ActuatorStatistics.h
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00001 /* Auto-generated by genmsg_cpp for file /home/rosbuild/hudson/workspace/doc-groovy-pr2_mechanism/doc_stacks/2012-11-19_16-35-59.263340/pr2_mechanism/pr2_mechanism_msgs/msg/ActuatorStatistics.msg */
00002 #ifndef PR2_MECHANISM_MSGS_MESSAGE_ACTUATORSTATISTICS_H
00003 #define PR2_MECHANISM_MSGS_MESSAGE_ACTUATORSTATISTICS_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 
00018 namespace pr2_mechanism_msgs
00019 {
00020 template <class ContainerAllocator>
00021 struct ActuatorStatistics_ {
00022   typedef ActuatorStatistics_<ContainerAllocator> Type;
00023 
00024   ActuatorStatistics_()
00025   : name()
00026   , device_id(0)
00027   , timestamp()
00028   , encoder_count(0)
00029   , encoder_offset(0.0)
00030   , position(0.0)
00031   , encoder_velocity(0.0)
00032   , velocity(0.0)
00033   , calibration_reading(false)
00034   , calibration_rising_edge_valid(false)
00035   , calibration_falling_edge_valid(false)
00036   , last_calibration_rising_edge(0.0)
00037   , last_calibration_falling_edge(0.0)
00038   , is_enabled(false)
00039   , halted(false)
00040   , last_commanded_current(0.0)
00041   , last_commanded_effort(0.0)
00042   , last_executed_current(0.0)
00043   , last_executed_effort(0.0)
00044   , last_measured_current(0.0)
00045   , last_measured_effort(0.0)
00046   , motor_voltage(0.0)
00047   , num_encoder_errors(0)
00048   {
00049   }
00050 
00051   ActuatorStatistics_(const ContainerAllocator& _alloc)
00052   : name(_alloc)
00053   , device_id(0)
00054   , timestamp()
00055   , encoder_count(0)
00056   , encoder_offset(0.0)
00057   , position(0.0)
00058   , encoder_velocity(0.0)
00059   , velocity(0.0)
00060   , calibration_reading(false)
00061   , calibration_rising_edge_valid(false)
00062   , calibration_falling_edge_valid(false)
00063   , last_calibration_rising_edge(0.0)
00064   , last_calibration_falling_edge(0.0)
00065   , is_enabled(false)
00066   , halted(false)
00067   , last_commanded_current(0.0)
00068   , last_commanded_effort(0.0)
00069   , last_executed_current(0.0)
00070   , last_executed_effort(0.0)
00071   , last_measured_current(0.0)
00072   , last_measured_effort(0.0)
00073   , motor_voltage(0.0)
00074   , num_encoder_errors(0)
00075   {
00076   }
00077 
00078   typedef std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other >  _name_type;
00079   std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other >  name;
00080 
00081   typedef int32_t _device_id_type;
00082   int32_t device_id;
00083 
00084   typedef ros::Time _timestamp_type;
00085   ros::Time timestamp;
00086 
00087   typedef int32_t _encoder_count_type;
00088   int32_t encoder_count;
00089 
00090   typedef double _encoder_offset_type;
00091   double encoder_offset;
00092 
00093   typedef double _position_type;
00094   double position;
00095 
00096   typedef double _encoder_velocity_type;
00097   double encoder_velocity;
00098 
00099   typedef double _velocity_type;
00100   double velocity;
00101 
00102   typedef uint8_t _calibration_reading_type;
00103   uint8_t calibration_reading;
00104 
00105   typedef uint8_t _calibration_rising_edge_valid_type;
00106   uint8_t calibration_rising_edge_valid;
00107 
00108   typedef uint8_t _calibration_falling_edge_valid_type;
00109   uint8_t calibration_falling_edge_valid;
00110 
00111   typedef double _last_calibration_rising_edge_type;
00112   double last_calibration_rising_edge;
00113 
00114   typedef double _last_calibration_falling_edge_type;
00115   double last_calibration_falling_edge;
00116 
00117   typedef uint8_t _is_enabled_type;
00118   uint8_t is_enabled;
00119 
00120   typedef uint8_t _halted_type;
