00001
00002 #ifndef GAZEBO_MSGS_MESSAGE_CONTACTSSTATE_H
00003 #define GAZEBO_MSGS_MESSAGE_CONTACTSSTATE_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 "gazebo_msgs/ContactState.h"
00019
00020 namespace gazebo_msgs
00021 {
00022 template <class ContainerAllocator>
00023 struct ContactsState_ {
00024 typedef ContactsState_<ContainerAllocator> Type;
00025
00026 ContactsState_()
00027 : header()
00028 , states()
00029 {
00030 }
00031
00032 ContactsState_(const ContainerAllocator& _alloc)
00033 : header(_alloc)
00034 , states(_alloc)
00035 {
00036 }
00037
00038 typedef ::std_msgs::Header_<ContainerAllocator> _header_type;
00039 ::std_msgs::Header_<ContainerAllocator> header;
00040
00041 typedef std::vector< ::gazebo_msgs::ContactState_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::gazebo_msgs::ContactState_<ContainerAllocator> >::other > _states_type;
00042 std::vector< ::gazebo_msgs::ContactState_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::gazebo_msgs::ContactState_<ContainerAllocator> >::other > states;
00043
00044
00045 ROS_DEPRECATED uint32_t get_states_size() const { return (uint32_t)states.size(); }
00046 ROS_DEPRECATED void set_states_size(uint32_t size) { states.resize((size_t)size); }
00047 ROS_DEPRECATED void get_states_vec(std::vector< ::gazebo_msgs::ContactState_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::gazebo_msgs::ContactState_<ContainerAllocator> >::other > & vec) const { vec = this->states; }
00048 ROS_DEPRECATED void set_states_vec(const std::vector< ::gazebo_msgs::ContactState_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::gazebo_msgs::ContactState_<ContainerAllocator> >::other > & vec) { this->states = vec; }
00049 private:
00050 static const char* __s_getDataType_() { return "gazebo_msgs/ContactsState"; }
00051 public:
00052 ROS_DEPRECATED static const std::string __s_getDataType() { return __s_getDataType_(); }
00053
00054 ROS_DEPRECATED const std::string __getDataType() const { return __s_getDataType_(); }
00055
00056 private:
00057 static const char* __s_getMD5Sum_() { return "9d29ce6da289d3d303cc64b4cfdd0e84"; }
00058 public:
00059 ROS_DEPRECATED static const std::string __s_getMD5Sum() { return __s_getMD5Sum_(); }
00060
00061 ROS_DEPRECATED const std::string __getMD5Sum() const { return __s_getMD5Sum_(); }
00062
00063 private:
00064 static const char* __s_getMessageDefinition_() { return "Header header # stamp\n\
00065 gazebo_msgs/ContactState[] states # array of geom pairs in contact\n\
00066 \n\
00067 ================================================================================\n\
00068 MSG: std_msgs/Header\n\
00069 # Standard metadata for higher-level stamped data types.\n\
00070 # This is generally used to communicate timestamped data \n\
00071 # in a particular coordinate frame.\n\
00072 # \n\
00073 # sequence ID: consecutively increasing ID \n\
00074 uint32 seq\n\
00075 #Two-integer timestamp that is expressed as:\n\
00076 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00077 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00078 # time-handling sugar is provided by the client library\n\
00079 time stamp\n\
00080 #Frame this data is associated with\n\
00081 # 0: no frame\n\
00082 # 1: global frame\n\
00083 string frame_id\n\
00084 \n\
00085 ================================================================================\n\
00086 MSG: gazebo_msgs/ContactState\n\
00087 string info # text info on this contact\n\
00088 string geom1_name # name of contact geom1\n\
00089 string geom2_name # name of contact geom2\n\
00090 geometry_msgs/Wrench[] wrenches # list of forces/torques\n\
00091 geometry_msgs/Wrench total_wrench # sum of forces/torques in every DOF\n\
00092 geometry_msgs/Vector3[] contact_positions # list of contact position\n\
00093 geometry_msgs/Vector3[] contact_normals # list of contact normals\n\
