00001
00002 #ifndef PR2_GRIPPER_SENSOR_MSGS_MESSAGE_PR2GRIPPERFORCESERVOACTIONFEEDBACK_H
00003 #define PR2_GRIPPER_SENSOR_MSGS_MESSAGE_PR2GRIPPERFORCESERVOACTIONFEEDBACK_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/PR2GripperForceServoFeedback.h"
00020
00021 namespace pr2_gripper_sensor_msgs
00022 {
00023 template <class ContainerAllocator>
00024 struct PR2GripperForceServoActionFeedback_ {
00025 typedef PR2GripperForceServoActionFeedback_<ContainerAllocator> Type;
00026
00027 PR2GripperForceServoActionFeedback_()
00028 : header()
00029 , status()
00030 , feedback()
00031 {
00032 }
00033
00034 PR2GripperForceServoActionFeedback_(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::PR2GripperForceServoFeedback_<ContainerAllocator> _feedback_type;
00048 ::pr2_gripper_sensor_msgs::PR2GripperForceServoFeedback_<ContainerAllocator> feedback;
00049
00050
00051 private:
00052 static const char* __s_getDataType_() { return "pr2_gripper_sensor_msgs/PR2GripperForceServoActionFeedback"; }
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 "d8ca0d3860c2a6ed1145d230fe6bd9db"; }
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 PR2GripperForceServoFeedback 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/PR2GripperForceServoFeedback\n\
00131 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00132 \n\
00133 #feedback\n\
00134 PR2GripperForceServoData data\n\
00135 \n\
00136 ================================================================================\n\
00137 MSG: pr2_gripper_sensor_msgs/PR2GripperForceServoData\n\
00138 # Time the data was recorded at\n\
00139 time stamp\n\
00140 \n\
00141 # the force experienced by the finger Pads (N)\n\
00142 # NOTE:this ignores data from the edges of the finger pressure\n\
00143 float64 left_fingertip_pad_force\n\
00144 float64 right_fingertip_pad_force\n\
00145 \n\
00146 # the current gripper virtual parallel joint effort (in N)\n\
00147 float64 joint_effort\n\
00148 \n\
00149 # true when the gripper is no longer moving\n\
00150 # and we have reached the desired force level\n\
00151 bool force_achieved\n\
00152 \n\
00153 \n\
00154 # the control state of our realtime controller\n\
00155 PR2GripperSensorRTState rtstate\n\
00156 \n\
00157 ================================================================================\n\
00158 MSG: pr2_gripper_sensor_msgs/PR2GripperSensorRTState\n\
00159 # the control state of our realtime controller\n\
00160 int8 realtime_controller_state\n\
00161 \n\
00162 # predefined values to indicate our realtime_controller_state\n\
00163 int8 DISABLED = 0\n\
00164 int8 POSITION_SERVO = 3\n\
00165 int8 FORCE_SERVO = 4\n\
00166 int8 FIND_CONTACT = 5\n\
00167 int8 SLIP_SERVO = 6\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, header);
00178 ros::serialization::serialize(stream, status);
00179 ros::serialization::serialize(stream, feedback);
00180 return stream.getData();
00181 }
00182
00183 ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr)
00184 {
00185 ros::serialization::IStream stream(read_ptr, 1000000000);
00186 ros::serialization::deserialize(stream, header);
00187 ros::serialization::deserialize(stream, status);
00188 ros::serialization::deserialize(stream, feedback);
00189 return stream.getData();
00190 }
00191
00192 ROS_DEPRECATED virtual uint32_t serializationLength() const
00193 {
00194 uint32_t size = 0;
00195 size += ros::serialization::serializationLength(header);
00196 size += ros::serialization::serializationLength(status);
00197 size += ros::serialization::serializationLength(feedback);
00198 return size;
00199 }
00200
00201 typedef boost::shared_ptr< ::pr2_gripper_sensor_msgs::PR2GripperForceServoActionFeedback_<ContainerAllocator> > Ptr;
00202 typedef boost::shared_ptr< ::pr2_gripper_sensor_msgs::PR2GripperForceServoActionFeedback_<ContainerAllocator> const> ConstPtr;
00203 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00204 };
00205 typedef ::pr2_gripper_sensor_msgs::PR2GripperForceServoActionFeedback_<std::allocator<void> > PR2GripperForceServoActionFeedback;
00206
00207 typedef boost::shared_ptr< ::pr2_gripper_sensor_msgs::PR2GripperForceServoActionFeedback> PR2GripperForceServoActionFeedbackPtr;
00208 typedef boost::shared_ptr< ::pr2_gripper_sensor_msgs::PR2GripperForceServoActionFeedback const> PR2GripperForceServoActionFeedbackConstPtr;
00209
00210
00211 template<typename ContainerAllocator>
