PR2GripperEventDetectorAction.h
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00001 /* Auto-generated by genmsg_cpp for file /home/rosbuild/hudson/workspace/doc-groovy-pr2_object_manipulation/doc_stacks/2014-10-06_11-30-38.833395/pr2_object_manipulation/manipulation/pr2_gripper_sensor_msgs/msg/PR2GripperEventDetectorAction.msg */
00002 #ifndef PR2_GRIPPER_SENSOR_MSGS_MESSAGE_PR2GRIPPEREVENTDETECTORACTION_H
00003 #define PR2_GRIPPER_SENSOR_MSGS_MESSAGE_PR2GRIPPEREVENTDETECTORACTION_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/PR2GripperEventDetectorActionGoal.h"
00018 #include "pr2_gripper_sensor_msgs/PR2GripperEventDetectorActionResult.h"
00019 #include "pr2_gripper_sensor_msgs/PR2GripperEventDetectorActionFeedback.h"
00020 
00021 namespace pr2_gripper_sensor_msgs
00022 {
00023 template <class ContainerAllocator>
00024 struct PR2GripperEventDetectorAction_ {
00025   typedef PR2GripperEventDetectorAction_<ContainerAllocator> Type;
00026 
00027   PR2GripperEventDetectorAction_()
00028   : action_goal()
00029   , action_result()
00030   , action_feedback()
00031   {
00032   }
00033 
00034   PR2GripperEventDetectorAction_(const ContainerAllocator& _alloc)
00035   : action_goal(_alloc)
00036   , action_result(_alloc)
00037   , action_feedback(_alloc)
00038   {
00039   }
00040 
00041   typedef  ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorActionGoal_<ContainerAllocator>  _action_goal_type;
00042    ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorActionGoal_<ContainerAllocator>  action_goal;
00043 
00044   typedef  ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorActionResult_<ContainerAllocator>  _action_result_type;
00045    ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorActionResult_<ContainerAllocator>  action_result;
00046 
00047   typedef  ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorActionFeedback_<ContainerAllocator>  _action_feedback_type;
00048    ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorActionFeedback_<ContainerAllocator>  action_feedback;
00049 
00050 
00051   typedef boost::shared_ptr< ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorAction_<ContainerAllocator> > Ptr;
00052   typedef boost::shared_ptr< ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorAction_<ContainerAllocator>  const> ConstPtr;
00053   boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00054 }; // struct PR2GripperEventDetectorAction
00055 typedef  ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorAction_<std::allocator<void> > PR2GripperEventDetectorAction;
00056 
00057 typedef boost::shared_ptr< ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorAction> PR2GripperEventDetectorActionPtr;
00058 typedef boost::shared_ptr< ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorAction const> PR2GripperEventDetectorActionConstPtr;
00059 
00060 
00061 template<typename ContainerAllocator>
00062 std::ostream& operator<<(std::ostream& s, const  ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorAction_<ContainerAllocator> & v)
00063 {
00064   ros::message_operations::Printer< ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorAction_<ContainerAllocator> >::stream(s, "", v);
00065   return s;}
00066 
00067 } // namespace pr2_gripper_sensor_msgs
00068 
00069 namespace ros
00070 {
00071 namespace message_traits
00072 {
00073 template<class ContainerAllocator> struct IsMessage< ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorAction_<ContainerAllocator> > : public TrueType {};
00074 template<class ContainerAllocator> struct IsMessage< ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorAction_<ContainerAllocator>  const> : public TrueType {};
00075 template<class ContainerAllocator>
00076 struct MD5Sum< ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorAction_<ContainerAllocator> > {
00077   static const char* value() 
00078   {
00079     return "d4e2ee2d04e941280f34bdb366daa9a4";
00080   }
00081 
00082   static const char* value(const  ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorAction_<ContainerAllocator> &) { return value(); } 
00083   static const uint64_t static_value1 = 0xd4e2ee2d04e94128ULL;
00084   static const uint64_t static_value2 = 0x0f34bdb366daa9a4ULL;
00085 };
00086 
00087 template<class ContainerAllocator>
00088 struct DataType< ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorAction_<ContainerAllocator> > {
00089   static const char* value() 
00090   {
00091     return "pr2_gripper_sensor_msgs/PR2GripperEventDetectorAction";
00092   }
00093 
00094   static const char* value(const  ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorAction_<ContainerAllocator> &) { return value(); } 
00095 };
00096 
00097 template<class ContainerAllocator>
00098 struct Definition< ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorAction_<ContainerAllocator> > {
00099   static const char* value() 
00100   {
00101     return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00102 \n\
00103 PR2GripperEventDetectorActionGoal action_goal\n\
00104 PR2GripperEventDetectorActionResult action_result\n\
00105 PR2GripperEventDetectorActionFeedback action_feedback\n\
