00001
00002 #ifndef PR2_GRIPPER_SENSOR_MSGS_MESSAGE_PR2GRIPPERFINDCONTACTDATA_H
00003 #define PR2_GRIPPER_SENSOR_MSGS_MESSAGE_PR2GRIPPERFINDCONTACTDATA_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 "pr2_gripper_sensor_msgs/PR2GripperSensorRTState.h"
00018
00019 namespace pr2_gripper_sensor_msgs
00020 {
00021 template <class ContainerAllocator>
00022 struct PR2GripperFindContactData_ {
00023 typedef PR2GripperFindContactData_<ContainerAllocator> Type;
00024
00025 PR2GripperFindContactData_()
00026 : stamp()
00027 , contact_conditions_met(false)
00028 , left_fingertip_pad_contact(false)
00029 , right_fingertip_pad_contact(false)
00030 , left_fingertip_pad_force(0.0)
00031 , right_fingertip_pad_force(0.0)
00032 , joint_position(0.0)
00033 , joint_effort(0.0)
00034 , rtstate()
00035 {
00036 }
00037
00038 PR2GripperFindContactData_(const ContainerAllocator& _alloc)
00039 : stamp()
00040 , contact_conditions_met(false)
00041 , left_fingertip_pad_contact(false)
00042 , right_fingertip_pad_contact(false)
00043 , left_fingertip_pad_force(0.0)
00044 , right_fingertip_pad_force(0.0)
00045 , joint_position(0.0)
00046 , joint_effort(0.0)
00047 , rtstate(_alloc)
00048 {
00049 }
00050
00051 typedef ros::Time _stamp_type;
00052 ros::Time stamp;
00053
00054 typedef uint8_t _contact_conditions_met_type;
00055 uint8_t contact_conditions_met;
00056
00057 typedef uint8_t _left_fingertip_pad_contact_type;
00058 uint8_t left_fingertip_pad_contact;
00059
00060 typedef uint8_t _right_fingertip_pad_contact_type;
00061 uint8_t right_fingertip_pad_contact;
00062
00063 typedef double _left_fingertip_pad_force_type;
00064 double left_fingertip_pad_force;
00065
00066 typedef double _right_fingertip_pad_force_type;
00067 double right_fingertip_pad_force;
00068
00069 typedef double _joint_position_type;
00070 double joint_position;
00071
00072 typedef double _joint_effort_type;
00073 double joint_effort;
00074
00075 typedef ::pr2_gripper_sensor_msgs::PR2GripperSensorRTState_<ContainerAllocator> _rtstate_type;
00076 ::pr2_gripper_sensor_msgs::PR2GripperSensorRTState_<ContainerAllocator> rtstate;
00077
00078
00079 private:
00080 static const char* __s_getDataType_() { return "pr2_gripper_sensor_msgs/PR2GripperFindContactData"; }
00081 public:
00082 ROS_DEPRECATED static const std::string __s_getDataType() { return __s_getDataType_(); }
00083
00084 ROS_DEPRECATED const std::string __getDataType() const { return __s_getDataType_(); }
00085
00086 private:
00087 static const char* __s_getMD5Sum_() { return "bc53e3dc7d19b896ca9b5ea205d54b91"; }
00088 public:
00089 ROS_DEPRECATED static const std::string __s_getMD5Sum() { return __s_getMD5Sum_(); }
00090
00091 ROS_DEPRECATED const std::string __getMD5Sum() const { return __s_getMD5Sum_(); }
00092
00093 private:
00094 static const char* __s_getMessageDefinition_() { return "# Time the data was recorded at\n\
00095 time stamp\n\
00096 \n\
00097 # true when our contact conditions have been met\n\
00098 # (see PR2GripperFindContact command)\n\
00099 bool contact_conditions_met\n\
00100 \n\
00101 # the finger contact conditions \n\
00102 # true if the finger experienced a contact event\n\
00103 #\n\
00104 # contact events are defined as contact with the fingerpads\n\
00105 # as either steady-state or high-freq force events\n\
00106 bool left_fingertip_pad_contact\n\
00107 bool right_fingertip_pad_contact\n\
00108 \n\
00109 # the force experinced by the finger Pads (N)\n\
