PR2GripperSlipServoData.h
Go to the documentation of this file.
00001 /* 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/PR2GripperSlipServoData.msg */
00002 #ifndef PR2_GRIPPER_SENSOR_MSGS_MESSAGE_PR2GRIPPERSLIPSERVODATA_H
00003 #define PR2_GRIPPER_SENSOR_MSGS_MESSAGE_PR2GRIPPERSLIPSERVODATA_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/PR2GripperSensorRTState.h"
00018 
00019 namespace pr2_gripper_sensor_msgs
00020 {
00021 template <class ContainerAllocator>
00022 struct PR2GripperSlipServoData_ {
00023   typedef PR2GripperSlipServoData_<ContainerAllocator> Type;
00024 
00025   PR2GripperSlipServoData_()
00026   : stamp()
00027   , deformation(0.0)
00028   , left_fingertip_pad_force(0.0)
00029   , right_fingertip_pad_force(0.0)
00030   , joint_effort(0.0)
00031   , slip_detected(false)
00032   , deformation_limit_reached(false)
00033   , fingertip_force_limit_reached(false)
00034   , gripper_empty(false)
00035   , rtstate()
00036   {
00037   }
00038 
00039   PR2GripperSlipServoData_(const ContainerAllocator& _alloc)
00040   : stamp()
00041   , deformation(0.0)
00042   , left_fingertip_pad_force(0.0)
00043   , right_fingertip_pad_force(0.0)
00044   , joint_effort(0.0)
00045   , slip_detected(false)
00046   , deformation_limit_reached(false)
00047   , fingertip_force_limit_reached(false)
00048   , gripper_empty(false)
00049   , rtstate(_alloc)
00050   {
00051   }
00052 
00053   typedef ros::Time _stamp_type;
00054   ros::Time stamp;
00055 
00056   typedef double _deformation_type;
00057   double deformation;
00058 
00059   typedef double _left_fingertip_pad_force_type;
00060   double left_fingertip_pad_force;
00061 
00062   typedef double _right_fingertip_pad_force_type;
00063   double right_fingertip_pad_force;
00064 
00065   typedef double _joint_effort_type;
00066   double joint_effort;
00067 
00068   typedef uint8_t _slip_detected_type;
00069   uint8_t slip_detected;
00070 
00071   typedef uint8_t _deformation_limit_reached_type;
00072   uint8_t deformation_limit_reached;
00073 
00074   typedef uint8_t _fingertip_force_limit_reached_type;
00075   uint8_t fingertip_force_limit_reached;
00076 
00077   typedef uint8_t _gripper_empty_type;
00078   uint8_t gripper_empty;
00079 
00080   typedef  ::pr2_gripper_sensor_msgs::PR2GripperSensorRTState_<ContainerAllocator>  _rtstate_type;
00081    ::pr2_gripper_sensor_msgs::PR2GripperSensorRTState_<ContainerAllocator>  rtstate;
00082 
00083 
00084   typedef boost::shared_ptr< ::pr2_gripper_sensor_msgs::PR2GripperSlipServoData_<ContainerAllocator> > Ptr;
00085   typedef boost::shared_ptr< ::pr2_gripper_sensor_msgs::PR2GripperSlipServoData_<ContainerAllocator>  const> ConstPtr;
00086   boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00087 }; // struct PR2GripperSlipServoData
00088 typedef  ::pr2_gripper_sensor_msgs::PR2GripperSlipServoData_<std::allocator<void> > PR2GripperSlipServoData;
00089 
00090 typedef boost::shared_ptr< ::pr2_gripper_sensor_msgs::PR2GripperSlipServoData> PR2GripperSlipServoDataPtr;
00091 typedef boost::shared_ptr< ::pr2_gripper_sensor_msgs::PR2GripperSlipServoData const> PR2GripperSlipServoDataConstPtr;
00092 
00093 
00094 template<typename ContainerAllocator>
00095 std::ostream& operator<<(std::ostream& s, const  ::pr2_gripper_sensor_msgs::PR2GripperSlipServoData_<ContainerAllocator> & v)
00096 {