00106 \n\
00107 ================================================================================\n\
00108 MSG: pr2_gripper_sensor_msgs/PR2GripperEventDetectorActionGoal\n\
00109 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00110 \n\
00111 Header header\n\
00112 actionlib_msgs/GoalID goal_id\n\
00113 PR2GripperEventDetectorGoal goal\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: actionlib_msgs/GoalID\n\
00135 # The stamp should store the time at which this goal was requested.\n\
00136 # It is used by an action server when it tries to preempt all\n\
00137 # goals that were requested before a certain time\n\
00138 time stamp\n\
00139 \n\
00140 # The id provides a way to associate feedback and\n\
00141 # result message with specific goal requests. The id\n\
00142 # specified must be unique.\n\
00143 string id\n\
00144 \n\
00145 \n\
00146 ================================================================================\n\
00147 MSG: pr2_gripper_sensor_msgs/PR2GripperEventDetectorGoal\n\
00148 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00149 # Event Detector action used to tell detect events happening on the \n\
00150 # palm mounted accelerometer and finger pressure sensors\n\
00151 \n\
00152 #goal\n\
00153 PR2GripperEventDetectorCommand command\n\
00154 \n\
00155 ================================================================================\n\
00156 MSG: pr2_gripper_sensor_msgs/PR2GripperEventDetectorCommand\n\
00157 # state variable that defines what events we would like to trigger on\n\
00158 # Leaving this field blank will result in the robot triggering when \n\
00159 # anything touches the sides of the finger or an impact is detected\n\
00160 # with the hand/arm.\n\
00161 int8 trigger_conditions\n\
00162 # definitions for our various trigger_conditions values\n\
00163 # trigger on either acceleration contact or finger sensor side impact\n\
00164 int8 FINGER_SIDE_IMPACT_OR_ACC = 0\n\
00165 # tigger once  both slip and acceleration signals occur\n\
00166 int8 SLIP_AND_ACC = 1 \n\
00167 #  trigger on either slip, acceleration, or finger sensor side impact\n\
00168 int8 FINGER_SIDE_IMPACT_OR_SLIP_OR_ACC = 2\n\
00169 # trigger only on slip information\n\
00170 int8 SLIP = 3\n\
00171 # trigger only on acceleration contact information\n\
00172 int8 ACC = 4 \n\
00173 \n\
00174 \n\
00175 # the amount of acceleration to trigger on (acceleration vector magnitude)\n\
00176 # Units = m/s^2\n\
00177 # The user needs to be concerned here about not setting the trigger too\n\
00178 # low so that is set off by the robot's own motions.\n\
00179 #\n\
00180 # For large rapid motions, say by a motion planner, 5 m/s^2 is a good level\n\
00181 # For small delicate controlled motions this can be set MUCH lower (try 2.0)\n\
00182 #\n\
00183 # NOTE: When moving the gripper joint (opening/closing the grippr)\n\
00184 # the high gearing of the PR2 gripper causes large acceleration vibrations\n\
00185 # which will cause triggering to occur. This is a known drawback of the PR2.\n\
00186 #\n\
00187 # NOTE: Leaving this value blank will result in a 0 m/s^2 trigger. If you\n\
00188 # are using a trigger_conditions value that returns on acceleration contact\n\
00189 # events then it will immediately exceed your trigger and return\n\
00190 float64 acceleration_trigger_magnitude\n\
00191 \n\
00192 \n\
00193 # the slip detector gain to trigger on (either finger) : try 0.01\n\
00194 # higher values decrease slip sensitivty (to a point)\n\
00195 # lower values increase sensitivity (to a point)\n\
00196 #\n\
00197 # NOTE: Leaving this value blank will result in the most sensitive slip level.\n\
00198 float64 slip_trigger_magnitude\n\
00199 ================================================================================\n\
00200 MSG: pr2_gripper_sensor_msgs/PR2GripperEventDetectorActionResult\n\
00201 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00202 \n\
00203 Header header\n\
00204 actionlib_msgs/GoalStatus status\n\
00205 PR2GripperEventDetectorResult result\n\
00206 \n\
00207 ================================================================================\n\
00208 MSG: actionlib_msgs/GoalStatus\n\
00209 GoalID goal_id\n\
00210 uint8 status\n\
00211 uint8 PENDING         = 0   # The goal has yet to be processed by the action server\n\
00212 uint8 ACTIVE          = 1   # The goal is currently being processed by the action server\n\
00213 uint8 PREEMPTED       = 2   # The goal received a cancel request after it started executing\n\
00214                             #   and has since completed its execution (Terminal State)\n\
00215 uint8 SUCCEEDED       = 3   # The goal was achieved successfully by the action server (Terminal State)\n\
00216 uint8 ABORTED         = 4   # The goal was aborted during execution by the action server due\n\
00217                             #    to some failure (Terminal State)\n\
00218 uint8 REJECTED        = 5   # The goal was rejected by the action server without being processed,\n\
00219                             #    because the goal was unattainable or invalid (Terminal State)\n\
