00001
00002 #ifndef ART_MSGS_MESSAGE_NAVIGATORCOMMAND_H
00003 #define ART_MSGS_MESSAGE_NAVIGATORCOMMAND_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 "art_msgs/Order.h"
00019
00020 namespace art_msgs
00021 {
00022 template <class ContainerAllocator>
00023 struct NavigatorCommand_ {
00024 typedef NavigatorCommand_<ContainerAllocator> Type;
00025
00026 NavigatorCommand_()
00027 : header()
00028 , order()
00029 {
00030 }
00031
00032 NavigatorCommand_(const ContainerAllocator& _alloc)
00033 : header(_alloc)
00034 , order(_alloc)
00035 {
00036 }
00037
00038 typedef ::std_msgs::Header_<ContainerAllocator> _header_type;
00039 ::std_msgs::Header_<ContainerAllocator> header;
00040
00041 typedef ::art_msgs::Order_<ContainerAllocator> _order_type;
00042 ::art_msgs::Order_<ContainerAllocator> order;
00043
00044
00045 private:
00046 static const char* __s_getDataType_() { return "art_msgs/NavigatorCommand"; }
00047 public:
00048 ROS_DEPRECATED static const std::string __s_getDataType() { return __s_getDataType_(); }
00049
00050 ROS_DEPRECATED const std::string __getDataType() const { return __s_getDataType_(); }
00051
00052 private:
00053 static const char* __s_getMD5Sum_() { return "415e5ee8b2ed1c9329a949ed123760f3"; }
00054 public:
00055 ROS_DEPRECATED static const std::string __s_getMD5Sum() { return __s_getMD5Sum_(); }
00056
00057 ROS_DEPRECATED const std::string __getMD5Sum() const { return __s_getMD5Sum_(); }
00058
00059 private:
00060 static const char* __s_getMessageDefinition_() { return "# navigator command message\n\
00061 # $Id: NavigatorCommand.msg 615 2010-09-24 16:07:50Z jack.oquin $\n\
00062 \n\
00063 Header header\n\
00064 Order order\n\
00065 \n\
00066 ================================================================================\n\
00067 MSG: std_msgs/Header\n\
00068 # Standard metadata for higher-level stamped data types.\n\
00069 # This is generally used to communicate timestamped data \n\
00070 # in a particular coordinate frame.\n\
00071 # \n\
00072 # sequence ID: consecutively increasing ID \n\
00073 uint32 seq\n\
00074 #Two-integer timestamp that is expressed as:\n\
00075 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00076 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00077 # time-handling sugar is provided by the client library\n\
00078 time stamp\n\
00079 #Frame this data is associated with\n\
00080 # 0: no frame\n\
00081 # 1: global frame\n\
00082 string frame_id\n\
00083 \n\
00084 ================================================================================\n\
00085 MSG: art_msgs/Order\n\
00086 # commander order for the navigator\n\
00087 # $Id: Order.msg 615 2010-09-24 16:07:50Z jack.oquin $\n\
00088 \n\
00089 uint32 N_WAYPTS = 5 # number of way-points in order\n\
00090 uint32 N_CHKPTS = 2 # number of checkpoints in order\n\
00091 \n\
00092 Behavior behavior # requested behavior\n\
00093 art_msgs/WayPoint[5] waypt # way-point array\n\
00094 art_msgs/WayPoint[2] chkpt # next two goal checkpoints\n\
00095 float32 min_speed # in meters/sec\n\
00096 float32 max_speed\n\
00097 int32 replan_num\n\
00098 int32 next_uturn # Uturn between [1] and [2]\n\
00099 \n\
00100 ================================================================================\n\
00101 MSG: art_msgs/Behavior\n\
00102 # ART Navigator behaviors (lower numbers have higher priority)\n\
00103 # $Id: Behavior.msg 996 2011-02-27 16:07:34Z jack.oquin $\n\
00104 \n\
00105 # enumerated behavior values\n\
00106 int16 Abort = 0\n\
00107 int16 Quit = 1\n\
00108 int16 Pause = 2\n\
00109 int16 Run = 3\n\
00110 int16 Suspend = 4\n\
00111 int16 Initialize = 5\n\
00112 int16 Go = 6\n\
