00001
00002 #ifndef PR2_GRIPPER_SENSOR_MSGS_MESSAGE_PR2GRIPPEREVENTDETECTORACTION_H
00003 #define PR2_GRIPPER_SENSOR_MSGS_MESSAGE_PR2GRIPPEREVENTDETECTORACTION_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/PR2GripperEventDetectorActionGoal.h"
00018 #include "pr2_gripper_sensor_msgs/PR2GripperEventDetectorActionResult.h"
00019 #include "pr2_gripper_sensor_msgs/PR2GripperEventDetectorActionFeedback.h"
00020
00021 namespace pr2_gripper_sensor_msgs
00022 {
00023 template <class ContainerAllocator>
00024 struct PR2GripperEventDetectorAction_ {
00025 typedef PR2GripperEventDetectorAction_<ContainerAllocator> Type;
00026
00027 PR2GripperEventDetectorAction_()
00028 : action_goal()
00029 , action_result()
00030 , action_feedback()
00031 {
00032 }
00033
00034 PR2GripperEventDetectorAction_(const ContainerAllocator& _alloc)
00035 : action_goal(_alloc)
00036 , action_result(_alloc)
00037 , action_feedback(_alloc)
00038 {
00039 }
00040
00041 typedef ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorActionGoal_<ContainerAllocator> _action_goal_type;
00042 ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorActionGoal_<ContainerAllocator> action_goal;
00043
00044 typedef ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorActionResult_<ContainerAllocator> _action_result_type;
00045 ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorActionResult_<ContainerAllocator> action_result;
00046
00047 typedef ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorActionFeedback_<ContainerAllocator> _action_feedback_type;
00048 ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorActionFeedback_<ContainerAllocator> action_feedback;
00049
00050
00051 private:
00052 static const char* __s_getDataType_() { return "pr2_gripper_sensor_msgs/PR2GripperEventDetectorAction"; }
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 "d4e2ee2d04e941280f34bdb366daa9a4"; }
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 PR2GripperEventDetectorActionGoal action_goal\n\
00069 PR2GripperEventDetectorActionResult action_result\n\
00070 PR2GripperEventDetectorActionFeedback action_feedback\n\
00071 \n\
00072 ================================================================================\n\
00073 MSG: pr2_gripper_sensor_msgs/PR2GripperEventDetectorActionGoal\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 PR2GripperEventDetectorGoal 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/PR2GripperEventDetectorGoal\n\
00113 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00114 # Event Detector action used to tell detect events happening on the \n\
00115 # palm mounted accelerometer and finger pressure sensors\n\
00116 \n\
00117 #goal\n\
00118 PR2GripperEventDetectorCommand command\n\
00119 \n\
00120 ================================================================================\n\
00121 MSG: pr2_gripper_sensor_msgs/PR2GripperEventDetectorCommand\n\
00122 # state variable that defines what events we would like to trigger on\n\
00123 # Leaving this field blank will result in the robot triggering when \n\
00124 # anything touches the sides of the finger or an impact is detected\n\
00125 # with the hand/arm.\n\
00126 int8 trigger_conditions\n\
00127 # definitions for our various trigger_conditions values\n\
00128 # trigger on either acceleration contact or finger sensor side impact\n\
00129 int8 FINGER_SIDE_IMPACT_OR_ACC = 0\n\
00130 # tigger once both slip and acceleration signals occur\n\
00131 int8 SLIP_AND_ACC = 1 \n\
00132 # trigger on either slip, acceleration, or finger sensor side impact\n\
00133 int8 FINGER_SIDE_IMPACT_OR_SLIP_OR_ACC = 2\n\
00134 # trigger only on slip information\n\
00135 int8 SLIP = 3\n\
00136 # trigger only on acceleration contact information\n\
00137 int8 ACC = 4 \n\
00138 \n\
00139 \n\
00140 # the amount of acceleration to trigger on (acceleration vector magnitude)\n\
00141 # Units = m/s^2\n\
00142 # The user needs to be concerned here about not setting the trigger too\n\
