00001
00002 #ifndef OBJECT_MANIPULATION_MSGS_MESSAGE_FINDCONTAINERRESULT_H
00003 #define OBJECT_MANIPULATION_MSGS_MESSAGE_FINDCONTAINERRESULT_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/PoseStamped.h"
00018 #include "geometry_msgs/Vector3.h"
00019 #include "sensor_msgs/PointCloud2.h"
00020 #include "sensor_msgs/PointCloud2.h"
00021 #include "sensor_msgs/PointCloud2.h"
00022
00023 namespace object_manipulation_msgs
00024 {
00025 template <class ContainerAllocator>
00026 struct FindContainerResult_ {
00027 typedef FindContainerResult_<ContainerAllocator> Type;
00028
00029 FindContainerResult_()
00030 : box_pose()
00031 , box_dims()
00032 , contents()
00033 , container()
00034 , clusters()
00035 {
00036 }
00037
00038 FindContainerResult_(const ContainerAllocator& _alloc)
00039 : box_pose(_alloc)
00040 , box_dims(_alloc)
00041 , contents(_alloc)
00042 , container(_alloc)
00043 , clusters(_alloc)
00044 {
00045 }
00046
00047 typedef ::geometry_msgs::PoseStamped_<ContainerAllocator> _box_pose_type;
00048 ::geometry_msgs::PoseStamped_<ContainerAllocator> box_pose;
00049
00050 typedef ::geometry_msgs::Vector3_<ContainerAllocator> _box_dims_type;
00051 ::geometry_msgs::Vector3_<ContainerAllocator> box_dims;
00052
00053 typedef ::sensor_msgs::PointCloud2_<ContainerAllocator> _contents_type;
00054 ::sensor_msgs::PointCloud2_<ContainerAllocator> contents;
00055
00056 typedef ::sensor_msgs::PointCloud2_<ContainerAllocator> _container_type;
00057 ::sensor_msgs::PointCloud2_<ContainerAllocator> container;
00058
00059 typedef std::vector< ::sensor_msgs::PointCloud2_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::sensor_msgs::PointCloud2_<ContainerAllocator> >::other > _clusters_type;
00060 std::vector< ::sensor_msgs::PointCloud2_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::sensor_msgs::PointCloud2_<ContainerAllocator> >::other > clusters;
00061
00062
00063 ROS_DEPRECATED uint32_t get_clusters_size() const { return (uint32_t)clusters.size(); }
00064 ROS_DEPRECATED void set_clusters_size(uint32_t size) { clusters.resize((size_t)size); }
00065 ROS_DEPRECATED void get_clusters_vec(std::vector< ::sensor_msgs::PointCloud2_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::sensor_msgs::PointCloud2_<ContainerAllocator> >::other > & vec) const { vec = this->clusters; }
00066 ROS_DEPRECATED void set_clusters_vec(const std::vector< ::sensor_msgs::PointCloud2_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::sensor_msgs::PointCloud2_<ContainerAllocator> >::other > & vec) { this->clusters = vec; }
00067 private:
00068 static const char* __s_getDataType_() { return "object_manipulation_msgs/FindContainerResult"; }
00069 public:
00070 ROS_DEPRECATED static const std::string __s_getDataType() { return __s_getDataType_(); }
00071
00072 ROS_DEPRECATED const std::string __getDataType() const { return __s_getDataType_(); }
00073
00074 private:
00075 static const char* __s_getMD5Sum_() { return "9f205f80410192b4ceee2889befe1096"; }
00076 public:
00077 ROS_DEPRECATED static const std::string __s_getMD5Sum() { return __s_getMD5Sum_(); }
00078
00079 ROS_DEPRECATED const std::string __getMD5Sum() const { return __s_getMD5Sum_(); }
00080
00081 private:
00082 static const char* __s_getMessageDefinition_() { return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00083 # refined pose and dimensions of bounding box for container\n\
00084 geometry_msgs/PoseStamped box_pose\n\
00085 geometry_msgs/Vector3 box_dims\n\
00086 \n\
00087 # cloud chunks of stuff in container, and container\n\
00088 sensor_msgs/PointCloud2 contents\n\
00089 sensor_msgs/PointCloud2 container\n\
00090 sensor_msgs/PointCloud2[] clusters\n\
00091 \n\
00092 \n\
00093 ================================================================================\n\