00121   uint8_t halted;
00122 
00123   typedef double _last_commanded_current_type;
00124   double last_commanded_current;
00125 
00126   typedef double _last_commanded_effort_type;
00127   double last_commanded_effort;
00128 
00129   typedef double _last_executed_current_type;
00130   double last_executed_current;
00131 
00132   typedef double _last_executed_effort_type;
00133   double last_executed_effort;
00134 
00135   typedef double _last_measured_current_type;
00136   double last_measured_current;
00137 
00138   typedef double _last_measured_effort_type;
00139   double last_measured_effort;
00140 
00141   typedef double _motor_voltage_type;
00142   double motor_voltage;
00143 
00144   typedef int32_t _num_encoder_errors_type;
00145   int32_t num_encoder_errors;
00146 
00147 
00148   typedef boost::shared_ptr< ::pr2_mechanism_msgs::ActuatorStatistics_<ContainerAllocator> > Ptr;
00149   typedef boost::shared_ptr< ::pr2_mechanism_msgs::ActuatorStatistics_<ContainerAllocator>  const> ConstPtr;
00150   boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00151 }; // struct ActuatorStatistics
00152 typedef  ::pr2_mechanism_msgs::ActuatorStatistics_<std::allocator<void> > ActuatorStatistics;
00153 
00154 typedef boost::shared_ptr< ::pr2_mechanism_msgs::ActuatorStatistics> ActuatorStatisticsPtr;
00155 typedef boost::shared_ptr< ::pr2_mechanism_msgs::ActuatorStatistics const> ActuatorStatisticsConstPtr;
00156 
00157 
00158 template<typename ContainerAllocator>
00159 std::ostream& operator<<(std::ostream& s, const  ::pr2_mechanism_msgs::ActuatorStatistics_<ContainerAllocator> & v)
00160 {
00161   ros::message_operations::Printer< ::pr2_mechanism_msgs::ActuatorStatistics_<ContainerAllocator> >::stream(s, "", v);
00162   return s;}
00163 
00164 } // namespace pr2_mechanism_msgs
00165 
00166 namespace ros
00167 {
00168 namespace message_traits
00169 {
00170 template<class ContainerAllocator> struct IsMessage< ::pr2_mechanism_msgs::ActuatorStatistics_<ContainerAllocator> > : public TrueType {};
00171 template<class ContainerAllocator> struct IsMessage< ::pr2_mechanism_msgs::ActuatorStatistics_<ContainerAllocator>  const> : public TrueType {};
00172 template<class ContainerAllocator>
00173 struct MD5Sum< ::pr2_mechanism_msgs::ActuatorStatistics_<ContainerAllocator> > {
00174   static const char* value() 
00175   {
00176     return "c37184273b29627de29382f1d3670175";
00177   }
00178 
00179   static const char* value(const  ::pr2_mechanism_msgs::ActuatorStatistics_<ContainerAllocator> &) { return value(); } 
00180   static const uint64_t static_value1 = 0xc37184273b29627dULL;
00181   static const uint64_t static_value2 = 0xe29382f1d3670175ULL;
00182 };
00183 
00184 template<class ContainerAllocator>
00185 struct DataType< ::pr2_mechanism_msgs::ActuatorStatistics_<ContainerAllocator> > {
00186   static const char* value() 
00187   {
00188     return "pr2_mechanism_msgs/ActuatorStatistics";
00189   }
00190 
00191   static const char* value(const  ::pr2_mechanism_msgs::ActuatorStatistics_<ContainerAllocator> &) { return value(); } 
00192 };
00193 
00194 template<class ContainerAllocator>
00195 struct Definition< ::pr2_mechanism_msgs::ActuatorStatistics_<ContainerAllocator> > {
00196   static const char* value() 
00197   {
00198     return "# This message contains the state of an actuator on the pr2 robot.\n\
00199 # An actuator contains a motor and an encoder, and is connected\n\
00200 # to a joint by a transmission\n\
00201 \n\
00202 # the name of the actuator\n\
00203 string name\n\
00204 \n\
00205 # the sequence number of the MCB in the ethercat chain. \n\
00206 # the first device in the chain gets deviced_id zero\n\
00207 int32 device_id\n\
00208 \n\
