00001
00002 #ifndef PR2_GRIPPER_SENSOR_MSGS_MESSAGE_PR2GRIPPERGRABACTION_H
00003 #define PR2_GRIPPER_SENSOR_MSGS_MESSAGE_PR2GRIPPERGRABACTION_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/PR2GripperGrabActionGoal.h"
00014 #include "pr2_gripper_sensor_msgs/PR2GripperGrabActionResult.h"
00015 #include "pr2_gripper_sensor_msgs/PR2GripperGrabActionFeedback.h"
00016
00017 namespace pr2_gripper_sensor_msgs
00018 {
00019 template <class ContainerAllocator>
00020 struct PR2GripperGrabAction_ : public ros::Message
00021 {
00022 typedef PR2GripperGrabAction_<ContainerAllocator> Type;
00023
00024 PR2GripperGrabAction_()
00025 : action_goal()
00026 , action_result()
00027 , action_feedback()
00028 {
00029 }
00030
00031 PR2GripperGrabAction_(const ContainerAllocator& _alloc)
00032 : action_goal(_alloc)
00033 , action_result(_alloc)
00034 , action_feedback(_alloc)
00035 {
00036 }
00037
00038 typedef ::pr2_gripper_sensor_msgs::PR2GripperGrabActionGoal_<ContainerAllocator> _action_goal_type;
00039 ::pr2_gripper_sensor_msgs::PR2GripperGrabActionGoal_<ContainerAllocator> action_goal;
00040
00041 typedef ::pr2_gripper_sensor_msgs::PR2GripperGrabActionResult_<ContainerAllocator> _action_result_type;
00042 ::pr2_gripper_sensor_msgs::PR2GripperGrabActionResult_<ContainerAllocator> action_result;
00043
00044 typedef ::pr2_gripper_sensor_msgs::PR2GripperGrabActionFeedback_<ContainerAllocator> _action_feedback_type;
00045 ::pr2_gripper_sensor_msgs::PR2GripperGrabActionFeedback_<ContainerAllocator> action_feedback;
00046
00047
00048 private:
00049 static const char* __s_getDataType_() { return "pr2_gripper_sensor_msgs/PR2GripperGrabAction"; }
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 "f467562414aabe5b90666be976b0c379"; }
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 PR2GripperGrabActionGoal action_goal\n\
00066 PR2GripperGrabActionResult action_result\n\
00067 PR2GripperGrabActionFeedback action_feedback\n\
00068 \n\
00069 ================================================================================\n\
00070 MSG: pr2_gripper_sensor_msgs/PR2GripperGrabActionGoal\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 PR2GripperGrabGoal 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/PR2GripperGrabGoal\n\
00110 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00111 #goal\n\
00112 PR2GripperGrabCommand command\n\
00113 \n\
00114 ================================================================================\n\
00115 MSG: pr2_gripper_sensor_msgs/PR2GripperGrabCommand\n\
00116 # The gain to use to evaluate how hard an object should be\n\
00117 # grasped after it is contacted. This is based on hardness\n\
00118 # estimation as outlined in TRO paper (see wiki).\n\
00119 # \n\
00120 # Try 0.03\n\
00121 #\n\
00122 # Units (N/(m/s^2))\n\
00123 float64 hardness_gain\n\
00124 \n\
00125 ================================================================================\n\
00126 MSG: pr2_gripper_sensor_msgs/PR2GripperGrabActionResult\n\
00127 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00128 \n\
00129 Header header\n\
00130 actionlib_msgs/GoalStatus status\n\
00131 PR2GripperGrabResult result\n\
00132 \n\
00133 ================================================================================\n\
00134 MSG: actionlib_msgs/GoalStatus\n\
00135 GoalID goal_id\n\
00136 uint8 status\n\
00137 uint8 PENDING = 0 # The goal has yet to be processed by the action server\n\
00138 uint8 ACTIVE = 1 # The goal is currently being processed by the action server\n\
00139 uint8 PREEMPTED = 2 # The goal received a cancel request after it started executing\n\
00140 # and has since completed its execution (Terminal State)\n\
00141 uint8 SUCCEEDED = 3 # The goal was achieved successfully by the action server (Terminal State)\n\
00142 uint8 ABORTED = 4 # The goal was aborted during execution by the action server due\n\
00143 # to some failure (Terminal State)\n\
00144 uint8 REJECTED = 5 # The goal was rejected by the action server without being processed,\n\
00145 # because the goal was unattainable or invalid (Terminal State)\n\
00146 uint8 PREEMPTING = 6 # The goal received a cancel request after it started executing\n\
00147 # and has not yet completed execution\n\
00148 uint8 RECALLING = 7 # The goal received a cancel request before it started executing,\n\
00149 # but the action server has not yet confirmed that the goal is canceled\n\
00150 uint8 RECALLED = 8 # The goal received a cancel request before it started executing\n\
