00001
00002 #ifndef ART_MSGS_MESSAGE_ARTVEHICLE_H
00003 #define ART_MSGS_MESSAGE_ARTVEHICLE_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
00018 namespace art_msgs
00019 {
00020 template <class ContainerAllocator>
00021 struct ArtVehicle_ {
00022 typedef ArtVehicle_<ContainerAllocator> Type;
00023
00024 ArtVehicle_()
00025 {
00026 }
00027
00028 ArtVehicle_(const ContainerAllocator& _alloc)
00029 {
00030 }
00031
00032 static const std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > frame_id;
00033 static const float length;
00034 static const float width;
00035 static const float height;
00036 static const float halflength;
00037 static const float halfwidth;
00038 static const float halfheight;
00039 static const float wheelbase;
00040 static const float front_bumper_px;
00041 static const float rear_bumper_px;
00042 static const float front_left_wheel_px;
00043 static const float front_left_wheel_py;
00044 static const float front_right_wheel_px;
00045 static const float front_right_wheel_py;
00046 static const float rear_left_wheel_px;
00047 static const float rear_left_wheel_py;
00048 static const float rear_right_wheel_px;
00049 static const float rear_right_wheel_py;
00050 static const float geom_px;
00051 static const float geom_py;
00052 static const float geom_pa;
00053 static const float velodyne_px;
00054 static const float velodyne_py;
00055 static const float velodyne_pz;
00056 static const float velodyne_yaw;
00057 static const float velodyne_pitch;
00058 static const float velodyne_roll;
00059 static const float front_SICK_px;
00060 static const float front_SICK_py;
00061 static const float front_SICK_pz;
00062 static const float front_SICK_roll;
00063 static const float front_SICK_pitch;
00064 static const float front_SICK_yaw;
00065 static const float rear_SICK_px;
00066 static const float rear_SICK_py;
00067 static const float rear_SICK_pz;
00068 static const float rear_SICK_roll;
00069 static const float rear_SICK_pitch;
00070 static const float rear_SICK_yaw;
00071 static const float center_front_camera_px;
00072 static const float center_front_camera_py;
00073 static const float center_front_camera_pz;
00074 static const float center_front_camera_yaw;
00075 static const float center_front_camera_pitch;
00076 static const float center_front_camera_roll;
00077 static const float right_front_camera_px;
00078 static const float right_front_camera_py;
00079 static const float right_front_camera_pz;
00080 static const float right_front_camera_yaw;
00081 static const float right_front_camera_pitch;
00082 static const float right_front_camera_roll;
00083 static const float left_front_camera_px;
00084 static const float left_front_camera_py;
00085 static const float left_front_camera_pz;
00086 static const float left_front_camera_yaw;
00087 static const float left_front_camera_pitch;
00088 static const float left_front_camera_roll;
00089 static const float max_steer_degrees;
00090 static const float max_steer_radians;
00091 static const float turn_radius;
00092 static const float front_outer_wheel_turn_radius;
00093 static const float front_inner_wheel_turn_radius;
00094 static const float rear_outer_wheel_turn_radius;
00095 static const float rear_inner_wheel_turn_radius;
00096
00097 private:
00098 static const char* __s_getDataType_() { return "art_msgs/ArtVehicle"; }
00099 public:
00100 ROS_DEPRECATED static const std::string __s_getDataType() { return __s_getDataType_(); }
00101
