00001
00002 #ifndef PR2_GRIPPER_SENSOR_MSGS_MESSAGE_PR2GRIPPERRELEASEACTIONGOAL_H
00003 #define PR2_GRIPPER_SENSOR_MSGS_MESSAGE_PR2GRIPPERRELEASEACTIONGOAL_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/GoalID.h"
00019 #include "pr2_gripper_sensor_msgs/PR2GripperReleaseGoal.h"
00020
00021 namespace pr2_gripper_sensor_msgs
00022 {
00023 template <class ContainerAllocator>
00024 struct PR2GripperReleaseActionGoal_ {
00025 typedef PR2GripperReleaseActionGoal_<ContainerAllocator> Type;
00026
00027 PR2GripperReleaseActionGoal_()
00028 : header()
00029 , goal_id()
00030 , goal()
00031 {
00032 }
00033
00034 PR2GripperReleaseActionGoal_(const ContainerAllocator& _alloc)
00035 : header(_alloc)
00036 , goal_id(_alloc)
00037 , goal(_alloc)
00038 {
00039 }
00040
00041 typedef ::std_msgs::Header_<ContainerAllocator> _header_type;
00042 ::std_msgs::Header_<ContainerAllocator> header;
00043
00044 typedef ::actionlib_msgs::GoalID_<ContainerAllocator> _goal_id_type;
00045 ::actionlib_msgs::GoalID_<ContainerAllocator> goal_id;
00046
00047 typedef ::pr2_gripper_sensor_msgs::PR2GripperReleaseGoal_<ContainerAllocator> _goal_type;
00048 ::pr2_gripper_sensor_msgs::PR2GripperReleaseGoal_<ContainerAllocator> goal;
00049
00050
00051 private:
00052 static const char* __s_getDataType_() { return "pr2_gripper_sensor_msgs/PR2GripperReleaseActionGoal"; }
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 "e5f06f3717f8990527330a2e0eaa0c81"; }
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/GoalID goal_id\n\
00070 PR2GripperReleaseGoal goal\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/GoalID\n\
00092 # The stamp should store the time at which this goal was requested.\n\
00093 # It is used by an action server when it tries to preempt all\n\
00094 # goals that were requested before a certain time\n\
00095 time stamp\n\
00096 \n\
00097 # The id provides a way to associate feedback and\n\
00098 # result message with specific goal requests. The id\n\
00099 # specified must be unique.\n\
00100 string id\n\
00101 \n\
00102 \n\
00103 ================================================================================\n\
00104 MSG: pr2_gripper_sensor_msgs/PR2GripperReleaseGoal\n\
00105 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00106 #goal\n\
00107 PR2GripperReleaseCommand command\n\
00108 \n\
00109 ================================================================================\n\
00110 MSG: pr2_gripper_sensor_msgs/PR2GripperReleaseCommand\n\
00111 # the event conditions we would like to trigger the robot to release on\n\
00112 PR2GripperEventDetectorCommand event\n\
00113 ================================================================================\n\
00114 MSG: pr2_gripper_sensor_msgs/PR2GripperEventDetectorCommand\n\
00115 # state variable that defines what events we would like to trigger on\n\
00116 # Leaving this field blank will result in the robot triggering when \n\
00117 # anything touches the sides of the finger or an impact is detected\n\
00118 # with the hand/arm.\n\
00119 int8 trigger_conditions\n\
00120 # definitions for our various trigger_conditions values\n\
00121 # trigger on either acceleration contact or finger sensor side impact\n\
00122 int8 FINGER_SIDE_IMPACT_OR_ACC = 0\n\
00123 # tigger once both slip and acceleration signals occur\n\
00124 int8 SLIP_AND_ACC = 1 \n\
00125 # trigger on either slip, acceleration, or finger sensor side impact\n\
00126 int8 FINGER_SIDE_IMPACT_OR_SLIP_OR_ACC = 2\n\
00127 # trigger only on slip information\n\
00128 int8 SLIP = 3\n\
00129 # trigger only on acceleration contact information\n\
00130 int8 ACC = 4 \n\
00131 \n\
00132 \n\
00133 # the amount of acceleration to trigger on (acceleration vector magnitude)\n\
00134 # Units = m/s^2\n\
00135 # The user needs to be concerned here about not setting the trigger too\n\
