00001
00002 #ifndef ARM_NAVIGATION_MSGS_MESSAGE_COLLISIONOBJECT_H
00003 #define ARM_NAVIGATION_MSGS_MESSAGE_COLLISIONOBJECT_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 "std_msgs/Header.h"
00018 #include "arm_navigation_msgs/CollisionObjectOperation.h"
00019 #include "arm_navigation_msgs/Shape.h"
00020 #include "geometry_msgs/Pose.h"
00021
00022 namespace arm_navigation_msgs
00023 {
00024 template <class ContainerAllocator>
00025 struct CollisionObject_ {
00026 typedef CollisionObject_<ContainerAllocator> Type;
00027
00028 CollisionObject_()
00029 : header()
00030 , id()
00031 , padding(0.0)
00032 , operation()
00033 , shapes()
00034 , poses()
00035 {
00036 }
00037
00038 CollisionObject_(const ContainerAllocator& _alloc)
00039 : header(_alloc)
00040 , id(_alloc)
00041 , padding(0.0)
00042 , operation(_alloc)
00043 , shapes(_alloc)
00044 , poses(_alloc)
00045 {
00046 }
00047
00048 typedef ::std_msgs::Header_<ContainerAllocator> _header_type;
00049 ::std_msgs::Header_<ContainerAllocator> header;
00050
00051 typedef std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > _id_type;
00052 std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > id;
00053
00054 typedef float _padding_type;
00055 float padding;
00056
00057 typedef ::arm_navigation_msgs::CollisionObjectOperation_<ContainerAllocator> _operation_type;
00058 ::arm_navigation_msgs::CollisionObjectOperation_<ContainerAllocator> operation;
00059
00060 typedef std::vector< ::arm_navigation_msgs::Shape_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::arm_navigation_msgs::Shape_<ContainerAllocator> >::other > _shapes_type;
00061 std::vector< ::arm_navigation_msgs::Shape_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::arm_navigation_msgs::Shape_<ContainerAllocator> >::other > shapes;
00062
00063 typedef std::vector< ::geometry_msgs::Pose_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::geometry_msgs::Pose_<ContainerAllocator> >::other > _poses_type;
00064 std::vector< ::geometry_msgs::Pose_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::geometry_msgs::Pose_<ContainerAllocator> >::other > poses;
00065
00066
00067 ROS_DEPRECATED uint32_t get_shapes_size() const { return (uint32_t)shapes.size(); }
00068 ROS_DEPRECATED void set_shapes_size(uint32_t size) { shapes.resize((size_t)size); }
00069 ROS_DEPRECATED void get_shapes_vec(std::vector< ::arm_navigation_msgs::Shape_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::arm_navigation_msgs::Shape_<ContainerAllocator> >::other > & vec) const { vec = this->shapes; }
00070 ROS_DEPRECATED void set_shapes_vec(const std::vector< ::arm_navigation_msgs::Shape_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::arm_navigation_msgs::Shape_<ContainerAllocator> >::other > & vec) { this->shapes = vec; }
00071 ROS_DEPRECATED uint32_t get_poses_size() const { return (uint32_t)poses.size(); }
00072 ROS_DEPRECATED void set_poses_size(uint32_t size) { poses.resize((size_t)size); }
00073 ROS_DEPRECATED void get_poses_vec(std::vector< ::geometry_msgs::Pose_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::geometry_msgs::Pose_<ContainerAllocator> >::other > & vec) const { vec = this->poses; }
00074 ROS_DEPRECATED void set_poses_vec(const std::vector< ::geometry_msgs::Pose_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::geometry_msgs::Pose_<ContainerAllocator> >::other > & vec) { this->poses = vec; }
00075 private:
00076 static const char* __s_getDataType_() { return "arm_navigation_msgs/CollisionObject"; }
00077 public:
00078 ROS_DEPRECATED static const std::string __s_getDataType() { return __s_getDataType_(); }
00079
00080 ROS_DEPRECATED const std::string __getDataType() const { return __s_getDataType_(); }
00081
00082 private:
00083 static const char* __s_getMD5Sum_() { return "7b972910c23ece1b873b3de0cf92ba97"; }
00084 public:
00085 ROS_DEPRECATED static const std::string __s_getMD5Sum() { return __s_getMD5Sum_(); }
00086
