00001
00002 #ifndef PR2_GRIPPER_SENSOR_MSGS_MESSAGE_PR2GRIPPERFORCESERVOACTION_H
00003 #define PR2_GRIPPER_SENSOR_MSGS_MESSAGE_PR2GRIPPERFORCESERVOACTION_H
00004 #include <string>
00005 #include <vector>
00006 #include <ostream>
00007 #include "ros/serialization.h"
00008 #include "ros/builtin_message_traits.h"
00009 #include "ros/message_operations.h"
00010 #include "ros/message.h"
00011 #include "ros/time.h"
00012
00013 #include "pr2_gripper_sensor_msgs/PR2GripperForceServoActionGoal.h"
00014 #include "pr2_gripper_sensor_msgs/PR2GripperForceServoActionResult.h"
00015 #include "pr2_gripper_sensor_msgs/PR2GripperForceServoActionFeedback.h"
00016
00017 namespace pr2_gripper_sensor_msgs
00018 {
00019 template <class ContainerAllocator>
00020 struct PR2GripperForceServoAction_ : public ros::Message
00021 {
00022 typedef PR2GripperForceServoAction_<ContainerAllocator> Type;
00023
00024 PR2GripperForceServoAction_()
00025 : action_goal()
00026 , action_result()
00027 , action_feedback()
00028 {
00029 }
00030
00031 PR2GripperForceServoAction_(const ContainerAllocator& _alloc)
00032 : action_goal(_alloc)
00033 , action_result(_alloc)
00034 , action_feedback(_alloc)
00035 {
00036 }
00037
00038 typedef ::pr2_gripper_sensor_msgs::PR2GripperForceServoActionGoal_<ContainerAllocator> _action_goal_type;
00039 ::pr2_gripper_sensor_msgs::PR2GripperForceServoActionGoal_<ContainerAllocator> action_goal;
00040
00041 typedef ::pr2_gripper_sensor_msgs::PR2GripperForceServoActionResult_<ContainerAllocator> _action_result_type;
00042 ::pr2_gripper_sensor_msgs::PR2GripperForceServoActionResult_<ContainerAllocator> action_result;
00043
00044 typedef ::pr2_gripper_sensor_msgs::PR2GripperForceServoActionFeedback_<ContainerAllocator> _action_feedback_type;
00045 ::pr2_gripper_sensor_msgs::PR2GripperForceServoActionFeedback_<ContainerAllocator> action_feedback;
00046
00047
00048 private:
00049 static const char* __s_getDataType_() { return "pr2_gripper_sensor_msgs/PR2GripperForceServoAction"; }
00050 public:
00051 ROS_DEPRECATED static const std::string __s_getDataType() { return __s_getDataType_(); }
00052
00053 ROS_DEPRECATED const std::string __getDataType() const { return __s_getDataType_(); }
00054
00055 private:
00056 static const char* __s_getMD5Sum_() { return "0540bb7603e65b3df5c9dc87b150e790"; }
00057 public:
00058 ROS_DEPRECATED static const std::string __s_getMD5Sum() { return __s_getMD5Sum_(); }
00059
00060 ROS_DEPRECATED const std::string __getMD5Sum() const { return __s_getMD5Sum_(); }
00061
00062 private:
00063 static const char* __s_getMessageDefinition_() { return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00064 \n\
00065 PR2GripperForceServoActionGoal action_goal\n\
00066 PR2GripperForceServoActionResult action_result\n\
00067 PR2GripperForceServoActionFeedback action_feedback\n\
00068 \n\
00069 ================================================================================\n\
00070 MSG: pr2_gripper_sensor_msgs/PR2GripperForceServoActionGoal\n\
00071 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00072 \n\
00073 Header header\n\
00074 actionlib_msgs/GoalID goal_id\n\
00075 PR2GripperForceServoGoal goal\n\
00076 \n\
00077 ================================================================================\n\
00078 MSG: std_msgs/Header\n\
00079 # Standard metadata for higher-level stamped data types.\n\
00080 # This is generally used to communicate timestamped data \n\
00081 # in a particular coordinate frame.\n\
00082 # \n\
00083 # sequence ID: consecutively increasing ID \n\
00084 uint32 seq\n\
00085 #Two-integer timestamp that is expressed as:\n\
