00001
00002 #ifndef PR2_GRIPPER_SENSOR_MSGS_MESSAGE_PR2GRIPPERFINDCONTACTGOAL_H
00003 #define PR2_GRIPPER_SENSOR_MSGS_MESSAGE_PR2GRIPPERFINDCONTACTGOAL_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/PR2GripperFindContactCommand.h"
00018
00019 namespace pr2_gripper_sensor_msgs
00020 {
00021 template <class ContainerAllocator>
00022 struct PR2GripperFindContactGoal_ {
00023 typedef PR2GripperFindContactGoal_<ContainerAllocator> Type;
00024
00025 PR2GripperFindContactGoal_()
00026 : command()
00027 {
00028 }
00029
00030 PR2GripperFindContactGoal_(const ContainerAllocator& _alloc)
00031 : command(_alloc)
00032 {
00033 }
00034
00035 typedef ::pr2_gripper_sensor_msgs::PR2GripperFindContactCommand_<ContainerAllocator> _command_type;
00036 ::pr2_gripper_sensor_msgs::PR2GripperFindContactCommand_<ContainerAllocator> command;
00037
00038
00039 private:
00040 static const char* __s_getDataType_() { return "pr2_gripper_sensor_msgs/PR2GripperFindContactGoal"; }
00041 public:
00042 ROS_DEPRECATED static const std::string __s_getDataType() { return __s_getDataType_(); }
00043
00044 ROS_DEPRECATED const std::string __getDataType() const { return __s_getDataType_(); }
00045
00046 private:
00047 static const char* __s_getMD5Sum_() { return "f0ae570e217e7429eba0f205341933a0"; }
00048 public:
00049 ROS_DEPRECATED static const std::string __s_getMD5Sum() { return __s_getMD5Sum_(); }
00050
00051 ROS_DEPRECATED const std::string __getMD5Sum() const { return __s_getMD5Sum_(); }
00052
00053 private:
00054 static const char* __s_getMessageDefinition_() { return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00055 # Contact action used to close fingers and find object contacts \n\
00056 # quickly while still stopping fast in real-time to not damage \n\
00057 # objects\n\
00058 \n\
00059 #goal\n\
00060 PR2GripperFindContactCommand command\n\
00061 \n\
00062 ================================================================================\n\
00063 MSG: pr2_gripper_sensor_msgs/PR2GripperFindContactCommand\n\
00064 # set true if you want to calibrate the fingertip sensors on the start\n\
00065 # of the find_contact action. While this is not necessary (and\n\
00066 # the default value will not calibrate the sensors) for best \n\
00067 # performance it is recommended that you set this to true each time \n\
00068 # you are calling find_contact and are confident the fingertips are \n\
00069 # not touching anything\n\
00070 # NOTE: SHOULD ONLY BE TRUE WHEN BOTH FINGERS ARE TOUCHING NOTHING\n\
00071 bool zero_fingertip_sensors\n\
00072 \n\
00073 # the finger contact conditions that determine what our goal is\n\
00074 # Leaving this field blank will result in the robot closing until\n\
00075 # contact on BOTH fingers is achieved\n\
00076 int8 contact_conditions\n\
00077 \n\
00078 # predefined values for the above contact_conditions variable\n\
00079 int8 BOTH = 0 # both fingers must make contact\n\
00080 int8 LEFT = 1 # just the left finger \n\
00081 int8 RIGHT = 2 # just the right finger\n\
00082 int8 EITHER = 3 # either finger, we don't care which\n\
00083 \n\
00084 "; }
00085 public:
00086 ROS_DEPRECATED static const std::string __s_getMessageDefinition() { return __s_getMessageDefinition_(); }
00087
00088 ROS_DEPRECATED const std::string __getMessageDefinition() const { return __s_getMessageDefinition_(); }
00089
00090 ROS_DEPRECATED virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const
00091 {
00092 ros::serialization::OStream stream(write_ptr, 1000000000);
00093 ros::serialization::serialize(stream, command);
00094 return stream.getData();
00095 }
00096
00097 ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr)
00098 {
00099 ros::serialization::IStream stream(read_ptr, 1000000000);
00100 ros::serialization::deserialize(stream, command);
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(command);
00108 return size;
00109 }
00110
00111 typedef boost::shared_ptr< ::pr2_gripper_sensor_msgs::PR2GripperFindContactGoal_<ContainerAllocator> > Ptr;
00112 typedef boost::shared_ptr< ::pr2_gripper_sensor_msgs::PR2GripperFindContactGoal_<ContainerAllocator> const> ConstPtr;
00113 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00114 };
00115 typedef ::pr2_gripper_sensor_msgs::PR2GripperFindContactGoal_<std::allocator<void> > PR2GripperFindContactGoal;
00116
00117 typedef boost::shared_ptr< ::pr2_gripper_sensor_msgs::PR2GripperFindContactGoal> PR2GripperFindContactGoalPtr;
00118 typedef boost::shared_ptr< ::pr2_gripper_sensor_msgs::PR2GripperFindContactGoal const> PR2GripperFindContactGoalConstPtr;
00119
00120
00121 template<typename ContainerAllocator>
00122 std::ostream& operator<<(std::ostream& s, const ::pr2_gripper_sensor_msgs::PR2GripperFindContactGoal_<ContainerAllocator> & v)
