WorldState.h

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/* 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/WorldState.msg */
#ifndef GAZEBO_PLUGINS_MESSAGE_WORLDSTATE_H
#define GAZEBO_PLUGINS_MESSAGE_WORLDSTATE_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 "geometry_msgs/Pose.h"
#include "geometry_msgs/Twist.h"
#include "geometry_msgs/Wrench.h"

namespace gazebo_plugins
{
template <class ContainerAllocator>
struct WorldState_ : public ros::Message
{
  typedef WorldState_<ContainerAllocator> Type;

  WorldState_()
  : header()
  , name()
  , pose()
  , twist()
  , wrench()
  {
  }

  WorldState_(const ContainerAllocator& _alloc)
  : header(_alloc)
  , name(_alloc)
  , pose(_alloc)
  , twist(_alloc)
  , wrench(_alloc)
  {
  }

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

  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;
  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;

  typedef std::vector< ::geometry_msgs::Pose_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::geometry_msgs::Pose_<ContainerAllocator> >::other >  _pose_type;
  std::vector< ::geometry_msgs::Pose_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::geometry_msgs::Pose_<ContainerAllocator> >::other >  pose;

  typedef std::vector< ::geometry_msgs::Twist_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::geometry_msgs::Twist_<ContainerAllocator> >::other >  _twist_type;
  std::vector< ::geometry_msgs::Twist_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::geometry_msgs::Twist_<ContainerAllocator> >::other >  twist;

  typedef std::vector< ::geometry_msgs::Wrench_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::geometry_msgs::Wrench_<ContainerAllocator> >::other >  _wrench_type;
  std::vector< ::geometry_msgs::Wrench_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::geometry_msgs::Wrench_<ContainerAllocator> >::other >  wrench;


  ROS_DEPRECATED uint32_t get_name_size() const { return (uint32_t)name.size(); }
  ROS_DEPRECATED void set_name_size(uint32_t size) { name.resize((size_t)size); }
  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; }
  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; }
  ROS_DEPRECATED uint32_t get_pose_size() const { return (uint32_t)pose.size(); }
  ROS_DEPRECATED void set_pose_size(uint32_t size) { pose.resize((size_t)size); }
  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; }
  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; }
  ROS_DEPRECATED uint32_t get_twist_size() const { return (uint32_t)twist.size(); }
  ROS_DEPRECATED void set_twist_size(uint32_t size) { twist.resize((size_t)size); }
  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; }
  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; }
  ROS_DEPRECATED uint32_t get_wrench_size() const { return (uint32_t)wrench.size(); }
  ROS_DEPRECATED void set_wrench_size(uint32_t size) { wrench.resize((size_t)size); }
  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; }
  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; }
private:
  static const char* __s_getDataType_() { return "gazebo_plugins/WorldState"; }
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 "de1a9de3ab7ba97ac0e9ec01a4eb481e"; }
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 "# This is a message that holds data necessary to reconstruct a snapshot of the world\n\
#\n\
# = Approach to Message Passing =\n\
# The state of the world is defined by either\n\
#   1. Inertial Model pose, twist\n\
#      * kinematic data - connectivity graph from Model to each Link\n\
#      * joint angles\n\
#      * joint velocities\n\
#      * Applied forces - Body wrench\n\
#        * relative transform from Body to each collision Geom\n\
# Or\n\
#   2. Inertial (absolute) Body pose, twist, wrench\n\
#      * relative transform from Body to each collision Geom - constant, so not sent over wire\n\
#      * back compute from canonical body info to get Model pose and twist.\n\
#\n\
# Chooing (2.) because it matches most physics engines out there\n\
#   and is simpler.\n\
#\n\
# = Future =\n\
# Consider impacts on using reduced coordinates / graph (parent/child links) approach\n\
#   constraint and physics solvers.\n\
#\n\
# = Application =\n\
# This message is used to do the following:\n\
#   * reconstruct the world and objects for sensor generation\n\
#   * stop / start simulation - need pose, twist, wrench of each body\n\
#   * collision detection - need pose of each collision geometry.  velocity/acceleration if \n\
#\n\
# = Assumptions =\n\
# Assuming that each (physics) processor node locally already has\n\
#   * collision information - Trimesh for Geoms, etc\n\
#   * relative transforms from Body to Geom - this is assumed to be fixed, do not send oved wire\n\
#   * inertial information - does not vary in time\n\
#   * visual information - does not vary in time\n\
#\n\
\n\
Header header\n\
\n\
string[] name\n\
geometry_msgs/Pose[] pose\n\
geometry_msgs/Twist[] twist\n\
geometry_msgs/Wrench[] wrench\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: geometry_msgs/Pose\n\
# A representation of pose in free space, composed of postion and orientation. \n\
Point position\n\
Quaternion orientation\n\
\n\
================================================================================\n\
MSG: geometry_msgs/Point\n\
# This contains the position of a point in free space\n\
float64 x\n\
float64 y\n\
float64 z\n\
\n\
================================================================================\n\
MSG: geometry_msgs/Quaternion\n\
# This represents an orientation in free space in quaternion form.\n\
\n\
float64 x\n\
float64 y\n\
float64 z\n\
float64 w\n\
\n\
================================================================================\n\
MSG: geometry_msgs/Twist\n\
# This expresses velocity in free space broken into it's linear and angular parts. \n\
Vector3  linear\n\
Vector3  angular\n\
\n\
================================================================================\n\
MSG: geometry_msgs/Vector3\n\
# This represents a vector in free space. \n\
\n\
float64 x\n\
float64 y\n\
float64 z\n\
================================================================================\n\
MSG: geometry_msgs/Wrench\n\
# This represents force in free space, seperated into \n\
# it's linear and angular parts.  \n\
Vector3  force\n\
Vector3  torque\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, name);
    ros::serialization::serialize(stream, pose);
    ros::serialization::serialize(stream, twist);
    ros::serialization::serialize(stream, wrench);
    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, name);
    ros::serialization::deserialize(stream, pose);
    ros::serialization::deserialize(stream, twist);
    ros::serialization::deserialize(stream, wrench);
    return stream.getData();
  }