00151 # and was successfully cancelled (Terminal State)\n\
00152 uint8 LOST = 9 # An action client can determine that a goal is LOST. This should not be\n\
00153 # sent over the wire by an action server\n\
00154 \n\
00155 #Allow for the user to associate a string with GoalStatus for debugging\n\
00156 string text\n\
00157 \n\
00158 \n\
00159 ================================================================================\n\
00160 MSG: pr2_gripper_sensor_msgs/PR2GripperGrabResult\n\
00161 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00162 #result\n\
00163 PR2GripperGrabData data\n\
00164 \n\
00165 ================================================================================\n\
00166 MSG: pr2_gripper_sensor_msgs/PR2GripperGrabData\n\
00167 # the control state of our realtime controller\n\
00168 PR2GripperSensorRTState rtstate\n\
00169 ================================================================================\n\
00170 MSG: pr2_gripper_sensor_msgs/PR2GripperSensorRTState\n\
00171 # the control state of our realtime controller\n\
00172 int8 realtime_controller_state\n\
00173 \n\
00174 # predefined values to indicate our realtime_controller_state\n\
00175 int8 DISABLED = 0\n\
00176 int8 POSITION_SERVO = 3\n\
00177 int8 FORCE_SERVO = 4\n\
00178 int8 FIND_CONTACT = 5\n\
00179 int8 SLIP_SERVO = 6\n\
00180 ================================================================================\n\
00181 MSG: pr2_gripper_sensor_msgs/PR2GripperGrabActionFeedback\n\
00182 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00183 \n\
00184 Header header\n\
00185 actionlib_msgs/GoalStatus status\n\
00186 PR2GripperGrabFeedback feedback\n\
00187 \n\
00188 ================================================================================\n\
00189 MSG: pr2_gripper_sensor_msgs/PR2GripperGrabFeedback\n\
00190 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00191 \n\
00192 #feedback\n\
00193 PR2GripperGrabData data\n\
00194 \n\
00195 \n\
00196 "; }
00197 public:
00198 ROS_DEPRECATED static const std::string __s_getMessageDefinition() { return __s_getMessageDefinition_(); }
00199
00200 ROS_DEPRECATED const std::string __getMessageDefinition() const { return __s_getMessageDefinition_(); }
00201
00202 ROS_DEPRECATED virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const
00203 {
00204 ros::serialization::OStream stream(write_ptr, 1000000000);
00205 ros::serialization::serialize(stream, action_goal);
00206 ros::serialization::serialize(stream, action_result);
00207 ros::serialization::serialize(stream, action_feedback);
00208 return stream.getData();
00209 }
00210
00211 ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr)
00212 {
00213 ros::serialization::IStream stream(read_ptr, 1000000000);
00214 ros::serialization::deserialize(stream, action_goal);
00215 ros::serialization::deserialize(stream, action_result);
00216 ros::serialization::deserialize(stream, action_feedback);
00217 return stream.getData();
00218 }
00219
00220 ROS_DEPRECATED virtual uint32_t serializationLength() const
00221 {
00222 uint32_t size = 0;
00223 size += ros::serialization::serializationLength(action_goal);
00224 size += ros::serialization::serializationLength(action_result);
00225 size += ros::serialization::serializationLength(action_feedback);
00226 return size;
00227 }
00228
00229 typedef boost::shared_ptr< ::pr2_gripper_sensor_msgs::PR2GripperGrabAction_<ContainerAllocator> > Ptr;
00230 typedef boost::shared_ptr< ::pr2_gripper_sensor_msgs::PR2GripperGrabAction_<ContainerAllocator> const> ConstPtr;
00231 };
00232 typedef ::pr2_gripper_sensor_msgs::PR2GripperGrabAction_<std::allocator<void> > PR2GripperGrabAction;
00233
00234 typedef boost::shared_ptr< ::pr2_gripper_sensor_msgs::PR2GripperGrabAction> PR2GripperGrabActionPtr;
00235 typedef boost::shared_ptr< ::pr2_gripper_sensor_msgs::PR2GripperGrabAction const> PR2GripperGrabActionConstPtr;
00236
00237
00238 template<typename ContainerAllocator>
00239 std::ostream& operator<<(std::ostream& s, const ::pr2_gripper_sensor_msgs::PR2GripperGrabAction_<ContainerAllocator> & v)
00240 {
00241 ros::message_operations::Printer< ::pr2_gripper_sensor_msgs::PR2GripperGrabAction_<ContainerAllocator> >::stream(s, "", v);
00242 return s;}
00243
00244 }
00245
00246 namespace ros
00247 {
00248 namespace message_traits
00249 {
00250 template<class ContainerAllocator>
00251 struct MD5Sum< ::pr2_gripper_sensor_msgs::PR2GripperGrabAction_<ContainerAllocator> > {
