riq_msgs: RIQHandState.h Source File

00001 /* Auto-generated by genmsg_cpp for file /tmp/buildd/ros-diamondback-riq-hand-0.1.1/debian/ros-diamondback-riq-hand/opt/ros/diamondback/stacks/riq_hand/riq_msgs/msg/RIQHandState.msg */
00002 #ifndef RIQ_MSGS_MESSAGE_RIQHANDSTATE_H
00003 #define RIQ_MSGS_MESSAGE_RIQHANDSTATE_H
00004 #include <string>
00005 #include <vector>
00006 #include <ostream>
00007 #include "ros/serialization.h"
00008 #include "ros/builtin_message_traits.h"
00009 #include "ros/message_operations.h"
00010 #include "ros/message.h"
00011 #include "ros/time.h"
00012 
00013 #include "riq_msgs/RIQActuatorState.h"
00014 #include "riq_msgs/RIQActuatorState.h"
00015 #include "riq_msgs/RIQActuatorState.h"
00016 #include "riq_msgs/RIQActuatorState.h"
00017 
00018 namespace riq_msgs
00019 {
00020 template <class ContainerAllocator>
00021 struct RIQHandState_ : public ros::Message
00022 {
00023   typedef RIQHandState_<ContainerAllocator> Type;
00024 
00025   RIQHandState_()
00026   : operational(false)
00027   , status(0)
00028   , mode(0)
00029   , grip(0)
00030   , object(0)
00031   , thumb()
00032   , right_finger()
00033   , left_finger()
00034   , scissors()
00035   {
00036   }
00037 
00038   RIQHandState_(const ContainerAllocator& _alloc)
00039   : operational(false)
00040   , status(0)
00041   , mode(0)
00042   , grip(0)
00043   , object(0)
00044   , thumb(_alloc)
00045   , right_finger(_alloc)
00046   , left_finger(_alloc)
00047   , scissors(_alloc)
00048   {
00049   }
00050 
00051   typedef uint8_t _operational_type;
00052   uint8_t operational;
00053 
00054   typedef int8_t _status_type;
00055   int8_t status;
00056 
00057   typedef int8_t _mode_type;
00058   int8_t mode;
00059 
00060   typedef int8_t _grip_type;
00061   int8_t grip;
00062 
00063   typedef int8_t _object_type;
00064   int8_t object;
00065 
00066   typedef  ::riq_msgs::RIQActuatorState_<ContainerAllocator>  _thumb_type;
00067    ::riq_msgs::RIQActuatorState_<ContainerAllocator>  thumb;
00068 
00069   typedef  ::riq_msgs::RIQActuatorState_<ContainerAllocator>  _right_finger_type;
00070    ::riq_msgs::RIQActuatorState_<ContainerAllocator>  right_finger;
00071 
00072   typedef  ::riq_msgs::RIQActuatorState_<ContainerAllocator>  _left_finger_type;
00073    ::riq_msgs::RIQActuatorState_<ContainerAllocator>  left_finger;
00074 
00075   typedef  ::riq_msgs::RIQActuatorState_<ContainerAllocator>  _scissors_type;
00076    ::riq_msgs::RIQActuatorState_<ContainerAllocator>  scissors;
00077 
00078   enum { FAULTED = 0 };
00079   enum { IN_PROGRESS = 1 };
00080   enum { ILLEGAL_OR_UNDEFINED = 2 };
00081   enum { SUCCESSFUL = 3 };
00082   enum { CYLINDRICAL = 0 };
00083   enum { PINCH = 1 };
00084   enum { SPHERIOD = 2 };
00085   enum { SCISSORS = 3 };
00086   enum { STOPPED = 0 };
00087   enum { OPENED = 1 };
00088   enum { CLOSED = 2 };
00089   enum { INITIALIZING_OR_CHANGING = 3 };
00090   enum { NOT_DETECTED = 0 };
00091   enum { DETECTED_1_FINGER = 1 };
00092   enum { DETECTED_2_FINGERS = 2 };
00093   enum { DETECTED_ALL_FINGERS = 3 };
00094 
00095 private:
00096   static const char* __s_getDataType_() { return "riq_msgs/RIQHandState"; }
00097 public:
00098   ROS_DEPRECATED static const std::string __s_getDataType() { return __s_getDataType_(); }
00099 
00100   ROS_DEPRECATED const std::string __getDataType() const { return __s_getDataType_(); }
00101 
00102 private:
00103   static const char* __s_getMD5Sum_() { return "3ab70f8c0e9b67b0db99e45af2360afc"; }
00104 public:
00105   ROS_DEPRECATED static const std::string __s_getMD5Sum() { return __s_getMD5Sum_(); }
00106 
00107   ROS_DEPRECATED const std::string __getMD5Sum() const { return __s_getMD5Sum_(); }
00108 
00109 private:
00110   static const char* __s_getMessageDefinition_() { return "# ROS state information from RobotIQ hand\n\
00111 \n\