00113 int16 NONE = 7\n\
00114 int16 N_behaviors = 8\n\
00115 \n\
00116 int16 value\n\
00117 \n\
00118 ================================================================================\n\
00119 MSG: art_msgs/WayPoint\n\
00120 # Way-point attributes\n\
00121 # $Id: WayPoint.msg 614 2010-09-24 15:08:46Z jack.oquin $\n\
00122 \n\
00123 float64 latitude # latitude in degrees\n\
00124 float64 longitude # longitude in degrees\n\
00125 geometry_msgs/Point32 mapxy # MapXY position\n\
00126 MapID id # way-point ID\n\
00127 uint16 index # parser index of waypoint\n\
00128 \n\
00129 # way-point flags\n\
00130 bool is_entry # lane or zone exit point\n\
00131 bool is_exit # lane or zone entry point\n\
00132 bool is_goal # this is a goal checkpoint\n\
00133 bool is_lane_change # change lanes after here\n\
00134 bool is_spot # parking spot\n\
00135 bool is_stop # stop line here\n\
00136 bool is_perimeter # zone perimeter point\n\
00137 int32 checkpoint_id # checkpoint ID or zero\n\
00138 float32 lane_width\n\
00139 \n\
00140 ================================================================================\n\
00141 MSG: geometry_msgs/Point32\n\
00142 # This contains the position of a point in free space(with 32 bits of precision).\n\
00143 # It is recommeded to use Point wherever possible instead of Point32. \n\
00144 # \n\
00145 # This recommendation is to promote interoperability. \n\
00146 #\n\
00147 # This message is designed to take up less space when sending\n\
00148 # lots of points at once, as in the case of a PointCloud. \n\
00149 \n\
00150 float32 x\n\
00151 float32 y\n\
00152 float32 z\n\
00153 ================================================================================\n\
00154 MSG: art_msgs/MapID\n\
00155 # Road map identifier for segments, lanes and way-points.\n\
00156 # $Id: MapID.msg 614 2010-09-24 15:08:46Z jack.oquin $\n\
00157 \n\
00158 uint16 NULL_ID = 65535\n\
00159 \n\
00160 uint16 seg # segment ID\n\
00161 uint16 lane # lane ID\n\
00162 uint16 pt # way-point ID\n\
00163 \n\
00164 "; }
00165 public:
00166 ROS_DEPRECATED static const std::string __s_getMessageDefinition() { return __s_getMessageDefinition_(); }
00167
00168 ROS_DEPRECATED const std::string __getMessageDefinition() const { return __s_getMessageDefinition_(); }
00169
00170 ROS_DEPRECATED virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const
00171 {
00172 ros::serialization::OStream stream(write_ptr, 1000000000);
00173 ros::serialization::serialize(stream, header);
00174 ros::serialization::serialize(stream, order);
00175 return stream.getData();
00176 }
00177
00178 ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr)
00179 {
00180 ros::serialization::IStream stream(read_ptr, 1000000000);
00181 ros::serialization::deserialize(stream, header);
00182 ros::serialization::deserialize(stream, order);
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(header);
00190 size += ros::serialization::serializationLength(order);
00191 return size;
00192 }
00193
00194 typedef boost::shared_ptr< ::art_msgs::NavigatorCommand_<ContainerAllocator> > Ptr;
00195 typedef boost::shared_ptr< ::art_msgs::NavigatorCommand_<ContainerAllocator> const> ConstPtr;
00196 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00197 };
00198 typedef ::art_msgs::NavigatorCommand_<std::allocator<void> > NavigatorCommand;
00199
00200 typedef boost::shared_ptr< ::art_msgs::NavigatorCommand> NavigatorCommandPtr;
00201 typedef boost::shared_ptr< ::art_msgs::NavigatorCommand const> NavigatorCommandConstPtr;
00202
00203
00204 template<typename ContainerAllocator>
