00001
00002 #ifndef PR2_GRIPPER_SENSOR_MSGS_MESSAGE_PR2GRIPPEREVENTDETECTORACTIONGOAL_H
00003 #define PR2_GRIPPER_SENSOR_MSGS_MESSAGE_PR2GRIPPEREVENTDETECTORACTIONGOAL_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 "std_msgs/Header.h"
00018 #include "actionlib_msgs/GoalID.h"
00019 #include "pr2_gripper_sensor_msgs/PR2GripperEventDetectorGoal.h"
00020
00021 namespace pr2_gripper_sensor_msgs
00022 {
00023 template <class ContainerAllocator>
00024 struct PR2GripperEventDetectorActionGoal_ {
00025 typedef PR2GripperEventDetectorActionGoal_<ContainerAllocator> Type;
00026
00027 PR2GripperEventDetectorActionGoal_()
00028 : header()
00029 , goal_id()
00030 , goal()
00031 {
00032 }
00033
00034 PR2GripperEventDetectorActionGoal_(const ContainerAllocator& _alloc)
00035 : header(_alloc)
00036 , goal_id(_alloc)
00037 , goal(_alloc)
00038 {
00039 }
00040
00041 typedef ::std_msgs::Header_<ContainerAllocator> _header_type;
00042 ::std_msgs::Header_<ContainerAllocator> header;
00043
00044 typedef ::actionlib_msgs::GoalID_<ContainerAllocator> _goal_id_type;
00045 ::actionlib_msgs::GoalID_<ContainerAllocator> goal_id;
00046
00047 typedef ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorGoal_<ContainerAllocator> _goal_type;
00048 ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorGoal_<ContainerAllocator> goal;
00049
00050
00051 private:
00052 static const char* __s_getDataType_() { return "pr2_gripper_sensor_msgs/PR2GripperEventDetectorActionGoal"; }
00053 public:
00054 ROS_DEPRECATED static const std::string __s_getDataType() { return __s_getDataType_(); }
00055
00056 ROS_DEPRECATED const std::string __getDataType() const { return __s_getDataType_(); }
00057
00058 private:
00059 static const char* __s_getMD5Sum_() { return "b1b345667b018e9030cc7b6aad5c1455"; }
00060 public:
00061 ROS_DEPRECATED static const std::string __s_getMD5Sum() { return __s_getMD5Sum_(); }
00062
00063 ROS_DEPRECATED const std::string __getMD5Sum() const { return __s_getMD5Sum_(); }
00064
00065 private:
00066 static const char* __s_getMessageDefinition_() { return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00067 \n\
00068 Header header\n\
00069 actionlib_msgs/GoalID goal_id\n\
00070 PR2GripperEventDetectorGoal goal\n\
00071 \n\
00072 ================================================================================\n\
00073 MSG: std_msgs/Header\n\
00074 # Standard metadata for higher-level stamped data types.\n\
00075 # This is generally used to communicate timestamped data \n\
00076 # in a particular coordinate frame.\n\
00077 # \n\
00078 # sequence ID: consecutively increasing ID \n\
00079 uint32 seq\n\
00080 #Two-integer timestamp that is expressed as:\n\
00081 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00082 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00083 # time-handling sugar is provided by the client library\n\
00084 time stamp\n\
00085 #Frame this data is associated with\n\
00086 # 0: no frame\n\
00087 # 1: global frame\n\
00088 string frame_id\n\
00089 \n\
00090 ================================================================================\n\
00091 MSG: actionlib_msgs/GoalID\n\
00092 # The stamp should store the time at which this goal was requested.\n\
00093 # It is used by an action server when it tries to preempt all\n\
00094 # goals that were requested before a certain time\n\
00095 time stamp\n\
00096 \n\
00097 # The id provides a way to associate feedback and\n\
00098 # result message with specific goal requests. The id\n\
00099 # specified must be unique.\n\
00100 string id\n\
00101 \n\
00102 \n\
00103 ================================================================================\n\
00104 MSG: pr2_gripper_sensor_msgs/PR2GripperEventDetectorGoal\n\
00105 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00106 # Event Detector action used to tell detect events happening on the \n\
00107 # palm mounted accelerometer and finger pressure sensors\n\
00108 \n\
00109 #goal\n\
00110 PR2GripperEventDetectorCommand command\n\
00111 \n\
00112 ================================================================================\n\
00113 MSG: pr2_gripper_sensor_msgs/PR2GripperEventDetectorCommand\n\
