00001
00002 #ifndef ARM_NAVIGATION_MSGS_MESSAGE_ALLOWEDCONTACTSPECIFICATION_H
00003 #define ARM_NAVIGATION_MSGS_MESSAGE_ALLOWEDCONTACTSPECIFICATION_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 "arm_navigation_msgs/Shape.h"
00018 #include "geometry_msgs/PoseStamped.h"
00019
00020 namespace arm_navigation_msgs
00021 {
00022 template <class ContainerAllocator>
00023 struct AllowedContactSpecification_ {
00024 typedef AllowedContactSpecification_<ContainerAllocator> Type;
00025
00026 AllowedContactSpecification_()
00027 : name()
00028 , shape()
00029 , pose_stamped()
00030 , link_names()
00031 , penetration_depth(0.0)
00032 {
00033 }
00034
00035 AllowedContactSpecification_(const ContainerAllocator& _alloc)
00036 : name(_alloc)
00037 , shape(_alloc)
00038 , pose_stamped(_alloc)
00039 , link_names(_alloc)
00040 , penetration_depth(0.0)
00041 {
00042 }
00043
00044 typedef std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > _name_type;
00045 std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > name;
00046
00047 typedef ::arm_navigation_msgs::Shape_<ContainerAllocator> _shape_type;
00048 ::arm_navigation_msgs::Shape_<ContainerAllocator> shape;
00049
00050 typedef ::geometry_msgs::PoseStamped_<ContainerAllocator> _pose_stamped_type;
00051 ::geometry_msgs::PoseStamped_<ContainerAllocator> pose_stamped;
00052
00053 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 > _link_names_type;
00054 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 > link_names;
00055
00056 typedef double _penetration_depth_type;
00057 double penetration_depth;
00058
00059
00060 ROS_DEPRECATED uint32_t get_link_names_size() const { return (uint32_t)link_names.size(); }
00061 ROS_DEPRECATED void set_link_names_size(uint32_t size) { link_names.resize((size_t)size); }
00062 ROS_DEPRECATED void get_link_names_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->link_names; }
00063 ROS_DEPRECATED void set_link_names_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->link_names = vec; }
00064 private:
00065 static const char* __s_getDataType_() { return "arm_navigation_msgs/AllowedContactSpecification"; }
00066 public:
00067 ROS_DEPRECATED static const std::string __s_getDataType() { return __s_getDataType_(); }
00068
00069 ROS_DEPRECATED const std::string __getDataType() const { return __s_getDataType_(); }
00070
00071 private:
00072 static const char* __s_getMD5Sum_() { return "81f9b47ac49a467ae008d3d9485628a3"; }
00073 public:
00074 ROS_DEPRECATED static const std::string __s_getMD5Sum() { return __s_getMD5Sum_(); }
00075
00076 ROS_DEPRECATED const std::string __getMD5Sum() const { return __s_getMD5Sum_(); }
00077
00078 private:
00079 static const char* __s_getMessageDefinition_() { return "# The names of the regions\n\
00080 string name\n\
00081 \n\
00082 # The shape of the region in the environment\n\
00083 arm_navigation_msgs/Shape shape\n\
00084 \n\
00085 # The pose of the space defining the region\n\
00086 geometry_msgs/PoseStamped pose_stamped\n\
00087 \n\
00088 # The set of links that will be allowed to have penetration contact within this region\n\
00089 string[] link_names\n\
00090 \n\
00091 # The maximum penetration depth allowed for every link\n\
00092 float64 penetration_depth\n\
00093 \n\
00094 ================================================================================\n\
00095 MSG: arm_navigation_msgs/Shape\n\
00096 byte SPHERE=0\n\
00097 byte BOX=1\n\
00098 byte CYLINDER=2\n\
00099 byte MESH=3\n\
00100 \n\
00101 byte type\n\
00102 \n\
00103 \n\
00104 #### define sphere, box, cylinder ####\n\
00105 # the origin of each shape is considered at the shape's center\n\
00106 \n\
00107 # for sphere\n\
00108 # radius := dimensions[0]\n\
00109 \n\
00110 # for cylinder\n\
00111 # radius := dimensions[0]\n\
00112 # length := dimensions[1]\n\
00113 # the length is along the Z axis\n\
00114 \n\
00115 # for box\n\
00116 # size_x := dimensions[0]\n\
00117 # size_y := dimensions[1]\n\
