pr2_gripper_sensor_msgs: pr2_gripper_sensor_msgs: PR2GripperSlipServoData.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/PR2GripperSlipServoData.msg */
00002 #ifndef PR2_GRIPPER_SENSOR_MSGS_MESSAGE_PR2GRIPPERSLIPSERVODATA_H
00003 #define PR2_GRIPPER_SENSOR_MSGS_MESSAGE_PR2GRIPPERSLIPSERVODATA_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 PR2GripperSlipServoData_ {
00023   typedef PR2GripperSlipServoData_<ContainerAllocator> Type;
00024 
00025   PR2GripperSlipServoData_()
00026   : stamp()
00027   , deformation(0.0)
00028   , left_fingertip_pad_force(0.0)
00029   , right_fingertip_pad_force(0.0)
00030   , joint_effort(0.0)
00031   , slip_detected(false)
00032   , deformation_limit_reached(false)
00033   , fingertip_force_limit_reached(false)
00034   , gripper_empty(false)
00035   , rtstate()
00036   {
00037   }
00038 
00039   PR2GripperSlipServoData_(const ContainerAllocator& _alloc)
00040   : stamp()
00041   , deformation(0.0)
00042   , left_fingertip_pad_force(0.0)
00043   , right_fingertip_pad_force(0.0)
00044   , joint_effort(0.0)
00045   , slip_detected(false)
00046   , deformation_limit_reached(false)
00047   , fingertip_force_limit_reached(false)
00048   , gripper_empty(false)
00049   , rtstate(_alloc)
00050   {
00051   }
00052 
00053   typedef ros::Time _stamp_type;
00054   ros::Time stamp;
00055 
00056   typedef double _deformation_type;
00057   double deformation;
00058 
00059   typedef double _left_fingertip_pad_force_type;
00060   double left_fingertip_pad_force;
00061 
00062   typedef double _right_fingertip_pad_force_type;
00063   double right_fingertip_pad_force;
00064 
00065   typedef double _joint_effort_type;
00066   double joint_effort;
00067 
00068   typedef uint8_t _slip_detected_type;
00069   uint8_t slip_detected;
00070 
00071   typedef uint8_t _deformation_limit_reached_type;
00072   uint8_t deformation_limit_reached;
00073 
00074   typedef uint8_t _fingertip_force_limit_reached_type;
00075   uint8_t fingertip_force_limit_reached;
00076 
00077   typedef uint8_t _gripper_empty_type;
00078   uint8_t gripper_empty;
00079 
00080   typedef  ::pr2_gripper_sensor_msgs::PR2GripperSensorRTState_<ContainerAllocator>  _rtstate_type;
00081    ::pr2_gripper_sensor_msgs::PR2GripperSensorRTState_<ContainerAllocator>  rtstate;
00082 
00083 
00084 private:
00085   static const char* __s_getDataType_() { return "pr2_gripper_sensor_msgs/PR2GripperSlipServoData"; }
00086 public:
00087   ROS_DEPRECATED static const std::string __s_getDataType() { return __s_getDataType_(); }
00088 
00089   ROS_DEPRECATED const std::string __getDataType() const { return __s_getDataType_(); }
00090 
00091 private:
00092   static const char* __s_getMD5Sum_() { return "a49728a2e0c40706b3c9b74046f006aa"; }
00093 public:
00094   ROS_DEPRECATED static const std::string __s_getMD5Sum() { return __s_getMD5Sum_(); }
00095 
00096   ROS_DEPRECATED const std::string __getMD5Sum() const { return __s_getMD5Sum_(); }
00097 
00098 private:
00099   static const char* __s_getMessageDefinition_() { return "# time the data was recorded at\n\
00100 time stamp\n\
00101 \n\
00102 # the amount of deformation from action start (in meters)\n\
00103 float64 deformation\n\
00104 \n\
00105 # the force experinced by the finger Pads  (N)\n\
00106 # NOTE:this ignores data from the edges of the finger pressure\n\
00107 float64 left_fingertip_pad_force\n\
00108 float64 right_fingertip_pad_force\n\
00109 \n\
00110 # the current virtual parallel joint effort of the gripper (in N)\n\
00111 float64 joint_effort\n\
00112 \n\
00113 # true if the object recently slipped\n\
00114 bool slip_detected\n\
00115 \n\
00116 # true if we are at or exceeding the deformation limit\n\
00117 # (see wiki page and param server for more info)\n\
00118 bool deformation_limit_reached\n\
