00001
00002 #ifndef PR2_GRIPPER_SENSOR_MSGS_MESSAGE_PR2GRIPPERSLIPSERVOACTIONFEEDBACK_H
00003 #define PR2_GRIPPER_SENSOR_MSGS_MESSAGE_PR2GRIPPERSLIPSERVOACTIONFEEDBACK_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/PR2GripperSlipServoFeedback.h"
00020
00021 namespace pr2_gripper_sensor_msgs
00022 {
00023 template <class ContainerAllocator>
00024 struct PR2GripperSlipServoActionFeedback_ {
00025 typedef PR2GripperSlipServoActionFeedback_<ContainerAllocator> Type;
00026
00027 PR2GripperSlipServoActionFeedback_()
00028 : header()
00029 , status()
00030 , feedback()
00031 {
00032 }
00033
00034 PR2GripperSlipServoActionFeedback_(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::PR2GripperSlipServoFeedback_<ContainerAllocator> _feedback_type;
00048 ::pr2_gripper_sensor_msgs::PR2GripperSlipServoFeedback_<ContainerAllocator> feedback;
00049
00050
00051 private:
00052 static const char* __s_getDataType_() { return "pr2_gripper_sensor_msgs/PR2GripperSlipServoActionFeedback"; }
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 "8819de47d9e7dfd2acefc052395548ad"; }
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 PR2GripperSlipServoFeedback 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/PR2GripperSlipServoFeedback\n\
00131 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00132 \n\
00133 #feedback\n\
00134 PR2GripperSlipServoData data\n\
00135 \n\
00136 ================================================================================\n\
00137 MSG: pr2_gripper_sensor_msgs/PR2GripperSlipServoData\n\
00138 # time the data was recorded at\n\
00139 time stamp\n\
00140 \n\
00141 # the amount of deformation from action start (in meters)\n\
00142 float64 deformation\n\
00143 \n\
00144 # the force experinced by the finger Pads (N)\n\
00145 # NOTE:this ignores data from the edges of the finger pressure\n\
00146 float64 left_fingertip_pad_force\n\
00147 float64 right_fingertip_pad_force\n\
00148 \n\
00149 # the current virtual parallel joint effort of the gripper (in N)\n\
00150 float64 joint_effort\n\
00151 \n\
00152 # true if the object recently slipped\n\
00153 bool slip_detected\n\
00154 \n\
00155 # true if we are at or exceeding the deformation limit\n\
00156 # (see wiki page and param server for more info)\n\
00157 bool deformation_limit_reached\n\
00158 \n\
00159 # true if we are at or exceeding our force \n\
00160 # (see wiki page and param server for more info)\n\
00161 bool fingertip_force_limit_reached\n\
00162 \n\
00163 # true if the controller thinks the gripper is empty\n\
00164 # (see wiki page for more info)\n\
00165 bool gripper_empty\n\
00166 \n\
00167 # the control state of our realtime controller\n\
00168 PR2GripperSensorRTState rtstate\n\
00169 ================================================================================\n\
00170 MSG: pr2_gripper_sensor_msgs/PR2GripperSensorRTState\n\
00171 # the control state of our realtime controller\n\
00172 int8 realtime_controller_state\n\
00173 \n\
00174 # predefined values to indicate our realtime_controller_state\n\
00175 int8 DISABLED = 0\n\
00176 int8 POSITION_SERVO = 3\n\
00177 int8 FORCE_SERVO = 4\n\
00178 int8 FIND_CONTACT = 5\n\
00179 int8 SLIP_SERVO = 6\n\
00180 "; }
00181 public:
00182 ROS_DEPRECATED static const std::string __s_getMessageDefinition() { return __s_getMessageDefinition_(); }
00183
00184 ROS_DEPRECATED const std::string __getMessageDefinition() const { return __s_getMessageDefinition_(); }
00185
00186 ROS_DEPRECATED virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const
00187 {
00188 ros::serialization::OStream stream(write_ptr, 1000000000);
