gazebo_plugins: ContactState.h Source File

00001 /* Auto-generated by genmsg_cpp for file /tmp/buildd/ros-diamondback-simulator-gazebo-1.2.8/debian/ros-diamondback-simulator-gazebo/opt/ros/diamondback/stacks/simulator_gazebo/gazebo_plugins/msg/ContactState.msg */
00002 #ifndef GAZEBO_PLUGINS_MESSAGE_CONTACTSTATE_H
00003 #define GAZEBO_PLUGINS_MESSAGE_CONTACTSTATE_H
00004 #include <string>
00005 #include <vector>
00006 #include <ostream>
00007 #include "ros/serialization.h"
00008 #include "ros/builtin_message_traits.h"
00009 #include "ros/message_operations.h"
00010 #include "ros/message.h"
00011 #include "ros/time.h"
00012 
00013 #include "geometry_msgs/Wrench.h"
00014 #include "geometry_msgs/Vector3.h"
00015 #include "geometry_msgs/Vector3.h"
00016 
00017 namespace gazebo_plugins
00018 {
00019 template <class ContainerAllocator>
00020 struct ContactState_ : public ros::Message
00021 {
00022   typedef ContactState_<ContainerAllocator> Type;
00023 
00024   ContactState_()
00025   : info()
00026   , geom1_name()
00027   , geom2_name()
00028   , wrenches()
00029   , contact_positions()
00030   , contact_normals()
00031   , depths()
00032   {
00033   }
00034 
00035   ContactState_(const ContainerAllocator& _alloc)
00036   : info(_alloc)
00037   , geom1_name(_alloc)
00038   , geom2_name(_alloc)
00039   , wrenches(_alloc)
00040   , contact_positions(_alloc)
00041   , contact_normals(_alloc)
00042   , depths(_alloc)
00043   {
00044   }
00045 
00046   typedef std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other >  _info_type;
00047   std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other >  info;
00048 
00049   typedef std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other >  _geom1_name_type;
00050   std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other >  geom1_name;
00051 
00052   typedef std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other >  _geom2_name_type;
00053   std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other >  geom2_name;
00054 
00055   typedef std::vector< ::geometry_msgs::Wrench_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::geometry_msgs::Wrench_<ContainerAllocator> >::other >  _wrenches_type;
00056   std::vector< ::geometry_msgs::Wrench_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::geometry_msgs::Wrench_<ContainerAllocator> >::other >  wrenches;
00057 
00058   typedef std::vector< ::geometry_msgs::Vector3_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::geometry_msgs::Vector3_<ContainerAllocator> >::other >  _contact_positions_type;
00059   std::vector< ::geometry_msgs::Vector3_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::geometry_msgs::Vector3_<ContainerAllocator> >::other >  contact_positions;
00060 
00061   typedef std::vector< ::geometry_msgs::Vector3_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::geometry_msgs::Vector3_<ContainerAllocator> >::other >  _contact_normals_type;
00062   std::vector< ::geometry_msgs::Vector3_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::geometry_msgs::Vector3_<ContainerAllocator> >::other >  contact_normals;
00063 
00064   typedef std::vector<double, typename ContainerAllocator::template rebind<double>::other >  _depths_type;
00065   std::vector<double, typename ContainerAllocator::template rebind<double>::other >  depths;
00066 
00067 
00068   ROS_DEPRECATED uint32_t get_wrenches_size() const { return (uint32_t)wrenches.size(); }
00069   ROS_DEPRECATED void set_wrenches_size(uint32_t size) { wrenches.resize((size_t)size); }
00070   ROS_DEPRECATED void get_wrenches_vec(std::vector< ::geometry_msgs::Wrench_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::geometry_msgs::Wrench_<ContainerAllocator> >::other > & vec) const { vec = this->wrenches; }
00071   ROS_DEPRECATED void set_wrenches_vec(const std::vector< ::geometry_msgs::Wrench_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::geometry_msgs::Wrench_<ContainerAllocator> >::other > & vec) { this->wrenches = vec; }
00072   ROS_DEPRECATED uint32_t get_contact_positions_size() const { return (uint32_t)contact_positions.size(); }
