00001
00002 #ifndef PR2_GRIPPER_SENSOR_MSGS_MESSAGE_PR2GRIPPERGRABACTION_H
00003 #define PR2_GRIPPER_SENSOR_MSGS_MESSAGE_PR2GRIPPERGRABACTION_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/PR2GripperGrabActionGoal.h"
00018 #include "pr2_gripper_sensor_msgs/PR2GripperGrabActionResult.h"
00019 #include "pr2_gripper_sensor_msgs/PR2GripperGrabActionFeedback.h"
00020
00021 namespace pr2_gripper_sensor_msgs
00022 {
00023 template <class ContainerAllocator>
00024 struct PR2GripperGrabAction_ {
00025 typedef PR2GripperGrabAction_<ContainerAllocator> Type;
00026
00027 PR2GripperGrabAction_()
00028 : action_goal()
00029 , action_result()
00030 , action_feedback()
00031 {
00032 }
00033
00034 PR2GripperGrabAction_(const ContainerAllocator& _alloc)
00035 : action_goal(_alloc)
00036 , action_result(_alloc)
00037 , action_feedback(_alloc)
00038 {
00039 }
00040
00041 typedef ::pr2_gripper_sensor_msgs::PR2GripperGrabActionGoal_<ContainerAllocator> _action_goal_type;
00042 ::pr2_gripper_sensor_msgs::PR2GripperGrabActionGoal_<ContainerAllocator> action_goal;
00043
00044 typedef ::pr2_gripper_sensor_msgs::PR2GripperGrabActionResult_<ContainerAllocator> _action_result_type;
00045 ::pr2_gripper_sensor_msgs::PR2GripperGrabActionResult_<ContainerAllocator> action_result;
00046
00047 typedef ::pr2_gripper_sensor_msgs::PR2GripperGrabActionFeedback_<ContainerAllocator> _action_feedback_type;
00048 ::pr2_gripper_sensor_msgs::PR2GripperGrabActionFeedback_<ContainerAllocator> action_feedback;
00049
00050
00051 private:
00052 static const char* __s_getDataType_() { return "pr2_gripper_sensor_msgs/PR2GripperGrabAction"; }
00053 public:
00054 ROS_DEPRECATED static const std::string __s_getDataType() { return __s_getDataType_(); }
00055
00056 ROS_DEPRECATED const std::string __getDataType() const { return __s_getDataType_(); }
00057
00058 private:
00059 static const char* __s_getMD5Sum_() { return "f467562414aabe5b90666be976b0c379"; }
00060 public:
00061 ROS_DEPRECATED static const std::string __s_getMD5Sum() { return __s_getMD5Sum_(); }
00062
00063 ROS_DEPRECATED const std::string __getMD5Sum() const { return __s_getMD5Sum_(); }
00064
00065 private:
00066 static const char* __s_getMessageDefinition_() { return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00067 \n\
00068 PR2GripperGrabActionGoal action_goal\n\
00069 PR2GripperGrabActionResult action_result\n\
00070 PR2GripperGrabActionFeedback action_feedback\n\
00071 \n\
00072 ================================================================================\n\
00073 MSG: pr2_gripper_sensor_msgs/PR2GripperGrabActionGoal\n\
00074 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00075 \n\
00076 Header header\n\
00077 actionlib_msgs/GoalID goal_id\n\
00078 PR2GripperGrabGoal goal\n\
00079 \n\
00080 ================================================================================\n\
00081 MSG: std_msgs/Header\n\
00082 # Standard metadata for higher-level stamped data types.\n\
00083 # This is generally used to communicate timestamped data \n\
00084 # in a particular coordinate frame.\n\
00085 # \n\
00086 # sequence ID: consecutively increasing ID \n\
00087 uint32 seq\n\
00088 #Two-integer timestamp that is expressed as:\n\
00089 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00090 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00091 # time-handling sugar is provided by the client library\n\
00092 time stamp\n\
00093 #Frame this data is associated with\n\
00094 # 0: no frame\n\
00095 # 1: global frame\n\
00096 string frame_id\n\
00097 \n\
00098 ================================================================================\n\
00099 MSG: actionlib_msgs/GoalID\n\
00100 # The stamp should store the time at which this goal was requested.\n\
00101 # It is used by an action server when it tries to preempt all\n\
00102 # goals that were requested before a certain time\n\
00103 time stamp\n\
00104 \n\
00105 # The id provides a way to associate feedback and\n\
00106 # result message with specific goal requests. The id\n\
00107 # specified must be unique.\n\