00110 # NOTE:this ignores data from the edges of the finger pressure\n\
00111 float64 left_fingertip_pad_force\n\
00112 float64 right_fingertip_pad_force\n\
00113 \n\
00114 # the current joint position (m)\n\
00115 float64 joint_position\n\
00116 \n\
00117 # the virtual (parallel) joint effort (N)\n\
00118 float64 joint_effort\n\
00119 \n\
00120 # the control state of our realtime controller\n\
00121 PR2GripperSensorRTState rtstate\n\
00122 ================================================================================\n\
00123 MSG: pr2_gripper_sensor_msgs/PR2GripperSensorRTState\n\
00124 # the control state of our realtime controller\n\
00125 int8 realtime_controller_state\n\
00126 \n\
00127 # predefined values to indicate our realtime_controller_state\n\
00128 int8 DISABLED = 0\n\
00129 int8 POSITION_SERVO = 3\n\
00130 int8 FORCE_SERVO = 4\n\
00131 int8 FIND_CONTACT = 5\n\
00132 int8 SLIP_SERVO = 6\n\
00133 "; }
00134 public:
00135 ROS_DEPRECATED static const std::string __s_getMessageDefinition() { return __s_getMessageDefinition_(); }
00136
00137 ROS_DEPRECATED const std::string __getMessageDefinition() const { return __s_getMessageDefinition_(); }
00138
00139 ROS_DEPRECATED virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const
00140 {
00141 ros::serialization::OStream stream(write_ptr, 1000000000);
00142 ros::serialization::serialize(stream, stamp);
00143 ros::serialization::serialize(stream, contact_conditions_met);
00144 ros::serialization::serialize(stream, left_fingertip_pad_contact);
00145 ros::serialization::serialize(stream, right_fingertip_pad_contact);
00146 ros::serialization::serialize(stream, left_fingertip_pad_force);
00147 ros::serialization::serialize(stream, right_fingertip_pad_force);
00148 ros::serialization::serialize(stream, joint_position);
00149 ros::serialization::serialize(stream, joint_effort);
00150 ros::serialization::serialize(stream, rtstate);
00151 return stream.getData();
00152 }
00153
00154 ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr)
00155 {
00156 ros::serialization::IStream stream(read_ptr, 1000000000);
00157 ros::serialization::deserialize(stream, stamp);
00158 ros::serialization::deserialize(stream, contact_conditions_met);
00159 ros::serialization::deserialize(stream, left_fingertip_pad_contact);
00160 ros::serialization::deserialize(stream, right_fingertip_pad_contact);
00161 ros::serialization::deserialize(stream, left_fingertip_pad_force);
00162 ros::serialization::deserialize(stream, right_fingertip_pad_force);
00163 ros::serialization::deserialize(stream, joint_position);
00164 ros::serialization::deserialize(stream, joint_effort);
00165 ros::serialization::deserialize(stream, rtstate);
00166 return stream.getData();
00167 }
00168
00169 ROS_DEPRECATED virtual uint32_t serializationLength() const
00170 {
00171 uint32_t size = 0;
00172 size += ros::serialization::serializationLength(stamp);
00173 size += ros::serialization::serializationLength(contact_conditions_met);
00174 size += ros::serialization::serializationLength(left_fingertip_pad_contact);
00175 size += ros::serialization::serializationLength(right_fingertip_pad_contact);
00176 size += ros::serialization::serializationLength(left_fingertip_pad_force);
00177 size += ros::serialization::serializationLength(right_fingertip_pad_force);
00178 size += ros::serialization::serializationLength(joint_position);
00179 size += ros::serialization::serializationLength(joint_effort);
