00001
00002 #ifndef OCCUPANCY_GRID_UTILS_MESSAGE_OVERLAYCLOUDS_H
00003 #define OCCUPANCY_GRID_UTILS_MESSAGE_OVERLAYCLOUDS_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 "nav_msgs/OccupancyGrid.h"
00018
00019 namespace occupancy_grid_utils
00020 {
00021 template <class ContainerAllocator>
00022 struct OverlayClouds_ {
00023 typedef OverlayClouds_<ContainerAllocator> Type;
00024
00025 OverlayClouds_()
00026 : grid()
00027 , frame_id()
00028 , occupancy_threshold(0.0)
00029 , max_distance(0.0)
00030 , min_pass_through(0.0)
00031 , hit_counts()
00032 , pass_through_counts()
00033 {
00034 }
00035
00036 OverlayClouds_(const ContainerAllocator& _alloc)
00037 : grid(_alloc)
00038 , frame_id(_alloc)
00039 , occupancy_threshold(0.0)
00040 , max_distance(0.0)
00041 , min_pass_through(0.0)
00042 , hit_counts(_alloc)
00043 , pass_through_counts(_alloc)
00044 {
00045 }
00046
00047 typedef ::nav_msgs::OccupancyGrid_<ContainerAllocator> _grid_type;
00048 ::nav_msgs::OccupancyGrid_<ContainerAllocator> grid;
00049
00050 typedef std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > _frame_id_type;
00051 std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > frame_id;
00052
00053 typedef float _occupancy_threshold_type;
00054 float occupancy_threshold;
00055
00056 typedef float _max_distance_type;
00057 float max_distance;
00058
00059 typedef float _min_pass_through_type;
00060 float min_pass_through;
00061
00062 typedef std::vector<int32_t, typename ContainerAllocator::template rebind<int32_t>::other > _hit_counts_type;
00063 std::vector<int32_t, typename ContainerAllocator::template rebind<int32_t>::other > hit_counts;
00064
00065 typedef std::vector<int32_t, typename ContainerAllocator::template rebind<int32_t>::other > _pass_through_counts_type;
00066 std::vector<int32_t, typename ContainerAllocator::template rebind<int32_t>::other > pass_through_counts;
00067
00068
00069 ROS_DEPRECATED uint32_t get_hit_counts_size() const { return (uint32_t)hit_counts.size(); }
00070 ROS_DEPRECATED void set_hit_counts_size(uint32_t size) { hit_counts.resize((size_t)size); }
00071 ROS_DEPRECATED void get_hit_counts_vec(std::vector<int32_t, typename ContainerAllocator::template rebind<int32_t>::other > & vec) const { vec = this->hit_counts; }
00072 ROS_DEPRECATED void set_hit_counts_vec(const std::vector<int32_t, typename ContainerAllocator::template rebind<int32_t>::other > & vec) { this->hit_counts = vec; }
00073 ROS_DEPRECATED uint32_t get_pass_through_counts_size() const { return (uint32_t)pass_through_counts.size(); }
00074 ROS_DEPRECATED void set_pass_through_counts_size(uint32_t size) { pass_through_counts.resize((size_t)size); }
00075 ROS_DEPRECATED void get_pass_through_counts_vec(std::vector<int32_t, typename ContainerAllocator::template rebind<int32_t>::other > & vec) const { vec = this->pass_through_counts; }
00076 ROS_DEPRECATED void set_pass_through_counts_vec(const std::vector<int32_t, typename ContainerAllocator::template rebind<int32_t>::other > & vec) { this->pass_through_counts = vec; }
00077 private:
00078 static const char* __s_getDataType_() { return "occupancy_grid_utils/OverlayClouds"; }
00079 public:
00080 ROS_DEPRECATED static const std::string __s_getDataType() { return __s_getDataType_(); }
00081
00082 ROS_DEPRECATED const std::string __getDataType() const { return __s_getDataType_(); }
00083
00084 private:
00085 static const char* __s_getMD5Sum_() { return "a1dfac662600ca9b91b434a76485a5d9"; }
00086 public:
00087 ROS_DEPRECATED static const std::string __s_getMD5Sum() { return __s_getMD5Sum_(); }
00088
00089 ROS_DEPRECATED const std::string __getMD5Sum() const { return __s_getMD5Sum_(); }
00090
00091 private:
00092 static const char* __s_getMessageDefinition_() { return "nav_msgs/OccupancyGrid grid\n\
00093 string frame_id\n\
00094 float32 occupancy_threshold\n\
00095 float32 max_distance\n\
00096 float32 min_pass_through\n\
00097 int32[] hit_counts\n\
00098 int32[] pass_through_counts\n\
00099 ================================================================================\n\
00100 MSG: nav_msgs/OccupancyGrid\n\