00205 std::ostream& operator<<(std::ostream& s, const ::art_msgs::NavigatorCommand_<ContainerAllocator> & v)
00206 {
00207 ros::message_operations::Printer< ::art_msgs::NavigatorCommand_<ContainerAllocator> >::stream(s, "", v);
00208 return s;}
00209
00210 }
00211
00212 namespace ros
00213 {
00214 namespace message_traits
00215 {
00216 template<class ContainerAllocator> struct IsMessage< ::art_msgs::NavigatorCommand_<ContainerAllocator> > : public TrueType {};
00217 template<class ContainerAllocator> struct IsMessage< ::art_msgs::NavigatorCommand_<ContainerAllocator> const> : public TrueType {};
00218 template<class ContainerAllocator>
00219 struct MD5Sum< ::art_msgs::NavigatorCommand_<ContainerAllocator> > {
00220 static const char* value()
00221 {
00222 return "415e5ee8b2ed1c9329a949ed123760f3";
00223 }
00224
00225 static const char* value(const ::art_msgs::NavigatorCommand_<ContainerAllocator> &) { return value(); }
00226 static const uint64_t static_value1 = 0x415e5ee8b2ed1c93ULL;
00227 static const uint64_t static_value2 = 0x29a949ed123760f3ULL;
00228 };
00229
00230 template<class ContainerAllocator>
00231 struct DataType< ::art_msgs::NavigatorCommand_<ContainerAllocator> > {
00232 static const char* value()
00233 {
00234 return "art_msgs/NavigatorCommand";
00235 }
00236
00237 static const char* value(const ::art_msgs::NavigatorCommand_<ContainerAllocator> &) { return value(); }
00238 };
00239
00240 template<class ContainerAllocator>
00241 struct Definition< ::art_msgs::NavigatorCommand_<ContainerAllocator> > {
00242 static const char* value()
00243 {
00244 return "# navigator command message\n\
00245 # $Id: NavigatorCommand.msg 615 2010-09-24 16:07:50Z jack.oquin $\n\
00246 \n\
00247 Header header\n\
00248 Order order\n\
00249 \n\
00250 ================================================================================\n\
00251 MSG: std_msgs/Header\n\
00252 # Standard metadata for higher-level stamped data types.\n\
00253 # This is generally used to communicate timestamped data \n\
00254 # in a particular coordinate frame.\n\
00255 # \n\
00256 # sequence ID: consecutively increasing ID \n\
00257 uint32 seq\n\
00258 #Two-integer timestamp that is expressed as:\n\
00259 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00260 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00261 # time-handling sugar is provided by the client library\n\
00262 time stamp\n\
00263 #Frame this data is associated with\n\
00264 # 0: no frame\n\
00265 # 1: global frame\n\
00266 string frame_id\n\
00267 \n\
00268 ================================================================================\n\
00269 MSG: art_msgs/Order\n\
00270 # commander order for the navigator\n\
00271 # $Id: Order.msg 615 2010-09-24 16:07:50Z jack.oquin $\n\
00272 \n\
00273 uint32 N_WAYPTS = 5 # number of way-points in order\n\
00274 uint32 N_CHKPTS = 2 # number of checkpoints in order\n\
00275 \n\
00276 Behavior behavior # requested behavior\n\
00277 art_msgs/WayPoint[5] waypt # way-point array\n\
00278 art_msgs/WayPoint[2] chkpt # next two goal checkpoints\n\
00279 float32 min_speed # in meters/sec\n\
00280 float32 max_speed\n\
00281 int32 replan_num\n\
00282 int32 next_uturn # Uturn between [1] and [2]\n\
00283 \n\
00284 ================================================================================\n\
00285 MSG: art_msgs/Behavior\n\
00286 # ART Navigator behaviors (lower numbers have higher priority)\n\
00287 # $Id: Behavior.msg 996 2011-02-27 16:07:34Z jack.oquin $\n\
00288 \n\
00289 # enumerated behavior values\n\
00290 int16 Abort = 0\n\
00291 int16 Quit = 1\n\
00292 int16 Pause = 2\n\
00293 int16 Run = 3\n\
00294 int16 Suspend = 4\n\
