PR2GripperEventDetectorGoal.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/PR2GripperEventDetectorGoal.msg */
00002 #ifndef PR2_GRIPPER_SENSOR_MSGS_MESSAGE_PR2GRIPPEREVENTDETECTORGOAL_H
00003 #define PR2_GRIPPER_SENSOR_MSGS_MESSAGE_PR2GRIPPEREVENTDETECTORGOAL_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/PR2GripperEventDetectorCommand.h"
00018 
00019 namespace pr2_gripper_sensor_msgs
00020 {
00021 template <class ContainerAllocator>
00022 struct PR2GripperEventDetectorGoal_ {
00023   typedef PR2GripperEventDetectorGoal_<ContainerAllocator> Type;
00024 
00025   PR2GripperEventDetectorGoal_()
00026   : command()
00027   {
00028   }
00029 
00030   PR2GripperEventDetectorGoal_(const ContainerAllocator& _alloc)
00031   : command(_alloc)
00032   {
00033   }
00034 
00035   typedef  ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorCommand_<ContainerAllocator>  _command_type;
00036    ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorCommand_<ContainerAllocator>  command;
00037 
00038 
00039   typedef boost::shared_ptr< ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorGoal_<ContainerAllocator> > Ptr;
00040   typedef boost::shared_ptr< ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorGoal_<ContainerAllocator>  const> ConstPtr;
00041   boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00042 }; // struct PR2GripperEventDetectorGoal
00043 typedef  ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorGoal_<std::allocator<void> > PR2GripperEventDetectorGoal;
00044 
00045 typedef boost::shared_ptr< ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorGoal> PR2GripperEventDetectorGoalPtr;
00046 typedef boost::shared_ptr< ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorGoal const> PR2GripperEventDetectorGoalConstPtr;
00047 
00048 
00049 template<typename ContainerAllocator>
00050 std::ostream& operator<<(std::ostream& s, const  ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorGoal_<ContainerAllocator> & v)
00051 {
00052   ros::message_operations::Printer< ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorGoal_<ContainerAllocator> >::stream(s, "", v);
00053   return s;}
00054 
00055 } // namespace pr2_gripper_sensor_msgs
00056 
00057 namespace ros
00058 {
00059 namespace message_traits
00060 {
00061 template<class ContainerAllocator> struct IsMessage< ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorGoal_<ContainerAllocator> > : public TrueType {};
00062 template<class ContainerAllocator> struct IsMessage< ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorGoal_<ContainerAllocator>  const> : public TrueType {};
00063 template<class ContainerAllocator>
00064 struct MD5Sum< ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorGoal_<ContainerAllocator> > {
00065   static const char* value() 
00066   {
00067     return "88b98e578eece7bef53cd48d37d3253b";
00068   }
00069 
00070   static const char* value(const  ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorGoal_<ContainerAllocator> &) { return value(); } 
00071   static const uint64_t static_value1 = 0x88b98e578eece7beULL;
00072   static const uint64_t static_value2 = 0xf53cd48d37d3253bULL;
00073 };
00074 
00075 template<class ContainerAllocator>
00076 struct DataType< ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorGoal_<ContainerAllocator> > {
00077   static const char* value() 
00078   {
00079     return "pr2_gripper_sensor_msgs/PR2GripperEventDetectorGoal";
00080   }
00081 
00082   static const char* value(const  ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorGoal_<ContainerAllocator> &) { return value(); } 
00083 };
00084 
00085 template<class ContainerAllocator>
00086 struct Definition< ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorGoal_<ContainerAllocator> > {
00087   static const char* value() 
00088   {
00089     return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00090 # Event Detector action used to tell detect events happening on the \n\
00091 # palm mounted accelerometer and finger pressure sensors\n\
00092 \n\
00093 #goal\n\
00094 PR2GripperEventDetectorCommand command\n\
00095 \n\
