PR2GripperSlipServoAction.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/PR2GripperSlipServoAction.msg */
00002 #ifndef PR2_GRIPPER_SENSOR_MSGS_MESSAGE_PR2GRIPPERSLIPSERVOACTION_H
00003 #define PR2_GRIPPER_SENSOR_MSGS_MESSAGE_PR2GRIPPERSLIPSERVOACTION_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/PR2GripperSlipServoActionGoal.h"
00018 #include "pr2_gripper_sensor_msgs/PR2GripperSlipServoActionResult.h"
00019 #include "pr2_gripper_sensor_msgs/PR2GripperSlipServoActionFeedback.h"
00020 
00021 namespace pr2_gripper_sensor_msgs
00022 {
00023 template <class ContainerAllocator>
00024 struct PR2GripperSlipServoAction_ {
00025   typedef PR2GripperSlipServoAction_<ContainerAllocator> Type;
00026 
00027   PR2GripperSlipServoAction_()
00028   : action_goal()
00029   , action_result()
00030   , action_feedback()
00031   {
00032   }
00033 
00034   PR2GripperSlipServoAction_(const ContainerAllocator& _alloc)
00035   : action_goal(_alloc)
00036   , action_result(_alloc)
00037   , action_feedback(_alloc)
00038   {
00039   }
00040 
00041   typedef  ::pr2_gripper_sensor_msgs::PR2GripperSlipServoActionGoal_<ContainerAllocator>  _action_goal_type;
00042    ::pr2_gripper_sensor_msgs::PR2GripperSlipServoActionGoal_<ContainerAllocator>  action_goal;
00043 
00044   typedef  ::pr2_gripper_sensor_msgs::PR2GripperSlipServoActionResult_<ContainerAllocator>  _action_result_type;
00045    ::pr2_gripper_sensor_msgs::PR2GripperSlipServoActionResult_<ContainerAllocator>  action_result;
00046 
00047   typedef  ::pr2_gripper_sensor_msgs::PR2GripperSlipServoActionFeedback_<ContainerAllocator>  _action_feedback_type;
00048    ::pr2_gripper_sensor_msgs::PR2GripperSlipServoActionFeedback_<ContainerAllocator>  action_feedback;
00049 
00050 
00051   typedef boost::shared_ptr< ::pr2_gripper_sensor_msgs::PR2GripperSlipServoAction_<ContainerAllocator> > Ptr;
00052   typedef boost::shared_ptr< ::pr2_gripper_sensor_msgs::PR2GripperSlipServoAction_<ContainerAllocator>  const> ConstPtr;
00053   boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00054 }; // struct PR2GripperSlipServoAction
00055 typedef  ::pr2_gripper_sensor_msgs::PR2GripperSlipServoAction_<std::allocator<void> > PR2GripperSlipServoAction;
00056 
00057 typedef boost::shared_ptr< ::pr2_gripper_sensor_msgs::PR2GripperSlipServoAction> PR2GripperSlipServoActionPtr;
00058 typedef boost::shared_ptr< ::pr2_gripper_sensor_msgs::PR2GripperSlipServoAction const> PR2GripperSlipServoActionConstPtr;
00059 
00060 
00061 template<typename ContainerAllocator>
00062 std::ostream& operator<<(std::ostream& s, const  ::pr2_gripper_sensor_msgs::PR2GripperSlipServoAction_<ContainerAllocator> & v)
00063 {
00064   ros::message_operations::Printer< ::pr2_gripper_sensor_msgs::PR2GripperSlipServoAction_<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::PR2GripperSlipServoAction_<ContainerAllocator> > : public TrueType {};
00074 template<class ContainerAllocator> struct IsMessage< ::pr2_gripper_sensor_msgs::PR2GripperSlipServoAction_<ContainerAllocator>  const> : public TrueType {};
00075 template<class ContainerAllocator>
00076 struct MD5Sum< ::pr2_gripper_sensor_msgs::PR2GripperSlipServoAction_<ContainerAllocator> > {
00077   static const char* value() 
00078   {
00079     return "d1abef6e5d417a62bf67570de0fcd426";
00080   }
00081 
00082   static const char* value(const  ::pr2_gripper_sensor_msgs::PR2GripperSlipServoAction_<ContainerAllocator> &) { return value(); } 
00083   static const uint64_t static_value1 = 0xd1abef6e5d417a62ULL;
00084   static const uint64_t static_value2 = 0xbf67570de0fcd426ULL;
00085 };
00086 
00087 template<class ContainerAllocator>
00088 struct DataType< ::pr2_gripper_sensor_msgs::PR2GripperSlipServoAction_<ContainerAllocator> > {
00089   static const char* value() 
00090   {
00091     return "pr2_gripper_sensor_msgs/PR2GripperSlipServoAction";
00092   }
00093 
00094   static const char* value(const  ::pr2_gripper_sensor_msgs::PR2GripperSlipServoAction_<ContainerAllocator> &) { return value(); } 
00095 };
00096 
00097 template<class ContainerAllocator>
00098 struct Definition< ::pr2_gripper_sensor_msgs::PR2GripperSlipServoAction_<ContainerAllocator> > {
