00001
00002 #ifndef GEOMETRY_MSGS_MESSAGE_POSEWITHCOVARIANCE_H
00003 #define GEOMETRY_MSGS_MESSAGE_POSEWITHCOVARIANCE_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 "geometry_msgs/Pose.h"
00018
00019 namespace geometry_msgs
00020 {
00021 template <class ContainerAllocator>
00022 struct PoseWithCovariance_ {
00023 typedef PoseWithCovariance_<ContainerAllocator> Type;
00024
00025 PoseWithCovariance_()
00026 : pose()
00027 , covariance()
00028 {
00029 covariance.assign(0.0);
00030 }
00031
00032 PoseWithCovariance_(const ContainerAllocator& _alloc)
00033 : pose(_alloc)
00034 , covariance()
00035 {
00036 covariance.assign(0.0);
00037 }
00038
00039 typedef ::geometry_msgs::Pose_<ContainerAllocator> _pose_type;
00040 ::geometry_msgs::Pose_<ContainerAllocator> pose;
00041
00042 typedef boost::array<double, 36> _covariance_type;
00043 boost::array<double, 36> covariance;
00044
00045
00046 ROS_DEPRECATED uint32_t get_covariance_size() const { return (uint32_t)covariance.size(); }
00047 private:
00048 static const char* __s_getDataType_() { return "geometry_msgs/PoseWithCovariance"; }
00049 public:
00050 ROS_DEPRECATED static const std::string __s_getDataType() { return __s_getDataType_(); }
00051
00052 ROS_DEPRECATED const std::string __getDataType() const { return __s_getDataType_(); }
00053
00054 private:
00055 static const char* __s_getMD5Sum_() { return "c23e848cf1b7533a8d7c259073a97e6f"; }
00056 public:
00057 ROS_DEPRECATED static const std::string __s_getMD5Sum() { return __s_getMD5Sum_(); }
00058
00059 ROS_DEPRECATED const std::string __getMD5Sum() const { return __s_getMD5Sum_(); }
00060
00061 private:
00062 static const char* __s_getMessageDefinition_() { return "# This represents a pose in free space with uncertainty.\n\
00063 \n\
00064 Pose pose\n\
00065 \n\
00066 # Row-major representation of the 6x6 covariance matrix\n\
00067 # The orientation parameters use a fixed-axis representation.\n\
00068 # In order, the parameters are:\n\
00069 # (x, y, z, rotation about X axis, rotation about Y axis, rotation about Z axis)\n\
00070 float64[36] covariance\n\
00071 \n\
00072 ================================================================================\n\
00073 MSG: geometry_msgs/Pose\n\
00074 # A representation of pose in free space, composed of postion and orientation. \n\
00075 Point position\n\
00076 Quaternion orientation\n\
00077 \n\
00078 ================================================================================\n\
00079 MSG: geometry_msgs/Point\n\
00080 # This contains the position of a point in free space\n\
00081 float64 x\n\
00082 float64 y\n\
00083 float64 z\n\
00084 \n\
00085 ================================================================================\n\
00086 MSG: geometry_msgs/Quaternion\n\
00087 # This represents an orientation in free space in quaternion form.\n\
00088 \n\
00089 float64 x\n\
00090 float64 y\n\
00091 float64 z\n\
00092 float64 w\n\
00093 \n\
00094 "; }
00095 public:
00096 ROS_DEPRECATED static const std::string __s_getMessageDefinition() { return __s_getMessageDefinition_(); }
00097
00098 ROS_DEPRECATED const std::string __getMessageDefinition() const { return __s_getMessageDefinition_(); }
00099
00100 ROS_DEPRECATED virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const
00101 {
00102 ros::serialization::OStream stream(write_ptr, 1000000000);
00103 ros::serialization::serialize(stream, pose);
00104 ros::serialization::serialize(stream, covariance);
00105 return stream.getData();
00106 }
00107
00108 ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr)
00109 {
00110 ros::serialization::IStream stream(read_ptr, 1000000000);
00111 ros::serialization::deserialize(stream, pose);
00112 ros::serialization::deserialize(stream, covariance);
00113 return stream.getData();
00114 }
00115
00116 ROS_DEPRECATED virtual uint32_t serializationLength() const
00117 {
00118 uint32_t size = 0;
00119 size += ros::serialization::serializationLength(pose);
00120 size += ros::serialization::serializationLength(covariance);
00121 return size;
00122 }
00123
00124 typedef boost::shared_ptr< ::geometry_msgs::PoseWithCovariance_<ContainerAllocator> > Ptr;
00125 typedef boost::shared_ptr< ::geometry_msgs::PoseWithCovariance_<ContainerAllocator> const> ConstPtr;
00126 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00127 };
00128 typedef ::geometry_msgs::PoseWithCovariance_<std::allocator<void> > PoseWithCovariance;
00129
00130 typedef boost::shared_ptr< ::geometry_msgs::PoseWithCovariance> PoseWithCovariancePtr;
00131 typedef boost::shared_ptr< ::geometry_msgs::PoseWithCovariance const> PoseWithCovarianceConstPtr;
