PR2GripperEventDetectorCommand.h

Go to the documentation of this file.

/* Auto-generated by genmsg_cpp for file /home/rosbuild/hudson/workspace/doc-fuerte-pr2_object_manipulation/doc_stacks/2014-01-03_11-39-44.427894/pr2_object_manipulation/manipulation/pr2_gripper_sensor_msgs/msg/PR2GripperEventDetectorCommand.msg */
#ifndef PR2_GRIPPER_SENSOR_MSGS_MESSAGE_PR2GRIPPEREVENTDETECTORCOMMAND_H
#define PR2_GRIPPER_SENSOR_MSGS_MESSAGE_PR2GRIPPEREVENTDETECTORCOMMAND_H
#include <string>
#include <vector>
#include <map>
#include <ostream>
#include "ros/serialization.h"
#include "ros/builtin_message_traits.h"
#include "ros/message_operations.h"
#include "ros/time.h"

#include "ros/macros.h"

#include "ros/assert.h"


namespace pr2_gripper_sensor_msgs
{
template <class ContainerAllocator>
struct PR2GripperEventDetectorCommand_ {
  typedef PR2GripperEventDetectorCommand_<ContainerAllocator> Type;

  PR2GripperEventDetectorCommand_()
  : trigger_conditions(0)
  , acceleration_trigger_magnitude(0.0)
  , slip_trigger_magnitude(0.0)
  {
  }

  PR2GripperEventDetectorCommand_(const ContainerAllocator& _alloc)
  : trigger_conditions(0)
  , acceleration_trigger_magnitude(0.0)
  , slip_trigger_magnitude(0.0)
  {
  }

  typedef int8_t _trigger_conditions_type;
  int8_t trigger_conditions;

  typedef double _acceleration_trigger_magnitude_type;
  double acceleration_trigger_magnitude;

  typedef double _slip_trigger_magnitude_type;
  double slip_trigger_magnitude;

  enum { FINGER_SIDE_IMPACT_OR_ACC = 0 };
  enum { SLIP_AND_ACC = 1 };
  enum { FINGER_SIDE_IMPACT_OR_SLIP_OR_ACC = 2 };
  enum { SLIP = 3 };
  enum { ACC = 4 };

  typedef boost::shared_ptr< ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorCommand_<ContainerAllocator> > Ptr;
  typedef boost::shared_ptr< ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorCommand_<ContainerAllocator>  const> ConstPtr;
  boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
}; // struct PR2GripperEventDetectorCommand
typedef  ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorCommand_<std::allocator<void> > PR2GripperEventDetectorCommand;

typedef boost::shared_ptr< ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorCommand> PR2GripperEventDetectorCommandPtr;
typedef boost::shared_ptr< ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorCommand const> PR2GripperEventDetectorCommandConstPtr;


template<typename ContainerAllocator>
std::ostream& operator<<(std::ostream& s, const  ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorCommand_<ContainerAllocator> & v)
{
  ros::message_operations::Printer< ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorCommand_<ContainerAllocator> >::stream(s, "", v);
  return s;}

} // namespace pr2_gripper_sensor_msgs

namespace ros
{
namespace message_traits
{
template<class ContainerAllocator> struct IsMessage< ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorCommand_<ContainerAllocator> > : public TrueType {};
template<class ContainerAllocator> struct IsMessage< ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorCommand_<ContainerAllocator>  const> : public TrueType {};
template<class ContainerAllocator>
struct MD5Sum< ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorCommand_<ContainerAllocator> > {
  static const char* value() 
  {
    return "b91a7e1e863671a84c1d06e0cac3146e";
  }

  static const char* value(const  ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorCommand_<ContainerAllocator> &) { return value(); } 
  static const uint64_t static_value1 = 0xb91a7e1e863671a8ULL;
  static const uint64_t static_value2 = 0x4c1d06e0cac3146eULL;
};

template<class ContainerAllocator>
struct DataType< ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorCommand_<ContainerAllocator> > {
  static const char* value() 
  {
    return "pr2_gripper_sensor_msgs/PR2GripperEventDetectorCommand";
  }

