PR2GripperFindContactAction.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/PR2GripperFindContactAction.msg */
00002 #ifndef PR2_GRIPPER_SENSOR_MSGS_MESSAGE_PR2GRIPPERFINDCONTACTACTION_H
00003 #define PR2_GRIPPER_SENSOR_MSGS_MESSAGE_PR2GRIPPERFINDCONTACTACTION_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/PR2GripperFindContactActionGoal.h"
00018 #include "pr2_gripper_sensor_msgs/PR2GripperFindContactActionResult.h"
00019 #include "pr2_gripper_sensor_msgs/PR2GripperFindContactActionFeedback.h"
00020 
00021 namespace pr2_gripper_sensor_msgs
00022 {
00023 template <class ContainerAllocator>
00024 struct PR2GripperFindContactAction_ {
00025   typedef PR2GripperFindContactAction_<ContainerAllocator> Type;
00026 
00027   PR2GripperFindContactAction_()
00028   : action_goal()
00029   , action_result()
00030   , action_feedback()
00031   {
00032   }
00033 
00034   PR2GripperFindContactAction_(const ContainerAllocator& _alloc)
00035   : action_goal(_alloc)
00036   , action_result(_alloc)
00037   , action_feedback(_alloc)
00038   {
00039   }
00040 
00041   typedef  ::pr2_gripper_sensor_msgs::PR2GripperFindContactActionGoal_<ContainerAllocator>  _action_goal_type;
00042    ::pr2_gripper_sensor_msgs::PR2GripperFindContactActionGoal_<ContainerAllocator>  action_goal;
00043 
00044   typedef  ::pr2_gripper_sensor_msgs::PR2GripperFindContactActionResult_<ContainerAllocator>  _action_result_type;
00045    ::pr2_gripper_sensor_msgs::PR2GripperFindContactActionResult_<ContainerAllocator>  action_result;
00046 
00047   typedef  ::pr2_gripper_sensor_msgs::PR2GripperFindContactActionFeedback_<ContainerAllocator>  _action_feedback_type;
00048    ::pr2_gripper_sensor_msgs::PR2GripperFindContactActionFeedback_<ContainerAllocator>  action_feedback;
00049 
00050 
00051   typedef boost::shared_ptr< ::pr2_gripper_sensor_msgs::PR2GripperFindContactAction_<ContainerAllocator> > Ptr;
00052   typedef boost::shared_ptr< ::pr2_gripper_sensor_msgs::PR2GripperFindContactAction_<ContainerAllocator>  const> ConstPtr;
00053   boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00054 }; // struct PR2GripperFindContactAction
00055 typedef  ::pr2_gripper_sensor_msgs::PR2GripperFindContactAction_<std::allocator<void> > PR2GripperFindContactAction;
00056 
00057 typedef boost::shared_ptr< ::pr2_gripper_sensor_msgs::PR2GripperFindContactAction> PR2GripperFindContactActionPtr;
00058 typedef boost::shared_ptr< ::pr2_gripper_sensor_msgs::PR2GripperFindContactAction const> PR2GripperFindContactActionConstPtr;
00059 
00060 
00061 template<typename ContainerAllocator>
00062 std::ostream& operator<<(std::ostream& s, const  ::pr2_gripper_sensor_msgs::PR2GripperFindContactAction_<ContainerAllocator> & v)
00063 {
00064   ros::message_operations::Printer< ::pr2_gripper_sensor_msgs::PR2GripperFindContactAction_<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::PR2GripperFindContactAction_<ContainerAllocator> > : public TrueType {};
00074 template<class ContainerAllocator> struct IsMessage< ::pr2_gripper_sensor_msgs::PR2GripperFindContactAction_<ContainerAllocator>  const> : public TrueType {};
00075 template<class ContainerAllocator>
00076 struct MD5Sum< ::pr2_gripper_sensor_msgs::PR2GripperFindContactAction_<ContainerAllocator> > {
00077   static const char* value() 
00078   {
00079     return "99ab2df1bbde46c447b38f28b7896d16";
00080   }
00081 
00082   static const char* value(const  ::pr2_gripper_sensor_msgs::PR2GripperFindContactAction_<ContainerAllocator> &) { return value(); } 
00083   static const uint64_t static_value1 = 0x99ab2df1bbde46c4ULL;
00084   static const uint64_t static_value2 = 0x47b38f28b7896d16ULL;
00085 };
00086 
00087 template<class ContainerAllocator>
00088 struct DataType< ::pr2_gripper_sensor_msgs::PR2GripperFindContactAction_<ContainerAllocator> > {
00089   static const char* value() 
00090   {
00091     return "pr2_gripper_sensor_msgs/PR2GripperFindContactAction";
00092   }
00093 
00094   static const char* value(const  ::pr2_gripper_sensor_msgs::PR2GripperFindContactAction_<ContainerAllocator> &) { return value(); } 
00095 };
00096 
00097 template<class ContainerAllocator>
00098 struct Definition< ::pr2_gripper_sensor_msgs::PR2GripperFindContactAction_<ContainerAllocator> > {
00099   static const char* value() 
00100   {
00101     return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00102 \n\
00103 PR2GripperFindContactActionGoal action_goal\n\
00104 PR2GripperFindContactActionResult action_result\n\
