pr2_gripper_sensor_msgs: pr2_gripper_sensor_msgs: PR2GripperFindContactData.h Source File

00001 /* Auto-generated by genmsg_cpp for file /home/rosbuild/hudson/workspace/doc-electric-pr2_object_manipulation/doc_stacks/2013-03-05_12-10-38.333207/pr2_object_manipulation/manipulation/pr2_gripper_sensor_msgs/msg/PR2GripperFindContactData.msg */
00002 #ifndef PR2_GRIPPER_SENSOR_MSGS_MESSAGE_PR2GRIPPERFINDCONTACTDATA_H
00003 #define PR2_GRIPPER_SENSOR_MSGS_MESSAGE_PR2GRIPPERFINDCONTACTDATA_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/PR2GripperSensorRTState.h"
00018 
00019 namespace pr2_gripper_sensor_msgs
00020 {
00021 template <class ContainerAllocator>
00022 struct PR2GripperFindContactData_ {
00023   typedef PR2GripperFindContactData_<ContainerAllocator> Type;
00024 
00025   PR2GripperFindContactData_()
00026   : stamp()
00027   , contact_conditions_met(false)
00028   , left_fingertip_pad_contact(false)
00029   , right_fingertip_pad_contact(false)
00030   , left_fingertip_pad_force(0.0)
00031   , right_fingertip_pad_force(0.0)
00032   , joint_position(0.0)
00033   , joint_effort(0.0)
00034   , rtstate()
00035   {
00036   }
00037 
00038   PR2GripperFindContactData_(const ContainerAllocator& _alloc)
00039   : stamp()
00040   , contact_conditions_met(false)
00041   , left_fingertip_pad_contact(false)
00042   , right_fingertip_pad_contact(false)
00043   , left_fingertip_pad_force(0.0)
00044   , right_fingertip_pad_force(0.0)
00045   , joint_position(0.0)
00046   , joint_effort(0.0)
00047   , rtstate(_alloc)
00048   {
00049   }
00050 
00051   typedef ros::Time _stamp_type;
00052   ros::Time stamp;
00053 
00054   typedef uint8_t _contact_conditions_met_type;
00055   uint8_t contact_conditions_met;
00056 
00057   typedef uint8_t _left_fingertip_pad_contact_type;
00058   uint8_t left_fingertip_pad_contact;
00059 
00060   typedef uint8_t _right_fingertip_pad_contact_type;
00061   uint8_t right_fingertip_pad_contact;
00062 
00063   typedef double _left_fingertip_pad_force_type;
00064   double left_fingertip_pad_force;
00065 
00066   typedef double _right_fingertip_pad_force_type;
00067   double right_fingertip_pad_force;
00068 
00069   typedef double _joint_position_type;
00070   double joint_position;
00071 
00072   typedef double _joint_effort_type;
00073   double joint_effort;
00074 
00075   typedef  ::pr2_gripper_sensor_msgs::PR2GripperSensorRTState_<ContainerAllocator>  _rtstate_type;
00076    ::pr2_gripper_sensor_msgs::PR2GripperSensorRTState_<ContainerAllocator>  rtstate;
00077 
00078 
00079 private:
00080   static const char* __s_getDataType_() { return "pr2_gripper_sensor_msgs/PR2GripperFindContactData"; }
00081 public:
00082   ROS_DEPRECATED static const std::string __s_getDataType() { return __s_getDataType_(); }
00083 
00084   ROS_DEPRECATED const std::string __getDataType() const { return __s_getDataType_(); }
00085 
00086 private:
00087   static const char* __s_getMD5Sum_() { return "bc53e3dc7d19b896ca9b5ea205d54b91"; }
00088 public:
00089   ROS_DEPRECATED static const std::string __s_getMD5Sum() { return __s_getMD5Sum_(); }
00090 
00091   ROS_DEPRECATED const std::string __getMD5Sum() const { return __s_getMD5Sum_(); }
00092 
00093 private:
00094   static const char* __s_getMessageDefinition_() { return "# Time the data was recorded at\n\
00095 time stamp\n\
00096 \n\
00097 # true when our contact conditions have been met\n\
00098 # (see PR2GripperFindContact command)\n\
00099 bool contact_conditions_met\n\
00100 \n\
00101 # the finger contact conditions \n\
00102 # true if the finger experienced a contact event\n\
00103 #\n\
00104 # contact events are defined as contact with the fingerpads\n\
00105 # as either steady-state or high-freq force events\n\