00114 # state variable that defines what events we would like to trigger on\n\
00115 # Leaving this field blank will result in the robot triggering when \n\
00116 # anything touches the sides of the finger or an impact is detected\n\
00117 # with the hand/arm.\n\
00118 int8 trigger_conditions\n\
00119 # definitions for our various trigger_conditions values\n\
00120 # trigger on either acceleration contact or finger sensor side impact\n\
00121 int8 FINGER_SIDE_IMPACT_OR_ACC = 0\n\
00122 # tigger once both slip and acceleration signals occur\n\
00123 int8 SLIP_AND_ACC = 1 \n\
00124 # trigger on either slip, acceleration, or finger sensor side impact\n\
00125 int8 FINGER_SIDE_IMPACT_OR_SLIP_OR_ACC = 2\n\
00126 # trigger only on slip information\n\
00127 int8 SLIP = 3\n\
00128 # trigger only on acceleration contact information\n\
00129 int8 ACC = 4 \n\
00130 \n\
00131 \n\
00132 # the amount of acceleration to trigger on (acceleration vector magnitude)\n\
00133 # Units = m/s^2\n\
00134 # The user needs to be concerned here about not setting the trigger too\n\
00135 # low so that is set off by the robot's own motions.\n\
00136 #\n\
00137 # For large rapid motions, say by a motion planner, 5 m/s^2 is a good level\n\
00138 # For small delicate controlled motions this can be set MUCH lower (try 2.0)\n\
00139 #\n\
00140 # NOTE: When moving the gripper joint (opening/closing the grippr)\n\
00141 # the high gearing of the PR2 gripper causes large acceleration vibrations\n\
00142 # which will cause triggering to occur. This is a known drawback of the PR2.\n\
00143 #\n\
00144 # NOTE: Leaving this value blank will result in a 0 m/s^2 trigger. If you\n\
00145 # are using a trigger_conditions value that returns on acceleration contact\n\
00146 # events then it will immediately exceed your trigger and return\n\
00147 float64 acceleration_trigger_magnitude\n\
00148 \n\
00149 \n\
00150 # the slip detector gain to trigger on (either finger) : try 0.01\n\
00151 # higher values decrease slip sensitivty (to a point)\n\
00152 # lower values increase sensitivity (to a point)\n\
00153 #\n\
00154 # NOTE: Leaving this value blank will result in the most sensitive slip level.\n\
00155 float64 slip_trigger_magnitude\n\
00156 "; }
00157 public:
00158 ROS_DEPRECATED static const std::string __s_getMessageDefinition() { return __s_getMessageDefinition_(); }
00159
00160 ROS_DEPRECATED const std::string __getMessageDefinition() const { return __s_getMessageDefinition_(); }
00161
00162 ROS_DEPRECATED virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const
00163 {
00164 ros::serialization::OStream stream(write_ptr, 1000000000);
00165 ros::serialization::serialize(stream, header);
00166 ros::serialization::serialize(stream, goal_id);
00167 ros::serialization::serialize(stream, goal);
00168 return stream.getData();
00169 }
00170
00171 ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr)
00172 {
00173 ros::serialization::IStream stream(read_ptr, 1000000000);
00174 ros::serialization::deserialize(stream, header);
00175 ros::serialization::deserialize(stream, goal_id);
00176 ros::serialization::deserialize(stream, goal);
00177 return stream.getData();
00178 }
00179
00180 ROS_DEPRECATED virtual uint32_t serializationLength() const
00181 {
00182 uint32_t size = 0;
00183 size += ros::serialization::serializationLength(header);
00184 size += ros::serialization::serializationLength(goal_id);
00185 size += ros::serialization::serializationLength(goal);
00186 return size;
00187 }
00188
00189 typedef boost::shared_ptr< ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorActionGoal_<ContainerAllocator> > Ptr;
00190 typedef boost::shared_ptr< ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorActionGoal_<ContainerAllocator> const> ConstPtr;
00191 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00192 };
00193 typedef ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorActionGoal_<std::allocator<void> > PR2GripperEventDetectorActionGoal;
00194
00195 typedef boost::shared_ptr< ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorActionGoal> PR2GripperEventDetectorActionGoalPtr;
00196 typedef boost::shared_ptr< ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorActionGoal const> PR2GripperEventDetectorActionGoalConstPtr;
