LaserMeasurement.h

Go to the documentation of this file.

/* Auto-generated by genmsg_cpp for file /tmp/buildd/ros-diamondback-pr2-calibration-1.0.0/debian/ros-diamondback-pr2-calibration/opt/ros/diamondback/stacks/pr2_calibration/calibration_msgs/msg/LaserMeasurement.msg */
#ifndef CALIBRATION_MSGS_MESSAGE_LASERMEASUREMENT_H
#define CALIBRATION_MSGS_MESSAGE_LASERMEASUREMENT_H
#include <string>
#include <vector>
#include <ostream>
#include "ros/serialization.h"
#include "ros/builtin_message_traits.h"
#include "ros/message_operations.h"
#include "ros/message.h"
#include "ros/time.h"

#include "std_msgs/Header.h"
#include "sensor_msgs/JointState.h"
#include "calibration_msgs/DenseLaserSnapshot.h"
#include "sensor_msgs/Image.h"
#include "calibration_msgs/CalibrationPattern.h"
#include "calibration_msgs/JointStateCalibrationPattern.h"

namespace calibration_msgs
{
template <class ContainerAllocator>
struct LaserMeasurement_ : public ros::Message
{
  typedef LaserMeasurement_<ContainerAllocator> Type;

  LaserMeasurement_()
  : header()
  , laser_id()
  , joint_points()
  , verbose(false)
  , snapshot()
  , laser_image()
  , image_features()
  , joint_features()
  {
  }

  LaserMeasurement_(const ContainerAllocator& _alloc)
  : header(_alloc)
  , laser_id(_alloc)
  , joint_points(_alloc)
  , verbose(false)
  , snapshot(_alloc)
  , laser_image(_alloc)
  , image_features(_alloc)
  , joint_features(_alloc)
  {
  }

  typedef  ::std_msgs::Header_<ContainerAllocator>  _header_type;
   ::std_msgs::Header_<ContainerAllocator>  header;

  typedef std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other >  _laser_id_type;
  std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other >  laser_id;

  typedef std::vector< ::sensor_msgs::JointState_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::sensor_msgs::JointState_<ContainerAllocator> >::other >  _joint_points_type;
  std::vector< ::sensor_msgs::JointState_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::sensor_msgs::JointState_<ContainerAllocator> >::other >  joint_points;

  typedef uint8_t _verbose_type;
  uint8_t verbose;

  typedef  ::calibration_msgs::DenseLaserSnapshot_<ContainerAllocator>  _snapshot_type;
   ::calibration_msgs::DenseLaserSnapshot_<ContainerAllocator>  snapshot;

  typedef  ::sensor_msgs::Image_<ContainerAllocator>  _laser_image_type;
   ::sensor_msgs::Image_<ContainerAllocator>  laser_image;

  typedef  ::calibration_msgs::CalibrationPattern_<ContainerAllocator>  _image_features_type;
   ::calibration_msgs::CalibrationPattern_<ContainerAllocator>  image_features;

  typedef  ::calibration_msgs::JointStateCalibrationPattern_<ContainerAllocator>  _joint_features_type;
   ::calibration_msgs::JointStateCalibrationPattern_<ContainerAllocator>  joint_features;


  ROS_DEPRECATED uint32_t get_joint_points_size() const { return (uint32_t)joint_points.size(); }
  ROS_DEPRECATED void set_joint_points_size(uint32_t size) { joint_points.resize((size_t)size); }
  ROS_DEPRECATED void get_joint_points_vec(std::vector< ::sensor_msgs::JointState_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::sensor_msgs::JointState_<ContainerAllocator> >::other > & vec) const { vec = this->joint_points; }
  ROS_DEPRECATED void set_joint_points_vec(const std::vector< ::sensor_msgs::JointState_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::sensor_msgs::JointState_<ContainerAllocator> >::other > & vec) { this->joint_points = vec; }
private:
  static const char* __s_getDataType_() { return "calibration_msgs/LaserMeasurement"; }
public:
  ROS_DEPRECATED static const std::string __s_getDataType() { return __s_getDataType_(); }