00101 # This represents a 2-D grid map, in which each cell represents the probability of\n\
00102 # occupancy.\n\
00103 \n\
00104 Header header \n\
00105 \n\
00106 #MetaData for the map\n\
00107 MapMetaData info\n\
00108 \n\
00109 # The map data, in row-major order, starting with (0,0). Occupancy\n\
00110 # probabilities are in the range [0,100]. Unknown is -1.\n\
00111 int8[] data\n\
00112 \n\
00113 ================================================================================\n\
00114 MSG: std_msgs/Header\n\
00115 # Standard metadata for higher-level stamped data types.\n\
00116 # This is generally used to communicate timestamped data \n\
00117 # in a particular coordinate frame.\n\
00118 # \n\
00119 # sequence ID: consecutively increasing ID \n\
00120 uint32 seq\n\
00121 #Two-integer timestamp that is expressed as:\n\
00122 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00123 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00124 # time-handling sugar is provided by the client library\n\
00125 time stamp\n\
00126 #Frame this data is associated with\n\
00127 # 0: no frame\n\
00128 # 1: global frame\n\
00129 string frame_id\n\
00130 \n\
00131 ================================================================================\n\
00132 MSG: nav_msgs/MapMetaData\n\
00133 # This hold basic information about the characterists of the OccupancyGrid\n\
00134 \n\
00135 # The time at which the map was loaded\n\
00136 time map_load_time\n\
00137 # The map resolution [m/cell]\n\
00138 float32 resolution\n\
00139 # Map width [cells]\n\
00140 uint32 width\n\
00141 # Map height [cells]\n\
00142 uint32 height\n\
00143 # The origin of the map [m, m, rad]. This is the real-world pose of the\n\
00144 # cell (0,0) in the map.\n\
00145 geometry_msgs/Pose origin\n\
00146 ================================================================================\n\
00147 MSG: geometry_msgs/Pose\n\
00148 # A representation of pose in free space, composed of postion and orientation. \n\
00149 Point position\n\
00150 Quaternion orientation\n\
00151 \n\
00152 ================================================================================\n\
00153 MSG: geometry_msgs/Point\n\
00154 # This contains the position of a point in free space\n\
00155 float64 x\n\
00156 float64 y\n\
00157 float64 z\n\
00158 \n\
00159 ================================================================================\n\
00160 MSG: geometry_msgs/Quaternion\n\
00161 # This represents an orientation in free space in quaternion form.\n\
00162 \n\
00163 float64 x\n\
00164 float64 y\n\
00165 float64 z\n\
00166 float64 w\n\
00167 \n\
00168 "; }
00169 public:
00170 ROS_DEPRECATED static const std::string __s_getMessageDefinition() { return __s_getMessageDefinition_(); }
00171
00172 ROS_DEPRECATED const std::string __getMessageDefinition() const { return __s_getMessageDefinition_(); }
00173
00174 ROS_DEPRECATED virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const
00175 {
00176 ros::serialization::OStream stream(write_ptr, 1000000000);
00177 ros::serialization::serialize(stream, grid);
00178 ros::serialization::serialize(stream, frame_id);
00179 ros::serialization::serialize(stream, occupancy_threshold);
00180 ros::serialization::serialize(stream, max_distance);
00181 ros::serialization::serialize(stream, min_pass_through);
00182 ros::serialization::serialize(stream, hit_counts);
00183 ros::serialization::serialize(stream, pass_through_counts);
00184 return stream.getData();
00185 }
00186
00187 ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr)
00188 {
00189 ros::serialization::IStream stream(read_ptr, 1000000000);
00190 ros::serialization::deserialize(stream, grid);
00191 ros::serialization::deserialize(stream, frame_id);
00192 ros::serialization::deserialize(stream, occupancy_threshold);
00193 ros::serialization::deserialize(stream, max_distance);
00194 ros::serialization::deserialize(stream, min_pass_through);
00195 ros::serialization::deserialize(stream, hit_counts);
00196 ros::serialization::deserialize(stream, pass_through_counts);
00197 return stream.getData();
00198 }
00199
00200 ROS_DEPRECATED virtual uint32_t serializationLength() const