00209 # the time at which this actuator state was measured\n\
00210 time timestamp\n\
00211 \n\
00212 # the encoder position, represented by the number of encoder ticks\n\
00213 int32 encoder_count\n\
00214 \n\
00215 # The angular offset (in radians) that is added to the encoder reading, \n\
00216 # to get to the position of the actuator. This number is computed when the referece\n\
00217 # sensor is triggered during the calibration phase\n\
00218 float64 encoder_offset\n\
00219 \n\
00220 # the encoder position in radians\n\
00221 float64 position\n\
00222 \n\
00223 # the encoder velocity in encoder ticks per second\n\
00224 float64 encoder_velocity\n\
00225 \n\
00226 # the encoder velocity in radians per second\n\
00227 float64 velocity\n\
00228 \n\
00229 # the value of the calibration reading: low (false) or high (true)\n\
00230 bool calibration_reading\n\
00231 \n\
00232 # bool to indicate if the joint already triggered the rising/falling edge of the reference sensor\n\
00233 bool calibration_rising_edge_valid\n\
00234 bool calibration_falling_edge_valid\n\
00235 \n\
00236 # the encoder position when the last rising/falling edge was observed. \n\
00237 # only read this value when the calibration_rising/falling_edge_valid is true\n\
00238 float64 last_calibration_rising_edge\n\
00239 float64 last_calibration_falling_edge\n\
00240 \n\
00241 # flag to indicate if this actuator is enabled or not. \n\
00242 # An actuator can only be commanded when it is enabled.\n\
00243 bool is_enabled\n\
00244 \n\
00245 # indicates if the motor is halted. A motor can be halted because of a voltage or communication problem\n\
00246 bool halted\n\
00247 \n\
00248 # the last current/effort command that was requested\n\
00249 float64 last_commanded_current\n\
00250 float64 last_commanded_effort\n\
00251 \n\
00252 # the last current/effort command that was executed by the actuator\n\
00253 float64 last_executed_current\n\
00254 float64 last_executed_effort\n\
00255 \n\
00256 # the last current/effort that was measured by the actuator\n\
00257 float64 last_measured_current\n\
00258 float64 last_measured_effort\n\
00259 \n\
00260 # the motor voltate\n\
00261 float64 motor_voltage\n\
00262 \n\
00263 # the number of detected encoder problems \n\
00264 int32 num_encoder_errors\n\
00265 \n\
00266 \n\
00267 ";
00268   }
00269 
00270   static const char* value(const  ::pr2_mechanism_msgs::ActuatorStatistics_<ContainerAllocator> &) { return value(); } 
00271 };
00272 
00273 } // namespace message_traits
00274 } // namespace ros
00275 
00276 namespace ros
00277 {
00278 namespace serialization
00279 {
00280 
00281 template<class ContainerAllocator> struct Serializer< ::pr2_mechanism_msgs::ActuatorStatistics_<ContainerAllocator> >
00282 {
00283   template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00284   {
00285     stream.next(m.name);
00286     stream.next(m.device_id);
00287     stream.next(m.timestamp);
00288     stream.next(m.encoder_count);
00289     stream.next(m.encoder_offset);
00290     stream.next(m.position);
00291     stream.next(m.encoder_velocity);
00292     stream.next(m.velocity);
00293     stream.next(m.calibration_reading);
00294     stream.next(m.calibration_rising_edge_valid);
00295     stream.next(m.calibration_falling_edge_valid);
00296     stream.next(m.last_calibration_rising_edge);
00297     stream.next(m.last_calibration_falling_edge);
00298     stream.next(m.is_enabled);
00299     stream.next(m.halted);
00300     stream.next(m.last_commanded_current);
00301     stream.next(m.last_commanded_effort);
00302     stream.next(m.last_executed_current);
00303     stream.next(m.last_executed_effort);
00304     stream.next(m.last_measured_current);
