00001
00002 #ifndef GAZEBO_MSGS_MESSAGE_WORLDSTATE_H
00003 #define GAZEBO_MSGS_MESSAGE_WORLDSTATE_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 "geometry_msgs/Pose.h"
00019 #include "geometry_msgs/Twist.h"
00020 #include "geometry_msgs/Wrench.h"
00021
00022 namespace gazebo_msgs
00023 {
00024 template <class ContainerAllocator>
00025 struct WorldState_ {
00026 typedef WorldState_<ContainerAllocator> Type;
00027
00028 WorldState_()
00029 : header()
00030 , name()
00031 , pose()
00032 , twist()
00033 , wrench()
00034 {
00035 }
00036
00037 WorldState_(const ContainerAllocator& _alloc)
00038 : header(_alloc)
00039 , name(_alloc)
00040 , pose(_alloc)
00041 , twist(_alloc)
00042 , wrench(_alloc)
00043 {
00044 }
00045
00046 typedef ::std_msgs::Header_<ContainerAllocator> _header_type;
00047 ::std_msgs::Header_<ContainerAllocator> header;
00048
00049 typedef std::vector<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > , typename ContainerAllocator::template rebind<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > >::other > _name_type;
00050 std::vector<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > , typename ContainerAllocator::template rebind<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > >::other > name;
00051
00052 typedef std::vector< ::geometry_msgs::Pose_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::geometry_msgs::Pose_<ContainerAllocator> >::other > _pose_type;
00053 std::vector< ::geometry_msgs::Pose_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::geometry_msgs::Pose_<ContainerAllocator> >::other > pose;
00054
00055 typedef std::vector< ::geometry_msgs::Twist_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::geometry_msgs::Twist_<ContainerAllocator> >::other > _twist_type;
00056 std::vector< ::geometry_msgs::Twist_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::geometry_msgs::Twist_<ContainerAllocator> >::other > twist;
00057
00058 typedef std::vector< ::geometry_msgs::Wrench_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::geometry_msgs::Wrench_<ContainerAllocator> >::other > _wrench_type;
00059 std::vector< ::geometry_msgs::Wrench_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::geometry_msgs::Wrench_<ContainerAllocator> >::other > wrench;
00060
00061
00062 ROS_DEPRECATED uint32_t get_name_size() const { return (uint32_t)name.size(); }
00063 ROS_DEPRECATED void set_name_size(uint32_t size) { name.resize((size_t)size); }
00064 ROS_DEPRECATED void get_name_vec(std::vector<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > , typename ContainerAllocator::template rebind<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > >::other > & vec) const { vec = this->name; }
00065 ROS_DEPRECATED void set_name_vec(const std::vector<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > , typename ContainerAllocator::template rebind<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > >::other > & vec) { this->name = vec; }
00066 ROS_DEPRECATED uint32_t get_pose_size() const { return (uint32_t)pose.size(); }
00067 ROS_DEPRECATED void set_pose_size(uint32_t size) { pose.resize((size_t)size); }
00068 ROS_DEPRECATED void get_pose_vec(std::vector< ::geometry_msgs::Pose_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::geometry_msgs::Pose_<ContainerAllocator> >::other > & vec) const { vec = this->pose; }
00069 ROS_DEPRECATED void set_pose_vec(const std::vector< ::geometry_msgs::Pose_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::geometry_msgs::Pose_<ContainerAllocator> >::other > & vec) { this->pose = vec; }
00070 ROS_DEPRECATED uint32_t get_twist_size() const { return (uint32_t)twist.size(); }
00071 ROS_DEPRECATED void set_twist_size(uint32_t size) { twist.resize((size_t)size); }
00072 ROS_DEPRECATED void get_twist_vec(std::vector< ::geometry_msgs::Twist_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::geometry_msgs::Twist_<ContainerAllocator> >::other > & vec) const { vec = this->twist; }