00086 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00087 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00088 # time-handling sugar is provided by the client library\n\
00089 time stamp\n\
00090 #Frame this data is associated with\n\
00091 # 0: no frame\n\
00092 # 1: global frame\n\
00093 string frame_id\n\
00094 \n\
00095 ================================================================================\n\
00096 MSG: actionlib_msgs/GoalID\n\
00097 # The stamp should store the time at which this goal was requested.\n\
00098 # It is used by an action server when it tries to preempt all\n\
00099 # goals that were requested before a certain time\n\
00100 time stamp\n\
00101 \n\
00102 # The id provides a way to associate feedback and\n\
00103 # result message with specific goal requests. The id\n\
00104 # specified must be unique.\n\
00105 string id\n\
00106 \n\
00107 \n\
00108 ================================================================================\n\
00109 MSG: pr2_gripper_sensor_msgs/PR2GripperForceServoGoal\n\
00110 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00111 # Action to launch the gripper into force servoing mode \n\
00112 \n\
00113 #goals\n\
00114 PR2GripperForceServoCommand command\n\
00115 \n\
00116 ================================================================================\n\
00117 MSG: pr2_gripper_sensor_msgs/PR2GripperForceServoCommand\n\
00118 # the amount of fingertip force (in Newtons) to apply.\n\
00119 # NOTE: the joint will squeeze until each finger reaches this level\n\
00120 # values < 0 (opening force) are ignored\n\
00121 #\n\
00122 # 10 N can crack an egg or crush a soda can.\n\
00123 # 15 N can firmly pick up a can of soup.\n\
00124 # Experiment on your own.\n\
00125 #\n\
00126 float64 fingertip_force\n\
00127 ================================================================================\n\
00128 MSG: pr2_gripper_sensor_msgs/PR2GripperForceServoActionResult\n\
00129 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00130 \n\
00131 Header header\n\
00132 actionlib_msgs/GoalStatus status\n\
00133 PR2GripperForceServoResult result\n\
00134 \n\
00135 ================================================================================\n\
00136 MSG: actionlib_msgs/GoalStatus\n\
00137 GoalID goal_id\n\
00138 uint8 status\n\
00139 uint8 PENDING = 0 # The goal has yet to be processed by the action server\n\
00140 uint8 ACTIVE = 1 # The goal is currently being processed by the action server\n\
00141 uint8 PREEMPTED = 2 # The goal received a cancel request after it started executing\n\
00142 # and has since completed its execution (Terminal State)\n\
00143 uint8 SUCCEEDED = 3 # The goal was achieved successfully by the action server (Terminal State)\n\
00144 uint8 ABORTED = 4 # The goal was aborted during execution by the action server due\n\
00145 # to some failure (Terminal State)\n\
00146 uint8 REJECTED = 5 # The goal was rejected by the action server without being processed,\n\
00147 # because the goal was unattainable or invalid (Terminal State)\n\
00148 uint8 PREEMPTING = 6 # The goal received a cancel request after it started executing\n\
00149 # and has not yet completed execution\n\
00150 uint8 RECALLING = 7 # The goal received a cancel request before it started executing,\n\
00151 # but the action server has not yet confirmed that the goal is canceled\n\
00152 uint8 RECALLED = 8 # The goal received a cancel request before it started executing\n\
00153 # and was successfully cancelled (Terminal State)\n\
00154 uint8 LOST = 9 # An action client can determine that a goal is LOST. This should not be\n\
00155 # sent over the wire by an action server\n\
00156 \n\
00157 #Allow for the user to associate a string with GoalStatus for debugging\n\