00102 ROS_DEPRECATED const std::string __getDataType() const { return __s_getDataType_(); }
00103
00104 private:
00105 static const char* __s_getMD5Sum_() { return "b2e608cff82a26a9766518ef8fbfabf9"; }
00106 public:
00107 ROS_DEPRECATED static const std::string __s_getMD5Sum() { return __s_getMD5Sum_(); }
00108
00109 ROS_DEPRECATED const std::string __getMD5Sum() const { return __s_getMD5Sum_(); }
00110
00111 private:
00112 static const char* __s_getMessageDefinition_() { return "# ART vehicle dimensions.\n\
00113 # $Id: ArtVehicle.msg 1832 2011-10-31 22:16:19Z austinrobot $\n\
00114 \n\
00115 # This class encapsulates constants for the dimensions of the ART\n\
00116 # autonomous vehicle. All units are meters or radians, except where\n\
00117 # noted. This is not a published message, it defines multi-language\n\
00118 # constants.\n\
00119 \n\
00120 # ROS frame ID\n\
00121 string frame_id = \"vehicle\"\n\
00122 \n\
00123 float32 length = 4.8 # overall length\n\
00124 float32 width = 2.12 # overall width\n\
00125 float32 height = 1.5 # overall height (TBD)\n\
00126 float32 halflength = 2.4 # length / 2\n\
00127 float32 halfwidth = 1.06 # width / 2\n\
00128 float32 halfheight = 0.75 # height / 2\n\
00129 float32 wheelbase = 2.33918 # wheelbase\n\
00130 \n\
00131 # egocentric coordinates relative to vehicle origin at center of\n\
00132 # rear axle\n\
00133 float32 front_bumper_px = 3.5 # (approximately)\n\
00134 float32 rear_bumper_px = -1.3 # front_bumper_px - length\n\
00135 float32 front_left_wheel_px = 2.33918 # wheelbase\n\
00136 float32 front_left_wheel_py = 2.4 # halfwidth\n\
00137 float32 front_right_wheel_px = 2.33918 # wheelbase\n\
00138 float32 front_right_wheel_py = -1.06 #-halfwidth\n\
00139 float32 rear_left_wheel_px = 0.0\n\
00140 float32 rear_left_wheel_py = 1.06 # halfwidth\n\
00141 float32 rear_right_wheel_px = 0.0\n\
00142 float32 rear_right_wheel_py = -1.06 #-halfwidth\n\
00143 \n\
00144 # Player geometry, egocentric pose of robot base (the px really\n\
00145 # does need to be positive for some reason)\n\
00146 float32 geom_px = 1.1 # front_bumper_px - halflength\n\
00147 float32 geom_py = 0.0\n\
00148 float32 geom_pa = 0.0\n\
00149 \n\
00150 float32 velodyne_px = 0.393 # (approximately)\n\
00151 float32 velodyne_py = 0.278 # (approximately)\n\
00152 float32 velodyne_pz = 2.4 # (calibrated)\n\
00153 #float32 velodyne_yaw=-0.0343 # (before remounting)\n\
00154 float32 velodyne_yaw=-0.02155 # (approximately)\n\
00155 float32 velodyne_pitch=0.016353735091186868 # (calculated)\n\
00156 float32 velodyne_roll=0.0062133721370998124 # (calculated)\n\
00157 \n\
00158 float32 front_SICK_px = 3.178\n\
00159 float32 front_SICK_py= 0.0 # (approximately)\n\
00160 float32 front_SICK_pz = 0.7\n\
00161 float32 front_SICK_roll = 0.0 # (approximately)\n\
00162 float32 front_SICK_pitch = 0.0 # (approximately)\n\
00163 float32 front_SICK_yaw = 0.027 # (approximately)\n\
00164 \n\
00165 float32 rear_SICK_px = -1.140\n\
00166 float32 rear_SICK_py = 0.0 # (approximately)\n\
00167 float32 rear_SICK_pz = 0.7\n\
00168 float32 rear_SICK_roll = 0.0 # (approximately)\n\
00169 float32 rear_SICK_pitch = 0.0 # (approximately)\n\
00170 float32 rear_SICK_yaw = 3.1415926535897931160 # (approximately PI)\n\
00171 \n\
00172 float32 center_front_camera_px = 0.548 # velodyne_px + 0.155 (approx)\n\
00173 float32 center_front_camera_py = 0.278 # velodyne_py (approx)\n\
00174 float32 center_front_camera_pz = 2.184 # velodyne_pz-0.216 (approx)\n\