00094 float64[] depths # list of penetration depths\n\
00095 \n\
00096 ================================================================================\n\
00097 MSG: geometry_msgs/Wrench\n\
00098 # This represents force in free space, seperated into \n\
00099 # it's linear and angular parts. \n\
00100 Vector3 force\n\
00101 Vector3 torque\n\
00102 \n\
00103 ================================================================================\n\
00104 MSG: geometry_msgs/Vector3\n\
00105 # This represents a vector in free space. \n\
00106 \n\
00107 float64 x\n\
00108 float64 y\n\
00109 float64 z\n\
00110 "; }
00111 public:
00112 ROS_DEPRECATED static const std::string __s_getMessageDefinition() { return __s_getMessageDefinition_(); }
00113
00114 ROS_DEPRECATED const std::string __getMessageDefinition() const { return __s_getMessageDefinition_(); }
00115
00116 ROS_DEPRECATED virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const
00117 {
00118 ros::serialization::OStream stream(write_ptr, 1000000000);
00119 ros::serialization::serialize(stream, header);
00120 ros::serialization::serialize(stream, states);
00121 return stream.getData();
00122 }
00123
00124 ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr)
00125 {
00126 ros::serialization::IStream stream(read_ptr, 1000000000);
00127 ros::serialization::deserialize(stream, header);
00128 ros::serialization::deserialize(stream, states);
00129 return stream.getData();
00130 }
00131
00132 ROS_DEPRECATED virtual uint32_t serializationLength() const
00133 {
00134 uint32_t size = 0;
00135 size += ros::serialization::serializationLength(header);
00136 size += ros::serialization::serializationLength(states);
00137 return size;
00138 }
00139
00140 typedef boost::shared_ptr< ::gazebo_msgs::ContactsState_<ContainerAllocator> > Ptr;
00141 typedef boost::shared_ptr< ::gazebo_msgs::ContactsState_<ContainerAllocator> const> ConstPtr;
00142 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00143 };
00144 typedef ::gazebo_msgs::ContactsState_<std::allocator<void> > ContactsState;
00145
00146 typedef boost::shared_ptr< ::gazebo_msgs::ContactsState> ContactsStatePtr;
00147 typedef boost::shared_ptr< ::gazebo_msgs::ContactsState const> ContactsStateConstPtr;
00148
00149
00150 template<typename ContainerAllocator>
00151 std::ostream& operator<<(std::ostream& s, const ::gazebo_msgs::ContactsState_<ContainerAllocator> & v)
00152 {
00153 ros::message_operations::Printer< ::gazebo_msgs::ContactsState_<ContainerAllocator> >::stream(s, "", v);
00154 return s;}
00155
00156 }
00157
00158 namespace ros
00159 {
00160 namespace message_traits
00161 {
00162 template<class ContainerAllocator> struct IsMessage< ::gazebo_msgs::ContactsState_<ContainerAllocator> > : public TrueType {};
00163 template<class ContainerAllocator> struct IsMessage< ::gazebo_msgs::ContactsState_<ContainerAllocator> const> : public TrueType {};
00164 template<class ContainerAllocator>
00165 struct MD5Sum< ::gazebo_msgs::ContactsState_<ContainerAllocator> > {
00166 static const char* value()
00167 {
00168 return "9d29ce6da289d3d303cc64b4cfdd0e84";
00169 }
00170
00171 static const char* value(const ::gazebo_msgs::ContactsState_<ContainerAllocator> &) { return value(); }
00172 static const uint64_t static_value1 = 0x9d29ce6da289d3d3ULL;
00173 static const uint64_t static_value2 = 0x03cc64b4cfdd0e84ULL;
00174 };
00175
00176 template<class ContainerAllocator>
00177 struct DataType< ::gazebo_msgs::ContactsState_<ContainerAllocator> > {
00178 static const char* value()
00179 {
00180 return "gazebo_msgs/ContactsState";
00181 }
00182
00183 static const char* value(const ::gazebo_msgs::ContactsState_<ContainerAllocator> &) { return value(); }
00184 };
00185
00186 template<class ContainerAllocator>
00187 struct Definition< ::gazebo_msgs::ContactsState_<ContainerAllocator> > {