00212 std::ostream& operator<<(std::ostream& s, const ::pr2_gripper_sensor_msgs::PR2GripperForceServoActionFeedback_<ContainerAllocator> & v)
00213 {
00214 ros::message_operations::Printer< ::pr2_gripper_sensor_msgs::PR2GripperForceServoActionFeedback_<ContainerAllocator> >::stream(s, "", v);
00215 return s;}
00216
00217 }
00218
00219 namespace ros
00220 {
00221 namespace message_traits
00222 {
00223 template<class ContainerAllocator> struct IsMessage< ::pr2_gripper_sensor_msgs::PR2GripperForceServoActionFeedback_<ContainerAllocator> > : public TrueType {};
00224 template<class ContainerAllocator> struct IsMessage< ::pr2_gripper_sensor_msgs::PR2GripperForceServoActionFeedback_<ContainerAllocator> const> : public TrueType {};
00225 template<class ContainerAllocator>
00226 struct MD5Sum< ::pr2_gripper_sensor_msgs::PR2GripperForceServoActionFeedback_<ContainerAllocator> > {
00227 static const char* value()
00228 {
00229 return "d8ca0d3860c2a6ed1145d230fe6bd9db";
00230 }
00231
00232 static const char* value(const ::pr2_gripper_sensor_msgs::PR2GripperForceServoActionFeedback_<ContainerAllocator> &) { return value(); }
00233 static const uint64_t static_value1 = 0xd8ca0d3860c2a6edULL;
00234 static const uint64_t static_value2 = 0x1145d230fe6bd9dbULL;
00235 };
00236
00237 template<class ContainerAllocator>
00238 struct DataType< ::pr2_gripper_sensor_msgs::PR2GripperForceServoActionFeedback_<ContainerAllocator> > {
00239 static const char* value()
00240 {
00241 return "pr2_gripper_sensor_msgs/PR2GripperForceServoActionFeedback";
00242 }
00243
00244 static const char* value(const ::pr2_gripper_sensor_msgs::PR2GripperForceServoActionFeedback_<ContainerAllocator> &) { return value(); }
00245 };
00246
00247 template<class ContainerAllocator>
00248 struct Definition< ::pr2_gripper_sensor_msgs::PR2GripperForceServoActionFeedback_<ContainerAllocator> > {
00249 static const char* value()
00250 {
00251 return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00252 \n\
00253 Header header\n\
00254 actionlib_msgs/GoalStatus status\n\
00255 PR2GripperForceServoFeedback feedback\n\
00256 \n\
00257 ================================================================================\n\
00258 MSG: std_msgs/Header\n\
00259 # Standard metadata for higher-level stamped data types.\n\
00260 # This is generally used to communicate timestamped data \n\
00261 # in a particular coordinate frame.\n\
00262 # \n\
00263 # sequence ID: consecutively increasing ID \n\
00264 uint32 seq\n\
00265 #Two-integer timestamp that is expressed as:\n\
00266 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00267 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00268 # time-handling sugar is provided by the client library\n\
00269 time stamp\n\
00270 #Frame this data is associated with\n\
00271 # 0: no frame\n\
00272 # 1: global frame\n\
00273 string frame_id\n\
00274 \n\
00275 ================================================================================\n\
00276 MSG: actionlib_msgs/GoalStatus\n\
00277 GoalID goal_id\n\
00278 uint8 status\n\
00279 uint8 PENDING = 0 # The goal has yet to be processed by the action server\n\
00280 uint8 ACTIVE = 1 # The goal is currently being processed by the action server\n\
00281 uint8 PREEMPTED = 2 # The goal received a cancel request after it started executing\n\
00282 # and has since completed its execution (Terminal State)\n\
00283 uint8 SUCCEEDED = 3 # The goal was achieved successfully by the action server (Terminal State)\n\
00284 uint8 ABORTED = 4 # The goal was aborted during execution by the action server due\n\
00285 # to some failure (Terminal State)\n\
00286 uint8 REJECTED = 5 # The goal was rejected by the action server without being processed,\n\
00287 # because the goal was unattainable or invalid (Terminal State)\n\
00288 uint8 PREEMPTING = 6 # The goal received a cancel request after it started executing\n\
00289 # and has not yet completed execution\n\
00290 uint8 RECALLING = 7 # The goal received a cancel request before it started executing,\n\
00291 # but the action server has not yet confirmed that the goal is canceled\n\
00292 uint8 RECALLED = 8 # The goal received a cancel request before it started executing\n\
00293 # and was successfully cancelled (Terminal State)\n\
00294 uint8 LOST = 9 # An action client can determine that a goal is LOST. This should not be\n\