  ROS_DEPRECATED virtual uint32_t serializationLength() const
  {
    uint32_t size = 0;
    size += ros::serialization::serializationLength(header);
    size += ros::serialization::serializationLength(name);
    size += ros::serialization::serializationLength(pose);
    size += ros::serialization::serializationLength(twist);
    size += ros::serialization::serializationLength(wrench);
    return size;
  }

  typedef boost::shared_ptr< ::gazebo_plugins::WorldState_<ContainerAllocator> > Ptr;
  typedef boost::shared_ptr< ::gazebo_plugins::WorldState_<ContainerAllocator>  const> ConstPtr;
}; // struct WorldState
typedef  ::gazebo_plugins::WorldState_<std::allocator<void> > WorldState;

typedef boost::shared_ptr< ::gazebo_plugins::WorldState> WorldStatePtr;
typedef boost::shared_ptr< ::gazebo_plugins::WorldState const> WorldStateConstPtr;


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

} // namespace gazebo_plugins

namespace ros
{
namespace message_traits
{
template<class ContainerAllocator>
struct MD5Sum< ::gazebo_plugins::WorldState_<ContainerAllocator> > {
  static const char* value() 
  {
    return "de1a9de3ab7ba97ac0e9ec01a4eb481e";
  }

  static const char* value(const  ::gazebo_plugins::WorldState_<ContainerAllocator> &) { return value(); } 
  static const uint64_t static_value1 = 0xde1a9de3ab7ba97aULL;
  static const uint64_t static_value2 = 0xc0e9ec01a4eb481eULL;
};

template<class ContainerAllocator>
struct DataType< ::gazebo_plugins::WorldState_<ContainerAllocator> > {
  static const char* value() 
  {
    return "gazebo_plugins/WorldState";
  }

