00001
00002 #ifndef FLIRTLIB_ROS_MESSAGE_REFSCANROS_H
00003 #define FLIRTLIB_ROS_MESSAGE_REFSCANROS_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 "sensor_msgs/LaserScan.h"
00018 #include "geometry_msgs/Pose.h"
00019 #include "flirtlib_ros/InterestPointRos.h"
00020
00021 namespace flirtlib_ros
00022 {
00023 template <class ContainerAllocator>
00024 struct RefScanRos_ {
00025 typedef RefScanRos_<ContainerAllocator> Type;
00026
00027 RefScanRos_()
00028 : scan()
00029 , pose()
00030 , pts()
00031 {
00032 }
00033
00034 RefScanRos_(const ContainerAllocator& _alloc)
00035 : scan(_alloc)
00036 , pose(_alloc)
00037 , pts(_alloc)
00038 {
00039 }
00040
00041 typedef ::sensor_msgs::LaserScan_<ContainerAllocator> _scan_type;
00042 ::sensor_msgs::LaserScan_<ContainerAllocator> scan;
00043
00044 typedef ::geometry_msgs::Pose_<ContainerAllocator> _pose_type;
00045 ::geometry_msgs::Pose_<ContainerAllocator> pose;
00046
00047 typedef std::vector< ::flirtlib_ros::InterestPointRos_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::flirtlib_ros::InterestPointRos_<ContainerAllocator> >::other > _pts_type;
00048 std::vector< ::flirtlib_ros::InterestPointRos_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::flirtlib_ros::InterestPointRos_<ContainerAllocator> >::other > pts;
00049
00050
00051 ROS_DEPRECATED uint32_t get_pts_size() const { return (uint32_t)pts.size(); }
00052 ROS_DEPRECATED void set_pts_size(uint32_t size) { pts.resize((size_t)size); }
00053 ROS_DEPRECATED void get_pts_vec(std::vector< ::flirtlib_ros::InterestPointRos_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::flirtlib_ros::InterestPointRos_<ContainerAllocator> >::other > & vec) const { vec = this->pts; }
00054 ROS_DEPRECATED void set_pts_vec(const std::vector< ::flirtlib_ros::InterestPointRos_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::flirtlib_ros::InterestPointRos_<ContainerAllocator> >::other > & vec) { this->pts = vec; }
00055 private:
00056 static const char* __s_getDataType_() { return "flirtlib_ros/RefScanRos"; }
00057 public:
00058 ROS_DEPRECATED static const std::string __s_getDataType() { return __s_getDataType_(); }
00059
00060 ROS_DEPRECATED const std::string __getDataType() const { return __s_getDataType_(); }
00061
00062 private:
00063 static const char* __s_getMD5Sum_() { return "11956f8796f4796e1612ff817c3f3dca"; }
00064 public:
00065 ROS_DEPRECATED static const std::string __s_getMD5Sum() { return __s_getMD5Sum_(); }
00066
00067 ROS_DEPRECATED const std::string __getMD5Sum() const { return __s_getMD5Sum_(); }
00068
00069 private:
00070 static const char* __s_getMessageDefinition_() { return "sensor_msgs/LaserScan scan\n\
00071 geometry_msgs/Pose pose\n\
00072 InterestPointRos[] pts\n\
00073 ================================================================================\n\
00074 MSG: sensor_msgs/LaserScan\n\
00075 # Single scan from a planar laser range-finder\n\
00076 #\n\
00077 # If you have another ranging device with different behavior (e.g. a sonar\n\
00078 # array), please find or create a different message, since applications\n\
00079 # will make fairly laser-specific assumptions about this data\n\
00080 \n\
00081 Header header # timestamp in the header is the acquisition time of \n\
00082 # the first ray in the scan.\n\
00083 #\n\
00084 # in frame frame_id, angles are measured around \n\
00085 # the positive Z axis (counterclockwise, if Z is up)\n\
00086 # with zero angle being forward along the x axis\n\
00087 \n\
00088 float32 angle_min # start angle of the scan [rad]\n\
00089 float32 angle_max # end angle of the scan [rad]\n\
00090 float32 angle_increment # angular distance between measurements [rad]\n\
00091 \n\
00092 float32 time_increment # time between measurements [seconds] - if your scanner\n\
00093 # is moving, this will be used in interpolating position\n\
00094 # of 3d points\n\
00095 float32 scan_time # time between scans [seconds]\n\
00096 \n\
00097 float32 range_min # minimum range value [m]\n\
00098 float32 range_max # maximum range value [m]\n\
00099 \n\
00100 float32[] ranges # range data [m] (Note: values < range_min or > range_max should be discarded)\n\
