00001
00002 #ifndef PR2_GRIPPER_SENSOR_MSGS_MESSAGE_PR2GRIPPERFINDCONTACTACTIONFEEDBACK_H
00003 #define PR2_GRIPPER_SENSOR_MSGS_MESSAGE_PR2GRIPPERFINDCONTACTACTIONFEEDBACK_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 "std_msgs/Header.h"
00018 #include "actionlib_msgs/GoalStatus.h"
00019 #include "pr2_gripper_sensor_msgs/PR2GripperFindContactFeedback.h"
00020
00021 namespace pr2_gripper_sensor_msgs
00022 {
00023 template <class ContainerAllocator>
00024 struct PR2GripperFindContactActionFeedback_ {
00025 typedef PR2GripperFindContactActionFeedback_<ContainerAllocator> Type;
00026
00027 PR2GripperFindContactActionFeedback_()
00028 : header()
00029 , status()
00030 , feedback()
00031 {
00032 }
00033
00034 PR2GripperFindContactActionFeedback_(const ContainerAllocator& _alloc)
00035 : header(_alloc)
00036 , status(_alloc)
00037 , feedback(_alloc)
00038 {
00039 }
00040
00041 typedef ::std_msgs::Header_<ContainerAllocator> _header_type;
00042 ::std_msgs::Header_<ContainerAllocator> header;
00043
00044 typedef ::actionlib_msgs::GoalStatus_<ContainerAllocator> _status_type;
00045 ::actionlib_msgs::GoalStatus_<ContainerAllocator> status;
00046
00047 typedef ::pr2_gripper_sensor_msgs::PR2GripperFindContactFeedback_<ContainerAllocator> _feedback_type;
00048 ::pr2_gripper_sensor_msgs::PR2GripperFindContactFeedback_<ContainerAllocator> feedback;
00049
00050
00051 private:
00052 static const char* __s_getDataType_() { return "pr2_gripper_sensor_msgs/PR2GripperFindContactActionFeedback"; }
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 "6f5508091ee61f963690fb74fc7df932"; }
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 Header header\n\
00069 actionlib_msgs/GoalStatus status\n\
00070 PR2GripperFindContactFeedback feedback\n\
00071 \n\
00072 ================================================================================\n\
00073 MSG: std_msgs/Header\n\
00074 # Standard metadata for higher-level stamped data types.\n\
00075 # This is generally used to communicate timestamped data \n\
00076 # in a particular coordinate frame.\n\
00077 # \n\
00078 # sequence ID: consecutively increasing ID \n\
00079 uint32 seq\n\
00080 #Two-integer timestamp that is expressed as:\n\
00081 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00082 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00083 # time-handling sugar is provided by the client library\n\
00084 time stamp\n\
00085 #Frame this data is associated with\n\
00086 # 0: no frame\n\
00087 # 1: global frame\n\
00088 string frame_id\n\
00089 \n\
00090 ================================================================================\n\
00091 MSG: actionlib_msgs/GoalStatus\n\
00092 GoalID goal_id\n\
00093 uint8 status\n\
00094 uint8 PENDING = 0 # The goal has yet to be processed by the action server\n\
00095 uint8 ACTIVE = 1 # The goal is currently being processed by the action server\n\
00096 uint8 PREEMPTED = 2 # The goal received a cancel request after it started executing\n\
00097 # and has since completed its execution (Terminal State)\n\
00098 uint8 SUCCEEDED = 3 # The goal was achieved successfully by the action server (Terminal State)\n\
00099 uint8 ABORTED = 4 # The goal was aborted during execution by the action server due\n\
00100 # to some failure (Terminal State)\n\
00101 uint8 REJECTED = 5 # The goal was rejected by the action server without being processed,\n\
00102 # because the goal was unattainable or invalid (Terminal State)\n\
00103 uint8 PREEMPTING = 6 # The goal received a cancel request after it started executing\n\
00104 # and has not yet completed execution\n\