00189 ros::serialization::serialize(stream, header);
00190 ros::serialization::serialize(stream, status);
00191 ros::serialization::serialize(stream, feedback);
00192 return stream.getData();
00193 }
00194
00195 ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr)
00196 {
00197 ros::serialization::IStream stream(read_ptr, 1000000000);
00198 ros::serialization::deserialize(stream, header);
00199 ros::serialization::deserialize(stream, status);
00200 ros::serialization::deserialize(stream, feedback);
00201 return stream.getData();
00202 }
00203
00204 ROS_DEPRECATED virtual uint32_t serializationLength() const
00205 {
00206 uint32_t size = 0;
00207 size += ros::serialization::serializationLength(header);
00208 size += ros::serialization::serializationLength(status);
00209 size += ros::serialization::serializationLength(feedback);
00210 return size;
00211 }
00212
00213 typedef boost::shared_ptr< ::pr2_gripper_sensor_msgs::PR2GripperSlipServoActionFeedback_<ContainerAllocator> > Ptr;
00214 typedef boost::shared_ptr< ::pr2_gripper_sensor_msgs::PR2GripperSlipServoActionFeedback_<ContainerAllocator> const> ConstPtr;
00215 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00216 };
00217 typedef ::pr2_gripper_sensor_msgs::PR2GripperSlipServoActionFeedback_<std::allocator<void> > PR2GripperSlipServoActionFeedback;
00218
00219 typedef boost::shared_ptr< ::pr2_gripper_sensor_msgs::PR2GripperSlipServoActionFeedback> PR2GripperSlipServoActionFeedbackPtr;
00220 typedef boost::shared_ptr< ::pr2_gripper_sensor_msgs::PR2GripperSlipServoActionFeedback const> PR2GripperSlipServoActionFeedbackConstPtr;
00221
00222
00223 template<typename ContainerAllocator>
00224 std::ostream& operator<<(std::ostream& s, const ::pr2_gripper_sensor_msgs::PR2GripperSlipServoActionFeedback_<ContainerAllocator> & v)
00225 {
00226 ros::message_operations::Printer< ::pr2_gripper_sensor_msgs::PR2GripperSlipServoActionFeedback_<ContainerAllocator> >::stream(s, "", v);
00227 return s;}
00228
00229 }
00230
00231 namespace ros
00232 {
00233 namespace message_traits
00234 {
00235 template<class ContainerAllocator> struct IsMessage< ::pr2_gripper_sensor_msgs::PR2GripperSlipServoActionFeedback_<ContainerAllocator> > : public TrueType {};
00236 template<class ContainerAllocator> struct IsMessage< ::pr2_gripper_sensor_msgs::PR2GripperSlipServoActionFeedback_<ContainerAllocator> const> : public TrueType {};
00237 template<class ContainerAllocator>
00238 struct MD5Sum< ::pr2_gripper_sensor_msgs::PR2GripperSlipServoActionFeedback_<ContainerAllocator> > {
00239 static const char* value()
00240 {
00241 return "8819de47d9e7dfd2acefc052395548ad";
00242 }
00243
00244 static const char* value(const ::pr2_gripper_sensor_msgs::PR2GripperSlipServoActionFeedback_<ContainerAllocator> &) { return value(); }
00245 static const uint64_t static_value1 = 0x8819de47d9e7dfd2ULL;
00246 static const uint64_t static_value2 = 0xacefc052395548adULL;
00247 };
00248
00249 template<class ContainerAllocator>
00250 struct DataType< ::pr2_gripper_sensor_msgs::PR2GripperSlipServoActionFeedback_<ContainerAllocator> > {
00251 static const char* value()
00252 {
00253 return "pr2_gripper_sensor_msgs/PR2GripperSlipServoActionFeedback";
00254 }
00255
00256 static const char* value(const ::pr2_gripper_sensor_msgs::PR2GripperSlipServoActionFeedback_<ContainerAllocator> &) { return value(); }
00257 };
00258
00259 template<class ContainerAllocator>
00260 struct Definition< ::pr2_gripper_sensor_msgs::PR2GripperSlipServoActionFeedback_<ContainerAllocator> > {
00261 static const char* value()
00262 {
00263 return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00264 \n\