00295 int16 Initialize = 5\n\
00296 int16 Go = 6\n\
00297 int16 NONE = 7\n\
00298 int16 N_behaviors = 8\n\
00299 \n\
00300 int16 value\n\
00301 \n\
00302 ================================================================================\n\
00303 MSG: art_msgs/WayPoint\n\
00304 # Way-point attributes\n\
00305 # $Id: WayPoint.msg 614 2010-09-24 15:08:46Z jack.oquin $\n\
00306 \n\
00307 float64 latitude # latitude in degrees\n\
00308 float64 longitude # longitude in degrees\n\
00309 geometry_msgs/Point32 mapxy # MapXY position\n\
00310 MapID id # way-point ID\n\
00311 uint16 index # parser index of waypoint\n\
00312 \n\
00313 # way-point flags\n\
00314 bool is_entry # lane or zone exit point\n\
00315 bool is_exit # lane or zone entry point\n\
00316 bool is_goal # this is a goal checkpoint\n\
00317 bool is_lane_change # change lanes after here\n\
00318 bool is_spot # parking spot\n\
00319 bool is_stop # stop line here\n\
00320 bool is_perimeter # zone perimeter point\n\
00321 int32 checkpoint_id # checkpoint ID or zero\n\
00322 float32 lane_width\n\
00323 \n\
00324 ================================================================================\n\
00325 MSG: geometry_msgs/Point32\n\
00326 # This contains the position of a point in free space(with 32 bits of precision).\n\
00327 # It is recommeded to use Point wherever possible instead of Point32. \n\
00328 # \n\
00329 # This recommendation is to promote interoperability. \n\
00330 #\n\
00331 # This message is designed to take up less space when sending\n\
00332 # lots of points at once, as in the case of a PointCloud. \n\
00333 \n\
00334 float32 x\n\
00335 float32 y\n\
00336 float32 z\n\
00337 ================================================================================\n\
00338 MSG: art_msgs/MapID\n\
00339 # Road map identifier for segments, lanes and way-points.\n\
00340 # $Id: MapID.msg 614 2010-09-24 15:08:46Z jack.oquin $\n\
00341 \n\
00342 uint16 NULL_ID = 65535\n\
00343 \n\
00344 uint16 seg # segment ID\n\
00345 uint16 lane # lane ID\n\
00346 uint16 pt # way-point ID\n\
00347 \n\
00348 ";
00349 }
00350
00351 static const char* value(const ::art_msgs::NavigatorCommand_<ContainerAllocator> &) { return value(); }
00352 };
00353
00354 template<class ContainerAllocator> struct HasHeader< ::art_msgs::NavigatorCommand_<ContainerAllocator> > : public TrueType {};
00355 template<class ContainerAllocator> struct HasHeader< const ::art_msgs::NavigatorCommand_<ContainerAllocator> > : public TrueType {};
00356 }
00357 }
00358
00359 namespace ros
00360 {
00361 namespace serialization
00362 {
00363
00364 template<class ContainerAllocator> struct Serializer< ::art_msgs::NavigatorCommand_<ContainerAllocator> >
00365 {
00366 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00367 {
00368 stream.next(m.header);
00369 stream.next(m.order);
00370 }
00371
00372 ROS_DECLARE_ALLINONE_SERIALIZER;
00373 };
00374 }
00375 }
00376
00377 namespace ros
00378 {
00379 namespace message_operations
00380 {
00381
00382 template<class ContainerAllocator>
00383 struct Printer< ::art_msgs::NavigatorCommand_<ContainerAllocator> >
00384 {
00385 template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::art_msgs::NavigatorCommand_<ContainerAllocator> & v)
00386 {
00387 s << indent << "header: ";
00388 s << std::endl;
00389 Printer< ::std_msgs::Header_<ContainerAllocator> >::stream(s, indent + " ", v.header);
00390 s << indent << "order: ";
00391 s << std::endl;
00392 Printer< ::art_msgs::Order_<ContainerAllocator> >::stream(s, indent + " ", v.order);
00393 }
00394 };
00395
00396
00397 }
00398 }
00399
00400 #endif // ART_MSGS_MESSAGE_NAVIGATORCOMMAND_H
00401