00143 # low so that is set off by the robot's own motions.\n\
00144 #\n\
00145 # For large rapid motions, say by a motion planner, 5 m/s^2 is a good level\n\
00146 # For small delicate controlled motions this can be set MUCH lower (try 2.0)\n\
00147 #\n\
00148 # NOTE: When moving the gripper joint (opening/closing the grippr)\n\
00149 # the high gearing of the PR2 gripper causes large acceleration vibrations\n\
00150 # which will cause triggering to occur. This is a known drawback of the PR2.\n\
00151 #\n\
00152 # NOTE: Leaving this value blank will result in a 0 m/s^2 trigger. If you\n\
00153 # are using a trigger_conditions value that returns on acceleration contact\n\
00154 # events then it will immediately exceed your trigger and return\n\
00155 float64 acceleration_trigger_magnitude\n\
00156 \n\
00157 \n\
00158 # the slip detector gain to trigger on (either finger) : try 0.01\n\
00159 # higher values decrease slip sensitivty (to a point)\n\
00160 # lower values increase sensitivity (to a point)\n\
00161 #\n\
00162 # NOTE: Leaving this value blank will result in the most sensitive slip level.\n\
00163 float64 slip_trigger_magnitude\n\
00164 ================================================================================\n\
00165 MSG: pr2_gripper_sensor_msgs/PR2GripperEventDetectorActionResult\n\
00166 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00167 \n\
00168 Header header\n\
00169 actionlib_msgs/GoalStatus status\n\
00170 PR2GripperEventDetectorResult result\n\
00171 \n\
00172 ================================================================================\n\
00173 MSG: actionlib_msgs/GoalStatus\n\
00174 GoalID goal_id\n\
00175 uint8 status\n\
00176 uint8 PENDING = 0 # The goal has yet to be processed by the action server\n\
00177 uint8 ACTIVE = 1 # The goal is currently being processed by the action server\n\
00178 uint8 PREEMPTED = 2 # The goal received a cancel request after it started executing\n\
00179 # and has since completed its execution (Terminal State)\n\
00180 uint8 SUCCEEDED = 3 # The goal was achieved successfully by the action server (Terminal State)\n\
00181 uint8 ABORTED = 4 # The goal was aborted during execution by the action server due\n\
00182 # to some failure (Terminal State)\n\
00183 uint8 REJECTED = 5 # The goal was rejected by the action server without being processed,\n\
00184 # because the goal was unattainable or invalid (Terminal State)\n\
00185 uint8 PREEMPTING = 6 # The goal received a cancel request after it started executing\n\
00186 # and has not yet completed execution\n\
00187 uint8 RECALLING = 7 # The goal received a cancel request before it started executing,\n\
00188 # but the action server has not yet confirmed that the goal is canceled\n\
00189 uint8 RECALLED = 8 # The goal received a cancel request before it started executing\n\
00190 # and was successfully cancelled (Terminal State)\n\
00191 uint8 LOST = 9 # An action client can determine that a goal is LOST. This should not be\n\
00192 # sent over the wire by an action server\n\
00193 \n\
00194 #Allow for the user to associate a string with GoalStatus for debugging\n\
00195 string text\n\
00196 \n\
00197 \n\
00198 ================================================================================\n\
00199 MSG: pr2_gripper_sensor_msgs/PR2GripperEventDetectorResult\n\
00200 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00201 #results\n\
00202 PR2GripperEventDetectorData data\n\
00203 \n\
00204 ================================================================================\n\
00205 MSG: pr2_gripper_sensor_msgs/PR2GripperEventDetectorData\n\
00206 # Time the data was recorded at\n\
00207 time stamp\n\
00208 \n\
00209 # true if the trigger conditions have been met \n\
00210 # (see PR2GripperEventDetectorCommand)\n\
00211 bool trigger_conditions_met\n\
00212 \n\
00213 # true if the pressure sensors detected a slip event\n\
00214 # slip events occur when the finger pressure sensors\n\