00265 Header header\n\
00266 actionlib_msgs/GoalStatus status\n\
00267 PR2GripperSlipServoFeedback feedback\n\
00268 \n\
00269 ================================================================================\n\
00270 MSG: std_msgs/Header\n\
00271 # Standard metadata for higher-level stamped data types.\n\
00272 # This is generally used to communicate timestamped data \n\
00273 # in a particular coordinate frame.\n\
00274 # \n\
00275 # sequence ID: consecutively increasing ID \n\
00276 uint32 seq\n\
00277 #Two-integer timestamp that is expressed as:\n\
00278 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00279 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00280 # time-handling sugar is provided by the client library\n\
00281 time stamp\n\
00282 #Frame this data is associated with\n\
00283 # 0: no frame\n\
00284 # 1: global frame\n\
00285 string frame_id\n\
00286 \n\
00287 ================================================================================\n\
00288 MSG: actionlib_msgs/GoalStatus\n\
00289 GoalID goal_id\n\
00290 uint8 status\n\
00291 uint8 PENDING = 0 # The goal has yet to be processed by the action server\n\
00292 uint8 ACTIVE = 1 # The goal is currently being processed by the action server\n\
00293 uint8 PREEMPTED = 2 # The goal received a cancel request after it started executing\n\
00294 # and has since completed its execution (Terminal State)\n\
00295 uint8 SUCCEEDED = 3 # The goal was achieved successfully by the action server (Terminal State)\n\
00296 uint8 ABORTED = 4 # The goal was aborted during execution by the action server due\n\
00297 # to some failure (Terminal State)\n\
00298 uint8 REJECTED = 5 # The goal was rejected by the action server without being processed,\n\
00299 # because the goal was unattainable or invalid (Terminal State)\n\
00300 uint8 PREEMPTING = 6 # The goal received a cancel request after it started executing\n\
00301 # and has not yet completed execution\n\
00302 uint8 RECALLING = 7 # The goal received a cancel request before it started executing,\n\
00303 # but the action server has not yet confirmed that the goal is canceled\n\
00304 uint8 RECALLED = 8 # The goal received a cancel request before it started executing\n\
00305 # and was successfully cancelled (Terminal State)\n\
00306 uint8 LOST = 9 # An action client can determine that a goal is LOST. This should not be\n\
00307 # sent over the wire by an action server\n\
00308 \n\
00309 #Allow for the user to associate a string with GoalStatus for debugging\n\
00310 string text\n\
00311 \n\
00312 \n\
00313 ================================================================================\n\
00314 MSG: actionlib_msgs/GoalID\n\
00315 # The stamp should store the time at which this goal was requested.\n\
00316 # It is used by an action server when it tries to preempt all\n\
00317 # goals that were requested before a certain time\n\
00318 time stamp\n\
00319 \n\
00320 # The id provides a way to associate feedback and\n\
00321 # result message with specific goal requests. The id\n\
00322 # specified must be unique.\n\
00323 string id\n\
00324 \n\
00325 \n\
00326 ================================================================================\n\
00327 MSG: pr2_gripper_sensor_msgs/PR2GripperSlipServoFeedback\n\
00328 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00329 \n\
00330 #feedback\n\
00331 PR2GripperSlipServoData data\n\
00332 \n\
00333 ================================================================================\n\
00334 MSG: pr2_gripper_sensor_msgs/PR2GripperSlipServoData\n\
00335 # time the data was recorded at\n\
00336 time stamp\n\