00106 bool left_fingertip_pad_contact\n\
00107 bool right_fingertip_pad_contact\n\
00108 \n\
00109 # the force experinced by the finger Pads  (N)\n\
00110 # NOTE:this ignores data from the edges of the finger pressure\n\
00111 float64 left_fingertip_pad_force\n\
00112 float64 right_fingertip_pad_force\n\
00113 \n\
00114 # the current joint position (m)\n\
00115 float64 joint_position\n\
00116 \n\
00117 # the virtual (parallel) joint effort (N)\n\
00118 float64 joint_effort\n\
00119 \n\
00120 # the control state of our realtime controller\n\
00121 PR2GripperSensorRTState rtstate\n\
00122 ================================================================================\n\
00123 MSG: pr2_gripper_sensor_msgs/PR2GripperSensorRTState\n\
00124 # the control state of our realtime controller\n\
00125 int8 realtime_controller_state\n\
00126 \n\
00127 # predefined values to indicate our realtime_controller_state\n\
00128 int8 DISABLED = 0\n\
00129 int8 POSITION_SERVO = 3\n\
00130 int8 FORCE_SERVO = 4\n\
00131 int8 FIND_CONTACT = 5\n\
00132 int8 SLIP_SERVO = 6\n\
00133 "; }
00134 public:
00135   ROS_DEPRECATED static const std::string __s_getMessageDefinition() { return __s_getMessageDefinition_(); }
00136 
00137   ROS_DEPRECATED const std::string __getMessageDefinition() const { return __s_getMessageDefinition_(); }
00138 
00139   ROS_DEPRECATED virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const
00140   {
00141     ros::serialization::OStream stream(write_ptr, 1000000000);
00142     ros::serialization::serialize(stream, stamp);
00143     ros::serialization::serialize(stream, contact_conditions_met);
00144     ros::serialization::serialize(stream, left_fingertip_pad_contact);
00145     ros::serialization::serialize(stream, right_fingertip_pad_contact);
00146     ros::serialization::serialize(stream, left_fingertip_pad_force);
00147     ros::serialization::serialize(stream, right_fingertip_pad_force);
00148     ros::serialization::serialize(stream, joint_position);
00149     ros::serialization::serialize(stream, joint_effort);
00150     ros::serialization::serialize(stream, rtstate);
00151     return stream.getData();
00152   }
00153 
00154   ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr)
00155   {
00156     ros::serialization::IStream stream(read_ptr, 1000000000);
00157     ros::serialization::deserialize(stream, stamp);
00158     ros::serialization::deserialize(stream, contact_conditions_met);
00159     ros::serialization::deserialize(stream, left_fingertip_pad_contact);
00160     ros::serialization::deserialize(stream, right_fingertip_pad_contact);
00161     ros::serialization::deserialize(stream, left_fingertip_pad_force);
00162     ros::serialization::deserialize(stream, right_fingertip_pad_force);
00163     ros::serialization::deserialize(stream, joint_position);
00164     ros::serialization::deserialize(stream, joint_effort);
00165     ros::serialization::deserialize(stream, rtstate);
00166     return stream.getData();
00167   }
00168 
00169   ROS_DEPRECATED virtual uint32_t serializationLength() const
00170   {
00171     uint32_t size = 0;
00172     size += ros::serialization::serializationLength(stamp);
00173     size += ros::serialization::serializationLength(contact_conditions_met);
00174     size += ros::serialization::serializationLength(left_fingertip_pad_contact);
00175     size += ros::serialization::serializationLength(right_fingertip_pad_contact);
00176     size += ros::serialization::serializationLength(left_fingertip_pad_force);
00177     size += ros::serialization::serializationLength(right_fingertip_pad_force);
00178     size += ros::serialization::serializationLength(joint_position);
00179     size += ros::serialization::serializationLength(joint_effort);