00087 ROS_DEPRECATED const std::string __getMD5Sum() const { return __s_getMD5Sum_(); }
00088
00089 private:
00090 static const char* __s_getMessageDefinition_() { return "# a header, used for interpreting the poses\n\
00091 Header header\n\
00092 \n\
00093 # the id of the object\n\
00094 string id\n\
00095 \n\
00096 # The padding used for filtering points near the object.\n\
00097 # This does not affect collision checking for the object. \n\
00098 # Set to negative to get zero padding.\n\
00099 float32 padding\n\
00100 \n\
00101 #This contains what is to be done with the object\n\
00102 CollisionObjectOperation operation\n\
00103 \n\
00104 #the shapes associated with the object\n\
00105 arm_navigation_msgs/Shape[] shapes\n\
00106 \n\
00107 #the poses associated with the shapes - will be transformed using the header\n\
00108 geometry_msgs/Pose[] poses\n\
00109 \n\
00110 ================================================================================\n\
00111 MSG: std_msgs/Header\n\
00112 # Standard metadata for higher-level stamped data types.\n\
00113 # This is generally used to communicate timestamped data \n\
00114 # in a particular coordinate frame.\n\
00115 # \n\
00116 # sequence ID: consecutively increasing ID \n\
00117 uint32 seq\n\
00118 #Two-integer timestamp that is expressed as:\n\
00119 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00120 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00121 # time-handling sugar is provided by the client library\n\
00122 time stamp\n\
00123 #Frame this data is associated with\n\
00124 # 0: no frame\n\
00125 # 1: global frame\n\
00126 string frame_id\n\
00127 \n\
00128 ================================================================================\n\
00129 MSG: arm_navigation_msgs/CollisionObjectOperation\n\
00130 #Puts the object into the environment\n\
00131 #or updates the object if already added\n\
00132 byte ADD=0\n\
00133 \n\
00134 #Removes the object from the environment entirely\n\
00135 byte REMOVE=1\n\
00136 \n\
00137 #Only valid within the context of a CollisionAttachedObject message\n\
00138 #Will be ignored if sent with an CollisionObject message\n\
00139 #Takes an attached object, detaches from the attached link\n\
00140 #But adds back in as regular object\n\
00141 byte DETACH_AND_ADD_AS_OBJECT=2\n\
00142 \n\
00143 #Only valid within the context of a CollisionAttachedObject message\n\
00144 #Will be ignored if sent with an CollisionObject message\n\
00145 #Takes current object in the environment and removes it as\n\
00146 #a regular object\n\
00147 byte ATTACH_AND_REMOVE_AS_OBJECT=3\n\
00148 \n\
00149 # Byte code for operation\n\
00150 byte operation\n\
00151 \n\
00152 ================================================================================\n\
00153 MSG: arm_navigation_msgs/Shape\n\
00154 byte SPHERE=0\n\
00155 byte BOX=1\n\
00156 byte CYLINDER=2\n\
00157 byte MESH=3\n\
00158 \n\
00159 byte type\n\
00160 \n\
00161 \n\
00162 #### define sphere, box, cylinder ####\n\
00163 # the origin of each shape is considered at the shape's center\n\
00164 \n\
00165 # for sphere\n\
00166 # radius := dimensions[0]\n\
00167 \n\
00168 # for cylinder\n\
00169 # radius := dimensions[0]\n\
00170 # length := dimensions[1]\n\
00171 # the length is along the Z axis\n\
00172 \n\
00173 # for box\n\
00174 # size_x := dimensions[0]\n\
00175 # size_y := dimensions[1]\n\
00176 # size_z := dimensions[2]\n\
00177 float64[] dimensions\n\
00178 \n\
00179 \n\
00180 #### define mesh ####\n\
00181 \n\
00182 # list of triangles; triangle k is defined by tre vertices located\n\
00183 # at indices triangles[3k], triangles[3k+1], triangles[3k+2]\n\
00184 int32[] triangles\n\
00185 geometry_msgs/Point[] vertices\n\
00186 \n\
00187 ================================================================================\n\
00188 MSG: geometry_msgs/Point\n\
00189 # This contains the position of a point in free space\n\