00136 # low so that is set off by the robot's own motions.\n\
00137 #\n\
00138 # For large rapid motions, say by a motion planner, 5 m/s^2 is a good level\n\
00139 # For small delicate controlled motions this can be set MUCH lower (try 2.0)\n\
00140 #\n\
00141 # NOTE: When moving the gripper joint (opening/closing the grippr)\n\
00142 # the high gearing of the PR2 gripper causes large acceleration vibrations\n\
00143 # which will cause triggering to occur. This is a known drawback of the PR2.\n\
00144 #\n\
00145 # NOTE: Leaving this value blank will result in a 0 m/s^2 trigger. If you\n\
00146 # are using a trigger_conditions value that returns on acceleration contact\n\
00147 # events then it will immediately exceed your trigger and return\n\
00148 float64 acceleration_trigger_magnitude\n\
00149 \n\
00150 \n\
00151 # the slip detector gain to trigger on (either finger) : try 0.01\n\
00152 # higher values decrease slip sensitivty (to a point)\n\
00153 # lower values increase sensitivity (to a point)\n\
00154 #\n\
00155 # NOTE: Leaving this value blank will result in the most sensitive slip level.\n\
00156 float64 slip_trigger_magnitude\n\
00157 "; }
00158 public:
00159 ROS_DEPRECATED static const std::string __s_getMessageDefinition() { return __s_getMessageDefinition_(); }
00160
00161 ROS_DEPRECATED const std::string __getMessageDefinition() const { return __s_getMessageDefinition_(); }
00162
00163 ROS_DEPRECATED virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const
00164 {
00165 ros::serialization::OStream stream(write_ptr, 1000000000);
00166 ros::serialization::serialize(stream, header);
00167 ros::serialization::serialize(stream, goal_id);
00168 ros::serialization::serialize(stream, goal);
00169 return stream.getData();
00170 }
00171
00172 ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr)
00173 {
00174 ros::serialization::IStream stream(read_ptr, 1000000000);
00175 ros::serialization::deserialize(stream, header);
00176 ros::serialization::deserialize(stream, goal_id);
00177 ros::serialization::deserialize(stream, goal);
00178 return stream.getData();
00179 }
00180
00181 ROS_DEPRECATED virtual uint32_t serializationLength() const
00182 {
00183 uint32_t size = 0;
00184 size += ros::serialization::serializationLength(header);
00185 size += ros::serialization::serializationLength(goal_id);
00186 size += ros::serialization::serializationLength(goal);
00187 return size;
00188 }
00189
00190 typedef boost::shared_ptr< ::pr2_gripper_sensor_msgs::PR2GripperReleaseActionGoal_<ContainerAllocator> > Ptr;
00191 typedef boost::shared_ptr< ::pr2_gripper_sensor_msgs::PR2GripperReleaseActionGoal_<ContainerAllocator> const> ConstPtr;
00192 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00193 };
00194 typedef ::pr2_gripper_sensor_msgs::PR2GripperReleaseActionGoal_<std::allocator<void> > PR2GripperReleaseActionGoal;
00195
00196 typedef boost::shared_ptr< ::pr2_gripper_sensor_msgs::PR2GripperReleaseActionGoal> PR2GripperReleaseActionGoalPtr;
00197 typedef boost::shared_ptr< ::pr2_gripper_sensor_msgs::PR2GripperReleaseActionGoal const> PR2GripperReleaseActionGoalConstPtr;
00198
00199
00200 template<typename ContainerAllocator>
00201 std::ostream& operator<<(std::ostream& s, const ::pr2_gripper_sensor_msgs::PR2GripperReleaseActionGoal_<ContainerAllocator> & v)
00202 {
00203 ros::message_operations::Printer< ::pr2_gripper_sensor_msgs::PR2GripperReleaseActionGoal_<ContainerAllocator> >::stream(s, "", v);
00204 return s;}
00205
00206 }
00207
00208 namespace ros
00209 {
00210 namespace message_traits
00211 {
00212 template<class ContainerAllocator> struct IsMessage< ::pr2_gripper_sensor_msgs::PR2GripperReleaseActionGoal_<ContainerAllocator> > : public TrueType {};