00215 # high-freq. content exceeds the slip_trigger_magnitude variable\n\
00216 # (see PR2GripperEventDetectorCommand)\n\
00217 bool slip_event\n\
00218 \n\
00219 # true if the hand-mounted accelerometer detected a contact acceleration\n\
00220 # acceleration events occur when the palm accelerometer\n\
00221 # high-freq. content exceeds the acc_trigger_magnitude variable\n\
00222 # (see PR2GripperEventDetectorCommand)\n\
00223 bool acceleration_event\n\
00224 \n\
00225 # the high-freq acceleration vector that was last seen (x,y,z)\n\
00226 float64[3] acceleration_vector\n\
00227 ================================================================================\n\
00228 MSG: pr2_gripper_sensor_msgs/PR2GripperEventDetectorActionFeedback\n\
00229 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00230 \n\
00231 Header header\n\
00232 actionlib_msgs/GoalStatus status\n\
00233 PR2GripperEventDetectorFeedback feedback\n\
00234 \n\
00235 ================================================================================\n\
00236 MSG: pr2_gripper_sensor_msgs/PR2GripperEventDetectorFeedback\n\
00237 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00238 # feedback\n\
00239 PR2GripperEventDetectorData data\n\
00240 \n\
00241 \n\
00242 \n\
00243 "; }
00244 public:
00245 ROS_DEPRECATED static const std::string __s_getMessageDefinition() { return __s_getMessageDefinition_(); }
00246
00247 ROS_DEPRECATED const std::string __getMessageDefinition() const { return __s_getMessageDefinition_(); }
00248
00249 ROS_DEPRECATED virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const
00250 {
00251 ros::serialization::OStream stream(write_ptr, 1000000000);
00252 ros::serialization::serialize(stream, action_goal);
00253 ros::serialization::serialize(stream, action_result);
00254 ros::serialization::serialize(stream, action_feedback);
00255 return stream.getData();
00256 }
00257
00258 ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr)
00259 {
00260 ros::serialization::IStream stream(read_ptr, 1000000000);
00261 ros::serialization::deserialize(stream, action_goal);
00262 ros::serialization::deserialize(stream, action_result);
00263 ros::serialization::deserialize(stream, action_feedback);
00264 return stream.getData();
00265 }
00266
00267 ROS_DEPRECATED virtual uint32_t serializationLength() const
00268 {
00269 uint32_t size = 0;
00270 size += ros::serialization::serializationLength(action_goal);
00271 size += ros::serialization::serializationLength(action_result);
00272 size += ros::serialization::serializationLength(action_feedback);
00273 return size;
00274 }
00275
00276 typedef boost::shared_ptr< ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorAction_<ContainerAllocator> > Ptr;
00277 typedef boost::shared_ptr< ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorAction_<ContainerAllocator> const> ConstPtr;
00278 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00279 };
00280 typedef ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorAction_<std::allocator<void> > PR2GripperEventDetectorAction;
00281
00282 typedef boost::shared_ptr< ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorAction> PR2GripperEventDetectorActionPtr;
00283 typedef boost::shared_ptr< ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorAction const> PR2GripperEventDetectorActionConstPtr;
00284
00285
00286 template<typename ContainerAllocator>
00287 std::ostream& operator<<(std::ostream& s, const ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorAction_<ContainerAllocator> & v)
00288 {
00289 ros::message_operations::Printer< ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorAction_<ContainerAllocator> >::stream(s, "", v);
00290 return s;}
00291
00292 }
00293
00294 namespace ros
00295 {
00296 namespace message_traits
00297 {
00298 template<class ContainerAllocator> struct IsMessage< ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorAction_<ContainerAllocator> > : public TrueType {};