00105 uint8 RECALLING = 7 # The goal received a cancel request before it started executing,\n\
00106 # but the action server has not yet confirmed that the goal is canceled\n\
00107 uint8 RECALLED = 8 # The goal received a cancel request before it started executing\n\
00108 # and was successfully cancelled (Terminal State)\n\
00109 uint8 LOST = 9 # An action client can determine that a goal is LOST. This should not be\n\
00110 # sent over the wire by an action server\n\
00111 \n\
00112 #Allow for the user to associate a string with GoalStatus for debugging\n\
00113 string text\n\
00114 \n\
00115 \n\
00116 ================================================================================\n\
00117 MSG: actionlib_msgs/GoalID\n\
00118 # The stamp should store the time at which this goal was requested.\n\
00119 # It is used by an action server when it tries to preempt all\n\
00120 # goals that were requested before a certain time\n\
00121 time stamp\n\
00122 \n\
00123 # The id provides a way to associate feedback and\n\
00124 # result message with specific goal requests. The id\n\
00125 # specified must be unique.\n\
00126 string id\n\
00127 \n\
00128 \n\
00129 ================================================================================\n\
00130 MSG: pr2_gripper_sensor_msgs/PR2GripperFindContactFeedback\n\
00131 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00132 # feedback\n\
00133 PR2GripperFindContactData data\n\
00134 \n\
00135 \n\
00136 \n\
00137 ================================================================================\n\
00138 MSG: pr2_gripper_sensor_msgs/PR2GripperFindContactData\n\
00139 # Time the data was recorded at\n\
00140 time stamp\n\
00141 \n\
00142 # true when our contact conditions have been met\n\
00143 # (see PR2GripperFindContact command)\n\
00144 bool contact_conditions_met\n\
00145 \n\
00146 # the finger contact conditions \n\
00147 # true if the finger experienced a contact event\n\
00148 #\n\
00149 # contact events are defined as contact with the fingerpads\n\
00150 # as either steady-state or high-freq force events\n\
00151 bool left_fingertip_pad_contact\n\
00152 bool right_fingertip_pad_contact\n\
00153 \n\
00154 # the force experinced by the finger Pads (N)\n\
00155 # NOTE:this ignores data from the edges of the finger pressure\n\
00156 float64 left_fingertip_pad_force\n\
00157 float64 right_fingertip_pad_force\n\
00158 \n\
00159 # the current joint position (m)\n\
00160 float64 joint_position\n\
00161 \n\
00162 # the virtual (parallel) joint effort (N)\n\
00163 float64 joint_effort\n\
00164 \n\
00165 # the control state of our realtime controller\n\
00166 PR2GripperSensorRTState rtstate\n\
00167 ================================================================================\n\
00168 MSG: pr2_gripper_sensor_msgs/PR2GripperSensorRTState\n\
00169 # the control state of our realtime controller\n\
00170 int8 realtime_controller_state\n\
00171 \n\
00172 # predefined values to indicate our realtime_controller_state\n\
00173 int8 DISABLED = 0\n\
00174 int8 POSITION_SERVO = 3\n\
00175 int8 FORCE_SERVO = 4\n\
00176 int8 FIND_CONTACT = 5\n\
00177 int8 SLIP_SERVO = 6\n\
00178 "; }
00179 public:
00180 ROS_DEPRECATED static const std::string __s_getMessageDefinition() { return __s_getMessageDefinition_(); }
00181
00182 ROS_DEPRECATED const std::string __getMessageDefinition() const { return __s_getMessageDefinition_(); }
00183
00184 ROS_DEPRECATED virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const
00185 {
00186 ros::serialization::OStream stream(write_ptr, 1000000000);
00187 ros::serialization::serialize(stream, header);