00112 # Action status\n\
00113 int8 FAULTED              = 0\n\
00114 int8 IN_PROGRESS          = 1\n\
00115 int8 ILLEGAL_OR_UNDEFINED = 2\n\
00116 int8 SUCCESSFUL           = 3\n\
00117 \n\
00118 # Mode constants\n\
00119 int8 CYLINDRICAL = 0\n\
00120 int8 PINCH       = 1\n\
00121 int8 SPHERIOD    = 2\n\
00122 int8 SCISSORS    = 3\n\
00123 \n\
00124 # Grip\n\
00125 int8 STOPPED   = 0\n\
00126 int8 OPENED    = 1\n\
00127 int8 CLOSED    = 2\n\
00128 int8 INITIALIZING_OR_CHANGING = 3\n\
00129 \n\
00130 # Object detection status\n\
00131 int8 NOT_DETECTED         = 0\n\
00132 int8 DETECTED_1_FINGER    = 1\n\
00133 int8 DETECTED_2_FINGERS   = 2\n\
00134 int8 DETECTED_ALL_FINGERS = 3\n\
00135 \n\
00136 \n\
00137 bool    operational  # True when RIQ hand is operational, \n\
00138                      # False if there is an error, or hand has not been initialized\n\
00139 \n\
00140 int8    status       # Result of last requested action\n\
00141                      #  SUCCESSFULL, FAULTED, IN_PROGRESS, ILLEGAL_OR_UNDEFINED\n\
00142 \n\
00143 int8    mode         # Mode gripper is curretly in:     \n\
00144                      #  PINCH, CYLINDRICAL, SPHERIOD, SCISSORS \n\
00145 \n\
00146 int8    grip         # Grip\n\
00147                      #  CLOSED, OPEN, STOPPED, INTIALIZING_OR_CHANGING\n\
00148 \n\
00149 int8    object       # Object detection\n\
00150                      #  NOT_DETECTED, DETECTED_1_FINGER, DETECTED_2_FINGERS, DETECTED_ALL_FINGERS\n\
00151 \n\
00152 RIQActuatorState thumb\n\
00153 RIQActuatorState right_finger\n\
00154 RIQActuatorState left_finger\n\
00155 RIQActuatorState scissors      # Scissors is joint motor between right and left finger\n\
00156 ================================================================================\n\
00157 MSG: riq_msgs/RIQActuatorState\n\
00158 # ROS state information for RobotIQ actuator.\n\
00159 \n\
00160 # Measured motor current (in Amps)\n\
00161 float64 current\n\
00162 \n\
00163 # Motor position range from (0.0 to 1.0)\n\
00164 float64 position\n\
00165 \n\
00166 # True when finger / actuator detected an object\n\
00167 bool object_detected\n\
00168 "; }
00169 public:
00170   ROS_DEPRECATED static const std::string __s_getMessageDefinition() { return __s_getMessageDefinition_(); }
00171 
00172   ROS_DEPRECATED const std::string __getMessageDefinition() const { return __s_getMessageDefinition_(); }
00173 
00174   ROS_DEPRECATED virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const
00175   {
00176     ros::serialization::OStream stream(write_ptr, 1000000000);
00177     ros::serialization::serialize(stream, operational);
00178     ros::serialization::serialize(stream, status);
00179     ros::serialization::serialize(stream, mode);
00180     ros::serialization::serialize(stream, grip);
00181     ros::serialization::serialize(stream, object);
00182     ros::serialization::serialize(stream, thumb);
00183     ros::serialization::serialize(stream, right_finger);
00184     ros::serialization::serialize(stream, left_finger);
00185     ros::serialization::serialize(stream, scissors);
00186     return stream.getData();
00187   }
00188 
00189   ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr)
00190   {
00191     ros::serialization::IStream stream(read_ptr, 1000000000);
00192     ros::serialization::deserialize(stream, operational);
00193     ros::serialization::deserialize(stream, status);
00194     ros::serialization::deserialize(stream, mode);
00195     ros::serialization::deserialize(stream, grip);
00196     ros::serialization::deserialize(stream, object);
00197     ros::serialization::deserialize(stream, thumb);
00198     ros::serialization::deserialize(stream, right_finger);
00199     ros::serialization::deserialize(stream, left_finger);
00200     ros::serialization::deserialize(stream, scissors);
