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00002 #ifndef PR2_GRIPPER_SENSOR_MSGS_MESSAGE_PR2GRIPPERRELEASECOMMAND_H
00003 #define PR2_GRIPPER_SENSOR_MSGS_MESSAGE_PR2GRIPPERRELEASECOMMAND_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/PR2GripperEventDetectorCommand.h"
00018
00019 namespace pr2_gripper_sensor_msgs
00020 {
00021 template <class ContainerAllocator>
00022 struct PR2GripperReleaseCommand_ {
00023 typedef PR2GripperReleaseCommand_<ContainerAllocator> Type;
00024
00025 PR2GripperReleaseCommand_()
00026 : event()
00027 {
00028 }
00029
00030 PR2GripperReleaseCommand_(const ContainerAllocator& _alloc)
00031 : event(_alloc)
00032 {
00033 }
00034
00035 typedef ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorCommand_<ContainerAllocator> _event_type;
00036 ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorCommand_<ContainerAllocator> event;
00037
00038
00039 typedef boost::shared_ptr< ::pr2_gripper_sensor_msgs::PR2GripperReleaseCommand_<ContainerAllocator> > Ptr;
00040 typedef boost::shared_ptr< ::pr2_gripper_sensor_msgs::PR2GripperReleaseCommand_<ContainerAllocator> const> ConstPtr;
00041 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00042 };
00043 typedef ::pr2_gripper_sensor_msgs::PR2GripperReleaseCommand_<std::allocator<void> > PR2GripperReleaseCommand;
00044
00045 typedef boost::shared_ptr< ::pr2_gripper_sensor_msgs::PR2GripperReleaseCommand> PR2GripperReleaseCommandPtr;
00046 typedef boost::shared_ptr< ::pr2_gripper_sensor_msgs::PR2GripperReleaseCommand const> PR2GripperReleaseCommandConstPtr;
00047
00048
00049 template<typename ContainerAllocator>
00050 std::ostream& operator<<(std::ostream& s, const ::pr2_gripper_sensor_msgs::PR2GripperReleaseCommand_<ContainerAllocator> & v)
00051 {
00052 ros::message_operations::Printer< ::pr2_gripper_sensor_msgs::PR2GripperReleaseCommand_<ContainerAllocator> >::stream(s, "", v);
00053 return s;}
00054
00055 }
00056
00057 namespace ros
00058 {
00059 namespace message_traits
00060 {
00061 template<class ContainerAllocator> struct IsMessage< ::pr2_gripper_sensor_msgs::PR2GripperReleaseCommand_<ContainerAllocator> > : public TrueType {};
00062 template<class ContainerAllocator> struct IsMessage< ::pr2_gripper_sensor_msgs::PR2GripperReleaseCommand_<ContainerAllocator> const> : public TrueType {};
00063 template<class ContainerAllocator>
00064 struct MD5Sum< ::pr2_gripper_sensor_msgs::PR2GripperReleaseCommand_<ContainerAllocator> > {
00065 static const char* value()
00066 {
00067 return "e62b08129864bf301ed0a1335e6158dc";
00068 }
00069
00070 static const char* value(const ::pr2_gripper_sensor_msgs::PR2GripperReleaseCommand_<ContainerAllocator> &) { return value(); }
00071 static const uint64_t static_value1 = 0xe62b08129864bf30ULL;
00072 static const uint64_t static_value2 = 0x1ed0a1335e6158dcULL;
00073 };
00074
00075 template<class ContainerAllocator>
00076 struct DataType< ::pr2_gripper_sensor_msgs::PR2GripperReleaseCommand_<ContainerAllocator> > {
00077 static const char* value()
00078 {
00079 return "pr2_gripper_sensor_msgs/PR2GripperReleaseCommand";
00080 }
00081
00082 static const char* value(const ::pr2_gripper_sensor_msgs::PR2GripperReleaseCommand_<ContainerAllocator> &) { return value(); }
00083 };
00084
00085 template<class ContainerAllocator>
00086 struct Definition< ::pr2_gripper_sensor_msgs::PR2GripperReleaseCommand_<ContainerAllocator> > {
00087 static const char* value()
00088 {
00089 return "# the event conditions we would like to trigger the robot to release on\n\
00090 PR2GripperEventDetectorCommand event\n\
00091 ================================================================================\n\
00092 MSG: pr2_gripper_sensor_msgs/PR2GripperEventDetectorCommand\n\
