00001
00002 #ifndef ART_MSGS_MESSAGE_CARDRIVE_H
00003 #define ART_MSGS_MESSAGE_CARDRIVE_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 "art_msgs/Gear.h"
00018 #include "art_msgs/PilotBehavior.h"
00019
00020 namespace art_msgs
00021 {
00022 template <class ContainerAllocator>
00023 struct CarDrive_ {
00024 typedef CarDrive_<ContainerAllocator> Type;
00025
00026 CarDrive_()
00027 : speed(0.0)
00028 , acceleration(0.0)
00029 , jerk(0.0)
00030 , steering_angle(0.0)
00031 , gear()
00032 , behavior()
00033 {
00034 }
00035
00036 CarDrive_(const ContainerAllocator& _alloc)
00037 : speed(0.0)
00038 , acceleration(0.0)
00039 , jerk(0.0)
00040 , steering_angle(0.0)
00041 , gear(_alloc)
00042 , behavior(_alloc)
00043 {
00044 }
00045
00046 typedef float _speed_type;
00047 float speed;
00048
00049 typedef float _acceleration_type;
00050 float acceleration;
00051
00052 typedef float _jerk_type;
00053 float jerk;
00054
00055 typedef float _steering_angle_type;
00056 float steering_angle;
00057
00058 typedef ::art_msgs::Gear_<ContainerAllocator> _gear_type;
00059 ::art_msgs::Gear_<ContainerAllocator> gear;
00060
00061 typedef ::art_msgs::PilotBehavior_<ContainerAllocator> _behavior_type;
00062 ::art_msgs::PilotBehavior_<ContainerAllocator> behavior;
00063
00064
00065 private:
00066 static const char* __s_getDataType_() { return "art_msgs/CarDrive"; }
00067 public:
00068 ROS_DEPRECATED static const std::string __s_getDataType() { return __s_getDataType_(); }
00069
00070 ROS_DEPRECATED const std::string __getDataType() const { return __s_getDataType_(); }
00071
00072 private:
00073 static const char* __s_getMD5Sum_() { return "977b12f7daeec4c2a2276732baf95662"; }
00074 public:
00075 ROS_DEPRECATED static const std::string __s_getMD5Sum() { return __s_getMD5Sum_(); }
00076
00077 ROS_DEPRECATED const std::string __getMD5Sum() const { return __s_getMD5Sum_(); }
00078
00079 private:
00080 static const char* __s_getMessageDefinition_() { return "# Driving command for a car-like vehicle using Ackermann steering.\n\
00081 # $Id: CarDrive.msg 1539 2011-05-09 04:09:20Z jack.oquin $\n\
00082 \n\
00083 # Drive at requested speed, acceleration and jerk (the 1st, 2nd and\n\
00084 # 3rd derivatives of position). All are non-negative scalars. \n\
00085 #\n\
00086 # Speed is defined as the scalar magnitude of the velocity\n\
00087 # vector. Direction (forwards or backwards) is determined by the gear.\n\
00088 #\n\
00089 # Zero acceleration means change speed as quickly as\n\
00090 # possible. Positive acceleration may include deceleration as needed\n\
00091 # to match the desired speed. It represents a desired rate and also a\n\
00092 # limit not to exceed.\n\
00093 #\n\
00094 # Zero jerk means change acceleration as quickly as possible. Positive\n\
00095 # jerk describes the desired rate of acceleration change in both\n\
00096 # directions (positive and negative).\n\
00097 #\n\
00098 float32 speed # magnitude of velocity vector (m/s)\n\
00099 float32 acceleration # desired acceleration (m/s^2)\n\
00100 float32 jerk # desired jerk (m/s^3)\n\
00101 \n\
00102 # Assumes Ackermann (front-wheel) steering. This angle is the average\n\
00103 # yaw of the two front wheels in the vehicle frame of reference\n\
00104 # (positive left), ignoring their slightly differing angles as if it\n\
00105 # were a tricycle. This is *not* the angle of the steering wheel\n\
00106 # inside the passenger compartment.\n\
00107 #\n\
00108 float32 steering_angle # steering angle (radians)\n\
00109 \n\
00110 Gear gear # requested gear (no change if Naught)\n\
00111 PilotBehavior behavior # requested pilot behavior\n\