00096 ================================================================================\n\
00097 MSG: pr2_gripper_sensor_msgs/PR2GripperEventDetectorCommand\n\
00098 # state variable that defines what events we would like to trigger on\n\
00099 # Leaving this field blank will result in the robot triggering when \n\
00100 # anything touches the sides of the finger or an impact is detected\n\
00101 # with the hand/arm.\n\
00102 int8 trigger_conditions\n\
00103 # definitions for our various trigger_conditions values\n\
00104 # trigger on either acceleration contact or finger sensor side impact\n\
00105 int8 FINGER_SIDE_IMPACT_OR_ACC = 0\n\
00106 # tigger once  both slip and acceleration signals occur\n\
00107 int8 SLIP_AND_ACC = 1 \n\
00108 #  trigger on either slip, acceleration, or finger sensor side impact\n\
00109 int8 FINGER_SIDE_IMPACT_OR_SLIP_OR_ACC = 2\n\
00110 # trigger only on slip information\n\
00111 int8 SLIP = 3\n\
00112 # trigger only on acceleration contact information\n\
00113 int8 ACC = 4 \n\
00114 \n\
00115 \n\
00116 # the amount of acceleration to trigger on (acceleration vector magnitude)\n\
00117 # Units = m/s^2\n\
00118 # The user needs to be concerned here about not setting the trigger too\n\
00119 # low so that is set off by the robot's own motions.\n\
00120 #\n\
00121 # For large rapid motions, say by a motion planner, 5 m/s^2 is a good level\n\
00122 # For small delicate controlled motions this can be set MUCH lower (try 2.0)\n\
00123 #\n\
00124 # NOTE: When moving the gripper joint (opening/closing the grippr)\n\
00125 # the high gearing of the PR2 gripper causes large acceleration vibrations\n\
00126 # which will cause triggering to occur. This is a known drawback of the PR2.\n\
00127 #\n\
00128 # NOTE: Leaving this value blank will result in a 0 m/s^2 trigger. If you\n\
00129 # are using a trigger_conditions value that returns on acceleration contact\n\
00130 # events then it will immediately exceed your trigger and return\n\
00131 float64 acceleration_trigger_magnitude\n\
00132 \n\
00133 \n\
00134 # the slip detector gain to trigger on (either finger) : try 0.01\n\
00135 # higher values decrease slip sensitivty (to a point)\n\
00136 # lower values increase sensitivity (to a point)\n\
00137 #\n\
00138 # NOTE: Leaving this value blank will result in the most sensitive slip level.\n\
00139 float64 slip_trigger_magnitude\n\
00140 ";
00141   }
00142 
00143   static const char* value(const  ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorGoal_<ContainerAllocator> &) { return value(); } 
00144 };
00145 
00146 template<class ContainerAllocator> struct IsFixedSize< ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorGoal_<ContainerAllocator> > : public TrueType {};
00147 } // namespace message_traits
00148 } // namespace ros
00149 
00150 namespace ros
00151 {
00152 namespace serialization
00153 {
00154 
00155 template<class ContainerAllocator> struct Serializer< ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorGoal_<ContainerAllocator> >
00156 {
00157   template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00158   {
00159     stream.next(m.command);
00160   }
00161 
00162   ROS_DECLARE_ALLINONE_SERIALIZER;
00163 }; // struct PR2GripperEventDetectorGoal_
00164 } // namespace serialization
00165 } // namespace ros
00166 
00167 namespace ros
00168 {
00169 namespace message_operations
00170 {
00171 
00172 template<class ContainerAllocator>
00173 struct Printer< ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorGoal_<ContainerAllocator> >
00174 {
00175   template<typename Stream> static void stream(Stream& s, const std::string& indent, const  ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorGoal_<ContainerAllocator> & v) 
00176   {
00177     s << indent << "command: ";
00178 s << std::endl;
00179     Printer< ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorCommand_<ContainerAllocator> >::stream(s, indent + "  ", v.command);
00180   }
00181 };
00182 
00183 
00184 } // namespace message_operations
00185 } // namespace ros
00186 
00187 #endif // PR2_GRIPPER_SENSOR_MSGS_MESSAGE_PR2GRIPPEREVENTDETECTORGOAL_H
00188 


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