00073 ROS_DEPRECATED void set_twist_vec(const std::vector< ::geometry_msgs::Twist_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::geometry_msgs::Twist_<ContainerAllocator> >::other > & vec) { this->twist = vec; }
00074 ROS_DEPRECATED uint32_t get_wrench_size() const { return (uint32_t)wrench.size(); }
00075 ROS_DEPRECATED void set_wrench_size(uint32_t size) { wrench.resize((size_t)size); }
00076 ROS_DEPRECATED void get_wrench_vec(std::vector< ::geometry_msgs::Wrench_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::geometry_msgs::Wrench_<ContainerAllocator> >::other > & vec) const { vec = this->wrench; }
00077 ROS_DEPRECATED void set_wrench_vec(const std::vector< ::geometry_msgs::Wrench_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::geometry_msgs::Wrench_<ContainerAllocator> >::other > & vec) { this->wrench = vec; }
00078 private:
00079 static const char* __s_getDataType_() { return "gazebo_msgs/WorldState"; }
00080 public:
00081 ROS_DEPRECATED static const std::string __s_getDataType() { return __s_getDataType_(); }
00082
00083 ROS_DEPRECATED const std::string __getDataType() const { return __s_getDataType_(); }
00084
00085 private:
00086 static const char* __s_getMD5Sum_() { return "de1a9de3ab7ba97ac0e9ec01a4eb481e"; }
00087 public:
00088 ROS_DEPRECATED static const std::string __s_getMD5Sum() { return __s_getMD5Sum_(); }
00089
00090 ROS_DEPRECATED const std::string __getMD5Sum() const { return __s_getMD5Sum_(); }
00091
00092 private:
00093 static const char* __s_getMessageDefinition_() { return "# This is a message that holds data necessary to reconstruct a snapshot of the world\n\
00094 #\n\
00095 # = Approach to Message Passing =\n\
00096 # The state of the world is defined by either\n\
00097 # 1. Inertial Model pose, twist\n\
00098 # * kinematic data - connectivity graph from Model to each Link\n\
00099 # * joint angles\n\
00100 # * joint velocities\n\
00101 # * Applied forces - Body wrench\n\
00102 # * relative transform from Body to each collision Geom\n\
00103 # Or\n\
00104 # 2. Inertial (absolute) Body pose, twist, wrench\n\
00105 # * relative transform from Body to each collision Geom - constant, so not sent over wire\n\
00106 # * back compute from canonical body info to get Model pose and twist.\n\
00107 #\n\
00108 # Chooing (2.) because it matches most physics engines out there\n\
00109 # and is simpler.\n\
00110 #\n\
00111 # = Future =\n\
00112 # Consider impacts on using reduced coordinates / graph (parent/child links) approach\n\
00113 # constraint and physics solvers.\n\
00114 #\n\
00115 # = Application =\n\
00116 # This message is used to do the following:\n\
00117 # * reconstruct the world and objects for sensor generation\n\
00118 # * stop / start simulation - need pose, twist, wrench of each body\n\
00119 # * collision detection - need pose of each collision geometry. velocity/acceleration if \n\
00120 #\n\
00121 # = Assumptions =\n\
00122 # Assuming that each (physics) processor node locally already has\n\
00123 # * collision information - Trimesh for Geoms, etc\n\
00124 # * relative transforms from Body to Geom - this is assumed to be fixed, do not send oved wire\n\
00125 # * inertial information - does not vary in time\n\
00126 # * visual information - does not vary in time\n\
00127 #\n\
00128 \n\
00129 Header header\n\
00130 \n\
00131 string[] name\n\
00132 geometry_msgs/Pose[] pose\n\
00133 geometry_msgs/Twist[] twist\n\
00134 geometry_msgs/Wrench[] wrench\n\
00135 \n\
00136 ================================================================================\n\
00137 MSG: std_msgs/Header\n\
00138 # Standard metadata for higher-level stamped data types.\n\
00139 # This is generally used to communicate timestamped data \n\
00140 # in a particular coordinate frame.\n\
00141 # \n\
00142 # sequence ID: consecutively increasing ID \n\
00143 uint32 seq\n\
00144 #Two-integer timestamp that is expressed as:\n\
00145 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00146 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00147 # time-handling sugar is provided by the client library\n\
00148 time stamp\n\