00073   ROS_DEPRECATED void set_contact_positions_size(uint32_t size) { contact_positions.resize((size_t)size); }
00074   ROS_DEPRECATED void get_contact_positions_vec(std::vector< ::geometry_msgs::Vector3_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::geometry_msgs::Vector3_<ContainerAllocator> >::other > & vec) const { vec = this->contact_positions; }
00075   ROS_DEPRECATED void set_contact_positions_vec(const std::vector< ::geometry_msgs::Vector3_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::geometry_msgs::Vector3_<ContainerAllocator> >::other > & vec) { this->contact_positions = vec; }
00076   ROS_DEPRECATED uint32_t get_contact_normals_size() const { return (uint32_t)contact_normals.size(); }
00077   ROS_DEPRECATED void set_contact_normals_size(uint32_t size) { contact_normals.resize((size_t)size); }
00078   ROS_DEPRECATED void get_contact_normals_vec(std::vector< ::geometry_msgs::Vector3_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::geometry_msgs::Vector3_<ContainerAllocator> >::other > & vec) const { vec = this->contact_normals; }
00079   ROS_DEPRECATED void set_contact_normals_vec(const std::vector< ::geometry_msgs::Vector3_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::geometry_msgs::Vector3_<ContainerAllocator> >::other > & vec) { this->contact_normals = vec; }
00080   ROS_DEPRECATED uint32_t get_depths_size() const { return (uint32_t)depths.size(); }
00081   ROS_DEPRECATED void set_depths_size(uint32_t size) { depths.resize((size_t)size); }
00082   ROS_DEPRECATED void get_depths_vec(std::vector<double, typename ContainerAllocator::template rebind<double>::other > & vec) const { vec = this->depths; }
00083   ROS_DEPRECATED void set_depths_vec(const std::vector<double, typename ContainerAllocator::template rebind<double>::other > & vec) { this->depths = vec; }
00084 private:
00085   static const char* __s_getDataType_() { return "gazebo_plugins/ContactState"; }
00086 public:
00087   ROS_DEPRECATED static const std::string __s_getDataType() { return __s_getDataType_(); }
00088 
00089   ROS_DEPRECATED const std::string __getDataType() const { return __s_getDataType_(); }
00090 
00091 private:
00092   static const char* __s_getMD5Sum_() { return "0810b2ddb2829d16562fb583d2db4993"; }
00093 public:
00094   ROS_DEPRECATED static const std::string __s_getMD5Sum() { return __s_getMD5Sum_(); }
00095 
00096   ROS_DEPRECATED const std::string __getMD5Sum() const { return __s_getMD5Sum_(); }
00097 
00098 private:
00099   static const char* __s_getMessageDefinition_() { return "string info                                   # text info on this contact\n\
00100 string geom1_name                             # name of contact geom1\n\
00101 string geom2_name                             # name of contact geom2\n\
00102 geometry_msgs/Wrench[] wrenches               # list of forces/torques\n\
00103 geometry_msgs/Vector3[] contact_positions     # list of contact position\n\
00104 geometry_msgs/Vector3[] contact_normals       # list of contact normals\n\
00105 float64[] depths                              # list of penetration depths\n\
00106 \n\
00107 ================================================================================\n\
00108 MSG: geometry_msgs/Wrench\n\
00109 # This represents force in free space, seperated into \n\
00110 # it's linear and angular parts.  \n\
00111 Vector3  force\n\
00112 Vector3  torque\n\
00113 \n\
00114 ================================================================================\n\
00115 MSG: geometry_msgs/Vector3\n\
00116 # This represents a vector in free space. \n\
00117 \n\
00118 float64 x\n\
00119 float64 y\n\
00120 float64 z\n\
00121 "; }
00122 public:
00123   ROS_DEPRECATED static const std::string __s_getMessageDefinition() { return __s_getMessageDefinition_(); }
00124 
00125   ROS_DEPRECATED const std::string __getMessageDefinition() const { return __s_getMessageDefinition_(); }
00126 
00127   ROS_DEPRECATED virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const
00128   {
00129     ros::serialization::OStream stream(write_ptr, 1000000000);