00101 float32[] intensities # intensity data [device-specific units]. If your\n\
00102 # device does not provide intensities, please leave\n\
00103 # the array empty.\n\
00104 \n\
00105 ================================================================================\n\
00106 MSG: std_msgs/Header\n\
00107 # Standard metadata for higher-level stamped data types.\n\
00108 # This is generally used to communicate timestamped data \n\
00109 # in a particular coordinate frame.\n\
00110 # \n\
00111 # sequence ID: consecutively increasing ID \n\
00112 uint32 seq\n\
00113 #Two-integer timestamp that is expressed as:\n\
00114 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00115 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00116 # time-handling sugar is provided by the client library\n\
00117 time stamp\n\
00118 #Frame this data is associated with\n\
00119 # 0: no frame\n\
00120 # 1: global frame\n\
00121 string frame_id\n\
00122 \n\
00123 ================================================================================\n\
00124 MSG: geometry_msgs/Pose\n\
00125 # A representation of pose in free space, composed of postion and orientation. \n\
00126 Point position\n\
00127 Quaternion orientation\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/Quaternion\n\
00138 # This represents an orientation in free space in quaternion form.\n\
00139 \n\
00140 float64 x\n\
00141 float64 y\n\
00142 float64 z\n\
00143 float64 w\n\
00144 \n\
00145 ================================================================================\n\
00146 MSG: flirtlib_ros/InterestPointRos\n\
00147 # Corresponds to the InterestPoint type in flirtlib\n\
00148 # Includes both the point location and optionally a descriptor\n\
00149 \n\
00150 geometry_msgs/Pose2D pose\n\
00151 \n\
00152 geometry_msgs/Point[] support_points\n\
00153 \n\
00154 float32 scale\n\
00155 \n\
00156 uint32 scale_level\n\
00157 \n\
00158 DescriptorRos descriptor\n\
00159 \n\
00160 \n\
00161 ================================================================================\n\
00162 MSG: geometry_msgs/Pose2D\n\
00163 # This expresses a position and orientation on a 2D manifold.\n\
00164 \n\
00165 float64 x\n\
00166 float64 y\n\
00167 float64 theta\n\
00168 ================================================================================\n\
00169 MSG: flirtlib_ros/DescriptorRos\n\
00170 # Confirms to the Descriptor type in flirtlib\n\
00171 # For now, we only allow the beta grid descriptor\n\
00172 \n\
00173 Vector[] hist\n\
00174 Vector[] variance\n\
00175 Vector[] hit\n\
00176 Vector[] miss\n\
00177 \n\
00178 ================================================================================\n\
00179 MSG: flirtlib_ros/Vector\n\
00180 # Vector message type used by a bunch of the flirtlib messages\n\
00181 \n\
00182 float64[] vec\n\
00183 "; }
00184 public:
00185 ROS_DEPRECATED static const std::string __s_getMessageDefinition() { return __s_getMessageDefinition_(); }
00186
00187 ROS_DEPRECATED const std::string __getMessageDefinition() const { return __s_getMessageDefinition_(); }
00188
00189 ROS_DEPRECATED virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const
00190 {
00191 ros::serialization::OStream stream(write_ptr, 1000000000);
00192 ros::serialization::serialize(stream, scan);
00193 ros::serialization::serialize(stream, pose);
00194 ros::serialization::serialize(stream, pts);
00195 return stream.getData();
00196 }
00197
00198 ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr)
00199 {
00200 ros::serialization::IStream stream(read_ptr, 1000000000);
00201 ros::serialization::deserialize(stream, scan);
00202 ros::serialization::deserialize(stream, pose);
00203 ros::serialization::deserialize(stream, pts);
00204 return stream.getData();
00205 }
00206
00207 ROS_DEPRECATED virtual uint32_t serializationLength() const
00208 {
00209 uint32_t size = 0;
00210 size += ros::serialization::serializationLength(scan);
00211 size += ros::serialization::serializationLength(pose);
00212 size += ros::serialization::serializationLength(pts);
00213 return size;
00214 }
00215
00216 typedef boost::shared_ptr< ::flirtlib_ros::RefScanRos_<ContainerAllocator> > Ptr;