00190 float64 x\n\
00191 float64 y\n\
00192 float64 z\n\
00193 \n\
00194 ================================================================================\n\
00195 MSG: geometry_msgs/Pose\n\
00196 # A representation of pose in free space, composed of postion and orientation. \n\
00197 Point position\n\
00198 Quaternion orientation\n\
00199 \n\
00200 ================================================================================\n\
00201 MSG: geometry_msgs/Quaternion\n\
00202 # This represents an orientation in free space in quaternion form.\n\
00203 \n\
00204 float64 x\n\
00205 float64 y\n\
00206 float64 z\n\
00207 float64 w\n\
00208 \n\
00209 "; }
00210 public:
00211 ROS_DEPRECATED static const std::string __s_getMessageDefinition() { return __s_getMessageDefinition_(); }
00212
00213 ROS_DEPRECATED const std::string __getMessageDefinition() const { return __s_getMessageDefinition_(); }
00214
00215 ROS_DEPRECATED virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const
00216 {
00217 ros::serialization::OStream stream(write_ptr, 1000000000);
00218 ros::serialization::serialize(stream, header);
00219 ros::serialization::serialize(stream, id);
00220 ros::serialization::serialize(stream, padding);
00221 ros::serialization::serialize(stream, operation);
00222 ros::serialization::serialize(stream, shapes);
00223 ros::serialization::serialize(stream, poses);
00224 return stream.getData();
00225 }
00226
00227 ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr)
00228 {
00229 ros::serialization::IStream stream(read_ptr, 1000000000);
00230 ros::serialization::deserialize(stream, header);
00231 ros::serialization::deserialize(stream, id);
00232 ros::serialization::deserialize(stream, padding);
00233 ros::serialization::deserialize(stream, operation);
00234 ros::serialization::deserialize(stream, shapes);
00235 ros::serialization::deserialize(stream, poses);
00236 return stream.getData();
00237 }
00238
00239 ROS_DEPRECATED virtual uint32_t serializationLength() const
00240 {
00241 uint32_t size = 0;
00242 size += ros::serialization::serializationLength(header);
00243 size += ros::serialization::serializationLength(id);
00244 size += ros::serialization::serializationLength(padding);
00245 size += ros::serialization::serializationLength(operation);
00246 size += ros::serialization::serializationLength(shapes);
00247 size += ros::serialization::serializationLength(poses);
00248 return size;
00249 }
00250
00251 typedef boost::shared_ptr< ::arm_navigation_msgs::CollisionObject_<ContainerAllocator> > Ptr;
00252 typedef boost::shared_ptr< ::arm_navigation_msgs::CollisionObject_<ContainerAllocator> const> ConstPtr;
00253 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00254 };
00255 typedef ::arm_navigation_msgs::CollisionObject_<std::allocator<void> > CollisionObject;
00256
00257 typedef boost::shared_ptr< ::arm_navigation_msgs::CollisionObject> CollisionObjectPtr;
00258 typedef boost::shared_ptr< ::arm_navigation_msgs::CollisionObject const> CollisionObjectConstPtr;
00259
00260
00261 template<typename ContainerAllocator>
00262 std::ostream& operator<<(std::ostream& s, const ::arm_navigation_msgs::CollisionObject_<ContainerAllocator> & v)
00263 {
00264 ros::message_operations::Printer< ::arm_navigation_msgs::CollisionObject_<ContainerAllocator> >::stream(s, "", v);
00265 return s;}
00266
00267 }
00268
00269 namespace ros
00270 {
00271 namespace message_traits
00272 {
00273 template<class ContainerAllocator> struct IsMessage< ::arm_navigation_msgs::CollisionObject_<ContainerAllocator> > : public TrueType {};
00274 template<class ContainerAllocator> struct IsMessage< ::arm_navigation_msgs::CollisionObject_<ContainerAllocator> const> : public TrueType {};
00275 template<class ContainerAllocator>
00276 struct MD5Sum< ::arm_navigation_msgs::CollisionObject_<ContainerAllocator> > {
00277 static const char* value()
00278 {
00279 return "7b972910c23ece1b873b3de0cf92ba97";