00105 PR2GripperFindContactActionFeedback action_feedback\n\
00106 \n\
00107 ================================================================================\n\
00108 MSG: pr2_gripper_sensor_msgs/PR2GripperFindContactActionGoal\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 PR2GripperFindContactGoal 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/PR2GripperFindContactGoal\n\
00148 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00149 # Contact action used to close fingers and find object contacts \n\
00150 # quickly while still stopping fast in real-time to not damage \n\
00151 # objects\n\
00152 \n\
00153 #goal\n\
00154 PR2GripperFindContactCommand command\n\
00155 \n\
00156 ================================================================================\n\
00157 MSG: pr2_gripper_sensor_msgs/PR2GripperFindContactCommand\n\
00158 # set true if you want to calibrate the fingertip sensors on the start\n\
00159 # of the find_contact action. While this is not necessary (and\n\
00160 # the default value will not calibrate the sensors) for best \n\
00161 # performance it is recommended that you set this to true each time \n\
00162 # you are calling find_contact and are confident the fingertips are \n\
00163 # not touching anything\n\
00164 # NOTE: SHOULD ONLY BE TRUE WHEN BOTH FINGERS ARE TOUCHING NOTHING\n\
00165 bool zero_fingertip_sensors\n\
00166 \n\
00167 # the finger contact conditions that determine what our goal is\n\
00168 # Leaving this field blank will result in the robot closing until\n\
00169 # contact on BOTH fingers is achieved\n\
00170 int8 contact_conditions\n\
00171 \n\
00172 # predefined values for the above contact_conditions variable\n\
00173 int8 BOTH = 0   # both fingers must make contact\n\
00174 int8 LEFT = 1   # just the left finger \n\
00175 int8 RIGHT = 2  # just the right finger\n\
00176 int8 EITHER = 3 # either finger, we don't care which\n\
00177 \n\
00178 ================================================================================\n\
00179 MSG: pr2_gripper_sensor_msgs/PR2GripperFindContactActionResult\n\
00180 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00181 \n\
00182 Header header\n\
00183 actionlib_msgs/GoalStatus status\n\
00184 PR2GripperFindContactResult result\n\
00185 \n\
00186 ================================================================================\n\
00187 MSG: actionlib_msgs/GoalStatus\n\
00188 GoalID goal_id\n\
00189 uint8 status\n\
00190 uint8 PENDING         = 0   # The goal has yet to be processed by the action server\n\
00191 uint8 ACTIVE          = 1   # The goal is currently being processed by the action server\n\
00192 uint8 PREEMPTED       = 2   # The goal received a cancel request after it started executing\n\
00193                             #   and has since completed its execution (Terminal State)\n\
00194 uint8 SUCCEEDED       = 3   # The goal was achieved successfully by the action server (Terminal State)\n\
00195 uint8 ABORTED         = 4   # The goal was aborted during execution by the action server due\n\
00196                             #    to some failure (Terminal State)\n\
00197 uint8 REJECTED        = 5   # The goal was rejected by the action server without being processed,\n\
00198                             #    because the goal was unattainable or invalid (Terminal State)\n\
00199 uint8 PREEMPTING      = 6   # The goal received a cancel request after it started executing\n\
00200                             #    and has not yet completed execution\n\
00201 uint8 RECALLING       = 7   # The goal received a cancel request before it started executing,\n\
00202                             #    but the action server has not yet confirmed that the goal is canceled\n\
00203 uint8 RECALLED        = 8   # The goal received a cancel request before it started executing\n\
00204                             #    and was successfully cancelled (Terminal State)\n\
00205 uint8 LOST            = 9   # An action client can determine that a goal is LOST. This should not be\n\
00206                             #    sent over the wire by an action server\n\
00207 \n\
00208 #Allow for the user to associate a string with GoalStatus for debugging\n\
00209 string text\n\
00210 \n\
00211 \n\
00212 ================================================================================\n\
00213 MSG: pr2_gripper_sensor_msgs/PR2GripperFindContactResult\n\
00214 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00215 #results\n\
00216 PR2GripperFindContactData data\n\