00118 # size_z := dimensions[2]\n\
00119 float64[] dimensions\n\
00120 \n\
00121 \n\
00122 #### define mesh ####\n\
00123 \n\
00124 # list of triangles; triangle k is defined by tre vertices located\n\
00125 # at indices triangles[3k], triangles[3k+1], triangles[3k+2]\n\
00126 int32[] triangles\n\
00127 geometry_msgs/Point[] vertices\n\
00128 \n\
00129 ================================================================================\n\
00130 MSG: geometry_msgs/Point\n\
00131 # This contains the position of a point in free space\n\
00132 float64 x\n\
00133 float64 y\n\
00134 float64 z\n\
00135 \n\
00136 ================================================================================\n\
00137 MSG: geometry_msgs/PoseStamped\n\
00138 # A Pose with reference coordinate frame and timestamp\n\
00139 Header header\n\
00140 Pose pose\n\
00141 \n\
00142 ================================================================================\n\
00143 MSG: std_msgs/Header\n\
00144 # Standard metadata for higher-level stamped data types.\n\
00145 # This is generally used to communicate timestamped data \n\
00146 # in a particular coordinate frame.\n\
00147 # \n\
00148 # sequence ID: consecutively increasing ID \n\
00149 uint32 seq\n\
00150 #Two-integer timestamp that is expressed as:\n\
00151 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00152 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00153 # time-handling sugar is provided by the client library\n\
00154 time stamp\n\
00155 #Frame this data is associated with\n\
00156 # 0: no frame\n\
00157 # 1: global frame\n\
00158 string frame_id\n\
00159 \n\
00160 ================================================================================\n\
00161 MSG: geometry_msgs/Pose\n\
00162 # A representation of pose in free space, composed of postion and orientation. \n\
00163 Point position\n\
00164 Quaternion orientation\n\
00165 \n\
00166 ================================================================================\n\
00167 MSG: geometry_msgs/Quaternion\n\
00168 # This represents an orientation in free space in quaternion form.\n\
00169 \n\
00170 float64 x\n\
00171 float64 y\n\
00172 float64 z\n\
00173 float64 w\n\
00174 \n\
00175 "; }
00176 public:
00177 ROS_DEPRECATED static const std::string __s_getMessageDefinition() { return __s_getMessageDefinition_(); }
00178
00179 ROS_DEPRECATED const std::string __getMessageDefinition() const { return __s_getMessageDefinition_(); }
00180
00181 ROS_DEPRECATED virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const
00182 {
00183 ros::serialization::OStream stream(write_ptr, 1000000000);
00184 ros::serialization::serialize(stream, name);
00185 ros::serialization::serialize(stream, shape);
00186 ros::serialization::serialize(stream, pose_stamped);
00187 ros::serialization::serialize(stream, link_names);
00188 ros::serialization::serialize(stream, penetration_depth);
00189 return stream.getData();
00190 }
00191
00192 ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr)
00193 {
00194 ros::serialization::IStream stream(read_ptr, 1000000000);
00195 ros::serialization::deserialize(stream, name);
00196 ros::serialization::deserialize(stream, shape);
00197 ros::serialization::deserialize(stream, pose_stamped);
00198 ros::serialization::deserialize(stream, link_names);
00199 ros::serialization::deserialize(stream, penetration_depth);
00200 return stream.getData();
00201 }
00202
00203 ROS_DEPRECATED virtual uint32_t serializationLength() const
00204 {
00205 uint32_t size = 0;
00206 size += ros::serialization::serializationLength(name);
00207 size += ros::serialization::serializationLength(shape);
00208 size += ros::serialization::serializationLength(pose_stamped);
00209 size += ros::serialization::serializationLength(link_names);
00210 size += ros::serialization::serializationLength(penetration_depth);
00211 return size;
00212 }
00213
00214 typedef boost::shared_ptr< ::arm_navigation_msgs::AllowedContactSpecification_<ContainerAllocator> > Ptr;