00213 template<class ContainerAllocator> struct IsMessage< ::pr2_gripper_sensor_msgs::PR2GripperReleaseActionGoal_<ContainerAllocator> const> : public TrueType {};
00214 template<class ContainerAllocator>
00215 struct MD5Sum< ::pr2_gripper_sensor_msgs::PR2GripperReleaseActionGoal_<ContainerAllocator> > {
00216 static const char* value()
00217 {
00218 return "e5f06f3717f8990527330a2e0eaa0c81";
00219 }
00220
00221 static const char* value(const ::pr2_gripper_sensor_msgs::PR2GripperReleaseActionGoal_<ContainerAllocator> &) { return value(); }
00222 static const uint64_t static_value1 = 0xe5f06f3717f89905ULL;
00223 static const uint64_t static_value2 = 0x27330a2e0eaa0c81ULL;
00224 };
00225
00226 template<class ContainerAllocator>
00227 struct DataType< ::pr2_gripper_sensor_msgs::PR2GripperReleaseActionGoal_<ContainerAllocator> > {
00228 static const char* value()
00229 {
00230 return "pr2_gripper_sensor_msgs/PR2GripperReleaseActionGoal";
00231 }
00232
00233 static const char* value(const ::pr2_gripper_sensor_msgs::PR2GripperReleaseActionGoal_<ContainerAllocator> &) { return value(); }
00234 };
00235
00236 template<class ContainerAllocator>
00237 struct Definition< ::pr2_gripper_sensor_msgs::PR2GripperReleaseActionGoal_<ContainerAllocator> > {
00238 static const char* value()
00239 {
00240 return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00241 \n\
00242 Header header\n\
00243 actionlib_msgs/GoalID goal_id\n\
00244 PR2GripperReleaseGoal goal\n\
00245 \n\
00246 ================================================================================\n\
00247 MSG: std_msgs/Header\n\
00248 # Standard metadata for higher-level stamped data types.\n\
00249 # This is generally used to communicate timestamped data \n\
00250 # in a particular coordinate frame.\n\
00251 # \n\
00252 # sequence ID: consecutively increasing ID \n\
00253 uint32 seq\n\
00254 #Two-integer timestamp that is expressed as:\n\
00255 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00256 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00257 # time-handling sugar is provided by the client library\n\
00258 time stamp\n\
00259 #Frame this data is associated with\n\
00260 # 0: no frame\n\
00261 # 1: global frame\n\
00262 string frame_id\n\
00263 \n\
00264 ================================================================================\n\
00265 MSG: actionlib_msgs/GoalID\n\
00266 # The stamp should store the time at which this goal was requested.\n\
00267 # It is used by an action server when it tries to preempt all\n\
00268 # goals that were requested before a certain time\n\
00269 time stamp\n\
00270 \n\
00271 # The id provides a way to associate feedback and\n\
00272 # result message with specific goal requests. The id\n\
00273 # specified must be unique.\n\
00274 string id\n\
00275 \n\
00276 \n\
00277 ================================================================================\n\
00278 MSG: pr2_gripper_sensor_msgs/PR2GripperReleaseGoal\n\
00279 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00280 #goal\n\
00281 PR2GripperReleaseCommand command\n\
00282 \n\
00283 ================================================================================\n\
00284 MSG: pr2_gripper_sensor_msgs/PR2GripperReleaseCommand\n\
00285 # the event conditions we would like to trigger the robot to release on\n\
00286 PR2GripperEventDetectorCommand event\n\
00287 ================================================================================\n\
00288 MSG: pr2_gripper_sensor_msgs/PR2GripperEventDetectorCommand\n\
00289 # state variable that defines what events we would like to trigger on\n\
00290 # Leaving this field blank will result in the robot triggering when \n\
00291 # anything touches the sides of the finger or an impact is detected\n\
00292 # with the hand/arm.\n\
00293 int8 trigger_conditions\n\
00294 # definitions for our various trigger_conditions values\n\