00158 string text\n\
00159 \n\
00160 \n\
00161 ================================================================================\n\
00162 MSG: pr2_gripper_sensor_msgs/PR2GripperForceServoResult\n\
00163 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00164 \n\
00165 #result\n\
00166 PR2GripperForceServoData data\n\
00167 \n\
00168 \n\
00169 ================================================================================\n\
00170 MSG: pr2_gripper_sensor_msgs/PR2GripperForceServoData\n\
00171 # Time the data was recorded at\n\
00172 time stamp\n\
00173 \n\
00174 # the force experienced by the finger Pads (N)\n\
00175 # NOTE:this ignores data from the edges of the finger pressure\n\
00176 float64 left_fingertip_pad_force\n\
00177 float64 right_fingertip_pad_force\n\
00178 \n\
00179 # the current gripper virtual parallel joint effort (in N)\n\
00180 float64 joint_effort\n\
00181 \n\
00182 # true when the gripper is no longer moving\n\
00183 # and we have reached the desired force level\n\
00184 bool force_achieved\n\
00185 \n\
00186 \n\
00187 # the control state of our realtime controller\n\
00188 PR2GripperSensorRTState rtstate\n\
00189 \n\
00190 ================================================================================\n\
00191 MSG: pr2_gripper_sensor_msgs/PR2GripperSensorRTState\n\
00192 # the control state of our realtime controller\n\
00193 int8 realtime_controller_state\n\
00194 \n\
00195 # predefined values to indicate our realtime_controller_state\n\
00196 int8 DISABLED = 0\n\
00197 int8 POSITION_SERVO = 3\n\
00198 int8 FORCE_SERVO = 4\n\
00199 int8 FIND_CONTACT = 5\n\
00200 int8 SLIP_SERVO = 6\n\
00201 ================================================================================\n\
00202 MSG: pr2_gripper_sensor_msgs/PR2GripperForceServoActionFeedback\n\
00203 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00204 \n\
00205 Header header\n\
00206 actionlib_msgs/GoalStatus status\n\
00207 PR2GripperForceServoFeedback feedback\n\
00208 \n\
00209 ================================================================================\n\
00210 MSG: pr2_gripper_sensor_msgs/PR2GripperForceServoFeedback\n\
00211 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00212 \n\
00213 #feedback\n\
00214 PR2GripperForceServoData data\n\
00215 \n\
00216 "; }
00217 public:
00218 ROS_DEPRECATED static const std::string __s_getMessageDefinition() { return __s_getMessageDefinition_(); }
00219
00220 ROS_DEPRECATED const std::string __getMessageDefinition() const { return __s_getMessageDefinition_(); }
00221
00222 ROS_DEPRECATED virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const
00223 {
00224 ros::serialization::OStream stream(write_ptr, 1000000000);
00225 ros::serialization::serialize(stream, action_goal);
00226 ros::serialization::serialize(stream, action_result);
00227 ros::serialization::serialize(stream, action_feedback);
00228 return stream.getData();
00229 }
00230
00231 ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr)
00232 {
00233 ros::serialization::IStream stream(read_ptr, 1000000000);
00234 ros::serialization::deserialize(stream, action_goal);
00235 ros::serialization::deserialize(stream, action_result);
00236 ros::serialization::deserialize(stream, action_feedback);
00237 return stream.getData();
00238 }
00239
00240 ROS_DEPRECATED virtual uint32_t serializationLength() const
00241 {
00242 uint32_t size = 0;
00243 size += ros::serialization::serializationLength(action_goal);
00244 size += ros::serialization::serializationLength(action_result);
00245 size += ros::serialization::serializationLength(action_feedback);
00246 return size;
00247 }
00248