00119 \n\
00120 # true if we are at or exceeding our force \n\
00121 # (see wiki page and param server for more info)\n\
00122 bool fingertip_force_limit_reached\n\
00123 \n\
00124 # true if the controller thinks the gripper is empty\n\
00125 # (see wiki page for more info)\n\
00126 bool gripper_empty\n\
00127 \n\
00128 # the control state of our realtime controller\n\
00129 PR2GripperSensorRTState rtstate\n\
00130 ================================================================================\n\
00131 MSG: pr2_gripper_sensor_msgs/PR2GripperSensorRTState\n\
00132 # the control state of our realtime controller\n\
00133 int8 realtime_controller_state\n\
00134 \n\
00135 # predefined values to indicate our realtime_controller_state\n\
00136 int8 DISABLED = 0\n\
00137 int8 POSITION_SERVO = 3\n\
00138 int8 FORCE_SERVO = 4\n\
00139 int8 FIND_CONTACT = 5\n\
00140 int8 SLIP_SERVO = 6\n\
00141 "; }
00142 public:
00143   ROS_DEPRECATED static const std::string __s_getMessageDefinition() { return __s_getMessageDefinition_(); }
00144 
00145   ROS_DEPRECATED const std::string __getMessageDefinition() const { return __s_getMessageDefinition_(); }
00146 
00147   ROS_DEPRECATED virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const
00148   {
00149     ros::serialization::OStream stream(write_ptr, 1000000000);
00150     ros::serialization::serialize(stream, stamp);
00151     ros::serialization::serialize(stream, deformation);
00152     ros::serialization::serialize(stream, left_fingertip_pad_force);
00153     ros::serialization::serialize(stream, right_fingertip_pad_force);
00154     ros::serialization::serialize(stream, joint_effort);
00155     ros::serialization::serialize(stream, slip_detected);
00156     ros::serialization::serialize(stream, deformation_limit_reached);
00157     ros::serialization::serialize(stream, fingertip_force_limit_reached);
00158     ros::serialization::serialize(stream, gripper_empty);
00159     ros::serialization::serialize(stream, rtstate);
00160     return stream.getData();
00161   }
00162 
00163   ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr)
00164   {
00165     ros::serialization::IStream stream(read_ptr, 1000000000);
00166     ros::serialization::deserialize(stream, stamp);
00167     ros::serialization::deserialize(stream, deformation);
00168     ros::serialization::deserialize(stream, left_fingertip_pad_force);
00169     ros::serialization::deserialize(stream, right_fingertip_pad_force);
00170     ros::serialization::deserialize(stream, joint_effort);
00171     ros::serialization::deserialize(stream, slip_detected);
00172     ros::serialization::deserialize(stream, deformation_limit_reached);
00173     ros::serialization::deserialize(stream, fingertip_force_limit_reached);
00174     ros::serialization::deserialize(stream, gripper_empty);
00175     ros::serialization::deserialize(stream, rtstate);
00176     return stream.getData();
00177   }
00178 
00179   ROS_DEPRECATED virtual uint32_t serializationLength() const
00180   {
00181     uint32_t size = 0;
00182     size += ros::serialization::serializationLength(stamp);
00183     size += ros::serialization::serializationLength(deformation);
00184     size += ros::serialization::serializationLength(left_fingertip_pad_force);
00185     size += ros::serialization::serializationLength(right_fingertip_pad_force);
00186     size += ros::serialization::serializationLength(joint_effort);
00187     size += ros::serialization::serializationLength(slip_detected);
00188     size += ros::serialization::serializationLength(deformation_limit_reached);
00189     size += ros::serialization::serializationLength(fingertip_force_limit_reached);
00190     size += ros::serialization::serializationLength(gripper_empty);
00191     size += ros::serialization::serializationLength(rtstate);