00197
00198
00199 template<typename ContainerAllocator>
00200 std::ostream& operator<<(std::ostream& s, const ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorActionGoal_<ContainerAllocator> & v)
00201 {
00202 ros::message_operations::Printer< ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorActionGoal_<ContainerAllocator> >::stream(s, "", v);
00203 return s;}
00204
00205 }
00206
00207 namespace ros
00208 {
00209 namespace message_traits
00210 {
00211 template<class ContainerAllocator> struct IsMessage< ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorActionGoal_<ContainerAllocator> > : public TrueType {};
00212 template<class ContainerAllocator> struct IsMessage< ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorActionGoal_<ContainerAllocator> const> : public TrueType {};
00213 template<class ContainerAllocator>
00214 struct MD5Sum< ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorActionGoal_<ContainerAllocator> > {
00215 static const char* value()
00216 {
00217 return "b1b345667b018e9030cc7b6aad5c1455";
00218 }
00219
00220 static const char* value(const ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorActionGoal_<ContainerAllocator> &) { return value(); }
00221 static const uint64_t static_value1 = 0xb1b345667b018e90ULL;
00222 static const uint64_t static_value2 = 0x30cc7b6aad5c1455ULL;
00223 };
00224
00225 template<class ContainerAllocator>
00226 struct DataType< ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorActionGoal_<ContainerAllocator> > {
00227 static const char* value()
00228 {
00229 return "pr2_gripper_sensor_msgs/PR2GripperEventDetectorActionGoal";
00230 }
00231
00232 static const char* value(const ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorActionGoal_<ContainerAllocator> &) { return value(); }
00233 };
00234
00235 template<class ContainerAllocator>
00236 struct Definition< ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorActionGoal_<ContainerAllocator> > {
00237 static const char* value()
00238 {
00239 return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00240 \n\
00241 Header header\n\
00242 actionlib_msgs/GoalID goal_id\n\
00243 PR2GripperEventDetectorGoal goal\n\
00244 \n\
00245 ================================================================================\n\
00246 MSG: std_msgs/Header\n\
00247 # Standard metadata for higher-level stamped data types.\n\
00248 # This is generally used to communicate timestamped data \n\
00249 # in a particular coordinate frame.\n\
00250 # \n\
00251 # sequence ID: consecutively increasing ID \n\
00252 uint32 seq\n\
00253 #Two-integer timestamp that is expressed as:\n\
00254 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00255 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00256 # time-handling sugar is provided by the client library\n\
00257 time stamp\n\
00258 #Frame this data is associated with\n\
00259 # 0: no frame\n\
00260 # 1: global frame\n\
00261 string frame_id\n\
00262 \n\
00263 ================================================================================\n\
00264 MSG: actionlib_msgs/GoalID\n\
00265 # The stamp should store the time at which this goal was requested.\n\
00266 # It is used by an action server when it tries to preempt all\n\
00267 # goals that were requested before a certain time\n\
00268 time stamp\n\
00269 \n\
00270 # The id provides a way to associate feedback and\n\
00271 # result message with specific goal requests. The id\n\
00272 # specified must be unique.\n\
00273 string id\n\
00274 \n\
00275 \n\
00276 ================================================================================\n\
00277 MSG: pr2_gripper_sensor_msgs/PR2GripperEventDetectorGoal\n\
00278 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00279 # Event Detector action used to tell detect events happening on the \n\
00280 # palm mounted accelerometer and finger pressure sensors\n\
00281 \n\
00282 #goal\n\
00283 PR2GripperEventDetectorCommand command\n\
00284 \n\
00285 ================================================================================\n\
00286 MSG: pr2_gripper_sensor_msgs/PR2GripperEventDetectorCommand\n\
