00001
00002 #ifndef PR2_GRIPPER_SENSOR_MSGS_MESSAGE_PR2GRIPPERFINDCONTACTACTIONGOAL_H
00003 #define PR2_GRIPPER_SENSOR_MSGS_MESSAGE_PR2GRIPPERFINDCONTACTACTIONGOAL_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/PR2GripperFindContactGoal.h"
00020
00021 namespace pr2_gripper_sensor_msgs
00022 {
00023 template <class ContainerAllocator>
00024 struct PR2GripperFindContactActionGoal_ {
00025 typedef PR2GripperFindContactActionGoal_<ContainerAllocator> Type;
00026
00027 PR2GripperFindContactActionGoal_()
00028 : header()
00029 , goal_id()
00030 , goal()
00031 {
00032 }
00033
00034 PR2GripperFindContactActionGoal_(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::PR2GripperFindContactGoal_<ContainerAllocator> _goal_type;
00048 ::pr2_gripper_sensor_msgs::PR2GripperFindContactGoal_<ContainerAllocator> goal;
00049
00050
00051 private:
00052 static const char* __s_getDataType_() { return "pr2_gripper_sensor_msgs/PR2GripperFindContactActionGoal"; }
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 "50fc3f7e604d4e257a2e38e3aa3f204e"; }
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 PR2GripperFindContactGoal 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/PR2GripperFindContactGoal\n\
00105 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00106 # Contact action used to close fingers and find object contacts \n\
00107 # quickly while still stopping fast in real-time to not damage \n\
00108 # objects\n\
00109 \n\
00110 #goal\n\
00111 PR2GripperFindContactCommand command\n\
00112 \n\
00113 ================================================================================\n\
00114 MSG: pr2_gripper_sensor_msgs/PR2GripperFindContactCommand\n\
00115 # set true if you want to calibrate the fingertip sensors on the start\n\
00116 # of the find_contact action. While this is not necessary (and\n\
00117 # the default value will not calibrate the sensors) for best \n\
00118 # performance it is recommended that you set this to true each time \n\
00119 # you are calling find_contact and are confident the fingertips are \n\
00120 # not touching anything\n\
00121 # NOTE: SHOULD ONLY BE TRUE WHEN BOTH FINGERS ARE TOUCHING NOTHING\n\
00122 bool zero_fingertip_sensors\n\
00123 \n\
00124 # the finger contact conditions that determine what our goal is\n\
00125 # Leaving this field blank will result in the robot closing until\n\
00126 # contact on BOTH fingers is achieved\n\
00127 int8 contact_conditions\n\
00128 \n\
00129 # predefined values for the above contact_conditions variable\n\
00130 int8 BOTH = 0 # both fingers must make contact\n\
00131 int8 LEFT = 1 # just the left finger \n\
00132 int8 RIGHT = 2 # just the right finger\n\
00133 int8 EITHER = 3 # either finger, we don't care which\n\
00134 \n\
00135 "; }
00136 public:
00137 ROS_DEPRECATED static const std::string __s_getMessageDefinition() { return __s_getMessageDefinition_(); }
00138
00139 ROS_DEPRECATED const std::string __getMessageDefinition() const { return __s_getMessageDefinition_(); }
00140
00141 ROS_DEPRECATED virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const
00142 {
00143 ros::serialization::OStream stream(write_ptr, 1000000000);
00144 ros::serialization::serialize(stream, header);
00145 ros::serialization::serialize(stream, goal_id);
00146 ros::serialization::serialize(stream, goal);
00147 return stream.getData();
00148 }
00149
00150 ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr)
00151 {
00152 ros::serialization::IStream stream(read_ptr, 1000000000);
00153 ros::serialization::deserialize(stream, header);
00154 ros::serialization::deserialize(stream, goal_id);
00155 ros::serialization::deserialize(stream, goal);
00156 return stream.getData();
00157 }
00158
00159 ROS_DEPRECATED virtual uint32_t serializationLength() const
00160 {
00161 uint32_t size = 0;
00162 size += ros::serialization::serializationLength(header);
00163 size += ros::serialization::serializationLength(goal_id);