  ROS_DEPRECATED const std::string __getDataType() const { return __s_getDataType_(); }

private:
  static const char* __s_getMD5Sum_() { return "03ce2d57df2a0cedc1a91dc4b40d7729"; }
public:
  ROS_DEPRECATED static const std::string __s_getMD5Sum() { return __s_getMD5Sum_(); }

  ROS_DEPRECATED const std::string __getMD5Sum() const { return __s_getMD5Sum_(); }

private:
  static const char* __s_getMessageDefinition_() { return "Header header\n\
string laser_id\n\
sensor_msgs/JointState[] joint_points\n\
\n\
# True -> The extra debugging fields are populated\n\
bool verbose\n\
\n\
# Extra, partially processed data. Only needed for debugging\n\
calibration_msgs/DenseLaserSnapshot snapshot\n\
sensor_msgs/Image laser_image\n\
calibration_msgs/CalibrationPattern image_features\n\
calibration_msgs/JointStateCalibrationPattern joint_features\n\
\n\
================================================================================\n\
MSG: std_msgs/Header\n\
# Standard metadata for higher-level stamped data types.\n\
# This is generally used to communicate timestamped data \n\
# in a particular coordinate frame.\n\
# \n\
# sequence ID: consecutively increasing ID \n\
uint32 seq\n\
#Two-integer timestamp that is expressed as:\n\
# * stamp.secs: seconds (stamp_secs) since epoch\n\
# * stamp.nsecs: nanoseconds since stamp_secs\n\
# time-handling sugar is provided by the client library\n\
time stamp\n\
#Frame this data is associated with\n\
# 0: no frame\n\
# 1: global frame\n\
string frame_id\n\
\n\
================================================================================\n\
MSG: sensor_msgs/JointState\n\
# This is a message that holds data to describe the state of a set of torque controlled joints. \n\
#\n\
# The state of each joint (revolute or prismatic) is defined by:\n\
#  * the position of the joint (rad or m),\n\
#  * the velocity of the joint (rad/s or m/s) and \n\
#  * the effort that is applied in the joint (Nm or N).\n\
#\n\
# Each joint is uniquely identified by its name\n\
# The header specifies the time at which the joint states were recorded. All the joint states\n\
# in one message have to be recorded at the same time.\n\
#\n\
# This message consists of a multiple arrays, one for each part of the joint state. \n\
# The goal is to make each of the fields optional. When e.g. your joints have no\n\
# effort associated with them, you can leave the effort array empty. \n\
#\n\
# All arrays in this message should have the same size, or be empty.\n\
# This is the only way to uniquely associate the joint name with the correct\n\
# states.\n\
\n\
\n\
Header header\n\
\n\
string[] name\n\
float64[] position\n\
float64[] velocity\n\
float64[] effort\n\
\n\
================================================================================\n\
MSG: calibration_msgs/DenseLaserSnapshot\n\
# Provides all the state & sensor information for\n\
# a single sweep of laser attached to some mechanism.\n\
# Most likely, this will be used with PR2's tilting laser mechanism\n\
Header header\n\
\n\
# Store the laser intrinsics. This is very similar to the\n\
# intrinsics commonly stored in \n\
float32 angle_min        # start angle of the scan [rad]\n\
float32 angle_max        # end angle of the scan [rad]\n\
float32 angle_increment  # angular distance between measurements [rad]\n\
float32 time_increment   # time between measurements [seconds]\n\