00192     return size;
00193   }
00194 
00195   typedef boost::shared_ptr< ::pr2_gripper_sensor_msgs::PR2GripperSlipServoData_<ContainerAllocator> > Ptr;
00196   typedef boost::shared_ptr< ::pr2_gripper_sensor_msgs::PR2GripperSlipServoData_<ContainerAllocator>  const> ConstPtr;
00197   boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00198 }; // struct PR2GripperSlipServoData
00199 typedef  ::pr2_gripper_sensor_msgs::PR2GripperSlipServoData_<std::allocator<void> > PR2GripperSlipServoData;
00200 
00201 typedef boost::shared_ptr< ::pr2_gripper_sensor_msgs::PR2GripperSlipServoData> PR2GripperSlipServoDataPtr;
00202 typedef boost::shared_ptr< ::pr2_gripper_sensor_msgs::PR2GripperSlipServoData const> PR2GripperSlipServoDataConstPtr;
00203 
00204 
00205 template<typename ContainerAllocator>
00206 std::ostream& operator<<(std::ostream& s, const  ::pr2_gripper_sensor_msgs::PR2GripperSlipServoData_<ContainerAllocator> & v)
00207 {
00208   ros::message_operations::Printer< ::pr2_gripper_sensor_msgs::PR2GripperSlipServoData_<ContainerAllocator> >::stream(s, "", v);
00209   return s;}
00210 
00211 } // namespace pr2_gripper_sensor_msgs
00212 
00213 namespace ros
00214 {
00215 namespace message_traits
00216 {
00217 template<class ContainerAllocator> struct IsMessage< ::pr2_gripper_sensor_msgs::PR2GripperSlipServoData_<ContainerAllocator> > : public TrueType {};
00218 template<class ContainerAllocator> struct IsMessage< ::pr2_gripper_sensor_msgs::PR2GripperSlipServoData_<ContainerAllocator>  const> : public TrueType {};
00219 template<class ContainerAllocator>
00220 struct MD5Sum< ::pr2_gripper_sensor_msgs::PR2GripperSlipServoData_<ContainerAllocator> > {
00221   static const char* value() 
00222   {
00223     return "a49728a2e0c40706b3c9b74046f006aa";
00224   }
00225 
00226   static const char* value(const  ::pr2_gripper_sensor_msgs::PR2GripperSlipServoData_<ContainerAllocator> &) { return value(); } 
00227   static const uint64_t static_value1 = 0xa49728a2e0c40706ULL;
00228   static const uint64_t static_value2 = 0xb3c9b74046f006aaULL;
00229 };
00230 
00231 template<class ContainerAllocator>
00232 struct DataType< ::pr2_gripper_sensor_msgs::PR2GripperSlipServoData_<ContainerAllocator> > {
00233   static const char* value() 
00234   {
00235     return "pr2_gripper_sensor_msgs/PR2GripperSlipServoData";
00236   }
00237 
00238   static const char* value(const  ::pr2_gripper_sensor_msgs::PR2GripperSlipServoData_<ContainerAllocator> &) { return value(); } 
00239 };
00240 
00241 template<class ContainerAllocator>
00242 struct Definition< ::pr2_gripper_sensor_msgs::PR2GripperSlipServoData_<ContainerAllocator> > {
00243   static const char* value() 
00244   {
00245     return "# time the data was recorded at\n\
00246 time stamp\n\
00247 \n\
00248 # the amount of deformation from action start (in meters)\n\
00249 float64 deformation\n\
00250 \n\
00251 # the force experinced by the finger Pads  (N)\n\
00252 # NOTE:this ignores data from the edges of the finger pressure\n\
00253 float64 left_fingertip_pad_force\n\
00254 float64 right_fingertip_pad_force\n\
00255 \n\
00256 # the current virtual parallel joint effort of the gripper (in N)\n\
00257 float64 joint_effort\n\
00258 \n\
00259 # true if the object recently slipped\n\
00260 bool slip_detected\n\
00261 \n\
00262 # true if we are at or exceeding the deformation limit\n\
00263 # (see wiki page and param server for more info)\n\
00264 bool deformation_limit_reached\n\
00265 \n\
00266 # true if we are at or exceeding our force \n\
00267 # (see wiki page and param server for more info)\n\
00268 bool fingertip_force_limit_reached\n\
00269 \n\
00270 # true if the controller thinks the gripper is empty\n\
00271 # (see wiki page for more info)\n\
00272 bool gripper_empty\n\