00175 float32 center_front_camera_yaw = -0.052 # (measured)\n\
00176 float32 center_front_camera_pitch = 0.025 # (measured)\n\
00177 float32 center_front_camera_roll = 0.0 # (assumed)\n\
00178 \n\
00179 float32 right_front_camera_px = 0.471 # velodyne_px + 0.078 (= 0.155 * cos 60 deg) (approx)\n\
00180 float32 right_front_camera_py = 0.144 # velodyne_py - 0.1342 (= 0.155 + sin 60 deg) (approx)\n\
00181 float32 right_front_camera_pz = 2.184 # velodyne_pz-0.216 (approx)\n\
00182 #float32 right_front_camera_yaw = -0.4974 # (approx -28.5 deg)\n\
00183 float32 right_front_camera_yaw = -1.035 # (measured)\n\
00184 float32 right_front_camera_pitch = 0.022 # (measured)\n\
00185 float32 right_front_camera_roll = 0.0 # (assumed)\n\
00186 \n\
00187 float32 left_front_camera_px = 0.471 # velodyne_px + 0.078 (= 0.155 * cos 60 deg) (approx)\n\
00188 float32 left_front_camera_py = 0.412 # velodyne_py + 0.1342 (= 0.155 * sin 60 deg) (approx)\n\
00189 float32 left_front_camera_pz = 2.184 # velodyne_pz-0.216 (approx)\n\
00190 #float32 left_front_camera_yaw = 0.4974 # (approx +28.5 deg)\n\
00191 float32 left_front_camera_yaw = 0.97 # (measured)\n\
00192 float32 left_front_camera_pitch = -0.017 # (measured)\n\
00193 float32 left_front_camera_roll = 0.0 # (assumed)\n\
00194 \n\
00195 # Compute vehicle turning radius. This is the distance from the\n\
00196 # center of curvature to the vehicle origin in the middle of the\n\
00197 # rear axle. The <art/steering.h> comments describe the steering\n\
00198 # geometry model. Since max_steer_degrees is considerably less\n\
00199 # than 90 degrees, there is no problem taking its tangent.\n\
00200 \n\
00201 float32 max_steer_degrees = 29.0 # maximum steering angle (degrees)\n\
00202 float32 max_steer_radians = 0.5061455 # maximum steering angle (radians)\n\
00203 \n\
00204 # Due to limitations of the ROS message definition format, these\n\
00205 # values needed to be calculated by hand...\n\
00206 \n\
00207 # ArtVehicle.wheelbase / math.tan(ArtVehicle.max_steer_radians)\n\
00208 float32 turn_radius = 4.2199922597674142\n\
00209 \n\
00210 # math.sqrt(math.pow(ArtVehicle.wheelbase,2)\n\
00211 # + math.pow(ArtVehicle.turn_radius + ArtVehicle.halfwidth,2))\n\
00212 float32 front_outer_wheel_turn_radius = 5.774952929297676\n\
00213 \n\
00214 # math.sqrt(math.pow(ArtVehicle.wheelbase,2)\n\
00215 # + math.pow(ArtVehicle.turn_radius - ArtVehicle.halfwidth,2))\n\
00216 float32 front_inner_wheel_turn_radius = 3.9315790916869484\n\
00217 \n\
00218 # ArtVehicle.turn_radius + ArtVehicle.halfwidth\n\
00219 float32 rear_outer_wheel_turn_radius = 5.2799922597674147\n\
00220 \n\
00221 # ArtVehicle.turn_radius - ArtVehicle.halfwidth\n\
00222 float32 rear_inner_wheel_turn_radius = 3.1599922597674142\n\
00223 \n\
00224 # float32 front_outer_bumper_turn_radius = sqrtf(powf(front_bumper_px,2)+powf(turn_radius+halfwidth,2))\n\
00225 # \n\
00226 # float32 front_inner_bumper_turn_radius = sqrtf(powf(front_bumper_px,2)+ powf(turn_radius-halfwidth,2))\n\
00227 #\n\
00228 # float32 rear_outer_bumper_turn_radius = sqrtf(powf(rear_bumper_px,2)+ powf(turn_radius+halfwidth,2))\n\
00229 #\n\
00230 # float32 rear_inner_bumper_turn_radius = sqrtf(powf(rear_bumper_px,2)+ powf(turn_radius-halfwidth,2))\n\
00231 \n\
00232 "; }
00233 public:
00234 ROS_DEPRECATED static const std::string __s_getMessageDefinition() { return __s_getMessageDefinition_(); }
00235
00236 ROS_DEPRECATED const std::string __getMessageDefinition() const { return __s_getMessageDefinition_(); }