00188 static const char* value()
00189 {
00190 return "Header header # stamp\n\
00191 gazebo_msgs/ContactState[] states # array of geom pairs in contact\n\
00192 \n\
00193 ================================================================================\n\
00194 MSG: std_msgs/Header\n\
00195 # Standard metadata for higher-level stamped data types.\n\
00196 # This is generally used to communicate timestamped data \n\
00197 # in a particular coordinate frame.\n\
00198 # \n\
00199 # sequence ID: consecutively increasing ID \n\
00200 uint32 seq\n\
00201 #Two-integer timestamp that is expressed as:\n\
00202 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00203 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00204 # time-handling sugar is provided by the client library\n\
00205 time stamp\n\
00206 #Frame this data is associated with\n\
00207 # 0: no frame\n\
00208 # 1: global frame\n\
00209 string frame_id\n\
00210 \n\
00211 ================================================================================\n\
00212 MSG: gazebo_msgs/ContactState\n\
00213 string info # text info on this contact\n\
00214 string geom1_name # name of contact geom1\n\
00215 string geom2_name # name of contact geom2\n\
00216 geometry_msgs/Wrench[] wrenches # list of forces/torques\n\
00217 geometry_msgs/Wrench total_wrench # sum of forces/torques in every DOF\n\
00218 geometry_msgs/Vector3[] contact_positions # list of contact position\n\
00219 geometry_msgs/Vector3[] contact_normals # list of contact normals\n\
00220 float64[] depths # list of penetration depths\n\
00221 \n\
00222 ================================================================================\n\
00223 MSG: geometry_msgs/Wrench\n\
00224 # This represents force in free space, seperated into \n\
00225 # it's linear and angular parts. \n\
00226 Vector3 force\n\
00227 Vector3 torque\n\
00228 \n\
00229 ================================================================================\n\
00230 MSG: geometry_msgs/Vector3\n\
00231 # This represents a vector in free space. \n\
00232 \n\
00233 float64 x\n\
00234 float64 y\n\
00235 float64 z\n\
00236 ";
00237 }
00238
00239 static const char* value(const ::gazebo_msgs::ContactsState_<ContainerAllocator> &) { return value(); }
00240 };
00241
00242 template<class ContainerAllocator> struct HasHeader< ::gazebo_msgs::ContactsState_<ContainerAllocator> > : public TrueType {};
00243 template<class ContainerAllocator> struct HasHeader< const ::gazebo_msgs::ContactsState_<ContainerAllocator> > : public TrueType {};
00244 }
00245 }
00246
00247 namespace ros
00248 {
00249 namespace serialization
00250 {
00251
00252 template<class ContainerAllocator> struct Serializer< ::gazebo_msgs::ContactsState_<ContainerAllocator> >
00253 {
00254 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00255 {
00256 stream.next(m.header);
00257 stream.next(m.states);
00258 }
00259
00260 ROS_DECLARE_ALLINONE_SERIALIZER;
00261 };
00262 }
00263 }
00264
00265 namespace ros
00266 {
00267 namespace message_operations
00268 {
00269
00270 template<class ContainerAllocator>
00271 struct Printer< ::gazebo_msgs::ContactsState_<ContainerAllocator> >
00272 {
00273 template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::gazebo_msgs::ContactsState_<ContainerAllocator> & v)
00274 {
00275 s << indent << "header: ";
00276 s << std::endl;
00277 Printer< ::std_msgs::Header_<ContainerAllocator> >::stream(s, indent + " ", v.header);
00278 s << indent << "states[]" << std::endl;
00279 for (size_t i = 0; i < v.states.size(); ++i)
00280 {
00281 s << indent << " states[" << i << "]: ";
00282 s << std::endl;
00283 s << indent;
00284 Printer< ::gazebo_msgs::ContactState_<ContainerAllocator> >::stream(s, indent + " ", v.states[i]);
00285 }
00286 }
00287 };
00288
00289
00290 }
00291 }
00292
00293 #endif // GAZEBO_MSGS_MESSAGE_CONTACTSSTATE_H
00294