00123 {
00124 ros::message_operations::Printer< ::pr2_gripper_sensor_msgs::PR2GripperFindContactGoal_<ContainerAllocator> >::stream(s, "", v);
00125 return s;}
00126
00127 }
00128
00129 namespace ros
00130 {
00131 namespace message_traits
00132 {
00133 template<class ContainerAllocator> struct IsMessage< ::pr2_gripper_sensor_msgs::PR2GripperFindContactGoal_<ContainerAllocator> > : public TrueType {};
00134 template<class ContainerAllocator> struct IsMessage< ::pr2_gripper_sensor_msgs::PR2GripperFindContactGoal_<ContainerAllocator> const> : public TrueType {};
00135 template<class ContainerAllocator>
00136 struct MD5Sum< ::pr2_gripper_sensor_msgs::PR2GripperFindContactGoal_<ContainerAllocator> > {
00137 static const char* value()
00138 {
00139 return "f0ae570e217e7429eba0f205341933a0";
00140 }
00141
00142 static const char* value(const ::pr2_gripper_sensor_msgs::PR2GripperFindContactGoal_<ContainerAllocator> &) { return value(); }
00143 static const uint64_t static_value1 = 0xf0ae570e217e7429ULL;
00144 static const uint64_t static_value2 = 0xeba0f205341933a0ULL;
00145 };
00146
00147 template<class ContainerAllocator>
00148 struct DataType< ::pr2_gripper_sensor_msgs::PR2GripperFindContactGoal_<ContainerAllocator> > {
00149 static const char* value()
00150 {
00151 return "pr2_gripper_sensor_msgs/PR2GripperFindContactGoal";
00152 }
00153
00154 static const char* value(const ::pr2_gripper_sensor_msgs::PR2GripperFindContactGoal_<ContainerAllocator> &) { return value(); }
00155 };
00156
00157 template<class ContainerAllocator>
00158 struct Definition< ::pr2_gripper_sensor_msgs::PR2GripperFindContactGoal_<ContainerAllocator> > {
00159 static const char* value()
00160 {
00161 return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00162 # Contact action used to close fingers and find object contacts \n\
00163 # quickly while still stopping fast in real-time to not damage \n\
00164 # objects\n\
00165 \n\
00166 #goal\n\
00167 PR2GripperFindContactCommand command\n\
00168 \n\
00169 ================================================================================\n\
00170 MSG: pr2_gripper_sensor_msgs/PR2GripperFindContactCommand\n\
00171 # set true if you want to calibrate the fingertip sensors on the start\n\
00172 # of the find_contact action. While this is not necessary (and\n\
00173 # the default value will not calibrate the sensors) for best \n\
00174 # performance it is recommended that you set this to true each time \n\
00175 # you are calling find_contact and are confident the fingertips are \n\
00176 # not touching anything\n\
00177 # NOTE: SHOULD ONLY BE TRUE WHEN BOTH FINGERS ARE TOUCHING NOTHING\n\
00178 bool zero_fingertip_sensors\n\
00179 \n\
00180 # the finger contact conditions that determine what our goal is\n\
00181 # Leaving this field blank will result in the robot closing until\n\
00182 # contact on BOTH fingers is achieved\n\
00183 int8 contact_conditions\n\
00184 \n\
00185 # predefined values for the above contact_conditions variable\n\
00186 int8 BOTH = 0 # both fingers must make contact\n\
00187 int8 LEFT = 1 # just the left finger \n\
00188 int8 RIGHT = 2 # just the right finger\n\
00189 int8 EITHER = 3 # either finger, we don't care which\n\
00190 \n\
00191 ";
00192 }
00193
00194 static const char* value(const ::pr2_gripper_sensor_msgs::PR2GripperFindContactGoal_<ContainerAllocator> &) { return value(); }
00195 };
00196
00197 template<class ContainerAllocator> struct IsFixedSize< ::pr2_gripper_sensor_msgs::PR2GripperFindContactGoal_<ContainerAllocator> > : public TrueType {};
00198 }
00199 }
00200
00201 namespace ros
00202 {
00203 namespace serialization
00204 {
00205
00206 template<class ContainerAllocator> struct Serializer< ::pr2_gripper_sensor_msgs::PR2GripperFindContactGoal_<ContainerAllocator> >
00207 {
00208 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00209 {
00210 stream.next(m.command);
00211 }
00212
00213 ROS_DECLARE_ALLINONE_SERIALIZER;
00214 };
00215 }
00216 }
00217
00218 namespace ros
00219 {
00220 namespace message_operations
00221 {
00222
00223 template<class ContainerAllocator>
00224 struct Printer< ::pr2_gripper_sensor_msgs::PR2GripperFindContactGoal_<ContainerAllocator> >
00225 {
00226 template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::pr2_gripper_sensor_msgs::PR2GripperFindContactGoal_<ContainerAllocator> & v)
00227 {
00228 s << indent << "command: ";
00229 s << std::endl;
00230 Printer< ::pr2_gripper_sensor_msgs::PR2GripperFindContactCommand_<ContainerAllocator> >::stream(s, indent + " ", v.command);
00231 }
00232 };
00233
00234
00235 }
00236 }
00237
00238 #endif // PR2_GRIPPER_SENSOR_MSGS_MESSAGE_PR2GRIPPERFINDCONTACTGOAL_H
00239