00201     return stream.getData();
00202   }
00203 
00204   ROS_DEPRECATED virtual uint32_t serializationLength() const
00205   {
00206     uint32_t size = 0;
00207     size += ros::serialization::serializationLength(operational);
00208     size += ros::serialization::serializationLength(status);
00209     size += ros::serialization::serializationLength(mode);
00210     size += ros::serialization::serializationLength(grip);
00211     size += ros::serialization::serializationLength(object);
00212     size += ros::serialization::serializationLength(thumb);
00213     size += ros::serialization::serializationLength(right_finger);
00214     size += ros::serialization::serializationLength(left_finger);
00215     size += ros::serialization::serializationLength(scissors);
00216     return size;
00217   }
00218 
00219   typedef boost::shared_ptr< ::riq_msgs::RIQHandState_<ContainerAllocator> > Ptr;
00220   typedef boost::shared_ptr< ::riq_msgs::RIQHandState_<ContainerAllocator>  const> ConstPtr;
00221 }; // struct RIQHandState
00222 typedef  ::riq_msgs::RIQHandState_<std::allocator<void> > RIQHandState;
00223 
00224 typedef boost::shared_ptr< ::riq_msgs::RIQHandState> RIQHandStatePtr;
00225 typedef boost::shared_ptr< ::riq_msgs::RIQHandState const> RIQHandStateConstPtr;
00226 
00227 
00228 template<typename ContainerAllocator>
00229 std::ostream& operator<<(std::ostream& s, const  ::riq_msgs::RIQHandState_<ContainerAllocator> & v)
00230 {
00231   ros::message_operations::Printer< ::riq_msgs::RIQHandState_<ContainerAllocator> >::stream(s, "", v);
00232   return s;}
00233 
00234 } // namespace riq_msgs
00235 
00236 namespace ros
00237 {
00238 namespace message_traits
00239 {
00240 template<class ContainerAllocator>
00241 struct MD5Sum< ::riq_msgs::RIQHandState_<ContainerAllocator> > {
00242   static const char* value() 
00243   {
00244     return "3ab70f8c0e9b67b0db99e45af2360afc";
00245   }
00246 
00247   static const char* value(const  ::riq_msgs::RIQHandState_<ContainerAllocator> &) { return value(); } 
00248   static const uint64_t static_value1 = 0x3ab70f8c0e9b67b0ULL;
00249   static const uint64_t static_value2 = 0xdb99e45af2360afcULL;
00250 };
00251 
00252 template<class ContainerAllocator>
00253 struct DataType< ::riq_msgs::RIQHandState_<ContainerAllocator> > {
00254   static const char* value() 
00255   {
00256     return "riq_msgs/RIQHandState";
00257   }
00258 
00259   static const char* value(const  ::riq_msgs::RIQHandState_<ContainerAllocator> &) { return value(); } 
00260 };
00261 
00262 template<class ContainerAllocator>
00263 struct Definition< ::riq_msgs::RIQHandState_<ContainerAllocator> > {
00264   static const char* value() 
00265   {
00266     return "# ROS state information from RobotIQ hand\n\
00267 \n\
00268 # Action status\n\
00269 int8 FAULTED              = 0\n\
00270 int8 IN_PROGRESS          = 1\n\
00271 int8 ILLEGAL_OR_UNDEFINED = 2\n\
00272 int8 SUCCESSFUL           = 3\n\
00273 \n\
00274 # Mode constants\n\
00275 int8 CYLINDRICAL = 0\n\
00276 int8 PINCH       = 1\n\
00277 int8 SPHERIOD    = 2\n\
00278 int8 SCISSORS    = 3\n\
00279 \n\
00280 # Grip\n\
00281 int8 STOPPED   = 0\n\
00282 int8 OPENED    = 1\n\
00283 int8 CLOSED    = 2\n\
00284 int8 INITIALIZING_OR_CHANGING = 3\n\
00285 \n\
00286 # Object detection status\n\
00287 int8 NOT_DETECTED         = 0\n\
00288 int8 DETECTED_1_FINGER    = 1\n\
00289 int8 DETECTED_2_FINGERS   = 2\n\
00290 int8 DETECTED_ALL_FINGERS = 3\n\
00291 \n\
00292 \n\
00293 bool    operational  # True when RIQ hand is operational, \n\
00294                      # False if there is an error, or hand has not been initialized\n\
00295 \n\
00296 int8    status       # Result of last requested action\n\
00297                      #  SUCCESSFULL, FAULTED, IN_PROGRESS, ILLEGAL_OR_UNDEFINED\n\
00298 \n\
00299 int8    mode         # Mode gripper is curretly in:     \n\