00252 static const char* value()
00253 {
00254 return "f467562414aabe5b90666be976b0c379";
00255 }
00256
00257 static const char* value(const ::pr2_gripper_sensor_msgs::PR2GripperGrabAction_<ContainerAllocator> &) { return value(); }
00258 static const uint64_t static_value1 = 0xf467562414aabe5bULL;
00259 static const uint64_t static_value2 = 0x90666be976b0c379ULL;
00260 };
00261
00262 template<class ContainerAllocator>
00263 struct DataType< ::pr2_gripper_sensor_msgs::PR2GripperGrabAction_<ContainerAllocator> > {
00264 static const char* value()
00265 {
00266 return "pr2_gripper_sensor_msgs/PR2GripperGrabAction";
00267 }
00268
00269 static const char* value(const ::pr2_gripper_sensor_msgs::PR2GripperGrabAction_<ContainerAllocator> &) { return value(); }
00270 };
00271
00272 template<class ContainerAllocator>
00273 struct Definition< ::pr2_gripper_sensor_msgs::PR2GripperGrabAction_<ContainerAllocator> > {
00274 static const char* value()
00275 {
00276 return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00277 \n\
00278 PR2GripperGrabActionGoal action_goal\n\
00279 PR2GripperGrabActionResult action_result\n\
00280 PR2GripperGrabActionFeedback action_feedback\n\
00281 \n\
00282 ================================================================================\n\
00283 MSG: pr2_gripper_sensor_msgs/PR2GripperGrabActionGoal\n\
00284 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00285 \n\
00286 Header header\n\
00287 actionlib_msgs/GoalID goal_id\n\
00288 PR2GripperGrabGoal goal\n\
00289 \n\
00290 ================================================================================\n\
00291 MSG: std_msgs/Header\n\
00292 # Standard metadata for higher-level stamped data types.\n\
00293 # This is generally used to communicate timestamped data \n\
00294 # in a particular coordinate frame.\n\
00295 # \n\
00296 # sequence ID: consecutively increasing ID \n\
00297 uint32 seq\n\
00298 #Two-integer timestamp that is expressed as:\n\
00299 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00300 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00301 # time-handling sugar is provided by the client library\n\
00302 time stamp\n\
00303 #Frame this data is associated with\n\
00304 # 0: no frame\n\
00305 # 1: global frame\n\
00306 string frame_id\n\
00307 \n\
00308 ================================================================================\n\
00309 MSG: actionlib_msgs/GoalID\n\
00310 # The stamp should store the time at which this goal was requested.\n\
00311 # It is used by an action server when it tries to preempt all\n\
00312 # goals that were requested before a certain time\n\
00313 time stamp\n\
00314 \n\
00315 # The id provides a way to associate feedback and\n\
00316 # result message with specific goal requests. The id\n\
00317 # specified must be unique.\n\
00318 string id\n\
00319 \n\
00320 \n\
00321 ================================================================================\n\
00322 MSG: pr2_gripper_sensor_msgs/PR2GripperGrabGoal\n\
00323 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00324 #goal\n\
00325 PR2GripperGrabCommand command\n\
00326 \n\
00327 ================================================================================\n\
00328 MSG: pr2_gripper_sensor_msgs/PR2GripperGrabCommand\n\
00329 # The gain to use to evaluate how hard an object should be\n\
00330 # grasped after it is contacted. This is based on hardness\n\
00331 # estimation as outlined in TRO paper (see wiki).\n\
00332 # \n\
00333 # Try 0.03\n\
00334 #\n\
00335 # Units (N/(m/s^2))\n\
00336 float64 hardness_gain\n\
00337 \n\
00338 ================================================================================\n\
00339 MSG: pr2_gripper_sensor_msgs/PR2GripperGrabActionResult\n\
00340 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00341 \n\
00342 Header header\n\
00343 actionlib_msgs/GoalStatus status\n\
00344 PR2GripperGrabResult result\n\
00345 \n\
00346 ================================================================================\n\
00347 MSG: actionlib_msgs/GoalStatus\n\
00348 GoalID goal_id\n\
00349 uint8 status\n\
00350 uint8 PENDING = 0 # The goal has yet to be processed by the action server\n\
00351 uint8 ACTIVE = 1 # The goal is currently being processed by the action server\n\
00352 uint8 PREEMPTED = 2 # The goal received a cancel request after it started executing\n\
00353 # and has since completed its execution (Terminal State)\n\
00354 uint8 SUCCEEDED = 3 # The goal was achieved successfully by the action server (Terminal State)\n\