00094 MSG: geometry_msgs/PoseStamped\n\
00095 # A Pose with reference coordinate frame and timestamp\n\
00096 Header header\n\
00097 Pose pose\n\
00098 \n\
00099 ================================================================================\n\
00100 MSG: std_msgs/Header\n\
00101 # Standard metadata for higher-level stamped data types.\n\
00102 # This is generally used to communicate timestamped data \n\
00103 # in a particular coordinate frame.\n\
00104 # \n\
00105 # sequence ID: consecutively increasing ID \n\
00106 uint32 seq\n\
00107 #Two-integer timestamp that is expressed as:\n\
00108 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00109 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00110 # time-handling sugar is provided by the client library\n\
00111 time stamp\n\
00112 #Frame this data is associated with\n\
00113 # 0: no frame\n\
00114 # 1: global frame\n\
00115 string frame_id\n\
00116 \n\
00117 ================================================================================\n\
00118 MSG: geometry_msgs/Pose\n\
00119 # A representation of pose in free space, composed of postion and orientation. \n\
00120 Point position\n\
00121 Quaternion orientation\n\
00122 \n\
00123 ================================================================================\n\
00124 MSG: geometry_msgs/Point\n\
00125 # This contains the position of a point in free space\n\
00126 float64 x\n\
00127 float64 y\n\
00128 float64 z\n\
00129 \n\
00130 ================================================================================\n\
00131 MSG: geometry_msgs/Quaternion\n\
00132 # This represents an orientation in free space in quaternion form.\n\
00133 \n\
00134 float64 x\n\
00135 float64 y\n\
00136 float64 z\n\
00137 float64 w\n\
00138 \n\
00139 ================================================================================\n\
00140 MSG: geometry_msgs/Vector3\n\
00141 # This represents a vector in free space. \n\
00142 \n\
00143 float64 x\n\
00144 float64 y\n\
00145 float64 z\n\
00146 ================================================================================\n\
00147 MSG: sensor_msgs/PointCloud2\n\
00148 # This message holds a collection of N-dimensional points, which may\n\
00149 # contain additional information such as normals, intensity, etc. The\n\
00150 # point data is stored as a binary blob, its layout described by the\n\
00151 # contents of the \"fields\" array.\n\
00152 \n\
00153 # The point cloud data may be organized 2d (image-like) or 1d\n\
00154 # (unordered). Point clouds organized as 2d images may be produced by\n\
00155 # camera depth sensors such as stereo or time-of-flight.\n\
00156 \n\
00157 # Time of sensor data acquisition, and the coordinate frame ID (for 3d\n\
00158 # points).\n\
00159 Header header\n\
00160 \n\
00161 # 2D structure of the point cloud. If the cloud is unordered, height is\n\
00162 # 1 and width is the length of the point cloud.\n\
00163 uint32 height\n\
00164 uint32 width\n\
00165 \n\
00166 # Describes the channels and their layout in the binary data blob.\n\
00167 PointField[] fields\n\
00168 \n\
00169 bool is_bigendian # Is this data bigendian?\n\
00170 uint32 point_step # Length of a point in bytes\n\
00171 uint32 row_step # Length of a row in bytes\n\
00172 uint8[] data # Actual point data, size is (row_step*height)\n\
00173 \n\
00174 bool is_dense # True if there are no invalid points\n\
00175 \n\
00176 ================================================================================\n\
00177 MSG: sensor_msgs/PointField\n\
00178 # This message holds the description of one point entry in the\n\
00179 # PointCloud2 message format.\n\
00180 uint8 INT8 = 1\n\
00181 uint8 UINT8 = 2\n\
00182 uint8 INT16 = 3\n\