00249 typedef boost::shared_ptr< ::pr2_gripper_sensor_msgs::PR2GripperForceServoAction_<ContainerAllocator> > Ptr;
00250 typedef boost::shared_ptr< ::pr2_gripper_sensor_msgs::PR2GripperForceServoAction_<ContainerAllocator> const> ConstPtr;
00251 };
00252 typedef ::pr2_gripper_sensor_msgs::PR2GripperForceServoAction_<std::allocator<void> > PR2GripperForceServoAction;
00253
00254 typedef boost::shared_ptr< ::pr2_gripper_sensor_msgs::PR2GripperForceServoAction> PR2GripperForceServoActionPtr;
00255 typedef boost::shared_ptr< ::pr2_gripper_sensor_msgs::PR2GripperForceServoAction const> PR2GripperForceServoActionConstPtr;
00256
00257
00258 template<typename ContainerAllocator>
00259 std::ostream& operator<<(std::ostream& s, const ::pr2_gripper_sensor_msgs::PR2GripperForceServoAction_<ContainerAllocator> & v)
00260 {
00261 ros::message_operations::Printer< ::pr2_gripper_sensor_msgs::PR2GripperForceServoAction_<ContainerAllocator> >::stream(s, "", v);
00262 return s;}
00263
00264 }
00265
00266 namespace ros
00267 {
00268 namespace message_traits
00269 {
00270 template<class ContainerAllocator>
00271 struct MD5Sum< ::pr2_gripper_sensor_msgs::PR2GripperForceServoAction_<ContainerAllocator> > {
00272 static const char* value()
00273 {
00274 return "0540bb7603e65b3df5c9dc87b150e790";
00275 }
00276
00277 static const char* value(const ::pr2_gripper_sensor_msgs::PR2GripperForceServoAction_<ContainerAllocator> &) { return value(); }
00278 static const uint64_t static_value1 = 0x0540bb7603e65b3dULL;
00279 static const uint64_t static_value2 = 0xf5c9dc87b150e790ULL;
00280 };
00281
00282 template<class ContainerAllocator>
00283 struct DataType< ::pr2_gripper_sensor_msgs::PR2GripperForceServoAction_<ContainerAllocator> > {
00284 static const char* value()
00285 {
00286 return "pr2_gripper_sensor_msgs/PR2GripperForceServoAction";
00287 }
00288
00289 static const char* value(const ::pr2_gripper_sensor_msgs::PR2GripperForceServoAction_<ContainerAllocator> &) { return value(); }
00290 };
00291
00292 template<class ContainerAllocator>
00293 struct Definition< ::pr2_gripper_sensor_msgs::PR2GripperForceServoAction_<ContainerAllocator> > {
00294 static const char* value()
00295 {
00296 return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00297 \n\
00298 PR2GripperForceServoActionGoal action_goal\n\
00299 PR2GripperForceServoActionResult action_result\n\
00300 PR2GripperForceServoActionFeedback action_feedback\n\
00301 \n\
00302 ================================================================================\n\
00303 MSG: pr2_gripper_sensor_msgs/PR2GripperForceServoActionGoal\n\
00304 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00305 \n\
00306 Header header\n\
00307 actionlib_msgs/GoalID goal_id\n\
00308 PR2GripperForceServoGoal goal\n\
00309 \n\
00310 ================================================================================\n\
00311 MSG: std_msgs/Header\n\
00312 # Standard metadata for higher-level stamped data types.\n\
00313 # This is generally used to communicate timestamped data \n\
00314 # in a particular coordinate frame.\n\
00315 # \n\
00316 # sequence ID: consecutively increasing ID \n\
00317 uint32 seq\n\
00318 #Two-integer timestamp that is expressed as:\n\
00319 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00320 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00321 # time-handling sugar is provided by the client library\n\
00322 time stamp\n\
00323 #Frame this data is associated with\n\
00324 # 0: no frame\n\
00325 # 1: global frame\n\
00326 string frame_id\n\
00327 \n\
00328 ================================================================================\n\
00329 MSG: actionlib_msgs/GoalID\n\