00299 template<class ContainerAllocator> struct IsMessage< ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorAction_<ContainerAllocator> const> : public TrueType {};
00300 template<class ContainerAllocator>
00301 struct MD5Sum< ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorAction_<ContainerAllocator> > {
00302 static const char* value()
00303 {
00304 return "d4e2ee2d04e941280f34bdb366daa9a4";
00305 }
00306
00307 static const char* value(const ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorAction_<ContainerAllocator> &) { return value(); }
00308 static const uint64_t static_value1 = 0xd4e2ee2d04e94128ULL;
00309 static const uint64_t static_value2 = 0x0f34bdb366daa9a4ULL;
00310 };
00311
00312 template<class ContainerAllocator>
00313 struct DataType< ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorAction_<ContainerAllocator> > {
00314 static const char* value()
00315 {
00316 return "pr2_gripper_sensor_msgs/PR2GripperEventDetectorAction";
00317 }
00318
00319 static const char* value(const ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorAction_<ContainerAllocator> &) { return value(); }
00320 };
00321
00322 template<class ContainerAllocator>
00323 struct Definition< ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorAction_<ContainerAllocator> > {
00324 static const char* value()
00325 {
00326 return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00327 \n\
00328 PR2GripperEventDetectorActionGoal action_goal\n\
00329 PR2GripperEventDetectorActionResult action_result\n\
00330 PR2GripperEventDetectorActionFeedback action_feedback\n\
00331 \n\
00332 ================================================================================\n\
00333 MSG: pr2_gripper_sensor_msgs/PR2GripperEventDetectorActionGoal\n\
00334 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00335 \n\
00336 Header header\n\
00337 actionlib_msgs/GoalID goal_id\n\
00338 PR2GripperEventDetectorGoal goal\n\
00339 \n\
00340 ================================================================================\n\
00341 MSG: std_msgs/Header\n\
00342 # Standard metadata for higher-level stamped data types.\n\
00343 # This is generally used to communicate timestamped data \n\
00344 # in a particular coordinate frame.\n\
00345 # \n\
00346 # sequence ID: consecutively increasing ID \n\
00347 uint32 seq\n\
00348 #Two-integer timestamp that is expressed as:\n\
00349 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00350 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00351 # time-handling sugar is provided by the client library\n\
00352 time stamp\n\
00353 #Frame this data is associated with\n\
00354 # 0: no frame\n\
00355 # 1: global frame\n\
00356 string frame_id\n\
00357 \n\
00358 ================================================================================\n\
00359 MSG: actionlib_msgs/GoalID\n\
00360 # The stamp should store the time at which this goal was requested.\n\
00361 # It is used by an action server when it tries to preempt all\n\
00362 # goals that were requested before a certain time\n\
00363 time stamp\n\
00364 \n\
00365 # The id provides a way to associate feedback and\n\
00366 # result message with specific goal requests. The id\n\
00367 # specified must be unique.\n\
00368 string id\n\
00369 \n\
00370 \n\
00371 ================================================================================\n\
00372 MSG: pr2_gripper_sensor_msgs/PR2GripperEventDetectorGoal\n\
00373 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00374 # Event Detector action used to tell detect events happening on the \n\
00375 # palm mounted accelerometer and finger pressure sensors\n\
00376 \n\
00377 #goal\n\
00378 PR2GripperEventDetectorCommand command\n\
00379 \n\
00380 ================================================================================\n\
00381 MSG: pr2_gripper_sensor_msgs/PR2GripperEventDetectorCommand\n\
00382 # state variable that defines what events we would like to trigger on\n\
00383 # Leaving this field blank will result in the robot triggering when \n\