00183 uint8 UINT16 = 4\n\
00184 uint8 INT32 = 5\n\
00185 uint8 UINT32 = 6\n\
00186 uint8 FLOAT32 = 7\n\
00187 uint8 FLOAT64 = 8\n\
00188 \n\
00189 string name # Name of field\n\
00190 uint32 offset # Offset from start of point struct\n\
00191 uint8 datatype # Datatype enumeration, see above\n\
00192 uint32 count # How many elements in the field\n\
00193 \n\
00194 "; }
00195 public:
00196 ROS_DEPRECATED static const std::string __s_getMessageDefinition() { return __s_getMessageDefinition_(); }
00197
00198 ROS_DEPRECATED const std::string __getMessageDefinition() const { return __s_getMessageDefinition_(); }
00199
00200 ROS_DEPRECATED virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const
00201 {
00202 ros::serialization::OStream stream(write_ptr, 1000000000);
00203 ros::serialization::serialize(stream, box_pose);
00204 ros::serialization::serialize(stream, box_dims);
00205 ros::serialization::serialize(stream, contents);
00206 ros::serialization::serialize(stream, container);
00207 ros::serialization::serialize(stream, clusters);
00208 return stream.getData();
00209 }
00210
00211 ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr)
00212 {
00213 ros::serialization::IStream stream(read_ptr, 1000000000);
00214 ros::serialization::deserialize(stream, box_pose);
00215 ros::serialization::deserialize(stream, box_dims);
00216 ros::serialization::deserialize(stream, contents);
00217 ros::serialization::deserialize(stream, container);
00218 ros::serialization::deserialize(stream, clusters);
00219 return stream.getData();
00220 }
00221
00222 ROS_DEPRECATED virtual uint32_t serializationLength() const
00223 {
00224 uint32_t size = 0;
00225 size += ros::serialization::serializationLength(box_pose);
00226 size += ros::serialization::serializationLength(box_dims);
00227 size += ros::serialization::serializationLength(contents);
00228 size += ros::serialization::serializationLength(container);
00229 size += ros::serialization::serializationLength(clusters);
00230 return size;
00231 }
00232
00233 typedef boost::shared_ptr< ::object_manipulation_msgs::FindContainerResult_<ContainerAllocator> > Ptr;
00234 typedef boost::shared_ptr< ::object_manipulation_msgs::FindContainerResult_<ContainerAllocator> const> ConstPtr;
00235 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00236 };
00237 typedef ::object_manipulation_msgs::FindContainerResult_<std::allocator<void> > FindContainerResult;
00238
00239 typedef boost::shared_ptr< ::object_manipulation_msgs::FindContainerResult> FindContainerResultPtr;
00240 typedef boost::shared_ptr< ::object_manipulation_msgs::FindContainerResult const> FindContainerResultConstPtr;
00241
00242
00243 template<typename ContainerAllocator>
00244 std::ostream& operator<<(std::ostream& s, const ::object_manipulation_msgs::FindContainerResult_<ContainerAllocator> & v)
00245 {
00246 ros::message_operations::Printer< ::object_manipulation_msgs::FindContainerResult_<ContainerAllocator> >::stream(s, "", v);
00247 return s;}
00248
00249 }
00250
00251 namespace ros
00252 {
00253 namespace message_traits
00254 {
00255 template<class ContainerAllocator> struct IsMessage< ::object_manipulation_msgs::FindContainerResult_<ContainerAllocator> > : public TrueType {};
00256 template<class ContainerAllocator> struct IsMessage< ::object_manipulation_msgs::FindContainerResult_<ContainerAllocator> const> : public TrueType {};
00257 template<class ContainerAllocator>
00258 struct MD5Sum< ::object_manipulation_msgs::FindContainerResult_<ContainerAllocator> > {
00259 static const char* value()
00260 {
00261 return "9f205f80410192b4ceee2889befe1096";
00262 }
00263
00264 static const char* value(const ::object_manipulation_msgs::FindContainerResult_<ContainerAllocator> &) { return value(); }