00217 typedef boost::shared_ptr< ::flirtlib_ros::RefScanRos_<ContainerAllocator> const> ConstPtr;
00218 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00219 };
00220 typedef ::flirtlib_ros::RefScanRos_<std::allocator<void> > RefScanRos;
00221
00222 typedef boost::shared_ptr< ::flirtlib_ros::RefScanRos> RefScanRosPtr;
00223 typedef boost::shared_ptr< ::flirtlib_ros::RefScanRos const> RefScanRosConstPtr;
00224
00225
00226 template<typename ContainerAllocator>
00227 std::ostream& operator<<(std::ostream& s, const ::flirtlib_ros::RefScanRos_<ContainerAllocator> & v)
00228 {
00229 ros::message_operations::Printer< ::flirtlib_ros::RefScanRos_<ContainerAllocator> >::stream(s, "", v);
00230 return s;}
00231
00232 }
00233
00234 namespace ros
00235 {
00236 namespace message_traits
00237 {
00238 template<class ContainerAllocator> struct IsMessage< ::flirtlib_ros::RefScanRos_<ContainerAllocator> > : public TrueType {};
00239 template<class ContainerAllocator> struct IsMessage< ::flirtlib_ros::RefScanRos_<ContainerAllocator> const> : public TrueType {};
00240 template<class ContainerAllocator>
00241 struct MD5Sum< ::flirtlib_ros::RefScanRos_<ContainerAllocator> > {
00242 static const char* value()
00243 {
00244 return "11956f8796f4796e1612ff817c3f3dca";
00245 }
00246
00247 static const char* value(const ::flirtlib_ros::RefScanRos_<ContainerAllocator> &) { return value(); }
00248 static const uint64_t static_value1 = 0x11956f8796f4796eULL;
00249 static const uint64_t static_value2 = 0x1612ff817c3f3dcaULL;
00250 };
00251
00252 template<class ContainerAllocator>
00253 struct DataType< ::flirtlib_ros::RefScanRos_<ContainerAllocator> > {
00254 static const char* value()
00255 {
00256 return "flirtlib_ros/RefScanRos";
00257 }
00258
00259 static const char* value(const ::flirtlib_ros::RefScanRos_<ContainerAllocator> &) { return value(); }
00260 };
00261
00262 template<class ContainerAllocator>
00263 struct Definition< ::flirtlib_ros::RefScanRos_<ContainerAllocator> > {
00264 static const char* value()
00265 {
00266 return "sensor_msgs/LaserScan scan\n\
00267 geometry_msgs/Pose pose\n\
00268 InterestPointRos[] pts\n\
00269 ================================================================================\n\
00270 MSG: sensor_msgs/LaserScan\n\
00271 # Single scan from a planar laser range-finder\n\
00272 #\n\
00273 # If you have another ranging device with different behavior (e.g. a sonar\n\
00274 # array), please find or create a different message, since applications\n\
00275 # will make fairly laser-specific assumptions about this data\n\
00276 \n\
00277 Header header # timestamp in the header is the acquisition time of \n\
00278 # the first ray in the scan.\n\
00279 #\n\
00280 # in frame frame_id, angles are measured around \n\
00281 # the positive Z axis (counterclockwise, if Z is up)\n\
00282 # with zero angle being forward along the x axis\n\
00283 \n\
00284 float32 angle_min # start angle of the scan [rad]\n\
00285 float32 angle_max # end angle of the scan [rad]\n\
00286 float32 angle_increment # angular distance between measurements [rad]\n\
00287 \n\
00288 float32 time_increment # time between measurements [seconds] - if your scanner\n\
00289 # is moving, this will be used in interpolating position\n\
00290 # of 3d points\n\
00291 float32 scan_time # time between scans [seconds]\n\
00292 \n\
00293 float32 range_min # minimum range value [m]\n\
00294 float32 range_max # maximum range value [m]\n\
00295 \n\
00296 float32[] ranges # range data [m] (Note: values < range_min or > range_max should be discarded)\n\
00297 float32[] intensities # intensity data [device-specific units]. If your\n\
00298 # device does not provide intensities, please leave\n\
00299 # the array empty.\n\
00300 \n\
00301 ================================================================================\n\
00302 MSG: std_msgs/Header\n\
00303 # Standard metadata for higher-level stamped data types.\n\
00304 # This is generally used to communicate timestamped data \n\
00305 # in a particular coordinate frame.\n\
00306 # \n\
00307 # sequence ID: consecutively increasing ID \n\
00308 uint32 seq\n\
00309 #Two-integer timestamp that is expressed as:\n\