00180     size += ros::serialization::serializationLength(rtstate);
00181     return size;
00182   }
00183 
00184   typedef boost::shared_ptr< ::pr2_gripper_sensor_msgs::PR2GripperFindContactData_<ContainerAllocator> > Ptr;
00185   typedef boost::shared_ptr< ::pr2_gripper_sensor_msgs::PR2GripperFindContactData_<ContainerAllocator>  const> ConstPtr;
00186   boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00187 }; // struct PR2GripperFindContactData
00188 typedef  ::pr2_gripper_sensor_msgs::PR2GripperFindContactData_<std::allocator<void> > PR2GripperFindContactData;
00189 
00190 typedef boost::shared_ptr< ::pr2_gripper_sensor_msgs::PR2GripperFindContactData> PR2GripperFindContactDataPtr;
00191 typedef boost::shared_ptr< ::pr2_gripper_sensor_msgs::PR2GripperFindContactData const> PR2GripperFindContactDataConstPtr;
00192 
00193 
00194 template<typename ContainerAllocator>
00195 std::ostream& operator<<(std::ostream& s, const  ::pr2_gripper_sensor_msgs::PR2GripperFindContactData_<ContainerAllocator> & v)
00196 {
00197   ros::message_operations::Printer< ::pr2_gripper_sensor_msgs::PR2GripperFindContactData_<ContainerAllocator> >::stream(s, "", v);
00198   return s;}
00199 
00200 } // namespace pr2_gripper_sensor_msgs
00201 
00202 namespace ros
00203 {
00204 namespace message_traits
00205 {
00206 template<class ContainerAllocator> struct IsMessage< ::pr2_gripper_sensor_msgs::PR2GripperFindContactData_<ContainerAllocator> > : public TrueType {};
00207 template<class ContainerAllocator> struct IsMessage< ::pr2_gripper_sensor_msgs::PR2GripperFindContactData_<ContainerAllocator>  const> : public TrueType {};
00208 template<class ContainerAllocator>
00209 struct MD5Sum< ::pr2_gripper_sensor_msgs::PR2GripperFindContactData_<ContainerAllocator> > {
00210   static const char* value() 
00211   {
00212     return "bc53e3dc7d19b896ca9b5ea205d54b91";
00213   }
00214 
00215   static const char* value(const  ::pr2_gripper_sensor_msgs::PR2GripperFindContactData_<ContainerAllocator> &) { return value(); } 
00216   static const uint64_t static_value1 = 0xbc53e3dc7d19b896ULL;
00217   static const uint64_t static_value2 = 0xca9b5ea205d54b91ULL;
00218 };
00219 
00220 template<class ContainerAllocator>
00221 struct DataType< ::pr2_gripper_sensor_msgs::PR2GripperFindContactData_<ContainerAllocator> > {
00222   static const char* value() 
00223   {
00224     return "pr2_gripper_sensor_msgs/PR2GripperFindContactData";
00225   }
00226 
00227   static const char* value(const  ::pr2_gripper_sensor_msgs::PR2GripperFindContactData_<ContainerAllocator> &) { return value(); } 
00228 };
00229 
00230 template<class ContainerAllocator>
00231 struct Definition< ::pr2_gripper_sensor_msgs::PR2GripperFindContactData_<ContainerAllocator> > {
00232   static const char* value() 
00233   {
00234     return "# Time the data was recorded at\n\
00235 time stamp\n\
00236 \n\
00237 # true when our contact conditions have been met\n\
00238 # (see PR2GripperFindContact command)\n\
00239 bool contact_conditions_met\n\
00240 \n\
00241 # the finger contact conditions \n\
00242 # true if the finger experienced a contact event\n\
00243 #\n\
00244 # contact events are defined as contact with the fingerpads\n\
00245 # as either steady-state or high-freq force events\n\
00246 bool left_fingertip_pad_contact\n\
00247 bool right_fingertip_pad_contact\n\
00248 \n\
00249 # the force experinced by the finger Pads  (N)\n\
00250 # NOTE:this ignores data from the edges of the finger pressure\n\
00251 float64 left_fingertip_pad_force\n\
00252 float64 right_fingertip_pad_force\n\
00253 \n\
00254 # the current joint position (m)\n\
00255 float64 joint_position\n\
00256 \n\
00257 # the virtual (parallel) joint effort (N)\n\