00132
00133
00134 template<typename ContainerAllocator>
00135 std::ostream& operator<<(std::ostream& s, const ::geometry_msgs::PoseWithCovariance_<ContainerAllocator> & v)
00136 {
00137 ros::message_operations::Printer< ::geometry_msgs::PoseWithCovariance_<ContainerAllocator> >::stream(s, "", v);
00138 return s;}
00139
00140 }
00141
00142 namespace ros
00143 {
00144 namespace message_traits
00145 {
00146 template<class ContainerAllocator> struct IsMessage< ::geometry_msgs::PoseWithCovariance_<ContainerAllocator> > : public TrueType {};
00147 template<class ContainerAllocator> struct IsMessage< ::geometry_msgs::PoseWithCovariance_<ContainerAllocator> const> : public TrueType {};
00148 template<class ContainerAllocator>
00149 struct MD5Sum< ::geometry_msgs::PoseWithCovariance_<ContainerAllocator> > {
00150 static const char* value()
00151 {
00152 return "c23e848cf1b7533a8d7c259073a97e6f";
00153 }
00154
00155 static const char* value(const ::geometry_msgs::PoseWithCovariance_<ContainerAllocator> &) { return value(); }
00156 static const uint64_t static_value1 = 0xc23e848cf1b7533aULL;
00157 static const uint64_t static_value2 = 0x8d7c259073a97e6fULL;
00158 };
00159
00160 template<class ContainerAllocator>
00161 struct DataType< ::geometry_msgs::PoseWithCovariance_<ContainerAllocator> > {
00162 static const char* value()
00163 {
00164 return "geometry_msgs/PoseWithCovariance";
00165 }
00166
00167 static const char* value(const ::geometry_msgs::PoseWithCovariance_<ContainerAllocator> &) { return value(); }
00168 };
00169
00170 template<class ContainerAllocator>
00171 struct Definition< ::geometry_msgs::PoseWithCovariance_<ContainerAllocator> > {
00172 static const char* value()
00173 {
00174 return "# This represents a pose in free space with uncertainty.\n\
00175 \n\
00176 Pose pose\n\
00177 \n\
00178 # Row-major representation of the 6x6 covariance matrix\n\
00179 # The orientation parameters use a fixed-axis representation.\n\
00180 # In order, the parameters are:\n\
00181 # (x, y, z, rotation about X axis, rotation about Y axis, rotation about Z axis)\n\
00182 float64[36] covariance\n\
00183 \n\
00184 ================================================================================\n\
00185 MSG: geometry_msgs/Pose\n\
00186 # A representation of pose in free space, composed of postion and orientation. \n\
00187 Point position\n\
00188 Quaternion orientation\n\
00189 \n\
00190 ================================================================================\n\
00191 MSG: geometry_msgs/Point\n\
00192 # This contains the position of a point in free space\n\
00193 float64 x\n\
00194 float64 y\n\
00195 float64 z\n\
00196 \n\
00197 ================================================================================\n\
00198 MSG: geometry_msgs/Quaternion\n\
00199 # This represents an orientation in free space in quaternion form.\n\
00200 \n\
00201 float64 x\n\
00202 float64 y\n\
00203 float64 z\n\
00204 float64 w\n\
00205 \n\
00206 ";
00207 }
00208
00209 static const char* value(const ::geometry_msgs::PoseWithCovariance_<ContainerAllocator> &) { return value(); }
00210 };
00211
00212 template<class ContainerAllocator> struct IsFixedSize< ::geometry_msgs::PoseWithCovariance_<ContainerAllocator> > : public TrueType {};
00213 }
00214 }
00215
00216 namespace ros
00217 {
00218 namespace serialization
00219 {
00220
00221 template<class ContainerAllocator> struct Serializer< ::geometry_msgs::PoseWithCovariance_<ContainerAllocator> >
00222 {
00223 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00224 {
00225 stream.next(m.pose);
00226 stream.next(m.covariance);
00227 }
00228
00229 ROS_DECLARE_ALLINONE_SERIALIZER;
00230 };
00231 }
00232 }
00233
00234 namespace ros
00235 {
00236 namespace message_operations
00237 {
00238
00239 template<class ContainerAllocator>
00240 struct Printer< ::geometry_msgs::PoseWithCovariance_<ContainerAllocator> >
00241 {
00242 template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::geometry_msgs::PoseWithCovariance_<ContainerAllocator> & v)
00243 {
00244 s << indent << "pose: ";
00245 s << std::endl;
00246 Printer< ::geometry_msgs::Pose_<ContainerAllocator> >::stream(s, indent + " ", v.pose);
00247 s << indent << "covariance[]" << std::endl;
00248 for (size_t i = 0; i < v.covariance.size(); ++i)
00249 {
00250 s << indent << " covariance[" << i << "]: ";
00251 Printer<double>::stream(s, indent + " ", v.covariance[i]);
00252 }
00253 }
00254 };
00255
00256
00257 }
00258 }
00259
00260 #endif // GEOMETRY_MSGS_MESSAGE_POSEWITHCOVARIANCE_H
00261