  static const char* value(const  ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorCommand_<ContainerAllocator> &) { return value(); } 
};

template<class ContainerAllocator>
struct Definition< ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorCommand_<ContainerAllocator> > {
  static const char* value() 
  {
    return "# state variable that defines what events we would like to trigger on\n\
# Leaving this field blank will result in the robot triggering when \n\
# anything touches the sides of the finger or an impact is detected\n\
# with the hand/arm.\n\
int8 trigger_conditions\n\
# definitions for our various trigger_conditions values\n\
# trigger on either acceleration contact or finger sensor side impact\n\
int8 FINGER_SIDE_IMPACT_OR_ACC = 0\n\
# tigger once  both slip and acceleration signals occur\n\
int8 SLIP_AND_ACC = 1 \n\
#  trigger on either slip, acceleration, or finger sensor side impact\n\
int8 FINGER_SIDE_IMPACT_OR_SLIP_OR_ACC = 2\n\
# trigger only on slip information\n\
int8 SLIP = 3\n\
# trigger only on acceleration contact information\n\
int8 ACC = 4 \n\
\n\
\n\
# the amount of acceleration to trigger on (acceleration vector magnitude)\n\
# Units = m/s^2\n\
# The user needs to be concerned here about not setting the trigger too\n\
# low so that is set off by the robot's own motions.\n\
#\n\
# For large rapid motions, say by a motion planner, 5 m/s^2 is a good level\n\
# For small delicate controlled motions this can be set MUCH lower (try 2.0)\n\
#\n\
# NOTE: When moving the gripper joint (opening/closing the grippr)\n\
# the high gearing of the PR2 gripper causes large acceleration vibrations\n\
# which will cause triggering to occur. This is a known drawback of the PR2.\n\
#\n\
# NOTE: Leaving this value blank will result in a 0 m/s^2 trigger. If you\n\
# are using a trigger_conditions value that returns on acceleration contact\n\
# events then it will immediately exceed your trigger and return\n\
float64 acceleration_trigger_magnitude\n\
\n\
\n\
# the slip detector gain to trigger on (either finger) : try 0.01\n\
# higher values decrease slip sensitivty (to a point)\n\
# lower values increase sensitivity (to a point)\n\
#\n\
# NOTE: Leaving this value blank will result in the most sensitive slip level.\n\
float64 slip_trigger_magnitude\n\
";
  }

  static const char* value(const  ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorCommand_<ContainerAllocator> &) { return value(); } 
};

template<class ContainerAllocator> struct IsFixedSize< ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorCommand_<ContainerAllocator> > : public TrueType {};
} // namespace message_traits
} // namespace ros

namespace ros
{
namespace serialization
{

template<class ContainerAllocator> struct Serializer< ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorCommand_<ContainerAllocator> >
{
  template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
  {
    stream.next(m.trigger_conditions);
    stream.next(m.acceleration_trigger_magnitude);
    stream.next(m.slip_trigger_magnitude);
  }

  ROS_DECLARE_ALLINONE_SERIALIZER;
}; // struct PR2GripperEventDetectorCommand_
} // namespace serialization
} // namespace ros

namespace ros
{
namespace message_operations
{

template<class ContainerAllocator>
struct Printer< ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorCommand_<ContainerAllocator> >
{
  template<typename Stream> static void stream(Stream& s, const std::string& indent, const  ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorCommand_<ContainerAllocator> & v) 
  {
    s << indent << "trigger_conditions: ";
    Printer<int8_t>::stream(s, indent + "  ", v.trigger_conditions);
    s << indent << "acceleration_trigger_magnitude: ";
    Printer<double>::stream(s, indent + "  ", v.acceleration_trigger_magnitude);
    s << indent << "slip_trigger_magnitude: ";
    Printer<double>::stream(s, indent + "  ", v.slip_trigger_magnitude);
  }
};


} // namespace message_operations
} // namespace ros

#endif // PR2_GRIPPER_SENSOR_MSGS_MESSAGE_PR2GRIPPEREVENTDETECTORCOMMAND_H