00330 # The stamp should store the time at which this goal was requested.\n\
00331 # It is used by an action server when it tries to preempt all\n\
00332 # goals that were requested before a certain time\n\
00333 time stamp\n\
00334 \n\
00335 # The id provides a way to associate feedback and\n\
00336 # result message with specific goal requests. The id\n\
00337 # specified must be unique.\n\
00338 string id\n\
00339 \n\
00340 \n\
00341 ================================================================================\n\
00342 MSG: pr2_gripper_sensor_msgs/PR2GripperForceServoGoal\n\
00343 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00344 # Action to launch the gripper into force servoing mode \n\
00345 \n\
00346 #goals\n\
00347 PR2GripperForceServoCommand command\n\
00348 \n\
00349 ================================================================================\n\
00350 MSG: pr2_gripper_sensor_msgs/PR2GripperForceServoCommand\n\
00351 # the amount of fingertip force (in Newtons) to apply.\n\
00352 # NOTE: the joint will squeeze until each finger reaches this level\n\
00353 # values < 0 (opening force) are ignored\n\
00354 #\n\
00355 # 10 N can crack an egg or crush a soda can.\n\
00356 # 15 N can firmly pick up a can of soup.\n\
00357 # Experiment on your own.\n\
00358 #\n\
00359 float64 fingertip_force\n\
00360 ================================================================================\n\
00361 MSG: pr2_gripper_sensor_msgs/PR2GripperForceServoActionResult\n\
00362 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00363 \n\
00364 Header header\n\
00365 actionlib_msgs/GoalStatus status\n\
00366 PR2GripperForceServoResult result\n\
00367 \n\
00368 ================================================================================\n\
00369 MSG: actionlib_msgs/GoalStatus\n\
00370 GoalID goal_id\n\
00371 uint8 status\n\
00372 uint8 PENDING = 0 # The goal has yet to be processed by the action server\n\
00373 uint8 ACTIVE = 1 # The goal is currently being processed by the action server\n\
00374 uint8 PREEMPTED = 2 # The goal received a cancel request after it started executing\n\
00375 # and has since completed its execution (Terminal State)\n\
00376 uint8 SUCCEEDED = 3 # The goal was achieved successfully by the action server (Terminal State)\n\
00377 uint8 ABORTED = 4 # The goal was aborted during execution by the action server due\n\
00378 # to some failure (Terminal State)\n\
00379 uint8 REJECTED = 5 # The goal was rejected by the action server without being processed,\n\
00380 # because the goal was unattainable or invalid (Terminal State)\n\
00381 uint8 PREEMPTING = 6 # The goal received a cancel request after it started executing\n\
00382 # and has not yet completed execution\n\
00383 uint8 RECALLING = 7 # The goal received a cancel request before it started executing,\n\
00384 # but the action server has not yet confirmed that the goal is canceled\n\
00385 uint8 RECALLED = 8 # The goal received a cancel request before it started executing\n\
00386 # and was successfully cancelled (Terminal State)\n\
00387 uint8 LOST = 9 # An action client can determine that a goal is LOST. This should not be\n\
00388 # sent over the wire by an action server\n\
00389 \n\
00390 #Allow for the user to associate a string with GoalStatus for debugging\n\
00391 string text\n\
00392 \n\
00393 \n\
00394 ================================================================================\n\
00395 MSG: pr2_gripper_sensor_msgs/PR2GripperForceServoResult\n\
00396 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00397 \n\
00398 #result\n\
00399 PR2GripperForceServoData data\n\
00400 \n\
00401 \n\
00402 ================================================================================\n\