00305     stream.next(m.last_measured_effort);
00306     stream.next(m.motor_voltage);
00307     stream.next(m.num_encoder_errors);
00308   }
00309 
00310   ROS_DECLARE_ALLINONE_SERIALIZER;
00311 }; // struct ActuatorStatistics_
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::ActuatorStatistics_<ContainerAllocator> >
00322 {
00323   template<typename Stream> static void stream(Stream& s, const std::string& indent, const  ::pr2_mechanism_msgs::ActuatorStatistics_<ContainerAllocator> & v) 
00324   {
00325     s << indent << "name: ";
00326     Printer<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > >::stream(s, indent + "  ", v.name);
00327     s << indent << "device_id: ";
00328     Printer<int32_t>::stream(s, indent + "  ", v.device_id);
00329     s << indent << "timestamp: ";
00330     Printer<ros::Time>::stream(s, indent + "  ", v.timestamp);
00331     s << indent << "encoder_count: ";
00332     Printer<int32_t>::stream(s, indent + "  ", v.encoder_count);
00333     s << indent << "encoder_offset: ";
00334     Printer<double>::stream(s, indent + "  ", v.encoder_offset);
00335     s << indent << "position: ";
00336     Printer<double>::stream(s, indent + "  ", v.position);
00337     s << indent << "encoder_velocity: ";
00338     Printer<double>::stream(s, indent + "  ", v.encoder_velocity);
00339     s << indent << "velocity: ";
00340     Printer<double>::stream(s, indent + "  ", v.velocity);
00341     s << indent << "calibration_reading: ";
00342     Printer<uint8_t>::stream(s, indent + "  ", v.calibration_reading);
00343     s << indent << "calibration_rising_edge_valid: ";
00344     Printer<uint8_t>::stream(s, indent + "  ", v.calibration_rising_edge_valid);
00345     s << indent << "calibration_falling_edge_valid: ";
00346     Printer<uint8_t>::stream(s, indent + "  ", v.calibration_falling_edge_valid);
00347     s << indent << "last_calibration_rising_edge: ";
00348     Printer<double>::stream(s, indent + "  ", v.last_calibration_rising_edge);
00349     s << indent << "last_calibration_falling_edge: ";
00350     Printer<double>::stream(s, indent + "  ", v.last_calibration_falling_edge);
00351     s << indent << "is_enabled: ";
00352     Printer<uint8_t>::stream(s, indent + "  ", v.is_enabled);
00353     s << indent << "halted: ";
00354     Printer<uint8_t>::stream(s, indent + "  ", v.halted);
00355     s << indent << "last_commanded_current: ";
00356     Printer<double>::stream(s, indent + "  ", v.last_commanded_current);
00357     s << indent << "last_commanded_effort: ";
00358     Printer<double>::stream(s, indent + "  ", v.last_commanded_effort);
00359     s << indent << "last_executed_current: ";
00360     Printer<double>::stream(s, indent + "  ", v.last_executed_current);
00361     s << indent << "last_executed_effort: ";
00362     Printer<double>::stream(s, indent + "  ", v.last_executed_effort);
00363     s << indent << "last_measured_current: ";
00364     Printer<double>::stream(s, indent + "  ", v.last_measured_current);
00365     s << indent << "last_measured_effort: ";
00366     Printer<double>::stream(s, indent + "  ", v.last_measured_effort);
00367     s << indent << "motor_voltage: ";
00368     Printer<double>::stream(s, indent + "  ", v.motor_voltage);
00369     s << indent << "num_encoder_errors: ";
00370     Printer<int32_t>::stream(s, indent + "  ", v.num_encoder_errors);
00371   }
00372 };
00373 
00374 
00375 } // namespace message_operations
00376 } // namespace ros
00377 
00378 #endif // PR2_MECHANISM_MSGS_MESSAGE_ACTUATORSTATISTICS_H
00379 
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pr2_mechanism_msgs
Author(s): Stuart Glaser sglaser@willowgarage.com, Wim Meeussen
autogenerated on Mon Nov 19 2012 16:39:56