00164 size += ros::serialization::serializationLength(goal);
00165 return size;
00166 }
00167
00168 typedef boost::shared_ptr< ::pr2_gripper_sensor_msgs::PR2GripperFindContactActionGoal_<ContainerAllocator> > Ptr;
00169 typedef boost::shared_ptr< ::pr2_gripper_sensor_msgs::PR2GripperFindContactActionGoal_<ContainerAllocator> const> ConstPtr;
00170 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00171 };
00172 typedef ::pr2_gripper_sensor_msgs::PR2GripperFindContactActionGoal_<std::allocator<void> > PR2GripperFindContactActionGoal;
00173
00174 typedef boost::shared_ptr< ::pr2_gripper_sensor_msgs::PR2GripperFindContactActionGoal> PR2GripperFindContactActionGoalPtr;
00175 typedef boost::shared_ptr< ::pr2_gripper_sensor_msgs::PR2GripperFindContactActionGoal const> PR2GripperFindContactActionGoalConstPtr;
00176
00177
00178 template<typename ContainerAllocator>
00179 std::ostream& operator<<(std::ostream& s, const ::pr2_gripper_sensor_msgs::PR2GripperFindContactActionGoal_<ContainerAllocator> & v)
00180 {
00181 ros::message_operations::Printer< ::pr2_gripper_sensor_msgs::PR2GripperFindContactActionGoal_<ContainerAllocator> >::stream(s, "", v);
00182 return s;}
00183
00184 }
00185
00186 namespace ros
00187 {
00188 namespace message_traits
00189 {
00190 template<class ContainerAllocator> struct IsMessage< ::pr2_gripper_sensor_msgs::PR2GripperFindContactActionGoal_<ContainerAllocator> > : public TrueType {};
00191 template<class ContainerAllocator> struct IsMessage< ::pr2_gripper_sensor_msgs::PR2GripperFindContactActionGoal_<ContainerAllocator> const> : public TrueType {};
00192 template<class ContainerAllocator>
00193 struct MD5Sum< ::pr2_gripper_sensor_msgs::PR2GripperFindContactActionGoal_<ContainerAllocator> > {
00194 static const char* value()
00195 {
00196 return "50fc3f7e604d4e257a2e38e3aa3f204e";
00197 }
00198
00199 static const char* value(const ::pr2_gripper_sensor_msgs::PR2GripperFindContactActionGoal_<ContainerAllocator> &) { return value(); }
00200 static const uint64_t static_value1 = 0x50fc3f7e604d4e25ULL;
00201 static const uint64_t static_value2 = 0x7a2e38e3aa3f204eULL;
00202 };
00203
00204 template<class ContainerAllocator>
00205 struct DataType< ::pr2_gripper_sensor_msgs::PR2GripperFindContactActionGoal_<ContainerAllocator> > {
00206 static const char* value()
00207 {
00208 return "pr2_gripper_sensor_msgs/PR2GripperFindContactActionGoal";
00209 }
00210
00211 static const char* value(const ::pr2_gripper_sensor_msgs::PR2GripperFindContactActionGoal_<ContainerAllocator> &) { return value(); }
00212 };
00213
00214 template<class ContainerAllocator>
00215 struct Definition< ::pr2_gripper_sensor_msgs::PR2GripperFindContactActionGoal_<ContainerAllocator> > {
00216 static const char* value()
00217 {
00218 return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00219 \n\
00220 Header header\n\
00221 actionlib_msgs/GoalID goal_id\n\
00222 PR2GripperFindContactGoal goal\n\
00223 \n\
00224 ================================================================================\n\
00225 MSG: std_msgs/Header\n\
00226 # Standard metadata for higher-level stamped data types.\n\
00227 # This is generally used to communicate timestamped data \n\
00228 # in a particular coordinate frame.\n\
00229 # \n\
00230 # sequence ID: consecutively increasing ID \n\
00231 uint32 seq\n\
00232 #Two-integer timestamp that is expressed as:\n\
00233 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00234 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00235 # time-handling sugar is provided by the client library\n\
00236 time stamp\n\
00237 #Frame this data is associated with\n\
00238 # 0: no frame\n\
00239 # 1: global frame\n\
00240 string frame_id\n\
00241 \n\
00242 ================================================================================\n\
00243 MSG: actionlib_msgs/GoalID\n\
00244 # The stamp should store the time at which this goal was requested.\n\
00245 # It is used by an action server when it tries to preempt all\n\