00108 string id\n\
00109 \n\
00110 \n\
00111 ================================================================================\n\
00112 MSG: pr2_gripper_sensor_msgs/PR2GripperGrabGoal\n\
00113 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00114 #goal\n\
00115 PR2GripperGrabCommand command\n\
00116 \n\
00117 ================================================================================\n\
00118 MSG: pr2_gripper_sensor_msgs/PR2GripperGrabCommand\n\
00119 # The gain to use to evaluate how hard an object should be\n\
00120 # grasped after it is contacted. This is based on hardness\n\
00121 # estimation as outlined in TRO paper (see wiki).\n\
00122 # \n\
00123 # Try 0.03\n\
00124 #\n\
00125 # Units (N/(m/s^2))\n\
00126 float64 hardness_gain\n\
00127 \n\
00128 ================================================================================\n\
00129 MSG: pr2_gripper_sensor_msgs/PR2GripperGrabActionResult\n\
00130 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00131 \n\
00132 Header header\n\
00133 actionlib_msgs/GoalStatus status\n\
00134 PR2GripperGrabResult result\n\
00135 \n\
00136 ================================================================================\n\
00137 MSG: actionlib_msgs/GoalStatus\n\
00138 GoalID goal_id\n\
00139 uint8 status\n\
00140 uint8 PENDING = 0 # The goal has yet to be processed by the action server\n\
00141 uint8 ACTIVE = 1 # The goal is currently being processed by the action server\n\
00142 uint8 PREEMPTED = 2 # The goal received a cancel request after it started executing\n\
00143 # and has since completed its execution (Terminal State)\n\
00144 uint8 SUCCEEDED = 3 # The goal was achieved successfully by the action server (Terminal State)\n\
00145 uint8 ABORTED = 4 # The goal was aborted during execution by the action server due\n\
00146 # to some failure (Terminal State)\n\
00147 uint8 REJECTED = 5 # The goal was rejected by the action server without being processed,\n\
00148 # because the goal was unattainable or invalid (Terminal State)\n\
00149 uint8 PREEMPTING = 6 # The goal received a cancel request after it started executing\n\
00150 # and has not yet completed execution\n\
00151 uint8 RECALLING = 7 # The goal received a cancel request before it started executing,\n\
00152 # but the action server has not yet confirmed that the goal is canceled\n\
00153 uint8 RECALLED = 8 # The goal received a cancel request before it started executing\n\
00154 # and was successfully cancelled (Terminal State)\n\
00155 uint8 LOST = 9 # An action client can determine that a goal is LOST. This should not be\n\
00156 # sent over the wire by an action server\n\
00157 \n\
00158 #Allow for the user to associate a string with GoalStatus for debugging\n\
00159 string text\n\
00160 \n\
00161 \n\
00162 ================================================================================\n\
00163 MSG: pr2_gripper_sensor_msgs/PR2GripperGrabResult\n\
00164 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00165 #result\n\
00166 PR2GripperGrabData data\n\
00167 \n\
00168 ================================================================================\n\
00169 MSG: pr2_gripper_sensor_msgs/PR2GripperGrabData\n\
00170 # the control state of our realtime controller\n\
00171 PR2GripperSensorRTState rtstate\n\
00172 ================================================================================\n\
00173 MSG: pr2_gripper_sensor_msgs/PR2GripperSensorRTState\n\
00174 # the control state of our realtime controller\n\
00175 int8 realtime_controller_state\n\
00176 \n\
00177 # predefined values to indicate our realtime_controller_state\n\
00178 int8 DISABLED = 0\n\
00179 int8 POSITION_SERVO = 3\n\
00180 int8 FORCE_SERVO = 4\n\
00181 int8 FIND_CONTACT = 5\n\
00182 int8 SLIP_SERVO = 6\n\
00183 ================================================================================\n\
00184 MSG: pr2_gripper_sensor_msgs/PR2GripperGrabActionFeedback\n\
00185 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00186 \n\
00187 Header header\n\
00188 actionlib_msgs/GoalStatus status\n\
