00001
00002 #ifndef GAZEBO_MSGS_MESSAGE_LINKSTATE_H
00003 #define GAZEBO_MSGS_MESSAGE_LINKSTATE_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/Pose.h"
00018 #include "geometry_msgs/Twist.h"
00019
00020 namespace gazebo_msgs
00021 {
00022 template <class ContainerAllocator>
00023 struct LinkState_ {
00024 typedef LinkState_<ContainerAllocator> Type;
00025
00026 LinkState_()
00027 : link_name()
00028 , pose()
00029 , twist()
00030 , reference_frame()
00031 {
00032 }
00033
00034 LinkState_(const ContainerAllocator& _alloc)
00035 : link_name(_alloc)
00036 , pose(_alloc)
00037 , twist(_alloc)
00038 , reference_frame(_alloc)
00039 {
00040 }
00041
00042 typedef std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > _link_name_type;
00043 std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > link_name;
00044
00045 typedef ::geometry_msgs::Pose_<ContainerAllocator> _pose_type;
00046 ::geometry_msgs::Pose_<ContainerAllocator> pose;
00047
00048 typedef ::geometry_msgs::Twist_<ContainerAllocator> _twist_type;
00049 ::geometry_msgs::Twist_<ContainerAllocator> twist;
00050
00051 typedef std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > _reference_frame_type;
00052 std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > reference_frame;
00053
00054
00055 private:
00056 static const char* __s_getDataType_() { return "gazebo_msgs/LinkState"; }
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 "0818ebbf28ce3a08d48ab1eaa7309ebe"; }
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 "# @todo: FIXME: sets pose and twist of a link. All children link poses/twists of the URDF tree are not updated accordingly, but should be.\n\
00071 string link_name # link name, link_names are in gazebo scoped name notation, [model_name::body_name]\n\
00072 geometry_msgs/Pose pose # desired pose in reference frame\n\
00073 geometry_msgs/Twist twist # desired twist in reference frame\n\
00074 string reference_frame # set pose/twist relative to the frame of this link/body\n\
00075 # leave empty or \"world\" or \"map\" defaults to world-frame\n\
00076 \n\
00077 ================================================================================\n\
00078 MSG: geometry_msgs/Pose\n\
00079 # A representation of pose in free space, composed of postion and orientation. \n\
00080 Point position\n\
00081 Quaternion orientation\n\
00082 \n\
00083 ================================================================================\n\
00084 MSG: geometry_msgs/Point\n\
00085 # This contains the position of a point in free space\n\
00086 float64 x\n\
00087 float64 y\n\
00088 float64 z\n\
00089 \n\
00090 ================================================================================\n\
00091 MSG: geometry_msgs/Quaternion\n\
00092 # This represents an orientation in free space in quaternion form.\n\
00093 \n\
00094 float64 x\n\
00095 float64 y\n\
00096 float64 z\n\
00097 float64 w\n\
00098 \n\
00099 ================================================================================\n\
00100 MSG: geometry_msgs/Twist\n\
00101 # This expresses velocity in free space broken into it's linear and angular parts. \n\
00102 Vector3 linear\n\
00103 Vector3 angular\n\
00104 \n\
00105 ================================================================================\n\
00106 MSG: geometry_msgs/Vector3\n\
00107 # This represents a vector in free space. \n\
00108 \n\
00109 float64 x\n\
00110 float64 y\n\
00111 float64 z\n\
00112 "; }
00113 public:
00114 ROS_DEPRECATED static const std::string __s_getMessageDefinition() { return __s_getMessageDefinition_(); }
00115
00116 ROS_DEPRECATED const std::string __getMessageDefinition() const { return __s_getMessageDefinition_(); }
00117
00118 ROS_DEPRECATED virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const
00119 {
00120 ros::serialization::OStream stream(write_ptr, 1000000000);
00121 ros::serialization::serialize(stream, link_name);
00122 ros::serialization::serialize(stream, pose);
00123 ros::serialization::serialize(stream, twist);
00124 ros::serialization::serialize(stream, reference_frame);
00125 return stream.getData();
00126 }
00127
00128 ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr)
00129 {
00130 ros::serialization::IStream stream(read_ptr, 1000000000);
00131 ros::serialization::deserialize(stream, link_name);
00132 ros::serialization::deserialize(stream, pose);
00133 ros::serialization::deserialize(stream, twist);
00134 ros::serialization::deserialize(stream, reference_frame);
00135 return stream.getData();
00136 }
00137
00138 ROS_DEPRECATED virtual uint32_t serializationLength() const
00139 {
00140 uint32_t size = 0;
00141 size += ros::serialization::serializationLength(link_name);
00142 size += ros::serialization::serializationLength(pose);
00143 size += ros::serialization::serializationLength(twist);
00144 size += ros::serialization::serializationLength(reference_frame);
00145 return size;
00146 }
00147
00148 typedef boost::shared_ptr< ::gazebo_msgs::LinkState_<ContainerAllocator> > Ptr;
00149 typedef boost::shared_ptr< ::gazebo_msgs::LinkState_<ContainerAllocator> const> ConstPtr;
00150 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00151 };
00152 typedef ::gazebo_msgs::LinkState_<std::allocator<void> > LinkState;
00153
00154 typedef boost::shared_ptr< ::gazebo_msgs::LinkState> LinkStatePtr;