00201 {
00202 uint32_t size = 0;
00203 size += ros::serialization::serializationLength(grid);
00204 size += ros::serialization::serializationLength(frame_id);
00205 size += ros::serialization::serializationLength(occupancy_threshold);
00206 size += ros::serialization::serializationLength(max_distance);
00207 size += ros::serialization::serializationLength(min_pass_through);
00208 size += ros::serialization::serializationLength(hit_counts);
00209 size += ros::serialization::serializationLength(pass_through_counts);
00210 return size;
00211 }
00212
00213 typedef boost::shared_ptr< ::occupancy_grid_utils::OverlayClouds_<ContainerAllocator> > Ptr;
00214 typedef boost::shared_ptr< ::occupancy_grid_utils::OverlayClouds_<ContainerAllocator> const> ConstPtr;
00215 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00216 };
00217 typedef ::occupancy_grid_utils::OverlayClouds_<std::allocator<void> > OverlayClouds;
00218
00219 typedef boost::shared_ptr< ::occupancy_grid_utils::OverlayClouds> OverlayCloudsPtr;
00220 typedef boost::shared_ptr< ::occupancy_grid_utils::OverlayClouds const> OverlayCloudsConstPtr;
00221
00222
00223 template<typename ContainerAllocator>
00224 std::ostream& operator<<(std::ostream& s, const ::occupancy_grid_utils::OverlayClouds_<ContainerAllocator> & v)
00225 {
00226 ros::message_operations::Printer< ::occupancy_grid_utils::OverlayClouds_<ContainerAllocator> >::stream(s, "", v);
00227 return s;}
00228
00229 }
00230
00231 namespace ros
00232 {
00233 namespace message_traits
00234 {
00235 template<class ContainerAllocator> struct IsMessage< ::occupancy_grid_utils::OverlayClouds_<ContainerAllocator> > : public TrueType {};
00236 template<class ContainerAllocator> struct IsMessage< ::occupancy_grid_utils::OverlayClouds_<ContainerAllocator> const> : public TrueType {};
00237 template<class ContainerAllocator>
00238 struct MD5Sum< ::occupancy_grid_utils::OverlayClouds_<ContainerAllocator> > {
00239 static const char* value()
00240 {
00241 return "a1dfac662600ca9b91b434a76485a5d9";
00242 }
00243
00244 static const char* value(const ::occupancy_grid_utils::OverlayClouds_<ContainerAllocator> &) { return value(); }
00245 static const uint64_t static_value1 = 0xa1dfac662600ca9bULL;
00246 static const uint64_t static_value2 = 0x91b434a76485a5d9ULL;
00247 };
00248
00249 template<class ContainerAllocator>
00250 struct DataType< ::occupancy_grid_utils::OverlayClouds_<ContainerAllocator> > {
00251 static const char* value()
00252 {
00253 return "occupancy_grid_utils/OverlayClouds";
00254 }
00255
00256 static const char* value(const ::occupancy_grid_utils::OverlayClouds_<ContainerAllocator> &) { return value(); }
00257 };
00258
00259 template<class ContainerAllocator>
00260 struct Definition< ::occupancy_grid_utils::OverlayClouds_<ContainerAllocator> > {
00261 static const char* value()
00262 {
00263 return "nav_msgs/OccupancyGrid grid\n\
00264 string frame_id\n\
00265 float32 occupancy_threshold\n\
00266 float32 max_distance\n\
00267 float32 min_pass_through\n\
00268 int32[] hit_counts\n\
00269 int32[] pass_through_counts\n\
00270 ================================================================================\n\
00271 MSG: nav_msgs/OccupancyGrid\n\
00272 # This represents a 2-D grid map, in which each cell represents the probability of\n\
00273 # occupancy.\n\
00274 \n\
00275 Header header \n\
00276 \n\
00277 #MetaData for the map\n\
00278 MapMetaData info\n\
00279 \n\
00280 # The map data, in row-major order, starting with (0,0). Occupancy\n\
00281 # probabilities are in the range [0,100]. Unknown is -1.\n\
00282 int8[] data\n\
00283 \n\
00284 ================================================================================\n\
00285 MSG: std_msgs/Header\n\
00286 # Standard metadata for higher-level stamped data types.\n\
00287 # This is generally used to communicate timestamped data \n\
00288 # in a particular coordinate frame.\n\
00289 # \n\
00290 # sequence ID: consecutively increasing ID \n\
00291 uint32 seq\n\
00292 #Two-integer timestamp that is expressed as:\n\