00189 PR2GripperGrabFeedback feedback\n\
00190 \n\
00191 ================================================================================\n\
00192 MSG: pr2_gripper_sensor_msgs/PR2GripperGrabFeedback\n\
00193 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00194 \n\
00195 #feedback\n\
00196 PR2GripperGrabData data\n\
00197 \n\
00198 \n\
00199 "; }
00200 public:
00201 ROS_DEPRECATED static const std::string __s_getMessageDefinition() { return __s_getMessageDefinition_(); }
00202
00203 ROS_DEPRECATED const std::string __getMessageDefinition() const { return __s_getMessageDefinition_(); }
00204
00205 ROS_DEPRECATED virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const
00206 {
00207 ros::serialization::OStream stream(write_ptr, 1000000000);
00208 ros::serialization::serialize(stream, action_goal);
00209 ros::serialization::serialize(stream, action_result);
00210 ros::serialization::serialize(stream, action_feedback);
00211 return stream.getData();
00212 }
00213
00214 ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr)
00215 {
00216 ros::serialization::IStream stream(read_ptr, 1000000000);
00217 ros::serialization::deserialize(stream, action_goal);
00218 ros::serialization::deserialize(stream, action_result);
00219 ros::serialization::deserialize(stream, action_feedback);
00220 return stream.getData();
00221 }
00222
00223 ROS_DEPRECATED virtual uint32_t serializationLength() const
00224 {
00225 uint32_t size = 0;
00226 size += ros::serialization::serializationLength(action_goal);
00227 size += ros::serialization::serializationLength(action_result);
00228 size += ros::serialization::serializationLength(action_feedback);
00229 return size;
00230 }
00231
00232 typedef boost::shared_ptr< ::pr2_gripper_sensor_msgs::PR2GripperGrabAction_<ContainerAllocator> > Ptr;
00233 typedef boost::shared_ptr< ::pr2_gripper_sensor_msgs::PR2GripperGrabAction_<ContainerAllocator> const> ConstPtr;
00234 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00235 };
00236 typedef ::pr2_gripper_sensor_msgs::PR2GripperGrabAction_<std::allocator<void> > PR2GripperGrabAction;
00237
00238 typedef boost::shared_ptr< ::pr2_gripper_sensor_msgs::PR2GripperGrabAction> PR2GripperGrabActionPtr;
00239 typedef boost::shared_ptr< ::pr2_gripper_sensor_msgs::PR2GripperGrabAction const> PR2GripperGrabActionConstPtr;
00240
00241
00242 template<typename ContainerAllocator>
00243 std::ostream& operator<<(std::ostream& s, const ::pr2_gripper_sensor_msgs::PR2GripperGrabAction_<ContainerAllocator> & v)
00244 {
00245 ros::message_operations::Printer< ::pr2_gripper_sensor_msgs::PR2GripperGrabAction_<ContainerAllocator> >::stream(s, "", v);
00246 return s;}
00247
00248 }
00249
00250 namespace ros
00251 {
00252 namespace message_traits
00253 {
00254 template<class ContainerAllocator> struct IsMessage< ::pr2_gripper_sensor_msgs::PR2GripperGrabAction_<ContainerAllocator> > : public TrueType {};
00255 template<class ContainerAllocator> struct IsMessage< ::pr2_gripper_sensor_msgs::PR2GripperGrabAction_<ContainerAllocator> const> : public TrueType {};
00256 template<class ContainerAllocator>
00257 struct MD5Sum< ::pr2_gripper_sensor_msgs::PR2GripperGrabAction_<ContainerAllocator> > {
00258 static const char* value()
00259 {
00260 return "f467562414aabe5b90666be976b0c379";
00261 }
00262
00263 static const char* value(const ::pr2_gripper_sensor_msgs::PR2GripperGrabAction_<ContainerAllocator> &) { return value(); }
00264 static const uint64_t static_value1 = 0xf467562414aabe5bULL;
00265 static const uint64_t static_value2 = 0x90666be976b0c379ULL;
00266 };
00267
00268 template<class ContainerAllocator>
00269 struct DataType< ::pr2_gripper_sensor_msgs::PR2GripperGrabAction_<ContainerAllocator> > {
00270 static const char* value()
00271 {
00272 return "pr2_gripper_sensor_msgs/PR2GripperGrabAction";
00273 }
00274
00275 static const char* value(const ::pr2_gripper_sensor_msgs::PR2GripperGrabAction_<ContainerAllocator> &) { return value(); }
00276 };
00277
00278 template<class ContainerAllocator>