00237
00238 ROS_DEPRECATED virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const
00239 {
00240 ros::serialization::OStream stream(write_ptr, 1000000000);
00241 return stream.getData();
00242 }
00243
00244 ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr)
00245 {
00246 ros::serialization::IStream stream(read_ptr, 1000000000);
00247 return stream.getData();
00248 }
00249
00250 ROS_DEPRECATED virtual uint32_t serializationLength() const
00251 {
00252 uint32_t size = 0;
00253 return size;
00254 }
00255
00256 typedef boost::shared_ptr< ::art_msgs::ArtVehicle_<ContainerAllocator> > Ptr;
00257 typedef boost::shared_ptr< ::art_msgs::ArtVehicle_<ContainerAllocator> const> ConstPtr;
00258 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00259 };
00260 typedef ::art_msgs::ArtVehicle_<std::allocator<void> > ArtVehicle;
00261
00262 typedef boost::shared_ptr< ::art_msgs::ArtVehicle> ArtVehiclePtr;
00263 typedef boost::shared_ptr< ::art_msgs::ArtVehicle const> ArtVehicleConstPtr;
00264
00265 template<typename ContainerAllocator> const std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > ArtVehicle_<ContainerAllocator>::frame_id = "\"vehicle\"";
00266 template<typename ContainerAllocator> const float ArtVehicle_<ContainerAllocator>::length = 4.8;
00267 template<typename ContainerAllocator> const float ArtVehicle_<ContainerAllocator>::width = 2.12;
00268 template<typename ContainerAllocator> const float ArtVehicle_<ContainerAllocator>::height = 1.5;
00269 template<typename ContainerAllocator> const float ArtVehicle_<ContainerAllocator>::halflength = 2.4;
00270 template<typename ContainerAllocator> const float ArtVehicle_<ContainerAllocator>::halfwidth = 1.06;
00271 template<typename ContainerAllocator> const float ArtVehicle_<ContainerAllocator>::halfheight = 0.75;
00272 template<typename ContainerAllocator> const float ArtVehicle_<ContainerAllocator>::wheelbase = 2.33918;
00273 template<typename ContainerAllocator> const float ArtVehicle_<ContainerAllocator>::front_bumper_px = 3.5;
00274 template<typename ContainerAllocator> const float ArtVehicle_<ContainerAllocator>::rear_bumper_px = -1.3;
00275 template<typename ContainerAllocator> const float ArtVehicle_<ContainerAllocator>::front_left_wheel_px = 2.33918;
00276 template<typename ContainerAllocator> const float ArtVehicle_<ContainerAllocator>::front_left_wheel_py = 2.4;
00277 template<typename ContainerAllocator> const float ArtVehicle_<ContainerAllocator>::front_right_wheel_px = 2.33918;
00278 template<typename ContainerAllocator> const float ArtVehicle_<ContainerAllocator>::front_right_wheel_py = -1.06;
00279 template<typename ContainerAllocator> const float ArtVehicle_<ContainerAllocator>::rear_left_wheel_px = 0.0;
00280 template<typename ContainerAllocator> const float ArtVehicle_<ContainerAllocator>::rear_left_wheel_py = 1.06;
00281 template<typename ContainerAllocator> const float ArtVehicle_<ContainerAllocator>::rear_right_wheel_px = 0.0;
00282 template<typename ContainerAllocator> const float ArtVehicle_<ContainerAllocator>::rear_right_wheel_py = -1.06;
00283 template<typename ContainerAllocator> const float ArtVehicle_<ContainerAllocator>::geom_px = 1.1;
00284 template<typename ContainerAllocator> const float ArtVehicle_<ContainerAllocator>::geom_py = 0.0;
00285 template<typename ContainerAllocator> const float ArtVehicle_<ContainerAllocator>::geom_pa = 0.0;
00286 template<typename ContainerAllocator> const float ArtVehicle_<ContainerAllocator>::velodyne_px = 0.393;
