PR2GripperEventDetectorCommand.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/PR2GripperEventDetectorCommand.msg */
00002 #ifndef PR2_GRIPPER_SENSOR_MSGS_MESSAGE_PR2GRIPPEREVENTDETECTORCOMMAND_H
00003 #define PR2_GRIPPER_SENSOR_MSGS_MESSAGE_PR2GRIPPEREVENTDETECTORCOMMAND_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_gripper_sensor_msgs
00019 {
00020 template <class ContainerAllocator>
00021 struct PR2GripperEventDetectorCommand_ {
00022   typedef PR2GripperEventDetectorCommand_<ContainerAllocator> Type;
00023 
00024   PR2GripperEventDetectorCommand_()
00025   : trigger_conditions(0)
00026   , acceleration_trigger_magnitude(0.0)
00027   , slip_trigger_magnitude(0.0)
00028   {
00029   }
00030 
00031   PR2GripperEventDetectorCommand_(const ContainerAllocator& _alloc)
00032   : trigger_conditions(0)
00033   , acceleration_trigger_magnitude(0.0)
00034   , slip_trigger_magnitude(0.0)
00035   {
00036   }
00037 
00038   typedef int8_t _trigger_conditions_type;
00039   int8_t trigger_conditions;
00040 
00041   typedef double _acceleration_trigger_magnitude_type;
00042   double acceleration_trigger_magnitude;
00043 
00044   typedef double _slip_trigger_magnitude_type;
00045   double slip_trigger_magnitude;
00046 
00047   enum { FINGER_SIDE_IMPACT_OR_ACC = 0 };
00048   enum { SLIP_AND_ACC = 1 };
00049   enum { FINGER_SIDE_IMPACT_OR_SLIP_OR_ACC = 2 };
00050   enum { SLIP = 3 };
00051   enum { ACC = 4 };
00052 
00053   typedef boost::shared_ptr< ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorCommand_<ContainerAllocator> > Ptr;
00054   typedef boost::shared_ptr< ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorCommand_<ContainerAllocator>  const> ConstPtr;
00055   boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00056 }; // struct PR2GripperEventDetectorCommand
00057 typedef  ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorCommand_<std::allocator<void> > PR2GripperEventDetectorCommand;
00058 
00059 typedef boost::shared_ptr< ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorCommand> PR2GripperEventDetectorCommandPtr;
00060 typedef boost::shared_ptr< ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorCommand const> PR2GripperEventDetectorCommandConstPtr;
00061 
00062 
00063 template<typename ContainerAllocator>
00064 std::ostream& operator<<(std::ostream& s, const  ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorCommand_<ContainerAllocator> & v)
00065 {
00066   ros::message_operations::Printer< ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorCommand_<ContainerAllocator> >::stream(s, "", v);
00067   return s;}
00068 
00069 } // namespace pr2_gripper_sensor_msgs
00070 
00071 namespace ros
00072 {
00073 namespace message_traits
00074 {
00075 template<class ContainerAllocator> struct IsMessage< ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorCommand_<ContainerAllocator> > : public TrueType {};
00076 template<class ContainerAllocator> struct IsMessage< ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorCommand_<ContainerAllocator>  const> : public TrueType {};
00077 template<class ContainerAllocator>
00078 struct MD5Sum< ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorCommand_<ContainerAllocator> > {
00079   static const char* value() 
00080   {
00081     return "b91a7e1e863671a84c1d06e0cac3146e";
00082   }
00083 
00084   static const char* value(const  ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorCommand_<ContainerAllocator> &) { return value(); } 
00085   static const uint64_t static_value1 = 0xb91a7e1e863671a8ULL;
00086   static const uint64_t static_value2 = 0x4c1d06e0cac3146eULL;
00087 };
00088 
00089 template<class ContainerAllocator>
00090 struct DataType< ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorCommand_<ContainerAllocator> > {
00091   static const char* value() 
00092   {
00093     return "pr2_gripper_sensor_msgs/PR2GripperEventDetectorCommand";
00094   }
00095 
00096   static const char* value(const  ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorCommand_<ContainerAllocator> &) { return value(); } 
00097 };
00098 
00099 template<class ContainerAllocator>
00100 struct Definition< ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorCommand_<ContainerAllocator> > {
00101   static const char* value() 
00102   {
00103     return "# state variable that defines what events we would like to trigger on\n\