00300                      #  PINCH, CYLINDRICAL, SPHERIOD, SCISSORS \n\
00301 \n\
00302 int8    grip         # Grip\n\
00303                      #  CLOSED, OPEN, STOPPED, INTIALIZING_OR_CHANGING\n\
00304 \n\
00305 int8    object       # Object detection\n\
00306                      #  NOT_DETECTED, DETECTED_1_FINGER, DETECTED_2_FINGERS, DETECTED_ALL_FINGERS\n\
00307 \n\
00308 RIQActuatorState thumb\n\
00309 RIQActuatorState right_finger\n\
00310 RIQActuatorState left_finger\n\
00311 RIQActuatorState scissors      # Scissors is joint motor between right and left finger\n\
00312 ================================================================================\n\
00313 MSG: riq_msgs/RIQActuatorState\n\
00314 # ROS state information for RobotIQ actuator.\n\
00315 \n\
00316 # Measured motor current (in Amps)\n\
00317 float64 current\n\
00318 \n\
00319 # Motor position range from (0.0 to 1.0)\n\
00320 float64 position\n\
00321 \n\
00322 # True when finger / actuator detected an object\n\
00323 bool object_detected\n\
00324 ";
00325   }
00326 
00327   static const char* value(const  ::riq_msgs::RIQHandState_<ContainerAllocator> &) { return value(); } 
00328 };
00329 
00330 template<class ContainerAllocator> struct IsFixedSize< ::riq_msgs::RIQHandState_<ContainerAllocator> > : public TrueType {};
00331 } // namespace message_traits
00332 } // namespace ros
00333 
00334 namespace ros
00335 {
00336 namespace serialization
00337 {
00338 
00339 template<class ContainerAllocator> struct Serializer< ::riq_msgs::RIQHandState_<ContainerAllocator> >
00340 {
00341   template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00342   {
00343     stream.next(m.operational);
00344     stream.next(m.status);
00345     stream.next(m.mode);
00346     stream.next(m.grip);
00347     stream.next(m.object);
00348     stream.next(m.thumb);
00349     stream.next(m.right_finger);
00350     stream.next(m.left_finger);
00351     stream.next(m.scissors);
00352   }
00353 
00354   ROS_DECLARE_ALLINONE_SERIALIZER;
00355 }; // struct RIQHandState_
00356 } // namespace serialization
00357 } // namespace ros
00358 
00359 namespace ros
00360 {
00361 namespace message_operations
00362 {
00363 
00364 template<class ContainerAllocator>
00365 struct Printer< ::riq_msgs::RIQHandState_<ContainerAllocator> >
00366 {
00367   template<typename Stream> static void stream(Stream& s, const std::string& indent, const  ::riq_msgs::RIQHandState_<ContainerAllocator> & v) 
00368   {
00369     s << indent << "operational: ";
00370     Printer<uint8_t>::stream(s, indent + "  ", v.operational);
00371     s << indent << "status: ";
00372     Printer<int8_t>::stream(s, indent + "  ", v.status);
00373     s << indent << "mode: ";
00374     Printer<int8_t>::stream(s, indent + "  ", v.mode);
00375     s << indent << "grip: ";
00376     Printer<int8_t>::stream(s, indent + "  ", v.grip);
00377     s << indent << "object: ";
00378     Printer<int8_t>::stream(s, indent + "  ", v.object);
00379     s << indent << "thumb: ";
00380 s << std::endl;
00381     Printer< ::riq_msgs::RIQActuatorState_<ContainerAllocator> >::stream(s, indent + "  ", v.thumb);
00382     s << indent << "right_finger: ";
00383 s << std::endl;
00384     Printer< ::riq_msgs::RIQActuatorState_<ContainerAllocator> >::stream(s, indent + "  ", v.right_finger);
00385     s << indent << "left_finger: ";
00386 s << std::endl;
00387     Printer< ::riq_msgs::RIQActuatorState_<ContainerAllocator> >::stream(s, indent + "  ", v.left_finger);
00388     s << indent << "scissors: ";
00389 s << std::endl;
00390     Printer< ::riq_msgs::RIQActuatorState_<ContainerAllocator> >::stream(s, indent + "  ", v.scissors);
00391   }
00392 };
00393 
00394 
00395 } // namespace message_operations
00396 } // namespace ros
00397 
00398 #endif // RIQ_MSGS_MESSAGE_RIQHANDSTATE_H
00399