00287 template<typename ContainerAllocator> const float ArtVehicle_<ContainerAllocator>::velodyne_py = 0.278;
00288 template<typename ContainerAllocator> const float ArtVehicle_<ContainerAllocator>::velodyne_pz = 2.4;
00289 template<typename ContainerAllocator> const float ArtVehicle_<ContainerAllocator>::velodyne_yaw = -0.02155;
00290 template<typename ContainerAllocator> const float ArtVehicle_<ContainerAllocator>::velodyne_pitch = 0.0163537350912;
00291 template<typename ContainerAllocator> const float ArtVehicle_<ContainerAllocator>::velodyne_roll = 0.0062133721371;
00292 template<typename ContainerAllocator> const float ArtVehicle_<ContainerAllocator>::front_SICK_px = 3.178;
00293 template<typename ContainerAllocator> const float ArtVehicle_<ContainerAllocator>::front_SICK_py = 0.0;
00294 template<typename ContainerAllocator> const float ArtVehicle_<ContainerAllocator>::front_SICK_pz = 0.7;
00295 template<typename ContainerAllocator> const float ArtVehicle_<ContainerAllocator>::front_SICK_roll = 0.0;
00296 template<typename ContainerAllocator> const float ArtVehicle_<ContainerAllocator>::front_SICK_pitch = 0.0;
00297 template<typename ContainerAllocator> const float ArtVehicle_<ContainerAllocator>::front_SICK_yaw = 0.027;
00298 template<typename ContainerAllocator> const float ArtVehicle_<ContainerAllocator>::rear_SICK_px = -1.14;
00299 template<typename ContainerAllocator> const float ArtVehicle_<ContainerAllocator>::rear_SICK_py = 0.0;
00300 template<typename ContainerAllocator> const float ArtVehicle_<ContainerAllocator>::rear_SICK_pz = 0.7;
00301 template<typename ContainerAllocator> const float ArtVehicle_<ContainerAllocator>::rear_SICK_roll = 0.0;
00302 template<typename ContainerAllocator> const float ArtVehicle_<ContainerAllocator>::rear_SICK_pitch = 0.0;
00303 template<typename ContainerAllocator> const float ArtVehicle_<ContainerAllocator>::rear_SICK_yaw = 3.14159265359;
00304 template<typename ContainerAllocator> const float ArtVehicle_<ContainerAllocator>::center_front_camera_px = 0.548;
00305 template<typename ContainerAllocator> const float ArtVehicle_<ContainerAllocator>::center_front_camera_py = 0.278;
00306 template<typename ContainerAllocator> const float ArtVehicle_<ContainerAllocator>::center_front_camera_pz = 2.184;
00307 template<typename ContainerAllocator> const float ArtVehicle_<ContainerAllocator>::center_front_camera_yaw = -0.052;
00308 template<typename ContainerAllocator> const float ArtVehicle_<ContainerAllocator>::center_front_camera_pitch = 0.025;
00309 template<typename ContainerAllocator> const float ArtVehicle_<ContainerAllocator>::center_front_camera_roll = 0.0;
00310 template<typename ContainerAllocator> const float ArtVehicle_<ContainerAllocator>::right_front_camera_px = 0.471;
00311 template<typename ContainerAllocator> const float ArtVehicle_<ContainerAllocator>::right_front_camera_py = 0.144;
00312 template<typename ContainerAllocator> const float ArtVehicle_<ContainerAllocator>::right_front_camera_pz = 2.184;
00313 template<typename ContainerAllocator> const float ArtVehicle_<ContainerAllocator>::right_front_camera_yaw = -1.035;
00314 template<typename ContainerAllocator> const float ArtVehicle_<ContainerAllocator>::right_front_camera_pitch = 0.022;
00315 template<typename ContainerAllocator> const float ArtVehicle_<ContainerAllocator>::right_front_camera_roll = 0.0;
00316 template<typename ContainerAllocator> const float ArtVehicle_<ContainerAllocator>::left_front_camera_px = 0.471;