00188 ros::serialization::serialize(stream, status);
00189 ros::serialization::serialize(stream, feedback);
00190 return stream.getData();
00191 }
00192
00193 ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr)
00194 {
00195 ros::serialization::IStream stream(read_ptr, 1000000000);
00196 ros::serialization::deserialize(stream, header);
00197 ros::serialization::deserialize(stream, status);
00198 ros::serialization::deserialize(stream, feedback);
00199 return stream.getData();
00200 }
00201
00202 ROS_DEPRECATED virtual uint32_t serializationLength() const
00203 {
00204 uint32_t size = 0;
00205 size += ros::serialization::serializationLength(header);
00206 size += ros::serialization::serializationLength(status);
00207 size += ros::serialization::serializationLength(feedback);
00208 return size;
00209 }
00210
00211 typedef boost::shared_ptr< ::pr2_gripper_sensor_msgs::PR2GripperFindContactActionFeedback_<ContainerAllocator> > Ptr;
00212 typedef boost::shared_ptr< ::pr2_gripper_sensor_msgs::PR2GripperFindContactActionFeedback_<ContainerAllocator> const> ConstPtr;
00213 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00214 };
00215 typedef ::pr2_gripper_sensor_msgs::PR2GripperFindContactActionFeedback_<std::allocator<void> > PR2GripperFindContactActionFeedback;
00216
00217 typedef boost::shared_ptr< ::pr2_gripper_sensor_msgs::PR2GripperFindContactActionFeedback> PR2GripperFindContactActionFeedbackPtr;
00218 typedef boost::shared_ptr< ::pr2_gripper_sensor_msgs::PR2GripperFindContactActionFeedback const> PR2GripperFindContactActionFeedbackConstPtr;
00219
00220
00221 template<typename ContainerAllocator>
00222 std::ostream& operator<<(std::ostream& s, const ::pr2_gripper_sensor_msgs::PR2GripperFindContactActionFeedback_<ContainerAllocator> & v)
00223 {
00224 ros::message_operations::Printer< ::pr2_gripper_sensor_msgs::PR2GripperFindContactActionFeedback_<ContainerAllocator> >::stream(s, "", v);
00225 return s;}
00226
00227 }
00228
00229 namespace ros
00230 {
00231 namespace message_traits
00232 {
00233 template<class ContainerAllocator> struct IsMessage< ::pr2_gripper_sensor_msgs::PR2GripperFindContactActionFeedback_<ContainerAllocator> > : public TrueType {};
00234 template<class ContainerAllocator> struct IsMessage< ::pr2_gripper_sensor_msgs::PR2GripperFindContactActionFeedback_<ContainerAllocator> const> : public TrueType {};
00235 template<class ContainerAllocator>
00236 struct MD5Sum< ::pr2_gripper_sensor_msgs::PR2GripperFindContactActionFeedback_<ContainerAllocator> > {
00237 static const char* value()
00238 {
00239 return "6f5508091ee61f963690fb74fc7df932";
00240 }
00241
00242 static const char* value(const ::pr2_gripper_sensor_msgs::PR2GripperFindContactActionFeedback_<ContainerAllocator> &) { return value(); }
00243 static const uint64_t static_value1 = 0x6f5508091ee61f96ULL;
00244 static const uint64_t static_value2 = 0x3690fb74fc7df932ULL;
00245 };
00246
00247 template<class ContainerAllocator>
00248 struct DataType< ::pr2_gripper_sensor_msgs::PR2GripperFindContactActionFeedback_<ContainerAllocator> > {
00249 static const char* value()
00250 {
00251 return "pr2_gripper_sensor_msgs/PR2GripperFindContactActionFeedback";
00252 }
00253
00254 static const char* value(const ::pr2_gripper_sensor_msgs::PR2GripperFindContactActionFeedback_<ContainerAllocator> &) { return value(); }
00255 };
00256
00257 template<class ContainerAllocator>
00258 struct Definition< ::pr2_gripper_sensor_msgs::PR2GripperFindContactActionFeedback_<ContainerAllocator> > {
00259 static const char* value()
00260 {