00130     ros::serialization::serialize(stream, info);
00131     ros::serialization::serialize(stream, geom1_name);
00132     ros::serialization::serialize(stream, geom2_name);
00133     ros::serialization::serialize(stream, wrenches);
00134     ros::serialization::serialize(stream, contact_positions);
00135     ros::serialization::serialize(stream, contact_normals);
00136     ros::serialization::serialize(stream, depths);
00137     return stream.getData();
00138   }
00139 
00140   ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr)
00141   {
00142     ros::serialization::IStream stream(read_ptr, 1000000000);
00143     ros::serialization::deserialize(stream, info);
00144     ros::serialization::deserialize(stream, geom1_name);
00145     ros::serialization::deserialize(stream, geom2_name);
00146     ros::serialization::deserialize(stream, wrenches);
00147     ros::serialization::deserialize(stream, contact_positions);
00148     ros::serialization::deserialize(stream, contact_normals);
00149     ros::serialization::deserialize(stream, depths);
00150     return stream.getData();
00151   }
00152 
00153   ROS_DEPRECATED virtual uint32_t serializationLength() const
00154   {
00155     uint32_t size = 0;
00156     size += ros::serialization::serializationLength(info);
00157     size += ros::serialization::serializationLength(geom1_name);
00158     size += ros::serialization::serializationLength(geom2_name);
00159     size += ros::serialization::serializationLength(wrenches);
00160     size += ros::serialization::serializationLength(contact_positions);
00161     size += ros::serialization::serializationLength(contact_normals);
00162     size += ros::serialization::serializationLength(depths);
00163     return size;
00164   }
00165 
00166   typedef boost::shared_ptr< ::gazebo_plugins::ContactState_<ContainerAllocator> > Ptr;
00167   typedef boost::shared_ptr< ::gazebo_plugins::ContactState_<ContainerAllocator>  const> ConstPtr;
00168 }; // struct ContactState
00169 typedef  ::gazebo_plugins::ContactState_<std::allocator<void> > ContactState;
00170 
00171 typedef boost::shared_ptr< ::gazebo_plugins::ContactState> ContactStatePtr;
00172 typedef boost::shared_ptr< ::gazebo_plugins::ContactState const> ContactStateConstPtr;
00173 
00174 
00175 template<typename ContainerAllocator>
00176 std::ostream& operator<<(std::ostream& s, const  ::gazebo_plugins::ContactState_<ContainerAllocator> & v)
00177 {
00178   ros::message_operations::Printer< ::gazebo_plugins::ContactState_<ContainerAllocator> >::stream(s, "", v);
00179   return s;}
00180 
00181 } // namespace gazebo_plugins
00182 
00183 namespace ros
00184 {
00185 namespace message_traits
00186 {
00187 template<class ContainerAllocator>
00188 struct MD5Sum< ::gazebo_plugins::ContactState_<ContainerAllocator> > {
00189   static const char* value() 
00190   {
00191     return "0810b2ddb2829d16562fb583d2db4993";
00192   }
00193 
00194   static const char* value(const  ::gazebo_plugins::ContactState_<ContainerAllocator> &) { return value(); } 
00195   static const uint64_t static_value1 = 0x0810b2ddb2829d16ULL;
00196   static const uint64_t static_value2 = 0x562fb583d2db4993ULL;
00197 };
00198 
00199 template<class ContainerAllocator>
00200 struct DataType< ::gazebo_plugins::ContactState_<ContainerAllocator> > {
00201   static const char* value() 
00202   {
00203     return "gazebo_plugins/ContactState";
00204   }
00205 
00206   static const char* value(const  ::gazebo_plugins::ContactState_<ContainerAllocator> &) { return value(); } 
00207 };
00208 
00209 template<class ContainerAllocator>
00210 struct Definition< ::gazebo_plugins::ContactState_<ContainerAllocator> > {
00211   static const char* value() 
00212   {
00213     return "string info                                   # text info on this contact\n\
00214 string geom1_name                             # name of contact geom1\n\
00215 string geom2_name                             # name of contact geom2\n\
00216 geometry_msgs/Wrench[] wrenches               # list of forces/torques\n\