float32 range_min        # minimum range value [m]\n\
float32 range_max        # maximum range value [m]\n\
\n\
# Define the size of the binary data\n\
uint32 readings_per_scan    # (Width)\n\
uint32 num_scans            # (Height)\n\
\n\
# 2D Arrays storing laser data.\n\
# We can think of each type data as being a single channel image.\n\
# Each row of the image has data from a single scan, and scans are\n\
# concatenated to form the entire 'image'.\n\
float32[] ranges            # (Image data)\n\
float32[] intensities       # (Image data)\n\
\n\
# Store the start time of each scan\n\
time[] scan_start\n\
\n\
================================================================================\n\
MSG: sensor_msgs/Image\n\
# This message contains an uncompressed image\n\
# (0, 0) is at top-left corner of image\n\
#\n\
\n\
Header header        # Header timestamp should be acquisition time of image\n\
                     # Header frame_id should be optical frame of camera\n\
                     # origin of frame should be optical center of cameara\n\
                     # +x should point to the right in the image\n\
                     # +y should point down in the image\n\
                     # +z should point into to plane of the image\n\
                     # If the frame_id here and the frame_id of the CameraInfo\n\
                     # message associated with the image conflict\n\
                     # the behavior is undefined\n\
\n\
uint32 height         # image height, that is, number of rows\n\
uint32 width          # image width, that is, number of columns\n\
\n\
# The legal values for encoding are in file src/image_encodings.cpp\n\
# If you want to standardize a new string format, join\n\
# ros-users@lists.sourceforge.net and send an email proposing a new encoding.\n\
\n\
string encoding       # Encoding of pixels -- channel meaning, ordering, size\n\
                      # taken from the list of strings in src/image_encodings.cpp\n\
\n\
uint8 is_bigendian    # is this data bigendian?\n\
uint32 step           # Full row length in bytes\n\
uint8[] data          # actual matrix data, size is (step * rows)\n\
\n\
================================================================================\n\
MSG: calibration_msgs/CalibrationPattern\n\
Header header\n\
geometry_msgs/Point32[] object_points\n\
ImagePoint[] image_points\n\
uint8 success\n\
\n\
================================================================================\n\
MSG: geometry_msgs/Point32\n\
# This contains the position of a point in free space(with 32 bits of precision).\n\
# It is recommeded to use Point wherever possible instead of Point32.  \n\
# \n\
# This recommendation is to promote interoperability.  \n\
#\n\
# This message is designed to take up less space when sending\n\
# lots of points at once, as in the case of a PointCloud.  \n\
\n\
float32 x\n\
float32 y\n\
float32 z\n\
================================================================================\n\
MSG: calibration_msgs/ImagePoint\n\
float32 x\n\
float32 y\n\
\n\
================================================================================\n\
MSG: calibration_msgs/JointStateCalibrationPattern\n\
Header header\n\
geometry_msgs/Point32[]  object_points\n\
sensor_msgs/JointState[] joint_points\n\
\n\
\n\
"; }
public:
  ROS_DEPRECATED static const std::string __s_getMessageDefinition() { return __s_getMessageDefinition_(); }

