MechanismStatistics.h
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00001 /* Auto-generated by genmsg_cpp for file /home/rosbuild/hudson/workspace/doc-fuerte-pr2_mechanism/doc_stacks/2012-11-17_19-51-59.699761/pr2_mechanism/pr2_mechanism_msgs/msg/MechanismStatistics.msg */
00002 #ifndef PR2_MECHANISM_MSGS_MESSAGE_MECHANISMSTATISTICS_H
00003 #define PR2_MECHANISM_MSGS_MESSAGE_MECHANISMSTATISTICS_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 "pr2_mechanism_msgs/ActuatorStatistics.h"
00019 #include "pr2_mechanism_msgs/JointStatistics.h"
00020 #include "pr2_mechanism_msgs/ControllerStatistics.h"
00021 
00022 namespace pr2_mechanism_msgs
00023 {
00024 template <class ContainerAllocator>
00025 struct MechanismStatistics_ {
00026   typedef MechanismStatistics_<ContainerAllocator> Type;
00027 
00028   MechanismStatistics_()
00029   : header()
00030   , actuator_statistics()
00031   , joint_statistics()
00032   , controller_statistics()
00033   {
00034   }
00035 
00036   MechanismStatistics_(const ContainerAllocator& _alloc)
00037   : header(_alloc)
00038   , actuator_statistics(_alloc)
00039   , joint_statistics(_alloc)
00040   , controller_statistics(_alloc)
00041   {
00042   }
00043 
00044   typedef  ::std_msgs::Header_<ContainerAllocator>  _header_type;
00045    ::std_msgs::Header_<ContainerAllocator>  header;
00046 
00047   typedef std::vector< ::pr2_mechanism_msgs::ActuatorStatistics_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::pr2_mechanism_msgs::ActuatorStatistics_<ContainerAllocator> >::other >  _actuator_statistics_type;
00048   std::vector< ::pr2_mechanism_msgs::ActuatorStatistics_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::pr2_mechanism_msgs::ActuatorStatistics_<ContainerAllocator> >::other >  actuator_statistics;
00049 
00050   typedef std::vector< ::pr2_mechanism_msgs::JointStatistics_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::pr2_mechanism_msgs::JointStatistics_<ContainerAllocator> >::other >  _joint_statistics_type;
00051   std::vector< ::pr2_mechanism_msgs::JointStatistics_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::pr2_mechanism_msgs::JointStatistics_<ContainerAllocator> >::other >  joint_statistics;
00052 
00053   typedef std::vector< ::pr2_mechanism_msgs::ControllerStatistics_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::pr2_mechanism_msgs::ControllerStatistics_<ContainerAllocator> >::other >  _controller_statistics_type;
00054   std::vector< ::pr2_mechanism_msgs::ControllerStatistics_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::pr2_mechanism_msgs::ControllerStatistics_<ContainerAllocator> >::other >  controller_statistics;
00055 
00056 
00057   typedef boost::shared_ptr< ::pr2_mechanism_msgs::MechanismStatistics_<ContainerAllocator> > Ptr;
00058   typedef boost::shared_ptr< ::pr2_mechanism_msgs::MechanismStatistics_<ContainerAllocator>  const> ConstPtr;
00059   boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00060 }; // struct MechanismStatistics
00061 typedef  ::pr2_mechanism_msgs::MechanismStatistics_<std::allocator<void> > MechanismStatistics;
00062 
00063 typedef boost::shared_ptr< ::pr2_mechanism_msgs::MechanismStatistics> MechanismStatisticsPtr;
00064 typedef boost::shared_ptr< ::pr2_mechanism_msgs::MechanismStatistics const> MechanismStatisticsConstPtr;
00065 
00066 
00067 template<typename ContainerAllocator>
00068 std::ostream& operator<<(std::ostream& s, const  ::pr2_mechanism_msgs::MechanismStatistics_<ContainerAllocator> & v)
00069 {
00070   ros::message_operations::Printer< ::pr2_mechanism_msgs::MechanismStatistics_<ContainerAllocator> >::stream(s, "", v);
00071   return s;}
00072 
00073 } // namespace pr2_mechanism_msgs
00074 
00075 namespace ros
00076 {
00077 namespace message_traits
00078 {
00079 template<class ContainerAllocator> struct IsMessage< ::pr2_mechanism_msgs::MechanismStatistics_<ContainerAllocator> > : public TrueType {};