00097   ros::message_operations::Printer< ::pr2_gripper_sensor_msgs::PR2GripperSlipServoData_<ContainerAllocator> >::stream(s, "", v);
00098   return s;}
00099 
00100 } // namespace pr2_gripper_sensor_msgs
00101 
00102 namespace ros
00103 {
00104 namespace message_traits
00105 {
00106 template<class ContainerAllocator> struct IsMessage< ::pr2_gripper_sensor_msgs::PR2GripperSlipServoData_<ContainerAllocator> > : public TrueType {};
00107 template<class ContainerAllocator> struct IsMessage< ::pr2_gripper_sensor_msgs::PR2GripperSlipServoData_<ContainerAllocator>  const> : public TrueType {};
00108 template<class ContainerAllocator>
00109 struct MD5Sum< ::pr2_gripper_sensor_msgs::PR2GripperSlipServoData_<ContainerAllocator> > {
00110   static const char* value() 
00111   {
00112     return "a49728a2e0c40706b3c9b74046f006aa";
00113   }
00114 
00115   static const char* value(const  ::pr2_gripper_sensor_msgs::PR2GripperSlipServoData_<ContainerAllocator> &) { return value(); } 
00116   static const uint64_t static_value1 = 0xa49728a2e0c40706ULL;
00117   static const uint64_t static_value2 = 0xb3c9b74046f006aaULL;
00118 };
00119 
00120 template<class ContainerAllocator>
00121 struct DataType< ::pr2_gripper_sensor_msgs::PR2GripperSlipServoData_<ContainerAllocator> > {
00122   static const char* value() 
00123   {
00124     return "pr2_gripper_sensor_msgs/PR2GripperSlipServoData";
00125   }
00126 
00127   static const char* value(const  ::pr2_gripper_sensor_msgs::PR2GripperSlipServoData_<ContainerAllocator> &) { return value(); } 
00128 };
00129 
00130 template<class ContainerAllocator>
00131 struct Definition< ::pr2_gripper_sensor_msgs::PR2GripperSlipServoData_<ContainerAllocator> > {
00132   static const char* value() 
00133   {
00134     return "# time the data was recorded at\n\
00135 time stamp\n\
00136 \n\
00137 # the amount of deformation from action start (in meters)\n\
00138 float64 deformation\n\
00139 \n\
00140 # the force experinced by the finger Pads  (N)\n\
00141 # NOTE:this ignores data from the edges of the finger pressure\n\
00142 float64 left_fingertip_pad_force\n\
00143 float64 right_fingertip_pad_force\n\
00144 \n\
00145 # the current virtual parallel joint effort of the gripper (in N)\n\
00146 float64 joint_effort\n\
00147 \n\
00148 # true if the object recently slipped\n\
00149 bool slip_detected\n\
00150 \n\
00151 # true if we are at or exceeding the deformation limit\n\
00152 # (see wiki page and param server for more info)\n\
00153 bool deformation_limit_reached\n\
00154 \n\
00155 # true if we are at or exceeding our force \n\
00156 # (see wiki page and param server for more info)\n\
00157 bool fingertip_force_limit_reached\n\
00158 \n\
00159 # true if the controller thinks the gripper is empty\n\
00160 # (see wiki page for more info)\n\
00161 bool gripper_empty\n\
00162 \n\
00163 # the control state of our realtime controller\n\
00164 PR2GripperSensorRTState rtstate\n\
00165 ================================================================================\n\
00166 MSG: pr2_gripper_sensor_msgs/PR2GripperSensorRTState\n\
00167 # the control state of our realtime controller\n\
00168 int8 realtime_controller_state\n\
00169 \n\
00170 # predefined values to indicate our realtime_controller_state\n\
00171 int8 DISABLED = 0\n\
00172 int8 POSITION_SERVO = 3\n\
00173 int8 FORCE_SERVO = 4\n\