  ROS_DEPRECATED const std::string __getMessageDefinition() const { return __s_getMessageDefinition_(); }

  ROS_DEPRECATED virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const
  {
    ros::serialization::OStream stream(write_ptr, 1000000000);
    ros::serialization::serialize(stream, header);
    ros::serialization::serialize(stream, laser_id);
    ros::serialization::serialize(stream, joint_points);
    ros::serialization::serialize(stream, verbose);
    ros::serialization::serialize(stream, snapshot);
    ros::serialization::serialize(stream, laser_image);
    ros::serialization::serialize(stream, image_features);
    ros::serialization::serialize(stream, joint_features);
    return stream.getData();
  }

  ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr)
  {
    ros::serialization::IStream stream(read_ptr, 1000000000);
    ros::serialization::deserialize(stream, header);
    ros::serialization::deserialize(stream, laser_id);
    ros::serialization::deserialize(stream, joint_points);
    ros::serialization::deserialize(stream, verbose);
    ros::serialization::deserialize(stream, snapshot);
    ros::serialization::deserialize(stream, laser_image);
    ros::serialization::deserialize(stream, image_features);
    ros::serialization::deserialize(stream, joint_features);
    return stream.getData();
  }

  ROS_DEPRECATED virtual uint32_t serializationLength() const
  {
    uint32_t size = 0;
    size += ros::serialization::serializationLength(header);
    size += ros::serialization::serializationLength(laser_id);
    size += ros::serialization::serializationLength(joint_points);
    size += ros::serialization::serializationLength(verbose);
    size += ros::serialization::serializationLength(snapshot);
    size += ros::serialization::serializationLength(laser_image);
    size += ros::serialization::serializationLength(image_features);
    size += ros::serialization::serializationLength(joint_features);
    return size;
  }

  typedef boost::shared_ptr< ::calibration_msgs::LaserMeasurement_<ContainerAllocator> > Ptr;
  typedef boost::shared_ptr< ::calibration_msgs::LaserMeasurement_<ContainerAllocator>  const> ConstPtr;
}; // struct LaserMeasurement
typedef  ::calibration_msgs::LaserMeasurement_<std::allocator<void> > LaserMeasurement;

typedef boost::shared_ptr< ::calibration_msgs::LaserMeasurement> LaserMeasurementPtr;
typedef boost::shared_ptr< ::calibration_msgs::LaserMeasurement const> LaserMeasurementConstPtr;


template<typename ContainerAllocator>
std::ostream& operator<<(std::ostream& s, const  ::calibration_msgs::LaserMeasurement_<ContainerAllocator> & v)
{
  ros::message_operations::Printer< ::calibration_msgs::LaserMeasurement_<ContainerAllocator> >::stream(s, "", v);
  return s;}

} // namespace calibration_msgs

namespace ros
{
namespace message_traits
{
template<class ContainerAllocator>
struct MD5Sum< ::calibration_msgs::LaserMeasurement_<ContainerAllocator> > {
  static const char* value() 
  {
    return "03ce2d57df2a0cedc1a91dc4b40d7729";
  }

  static const char* value(const  ::calibration_msgs::LaserMeasurement_<ContainerAllocator> &) { return value(); } 
  static const uint64_t static_value1 = 0x03ce2d57df2a0cedULL;
  static const uint64_t static_value2 = 0xc1a91dc4b40d7729ULL;
};

template<class ContainerAllocator>
struct DataType< ::calibration_msgs::LaserMeasurement_<ContainerAllocator> > {
  static const char* value() 
  {
    return "calibration_msgs/LaserMeasurement";
  }

  static const char* value(const  ::calibration_msgs::LaserMeasurement_<ContainerAllocator> &) { return value(); } 
};