00280 }
00281
00282 static const char* value(const ::arm_navigation_msgs::CollisionObject_<ContainerAllocator> &) { return value(); }
00283 static const uint64_t static_value1 = 0x7b972910c23ece1bULL;
00284 static const uint64_t static_value2 = 0x873b3de0cf92ba97ULL;
00285 };
00286
00287 template<class ContainerAllocator>
00288 struct DataType< ::arm_navigation_msgs::CollisionObject_<ContainerAllocator> > {
00289 static const char* value()
00290 {
00291 return "arm_navigation_msgs/CollisionObject";
00292 }
00293
00294 static const char* value(const ::arm_navigation_msgs::CollisionObject_<ContainerAllocator> &) { return value(); }
00295 };
00296
00297 template<class ContainerAllocator>
00298 struct Definition< ::arm_navigation_msgs::CollisionObject_<ContainerAllocator> > {
00299 static const char* value()
00300 {
00301 return "# a header, used for interpreting the poses\n\
00302 Header header\n\
00303 \n\
00304 # the id of the object\n\
00305 string id\n\
00306 \n\
00307 # The padding used for filtering points near the object.\n\
00308 # This does not affect collision checking for the object. \n\
00309 # Set to negative to get zero padding.\n\
00310 float32 padding\n\
00311 \n\
00312 #This contains what is to be done with the object\n\
00313 CollisionObjectOperation operation\n\
00314 \n\
00315 #the shapes associated with the object\n\
00316 arm_navigation_msgs/Shape[] shapes\n\
00317 \n\
00318 #the poses associated with the shapes - will be transformed using the header\n\
00319 geometry_msgs/Pose[] poses\n\
00320 \n\
00321 ================================================================================\n\
00322 MSG: std_msgs/Header\n\
00323 # Standard metadata for higher-level stamped data types.\n\
00324 # This is generally used to communicate timestamped data \n\
00325 # in a particular coordinate frame.\n\
00326 # \n\
00327 # sequence ID: consecutively increasing ID \n\
00328 uint32 seq\n\
00329 #Two-integer timestamp that is expressed as:\n\
00330 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00331 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00332 # time-handling sugar is provided by the client library\n\
00333 time stamp\n\
00334 #Frame this data is associated with\n\
00335 # 0: no frame\n\
00336 # 1: global frame\n\
00337 string frame_id\n\
00338 \n\
00339 ================================================================================\n\
00340 MSG: arm_navigation_msgs/CollisionObjectOperation\n\
00341 #Puts the object into the environment\n\
00342 #or updates the object if already added\n\
00343 byte ADD=0\n\
00344 \n\
00345 #Removes the object from the environment entirely\n\
00346 byte REMOVE=1\n\
00347 \n\
00348 #Only valid within the context of a CollisionAttachedObject message\n\
00349 #Will be ignored if sent with an CollisionObject message\n\
00350 #Takes an attached object, detaches from the attached link\n\
00351 #But adds back in as regular object\n\
00352 byte DETACH_AND_ADD_AS_OBJECT=2\n\
00353 \n\
00354 #Only valid within the context of a CollisionAttachedObject message\n\
00355 #Will be ignored if sent with an CollisionObject message\n\
00356 #Takes current object in the environment and removes it as\n\
00357 #a regular object\n\
00358 byte ATTACH_AND_REMOVE_AS_OBJECT=3\n\
00359 \n\
00360 # Byte code for operation\n\
00361 byte operation\n\
00362 \n\
00363 ================================================================================\n\
00364 MSG: arm_navigation_msgs/Shape\n\
00365 byte SPHERE=0\n\
00366 byte BOX=1\n\
00367 byte CYLINDER=2\n\
00368 byte MESH=3\n\
00369 \n\
00370 byte type\n\
00371 \n\
00372 \n\
00373 #### define sphere, box, cylinder ####\n\
00374 # the origin of each shape is considered at the shape's center\n\
00375 \n\
00376 # for sphere\n\
00377 # radius := dimensions[0]\n\
00378 \n\
00379 # for cylinder\n\
00380 # radius := dimensions[0]\n\
00381 # length := dimensions[1]\n\
00382 # the length is along the Z axis\n\