00215 typedef boost::shared_ptr< ::arm_navigation_msgs::AllowedContactSpecification_<ContainerAllocator> const> ConstPtr;
00216 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00217 };
00218 typedef ::arm_navigation_msgs::AllowedContactSpecification_<std::allocator<void> > AllowedContactSpecification;
00219
00220 typedef boost::shared_ptr< ::arm_navigation_msgs::AllowedContactSpecification> AllowedContactSpecificationPtr;
00221 typedef boost::shared_ptr< ::arm_navigation_msgs::AllowedContactSpecification const> AllowedContactSpecificationConstPtr;
00222
00223
00224 template<typename ContainerAllocator>
00225 std::ostream& operator<<(std::ostream& s, const ::arm_navigation_msgs::AllowedContactSpecification_<ContainerAllocator> & v)
00226 {
00227 ros::message_operations::Printer< ::arm_navigation_msgs::AllowedContactSpecification_<ContainerAllocator> >::stream(s, "", v);
00228 return s;}
00229
00230 }
00231
00232 namespace ros
00233 {
00234 namespace message_traits
00235 {
00236 template<class ContainerAllocator> struct IsMessage< ::arm_navigation_msgs::AllowedContactSpecification_<ContainerAllocator> > : public TrueType {};
00237 template<class ContainerAllocator> struct IsMessage< ::arm_navigation_msgs::AllowedContactSpecification_<ContainerAllocator> const> : public TrueType {};
00238 template<class ContainerAllocator>
00239 struct MD5Sum< ::arm_navigation_msgs::AllowedContactSpecification_<ContainerAllocator> > {
00240 static const char* value()
00241 {
00242 return "81f9b47ac49a467ae008d3d9485628a3";
00243 }
00244
00245 static const char* value(const ::arm_navigation_msgs::AllowedContactSpecification_<ContainerAllocator> &) { return value(); }
00246 static const uint64_t static_value1 = 0x81f9b47ac49a467aULL;
00247 static const uint64_t static_value2 = 0xe008d3d9485628a3ULL;
00248 };
00249
00250 template<class ContainerAllocator>
00251 struct DataType< ::arm_navigation_msgs::AllowedContactSpecification_<ContainerAllocator> > {
00252 static const char* value()
00253 {
00254 return "arm_navigation_msgs/AllowedContactSpecification";
00255 }
00256
00257 static const char* value(const ::arm_navigation_msgs::AllowedContactSpecification_<ContainerAllocator> &) { return value(); }
00258 };
00259
00260 template<class ContainerAllocator>
00261 struct Definition< ::arm_navigation_msgs::AllowedContactSpecification_<ContainerAllocator> > {
00262 static const char* value()
00263 {
00264 return "# The names of the regions\n\
00265 string name\n\
00266 \n\
00267 # The shape of the region in the environment\n\
00268 arm_navigation_msgs/Shape shape\n\
00269 \n\
00270 # The pose of the space defining the region\n\
00271 geometry_msgs/PoseStamped pose_stamped\n\
00272 \n\
00273 # The set of links that will be allowed to have penetration contact within this region\n\
00274 string[] link_names\n\
00275 \n\
00276 # The maximum penetration depth allowed for every link\n\
00277 float64 penetration_depth\n\
00278 \n\
00279 ================================================================================\n\
00280 MSG: arm_navigation_msgs/Shape\n\
00281 byte SPHERE=0\n\
00282 byte BOX=1\n\
00283 byte CYLINDER=2\n\
00284 byte MESH=3\n\
00285 \n\
00286 byte type\n\
00287 \n\
00288 \n\
00289 #### define sphere, box, cylinder ####\n\
00290 # the origin of each shape is considered at the shape's center\n\
00291 \n\
00292 # for sphere\n\
00293 # radius := dimensions[0]\n\
00294 \n\
00295 # for cylinder\n\
00296 # radius := dimensions[0]\n\
00297 # length := dimensions[1]\n\
00298 # the length is along the Z axis\n\
00299 \n\
00300 # for box\n\
00301 # size_x := dimensions[0]\n\
00302 # size_y := dimensions[1]\n\
00303 # size_z := dimensions[2]\n\
00304 float64[] dimensions\n\
00305 \n\
00306 \n\
00307 #### define mesh ####\n\
00308 \n\
00309 # list of triangles; triangle k is defined by tre vertices located\n\
00310 # at indices triangles[3k], triangles[3k+1], triangles[3k+2]\n\
00311 int32[] triangles\n\