template<class ContainerAllocator>
struct Definition< ::calibration_msgs::LaserMeasurement_<ContainerAllocator> > {
  static const char* value() 
  {
    return "Header header\n\
string laser_id\n\
sensor_msgs/JointState[] joint_points\n\
\n\
# True -> The extra debugging fields are populated\n\
bool verbose\n\
\n\
# Extra, partially processed data. Only needed for debugging\n\
calibration_msgs/DenseLaserSnapshot snapshot\n\
sensor_msgs/Image laser_image\n\
calibration_msgs/CalibrationPattern image_features\n\
calibration_msgs/JointStateCalibrationPattern joint_features\n\
\n\
================================================================================\n\
MSG: std_msgs/Header\n\
# Standard metadata for higher-level stamped data types.\n\
# This is generally used to communicate timestamped data \n\
# in a particular coordinate frame.\n\
# \n\
# sequence ID: consecutively increasing ID \n\
uint32 seq\n\
#Two-integer timestamp that is expressed as:\n\
# * stamp.secs: seconds (stamp_secs) since epoch\n\
# * stamp.nsecs: nanoseconds since stamp_secs\n\
# time-handling sugar is provided by the client library\n\
time stamp\n\
#Frame this data is associated with\n\
# 0: no frame\n\
# 1: global frame\n\
string frame_id\n\
\n\
================================================================================\n\
MSG: sensor_msgs/JointState\n\
# This is a message that holds data to describe the state of a set of torque controlled joints. \n\
#\n\
# The state of each joint (revolute or prismatic) is defined by:\n\
#  * the position of the joint (rad or m),\n\
#  * the velocity of the joint (rad/s or m/s) and \n\
#  * the effort that is applied in the joint (Nm or N).\n\
#\n\
# Each joint is uniquely identified by its name\n\
# The header specifies the time at which the joint states were recorded. All the joint states\n\
# in one message have to be recorded at the same time.\n\
#\n\
# This message consists of a multiple arrays, one for each part of the joint state. \n\
# The goal is to make each of the fields optional. When e.g. your joints have no\n\
# effort associated with them, you can leave the effort array empty. \n\
#\n\
# All arrays in this message should have the same size, or be empty.\n\
# This is the only way to uniquely associate the joint name with the correct\n\
# states.\n\
\n\
\n\
Header header\n\
\n\
string[] name\n\
float64[] position\n\
float64[] velocity\n\
float64[] effort\n\
\n\
================================================================================\n\
MSG: calibration_msgs/DenseLaserSnapshot\n\
# Provides all the state & sensor information for\n\
# a single sweep of laser attached to some mechanism.\n\
# Most likely, this will be used with PR2's tilting laser mechanism\n\
Header header\n\
\n\
# Store the laser intrinsics. This is very similar to the\n\
# intrinsics commonly stored in \n\
float32 angle_min        # start angle of the scan [rad]\n\
float32 angle_max        # end angle of the scan [rad]\n\
float32 angle_increment  # angular distance between measurements [rad]\n\
float32 time_increment   # time between measurements [seconds]\n\
float32 range_min        # minimum range value [m]\n\
float32 range_max        # maximum range value [m]\n\
\n\
# Define the size of the binary data\n\
uint32 readings_per_scan    # (Width)\n\
uint32 num_scans            # (Height)\n\
\n\
# 2D Arrays storing laser data.\n\
# We can think of each type data as being a single channel image.\n\
# Each row of the image has data from a single scan, and scans are\n\
# concatenated to form the entire 'image'.\n\
float32[] ranges            # (Image data)\n\
float32[] intensities       # (Image data)\n\
\n\
# Store the start time of each scan\n\
time[] scan_start\n\
\n\
================================================================================\n\
MSG: sensor_msgs/Image\n\
# This message contains an uncompressed image\n\
# (0, 0) is at top-left corner of image\n\
#\n\
\n\
Header header        # Header timestamp should be acquisition time of image\n\
                     # Header frame_id should be optical frame of camera\n\
                     # origin of frame should be optical center of cameara\n\
                     # +x should point to the right in the image\n\
                     # +y should point down in the image\n\
                     # +z should point into to plane of the image\n\
                     # If the frame_id here and the frame_id of the CameraInfo\n\
                     # message associated with the image conflict\n\
                     # the behavior is undefined\n\
\n\
uint32 height         # image height, that is, number of rows\n\
uint32 width          # image width, that is, number of columns\n\
\n\
# The legal values for encoding are in file src/image_encodings.cpp\n\
# If you want to standardize a new string format, join\n\
# ros-users@lists.sourceforge.net and send an email proposing a new encoding.\n\
\n\
string encoding       # Encoding of pixels -- channel meaning, ordering, size\n\
                      # taken from the list of strings in src/image_encodings.cpp\n\
\n\
uint8 is_bigendian    # is this data bigendian?\n\
uint32 step           # Full row length in bytes\n\
uint8[] data          # actual matrix data, size is (step * rows)\n\
\n\
================================================================================\n\
MSG: calibration_msgs/CalibrationPattern\n\
Header header\n\
geometry_msgs/Point32[] object_points\n\
ImagePoint[] image_points\n\
uint8 success\n\
\n\
================================================================================\n\
MSG: geometry_msgs/Point32\n\
# This contains the position of a point in free space(with 32 bits of precision).\n\
# It is recommeded to use Point wherever possible instead of Point32.  \n\
# \n\
# This recommendation is to promote interoperability.  \n\
#\n\
# This message is designed to take up less space when sending\n\
# lots of points at once, as in the case of a PointCloud.  \n\
\n\
float32 x\n\
float32 y\n\
float32 z\n\
================================================================================\n\
MSG: calibration_msgs/ImagePoint\n\
float32 x\n\
float32 y\n\
\n\
================================================================================\n\
MSG: calibration_msgs/JointStateCalibrationPattern\n\
Header header\n\
geometry_msgs/Point32[]  object_points\n\
sensor_msgs/JointState[] joint_points\n\
\n\
\n\
";
  }