00155 typedef boost::shared_ptr< ::gazebo_msgs::LinkState const> LinkStateConstPtr;
00156
00157
00158 template<typename ContainerAllocator>
00159 std::ostream& operator<<(std::ostream& s, const ::gazebo_msgs::LinkState_<ContainerAllocator> & v)
00160 {
00161 ros::message_operations::Printer< ::gazebo_msgs::LinkState_<ContainerAllocator> >::stream(s, "", v);
00162 return s;}
00163
00164 }
00165
00166 namespace ros
00167 {
00168 namespace message_traits
00169 {
00170 template<class ContainerAllocator> struct IsMessage< ::gazebo_msgs::LinkState_<ContainerAllocator> > : public TrueType {};
00171 template<class ContainerAllocator> struct IsMessage< ::gazebo_msgs::LinkState_<ContainerAllocator> const> : public TrueType {};
00172 template<class ContainerAllocator>
00173 struct MD5Sum< ::gazebo_msgs::LinkState_<ContainerAllocator> > {
00174 static const char* value()
00175 {
00176 return "0818ebbf28ce3a08d48ab1eaa7309ebe";
00177 }
00178
00179 static const char* value(const ::gazebo_msgs::LinkState_<ContainerAllocator> &) { return value(); }
00180 static const uint64_t static_value1 = 0x0818ebbf28ce3a08ULL;
00181 static const uint64_t static_value2 = 0xd48ab1eaa7309ebeULL;
00182 };
00183
00184 template<class ContainerAllocator>
00185 struct DataType< ::gazebo_msgs::LinkState_<ContainerAllocator> > {
00186 static const char* value()
00187 {
00188 return "gazebo_msgs/LinkState";
00189 }
00190
00191 static const char* value(const ::gazebo_msgs::LinkState_<ContainerAllocator> &) { return value(); }
00192 };
00193
00194 template<class ContainerAllocator>
00195 struct Definition< ::gazebo_msgs::LinkState_<ContainerAllocator> > {
00196 static const char* value()
00197 {
00198 return "# @todo: FIXME: sets pose and twist of a link. All children link poses/twists of the URDF tree are not updated accordingly, but should be.\n\
00199 string link_name # link name, link_names are in gazebo scoped name notation, [model_name::body_name]\n\
00200 geometry_msgs/Pose pose # desired pose in reference frame\n\
00201 geometry_msgs/Twist twist # desired twist in reference frame\n\
00202 string reference_frame # set pose/twist relative to the frame of this link/body\n\
00203 # leave empty or \"world\" or \"map\" defaults to world-frame\n\
00204 \n\
00205 ================================================================================\n\
00206 MSG: geometry_msgs/Pose\n\
00207 # A representation of pose in free space, composed of postion and orientation. \n\
00208 Point position\n\
00209 Quaternion orientation\n\
00210 \n\
00211 ================================================================================\n\
00212 MSG: geometry_msgs/Point\n\
00213 # This contains the position of a point in free space\n\
00214 float64 x\n\
00215 float64 y\n\
00216 float64 z\n\
00217 \n\
00218 ================================================================================\n\
00219 MSG: geometry_msgs/Quaternion\n\
00220 # This represents an orientation in free space in quaternion form.\n\
00221 \n\
00222 float64 x\n\
00223 float64 y\n\
00224 float64 z\n\
00225 float64 w\n\
00226 \n\
00227 ================================================================================\n\
00228 MSG: geometry_msgs/Twist\n\
00229 # This expresses velocity in free space broken into it's linear and angular parts. \n\
00230 Vector3 linear\n\
00231 Vector3 angular\n\
00232 \n\
00233 ================================================================================\n\
00234 MSG: geometry_msgs/Vector3\n\
00235 # This represents a vector in free space. \n\
00236 \n\
00237 float64 x\n\
00238 float64 y\n\
00239 float64 z\n\
00240 ";
00241 }
00242
00243 static const char* value(const ::gazebo_msgs::LinkState_<ContainerAllocator> &) { return value(); }
00244 };
00245
00246 }
00247 }
00248
00249 namespace ros
00250 {
00251 namespace serialization
00252 {
00253
00254 template<class ContainerAllocator> struct Serializer< ::gazebo_msgs::LinkState_<ContainerAllocator> >
00255 {
00256 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00257 {
00258 stream.next(m.link_name);
00259 stream.next(m.pose);
00260 stream.next(m.twist);
00261 stream.next(m.reference_frame);
00262 }
00263
00264 ROS_DECLARE_ALLINONE_SERIALIZER;
00265 };
00266 }
00267 }
00268
00269 namespace ros
00270 {
00271 namespace message_operations
00272 {
00273
00274 template<class ContainerAllocator>
00275 struct Printer< ::gazebo_msgs::LinkState_<ContainerAllocator> >
00276 {
00277 template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::gazebo_msgs::LinkState_<ContainerAllocator> & v)
00278 {
00279 s << indent << "link_name: ";
00280 Printer<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > >::stream(s, indent + " ", v.link_name);
00281 s << indent << "pose: ";
00282 s << std::endl;
00283 Printer< ::geometry_msgs::Pose_<ContainerAllocator> >::stream(s, indent + " ", v.pose);
00284 s << indent << "twist: ";
00285 s << std::endl;
00286 Printer< ::geometry_msgs::Twist_<ContainerAllocator> >::stream(s, indent + " ", v.twist);
00287 s << indent << "reference_frame: ";
00288 Printer<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > >::stream(s, indent + " ", v.reference_frame);
00289 }
00290 };
00291
00292
00293 }
00294 }
00295
00296 #endif // GAZEBO_MSGS_MESSAGE_LINKSTATE_H
00297