00217 \n\
00218 ================================================================================\n\
00219 MSG: pr2_gripper_sensor_msgs/PR2GripperFindContactData\n\
00220 # Time the data was recorded at\n\
00221 time stamp\n\
00222 \n\
00223 # true when our contact conditions have been met\n\
00224 # (see PR2GripperFindContact command)\n\
00225 bool contact_conditions_met\n\
00226 \n\
00227 # the finger contact conditions \n\
00228 # true if the finger experienced a contact event\n\
00229 #\n\
00230 # contact events are defined as contact with the fingerpads\n\
00231 # as either steady-state or high-freq force events\n\
00232 bool left_fingertip_pad_contact\n\
00233 bool right_fingertip_pad_contact\n\
00234 \n\
00235 # the force experinced by the finger Pads  (N)\n\
00236 # NOTE:this ignores data from the edges of the finger pressure\n\
00237 float64 left_fingertip_pad_force\n\
00238 float64 right_fingertip_pad_force\n\
00239 \n\
00240 # the current joint position (m)\n\
00241 float64 joint_position\n\
00242 \n\
00243 # the virtual (parallel) joint effort (N)\n\
00244 float64 joint_effort\n\
00245 \n\
00246 # the control state of our realtime controller\n\
00247 PR2GripperSensorRTState rtstate\n\
00248 ================================================================================\n\
00249 MSG: pr2_gripper_sensor_msgs/PR2GripperSensorRTState\n\
00250 # the control state of our realtime controller\n\
00251 int8 realtime_controller_state\n\
00252 \n\
00253 # predefined values to indicate our realtime_controller_state\n\
00254 int8 DISABLED = 0\n\
00255 int8 POSITION_SERVO = 3\n\
00256 int8 FORCE_SERVO = 4\n\
00257 int8 FIND_CONTACT = 5\n\
00258 int8 SLIP_SERVO = 6\n\
00259 ================================================================================\n\
00260 MSG: pr2_gripper_sensor_msgs/PR2GripperFindContactActionFeedback\n\
00261 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00262 \n\
00263 Header header\n\
00264 actionlib_msgs/GoalStatus status\n\
00265 PR2GripperFindContactFeedback feedback\n\
00266 \n\
00267 ================================================================================\n\
00268 MSG: pr2_gripper_sensor_msgs/PR2GripperFindContactFeedback\n\
00269 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00270 # feedback\n\
00271 PR2GripperFindContactData data\n\
00272 \n\
00273 \n\
00274 \n\
00275 ";
00276   }
00277 
00278   static const char* value(const  ::pr2_gripper_sensor_msgs::PR2GripperFindContactAction_<ContainerAllocator> &) { return value(); } 
00279 };
00280 
00281 } // namespace message_traits
00282 } // namespace ros
00283 
00284 namespace ros
00285 {
00286 namespace serialization
00287 {
00288 
00289 template<class ContainerAllocator> struct Serializer< ::pr2_gripper_sensor_msgs::PR2GripperFindContactAction_<ContainerAllocator> >
00290 {
00291   template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00292   {
00293     stream.next(m.action_goal);
00294     stream.next(m.action_result);
00295     stream.next(m.action_feedback);
00296   }
00297 
00298   ROS_DECLARE_ALLINONE_SERIALIZER;
00299 }; // struct PR2GripperFindContactAction_
00300 } // namespace serialization
00301 } // namespace ros
00302 
00303 namespace ros
00304 {
00305 namespace message_operations
00306 {
00307 
00308 template<class ContainerAllocator>
00309 struct Printer< ::pr2_gripper_sensor_msgs::PR2GripperFindContactAction_<ContainerAllocator> >
00310 {
00311   template<typename Stream> static void stream(Stream& s, const std::string& indent, const  ::pr2_gripper_sensor_msgs::PR2GripperFindContactAction_<ContainerAllocator> & v) 
00312   {
00313     s << indent << "action_goal: ";
00314 s << std::endl;
00315     Printer< ::pr2_gripper_sensor_msgs::PR2GripperFindContactActionGoal_<ContainerAllocator> >::stream(s, indent + "  ", v.action_goal);
00316     s << indent << "action_result: ";
00317 s << std::endl;
00318     Printer< ::pr2_gripper_sensor_msgs::PR2GripperFindContactActionResult_<ContainerAllocator> >::stream(s, indent + "  ", v.action_result);
00319     s << indent << "action_feedback: ";
00320 s << std::endl;
00321     Printer< ::pr2_gripper_sensor_msgs::PR2GripperFindContactActionFeedback_<ContainerAllocator> >::stream(s, indent + "  ", v.action_feedback);
00322   }
00323 };
00324 
00325 
00326 } // namespace message_operations
00327 } // namespace ros
00328 
00329 #endif // PR2_GRIPPER_SENSOR_MSGS_MESSAGE_PR2GRIPPERFINDCONTACTACTION_H
00330 


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