00265 static const uint64_t static_value1 = 0x9f205f80410192b4ULL;
00266 static const uint64_t static_value2 = 0xceee2889befe1096ULL;
00267 };
00268
00269 template<class ContainerAllocator>
00270 struct DataType< ::object_manipulation_msgs::FindContainerResult_<ContainerAllocator> > {
00271 static const char* value()
00272 {
00273 return "object_manipulation_msgs/FindContainerResult";
00274 }
00275
00276 static const char* value(const ::object_manipulation_msgs::FindContainerResult_<ContainerAllocator> &) { return value(); }
00277 };
00278
00279 template<class ContainerAllocator>
00280 struct Definition< ::object_manipulation_msgs::FindContainerResult_<ContainerAllocator> > {
00281 static const char* value()
00282 {
00283 return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00284 # refined pose and dimensions of bounding box for container\n\
00285 geometry_msgs/PoseStamped box_pose\n\
00286 geometry_msgs/Vector3 box_dims\n\
00287 \n\
00288 # cloud chunks of stuff in container, and container\n\
00289 sensor_msgs/PointCloud2 contents\n\
00290 sensor_msgs/PointCloud2 container\n\
00291 sensor_msgs/PointCloud2[] clusters\n\
00292 \n\
00293 \n\
00294 ================================================================================\n\
00295 MSG: geometry_msgs/PoseStamped\n\
00296 # A Pose with reference coordinate frame and timestamp\n\
00297 Header header\n\
00298 Pose pose\n\
00299 \n\
00300 ================================================================================\n\
00301 MSG: std_msgs/Header\n\
00302 # Standard metadata for higher-level stamped data types.\n\
00303 # This is generally used to communicate timestamped data \n\
00304 # in a particular coordinate frame.\n\
00305 # \n\
00306 # sequence ID: consecutively increasing ID \n\
00307 uint32 seq\n\
00308 #Two-integer timestamp that is expressed as:\n\
00309 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00310 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00311 # time-handling sugar is provided by the client library\n\
00312 time stamp\n\
00313 #Frame this data is associated with\n\
00314 # 0: no frame\n\
00315 # 1: global frame\n\
00316 string frame_id\n\
00317 \n\
00318 ================================================================================\n\
00319 MSG: geometry_msgs/Pose\n\
00320 # A representation of pose in free space, composed of postion and orientation. \n\
00321 Point position\n\
00322 Quaternion orientation\n\
00323 \n\
00324 ================================================================================\n\
00325 MSG: geometry_msgs/Point\n\
00326 # This contains the position of a point in free space\n\
00327 float64 x\n\
00328 float64 y\n\
00329 float64 z\n\
00330 \n\
00331 ================================================================================\n\
00332 MSG: geometry_msgs/Quaternion\n\
00333 # This represents an orientation in free space in quaternion form.\n\
00334 \n\
00335 float64 x\n\
00336 float64 y\n\
00337 float64 z\n\
00338 float64 w\n\
00339 \n\
00340 ================================================================================\n\
00341 MSG: geometry_msgs/Vector3\n\
00342 # This represents a vector in free space. \n\
00343 \n\
00344 float64 x\n\
00345 float64 y\n\
00346 float64 z\n\
00347 ================================================================================\n\
00348 MSG: sensor_msgs/PointCloud2\n\
00349 # This message holds a collection of N-dimensional points, which may\n\
00350 # contain additional information such as normals, intensity, etc. The\n\
00351 # point data is stored as a binary blob, its layout described by the\n\
00352 # contents of the \"fields\" array.\n\
00353 \n\
00354 # The point cloud data may be organized 2d (image-like) or 1d\n\