00080 template<class ContainerAllocator> struct IsMessage< ::pr2_mechanism_msgs::MechanismStatistics_<ContainerAllocator>  const> : public TrueType {};
00081 template<class ContainerAllocator>
00082 struct MD5Sum< ::pr2_mechanism_msgs::MechanismStatistics_<ContainerAllocator> > {
00083   static const char* value() 
00084   {
00085     return "b4a99069393681672c01f8c823458e04";
00086   }
00087 
00088   static const char* value(const  ::pr2_mechanism_msgs::MechanismStatistics_<ContainerAllocator> &) { return value(); } 
00089   static const uint64_t static_value1 = 0xb4a9906939368167ULL;
00090   static const uint64_t static_value2 = 0x2c01f8c823458e04ULL;
00091 };
00092 
00093 template<class ContainerAllocator>
00094 struct DataType< ::pr2_mechanism_msgs::MechanismStatistics_<ContainerAllocator> > {
00095   static const char* value() 
00096   {
00097     return "pr2_mechanism_msgs/MechanismStatistics";
00098   }
00099 
00100   static const char* value(const  ::pr2_mechanism_msgs::MechanismStatistics_<ContainerAllocator> &) { return value(); } 
00101 };
00102 
00103 template<class ContainerAllocator>
00104 struct Definition< ::pr2_mechanism_msgs::MechanismStatistics_<ContainerAllocator> > {
00105   static const char* value() 
00106   {
00107     return "# This message describes the state of the pr2 mechanism. It contains the state of\n\
00108 # each actuator, each joint, and each controller that is spawned in pr2_mechanism_control.\n\
00109 \n\
00110 Header header\n\
00111 ActuatorStatistics[] actuator_statistics\n\
00112 JointStatistics[] joint_statistics\n\
00113 ControllerStatistics[] controller_statistics\n\
00114 \n\
00115 ================================================================================\n\
00116 MSG: std_msgs/Header\n\
00117 # Standard metadata for higher-level stamped data types.\n\
00118 # This is generally used to communicate timestamped data \n\
00119 # in a particular coordinate frame.\n\
00120 # \n\
00121 # sequence ID: consecutively increasing ID \n\
00122 uint32 seq\n\
00123 #Two-integer timestamp that is expressed as:\n\
00124 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00125 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00126 # time-handling sugar is provided by the client library\n\
00127 time stamp\n\
00128 #Frame this data is associated with\n\
00129 # 0: no frame\n\
00130 # 1: global frame\n\
00131 string frame_id\n\
00132 \n\
00133 ================================================================================\n\
00134 MSG: pr2_mechanism_msgs/ActuatorStatistics\n\
00135 # This message contains the state of an actuator on the pr2 robot.\n\
00136 # An actuator contains a motor and an encoder, and is connected\n\
00137 # to a joint by a transmission\n\
00138 \n\
00139 # the name of the actuator\n\
00140 string name\n\
00141 \n\
00142 # the sequence number of the MCB in the ethercat chain. \n\
00143 # the first device in the chain gets deviced_id zero\n\
00144 int32 device_id\n\
00145 \n\
00146 # the time at which this actuator state was measured\n\
00147 time timestamp\n\
00148 \n\
00149 # the encoder position, represented by the number of encoder ticks\n\
00150 int32 encoder_count\n\
00151 \n\
00152 # The angular offset (in radians) that is added to the encoder reading, \n\
00153 # to get to the position of the actuator. This number is computed when the referece\n\
00154 # sensor is triggered during the calibration phase\n\
00155 float64 encoder_offset\n\
00156 \n\
00157 # the encoder position in radians\n\
00158 float64 position\n\
00159 \n\
00160 # the encoder velocity in encoder ticks per second\n\
00161 float64 encoder_velocity\n\
00162 \n\
00163 # the encoder velocity in radians per second\n\
00164 float64 velocity\n\
00165 \n\
00166 # the value of the calibration reading: low (false) or high (true)\n\
00167 bool calibration_reading\n\
00168 \n\
00169 # bool to indicate if the joint already triggered the rising/falling edge of the reference sensor\n\