00317 template<typename ContainerAllocator> const float ArtVehicle_<ContainerAllocator>::left_front_camera_py = 0.412;
00318 template<typename ContainerAllocator> const float ArtVehicle_<ContainerAllocator>::left_front_camera_pz = 2.184;
00319 template<typename ContainerAllocator> const float ArtVehicle_<ContainerAllocator>::left_front_camera_yaw = 0.97;
00320 template<typename ContainerAllocator> const float ArtVehicle_<ContainerAllocator>::left_front_camera_pitch = -0.017;
00321 template<typename ContainerAllocator> const float ArtVehicle_<ContainerAllocator>::left_front_camera_roll = 0.0;
00322 template<typename ContainerAllocator> const float ArtVehicle_<ContainerAllocator>::max_steer_degrees = 29.0;
00323 template<typename ContainerAllocator> const float ArtVehicle_<ContainerAllocator>::max_steer_radians = 0.5061455;
00324 template<typename ContainerAllocator> const float ArtVehicle_<ContainerAllocator>::turn_radius = 4.21999225977;
00325 template<typename ContainerAllocator> const float ArtVehicle_<ContainerAllocator>::front_outer_wheel_turn_radius = 5.7749529293;
00326 template<typename ContainerAllocator> const float ArtVehicle_<ContainerAllocator>::front_inner_wheel_turn_radius = 3.93157909169;
00327 template<typename ContainerAllocator> const float ArtVehicle_<ContainerAllocator>::rear_outer_wheel_turn_radius = 5.27999225977;
00328 template<typename ContainerAllocator> const float ArtVehicle_<ContainerAllocator>::rear_inner_wheel_turn_radius = 3.15999225977;
00329
00330 template<typename ContainerAllocator>
00331 std::ostream& operator<<(std::ostream& s, const ::art_msgs::ArtVehicle_<ContainerAllocator> & v)
00332 {
00333 ros::message_operations::Printer< ::art_msgs::ArtVehicle_<ContainerAllocator> >::stream(s, "", v);
00334 return s;}
00335
00336 }
00337
00338 namespace ros
00339 {
00340 namespace message_traits
00341 {
00342 template<class ContainerAllocator> struct IsMessage< ::art_msgs::ArtVehicle_<ContainerAllocator> > : public TrueType {};
00343 template<class ContainerAllocator> struct IsMessage< ::art_msgs::ArtVehicle_<ContainerAllocator> const> : public TrueType {};
00344 template<class ContainerAllocator>
00345 struct MD5Sum< ::art_msgs::ArtVehicle_<ContainerAllocator> > {
00346 static const char* value()
00347 {
00348 return "b2e608cff82a26a9766518ef8fbfabf9";
00349 }
00350
00351 static const char* value(const ::art_msgs::ArtVehicle_<ContainerAllocator> &) { return value(); }
00352 static const uint64_t static_value1 = 0xb2e608cff82a26a9ULL;
00353 static const uint64_t static_value2 = 0x766518ef8fbfabf9ULL;
00354 };
00355
00356 template<class ContainerAllocator>
00357 struct DataType< ::art_msgs::ArtVehicle_<ContainerAllocator> > {
00358 static const char* value()
00359 {
00360 return "art_msgs/ArtVehicle";
00361 }
00362
00363 static const char* value(const ::art_msgs::ArtVehicle_<ContainerAllocator> &) { return value(); }
00364 };
00365
00366 template<class ContainerAllocator>
00367 struct Definition< ::art_msgs::ArtVehicle_<ContainerAllocator> > {
00368 static const char* value()
00369 {
00370 return "# ART vehicle dimensions.\n\
00371 # $Id: ArtVehicle.msg 1832 2011-10-31 22:16:19Z austinrobot $\n\
00372 \n\
00373 # This class encapsulates constants for the dimensions of the ART\n\
00374 # autonomous vehicle. All units are meters or radians, except where\n\
00375 # noted. This is not a published message, it defines multi-language\n\