00112 \n\
00113 ================================================================================\n\
00114 MSG: art_msgs/Gear\n\
00115 # ART vehicle transmission gear numbers\n\
00116 #\n\
00117 # Used by several different messages.\n\
00118 \n\
00119 # $Id: Gear.msg 1539 2011-05-09 04:09:20Z jack.oquin $\n\
00120 \n\
00121 # Gear numbers. \n\
00122 #\n\
00123 # Naught means: reset all Shifter relays; no change of CarDrive gear.\n\
00124 uint8 Naught = 0\n\
00125 uint8 Park = 1\n\
00126 uint8 Reverse = 2\n\
00127 uint8 Neutral = 3\n\
00128 uint8 Drive = 4\n\
00129 uint8 N_gears = 5\n\
00130 \n\
00131 uint8 value # requested or reported gear number\n\
00132 \n\
00133 ================================================================================\n\
00134 MSG: art_msgs/PilotBehavior\n\
00135 # ART autonomous vehicle pilot node behaviors.\n\
00136 #\n\
00137 # Normally, the pilot node does Run, continually sending commands to\n\
00138 # the servo device actuators and monitoring their state. With Pause,\n\
00139 # the pilot becomes passive, allowing a learning algorithm or human\n\
00140 # controller direct access to those devices. In the Off state,\n\
00141 # various devices are shut down: the transmission in Park, the brake\n\
00142 # released, the throttle at idle. The engine is not turned off, but\n\
00143 # it could be.\n\
00144 \n\
00145 # $Id: PilotBehavior.msg 1539 2011-05-09 04:09:20Z jack.oquin $\n\
00146 \n\
00147 # Behavior value\n\
00148 uint8 value\n\
00149 \n\
00150 # Behavior numbers:\n\
00151 uint8 Run = 0 # normal driving\n\
00152 uint8 Pause = 1 # stop issuing servo commands\n\
00153 uint8 Off = 2 # turn off devices\n\
00154 uint8 N_behaviors = 3\n\
00155 \n\
00156 "; }
00157 public:
00158 ROS_DEPRECATED static const std::string __s_getMessageDefinition() { return __s_getMessageDefinition_(); }
00159
00160 ROS_DEPRECATED const std::string __getMessageDefinition() const { return __s_getMessageDefinition_(); }
00161
00162 ROS_DEPRECATED virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const
00163 {
00164 ros::serialization::OStream stream(write_ptr, 1000000000);
00165 ros::serialization::serialize(stream, speed);
00166 ros::serialization::serialize(stream, acceleration);
00167 ros::serialization::serialize(stream, jerk);
00168 ros::serialization::serialize(stream, steering_angle);
00169 ros::serialization::serialize(stream, gear);
00170 ros::serialization::serialize(stream, behavior);
00171 return stream.getData();
00172 }
00173
00174 ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr)
00175 {
00176 ros::serialization::IStream stream(read_ptr, 1000000000);
00177 ros::serialization::deserialize(stream, speed);
00178 ros::serialization::deserialize(stream, acceleration);
00179 ros::serialization::deserialize(stream, jerk);
00180 ros::serialization::deserialize(stream, steering_angle);
00181 ros::serialization::deserialize(stream, gear);
00182 ros::serialization::deserialize(stream, behavior);
00183 return stream.getData();
00184 }
00185
00186 ROS_DEPRECATED virtual uint32_t serializationLength() const
00187 {
00188 uint32_t size = 0;
00189 size += ros::serialization::serializationLength(speed);
00190 size += ros::serialization::serializationLength(acceleration);
00191 size += ros::serialization::serializationLength(jerk);
00192 size += ros::serialization::serializationLength(steering_angle);
00193 size += ros::serialization::serializationLength(gear);
00194 size += ros::serialization::serializationLength(behavior);
00195 return size;
00196 }
00197
00198 typedef boost::shared_ptr< ::art_msgs::CarDrive_<ContainerAllocator> > Ptr;