00295 # trigger on either acceleration contact or finger sensor side impact\n\
00296 int8 FINGER_SIDE_IMPACT_OR_ACC = 0\n\
00297 # tigger once both slip and acceleration signals occur\n\
00298 int8 SLIP_AND_ACC = 1 \n\
00299 # trigger on either slip, acceleration, or finger sensor side impact\n\
00300 int8 FINGER_SIDE_IMPACT_OR_SLIP_OR_ACC = 2\n\
00301 # trigger only on slip information\n\
00302 int8 SLIP = 3\n\
00303 # trigger only on acceleration contact information\n\
00304 int8 ACC = 4 \n\
00305 \n\
00306 \n\
00307 # the amount of acceleration to trigger on (acceleration vector magnitude)\n\
00308 # Units = m/s^2\n\
00309 # The user needs to be concerned here about not setting the trigger too\n\
00310 # low so that is set off by the robot's own motions.\n\
00311 #\n\
00312 # For large rapid motions, say by a motion planner, 5 m/s^2 is a good level\n\
00313 # For small delicate controlled motions this can be set MUCH lower (try 2.0)\n\
00314 #\n\
00315 # NOTE: When moving the gripper joint (opening/closing the grippr)\n\
00316 # the high gearing of the PR2 gripper causes large acceleration vibrations\n\
00317 # which will cause triggering to occur. This is a known drawback of the PR2.\n\
00318 #\n\
00319 # NOTE: Leaving this value blank will result in a 0 m/s^2 trigger. If you\n\
00320 # are using a trigger_conditions value that returns on acceleration contact\n\
00321 # events then it will immediately exceed your trigger and return\n\
00322 float64 acceleration_trigger_magnitude\n\
00323 \n\
00324 \n\
00325 # the slip detector gain to trigger on (either finger) : try 0.01\n\
00326 # higher values decrease slip sensitivty (to a point)\n\
00327 # lower values increase sensitivity (to a point)\n\
00328 #\n\
00329 # NOTE: Leaving this value blank will result in the most sensitive slip level.\n\
00330 float64 slip_trigger_magnitude\n\
00331 ";
00332 }
00333
00334 static const char* value(const ::pr2_gripper_sensor_msgs::PR2GripperReleaseActionGoal_<ContainerAllocator> &) { return value(); }
00335 };
00336
00337 template<class ContainerAllocator> struct HasHeader< ::pr2_gripper_sensor_msgs::PR2GripperReleaseActionGoal_<ContainerAllocator> > : public TrueType {};
00338 template<class ContainerAllocator> struct HasHeader< const ::pr2_gripper_sensor_msgs::PR2GripperReleaseActionGoal_<ContainerAllocator> > : public TrueType {};
00339 }
00340 }
00341
00342 namespace ros
00343 {
00344 namespace serialization
00345 {
00346
00347 template<class ContainerAllocator> struct Serializer< ::pr2_gripper_sensor_msgs::PR2GripperReleaseActionGoal_<ContainerAllocator> >
00348 {
00349 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00350 {
00351 stream.next(m.header);
00352 stream.next(m.goal_id);
00353 stream.next(m.goal);
00354 }
00355
00356 ROS_DECLARE_ALLINONE_SERIALIZER;
00357 };
00358 }
00359 }
00360
00361 namespace ros
00362 {
00363 namespace message_operations
00364 {
00365
00366 template<class ContainerAllocator>
00367 struct Printer< ::pr2_gripper_sensor_msgs::PR2GripperReleaseActionGoal_<ContainerAllocator> >
00368 {
00369 template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::pr2_gripper_sensor_msgs::PR2GripperReleaseActionGoal_<ContainerAllocator> & v)
00370 {
00371 s << indent << "header: ";
00372 s << std::endl;
00373 Printer< ::std_msgs::Header_<ContainerAllocator> >::stream(s, indent + " ", v.header);
00374 s << indent << "goal_id: ";
00375 s << std::endl;
00376 Printer< ::actionlib_msgs::GoalID_<ContainerAllocator> >::stream(s, indent + " ", v.goal_id);
00377 s << indent << "goal: ";
00378 s << std::endl;
00379 Printer< ::pr2_gripper_sensor_msgs::PR2GripperReleaseGoal_<ContainerAllocator> >::stream(s, indent + " ", v.goal);
00380 }
00381 };
00382
00383
00384 }
00385 }
00386
00387 #endif // PR2_GRIPPER_SENSOR_MSGS_MESSAGE_PR2GRIPPERRELEASEACTIONGOAL_H
00388
