gazebo_msgs: gazebo_msgs: ContactState.h Source File

00001 /* Auto-generated by genmsg_cpp for file /home/rosbuild/hudson/workspace/doc-electric-simulator_gazebo/doc_stacks/2013-03-02_13-33-37.038309/simulator_gazebo/gazebo_msgs/msg/ContactState.msg */
00002 #ifndef GAZEBO_MSGS_MESSAGE_CONTACTSTATE_H
00003 #define GAZEBO_MSGS_MESSAGE_CONTACTSTATE_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 "geometry_msgs/Wrench.h"
00018 #include "geometry_msgs/Wrench.h"
00019 #include "geometry_msgs/Vector3.h"
00020 #include "geometry_msgs/Vector3.h"
00021 
00022 namespace gazebo_msgs
00023 {
00024 template <class ContainerAllocator>
00025 struct ContactState_ {
00026   typedef ContactState_<ContainerAllocator> Type;
00027 
00028   ContactState_()
00029   : info()
00030   , geom1_name()
00031   , geom2_name()
00032   , wrenches()
00033   , total_wrench()
00034   , contact_positions()
00035   , contact_normals()
00036   , depths()
00037   {
00038   }
00039 
00040   ContactState_(const ContainerAllocator& _alloc)
00041   : info(_alloc)
00042   , geom1_name(_alloc)
00043   , geom2_name(_alloc)
00044   , wrenches(_alloc)
00045   , total_wrench(_alloc)
00046   , contact_positions(_alloc)
00047   , contact_normals(_alloc)
00048   , depths(_alloc)
00049   {
00050   }
00051 
00052   typedef std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other >  _info_type;
00053   std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other >  info;
00054 
00055   typedef std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other >  _geom1_name_type;
00056   std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other >  geom1_name;
00057 
00058   typedef std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other >  _geom2_name_type;
00059   std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other >  geom2_name;
00060 
00061   typedef std::vector< ::geometry_msgs::Wrench_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::geometry_msgs::Wrench_<ContainerAllocator> >::other >  _wrenches_type;
00062   std::vector< ::geometry_msgs::Wrench_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::geometry_msgs::Wrench_<ContainerAllocator> >::other >  wrenches;
00063 
00064   typedef  ::geometry_msgs::Wrench_<ContainerAllocator>  _total_wrench_type;
00065    ::geometry_msgs::Wrench_<ContainerAllocator>  total_wrench;
00066 
00067   typedef std::vector< ::geometry_msgs::Vector3_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::geometry_msgs::Vector3_<ContainerAllocator> >::other >  _contact_positions_type;
00068   std::vector< ::geometry_msgs::Vector3_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::geometry_msgs::Vector3_<ContainerAllocator> >::other >  contact_positions;
00069 
00070   typedef std::vector< ::geometry_msgs::Vector3_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::geometry_msgs::Vector3_<ContainerAllocator> >::other >  _contact_normals_type;
00071   std::vector< ::geometry_msgs::Vector3_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::geometry_msgs::Vector3_<ContainerAllocator> >::other >  contact_normals;
00072 
00073   typedef std::vector<double, typename ContainerAllocator::template rebind<double>::other >  _depths_type;
00074   std::vector<double, typename ContainerAllocator::template rebind<double>::other >  depths;
00075 
00076 
00077   ROS_DEPRECATED uint32_t get_wrenches_size() const { return (uint32_t)wrenches.size(); }
00078   ROS_DEPRECATED void set_wrenches_size(uint32_t size) { wrenches.resize((size_t)size); }
00079   ROS_DEPRECATED void get_wrenches_vec(std::vector< ::geometry_msgs::Wrench_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::geometry_msgs::Wrench_<ContainerAllocator> >::other > & vec) const { vec = this->wrenches; }
00080   ROS_DEPRECATED void set_wrenches_vec(const std::vector< ::geometry_msgs::Wrench_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::geometry_msgs::Wrench_<ContainerAllocator> >::other > & vec) { this->wrenches = vec; }
00081   ROS_DEPRECATED uint32_t get_contact_positions_size() const { return (uint32_t)contact_positions.size(); }
00082   ROS_DEPRECATED void set_contact_positions_size(uint32_t size) { contact_positions.resize((size_t)size); }