00279 struct Definition< ::pr2_gripper_sensor_msgs::PR2GripperGrabAction_<ContainerAllocator> > {
00280 static const char* value()
00281 {
00282 return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00283 \n\
00284 PR2GripperGrabActionGoal action_goal\n\
00285 PR2GripperGrabActionResult action_result\n\
00286 PR2GripperGrabActionFeedback action_feedback\n\
00287 \n\
00288 ================================================================================\n\
00289 MSG: pr2_gripper_sensor_msgs/PR2GripperGrabActionGoal\n\
00290 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00291 \n\
00292 Header header\n\
00293 actionlib_msgs/GoalID goal_id\n\
00294 PR2GripperGrabGoal goal\n\
00295 \n\
00296 ================================================================================\n\
00297 MSG: std_msgs/Header\n\
00298 # Standard metadata for higher-level stamped data types.\n\
00299 # This is generally used to communicate timestamped data \n\
00300 # in a particular coordinate frame.\n\
00301 # \n\
00302 # sequence ID: consecutively increasing ID \n\
00303 uint32 seq\n\
00304 #Two-integer timestamp that is expressed as:\n\
00305 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00306 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00307 # time-handling sugar is provided by the client library\n\
00308 time stamp\n\
00309 #Frame this data is associated with\n\
00310 # 0: no frame\n\
00311 # 1: global frame\n\
00312 string frame_id\n\
00313 \n\
00314 ================================================================================\n\
00315 MSG: actionlib_msgs/GoalID\n\
00316 # The stamp should store the time at which this goal was requested.\n\
00317 # It is used by an action server when it tries to preempt all\n\
00318 # goals that were requested before a certain time\n\
00319 time stamp\n\
00320 \n\
00321 # The id provides a way to associate feedback and\n\
00322 # result message with specific goal requests. The id\n\
00323 # specified must be unique.\n\
00324 string id\n\
00325 \n\
00326 \n\
00327 ================================================================================\n\
00328 MSG: pr2_gripper_sensor_msgs/PR2GripperGrabGoal\n\
00329 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00330 #goal\n\
00331 PR2GripperGrabCommand command\n\
00332 \n\
00333 ================================================================================\n\
00334 MSG: pr2_gripper_sensor_msgs/PR2GripperGrabCommand\n\
00335 # The gain to use to evaluate how hard an object should be\n\
00336 # grasped after it is contacted. This is based on hardness\n\
00337 # estimation as outlined in TRO paper (see wiki).\n\
00338 # \n\
00339 # Try 0.03\n\
00340 #\n\
00341 # Units (N/(m/s^2))\n\
00342 float64 hardness_gain\n\
00343 \n\
00344 ================================================================================\n\
00345 MSG: pr2_gripper_sensor_msgs/PR2GripperGrabActionResult\n\
00346 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00347 \n\
00348 Header header\n\
00349 actionlib_msgs/GoalStatus status\n\
00350 PR2GripperGrabResult result\n\
00351 \n\
00352 ================================================================================\n\
00353 MSG: actionlib_msgs/GoalStatus\n\
00354 GoalID goal_id\n\
00355 uint8 status\n\
00356 uint8 PENDING = 0 # The goal has yet to be processed by the action server\n\
00357 uint8 ACTIVE = 1 # The goal is currently being processed by the action server\n\
00358 uint8 PREEMPTED = 2 # The goal received a cancel request after it started executing\n\
00359 # and has since completed its execution (Terminal State)\n\
00360 uint8 SUCCEEDED = 3 # The goal was achieved successfully by the action server (Terminal State)\n\
00361 uint8 ABORTED = 4 # The goal was aborted during execution by the action server due\n\
00362 # to some failure (Terminal State)\n\
00363 uint8 REJECTED = 5 # The goal was rejected by the action server without being processed,\n\
00364 # because the goal was unattainable or invalid (Terminal State)\n\
00365 uint8 PREEMPTING = 6 # The goal received a cancel request after it started executing\n\