00093 # state variable that defines what events we would like to trigger on\n\
00094 # Leaving this field blank will result in the robot triggering when \n\
00095 # anything touches the sides of the finger or an impact is detected\n\
00096 # with the hand/arm.\n\
00097 int8 trigger_conditions\n\
00098 # definitions for our various trigger_conditions values\n\
00099 # trigger on either acceleration contact or finger sensor side impact\n\
00100 int8 FINGER_SIDE_IMPACT_OR_ACC = 0\n\
00101 # tigger once both slip and acceleration signals occur\n\
00102 int8 SLIP_AND_ACC = 1 \n\
00103 # trigger on either slip, acceleration, or finger sensor side impact\n\
00104 int8 FINGER_SIDE_IMPACT_OR_SLIP_OR_ACC = 2\n\
00105 # trigger only on slip information\n\
00106 int8 SLIP = 3\n\
00107 # trigger only on acceleration contact information\n\
00108 int8 ACC = 4 \n\
00109 \n\
00110 \n\
00111 # the amount of acceleration to trigger on (acceleration vector magnitude)\n\
00112 # Units = m/s^2\n\
00113 # The user needs to be concerned here about not setting the trigger too\n\
00114 # low so that is set off by the robot's own motions.\n\
00115 #\n\
00116 # For large rapid motions, say by a motion planner, 5 m/s^2 is a good level\n\
00117 # For small delicate controlled motions this can be set MUCH lower (try 2.0)\n\
00118 #\n\
00119 # NOTE: When moving the gripper joint (opening/closing the grippr)\n\
00120 # the high gearing of the PR2 gripper causes large acceleration vibrations\n\
00121 # which will cause triggering to occur. This is a known drawback of the PR2.\n\
00122 #\n\
00123 # NOTE: Leaving this value blank will result in a 0 m/s^2 trigger. If you\n\
00124 # are using a trigger_conditions value that returns on acceleration contact\n\
00125 # events then it will immediately exceed your trigger and return\n\
00126 float64 acceleration_trigger_magnitude\n\
00127 \n\
00128 \n\
00129 # the slip detector gain to trigger on (either finger) : try 0.01\n\
00130 # higher values decrease slip sensitivty (to a point)\n\
00131 # lower values increase sensitivity (to a point)\n\
00132 #\n\
00133 # NOTE: Leaving this value blank will result in the most sensitive slip level.\n\
00134 float64 slip_trigger_magnitude\n\
00135 ";
00136 }
00137
00138 static const char* value(const ::pr2_gripper_sensor_msgs::PR2GripperReleaseCommand_<ContainerAllocator> &) { return value(); }
00139 };
00140
00141 template<class ContainerAllocator> struct IsFixedSize< ::pr2_gripper_sensor_msgs::PR2GripperReleaseCommand_<ContainerAllocator> > : public TrueType {};
00142 }
00143 }
00144
00145 namespace ros
00146 {
00147 namespace serialization
00148 {
00149
00150 template<class ContainerAllocator> struct Serializer< ::pr2_gripper_sensor_msgs::PR2GripperReleaseCommand_<ContainerAllocator> >
00151 {
00152 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00153 {
00154 stream.next(m.event);
00155 }
00156
00157 ROS_DECLARE_ALLINONE_SERIALIZER;
00158 };
00159 }
00160 }
00161
00162 namespace ros
00163 {
00164 namespace message_operations
00165 {
00166
00167 template<class ContainerAllocator>
00168 struct Printer< ::pr2_gripper_sensor_msgs::PR2GripperReleaseCommand_<ContainerAllocator> >
00169 {
00170 template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::pr2_gripper_sensor_msgs::PR2GripperReleaseCommand_<ContainerAllocator> & v)
00171 {
00172 s << indent << "event: ";
00173 s << std::endl;
00174 Printer< ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorCommand_<ContainerAllocator> >::stream(s, indent + " ", v.event);
00175 }
00176 };
00177
00178
00179 }
00180 }
00181
00182 #endif // PR2_GRIPPER_SENSOR_MSGS_MESSAGE_PR2GRIPPERRELEASECOMMAND_H
00183