00083   ROS_DEPRECATED void get_contact_positions_vec(std::vector< ::geometry_msgs::Vector3_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::geometry_msgs::Vector3_<ContainerAllocator> >::other > & vec) const { vec = this->contact_positions; }
00084   ROS_DEPRECATED void set_contact_positions_vec(const std::vector< ::geometry_msgs::Vector3_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::geometry_msgs::Vector3_<ContainerAllocator> >::other > & vec) { this->contact_positions = vec; }
00085   ROS_DEPRECATED uint32_t get_contact_normals_size() const { return (uint32_t)contact_normals.size(); }
00086   ROS_DEPRECATED void set_contact_normals_size(uint32_t size) { contact_normals.resize((size_t)size); }
00087   ROS_DEPRECATED void get_contact_normals_vec(std::vector< ::geometry_msgs::Vector3_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::geometry_msgs::Vector3_<ContainerAllocator> >::other > & vec) const { vec = this->contact_normals; }
00088   ROS_DEPRECATED void set_contact_normals_vec(const std::vector< ::geometry_msgs::Vector3_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::geometry_msgs::Vector3_<ContainerAllocator> >::other > & vec) { this->contact_normals = vec; }
00089   ROS_DEPRECATED uint32_t get_depths_size() const { return (uint32_t)depths.size(); }
00090   ROS_DEPRECATED void set_depths_size(uint32_t size) { depths.resize((size_t)size); }
00091   ROS_DEPRECATED void get_depths_vec(std::vector<double, typename ContainerAllocator::template rebind<double>::other > & vec) const { vec = this->depths; }
00092   ROS_DEPRECATED void set_depths_vec(const std::vector<double, typename ContainerAllocator::template rebind<double>::other > & vec) { this->depths = vec; }
00093 private:
00094   static const char* __s_getDataType_() { return "gazebo_msgs/ContactState"; }
00095 public:
00096   ROS_DEPRECATED static const std::string __s_getDataType() { return __s_getDataType_(); }
00097 
00098   ROS_DEPRECATED const std::string __getDataType() const { return __s_getDataType_(); }
00099 
00100 private:
00101   static const char* __s_getMD5Sum_() { return "7f688fc24d90d16872fdc9ea8c6e45ab"; }
00102 public:
00103   ROS_DEPRECATED static const std::string __s_getMD5Sum() { return __s_getMD5Sum_(); }
00104 
00105   ROS_DEPRECATED const std::string __getMD5Sum() const { return __s_getMD5Sum_(); }
00106 
00107 private:
00108   static const char* __s_getMessageDefinition_() { return "string info                                   # text info on this contact\n\
00109 string geom1_name                             # name of contact geom1\n\
00110 string geom2_name                             # name of contact geom2\n\
00111 geometry_msgs/Wrench[] wrenches               # list of forces/torques\n\
00112 geometry_msgs/Wrench total_wrench             # sum of forces/torques in every DOF\n\
00113 geometry_msgs/Vector3[] contact_positions     # list of contact position\n\
00114 geometry_msgs/Vector3[] contact_normals       # list of contact normals\n\
00115 float64[] depths                              # list of penetration depths\n\
00116 \n\
00117 ================================================================================\n\
00118 MSG: geometry_msgs/Wrench\n\
00119 # This represents force in free space, seperated into \n\
00120 # it's linear and angular parts.  \n\
00121 Vector3  force\n\
00122 Vector3  torque\n\
00123 \n\
00124 ================================================================================\n\
00125 MSG: geometry_msgs/Vector3\n\
00126 # This represents a vector in free space. \n\
00127 \n\
00128 float64 x\n\
00129 float64 y\n\
00130 float64 z\n\
00131 "; }
00132 public:
00133   ROS_DEPRECATED static const std::string __s_getMessageDefinition() { return __s_getMessageDefinition_(); }
00134 
00135   ROS_DEPRECATED const std::string __getMessageDefinition() const { return __s_getMessageDefinition_(); }
00136 
00137   ROS_DEPRECATED virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const
00138   {
00139     ros::serialization::OStream stream(write_ptr, 1000000000);
00140     ros::serialization::serialize(stream, info);
00141     ros::serialization::serialize(stream, geom1_name);
00142     ros::serialization::serialize(stream, geom2_name);
00143     ros::serialization::serialize(stream, wrenches);
00144     ros::serialization::serialize(stream, total_wrench);