00258 float64 joint_effort\n\
00259 \n\
00260 # the control state of our realtime controller\n\
00261 PR2GripperSensorRTState rtstate\n\
00262 ================================================================================\n\
00263 MSG: pr2_gripper_sensor_msgs/PR2GripperSensorRTState\n\
00264 # the control state of our realtime controller\n\
00265 int8 realtime_controller_state\n\
00266 \n\
00267 # predefined values to indicate our realtime_controller_state\n\
00268 int8 DISABLED = 0\n\
00269 int8 POSITION_SERVO = 3\n\
00270 int8 FORCE_SERVO = 4\n\
00271 int8 FIND_CONTACT = 5\n\
00272 int8 SLIP_SERVO = 6\n\
00273 ";
00274   }
00275 
00276   static const char* value(const  ::pr2_gripper_sensor_msgs::PR2GripperFindContactData_<ContainerAllocator> &) { return value(); } 
00277 };
00278 
00279 template<class ContainerAllocator> struct IsFixedSize< ::pr2_gripper_sensor_msgs::PR2GripperFindContactData_<ContainerAllocator> > : public TrueType {};
00280 } // namespace message_traits
00281 } // namespace ros
00282 
00283 namespace ros
00284 {
00285 namespace serialization
00286 {
00287 
00288 template<class ContainerAllocator> struct Serializer< ::pr2_gripper_sensor_msgs::PR2GripperFindContactData_<ContainerAllocator> >
00289 {
00290   template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00291   {
00292     stream.next(m.stamp);
00293     stream.next(m.contact_conditions_met);
00294     stream.next(m.left_fingertip_pad_contact);
00295     stream.next(m.right_fingertip_pad_contact);
00296     stream.next(m.left_fingertip_pad_force);
00297     stream.next(m.right_fingertip_pad_force);
00298     stream.next(m.joint_position);
00299     stream.next(m.joint_effort);
00300     stream.next(m.rtstate);
00301   }
00302 
00303   ROS_DECLARE_ALLINONE_SERIALIZER;
00304 }; // struct PR2GripperFindContactData_
00305 } // namespace serialization
00306 } // namespace ros
00307 
00308 namespace ros
00309 {
00310 namespace message_operations
00311 {
00312 
00313 template<class ContainerAllocator>
00314 struct Printer< ::pr2_gripper_sensor_msgs::PR2GripperFindContactData_<ContainerAllocator> >
00315 {
00316   template<typename Stream> static void stream(Stream& s, const std::string& indent, const  ::pr2_gripper_sensor_msgs::PR2GripperFindContactData_<ContainerAllocator> & v) 
00317   {
00318     s << indent << "stamp: ";
00319     Printer<ros::Time>::stream(s, indent + "  ", v.stamp);
00320     s << indent << "contact_conditions_met: ";
00321     Printer<uint8_t>::stream(s, indent + "  ", v.contact_conditions_met);
00322     s << indent << "left_fingertip_pad_contact: ";
00323     Printer<uint8_t>::stream(s, indent + "  ", v.left_fingertip_pad_contact);
00324     s << indent << "right_fingertip_pad_contact: ";
00325     Printer<uint8_t>::stream(s, indent + "  ", v.right_fingertip_pad_contact);
00326     s << indent << "left_fingertip_pad_force: ";
00327     Printer<double>::stream(s, indent + "  ", v.left_fingertip_pad_force);
00328     s << indent << "right_fingertip_pad_force: ";
00329     Printer<double>::stream(s, indent + "  ", v.right_fingertip_pad_force);
00330     s << indent << "joint_position: ";
00331     Printer<double>::stream(s, indent + "  ", v.joint_position);
00332     s << indent << "joint_effort: ";
00333     Printer<double>::stream(s, indent + "  ", v.joint_effort);
00334     s << indent << "rtstate: ";
00335 s << std::endl;
00336     Printer< ::pr2_gripper_sensor_msgs::PR2GripperSensorRTState_<ContainerAllocator> >::stream(s, indent + "  ", v.rtstate);
00337   }
00338 };
00339 
00340 
00341 } // namespace message_operations
00342 } // namespace ros
00343 
00344 #endif // PR2_GRIPPER_SENSOR_MSGS_MESSAGE_PR2GRIPPERFINDCONTACTDATA_H
00345