00355 # (unordered). Point clouds organized as 2d images may be produced by\n\
00356 # camera depth sensors such as stereo or time-of-flight.\n\
00357 \n\
00358 # Time of sensor data acquisition, and the coordinate frame ID (for 3d\n\
00359 # points).\n\
00360 Header header\n\
00361 \n\
00362 # 2D structure of the point cloud. If the cloud is unordered, height is\n\
00363 # 1 and width is the length of the point cloud.\n\
00364 uint32 height\n\
00365 uint32 width\n\
00366 \n\
00367 # Describes the channels and their layout in the binary data blob.\n\
00368 PointField[] fields\n\
00369 \n\
00370 bool is_bigendian # Is this data bigendian?\n\
00371 uint32 point_step # Length of a point in bytes\n\
00372 uint32 row_step # Length of a row in bytes\n\
00373 uint8[] data # Actual point data, size is (row_step*height)\n\
00374 \n\
00375 bool is_dense # True if there are no invalid points\n\
00376 \n\
00377 ================================================================================\n\
00378 MSG: sensor_msgs/PointField\n\
00379 # This message holds the description of one point entry in the\n\
00380 # PointCloud2 message format.\n\
00381 uint8 INT8 = 1\n\
00382 uint8 UINT8 = 2\n\
00383 uint8 INT16 = 3\n\
00384 uint8 UINT16 = 4\n\
00385 uint8 INT32 = 5\n\
00386 uint8 UINT32 = 6\n\
00387 uint8 FLOAT32 = 7\n\
00388 uint8 FLOAT64 = 8\n\
00389 \n\
00390 string name # Name of field\n\
00391 uint32 offset # Offset from start of point struct\n\
00392 uint8 datatype # Datatype enumeration, see above\n\
00393 uint32 count # How many elements in the field\n\
00394 \n\
00395 ";
00396 }
00397
00398 static const char* value(const ::object_manipulation_msgs::FindContainerResult_<ContainerAllocator> &) { return value(); }
00399 };
00400
00401 }
00402 }
00403
00404 namespace ros
00405 {
00406 namespace serialization
00407 {
00408
00409 template<class ContainerAllocator> struct Serializer< ::object_manipulation_msgs::FindContainerResult_<ContainerAllocator> >
00410 {
00411 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00412 {
00413 stream.next(m.box_pose);
00414 stream.next(m.box_dims);
00415 stream.next(m.contents);
00416 stream.next(m.container);
00417 stream.next(m.clusters);
00418 }
00419
00420 ROS_DECLARE_ALLINONE_SERIALIZER;
00421 };
00422 }
00423 }
00424
00425 namespace ros
00426 {
00427 namespace message_operations
00428 {
00429
00430 template<class ContainerAllocator>
00431 struct Printer< ::object_manipulation_msgs::FindContainerResult_<ContainerAllocator> >
00432 {
00433 template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::object_manipulation_msgs::FindContainerResult_<ContainerAllocator> & v)
00434 {
00435 s << indent << "box_pose: ";
00436 s << std::endl;
00437 Printer< ::geometry_msgs::PoseStamped_<ContainerAllocator> >::stream(s, indent + " ", v.box_pose);
00438 s << indent << "box_dims: ";
00439 s << std::endl;
00440 Printer< ::geometry_msgs::Vector3_<ContainerAllocator> >::stream(s, indent + " ", v.box_dims);
00441 s << indent << "contents: ";
00442 s << std::endl;
00443 Printer< ::sensor_msgs::PointCloud2_<ContainerAllocator> >::stream(s, indent + " ", v.contents);
00444 s << indent << "container: ";
00445 s << std::endl;
00446 Printer< ::sensor_msgs::PointCloud2_<ContainerAllocator> >::stream(s, indent + " ", v.container);
00447 s << indent << "clusters[]" << std::endl;
00448 for (size_t i = 0; i < v.clusters.size(); ++i)
00449 {
00450 s << indent << " clusters[" << i << "]: ";
00451 s << std::endl;
00452 s << indent;
00453 Printer< ::sensor_msgs::PointCloud2_<ContainerAllocator> >::stream(s, indent + " ", v.clusters[i]);
00454 }
00455 }
00456 };
00457
00458
00459 }
00460 }
00461
00462 #endif // OBJECT_MANIPULATION_MSGS_MESSAGE_FINDCONTAINERRESULT_H
00463