00287 # state variable that defines what events we would like to trigger on\n\
00288 # Leaving this field blank will result in the robot triggering when \n\
00289 # anything touches the sides of the finger or an impact is detected\n\
00290 # with the hand/arm.\n\
00291 int8 trigger_conditions\n\
00292 # definitions for our various trigger_conditions values\n\
00293 # trigger on either acceleration contact or finger sensor side impact\n\
00294 int8 FINGER_SIDE_IMPACT_OR_ACC = 0\n\
00295 # tigger once both slip and acceleration signals occur\n\
00296 int8 SLIP_AND_ACC = 1 \n\
00297 # trigger on either slip, acceleration, or finger sensor side impact\n\
00298 int8 FINGER_SIDE_IMPACT_OR_SLIP_OR_ACC = 2\n\
00299 # trigger only on slip information\n\
00300 int8 SLIP = 3\n\
00301 # trigger only on acceleration contact information\n\
00302 int8 ACC = 4 \n\
00303 \n\
00304 \n\
00305 # the amount of acceleration to trigger on (acceleration vector magnitude)\n\
00306 # Units = m/s^2\n\
00307 # The user needs to be concerned here about not setting the trigger too\n\
00308 # low so that is set off by the robot's own motions.\n\
00309 #\n\
00310 # For large rapid motions, say by a motion planner, 5 m/s^2 is a good level\n\
00311 # For small delicate controlled motions this can be set MUCH lower (try 2.0)\n\
00312 #\n\
00313 # NOTE: When moving the gripper joint (opening/closing the grippr)\n\
00314 # the high gearing of the PR2 gripper causes large acceleration vibrations\n\
00315 # which will cause triggering to occur. This is a known drawback of the PR2.\n\
00316 #\n\
00317 # NOTE: Leaving this value blank will result in a 0 m/s^2 trigger. If you\n\
00318 # are using a trigger_conditions value that returns on acceleration contact\n\
00319 # events then it will immediately exceed your trigger and return\n\
00320 float64 acceleration_trigger_magnitude\n\
00321 \n\
00322 \n\
00323 # the slip detector gain to trigger on (either finger) : try 0.01\n\
00324 # higher values decrease slip sensitivty (to a point)\n\
00325 # lower values increase sensitivity (to a point)\n\
00326 #\n\
00327 # NOTE: Leaving this value blank will result in the most sensitive slip level.\n\
00328 float64 slip_trigger_magnitude\n\
00329 ";
00330 }
00331
00332 static const char* value(const ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorActionGoal_<ContainerAllocator> &) { return value(); }
00333 };
00334
00335 template<class ContainerAllocator> struct HasHeader< ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorActionGoal_<ContainerAllocator> > : public TrueType {};
00336 template<class ContainerAllocator> struct HasHeader< const ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorActionGoal_<ContainerAllocator> > : public TrueType {};
00337 }
00338 }
00339
00340 namespace ros
00341 {
00342 namespace serialization
00343 {
00344
00345 template<class ContainerAllocator> struct Serializer< ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorActionGoal_<ContainerAllocator> >
00346 {
00347 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00348 {
00349 stream.next(m.header);
00350 stream.next(m.goal_id);
00351 stream.next(m.goal);
00352 }
00353
00354 ROS_DECLARE_ALLINONE_SERIALIZER;
00355 };
00356 }
00357 }
00358
00359 namespace ros
00360 {
00361 namespace message_operations
00362 {
00363
00364 template<class ContainerAllocator>
00365 struct Printer< ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorActionGoal_<ContainerAllocator> >
00366 {
00367 template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorActionGoal_<ContainerAllocator> & v)
00368 {
00369 s << indent << "header: ";
00370 s << std::endl;
00371 Printer< ::std_msgs::Header_<ContainerAllocator> >::stream(s, indent + " ", v.header);
00372 s << indent << "goal_id: ";
00373 s << std::endl;
00374 Printer< ::actionlib_msgs::GoalID_<ContainerAllocator> >::stream(s, indent + " ", v.goal_id);
00375 s << indent << "goal: ";
00376 s << std::endl;
00377 Printer< ::pr2_gripper_sensor_msgs::PR2GripperEventDetectorGoal_<ContainerAllocator> >::stream(s, indent + " ", v.goal);
00378 }
00379 };
00380
00381
00382 }
00383 }
00384
00385 #endif // PR2_GRIPPER_SENSOR_MSGS_MESSAGE_PR2GRIPPEREVENTDETECTORACTIONGOAL_H
00386
