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00001 /* Auto-generated by genmsg_cpp for file /home/rosbuild/hudson/workspace/doc-electric-riq_hand/doc_stacks/2013-03-02_13-09-40.648474/riq_hand/riq_msgs/msg/RIQHandState.msg */ 00002 #ifndef RIQ_MSGS_MESSAGE_RIQHANDSTATE_H 00003 #define RIQ_MSGS_MESSAGE_RIQHANDSTATE_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 "riq_msgs/RIQActuatorState.h" 00018 #include "riq_msgs/RIQActuatorState.h" 00019 #include "riq_msgs/RIQActuatorState.h" 00020 #include "riq_msgs/RIQActuatorState.h" 00021 00022 namespace riq_msgs 00023 { 00024 template <class ContainerAllocator> 00025 struct RIQHandState_ { 00026 typedef RIQHandState_<ContainerAllocator> Type; 00027 00028 RIQHandState_() 00029 : operational(false) 00030 , status(0) 00031 , mode(0) 00032 , grip(0) 00033 , object(0) 00034 , thumb() 00035 , right_finger() 00036 , left_finger() 00037 , scissors() 00038 { 00039 } 00040 00041 RIQHandState_(const ContainerAllocator& _alloc) 00042 : operational(false) 00043 , status(0) 00044 , mode(0) 00045 , grip(0) 00046 , object(0) 00047 , thumb(_alloc) 00048 , right_finger(_alloc) 00049 , left_finger(_alloc) 00050 , scissors(_alloc) 00051 { 00052 } 00053 00054 typedef uint8_t _operational_type; 00055 uint8_t operational; 00056 00057 typedef int8_t _status_type; 00058 int8_t status; 00059 00060 typedef int8_t _mode_type; 00061 int8_t mode; 00062 00063 typedef int8_t _grip_type; 00064 int8_t grip; 00065 00066 typedef int8_t _object_type; 00067 int8_t object; 00068 00069 typedef ::riq_msgs::RIQActuatorState_<ContainerAllocator> _thumb_type; 00070 ::riq_msgs::RIQActuatorState_<ContainerAllocator> thumb; 00071 00072 typedef ::riq_msgs::RIQActuatorState_<ContainerAllocator> _right_finger_type; 00073 ::riq_msgs::RIQActuatorState_<ContainerAllocator> right_finger; 00074 00075 typedef ::riq_msgs::RIQActuatorState_<ContainerAllocator> _left_finger_type; 00076 ::riq_msgs::RIQActuatorState_<ContainerAllocator> left_finger; 00077 00078 typedef ::riq_msgs::RIQActuatorState_<ContainerAllocator> _scissors_type; 00079 ::riq_msgs::RIQActuatorState_<ContainerAllocator> scissors; 00080 00081 enum { FAULTED = 0 }; 00082 enum { IN_PROGRESS = 1 }; 00083 enum { ILLEGAL_OR_UNDEFINED = 2 }; 00084 enum { SUCCESSFUL = 3 }; 00085 enum { CYLINDRICAL = 0 }; 00086 enum { PINCH = 1 }; 00087 enum { SPHERIOD = 2 }; 00088 enum { SCISSORS = 3 }; 00089 enum { STOPPED = 0 }; 00090 enum { OPENED = 1 }; 00091 enum { CLOSED = 2 }; 00092 enum { INITIALIZING_OR_CHANGING = 3 }; 00093 enum { NOT_DETECTED = 0 }; 00094 enum { DETECTED_1_FINGER = 1 }; 00095 enum { DETECTED_2_FINGERS = 2 }; 00096 enum { DETECTED_ALL_FINGERS = 3 }; 00097 00098 private: 00099 static const char* __s_getDataType_() { return "riq_msgs/RIQHandState"; } 00100 public: 00101 ROS_DEPRECATED static const std::string __s_getDataType() { return __s_getDataType_(); } 00102 00103 ROS_DEPRECATED const std::string __getDataType() const { return __s_getDataType_(); } 00104 00105 private: 00106 static const char* __s_getMD5Sum_() { return "3ab70f8c0e9b67b0db99e45af2360afc"; } 00107 public: 00108 ROS_DEPRECATED static const std::string __s_getMD5Sum() { return __s_getMD5Sum_(); } 00109 00110 ROS_DEPRECATED const std::string __getMD5Sum() const { return __s_getMD5Sum_(); } 00111 00112 private: 00113 static const char* __s_getMessageDefinition_() { return "# ROS state information from RobotIQ hand\n\ 00114 \n\ 00115 # Action status\n\ 00116 int8 FAULTED = 0\n\ 00117 int8 IN_PROGRESS = 1\n\ 00118 int8 ILLEGAL_OR_UNDEFINED = 2\n\ 00119 int8 SUCCESSFUL = 3\n\ 00120 \n\ 00121 # Mode constants\n\ 00122 