00180 size += ros::serialization::serializationLength(rtstate);
00181 return size;
00182 }
00183
00184 typedef boost::shared_ptr< ::pr2_gripper_sensor_msgs::PR2GripperFindContactData_<ContainerAllocator> > Ptr;
00185 typedef boost::shared_ptr< ::pr2_gripper_sensor_msgs::PR2GripperFindContactData_<ContainerAllocator> const> ConstPtr;
00186 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00187 };
00188 typedef ::pr2_gripper_sensor_msgs::PR2GripperFindContactData_<std::allocator<void> > PR2GripperFindContactData;
00189
00190 typedef boost::shared_ptr< ::pr2_gripper_sensor_msgs::PR2GripperFindContactData> PR2GripperFindContactDataPtr;
00191 typedef boost::shared_ptr< ::pr2_gripper_sensor_msgs::PR2GripperFindContactData const> PR2GripperFindContactDataConstPtr;
00192
00193
00194 template<typename ContainerAllocator>
00195 std::ostream& operator<<(std::ostream& s, const ::pr2_gripper_sensor_msgs::PR2GripperFindContactData_<ContainerAllocator> & v)
00196 {
00197 ros::message_operations::Printer< ::pr2_gripper_sensor_msgs::PR2GripperFindContactData_<ContainerAllocator> >::stream(s, "", v);
00198 return s;}
00199
00200 }
00201
00202 namespace ros
00203 {
00204 namespace message_traits
00205 {
00206 template<class ContainerAllocator> struct IsMessage< ::pr2_gripper_sensor_msgs::PR2GripperFindContactData_<ContainerAllocator> > : public TrueType {};
00207 template<class ContainerAllocator> struct IsMessage< ::pr2_gripper_sensor_msgs::PR2GripperFindContactData_<ContainerAllocator> const> : public TrueType {};
00208 template<class ContainerAllocator>
00209 struct MD5Sum< ::pr2_gripper_sensor_msgs::PR2GripperFindContactData_<ContainerAllocator> > {
00210 static const char* value()
00211 {
00212 return "bc53e3dc7d19b896ca9b5ea205d54b91";
00213 }
00214
00215 static const char* value(const ::pr2_gripper_sensor_msgs::PR2GripperFindContactData_<ContainerAllocator> &) { return value(); }
00216 static const uint64_t static_value1 = 0xbc53e3dc7d19b896ULL;
00217 static const uint64_t static_value2 = 0xca9b5ea205d54b91ULL;
00218 };
00219
00220 template<class ContainerAllocator>
00221 struct DataType< ::pr2_gripper_sensor_msgs::PR2GripperFindContactData_<ContainerAllocator> > {
00222 static const char* value()
00223 {
00224 return "pr2_gripper_sensor_msgs/PR2GripperFindContactData";
00225 }
00226
00227 static const char* value(const ::pr2_gripper_sensor_msgs::PR2GripperFindContactData_<ContainerAllocator> &) { return value(); }
00228 };
00229
00230 template<class ContainerAllocator>
00231 struct Definition< ::pr2_gripper_sensor_msgs::PR2GripperFindContactData_<ContainerAllocator> > {
00232 static const char* value()
00233 {
00234 return "# Time the data was recorded at\n\
00235 time stamp\n\
00236 \n\
00237 # true when our contact conditions have been met\n\
00238 # (see PR2GripperFindContact command)\n\
00239 bool contact_conditions_met\n\
00240 \n\
00241 # the finger contact conditions \n\
00242 # true if the finger experienced a contact event\n\
00243 #\n\
00244 # contact events are defined as contact with the fingerpads\n\
00245 # as either steady-state or high-freq force events\n\
00246 bool left_fingertip_pad_contact\n\
00247 bool right_fingertip_pad_contact\n\
00248 \n\
00249 # the force experinced by the finger Pads (N)\n\
00250 # NOTE:this ignores data from the edges of the finger pressure\n\
00251 float64 left_fingertip_pad_force\n\
00252 float64 right_fingertip_pad_force\n\
00253 \n\
00254 # the current joint position (m)\n\