00376 # constants.\n\
00377 \n\
00378 # ROS frame ID\n\
00379 string frame_id = \"vehicle\"\n\
00380 \n\
00381 float32 length = 4.8 # overall length\n\
00382 float32 width = 2.12 # overall width\n\
00383 float32 height = 1.5 # overall height (TBD)\n\
00384 float32 halflength = 2.4 # length / 2\n\
00385 float32 halfwidth = 1.06 # width / 2\n\
00386 float32 halfheight = 0.75 # height / 2\n\
00387 float32 wheelbase = 2.33918 # wheelbase\n\
00388 \n\
00389 # egocentric coordinates relative to vehicle origin at center of\n\
00390 # rear axle\n\
00391 float32 front_bumper_px = 3.5 # (approximately)\n\
00392 float32 rear_bumper_px = -1.3 # front_bumper_px - length\n\
00393 float32 front_left_wheel_px = 2.33918 # wheelbase\n\
00394 float32 front_left_wheel_py = 2.4 # halfwidth\n\
00395 float32 front_right_wheel_px = 2.33918 # wheelbase\n\
00396 float32 front_right_wheel_py = -1.06 #-halfwidth\n\
00397 float32 rear_left_wheel_px = 0.0\n\
00398 float32 rear_left_wheel_py = 1.06 # halfwidth\n\
00399 float32 rear_right_wheel_px = 0.0\n\
00400 float32 rear_right_wheel_py = -1.06 #-halfwidth\n\
00401 \n\
00402 # Player geometry, egocentric pose of robot base (the px really\n\
00403 # does need to be positive for some reason)\n\
00404 float32 geom_px = 1.1 # front_bumper_px - halflength\n\
00405 float32 geom_py = 0.0\n\
00406 float32 geom_pa = 0.0\n\
00407 \n\
00408 float32 velodyne_px = 0.393 # (approximately)\n\
00409 float32 velodyne_py = 0.278 # (approximately)\n\
00410 float32 velodyne_pz = 2.4 # (calibrated)\n\
00411 #float32 velodyne_yaw=-0.0343 # (before remounting)\n\
00412 float32 velodyne_yaw=-0.02155 # (approximately)\n\
00413 float32 velodyne_pitch=0.016353735091186868 # (calculated)\n\
00414 float32 velodyne_roll=0.0062133721370998124 # (calculated)\n\
00415 \n\
00416 float32 front_SICK_px = 3.178\n\
00417 float32 front_SICK_py= 0.0 # (approximately)\n\
00418 float32 front_SICK_pz = 0.7\n\
00419 float32 front_SICK_roll = 0.0 # (approximately)\n\
00420 float32 front_SICK_pitch = 0.0 # (approximately)\n\
00421 float32 front_SICK_yaw = 0.027 # (approximately)\n\
00422 \n\
00423 float32 rear_SICK_px = -1.140\n\
00424 float32 rear_SICK_py = 0.0 # (approximately)\n\
00425 float32 rear_SICK_pz = 0.7\n\
00426 float32 rear_SICK_roll = 0.0 # (approximately)\n\
00427 float32 rear_SICK_pitch = 0.0 # (approximately)\n\
00428 float32 rear_SICK_yaw = 3.1415926535897931160 # (approximately PI)\n\
00429 \n\
00430 float32 center_front_camera_px = 0.548 # velodyne_px + 0.155 (approx)\n\
00431 float32 center_front_camera_py = 0.278 # velodyne_py (approx)\n\
00432 float32 center_front_camera_pz = 2.184 # velodyne_pz-0.216 (approx)\n\
00433 float32 center_front_camera_yaw = -0.052 # (measured)\n\
00434 float32 center_front_camera_pitch = 0.025 # (measured)\n\
00435 float32 center_front_camera_roll = 0.0 # (assumed)\n\
00436 \n\
00437 float32 right_front_camera_px = 0.471 # velodyne_px + 0.078 (= 0.155 * cos 60 deg) (approx)\n\
00438 float32 right_front_camera_py = 0.144 # velodyne_py - 0.1342 (= 0.155 + sin 60 deg) (approx)\n\
00439 float32 right_front_camera_pz = 2.184 # velodyne_pz-0.216 (approx)\n\
00440 #float32 right_front_camera_yaw = -0.4974 # (approx -28.5 deg)\n\
00441 float32 right_front_camera_yaw = -1.035 # (measured)\n\
00442 float32 right_front_camera_pitch = 0.022 # (measured)\n\
00443 float32 right_front_camera_roll = 0.0 # (assumed)\n\
00444 \n\
00445 float32 left_front_camera_px = 0.471 # velodyne_px + 0.078 (= 0.155 * cos 60 deg) (approx)\n\