00293 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00294 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00295 # time-handling sugar is provided by the client library\n\
00296 time stamp\n\
00297 #Frame this data is associated with\n\
00298 # 0: no frame\n\
00299 # 1: global frame\n\
00300 string frame_id\n\
00301 \n\
00302 ================================================================================\n\
00303 MSG: nav_msgs/MapMetaData\n\
00304 # This hold basic information about the characterists of the OccupancyGrid\n\
00305 \n\
00306 # The time at which the map was loaded\n\
00307 time map_load_time\n\
00308 # The map resolution [m/cell]\n\
00309 float32 resolution\n\
00310 # Map width [cells]\n\
00311 uint32 width\n\
00312 # Map height [cells]\n\
00313 uint32 height\n\
00314 # The origin of the map [m, m, rad]. This is the real-world pose of the\n\
00315 # cell (0,0) in the map.\n\
00316 geometry_msgs/Pose origin\n\
00317 ================================================================================\n\
00318 MSG: geometry_msgs/Pose\n\
00319 # A representation of pose in free space, composed of postion and orientation. \n\
00320 Point position\n\
00321 Quaternion orientation\n\
00322 \n\
00323 ================================================================================\n\
00324 MSG: geometry_msgs/Point\n\
00325 # This contains the position of a point in free space\n\
00326 float64 x\n\
00327 float64 y\n\
00328 float64 z\n\
00329 \n\
00330 ================================================================================\n\
00331 MSG: geometry_msgs/Quaternion\n\
00332 # This represents an orientation in free space in quaternion form.\n\
00333 \n\
00334 float64 x\n\
00335 float64 y\n\
00336 float64 z\n\
00337 float64 w\n\
00338 \n\
00339 ";
00340 }
00341
00342 static const char* value(const ::occupancy_grid_utils::OverlayClouds_<ContainerAllocator> &) { return value(); }
00343 };
00344
00345 }
00346 }
00347
00348 namespace ros
00349 {
00350 namespace serialization
00351 {
00352
00353 template<class ContainerAllocator> struct Serializer< ::occupancy_grid_utils::OverlayClouds_<ContainerAllocator> >
00354 {
00355 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00356 {
00357 stream.next(m.grid);
00358 stream.next(m.frame_id);
00359 stream.next(m.occupancy_threshold);
00360 stream.next(m.max_distance);
00361 stream.next(m.min_pass_through);
00362 stream.next(m.hit_counts);
00363 stream.next(m.pass_through_counts);
00364 }
00365
00366 ROS_DECLARE_ALLINONE_SERIALIZER;
00367 };
00368 }
00369 }
00370
00371 namespace ros
00372 {
00373 namespace message_operations
00374 {
00375
00376 template<class ContainerAllocator>
00377 struct Printer< ::occupancy_grid_utils::OverlayClouds_<ContainerAllocator> >
00378 {
00379 template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::occupancy_grid_utils::OverlayClouds_<ContainerAllocator> & v)
00380 {
00381 s << indent << "grid: ";
00382 s << std::endl;
00383 Printer< ::nav_msgs::OccupancyGrid_<ContainerAllocator> >::stream(s, indent + " ", v.grid);
00384 s << indent << "frame_id: ";
00385 Printer<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > >::stream(s, indent + " ", v.frame_id);
00386 s << indent << "occupancy_threshold: ";
00387 Printer<float>::stream(s, indent + " ", v.occupancy_threshold);
00388 s << indent << "max_distance: ";
00389 Printer<float>::stream(s, indent + " ", v.max_distance);
00390 s << indent << "min_pass_through: ";
00391 Printer<float>::stream(s, indent + " ", v.min_pass_through);
00392 s << indent << "hit_counts[]" << std::endl;
00393 for (size_t i = 0; i < v.hit_counts.size(); ++i)
00394 {
00395 s << indent << " hit_counts[" << i << "]: ";
00396 Printer<int32_t>::stream(s, indent + " ", v.hit_counts[i]);
00397 }
00398 s << indent << "pass_through_counts[]" << std::endl;
00399 for (size_t i = 0; i < v.pass_through_counts.size(); ++i)
00400 {
00401 s << indent << " pass_through_counts[" << i << "]: ";
00402 Printer<int32_t>::stream(s, indent + " ", v.pass_through_counts[i]);
00403 }
00404 }
00405 };
00406
00407
00408 }
00409 }
00410
00411 #endif // OCCUPANCY_GRID_UTILS_MESSAGE_OVERLAYCLOUDS_H
00412