00310 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00311 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00312 # time-handling sugar is provided by the client library\n\
00313 time stamp\n\
00314 #Frame this data is associated with\n\
00315 # 0: no frame\n\
00316 # 1: global frame\n\
00317 string frame_id\n\
00318 \n\
00319 ================================================================================\n\
00320 MSG: geometry_msgs/Pose\n\
00321 # A representation of pose in free space, composed of postion and orientation. \n\
00322 Point position\n\
00323 Quaternion orientation\n\
00324 \n\
00325 ================================================================================\n\
00326 MSG: geometry_msgs/Point\n\
00327 # This contains the position of a point in free space\n\
00328 float64 x\n\
00329 float64 y\n\
00330 float64 z\n\
00331 \n\
00332 ================================================================================\n\
00333 MSG: geometry_msgs/Quaternion\n\
00334 # This represents an orientation in free space in quaternion form.\n\
00335 \n\
00336 float64 x\n\
00337 float64 y\n\
00338 float64 z\n\
00339 float64 w\n\
00340 \n\
00341 ================================================================================\n\
00342 MSG: flirtlib_ros/InterestPointRos\n\
00343 # Corresponds to the InterestPoint type in flirtlib\n\
00344 # Includes both the point location and optionally a descriptor\n\
00345 \n\
00346 geometry_msgs/Pose2D pose\n\
00347 \n\
00348 geometry_msgs/Point[] support_points\n\
00349 \n\
00350 float32 scale\n\
00351 \n\
00352 uint32 scale_level\n\
00353 \n\
00354 DescriptorRos descriptor\n\
00355 \n\
00356 \n\
00357 ================================================================================\n\
00358 MSG: geometry_msgs/Pose2D\n\
00359 # This expresses a position and orientation on a 2D manifold.\n\
00360 \n\
00361 float64 x\n\
00362 float64 y\n\
00363 float64 theta\n\
00364 ================================================================================\n\
00365 MSG: flirtlib_ros/DescriptorRos\n\
00366 # Confirms to the Descriptor type in flirtlib\n\
00367 # For now, we only allow the beta grid descriptor\n\
00368 \n\
00369 Vector[] hist\n\
00370 Vector[] variance\n\
00371 Vector[] hit\n\
00372 Vector[] miss\n\
00373 \n\
00374 ================================================================================\n\
00375 MSG: flirtlib_ros/Vector\n\
00376 # Vector message type used by a bunch of the flirtlib messages\n\
00377 \n\
00378 float64[] vec\n\
00379 ";
00380 }
00381
00382 static const char* value(const ::flirtlib_ros::RefScanRos_<ContainerAllocator> &) { return value(); }
00383 };
00384
00385 }
00386 }
00387
00388 namespace ros
00389 {
00390 namespace serialization
00391 {
00392
00393 template<class ContainerAllocator> struct Serializer< ::flirtlib_ros::RefScanRos_<ContainerAllocator> >
00394 {
00395 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00396 {
00397 stream.next(m.scan);
00398 stream.next(m.pose);
00399 stream.next(m.pts);
00400 }
00401
00402 ROS_DECLARE_ALLINONE_SERIALIZER;
00403 };
00404 }
00405 }
00406
00407 namespace ros
00408 {
00409 namespace message_operations
00410 {
00411
00412 template<class ContainerAllocator>
00413 struct Printer< ::flirtlib_ros::RefScanRos_<ContainerAllocator> >
00414 {
00415 template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::flirtlib_ros::RefScanRos_<ContainerAllocator> & v)
00416 {
00417 s << indent << "scan: ";
00418 s << std::endl;
00419 Printer< ::sensor_msgs::LaserScan_<ContainerAllocator> >::stream(s, indent + " ", v.scan);
00420 s << indent << "pose: ";
00421 s << std::endl;
00422 Printer< ::geometry_msgs::Pose_<ContainerAllocator> >::stream(s, indent + " ", v.pose);
00423 s << indent << "pts[]" << std::endl;
00424 for (size_t i = 0; i < v.pts.size(); ++i)
00425 {
00426 s << indent << " pts[" << i << "]: ";
00427 s << std::endl;
00428 s << indent;
00429 Printer< ::flirtlib_ros::InterestPointRos_<ContainerAllocator> >::stream(s, indent + " ", v.pts[i]);
00430 }
00431 }
00432 };
00433
00434
00435 }
00436 }
00437
00438 #endif // FLIRTLIB_ROS_MESSAGE_REFSCANROS_H
00439