00220 uint8 PREEMPTING      = 6   # The goal received a cancel request after it started executing\n\
00221                             #    and has not yet completed execution\n\
00222 uint8 RECALLING       = 7   # The goal received a cancel request before it started executing,\n\
00223                             #    but the action server has not yet confirmed that the goal is canceled\n\
00224 uint8 RECALLED        = 8   # The goal received a cancel request before it started executing\n\
00225                             #    and was successfully cancelled (Terminal State)\n\
00226 uint8 LOST            = 9   # An action client can determine that a goal is LOST. This should not be\n\
00227                             #    sent over the wire by an action server\n\
00228 \n\
00229 #Allow for the user to associate a string with GoalStatus for debugging\n\
00230 string text\n\
00231 \n\
00232 \n\
00233 ================================================================================\n\
00234 MSG: pr2_gripper_sensor_msgs/PR2GripperEventDetectorResult\n\
00235 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00236 #results\n\
00237 PR2GripperEventDetectorData data\n\
00238 \n\
00239 ================================================================================\n\
00240 MSG: pr2_gripper_sensor_msgs/PR2GripperEventDetectorData\n\
00241 # Time the data was recorded at\n\
00242 time stamp\n\
00243 \n\
00244 # true if the trigger conditions have been met \n\
00245 # (see PR2GripperEventDetectorCommand)\n\
00246 bool trigger_conditions_met\n\
00247 \n\
00248 # true if the pressure sensors detected a slip event\n\
00249 # slip events occur when the finger pressure sensors\n\
00250 # high-freq. content exceeds the slip_trigger_magnitude variable\n\
00251 # (see PR2GripperEventDetectorCommand)\n\
00252 bool slip_event\n\
00253 \n\
00254 # true if the hand-mounted accelerometer detected a contact acceleration\n\
00255 # acceleration events occur when the palm accelerometer\n\
00256 # high-freq. content exceeds the acc_trigger_magnitude variable\n\
00257 # (see PR2GripperEventDetectorCommand)\n\
00258 bool acceleration_event\n\
00259 \n\
00260 # the high-freq acceleration vector that was last seen (x,y,z)\n\
00261 float64[3] acceleration_vector\n\
00262 ================================================================================\n\
00263 MSG: pr2_gripper_sensor_msgs/PR2GripperEventDetectorActionFeedback\n\
00264 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00265 \n\
00266 Header header\n\
00267 actionlib_msgs/GoalStatus status\n\
00268 PR2GripperEventDetectorFeedback feedback\n\
00269 \n\
00270 ================================================================================\n\
00271 MSG: pr2_gripper_sensor_msgs/PR2GripperEventDetectorFeedback\n\
00272 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00273 # feedback\n\
00274 PR2GripperEventDetectorData data\n\
00275 \n\
00276 \n\
00277 \n\
00278 ";
00279   }
00280 
00281   static const char* value(const  ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorAction_<ContainerAllocator> &) { return value(); } 
00282 };
00283 
00284 } // namespace message_traits
00285 } // namespace ros
00286 
00287 namespace ros
00288 {
00289 namespace serialization
00290 {
00291 
00292 template<class ContainerAllocator> struct Serializer< ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorAction_<ContainerAllocator> >
00293 {
00294   template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00295   {
00296     stream.next(m.action_goal);
00297     stream.next(m.action_result);
00298     stream.next(m.action_feedback);
00299   }
00300 
00301   ROS_DECLARE_ALLINONE_SERIALIZER;
00302 }; // struct PR2GripperEventDetectorAction_
00303 } // namespace serialization
00304 } // namespace ros
00305 
00306 namespace ros
00307 {
00308 namespace message_operations
00309 {
00310 
00311 template<class ContainerAllocator>
00312 struct Printer< ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorAction_<ContainerAllocator> >
00313 {
00314   template<typename Stream> static void stream(Stream& s, const std::string& indent, const  ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorAction_<ContainerAllocator> & v) 
00315   {
00316     s << indent << "action_goal: ";
00317 s << std::endl;
00318     Printer< ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorActionGoal_<ContainerAllocator> >::stream(s, indent + "  ", v.action_goal);
00319     s << indent << "action_result: ";
00320 s << std::endl;
00321     Printer< ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorActionResult_<ContainerAllocator> >::stream(s, indent + "  ", v.action_result);
00322     s << indent << "action_feedback: ";
00323 s << std::endl;
00324     Printer< ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorActionFeedback_<ContainerAllocator> >::stream(s, indent + "  ", v.action_feedback);
00325   }
00326 };
00327 
00328 
00329 } // namespace message_operations
00330 } // namespace ros
00331 
00332 #endif // PR2_GRIPPER_SENSOR_MSGS_MESSAGE_PR2GRIPPEREVENTDETECTORACTION_H
00333 


pr2_gripper_sensor_msgs
Author(s): Joe Romano
autogenerated on Mon Oct 6 2014 12:17:33