00312 geometry_msgs/Point[] vertices\n\
00313 \n\
00314 ================================================================================\n\
00315 MSG: geometry_msgs/Point\n\
00316 # This contains the position of a point in free space\n\
00317 float64 x\n\
00318 float64 y\n\
00319 float64 z\n\
00320 \n\
00321 ================================================================================\n\
00322 MSG: geometry_msgs/PoseStamped\n\
00323 # A Pose with reference coordinate frame and timestamp\n\
00324 Header header\n\
00325 Pose pose\n\
00326 \n\
00327 ================================================================================\n\
00328 MSG: std_msgs/Header\n\
00329 # Standard metadata for higher-level stamped data types.\n\
00330 # This is generally used to communicate timestamped data \n\
00331 # in a particular coordinate frame.\n\
00332 # \n\
00333 # sequence ID: consecutively increasing ID \n\
00334 uint32 seq\n\
00335 #Two-integer timestamp that is expressed as:\n\
00336 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00337 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00338 # time-handling sugar is provided by the client library\n\
00339 time stamp\n\
00340 #Frame this data is associated with\n\
00341 # 0: no frame\n\
00342 # 1: global frame\n\
00343 string frame_id\n\
00344 \n\
00345 ================================================================================\n\
00346 MSG: geometry_msgs/Pose\n\
00347 # A representation of pose in free space, composed of postion and orientation. \n\
00348 Point position\n\
00349 Quaternion orientation\n\
00350 \n\
00351 ================================================================================\n\
00352 MSG: geometry_msgs/Quaternion\n\
00353 # This represents an orientation in free space in quaternion form.\n\
00354 \n\
00355 float64 x\n\
00356 float64 y\n\
00357 float64 z\n\
00358 float64 w\n\
00359 \n\
00360 ";
00361 }
00362
00363 static const char* value(const ::arm_navigation_msgs::AllowedContactSpecification_<ContainerAllocator> &) { return value(); }
00364 };
00365
00366 }
00367 }
00368
00369 namespace ros
00370 {
00371 namespace serialization
00372 {
00373
00374 template<class ContainerAllocator> struct Serializer< ::arm_navigation_msgs::AllowedContactSpecification_<ContainerAllocator> >
00375 {
00376 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00377 {
00378 stream.next(m.name);
00379 stream.next(m.shape);
00380 stream.next(m.pose_stamped);
00381 stream.next(m.link_names);
00382 stream.next(m.penetration_depth);
00383 }
00384
00385 ROS_DECLARE_ALLINONE_SERIALIZER;
00386 };
00387 }
00388 }
00389
00390 namespace ros
00391 {
00392 namespace message_operations
00393 {
00394
00395 template<class ContainerAllocator>
00396 struct Printer< ::arm_navigation_msgs::AllowedContactSpecification_<ContainerAllocator> >
00397 {
00398 template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::arm_navigation_msgs::AllowedContactSpecification_<ContainerAllocator> & v)
00399 {
00400 s << indent << "name: ";
00401 Printer<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > >::stream(s, indent + " ", v.name);
00402 s << indent << "shape: ";
00403 s << std::endl;
00404 Printer< ::arm_navigation_msgs::Shape_<ContainerAllocator> >::stream(s, indent + " ", v.shape);
00405 s << indent << "pose_stamped: ";
00406 s << std::endl;
00407 Printer< ::geometry_msgs::PoseStamped_<ContainerAllocator> >::stream(s, indent + " ", v.pose_stamped);
00408 s << indent << "link_names[]" << std::endl;
00409 for (size_t i = 0; i < v.link_names.size(); ++i)
00410 {
00411 s << indent << " link_names[" << i << "]: ";
00412 Printer<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > >::stream(s, indent + " ", v.link_names[i]);
00413 }
00414 s << indent << "penetration_depth: ";
00415 Printer<double>::stream(s, indent + " ", v.penetration_depth);
00416 }
00417 };
00418
00419
00420 }
00421 }
00422
00423 #endif // ARM_NAVIGATION_MSGS_MESSAGE_ALLOWEDCONTACTSPECIFICATION_H
00424