00446 float32 left_front_camera_py = 0.412 # velodyne_py + 0.1342 (= 0.155 * sin 60 deg) (approx)\n\
00447 float32 left_front_camera_pz = 2.184 # velodyne_pz-0.216 (approx)\n\
00448 #float32 left_front_camera_yaw = 0.4974 # (approx +28.5 deg)\n\
00449 float32 left_front_camera_yaw = 0.97 # (measured)\n\
00450 float32 left_front_camera_pitch = -0.017 # (measured)\n\
00451 float32 left_front_camera_roll = 0.0 # (assumed)\n\
00452 \n\
00453 # Compute vehicle turning radius. This is the distance from the\n\
00454 # center of curvature to the vehicle origin in the middle of the\n\
00455 # rear axle. The <art/steering.h> comments describe the steering\n\
00456 # geometry model. Since max_steer_degrees is considerably less\n\
00457 # than 90 degrees, there is no problem taking its tangent.\n\
00458 \n\
00459 float32 max_steer_degrees = 29.0 # maximum steering angle (degrees)\n\
00460 float32 max_steer_radians = 0.5061455 # maximum steering angle (radians)\n\
00461 \n\
00462 # Due to limitations of the ROS message definition format, these\n\
00463 # values needed to be calculated by hand...\n\
00464 \n\
00465 # ArtVehicle.wheelbase / math.tan(ArtVehicle.max_steer_radians)\n\
00466 float32 turn_radius = 4.2199922597674142\n\
00467 \n\
00468 # math.sqrt(math.pow(ArtVehicle.wheelbase,2)\n\
00469 # + math.pow(ArtVehicle.turn_radius + ArtVehicle.halfwidth,2))\n\
00470 float32 front_outer_wheel_turn_radius = 5.774952929297676\n\
00471 \n\
00472 # math.sqrt(math.pow(ArtVehicle.wheelbase,2)\n\
00473 # + math.pow(ArtVehicle.turn_radius - ArtVehicle.halfwidth,2))\n\
00474 float32 front_inner_wheel_turn_radius = 3.9315790916869484\n\
00475 \n\
00476 # ArtVehicle.turn_radius + ArtVehicle.halfwidth\n\
00477 float32 rear_outer_wheel_turn_radius = 5.2799922597674147\n\
00478 \n\
00479 # ArtVehicle.turn_radius - ArtVehicle.halfwidth\n\
00480 float32 rear_inner_wheel_turn_radius = 3.1599922597674142\n\
00481 \n\
00482 # float32 front_outer_bumper_turn_radius = sqrtf(powf(front_bumper_px,2)+powf(turn_radius+halfwidth,2))\n\
00483 # \n\
00484 # float32 front_inner_bumper_turn_radius = sqrtf(powf(front_bumper_px,2)+ powf(turn_radius-halfwidth,2))\n\
00485 #\n\
00486 # float32 rear_outer_bumper_turn_radius = sqrtf(powf(rear_bumper_px,2)+ powf(turn_radius+halfwidth,2))\n\
00487 #\n\
00488 # float32 rear_inner_bumper_turn_radius = sqrtf(powf(rear_bumper_px,2)+ powf(turn_radius-halfwidth,2))\n\
00489 \n\
00490 ";
00491 }
00492
00493 static const char* value(const ::art_msgs::ArtVehicle_<ContainerAllocator> &) { return value(); }
00494 };
00495
00496 template<class ContainerAllocator> struct IsFixedSize< ::art_msgs::ArtVehicle_<ContainerAllocator> > : public TrueType {};
00497 }
00498 }
00499
00500 namespace ros
00501 {
00502 namespace serialization
00503 {
00504
00505 template<class ContainerAllocator> struct Serializer< ::art_msgs::ArtVehicle_<ContainerAllocator> >
00506 {
00507 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00508 {
00509 }
00510
00511 ROS_DECLARE_ALLINONE_SERIALIZER;
00512 };
00513 }
00514 }
00515
00516 namespace ros
00517 {
00518 namespace message_operations
00519 {
00520
00521 template<class ContainerAllocator>
00522 struct Printer< ::art_msgs::ArtVehicle_<ContainerAllocator> >
00523 {
00524 template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::art_msgs::ArtVehicle_<ContainerAllocator> & v)
00525 {
00526 }
00527 };
00528
00529
00530 }
00531 }
00532
00533 #endif // ART_MSGS_MESSAGE_ARTVEHICLE_H
00534