00099   static const char* value() 
00100   {
00101     return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00102 \n\
00103 PR2GripperSlipServoActionGoal action_goal\n\
00104 PR2GripperSlipServoActionResult action_result\n\
00105 PR2GripperSlipServoActionFeedback action_feedback\n\
00106 \n\
00107 ================================================================================\n\
00108 MSG: pr2_gripper_sensor_msgs/PR2GripperSlipServoActionGoal\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 PR2GripperSlipServoGoal 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/PR2GripperSlipServoGoal\n\
00148 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00149 # Action to launch the gripper into slip servoing mode \n\
00150 \n\
00151 #goals\n\
00152 PR2GripperSlipServoCommand command\n\
00153 \n\
00154 ================================================================================\n\
00155 MSG: pr2_gripper_sensor_msgs/PR2GripperSlipServoCommand\n\
00156 # this command is currently blank, but may see additional variable\n\
00157 # additions in the future\n\
00158 \n\
00159 # see the param server documentation for a list of variables that effect\n\
00160 # slip servo performance\n\
00161 ================================================================================\n\
00162 MSG: pr2_gripper_sensor_msgs/PR2GripperSlipServoActionResult\n\
00163 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00164 \n\
00165 Header header\n\
00166 actionlib_msgs/GoalStatus status\n\
00167 PR2GripperSlipServoResult result\n\
00168 \n\
00169 ================================================================================\n\
00170 MSG: actionlib_msgs/GoalStatus\n\
00171 GoalID goal_id\n\
00172 uint8 status\n\
00173 uint8 PENDING         = 0   # The goal has yet to be processed by the action server\n\
00174 uint8 ACTIVE          = 1   # The goal is currently being processed by the action server\n\
00175 uint8 PREEMPTED       = 2   # The goal received a cancel request after it started executing\n\
00176                             #   and has since completed its execution (Terminal State)\n\
00177 uint8 SUCCEEDED       = 3   # The goal was achieved successfully by the action server (Terminal State)\n\
00178 uint8 ABORTED         = 4   # The goal was aborted during execution by the action server due\n\
00179                             #    to some failure (Terminal State)\n\
00180 uint8 REJECTED        = 5   # The goal was rejected by the action server without being processed,\n\
00181                             #    because the goal was unattainable or invalid (Terminal State)\n\
00182 uint8 PREEMPTING      = 6   # The goal received a cancel request after it started executing\n\
00183                             #    and has not yet completed execution\n\
00184 uint8 RECALLING       = 7   # The goal received a cancel request before it started executing,\n\
00185                             #    but the action server has not yet confirmed that the goal is canceled\n\
00186 uint8 RECALLED        = 8   # The goal received a cancel request before it started executing\n\
00187                             #    and was successfully cancelled (Terminal State)\n\
00188 uint8 LOST            = 9   # An action client can determine that a goal is LOST. This should not be\n\
00189                             #    sent over the wire by an action server\n\
00190 \n\
00191 #Allow for the user to associate a string with GoalStatus for debugging\n\
00192 string text\n\
00193 \n\
00194 \n\
00195 ================================================================================\n\
00196 MSG: pr2_gripper_sensor_msgs/PR2GripperSlipServoResult\n\
00197 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00198 \n\
00199 #result\n\
00200 PR2GripperSlipServoData data\n\
00201 \n\
00202 \n\
00203 ================================================================================\n\
00204 MSG: pr2_gripper_sensor_msgs/PR2GripperSlipServoData\n\
00205 # time the data was recorded at\n\
00206 time stamp\n\
00207 \n\
00208 # the amount of deformation from action start (in meters)\n\
00209 float64 deformation\n\
00210 \n\
00211 # the force experinced by the finger Pads  (N)\n\