00174 int8 FIND_CONTACT = 5\n\
00175 int8 SLIP_SERVO = 6\n\
00176 ";
00177   }
00178 
00179   static const char* value(const  ::pr2_gripper_sensor_msgs::PR2GripperSlipServoData_<ContainerAllocator> &) { return value(); } 
00180 };
00181 
00182 template<class ContainerAllocator> struct IsFixedSize< ::pr2_gripper_sensor_msgs::PR2GripperSlipServoData_<ContainerAllocator> > : public TrueType {};
00183 } // namespace message_traits
00184 } // namespace ros
00185 
00186 namespace ros
00187 {
00188 namespace serialization
00189 {
00190 
00191 template<class ContainerAllocator> struct Serializer< ::pr2_gripper_sensor_msgs::PR2GripperSlipServoData_<ContainerAllocator> >
00192 {
00193   template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00194   {
00195     stream.next(m.stamp);
00196     stream.next(m.deformation);
00197     stream.next(m.left_fingertip_pad_force);
00198     stream.next(m.right_fingertip_pad_force);
00199     stream.next(m.joint_effort);
00200     stream.next(m.slip_detected);
00201     stream.next(m.deformation_limit_reached);
00202     stream.next(m.fingertip_force_limit_reached);
00203     stream.next(m.gripper_empty);
00204     stream.next(m.rtstate);
00205   }
00206 
00207   ROS_DECLARE_ALLINONE_SERIALIZER;
00208 }; // struct PR2GripperSlipServoData_
00209 } // namespace serialization
00210 } // namespace ros
00211 
00212 namespace ros
00213 {
00214 namespace message_operations
00215 {
00216 
00217 template<class ContainerAllocator>
00218 struct Printer< ::pr2_gripper_sensor_msgs::PR2GripperSlipServoData_<ContainerAllocator> >
00219 {
00220   template<typename Stream> static void stream(Stream& s, const std::string& indent, const  ::pr2_gripper_sensor_msgs::PR2GripperSlipServoData_<ContainerAllocator> & v) 
00221   {
00222     s << indent << "stamp: ";
00223     Printer<ros::Time>::stream(s, indent + "  ", v.stamp);
00224     s << indent << "deformation: ";
00225     Printer<double>::stream(s, indent + "  ", v.deformation);
00226     s << indent << "left_fingertip_pad_force: ";
00227     Printer<double>::stream(s, indent + "  ", v.left_fingertip_pad_force);
00228     s << indent << "right_fingertip_pad_force: ";
00229     Printer<double>::stream(s, indent + "  ", v.right_fingertip_pad_force);
00230     s << indent << "joint_effort: ";
00231     Printer<double>::stream(s, indent + "  ", v.joint_effort);
00232     s << indent << "slip_detected: ";
00233     Printer<uint8_t>::stream(s, indent + "  ", v.slip_detected);
00234     s << indent << "deformation_limit_reached: ";
00235     Printer<uint8_t>::stream(s, indent + "  ", v.deformation_limit_reached);
00236     s << indent << "fingertip_force_limit_reached: ";
00237     Printer<uint8_t>::stream(s, indent + "  ", v.fingertip_force_limit_reached);
00238     s << indent << "gripper_empty: ";
00239     Printer<uint8_t>::stream(s, indent + "  ", v.gripper_empty);
00240     s << indent << "rtstate: ";
00241 s << std::endl;
00242     Printer< ::pr2_gripper_sensor_msgs::PR2GripperSensorRTState_<ContainerAllocator> >::stream(s, indent + "  ", v.rtstate);
00243   }
00244 };
00245 
00246 
00247 } // namespace message_operations
00248 } // namespace ros
00249 
00250 #endif // PR2_GRIPPER_SENSOR_MSGS_MESSAGE_PR2GRIPPERSLIPSERVODATA_H
00251 


pr2_gripper_sensor_msgs
Author(s): Joe Romano
autogenerated on Fri Jan 3 2014 11:53:00