00355 uint8 ABORTED = 4 # The goal was aborted during execution by the action server due\n\
00356 # to some failure (Terminal State)\n\
00357 uint8 REJECTED = 5 # The goal was rejected by the action server without being processed,\n\
00358 # because the goal was unattainable or invalid (Terminal State)\n\
00359 uint8 PREEMPTING = 6 # The goal received a cancel request after it started executing\n\
00360 # and has not yet completed execution\n\
00361 uint8 RECALLING = 7 # The goal received a cancel request before it started executing,\n\
00362 # but the action server has not yet confirmed that the goal is canceled\n\
00363 uint8 RECALLED = 8 # The goal received a cancel request before it started executing\n\
00364 # and was successfully cancelled (Terminal State)\n\
00365 uint8 LOST = 9 # An action client can determine that a goal is LOST. This should not be\n\
00366 # sent over the wire by an action server\n\
00367 \n\
00368 #Allow for the user to associate a string with GoalStatus for debugging\n\
00369 string text\n\
00370 \n\
00371 \n\
00372 ================================================================================\n\
00373 MSG: pr2_gripper_sensor_msgs/PR2GripperGrabResult\n\
00374 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00375 #result\n\
00376 PR2GripperGrabData data\n\
00377 \n\
00378 ================================================================================\n\
00379 MSG: pr2_gripper_sensor_msgs/PR2GripperGrabData\n\
00380 # the control state of our realtime controller\n\
00381 PR2GripperSensorRTState rtstate\n\
00382 ================================================================================\n\
00383 MSG: pr2_gripper_sensor_msgs/PR2GripperSensorRTState\n\
00384 # the control state of our realtime controller\n\
00385 int8 realtime_controller_state\n\
00386 \n\
00387 # predefined values to indicate our realtime_controller_state\n\
00388 int8 DISABLED = 0\n\
00389 int8 POSITION_SERVO = 3\n\
00390 int8 FORCE_SERVO = 4\n\
00391 int8 FIND_CONTACT = 5\n\
00392 int8 SLIP_SERVO = 6\n\
00393 ================================================================================\n\
00394 MSG: pr2_gripper_sensor_msgs/PR2GripperGrabActionFeedback\n\
00395 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00396 \n\
00397 Header header\n\
00398 actionlib_msgs/GoalStatus status\n\
00399 PR2GripperGrabFeedback feedback\n\
00400 \n\
00401 ================================================================================\n\
00402 MSG: pr2_gripper_sensor_msgs/PR2GripperGrabFeedback\n\
00403 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00404 \n\
00405 #feedback\n\
00406 PR2GripperGrabData data\n\
00407 \n\
00408 \n\
00409 ";
00410 }
00411
00412 static const char* value(const ::pr2_gripper_sensor_msgs::PR2GripperGrabAction_<ContainerAllocator> &) { return value(); }
00413 };
00414
00415 }
00416 }
00417
00418 namespace ros
00419 {
00420 namespace serialization
00421 {
00422
00423 template<class ContainerAllocator> struct Serializer< ::pr2_gripper_sensor_msgs::PR2GripperGrabAction_<ContainerAllocator> >
00424 {
00425 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00426 {
00427 stream.next(m.action_goal);
00428 stream.next(m.action_result);
00429 stream.next(m.action_feedback);
00430 }
00431
00432 ROS_DECLARE_ALLINONE_SERIALIZER;
00433 };
00434 }
00435 }
00436
00437 namespace ros
00438 {
00439 namespace message_operations
00440 {
00441
00442 template<class ContainerAllocator>
00443 struct Printer< ::pr2_gripper_sensor_msgs::PR2GripperGrabAction_<ContainerAllocator> >
00444 {
00445 template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::pr2_gripper_sensor_msgs::PR2GripperGrabAction_<ContainerAllocator> & v)
00446 {
00447 s << indent << "action_goal: ";
00448 s << std::endl;
00449 Printer< ::pr2_gripper_sensor_msgs::PR2GripperGrabActionGoal_<ContainerAllocator> >::stream(s, indent + " ", v.action_goal);
00450 s << indent << "action_result: ";
00451 s << std::endl;
00452 Printer< ::pr2_gripper_sensor_msgs::PR2GripperGrabActionResult_<ContainerAllocator> >::stream(s, indent + " ", v.action_result);
00453 s << indent << "action_feedback: ";
00454 s << std::endl;
00455 Printer< ::pr2_gripper_sensor_msgs::PR2GripperGrabActionFeedback_<ContainerAllocator> >::stream(s, indent + " ", v.action_feedback);
00456 }
00457 };
00458
00459
00460 }
00461 }
00462
00463 #endif // PR2_GRIPPER_SENSOR_MSGS_MESSAGE_PR2GRIPPERGRABACTION_H
00464