00170 bool calibration_rising_edge_valid\n\
00171 bool calibration_falling_edge_valid\n\
00172 \n\
00173 # the encoder position when the last rising/falling edge was observed. \n\
00174 # only read this value when the calibration_rising/falling_edge_valid is true\n\
00175 float64 last_calibration_rising_edge\n\
00176 float64 last_calibration_falling_edge\n\
00177 \n\
00178 # flag to indicate if this actuator is enabled or not. \n\
00179 # An actuator can only be commanded when it is enabled.\n\
00180 bool is_enabled\n\
00181 \n\
00182 # indicates if the motor is halted. A motor can be halted because of a voltage or communication problem\n\
00183 bool halted\n\
00184 \n\
00185 # the last current/effort command that was requested\n\
00186 float64 last_commanded_current\n\
00187 float64 last_commanded_effort\n\
00188 \n\
00189 # the last current/effort command that was executed by the actuator\n\
00190 float64 last_executed_current\n\
00191 float64 last_executed_effort\n\
00192 \n\
00193 # the last current/effort that was measured by the actuator\n\
00194 float64 last_measured_current\n\
00195 float64 last_measured_effort\n\
00196 \n\
00197 # the motor voltate\n\
00198 float64 motor_voltage\n\
00199 \n\
00200 # the number of detected encoder problems \n\
00201 int32 num_encoder_errors\n\
00202 \n\
00203 \n\
00204 ================================================================================\n\
00205 MSG: pr2_mechanism_msgs/JointStatistics\n\
00206 # This message contains the state of one joint of the pr2 robot.\n\
00207 # This message is specificly designed for the pr2 robot. \n\
00208 # A generic joint state message can be found in sensor_msgs::JointState\n\
00209 \n\
00210 # the name of the joint\n\
00211 string name\n\
00212 \n\
00213 # the time at which these joint statistics were measured\n\
00214 time timestamp\n\
00215 \n\
00216 # the position of the joint in radians\n\
00217 float64 position\n\
00218 \n\
00219 # the velocity of the joint in radians per second\n\
00220 float64 velocity\n\
00221 \n\
00222 # the measured joint effort \n\
00223 float64 measured_effort\n\
00224 \n\
00225 # the effort that was commanded to the joint.\n\
00226 # the actual applied effort might be different\n\
00227 # because the safety code can limit the effort\n\
00228 # a joint can apply\n\
00229 float64 commanded_effort\n\
00230 \n\
00231 # a flag indicating if the joint is calibrated or not\n\
00232 bool is_calibrated\n\
00233 \n\
00234 # a flag inidcating if the joint violated one of its position/velocity/effort limits\n\
00235 # in the last publish cycle\n\
00236 bool violated_limits\n\
00237 \n\
00238 # the total distance travelled by the joint, measured in radians.\n\
00239 float64 odometer\n\
00240 \n\
00241 # the lowest position reached by the joint in the last publish cycle\n\
00242 float64 min_position\n\
00243 \n\
00244 # the highest position reached by the joint in the last publish cycle\n\
00245 float64 max_position\n\
00246 \n\
00247 # the maximum absolute velocity reached by the joint in the last publish cycle\n\
00248 float64 max_abs_velocity\n\
00249 \n\
00250 # the maximum absolute effort applied by the joint in the last publish cycle\n\
00251 float64 max_abs_effort\n\
00252 \n\
00253 ================================================================================\n\
00254 MSG: pr2_mechanism_msgs/ControllerStatistics\n\
00255 # This message contains the state of one realtime controller\n\
00256 # that was spawned in pr2_mechanism_control\n\
00257 \n\
00258 # the name of the controller\n\
00259 string name\n\
00260 \n\
00261 # the time at which these controller statistics were measured\n\
00262 time timestamp\n\
00263 \n\
00264 # bool that indicates if the controller is currently\n\
00265 # in a running or a stopped state\n\
00266 bool running\n\
00267 \n\
00268 # the maximum time the update loop of the controller ever needed to complete\n\