00149 #Frame this data is associated with\n\
00150 # 0: no frame\n\
00151 # 1: global frame\n\
00152 string frame_id\n\
00153 \n\
00154 ================================================================================\n\
00155 MSG: geometry_msgs/Pose\n\
00156 # A representation of pose in free space, composed of postion and orientation. \n\
00157 Point position\n\
00158 Quaternion orientation\n\
00159 \n\
00160 ================================================================================\n\
00161 MSG: geometry_msgs/Point\n\
00162 # This contains the position of a point in free space\n\
00163 float64 x\n\
00164 float64 y\n\
00165 float64 z\n\
00166 \n\
00167 ================================================================================\n\
00168 MSG: geometry_msgs/Quaternion\n\
00169 # This represents an orientation in free space in quaternion form.\n\
00170 \n\
00171 float64 x\n\
00172 float64 y\n\
00173 float64 z\n\
00174 float64 w\n\
00175 \n\
00176 ================================================================================\n\
00177 MSG: geometry_msgs/Twist\n\
00178 # This expresses velocity in free space broken into it's linear and angular parts. \n\
00179 Vector3 linear\n\
00180 Vector3 angular\n\
00181 \n\
00182 ================================================================================\n\
00183 MSG: geometry_msgs/Vector3\n\
00184 # This represents a vector in free space. \n\
00185 \n\
00186 float64 x\n\
00187 float64 y\n\
00188 float64 z\n\
00189 ================================================================================\n\
00190 MSG: geometry_msgs/Wrench\n\
00191 # This represents force in free space, seperated into \n\
00192 # it's linear and angular parts. \n\
00193 Vector3 force\n\
00194 Vector3 torque\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, header);
00206 ros::serialization::serialize(stream, name);
00207 ros::serialization::serialize(stream, pose);
00208 ros::serialization::serialize(stream, twist);
00209 ros::serialization::serialize(stream, wrench);
00210 return stream.getData();
00211 }
00212
00213 ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr)
00214 {
00215 ros::serialization::IStream stream(read_ptr, 1000000000);
00216 ros::serialization::deserialize(stream, header);
00217 ros::serialization::deserialize(stream, name);
00218 ros::serialization::deserialize(stream, pose);
00219 ros::serialization::deserialize(stream, twist);
00220 ros::serialization::deserialize(stream, wrench);
00221 return stream.getData();
00222 }
00223
00224 ROS_DEPRECATED virtual uint32_t serializationLength() const
00225 {
00226 uint32_t size = 0;
00227 size += ros::serialization::serializationLength(header);
00228 size += ros::serialization::serializationLength(name);
00229 size += ros::serialization::serializationLength(pose);
00230 size += ros::serialization::serializationLength(twist);
00231 size += ros::serialization::serializationLength(wrench);
00232 return size;
00233 }
00234
00235 typedef boost::shared_ptr< ::gazebo_msgs::WorldState_<ContainerAllocator> > Ptr;
00236 typedef boost::shared_ptr< ::gazebo_msgs::WorldState_<ContainerAllocator> const> ConstPtr;
00237 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00238 };
00239 typedef ::gazebo_msgs::WorldState_<std::allocator<void> > WorldState;
00240
00241 typedef boost::shared_ptr< ::gazebo_msgs::WorldState> WorldStatePtr;
00242 typedef boost::shared_ptr< ::gazebo_msgs::WorldState const> WorldStateConstPtr;
00243
00244
00245 template<typename ContainerAllocator>
00246 std::ostream& operator<<(std::ostream& s, const ::gazebo_msgs::WorldState_<ContainerAllocator> & v)
00247 {
00248 ros::message_operations::Printer< ::gazebo_msgs::WorldState_<ContainerAllocator> >::stream(s, "", v);
00249 return s;}
00250
00251 }
00252
00253 namespace ros
00254 {
00255 namespace message_traits
00256 {
00257 template<class ContainerAllocator> struct IsMessage< ::gazebo_msgs::WorldState_<ContainerAllocator> > : public TrueType {};