00261 return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00262 \n\
00263 Header header\n\
00264 actionlib_msgs/GoalStatus status\n\
00265 PR2GripperFindContactFeedback feedback\n\
00266 \n\
00267 ================================================================================\n\
00268 MSG: std_msgs/Header\n\
00269 # Standard metadata for higher-level stamped data types.\n\
00270 # This is generally used to communicate timestamped data \n\
00271 # in a particular coordinate frame.\n\
00272 # \n\
00273 # sequence ID: consecutively increasing ID \n\
00274 uint32 seq\n\
00275 #Two-integer timestamp that is expressed as:\n\
00276 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00277 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00278 # time-handling sugar is provided by the client library\n\
00279 time stamp\n\
00280 #Frame this data is associated with\n\
00281 # 0: no frame\n\
00282 # 1: global frame\n\
00283 string frame_id\n\
00284 \n\
00285 ================================================================================\n\
00286 MSG: actionlib_msgs/GoalStatus\n\
00287 GoalID goal_id\n\
00288 uint8 status\n\
00289 uint8 PENDING = 0 # The goal has yet to be processed by the action server\n\
00290 uint8 ACTIVE = 1 # The goal is currently being processed by the action server\n\
00291 uint8 PREEMPTED = 2 # The goal received a cancel request after it started executing\n\
00292 # and has since completed its execution (Terminal State)\n\
00293 uint8 SUCCEEDED = 3 # The goal was achieved successfully by the action server (Terminal State)\n\
00294 uint8 ABORTED = 4 # The goal was aborted during execution by the action server due\n\
00295 # to some failure (Terminal State)\n\
00296 uint8 REJECTED = 5 # The goal was rejected by the action server without being processed,\n\
00297 # because the goal was unattainable or invalid (Terminal State)\n\
00298 uint8 PREEMPTING = 6 # The goal received a cancel request after it started executing\n\
00299 # and has not yet completed execution\n\
00300 uint8 RECALLING = 7 # The goal received a cancel request before it started executing,\n\
00301 # but the action server has not yet confirmed that the goal is canceled\n\
00302 uint8 RECALLED = 8 # The goal received a cancel request before it started executing\n\
00303 # and was successfully cancelled (Terminal State)\n\
00304 uint8 LOST = 9 # An action client can determine that a goal is LOST. This should not be\n\
00305 # sent over the wire by an action server\n\
00306 \n\
00307 #Allow for the user to associate a string with GoalStatus for debugging\n\
00308 string text\n\
00309 \n\
00310 \n\
00311 ================================================================================\n\
00312 MSG: actionlib_msgs/GoalID\n\
00313 # The stamp should store the time at which this goal was requested.\n\
00314 # It is used by an action server when it tries to preempt all\n\
00315 # goals that were requested before a certain time\n\
00316 time stamp\n\
00317 \n\
00318 # The id provides a way to associate feedback and\n\
00319 # result message with specific goal requests. The id\n\
00320 # specified must be unique.\n\
00321 string id\n\
00322 \n\
00323 \n\
00324 ================================================================================\n\
00325 MSG: pr2_gripper_sensor_msgs/PR2GripperFindContactFeedback\n\
00326 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00327 # feedback\n\
00328 PR2GripperFindContactData data\n\
00329 \n\
00330 \n\
00331 \n\
00332 ================================================================================\n\
00333 MSG: pr2_gripper_sensor_msgs/PR2GripperFindContactData\n\