00269 duration max_time\n\
00270 \n\
00271 # the average time the update loop of the controller needs to complete. \n\
00272 # the average is computed in a sliding time window.\n\
00273 duration mean_time\n\
00274 \n\
00275 # the variance on the time the update loop of the controller needs to complete.\n\
00276 # the variance applies to a sliding time window.\n\
00277 duration variance_time\n\
00278 \n\
00279 # the number of times this controller broke the realtime loop\n\
00280 int32 num_control_loop_overruns\n\
00281 \n\
00282 # the timestamp of the last time this controller broke the realtime loop\n\
00283 time time_last_control_loop_overrun\n\
00284 ";
00285   }
00286 
00287   static const char* value(const  ::pr2_mechanism_msgs::MechanismStatistics_<ContainerAllocator> &) { return value(); } 
00288 };
00289 
00290 template<class ContainerAllocator> struct HasHeader< ::pr2_mechanism_msgs::MechanismStatistics_<ContainerAllocator> > : public TrueType {};
00291 template<class ContainerAllocator> struct HasHeader< const ::pr2_mechanism_msgs::MechanismStatistics_<ContainerAllocator> > : public TrueType {};
00292 } // namespace message_traits
00293 } // namespace ros
00294 
00295 namespace ros
00296 {
00297 namespace serialization
00298 {
00299 
00300 template<class ContainerAllocator> struct Serializer< ::pr2_mechanism_msgs::MechanismStatistics_<ContainerAllocator> >
00301 {
00302   template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00303   {
00304     stream.next(m.header);
00305     stream.next(m.actuator_statistics);
00306     stream.next(m.joint_statistics);
00307     stream.next(m.controller_statistics);
00308   }
00309 
00310   ROS_DECLARE_ALLINONE_SERIALIZER;
00311 }; // struct MechanismStatistics_
00312 } // namespace serialization
00313 } // namespace ros
00314 
00315 namespace ros
00316 {
00317 namespace message_operations
00318 {
00319 
00320 template<class ContainerAllocator>
00321 struct Printer< ::pr2_mechanism_msgs::MechanismStatistics_<ContainerAllocator> >
00322 {
00323   template<typename Stream> static void stream(Stream& s, const std::string& indent, const  ::pr2_mechanism_msgs::MechanismStatistics_<ContainerAllocator> & v) 
00324   {
00325     s << indent << "header: ";
00326 s << std::endl;
00327     Printer< ::std_msgs::Header_<ContainerAllocator> >::stream(s, indent + "  ", v.header);
00328     s << indent << "actuator_statistics[]" << std::endl;
00329     for (size_t i = 0; i < v.actuator_statistics.size(); ++i)
00330     {
00331       s << indent << "  actuator_statistics[" << i << "]: ";
00332       s << std::endl;
00333       s << indent;
00334       Printer< ::pr2_mechanism_msgs::ActuatorStatistics_<ContainerAllocator> >::stream(s, indent + "    ", v.actuator_statistics[i]);
00335     }
00336     s << indent << "joint_statistics[]" << std::endl;
00337     for (size_t i = 0; i < v.joint_statistics.size(); ++i)
00338     {
00339       s << indent << "  joint_statistics[" << i << "]: ";
00340       s << std::endl;
00341       s << indent;
00342       Printer< ::pr2_mechanism_msgs::JointStatistics_<ContainerAllocator> >::stream(s, indent + "    ", v.joint_statistics[i]);
00343     }
00344     s << indent << "controller_statistics[]" << std::endl;
00345     for (size_t i = 0; i < v.controller_statistics.size(); ++i)
00346     {
00347       s << indent << "  controller_statistics[" << i << "]: ";
00348       s << std::endl;
00349       s << indent;
00350       Printer< ::pr2_mechanism_msgs::ControllerStatistics_<ContainerAllocator> >::stream(s, indent + "    ", v.controller_statistics[i]);
00351     }
00352   }
00353 };
00354 
00355 
00356 } // namespace message_operations
00357 } // namespace ros
00358 
00359 #endif // PR2_MECHANISM_MSGS_MESSAGE_MECHANISMSTATISTICS_H
00360 
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pr2_mechanism_msgs
Author(s): Stuart Glaser sglaser@willowgarage.com, Wim Meeussen
autogenerated on Sat Nov 17 2012 19:53:39