00273 \n\
00274 # the control state of our realtime controller\n\
00275 PR2GripperSensorRTState rtstate\n\
00276 ================================================================================\n\
00277 MSG: pr2_gripper_sensor_msgs/PR2GripperSensorRTState\n\
00278 # the control state of our realtime controller\n\
00279 int8 realtime_controller_state\n\
00280 \n\
00281 # predefined values to indicate our realtime_controller_state\n\
00282 int8 DISABLED = 0\n\
00283 int8 POSITION_SERVO = 3\n\
00284 int8 FORCE_SERVO = 4\n\
00285 int8 FIND_CONTACT = 5\n\
00286 int8 SLIP_SERVO = 6\n\
00287 ";
00288   }
00289 
00290   static const char* value(const  ::pr2_gripper_sensor_msgs::PR2GripperSlipServoData_<ContainerAllocator> &) { return value(); } 
00291 };
00292 
00293 template<class ContainerAllocator> struct IsFixedSize< ::pr2_gripper_sensor_msgs::PR2GripperSlipServoData_<ContainerAllocator> > : public TrueType {};
00294 } // namespace message_traits
00295 } // namespace ros
00296 
00297 namespace ros
00298 {
00299 namespace serialization
00300 {
00301 
00302 template<class ContainerAllocator> struct Serializer< ::pr2_gripper_sensor_msgs::PR2GripperSlipServoData_<ContainerAllocator> >
00303 {
00304   template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00305   {
00306     stream.next(m.stamp);
00307     stream.next(m.deformation);
00308     stream.next(m.left_fingertip_pad_force);
00309     stream.next(m.right_fingertip_pad_force);
00310     stream.next(m.joint_effort);
00311     stream.next(m.slip_detected);
00312     stream.next(m.deformation_limit_reached);
00313     stream.next(m.fingertip_force_limit_reached);
00314     stream.next(m.gripper_empty);
00315     stream.next(m.rtstate);
00316   }
00317 
00318   ROS_DECLARE_ALLINONE_SERIALIZER;
00319 }; // struct PR2GripperSlipServoData_
00320 } // namespace serialization
00321 } // namespace ros
00322 
00323 namespace ros
00324 {
00325 namespace message_operations
00326 {
00327 
00328 template<class ContainerAllocator>
00329 struct Printer< ::pr2_gripper_sensor_msgs::PR2GripperSlipServoData_<ContainerAllocator> >
00330 {
00331   template<typename Stream> static void stream(Stream& s, const std::string& indent, const  ::pr2_gripper_sensor_msgs::PR2GripperSlipServoData_<ContainerAllocator> & v) 
00332   {
00333     s << indent << "stamp: ";
00334     Printer<ros::Time>::stream(s, indent + "  ", v.stamp);
00335     s << indent << "deformation: ";
00336     Printer<double>::stream(s, indent + "  ", v.deformation);
00337     s << indent << "left_fingertip_pad_force: ";
00338     Printer<double>::stream(s, indent + "  ", v.left_fingertip_pad_force);
00339     s << indent << "right_fingertip_pad_force: ";
00340     Printer<double>::stream(s, indent + "  ", v.right_fingertip_pad_force);
00341     s << indent << "joint_effort: ";
00342     Printer<double>::stream(s, indent + "  ", v.joint_effort);
00343     s << indent << "slip_detected: ";
00344     Printer<uint8_t>::stream(s, indent + "  ", v.slip_detected);
00345     s << indent << "deformation_limit_reached: ";
00346     Printer<uint8_t>::stream(s, indent + "  ", v.deformation_limit_reached);
00347     s << indent << "fingertip_force_limit_reached: ";
00348     Printer<uint8_t>::stream(s, indent + "  ", v.fingertip_force_limit_reached);
00349     s << indent << "gripper_empty: ";
00350     Printer<uint8_t>::stream(s, indent + "  ", v.gripper_empty);
00351     s << indent << "rtstate: ";
00352 s << std::endl;
00353     Printer< ::pr2_gripper_sensor_msgs::PR2GripperSensorRTState_<ContainerAllocator> >::stream(s, indent + "  ", v.rtstate);
00354   }
00355 };
00356 
00357 
00358 } // namespace message_operations
00359 } // namespace ros
00360 
00361 #endif // PR2_GRIPPER_SENSOR_MSGS_MESSAGE_PR2GRIPPERSLIPSERVODATA_H
00362