00334 # Time the data was recorded at\n\
00335 time stamp\n\
00336 \n\
00337 # true when our contact conditions have been met\n\
00338 # (see PR2GripperFindContact command)\n\
00339 bool contact_conditions_met\n\
00340 \n\
00341 # the finger contact conditions \n\
00342 # true if the finger experienced a contact event\n\
00343 #\n\
00344 # contact events are defined as contact with the fingerpads\n\
00345 # as either steady-state or high-freq force events\n\
00346 bool left_fingertip_pad_contact\n\
00347 bool right_fingertip_pad_contact\n\
00348 \n\
00349 # the force experinced by the finger Pads (N)\n\
00350 # NOTE:this ignores data from the edges of the finger pressure\n\
00351 float64 left_fingertip_pad_force\n\
00352 float64 right_fingertip_pad_force\n\
00353 \n\
00354 # the current joint position (m)\n\
00355 float64 joint_position\n\
00356 \n\
00357 # the virtual (parallel) joint effort (N)\n\
00358 float64 joint_effort\n\
00359 \n\
00360 # the control state of our realtime controller\n\
00361 PR2GripperSensorRTState rtstate\n\
00362 ================================================================================\n\
00363 MSG: pr2_gripper_sensor_msgs/PR2GripperSensorRTState\n\
00364 # the control state of our realtime controller\n\
00365 int8 realtime_controller_state\n\
00366 \n\
00367 # predefined values to indicate our realtime_controller_state\n\
00368 int8 DISABLED = 0\n\
00369 int8 POSITION_SERVO = 3\n\
00370 int8 FORCE_SERVO = 4\n\
00371 int8 FIND_CONTACT = 5\n\
00372 int8 SLIP_SERVO = 6\n\
00373 ";
00374 }
00375
00376 static const char* value(const ::pr2_gripper_sensor_msgs::PR2GripperFindContactActionFeedback_<ContainerAllocator> &) { return value(); }
00377 };
00378
00379 template<class ContainerAllocator> struct HasHeader< ::pr2_gripper_sensor_msgs::PR2GripperFindContactActionFeedback_<ContainerAllocator> > : public TrueType {};
00380 template<class ContainerAllocator> struct HasHeader< const ::pr2_gripper_sensor_msgs::PR2GripperFindContactActionFeedback_<ContainerAllocator> > : public TrueType {};
00381 }
00382 }
00383
00384 namespace ros
00385 {
00386 namespace serialization
00387 {
00388
00389 template<class ContainerAllocator> struct Serializer< ::pr2_gripper_sensor_msgs::PR2GripperFindContactActionFeedback_<ContainerAllocator> >
00390 {
00391 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00392 {
00393 stream.next(m.header);
00394 stream.next(m.status);
00395 stream.next(m.feedback);
00396 }
00397
00398 ROS_DECLARE_ALLINONE_SERIALIZER;
00399 };
00400 }
00401 }
00402
00403 namespace ros
00404 {
00405 namespace message_operations
00406 {
00407
00408 template<class ContainerAllocator>
00409 struct Printer< ::pr2_gripper_sensor_msgs::PR2GripperFindContactActionFeedback_<ContainerAllocator> >
00410 {
00411 template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::pr2_gripper_sensor_msgs::PR2GripperFindContactActionFeedback_<ContainerAllocator> & v)
00412 {
00413 s << indent << "header: ";
00414 s << std::endl;
00415 Printer< ::std_msgs::Header_<ContainerAllocator> >::stream(s, indent + " ", v.header);
00416 s << indent << "status: ";
00417 s << std::endl;
00418 Printer< ::actionlib_msgs::GoalStatus_<ContainerAllocator> >::stream(s, indent + " ", v.status);
00419 s << indent << "feedback: ";
00420 s << std::endl;
00421 Printer< ::pr2_gripper_sensor_msgs::PR2GripperFindContactFeedback_<ContainerAllocator> >::stream(s, indent + " ", v.feedback);
00422 }
00423 };
00424
00425
00426 }
00427 }
00428
00429 #endif // PR2_GRIPPER_SENSOR_MSGS_MESSAGE_PR2GRIPPERFINDCONTACTACTIONFEEDBACK_H
00430