00383 \n\
00384 # for box\n\
00385 # size_x := dimensions[0]\n\
00386 # size_y := dimensions[1]\n\
00387 # size_z := dimensions[2]\n\
00388 float64[] dimensions\n\
00389 \n\
00390 \n\
00391 #### define mesh ####\n\
00392 \n\
00393 # list of triangles; triangle k is defined by tre vertices located\n\
00394 # at indices triangles[3k], triangles[3k+1], triangles[3k+2]\n\
00395 int32[] triangles\n\
00396 geometry_msgs/Point[] vertices\n\
00397 \n\
00398 ================================================================================\n\
00399 MSG: geometry_msgs/Point\n\
00400 # This contains the position of a point in free space\n\
00401 float64 x\n\
00402 float64 y\n\
00403 float64 z\n\
00404 \n\
00405 ================================================================================\n\
00406 MSG: geometry_msgs/Pose\n\
00407 # A representation of pose in free space, composed of postion and orientation. \n\
00408 Point position\n\
00409 Quaternion orientation\n\
00410 \n\
00411 ================================================================================\n\
00412 MSG: geometry_msgs/Quaternion\n\
00413 # This represents an orientation in free space in quaternion form.\n\
00414 \n\
00415 float64 x\n\
00416 float64 y\n\
00417 float64 z\n\
00418 float64 w\n\
00419 \n\
00420 ";
00421 }
00422
00423 static const char* value(const ::arm_navigation_msgs::CollisionObject_<ContainerAllocator> &) { return value(); }
00424 };
00425
00426 template<class ContainerAllocator> struct HasHeader< ::arm_navigation_msgs::CollisionObject_<ContainerAllocator> > : public TrueType {};
00427 template<class ContainerAllocator> struct HasHeader< const ::arm_navigation_msgs::CollisionObject_<ContainerAllocator> > : public TrueType {};
00428 }
00429 }
00430
00431 namespace ros
00432 {
00433 namespace serialization
00434 {
00435
00436 template<class ContainerAllocator> struct Serializer< ::arm_navigation_msgs::CollisionObject_<ContainerAllocator> >
00437 {
00438 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00439 {
00440 stream.next(m.header);
00441 stream.next(m.id);
00442 stream.next(m.padding);
00443 stream.next(m.operation);
00444 stream.next(m.shapes);
00445 stream.next(m.poses);
00446 }
00447
00448 ROS_DECLARE_ALLINONE_SERIALIZER;
00449 };
00450 }
00451 }
00452
00453 namespace ros
00454 {
00455 namespace message_operations
00456 {
00457
00458 template<class ContainerAllocator>
00459 struct Printer< ::arm_navigation_msgs::CollisionObject_<ContainerAllocator> >
00460 {
00461 template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::arm_navigation_msgs::CollisionObject_<ContainerAllocator> & v)
00462 {
00463 s << indent << "header: ";
00464 s << std::endl;
00465 Printer< ::std_msgs::Header_<ContainerAllocator> >::stream(s, indent + " ", v.header);
00466 s << indent << "id: ";
00467 Printer<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > >::stream(s, indent + " ", v.id);
00468 s << indent << "padding: ";
00469 Printer<float>::stream(s, indent + " ", v.padding);
00470 s << indent << "operation: ";
00471 s << std::endl;
00472 Printer< ::arm_navigation_msgs::CollisionObjectOperation_<ContainerAllocator> >::stream(s, indent + " ", v.operation);
00473 s << indent << "shapes[]" << std::endl;
00474 for (size_t i = 0; i < v.shapes.size(); ++i)
00475 {
00476 s << indent << " shapes[" << i << "]: ";
00477 s << std::endl;
00478 s << indent;
00479 Printer< ::arm_navigation_msgs::Shape_<ContainerAllocator> >::stream(s, indent + " ", v.shapes[i]);
00480 }
00481 s << indent << "poses[]" << std::endl;
00482 for (size_t i = 0; i < v.poses.size(); ++i)
00483 {
00484 s << indent << " poses[" << i << "]: ";
00485 s << std::endl;
00486 s << indent;
00487 Printer< ::geometry_msgs::Pose_<ContainerAllocator> >::stream(s, indent + " ", v.poses[i]);
00488 }
00489 }
00490 };
00491
00492
00493 }
00494 }
00495
00496 #endif // ARM_NAVIGATION_MSGS_MESSAGE_COLLISIONOBJECT_H
00497