00295 # sent over the wire by an action server\n\
00296 \n\
00297 #Allow for the user to associate a string with GoalStatus for debugging\n\
00298 string text\n\
00299 \n\
00300 \n\
00301 ================================================================================\n\
00302 MSG: actionlib_msgs/GoalID\n\
00303 # The stamp should store the time at which this goal was requested.\n\
00304 # It is used by an action server when it tries to preempt all\n\
00305 # goals that were requested before a certain time\n\
00306 time stamp\n\
00307 \n\
00308 # The id provides a way to associate feedback and\n\
00309 # result message with specific goal requests. The id\n\
00310 # specified must be unique.\n\
00311 string id\n\
00312 \n\
00313 \n\
00314 ================================================================================\n\
00315 MSG: pr2_gripper_sensor_msgs/PR2GripperForceServoFeedback\n\
00316 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00317 \n\
00318 #feedback\n\
00319 PR2GripperForceServoData data\n\
00320 \n\
00321 ================================================================================\n\
00322 MSG: pr2_gripper_sensor_msgs/PR2GripperForceServoData\n\
00323 # Time the data was recorded at\n\
00324 time stamp\n\
00325 \n\
00326 # the force experienced by the finger Pads (N)\n\
00327 # NOTE:this ignores data from the edges of the finger pressure\n\
00328 float64 left_fingertip_pad_force\n\
00329 float64 right_fingertip_pad_force\n\
00330 \n\
00331 # the current gripper virtual parallel joint effort (in N)\n\
00332 float64 joint_effort\n\
00333 \n\
00334 # true when the gripper is no longer moving\n\
00335 # and we have reached the desired force level\n\
00336 bool force_achieved\n\
00337 \n\
00338 \n\
00339 # the control state of our realtime controller\n\
00340 PR2GripperSensorRTState rtstate\n\
00341 \n\
00342 ================================================================================\n\
00343 MSG: pr2_gripper_sensor_msgs/PR2GripperSensorRTState\n\
00344 # the control state of our realtime controller\n\
00345 int8 realtime_controller_state\n\
00346 \n\
00347 # predefined values to indicate our realtime_controller_state\n\
00348 int8 DISABLED = 0\n\
00349 int8 POSITION_SERVO = 3\n\
00350 int8 FORCE_SERVO = 4\n\
00351 int8 FIND_CONTACT = 5\n\
00352 int8 SLIP_SERVO = 6\n\
00353 ";
00354 }
00355
00356 static const char* value(const ::pr2_gripper_sensor_msgs::PR2GripperForceServoActionFeedback_<ContainerAllocator> &) { return value(); }
00357 };
00358
00359 template<class ContainerAllocator> struct HasHeader< ::pr2_gripper_sensor_msgs::PR2GripperForceServoActionFeedback_<ContainerAllocator> > : public TrueType {};
00360 template<class ContainerAllocator> struct HasHeader< const ::pr2_gripper_sensor_msgs::PR2GripperForceServoActionFeedback_<ContainerAllocator> > : public TrueType {};
00361 }
00362 }
00363
00364 namespace ros
00365 {
00366 namespace serialization
00367 {
00368
00369 template<class ContainerAllocator> struct Serializer< ::pr2_gripper_sensor_msgs::PR2GripperForceServoActionFeedback_<ContainerAllocator> >
00370 {
00371 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00372 {
00373 stream.next(m.header);
00374 stream.next(m.status);
00375 stream.next(m.feedback);
00376 }
00377
00378 ROS_DECLARE_ALLINONE_SERIALIZER;
00379 };
00380 }
00381 }
00382
00383 namespace ros
00384 {
00385 namespace message_operations
00386 {
00387
00388 template<class ContainerAllocator>
00389 struct Printer< ::pr2_gripper_sensor_msgs::PR2GripperForceServoActionFeedback_<ContainerAllocator> >
00390 {
00391 template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::pr2_gripper_sensor_msgs::PR2GripperForceServoActionFeedback_<ContainerAllocator> & v)
00392 {
00393 s << indent << "header: ";
00394 s << std::endl;
00395 Printer< ::std_msgs::Header_<ContainerAllocator> >::stream(s, indent + " ", v.header);
00396 s << indent << "status: ";
00397 s << std::endl;
00398 Printer< ::actionlib_msgs::GoalStatus_<ContainerAllocator> >::stream(s, indent + " ", v.status);
00399 s << indent << "feedback: ";
00400 s << std::endl;
00401 Printer< ::pr2_gripper_sensor_msgs::PR2GripperForceServoFeedback_<ContainerAllocator> >::stream(s, indent + " ", v.feedback);
00402 }
00403 };
00404
00405
00406 }
00407 }
00408
00409 #endif // PR2_GRIPPER_SENSOR_MSGS_MESSAGE_PR2GRIPPERFORCESERVOACTIONFEEDBACK_H
00410
