pr2_gripper_sensor_msgs::PR2GripperFindContactCommand_<std::allocator<void> > PR2GripperFindContactCommand;
00117
00118 typedef boost::shared_ptr< ::pr2_gripper_sensor_msgs::PR2GripperFindContactCommand> PR2GripperFindContactCommandPtr;
00119 typedef boost::shared_ptr< ::pr2_gripper_sensor_msgs::PR2GripperFindContactCommand const> PR2GripperFindContactCommandConstPtr;
00120
00121
00122 template<typename ContainerAllocator>
00123 std::ostream& operator<<(std::ostream& s, const ::pr2_gripper_sensor_msgs::PR2GripperFindContactCommand_<ContainerAllocator> & v)
00124 {
00125 ros::message_operations::Printer< ::pr2_gripper_sensor_msgs::PR2GripperFindContactCommand_<ContainerAllocator> >::stream(s, "", v);
00126 return s;}
00127
00128 }
00129
00130 namespace ros
00131 {
00132 namespace message_traits
00133 {
00134 template<class ContainerAllocator> struct IsMessage< ::pr2_gripper_sensor_msgs::PR2GripperFindContactCommand_<ContainerAllocator> > : public TrueType {};
00135 template<class ContainerAllocator> struct IsMessage< ::pr2_gripper_sensor_msgs::PR2GripperFindContactCommand_<ContainerAllocator> const> : public TrueType {};
00136 template<class ContainerAllocator>
00137 struct MD5Sum< ::pr2_gripper_sensor_msgs::PR2GripperFindContactCommand_<ContainerAllocator> > {
00138 static const char* value()
00139 {
00140 return "4a38a1a8e495aae86921ef2b292ec260";
00141 }
00142
00143 static const char* value(const ::pr2_gripper_sensor_msgs::PR2GripperFindContactCommand_<ContainerAllocator> &) { return value(); }
00144 static const uint64_t static_value1 = 0x4a38a1a8e495aae8ULL;
00145 static const uint64_t static_value2 = 0x6921ef2b292ec260ULL;
00146 };
00147
00148 template<class ContainerAllocator>
00149 struct DataType< ::pr2_gripper_sensor_msgs::PR2GripperFindContactCommand_<ContainerAllocator> > {
00150 static const char* value()
00151 {
00152 return "pr2_gripper_sensor_msgs/PR2GripperFindContactCommand";
00153 }
00154
00155 static const char* value(const ::pr2_gripper_sensor_msgs::PR2GripperFindContactCommand_<ContainerAllocator> &) { return value(); }
00156 };
00157
00158 template<class ContainerAllocator>
00159 struct Definition< ::pr2_gripper_sensor_msgs::PR2GripperFindContactCommand_<ContainerAllocator> > {
00160 static const char* value()
00161 {
00162 return "# set true if you want to calibrate the fingertip sensors on the start\n\
00163 # of the find_contact action. While this is not necessary (and\n\
00164 # the default value will not calibrate the sensors) for best \n\
00165 # performance it is recommended that you set this to true each time \n\
00166 # you are calling find_contact and are confident the fingertips are \n\
00167 # not touching anything\n\
00168 # NOTE: SHOULD ONLY BE TRUE WHEN BOTH FINGERS ARE TOUCHING NOTHING\n\
00169 bool zero_fingertip_sensors\n\
00170 \n\
00171 # the finger contact conditions that determine what our goal is\n\
00172 # Leaving this field blank will result in the robot closing until\n\
00173 # contact on BOTH fingers is achieved\n\
00174 int8 contact_conditions\n\
00175 \n\
00176 # predefined values for the above contact_conditions variable\n\
00177 int8 BOTH = 0 # both fingers must make contact\n\
00178 int8 LEFT = 1 # just the left finger \n\
00179 int8 RIGHT = 2 # just the right finger\n\
00180 int8 EITHER = 3 # either finger, we don't care which\n\
00181 \n\
00182 ";
00183 }
00184
00185 static const char* value(const ::pr2_gripper_sensor_msgs::PR2GripperFindContactCommand_<ContainerAllocator> &) { return value(); }
00186 };
00187
00188 template<class ContainerAllocator> struct IsFixedSize< ::pr2_gripper_sensor_msgs::PR2GripperFindContactCommand_<ContainerAllocator> > : public TrueType {};
00189 }
00190 }
00191
00192 namespace ros
00193 {
00194 namespace serialization
00195 {
00196
00197 template<class ContainerAllocator> struct Serializer< ::pr2_gripper_sensor_msgs::PR2GripperFindContactCommand_<ContainerAllocator> >
00198 {
00199 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00200 {
00201 stream.next(m.zero_fingertip_sensors);
00202 stream.next(m.contact_conditions);
00203 }
00204
00205 ROS_DECLARE_ALLINONE_SERIALIZER;
00206 };
00207 }
00208 }
00209
00210 namespace ros
00211 {
00212 namespace message_operations
00213 {
00214
00215 template<class ContainerAllocator>
00216 struct Printer< ::pr2_gripper_sensor_msgs::PR2GripperFindContactCommand_<ContainerAllocator> >
00217 {
00218 template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::pr2_gripper_sensor_msgs::PR2GripperFindContactCommand_<ContainerAllocator> & v)
00219 {
00220 s << indent << "zero_fingertip_sensors: ";
00221 Printer<uint8_t>::stream(s, indent + " ", v.zero_fingertip_sensors);
00222 s << indent << "contact_conditions: ";
00223 Printer<int8_t>::stream(s, indent + " ", v.contact_conditions);
00224 }
00225 };
00226
00227
00228 }
00229 }
00230
00231 #endif // PR2_GRIPPER_SENSOR_MSGS_MESSAGE_PR2GRIPPERFINDCONTACTCOMMAND_H
00232