00246 # goals that were requested before a certain time\n\
00247 time stamp\n\
00248 \n\
00249 # The id provides a way to associate feedback and\n\
00250 # result message with specific goal requests. The id\n\
00251 # specified must be unique.\n\
00252 string id\n\
00253 \n\
00254 \n\
00255 ================================================================================\n\
00256 MSG: pr2_gripper_sensor_msgs/PR2GripperFindContactGoal\n\
00257 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00258 # Contact action used to close fingers and find object contacts \n\
00259 # quickly while still stopping fast in real-time to not damage \n\
00260 # objects\n\
00261 \n\
00262 #goal\n\
00263 PR2GripperFindContactCommand command\n\
00264 \n\
00265 ================================================================================\n\
00266 MSG: pr2_gripper_sensor_msgs/PR2GripperFindContactCommand\n\
00267 # set true if you want to calibrate the fingertip sensors on the start\n\
00268 # of the find_contact action. While this is not necessary (and\n\
00269 # the default value will not calibrate the sensors) for best \n\
00270 # performance it is recommended that you set this to true each time \n\
00271 # you are calling find_contact and are confident the fingertips are \n\
00272 # not touching anything\n\
00273 # NOTE: SHOULD ONLY BE TRUE WHEN BOTH FINGERS ARE TOUCHING NOTHING\n\
00274 bool zero_fingertip_sensors\n\
00275 \n\
00276 # the finger contact conditions that determine what our goal is\n\
00277 # Leaving this field blank will result in the robot closing until\n\
00278 # contact on BOTH fingers is achieved\n\
00279 int8 contact_conditions\n\
00280 \n\
00281 # predefined values for the above contact_conditions variable\n\
00282 int8 BOTH = 0 # both fingers must make contact\n\
00283 int8 LEFT = 1 # just the left finger \n\
00284 int8 RIGHT = 2 # just the right finger\n\
00285 int8 EITHER = 3 # either finger, we don't care which\n\
00286 \n\
00287 ";
00288 }
00289
00290 static const char* value(const ::pr2_gripper_sensor_msgs::PR2GripperFindContactActionGoal_<ContainerAllocator> &) { return value(); }
00291 };
00292
00293 template<class ContainerAllocator> struct HasHeader< ::pr2_gripper_sensor_msgs::PR2GripperFindContactActionGoal_<ContainerAllocator> > : public TrueType {};
00294 template<class ContainerAllocator> struct HasHeader< const ::pr2_gripper_sensor_msgs::PR2GripperFindContactActionGoal_<ContainerAllocator> > : public TrueType {};
00295 }
00296 }
00297
00298 namespace ros
00299 {
00300 namespace serialization
00301 {
00302
00303 template<class ContainerAllocator> struct Serializer< ::pr2_gripper_sensor_msgs::PR2GripperFindContactActionGoal_<ContainerAllocator> >
00304 {
00305 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00306 {
00307 stream.next(m.header);
00308 stream.next(m.goal_id);
00309 stream.next(m.goal);
00310 }
00311
00312 ROS_DECLARE_ALLINONE_SERIALIZER;
00313 };
00314 }
00315 }
00316
00317 namespace ros
00318 {
00319 namespace message_operations
00320 {
00321
00322 template<class ContainerAllocator>
00323 struct Printer< ::pr2_gripper_sensor_msgs::PR2GripperFindContactActionGoal_<ContainerAllocator> >
00324 {
00325 template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::pr2_gripper_sensor_msgs::PR2GripperFindContactActionGoal_<ContainerAllocator> & v)
00326 {
00327 s << indent << "header: ";
00328 s << std::endl;
00329 Printer< ::std_msgs::Header_<ContainerAllocator> >::stream(s, indent + " ", v.header);
00330 s << indent << "goal_id: ";
00331 s << std::endl;
00332 Printer< ::actionlib_msgs::GoalID_<ContainerAllocator> >::stream(s, indent + " ", v.goal_id);
00333 s << indent << "goal: ";
00334 s << std::endl;
00335 Printer< ::pr2_gripper_sensor_msgs::PR2GripperFindContactGoal_<ContainerAllocator> >::stream(s, indent + " ", v.goal);
00336 }
00337 };
00338
00339
00340 }
00341 }
00342
00343 #endif // PR2_GRIPPER_SENSOR_MSGS_MESSAGE_PR2GRIPPERFINDCONTACTACTIONGOAL_H
00344