00337 \n\
00338 # the amount of deformation from action start (in meters)\n\
00339 float64 deformation\n\
00340 \n\
00341 # the force experinced by the finger Pads (N)\n\
00342 # NOTE:this ignores data from the edges of the finger pressure\n\
00343 float64 left_fingertip_pad_force\n\
00344 float64 right_fingertip_pad_force\n\
00345 \n\
00346 # the current virtual parallel joint effort of the gripper (in N)\n\
00347 float64 joint_effort\n\
00348 \n\
00349 # true if the object recently slipped\n\
00350 bool slip_detected\n\
00351 \n\
00352 # true if we are at or exceeding the deformation limit\n\
00353 # (see wiki page and param server for more info)\n\
00354 bool deformation_limit_reached\n\
00355 \n\
00356 # true if we are at or exceeding our force \n\
00357 # (see wiki page and param server for more info)\n\
00358 bool fingertip_force_limit_reached\n\
00359 \n\
00360 # true if the controller thinks the gripper is empty\n\
00361 # (see wiki page for more info)\n\
00362 bool gripper_empty\n\
00363 \n\
00364 # the control state of our realtime controller\n\
00365 PR2GripperSensorRTState rtstate\n\
00366 ================================================================================\n\
00367 MSG: pr2_gripper_sensor_msgs/PR2GripperSensorRTState\n\
00368 # the control state of our realtime controller\n\
00369 int8 realtime_controller_state\n\
00370 \n\
00371 # predefined values to indicate our realtime_controller_state\n\
00372 int8 DISABLED = 0\n\
00373 int8 POSITION_SERVO = 3\n\
00374 int8 FORCE_SERVO = 4\n\
00375 int8 FIND_CONTACT = 5\n\
00376 int8 SLIP_SERVO = 6\n\
00377 ";
00378 }
00379
00380 static const char* value(const ::pr2_gripper_sensor_msgs::PR2GripperSlipServoActionFeedback_<ContainerAllocator> &) { return value(); }
00381 };
00382
00383 template<class ContainerAllocator> struct HasHeader< ::pr2_gripper_sensor_msgs::PR2GripperSlipServoActionFeedback_<ContainerAllocator> > : public TrueType {};
00384 template<class ContainerAllocator> struct HasHeader< const ::pr2_gripper_sensor_msgs::PR2GripperSlipServoActionFeedback_<ContainerAllocator> > : public TrueType {};
00385 }
00386 }
00387
00388 namespace ros
00389 {
00390 namespace serialization
00391 {
00392
00393 template<class ContainerAllocator> struct Serializer< ::pr2_gripper_sensor_msgs::PR2GripperSlipServoActionFeedback_<ContainerAllocator> >
00394 {
00395 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00396 {
00397 stream.next(m.header);
00398 stream.next(m.status);
00399 stream.next(m.feedback);
00400 }
00401
00402 ROS_DECLARE_ALLINONE_SERIALIZER;
00403 };
00404 }
00405 }
00406
00407 namespace ros
00408 {
00409 namespace message_operations
00410 {
00411
00412 template<class ContainerAllocator>
00413 struct Printer< ::pr2_gripper_sensor_msgs::PR2GripperSlipServoActionFeedback_<ContainerAllocator> >
00414 {
00415 template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::pr2_gripper_sensor_msgs::PR2GripperSlipServoActionFeedback_<ContainerAllocator> & v)
00416 {
00417 s << indent << "header: ";
00418 s << std::endl;
00419 Printer< ::std_msgs::Header_<ContainerAllocator> >::stream(s, indent + " ", v.header);
00420 s << indent << "status: ";
00421 s << std::endl;
00422 Printer< ::actionlib_msgs::GoalStatus_<ContainerAllocator> >::stream(s, indent + " ", v.status);
00423 s << indent << "feedback: ";
00424 s << std::endl;
00425 Printer< ::pr2_gripper_sensor_msgs::PR2GripperSlipServoFeedback_<ContainerAllocator> >::stream(s, indent + " ", v.feedback);
00426 }
00427 };
00428
00429
00430 }
00431 }
00432
00433 #endif // PR2_GRIPPER_SENSOR_MSGS_MESSAGE_PR2GRIPPERSLIPSERVOACTIONFEEDBACK_H
00434