00258 template<class ContainerAllocator> struct IsMessage< ::gazebo_msgs::WorldState_<ContainerAllocator> const> : public TrueType {};
00259 template<class ContainerAllocator>
00260 struct MD5Sum< ::gazebo_msgs::WorldState_<ContainerAllocator> > {
00261 static const char* value()
00262 {
00263 return "de1a9de3ab7ba97ac0e9ec01a4eb481e";
00264 }
00265
00266 static const char* value(const ::gazebo_msgs::WorldState_<ContainerAllocator> &) { return value(); }
00267 static const uint64_t static_value1 = 0xde1a9de3ab7ba97aULL;
00268 static const uint64_t static_value2 = 0xc0e9ec01a4eb481eULL;
00269 };
00270
00271 template<class ContainerAllocator>
00272 struct DataType< ::gazebo_msgs::WorldState_<ContainerAllocator> > {
00273 static const char* value()
00274 {
00275 return "gazebo_msgs/WorldState";
00276 }
00277
00278 static const char* value(const ::gazebo_msgs::WorldState_<ContainerAllocator> &) { return value(); }
00279 };
00280
00281 template<class ContainerAllocator>
00282 struct Definition< ::gazebo_msgs::WorldState_<ContainerAllocator> > {
00283 static const char* value()
00284 {
00285 return "# This is a message that holds data necessary to reconstruct a snapshot of the world\n\
00286 #\n\
00287 # = Approach to Message Passing =\n\
00288 # The state of the world is defined by either\n\
00289 # 1. Inertial Model pose, twist\n\
00290 # * kinematic data - connectivity graph from Model to each Link\n\
00291 # * joint angles\n\
00292 # * joint velocities\n\
00293 # * Applied forces - Body wrench\n\
00294 # * relative transform from Body to each collision Geom\n\
00295 # Or\n\
00296 # 2. Inertial (absolute) Body pose, twist, wrench\n\
00297 # * relative transform from Body to each collision Geom - constant, so not sent over wire\n\
00298 # * back compute from canonical body info to get Model pose and twist.\n\
00299 #\n\
00300 # Chooing (2.) because it matches most physics engines out there\n\
00301 # and is simpler.\n\
00302 #\n\
00303 # = Future =\n\
00304 # Consider impacts on using reduced coordinates / graph (parent/child links) approach\n\
00305 # constraint and physics solvers.\n\
00306 #\n\
00307 # = Application =\n\
00308 # This message is used to do the following:\n\
00309 # * reconstruct the world and objects for sensor generation\n\
00310 # * stop / start simulation - need pose, twist, wrench of each body\n\
00311 # * collision detection - need pose of each collision geometry. velocity/acceleration if \n\
00312 #\n\
00313 # = Assumptions =\n\
00314 # Assuming that each (physics) processor node locally already has\n\
00315 # * collision information - Trimesh for Geoms, etc\n\
00316 # * relative transforms from Body to Geom - this is assumed to be fixed, do not send oved wire\n\
00317 # * inertial information - does not vary in time\n\
00318 # * visual information - does not vary in time\n\
00319 #\n\
00320 \n\
00321 Header header\n\
00322 \n\
00323 string[] name\n\
00324 geometry_msgs/Pose[] pose\n\
00325 geometry_msgs/Twist[] twist\n\
00326 geometry_msgs/Wrench[] wrench\n\
00327 \n\
00328 ================================================================================\n\
00329 MSG: std_msgs/Header\n\
00330 # Standard metadata for higher-level stamped data types.\n\
00331 # This is generally used to communicate timestamped data \n\
00332 # in a particular coordinate frame.\n\
00333 # \n\
00334 # sequence ID: consecutively increasing ID \n\
00335 uint32 seq\n\
00336 #Two-integer timestamp that is expressed as:\n\
00337 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00338 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00339 # time-handling sugar is provided by the client library\n\
00340 time stamp\n\
00341 #Frame this data is associated with\n\
00342 # 0: no frame\n\
00343 # 1: global frame\n\
00344 string frame_id\n\
00345 \n\
00346 ================================================================================\n\
00347 MSG: geometry_msgs/Pose\n\
00348 # A representation of pose in free space, composed of postion and orientation. \n\
00349 Point position\n\
00350 Quaternion orientation\n\