00255 float64 joint_position\n\
00256 \n\
00257 # the virtual (parallel) joint effort (N)\n\
00258 float64 joint_effort\n\
00259 \n\
00260 # the control state of our realtime controller\n\
00261 PR2GripperSensorRTState rtstate\n\
00262 ================================================================================\n\
00263 MSG: pr2_gripper_sensor_msgs/PR2GripperSensorRTState\n\
00264 # the control state of our realtime controller\n\
00265 int8 realtime_controller_state\n\
00266 \n\
00267 # predefined values to indicate our realtime_controller_state\n\
00268 int8 DISABLED = 0\n\
00269 int8 POSITION_SERVO = 3\n\
00270 int8 FORCE_SERVO = 4\n\
00271 int8 FIND_CONTACT = 5\n\
00272 int8 SLIP_SERVO = 6\n\
00273 ";
00274 }
00275
00276 static const char* value(const ::pr2_gripper_sensor_msgs::PR2GripperFindContactData_<ContainerAllocator> &) { return value(); }
00277 };
00278
00279 template<class ContainerAllocator> struct IsFixedSize< ::pr2_gripper_sensor_msgs::PR2GripperFindContactData_<ContainerAllocator> > : public TrueType {};
00280 }
00281 }
00282
00283 namespace ros
00284 {
00285 namespace serialization
00286 {
00287
00288 template<class ContainerAllocator> struct Serializer< ::pr2_gripper_sensor_msgs::PR2GripperFindContactData_<ContainerAllocator> >
00289 {
00290 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00291 {
00292 stream.next(m.stamp);
00293 stream.next(m.contact_conditions_met);
00294 stream.next(m.left_fingertip_pad_contact);
00295 stream.next(m.right_fingertip_pad_contact);
00296 stream.next(m.left_fingertip_pad_force);
00297 stream.next(m.right_fingertip_pad_force);
00298 stream.next(m.joint_position);
00299 stream.next(m.joint_effort);
00300 stream.next(m.rtstate);
00301 }
00302
00303 ROS_DECLARE_ALLINONE_SERIALIZER;
00304 };
00305 }
00306 }
00307
00308 namespace ros
00309 {
00310 namespace message_operations
00311 {
00312
00313 template<class ContainerAllocator>
00314 struct Printer< ::pr2_gripper_sensor_msgs::PR2GripperFindContactData_<ContainerAllocator> >
00315 {
00316 template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::pr2_gripper_sensor_msgs::PR2GripperFindContactData_<ContainerAllocator> & v)
00317 {
00318 s << indent << "stamp: ";
00319 Printer<ros::Time>::stream(s, indent + " ", v.stamp);
00320 s << indent << "contact_conditions_met: ";
00321 Printer<uint8_t>::stream(s, indent + " ", v.contact_conditions_met);
00322 s << indent << "left_fingertip_pad_contact: ";
00323 Printer<uint8_t>::stream(s, indent + " ", v.left_fingertip_pad_contact);
00324 s << indent << "right_fingertip_pad_contact: ";
00325 Printer<uint8_t>::stream(s, indent + " ", v.right_fingertip_pad_contact);
00326 s << indent << "left_fingertip_pad_force: ";
00327 Printer<double>::stream(s, indent + " ", v.left_fingertip_pad_force);
00328 s << indent << "right_fingertip_pad_force: ";
00329 Printer<double>::stream(s, indent + " ", v.right_fingertip_pad_force);
00330 s << indent << "joint_position: ";
00331 Printer<double>::stream(s, indent + " ", v.joint_position);
00332 s << indent << "joint_effort: ";
00333 Printer<double>::stream(s, indent + " ", v.joint_effort);
00334 s << indent << "rtstate: ";
00335 s << std::endl;
00336 Printer< ::pr2_gripper_sensor_msgs::PR2GripperSensorRTState_<ContainerAllocator> >::stream(s, indent + " ", v.rtstate);
00337 }
00338 };
00339
00340
00341 }
00342 }
00343
00344 #endif // PR2_GRIPPER_SENSOR_MSGS_MESSAGE_PR2GRIPPERFINDCONTACTDATA_H
00345