00384 # anything touches the sides of the finger or an impact is detected\n\
00385 # with the hand/arm.\n\
00386 int8 trigger_conditions\n\
00387 # definitions for our various trigger_conditions values\n\
00388 # trigger on either acceleration contact or finger sensor side impact\n\
00389 int8 FINGER_SIDE_IMPACT_OR_ACC = 0\n\
00390 # tigger once both slip and acceleration signals occur\n\
00391 int8 SLIP_AND_ACC = 1 \n\
00392 # trigger on either slip, acceleration, or finger sensor side impact\n\
00393 int8 FINGER_SIDE_IMPACT_OR_SLIP_OR_ACC = 2\n\
00394 # trigger only on slip information\n\
00395 int8 SLIP = 3\n\
00396 # trigger only on acceleration contact information\n\
00397 int8 ACC = 4 \n\
00398 \n\
00399 \n\
00400 # the amount of acceleration to trigger on (acceleration vector magnitude)\n\
00401 # Units = m/s^2\n\
00402 # The user needs to be concerned here about not setting the trigger too\n\
00403 # low so that is set off by the robot's own motions.\n\
00404 #\n\
00405 # For large rapid motions, say by a motion planner, 5 m/s^2 is a good level\n\
00406 # For small delicate controlled motions this can be set MUCH lower (try 2.0)\n\
00407 #\n\
00408 # NOTE: When moving the gripper joint (opening/closing the grippr)\n\
00409 # the high gearing of the PR2 gripper causes large acceleration vibrations\n\
00410 # which will cause triggering to occur. This is a known drawback of the PR2.\n\
00411 #\n\
00412 # NOTE: Leaving this value blank will result in a 0 m/s^2 trigger. If you\n\
00413 # are using a trigger_conditions value that returns on acceleration contact\n\
00414 # events then it will immediately exceed your trigger and return\n\
00415 float64 acceleration_trigger_magnitude\n\
00416 \n\
00417 \n\
00418 # the slip detector gain to trigger on (either finger) : try 0.01\n\
00419 # higher values decrease slip sensitivty (to a point)\n\
00420 # lower values increase sensitivity (to a point)\n\
00421 #\n\
00422 # NOTE: Leaving this value blank will result in the most sensitive slip level.\n\
00423 float64 slip_trigger_magnitude\n\
00424 ================================================================================\n\
00425 MSG: pr2_gripper_sensor_msgs/PR2GripperEventDetectorActionResult\n\
00426 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00427 \n\
00428 Header header\n\
00429 actionlib_msgs/GoalStatus status\n\
00430 PR2GripperEventDetectorResult result\n\
00431 \n\
00432 ================================================================================\n\
00433 MSG: actionlib_msgs/GoalStatus\n\
00434 GoalID goal_id\n\
00435 uint8 status\n\
00436 uint8 PENDING = 0 # The goal has yet to be processed by the action server\n\
00437 uint8 ACTIVE = 1 # The goal is currently being processed by the action server\n\
00438 uint8 PREEMPTED = 2 # The goal received a cancel request after it started executing\n\
00439 # and has since completed its execution (Terminal State)\n\
00440 uint8 SUCCEEDED = 3 # The goal was achieved successfully by the action server (Terminal State)\n\
00441 uint8 ABORTED = 4 # The goal was aborted during execution by the action server due\n\
00442 # to some failure (Terminal State)\n\
00443 uint8 REJECTED = 5 # The goal was rejected by the action server without being processed,\n\
00444 # because the goal was unattainable or invalid (Terminal State)\n\
00445 uint8 PREEMPTING = 6 # The goal received a cancel request after it started executing\n\
00446 # and has not yet completed execution\n\
00447 uint8 RECALLING = 7 # The goal received a cancel request before it started executing,\n\
00448 # but the action server has not yet confirmed that the goal is canceled\n\
00449 uint8 RECALLED = 8 # The goal received a cancel request before it started executing\n\
00450 # and was successfully cancelled (Terminal State)\n\
00451 uint8 LOST = 9 # An action client can determine that a goal is LOST. This should not be\n\
00452 # sent over the wire by an action server\n\