00104 # Leaving this field blank will result in the robot triggering when \n\
00105 # anything touches the sides of the finger or an impact is detected\n\
00106 # with the hand/arm.\n\
00107 int8 trigger_conditions\n\
00108 # definitions for our various trigger_conditions values\n\
00109 # trigger on either acceleration contact or finger sensor side impact\n\
00110 int8 FINGER_SIDE_IMPACT_OR_ACC = 0\n\
00111 # tigger once  both slip and acceleration signals occur\n\
00112 int8 SLIP_AND_ACC = 1 \n\
00113 #  trigger on either slip, acceleration, or finger sensor side impact\n\
00114 int8 FINGER_SIDE_IMPACT_OR_SLIP_OR_ACC = 2\n\
00115 # trigger only on slip information\n\
00116 int8 SLIP = 3\n\
00117 # trigger only on acceleration contact information\n\
00118 int8 ACC = 4 \n\
00119 \n\
00120 \n\
00121 # the amount of acceleration to trigger on (acceleration vector magnitude)\n\
00122 # Units = m/s^2\n\
00123 # The user needs to be concerned here about not setting the trigger too\n\
00124 # low so that is set off by the robot's own motions.\n\
00125 #\n\
00126 # For large rapid motions, say by a motion planner, 5 m/s^2 is a good level\n\
00127 # For small delicate controlled motions this can be set MUCH lower (try 2.0)\n\
00128 #\n\
00129 # NOTE: When moving the gripper joint (opening/closing the grippr)\n\
00130 # the high gearing of the PR2 gripper causes large acceleration vibrations\n\
00131 # which will cause triggering to occur. This is a known drawback of the PR2.\n\
00132 #\n\
00133 # NOTE: Leaving this value blank will result in a 0 m/s^2 trigger. If you\n\
00134 # are using a trigger_conditions value that returns on acceleration contact\n\
00135 # events then it will immediately exceed your trigger and return\n\
00136 float64 acceleration_trigger_magnitude\n\
00137 \n\
00138 \n\
00139 # the slip detector gain to trigger on (either finger) : try 0.01\n\
00140 # higher values decrease slip sensitivty (to a point)\n\
00141 # lower values increase sensitivity (to a point)\n\
00142 #\n\
00143 # NOTE: Leaving this value blank will result in the most sensitive slip level.\n\
00144 float64 slip_trigger_magnitude\n\
00145 ";
00146   }
00147 
00148   static const char* value(const  ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorCommand_<ContainerAllocator> &) { return value(); } 
00149 };
00150 
00151 template<class ContainerAllocator> struct IsFixedSize< ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorCommand_<ContainerAllocator> > : public TrueType {};
00152 } // namespace message_traits
00153 } // namespace ros
00154 
00155 namespace ros
00156 {
00157 namespace serialization
00158 {
00159 
00160 template<class ContainerAllocator> struct Serializer< ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorCommand_<ContainerAllocator> >
00161 {
00162   template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00163   {
00164     stream.next(m.trigger_conditions);
00165     stream.next(m.acceleration_trigger_magnitude);
00166     stream.next(m.slip_trigger_magnitude);
00167   }
00168 
00169   ROS_DECLARE_ALLINONE_SERIALIZER;
00170 }; // struct PR2GripperEventDetectorCommand_
00171 } // namespace serialization
00172 } // namespace ros
00173 
00174 namespace ros
00175 {
00176 namespace message_operations
00177 {
00178 
00179 template<class ContainerAllocator>
00180 struct Printer< ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorCommand_<ContainerAllocator> >
00181 {
00182   template<typename Stream> static void stream(Stream& s, const std::string& indent, const  ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorCommand_<ContainerAllocator> & v) 
00183   {
00184     s << indent << "trigger_conditions: ";
00185     Printer<int8_t>::stream(s, indent + "  ", v.trigger_conditions);
00186     s << indent << "acceleration_trigger_magnitude: ";
00187     Printer<double>::stream(s, indent + "  ", v.acceleration_trigger_magnitude);
00188     s << indent << "slip_trigger_magnitude: ";
00189     Printer<double>::stream(s, indent + "  ", v.slip_trigger_magnitude);
00190   }
00191 };
00192 
00193 
00194 } // namespace message_operations
00195 } // namespace ros
00196 
00197 #endif // PR2_GRIPPER_SENSOR_MSGS_MESSAGE_PR2GRIPPEREVENTDETECTORCOMMAND_H
00198 


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