00145     ros::serialization::serialize(stream, contact_positions);
00146     ros::serialization::serialize(stream, contact_normals);
00147     ros::serialization::serialize(stream, depths);
00148     return stream.getData();
00149   }
00150 
00151   ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr)
00152   {
00153     ros::serialization::IStream stream(read_ptr, 1000000000);
00154     ros::serialization::deserialize(stream, info);
00155     ros::serialization::deserialize(stream, geom1_name);
00156     ros::serialization::deserialize(stream, geom2_name);
00157     ros::serialization::deserialize(stream, wrenches);
00158     ros::serialization::deserialize(stream, total_wrench);
00159     ros::serialization::deserialize(stream, contact_positions);
00160     ros::serialization::deserialize(stream, contact_normals);
00161     ros::serialization::deserialize(stream, depths);
00162     return stream.getData();
00163   }
00164 
00165   ROS_DEPRECATED virtual uint32_t serializationLength() const
00166   {
00167     uint32_t size = 0;
00168     size += ros::serialization::serializationLength(info);
00169     size += ros::serialization::serializationLength(geom1_name);
00170     size += ros::serialization::serializationLength(geom2_name);
00171     size += ros::serialization::serializationLength(wrenches);
00172     size += ros::serialization::serializationLength(total_wrench);
00173     size += ros::serialization::serializationLength(contact_positions);
00174     size += ros::serialization::serializationLength(contact_normals);
00175     size += ros::serialization::serializationLength(depths);
00176     return size;
00177   }
00178 
00179   typedef boost::shared_ptr< ::gazebo_msgs::ContactState_<ContainerAllocator> > Ptr;
00180   typedef boost::shared_ptr< ::gazebo_msgs::ContactState_<ContainerAllocator>  const> ConstPtr;
00181   boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00182 }; // struct ContactState
00183 typedef  ::gazebo_msgs::ContactState_<std::allocator<void> > ContactState;
00184 
00185 typedef boost::shared_ptr< ::gazebo_msgs::ContactState> ContactStatePtr;
00186 typedef boost::shared_ptr< ::gazebo_msgs::ContactState const> ContactStateConstPtr;
00187 
00188 
00189 template<typename ContainerAllocator>
00190 std::ostream& operator<<(std::ostream& s, const  ::gazebo_msgs::ContactState_<ContainerAllocator> & v)
00191 {
00192   ros::message_operations::Printer< ::gazebo_msgs::ContactState_<ContainerAllocator> >::stream(s, "", v);
00193   return s;}
00194 
00195 } // namespace gazebo_msgs
00196 
00197 namespace ros
00198 {
00199 namespace message_traits
00200 {
00201 template<class ContainerAllocator> struct IsMessage< ::gazebo_msgs::ContactState_<ContainerAllocator> > : public TrueType {};
00202 template<class ContainerAllocator> struct IsMessage< ::gazebo_msgs::ContactState_<ContainerAllocator>  const> : public TrueType {};
00203 template<class ContainerAllocator>
00204 struct MD5Sum< ::gazebo_msgs::ContactState_<ContainerAllocator> > {
00205   static const char* value() 
00206   {
00207     return "7f688fc24d90d16872fdc9ea8c6e45ab";
00208   }
00209 
00210   static const char* value(const  ::gazebo_msgs::ContactState_<ContainerAllocator> &) { return value(); } 
00211   static const uint64_t static_value1 = 0x7f688fc24d90d168ULL;
00212   static const uint64_t static_value2 = 0x72fdc9ea8c6e45abULL;
00213 };
00214 
00215 template<class ContainerAllocator>
00216 struct DataType< ::gazebo_msgs::ContactState_<ContainerAllocator> > {
00217   static const char* value() 
00218   {
00219     return "gazebo_msgs/ContactState";
00220   }
00221 
00222   static const char* value(const  ::gazebo_msgs::ContactState_<ContainerAllocator> &) { return value(); } 
00223 };
00224 
00225 template<class ContainerAllocator>
00226 struct Definition< ::gazebo_msgs::ContactState_<ContainerAllocator> > {
00227   static const char* value() 
00228   {
00229     return "string info                                   # text info on this contact\n\
00230 string geom1_name                             # name of contact geom1\n\
00231 string geom2_name                             # name of contact geom2\n\
00232 geometry_msgs/Wrench[] wrenches               # list of forces/torques\n\
00233 geometry_msgs/Wrench total_wrench             # sum of forces/torques in every DOF\n\