00199 typedef boost::shared_ptr< ::art_msgs::CarDrive_<ContainerAllocator> const> ConstPtr;
00200 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00201 };
00202 typedef ::art_msgs::CarDrive_<std::allocator<void> > CarDrive;
00203
00204 typedef boost::shared_ptr< ::art_msgs::CarDrive> CarDrivePtr;
00205 typedef boost::shared_ptr< ::art_msgs::CarDrive const> CarDriveConstPtr;
00206
00207
00208 template<typename ContainerAllocator>
00209 std::ostream& operator<<(std::ostream& s, const ::art_msgs::CarDrive_<ContainerAllocator> & v)
00210 {
00211 ros::message_operations::Printer< ::art_msgs::CarDrive_<ContainerAllocator> >::stream(s, "", v);
00212 return s;}
00213
00214 }
00215
00216 namespace ros
00217 {
00218 namespace message_traits
00219 {
00220 template<class ContainerAllocator> struct IsMessage< ::art_msgs::CarDrive_<ContainerAllocator> > : public TrueType {};
00221 template<class ContainerAllocator> struct IsMessage< ::art_msgs::CarDrive_<ContainerAllocator> const> : public TrueType {};
00222 template<class ContainerAllocator>
00223 struct MD5Sum< ::art_msgs::CarDrive_<ContainerAllocator> > {
00224 static const char* value()
00225 {
00226 return "977b12f7daeec4c2a2276732baf95662";
00227 }
00228
00229 static const char* value(const ::art_msgs::CarDrive_<ContainerAllocator> &) { return value(); }
00230 static const uint64_t static_value1 = 0x977b12f7daeec4c2ULL;
00231 static const uint64_t static_value2 = 0xa2276732baf95662ULL;
00232 };
00233
00234 template<class ContainerAllocator>
00235 struct DataType< ::art_msgs::CarDrive_<ContainerAllocator> > {
00236 static const char* value()
00237 {
00238 return "art_msgs/CarDrive";
00239 }
00240
00241 static const char* value(const ::art_msgs::CarDrive_<ContainerAllocator> &) { return value(); }
00242 };
00243
00244 template<class ContainerAllocator>
00245 struct Definition< ::art_msgs::CarDrive_<ContainerAllocator> > {
00246 static const char* value()
00247 {
00248 return "# Driving command for a car-like vehicle using Ackermann steering.\n\
00249 # $Id: CarDrive.msg 1539 2011-05-09 04:09:20Z jack.oquin $\n\
00250 \n\
00251 # Drive at requested speed, acceleration and jerk (the 1st, 2nd and\n\
00252 # 3rd derivatives of position). All are non-negative scalars. \n\
00253 #\n\
00254 # Speed is defined as the scalar magnitude of the velocity\n\
00255 # vector. Direction (forwards or backwards) is determined by the gear.\n\
00256 #\n\
00257 # Zero acceleration means change speed as quickly as\n\
00258 # possible. Positive acceleration may include deceleration as needed\n\
00259 # to match the desired speed. It represents a desired rate and also a\n\
00260 # limit not to exceed.\n\
00261 #\n\
00262 # Zero jerk means change acceleration as quickly as possible. Positive\n\
00263 # jerk describes the desired rate of acceleration change in both\n\
00264 # directions (positive and negative).\n\
00265 #\n\
00266 float32 speed # magnitude of velocity vector (m/s)\n\
00267 float32 acceleration # desired acceleration (m/s^2)\n\
00268 float32 jerk # desired jerk (m/s^3)\n\
00269 \n\
00270 # Assumes Ackermann (front-wheel) steering. This angle is the average\n\
00271 # yaw of the two front wheels in the vehicle frame of reference\n\
00272 # (positive left), ignoring their slightly differing angles as if it\n\
00273 # were a tricycle. This is *not* the angle of the steering wheel\n\
00274 # inside the passenger compartment.\n\
00275 #\n\
00276 float32 steering_angle # steering angle (radians)\n\
00277 \n\
00278 Gear gear # requested gear (no change if Naught)\n\
00279 PilotBehavior behavior # requested pilot behavior\n\