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

template<class ContainerAllocator>
struct Definition< ::gazebo_plugins::WorldState_<ContainerAllocator> > {
  static const char* value() 
  {
    return "# This is a message that holds data necessary to reconstruct a snapshot of the world\n\
#\n\
# = Approach to Message Passing =\n\
# The state of the world is defined by either\n\
#   1. Inertial Model pose, twist\n\
#      * kinematic data - connectivity graph from Model to each Link\n\
#      * joint angles\n\
#      * joint velocities\n\
#      * Applied forces - Body wrench\n\
#        * relative transform from Body to each collision Geom\n\
# Or\n\
#   2. Inertial (absolute) Body pose, twist, wrench\n\
#      * relative transform from Body to each collision Geom - constant, so not sent over wire\n\
#      * back compute from canonical body info to get Model pose and twist.\n\
#\n\
# Chooing (2.) because it matches most physics engines out there\n\
#   and is simpler.\n\
#\n\
# = Future =\n\
# Consider impacts on using reduced coordinates / graph (parent/child links) approach\n\
#   constraint and physics solvers.\n\
#\n\
# = Application =\n\
# This message is used to do the following:\n\
#   * reconstruct the world and objects for sensor generation\n\
#   * stop / start simulation - need pose, twist, wrench of each body\n\
#   * collision detection - need pose of each collision geometry.  velocity/acceleration if \n\
#\n\
# = Assumptions =\n\
# Assuming that each (physics) processor node locally already has\n\
#   * collision information - Trimesh for Geoms, etc\n\
#   * relative transforms from Body to Geom - this is assumed to be fixed, do not send oved wire\n\
#   * inertial information - does not vary in time\n\
#   * visual information - does not vary in time\n\
#\n\
\n\
Header header\n\
\n\
string[] name\n\
geometry_msgs/Pose[] pose\n\
geometry_msgs/Twist[] twist\n\
geometry_msgs/Wrench[] wrench\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: geometry_msgs/Pose\n\
# A representation of pose in free space, composed of postion and orientation. \n\
Point position\n\
Quaternion orientation\n\
\n\
================================================================================\n\
MSG: geometry_msgs/Point\n\
# This contains the position of a point in free space\n\
float64 x\n\
float64 y\n\
float64 z\n\
\n\
================================================================================\n\
MSG: geometry_msgs/Quaternion\n\
# This represents an orientation in free space in quaternion form.\n\
\n\
float64 x\n\
float64 y\n\
float64 z\n\
float64 w\n\
\n\
================================================================================\n\
MSG: geometry_msgs/Twist\n\
# This expresses velocity in free space broken into it's linear and angular parts. \n\
Vector3  linear\n\
Vector3  angular\n\
\n\
================================================================================\n\
MSG: geometry_msgs/Vector3\n\
# This represents a vector in free space. \n\
\n\
float64 x\n\
float64 y\n\
float64 z\n\
================================================================================\n\
MSG: geometry_msgs/Wrench\n\
# This represents force in free space, seperated into \n\
# it's linear and angular parts.  \n\
Vector3  force\n\
Vector3  torque\n\
\n\
";
  }

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

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

namespace ros
{
namespace serialization
{

template<class ContainerAllocator> struct Serializer< ::gazebo_plugins::WorldState_<ContainerAllocator> >
{
  template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
  {
    stream.next(m.header);
    stream.next(m.name);
    stream.next(m.pose);
    stream.next(m.twist);
    stream.next(m.wrench);
  }

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

namespace ros
{
namespace message_operations
{

template<class ContainerAllocator>
struct Printer< ::gazebo_plugins::WorldState_<ContainerAllocator> >
{
  template<typename Stream> static void stream(Stream& s, const std::string& indent, const  ::gazebo_plugins::WorldState_<ContainerAllocator> & v) 
  {
    s << indent << "header: ";
s << std::endl;
    Printer< ::std_msgs::Header_<ContainerAllocator> >::stream(s, indent + "  ", v.header);
    s << indent << "name[]" << std::endl;
    for (size_t i = 0; i < v.name.size(); ++i)
    {
      s << indent << "  name[" << i << "]: ";
      Printer<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > >::stream(s, indent + "  ", v.name[i]);
    }
    s << indent << "pose[]" << std::endl;
    for (size_t i = 0; i < v.pose.size(); ++i)
    {
      s << indent << "  pose[" << i << "]: ";
      s << std::endl;
      s << indent;
      Printer< ::geometry_msgs::Pose_<ContainerAllocator> >::stream(s, indent + "    ", v.pose[i]);
    }
    s << indent << "twist[]" << std::endl;
    for (size_t i = 0; i < v.twist.size(); ++i)
    {
      s << indent << "  twist[" << i << "]: ";
      s << std::endl;
      s << indent;
      Printer< ::geometry_msgs::Twist_<ContainerAllocator> >::stream(s, indent + "    ", v.twist[i]);
    }
    s << indent << "wrench[]" << std::endl;
    for (size_t i = 0; i < v.wrench.size(); ++i)
    {
      s << indent << "  wrench[" << i << "]: ";
      s << std::endl;
      s << indent;
      Printer< ::geometry_msgs::Wrench_<ContainerAllocator> >::stream(s, indent + "    ", v.wrench[i]);
    }
  }
};


} // namespace message_operations
} // namespace ros

#endif // GAZEBO_PLUGINS_MESSAGE_WORLDSTATE_H

---

gazebo_plugins
Author(s): Sachin Chitta, Stu Glaser, John Hsu
autogenerated on Fri Jan 11 10:09:24 2013