00403 MSG: pr2_gripper_sensor_msgs/PR2GripperForceServoData\n\
00404 # Time the data was recorded at\n\
00405 time stamp\n\
00406 \n\
00407 # the force experienced by the finger Pads (N)\n\
00408 # NOTE:this ignores data from the edges of the finger pressure\n\
00409 float64 left_fingertip_pad_force\n\
00410 float64 right_fingertip_pad_force\n\
00411 \n\
00412 # the current gripper virtual parallel joint effort (in N)\n\
00413 float64 joint_effort\n\
00414 \n\
00415 # true when the gripper is no longer moving\n\
00416 # and we have reached the desired force level\n\
00417 bool force_achieved\n\
00418 \n\
00419 \n\
00420 # the control state of our realtime controller\n\
00421 PR2GripperSensorRTState rtstate\n\
00422 \n\
00423 ================================================================================\n\
00424 MSG: pr2_gripper_sensor_msgs/PR2GripperSensorRTState\n\
00425 # the control state of our realtime controller\n\
00426 int8 realtime_controller_state\n\
00427 \n\
00428 # predefined values to indicate our realtime_controller_state\n\
00429 int8 DISABLED = 0\n\
00430 int8 POSITION_SERVO = 3\n\
00431 int8 FORCE_SERVO = 4\n\
00432 int8 FIND_CONTACT = 5\n\
00433 int8 SLIP_SERVO = 6\n\
00434 ================================================================================\n\
00435 MSG: pr2_gripper_sensor_msgs/PR2GripperForceServoActionFeedback\n\
00436 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00437 \n\
00438 Header header\n\
00439 actionlib_msgs/GoalStatus status\n\
00440 PR2GripperForceServoFeedback feedback\n\
00441 \n\
00442 ================================================================================\n\
00443 MSG: pr2_gripper_sensor_msgs/PR2GripperForceServoFeedback\n\
00444 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00445 \n\
00446 #feedback\n\
00447 PR2GripperForceServoData data\n\
00448 \n\
00449 ";
00450 }
00451
00452 static const char* value(const ::pr2_gripper_sensor_msgs::PR2GripperForceServoAction_<ContainerAllocator> &) { return value(); }
00453 };
00454
00455 }
00456 }
00457
00458 namespace ros
00459 {
00460 namespace serialization
00461 {
00462
00463 template<class ContainerAllocator> struct Serializer< ::pr2_gripper_sensor_msgs::PR2GripperForceServoAction_<ContainerAllocator> >
00464 {
00465 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00466 {
00467 stream.next(m.action_goal);
00468 stream.next(m.action_result);
00469 stream.next(m.action_feedback);
00470 }
00471
00472 ROS_DECLARE_ALLINONE_SERIALIZER;
00473 };
00474 }
00475 }
00476
00477 namespace ros
00478 {
00479 namespace message_operations
00480 {
00481
00482 template<class ContainerAllocator>
00483 struct Printer< ::pr2_gripper_sensor_msgs::PR2GripperForceServoAction_<ContainerAllocator> >
00484 {
00485 template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::pr2_gripper_sensor_msgs::PR2GripperForceServoAction_<ContainerAllocator> & v)
00486 {
00487 s << indent << "action_goal: ";
00488 s << std::endl;
00489 Printer< ::pr2_gripper_sensor_msgs::PR2GripperForceServoActionGoal_<ContainerAllocator> >::stream(s, indent + " ", v.action_goal);
00490 s << indent << "action_result: ";
00491 s << std::endl;
00492 Printer< ::pr2_gripper_sensor_msgs::PR2GripperForceServoActionResult_<ContainerAllocator> >::stream(s, indent + " ", v.action_result);
00493 s << indent << "action_feedback: ";
00494 s << std::endl;
00495 Printer< ::pr2_gripper_sensor_msgs::PR2GripperForceServoActionFeedback_<ContainerAllocator> >::stream(s, indent + " ", v.action_feedback);
00496 }
00497 };
00498
00499
00500 }
00501 }
00502
00503 #endif // PR2_GRIPPER_SENSOR_MSGS_MESSAGE_PR2GRIPPERFORCESERVOACTION_H
00504