00280 \n\
00281 ================================================================================\n\
00282 MSG: art_msgs/Gear\n\
00283 # ART vehicle transmission gear numbers\n\
00284 #\n\
00285 # Used by several different messages.\n\
00286 \n\
00287 # $Id: Gear.msg 1539 2011-05-09 04:09:20Z jack.oquin $\n\
00288 \n\
00289 # Gear numbers. \n\
00290 #\n\
00291 # Naught means: reset all Shifter relays; no change of CarDrive gear.\n\
00292 uint8 Naught = 0\n\
00293 uint8 Park = 1\n\
00294 uint8 Reverse = 2\n\
00295 uint8 Neutral = 3\n\
00296 uint8 Drive = 4\n\
00297 uint8 N_gears = 5\n\
00298 \n\
00299 uint8 value # requested or reported gear number\n\
00300 \n\
00301 ================================================================================\n\
00302 MSG: art_msgs/PilotBehavior\n\
00303 # ART autonomous vehicle pilot node behaviors.\n\
00304 #\n\
00305 # Normally, the pilot node does Run, continually sending commands to\n\
00306 # the servo device actuators and monitoring their state. With Pause,\n\
00307 # the pilot becomes passive, allowing a learning algorithm or human\n\
00308 # controller direct access to those devices. In the Off state,\n\
00309 # various devices are shut down: the transmission in Park, the brake\n\
00310 # released, the throttle at idle. The engine is not turned off, but\n\
00311 # it could be.\n\
00312 \n\
00313 # $Id: PilotBehavior.msg 1539 2011-05-09 04:09:20Z jack.oquin $\n\
00314 \n\
00315 # Behavior value\n\
00316 uint8 value\n\
00317 \n\
00318 # Behavior numbers:\n\
00319 uint8 Run = 0 # normal driving\n\
00320 uint8 Pause = 1 # stop issuing servo commands\n\
00321 uint8 Off = 2 # turn off devices\n\
00322 uint8 N_behaviors = 3\n\
00323 \n\
00324 ";
00325 }
00326
00327 static const char* value(const ::art_msgs::CarDrive_<ContainerAllocator> &) { return value(); }
00328 };
00329
00330 template<class ContainerAllocator> struct IsFixedSize< ::art_msgs::CarDrive_<ContainerAllocator> > : public TrueType {};
00331 }
00332 }
00333
00334 namespace ros
00335 {
00336 namespace serialization
00337 {
00338
00339 template<class ContainerAllocator> struct Serializer< ::art_msgs::CarDrive_<ContainerAllocator> >
00340 {
00341 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00342 {
00343 stream.next(m.speed);
00344 stream.next(m.acceleration);
00345 stream.next(m.jerk);
00346 stream.next(m.steering_angle);
00347 stream.next(m.gear);
00348 stream.next(m.behavior);
00349 }
00350
00351 ROS_DECLARE_ALLINONE_SERIALIZER;
00352 };
00353 }
00354 }
00355
00356 namespace ros
00357 {
00358 namespace message_operations
00359 {
00360
00361 template<class ContainerAllocator>
00362 struct Printer< ::art_msgs::CarDrive_<ContainerAllocator> >
00363 {
00364 template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::art_msgs::CarDrive_<ContainerAllocator> & v)
00365 {
00366 s << indent << "speed: ";
00367 Printer<float>::stream(s, indent + " ", v.speed);
00368 s << indent << "acceleration: ";
00369 Printer<float>::stream(s, indent + " ", v.acceleration);
00370 s << indent << "jerk: ";
00371 Printer<float>::stream(s, indent + " ", v.jerk);
00372 s << indent << "steering_angle: ";
00373 Printer<float>::stream(s, indent + " ", v.steering_angle);
00374 s << indent << "gear: ";
00375 s << std::endl;
00376 Printer< ::art_msgs::Gear_<ContainerAllocator> >::stream(s, indent + " ", v.gear);
00377 s << indent << "behavior: ";
00378 s << std::endl;
00379 Printer< ::art_msgs::PilotBehavior_<ContainerAllocator> >::stream(s, indent + " ", v.behavior);
00380 }
00381 };
00382
00383
00384 }
00385 }
00386
00387 #endif // ART_MSGS_MESSAGE_CARDRIVE_H
00388