int8 CYLINDRICAL = 0\n\ 00123 int8 PINCH = 1\n\ 00124 int8 SPHERIOD = 2\n\ 00125 int8 SCISSORS = 3\n\ 00126 \n\ 00127 # Grip\n\ 00128 int8 STOPPED = 0\n\ 00129 int8 OPENED = 1\n\ 00130 int8 CLOSED = 2\n\ 00131 int8 INITIALIZING_OR_CHANGING = 3\n\ 00132 \n\ 00133 # Object detection status\n\ 00134 int8 NOT_DETECTED = 0\n\ 00135 int8 DETECTED_1_FINGER = 1\n\ 00136 int8 DETECTED_2_FINGERS = 2\n\ 00137 int8 DETECTED_ALL_FINGERS = 3\n\ 00138 \n\ 00139 \n\ 00140 bool operational # True when RIQ hand is operational, \n\ 00141 # False if there is an error, or hand has not been initialized\n\ 00142 \n\ 00143 int8 status # Result of last requested action\n\ 00144 # SUCCESSFULL, FAULTED, IN_PROGRESS, ILLEGAL_OR_UNDEFINED\n\ 00145 \n\ 00146 int8 mode # Mode gripper is curretly in: \n\ 00147 # PINCH, CYLINDRICAL, SPHERIOD, SCISSORS \n\ 00148 \n\ 00149 int8 grip # Grip\n\ 00150 # CLOSED, OPEN, STOPPED, INTIALIZING_OR_CHANGING\n\ 00151 \n\ 00152 int8 object # Object detection\n\ 00153 # NOT_DETECTED, DETECTED_1_FINGER, DETECTED_2_FINGERS, DETECTED_ALL_FINGERS\n\ 00154 \n\ 00155 RIQActuatorState thumb\n\ 00156 RIQActuatorState right_finger\n\ 00157 RIQActuatorState left_finger\n\ 00158 RIQActuatorState scissors # Scissors is joint motor between right and left finger\n\ 00159 ================================================================================\n\ 00160 MSG: riq_msgs/RIQActuatorState\n\ 00161 # ROS state information for RobotIQ actuator.\n\ 00162 \n\ 00163 # Measured motor current (in Amps)\n\ 00164 float64 current\n\ 00165 \n\ 00166 # Motor position range from (0.0 to 1.0)\n\ 00167 float64 position\n\ 00168 \n\ 00169 # True when finger / actuator detected an object\n\ 00170 bool object_detected\n\ 00171 "; } 00172 public: 00173 ROS_DEPRECATED static const std::string __s_getMessageDefinition() { return __s_getMessageDefinition_(); } 00174 00175 ROS_DEPRECATED const std::string __getMessageDefinition() const { return __s_getMessageDefinition_(); } 00176 00177 ROS_DEPRECATED virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const 00178 { 00179 ros::serialization::OStream stream(write_ptr, 1000000000); 00180 ros::serialization::serialize(stream, operational); 00181 ros::serialization::serialize(stream, status); 00182 ros::serialization::serialize(stream, mode); 00183 ros::serialization::serialize(stream, grip); 00184 ros::serialization::serialize(stream, object); 00185 ros::serialization::serialize(stream, thumb); 00186 ros::serialization::serialize(stream, right_finger); 00187 ros::serialization::serialize(stream, left_finger); 00188 ros::serialization::serialize(stream, scissors); 00189 return stream.getData(); 00190 } 00191 00192 ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr) 00193 { 00194 ros::serialization::IStream stream(read_ptr, 1000000000); 00195 ros::serialization::deserialize(stream, operational); 00196 ros::serialization::deserialize(stream, status); 00197 ros::serialization::deserialize(stream, mode); 00198 ros::serialization::deserialize(stream, grip); 00199 ros::serialization::deserialize(stream, object); 00200 ros::serialization::deserialize(stream, thumb); 00201 ros::serialization::deserialize(stream, right_finger); 00202 ros::serialization::deserialize(stream, left_finger); 00203 ros::serialization::deserialize(stream, scissors); 00204 return stream.getData(); 00205 } 00206 00207 ROS_DEPRECATED virtual uint32_t serializationLength() const 00208 { 00209 uint32_t size = 0; 00210 size += ros::serialization::serializationLength(operational); 00211 size += ros::serialization::serializationLength(status); 00212 size += ros::serialization::serializationLength(mode); 00213 size += ros::serialization::serializationLength(grip); 00214 size += ros::serialization::serializationLength(object); 00215 size += ros::serialization::serializationLength(thumb); 00216 size += ros::serialization::serializationLength(right_finger); 00217 size += ros::serialization::serializationLength(left_finger); 00218 size += ros::serialization::serializationLength(scissors); 00219 return size; 00220 } 00221 00222 typedef boost::shared_ptr< ::riq_msgs::RIQHandState_<ContainerAllocator> > Ptr; 00223 typedef boost::shared_ptr< ::riq_msgs::RIQHandState_<ContainerAllocator> const> ConstPtr; 00224 boost::shared_ptr<std::map<std::string, std::string> > __connection_header; 00225 }; // struct RIQHandState 00226 typedef ::riq_msgs::RIQHandState_<std::allocator<void> > RIQHandState; 00227 00228 typedef boost::shared_ptr< ::riq_msgs::RIQHandState> RIQHandStatePtr; 00229 typedef boost::shared_ptr< ::riq_msgs::RIQHandState const> RIQHandStateConstPtr; 00230 00231 00232 template<typename ContainerAllocator> 00233 std::ostream& operator<<(std::ostream& s, const ::riq_msgs::RIQHandState_<ContainerAllocator> & v) 00234 { 00235 ros::message_operations::Printer< ::riq_msgs::RIQHandState_<ContainerAllocator> >::stream(s, "", v); 00236 return s;} 00237 00238 } // namespace riq_msgs 00239 00240 namespace ros 00241 { 00242 namespace message_traits 00243 { 00244 template<class ContainerAllocator> struct IsMessage< ::riq_msgs::RIQHandState_<ContainerAllocator> > : public TrueType {}; 00245 template<class ContainerAllocator> struct IsMessage< ::riq_msgs::RIQHandState_<ContainerAllocator> const> : public TrueType {}; 00246 template<class ContainerAllocator> 00247 struct MD5Sum< ::riq_msgs::RIQHandState_<ContainerAllocator> > { 00248 static const char* value() 00249 { 00250 return "3ab70f8c0e9b67b0db99e45af2360afc"; 00251 } 00252 00253 static const char* value(const ::riq_msgs::RIQHandState_<ContainerAllocator> &) { return value(); } 00254 static const uint64_t static_value1 = 0x3ab70f8c0e9b67b0ULL; 00255 static const uint64_t static_value2 = 0xdb99e45af2360afcULL; 00256 }; 00257 00258 template<class ContainerAllocator> 00259 struct DataType< ::riq_msgs::RIQHandState_<ContainerAllocator> > { 00260 static const char* value() 00261 { 00262 return "riq_msgs/RIQHandState"; 00263 } 00264 00265 static const char* value(const ::riq_msgs::RIQHandState_<ContainerAllocator> &) { return value(); } 00266 }; 00267 00268 template<class ContainerAllocator> 00269 struct Definition< ::riq_msgs::RIQHandState_<ContainerAllocator> > { 00270 static const char* value() 00271 { 00272 return "# ROS state information from RobotIQ hand\n\ 00273 \n\ 00274 # Action status\n\ 00275 int8 FAULTED = 0\n\ 00276 int8 IN_PROGRESS = 1\n\ 00277 int8 ILLEGAL_OR_UNDEFINED = 2\n\ 00278 int8 SUCCESSFUL = 3\n\ 00279 \n\ 00280 # Mode constants\n\ 00281 int8 CYLINDRICAL = 0\n\ 00282 int8 PINCH = 1\n\ 00283 int8 SPHERIOD = 2\n\ 00284 int8 SCISSORS = 3\n\ 00285 \n\ 00286 # Grip\n\ 00287 int8 STOPPED = 0\n\ 00288 int8 OPENED = 1\n\ 00289 int8 CLOSED = 2\n\ 00290 int8 INITIALIZING_OR_CHANGING = 3\n\ 00291 \n\ 00292 # Object detection status\n\ 00293 int8 NOT_DETECTED = 0\n\ 00294 int8 DETECTED_1_FINGER = 1\n\ 00295 int8 DETECTED_2_FINGERS = 2\n\ 00296 int8 DETECTED_ALL_FINGERS = 3\n\ 00297 \n\ 00298 \n\ 00299 bool operational # True when RIQ hand is operational, \n\ 00300 # False if there is an error, or hand has not been initialized\n\ 00301 \n\ 00302 int8 status # Result of last requested action\n\ 00303 # SUCCESSFULL, FAULTED, IN_PROGRESS, ILLEGAL_OR_UNDEFINED\n\ 00304 \n\ 00305 int8 mode # Mode gripper is curretly in: \n\ 00306 # PINCH, CYLINDRICAL, SPHERIOD, SCISSORS \n\ 00307 \n\ 00308 int8 grip # Grip\n\ 00309 # CLOSED, OPEN, STOPPED, INTIALIZING_OR_CHANGING\n\ 00310 \n\ 00311 int8 object # Object detection\n\ 00312 # NOT_DETECTED, DETECTED_1_FINGER, DETECTED_2_FINGERS, DETECTED_ALL_FINGERS\n\ 00313 \n\ 00314 RIQActuatorState thumb\n\ 00315 RIQActuatorState right_finger\n\ 00316 RIQActuatorState left_finger\n\ 00317 RIQActuatorState scissors # Scissors is joint motor between right and left finger\n\ 00318 ================================================================================\n\ 00319 MSG: riq_msgs/RIQActuatorState\n\ 00320 # ROS state information for RobotIQ actuator.\n\ 00321 \n\ 00322 # Measured motor current (in Amps)\n\ 00323 float64 current\n\ 00324 \n\ 00325 # Motor position range from (0.0 to 1.0)\n\ 00326 float64 position\n\ 00327 \n\ 00328 # True when finger / actuator detected an object\n\ 00329 bool object_detected\n\ 00330 "; 00331 } 00332 00333 static const char* value(const ::riq_msgs::RIQHandState_<ContainerAllocator> &) { return value(); } 00334 }; 00335 00336 template<class ContainerAllocator> struct IsFixedSize< ::riq_msgs::RIQHandState_<ContainerAllocator> > : public TrueType {}; 00337 } // namespace message_traits 00338 } // namespace ros 00339 00340 namespace ros 00341 { 00342 namespace serialization 00343 { 00344 00345 template<class ContainerAllocator> struct Serializer< ::riq_msgs::RIQHandState_<ContainerAllocator> > 00346 { 00347 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m) 00348 { 00349 stream.next(m.operational); 00350 stream.next(m.status); 00351 stream.next(m.mode); 00352 stream.next(m.grip); 00353 stream.next(m.object); 00354 stream.next(m.thumb); 00355 stream.next(m.right_finger); 00356 stream.next(m.left_finger); 00357 stream.next(m.scissors); 00358 } 00359 00360 ROS_DECLARE_ALLINONE_SERIALIZER; 00361 }; // struct RIQHandState_ 00362 } // namespace serialization 00363 } // namespace ros 00364 00365 namespace ros 00366 { 00367 namespace message_operations 00368 { 00369 00370 template<class ContainerAllocator> 00371 struct Printer< ::riq_msgs::RIQHandState_<ContainerAllocator> > 00372 { 00373 template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::riq_msgs::RIQHandState_<ContainerAllocator> & v) 00374 { 00375 s << indent << "operational: "; 00376 Printer<uint8_t>::stream(s, indent + " ", v.operational); 00377 s << indent << "status: "; 00378 Printer<int8_t>::stream(s, indent + " ", v.status); 00379 s << indent << "mode: "; 00380 Printer<int8_t>::stream(s, indent + " ", v.mode); 00381 s << indent << "grip: "; 00382 Printer<int8_t>::stream(s, indent + " ", v.grip); 00383 s << indent << "object: "; 00384 Printer<int8_t>::stream(s, indent + " ", v.object); 00385 s << indent << "thumb: "; 00386 s << std::endl; 00387 Printer< ::riq_msgs::RIQActuatorState_<ContainerAllocator> >::stream(s, indent + " ", v.thumb); 00388 s << indent << "right_finger: "; 00389 s << std::endl; 00390 Printer< ::riq_msgs::RIQActuatorState_<ContainerAllocator> >::stream(s, indent + " ", v.right_finger); 00391 s << indent << "left_finger: "; 00392 s << std::endl; 00393 Printer< ::riq_msgs::RIQActuatorState_<ContainerAllocator> >::stream(s, indent + " ", v.left_finger); 00394 s << indent << "scissors: "; 00395 s << std::endl; 00396 Printer< ::riq_msgs::RIQActuatorState_<ContainerAllocator> >::stream(s, indent + " ", v.scissors); 00397 } 00398 }; 00399 00400 00401 } // namespace message_operations 00402 } // namespace ros 00403 00404 #endif // RIQ_MSGS_MESSAGE_RIQHANDSTATE_H 00405