00366 # and has not yet completed execution\n\
00367 uint8 RECALLING = 7 # The goal received a cancel request before it started executing,\n\
00368 # but the action server has not yet confirmed that the goal is canceled\n\
00369 uint8 RECALLED = 8 # The goal received a cancel request before it started executing\n\
00370 # and was successfully cancelled (Terminal State)\n\
00371 uint8 LOST = 9 # An action client can determine that a goal is LOST. This should not be\n\
00372 # sent over the wire by an action server\n\
00373 \n\
00374 #Allow for the user to associate a string with GoalStatus for debugging\n\
00375 string text\n\
00376 \n\
00377 \n\
00378 ================================================================================\n\
00379 MSG: pr2_gripper_sensor_msgs/PR2GripperGrabResult\n\
00380 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00381 #result\n\
00382 PR2GripperGrabData data\n\
00383 \n\
00384 ================================================================================\n\
00385 MSG: pr2_gripper_sensor_msgs/PR2GripperGrabData\n\
00386 # the control state of our realtime controller\n\
00387 PR2GripperSensorRTState rtstate\n\
00388 ================================================================================\n\
00389 MSG: pr2_gripper_sensor_msgs/PR2GripperSensorRTState\n\
00390 # the control state of our realtime controller\n\
00391 int8 realtime_controller_state\n\
00392 \n\
00393 # predefined values to indicate our realtime_controller_state\n\
00394 int8 DISABLED = 0\n\
00395 int8 POSITION_SERVO = 3\n\
00396 int8 FORCE_SERVO = 4\n\
00397 int8 FIND_CONTACT = 5\n\
00398 int8 SLIP_SERVO = 6\n\
00399 ================================================================================\n\
00400 MSG: pr2_gripper_sensor_msgs/PR2GripperGrabActionFeedback\n\
00401 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00402 \n\
00403 Header header\n\
00404 actionlib_msgs/GoalStatus status\n\
00405 PR2GripperGrabFeedback feedback\n\
00406 \n\
00407 ================================================================================\n\
00408 MSG: pr2_gripper_sensor_msgs/PR2GripperGrabFeedback\n\
00409 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00410 \n\
00411 #feedback\n\
00412 PR2GripperGrabData data\n\
00413 \n\
00414 \n\
00415 ";
00416 }
00417
00418 static const char* value(const ::pr2_gripper_sensor_msgs::PR2GripperGrabAction_<ContainerAllocator> &) { return value(); }
00419 };
00420
00421 }
00422 }
00423
00424 namespace ros
00425 {
00426 namespace serialization
00427 {
00428
00429 template<class ContainerAllocator> struct Serializer< ::pr2_gripper_sensor_msgs::PR2GripperGrabAction_<ContainerAllocator> >
00430 {
00431 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00432 {
00433 stream.next(m.action_goal);
00434 stream.next(m.action_result);
00435 stream.next(m.action_feedback);
00436 }
00437
00438 ROS_DECLARE_ALLINONE_SERIALIZER;
00439 };
00440 }
00441 }
00442
00443 namespace ros
00444 {
00445 namespace message_operations
00446 {
00447
00448 template<class ContainerAllocator>
00449 struct Printer< ::pr2_gripper_sensor_msgs::PR2GripperGrabAction_<ContainerAllocator> >
00450 {
00451 template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::pr2_gripper_sensor_msgs::PR2GripperGrabAction_<ContainerAllocator> & v)
00452 {
00453 s << indent << "action_goal: ";
00454 s << std::endl;
00455 Printer< ::pr2_gripper_sensor_msgs::PR2GripperGrabActionGoal_<ContainerAllocator> >::stream(s, indent + " ", v.action_goal);
00456 s << indent << "action_result: ";
00457 s << std::endl;
00458 Printer< ::pr2_gripper_sensor_msgs::PR2GripperGrabActionResult_<ContainerAllocator> >::stream(s, indent + " ", v.action_result);
00459 s << indent << "action_feedback: ";
00460 s << std::endl;
00461 Printer< ::pr2_gripper_sensor_msgs::PR2GripperGrabActionFeedback_<ContainerAllocator> >::stream(s, indent + " ", v.action_feedback);
00462 }
00463 };
00464
00465
00466 }
00467 }
00468
00469 #endif // PR2_GRIPPER_SENSOR_MSGS_MESSAGE_PR2GRIPPERGRABACTION_H
00470