00234 geometry_msgs/Vector3[] contact_positions     # list of contact position\n\
00235 geometry_msgs/Vector3[] contact_normals       # list of contact normals\n\
00236 float64[] depths                              # list of penetration depths\n\
00237 \n\
00238 ================================================================================\n\
00239 MSG: geometry_msgs/Wrench\n\
00240 # This represents force in free space, seperated into \n\
00241 # it's linear and angular parts.  \n\
00242 Vector3  force\n\
00243 Vector3  torque\n\
00244 \n\
00245 ================================================================================\n\
00246 MSG: geometry_msgs/Vector3\n\
00247 # This represents a vector in free space. \n\
00248 \n\
00249 float64 x\n\
00250 float64 y\n\
00251 float64 z\n\
00252 ";
00253   }
00254 
00255   static const char* value(const  ::gazebo_msgs::ContactState_<ContainerAllocator> &) { return value(); } 
00256 };
00257 
00258 } // namespace message_traits
00259 } // namespace ros
00260 
00261 namespace ros
00262 {
00263 namespace serialization
00264 {
00265 
00266 template<class ContainerAllocator> struct Serializer< ::gazebo_msgs::ContactState_<ContainerAllocator> >
00267 {
00268   template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00269   {
00270     stream.next(m.info);
00271     stream.next(m.geom1_name);
00272     stream.next(m.geom2_name);
00273     stream.next(m.wrenches);
00274     stream.next(m.total_wrench);
00275     stream.next(m.contact_positions);
00276     stream.next(m.contact_normals);
00277     stream.next(m.depths);
00278   }
00279 
00280   ROS_DECLARE_ALLINONE_SERIALIZER;
00281 }; // struct ContactState_
00282 } // namespace serialization
00283 } // namespace ros
00284 
00285 namespace ros
00286 {
00287 namespace message_operations
00288 {
00289 
00290 template<class ContainerAllocator>
00291 struct Printer< ::gazebo_msgs::ContactState_<ContainerAllocator> >
00292 {
00293   template<typename Stream> static void stream(Stream& s, const std::string& indent, const  ::gazebo_msgs::ContactState_<ContainerAllocator> & v) 
00294   {
00295     s << indent << "info: ";
00296     Printer<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > >::stream(s, indent + "  ", v.info);
00297     s << indent << "geom1_name: ";
00298     Printer<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > >::stream(s, indent + "  ", v.geom1_name);
00299     s << indent << "geom2_name: ";
00300     Printer<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > >::stream(s, indent + "  ", v.geom2_name);
00301     s << indent << "wrenches[]" << std::endl;
00302     for (size_t i = 0; i < v.wrenches.size(); ++i)
00303     {
00304       s << indent << "  wrenches[" << i << "]: ";
00305       s << std::endl;
00306       s << indent;
00307       Printer< ::geometry_msgs::Wrench_<ContainerAllocator> >::stream(s, indent + "    ", v.wrenches[i]);
00308     }
00309     s << indent << "total_wrench: ";
00310 s << std::endl;
00311     Printer< ::geometry_msgs::Wrench_<ContainerAllocator> >::stream(s, indent + "  ", v.total_wrench);
00312     s << indent << "contact_positions[]" << std::endl;
00313     for (size_t i = 0; i < v.contact_positions.size(); ++i)
00314     {
00315       s << indent << "  contact_positions[" << i << "]: ";
00316       s << std::endl;
00317       s << indent;
00318       Printer< ::geometry_msgs::Vector3_<ContainerAllocator> >::stream(s, indent + "    ", v.contact_positions[i]);
00319     }
00320     s << indent << "contact_normals[]" << std::endl;
00321     for (size_t i = 0; i < v.contact_normals.size(); ++i)
00322     {
00323       s << indent << "  contact_normals[" << i << "]: ";
00324       s << std::endl;
00325       s << indent;
00326       Printer< ::geometry_msgs::Vector3_<ContainerAllocator> >::stream(s, indent + "    ", v.contact_normals[i]);
00327     }
00328     s << indent << "depths[]" << std::endl;
00329     for (size_t i = 0; i < v.depths.size(); ++i)
00330     {
00331       s << indent << "  depths[" << i << "]: ";
00332       Printer<double>::stream(s, indent + "  ", v.depths[i]);
00333     }
00334   }
00335 };
00336 
00337 
00338 } // namespace message_operations
00339 } // namespace ros
00340 
00341 #endif // GAZEBO_MSGS_MESSAGE_CONTACTSTATE_H
00342