00212 # NOTE:this ignores data from the edges of the finger pressure\n\
00213 float64 left_fingertip_pad_force\n\
00214 float64 right_fingertip_pad_force\n\
00215 \n\
00216 # the current virtual parallel joint effort of the gripper (in N)\n\
00217 float64 joint_effort\n\
00218 \n\
00219 # true if the object recently slipped\n\
00220 bool slip_detected\n\
00221 \n\
00222 # true if we are at or exceeding the deformation limit\n\
00223 # (see wiki page and param server for more info)\n\
00224 bool deformation_limit_reached\n\
00225 \n\
00226 # true if we are at or exceeding our force \n\
00227 # (see wiki page and param server for more info)\n\
00228 bool fingertip_force_limit_reached\n\
00229 \n\
00230 # true if the controller thinks the gripper is empty\n\
00231 # (see wiki page for more info)\n\
00232 bool gripper_empty\n\
00233 \n\
00234 # the control state of our realtime controller\n\
00235 PR2GripperSensorRTState rtstate\n\
00236 ================================================================================\n\
00237 MSG: pr2_gripper_sensor_msgs/PR2GripperSensorRTState\n\
00238 # the control state of our realtime controller\n\
00239 int8 realtime_controller_state\n\
00240 \n\
00241 # predefined values to indicate our realtime_controller_state\n\
00242 int8 DISABLED = 0\n\
00243 int8 POSITION_SERVO = 3\n\
00244 int8 FORCE_SERVO = 4\n\
00245 int8 FIND_CONTACT = 5\n\
00246 int8 SLIP_SERVO = 6\n\
00247 ================================================================================\n\
00248 MSG: pr2_gripper_sensor_msgs/PR2GripperSlipServoActionFeedback\n\
00249 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00250 \n\
00251 Header header\n\
00252 actionlib_msgs/GoalStatus status\n\
00253 PR2GripperSlipServoFeedback feedback\n\
00254 \n\
00255 ================================================================================\n\
00256 MSG: pr2_gripper_sensor_msgs/PR2GripperSlipServoFeedback\n\
00257 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00258 \n\
00259 #feedback\n\
00260 PR2GripperSlipServoData data\n\
00261 \n\
00262 ";
00263   }
00264 
00265   static const char* value(const  ::pr2_gripper_sensor_msgs::PR2GripperSlipServoAction_<ContainerAllocator> &) { return value(); } 
00266 };
00267 
00268 } // namespace message_traits
00269 } // namespace ros
00270 
00271 namespace ros
00272 {
00273 namespace serialization
00274 {
00275 
00276 template<class ContainerAllocator> struct Serializer< ::pr2_gripper_sensor_msgs::PR2GripperSlipServoAction_<ContainerAllocator> >
00277 {
00278   template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00279   {
00280     stream.next(m.action_goal);
00281     stream.next(m.action_result);
00282     stream.next(m.action_feedback);
00283   }
00284 
00285   ROS_DECLARE_ALLINONE_SERIALIZER;
00286 }; // struct PR2GripperSlipServoAction_
00287 } // namespace serialization
00288 } // namespace ros
00289 
00290 namespace ros
00291 {
00292 namespace message_operations
00293 {
00294 
00295 template<class ContainerAllocator>
00296 struct Printer< ::pr2_gripper_sensor_msgs::PR2GripperSlipServoAction_<ContainerAllocator> >
00297 {
00298   template<typename Stream> static void stream(Stream& s, const std::string& indent, const  ::pr2_gripper_sensor_msgs::PR2GripperSlipServoAction_<ContainerAllocator> & v) 
00299   {
00300     s << indent << "action_goal: ";
00301 s << std::endl;
00302     Printer< ::pr2_gripper_sensor_msgs::PR2GripperSlipServoActionGoal_<ContainerAllocator> >::stream(s, indent + "  ", v.action_goal);
00303     s << indent << "action_result: ";
00304 s << std::endl;
00305     Printer< ::pr2_gripper_sensor_msgs::PR2GripperSlipServoActionResult_<ContainerAllocator> >::stream(s, indent + "  ", v.action_result);
00306     s << indent << "action_feedback: ";
00307 s << std::endl;
00308     Printer< ::pr2_gripper_sensor_msgs::PR2GripperSlipServoActionFeedback_<ContainerAllocator> >::stream(s, indent + "  ", v.action_feedback);
00309   }
00310 };
00311 
00312 
00313 } // namespace message_operations
00314 } // namespace ros
00315 
00316 #endif // PR2_GRIPPER_SENSOR_MSGS_MESSAGE_PR2GRIPPERSLIPSERVOACTION_H
00317 


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