  static const char* value(const  ::calibration_msgs::LaserMeasurement_<ContainerAllocator> &) { return value(); } 
};

template<class ContainerAllocator> struct HasHeader< ::calibration_msgs::LaserMeasurement_<ContainerAllocator> > : public TrueType {};
template<class ContainerAllocator> struct HasHeader< const ::calibration_msgs::LaserMeasurement_<ContainerAllocator> > : public TrueType {};
} // namespace message_traits
} // namespace ros

namespace ros
{
namespace serialization
{

template<class ContainerAllocator> struct Serializer< ::calibration_msgs::LaserMeasurement_<ContainerAllocator> >
{
  template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
  {
    stream.next(m.header);
    stream.next(m.laser_id);
    stream.next(m.joint_points);
    stream.next(m.verbose);
    stream.next(m.snapshot);
    stream.next(m.laser_image);
    stream.next(m.image_features);
    stream.next(m.joint_features);
  }

  ROS_DECLARE_ALLINONE_SERIALIZER;
}; // struct LaserMeasurement_
} // namespace serialization
} // namespace ros

namespace ros
{
namespace message_operations
{

template<class ContainerAllocator>
struct Printer< ::calibration_msgs::LaserMeasurement_<ContainerAllocator> >
{
  template<typename Stream> static void stream(Stream& s, const std::string& indent, const  ::calibration_msgs::LaserMeasurement_<ContainerAllocator> & v) 
  {
    s << indent << "header: ";
s << std::endl;
    Printer< ::std_msgs::Header_<ContainerAllocator> >::stream(s, indent + "  ", v.header);
    s << indent << "laser_id: ";
    Printer<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > >::stream(s, indent + "  ", v.laser_id);
    s << indent << "joint_points[]" << std::endl;
    for (size_t i = 0; i < v.joint_points.size(); ++i)
    {
      s << indent << "  joint_points[" << i << "]: ";
      s << std::endl;
      s << indent;
      Printer< ::sensor_msgs::JointState_<ContainerAllocator> >::stream(s, indent + "    ", v.joint_points[i]);
    }
    s << indent << "verbose: ";
    Printer<uint8_t>::stream(s, indent + "  ", v.verbose);
    s << indent << "snapshot: ";
s << std::endl;
    Printer< ::calibration_msgs::DenseLaserSnapshot_<ContainerAllocator> >::stream(s, indent + "  ", v.snapshot);
    s << indent << "laser_image: ";
s << std::endl;
    Printer< ::sensor_msgs::Image_<ContainerAllocator> >::stream(s, indent + "  ", v.laser_image);
    s << indent << "image_features: ";
s << std::endl;
    Printer< ::calibration_msgs::CalibrationPattern_<ContainerAllocator> >::stream(s, indent + "  ", v.image_features);
    s << indent << "joint_features: ";
s << std::endl;
    Printer< ::calibration_msgs::JointStateCalibrationPattern_<ContainerAllocator> >::stream(s, indent + "  ", v.joint_features);
  }
};


} // namespace message_operations
} // namespace ros

#endif // CALIBRATION_MSGS_MESSAGE_LASERMEASUREMENT_H

---

calibration_msgs
Author(s): Vijay Pradeep
autogenerated on Fri Jan 11 09:55:13 2013