00351 \n\
00352 ================================================================================\n\
00353 MSG: geometry_msgs/Point\n\
00354 # This contains the position of a point in free space\n\
00355 float64 x\n\
00356 float64 y\n\
00357 float64 z\n\
00358 \n\
00359 ================================================================================\n\
00360 MSG: geometry_msgs/Quaternion\n\
00361 # This represents an orientation in free space in quaternion form.\n\
00362 \n\
00363 float64 x\n\
00364 float64 y\n\
00365 float64 z\n\
00366 float64 w\n\
00367 \n\
00368 ================================================================================\n\
00369 MSG: geometry_msgs/Twist\n\
00370 # This expresses velocity in free space broken into it's linear and angular parts. \n\
00371 Vector3 linear\n\
00372 Vector3 angular\n\
00373 \n\
00374 ================================================================================\n\
00375 MSG: geometry_msgs/Vector3\n\
00376 # This represents a vector in free space. \n\
00377 \n\
00378 float64 x\n\
00379 float64 y\n\
00380 float64 z\n\
00381 ================================================================================\n\
00382 MSG: geometry_msgs/Wrench\n\
00383 # This represents force in free space, seperated into \n\
00384 # it's linear and angular parts. \n\
00385 Vector3 force\n\
00386 Vector3 torque\n\
00387 \n\
00388 ";
00389 }
00390
00391 static const char* value(const ::gazebo_msgs::WorldState_<ContainerAllocator> &) { return value(); }
00392 };
00393
00394 template<class ContainerAllocator> struct HasHeader< ::gazebo_msgs::WorldState_<ContainerAllocator> > : public TrueType {};
00395 template<class ContainerAllocator> struct HasHeader< const ::gazebo_msgs::WorldState_<ContainerAllocator> > : public TrueType {};
00396 }
00397 }
00398
00399 namespace ros
00400 {
00401 namespace serialization
00402 {
00403
00404 template<class ContainerAllocator> struct Serializer< ::gazebo_msgs::WorldState_<ContainerAllocator> >
00405 {
00406 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00407 {
00408 stream.next(m.header);
00409 stream.next(m.name);
00410 stream.next(m.pose);
00411 stream.next(m.twist);
00412 stream.next(m.wrench);
00413 }
00414
00415 ROS_DECLARE_ALLINONE_SERIALIZER;
00416 };
00417 }
00418 }
00419
00420 namespace ros
00421 {
00422 namespace message_operations
00423 {
00424
00425 template<class ContainerAllocator>
00426 struct Printer< ::gazebo_msgs::WorldState_<ContainerAllocator> >
00427 {
00428 template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::gazebo_msgs::WorldState_<ContainerAllocator> & v)
00429 {
00430 s << indent << "header: ";
00431 s << std::endl;
00432 Printer< ::std_msgs::Header_<ContainerAllocator> >::stream(s, indent + " ", v.header);
00433 s << indent << "name[]" << std::endl;
00434 for (size_t i = 0; i < v.name.size(); ++i)
00435 {
00436 s << indent << " name[" << i << "]: ";
00437 Printer<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > >::stream(s, indent + " ", v.name[i]);
00438 }
00439 s << indent << "pose[]" << std::endl;
00440 for (size_t i = 0; i < v.pose.size(); ++i)
00441 {
00442 s << indent << " pose[" << i << "]: ";
00443 s << std::endl;
00444 s << indent;
00445 Printer< ::geometry_msgs::Pose_<ContainerAllocator> >::stream(s, indent + " ", v.pose[i]);
00446 }
00447 s << indent << "twist[]" << std::endl;
00448 for (size_t i = 0; i < v.twist.size(); ++i)
00449 {
00450 s << indent << " twist[" << i << "]: ";
00451 s << std::endl;
00452 s << indent;
00453 Printer< ::geometry_msgs::Twist_<ContainerAllocator> >::stream(s, indent + " ", v.twist[i]);
00454 }
00455 s << indent << "wrench[]" << std::endl;
00456 for (size_t i = 0; i < v.wrench.size(); ++i)
00457 {
00458 s << indent << " wrench[" << i << "]: ";
00459 s << std::endl;
00460 s << indent;
00461 Printer< ::geometry_msgs::Wrench_<ContainerAllocator> >::stream(s, indent + " ", v.wrench[i]);
00462 }
00463 }
00464 };
00465
00466
00467 }
00468 }
00469
00470 #endif // GAZEBO_MSGS_MESSAGE_WORLDSTATE_H
00471