00217 geometry_msgs/Vector3[] contact_positions     # list of contact position\n\
00218 geometry_msgs/Vector3[] contact_normals       # list of contact normals\n\
00219 float64[] depths                              # list of penetration depths\n\
00220 \n\
00221 ================================================================================\n\
00222 MSG: geometry_msgs/Wrench\n\
00223 # This represents force in free space, seperated into \n\
00224 # it's linear and angular parts.  \n\
00225 Vector3  force\n\
00226 Vector3  torque\n\
00227 \n\
00228 ================================================================================\n\
00229 MSG: geometry_msgs/Vector3\n\
00230 # This represents a vector in free space. \n\
00231 \n\
00232 float64 x\n\
00233 float64 y\n\
00234 float64 z\n\
00235 ";
00236   }
00237 
00238   static const char* value(const  ::gazebo_plugins::ContactState_<ContainerAllocator> &) { return value(); } 
00239 };
00240 
00241 } // namespace message_traits
00242 } // namespace ros
00243 
00244 namespace ros
00245 {
00246 namespace serialization
00247 {
00248 
00249 template<class ContainerAllocator> struct Serializer< ::gazebo_plugins::ContactState_<ContainerAllocator> >
00250 {
00251   template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00252   {
00253     stream.next(m.info);
00254     stream.next(m.geom1_name);
00255     stream.next(m.geom2_name);
00256     stream.next(m.wrenches);
00257     stream.next(m.contact_positions);
00258     stream.next(m.contact_normals);
00259     stream.next(m.depths);
00260   }
00261 
00262   ROS_DECLARE_ALLINONE_SERIALIZER;
00263 }; // struct ContactState_
00264 } // namespace serialization
00265 } // namespace ros
00266 
00267 namespace ros
00268 {
00269 namespace message_operations
00270 {
00271 
00272 template<class ContainerAllocator>
00273 struct Printer< ::gazebo_plugins::ContactState_<ContainerAllocator> >
00274 {
00275   template<typename Stream> static void stream(Stream& s, const std::string& indent, const  ::gazebo_plugins::ContactState_<ContainerAllocator> & v) 
00276   {
00277     s << indent << "info: ";
00278     Printer<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > >::stream(s, indent + "  ", v.info);
00279     s << indent << "geom1_name: ";
00280     Printer<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > >::stream(s, indent + "  ", v.geom1_name);
00281     s << indent << "geom2_name: ";
00282     Printer<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > >::stream(s, indent + "  ", v.geom2_name);
00283     s << indent << "wrenches[]" << std::endl;
00284     for (size_t i = 0; i < v.wrenches.size(); ++i)
00285     {
00286       s << indent << "  wrenches[" << i << "]: ";
00287       s << std::endl;
00288       s << indent;
00289       Printer< ::geometry_msgs::Wrench_<ContainerAllocator> >::stream(s, indent + "    ", v.wrenches[i]);
00290     }
00291     s << indent << "contact_positions[]" << std::endl;
00292     for (size_t i = 0; i < v.contact_positions.size(); ++i)
00293     {
00294       s << indent << "  contact_positions[" << i << "]: ";
00295       s << std::endl;
00296       s << indent;
00297       Printer< ::geometry_msgs::Vector3_<ContainerAllocator> >::stream(s, indent + "    ", v.contact_positions[i]);
00298     }
00299     s << indent << "contact_normals[]" << std::endl;
00300     for (size_t i = 0; i < v.contact_normals.size(); ++i)
00301     {
00302       s << indent << "  contact_normals[" << i << "]: ";
00303       s << std::endl;
00304       s << indent;
00305       Printer< ::geometry_msgs::Vector3_<ContainerAllocator> >::stream(s, indent + "    ", v.contact_normals[i]);
00306     }
00307     s << indent << "depths[]" << std::endl;
00308     for (size_t i = 0; i < v.depths.size(); ++i)
00309     {
00310       s << indent << "  depths[" << i << "]: ";
00311       Printer<double>::stream(s, indent + "  ", v.depths[i]);
00312     }
00313   }
00314 };
00315 
00316 
00317 } // namespace message_operations
00318 } // namespace ros
00319 
00320 #endif // GAZEBO_PLUGINS_MESSAGE_CONTACTSTATE_H
00321