00453 \n\
00454 #Allow for the user to associate a string with GoalStatus for debugging\n\
00455 string text\n\
00456 \n\
00457 \n\
00458 ================================================================================\n\
00459 MSG: pr2_gripper_sensor_msgs/PR2GripperEventDetectorResult\n\
00460 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00461 #results\n\
00462 PR2GripperEventDetectorData data\n\
00463 \n\
00464 ================================================================================\n\
00465 MSG: pr2_gripper_sensor_msgs/PR2GripperEventDetectorData\n\
00466 # Time the data was recorded at\n\
00467 time stamp\n\
00468 \n\
00469 # true if the trigger conditions have been met \n\
00470 # (see PR2GripperEventDetectorCommand)\n\
00471 bool trigger_conditions_met\n\
00472 \n\
00473 # true if the pressure sensors detected a slip event\n\
00474 # slip events occur when the finger pressure sensors\n\
00475 # high-freq. content exceeds the slip_trigger_magnitude variable\n\
00476 # (see PR2GripperEventDetectorCommand)\n\
00477 bool slip_event\n\
00478 \n\
00479 # true if the hand-mounted accelerometer detected a contact acceleration\n\
00480 # acceleration events occur when the palm accelerometer\n\
00481 # high-freq. content exceeds the acc_trigger_magnitude variable\n\
00482 # (see PR2GripperEventDetectorCommand)\n\
00483 bool acceleration_event\n\
00484 \n\
00485 # the high-freq acceleration vector that was last seen (x,y,z)\n\
00486 float64[3] acceleration_vector\n\
00487 ================================================================================\n\
00488 MSG: pr2_gripper_sensor_msgs/PR2GripperEventDetectorActionFeedback\n\
00489 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00490 \n\
00491 Header header\n\
00492 actionlib_msgs/GoalStatus status\n\
00493 PR2GripperEventDetectorFeedback feedback\n\
00494 \n\
00495 ================================================================================\n\
00496 MSG: pr2_gripper_sensor_msgs/PR2GripperEventDetectorFeedback\n\
00497 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00498 # feedback\n\
00499 PR2GripperEventDetectorData data\n\
00500 \n\
00501 \n\
00502 \n\
00503 ";
00504 }
00505
00506 static const char* value(const ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorAction_<ContainerAllocator> &) { return value(); }
00507 };
00508
00509 }
00510 }
00511
00512 namespace ros
00513 {
00514 namespace serialization
00515 {
00516
00517 template<class ContainerAllocator> struct Serializer< ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorAction_<ContainerAllocator> >
00518 {
00519 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00520 {
00521 stream.next(m.action_goal);
00522 stream.next(m.action_result);
00523 stream.next(m.action_feedback);
00524 }
00525
00526 ROS_DECLARE_ALLINONE_SERIALIZER;
00527 };
00528 }
00529 }
00530
00531 namespace ros
00532 {
00533 namespace message_operations
00534 {
00535
00536 template<class ContainerAllocator>
00537 struct Printer< ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorAction_<ContainerAllocator> >
00538 {
00539 template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorAction_<ContainerAllocator> & v)
00540 {
00541 s << indent << "action_goal: ";
00542 s << std::endl;
00543 Printer< ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorActionGoal_<ContainerAllocator> >::stream(s, indent + " ", v.action_goal);
00544 s << indent << "action_result: ";
00545 s << std::endl;
00546 Printer< ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorActionResult_<ContainerAllocator> >::stream(s, indent + " ", v.action_result);
00547 s << indent << "action_feedback: ";
00548 s << std::endl;
00549 Printer< ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorActionFeedback_<ContainerAllocator> >::stream(s, indent + " ", v.action_feedback);
00550 }
00551 };
00552
00553
00554 }
00555 }
00556
00557 #endif // PR2_GRIPPER_SENSOR_MSGS_MESSAGE_PR2GRIPPEREVENTDETECTORACTION_H
00558
